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Estimating cardiac mechanical efficiency in a porcine ex situ working heart model

ifac-PapersOnLine 2024年第24期58卷 55-60页

作者： Henry Pigot Stig Steen Kristian Soltesz Lund University Dept. Automatic Control Lund Sweden Lund University Dept. Cardiothoracic Surgery Skåne University Hospital Lund Sweden

We introduce a method for assessing cardiac mechanical efficiency via a porcine ex situ biventricular working heart model, designed to closely replicate physiological conditions and improve the evaluation of donor heart viability for transplantation. The method aims to provide decision support for the safe utilization of hearts that might otherwise be discarded. Quantifying the heart's pumping work against its chemical energy yield, our model advances traditional assessments by incorporating dynamic flow impedances to simulate real-world cardiac loads. We calculate mechanical efficiency by measuring aortic pressure, cardiac output, coronary flow, and blood-gas parameters in six porcine hearts beating in isolation, outside of the body, against computer-controlled dynamic flow impedances. The observed mean mechanical efficiency was 8 . 0±0 . 8% (standard error of the mean), below the physiological norm of 25%. This discrepancy underscores the influence of ex situ conditions on heart performance, as well as the limitations of standard estimation methods. Impacts of the ex situ setup as well as estimation improvements are discussed. Future research will explore integrating imaging technologies (MRI) to refine mechanical efficiency assessment.

关键词： artificial organs and biomechanical systems decision support systems for the control of physiological and clinical variables cardiac mechanical efficiency biomedical system modelling ex situ working heart model functional heart assessment

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Nonlinear Model Predictive control of Rotation Floating Space Robots for Autonomous Active Debris Removal 22

Nonlinear Model Predictive Control of Rotation Floating Spac...

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22nd International-Federation-of-Automatic-control (ifac) symposium on Automatic control in Aerospace (ACA)

作者： Srivastava, Raunak Sah, Roshan Das, Kaushik TCS Res Bengaluru India

ISBN: (纸本)9781713867890

Active Debris removal using robotic manipulators onboard satellites is a promising way of cleaning up the space junk. However, complexities and non-linearities associated with the control of such coupled space-based systems present difficulties in their feasible implementation. Lack of a fixed base arises serious problems in controlling the space manipulators for precision tasks like capture of an orbiting space debris. This paper presents systematic modelling and control approaches for Rotation floating space robots in order to draw a comparison between them while tracking a moving target representing autonomous debris capture. We propose a Nonlinear Model Predictive controller (NMPC) for the space robot in order to design an optimal path that the end-effector can follow while being controlled to capture the target. To the best of the knowledge of the authors, such a controller has not been tested for a Rotation floating space robot before. Further, the current work implements and reviews one of the most commonly used Transpose Jacobian Cartesian (TJC) controller for Rotation floating space robots through the use of Generalized Jacobian Matrix (GJM). The results provide sufficient evidence of the superior performance of the nonlinear model predictive controller over the TJC controller. Finally, the current work also implements the same nonlinear model predictive controller on a more popular state of the art Free floating space robot and compares it with the Rotation floating space robot.

关键词： Rotation Floating Space robot Nonlinear Model Predictive control

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Reconfigurable-Based Fault-Tolerant control for Continuous-Time Markov Jump Piecewise-Affine systems with Allowable Switching Paths 11th

Reconfigurable-Based Fault-Tolerant Control for Continuous-T...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Xu, Nuo Zhu, Yanzheng Basin, Michael V. Zhou, Donghua Chen, Xinkai Huaqiao Univ Coll Mech Engn & Automat Xiamen 361021 Fujian Peoples R China Autonomous Univ Nuevo Leon Dept Phys & Math Sci San Nicolas de los Garza 66451 Mexico Shandong Univ Sci & Technol Coll Elect Engn & Automat Qingdao 266590 Peoples R China Shibaura Inst Technol Dept Elect & Informat Syst Saitama 3378570 Japan

In this paper, the reconfigurable control design problem is studied for a class of continuous-time Markov jump piecewise-affine (PWA) systems with sensor and actuator faults. A reconfiguration block is designed to recover mean-square input-to-state stability (ISS) of the faulty closed-loop system under virtual sensor and virtual actuator. Then, a novel algorithm for computing all the allowable switching paths (ASPs) is developed to overcome the issues of redundant empty paths and mismatch regions, and a S-procedure with the ellipsoidal outer approximation estimation is employed to cope with the affine term. Furthermore, a nonlinear approximation is introduced using the PWA technique to approximate the faulty Markov jump nonlinear systems. Finally, one example is illustrated to demonstrate the effectiveness and advantages of the designed reconfigurable control strategy with an ASPs *** (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license(https://***/licenses/by-nc-nd/4.0/)

关键词： Markov jump piecewise-affine system Reconfigurable control Virtual sensor Virtual actuator Mean-square input-to-state stability Nonlinear approximation

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LPV lateral control for ADAS based on driver performance monitoring 11th

LPV lateral control for ADAS based on driver performance mon...

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Medero, Ariel Sename, Olivier Puig, Vicenc Univ Grenoble Alpes CNRS GIPSA Lab Grenoble INP F-38000 Grenoble France Inst Robot i Informat Ind CSIC UPC C Llorens i Artigas 4-6 Barcelona 08028 Spain

This paper presents a lateral control Advanced Driver Assistance System for cars, which uses both steering control and differential braking commands to aid drivers and enhance vehicle safety. The proposed strategy uses a LPV PI Observer for the estimation of driver performance over a range of vehicle speeds. This estimation is then used as scheduling signals to activate / deactivate the ADAS actuators. The strategy is tested in simulation with randomly generated driver profiles to prove the adaptability to a diverse range of driver's *** (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Reconfigurable control Linear parameter-varying systems Intelligent driver aids

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Automative model selection and model certification for reaction-diffusion equations 10

Automative model selection and model certification for react...

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10th Vienna International Conference on Mathematical modelling (MATHMOD)

作者： Reisch, C. Langemann, D. TU Braunschweig Inst Partial Differential Equat Braunschweig Germany HAWK Gottingen Fac Engn & Hlth Gottingen Germany

This paper discusses the problem of automative model selection for low-fidelity models learned from data generated by a high-fidelity model. The models describe the time and space dependent interaction of virus and T cells in liver infections. While the high-fidelity model uses more a-priori knowledge and therefore a non-local reaction term, the low-fidelity models only consists of local interaction terms. We discuss the results from a model-theoretic perspective and compare three approaches with different complexity levels. The results include some surprising parameter choices even in the physics-based approach and a discussion of the model choice out of an insufficient model family. Copyright (C) 2022 The Authors.

关键词： Mathematical models Automation of modeling biomedical systems Data models Dynamic modeling Model approximation Physical models

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Fractional Order control of the Combined Anaesthesia-Hemodynamic System: a Preliminary Study 11th

Fractional Order Control of the Combined Anaesthesia-Hemodyn...

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11th ifac symposium on Biological and Medical systems (BMS)

作者： Hegedus, Erwin Birs, Isabela Muresan, Cristina Tech Univ Cluj Napoca Automat Dept Cluj Napoca 400144 Romania Univ Ghent DySC Res Grp Dynam Syst & Control B-9052 Ghent Belgium Flanders Make Consortium EEDT Grp B-9052 Ghent Belgium

Most surgical interventions involve sedating the patient with a cocktail of substances having anesthetic effects. The procedure is usually performed by a medical doctor that continuously monitors and readjusts drug dosage with respect to the patient's response. Current advances in automatic control and biomedical engineering offer the possibility to reassign the anesthetist's task to real-time, highly-performant monitoring and control algorithms, with the purpose of providing a risk-free anesthetic experience. The present study combines the well-known benefits of fractional calculus in biomedical applications with the intricate tasks revolving around automatic anesthesia. The proposed fractional order control algorithms are developed based on an open-source patient simulator that combines hemodynamics and anesthesia in a single customizable framework. Testing and validation of the proposed strategy is successfully performed on a group of 24 different patients in the presence of surgical stimulus. The ultimate result is that the hemodynamic characteristics are kept within accepted ranges, while a certain level of anesthesia is achieved. Copyright (C) 2021 The Authors.

关键词： fractional calculus hemodynamics control anesthesia control surgical stimulus automatic control

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control Engineering and Robotics since Primary School: an Infrastructure for creating the Digital Twin model of the Learning Class 13

Control Engineering and Robotics since Primary School: an In...

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13th ifac symposium on Advances in control Education (ACE)

作者： Screpanti, L. Scaradozzi, D. Gulesin, R. N. Ciuccoli, N. Univ Politecn Marche Dipartimento Ingn Informaz I-60131 Ancona AN Italy

control engineering has a cross-boundary nature because its applications span over a wide range of fields, among which science, technology, engineering, and mathematics (STEM). Creating an automation literacy from the Primary School's age is beneficial for pupils because it supports the development of valuable skills that allow the comprehension and analysis of real-world phenomena. Even if many researchers and policymakers have advocated for engineering education since early education, it is usually kept for undergraduate and graduate-level education. What prevents systems theory and control education from being integrated into K12 education is the lack of available educational resources and the lack of indicators to represent the learning gain of students. To help teachers in the latter aspect, a solution can be studying the entire process as a cyber-physical human system (CPHS). The paper consists of a brief report about the work carried out by authors to represent the entire classroom as a CPHS where the physical robots designed by students, humans (teachers and learners), and cybertechnologies are interconnected to accomplish a goal which is learning. The entire infrastructure could be seamlessly deployed into the classroom, supporting learning assessment and the feedback process starting from the deployment of a (quasi) real-time intelligent collection system.

关键词： Robotics Educational environment Educational robotics Cyber-Physical Human System CPHS Cyber-Physical System CPS Digital Twin MAS

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Detection of Cyber Attacks on a Water Treatment Process 11th

Detection of Cyber Attacks on a Water Treatment Process

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11th International-Federation-of-Automatic-control (ifac) symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS)

作者： Al-Dhaheri, Mohammed Zhang, Ping Mikhaylenko, Dina Univ Kaiserslautern TUK Inst Automatic Control D-67663 Kaiserslautern Germany

This paper investigates the detection of cyber attacks in a kind of critical infrastructure, the water treatment processes. For this purpose, the real data from the secure water treatment testbed (SWaT) in the iTrust Centre for Research in Cyber Security at the Singapore University of Technology and Design have been used in the investigation. More than 30 different attacks happen on the communication network between the programmable logic controller (PLC) and the sensors/actuators. After understanding the basic working mechanism of the SWaT process, an attack detection system is developed systematically, which consists of a limit value check and safety rule unit, a model-based monitoring unit and a data-driven monitoring unit. To cope with the nonstationary behavior of some water chemical properties such as pH and oxidation reduction potential, the recursive principal component analysis (RPCA) is applied in the data-driven part. It is shown how to divide the SWaT process suitably to integrate the model-based and data-driven monitoring for the SWaT process. The comparison shows that the proposed attack detection system outperforms other existing attack detection systems for the SWaT *** (c) 2022 The Authors. This is an open access article under the CC BY-NC-ND license(https://***/licenses/by-nc-nd/4.0/)

关键词： Cyber Attacks Water Treatment Process Process Monitoring Attack Detection

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Descending Staircase in the UGent Knee Rig: a Feasibility Study 11th

Descending Staircase in the UGent Knee Rig: a Feasibility St...

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11th ifac symposium on Biological and Medical systems (BMS)

作者： Chevalier, Amelie Victor, Jan Herregodts, Stijn Loccufier, Mia Univ Ghent Dept Electromech Syst & Met Engn Ghent Belgium Ghent Univ Hosp Dept Human Struct & Repair Ghent Belgium

The objective of this work consists of studying the feasibility to impose descending stair negotiation in the UGent Knee Rig (UGKR). The force and position reference signals for the control strategy are derived from literature. A mathematical coordinate transformation is developed to make the stair descent possible within the limitations of the UGKR. Kinematic measurements of the six degrees of freedom in the knee joint allow to assess knee instability. Therefore, a kinematic measurement method based on CT-images is used to measure the relative position of the bones during the stair descent. First, the study is performed on a mechanical knee hinge to evaluate the performance of the position and force control. Second, a saw-bone study is performed to assess the kinematic measurement. The results show the feasibility of the developed method to impose stair descent motions in future cadaver studies. Copyright (C) 2021 The Authors.

关键词： Descending stair Knee Kinematics Dynamic kee rig biomedical control Joint trajectory

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Ship Manoeuvering modelling with a Physics-Oriented Neural Network-Based Approach

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ifac-PapersOnLine 2023年第2期56卷 3471-3476页

作者： Jorge Lo Presti Lalo Magni Chiara Toffanin Department of Electrical Computer and Biomedical Engineering University of Pavia via Ferrata 3 Pavia 27100 Italy Department of Civil and Architecture Engineering University of Pavia via Ferrata 3 Pavia 27100 Italy

This paper proposes a novel system identification schema to obtain a model of a ship manouvering process using artificial Neural Networks (ANNs), computational models that have changed the research paradigm, bringing remarkable advantages in several fields. The ANNs capabilities in modelling nonlinear dynamical systems are undeniable and several approaches have been proposed in recent years. In our work, an ordinary black-box approach used to determine the input-output relationship of the system under investigation is initially outlined. Then, a physics-oriented approach to train a recurrent neural network structure is provided and thoroughly explained, investigating also the possible adoption of a simpler network structure. The results obtained with the physics-oriented approach in modelling the ship manouvering process are significantly better than the ones achieved with the pure black-box approach. Consequently, the physics-oriented approach resulted to be an exceptional tool for inferring the physical laws behind a nonlinear system accounting for a limited amount of data. The effectiveness of this method motivates further studies to evaluate its possible implementation in model-based control algorithms.

关键词： Neural Networks Nonlinear system identification Grey box modelling Marine system identification and modelling artificial intelligence in transportation

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