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Sim2Real Learning With Domain Randomization for Autonomous Guidewire Navigation in Robotic-Assisted Endovascular Procedures

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IEEE Transactions on Automation science and engineering 2025年 22卷 13842-13854页

作者： Yao, Tianliang Wang, Haoyu Lu, Bo Ge, Jiajia Pei, Zhiqiang Kowarschik, Markus Sun, Lining Seneviratne, Lakmal Qi, Peng Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology Department of Control Science and Engineering Shanghai200092 China Shanghai University of Engineering Science School of Electronic and Electrical Engineering Shanghai201620 China Soochow University Robotics and Microsystems Center School of Mechanical and Electrical Engineering Jiangsu Suzhou215131 China Advanced Therapies Siemens Healthineers Ltd. Shanghai201318 China University of Shanghai for Science and Technology Oriental Pan-Vascular Devices Innovation College Shanghai200093 China Bavaria Forchheim91301 Germany Khalifa University KUCARS Department of Mechanical and Nuclear Engineering Abu Dhabi United Arab Emirates Tongji University College of Electronics and Information Engineering Shanghai Institute of Intelligent Science and Technology State Key Laboratory of Cardiovascular Diseases and Medical Innovation Center Shanghai East Hospital Department of Control Science and Engineering School of Medicine Shanghai200092 China

Over the past decade, significant advancements have been made in the research and industrialization of robotic systems for endovascular procedures, yet their clinical application remains relatively limited. Physicians commonly report that these robots lack certain intelligent assistive capabilities during procedures. There has been increasing interest and attempts to apply learning-centered algorithms to the training and enhancement of surgical robot skills. This paper proposes an autonomous navigation algorithm for interventional guidewires that is initially trained solely in a virtual simulation environment and subsequently deployed to a real-world robot. Experimental results demonstrate the feasibility of this approach for real-world applications. The proposed approach can help physicians reduce the learning curve for guidewire manipulation and elevate the robot to a higher level of autonomous operation, thereby breaking through the current bottleneck in the level of intelligence for clinical applications of interventional robots. It also holds promise for bringing intelligent transformation to future interventional procedures. © 2004-2012 IEEE.

关键词： Adversarial machine learning

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Performance and electromagnetic mechanism of radar-and infraredcompatible stealth materials based on photonic crystals

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International Journal of Minerals,Metallurgy and Materials 2025年第3期32卷 710-717页

作者： Yanming Liu Xuan Yang Lixin Xuan Weiwei Men Xiao Wu Yuping Duan AVIC Research Institute for Special Structures of Aeronautical Composite Ji’nan 250023China Aviation Key Lab of Science and Technology on High Performance Electromagnetic Windows Ji’nan 250023China Key Laboratory of Solidification Control and Digital Preparation Technology(Liaoning Province) School of Materials Science and EngineeringDalian University of TechnologyDalian 116085China

Traditional stealth materials do not fulfill the requirements of high absorption for radar waves and low emissivity for infrared ***,they can be detected by various technologies,considerably threatening weapon ***,a stealth material compatible with radar and infrared was designed based on the photonic bandgap characteristics of photonic *** radar stealth lay-er(bottom layer)is a composite of carbonyl iron/silicon dioxide/epoxy resin,and the infrared stealth layer(top layer)is a 1D photonic crystal with alternately and periodically stacked germanium and silicon *** composition optimization and structural adjust-ment,the effective absorption bandwidth of the compatible stealth material with a reflection loss of less than-10 dB has reached 4.95 *** average infrared emissivity of the proposed design is 0.1063,indicating good stealth *** theoretical analysis proves that photonic crystals with this structural design can produce infrared waves within the photonic bandgap,achieving high radar wave transmittance and low infrared *** stealth is achieved without affecting the absorption performance of the radar stealth layer,and the conflict between radar and infrared stealth performance is *** work aims to promote the application of photonic crystals in compatible stealth materials and the development of stealth technology and to provide a design and theoretical found-ation for related experiments and research.

关键词： microwave absorption infrared stealth photonic crystal compatible stealth

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Ptychographic characterization of spatiotemporal wavepackets

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Optica 2025年第4期12卷 498-504页

作者： Liu, Yuanyuan Xu, Yingming Zhang, Nianjia Liu, Dawei Wei, Lijin Cao, Qian Shi, Junhui Zhan, Qiwen School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai200093 China Zhangjiang Laboratory 100 Haike Road Shanghai201204 China Research Center for Novel Computational Sensing and Intelligent Processing Zhejiang Lab. Hangzhou311100 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China

Exciting advances in spatiotemporal wavepackets have shown great potential in a range of applications, including particle manipulation, time-resolved imaging, and unique light–matter interactions. In particular, spatiotemporal optical vortice (STOV) pulse beams characterized by a helical phase structure in space and time are a recently emerging type of complex structured ultrashort pulse. However, the high-resolution measurement and manipulation of ultrashort spatiotemporal wavepackets still face major challenges due to their inseparable properties in space and time. In this study, based on spectra-encoded ptychography, we implement a simple, compact, reference-free STOV characterization technique with a temporal resolution of 6 fs and a spatial resolution of 11.05 µm. This technique can be employed to analyze various intricate spatiotemporal structural beams, contributing to the growing field of spatiotemporally engineered ultrafast laser pulse beams. Additionally, as a lensless measurement technique, this characterization method may be extended to other spectral ranges, including the extreme ultraviolet and X-ray domains. © 2025 Optica Publishing Group.

关键词： Wave packets

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Bisulfite-mediated base-free decarboxylative carbonylsulfination of alkenes:access toβ-keto sultines

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science China Chemistry 2025年第2期68卷 622-630页

作者： Yongxin Zhang Pan Zhou Xinyue Ma Xiaoxiao Yang Xing Fang Yuxi Wang Chao Shu State Key Laboratory of Green Pesticide Engineering Research Center of Photoenergy Utilization for Pollution Control and Carbon ReductionCCNU-uOttawa Joint Research CentreCollege of ChemistryCentral China Normal University(CCNU)Wuhan 430079China Key Laboratory of Functional Molecular Solids Ministry of EducationAnhui Normal UniversityWuhu 241000China

A straightforward three-component decarboxylative cross-coupling ofα-keto acids,alkenes and sodium bisulfite is established for the construction of otherwise challenging-to-accessβ-keto sultine *** reaction involves the photoinduced carbonylsulfination of alkenes and utilizes sodium bisulfite as both a sulfur dioxide surrogate and buffer agent for deprotonation ofα-keto carboxylic *** note,the practical procedure featured broad substrate scope and group tolerance for diverse biologically important molecules under mild and operationally simple conditions,using an organic *** studies indicated that the transformation proceeds an apparent two-pronged radical addition/radical-polar crossover/SO_(2) insertion/ionic cyclization relay process,distinct from traditional alkenes bifunctionalization.

关键词： photoredox catalysis β-keto sultines carbonylsulfination sodium bisulfite radical

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Multi Domain UAV-UGV Path Planning

Multi Domain UAV-UGV Path Planning

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Ganeshan, Reyshwanth Rathinam, Sivakumar Darbha, Swaroop Lee, Jaekyung Jackie Casbeer, David W. Texas A&M University Mechanical Engineering College StationTX77801 United States Air Force Research Laboratory Control Science Center Wright-Patterson AFB OH45433 United States

ISBN: (纸本)9781624107238

In the robotic community, there is a growing interest in studying cooperative behavior among multiple autonomous agents operating in shared environments to accomplish tasks. This interest is fueled by various applications like search-and-rescue, disaster management, cooperative manipulation, foraging, surveillance, and coordinated Unmanned Aerial Vehicle (UAV) and Unmanned Ground Vehicle (UGV) systems. For these applications, multiple agents can be utilized for tasks, which can lead to performance improvements. Furthermore, using multiple agents allows for addressing a wider range of the area for such operations. Given the time-sensitive nature of these situations, the use of a UAV-UGV team maximizes efficiency and potentially saves thousands of human lives. This study focuses on implementation of UGV teaming, specifically a service and convoy vehicle team under the assumption that the resources from UAVs are provided. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Motion planning

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Robust Path-following controller for Multirotor Vehicles in Uncertain Wind Conditions

Robust Path-following Controller for Multirotor Vehicles in ...

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Bullock, John L. Trujillo, Anna C. Cheng, Sheng Hovakimyan, Naira Dynamic Systems and Control Branch NASA Langley Research Center HamptonVA23681 United States Department of Mechanical Science and Engineering University of Illinois Urbana-Champaign UrbanaIL61801 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents simulations of L1 adaptive controller on a multirotor vehicle for compensation of convective winds. There are increasing efforts to utilize unmanned vehicles for fighting wildfires, but such vehicles need to be able to compensate for convective updrafts and other uncertainties (e.g., wind shear and turbulence) caused by the wildfire. Other application domains, such as urban air mobility, also must account for convective or uncertain winds present in urban microclimates. Geometric controllers have great tracking performance properties in environments without uncertainties, but the tracking performance degrades when wind disturbances and external loads are present in the environment. Introducing L1 adaptive control into the controller architecture compensates for these wind disturbances and reduces the tracking error caused by such disturbances. The controller architecture is implemented on a small quadrotor. The simulations demonstrate the advantages of the L1 adaptive augmentation for a sample figure-eight trajectory while encountering unknown variable wind conditions with an external load. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Adaptive control systems

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Piloted Evaluation of a Fault Recovery System for an Aircraft with Distributed Electric Propulsion

Piloted Evaluation of a Fault Recovery System for an Aircraf...

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Litt, Jonathan S. Sachs-Wetstone, Jonah J. Shane Sowers, T. Karl Owen, A. Bricker, Sophia M. Schaldenbrand, Anna Intelligent Control and Autonomy Branch NASA Glenn Research Center ClevelandOH44135 United States Intelligent Control and Autonomy Branch HX5 LLC Brook ParkOH44024 United States Intelligent Control and Autonomy Branch NovaTek Engineering ChardonOH44024 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Electrified aircraft powertrains contain multiple tightly coupled subsystems, making them much more complex than traditional aircraft propulsion systems, both in terms of integration and control. Electrification enables aircraft to have multiple distributed thrust-producing fans that the flight control system can utilize for enhanced maneuverability, further increasing the control complexity. The SUbsonic Single Aft eNgine (SUSAN) Electrofan is a NASA concept aircraft that leverages this technology. SUSAN is a series/parallel partial hybrid electric single-aisle transport aircraft that takes advantage of its electrified powertrain to provide fuel burn and emissions benefits when compared to the state-of-the-art. Achieving these benefits requires an appropriately designed control architecture that coordinates the various powertrain and flight control subsystems. As such, the SUSAN aircraft is designed with a high level of automation, allowing it to properly manage coupled subsystems and react rapidly to failures and anomalies. To do this effectively, algorithms that perform component health management, fault detection, isolation, and accommodation, and continuous optimization, must be developed, tested, validated, and implemented. This paper describes a piloted evaluation of such an algorithm in scenarios with multiple fan failures, performed in a flight simulator, demonstrating failure recovery and continued safe operation up to the limits of the powertrain. These scenarios are subsequently related to certification requirements. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Aircraft propulsion

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[research progress in material preparation and application of magnetism-enhanced in-tube solid-phase microextraction]

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Se pu = Chinese journal of chromatography 2025年第6期43卷 606-619页

作者： Ya-Na Luo Jia Chen Yu-Yu Hu Shi-Jie Gao Yan-Li Wang Yan-Ming Liu Juan-Juan Feng Min Sun School of Chemistry and Chemical Engineering，University of Jinan，Jinan 250022，China. Shandong Institute for Food and Drug Control，Shandong Research Center of Engineering and Technology for Safety Inspection of Food and Drug，Jinan 250101，China.

Selecting a suitable sample preparation method is a significant step prior to chromatographic separation and detection. Directly analyzing samples instrumentally is difficult owing to the complexity of the sample matrix and the trace concentration of analytes. Most sample preparation methods have disadvantages， including complicated operating procedures， the use of large amounts of organic solvent， and ease of analyte loss during multistep processes； consequently， they do not meet the high analytical sample detection requirements of modern industry. The development of simple， environmentally friendly， efficient， and rapid preparation methods is a continuing frontier research area in the analytical chemistry field. Among the many available sample preparation techniques， in-tube solid-phase microextraction （IT-SPME） is receiving extensive attention. IT-SPME enriches the target analytes by extracting them to the inner surface of the capillary tube， and has been applied to extract various analytes in the environmental and food fields. IT-SPME is advantageous because it consumes low amounts of organic solvent and capillaries are mechanical stable； consequently， IT-SPME is a promising sample preparation technique. Magnetic field has been introduced to the IT-SPME system to further improve extraction efficiency and selectivity， leading to the development of magnetism-enhanced in-tube solid-phase microextraction （ME-IT-SPME） as a new technology. ME-IT-SPME uses magnetic field to separate and enrich targets， with different magnetic-field strengths applied to the extraction column during adsorption and elution. Diamagnetic substances in a paramagnetic medium tend to concentrate in regions where the magnetic field is weak when an external magnetic field is applied. Target analytes are detected chromatographically following elution. Conditions are optimized and an analytical method is established and used to detect targets in actual samples， leading to improved extraction sensi

关键词： biomedicine analysis environmental analysis food analysis magnetism-enhanced in-tube solid-phase microextraction （ME-IT-SPME） review sample preparation

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RDW-YOLOv8n: a deeply focused algorithm for small object traffic sign detection under complex weather conditions

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Journal of Electronic Imaging 2025年第2期34卷

作者： Guo, Hao He, Guodong Fang, Mingxing Xie, Shaoguo Ge, Jianfeng Anhui Normal University School of Physics and Electronic Information Wuhu China Anhui Engineering Research Center on Information Fusion and Control of Intelligent Robot Wuhu China Anqing Normal University School of Electronic Engineering and Intelligent Manufacturing Anqing China

In autonomous driving technology, accurate detection of traffic signs is crucial for vehicles to perceive their surrounding road conditions. However, the detection of small traffic signs is often affected by changes in lighting and obstruction from obstacles under complex weather conditions, resulting in inaccurate localization and missed detections. To address these challenges, we introduce a new optimized algorithm - RDW-YOLOv8n. We utilize an enhanced small object layer integrated with the ResCBAM module to replace the original large object layer. Unlike traditional methods of introducing small object layers, this method improves detection accuracy by enhancing the network's perception of small objects through residual attention while effectively addressing the issue of missed detections present in the original algorithm and significantly reducing the number of model parameters. In addition, lightweight depthwise convolution (DWConv) is introduced to further streamline the model without sacrificing accuracy. Finally, the original loss function is replaced with the WIoU loss function to enable the model to focus on the average quality of anchor boxes, balancing the learning of high- and low-quality samples. Experiments conducted on the CCTSDB 2021 dataset show that the RDW-YOLOv8n algorithm achieves a mean average precision (mAP50) of 84.7% and a recall rate (R) of 75.3%, which represent improvements of 6.9 and 5.2 percentage points over the baseline model, respectively. Meanwhile, the model parameter count is reduced by 68.11%, and the F1 score increases by 3.1%. These results effectively demonstrate the detection performance of this algorithm under complex weather. When compared with recent advanced algorithms, RDW-YOLOv8n achieves the highest mAP50 with the smallest number of parameters, highlighting the strong competitiveness and superiority of this algorithm. © 2025 SPIE and IS&T.

关键词： Road and street markings

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Policy for Optimal Avoidance of Multiple Engagement Zones

Policy for Optimal Avoidance of Multiple Engagement Zones

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AIAA science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Milutinović, Dejan Von Moll, Alexander Weintraub, Isaac E. Casbeer, David Department of Electrical and Computer Engineering University of California Santa Cruz Santa CruzCA95064 United States Control Science Center Air Force Research Laboratory WPAFB OH45433 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This work formulates the feedback control strategies for vehicles to reach a goal point amongst a field of dynamic risk regions. Whereas previous work has considered deterministic versions of this problem, we consider the scenario in the context of uncertainty. This uncertainty could be due to unknown wind or other external disturbances. The risk regions’ dynamics are tightly coupled to the state of the vehicle and as a result the task of navigating through a field dynamically changes as the vehicle traverses through it. Rather than using a nonlinear program solver, the approach taken here is one of formulating the problem as a stochastic optimal control problem wherein a feedback control law is derived. This feedback control law allows a single or multiple vehicles to reach the desired goal location efficiently and with minimal risk incursion. When inside a risk region, there is a probability rate of the vehicle being neutralized. The stochastic dynamical system is modeled as a hybrid system, i.e., regime switching diffusion. The hybrid system is comprised of continuous spatial dynamics and discrete operational states corresponding to "normal" and "neutralized". The optimal control problem is discretized into a field of vehicle states and control. Using Value Iteration, the control signal at each discrete location is optimized, providing a feedback control strategy over the field. Following a discussion of the methods and approaches, this problem is formulated, simulations are performed, and conclusions and remarks are made © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Stochastic systems

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