arXiv subjects

Mingchao Ding

Publications and source records attributed to Mingchao Ding.

6 recordsLinked to original sources

arXiv2026

A 2D Image Feedback-Based Autonomous Endovascular Navigation Method: A Perception and Control Framework

In endovascular interventions, physicians rely on planar DSA and X-ray fluoroscopy to interpret vessel anatomy and device motion, yet converting these images into feedback for autonomous navigation remains difficult. A perception and control method is formulated for two-dimensional image feedback. Vessel masks are converted into a labeled centerline graph, and device-tip estimates are projected onto a planned path to obtain progress, deviation, and direction. A rule-based controller uses these quantities for delivery, branch selection, probing, rollback, and recovery. The method was evaluated on a physical dual-device robotic platform in 65 closed-loop runs using simulator-rendered planar images across three paths. All runs reached at least 0.95 maximum observed guidewire progress; two runs (3.1%) met the prespecified failure rule of three or more autonomous stop events. The results establish route-level performance on the tested platform; clinical image sequences and broader anatomy remain to be evaluated.

cs.RO↗

arXiv2026

Attribution-Gated Joint Estimation of Intention and Capability for Assist-as-Needed Upper-Limb Robots

Assist-as-needed (AAN) control must distinguish between changes in intended motion and changes in effective voluntary torque capability, even though both can produce similar kinematic and interaction responses. A dual-measurand multimodal MHE-MPC architecture is developed as the base framework, in which the intended trajectory and the task-dependent effective voluntary torque capability are estimated online as distinct quantities, and both estimates are used to adapt robotic assistance. Building on this architecture, the ambiguity between the two update channels is formulated as a continuous credit-assignment problem and resolved by an attribution gate. A trajectory-change indicator is obtained from persistent corrective interaction, whereas a capability-change indicator is derived from the residual between normalized muscle activation and dynamics-reconstructed voluntary torque. Nine healthy participants completed factorial target-height-load trials and a pre-post fatigue cup-transport task. Without target-height input, the gated method generated correctly ordered Low-Middle-High references under every load: target changes were preferentially assigned to trajectory adaptation, whereas added load shifted adaptation toward the capability channel. It achieved the lowest RMSE in all nine conditions (0.017 rad versus 0.041 rad for ungated dual estimation and 0.127 rad for fixed-reference error-based AAN). Post-fatigue capability estimates decreased and assistance increased at all heights, supporting functional feasibility.

cs.RO↗

arXiv2026

A VR Training System for Robot-Assisted Vascular Intervention with Dual-Mode Control and Model-Based Interaction Response

Virtual reality training for robot-assisted vascular intervention requires accurate robotic control and effective feedback on guidewire--vessel interactions. This paper presents a VR training system combining asynchronous dual-mode command mapping with sensorless interaction estimation. The system supports velocity-controlled navigation and position-driven incremental manipulation. Guidewire deformation and a Hunt--Crossley-type contact response are combined and temporally filtered to estimate interaction intensity, while trajectory-based visualization supports post-procedure review. Tests confirmed distinct command-dispatch patterns across three velocity gears and the position mode. During hybrid-scene navigation, the estimated response remained low during straight insertion and increased as the guidewire bent within the vascular model. Trajectory analysis yielded a model-derived cumulative trauma work (CTW) value of 15.166 in normalized units and localized regions of elevated interaction. In a preliminary study with 15 novices, physical-phantom task success increased from 53.3% to 93.3% after VR training, while mean completion time decreased from 132.4 s to 96.7 s. These results demonstrate the system's dual-mode operation, deformation-sensitive feedback, and potential to improve subsequent physical-phantom task performance.

cs.RO↗

arXiv2025

Phase-matching of high harmonic generation in twisted solids

High harmonic generation (HHG) in solids could enable attosecond and ultraviolet light sources with high compactness, great controllability and rich functions. However, the HHG process is accompanied by a quite large wavevector mismatch that is uncompensated by any traditional phase-matching method, directly limiting its energy conversion efficiency. Here, we propose an effective strategy for phase-matching of HHG with arbitrary harmonic orders in solids. Two flakes of solids with an interlayer twist induce a nonlinear optical phase that depends on the crystal symmetry, twist angle and harmonic order, which can be accurately designed to compensate for the phase mismatch in HHG. Guided by the twist-phase-matching theory, we achieved a record-high conversion efficiency of $~1.5\times10^{-5}$ for the fifth HHG in twisted hexagonal boron nitride crystals with a total thickness of only 1 $μm$. Our work establishes a foundation for developing ultrashort-wavelength and ultrafast-pulse laser sources in compact solid-state tabletop systems for fundamental and applied sciences.

physics.optics↗

arXiv2024

Phonon heat conduction across slippery interfaces in twisted graphite

Interlayer rotation in van der Waals (vdW) materials offers great potential for manipulating phonon dynamics and heat flow in advanced electronics with ever higher compactness and power density. However, despite extensive theoretical efforts in recent years, experimental measurements remain scarce especially due to the critical challenges of preparing single-crystalline twisted interfaces and probing interfacial thermal transport with sufficient resolution. Here, we exploited the intrinsic twisted interfaces in highly oriented pyrolytic graphite (HOPG). By developing novel experimental schemes based on microfabricated mesas, we managed to achieve simultaneous mechanical characterizations and thermal measurements. In particular, we pushed the HOPG mesas with a microprobe to identify and rotate single-crystalline intrinsic interfaces owing to their slippery nature as is well known in structural superlubricity. Remarkably, we observed over 30-fold suppression of thermal conductance for the slippery interfaces by using epitaxial graphite as a control. Nonetheless, the interfacial conductance remains around 600 $\mathrm{MWm^{-2}K^{-1}}$ which surpasses the highest values for artificially stacked vdW structures by more than five times. Further, atomic simulations revealed the predominant role of the transverse acoustic phonons. Together, our findings highlight a general physical picture that directly correlates interfacial thermal transport with sliding resistance, and lay the foundation for twist-enabled thermal management which are particularly beneficial to twistronics and slidetronics.

cond-mat.mes-hall↗

arXiv2020

Electrical probing of COVID-19 spike protein receptor binding domain via a graphene field-effect transistor

Here, in an effort towards facile and fast screening/diagnosis of novel coronavirus disease 2019 (COVID-19), we combined the unprecedently sensitive graphene field-effect transistor (Gr-FET) with highly selective antibody-antigen interaction to develop a coronavirus immunosensor. The Gr-FET immunosensors can rapidly identify (about 2 mins) and accurately capture the COVID-19 spike protein S1 (which contains a receptor binding domain, RBD) at a limit of detection down to 0.2 pM, in a real-time and label-free manner. Further results ensure that the Gr-FET immunosensors can be promisingly applied to screen for high-affinity antibodies (with binding constant up to 2*10^11 M^-1 against the RBD) at concentrations down to 0.1 pM. Thus, our developed electrical Gr-FET immunosensors provide an appealing alternative to address the early screening/diagnosis as well as the analysis and rational design of neutralizing-antibody locking methods of this ongoing public health crisis.

physics.app-ph↗