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Determining the Electromagnetic Polarizability Tensors of Metal Objects during In-line Scanning Yifei Zhao, Wuliang Yin, Christos Ktistis, Daren Butterworth, and Anthony J. PeytonAbstract— In metal detection systems, the response of a detector to a metal object may be approximated from the electromagnetic polarizability tensor of the object. Conversely, the tensors may be determined from multi-position measurements as the detector and object are moved relative to each other. The paper introduces and sets out the general approach to determining the tensor during in-line scanning. Two common application scenarios are considered, which share similar consideration in the calculation of the tensor components. The first is the case for detectors of landmines or explosive remnants of war, where the detector is scanned on a surface above the object. The condition of this inverse problem depends on the geometry of the coil(s) and the measurement protocol, which at present is not fully understood. Our results consider two cases namely a single line scan over the object as two extreme cases. The results suggest that tensor inversion is possible for the 2D raster scan, but not for a single line scan. The second application is a conveyor type metal detector, which is used with a typical detector for industrial process lines. Here, a new rotation measurement method is proposed and examined for the case of simple coaxial sensor coils and in-line scanning. Finally, different inverse methods are analyzed for the new rotation measurement method.Index Terms— Metal detection; inverse problem; electromagnetic polarizability tensor; dipole moment; finite element modelIntroductionThe electromagnetic polarizability tensor is widely used to approximate the electromagnetic responses of metal detectors to metal objects. There are a number of metal detector configurations, which are widely used in the field for applications such as detection of buried objects, detection of metal contamination on industrial conveyors, and walk through metal detector for personnel screening. This paper concentrates on the first two as these have different types of sensor coils with different measurement protocols. This first one is the planar sensor coils for the landmine/UXO detectors PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5Xb248L0F1dGhvcj48WWVhcj4yMDAxPC9ZZWFyPjxSZWNO

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ADDIN EN.CITE.DATA [1-5]. The objects are inspected at a distance to the sensor coil (Fig. 1.). The second one is the symmetric coaxial sensor coils for the in-line metal detectors PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5ZYW1hemFraTwvQXV0aG9yPjxZZWFyPjIwMDI8L1llYXI+

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ADDIN EN.CITE.DATA [6-10]. The objects are transported through the sensor coils for inspection (Fig.3.). Walk through metal detectors contain two panels of coils; their design is somewhat different to the former two and has already has been considered elsewhere PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5EaGFnYXQ8L0F1dGhvcj48WWVhcj4yMDA4PC9ZZWFyPjxS

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ZE5vdGU+AG==

ADDIN EN.CITE.DATA [11-13] in detail.In landmine/UXO detection and geophysics, the electromagnetic polarizability tensors of metal objects are employed to discriminate of metal objects, e.g. landmines or UXO from other unwanted metal signals, e.g. metal clutters PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5Ob3J0b248L0F1dGhvcj48WWVhcj4yMDAxPC9ZZWFyPjxS

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ADDIN EN.CITE.DATA [1, 14-26]. These electromagnetic polarizability tensors are inverted from the measurements of the metal targets at various locations below a planar magnetic sensor PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5NYXJzaDwvQXV0aG9yPjxZZWFyPjIwMTU8L1llYXI+PFJl

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ADDIN EN.CITE.DATA [1, 3, 14-17]. The multi-position measurements are theoretically independent only when the metal targets are exposed to incident magnetic fields from different directions at different measured positions, as illustrated in Fig. 1.. These independent measurements are determined by both the geometry of sensor coils and measurement protocol.Experimental configurations for multi-position measurements of landmine/UXO detection and geophysicsThe in-line type of metal detector is widely utilized in food and pharmaceutical manufacture lines to prevent hidden metal contaminants ADDIN EN.CITE <EndNote><Cite><Author>Lock</Author><Year>1990</Year><RecNum>205</RecNum><DisplayText>[27]</DisplayText><record><rec-number>205</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1371940602">205</key></foreign-keys><ref-type name="Classical Work">49</ref-type><contributors><authors><author>Andrew Lock</author></authors></contributors><titles><title>The Guide to Reducing Metal Contamination in the Food Processing Industry</title></titles><dates><year>1990</year></dates><pub-location>Tampa, Florida.</pub-location><publisher>Safeline Inc.</publisher><urls></urls></record></Cite></EndNote>[27]. They discriminate the metal fragments from unwanted product signals and provide compliance with food and pharmacy safety inspection standards, industry guidance and legislations ADDIN EN.CITE <EndNote><Cite><Author>Agriculture</Author><Year>1995</Year><RecNum>308</RecNum><DisplayText>[28]</DisplayText><record><rec-number>308</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1374502058">308</key></foreign-keys><ref-type name="Legal Rule or Regulation">50</ref-type><contributors><authors><author>United States Department of Agriculture</author></authors><secondary-authors><author>United States Department of Agriculture</author></secondary-authors></contributors><titles><title>Metal Detection</title><secondary-title>614</secondary-title></titles><dates><year>1995</year></dates><pub-location>United States</pub-location><publisher>United States Department of Agriculture</publisher><urls></urls></record></Cite></EndNote>[28]. Balanced sensor coil array PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]In-line metal detectors employ a balanced sensor coil array to eliminate the background signals as shown in Fig. 2.. The metal target is transported through the aperture of the detector by a conveyor. The target is exposed to incident magnetic fields from mainly one direction, e.g. x direction in Fig. 3.. Therefore, the multi-position measurements for landmine/UXO detectors may not be directly applied to in-line metal detectors to measure the electromagnetic polarizability tensors ADDIN EN.CITE <EndNote><Cite><Author>Zhao</Author><Year>2015</Year><RecNum>16</RecNum><DisplayText>[29]</DisplayText><record><rec-number>16</rec-number><foreign-keys><key app="EN" db-id="wfffxppwg0evsne2zx15f9xqv5rpfrz0zp9s" timestamp="1432201574">16</key></foreign-keys><ref-type name="Conference Proceedings">10</ref-type><contributors><authors><author>Zhao, Yifei </author><author>Yin, Wuliang</author><author>Ktistis, C.</author><author>Peyton, A. J.</author><author>Butterworth, D.</author></authors></contributors><titles><title>Determining the Electromagnetic Polarizability Tensors of Metal Objects from Rotation Measurements</title><secondary-title>IEEE International Instrumentation and Measurement Technology Conference</secondary-title></titles><dates><year>2015</year></dates><pub-location>Pisa, Italy</pub-location><isbn>978-1-4799-6113-9</isbn><urls></urls></record></Cite></EndNote>[29]. Therefore, a different approach is needed such as rotating the metal target and passing it several times through the detector with different angles, α, β, and γ as depicted in Fig.3., between the global and local coordinates.Experimental configurations for rotation measurements of in-line metal detectorsIn this paper, first, the theories of both the current multi-position measurement method and the new rotation measurement method will be fully elaborated. The independence of these measurements is evaluated by determining the ranks of their sensitivity matrices.Second, both the current multi-position measurements for the landmine detectors and the new rotation measurements for the in-line metal detector will be analyzed by the simulations in a finite element method (FEM) solver. In the multi-position measurement simulation, two types of planar sensor coils with different measurement protocols in the landmine detectors are simulated as undesired and desired cases for the electromagnetic tensor inversion. The undesired case is a simple co-axial sensor coils and in-line scanning (Fig. 4). The desired case is a complex sensor coils and 2D raster scanning (Fig. 5). It concluded that the independence of measurements can be evaluated by the calculated rank of inverse matrix. Furthermore, the multi-position measurement cannot be applied to in-line metal detectors for tensor inversion.In the rotation measurement simulation, a metal target is placed and rotated in a balanced sensor coil array, which is similar to the in-line metal detector. It concluded that the rotation measurements can accurately determine the electromagnetic polarizability tensor from an undesired case for tensor inversion with multi-position measurement.Third, the rotation measurements are implemented on a commercial in-line detector to further verify this method. The electromagnetic polarizability tensors of metal targets are directly inversed from the rotation measurements by Gaussian elimination. These inversion results are compared to the calculated tensors from our previous paper PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9, 14, 25]. The secondary magnetic fields from a metal target are represented by a multi-pole expansion PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5Ob3J0b248L0F1dGhvcj48WWVhcj4yMDAxPC9ZZWFyPjxS

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ADDIN EN.CITE.DATA [14, 20, 30]. The first term from this expansion is dominant for small objects and therefore the magnetic dipole moment m is used to approximate the secondary magnetic fields. Then the induced voltages on the receivers from the secondary fields VRx are derived by the reciprocity principle PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5EYXM8L0F1dGhvcj48WWVhcj4xOTkwPC9ZZWFyPjxSZWNO

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PgB=

ADDIN EN.CITE PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5EYXM8L0F1dGhvcj48WWVhcj4xOTkwPC9ZZWFyPjxSZWNO

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ADDIN EN.CITE.DATA [25, 26].m=M?HT???VRx=jωμ0IRHR?m=jωμ0IRHR?M?HT???M=M11M12M13M21M22M23M31M32M33???Here M is the electromagnetic polarizability tensor, which is a 3 x 3 complex matrix and mainly determined by the characteristics of the metal target. HT and HR are the incident magnetic fields from the transmitter coil and receiver coils respectively. Their values at the observation points can be obtained from numerical methods, by defining the exciting current IT and the assumed receiver current IR as 1 A amplitude. In landmine/UXO detection, these observation points are located a few centimeters below the planar sensor coil ADDIN EN.CITE <EndNote><Cite><Author>Kaneko</Author><Year>2013</Year><RecNum>677</RecNum><DisplayText>[31]</DisplayText><record><rec-number>677</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1441027283">677</key></foreign-keys><ref-type name="Conference Proceedings">10</ref-type><contributors><authors><author>Kaneko, A. M.</author><author>Endo, G.</author><author>Fukushima, E. F.</author></authors></contributors><titles><title>Landmine buried depth estimation by curve characterization of metal mine detector signals</title><secondary-title>Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on</secondary-title><alt-title>Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on</alt-title></titles><pages>5327-5332</pages><keywords><keyword>landmine detection</keyword><keyword>manipulators</keyword><keyword>curve characterization</keyword><keyword>high precision scanning</keyword><keyword>humanitarian demining operations</keyword><keyword>landmine affected areas</keyword><keyword>landmine buried depth estimation</keyword><keyword>metal fragments</keyword><keyword>metallic targets depths</keyword><keyword>minefield</keyword><keyword>robotic manipulator</keyword><keyword>spatially represented metal mine detector signals</keyword><keyword>Databases</keyword><keyword>Detectors</keyword><keyword>Estimation</keyword><keyword>Materials</keyword><keyword>Steel</keyword></keywords><dates><year>2013</year><pub-dates><date>3-7 Nov. 2013</date></pub-dates></dates><isbn>2153-0858</isbn><urls></urls><electronic-resource-num>10.1109/IROS.2013.6697127</electronic-resource-num></record></Cite></EndNote>[31] (Fig. 1.). For in-line metal detectors, these observation points are placed at trajectories through the aperture of detector ADDIN EN.CITE <EndNote><Cite><Author>Lock</Author><Year>1990</Year><RecNum>205</RecNum><DisplayText>[27]</DisplayText><record><rec-number>205</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1371940602">205</key></foreign-keys><ref-type name="Classical Work">49</ref-type><contributors><authors><author>Andrew Lock</author></authors></contributors><titles><title>The Guide to Reducing Metal Contamination in the Food Processing Industry</title></titles><dates><year>1990</year></dates><pub-location>Tampa, Florida.</pub-location><publisher>Safeline Inc.</publisher><urls></urls></record></Cite></EndNote>[27] (Fig. 3.). From ADDIN EN.CITE <EndNote><Cite><Author>Silvester</Author><Year>1996</Year><RecNum>3</RecNum><DisplayText>[32]</DisplayText><record><rec-number>3</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1369822160">3</key></foreign-keys><ref-type name="Journal Article">17</ref-type><contributors><authors><author>Silvester, P. P.</author><author>Omeragic, D.</author></authors></contributors><auth-address>Mcgill Univ,Dept Elect Engn,Montreal,Pq H3a 2a7,Canada</auth-address><titles><title>Sensitivity maps for metal detector design</title><secondary-title>IEEE Transactions on Geoscience and Remote Sensing</secondary-title><alt-title>Ieee T Geosci Remote</alt-title></titles><periodical><full-title>Ieee Transactions on Geoscience and Remote Sensing</full-title><abbr-1>Ieee T Geosci Remote</abbr-1></periodical><alt-periodical><full-title>Ieee Transactions on Geoscience and Remote Sensing</full-title><abbr-1>Ieee T Geosci Remote</abbr-1></alt-periodical><pages>788-792</pages><volume>34</volume><number>3</number><keywords><keyword>coil</keyword></keywords><dates><year>1996</year><pub-dates><date>May</date></pub-dates></dates><isbn>0196-2892</isbn><accession-num>ISI:A1996UM31400018</accession-num><urls><related-urls><url>&lt;Go to ISI&gt;://A1996UM31400018</url></related-urls></urls><electronic-resource-num>Doi 10.1109/36.499783</electronic-resource-num><language>English</language></record></Cite></EndNote>[32], the dot product of HT and HR is defined as the sensitivity of the metal detector, which is only determined by the coil geometry instead of the targets. 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ADDIN EN.CITE.DATA [12, 30, 33].VRx=jωμ0IRh?PT???Here P=M11,M12,M13,M22,M23,M33 is an unknown vector of electromagnetic tensor elements. h=hxx,hxy,hxz,hyy,hyz,hzz=HT_xHR_x, HT_xHR_y+HT_yHR_x, HT_xHR_z+HT_zHR_x, HT_yHR_y, HT_yHR_z+HT_zHR_y, HT_zHR_z is a known vector of incident magnetic fields obtained from FEM simulations or in-situ measurements. The superscript T describes the matrix transpose. Equation (4) can be solved by minimizing the least squares problem below.12VRx(P)-VRxm2min??? Here VRxm is the measured response signal of metal object and VRx(P) is the approximated metal object response from equation (4). The inversion of electromagnetic tensor vector P from equation (5) can be implemented by iterative methods, e.g. regularized Gauss Newton PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5EZWtkb3VrPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48

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ADDIN EN.CITE PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5EZWtkb3VrPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48

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ADDIN EN.CITE.DATA [13, 30] or direct methods, e.g. singular value decomposition ADDIN EN.CITE <EndNote><Cite><Author>Norton</Author><Year>2001</Year><RecNum>6</RecNum><DisplayText>[14]</DisplayText><record><rec-number>6</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1369822289">6</key></foreign-keys><ref-type name="Journal Article">17</ref-type><contributors><authors><author>Norton, S. J.</author><author>Won, I. J.</author></authors></contributors><auth-address>Norton, SJ&#xD;Geophex Ltd, Raleigh, NC 27603 USA&#xD;Geophex Ltd, Raleigh, NC 27603 USA</auth-address><titles><title>Identification of buried unexploded ordnance from broadband electromagnetic induction data</title><secondary-title>IEEE Transactions on Geoscience and Remote Sensing</secondary-title></titles><periodical><full-title>Ieee Transactions on Geoscience and Remote Sensing</full-title><abbr-1>Ieee T Geosci Remote</abbr-1></periodical><pages>2253-2261</pages><volume>39</volume><number>10</number><dates><year>2001</year><pub-dates><date>October</date></pub-dates></dates><isbn>0196-2892</isbn><accession-num>ISI:000171680400017</accession-num><urls><related-urls><url>&lt;Go to ISI&gt;://000171680400017</url></related-urls></urls><language>English</language></record></Cite></EndNote>[14]. Here, the direct Gauss elimination method is used to implement the electromagnetic tensor inversion.If N measurements are made at N different positions, the optimized 6 elements in P for equation (5) are expected to fulfil the equation below. Here h is an N x 6 matrix and VRxm is an N x 1 matrix.jωμ0IRh?PT=VRxm???Then by using Gauss elimination, the electromagnetic tensor vector P in equation (6) can be directly solved from the equation below.PT=h-1jωμ0IR-1?VRxm ???Theoretically at least 6 independent measurements (N >=6) are required to compute the vector P, which has 6 unknown elements.Electromagnetic Tensor Inversion from Rotation MeasurementsFrom PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5HcnplZ29yY3p5azwvQXV0aG9yPjxZZWFyPjIwMTE8L1ll

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ADDIN EN.CITE.DATA [9, 14-16, 29, 34], the electromagnetic polarizability tensor of a metal target can be represented by its eigenvalue matrix Λ and a rotation matrix R. M=R?Λ?RT???R(α,β,γ)=1000cosα-sinα0sinαcosα?cosβ0sinβ010-sinβ0cosβ?cosγ-sinγ0sinγcosγ0001 ???Here Λ is the eigenvalue matrix of M, which is demonstrated as Λ=λ11000λ22000λ33. R is a 3 x 3 unitary matrix, which can be characterized by the Euler rotation matrix in x-y-z rotation sequence. In equation (9), α,β and γ are the rotation angles around x, y and z axes in the local coordinate of the metal target.By substituting equation (8) into (2), the electromagnetic responses of metal targets can be represented by the equation below.VRx=jωμ0IRs?OT????Here O=β11,β22,β33 is the unknown vector of the eigenvalues of electromagnetic polarizability tensor matrix for a metal object. s=S1,S2,S3 is the known vector of incident magnetic fields and rotation matrix. The elements of vector s are shown below. Here (:,1), (:,2) and (:,3) means first, second and third columns of the matrix.S1=HT?R(:,1)?HR?R(:,1)S2=HT?R(:,2)?HR?R(:,2)S3=HT?R(:,3)?HR?R(:,3)????In equation (10), only three unknown variables in the eigenvalue vector O need to be inverted from the measured response signals at the rotation angles, α,β and γ. Equation (10) can be solved by minimizing the least squares problem below. 12VRx(O)-VRxm2min????If N measurements are made at N different orientations, the optimized 3 elements in O for equation (12) are expected to fulfil the equation below. Here s is an N x 3 matrix and VRxm is an N x 1 matrix.jωμ0IRs?OT=VRxm????By using Gaussian elimination, for instance, the electromagnetic tensor vector O in equation (13) can be directly solved from the equation below.OT=s-1iωμ0IR-1?VRxm????Theoretically at least 3 independent measurements (N>=3) are required to compute the vector O, which has 3 unknown elements.Independence of Measurements DeterminationThe electromagnetic tensor vectors P in equation (6) and O in equation (13) can be inverted as follows.PT=hT h-1 hTjωμ0IR-1?VRxm (15)OT=sT s-1 sTjωμ0IR-1?VRxm(16)The inverse matrices hT h and sT s are 6 x 6 and 3 x 3 square matrices separately. The independence of multi-position measurements and rotation measurements can be directly determined by calculating the ranks of these two matrices without the need to inverse the electromagnetic tensor of metal objects. These ranks are equal to the number of singular values of these inverse matrices, which are larger than the minimum tolerances τ. These singular values are calculated from singular value decomposition (SVD). The minimum tolerance τ is given by the equation below ADDIN EN.CITE <EndNote><Cite><Author>MathWorks</Author><RecNum>676</RecNum><DisplayText>[35]</DisplayText><record><rec-number>676</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1440760540">676</key></foreign-keys><ref-type name="Web Page">12</ref-type><contributors><authors><author>MathWorks</author></authors></contributors><titles><title>MatLab Documentation: Rank</title></titles><dates></dates><urls><related-urls><url>uk.help/matlab/ref/rank.html</url></related-urls></urls></record></Cite></EndNote>[35].τ=d×2log2(a×2-b)(17)Here d is the maximum size of the inverse matrix. a is the maximum singular value of the inverse matrix and b is the number of bits for the fractional part of a floating number. For the double precision floating-point numbers in this paper, b equals 52 bits ADDIN EN.CITE <EndNote><Cite><Author>IEEE</Author><Year>2008</Year><RecNum>679</RecNum><DisplayText>[36]</DisplayText><record><rec-number>679</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1441278388">679</key></foreign-keys><ref-type name="Standard">58</ref-type><contributors><authors><author>IEEE</author></authors></contributors><titles><title>IEEE Standard for Floating-Point Arithmetic</title><secondary-title>IEEE Std 754-2008</secondary-title></titles><periodical><full-title>IEEE Std 754-2008</full-title></periodical><pages>1-70</pages><keywords><keyword>IEEE standards</keyword><keyword>floating point arithmetic</keyword><keyword>programming</keyword><keyword>IEEE standard</keyword><keyword>arithmetic formats</keyword><keyword>computer programming</keyword><keyword>decimal floating-point arithmetic</keyword><keyword>754-2008</keyword><keyword>NaN</keyword><keyword>arithmetic</keyword><keyword>binary</keyword><keyword>computer</keyword><keyword>decimal</keyword><keyword>exponent</keyword><keyword>floating-point</keyword><keyword>format</keyword><keyword>interchange</keyword><keyword>number</keyword><keyword>rounding</keyword><keyword>significand</keyword><keyword>subnormal</keyword></keywords><dates><year>2008</year></dates><urls></urls><electronic-resource-num>10.1109/IEEESTD.2008.4610935</electronic-resource-num></record></Cite></EndNote>[36].Simulation ResultsBoth the multi-position measurement method and rotation measurement method were analyzed by FEM simulations, using a commercial FEM solver, Ansys Maxwell v16 to provide synthetic data to test the methods.Target ObjectsIn landmine and UXO detection, the target objects can mostly be grouped in few categories, i.e. rings, spheres, cylinders and spheroids ADDIN EN.CITE <EndNote><Cite><Author>Bruschini</Author><Year>2002</Year><RecNum>256</RecNum><DisplayText>[19]</DisplayText><record><rec-number>256</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1372789703">256</key></foreign-keys><ref-type name="Thesis">32</ref-type><contributors><authors><author>Bruschini, C.</author></authors></contributors><titles><title>A Multidisciplinary Analysis of Frequency Domain Metal Detectors for Humanitarian Demining</title><secondary-title>Faculty of Applied Sciences</secondary-title></titles><volume>PhD</volume><dates><year>2002</year></dates><publisher>Vrije Universiteit Brussel (VUB, Belgium)</publisher><isbn>9783898258531</isbn><work-type>PhD Thesis</work-type><urls><related-urls><url>;[19]. 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ADDIN EN.CITE.DATA [9, 20, 37], the cylindrical objects are focused for the tensor determinations from landmine/UXO and in-line metal detector systems in this paper.The trans-impedances between the transmitter and receiver coils are simulated with and without the metal target objects. The simulated target object responses are the differential values of these two trans-impedances.As the electromagnetic responses of metal objects are strong at high frequency, the FEM models are simulated at 800 kHz for the converged and accurate results.Multi-position Measurement MethodThe current multi-position measurement method is analyzed in the undesired and desired cases for the tensor inversion. The first FEM model represents an undesired case for tensor inversion. It has simple co-axial sensor coils with magnetic field sensitivity mainly in z direction and a simple measurement protocol along a 1D line. It has a 10 cm radius red outer transmitter coil and a 6 cm radius green inner receiver coil as shown in Fig.4.. The electromagnetic responses of a metal object are simulated along a radial straight line at a distance D below the sensor coils, as shown in blue connected stars line. FEM model 1 for the multi-position measurement method (left: FEM model; right: simulated locations of metal objects) The second FEM model represents a desired case for tensor inversion. It has two-receiver sensor coils with magnetic field sensitivity in various directions and a complex measurement protocol in a 2D plane.It consists of a 13 cm radius red outer transmitter coil and two green inner opposite wired receiver coils in 6 cm radius. The metal object was simulated at various locations at a distance D below the sensor coil, as shown in blue connected stars line. FEM model 2 for the multi-position measurement method (left: FEM model; right: simulated locations of metal objects) A brass cylindrical wire with 1.25 mm diameter and 40 mm length is vertically placed at D=30 cm below these two sensor coils. Its electromagnetic response signals at various locations (shown in blue dots) were simulated at an arbitrary selected frequency, in this case 800 kHz and used to invert its electromagnetic tensor matrix by using equations (4)-(7). The phases and magnitudes of the eigenvalues of the inverted electromagnetic tensors are compared to calculated results from previous paper PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9] and shown in the tables below.Phases of eigenvalues of simulated and calculated electromagnetic tensor matrices of brass wire 1.25 x 40 mm (Diameter x Length) at 800 KHz for the multi-position measurement methodSourcesPhases of Eigenvalues of Electromagnetic Tensor Matrix Λ: (Degree)λ11λ22λ33Calculation PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]165.38165.40165.40FEM model 1126.45125.77125.88FEM model 2168.20168.88168.75Magnitudes of eigenvalues of simulated and calculated electromagnetic tensor matrices of brass wire 1.25 x 40 mm (Diameter x Length) at 800 KHz for the multi-position measurement methodSourcesMagnitudes of Eigenvalues of Electromagnetic Tensor Matrix Λ: λ11λ22λ33Calculation PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]4.15E-048.94E-048.95E-04FEM model 12.38E+016.45E-045.54E-04FEM model 24.65E-048.58E-048.40E-04In Table I and II, only the FEM model 2 provides correct phases and magnitudes, which are close to the previous calculated results. In Table II, the magnitudes of simulated eigenvalues are scaled to measured eigenvalues by a constant value, i.e. 3.80E+01 for FEM model 1 and 2.04E+03 for FEM model 2. These scaling factors are caused by the differences in magnetic field strengths and gains in the electronic system.Ranks of the inverse matrices of FEM model 1 and 2SourcesTolerance τSingular Values of h T hRankFEM model 16.51E-198.06E-04, 8.54E-05, 4.08E-06, 7.13E-12, 5.60E-14, 3.89E-215FEM model 22.60E-183.11E-03, 1.07E-03, 4.51E-04, 1.44E-04, 1.91E-05, 1.04E-056In Table III, the inverse matrix h T h in FEM model 1 is not full rank, i.e. less than 6. It indicates that there are insufficient independent measurements. The reason is that the brass wire in FEM model 1 is not exposed to any tangential field components. This indicates the difficulties of reconstructing a tensor matrix from a single line passing over the sensor. In general a 2D scan of the area is required. In addition, the in-line metal detector has some characteristics similar to the FEM model 1, i.e. simple co-axial sensor coils with magnetic field sensitivity mainly in one direction and a simple measurement protocol along a 1D line. So the electromagnetic tensors cannot be accurately calculated for in-line metal detectors from the multi-position measurement along a single line passing through the sensor.Rotation Measurement MethodThe proposed rotation measurement method was analyzed on a balanced sensor coil array characteristic of the type used for in-line metal detector as shown in Fig. 6.. This is a similar geometry to an actual test set-up used by other works in the field ADDIN EN.CITE <EndNote><Cite><Author>Abdel Rehim</Author><Year>2015</Year><RecNum>670</RecNum><DisplayText>[38]</DisplayText><record><rec-number>670</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1440421738">670</key></foreign-keys><ref-type name="Conference Proceedings">10</ref-type><contributors><authors><author>Abdel Rehim, O. A.</author><author>Davidson, J. L.</author><author>Marsh, L. A.</author><author>O&apos;Toole, M. D.</author><author>Armitage, D. W.</author><author>Peyton, A. J.</author></authors></contributors><titles><title>Measurement system for determining the magnetic polarizability tensor of small metal targets</title><secondary-title>Sensors Applications Symposium (SAS), 2015 IEEE</secondary-title><alt-title>Sensors Applications Symposium (SAS), 2015 IEEE</alt-title></titles><pages>1-5</pages><keywords><keyword>eigenvalues and eigenfunctions</keyword><keyword>magnetic variables measurement</keyword><keyword>tensors</keyword><keyword>.222 Remington rifle cartridge</keyword><keyword>clutter</keyword><keyword>eigenvalue spectra</keyword><keyword>landmine</keyword><keyword>magnetic polarizability tensor</keyword><keyword>metallic object target</keyword><keyword>spectroscopic magnetic measurement system</keyword><keyword>titanium cube</keyword><keyword>transimpedance measurement</keyword><keyword>Detectors</keyword><keyword>Magnetic field measurement</keyword><keyword>Tensile stress</keyword><keyword>Titanium</keyword><keyword>Voltage measurement</keyword><keyword>ERW detection</keyword><keyword>electromagentic induction</keyword></keywords><dates><year>2015</year><pub-dates><date>13-15 April 2015</date></pub-dates></dates><urls></urls><electronic-resource-num>10.1109/SAS.2015.7133568</electronic-resource-num></record></Cite></EndNote>[38].FEM model 3 for the rotation measurement method (left: FEM model; right: simulated orientations of metal objects)This sensor coil array has a 35 mm outer radius transmitter coil with the cross section t = 2 mm by H = 100 mm and two 40 mm outer radius receiver coils with the cross section t = 2 mm by h = 40 mm. The magnetic fields inside this coil array are mainly in z direction.A brass cylindrical wire with 1.25 mm diameter and 40 mm length is placed at the center of the upper receiver coil. Its electromagnetic response signals at various orientations, i.e. 0?, 15?, 45?, 60?, 90?, 105?, 135? and 150? around x axis are simulated at an arbitrary selected frequency, in this case 800 kHz and used to invert its electromagnetic tensor matrix by using equations (10) – (14).Phases of eigenvalues of simulated and calculated electromagnetic tensor matrices of brass wire 1.25 x 40 mm (Diameter x Length) at 800 KHz for the rotation measurement methodSourcesPhases of Eigenvalues of Electromagnetic Tensor Matrix Λ: (Degree)λ11λ22λ33Calculation PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]165.38165.40165.40FEM model 3165.76165.97165.97Magnitudes of eigenvalues of simulated and calculated electromagnetic tensor matrices of brass wire 1.25 x 40 mm (Diameter x Length) at 800 KHz for the rotation measurement methodSourcesMagnitudes of Eigenvalues of Electromagnetic Tensor Matrix Λ: λ11λ22λ33Calculation PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]4.15E-048.94E-048.95E-04FEM model 34.07E-049.03E-049.03E-04Ranks of the inverse matrices of FEM model 3SourcesTolerance τSingular Values of s T sRankFEM model 32.79E-095.11E+06, 1.90E+06, 1.17E+063In Table IV and Table V, the phases and magnitudes of inversion electromagnetic tensors from the FEM simulations of rotation measurement method are very close to the previous calculated results. The scaling factor for the simulated magnitudes results in Table V is 1.22E+03. In Table VI, the inverse matrix s T s in FEM model 3 is full rank, which indicates the independent measurements.As can be seen, the proposed rotation measurement can accurately determine the electromagnetic polarizability tensor from a magnetic sensor with magnetic fields mainly in one direction and a simple measurement protocol.Experiments ResultsThe rotation measurements were implemented on a magnetic sensor with magnetic fields mainly in one direction, i.e. an in-line metal detector. The utilized commercial in-line metal detector system is shown in Fig. 7. The size of the aperture is 350 x 175 mm (Wap x Hap). The distance between two receiver coils is 100 mm (CP). The size of the case is 620 x 420 x 275 mm (Wca x Hca x Lca). The case is constructed from stainless steel with 3 mm thickness. 3D computer model of an in-line metal detector in the experiment. (The transmitter coil is in red. The two receiver coils are in blue.)PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]Experiment Configurations and Data Processing MethodThe response signals from the receiver coils are demodulated on a receiver circuit board in the in-line metal detector. The demodulated signals and the trigger signal from a position sensor are acquired by a 24-bit data acquisition card (National Instruments, NI-9239). The sampling rate is configured to 4000 samples per second. The signal is recorded over 3 seconds, during which time the metal test pieces are scanned through the detector on plastic conveyor belt. Optical beam breaks are used to trigger the start of the acquisition. The acquisition time is long enough for the target to pass through the detector at a nominal speed of a conveyor of around 20 m/min. At this conveyor speed, the demodulated response signals of this in-line metal detector to metal objects are around 2 Hz. This frequency is mainly determined by the conveyor speed, distance between two receiver coils, the size of the case and the size of metal object. A block diagram of the experimental arrangement is given in Fig. 8.. Data acquisition setup. (I: In-phase; Q: Quadra-phase) PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]In Fig. 9., the acquired data are first subtracted by a fitted linear equation to eliminate the high frequency noise, DC offsets and drifts. Then a 3rd order Butterworth low pass filter with cut-off frequency at 50 Hz is placed to remove the high frequency noises. Additionally, a calibration method is introduced to align the phase response and correct for gain errors at different operating frequencies. The calibration is performed using a small MnZn ferrite test object.Data processing method PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]The signal-to-noise ratios (SNRs) of the captured response signals of a 2.5 mm diameter cobalt sphere are represented before and after the data processing method. In general, the SNR is higher at high frequency, as the response signals of metal objects are linear to frequency in equation (2). Signal-to-noise ratio (SNR) of the captured response signals of a 2.5 mm diameter cobalt sphere before and after the data processing method FrequencySNR: (dB)Before the data processing method in Fig. 9. After the data processing method in Fig. 9.100 kHz27.028.9300 kHz37.838.9800 kHz37.541.0Rotation Measurements and Electromagnetic Tensor InversionThe metal wires were passed through the in-line metal detector at least 3 times with different orientations from 0? to 150? to the incident magnetic fields. Orientations of metal wires PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]The electromagnetic tensors of the metal objects are inverted from the rotation measurements by using equation (10) - (14). The eigenvalues of the inverted electromagnetic tensors are compared to the calculated results from previous paper PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]. The tested metal samples includes brass wire 0.8 x 40 mm (diameter x length), brass wire 1.25 x 40 mm, stainless steel wire 0.8 x 40 mm and iron wire 0.9 x 40 mm.For metal cylindrical wires, the eigenvalue element of tensor matrix λ22 equals the element λ33, which characterize the transverse responses. The eigenvalue element of β11 characterizes the longitude responses PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5Ob3J0b248L0F1dGhvcj48WWVhcj4yMDAxPC9ZZWFyPjxS

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ADDIN EN.CITE.DATA [14, 39]. The ferrous wire, i.e. iron has a stronger response to longitudinal magnetic fields, i.e. λ11>λ22. The non-ferrous wire, i.e. brass and stainless steel has a stronger response to transverse magnetic fields, i.e. λ11<λ22 ADDIN EN.CITE <EndNote><Cite><Author>Lock</Author><Year>1990</Year><RecNum>205</RecNum><DisplayText>[27]</DisplayText><record><rec-number>205</rec-number><foreign-keys><key app="EN" db-id="tsft5dsp1zfzvwef2d4vttexpaaz9xvar595" timestamp="1371940602">205</key></foreign-keys><ref-type name="Classical Work">49</ref-type><contributors><authors><author>Andrew Lock</author></authors></contributors><titles><title>The Guide to Reducing Metal Contamination in the Food Processing Industry</title></titles><dates><year>1990</year></dates><pub-location>Tampa, Florida.</pub-location><publisher>Safeline Inc.</publisher><urls></urls></record></Cite></EndNote>[27].The inverted eigenvalues of tensor matrices from the rotation measurements by using Gauss elimination (Ss: stainless steel, wire diameter x length in (mm))Sample100 kHz300 kHz800 kHzλ11λ22,λ33λ11λ22,λ33λ11λ22,λ33Brass0.8x40mm5.60E-4-1.73E-3*j1.25E-3-3.86E-3*j6.97E-3-8.29E-3*j1.54E-2-1.80E-2*j4.31E-2-1.95E-2*j9.43E-2-4.26E-2*jBrass1.25x40mm5.54E-3-7.02E-3*j1.20E-2-1.51E-2*j3.21E-2-1.71E-2*j6.92E-2-3.67E-2*j1.26E-1-3.30E-2*j2.72E-1-7.10E-2*jSs0.8x40mm-3.12E-5-1.55E-4*j-2.32E-5-3.14E-4*j-6.62E-5-1.24E-3*j9.37E-5-2.75E-3*j1.98E-3-1.07E-2*j4.44E-3-2.37E-2*jIron0.9x40mm-1.10E-1-1.19E-1*j-2.02E-2-4.88E-3*j-1.72E-1-2.02E-1*j-4.84E-2-1.86E-2*j-2.69E-1-3.41E-1*j-1.00E-1-7.03E-2*jThe phases of λ11 and λ22 above are compared to the calculated results from previous paper PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]. The ratios of magnitudes of only λ11 and λ22 above are compared to the calculated results from previous paper PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9].Phases differences between the inverted eigenvalues of tensor matrices by using Gauss elimination and the calculated eigenvalues of tensor matrices from previous paper (Ss: stainless steel, wire diameter x length in (mm))SamplePhase Difference100 kHz300 kHz800 kHzλ11λ22,λ33λ11λ22,λ33λ11λ22,λ33Brass0.8x40mm0.30%-0.40%0.03%-0.21%0.09%-0.15%Brass1.25x40mm-0.01%0.05%-0.02%0.02%-0.04%-0.01%Ss0.8x40mm-15.89%-0.54%-1.26%-0.16%0.71%0.17%Iron0.9x40mm-0.11%18.76%-0.06%9.79%-0.06%1.07%Magnitude differences (λ11/λ22) between the inverted eigenvalues of tensor matrices by using Gauss elimination and the calculated eigenvalues of tensor matrices from previous paper (Ss: stainless steel, wire diameter x length in (mm))SampleMagnitude Difference (λ11/λ22)100 kHz300 kHz800 kHzBrass 0.8x40 mm0.45%0.93%0.55%Brass 1.25x40 mm0.29%1.25%-0.19%Ss 0.8x40 mm17.59%1.13%1.03%Iron 0.9x40 mm-6.74%-5.18%-2.04%From Table IX and X, the phases and magnitudes differences are generally less than 10%. The differences are significant only for small and low conductivity metal wires, e.g. ss 0.8x40 mm and iron 0.9x40 mm at low frequency, e.g. 100 kHz. The inverse matrices, sT s of the results above are all full rank. So these rotation measurements are independent. From equation (16) and (17), these differences are caused by the factors within the measured response signals VRxm.First, the response signals VRxm of these low conductivity samples at low frequencies are weak and noisy, comparing with the other samples at higher frequencies. Second, the iron wire may be partially magnetized in the experiments.Inversion MethodsIn equation (14), the eigenvalues of the electromagnetic polarizability tensors are directly inverted from rotation measurements by Gaussian elimination. In this section, two additional inversion methods, i.e. singular value decomposition (SVD) and regularized Gauss Newton are applied to the inversion of electromagnetic polarizability tensors from rotation measurement.Singular Value Decomposition (SVD) Methods=U Σ VT????Here s is a matrix containing the values of vector s from the total number of N wire orientation measurements. U and V are two unitary matrices and Σ is a diagonal matrix with singular values of the matrix s. By using equation (18), equation (16) can be simplified to the equation below for the inversion of eigenvalues of electromagnetic polarizability tensors. OT=UΣ-1VTjωμ0IR-1?VRxm(19)Phases differences between the inverted eigenvalues of tensor matrices by using the singular value decomposition method and the calculated eigenvalues of tensor matrices from previous paper (Ss: stainless steel, wire diameter x length in (mm))SamplePhase Difference100 kHz300 kHz800 kHzλ11λ22,λ33λ11λ22,λ33λ11λ22,λ33Brass0.8x40mm-0.44%0.63%-0.09%0.58%-0.14%0.56%Brass1.25x40mm0.02%-0.11%0.12%-0.09%0.40%0.14%Ss0.8x40mm17.15%-6.24%1.21%0.10%-0.88%-0.11%Iron0.9x40mm0.04%-2.27%0.02%-1.46%0.02%-0.44%Magnitude differences (λ11/λ22) between the inverted eigenvalues of tensor matrices by using the singular value decomposition method and the calculated eigenvalues of tensor matrices from previous paper (Ss: stainless steel, wire diameter x length in (mm))SampleMagnitude Difference (λ11/λ22)100 kHz300 kHz800 kHzBrass 0.8x40 mm0.45%0.93%0.34%Brass 1.25x40 mm0.28%1.25%-0.19%Ss 0.8x40 mm17.58%1.12%1.03%Iron 0.9x40 mm-6.77%-5.20%-2.05%The inversed tensor results from the singular value decomposition method are also compared to the calculated results in previous paper PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]. From Table XI and XII, the differences in phases and magnitudes from the singular value decomposition method are similar to the direct Gauss elimination method in Table IX and X.Regularized Gauss Newton MethodThe regularized Gauss Newton method is utilized to find the minimum of equation (12) after a number of iterations. The equation to be iterated is shown below.O(k+1)T=O(k)T-VRx'TVRx'+ψ G-1VRx'TVRx-VRxm k=1,…,K(20)Here k is the number of iteration. ψ is the constant value for regulation. G is the diagonal regulation matrix. From equation (10), the Jacobian matrix VRx' is given below.VRx'=jωμ0IRs(21)By taking equation (21) into equation (20), the equation for regularized Gauss Newton iteration is shown below.Ok+1T=OkT-jωμ0IR2sT s+ψ G-1jωμ0IRsTjωμ0IRs OkT-VRxm k=1,…,K(22)In the regularized Gauss Newton iterations, ψ is set as a fixed constant at 1E-04. G is set as a diagonal matrix with three diagonal elements equal to 1+1j. The initial value for O(k) is set as O(1)=1+1j,1+1j,1+1j.In general, the differences between the values of O(k) from the last two iterations are lower than (1E-13)% after at least 7 iterations.Phases differences between the inverted eigenvalues of tensor matrices by using the regularized Gauss Newton method and the calculated eigenvalues of tensor matrices from previous paper (Ss: stainless steel, wire diameter x length in (mm))SamplePhase Difference100 kHz300 kHz800 kHzλ11λ22,λ33λ11λ22,λ33λ11λ22,λ33Brass0.8x40mm-0.39%0.69%-0.06%0.61%-0.12%0.58%Brass1.25x40mm0.10%-0.03%0.17%-0.04%0.43%0.17%Ss0.8x40mm17.21%-6.20%1.23%0.11%-0.87%-0.10%Iron0.9x40mm0.07%-2.20%0.03%-1.43%0.03%-0.42%Magnitude differences (λ11/λ22) between the inverted eigenvalues of tensor matrices by using the regularized Gauss Newton method and the calculated eigenvalues of tensor matrices from previous paper (Ss: stainless steel, wire diameter x length in (mm))SampleMagnitude Difference (λ11/λ22)100 kHz300 kHz800 kHzBrass 0.8x40 mm0.39%0.87%0.28%Brass 1.25x40 mm0.23%1.19%-0.25%Ss 0.8x40 mm17.53%1.06%0.97%Iron 0.9x40 mm-6.57%-5.06%-1.95%The inversed tensor results from the regularized Gauss Newton method are also compared to the calculated results in previous paper PEVuZE5vdGU+PENpdGU+PEF1dGhvcj5aaGFvPC9BdXRob3I+PFllYXI+MjAxNDwvWWVhcj48UmVj

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ADDIN EN.CITE.DATA [9]. From Table XIII and XIV, the differences in phases and magnitudes from the regularized Gauss Newton method are similar to the direct Gauss elimination method in Table IX and X.In conclusion, the inversed tensor results from the singular value decomposition method and regularized Gauss Newton method are similar to the results from direct Gauss elimination method. Therefore, the electromagnetic tensor matrix M and the incident magnetic fields HT and HR in equation (2) are very independent in the experiments on an in-line metal detector. So the direct Gauss elimination is sufficient for the tensor inversion from a linear equation.DiscussionThe proposed rotation measurements determine the electromagnetic tensors of metal objects with known positions and orientations. In practice, the magnetic field vector h in equation (4) can be represented by Biot-Savart law, where an unknown vector of target position is included and inverted along with the electromagnetic tensors. However, this approach assumes that there is no metal case around the sensor coil, which generates secondary magnetic fields from eddy currents. So for the metal detectors with metal cases, e.g. in-line metal detector, this approach is not applicable. The incident magnetic fields can only be measured or simulated at known positions.On the practical target orientation estimation, the axis-symmetrical metal objects, i.e. cylindrical metal wires, can be rotated over two orthogonal planes to determine their orientations, i.e. eigenvectors. But for non-symmetrical metal objects, a more complicated rotational scanning protocol is needed, i.e. rotations over three orthogonal planes.ConclusionFrom this paper, the accuracy of the inversed electromagnetic polarizability tensor is mainly determined by the sensor coil, the measurement protocol and the measured response signals of metal objects. The first two factors can be analyzed by the calculated ranks of inverse matrices. The last factor depends on the SNR of response signals and the characteristics of metal samples, e.g. magnetization.The rotation measurement is proposed to determine the electromagnetic polarizability tensors from an undesired case for current multi-position measurement method, i.e. simple co-axial coils and in-line scanning. The experiments are implemented on a commercial in-line metal detector to prove the feasibility of the rotation measurement.Last, two addition inverse methods, i.e. the singular value decomposition method and regularized Gauss Newton method, are analysed in determining the electromagnetic tensors. In conclusion, for the overdetermined system of electromagnetic tensor inverse from rotation measurements on in-line metal detectors, the influence of the inversed method is less significant.References ADDIN EN.REFLIST [1]I. J. Won, D. A. Keiswetter, and T. H. Bell, "Electromagnetic induction spectroscopy for clearing landmines," IEEE Transactions on Geoscience and Remote Sensing, vol. 39, pp. 703-709, April 2001.[2]D. M. Detectors. (2007, Metal detectors coil and search head design: Patents and Utility Models. Available: search_coils.pdf[3]L. A. Marsh, O. A. Abdel Rehim, Y. M. Tan, M. D. O'Toole, D. W. Armitage, and A. J. Peyton, "Design of electromagnetic sensor arrays optimised for inversion of the magnetic polarisability tensor," in Sensors Applications Symposium (SAS), 2015 IEEE, 2015, pp. 1-4.[4]T. Zhuoran and L. J. Carter, "Metal detector head analysis," in Sensing Technology (ICST), 2011 Fifth International Conference on, 2011, pp. 93-96.[5]D. Ambrus, D. Vasic, and V. Bilas, "Active induction balance method for metal detector sensing head utilizing transmitter-bucking and dual current source," Sensors & Their Applications Xvii, vol. 450, 2013.[6]S. Yamazaki, H. Nakane, and A. Tanaka, "Basic analysis of a metal detector," IEEE Transactions on Instrumentation and Measurement, vol. 51, pp. 810-814, August 2002.[7]M. Brighton and M. J. English, "Calculation of Optimum Spacing for a 3 Coil Axially-Symmetrical Metal Detector," Electronics Letters, vol. 29, pp. 838-839, May 13 1993.[8]M. D. O'Toole, L. A. Marsh, J. L. Davidson, Y. M. Tan, D. W. Armitage, and A. J. Peyton, "Non-contact multi-frequency magnetic induction spectroscopy system for industrial-scale bio-impedance measurement," Measurement Science and Technology, vol. 26, p. 035102, 2015.[9]Y. Zhao, W. Yin, C. Ktistis, D. Butterworth, and A. J. Peyton, "On the Low-Frequency Electromagnetic Responses of In-Line Metal Detectors to Metal Contaminants," IEEE Transactions on Instrumentation and Measurement, vol. 63, pp. 3181-3189, 2014.[10]K. N. Choi, "Two-Channel Metal Detector Using Two Perpendicular Antennas," Journal of Sensors, vol. 2014, p. 11, 2014.[11]P. Dhagat, A. Jander, and D. Luo, "Metal detector coil arrangement for uniform internal and zero external sensitivity," Journal of Applied Physics, vol. 103, Apr 1 2008.[12]L. A. Marsh, C. Ktistis, A. Jarvi, D. W. Armitage, and A. J. Peyton, "Determination of the magnetic polarizability tensor and three dimensional object location for multiple objects using a walk-through metal detector," Measurement Science and Technology, vol. 25, p. 055107, 2014.[13]L. A. Marsh, C. Ktistis, A. Jarvi, D. W. Armitage, and A. J. Peyton, "Three-dimensional object location and inversion of the magnetic polarizability tensor at a single frequency using a walk-through metal detector," Measurement Science and Technology, vol. 24, Apr 2013.[14]S. J. Norton and I. J. Won, "Identification of buried unexploded ordnance from broadband electromagnetic induction data," IEEE Transactions on Geoscience and Remote Sensing, vol. 39, pp. 2253-2261, October 2001.[15]T. M. Grzegorczyk, B. E. Barrowes, F. Shubitidze, J. P. Fernandez, and K. O'Neill, "Simultaneous Identification of Multiple Unexploded Ordnance Using Electromagnetic Induction Sensors," IEEE Transactions on Geoscience and Remote Sensing, vol. 49, pp. 2507-2517, July 2011.[16]T. H. Bell, B. Barrow, and N. Khadr, "Shape-based classification and discrimination of subsurface objects using electromagnetic induction," International Geoscience and Remote Sensing Symposium, Proceedings, vol. 1-5, pp. 509-513, 1998.[17]S. J. Norton, I. J. Won, and E. R. Cespedes, "Ordnance/Clutter Discrimination Based on Target Eigenvalue Analysis," Subsurface Sensing Technologies and Applications, vol. 2, pp. 285-298, 2001/07/01 2001.[18]C. Bruschini, "On the low-frequency EMI response of coincident loops over a conductive and permeable soil and corresponding background reduction schemes," IEEE Transactions on Geoscience and Remote Sensing, vol. 42, pp. 1706-1719, Aug 2004.[19]C. Bruschini, "A Multidisciplinary Analysis of Frequency Domain Metal Detectors for Humanitarian Demining," PhD PhD Thesis, Faculty of Applied Sciences, Vrije Universiteit Brussel (VUB, Belgium), 2002.[20]C. Bruschini and H. Sahli, "Phase angle based EMI object discrimination and analysis of data from a commercial differential two frequency system," Detection and Remediation Technologies for Mines and Minelike Targets V, Pts 1 and 2, vol. 4038, pp. 1404-1419, 2000.[21]T. H. Bell, B. J. Barrow, and J. T. Miller, "Subsurface discrimination using electromagnetic induction sensors," IEEE Transactions on Geoscience and Remote Sensing, vol. 39, pp. 1286-1293, Jun 2001.[22]H. P. Huang and I. J. Won, "Automated identification of buried landmines using normalized electromagnetic induction spectroscopy," IEEE Transactions on Geoscience and Remote Sensing, vol. 41, pp. 640-651, Mar 2003.[23]H. P. Huang and I. J. Won, "Characterization of UXO-Like targets using broadband electromagnetic induction sensors," IEEE Transactions on Geoscience and Remote Sensing, vol. 41, pp. 652-663, Mar 2003.[24]J. E. Mcfee, Y. Das, and R. O. Ellingson, "Locating and Identifying Compact Ferrous Objects," IEEE Transactions on Geoscience and Remote Sensing, vol. 28, pp. 182-193, Mar 1990.[25]Y. Das, J. E. Mcfee, J. Toews, and G. C. Stuart, "Analysis of an Electromagnetic Induction Detector for Real-Time Location of Buried Objects," IEEE Transactions on Geoscience and Remote Sensing, vol. 28, pp. 278-288, May 1990.[26]Y. Das and J. E. Mcfee, "A Simple Analysis of the Electromagnetic Response of Buried Conducting Objects," IEEE Transactions on Geoscience and Remote Sensing, vol. 29, pp. 342-344, Mar 1991.[27]A. Lock, "The Guide to Reducing Metal Contamination in the Food Processing Industry," ed. Tampa, Florida.: Safeline Inc., 1990.[28]Metal Detection, U. S. D. o. Agriculture, 1995.[29]Y. Zhao, W. Yin, C. Ktistis, A. J. Peyton, and D. Butterworth, "Determining the Electromagnetic Polarizability Tensors of Metal Objects from Rotation Measurements," in IEEE International Instrumentation and Measurement Technology Conference, Pisa, Italy, 2015.[30]B. Dekdouk, L. A. Marsh, D. W. Armitage, and A. J. Peyton, "Estimating Magnetic Polarizability Tensor of Buried Metallic Targets for Land Mine Clearance," in Ultra-Wideband, Short-Pulse Electromagnetics 10, F. Sabath and E. L. Mokole, Eds., ed: Springer New York, 2014, pp. 425-432.[31]A. M. Kaneko, G. Endo, and E. F. Fukushima, "Landmine buried depth estimation by curve characterization of metal mine detector signals," in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 5327-5332.[32]P. P. Silvester and D. Omeragic, "Sensitivity maps for metal detector design," IEEE Transactions on Geoscience and Remote Sensing, vol. 34, pp. 788-792, May 1996.[33]J. T. Smith and H. F. Morrison, "Estimating equivalent dipole polarizabilities for the inductive response of isolated conductive bodies," IEEE Transactions on Geoscience and Remote Sensing, vol. 42, pp. 1208-1214, Jun 2004.[34]A. Aliamiri, J. Stalnaker, and E. L. Miller, "Statistical classification of buried unexploded ordnance using Nonparametric prior models," IEEE Transactions on Geoscience and Remote Sensing, vol. 45, pp. 2794-2806, September 2007.[35]MathWorks. MatLab Documentation: Rank. Available: uk.help/matlab/ref/rank.html[36]IEEE, "IEEE Standard for Floating-Point Arithmetic," in IEEE Std 754-2008, ed, 2008, pp. 1-70.[37]D. A. Keiswetter, I. J. Won, J. Miller, T. Bell, E. Cespedes, and K. O'Neill, "Electromagnetic induction spectroscopy for detecting and identifying buried objects," Detection and Remediation Technologies for Mines and Minelike Targets V, Pts 1 and 2, vol. 4038, pp. 78-87, 2000a.[38]O. A. Abdel Rehim, J. L. Davidson, L. A. Marsh, M. D. O'Toole, D. W. Armitage, and A. J. Peyton, "Measurement system for determining the magnetic polarizability tensor of small metal targets," in Sensors Applications Symposium (SAS), 2015 IEEE, 2015, pp. 1-5.[39]S. J. Norton, I. J. Won, and E. R. Cespedes, "Spectral Identification of Buried Unexploded Ordnance from Low-Frequency Electromagnetic Data," Subsurface Sensing Technologies and Applications, vol. 2, pp. 177-189, 2001.Yifei Zhao received the B.Eng. (honors) degree in electrical and electronic engineering and the Ph.D. degree from the University of Manchester, Manchester, U.K. in 2010 and 2013 respectively. He is currently a research associate within the knowledge transfer partnership at the School of Electrical and Electronic Engineering, University of Manchester, U.K..His current research interests include sensors and instrumentation, metal detection, and electromagnetics.Wuliang Yin (M’05–SM’06) received the B.S. and M.S. degrees in electronic measurement and instrumentation from Tianjin University, Tianjin, China, in 1992 and 1995, respectively, and the Ph.D. degree in automotive electronics from Tsinghua University, Beijing, China, in 1999.He is currently a Lecturer with the University of Manchester, Manchester, U.K. He has authored or coauthored more than 100 publications. His current research interests include advanced sensors and instrumentation, automotive electronics, and electromagnetics.Dr. Yin was a recipient of the Science and Technology Award from the Chinese Ministry of Education in 2000.Christos Ktistis received the B.Sc. degree from the Technological Educational Institution, Serres, Greece, in 2000, the M.Sc. degree from Lancaster University, Lancaster, U.K., in 2002, and the Ph.D. degree from the University of Manchester, Manchester, U.K., in 2007. He is currently a visitor at the School of Electrical and Electronic Engineering, University of Manchester, U.K..Daren Butterworth received the BEng in Electrical and Electronic Engineering from Staffordshire Polytechnic in 1989. He is currently a visitor at the School of Electrical and Electronic Engineering, University of Manchester, U.K..Anthony J. Peyton received the B.Sc. degree in electrical engineering and electronics and the Ph.D. degree from the University of Manchester Institute of Science and Technology (UMIST), Manchester, U.K., in 1983 and 1986, respectively.He was a Principal Engineer with Kratos Analytical Ltd., to 1989, where he was engaged in developing precision electronic instrumentation systems for magnetic sector and quadrupole mass spectrometers. He joined the Process Tomography Group, UMIST, where he was a Lecturer. During 1996, he was a Senior Lecturer with Lancaster University, where he was a Reader in electronic instrumentation during July 2001 and a Professor during May 2004. Since December 2004, he has been a Professor of electromagnetic tomography engineering with the University of Manchester, Manchester. His current research interests include instrumentation, applied sensor systems, and electromagnetics. ................
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