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Robust PID Controller design for Both Delay-Free and Time-Delay systems

IFAC-PapersOnLine 2018年第4期51卷 930-935页

作者： Nobuyama, Eitaku Kami, Yasushi Department of Systems Design and Informatics Kyushu Institute of Technology Kawazu IizukaFukuoka820-8502 Japan Department of Electrical and Computer Engineering National Institute of Technology Akashi College Uozumi-cho Akashi Hyogo 674-8501 Japan

Robust PID controller design methods are proposed for linear single-input single-output systems. Non-parametric models represented by a finite number of frequency responses are used for them. Sufficient conditions for closed-loop stability are derived based on the Nyquist stability criterion and the sufficient conditions are reduced to convex constraints. Together with the convex constraints and closed-loop model matching problems the robust PID controller design problems are formulated as convex optimization problems. A important feature of the proposed design methods is that they can be applied to delay-free and time-delay systems in the same manner. Moreover, the proposed methods are extended to two-degree-of-freedom PID controller design methods. © 2018

关键词： Three term control systems Channel estimation Controllers Convex optimization Degrees of freedom (mechanics) Delay control systems design Electric control equipment Frequency response Proportional control systems Robust control Stability criteria Time delay Timing circuits Closed loop stability Convex optimization problems Non parametric model Nyquist stability criterion PID controller design PID controllers Single input single output systems Two degree of freedom

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FUTURE-AI: International consensus guideline for trustworthy and deployable artificial intelligence in healthcare

arXiv

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arXiv 2023年

作者： Lekadir, Karim Feragen, Aasa Fofanah, Abdul Joseph Frangi, Alejandro F. Buyx, Alena Emelie, Anais Lara, Andrea Porras, Antonio R. Chan, An-Wen Navarro, Arcadi Glocker, Ben Botwe, Benard O. Khanal, Bishesh Beger, Brigit Wu, Carol C. Cintas, Celia Langlotz, Curtis P. Rueckert, Daniel Mzurikwao, Deogratias Fotiadis, Dimitrios I. Zhussupov, Doszhan Ferrante, Enzo Meijering, Erik Weicken, Eva González, Fabio A. Asselbergs, Folkert W. Prior, Fred Krestin, Gabriel P. Collins, Gary S. Tegenaw, Geletaw S. Kaissis, Georgios Misuraca, Gianluca Tsakou, Gianna Dwivedi, Girish Kondylakis, Haridimos Jayakody, Harsha Woodruf, Henry C. Mayer, Horst Joachim Aerts, Hugo JWL Walsh, Ian Chouvarda, Ioanna Buvat, Irène Tributsch, Isabell Rekik, Islem Duncan, James Kalpathy-Cramer, Jayashree Zahir, Jihad Park, Jinah Mongan, John Gichoya, Judy W. Schnabel, Julia A. Kushibar, Kaisar Riklund, Katrine Mori, Kensaku Marias, Kostas Amugongo, Lameck M. Fromont, Lauren A. Maier-Hein, Lena Alberich, Leonor Cerdá Rittner, Leticia Phiri, Lighton Marrakchi-Kacem, Linda Donoso-Bach, Lluís Martí-Bonmatí, Luis Cardoso, M. Jorge Bobowicz, Maciej Shabani, Mahsa Tsiknakis, Manolis Zuluaga, Maria A. Bielikova, Maria Fritzsche, Marie-Christine Camacho, Marina Linguraru, Marius George Wenzel, Markus De Bruijne, Marleen Tolsgaard, Martin G. Ghassemi, Marzyeh Ashrafuzzaman, Md Goisauf, Melanie Yaqub, Mohammad Abadía, Mónica Cano Mahmoud, Mukhtar M.E. Elattar, Mustafa Rieke, Nicola Papanikolaou, Nikolaos Lazrak, Noussair Díaz, Oliver Salvado, Olivier Pujol, Oriol Sall, Ousmane Guevara, Pamela Gordebeke, Peter Lambin, Philippe Brown, Pieta Abolmaesumi, Purang Dou, Qi Lu, Qinghua Osuala, Richard Nakasi, Rose Zhou, S. Kevin Napel, Sandy Colantonio, Sara Albarqouni, Shadi Joshi, Smriti Carter, Stacy Klein, Stefan Petersen, Steffen E. Aussó, Susanna Awate, Suyash Raviv, Tammy Riklin Cook, Tessa Mutsvangwa, Tinashe E.M. Rogers, Wendy A. Niessen, Wiro J. Puig-Bosch, Xènia Zeng, Yi Mohammed, Yunusa G. Aquino, Yves Saint James Salahuddin, Zohaib Starmans, Martijn P.A. Department de Matemàtiques i Informàtica Universitat de Barcelona Barcelona Spain Barcelona Spain DTU Compute Technical University of Denmark Kgs Lyngby Denmark Department of Mathematics and Computer Science Faculty of Science and Technology Milton Margai Technical University Freetown Sierra Leone Center for Computational Imaging & Simulation Technologies in Biomedicine Schools of Computing and Medicine University of Leeds Leeds United Kingdom Cardiovascular Science and Electronic Engineering Departments KU Leuven Leuven Belgium Institute of History and Ethics in Medicine Technical University of Munich Munich Germany Faculty of Engineering of Systems Informatics and Sciences of Computing Galileo University Guatemala City Guatemala Department of Biostatistics and Informatics Colorado School of Public Health University of Colorado Anschutz Medical Campus AuroraCO United States Department of Medicine Women’s College Research Institute University of Toronto Toronto Canada Universitat Pompeu Fabra BarcelonaBeta Brain Research Center Barcelona Spain Department of Computing Imperial College London London United Kingdom School of Biomedical & Allied Health Sciences University of Ghana Accra Ghana Department of Midwifery & Radiography School of Health & Psychological Sciences City University of London United Kingdom Kathmandu Nepal European Heart Network Brussels Belgium Department of Thoracic Imaging University of Texas MD Anderson Cancer Center Houston United States IBM Research Africa Nairobi Kenya Departments of Radiology Medicine and Biomedical Data Science Stanford University School of Medicine Stanford United States Institute for AI and Informatics in Medicine Klinikum rechts der Isar Technical University Munich Munich Germany Department of Computing Imperial College London London United Kingdom Muhimbili University of Health and Allied Sciences Dar es Salaam Tanzania United Republic of Ioannina Greece Almaty AI Lab Almaty Kazakhstan

Background: Despite major advances in artificial intelligence (AI) research for healthcare, the deployment and adoption of AI technologies remain limited in clinical practice. In recent years, concerns have been raised about the clinical, technical, ethical and legal risks associated with healthcare AI. To increase adoption in the real world, it is essential that AI technologies are trusted and accepted by patients, clinicians, health organisations and authorities. This paper describes the FUTURE-AI framework as the first international consensus guideline for trustworthy AI in healthcare. Methods: The FUTURE-AI consortium was founded in 2021 and now comprises 117 interdisciplinary experts from 50 countries representing all continents, including AI scientists, clinical researchers, biomedical ethicists, and social scientists. Over a two-year period, the consortium established guiding principles and best practices for trustworthy and deployable AI through an iterative process comprising an in-depth literature review, a modified Delphi survey, and online consensus meetings. Findings: The FUTURE-AI framework was established based on six guiding principles for trustworthy AI in healthcare, i.e. Fairness, Universality, Traceability, Usability, Robustness and Explainability. Through consensus, a set of 30 best practices were defined, addressing technical, clinical, socio-ethical and legal dimensions of trustworthy AI. The recommendations cover the entire lifecycle of healthcare AI, from design, development and validation to regulation, deployment, and monitoring. Interpretation: FUTURE-AI is a structured, risk-informed framework which provides guidance for constructing healthcare AI tools that will be trusted, deployed and adopted in real-world clinical practice. Researchers are encouraged to take the recommendations into account in proof-of-concept stages to facilitate future translation towards clinical practice of healthcare AI. Copyright © 2023, The Authors. All rights

关键词： Clinical research

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Quantum Noise Theory of Exceptional Point Amplifying Sensors

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Physical Review Letters 2019年第18期123卷 180501-180501页

作者： Mengzhen Zhang William Sweeney Chia Wei Hsu Lan Yang A. D. Stone Liang Jiang Departments of Applied Physics and Physics Yale University New Haven Connecticut 06520 USA Yale Quantum Institute Yale University New Haven Connecticut 06520 USA Ming Hsieh Department of Electrical and Computer Engineering University of Southern California Los Angeles California 90089 USA Department of Electrical and Systems Engineering Washington University St Louis Missouri 63130 USA Pritzker School of Molecular Engineering The University of Chicago Chicago Illinois 60637 USA

Open quantum systems can have exceptional points (EPs), degeneracies where both eigenvalues and eigenvectors coalesce. Recently, it has been proposed and demonstrated that EPs can enhance the performance of sensors in terms of amplification of a detected signal. However, typically amplification of signals also increases the system noise, and it has not yet been shown that an EP sensor can have improved signal-to-noise performance. We develop a quantum noise theory to calculate the signal-to-noise performance of an EP sensor. We use the quantum Fisher information to extract a lower bound for the signal-to-noise ratio (SNR) and show that parametrically improved SNR is possible. Finally, we construct a specific experimental protocol for sensing using an EP amplifier near its lasing threshold and heterodyne signal detection that achieves the optimal scaling predicted by the Fisher bound. Our results can be generalized to higher order EPs for any bosonic non-Hermitian system with linear interactions.

关键词： Electromagnetism Metrology PT-symmetric quantum mechanics Quantum metrology

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An energy-aware resource provisioning scheme for real-time applications in a cloud data center

An energy-aware resource provisioning scheme for real-time a...

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作者： Faragardi, Hamid Reza Dehnavi, Saeid Nolte, Thomas Kargahi, Mehdi Fahringer, Thomas School of Innovation Design and Engineering Mälardalen University Västerås Sweden Distributed and Parallel Systems Group Institute of Computer Science Innsbruck University Innsbruck Austria School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran Tehran Iran

Based on a pay-as-you-go model, cloud computing provides the possibility of hosting pervasive applications from both academic and business domains. However, data centers hosting cloud applications consume huge amounts of electrical energy, contributing to high operational costs and large carbon footprints to the environment. Energy-aware resource provisioning is an effective solution to diminish the energy consumption of cloud data centers. Recently, a growing trend has emerged, where cloud technology is used to run periodic real-time applications such as multimedia, telecommunication, video gaming, and industrial applications. In order for a real-time application to be able to use cloud services, cloud providers have to be able to provide timing guarantees. In this paper, we introduce an energy-aware resource provisioning mechanism for cloud data centers, which are capable of serving real-time periodic tasks following the Software as a Service model. The proposed method is compared against an energy-aware version of the RT-OpenStack. RT-OpenStack is a recently proposed approach to provide a time-predictable version of OpenStack. The experimental results manifest that our proposed resource provisioning method outperforms energy-aware version of the RT-OpenStack by 16.01%, 25.45%, and 25.45% in terms of energy consumption, number of used servers, and average utilization of used servers, respectively. Moreover, from the scalability perspective, the preference of the proposed method for large-scale data centers is more considerable. Copyright © 2018 John Wiley & Sons, Ltd.

关键词： Ant colony optimization

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Nanoparticle-supported, rapid, digital quantification of neutralizing antibodies against SARS-CoV-2 variants

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Biosensors and Bioelectronics 2025年 285卷 117549页

作者： Mirjalili, Seyedsina Ikbal, Md Ashif Hou, Ching-Wen Mohammadi, Maziyar Kalateh Choi, Yeji Kelbauskas, Laimonas VanBlargan, Laura A. Hogue, Brenda G. Murugan, Vel Diamond, Michael S. Wang, Chao School of Electrical Computer and Energy Engineering Arizona State University TempeAZ85287 United States Biodesign Center for Molecular Design and Biomimetics Arizona State University AZ85287 United States Biodesign Center for Personalized Diagnostics Arizona State University AZ85287 United States The National Institutes of Health BethesdaMD United States Biodesign Center for Applied Structural Discovery Arizona State University AZ85287 United States School of Life Sciences Arizona State University TempeAZ85287 United States Departments of Medicine Molecular Microbiology and Pathology & Immunology Washington University School of Medicine St. LouisMO United States

The measurement of neutralizing immune responses to viral infection is essential, given the heterogeneity of human immunity and the emergence of new virus strains. However, neutralizing antibody (nAb) assays often require high-level biosafety containment, sophisticated instrumentation, and long detection times. Here, as a proof-of-principle, we designed a nanoparticle-supported, rapid, electronic detection (NasRED) assay to assess the neutralizing potency of monoclonal antibodies (mAbs) against SARS-CoV-2. The gold nanoparticles (AuNPs) coated with human angiotensin-converting enzyme 2 (ACE2) protein as nAb potency reporters were mixed with the mAbs to be tested, as well as streptavidin-conjugated multivalent spike (S) protein or their receptor binding domains (RBD). High-affinity and ACE2-competitive nAbs alter the S (or RBD)-to-ACE2 binding level and modulate AuNP cluster formation and precipitation. The amount of free-floating AuNP reporters is quantified by a semiconductor-based readout system that measures the AuNPs' optical extinction, producing nAb signals that can differentiate SARS-CoV-2 variants (Wuhan-Hu-1, Gamma, and Omicron). The modular design nature, short assay time (less than 30 min), and portable and inexpensive readout system make this NasRED-nAb assay applicable to measuring vaccine potency, immune responses to infection, and the efficacy of antibody-based therapies. © 2025 Elsevier B.V.

关键词： Monoclonal antibodies

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Author Correction: 3D-printed liquid metal polymer composites as NIR-responsive 4D printing soft robot

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Nature communications 2024年第1期15卷 943页

作者： Liwen Zhang Xumin Huang Tim Cole Hongda Lu Jiangyu Hang Weihua Li Shi-Yang Tang Cyrille Boyer Thomas P Davis Ruirui Qiao Australian Institute of Bioengineering & Nanotechnology The University of Queensland Brisbane QLD 4072 Australia. Department of Electronic Electrical and Systems Engineering University of Birmingham Birmingham UK. School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong Wollongong NSW 2522 Australia. School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK. shiyang.tang@soton.ac.uk. Cluster for Advanced Macromolecular Design School of Chemical Engineering The University of New South Wales Sydney NSW 2052 Australia. Australian Institute of Bioengineering & Nanotechnology The University of Queensland Brisbane QLD 4072 Australia. t.davis@uq.edu.au. Australian Institute of Bioengineering & Nanotechnology The University of Queensland Brisbane QLD 4072 Australia. r.qiao@uq.edu.au.

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Generalization of CNOT-based Discrete Circular Quantum Walk: Simulation and Effect of Gate Errors

arXiv

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arXiv 2020年

作者： Slimen, Iyed Ben Gueddana, Amor Lakshminarayanan, Vasudevan SysCom Lab National Engineering School of Tunis ENIT University of EL Manar 1002 Le Belvédère Tunis Tunisia Green & Smart Communication Systems Lab Gres’Com Engineering School of Communication of Tunis Sup’Com University of Carthage Ghazela Technopark Ariana2083 Tunisia Theoretical & Experimental Epistemology Lab TEEL School of Optometry and Vision Science University of Waterloo 200 University Avenue West WaterlooONN2l 3G1 Canada Department of Physics Department of Electrical and Computer Engineering Department of Systems Design Engineering University of Waterloo 200 University Avenue West WaterlooONN2l 3G1 Canada

We investigate the counterparts of random walk in universal quantum computing and their implementation using standard quantum circuits. Quantum walk have been recently well investigated for traversing graphs with certain oracles. We focus our study on traversing a 1-D graph, namely a circle, and show how to implement discrete circular quantum walk in quantum circuits built with universal CNOT and single quit gates. We review elementary quantum gates and circuit decomposition and propose a a generalized version of the all CNOT based quantum discrete circular walk. We simulated these circuits on an IBM quantum supercomputer London IBM-Q with 5 qubits. This quantum computer has non perfect gates based on superconducting qubits, therefore we analyze the impact of errors on the fidelity of the Walker circuit. Copyright © 2020, The Authors. All rights reserved.

关键词： Qubits

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Analysis of a reduced model of epithelialmesenchymal fate determination in cancer metastasis as a singularly-perturbed monotone system

arXiv

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arXiv 2019年

作者： Al-Radhawi, M. Ali Sontag, Eduardo D. Departments of Bioengineering and Electrical and Computer Engineering Northeastern University 360 Huntington Avenue BostonMA02115 United States Laboratory of Systems Pharmacology Program in Therapeutic Science Harvard Medical School BostonMA02115

Tumor metastasis is one of the main factors responsible for the high fatality rate of cancer. Metastasis can occur after malignant cells transition from the epithelial phenotype to the mesenchymal phenotype. This transformation allows cells to migrate via the circulatory system and subsequently settle in distant organs after undergoing the reverse transition. The core gene regulatory network controlling these transitions consists of a system made up of coupled SNAIL/miRNA-34 and ZEB1/miRNA-200 subsystems. In this work, we formulate a mathematical model and analyze its long-term behavior. We start by developing a detailed reaction network with 24 state variables. Assuming fast promoter and mRNA kinetics, we then show how to reduce our model to a monotone four-dimensional system. For the reduced system, monotone dynamical systems theory can be used to prove generic convergence to the set of equilibria for all bounded trajectories. The theory does not apply to the full model, which is not monotone, but we briefly discuss results for singularly-perturbed monotone systems that provide a tool to extend convergence results from reduced to full systems, under appropriate time separation assumptions. Copyright © 2019, The Authors. All rights reserved.

关键词： Diseases

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Self-triggered Adaptive Planning and Scheduling of UAV Operations

Self-triggered Adaptive Planning and Scheduling of UAV Opera...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Esen Yel Tony X. Lin Nicola Bezzo Departments of Systems and Information Engineering and Electrical and Computer Engineering University of Virginia Charlottesville VA USA

Modern unmanned aerial vehicles (UAVs) rely on constant periodic sensor measurements to detect and avoid obstacles. However, constant checking and replanning are time and energy consuming and are often not necessary especially in situations in which the UAV can safely fly in uncluttered environments without entering unsafe states. Thus, in this paper, we propose a self-triggered framework that leverages reachability analysis to schedule the next time to check sensor measurements and perform replanning while guaranteeing safety under noise and disturbance effects. Further, we relax sensor checking and motion replanning operations by leveraging a risk-based analysis that determines the likelihood to reach undesired states over a certain time horizon. We also propose an online speed adaptation policy based on the planned trajectory curvature to minimize drift from the desired path due to the system dynamics. Finally, we validate the proposed approach with simulations and experiments for a quadrotor UAV motion planning case study in a cluttered environment.

关键词： Trajectory Robot sensing systems Safety Unmanned aerial vehicles Reachability analysis Schedules

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High Charge Transport in Tio2-Rgo Heterostructure Field-Effect Biosensors: Ultra-Low Detection Limits for Sars-Cov-2

SSRN

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SSRN 2025年

作者： Zaidan, Liena Tadele, Debela T. Azer, Bersu Bastug Ozyigit, Dogu Abdelrahman, Rana Xu, Alex Takaloo, Saeed Pennings, Joel Almoabadi, Afaf Azadinia, Mohsen Karimi, Reza Sanderson, Joe Pope, Michael Mekonnen, Tizazu H. Bajcsy, Michal Yavuz, Mustafa Department of Electrical and Computer Engineering University of Waterloo 200 University Avenue West WaterlooONN2L 3G1 Canada Department of Chemical Engineering Institute of Polymer Research University of Waterloo WaterlooONN2L 3G1 Canada Waterloo Institute for Nanotechnology University of Waterloo 200 University Avenue West WaterlooONN2L 3G1 Canada Mechanical and Mechatronics Engineering University of Waterloo 200 University Avenue West WaterlooONN2L 3G1 Canada Systems Design Engineering University of Waterloo 200 University Ave W WaterlooONN2L 3G1 Canada Department of Physics and Astronomy University of Waterloo 200 University Ave W WaterlooONN2L 3G1 Canada Department of Chemical Engineering University of Waterloo WaterlooONN2L 3G1 Canada Institute for Quantum Computing University of Waterloo 200 University Ave W WaterlooONN2L 3G1 Canada University of Waterloo Canada

The recent COVID-19 pandemic has shown that emerging infectious diseases impose a heavy burden on public health and economic development, highlighting the critical need for early and accurate diagnostic tools. During this time, graphene-based materials field effect transistor (FET) biosensors functionalized with bioreceptors emerged as a novel biosensing technology with minute-scale detection time. For sensors relying on doped reduced graphene oxide (rGO) as channel material, the reported sensitivity often approaches the ultimate standard of polymerase chain reaction (PCR), at least under laboratory conditions. Here, we present a FET-biosensor with a channel formed by TiO2-rGO heterostructure produced with Femtosecond Laser (FL) irradiation. Compared to the rGO-FET biosensor, TiO2-rGO FET biosensor has significantly increased charge transportation rate, the biosensor limit of detection (LOD) was improved 20-fold to 0.5 ag/mL (10 zM) when detecting SARS-CoV-2 nucleocapsid proteins, and the TiO2-rGO heterostructure supports visible-light-induced photocatalysis that enables sensor regeneration and reuse. Structural and chemical analyses confirm heterojunction formation with a narrowed bandgap and optimized properties tailored for biosensing. © 2025, The Authors. All rights reserved.

关键词： Enzyme sensors

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