Superconducting cavities with low RF frequencies and heavy damping of higher order modes (HOM) are desired for the main accelerator of High Energy Photon Source (HEPS), a 6 GeV synchrotron light source promising ultralow emittance currently under con
struction in Beijing. A compact 166.6 MHz superconducting cavity was proposed adopting a quarter-wave beta=1 geometry. Based on the successful development of a proof-of-principle cavity, a HOM-damped 166.6 MHz compact superconducting cavity was subsequently designed. A ferrite damper was installed on the beam pipe to reduce HOM impedance below the stringent threshold of coupled-bunch instabilities. Being compact, RF field heating on the cavity vacuum seal was carefully examined against quenching the NbTi flange. The cavity was later dressed with a helium vessel and the tuning mechanism was also realized. Excellent RF and mechanical properties were eventually achieved. Finally, the two-cavity string was designed to ensure smooth transitions among components and proper shielding of synchrotron light. This paper presents a complete design of a fully dressed HOM-damped low-frequency beta=1 superconducting cavity for HEPS.
Purpose: Organ-at-risk (OAR) delineation is a key step for cone-beam CT (CBCT) based adaptive radiotherapy planning that can be a time-consuming, labor-intensive, and subject-to-variability process. We aim to develop a fully automated approach aided
by synthetic MRI for rapid and accurate CBCT multi-organ contouring in head-and-neck (HN) cancer patients. MRI has superb soft-tissue contrasts, while CBCT offers bony-structure contrasts. Using the complementary information provided by MRI and CBCT is expected to enable accurate multi-organ segmentation in HN cancer patients. In our proposed method, MR images are firstly synthesized using a pre-trained cycle-consistent generative adversarial network given CBCT. The features of CBCT and synthetic MRI are then extracted using dual pyramid networks for final delineation of organs. CBCT images and their corresponding manual contours were used as pairs to train and test the proposed model. Quantitative metrics including Dice similarity coefficient (DSC) were used to evaluate the proposed method. The proposed method was evaluated on a cohort of 65 HN cancer patients. CBCT images were collected from those patients who received proton therapy. Overall, DSC values of 0.87, 0.79/0.79, 0.89/0.89, 0.90, 0.75/0.77, 0.86, 0.66, 0.78/0.77, 0.96, 0.89/0.89, 0.832, and 0.84 for commonly used OARs for treatment planning including brain stem, left/right cochlea, left/right eye, larynx, left/right lens, mandible, optic chiasm, left/right optic nerve, oral cavity, left/right parotid, pharynx, and spinal cord, respectively, were achieved. In this study, we developed a synthetic MRI-aided HN CBCT auto-segmentation method based on deep learning. It provides a rapid and accurate OAR auto-delineation approach, which can be used for adaptive radiation therapy.
Purpose: Correcting or reducing the effects of voxel intensity non-uniformity (INU) within a given tissue type is a crucial issue for quantitative MRI image analysis in daily clinical practice. In this study, we present a deep learning-based approach
for MRI image INU correction. Method: We developed a residual cycle generative adversarial network (res-cycle GAN), which integrates the residual block concept into a cycle-consistent GAN (cycle-GAN). In cycle-GAN, an inverse transformation was implemented between the INU uncorrected and corrected MRI images to constrain the model through forcing the calculation of both an INU corrected MRI and a synthetic corrected MRI. A fully convolution neural network integrating residual blocks was applied in the generator of cycle-GAN to enhance end-to-end raw MRI to INU corrected MRI transformation. A cohort of 30 abdominal patients with T1-weighted MR INU images and their corrections with a clinically established and commonly used method, namely, N4ITK were used as a pair to evaluate the proposed res-cycle GAN based INU correction algorithm. Quantitatively comparisons were made among the proposed method and other approaches. Result: Our res-cycle GAN based method achieved higher accuracy and better tissue uniformity compared to the other algorithms. Moreover, once the model is well trained, our approach can automatically generate the corrected MR images in a few minutes, eliminating the need for manual setting of parameters. Conclusion: In this study, a deep learning based automatic INU correction method in MRI, namely, res-cycle GAN has been investigated. The results show that learning based methods can achieve promising accuracy, while highly speeding up the correction through avoiding the unintuitive parameter tuning process in N4ITK correction.
Control and communication are often tightly coupled in motion planning of networked mobile robots, due to the fact that robotic motions will affect the overall communication quality, and the quality of service (QoS) of the communication among the rob
ots will in turn affect their coordination performance. In this paper, we propose a control theoretical motion planning framework for a team of networked mobile robots in order to accomplish high-level spatial and temporal motion objectives while optimizing communication QoS. Desired motion specifications are formulated as Signal Temporal Logic (STL), whereas the communication performances to be optimized are captured by recently proposed Spatial Temporal Reach and Escape Logic (STREL) formulas. Both the STL and STREL specifications are encoded as mixed integer linear constraints posed on the system and/or environment state variables of the mobile robot network, where satisfactory control strategies can be computed by exploiting a distributed model predictive control (MPC) approach. To the best of the authors knowledge, we are the first to study controller synthesis for STREL specifications. A two-layer hierarchical MPC procedure is proposed to efficiently solve the problem, whose soundness and completeness are formally ensured. The effectiveness of the proposed framework is validated by simulation examples.
We propose a mathematical framework for synthesizing motion plans for multi-agent systems that fulfill complex, high-level and formal local specifications in the presence of inter-agent communication. The proposed synthesis framework consists of desi
red motion specifications in temporal logic (STL) formulas and a local motion controller that ensures the underlying agent not only to accomplish the local specifications but also to avoid collisions with other agents or possible obstacles, while maintaining an optimized communication quality of service (QoS) among the agents. Utilizing a Gaussian fading model for wireless communication channels, the framework synthesizes the desired motion controller by solving a joint optimization problem on motion planning and wireless communication, in which both the STL specifications and the wireless communication conditions are encoded as mixed integer-linear constraints on the variables of the agents dynamical states and communication channel status. The overall framework is demonstrated by a case study of communication-aware multi-robot motion planning and the effectiveness of the framework is validated by simulation results.
In future intelligent transportation systems, networked vehicles coordinate with each other to achieve safe operations based on an assumption that communications among vehicles and infrastructure are reliable. Traditional methods usually deal with th
e design of control systems and communication networks in a separated manner. However, control and communication systems are tightly coupled as the motions of vehicles will affect the overall communication quality. Hence, we are motivated to study the co-design of both control and communication systems. In particular, we propose a control theoretical framework for distributed motion planning for multi-agent systems which satisfies complex and high-level spatial and temporal specifications while accounting for communication quality at the same time. Towards this end, desired motion specifications and communication performances are formulated as signal temporal logic (STL) and spatial-temporal logic (SpaTeL) formulas, respectively. The specifications are encoded as constraints on system and environment state variables of mixed integer linear programs (MILP), and upon which control strategies satisfying both STL and SpaTeL specifications are generated for each agent by employing a distributed model predictive control (MPC) framework. Effectiveness of the proposed framework is validated by a simulation of distributed communication-aware motion planning for multi-agent systems.
