Authors: Neveux, Philippe

Abstract: In the present paper, the bias aware estimation problem is treated for continuous-time Lipschitz systems. The strategy adopted differs from the usual Two-Stage strategy by the fact that the bias is not estimated. This approach permits to obtain filters with same complexity of estimators with no bias which is not the case for Two-Stage estimators. The estimators are obtained by solving a single Riccati equation. An example shows the efficiency of the proposed approach.

Keywords: Filtering and smoothing; Continuous time system estimation

Identifier: 10.3182/20110828-6-IT-1002.01964

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Zhang, Kuize; Zhang, Lijun

Abstract: This paper investigates the $H_infty$ control problems with multi-saddles for linear autonomous systems and affine nonlinear autonomous systems. From the viewpoint of (sub)optimal control, one should find the saddles of the Hamilton function of the considered system in order to solve the $H_infty$ control problem. Usually, solving the $H_infty$ control problem is based on an assumption to assure the existence and uniqueness of the saddle, which is not generally true. This paper uses the theory of generalized inverses (esp. the group inverse) of matrices over a general field to represent the generic saddle solutions of the Hamilton functions of the considered systems, shows the saddle sets are linear manifolds, and each Hamilton function is constant with respect to its saddles. Moreover, some solvability conditions and state feedback solutions for the $H_infty$ control problems with multi-saddles are given via the generic saddle solution representations. In addition, the above results obtained are extended to the case without the existence of saddles.

Keywords: Singularities in optimization; Robustness analysis; Disturbance rejection (nonlinear case)

Identifier: 10.3182/20110828-6-IT-1002.02765

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Briat, Corentin; Martinez, John J.

Abstract: The quadratic stabilization of LTI systems by bounded resilient state-feedback controllers is addressed. The controllers are guaranteed to be non-fragile with respect to either uniform or nonuniform maximal implementation errors. The design of resilient controller relies on an LMI problem while boundedness of the coefficients (a NP-Hard problem) can be guaranteed by solving a nonconvex problem involving a BMI. The latter problem is solved using proposed locally convergent iterative LMI algorithms. Finally, an example is considered in order to illustrate the effectiveness of the approach.

Keywords: Controller constraints and structure; Linear systems; Robust control (linear case)

Identifier: 10.3182/20110828-6-IT-1002.00660

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Huber, Marco F.; Beutler, Frederik; Hanebeck, Uwe

Abstract: In nonlinear filtering, special types of Gaussian mixture filters are a straightforward extension of Gaussian filters, where linearizing the system model is performed individually for each Gaussian component. In this paper, two novel types of linearization are combined with Gaussian mixture filters. The first linearization is called analytic stochastic linearization, where the linearization is performed analytically and exactly, i.e., without Taylor-series expansion or approximate sample-based density representation. In cases where a full analytical linearization is not possible, the second approach decomposes the nonlinear system into a set of nonlinear subsystems that are conditionally integrable in closed form. These approaches are more accurate than fully applying classical linearization.

Keywords: Estimation and filtering; Bayesian methods

Identifier: 10.3182/20110828-6-IT-1002.03359

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Sebek, Michael; Hurak, Zdenek

Abstract: This paper formulates the problems of stabilization and asymptotic following in infnite platoons of vehicles within the 2-D polynomial framework, that is, the dynamics of the problem are described using a fraction of two bivariate polynomials. In contrast to some previous works, the platoon here assumes a leader (and an infnite number of followers), therefore the often used bilateral z-transform should not be used here since it assumes a doubly infnite vehicular strings. The unilateral z-transform seems better suited. However, it brings about the need to take the boundary conditions into consideration; among other, the leader vehicle comes into the scene. The necessary formalism is introduced in the paper and used to provide elegant alternative proofs of some well-known facts about the platooning problem.

Keywords: Multi-vehicle systems; Autonomous vehicle navigation, guidance and control; Motion control

Identifier: 10.3182/20110828-6-IT-1002.00807

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Wu, Jinping; Peng, Zhi-hong; Chen, Jie

Abstract: Low-altitude penetration is one of the most important military applications of Unmanned Aerial Vehicles (UAVs). 3D route planning, which is a complex multi-objective optimization problem with multiple constraints, is the key technology of UAV low altitude-penetration. A 3D route planning method based on Multi-Agent Genetic Algorithm (MAGA) is proposed in this paper. Specifically, a dynamic route representation form is proposed to improve the flight route accuracy. An efficient constraint handling method is used to simplify the treatment of multi-constraint and reduce the time-cost of planning computation. More importantly, details are presented to show how to apply MAGA to 3D route planning while some necessary improvements of MAGA are proposed to make it more efficient. Simulation and analysis illustrate the effectiveness of this method.

Keywords: Mission planning and decision making; Autonomous vehicle navigation, guidance and control

Identifier: 10.3182/20110828-6-IT-1002.01770

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Ulas, Cihan; Temeltas, Hakan

Abstract: Scan matching plays a significant role for 3D simultaneously localization and mapping (SLAM). Before applying the SLAM methods, two 3D data which belong to highly correlated scene has to be registered by finding the correct transformation. In this paper, we introduce a multi-layered (ML) extension of 3D Normal Distribution Transform based scan matching. In this method, point cloud is subdivided into 8n equally sized cells, where n stands for the level of layer. Unlike the NDT, the score function is described as the Mahalanobis distance. In addition, Newton and Levenberg-Marquardt methods are used to optimize the score function. The proposed method is compared with original NDT, and the optimization methods are discussed. Finally, the performance evaluation is given for experimentally obtained datasets. The approximation provides much faster and long distance measurement capabilities than ordinary NDT.

Keywords: Autonomous robotic systems; Perception and sensing; Guidance navigation and control

Identifier: 10.3182/20110828-6-IT-1002.02865

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Robba, Michela; Minciardi, Riccardo

Abstract: An approach to formalize and solve a decision problem related to the management of fleets that transport dangerous goods through a critical infrastructure is here presented. The model introduced takes into account the presence of different decision makers, each of which has access to a specific (partial) information set about the state of the entire system. The problem is also characterized by the presence of several (possibly conflicting) objectives, such as the minimization of the economic costs, and the reduction of hazardous materials transportation risk. The considered model includes an upper-level decision maker that can take decisions related to the lower level decision makers (i.e., he/she is in charge to allow/refuse the access to the tunnel and is responsible for risk management in the whole territory) but has to take into account the willingness of the infrastructure users (i.e., the vehicles). Different interacting decision problems (that can be solved through mathematical programming or analytical solutions) are formalized and solved. The decision architecture is tested for a simple case study characterized by a tunnel, two fleets, and a simplified version of the highway traffic system.

Keywords: Automatic control, optimization, real-time operations in transportation; Transportation logistics; Intelligent transportation systems

Identifier: 10.3182/20110828-6-IT-1002.01883

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Zhu, Yucai

Abstract: An algorithm for the identification of a multi-input single-output (MISO) Box-Jenkins model is developed. The method consists of several simple steps: first a high order ARX model is estimated; then the process model is calculated using the so-called Steiglitz-McBride iteration on the filtered input-output data; and finally the disturbance model is calculated by estimating an ARMA model of the output error residual. It can be proven that the Steiglitz-McBride iteration for the process model part is asymptotically globally convergent. The proposed method outperforms a standard Box-Jenkins method in simulation examples.

Keywords: Identification for control

Identifier: 10.3182/20110828-6-IT-1002.00559

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Balestrino, Aldo; Crisostomi, Emanuele; Grammatico, Sergio; Caiti, Andrea

Abstract: A nonlinear proximal point algorithm is proposed in the setting of adaptive control. Based on the Bregman generalized distance induced by a convex function, forward non-orthogonal projections provide a more general approach to classic optimization algorithms. In this paper convergence theorems are provided for the application of the Bregman algorithm to the adaptive control of both linear systems and nonlinear control-affine systems. It is shown that the proposed algorithm is particularly suited for adaptive control applications because it outperforms the gradient algorithm for on-line parameter estimation. Simulations on an autonomous underwater vehicle and a robotic manipulator show the benefits of the proposed adaptive control scheme when compared to the classic ones.

Keywords: Adaptive control - applications; Nonlinear adaptive control

Identifier: 10.3182/20110828-6-IT-1002.00979

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Zhang, Lixian; Leng, Yu; Chen, Lingjie; Zhao, Ye

Abstract: This paper aims to obtain a Bounded Real Lemma (BRL) for a class of Markov jump linear systems (MJLSs) with time-varying transition probabilities (TPs) in discrete-time domain. The time-varying character of TPs is considered as piecewise-constant and the variation of TP matrices is subject to average dwell time (ADT) switching, i.e., the number of switches in a finite interval is bounded and the average time between two consecutive switchings of TP matrices is not less than a constant. Combining the Lyapunov function approach and the linear matrix inequality technique, a BRL for the underlying system is derived in order to check whether the corresponding system is stochastically stable and has a guaranteed H-infinity noise-attenuation performance index scheduled based on the variation of TP matrices. A numerical example is provided to demonstrate that the method obtained in this paper is a significant improvement over previous one.

Keywords: Hybrid systems stability; Hybrid systems modeling and control; Switched discrete and hybrid systems

Identifier: 10.3182/20110828-6-IT-1002.01884

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Boutat, Driss; Boutat-Baddas, Latifa; Darouach, Mohamed

Abstract: This paper deals with a normal form of a class of nonlinear dynamical systems. This form enables us to design a reduced-order observer for a class of nonlinear dynamical system. Necessary and sucient geometrical conditions for the existence of a coordinate change to transform a given singular dynamical system into such normal form are also given.

Keywords: Estimation and filtering; Nonlinear system identification; Identification for control

Identifier: 10.3182/20110828-6-IT-1002.02447

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Cavallo, Alberto; De Maria, Giuseppe; Natale, Ciro; Pirozzi, Salvatore

Abstract: Along the line of past publications of the authors on the topic of active vibration control of flexible structures, the present paper proposes an improvement of the robust control strategy leading to strongly stabilizing bandpass controllers. The improvement consists in the extension of the approach to the case of active control systems with more sensors than actuators, which is very frequent in practical applications. In fact, quite often the application requirements do not allow the control engineer to install actuator/sensor couples in any desired location but only a sensor. In such cases, sensors can be usefully placed in the locations where the primary force fields act on the structure, so as to provide the controller with a direct information on the disturbance effects in terms of structural vibrations. This leads to a control problem with a rectangular plant, which complicates the design, especially if the same characteristics of strongly stabilizing bandpass controllers are desired. The design problem is here solved by resorting to an LMI (Linear Matrix Inequality) technique, which allows also to select the performance weights based on different design requirements. Experimental results are presented for a vibration reduction problem of a stiffened aeronautical panel controlled by piezoelectric actuators.

Keywords: Industrial applications of optimal control; Optimal control theory; LMIs

Identifier: 10.3182/20110828-6-IT-1002.03002

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Mechraoui, Amine; Djohor, Faris; Thiriet, Jean-Marc; Gentil, Sylviane

Abstract: This paper deals with the problem of co-design of Wireless Networked Control systems (WNCS). The integration of the Wireless Network (WN) in the control loop influences the Quality of Control (QoC) of the system in terms of the Quality of Service (QoS) of the WN. We present a co-design approach for WNCS based on distributed Bayesian Network (BN) and we illustrate it with Khepera III robot. The proposed BN is constructed from the robot experimental data. This approach allows to make decisions to ensure a good QoC for the robot and also ensure that the QoS is always sufficient to maintain a good QoC. Keeping a sufficient QoS depends on the scheduling method used and therefore the proposed approach aims also to determine the proper scheduling method to keep the system's performance. Finally a comparison is performed with the classical time-triggered scheduling. The results obtained with BN scheduling are better in terms of QoS and QoC for WNCS.

Keywords: Telecommunication-based automation systems; Real-time algorithms, scheduling, and programming; Tele-robotics

Identifier: 10.3182/20110828-6-IT-1002.03383

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Boldisor, Cristian Nicolae; Comnac, Vasile; Coman, Simona; Grigorescu, Sorin Mihai

Abstract: The control of physiological variables presents specific challenges, mainly due to the highly nonlinear, complex behavior of biological systems. Cardiovascular system stands as a clear example, with critical situations when control is desirable, but troublesome in the same time. This paper presents a fuzzy control system for two cardiovascular variables, blood pressure and cardiac output, through automatically infusion of two commonly used drugs, Sodium Nitroprusside and Dopamine, respectively. Simulations are possible, making use of a combined cardiovascular-pharmacological model, describing the effects of drugs’ infusion rates on controlled variables. The fuzzy controllers used are PI type, designed by experience, and further tuned based on the nominal values of parameters of the cardiovascular-pharmacological model. The main goal is achieving the normal values of cardiovascular variables within a reasonable time period.

Keywords: Control of physiological and clinical variables; Biomedical system modeling, simulation and visualization; Pharmacokinetics and drug delivery

Identifier: 10.3182/20110828-6-IT-1002.01592

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Ventura, Erico; Martinez, Luciana

Abstract: Stochastic dynamic programming has been extensively used in the optimization of long term hydrothermal scheduling problems due to its ability to cope with the nonlinear and stochastic characteristics of such problems. This closed-loop control policy is designed to obatin an optimal rule for selecting, at each stage, the optimal decision for each possible state of the system. This paper presents an analysis of the influence of the stochastic model in the closed-loop control policy in the long term hydrothermal scheduling problems. Different models are considered to represent the randomness of the inflows in the problem: The independent model, where the inflows are considered as independent random variables without time correlation; the lag-one parametric autoregressive model and lag-two parametric autoregressive model. Some strategies are proposed in order to reduce the computational effort of the algorithm. The analysis is made by simulation using data from historical in the consideration of three different Brazilian hydro plants located in different river basins.

Keywords: Modeling and simulation of power systems; Optimal operation and control of power systems

Identifier: 10.3182/20110828-6-IT-1002.03536

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Persson, Erik; Anisi, David A.

Abstract: Gas source localization is the concept of locating the source of a chemical substance spreading in the environment. Within the oil, gas and petrochemical industry, there is an extreme focus on health, safety and environment (HSE) issues. Hence, being able to locate the source of a gas leakage in an accurate, reliable and quick manner, is of greatest interest to the industry. Although robotic gas source localization has been an active field of research for over fifteen years, large scale real world applications are still lacking. Towards closing this gap, this work presents the results of a comparative study between five different algorithms for robotic gas source localization. The first three are taken from the literature, while the last two are novel modifications and combinations of them. In addition to describing these algorithms, this paper presents the details of the conducted comparative study and the the results thereof.

Keywords: Autonomous robotic systems; Intelligent controllers; Perception and sensing

Identifier: 10.3182/20110828-6-IT-1002.01532

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Pourseiedrezaei, Mehdi; Bozorg, Mohammad; Delavar-Khalafi, Ali

Abstract: In this paper, the computation of robust stability and robust performance margins for linear time invariant systems under polynomial parameter uncertainty is considered. The characteristic equations of such systems appear as polynomial functions of uncertain parameters. The problem is formulated as a polynomial optimization problem using the zero-exclusion theorem. Then, two global optimization techniques are used to solve the optimization problems. One of the algorithms is based on the Reformulation-Linearization Technique (RLT), and the other uses the Linear Matrix Inequalities (LMI) scheme. The two methods are applied to two case studies and the results are compared. The outcomes show the superiority of the RLT methodology in converging to a global solution, and in computational time.

Keywords: Polynomial methods; Convex optimization; Robust control (linear case)

Identifier: 10.3182/20110828-6-IT-1002.02974

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Sun de la Cruz, Joseph; Kulic, Dana; Owen, William

Abstract: This paper focuses on evaluating Locally Weighted Projection Regression (LWPR) as an alternative control method to traditional model-based control schemes. LWPR is used to estimate the inverse dynamics function of a 6 degree of freedom (DOF) manipulator. The performance of the resulting controller is compared to that of the resolved acceleration and the adaptive computed torque (ACT) controller. Simulations are carried out in order to evaluate the position and orientation tracking performance of each controller while varying trajectory velocities, end effector loading and errors in the known parameters. Both the adaptive controller and LWPR controller have comparable performance in the presence of parametric uncertainty including friction. The ACT controller outperforms LWPR when the dynamic structure is accurately known and the trajectory is persistently exciting.

Keywords: Robots manipulators; Identification and control methods; Intelligent controllers

Identifier: 10.3182/20110828-6-IT-1002.03279

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Almeida, Juliana; Martins da Silva, Margarida; Mendonça, Teresa; Rocha, Paula

Abstract: This paper presents a compartmental model-based control strategy to drive the NeuroMuscular Blockade level of patients undergoing general anesthesia to a predefined target. For that purpose, a compartmental realization of a minimally parameterized nonlinear Wiener model was derived and used on an adapted version of the standard compartmental control law for linear systems. The identification of the model parameters was recursively performed by one Extended Kalman Filter during the initial bolus induction period and stopped afterwards. To overcome the fact that this identification is stopped during the closed-loop control period, uncertainties in the parameters are assumed to be present and included in the control law. Information taken from the identification of real collected cases was used to tune the parameter uncertainties. The feasibility of the whole strategy was evaluated in a bank of simulated models, giving rise to good reference tracking results even in the presence of noise.

Keywords: Control of physiological and clinical variables; Pharmacokinetics and drug delivery; Decision support and control

Identifier: 10.3182/20110828-6-IT-1002.03160

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Karimoddini, Ali; Dong, Xiangxu; Cai, Guowei; Lin, Feng; Lin, Hai; Chen, Ben M.; Lee, Tong Heng

Abstract: The control system of an autonomous helicopter has a hybrid switching nature so that a reliable controller is required to be designed to capture the interplay between the continuous part and the discrete logic of the system. This paper develops a hierarchical hybrid framework that can be used in autonomous systems. The proposed framework has been adopted to Unmanned helicopters. Implementation of this control structure on the NUS UAV helicopter presents the UAV’s capability of performing autonomous flight, and the demonstrated flight test results verify the effectiveness of the method.

Keywords: Flying robots; Autonomous robotic systems; Guidance navigation and control

Identifier: 10.3182/20110828-6-IT-1002.03047

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Pola, Giordano; Di Benedetto, M. Domenica; De Santis, Elena

Abstract: Finite state machines are widely used as a sound mathematical formalism which appropriately describes large scale distributed and complex systems, arising in many technological domains of interest. One of the key issues in the modeling and analysis of such systems is to derive formal methods that cope with their inherent complexity. In this paper we introduce a novel class of non-flat systems that we term arenas of finite state machines. Arenas of finite state machines are collections of finite state machines that interact concurrently through a communication network. By expanding the arena, a flat system is obtained which is an ordinary finite state machine. For this class of non-flat systems we propose a notion of compositional bisimulation, which allows one to check bisimulation equivalence of arenas by directly exploiting their communication networks, without the need of expanding them to the corresponding finite state machines. Computational complexity analysis of the proposed approach is discussed and an illustrative example is included in the paper.

Keywords: Discrete event systems modeling and control

Identifier: 10.3182/20110828-6-IT-1002.01661

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Borghesan, Gianni; Melchiorri, Claudio

Abstract: Currently, the design of many robotics hands integrates soft pads as mechanical interface between fingers and manipulated objects. There are several good reasons for introducing soft pads, ranging from increasing safety in manipulation tasks to aesthetic issues. Among the advantages brought by soft pads, one has to mention the significant increase of friction between fingers and the object in contact, and consequently the capability of exerting tangential forces with respect to the contact normal. These forces play a fundamental role in grasping and fine manipulation tasks. In this paper we propose a mathematical model able to render the tangential forces due to friction and soft pad elasticity that a finger (represented here with cylindrical and hemispherical surfaces) exerts at the contact, with the aim of simulate the interaction of a soft pad with an object. The main characteristics that this model takes into account are: the reproduction of the the tangential elasticity of the soft pad, the relative rolling of the phalanx and the object, and the stick and slip phases. This algorithm can also be used in haptic applications.

Keywords: Robots manipulators; Modeling

Identifier: 10.3182/20110828-6-IT-1002.00852

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Javed, Faizan; Savkin, Andrey V.; Chan, Gregory S. H.; Mackie, James D.; Lovell, Nigel

Abstract: In this paper, a computer controlled system has been developed and tested to maintain the hemodynamic stability of kidney failure patients undergoing dialysis. The system uses ultrafiltration rate (UFR) and dialysate sodium concentration (DSC) as the control inputs to regulate the changes in relative blood volume (RBV) and percentage change in heart rate (ΔHR) while maintaining systolic blood pressure (SBP) within constraints during the course of dialysis. First a linear parameter varying (LPV) system has been proposed to model the hemodynamic response of patients during dialysis. UFR and DSC are imposed as the inputs and the model computes the RBV, ΔHR and SBP during dialysis. Next, a controller is proposed based on model predictive control approach utilizing pre-defined constraints on the control inputs (UFR and DSC) as well as the output (SBP) and minimizing an objective function. The designed control system was experimentally verified on patients. The design and implementation of such a system is a positive step towards developing state-of-the-art technologies capable of preventing dialysis induced complications.

Keywords: Control of physiological and clinical variables; Biomedical system modeling, simulation and visualization

Identifier: 10.3182/20110828-6-IT-1002.00605

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011

Authors: Floerchinger, Florian; Schmitt, Mathias

Abstract: This paper presents a concept for a user-friendly way to establish ad-hoc physical communication connections between industrial field devices and mobile control devices supporting several communication standards. For the human user in the future factory, this concept allows for more flexibility, mobility and safety. Hence it represents the basis for the nomadic user. Key of the presented concept is a reference model that specifies all communication relevant information of a field device, attaching this information to the device by using an inexpensive passive data carrier. Furthermore, this reference model manages data like multi-user behavior and user-rights, enabling a flexible user-centered device interaction which satisfies the needs of industrial environments in future factories. With a reference model like that most ubiquitous technologies will be much easier to use in adhoc linked environments. The concept presented in this paper is being tested and evaluated in the SmartFactoryKL, the intelligent factory of the future. The results of this evaluation will be the main topic in the final paper, which focuses on the acceptance of users with regard to usability and the question if there is a significant enhancement in compare to the state of the art of identification methods.

Keywords: Industrial communication protocols; RFId and ubiquitous manufacturing; Protocols and information communication

Identifier: 10.3182/20110828-6-IT-1002.02845

Conference: Proceedings of the 18th IFAC World Congress, 2011

Location: Università Cattolica del Sacro Cuore, Milano, Italy

Start Date: Sun Aug 28 2011 - End Date: Fri Sep 02 2011