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Real-time glucose estimation algorithm for continuous glucose monitoring using autoregressive models

Journal of Diabetes Science and Technology 2010年第2期4卷 391-403页

作者： Leal, Yenny Garcia-Gabin, Winston Bondia, Jorge Esteve, Eduardo Ricart, Wifredo Fernández-Real, Jose-Manuel Vehí, Josep Institute of Informatics and Applications University of Girona Spain Girona Spain Department of Electrical Electronic and Control Engineering University of Girona Girona Spain Instituto Universitario de Automática e Informática Industrial Universidad Politécnica de Valencia Valencia Spain Department of Diabetes Endocrinology and Nutrition Institut d'Investigacio Biomedica de Girona Girona Spain Department of Obesity and Nutrition CIBEROBN Fisiopatología de la Obesidad Y Nutrición Instituto de Salud Carlos III Madrid Spain

Background: Continuous glucose monitors (CGMs) present a problem of lack of accuracy, especially in the lower range, sometimes leading to missed or false hypoglycemia. A new algorithm is presented here aimed at improving the measurement accuracy and hypoglycemia detection. Its core is the estimation of blood glucose (BG) in real time (RT) from CGM intensity readings using autoregressive (AR) models. Methods: Eighteen patients with type 1 diabetes were monitored for three days (one at the hospital and two at home) using the CGMS® Gold. For these patients, BG samples were taken every 15 min for 2 h after meals and every half hour otherwise during the first day. The relationship between the current measured by the CGMS Gold and BG was learned by an AR model, allowing its RT estimation. New capillary glucose measurements were used to correct the model BG estimations. Results: A total of 563 paired points were obtained from BG and monitor readings to validate the new algorithm. 98.5% of paired points fell in zones A+B of the Clarke error grid analysis with the proposed algorithm. The overall mean and median relative absolute differences (RADs) were 9.6% and 6.7%. Measurements meeting International Organization for Standardization (ISO) criteria were 88.7%. In the hypoglycemic range, the mean and median RADs were 8.1% and 6.0%, and measurements meeting ISO criteria were 86.7%. The sensitivity and specificity with respect to hypoglycemia detection were 91.5% and 95.0%. Conclusions: The performance measured with both clinical and numerical accuracy metrics illustrates the improved accuracy of the proposed algorithm compared with values presented in the literature. A significant improvement in hypoglycemia detection was also observed. © Diabetes Technology Society.

关键词： Autoregressive model Continuous glucose monitoring Hypoglycemia Type 1 diabetes

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A design method of ideal vehicle models in adaptive driver-combined-vehicles system

A design method of ideal vehicle models in adaptive driver-c...

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SICE Annual Conference

作者： Qiang Wang Hideki Wada Singo Tamaru Masahiro Oya Department of Systems Design and Informatics Kyushu Institute of Technology Fukuoka Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology Fukuoka Japan Shin-Nippon Nondestructive Inspection Company Limited Fukuoka Japan

In this paper, to achieve good handling property even for large variation of vehicle dynamics, a design method of ideal vehicle models for driver-combined-vehicles system is proposed, then, an adaptive steering controller is developed so that the actual vehicle can track the ideal vehicle models. In the adaptive driver-combined-vehicles system, the actual vehicle can track the ideal vehicle model even when the dynamics of actual combined vehicles varies large. Using this property, the ideal vehicle models can be designed easily for different characteristics of driver. In this paper, the behavior of driver in cornering is considered. The property of driver is described by the preview driver model in cornering. Carrying out numerical simulations, it is shown that good handling performance can be achieved when the actual vehicle tracks the designed ideal vehicle model.

关键词： Vehicles Driver circuits Adaptation model Agricultural machinery Vehicle dynamics Mathematical model Adaptive systems

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Recognition of Fusarium diseased corn kernels using MIR spectroscopy and Neuro – Fuzzy classifier

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IFAC Proceedings Volumes 2010年第26期43卷 219-224页

作者： Tsvetelina Draganova Plamen Daskalov Roumiana Tsenkova Stefka Atanassova Petya Veleva-Doneva Principal Assistant Professor Department of Automatics Information and Control Engineering University of Rousse Rousse 7017 Bulgaria Associate Professor Department of Automatics Information and Control Engineering University of Rousse Rousse Bulgaria Professor Biomeasurement Technology Laboratory Faculty of Agriculture Kobe University Kobe 657-8501 Japan Associate Professor Department of Physics Trakia University Stara Zagora 6000 Bulgaria PhD student Department of Informatics and Mathematics Trakia University Stara Zagora 6000 Bulgaria

In this paper we present the results obtained recently by recognizing corn kernels (healthy and Fusarium diseased) using spectral characteristics and Neuro-Fuzzy classifier. The proposed approach to corn kernel type diagnostic is based on three steps: spectral data acquisition, preliminarily processing and feature extraction, and classification. In the first step, the near infrared reflectance spectral characteristics are obtained in the range 400 – 2500 nm with step 2 nm. In the second step informative features are extracted using principal component analysis. In order to make a compact spectral data representation, the number of features is reduced. Adaptive Neuro – Fuzzy Inference System (ANFIS) is implemented in order to establish decision boundaries in the space of the selected features which separate samples belonging to two different classes (healthy and Fusarium diseased corn kernels). The inputs to ANFIS are several principal components. ANFIS has only one output node, the corn kernel type. The system is trained by data of train sample. We then evaluate the deviation of our estimate compared to the expert assessment. The procedure is applied to the 1800 corn kernels spectral data and the average accuracy is given. The average testing error for class healthy is 0,023 % and for class diseased is 0,329 %. As a result of the presented experiments the NIR spectroscopy is applicable as a nondestructive tool for Fusarium diseased corn kernels recognition and may become a powerful tool for monitoring the safety of our food supply. For practical implementation in the grain industry, a ANFIS classifier can be used effectively.

关键词： corn kernels Fusarium disease NIR spectroscopy Neuro - Fuzzy PCA

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Output control Algorithm for Unstable Plant with Input Delay and Cancellation of Unknown Biased Harmonic Disturbance

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IFAC Proceedings Volumes 2010年第2期43卷 39-44页

作者： Anton Pyrkin Andrey Smyshlyaev Nikolaos Bekiaris-Liberis Miroslav Krstic Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Department of Mechanical and Aerospace Engineering University of California San Diego La Jolla CA 92093-0411 USA

We present a new stabilization approach for a linear plant with input delay, parametric uncertainties, and an unknown harmonic disturbance. To solve this problem, we combine the well-known predictor feedback approach with the state observer and adaptive scheme that identifies the frequency of the disturbance. Compared to the existing approaches, the dynamic order of our adaptive scheme is low (equal to three) and the results apply to plants that are unstable, non-minimum phase, and have an arbitrary relative degree.

关键词： Unstable systems input delay predictor feedback output feedback adaptive control disturbance cancellation

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Rejection of Unknown Biased Harmonic Disturbance for Nonlinear System with Input Delay

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IFAC Proceedings Volumes 2010年第2期43卷 241-246页

作者： Anton A. Pyrkin Alexey A. Bobtsov Artem S. Kremlev The Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

In this paper a new approach for cancellation of a biased harmonic disturbance is proposed. Compared with a number of known results in this paper the disturbance compensation problem is solved when the output variable is measured only, a relative degree of the plant is arbitrary and the control channel has delay. The reaction wheel pendulum on a movable platform is considered as the plant to demonstrate how proposed approach can be plugged. Created by hand disturbance moves the platform in horizontal surface and the pendulum is oscillating. The second goal of this work is the development of mechatronic applications using in education.

关键词： Disturbance rejection time-delay systems decision feedback nonlinear control output regulation single-input/single-output systems robust control robustness

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Adaptive Output Stabilization of Time-Delay Nonlinear System

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IFAC Proceedings Volumes 2010年第2期43卷 307-312页

作者： Alexey A. Bobtsov Anton A. Pyrkin The Department of Control Systems and Informatics Saint Petersburg State University of Information Technologies Mechanics and Optics Kronverkskiy av. 49 Saint Petersburg 197101 Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

This paper deals with the output stabilization of time-delay systems with sector-bounded nonlinearity. In this paper we will consider the problem of absolute stability for a class of time-delay systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and a uncertainty nonlinearity satisfying a sector constraint. For a class of output control algorithms a controller providing output asymptotic stability of equilibrium position is designed.

关键词： Absolute stability time-delay systems stabilization methods decision feedback nonlinear control output regulation single-input/single-output systems robust control robustness

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Navigation of mobile robots in an intelligent environment with wireless visual sensors

Navigation of mobile robots in an intelligent environment wi...

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IEEE International Conference on Networking, Sensing and control

作者： P. Jiang Y. Cheng Y. Ji Z. Feng J. Zhu X. Wang F. Tian School of Informatics University of Bradford Bradford UK School of Engineering Design and Technology University of Bradford Bradford UK Department of Information and Control University of Tongji Shanghai China Systems Engineering Institute Xi''an Jiaotong University Xi'an China

ISBN: (纸本)9781424464500;9781424464531

Today, most autonomous mobile robots rely on centralized perception and processing. They are, however, facing difficulties to be reliable and efficient due to uncertainties introduced from dynamic environments. In this paper, an intelligent environment with distributed visual sensors to support navigation and control of mobile robots, wireless mosaic eyes, is reported. The distributed visual sensors relieve the required massive intelligence to its environment. A multiple Bloom-filter scheme is developed for distributed storage of global routing information into wireless sensors. An error expectation based design for a multiple Bloom-filter is proposed, which exhibits superior performance to the conventional design. Considering dynamic navigation and control of a mobile robot guided by distributed vision, an active contour based scheme is developed to deal with path planning, trajectory generation, and optimal motion control. A working system has been developed to demonstrate the idea.

关键词： Intelligent sensors Navigation Mobile robots Intelligent robots Wireless sensor networks Motion control Uncertainty Robot control Eyes Routing

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A design method of ideal vehicle models in adaptive driver-combined- vehicles system

A design method of ideal vehicle models in adaptive driver-c...

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作者： Wang, Qiang Tamaru, Singo Wada, Hideki Oya, Masahiro Department of Systems Design and Informatics Kyushu Institute of Technology 680-4 Kawazu Iizuka-shi Fukuoka Japan Department of Mechanical and Control Engineering Kyushu Institute of Technology 1-1 Sensui-cho Tobata-ku Kitakyushu-shi Fukuoka Japan Shin-Nippon Nondestructive Inspection Co. Ltd. 4-10-13 Ibori Jokurakita-ku Kitakyushu-shi Fukuoka Japan

ISBN: (纸本)9784907764364

关键词： Design

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A novel approach to the Model Reference Adaptive control of MIMO systems

A novel approach to the Model Reference Adaptive Control of ...

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IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD)

作者： J.K. Tar I.J. Rudas J.F. Bitó K.R. Kozłowski C. Pozna John von Neumann Faculty of Informatics buda University Budapest Hungary Chair of Control and Systems Engineering Poznan University of Technology Poznan Poland Design and Robotics Department University Transilvania of Brasov Brasov Romania

The “Model Reference Adaptive control (MRAC)” is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the “reference model” that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2 nd (“direct”) method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of “Robust Fixed Point Transformations (RFPT)” in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of “deformation” of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can “fob” the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a “cart - beam - hamper” system is considered. The conclusions of the paper are illustrated by simulation results.

关键词： Adaptive control MIMO Lyapunov method Motion control Programmable control Intelligent robots Systems engineering and theory control systems control system synthesis Asymptotic stability

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Rejection of Sinusoidal Disturbance of Unknown Frequency for Linear System with Input Delay

Rejection of Sinusoidal Disturbance of Unknown Frequency for...

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American control Conference

ISBN: (纸本)9781424474264

We present a new approach for rejection of a sinusoidal disturbance of unknown frequency, bias, amplitude, and phase for a linear unstable plant with a delay in the control channel. To solve the problem, we combine the well-known predictor feedback approach with the adaptive scheme that identifies the frequency of the disturbance. Compared to the existing results, the dynamic order of our adaptive scheme is low (equal to three) and the approach applies to plants that are unstable and have an arbitrary relative degree. The results are illustrated by the numerical example.

关键词： Frequency Linear systems Delay systems control systems Feedback Adaptive control Programmable control control design Nonlinear systems Optical control

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