1
|
Bendig J, Aurup C, Blackman SG, McCune EP, Kim S, Konofagou EE. Transcranial Functional Ultrasound Imaging Detects Focused Ultrasound Neuromodulation Induced Hemodynamic Changes In Vivo. BIORXIV : THE PREPRINT SERVER FOR BIOLOGY 2025:2024.03.08.583971. [PMID: 38559149 PMCID: PMC10979885 DOI: 10.1101/2024.03.08.583971] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 04/04/2024]
Abstract
Background Focused ultrasound (FUS) is an emerging non-invasive technique for neuromodulation in the central nervous system (CNS). Functional ultrasound imaging (fUSI) leverages ultrafast Power Doppler Imaging (PDI) to detect changes in cerebral blood volume (CBV), which correlate well with neuronal activity and thus hold promise to monitor brain responses to FUS. Objective Investigate the immediate and short-term effects of transcranial FUS neuromodulation in the brain with fUSI by characterizing hemodynamic responses. Methods We designed a setup that aligns a FUS transducer with a linear array to allow immediate subsequent monitoring of the hemodynamic response with fUSI during and after FUS neuromodulation (FUS-fUSI) in lightly anesthetized mice. We investigated the effects of varying pressures and transducer positions on the hemodynamic responses. Results We found that higher FUS pressures increase the size of the activated brain area, as well as the magnitude of change in CBV and could show that sham sonications did not produce hemodynamic responses. Unilateral sonications resulted in bilateral hemodynamic changes with a significantly stronger response on the ipsilateral side. FUS neuromodulation in mice with a cranial window showed distinct activation patterns that were frequency-dependent and different from the activation patterns observed in the transcranial model. Conclusion fUSI is hereby shown capable of transcranially monitoring online and short-term hemodynamic effects in the brain during and following FUS neuromodulation.
Collapse
Affiliation(s)
- Jonas Bendig
- Department of Biomedical Engineering, Columbia University, New York, NY, USA
| | - Christian Aurup
- Department of Biomedical Engineering, Columbia University, New York, NY, USA
| | - Samuel G. Blackman
- Department of Biomedical Engineering, Columbia University, New York, NY, USA
| | - Erica P. McCune
- Department of Biomedical Engineering, Columbia University, New York, NY, USA
| | - Seongyeon Kim
- Department of Biomedical Engineering, Columbia University, New York, NY, USA
| | - Elisa E. Konofagou
- Department of Biomedical Engineering, Columbia University, New York, NY, USA
- Department of Radiology, Columbia University, New York, NY, USA
- Department of Neurosurgery, Columbia University, New York, NY, USA
| |
Collapse
|
2
|
Nawijn CL, de Bakker JMK, Segers T, Korte CLD, Versluis M, Saris AECM, Lajoinie G. Frequency-Domain Decoding of Cascaded Dual- Polarity Waves for Ultrafast Ultrasound Imaging. IEEE TRANSACTIONS ON ULTRASONICS, FERROELECTRICS, AND FREQUENCY CONTROL 2025; 72:321-337. [PMID: 40031318 DOI: 10.1109/tuffc.2025.3534429] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/05/2025]
Abstract
Ultrafast plane-wave (PW) ultrasound imaging is a versatile tool that has become increasingly relevant for blood flow imaging using speckle tracking but suffers from a low signal-to-noise ratio (SNR). Cascaded dual-polarity wave (CDW) imaging can improve the SNR by transmitting pulse trains, which are subsequently decoded to recover the imaging resolution. However, the current decoding method (in the time domain) requires a set of two acquisitions, which introduces motion artifacts that result in incorrect speckle tracking at high flow velocities. Here, we evaluate an inverse filtering approach that uses frequency-domain decoding to decode acquisitions independently. Experiments using a disk phantom show that frequency-domain decoding of a four-pulse train achieves an SNR gain of up to 4.2 dB, versus 5.9 dB for conventional decoding. The benefit of frequency-domain decoding for flow quantification is assessed through experiments performed with a rotating disk phantom and a parabolic flow, and through matching linear simulations. Both CDW methods improve the tracking accuracy compared to single PW imaging. Time-domain decoding outperforms frequency-domain decoding in low SNR conditions and low velocities ( m/s), as a result of the higher SNR gain. In contrast, frequency-domain decoding outperforms time-domain decoding for high peak velocities in imaging of the rotating disk (1 m/s) and of the parabolic flow (2 m/s), when significant scatterer motion between acquisitions causes imperfect time-domain decoding. Its ability to decode individual acquisitions makes the used frequency-domain decoding of CDW (F-CDW) a promising approach to improve the SNR and thereby the accuracy of flow quantification at high velocities.
Collapse
|
3
|
Ren J, Li J, Chen S, Liu Y, Ta D. Unveiling the potential of ultrasound in brain imaging: Innovations, challenges, and prospects. ULTRASONICS 2025; 145:107465. [PMID: 39305556 DOI: 10.1016/j.ultras.2024.107465] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/25/2024] [Revised: 07/30/2024] [Accepted: 09/08/2024] [Indexed: 11/12/2024]
Abstract
Within medical imaging, ultrasound serves as a crucial tool, particularly in the realms of brain imaging and disease diagnosis. It offers superior safety, speed, and wider applicability compared to Magnetic Resonance Imaging (MRI) and X-ray Computed Tomography (CT). Nonetheless, conventional transcranial ultrasound applications in adult brain imaging face challenges stemming from the significant acoustic impedance contrast between the skull bone and soft tissues. Recent strides in ultrasound technology encompass a spectrum of advancements spanning tissue structural imaging, blood flow imaging, functional imaging, and image enhancement techniques. Structural imaging methods include traditional transcranial ultrasound techniques and ultrasound elastography. Transcranial ultrasound assesses the structure and function of the skull and brain, while ultrasound elastography evaluates the elasticity of brain tissue. Blood flow imaging includes traditional transcranial Doppler (TCD), ultrafast Doppler (UfD), contrast-enhanced ultrasound (CEUS), and ultrasound localization microscopy (ULM), which can be used to evaluate the velocity, direction, and perfusion of cerebral blood flow. Functional ultrasound imaging (fUS) detects changes in cerebral blood flow to create images of brain activity. Image enhancement techniques include full waveform inversion (FWI) and phase aberration correction techniques, focusing on more accurate localization and analysis of brain structures, achieving more precise and reliable brain imaging results. These methods have been extensively studied in clinical animal models, neonates, and adults, showing significant potential in brain tissue structural imaging, cerebral hemodynamics monitoring, and brain disease diagnosis. They represent current hotspots and focal points of ultrasound medical research. This review provides a comprehensive summary of recent developments in brain imaging technologies and methods, discussing their advantages, limitations, and future trends, offering insights into their prospects.
Collapse
Affiliation(s)
- Jiahao Ren
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, 92 Weijin Road, Tianjin 300072, China
| | - Jian Li
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, 92 Weijin Road, Tianjin 300072, China
| | - Shili Chen
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, 92 Weijin Road, Tianjin 300072, China
| | - Yang Liu
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, 92 Weijin Road, Tianjin 300072, China; International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University in Zhejiang, Shaoxing 312000, China.
| | - Dean Ta
- School of Information Science and Technology, Fudan University, Shanghai 200433, China.
| |
Collapse
|
4
|
Kim S, Kwon N, Hossain MM, Bendig J, Konofagou EE. Displacement and functional ultrasound (fUS) imaging of displacement-guided focused ultrasound (FUS) neuromodulation in mice. Neuroimage 2024; 298:120768. [PMID: 39096984 DOI: 10.1016/j.neuroimage.2024.120768] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/29/2024] [Revised: 07/26/2024] [Accepted: 07/31/2024] [Indexed: 08/05/2024] Open
Abstract
Focused ultrasound (FUS) stimulation is a promising neuromodulation technique with the merits of non-invasiveness, high spatial resolution, and deep penetration depth. However, simultaneous imaging of FUS-induced brain tissue displacement and the subsequent effect of FUS stimulation on brain hemodynamics has proven challenging thus far. In addition, earlier studies lack in situ confirmation of targeting except for the magnetic resonance imaging-guided FUS system-based studies. The purpose of this study is 1) to introduce a fully ultrasonic approach to in situ target, modulate neuronal activity, and monitor the resultant neuromodulation effect by respectively leveraging displacement imaging, FUS, and functional ultrasound (fUS) imaging, and 2) to investigate FUS-evoked cerebral blood volume (CBV) response and the relationship between CBV and displacement. We performed displacement imaging on craniotomized mice to confirm the in situ targeting for neuromodulation site. We recorded hemodynamic responses evoked by FUS while fUS imaging revealed an ipsilateral CBV increase that peaks at 4 s post-FUS. We report a stronger hemodynamic activation in the subcortical region than cortical, showing good agreement with a brain elasticity map that can also be obtained using a similar methodology. We observed dose-dependent CBV responses with peak CBV, activated area, and correlation coefficient increasing with the ultrasonic dose. Furthermore, by mapping displacement and hemodynamic activation, we found that displacement colocalized and linearly correlated with CBV increase. The findings presented herein demonstrated that FUS evokes ipsilateral hemodynamic activation in cortical and subcortical depths while the evoked hemodynamic responses colocalize and correlate with FUS-induced displacement. We anticipate that our findings will help consolidate accurate targeting as well as shedding light on one of the mechanisms behind FUS modulation, i.e., how FUS mechanically displaces brain tissue affecting cerebral hemodynamics and thereby its associated connectivity.
Collapse
Affiliation(s)
- Seongyeon Kim
- Department of Biomedical Engineering, Columbia University
| | - Nancy Kwon
- Department of Biomedical Engineering, Columbia University
| | | | - Jonas Bendig
- Department of Biomedical Engineering, Columbia University
| | - Elisa E Konofagou
- Department of Biomedical Engineering, Columbia University; Department of Radiology, Columbia University.
| |
Collapse
|
5
|
Weng C, Gu X, Jin H. Coded Excitation for Ultrasonic Testing: A Review. SENSORS (BASEL, SWITZERLAND) 2024; 24:2167. [PMID: 38610378 PMCID: PMC11014118 DOI: 10.3390/s24072167] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/16/2024] [Revised: 03/12/2024] [Accepted: 03/21/2024] [Indexed: 04/14/2024]
Abstract
Originating in the early 20th century, ultrasonic testing has found increasingly extensive applications in medicine, industry, and materials science. Achieving both a high signal-to-noise ratio and high efficiency is crucial in ultrasonic testing. The former means an increase in imaging clarity as well as the detection depth, while the latter facilitates a faster refresh of the image. It is difficult to balance these two indicators with a conventional short pulse to excite the probe, so in general handling methods, these two factors have a trade-off. To solve the above problems, coded excitation (CE) can increase the pulse duration and offers great potential to improve the signal-to-noise ratio with equivalent or even higher efficiency. In this paper, we first review the fundamentals of CE, including signal modulation, signal transmission, signal reception, pulse compression, and optimization methods. Then, we introduce the application of CE in different areas of ultrasonic testing, with a focus on industrial bulk wave single-probe detection, industrial guided wave detection, industrial bulk wave phased array detection, and medical phased array imaging. Finally, we point out the advantages as well as a few future directions of CE.
Collapse
Affiliation(s)
| | | | - Haoran Jin
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; (C.W.); (X.G.)
| |
Collapse
|
6
|
Wang L, Li J, Chen S, Fan Z, Zeng Z, Liu Y. Finite difference-embedded UNet for solving transcranial ultrasound frequency-domain wavefield. THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA 2024; 155:2257-2269. [PMID: 38536062 DOI: 10.1121/10.0025391] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/13/2023] [Accepted: 03/08/2024] [Indexed: 09/20/2024]
Abstract
Transcranial ultrasound imaging assumes a growing significance in the detection and monitoring of intracranial lesions and cerebral blood flow. Accurate solution of partial differential equation (PDE) is one of the prerequisites for obtaining transcranial ultrasound wavefields. Grid-based numerical solvers such as finite difference (FD) and finite element methods have limitations including high computational costs and discretization errors. Purely data-driven methods have relatively high demands on training datasets. The fact that physics-informed neural network can only target the same model limits its application. In addition, compared to time-domain approaches, frequency-domain solutions offer advantages of reducing computational complexity and enabling stable and accurate inversions. Therefore, we introduce a framework called FD-embedded UNet (FEUNet) for solving frequency-domain transcranial ultrasound wavefields. The PDE error is calculated using the optimal 9-point FD operator, and it is integrated with the data-driven error to jointly guide the network iterations. We showcase the effectiveness of this approach through experiments involving idealized skull and brain models. FEUNet demonstrates versatility in handling various input scenarios and excels in enhancing prediction accuracy, especially with limited datasets and noisy information. Finally, we provide an overview of the advantages, limitations, and potential avenues for future research in this study.
Collapse
Affiliation(s)
- Linfeng Wang
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, 300072, China
| | - Jian Li
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, 300072, China
| | - Shili Chen
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, 300072, China
| | - Zheng Fan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
| | - Zhoumo Zeng
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, 300072, China
| | - Yang Liu
- State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, 300072, China
- International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University in Zhejiang, Shaoxing 330100, China
| |
Collapse
|
7
|
Tian Z, Olmstead M, Jing Y, Han A. Transcranial Phase Correction Using Pulse-Echo Ultrasound and Deep Learning: A 2-D Numerical Study. IEEE TRANSACTIONS ON ULTRASONICS, FERROELECTRICS, AND FREQUENCY CONTROL 2024; 71:117-126. [PMID: 38060357 PMCID: PMC10858766 DOI: 10.1109/tuffc.2023.3340597] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/10/2024]
Abstract
Phase aberration caused by human skulls severely degrades the quality of transcranial ultrasound images, posing a major challenge in the practical application of transcranial ultrasound techniques in adults. Aberration can be corrected if the skull profile (i.e., thickness distribution) and speed of sound (SOS) are known. However, accurately estimating the skull profile and SOS using ultrasound with a physics-based approach is challenging due to the complexity of the interaction between ultrasound and the skull. A deep learning approach is proposed herein to estimate the skull profile and SOS using ultrasound radiofrequency (RF) signals backscattered from the skull. A numerical study was performed to test the approach's feasibility. Realistic numerical skull models were constructed from computed tomography (CT) scans of five ex vivo human skulls in this numerical study. Acoustic simulations were performed on 3595 skull segments to generate array-based ultrasound backscattered signals. A deep learning model was developed and trained to estimate skull thickness and SOS from RF channel data. The trained model was shown to be highly accurate. The mean absolute error (MAE) was 0.15 mm (2% error) for thickness estimation and 13 m/s (0.5% error) for SOS estimation. The Pearson correlation coefficient between the estimated and ground-truth values was 0.99 for thickness and 0.95 for SOS. Aberration correction performed using deep-learning-estimated skull thickness and SOS values yielded significantly improved beam focusing (e.g., narrower beams) and transcranial imaging quality (e.g., improved spatial resolution and reduced artifacts) compared with no aberration correction. The results demonstrate the feasibility of the proposed approach for transcranial phase aberration correction.
Collapse
|
8
|
Griggs WS, Norman SL, Deffieux T, Segura F, Osmanski BF, Chau G, Christopoulos V, Liu C, Tanter M, Shapiro MG, Andersen RA. Decoding motor plans using a closed-loop ultrasonic brain-machine interface. Nat Neurosci 2024; 27:196-207. [PMID: 38036744 PMCID: PMC10774125 DOI: 10.1038/s41593-023-01500-7] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/17/2023] [Accepted: 10/16/2023] [Indexed: 12/02/2023]
Abstract
Brain-machine interfaces (BMIs) enable people living with chronic paralysis to control computers, robots and more with nothing but thought. Existing BMIs have trade-offs across invasiveness, performance, spatial coverage and spatiotemporal resolution. Functional ultrasound (fUS) neuroimaging is an emerging technology that balances these attributes and may complement existing BMI recording technologies. In this study, we use fUS to demonstrate a successful implementation of a closed-loop ultrasonic BMI. We streamed fUS data from the posterior parietal cortex of two rhesus macaque monkeys while they performed eye and hand movements. After training, the monkeys controlled up to eight movement directions using the BMI. We also developed a method for pretraining the BMI using data from previous sessions. This enabled immediate control on subsequent days, even those that occurred months apart, without requiring extensive recalibration. These findings establish the feasibility of ultrasonic BMIs, paving the way for a new class of less-invasive (epidural) interfaces that generalize across extended time periods and promise to restore function to people with neurological impairments.
Collapse
Affiliation(s)
- Whitney S Griggs
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, USA.
- David Geffen School of Medicine at UCLA, Los Angeles, CA, USA.
| | - Sumner L Norman
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, USA.
| | - Thomas Deffieux
- Physics for Medicine Paris, INSERM, CNRS, ESPCI Paris, PSL Research University, Paris, France
- INSERM Technology Research Accelerator in Biomedical Ultrasound, Paris, France
| | - Florian Segura
- Physics for Medicine Paris, INSERM, CNRS, ESPCI Paris, PSL Research University, Paris, France
- INSERM Technology Research Accelerator in Biomedical Ultrasound, Paris, France
| | | | - Geeling Chau
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, USA
| | - Vasileios Christopoulos
- T&C Chen Brain-Machine Interface Center, California Institute of Technology, Pasadena, CA, USA
- Department of Bioengineering, University of California, Riverside, Riverside, CA, USA
| | - Charles Liu
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, USA
- Department of Neurological Surgery, Keck School of Medicine of USC, Los Angeles, CA, USA
- USC Neurorestoration Center, Keck School of Medicine of USC, Los Angeles, CA, USA
- Rancho Los Amigos National Rehabilitation Center, Downey, CA, USA
| | - Mickael Tanter
- Physics for Medicine Paris, INSERM, CNRS, ESPCI Paris, PSL Research University, Paris, France
- INSERM Technology Research Accelerator in Biomedical Ultrasound, Paris, France
| | - Mikhail G Shapiro
- Division of Chemistry & Chemical Engineering, California Institute of Technology, Pasadena, CA, USA
- Andrew and Peggy Cherng Department of Medical Engineering, California Institute of Technology, Pasadena, CA, USA
- Howard Hughes Medical Institute, Pasadena, CA, USA
| | - Richard A Andersen
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, USA
- T&C Chen Brain-Machine Interface Center, California Institute of Technology, Pasadena, CA, USA
| |
Collapse
|
9
|
Yang Y, Wang P, Jia Y, Jing L, Shi Y, Sheng H, Jiang Y, Liu R, Xu Y, Li X. Rail fracture monitoring based on ultrasonic-guided wave technology with multivariate coded excitation. ULTRASONICS 2024; 136:107164. [PMID: 37748363 DOI: 10.1016/j.ultras.2023.107164] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/20/2023] [Revised: 08/21/2023] [Accepted: 09/12/2023] [Indexed: 09/27/2023]
Abstract
Steel lay the basis of railroad train traffic. Rail fracture is the most serious injury to the rail, which should be monitored in time. The conventional mono-pulse exciting ultrasonic guide wave (UGW) has low energy, the conventional Barker code has limited coding sequence length and the orthogonal complementary Golay code has the problem of low monitoring efficiency. This study proposes multivariate coded excitation (MCE) to excite UGW to monitor rail fracture, and the feasibility of coding and decoding the method is theoretically derived and verified. Ideally, the MCE generated based on the 3-bit Barker code (B3: 1,1, -1) and 4-bit orthogonal complementary Golay code (GA4: 1,1,1, -1; GB4: 1,1, -1,1) is calculated to have a main-lobe power level (MPL) gain of 8.1020 dB, which is significantly higher than the MPL of Barker and Golay codes. For the proposed method, finite element modeling simulation and experimental study are carried out respectively. Analyze and process the data, and calculate the gain of the difference in amplitude (DIA) between the amplitude of echo caused by rail fracture and the amplitude in the healthy rail. The gain of the DIA of the echoes in the MCE is above 50 dB (experimental data, the value of simulation data is 5 dB) under different degrees of rail fracture, while the gain of the DIA of the echoes caused by the other three excitation methods is below 40 dB (experimental data, the value of simulation data is 1 dB). Simulation and experimental results show that the MCE makes up for the shortcomings of the conventional Barker code and Golay code, improves the excitation energy of the monitoring system, and the high gain of the DIA of the echoes is more conducive to the identification of rail fracture damage.
Collapse
Affiliation(s)
- Yuan Yang
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Ping Wang
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Yinliang Jia
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Lixuan Jing
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Yu Shi
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Hongwei Sheng
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Yi Jiang
- College of Electrical Engineering, Nanjing Vocational University of Technology, Nanjing 210023, China.
| | - Renbao Liu
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Yihang Xu
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| | - Xin Li
- College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
| |
Collapse
|