The ability to noninvasively manipulate and isolate specific cell populations in vivo is critical for advancing real-time diagnostics,precision medicine,and immunological research.Here,we present a novel and broadly a...The ability to noninvasively manipulate and isolate specific cell populations in vivo is critical for advancing real-time diagnostics,precision medicine,and immunological research.Here,we present a novel and broadly applicable optical trapping system based on a custom-designed 2×3 optical tweezer array,which enables the real-time interception and manipulation of circulating leukocytes in live animals.By utilizing intrinsic velocity differences between leukocytes and red blood cells,the system achieves stable trapping of individual leukocytes in vessels 15-20μm in diameter and decelerates multiple cells in vessels greater than 20μm.Notably,it also enables the optical blockage of lymphatic vessels exceeding 50μm,a previously unreported capability.This label-free,noninvasive approach operates without repeated blood draws and is compatible with diverse vessel geometries and flow dynamics.The system offers a generalizable solution for in vivo cell extraction and analysis,paving the way for high-precision single-cell technologies in biomedical research and clinical translation.展开更多
During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive...During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.展开更多
In this paper,the joint design of transmit and receive beamformers for transmit subaperturing multiple-input-multiple-output(TS-MIMO)radar is investigated,aiming to enhance its low probability of intercept(LPI)capabil...In this paper,the joint design of transmit and receive beamformers for transmit subaperturing multiple-input-multiple-output(TS-MIMO)radar is investigated,aiming to enhance its low probability of intercept(LPI)capability.The main objective is to simultaneously minimize the transmission power,suppress the transmit sidelobe levels,and minimize the probability of intercept,thus bolstering the LPI performance of the radar system while maintaining the desired target detection performance.An alternative optimization method is proposed to jointly optimize the transmit and receive beamformers,yielding an unified LPI optimization framework.Particularly,the proposed iterative algorithm based on the Lagrange duality theory for transmit beamforming is more efficient than the conventional convex optimization method.Numerical experiments highlight the effectiveness of the proposed approach in sidelobe suppression and computational efficiency.展开更多
The authors discovered large differences in the characteristics of overflows by the calculation of 1） intercepting volume of overflows for sewer systems using SWMM model which takes into consideration the runoff and ...The authors discovered large differences in the characteristics of overflows by the calculation of 1） intercepting volume of overflows for sewer systems using SWMM model which takes into consideration the runoff and pollutants from rainfalls and 2） the intercepted volume in the total flow at an investigation site. The intercepting rate at the investigation point of CSOs showed higher values than the SSDs. Based on the modeling of the receiving water quality after calculating the intercepting amount of overflows by considering the characteristics of outflows for a proper management of the overflow of sewer systems with rainfalls, it is clear that the BOD decreased by 82.9%-94.0% for the discharge after intercepting a specific amount of flows compared to the discharge from unprocessed overflows.展开更多
To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D lea...To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D leader-following cooperative interception guidance law.First,in the LOS direction of the leader,an impact time-controlled guidance law is derived based on the fixed-time stability theory,which enables the leader to complete the interception task at a prespecified impact time.Next,in the LOS direction of the followers,by introducing a time consensus tracking error function,a fixed-time consensus tracking guidance law is investigated to guarantee the consensus tracking convergence of the time-to-go.Then,in the direction normal to the LOS,by combining the designed global integral sliding mode surface and the second-order Sliding Mode Control(SMC)theory,an innovative 3D LOS-angle-constrained interception guidance law is developed,which eliminates the reaching phase in the traditional sliding mode guidance laws and effectively saves energy consumption.Moreover,it effectively suppresses the chattering phenomenon while avoiding the singularity issue,and compensates for unknown interference caused by target maneuvering online,making it convenient for practical engineering applications.Finally,theoretical proof analysis and multiple sets of numerical simulation results verify the effectiveness,superiority,and robustness of the investigated guidance law.展开更多
In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension ...In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m.展开更多
This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The...This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.展开更多
In this paper,an online midcourse guidance method for intercepting high-speed maneuvering targets is proposed.Firstly,the affine system is used to build a dynamic model and analyze the state constraints.The midcourse ...In this paper,an online midcourse guidance method for intercepting high-speed maneuvering targets is proposed.Firstly,the affine system is used to build a dynamic model and analyze the state constraints.The midcourse guidance problem is transformed into a continuous time optimization problem.Secondly,the problem is transformed into a discrete convex programming problem by affine control variable relaxation,Gaussian pseudospectral discretization and constraints linearization.Then,the off-line midcourse guidance trajectory is generated before midcourse guidance.It is used as the initial reference trajectory for online correction of midcourse guidance.An online guidance framework is used to eliminate the error caused by calculation of guidance instruction time.And the design of discrete points decreases with flight time to improve the solving efficiency.In addition,it is proposed that the terminal guidance capture is used innovatively space to judge the success of midcourse guidance.Numerical simulation shows the feasibility and effectiveness of the proposed method.展开更多
A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develo...A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develop and pursue virtual targets,respectively.A two-stage guidance strategy under nonlinear kinematics is developed on the basis of virtual targets.The first stage optimizes the coverage and collision situation by pursuing virtual targets under specific angular constraints.The second stage subsequently intercepts the superior target based on the handover condition optimized by the first stage.Numerical simulation results are provided to compare the effectiveness and superiority of the proposed strategy with those of the reachability-based cooperative strategy(RCS),coverage-based cooperative guidance(CBCG)and augmented proportional navigation(APN)under various maneuvering modes.展开更多
This paper presents two approaches for system-level simulation of force-balance accelerometers. The derivation of the system-level model is elaborated and simulation results are obtained from the implementation of tho...This paper presents two approaches for system-level simulation of force-balance accelerometers. The derivation of the system-level model is elaborated and simulation results are obtained from the implementation of those strategies on the fabricated silicon force-balance MEMS accelerometer. The mathematical model presented is implemented in VHDL- AMS and SIMULINK TM,respectively. The simulation results from the two approaches are compared and show a slight difference. Using VHDL-AMS is flexible,reusable,and more accurate. But there is not a mature solver developed for the language and this approach takes more time, while the simulation model can be easily built and quickly evaluated using SIMULINK.展开更多
基金funding from the National Key Research and Development Program of China(2021YFF0502900)special fund for Research on the National Major Research Instruments of China(62027824)+2 种基金the National Natural Science Foundation of China(U24A20314)the Key Research and Development Program of Anhui Province in China(2022a05020028)the Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province.
文摘The ability to noninvasively manipulate and isolate specific cell populations in vivo is critical for advancing real-time diagnostics,precision medicine,and immunological research.Here,we present a novel and broadly applicable optical trapping system based on a custom-designed 2×3 optical tweezer array,which enables the real-time interception and manipulation of circulating leukocytes in live animals.By utilizing intrinsic velocity differences between leukocytes and red blood cells,the system achieves stable trapping of individual leukocytes in vessels 15-20μm in diameter and decelerates multiple cells in vessels greater than 20μm.Notably,it also enables the optical blockage of lymphatic vessels exceeding 50μm,a previously unreported capability.This label-free,noninvasive approach operates without repeated blood draws and is compatible with diverse vessel geometries and flow dynamics.The system offers a generalizable solution for in vivo cell extraction and analysis,paving the way for high-precision single-cell technologies in biomedical research and clinical translation.
基金supported by the National Natural Sci‐ence Foundation of China(Grant No.62306325)。
文摘During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.
基金supported by the National Natural Science Foundation of China(62271247)the Natural Science Foundation of Jiangsu Province(BK20240181)+4 种基金the Dreams Foundation of Jianghuai Advance Technology Center(2023-ZM01D001)the National Aerospace Science Foundation of China(20220055052001)the Qing Lan Project of Jiangsu Provincethe Fund of Prospective Layout of Scientific Research for Nanjing University of Aeronautics and Astronauticsthe Key Laboratory of Radar Imaging and Microwave Photonics(Nanjing University of Aeronautics and Astronautics),Ministry of Education。
文摘In this paper,the joint design of transmit and receive beamformers for transmit subaperturing multiple-input-multiple-output(TS-MIMO)radar is investigated,aiming to enhance its low probability of intercept(LPI)capability.The main objective is to simultaneously minimize the transmission power,suppress the transmit sidelobe levels,and minimize the probability of intercept,thus bolstering the LPI performance of the radar system while maintaining the desired target detection performance.An alternative optimization method is proposed to jointly optimize the transmit and receive beamformers,yielding an unified LPI optimization framework.Particularly,the proposed iterative algorithm based on the Lagrange duality theory for transmit beamforming is more efficient than the conventional convex optimization method.Numerical experiments highlight the effectiveness of the proposed approach in sidelobe suppression and computational efficiency.
文摘The authors discovered large differences in the characteristics of overflows by the calculation of 1） intercepting volume of overflows for sewer systems using SWMM model which takes into consideration the runoff and pollutants from rainfalls and 2） the intercepted volume in the total flow at an investigation site. The intercepting rate at the investigation point of CSOs showed higher values than the SSDs. Based on the modeling of the receiving water quality after calculating the intercepting amount of overflows by considering the characteristics of outflows for a proper management of the overflow of sewer systems with rainfalls, it is clear that the BOD decreased by 82.9%-94.0% for the discharge after intercepting a specific amount of flows compared to the discharge from unprocessed overflows.
文摘To address the problem of multi-missile cooperative interception against maneuvering targets at a prespecified impact time and desired Line-of-Sight(LOS)angles in ThreeDimensional(3D)space,this paper proposes a 3D leader-following cooperative interception guidance law.First,in the LOS direction of the leader,an impact time-controlled guidance law is derived based on the fixed-time stability theory,which enables the leader to complete the interception task at a prespecified impact time.Next,in the LOS direction of the followers,by introducing a time consensus tracking error function,a fixed-time consensus tracking guidance law is investigated to guarantee the consensus tracking convergence of the time-to-go.Then,in the direction normal to the LOS,by combining the designed global integral sliding mode surface and the second-order Sliding Mode Control(SMC)theory,an innovative 3D LOS-angle-constrained interception guidance law is developed,which eliminates the reaching phase in the traditional sliding mode guidance laws and effectively saves energy consumption.Moreover,it effectively suppresses the chattering phenomenon while avoiding the singularity issue,and compensates for unknown interference caused by target maneuvering online,making it convenient for practical engineering applications.Finally,theoretical proof analysis and multiple sets of numerical simulation results verify the effectiveness,superiority,and robustness of the investigated guidance law.
基金supported by the National Natural Science Foundation of China(42276199).
文摘In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m.
基金supported by the National Natural Science Foundation of China(62303350).
文摘This paper presents a method of multicopter intercep-tion control based on visual servo and virtual tube in a cluttered environment.The proposed hybrid heuristic function improves the efficiency of the A*algorithm.The revised objective function makes the virtual tube generating curve not only smooth but also close to the path points generated by the A*algorithm.In six dif-ferent simulation scenarios,the efficiency of the modified A*algorithm is 6.2%higher than that of the traditional A*algorithm.The efficiency of path planning and virtual tube planning is veri-fied by simulations.The effectiveness of interception control is verified by a software-in-loop(SIL)simulation.
文摘In this paper,an online midcourse guidance method for intercepting high-speed maneuvering targets is proposed.Firstly,the affine system is used to build a dynamic model and analyze the state constraints.The midcourse guidance problem is transformed into a continuous time optimization problem.Secondly,the problem is transformed into a discrete convex programming problem by affine control variable relaxation,Gaussian pseudospectral discretization and constraints linearization.Then,the off-line midcourse guidance trajectory is generated before midcourse guidance.It is used as the initial reference trajectory for online correction of midcourse guidance.An online guidance framework is used to eliminate the error caused by calculation of guidance instruction time.And the design of discrete points decreases with flight time to improve the solving efficiency.In addition,it is proposed that the terminal guidance capture is used innovatively space to judge the success of midcourse guidance.Numerical simulation shows the feasibility and effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(Grant No.62203362)the Natural Science Basic Research Program of Shaanxi(Grant No.2023-JC-QN-0569)。
文摘A situation maintenance-based cooperative guidance strategy is proposed to intercept a high-speed and high-maneuverability target via inferior missiles.Reachability and relative motion analyses are conducted to develop and pursue virtual targets,respectively.A two-stage guidance strategy under nonlinear kinematics is developed on the basis of virtual targets.The first stage optimizes the coverage and collision situation by pursuing virtual targets under specific angular constraints.The second stage subsequently intercepts the superior target based on the handover condition optimized by the first stage.Numerical simulation results are provided to compare the effectiveness and superiority of the proposed strategy with those of the reachability-based cooperative strategy(RCS),coverage-based cooperative guidance(CBCG)and augmented proportional navigation(APN)under various maneuvering modes.
文摘This paper presents two approaches for system-level simulation of force-balance accelerometers. The derivation of the system-level model is elaborated and simulation results are obtained from the implementation of those strategies on the fabricated silicon force-balance MEMS accelerometer. The mathematical model presented is implemented in VHDL- AMS and SIMULINK TM,respectively. The simulation results from the two approaches are compared and show a slight difference. Using VHDL-AMS is flexible,reusable,and more accurate. But there is not a mature solver developed for the language and this approach takes more time, while the simulation model can be easily built and quickly evaluated using SIMULINK.
