The theoretical approach along with the rationale of harmonic excitation modality (HEM) applied as optimal dual controlled ventilation (DCV) to anaesthetized or severe brain injured patients, whose respiretory mechani...The theoretical approach along with the rationale of harmonic excitation modality (HEM) applied as optimal dual controlled ventilation (DCV) to anaesthetized or severe brain injured patients, whose respiretory mechanics can be properly assumed steady and linear, are presented and discussed. The design criteria of an improved version of the Advanced Lung Ventilation System (ALVS), including HEM in its functional features, are described in details. In particular, the elimination of any undesiderable artificial distortion affecting the respiratory and ventilation pattern waveforms is achieved by maintaining continuous forever the airflow inside the ventilation circuit, ensuring also the highest level of safety for patient in any condition. In such a way, the full-time compatibility of controlled breathings with spontaneous breathing activity of patient during continuous positive airways pressure (CPAP) or bilevel positive airways pressure (BiPAP) ventilation modalities and during assisted/controlled ventilation(A/CV), includeing also synchronized or triggered ventilation modalities, is an intrinsic innovative feature of the system available for clinical application. As expected and according to the clinical requirements, HEM provides for physiological respiratory and ventilation pattern waveforms together with optimal “breath to breath” feedback control of lung volume driven by an improved diagnostic measurement procedure, whose outputs are also vital for adapting all the preset ventilation parameters to the current value of the respiratory parameters of patient. The results produced by software simulations concerning both adult and neonatal patients in different clinical conditions are completely consistent with those obtained by the theoretical treatment, showing that HEM reaches the best performances from both clinical and engineering points of view.展开更多
The Nelder-Mead simplex method is a well-known algorithm enabling the minimization of functions that are not available in closed-form and that need not be differentiable or convex.Furthermore,it is particularly parsim...The Nelder-Mead simplex method is a well-known algorithm enabling the minimization of functions that are not available in closed-form and that need not be differentiable or convex.Furthermore,it is particularly parsimonious on the number of function evaluations,thus making it preferable to convex optimization paradigms in the case,common when dealing with control design problems,that the objective function of the optimization problem is non-differentiable,non-convex,and its closed-form is not available or difficult to be computed analytically.The main goal of this paper is to show how the joint use of the Nelder-Mead simplex method and the Morrison algorithm can be successfully used to solve relevant and challenging control problems that cannot be easily solved using analytic methods.In particular,it is shown how the problems of strong stabilization,static output feedback stabilization,and design of robust controllers having fixed structure can be framed as optimization problems,which,in turn,can be efficiently solved by coupling the two above mentioned algorithms.The performance of this procedure is compared with state-of-the-art techniques on dozens of static output feedback benchmark case studies,and its effectiveness is demonstrated by several examples.展开更多
A novel distributed control architecture for unmanned aircraft system (UASs) based on thenew Robot Operating System (ROS) 2 middleware is proposed, endowed with industrialgradetools that establish a novel standard for...A novel distributed control architecture for unmanned aircraft system (UASs) based on thenew Robot Operating System (ROS) 2 middleware is proposed, endowed with industrialgradetools that establish a novel standard for high-reliability distributed systems. Thearchitecture has been developed for an autonomous quadcopter to design an inclusivesolution ranging from low-level sensor management and soft real-time operating systemsetup and tuning to perception, exploration, and navigation modules orchestrated by afinite-state machine. The architecture proposed in this study builds on ROS 2 with itsscalability and soft real-time communication functionalities, while including security andsafety features, optimised implementations of localisation algorithms, and integrating aninnovative and flexible path planner for UASs. Finally, experimental results have beencollected during tests carried out both in the laboratory and in a realistic environment,showing the effectiveness of the proposed architecture in terms of reliability, scalability, andflexibility.展开更多
文摘The theoretical approach along with the rationale of harmonic excitation modality (HEM) applied as optimal dual controlled ventilation (DCV) to anaesthetized or severe brain injured patients, whose respiretory mechanics can be properly assumed steady and linear, are presented and discussed. The design criteria of an improved version of the Advanced Lung Ventilation System (ALVS), including HEM in its functional features, are described in details. In particular, the elimination of any undesiderable artificial distortion affecting the respiratory and ventilation pattern waveforms is achieved by maintaining continuous forever the airflow inside the ventilation circuit, ensuring also the highest level of safety for patient in any condition. In such a way, the full-time compatibility of controlled breathings with spontaneous breathing activity of patient during continuous positive airways pressure (CPAP) or bilevel positive airways pressure (BiPAP) ventilation modalities and during assisted/controlled ventilation(A/CV), includeing also synchronized or triggered ventilation modalities, is an intrinsic innovative feature of the system available for clinical application. As expected and according to the clinical requirements, HEM provides for physiological respiratory and ventilation pattern waveforms together with optimal “breath to breath” feedback control of lung volume driven by an improved diagnostic measurement procedure, whose outputs are also vital for adapting all the preset ventilation parameters to the current value of the respiratory parameters of patient. The results produced by software simulations concerning both adult and neonatal patients in different clinical conditions are completely consistent with those obtained by the theoretical treatment, showing that HEM reaches the best performances from both clinical and engineering points of view.
基金partially supported by the Italian Ministry for Research in the framework of the 2020 Program for Research Projects of National Interest(2020RTWES4)。
文摘The Nelder-Mead simplex method is a well-known algorithm enabling the minimization of functions that are not available in closed-form and that need not be differentiable or convex.Furthermore,it is particularly parsimonious on the number of function evaluations,thus making it preferable to convex optimization paradigms in the case,common when dealing with control design problems,that the objective function of the optimization problem is non-differentiable,non-convex,and its closed-form is not available or difficult to be computed analytically.The main goal of this paper is to show how the joint use of the Nelder-Mead simplex method and the Morrison algorithm can be successfully used to solve relevant and challenging control problems that cannot be easily solved using analytic methods.In particular,it is shown how the problems of strong stabilization,static output feedback stabilization,and design of robust controllers having fixed structure can be framed as optimization problems,which,in turn,can be efficiently solved by coupling the two above mentioned algorithms.The performance of this procedure is compared with state-of-the-art techniques on dozens of static output feedback benchmark case studies,and its effectiveness is demonstrated by several examples.
基金supported in part by the Italian Ministry of Research in the framework of the Program for Research Projects of National Interest(PRIN),under Grants No.2017YKXYXJ and No.2020RTWES4.
文摘A novel distributed control architecture for unmanned aircraft system (UASs) based on thenew Robot Operating System (ROS) 2 middleware is proposed, endowed with industrialgradetools that establish a novel standard for high-reliability distributed systems. Thearchitecture has been developed for an autonomous quadcopter to design an inclusivesolution ranging from low-level sensor management and soft real-time operating systemsetup and tuning to perception, exploration, and navigation modules orchestrated by afinite-state machine. The architecture proposed in this study builds on ROS 2 with itsscalability and soft real-time communication functionalities, while including security andsafety features, optimised implementations of localisation algorithms, and integrating aninnovative and flexible path planner for UASs. Finally, experimental results have beencollected during tests carried out both in the laboratory and in a realistic environment,showing the effectiveness of the proposed architecture in terms of reliability, scalability, andflexibility.
