Search Results (871)

Accurate delineation of tumor margins is critical for complete resection and minimizing recurrence, yet existing imaging modalities such as MRI, CT, and fluorescence imaging suffer from limitations including high cost, limited accessibility, and intraoperative constraints. In this study, we propose a low-cost, non-invasive approach for subsurface imaging based on near-infrared (NIR) illumination combined with deep learning. A controlled experimental setup was developed in which structured patterns displayed on an electronic paper screen were concealed beneath a tissue-mimicking chicken phantom and imaged using a NIR-sensitive camera under halogen illumination. A convolutional autoencoder based on a U-Net architecture was trained on approximately 10,000 paired samples to reconstruct hidden structures from highly scattered surface images. The proposed method achieved strong reconstruction performance, with the best model reaching a peak signal-to-noise ratio (PSNR) of 20.14 dB, structural similarity index (SSIM) of 0.92, and feature similarity index (FSIM) of 0.94, significantly outperforming conventional Wiener filtering. Qualitative results demonstrated accurate recovery of subsurface shapes with minor smoothing artifacts. While generalization to out-of-distribution samples remains limited, the findings highlight the potential of combining NIR imaging and deep learning for safe, rapid, and cost-effective subsurface visualization. This work establishes a foundation for future development toward clinically relevant tumor margin detection. Full article

To address the bottlenecks of low sample efficiency and poor control accuracy in traditional single-layer reinforcement learning during autonomous driving overtaking, this paper proposes an overtaking decision and control system based on hierarchical reinforcement learning to decouple complex tasks in spatial and temporal dimensions. A heterogeneous two-layer architecture is constructed, where the upper layer adopts the Proximal Policy Optimization algorithm to generate macroscopic discrete decisions, while the lower layer employs Twin Delayed Deep Deterministic Policy Gradient combined with Long Short-Term Memory to achieve smooth continuous control of steering and acceleration by perceiving temporal features of dynamic obstacles. A composite reward mechanism, integrating hard safety constraints and soft efficiency incentives, is designed to balance safety, efficiency, and comfort. Experimental results in complex scenarios with multiple interfering vehicles and random lane-changing behaviors demonstrate that the proposed system improves the training convergence speed by approximately 30% within 500,000 steps compared to single-layer algorithms. In tests across varying traffic densities, the system achieves a 98.3% success rate in medium-density scenarios with a collision rate of only 0.6%. In high-density challenges, the success rate remains above 95%, with the collision rate reduced by about 80% compared to baseline models. Furthermore, the lateral control deviation is strictly limited to within 0.2 m, and the longitudinal safety distance remains stable above 5 m. This system provides a robust, high-efficiency paradigm for autonomous overtaking. Full article

Air–ground collaborative systems leverage the complementary strengths of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) and hold significant potential for logistics in complex, unstructured environments. However, trajectory planning in infrastructure-free mountainous regions remains challenging owing to the need for continuous tight coupling, obstacle avoidance, and reliable communication-link maintenance. To address these challenges, this study proposes a cooperative trajectory planning framework that enforces strict inter-vehicle distance constraints to maintain communication connectivity. By formulating the coordination problem in terms of relative configurations between air and ground vehicles, the proposed framework exhibits translational invariance, reflecting an underlying symmetry with respect to global position shifts. This symmetry-aware formulation reduces reliance on absolute coordinates and promotes consistent cooperative behavior under environmental variability. The trajectory planning problem is mathematically formulated as a constrained multi-objective nonlinear programming (MONLP) model that balances energy consumption and trajectory smoothness. An adaptive inertia weight particle swarm optimization (AIWPSO) algorithm is developed to efficiently solve the resulting optimization problem. Simulation results demonstrate that the proposed approach generates smooth, collision-free trajectories while maintaining stable air–ground coordination, demonstrating improved feasibility and robustness over conventional planning methods in unstructured mountainous environments. Full article

This paper proposes an advanced wind energy conversion and management framework for improving grid integration and mitigating frequency and power fluctuations caused by wind intermittency. The studied system combines a permanent magnet synchronous generator (PMSG), a unidirectional Vienna rectifier on the machine side, a Li-ion battery energy storage system, and a bidirectional Vienna rectifier on the grid side. The main scientific challenge addressed in this work is to ensure efficient wind power extraction, secure battery charging/discharging operation, and stable power exchange with the grid under variable operating conditions. To this end, a comprehensive nonlinear state-space model of the overall system is first established. Then, nonlinear controllers based on integral sliding mode principles are developed to guarantee rotor-speed tracking, DC-bus voltage regulation, battery charging current limitation, and active/reactive power control. In addition, an adaptive observer is designed to estimate the battery open-circuit voltage and support the supervision of the state of charge. An energy management strategy is further proposed to coordinate the operating modes according to grid conditions and battery constraints. Simulation results demonstrate that the proposed approach effectively smooths wind power fluctuations, improves grid support capability, and enhances the overall dynamic performance of the wind energy conversion system. Full article

With the widespread application of autonomous vehicles (AVs), their dynamic interactions with other road users pose significant challenges to trajectory planning. Previous research on trajectory planning in shared spaces has mainly focused on generating smooth trajectories, while research considering the risks of human–vehicle interactions remains insufficient. Therefore, a risk-considered trajectory planning framework for autonomous vehicles is proposed. This framework includes two modules: pedestrian trajectory prediction and vehicle planning. In the prediction module, Social-STGCNN is used to predict pedestrian trajectories, obtaining a series of trajectories and probabilities, which serve as input to the planning module. To ensure the rationality of trajectory planning, a planning model is established in Frenet coordinates based on a quintic polynomial. Combining Bayesian and equality principles, a risk-considered cost function is designed. Under this framework, the risk value is calculated using the pedestrian trajectory prediction probability, and further Bayesian and equality costs are calculated. Based on the constraints, the trajectory with the minimum cost is solved. To evaluate the rationality of this framework, we designed simulation experiments for five typical high-conflict scenarios: overtaking in the same direction, head-on collision, pedestrian crossing, encountering pedestrians from multiple directions, and turning while encountering pedestrians crossing. Simultaneously, the framework is validated in a real-world environment. The results show that the proposed method can accurately capture pedestrians’ crossing intentions and effectively avoid pedestrians. The trajectory generated in the real environment is highly consistent with that of a driver, and it exhibits excellent adaptability and robustness in high-density mixed traffic environments. Full article

This study proposes a heterogeneous fusion path planning framework for unmanned aerial vehicles (UAVs) operating in complex emergency rescue and civil environments. Existing single-mechanism metaheuristics—including Particle Swarm Optimization (PSO), Ant Colony Optimization (ACO), and Genetic Algorithms (GAs)—suffer from fundamental limitations in three-dimensional kinematic path planning: PSO converges rapidly but stagnates at local optima due to population variance collapse; ACO offers robust local exploitation but incurs prohibitive cold-start overhead; GAs maintain diversity at the cost of expensive crossover operations. To address these complementary deficiencies simultaneously, the proposed framework introduces a spherical coordinate representation that reduces computational complexity and naturally enforces UAV kinematic constraints, combined with adaptive weight factors and a serial PSO-ACO fusion strategy, and subsequently incorporates adaptive weight factors. A serial fusion strategy is then introduced, wherein the sub-optimal trajectory generated by the Spherical PSO phase is mapped into the ACO pheromone field via a Gaussian Kernel Density Mapping (GKDM) mechanism, enabling the ACO phase to perform fine-grained local exploitation within a kinematically feasible corridor. Various constraints along the flight path are formulated into distinct cost functions, which cover aircraft track length, pitch angle variation, altitude difference variation, obstacle avoidance, and smoothness; the core task of the algorithm is to find the flight path with the minimum total cost. The proposed algorithm is dedicated to UAV path planning in complex emergency rescue environments (disaster-stricken areas, hazardous zones) and is further applicable to civil low-altitude logistics delivery, industrial facility inspection, ecological environment monitoring and urban air mobility (UAM) scenarios with complex obstacle constraints. It can effectively improve the safety and efficiency of UAVs in reaching rescue points, delivering emergency supplies, conducting disaster surveys, and completing various civil low-altitude operation tasks. Full article

For the complex problems of multi-aircraft cooperative game guidance with No-Fly Zone (NFZ) avoidance and cross-task constraint propagation, a deep deterministic policy gradient algorithm with temporal awareness and priority cooperative optimization (TP-MADDPG) is proposed. Based on the three-body cooperative guidance, a new coupled guidance task is formed by adding the NFZ avoidance constraint. At the same time, considering the constraint compatibility problem in dynamic task switching, the cooperative aircraft are modeled as independent agents with differentiated policy networks. First, a nonlinear kinematic model of the three-body game constructed by Evader–Pursuer–Defender is established. And four complex constraint conditions, namely homing guidance, NFZ avoidance, collision avoidance, and cooperative guidance, are modeled separately. Secondly, the Long Short-Term Memory-based (LSTM) Actor–Critic framework is proposed to dynamically capture the evolution patterns of adversarial scenarios by mining hidden correlations in historical state-action sequences. This enables smooth policy transitions between the cooperative guidance phase and subsequent homing guidance phase, effectively addressing the challenges of environmental non-stationarity and temporal task dependencies. Then, a priority-driven adaptive sampling mechanism is proposed along with a heterogeneous roles cooperative reward function to specifically address credit assignment imbalance and sparse reward problems, respectively. The sampling mechanism capitalizes on the efficient retrieval properties of SumTree data structures while integrating bias correction techniques to expedite policy gradient convergence. The reward function utilizes the reward shaping method to formulate cooperative reward components that explicitly capture behavioral correlations among agents. Finally, simulations show that the proposed method significantly outperforms multi-agent reinforcement learning baselines, effectively improving the performance of cooperative game guidance under complex constraints. Full article

Stepped bonded repair is widely used to restore load-carrying capacity in damaged composite structures, yet conventional circular-patch configurations require repair footprints that are frequently prohibited by spatial and geometric constraints in service environments. This study proposes an elliptical stepped repair strategy in which the patch axes are independently sized to accommodate directional space restrictions while preserving effective load transfer. A parametric three-dimensional finite element framework incorporating a Hashin-based progressive damage model and a cohesive-zone traction–separation law is developed and validated against both in-house lap-joint tests and an independent stepped-repair benchmark from the literature (discrepancy < 10%). Systematic variation in the elliptical geometry reveals that the major axis—oriented along the loading direction—is the dominant geometric parameter controlling strength recovery and failure mode: insufficient major-axis length results in premature adhesive debonding, whereas an appropriately sized major axis shifts failure to parent-laminate fracture and raises the ultimate load by up to 20% relative to a circular repair of equal minor-axis dimension. The minor axis plays a secondary but non-trivial role, and a synergistic optimum is identified at the 40–90 mm (minor–major) configuration. Regarding step partitioning, a four-step arrangement consistently maximizes ultimate load across all tested geometries due to the competition between transition-gradient smoothness and step-edge stress concentration density. Finally, an external woven overlay is shown to both improve and equalize strength across geometrically distinct repairs by suppressing interfacial stress concentration and engaging a global cooperative failure mode. These findings establish design guidelines for elliptical stepped repairs under engineering space constraints. Full article

The traditional normalized least-mean-square (NLMS) algorithm faces an inherent trade-off between convergence rate and steady-state error, and its adaptability is limited in non-stationary environments. This paper proposes a neural network-assisted variable step-size NLMS algorithm (NN-VSS-NLMS). An analytically motivated reference step size is first derived under a zero-mean statistically symmetric signal assumption to characterize the desired step-size trend. Based on this reference, an eight-dimensional feature vector composed of input signal power, error energy, and related statistical descriptors is constructed to describe the instantaneous signal state, and a two-layer fully connected neural network (NN) is introduced as an auxiliary tool to provide data-driven correction to the reference step size. In addition, dynamic modulation, step-size constraints, and smoothing operations are incorporated to regulate the predicted step size and enhance its controllability under time-varying conditions. Through simulations with stationary and non-stationary inputs as well as time-invariant and time-varying systems, the proposed algorithm achieves up to a fourfold improvement in convergence rate and more than 8 dB reduction in steady-state error compared with the classical NLMS algorithm, while maintaining improved tracking ability. Full article

Tower torsion in large cranes poses a significant challenge to achieving precise control of load motion, as it amplifies oscillations of the crane load during motion and after reaching a destination. Therefore, tower torsion should be incorporated into crane motion control strategies to improve load sway suppression and enhance overall operational stability. This study proposes a time-optimal trajectory generation method for large cranes with addressing tower torsion challenges and load swaying angles. The time-optimal trajectory is able to provide smooth motion with sufficient time while navigating around obstacles. The proposed approach integrates two distinct algorithms: the A* algorithm is employed to determine the shortest collision-free load path, and an optimization method that generates time-optimal trajectories along the A* path while considering the constraints of tower torsion and load sway angles. The desired trajectory is modeled using a polynomial function, ensuring practical motion for each crane joint. The proposed method’s effectiveness is validated both computationally and experimentally, demonstrating its capability to suppress load sway and tower torsion in the crane system without collision. Full article

Recent advancements in satellite optical reconnaissance have elevated the sun angle to a critical factor in orbital pursuit-evasion games. The stringent imaging constraints imposed by sun angle and relative distance induce non-smoothness in the terminal region of such differential games, significantly complicating equilibrium-solution derivation. To address this challenge, we formulated a novel differential game model where the pursuer minimizes the time-to-entry into the evader’s effective imaging region. We first constructed a sequence of low-dimensional manifolds that collectively cover the terminal region, solving the differential game with this sequence to yield the Nash equilibrium. Subsequently, we approximated the terminal region using a smooth manifold of identical dimensions, enabling a computationally efficient approximate solution. Both methodologies demonstrate broad applicability to orbital differential games featuring non-smooth terminal regions. Simulation results confirm that the approximation error becomes pronounced only under extreme initial sun angles, though this error remains acceptable for practical space reconnaissance applications. Full article

Baseline correction of Raman spectra is a critical step for achieving high-precision quantitative analysis. However, the presence of complex background noise, nonlinear baseline drift, and spectral peak distortion due to peak overlap in real spectral data severely limits the performance of conventional correction methods. To better preserve spectral details, this study proposes an improved penalized least squares method for Raman spectral baseline correction. Compared with common baseline correction approaches, the proposed method optimizes the iterative weight function through precise noise classification, significantly enhancing the algorithm’s flexibility. The traditional single smoothing parameter is extended into a smoothing vector, and a classification strategy consistent with that of the penalty parameter is adopted, enabling synchronous optimization and coordinated adjustment of both during iteration. Furthermore, based on the physical constraints of Raman spectra, the algorithm eliminates non-physical solutions that may arise in traditional iterative processes, ensuring the fidelity of the corrected spectra. Experimental results demonstrate that the proposed method exhibits strong robustness under various noise conditions and significantly improves correction accuracy. Full article

In order to address the challenges of frequency fluctuations and uneven voltage distributions in islanded microgrids, this paper proposes a distributed model predictive control (DMPC) strategy for secondary frequency and voltage regulation, and it adopts the virtual oscillator control (VOC) grid-forming method for the primary control. Firstly, the prediction model is constructed by integrating VOC dynamic equations with virtual inertia terms. Secondly, a cost function incorporating consensus constraints and tracking error terms is designed within the MPC framework, thereby achieving an optimal balance between dynamic consensus speed and steady-state tracking precision. Thirdly, the quadratic programming formulation strategy is used to solve the cost function optimization problem and update the DMPC outputs. Finally, simulation results verify that the proposed strategy ensures rapid frequency restoration and voltage regulation under sudden load variations and communication topology changes, while maintaining a smooth control process. Full article

Axial Flux Permanent Magnet Synchronous Motors (AFPMSMs) are gaining increasing attention for their application in electric vehicle (EV) drive systems. Their high torque density and compact axial geometry make them attractive for high-performance EV drive systems. However, cogging torque remains a major challenge, degrading low-speed drivability, noise performance, and control stability. This article proposes a magnet skew on rotor modulation structure using a genetic algorithm (GA) to reduce cogging torque in AFPMSMs utilizing a 12/15 non-integer pole/slot arrangement. The objective of optimization is to simultaneously reduce cogging torque under identical electromagnetic constraints. A complete three-dimensional finite element model (3D-FEM) incorporating nonlinear magnetic material properties has been developed to evaluate the electromagnetic field distribution and torque components. The results indicate that a 12/15 non-integer pole/slot arrangement improves harmonic distribution and extends the operating range with lower cogging torque compared to integer pole/slot designs. Combined with GA-optimized skew angles, this reduces peak-to-peak cogging torque to less than 50%. This design is ideally suited for the traction requirements of electric vehicles, including premium electric vehicles where smooth operation at low speeds is critical. Full article

With the continued development of spatial information technologies, Digital Surface Models (DSMs) have become fundamental data products for urban planning, virtual reality, geographic information systems, and digital-earth applications. Neural Radiance Fields (NeRFs) have achieved remarkable success in multi-view 3D reconstruction in computer vision. Still, their application to DSM generation from satellite imagery remains challenging because of differences in imaging geometry, complex surface structure, and varying illumination conditions. To address these issues, this paper proposes a Shading and Geometric Constraint (SGC) method tailored to satellite photogrammetry and designed to integrate with existing NeRF-based frameworks such as Sat-NeRF and EO-NeRF. First, a physical imaging model based on Lambertian reflectance and spherical harmonics is introduced to represent the complex illumination variations in satellite images. Synthetic images generated by this model provide auxiliary supervision that improves robustness to illumination inconsistency. Second, inspired by classical shading-based refinement methods, we introduce a bilateral edge-preserving geometric constraint. Unlike standard smoothness terms, this constraint uses photometric discrepancies to weight geometric smoothing, thereby preserving sharp building boundaries while smoothing flat surfaces. We integrate the method into two state-of-the-art baselines, Sat-NeRF and EO-NeRF. EO-NeRF+SGC achieves up to a 57.93% reduction in elevation MAE relative to EO-NeRF, which is the largest relative MAE reduction reported in this study. The method also recovers finer structural details and sharper edges than recently published NeRF-based DSM reconstruction methods. Full article