This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premi...This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.展开更多
Background： Volumetric-modulated arc therapy （VMAT） can only be implemented on the new generation linacs such as the Varian Trilogy（R） and Elekta Synergy（R）.This prevents most existing linacs from delivering VM...Background： Volumetric-modulated arc therapy （VMAT） can only be implemented on the new generation linacs such as the Varian Trilogy（R） and Elekta Synergy（R）.This prevents most existing linacs from delivering VMAT.The purpose of this study was to investigate the feasibility of using a conventional linear accelerator delivering constant dose rate and constant angular spacing intensity-modulated arc therapy （CDR-CAS-IMAT） for treating cervical cancer.Methods： Twenty patients with cervical cancer previously treated with intensity-modulated radiation therapy （IMRT） using Varian Clinical 23EX were retreated using CDR-CAS-IMAT.The planning target volume （PTV） was set as 50.4 Gy in 28 fractions.Plans were evaluated based on the ability to meet the dose volume histogram.The homogeneity index （HI）, target volume conformity index （CI）, the dose to organs at risk, radiation delivery time, and monitor units （MUs） were also compared.The paired t-test was used to analyze the two data sets.All statistical analyses were performed using SPSS 19.0 software.Results： Compared to the IMRT group, the CDR-CAS-IMAT group showed better PTV CI （0.85 ＆#177; 0.03 vs.0.81 ＆#177; 0.03, P =0.001）, clinical target volume CI （0.46 ＆#177; 0.05 vs.0.43 ＆#177; 0.05, P =0.001）, HI （0.09＆#177;0.02 vs.0.11 ＆#177; 0.02, P =0.005） and D95 （5196.33 ＆#177; 28.24 cGy vs.5162.63 ＆#177; 31.12 cGy, P =0.000）, and cord D2 （3743.8 ＆#177; 118.7 cGy vs.3806.2 ＆#177; 98.7 cGy, P =0.017） and rectum V40 （41.9 ＆#177; 6.1% vs.44.2 ＆#177; 4.8%, P =0.026）.Treatment time （422.7 ＆#177; 46.7 s vs.84.6 ＆#177; 7.8 s, P =0.000） and the total plan Mus （927.4 ＆#177; 79.1 vs.787.5 ＆#177; 78.5, P =0.000） decreased by a factor of 0.8 and 0.15, respectively.The IMRT group plans were superior to the CDR-CAS-IMAT group plans considering decreasing bladder V50 （17.4 ＆#177; 4.5% vs.16.6 ＆#177; 4.2%, P =0.049）, bowel V30 （39.6 ＆#177; 6.5% vs.36.6 ＆#177; 7.5%, P =0.008）, and low-dose irradiation volume;there were no significant differences in other statistical indexes.Conclusions： Patients with cervical cancer treated with CDR-CAS-IMAT using Varian Clinical 23EX can get equivalent or superior dose distribution compared to those treated with IMRT.CDR-CAS-IMAT has a less treatment time and MU, which can reduce the uncertainty factor and patient discomfort in treatment.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312,61922037,61873115,and 61803348in part by the National Major Scientific Instruments Development Project under Grant 61927807+6 种基金in part by the State Key Laboratory of Deep Buried Target Damage under Grant No.DXMBJJ2019-02in part by the Scientific and Technological Innovation Programs of Higher Education Institutions in Shanxi under Grant 2020L0266in part by the Shanxi Province Science Foundation for Youths under Grant No.201701D221123in part by the Youth Academic North University of China under Grant No.QX201803in part by the Program for the Innovative Talents of Higher Education Institutions of Shanxiin part by the Shanxi“1331Project”Key Subjects Construction under Grant 1331KSCin part by the Supported by Shanxi Province Science Foundation for Excellent Youths。
文摘This paper addresses a multicircular circumnavigation control for UAVs with desired angular spacing around a nonstationary target.By defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple UAVs connected by an undirected graph to allow for formation behaviors concerning the moving target.Besides,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication traffic.Then,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all UAVs to collaboratively evolve along the preset circles while keeping a desired angular spacing.It is inferred from Lyapunov stability that all errors are demonstrated to be convergent.Simulations are offered to verify the utility of proposed protocol.
基金This study was partially supported by a grant from the Medical Science Foundation of the Health Department of Hebei Province
文摘Background： Volumetric-modulated arc therapy （VMAT） can only be implemented on the new generation linacs such as the Varian Trilogy（R） and Elekta Synergy（R）.This prevents most existing linacs from delivering VMAT.The purpose of this study was to investigate the feasibility of using a conventional linear accelerator delivering constant dose rate and constant angular spacing intensity-modulated arc therapy （CDR-CAS-IMAT） for treating cervical cancer.Methods： Twenty patients with cervical cancer previously treated with intensity-modulated radiation therapy （IMRT） using Varian Clinical 23EX were retreated using CDR-CAS-IMAT.The planning target volume （PTV） was set as 50.4 Gy in 28 fractions.Plans were evaluated based on the ability to meet the dose volume histogram.The homogeneity index （HI）, target volume conformity index （CI）, the dose to organs at risk, radiation delivery time, and monitor units （MUs） were also compared.The paired t-test was used to analyze the two data sets.All statistical analyses were performed using SPSS 19.0 software.Results： Compared to the IMRT group, the CDR-CAS-IMAT group showed better PTV CI （0.85 ＆#177; 0.03 vs.0.81 ＆#177; 0.03, P =0.001）, clinical target volume CI （0.46 ＆#177; 0.05 vs.0.43 ＆#177; 0.05, P =0.001）, HI （0.09＆#177;0.02 vs.0.11 ＆#177; 0.02, P =0.005） and D95 （5196.33 ＆#177; 28.24 cGy vs.5162.63 ＆#177; 31.12 cGy, P =0.000）, and cord D2 （3743.8 ＆#177; 118.7 cGy vs.3806.2 ＆#177; 98.7 cGy, P =0.017） and rectum V40 （41.9 ＆#177; 6.1% vs.44.2 ＆#177; 4.8%, P =0.026）.Treatment time （422.7 ＆#177; 46.7 s vs.84.6 ＆#177; 7.8 s, P =0.000） and the total plan Mus （927.4 ＆#177; 79.1 vs.787.5 ＆#177; 78.5, P =0.000） decreased by a factor of 0.8 and 0.15, respectively.The IMRT group plans were superior to the CDR-CAS-IMAT group plans considering decreasing bladder V50 （17.4 ＆#177; 4.5% vs.16.6 ＆#177; 4.2%, P =0.049）, bowel V30 （39.6 ＆#177; 6.5% vs.36.6 ＆#177; 7.5%, P =0.008）, and low-dose irradiation volume;there were no significant differences in other statistical indexes.Conclusions： Patients with cervical cancer treated with CDR-CAS-IMAT using Varian Clinical 23EX can get equivalent or superior dose distribution compared to those treated with IMRT.CDR-CAS-IMAT has a less treatment time and MU, which can reduce the uncertainty factor and patient discomfort in treatment.
