Vascular interventional surgical robots(VISR) assisted doctors in surgery can not only protect doctors from X-ray radiation, but also improve the accuracy of surgery. The catheter and guidewire operating systems with master-slave operation mode play an important role in VISR. In recent years, the operating systems have gradually become a research hotspot. After nearly two decades of development, they have made great progress, but there are still some problems to be solved. This review first introduces the research necessity and development history of these operating systems. Then, we summarize the research direction of operating systems from the perspective of hardware devices and algorithms. In the hardware devices, we analyzed the catheter and guidewire operating mechanisms, contact force detection devices, master operating mechanisms and master force feedback devices. In the algorithm, we introduce the bilateral control methods, security strategies and skill evaluation methods. Next, we discuss the actual performance and shortcomings of the operating systems from the perspective of clinical application. Finally, we summarize the current problems of the operating systems and propose the future development direction. This review is helpful for researchers to understand the current situation, and provides a reference framework of catheter and guidewire operating system.

Sensor differential signals are widely used in many systems. The tracking differentiator (TD) is an effective method to obtain signal differentials. Differential calculation is noise-sensitive. There is the characteristics of low-pass filter (LPF) in the TD to suppress the noise, but phase lag is introduced. For LPF, fixed filtering parameters cannot achieve both noise suppression and phase compensation lag compensation. We propose a fuzzy self-tuning tracking differentiator (FSTD) capable of adaptively adjusting parameters, which uses the frequency information of the signal to achieve a trade-off between the phase lag and noise suppression capabilities. Based on the frequency information, the parameters of TD are self-tuning by a fuzzy method, which makes self-tuning designs more flexible. Simulations and experiments using motion measurement sensors show that the proposed method has good filtering performance for low-frequency signals and improves tracking ability for high-frequency signals compared to fixed-parameter differentiator.

Urban remote sensing with moving carriers enables comprehensive monitoring of an urban area. High spatial resolution and wide covering are always required to improve the performance and efficiency of remote sensing. Continuous scanning imaging is a feasible solution. However, imaging motion degrades the performance of a remote sensing system. Rotating motion leads to the loss of key urban morphology information of a panorama imaging. Image translation results in blurry images. For high spatial resolution and high efficiency imaging with low illumination condition, such as imaging at dusk, long-focus lens and long integral time must be further utilized, which makes the problem more severe. In this paper, a novel image motion compensation method is proposed to compensate for image rotation and image translation simultaneously. A quantitative description of image motion, including both image rotation and image translation, is first developed based on the principle of geometrical optics and then analyzed in detail through numerical simulations. Furthermore, a comprehensive image rotation compensation method is developed based on four-channel bilateral control with sliding mode controller, at the same time image translation compensation is performed according to the quantitative relationship of the motion of the scan mirror and image translation compensator. The experimental results show that the proposed method provides effective compensation for image rotation and image translation. This enables acquisition of high spatial resolution urban panoramic images.

In the aerospace field, compact optoelectronic platforms (COPs) are being increasingly equipped on unmanned aircraft systems (UAS). They assist UAS in a range of mission-specific tasks such as disaster relief, crop testing, and firefighting. However, the strict constraint of structure space makes COPs subject to multi-source disturbances. The application of a low-cost and low-precision sensor also affects the system control performance. A composite hierarchical anti-disturbance control (CHADC) scheme with multisensor fusion is explored herein to improve the motion performance of COPs in the presence of internal and external disturbances. Composite disturbance modelling combining the characteristic of wire-wound moment is presented in the inner layer. The adaptive mutation differential evolution algorithm is implemented to identify and optimise the model parameters of the system internal disturbance. Inverse model compensation and finite-time nonlinear disturbance observer are then constructed to compensate for multiple disturbances. A non-singular terminal sliding mode controller is constructed to attenuate disturbance in the outer layer. A stability analysis for both the composite disturbance compensator and the closed-loop system is provided using Lyapunov stability arguments. The phase lag-free low-pass filter is implemented to interfuse multiple sensors with different order information and achieve satisfactory noise suppression without phase lag. Experimental results demonstrate that the proposed CHADC strategy with a higher-quality signal has an improved performance for multi-source disturbance compensation.

With the development of supersonic vehicles, aero-optical effects on imaging have attracted significant attention. However, previous studies have typically concentrated on the paraxial region, with limited consideration given to the influence of aero-optical effects within the entire imaging field. This study presents research findings on this topic, and establishes a field-of-view (FOV) model for analyzing aero-optical effects, which enables direct sampling of the field angle without specific optical system parameters. Based on this, a comprehensive analysis method for aero-optical effects within the FOV is proposed. The results of a typical study of a blunt-cone supersonic vehicle with concave windows are presented. It is demonstrated that the distribution characteristics and trends of aero-optical aberrations differ between the along-track and across-track FOVs, which can be attributed to the different non-uniform structures that pass through when rays incident in varying directions. After correcting for the central aberration, the angles of incidence that can be imaged clearly in these two directions are −3.89° to 0.56° and −2.78° to 2.78°, respectively.