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Model for Simulating Fasting Glucose in Type 2 Diabetes and the Effect of Adherence to Treatment

IFAC-PapersOnLine 2017年第1期50卷 15086-15091页

作者： Aradóttir, Tinna B. Boiroux, Dimitri Bengtsson, Henrik Kildegaard, Jonas Orden, Brad V. Jørgensen, John B. Department of Applied Mathematics and Computer Science Technical University of Denmark Kgs. Lyngby DK-2800 Denmark Novo Nordisk A/S BagsværdDK-2880 Denmark

The primary goal of this paper is to predict fasting glucose levels in type 2 diabetes (T2D) in long-acting insulin treatment. The paper presents a model for simulating insulin-glucose dynamics in T2D patients. The model combines a physiological model of type 1 diabetes (T1D) and an endogenous insulin production model in T2D. We include a review of sources of variance in fasting glucose values in long-acting insulin treatment, with respect to dose guidance algorithms. We use the model to simulate fasting glucose levels in T2D long-acting insulin treatment and compare the results with clinical trial results where a dose guidance algorithm was used. We investigate sources of variance and through simulations evaluate the contribution of adherence to variance and dose guidance quality. The results suggest that the model for simulation of T2D patients is sufficient for simulating fasting glucose levels during titration in a clinical trial. Adherence to insulin injections plays an important role considering variance in fasting glucose. For adherence levels 100%, 70% and 50%, the coefficient of variation of simulated fasting glucose levels were similar to observed variances in insulin treatment. The dose guidance algorithm suggested too large doses in 0.0%, 5.3% and 24.4% of cases, respectively. Adherence to treatment is an important source of variance in long-acting insulin titration. © 2017

关键词： Physiological models Glucose Insulin Medical applications Medical problems Physiology Titration Biomedical systems Coefficient of variation guidance algorithm Insulin injections Insulin treatment Modeling for simulations Production modeling Type 2 diabetes

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Optimal Attack guidance algorithm for UAV with Net Information Support

Optimal Attack Guidance Algorithm for UAV with Net Informati...

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2012 Fifth International Symposium on Computational Intelligence and Design [第五届计算智能与设计国际会议 ISCID 2012]

作者： Zhaowang Fu Zhongliang Zhou Qingchun Kong Hongqiang Liu Engineering college Air Force Engineering University xi'an China

A new guidance algorithm with threat avoidance ability and missile launch restriction is proposed. Firstly, mathematic model of guidance is established based on relative velocity vector, second, path restriction model for threat avoidance and terminal restriction is given. Performance index is established based on guidance time as well as control energy;attack guidance is constructed as an optimal control model with nonlinear boundary restriction, state restriction and path restriction. Gauss Pseudospectral Method is adopted for model discretization and receding horizon control strategy is introduced for online optimization. Simulation result shows, this new guidance algorithm is effectively for threat avoidance and missile launch requirement could well satisfy at the endpoint.

关键词： guidance algorithm threat avoidance optimal control path restriction Gauss Pseudospectral Method receding horizon control

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guidance and Control for UAV Aerial Refueling Docking Based on Dynamic Inversion with L_1 Adaptive Augmentation

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Transactions of Nanjing University of Aeronautics and Astronautics 2015年第1期32卷 35-41页

作者：袁锁中甄子洋江驹 College of Automation Engineering Nanjing University of Aeronautics and Astronautics

The guidance and control for UAV aerial refueling docking based on dynamic inversion with L1 adaptive augmentation is *** order to improve the tracking performance of UAV aerial refueling docking,aguidance algorithm is developed to satisfy the tracking requirement of position and velocity,and it generates the UAV flight control loop *** flight control loop,based on the 6-DOF nonlinear model,the angular rate loop and the attitude loop are separated based on time-scale principle and the control law is designed using dynamic *** throttle control is also derived from dynamic inversion ***,an L1 adaptive augmentation is developed to compensate for the undesirable effects of modeling uncertainty and *** digital simulations are carried *** results show that the guidance and control system has good tracking performance and robustness in achieving accurate aerial refueling docking.

关键词： aerial refueling dynamic inversion guidance algorithm L1adaptive augmentation

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Mobile Robot Modelling and Autonomous guidance 2

Mobile Robot Modelling and Autonomous Guidance

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Automatic Control (CCAC), 2015 IEEE 2nd Colombian Conference on Automatic Control

作者： Perez-Montenegro, Carlos Canuto, Enrico Cardenas-Olaya, Andrea Acuna-Bravo, Wilber Politecn Torino Dept Control & Comp Engn I-10129 Turin Italy Politecn Torino Dept Elect & Telecommun I-10129 Turin Italy Univ Antonio Narino Bogota Colombia

ISBN: (纸本)9781467393058

This paper presents a generic model for a mobile robot with n wheels and active suspension. The model is presented in the fashion of an Embedded Model (EM) in order to apply the control framework known as Embedded Model Control (EMC). EMC is a model based control technique which allows the proper active real-time estimation and rejection of system disturbances. This research constitutes the initial steps for the application of the EMC framework and its future implementation on mobile robotics related problems. A guidance strategy with elliptical trajectories is developed, which guaranties position and attitude constraints. Some simulations are presented at the end showing the capabilities of the model and guidance algorithm built and presented.

关键词： Mobile robots Model Based Control Autonomous vehicles guidance algorithm

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Implementation and Application of guidance law using Aerodynamic Data for Simulation Purposes 14

Implementation and Application of Guidance law using Aerodyn...

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14th International Conference on Control, Automation and Systems (ICCAS)

作者： Zhang Wei Jin Jian-yun Masood, Khayyam Li Lin Ma Ze-hao Northwestern Polytech Univ Sch Aeronaut Xian 710072 Peoples R China

ISBN: (纸本)9788993215069

This paper describes a new technique for simulating the guidance of a SAM (surface to air missile) without the help of a controller. This analysis is fully automated in a closed loop using the features of commercial software MATLAB. The guidance algorithm is simulated with the help of aerodynamic data. Control law is not used for obtaining the desired deflections of the control surfaces rather reverse aerodynamics are used to calculate the commanded accelerations which are implied by the guidance system. The addition required in aerodynamics coefficients are calculated through reverse aerodynamics which are later on used to calculate the deflections required. These deflections are passed through actuator dynamics to obtain real deflections. The deflections obtained from actuator are then passed to aerodynamic block to calculate the desired aerodynamic forces. The forces update the current information and LOS (line of sight) of the guidance block thus creating a closed loop system. This technique has a unique solution for a unique guidance algorithm thus ensuring the path followed by the SAM is only dependent on guidance algorithm. This enables an efficient way to diagnose which guidance algorithm is suitable for a particular system without getting into the complexity of updating the controller and re-tuning of controller gains.

关键词： guidance algorithm SAM Aerodynamics Mathematical Modelling Simulation

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The guidance and control of wire-guided torpedo in the condition of the torpedo noise covering the target noise 4

The guidance and control of wire-guided torpedo in the condi...

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4th International Conference on Advanced Design and Manufacturing Engineering, ADME 2014

作者： Yin, Wen Jin Zhang, Jing Yuan Rao, Zhe Zhang, Yong Ping Naval University of Engineering China

ISBN: (纸本)9783038352570

This paper studies the attack method in the condition of the torpedo noise covering the target noise with the help of calculation azimuth guidance. To verify the effectiveness of the scheme, the paper does simulation calculation. The simulation results demonstrated that the effect is good and the scheme haves usage value. © (2014) Trans Tech Publications, Switzerland.

关键词： Torpedo noise Wire-guided torpedo guidance algorithm guidance analog computation Noise Standing Orders Targets Simulation results Scheme azimuth TORPEDO NOISE

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Ballistic missile intercept from UCAV

Ballistic missile intercept from UCAV

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作者： Lu, Zheng Liang Naval Postgraduate School

学位级别：硕士

The objective of this thesis is to conduct a study to evaluate the feasibility of the hit-to-kill trajectory-shaping(TS) guidance of an air-launched missile from a UCAV against enemy ballistic missiles via computer simulation, using a TS-guidance algorithm developed by LT Lukacs and Prof Yakimenko based on the direct method of calculus of variations that maximizes the kinetic energy transfer of an air-launched missile against an aerial target. The computer simulation code will generate the air-launched missile's entire flight path in order to minimize the distance travelled by the air-launched missile, minimize the time to intercept, and maximize kinetic energy transfer to the target (a simulated enemy missile) by controlling the interception geometry while providing near-optimal flight path to interception. This will be done by utilizing the direct method of calculus of variations combined with inverse dynamics theory to generate, in real time, an optimal flight path using the missile's onboard sensors and computers. The results have confirmed the feasibility of hit-to-kill trajectory-shaping(TS) guidance of an air-launched anti-ballistic missile from a UCAV.

关键词： Ballistic Missile Interception UCAV Trajectory-Shaping guidance algorithm Direct Method of Calculus

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Autonomous guidance for Proximity to Target Spacecraft

Autonomous Guidance for Proximity to Target Spacecraft

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IEEE International Conference on Mechatronics and Automation

作者： Sun, Zhaowei Wu, Shunan Lan, Shengchang Harbin Inst Technol Res Ctr Satellite Techonol Harbin 150001 Peoples R China

ISBN: (纸本)9781424426928

This paper presents the guidance algorithms of chase spacecraft for autonomous proximity to target spacecraft. The process of autonomous proximity is initially divided into three phases including proximity maneuver, fly-around maneuver and final approach. Based on the Hill equation, the characteristic of each phase is analyzed and then the criteria to design guidance algorithm is proposed. Then, the multi-pulse algorithm is adopted in proximity maneuver and final approach phases, capable of achieving the maneuver in any direction and orbit plane. Different orbit is then planned in each phase in accordance with mission requirements and proposed criteria. Finally, simulation is performed to prove this guidance algorithm. The Offered is an easy way for engineering realize, the analyses and opinions included in this paper can be generic applied in the future space tasks.

关键词： guidance algorithm Flyaround maneuvers Proximity operation Maneuver flying

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Online trajectory planning of robot arms for interception of fast maneuvering object under torque and velocity constraints

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS 2005年第6期35卷 831-843页

作者： Chwa, D Kang, J Choi, JY Ajou Univ Dept Elect & Comp Engn Suwon 443749 South Korea NeoMTel Seoul 135080 South Korea Seoul Natl Univ Sch Elect Engn & Comp Sci Seoul 151742 South Korea

This paper presents a novel approach to an online trajectory planning of robot arms for the interception of a fast-maneuvering object under torque and velocity constraints. A body axis is newly introduced as a trajectory-planning coordinate in order to meet the position and the velocity matching conditions or a smooth grasp of the fast-maneuvering object. Using the position of the object and the end-effector in the inertia axis, the acceleration commands are generated in the X-, Y-, and Z-directions of the body axis and the acceleration commands are modified considering the torque and the velocity constraints. The trajectory planning in the X-direction becomes the speed planning to achieve the maximum speed, whereas the trajectory planning in the Y- and Z-directions becomes the direction planning where a missile-guidance algorithm is employed to intercept the maneuvering object. Finally, the acceleration commands in the body axis are transformed into the angle commands of the end-effector in the joint axis, which is used as the actual trajectory commands in robot arms.

关键词： fast-maneuvering object guidance algorithm online trajectory planning robot arms torque and velocity constraints

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Analysis and design of aerocapture tether with accounting for stochastic errors

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JOURNAL OF SPACECRAFT AND ROCKETS 1998年第5期35卷 683-689页

作者： Tragesser, SG Longuski, JM Purdue Univ Sch Aeronaut & Astronaut W Lafayette IN 47907 USA

As an alternative to conventional aerocapture spacecraft, a system comprising two vehicles (a probe and an orbiter) connected by a long thin tether has been proposed. In this tethered system, the probe provides the necessary atmospheric drag while the orbiter remains high above the sensible atmosphere. The results of a sensitivity analysis of the aerocapture tether are presented. Errors in knowledge of the atmosphere and in control of the initial conditions are considered. A result of the analysis is the discovery that the tethered system possesses a self-correcting mechanism that partially compensates for these errors. This intrinsic characteristic can be enhanced with a simple guidance algorithm that implements a change in the tether length to minimize the effect of off-nominal conditions. Design rules are developed to accommodate stochastic errors without violating the constraints, i.e., breaking or compressing the tether, subjecting the orbiter to atmospheric effects, crashing, or failing to capture. The final design consists of a 68-km tether with a mass of 381 kg and a probe and orbiter of 1000 kg each. It is capable of achieving a 99% success rate for aerocapture at Mars.

关键词： Aerobraking tethers guidance algorithm Mars Exploration Atmosphere System Probe Entry Mass atmosphere Exploration accounting orbit vehicle Mars Random error aerocapture entry

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