Three-dimensional finite-time guidance law based on sliding mode adaptive RBF neural network against a highly manoeuvering target

In order to intercept a highly manoeuvering target with an ideal impact angle in the three-dimensional space, this paper promises to probe into the problem of three-dimensional terminal guidance. With the goal of the highly target acceleration and short terminal guidance time, a guidance law, based on the advanced fast non-singular terminal sliding mode theory, is designed to quickly converge the line-of-sight (LOS) angle and the LOS angular rate within a finite time. In the design process, the target acceleration is regarded as an unknown boundary external disturbance of the guidance system, and the RBF neural network is used to estimate it. In order to improve the estimation accuracy of RBF neural network and accelerate its convergence, the parameters of RBF neural network are adjusted online in real time. At the same time, an adaptive law is designed to compensate the estimation error of the RBF neural network, which improves the convergence speed of the guidance system. Theoretical analysis demonstrates that the state and the sliding manifold of the guidance system converge in finite time. According to Lyapunov theory, the stability of the system can be guaranteed by online adjusting the parameters of RBF neural network and adaptive parameters. The numerical simulation results verify the effectiveness and superiority of the proposed guidance law.

Towards a First-Person Perspective Mixed Reality Guidance System for Needle Interventions

While ultrasound (US) guidance has been used during central venous catheterization to reduce complications, including the puncturing of arteries, the rate of such problems remains non-negligible. To further reduce complication rates, mixed-reality systems have been proposed as part of the user interface for such procedures. We demonstrate the use of a surgical navigation system that renders a calibrated US image, and the needle and its trajectory, in a common frame of reference. We compare the effectiveness of this system, whereby images are rendered on a planar monitor and within a head-mounted display (HMD), to the standard-of-care US-only approach, via a phantom-based user study that recruited 31 expert clinicians and 20 medical students. These users performed needle-insertions into a phantom under the three modes of visualization. The success rates were significantly improved under HMD-guidance as compared to US-guidance, for both expert clinicians (94% vs. 70%) and medical students (70% vs. 25%). Users more consistently positioned their needle closer to the center of the vessel’s lumen under HMD-guidance compared to US-guidance. The performance of the clinicians when interacting with this monitor system was comparable to using US-only guidance, with no significant difference being observed across any metrics. The results suggest that the use of an HMD to align the clinician’s visual and motor fields promotes successful needle guidance, highlighting the importance of continued HMD-guidance research.

Proactive Guidance for Accurate UAV Landing on a Dynamic Platform: A Visual–Inertial Approach

This work aimed to develop an autonomous system for unmanned aerial vehicles (UAVs) to land on moving platforms such as an automobile or a marine vessel, providing a promising solution for a long-endurance flight operation, a large mission coverage range, and a convenient recharging ground station. Unlike most state-of-the-art UAV landing frameworks that rely on UAV onboard computers and sensors, the proposed system fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can therefore lighten the burden of the UAV, and the computation power of the ground vehicle/marine vessel can be enhanced. In particular, we exploit a sensor fusion-based algorithm for the guidance system to perform UAV localization, whilst a control method based upon trajectory optimization is integrated. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed.

Clinical results following robotic navigation guidance for sacroiliac joint fusion in 36 patients

OBJECTIVE In this study, the authors aimed to describe a new technique of sacroiliac joint (SIJ) fusion using a robotic navigation guidance system and to document clinical results with patient-reported visual analog scale (VAS) scores. METHODS Patients diagnosed with SIJ dysfunction were surgically treated using 2 hydroxyapatite (HA)–coated, threaded screws with the aid of the robotic navigation system. In a total of 36 patients, 51 SIJs were fused during the study period. Patients’ VAS scores were used to determine clinical improvement in pain. Postoperative imaging at routine intervals during the follow-up period was also performed for assessment of radiological fusion. In addition, complication events were recorded, including reoperations. RESULTS All 36 patients had successful fusion evidenced by both CT and clinical assessment at the final follow-up. Two patients underwent reoperation because of screw loosening. The mean preoperative VAS score was 7.2 ± 1.1, and the mean 12-month postoperative VAS score was 1.6 ± 1.46. This difference was statistically significant (p < 0.05) and demonstrated a substantial clinical improvement in pain. CONCLUSIONS Robotic navigation–assisted SIJ fusion using 2 HA-coated, threaded screws placed across the joint was an acceptable technique that demonstrated reliable clinical results with a significant improvement in patient-reported VAS pain scores.

DETERMINATION OF THE ACOUSTO-OPTICAL DEFLECTOR PARAMETERS FOR A LASER-RADIATION ROCKET GUIDANCE SYSTEM

The work is devoted to the development of an acousto-optic deflector for a laser-beam guidance system (LLSN) of missiles. LLSN is used in semiautomatic portable missile systems to destroy hostile targets of various types. An analysis of the methods for constructing such systems has shown that the most promising devices with pulse-code modulation using semiconductor pulsed lasers. The article provides a diagram and describes the principle of operation of the LLSN with pulse-code modulation. A problematic issue in the implementation of such a system is the development of a device for deflecting a laser beam, through which the missile is guided to a target. Scanning mechanical devices that are currently in use have a complex design, significant dimensions and weight, and limited performance. The article proposes to use an acousto-optic deflector to deflect the laser beam within the information field of the guidance system, which is devoid of these disadvantages, since it replaces the mechanical scanning device with an electronic one. The purpose of the article is to determine the main parameters of the acousto-optical deflector. The article discusses the principle of operation of an acousto-optic deflector. It is noted that glasses based on germanium chalcogenides, in particular, glass with the composition Ge2.17As39.13S58.70, have especially low values of acoustic losses (α <1 dB / cm). The largest deflection angle of the laser beam will be observed with Bragg diffraction. Relationships are given that can be used to determine the main characteristics of the deflector: the angle of deflection of the laser beam, the modulation frequency of the acoustic wave, resolution, speed, and others. When using the above ratios for the typical parameters of the existing guidance system, the values of the indicated characteristics are calculated.