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Observer-based controller design for the minimally invasive surgery

Current Directions in Biomedical engineering 2018年第1期4卷 41-44页

作者： Smolinski, Eike Benkmann, Alexander Drewelow, Wolfgang Jeinsch, Torsten Cappius, Hans-Joachim Westerhoff, Peter Institute of Automation Faculty of Computer Science and Electrical Engineering University of Rostock Rostock Germany World of Medicine GmbH Berlin 10587 Germany

Due to its advantages like minimal trauma and a low risk of infections, the minimally invasive surgery (MIS) has become the standard operation technique for many surgical procedures. During this type of intervention, one of the main tasks from a technical point of view is the control of the pressure in the operation area in order to give the surgeon sufficient space to perform his actions. Because no invasive measurements are available, an extended Kalman filter incorporating the peristaltic behavior of the used medical device was developed to estimate the pressure in the operation area. This contribution focuses on the observer design while a separately designed PI controller using loop shaping was employed for validation. The proposed observer-based control structure was tested with a simulator deploying the principle of physical equivalence. © 2018 Eike Smolinski et al.

关键词： Disturbance rejection

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Study on optimization of multi-UAV nucleic acid sample delivery paths in large cities under the influence of epidemic environment

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Journal of Ambient Intelligence and Humanized Computing 2023年第6期14卷 7593-7620页

作者： Han, Yuhang Xiang, Hongyu Cao, Jianing Yang, Xiaohua Pan, Nan Huang, Linhai Mechanical Engineering Faculty of Civil Aviation and Aeronautics Kunming University of Science and Technology Yunnan China Computer Science and Technology Metrology Center Yunnan Power Grid Co. Ltd. Yunnan China Computer Science and Technology Faculty of Information Engineering and Automation Kunming University of Science and Technology Yunnan China

In the context of global novel coronavirus infection, we studied the distribution problem of nucleic acid samples, which are medical supplies with high urgency. A multi-UAV delivery model of nucleic acid samples with time windows and a UAV (Unmanned Aerial Vehicle) dynamics model for multiple distribution centers is established by considering UAVs’ impact cost and trajectory cost. The Golden Eagle optimization algorithm (SGDCV-GEO) based on gradient optimization and Corsi variation is proposed to solve the model by introducing gradient optimization and Corsi variation strategy in the Golden Eagle optimization algorithm. Performance evaluation by optimizing test functions, Friedman and Nemenyi test compared with Golden Jackal Optimization (GJO), Hunter-Prey Optimization (HPO), Pelican Optimization Algorithm (POA), Reptile Search Algorithm (RSA) and Golden Eagle Optimization (GEO), the convergence performance of SGDCV-GEO algorithm was demonstrated. Further, the improved RRT (Rapidly-exploring Random Trees) algorithm is used in the UAV path planning, and the pruning process and logistic chaotic mapping strategy are introduced in the path generation method. Finally, simulation experiments are conducted based on 8 hospitals and 50 randomly selected communities in the Pudong district of Shanghai, southern China. The experimental results show that the developed algorithm can effectively reduce the delivery cost and total delivery time compared with simulated annealing algorithm (SA), crow search algorithm (CSA), particle swarm algorithm (PSO), and taboo search algorithm (TS), and the developed algorithm has good uniformity, robustness, and high convergence accuracy, which can be effectively applied to the multi-UAV nucleic acid sample delivery path optimization in large cities under the influence of an epidemic environment. © 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： COVID-19

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VSSB-Raft: A Secure and Efficient Zero Trust Consensus Algorithm for Blockchain

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ACM Transactions on Sensor Networks 2024年第2期20卷 1-22页

作者： Tian, Siben Bai, Fenhua Shen, Tao Zhang, Chi Gong, Bei Faculty of Information Engineering and Automation Kunming University of Science and Technology Yunnan Key Laboratory of Computer Technology Applications China Faculty of Information Technology Beijing University of Technology China

To solve the problems of vote forgery and malicious election of candidate nodes in the Raft consensus algorithm, we combine zero trust with the Raft consensus algorithm and propose a secure and efficient consensus algorithm -Verifiable Secret Sharing Byzantine Fault Tolerance Raft Consensus Algorithm (VSSB-Raft). The VSSB-Raft consensus algorithm realizes zero trust through the supervisor node and secret sharing algorithm without the invisible trust between nodes required by the algorithm. Meanwhile, the VSSB-Raft consensus algorithm uses the SM2 signature algorithm to realize the characteristics of zero trust requiring authentication before data use. In addition, by introducing the NDN network, we redesign the communication between nodes and guarantee the communication quality among nodes. The VSSB-Raft consensus algorithm proposed in this paper can make the algorithm Byzantine fault tolerant by setting a threshold for secret sharing while maintaining the algorithm's complexity to be O(n). Experiments show that the VSSB-Raft consensus algorithm is secure and efficient with high throughput and low consensus latency. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Blockchain

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Fast convergent on-board Li-ion battery state of charge estimation via back-forth moving horizon estimation

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IEEE Transactions on Power Electronics 2025年

作者： Liu, Zhihao Xiao, Yu Yuan, Yuan Xu, Xiaodong Luo, Biao Huang, Tingwen Ministry of Education School of Automation and Key Laboratory of Industrial Intelligence and Systems Central South University Changsha 410083 China Shenzhen University of Advanced Technology Faculty of Computer Science and Control Engineering Shenzhen China

Accurate state of charge (SOC) estimation is crucial for the safe operation of lithium-ion batteries (LIBs), yet existing methods are limited by sensitivity to initial SOC guess or high computational complexity. To address these challenges, this study proposes an onboard back-forth moving horizon estimation (BFMHE) framework for SOC estimation, achieving high precision, robustness, and computational efficiency compatible with microcontroller implementation. An efficient linear equivalent circuit model (ECM) is established, where the open-circuit voltage-SOC relationship is approximated by piecewise linear functions. The proposed framework employs two MHE estimators that iteratively operate in opposite directions over a finite time horizon, which enables rapid convergence. Moreover, this study provides a rigorous proof of the stability of the BFMHE method for the battery system with current input. The proposed approach is validated experimentally under various operating conditions and with different initial SOC guesses. Experimental results show that the proposed onboard BFMHE method achieves a maximum estimation error of less than 1% and quickly converges to the true SOC value, demonstrating strong robustness to initial estimation errors. © 1986-2012 IEEE.

关键词： Back-forth moving horizon estimation Convergence analysis Lithium-ion battery State of charge estimation

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Sunspot Umbral Oscillation Analysis Using Wavelet Transform 29

Sunspot Umbral Oscillation Analysis Using Wavelet Transform

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第29届中国控制与决策会议

作者： Zeyuan Du Song Feng Yunnan Key Laboratory of Computer Technology Application/Faculty of Information Engineering and Automation Kunming University of Science and Technology

ISBN: (纸本)9781509046584

Umbral oscillation is one kind of basic phenomena appearing in *** measurement the oscillation period is quiet important for understanding the structure and evolution of sunspot.A long line of work indicates that there are two kinds of typical oscillations in sunspot umbral area:3-minute oscillations and 5-minute *** high quality observational sunspot data set obtained with the HINODE/Solar Optical Telescope in the Ca II H line on 20 August 2013 was employed to study the oscillation period of the chromosphere above a *** this paper,we used two kinds of wavelet transform methods to analyze sunspot umbral *** method based on continuous wavelet transform(CWT) was applied to analyze umbral oscillation period and frequency changing over *** other method based on cross wavelet transform(XWT) was used to analyze phase relationship between the two time *** outcomes demonstrate the viability and efficiency of the wavelet transform as a analyzing tool by accurately calculating period and studying phase difference.

关键词： Sunspot Umbral oscillation period Phase relationship Continuous wavelet transform Cross wavelet transform

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A low-cost buoyant force measurement device for monitoring sugar concentration in water solution

A low-cost buoyant force measurement device for monitoring s...

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2023 International Conference on Electrical, computer, Communications and Mechatronics engineering, ICECCME 2023

作者： Kaučić, Luka Kovačević, Ivana Aleksi, Ivan Keser, Tomislav Zidar, Josip Rimac-Drlje, Snježana Computer Science and Information Technology Osijek Faculty of Electrical Engineering Department of Computer Engineering and Automation Osijek Croatia Computer Science and Information Technology Osijek Faculty of Electrical Engineering Department of Communications Osijek Croatia

ISBN: (纸本)9798350322972

Monitoring sugar concentration during fermentation is crucial for producing high-quality alcoholic beverages. Traditional methods for measuring sugar concentration can be costly and time-consuming, especially for small-scale producers. In this study, we developed a low-cost buoyant force measurement device for monitoring sugar concentration in water solutions. The device consists of a buoyant object fully submerged in the solution and connected to a load-cell sensor. As the sugar concentration in the liquid increases, the buoyant force on the object increases, and the load-cell measures this force. Proposed device is calibrated using solutions of known sugar concentrations and its high accuracy and precision is presented. The device is tested in controlled environment to ensure accurate tracking changes in sugar concentration over time. Proposed device can be a valuable tool for small-scale producers looking to optimize their fermentation processes while minimizing costs. © 2023 IEEE.

关键词： Fermentation

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Impact of distributed generation upon Reghin - Ləpuşna Medium Voltage line

Impact of distributed generation upon Reghin - Ləpuşna Med...

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2014 International Symposium on Fundamentals of Electrical engineering, ISFEE 2014

作者： Duləu, Lucian Ioan Abrudean, Mihail Bicə, Dorin Department of Automation Faculty of Automation and Computer Science Technical University of Cluj-Napoca Romania Department of Electrical and Computer Engineering Faculty of Engineering Petru Maior University of Tîrgu-Mureş Romania

ISBN: (纸本)9781479968213

The transition between the power market competition and these emerging renewable power system alternatives (wind turbines, solar plants, micro-turbine), has awaken a great deal of interest for distributed power generation. Distributed Generation comprise in low power generators (typically lower than 50 MW), installed within the area of the main power consumption to ensure the growth of the existent distribution network and to satisfy the consumer's needs. © 2014 IEEE.

关键词： Distributed power generation

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A method of calculating the mean life-time of solar granules 29

A method of calculating the mean life-time of solar granules

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第29届中国控制与决策会议

作者： Jianshu Wang Song Feng Yunnan Key Laboratory of Computer Technology Application Faculty of Information Engineering and Automation Kunming University of Science and Technology

ISBN: (纸本)9781509046584

Solar granulation is a kind of morphological characteristics of solar photosphere caused by convective *** of the mechanism of convective motion,when we calculated the mean life-time of solar granules,we can get the time of convective *** are many methods based on the classification of solar granules and tracking solar granules to calculate the mean life-time of solar *** a result of the existence time of solar granules is very short and the evolution is more complex,identifying the fragmentation and merging of solar granules will get us into *** this paper,we present a power spectrum analysis based on periodic analysis method to calculate the mean life-time of solar ***,we use the κ-ω filter to remove the 5-minute *** removing the 5-minute oscillations can we more accurately calculate the mean life-time of solar ***,we use gradient transformation to remove the direct current component(DC component) and reduce spectral energy leakage with the Hamming ***,using the function of Periodogram calculates the mean life-time of solar *** order to verify the accuracy of the method,we set three data to calculate the mean life-time of solar *** final results of calculating the mean life-time of solar granules are 9.24 min,9.04 min and 10.67 min *** our method is effective and accurate compared with the results of other literature.

关键词： Solar granules k-ω filter Power spectrum The mean life-time

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A surrogate approach for the global optimization of signal settings and traffic assignment problem

A surrogate approach for the global optimization of signal s...

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International IEEE Conference on Intelligent Transportation Systems

作者： Adacher, Ludovica Cipriani, Ernesto Faculty of Engineering Department of Computer Science and Automation University of Roma Tre Italy Faculty of Engineering Department of Science of Civil Engineering University of Roma Tre Italy

ISBN: (纸本)9781424476572

We extend a 'surrogate problem' approach that is developed for a class of stochastic discrete optimization problems so as to tackle the global signal settings and traffic assignment combined problem. We compare a stochastic method based on the surrogate approach, called Surrogate Method (SM), with a Projected Gradient Algorithm (PGA), which uses the Armijo rule for the step size estimation routine. Numerical experiments conducted on a test network show that the surrogate method converges to a really small area and it finds much more efficient solutions. ©2010 IEEE.

关键词： Global optimization

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Personalized therapy selection by using multi-objective optimization

Personalized therapy selection by using multi-objective opti...

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IEEE 16th International Conference on Intelligent engineering Systems, INES 2012

作者： Karpics, Ivars Institute of Computer Control Automation and Computer Engineering Faculty of Computer Science and Information Technology Riga Technical University Riga Latvia

ISBN: (纸本)9781467326957

In the article a therapy selection method by using topological modelling and multi- objective optimization is presented. In a medicine practice a doctor by taking into the count patients' health state and laboratory results, tries to suggest a treatment strategy, which mostly is a drug therapy. To solve this task a decision support system has been developed and proposed. The system includes a mathematical model of three self connected diseases. Therapies are evaluated by five efficiency objectives. To find the optimal therapy, seven multi- objective methods are selected and used. Optimization methods form decision support module which is implemented in the medical computer system. To evaluate a performance of the system, test examples are analysed. Conclusion includes the summary and proposals of further research. © 2012 IEEE.

关键词： Multiobjective optimization

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