Optimal eco-driving scheme for reducing energy consumption and carbon emissions on curved roads.

Energy consumption and emissions of a vehicle are highly influenced by road contexts and driving behavior. Especially, driving on horizontal curves often necessitates a driver to brake and accelerate, which causes additional fuel consumption and emissions. This paper proposes a novel optimal ecological (eco) driving scheme (EDS) using nonlinear model predictive control (MPC) considering various road contexts, i.e., curvatures and surface conditions. Firstly, a nonlinear optimization problem is formulated considering a suitable prediction horizon and an objective function based on factors affecting fuel consumption, emissions, and driving safety. Secondly, the EDS dynamically computes the optimal velocity trajectory for the host vehicle considering its dynamics model, the state of the preceding vehicle, and information of road contexts that reduces fuel consumption and carbon emissions. Finally, we analyze the effect of different penetration rates of the EDS on overall traffic performance. The effectiveness of the proposed scheme is demonstrated using microscopic traffic simulations under dense and mixed traffic environment, and it is found that the proposed EDS substantially reduces the fuel consumption and carbon emissions of the host vehicle compared to the traditional (human-based) driving system (TDS), while ensuring driving safety. The proposed scheme can be employed as an advanced driver assistance system (ADAS) for semi-autonomous vehicles.

A Deep Learning Framework for Soft Robots with Synthetic Data.

Data-driven methods with deep neural networks demonstrate promising results for accurate modeling in soft robots. However, deep neural network models rely on voluminous data in discovering the complex and nonlinear representations inherent in soft robots. Consequently, while it is not always possible, a substantial amount of effort is required for data acquisition, labeling, and annotation. This article introduces a data-driven learning framework based on synthetic data to circumvent the exhaustive data collection process. More specifically, we propose a novel time series generative adversarial network with a self-attention mechanism, Transformer TimeGAN (TTGAN) to precisely learn the complex dynamics of a soft robot. On top of that, the TTGAN is incorporated with a conditioning network that enables it to produce synthetic data for specific soft robot behaviors. The proposed framework is verified on a widely used pneumatic-based soft gripper as an exemplary experimental setup. Experimental results demonstrate that the TTGAN generates synthetic time series data with realistic soft robot dynamics. Critically, a combination of the synthetic and only partially available original data produces a data-driven model with estimation accuracy comparable to models obtained from using complete original data.

Virtual patient framework for the testing of mechanical ventilation airway pressure and flow settings protocol.

BACKGROUND AND OBJECTIVE: Model-based and personalised decision support systems are emerging to guide mechanical ventilation (MV) treatment for respiratory failure patients. However, model-based treatments require resource-intensive clinical trials prior to implementation. This research presents a framework for generating virtual patients for testing model-based decision support, and direct use in MV treatment. METHODS: The virtual MV patient framework consists of 3 stages: 1) Virtual patient generation, 2) Patient-level validation, and 3) Virtual clinical trials. The virtual patients are generated from retrospective MV patient data using a clinically validated respiratory mechanics model whose respiratory parameters (respiratory elastance and resistance) capture patient-specific pulmonary conditions and responses to MV care over time. Patient-level validation compares the predicted responses from the virtual patient to their retrospective results for clinically implemented MV settings and changes to care. Patient-level validated virtual patients create a platform to conduct virtual trials, where the safety of closed-loop model-based protocols can be evaluated. RESULTS: This research creates and presents a virtual patient platform of 100 virtual patients generated from retrospective data. Patient-level validation reported median errors of 3.26% for volume-control and 6.80% for pressure-control ventilation mode. A virtual trial on a model-based protocol demonstrates the potential efficacy of using virtual patients for prospective evaluation and testing of the protocol. CONCLUSION: The virtual patient framework shows the potential to safely and rapidly design, develop, and optimise new model-based MV decision support systems and protocols using clinically validated models and computer simulation, which could ultimately improve patient care and outcomes in MV.

An Embodied Intelligence-Based Biologically Inspired Strategy for Searching a Moving Target.

Bacterial chemotaxis in unicellular Escherichia coli, the simplest biological creature, enables it to perform effective searching behaviour even with a single sensor, achieved via a sequence of "tumbling" and "swimming" behaviours guided by gradient information. Recent studies show that suitable random walk strategies may guide the behaviour in the absence of gradient information. This article presents a novel and minimalistic biologically inspired search strategy inspired by bacterial chemotaxis and embodied intelligence concept: a concept stating that intelligent behaviour is a result of the interaction among the "brain," body morphology including the sensory sensitivity tuned by the morphology, and the environment. Specifically, we present bacterial chemotaxis inspired searching behaviour with and without gradient information based on biological fluctuation framework: a mathematical framework that explains how biological creatures utilize noises in their behaviour. Via extensive simulation of a single sensor mobile robot that searches for a moving target, we will demonstrate how the effectiveness of the search depends on the sensory sensitivity and the inherent random walk strategies produced by the brain of the robot, comprising Ballistic, Levy, Brownian, and Stationary search. The result demonstrates the importance of embodied intelligence even in a behaviour inspired by the simplest creature.

Robust Multimodal Indirect Sensing for Soft Robots Via Neural Network-Aided Filter-Based Estimation.

Sensory data are critical for soft robot perception. However, integrating sensors to soft robots remains challenging due to their inherent softness. An alternative approach is indirect sensing through an estimation scheme, which uses robot dynamics and available measurements to estimate variables that would have been measured by sensors. Nevertheless, developing an adequately effective estimation scheme for soft robots is not straightforward. First, it requires a mathematical model; modeling of soft robots is analytically demanding due to their complex dynamics. Second, it should perform multimodal sensing for both internal and external variables, with minimal sensors, and finally, it must be robust against sensor faults. In this article, we propose a recurrent neural network-based adaptive unscented Kalman filter (RNN-AUKF) architecture to estimate the proprioceptive state and exteroceptive unknown input of a pneumatic-based soft finger. To address the challenge in modeling soft robots, we adopt a data-driven approach using RNNs. Then, we interconnect the AUKF with an unknown input estimator to perform multimodal sensing using a single embedded flex sensor. We also prove mathematically that the estimation error is bounded with respect to sensor degradation (noise and drift). Experimental results show that the RNN-AUKF achieves a better overall performance in terms of accuracy and robustness against the benchmark method. The proposed scheme is also extended to a multifinger soft gripper and is robust against out-of-distribution sensor dynamics. The outcomes of this research have immense potentials in realizing a robust multimodal indirect sensing in soft robots.

Protocol conception for safe selection of mechanical ventilation settings for respiratory failure Patients.

BACKGROUND AND OBJECTIVE: Mechanical ventilation is the primary form of care provided to respiratory failure patients. Limited guidelines and conflicting results from major clinical trials means selection of mechanical ventilation settings relies heavily on clinician experience and intuition. Determining optimal mechanical ventilation settings is therefore difficult, where non-optimal mechanical ventilation can be deleterious. To overcome these difficulties, this research proposes a model-based method to manage the wide range of possible mechanical ventilation settings, while also considering patient-specific conditions and responses. METHODS: This study shows the design and development of the "VENT" protocol, which integrates the single compartment linear lung model with clinical recommendations from landmark studies, to aid clinical decision-making in selecting mechanical ventilation settings. Using retrospective breath data from a cohort of 24 patients, 3,566 and 2,447 clinically implemented VC and PC settings were extracted respectively. Using this data, a VENT protocol application case study and clinical comparison is performed, and the prediction accuracy of the VENT protocol is validated against actual measured outcomes of pressure and volume. RESULTS: The study shows the VENT protocols' potential use in narrowing an overwhelming number of possible mechanical ventilation setting combinations by up to 99.9%. The comparison with retrospective clinical data showed that only 33% and 45% of clinician settings were approved by the VENT protocol. The unapproved settings were mainly due to exceeding clinical recommended settings. When utilising the single compartment model in the VENT protocol for forecasting peak pressures and tidal volumes, median [IQR] prediction error values of 0.75 [0.31 - 1.83] cmH2O and 0.55 [0.19 - 1.20] mL/kg were obtained. CONCLUSIONS: Comparing the proposed protocol with retrospective clinically implemented settings shows the protocol can prevent harmful mechanical ventilation setting combinations for which clinicians would be otherwise unaware. The VENT protocol warrants a more detailed clinical study to validate its potential usefulness in a clinical setting.

Wearable light spectral sensor optimized for measuring daily α-opic light exposure.

Light has many non-visual effects on human physiology, including alterations in sleep, mood, and alertness. These effects are mainly mediated by photoreceptors containing the photopigment melanopsin, which has a peak sensitivity to short wavelength ('blue') light. Commercially available light sensors are commonly wrist-worn and report photopic illuminance and are calibrated to perceive visual brightness and hence cannot be used to investigate the non-visual impacts of light. In this paper, we report the development of a wearable spectrophotometer designed to be worn as a pendant or affixed to clothing to capture spectral power density data close to eye level in the visible wavelength range 380-780 nm. From this, the relative impact of a given light stimulus can be determined for each photoreceptive input in the human eye by calculating effective illuminances. This device showed high accuracy for all effective illuminances while measuring a range of commonly encountered light sources by calibrating for directional response, dark noise, sensor saturation, non-linearity, stray-light and spectral response. Features of the device include IoT-integration, onboard data storage and processing, Bluetooth Low Energy (BLE) enabled data transfer, and cloud storage in one cohesive unit.

Bi-Level Coordinated Merging of Connected and Automated Vehicles at Roundabouts.

Traditional uncoordinated traffic flows in a roundabout can lead to severe traffic congestion, travel delay, and the increased fuel consumption of vehicles. An interesting way to mitigate this would be through cooperative control of connected and automated vehicles (CAVs). In this paper, we propose a novel solution, which is a roundabout control system (RCS), for CAVs to attain smooth and safe traffic flows. The RCS is essentially a bi-level framework, consisting of higher and lower levels of control, where in the higher level, vehicles in the entry lane approaching the roundabout will be made to form clusters based on traffic flow volume, and in the lower level, the vehicles' optimal sequences and roundabout merging times are calculated by solving a combinatorial optimization problem using a receding horizon control (RHC) approach. The proposed RCS aims to minimize the total time taken for all approaching vehicles to enter the roundabout, whilst minimally affecting the movement of circulating vehicles. Our developed strategy ensures fast optimization, and can be implemented in real-time. Using microscopic simulations, we demonstrate the effectiveness of the RCS, and compare it to the current traditional roundabout system (TRS) for various traffic flow scenarios. From the results, we can conclude that the proposed RCS produces significant improvement in traffic flow performance, in particular for the average velocity, average fuel consumption, and average travel time in the roundabout.

Stochastic Modelling of Respiratory System Elastance for Mechanically Ventilated Respiratory Failure Patients.

While lung protective mechanical ventilation (MV) guidelines have been developed to avoid ventilator-induced lung injury (VILI), a one-size-fits-all approach cannot benefit every individual patient. Hence, there is significant need for the ability to provide patient-specific MV settings to ensure safety, and optimise patient care. Model-based approaches enable patient-specific care by identifying time-varying patient-specific parameters, such as respiratory elastance, Ers, to capture inter- and intra-patient variability. However, patient-specific parameters evolve with time, as a function of disease progression and patient condition, making predicting their future values crucial for recommending patient-specific MV settings. This study employs stochastic modelling to predict future Ers values using retrospective patient data to develop and validate a model indicating future intra-patient variability of Ers. Cross validation results show stochastic modelling can predict future elastance ranges with 92.59 and 68.56% of predicted values within the 5-95% and the 25-75% range, respectively. This range can be used to ensure patients receive adequate minute ventilation should elastance rise and minimise the risk of VILI should elastance fall. The results show the potential for model-based protocols using stochastic model prediction of future Ers values to provide safe and patient-specific MV. These results warrant further investigation to validate its clinical utility.

Fault-Tolerant Attitude Control for Rigid Spacecraft Without Angular Velocity Measurements.

In this paper, a fault-tolerant control scheme is proposed for the rigid spacecraft attitude control system subject to external disturbances, multiple system uncertainties, and actuator faults. The angular velocity measurement is unavailable, which increases the complexity of the problem. An observer is first designed based on the super-twisting sliding mode method, which can provide accurate estimates of the angular velocity in finite time. Then, an adaptive fault-tolerant controller is proposed based on neural networks using the information from the observer. It is shown that the attitude orientations converge to the desired values exponentially. Finally, a simulation example is utilized to verify the effectiveness of the proposed scheme.

Evaluation of air quality in Sunway City, Selangor, Malaysia from a mobile monitoring campaign using air pollution micro-sensors.

Due to the increase of the human population and the rapid industrial growth in the past few decades, air quality monitoring is essential to assess the pollutant levels of an area. However, monitoring air quality in a high-density area like Sunway City, Selangor, Malaysia is challenging due to the limitation of the local monitoring network. To establish a comprehensive data for air pollution in Sunway City, a mobile monitoring campaign was employed around the city area with a duration of approximately 6 months, from September 2018 to March 2019. Measurements of air pollutants such as carbon dioxide (CO2) and nitrogen dioxide (NO2) were performed by using mobile air pollution sensors facilitated with a GPS device. In order to acquire a more in-depth understanding on traffic-related air pollution, the measurement period was divided into two different time blocks, which were morning hours (8 a.m.-12 p.m.) and afternoon hours (3 p.m.-7 p.m.). The data set was analysed by splitting Sunway City into different zones and routes to differentiate the conditions of each region. Meteorological variables such as ambient temperature, relative humidity, and wind speed were studied in line with the pollutant concentrations. The air quality in Sunway City was then compared with various air quality standards such as Malaysian Air Quality Standards and World Health Organisation (WHO) guidelines to understand the risk of exposure to air pollution by the residence in Sunway City.

Patient asynchrony modelling during controlled mechanical ventilation therapy.

BACKGROUND AND OBJECTIVE: Mechanical ventilation therapy of respiratory failure patients can be guided by monitoring patient-specific respiratory mechanics. However, the patient's spontaneous breathing effort during controlled ventilation changes airway pressure waveform and thus affects the model-based identification of patient-specific respiratory mechanics parameters. This study develops a model to estimate respiratory mechanics in the presence of patient effort. METHODS: Gaussian effort model (GEM) is a derivative of the single-compartment model with basis function. GEM model uses a linear combination of basis functions to model the nonlinear pressure waveform of spontaneous breathing patients. The GEM model estimates respiratory mechanics such as Elastance and Resistance along with the magnitudes of basis functions, which accounts for patient inspiratory effort. RESULTS AND DISCUSSION: The GEM model was tested using both simulated data and a retrospective observational clinical trial patient data. GEM model fitting to the original airway pressure waveform is better than any existing models when reverse triggering asynchrony is present. The fitting error of GEM model was less than 10% for both simulated data and clinical trial patient data. CONCLUSION: GEM can capture the respiratory mechanics in the presence of patient effect in volume control ventilation mode and also can be used to assess patient-ventilator interaction. This model determines basis functions magnitudes, which can be used to simulate any waveform of patient effort pressure for future studies. The estimation of parameter identification GEM model can further be improved by constraining the parameters within a physiologically plausible range during least-square nonlinear regression.

Assessing mechanical ventilation asynchrony through iterative airway pressure reconstruction.

BACKGROUND AND OBJECTIVE: Respiratory mechanics estimation can be used to guide mechanical ventilation (MV) but is severely compromised when asynchronous breathing occurs. In addition, asynchrony during MV is often not monitored and little is known about the impact or magnitude of asynchronous breathing towards recovery. Thus, it is important to monitor and quantify asynchronous breathing over every breath in an automated fashion, enabling the ability to overcome the limitations of model-based respiratory mechanics estimation during asynchronous breathing ventilation. METHODS: An iterative airway pressure reconstruction (IPR) method is used to reconstruct asynchronous airway pressure waveforms to better match passive breathing airway waveforms using a single compartment model. The reconstructed pressure enables estimation of respiratory mechanics of airway pressure waveform essentially free from asynchrony. Reconstruction enables real-time breath-to-breath monitoring and quantification of the magnitude of the asynchrony (MAsyn). RESULTS AND DISCUSSION: Over 100,000 breathing cycles from MV patients with known asynchronous breathing were analyzed. The IPR was able to reconstruct different types of asynchronous breathing. The resulting respiratory mechanics estimated using pressure reconstruction were more consistent with smaller interquartile range (IQR) compared to respiratory mechanics estimated using asynchronous pressure. Comparing reconstructed pressure with asynchronous pressure waveforms quantifies the magnitude of asynchronous breathing, which has a median value MAsyn for the entire dataset of 3.8%. CONCLUSION: The iterative pressure reconstruction method is capable of identifying asynchronous breaths and improving respiratory mechanics estimation consistency compared to conventional model-based methods. It provides an opportunity to automate real-time quantification of asynchronous breathing frequency and magnitude that was previously limited to invasively method only.