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<p>Extremely low frequency (ELF, 3–30 Hz) signals possess strong cross-medium communication capabilities, making them particularly well-suited for underground and underwater environments. However, traditional low-frequency (LF) transmission systems are large and inefficient, posing significant limitations in practical applications. In recent studies, mechanical antennas have been explored to generate LF signals, but current approaches rely on bulky equipment with limited range, making them unsuitable for personal use or integration into small unmanned devices. To address this challenge, this study introduces a flexible, magnet-based miniaturized LF mechanical antenna, fabricated using 3D printing. The antenna consists of a macro-fiber composite layer and a flexible permanent magnet film, and features an extremely compact volume (&lt;6.8 cm³) and low weight (&lt;50 g). It is also highly flexible, allowing for easy integration into diverse applications. Its transmitted signal can reach 60 m before the magnetic field strength attenuates to 1 pT. Mounted on an unmanned aerial vehicle (UAV), the antenna facilitates reliable communication between quadruped robots operating outside caves and aerial robots located deep within cave interiors, where high-frequency (HF) signals cannot penetrate. This study demonstrates robust LF cross-medium communication between UAV and ground robots in cave environments, paving the way for unmanned collaboration in scenarios inaccessible to HF wireless signals.</p>

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A flexible, magnet-based miniaturized mechanical antenna enabling low-frequency cross-medium communication between unmanned systems

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年12月13日

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  • Qingang Li,
  • Zhi Cui,
  • Xin Ma,
  • Wei Yue,
  • Ieng Hou U,
  • Kangjie Zhou,
  • Juntian Qu,
  • Jianglei Chang,
  • Yuping Huang,
  • Chang Liu,
  • Shuxiang Dong,
  • Qinglei Hu,
  • Yong Cui,
  • Xining Zang

摘要

Extremely low frequency (ELF, 3–30 Hz) signals possess strong cross-medium communication capabilities, making them particularly well-suited for underground and underwater environments. However, traditional low-frequency (LF) transmission systems are large and inefficient, posing significant limitations in practical applications. In recent studies, mechanical antennas have been explored to generate LF signals, but current approaches rely on bulky equipment with limited range, making them unsuitable for personal use or integration into small unmanned devices. To address this challenge, this study introduces a flexible, magnet-based miniaturized LF mechanical antenna, fabricated using 3D printing. The antenna consists of a macro-fiber composite layer and a flexible permanent magnet film, and features an extremely compact volume (<6.8 cm³) and low weight (<50 g). It is also highly flexible, allowing for easy integration into diverse applications. Its transmitted signal can reach 60 m before the magnetic field strength attenuates to 1 pT. Mounted on an unmanned aerial vehicle (UAV), the antenna facilitates reliable communication between quadruped robots operating outside caves and aerial robots located deep within cave interiors, where high-frequency (HF) signals cannot penetrate. This study demonstrates robust LF cross-medium communication between UAV and ground robots in cave environments, paving the way for unmanned collaboration in scenarios inaccessible to HF wireless signals.