Estimating the Distribution of Random Parameters in a Diffusion Equation Forward Model for a Transdermal Alcohol Biosensor.

We estimate the distribution of random parameters in a distributed parameter model with unbounded input and output for the transdermal transport of ethanol in humans. The model takes the form of a diffusion equation with the input being the blood alcohol concentration and the output being the transdermal alcohol concentration. Our approach is based on the idea of reformulating the underlying dynamical system in such a way that the random parameters are now treated as additional space variables. When the distribution to be estimated is assumed to be defined in terms of a joint density, estimating the distribution is equivalent to estimating the diffusivity in a multi-dimensional diffusion equation and thus well-established finite dimensional approximation schemes, functional analytic based convergence arguments, optimization techniques, and computational methods may all be employed. We use our technique to estimate a bivariate normal distribution based on data for multiple drinking episodes from a single subject.

Estimation of the Distribution of Random Parameters in Discrete Time Abstract Parabolic Systems with Unbounded Input and Output: Approximation and Convergence.

A finite dimensional abstract approximation and convergence theory is developed for estimation of the distribution of random parameters in infinite dimensional discrete time linear systems with dynamics described by regularly dissipative operators and involving, in general, unbounded input and output operators. By taking expectations, the system is re-cast as an equivalent abstract parabolic system in a Gelfand triple of Bochner spaces wherein the random parameters become new space-like variables. Estimating their distribution is now analogous to estimating a spatially varying coefficient in a standard deterministic parabolic system. The estimation problems are approximated by a sequence of finite dimensional problems. Convergence is established using a state space-varying version of the Trotter-Kato semigroup approximation theorem. Numerical results for a number of examples involving the estimation of exponential families of densities for random parameters in a diffusion equation with boundary input and output are presented and discussed.

Deconvolving the input to random abstract parabolic systems: a population model-based approach to estimating blood/breath alcohol concentration from transdermal alcohol biosensor data.

The distribution of random parameters in, and the input signal to, a distributed parameter model with unbounded input and output operators for the transdermal transport of ethanol are estimated. The model takes the form of a diffusion equation with the input, which is on the boundary of the domain, being the blood or breath alcohol concentration (BAC/BrAC), and the output, also on the boundary, being the transdermal alcohol concentration (TAC). Our approach is based on the reformulation of the underlying dynamical system in such a way that the random parameters are treated as additional spatial variables. When the distribution to be estimated is assumed to be defined in terms of a joint density, estimating the distribution is equivalent to estimating a functional diffusivity in a multi-dimensional diffusion equation. The resulting system is referred to as a population model, and well-established finite dimensional approximation schemes, functional analytic based convergence arguments, optimization techniques, and computational methods can be used to fit it to population data and to analyze the resulting fit. Once the forward population model has been identified or trained based on a sample from the population, the resulting distribution can then be used to deconvolve the BAC/BrAC input signal from the biosensor observed TAC output signal formulated as either a quadratic programming or linear quadratic tracking problem. In addition, our approach allows for the direct computation of corresponding credible bands without simulation. We use our technique to estimate bivariate normal distributions and deconvolve BAC/BrAC from TAC based on data from a population that consists of multiple drinking episodes from a single subject and a population consisting of single drinking episodes from multiple subjects.

Blind Deconvolution for Distributed Parameter Systems with Unbounded Input and Output and Determining Blood Alcohol Concentration from Transdermal Biosensor Data.

We develop a blind deconvolution scheme for input-output systems described by distributed parameter systems with boundary input and output. An abstract functional analytic theory based on results for the linear quadratic control of infinite dimensional systems with unbounded input and output operators is presented. The blind deconvolution problem is then reformulated as a series of constrained linear and nonlinear optimization problems involving infinite dimensional dynamical systems. A finite dimensional approximation and convergence theory is developed. The theory is applied to the problem of estimating blood or breath alcohol concentration (respectively, BAC or BrAC) from biosensor-measured transdermal alcohol concentration (TAC) in the field. A distributed parameter model with boundary input and output is proposed for the transdermal transport of ethanol from the blood through the skin to the sensor. The problem of estimating BAC or BrAC from the TAC data is formulated as a blind deconvolution problem. A scheme to identify distinct drinking episodes in TAC data based on a Hodrick Prescott filter is discussed. Numerical results involving actual patient data are presented.

Distributed cooperative Kalman filter constrained by advection-diffusion equation for mobile sensor networks.

In this paper, a distributed cooperative filtering strategy for state estimation has been developed for mobile sensor networks in a spatial-temporal varying field modeled by the advection-diffusion equation. Sensors are organized into distributed cells that resemble a mesh grid covering a spatial area, and estimation of the field value and gradient information at each cell center is obtained by running a constrained cooperative Kalman filter while incorporating the sensor measurements and information from neighboring cells. Within each cell, the finite volume method is applied to discretize and approximate the advection-diffusion equation. These approximations build the weakly coupled relationships between neighboring cells and define the constraints that the cooperative Kalman filters are subjected to. With the estimated information, a gradient-based formation control law has been developed that enables the sensor network to adjust formation size by utilizing the estimated gradient information. Convergence analysis has been conducted for both the distributed constrained cooperative Kalman filter and the formation control. Simulation results with a 9-cell 12-sensor network validate the proposed distributed filtering method and control law.

Prescribed-time stabilization of semi-linear parabolic equations subject to distributed disturbance.

In this paper, we investigate the problem of prescribed-time stabilization for a class of semilinear parabolic systems subject to spatiotemporal-varying disturbance via distributed control. By employing the time-varying feedback gain and disturbance suppression method, the proposed control law is continuous and stabilizes the closed-loop system within the prescribed time, where the convergence time is independent of initial values and can be given in advance as needed. When the upper bound of disturbance is known, we use a hyperbolic tangent function to restrain disturbance. While the upper bound of disturbance is unknown, we design the prescribed-time adaptive law and a prescribed-time disturbance observer estimating the disturbance itself. Some numerical examples are provided to verify the theoretical results.

Positivity problem for the one dimensional heat transfer process.

In the paper the positivity problem of the model of an one dimensional heat transfer process is addressed. Such a problem has not been considered yet. The considered thermal process is described by the fractional order state equation, derived from parabolic heat equation with homogenous Neumann boundary conditions and distributed control and observation. The internal and external positivity of the model depend on heater and sensor location as well as the size of the model. It is proved that the external positivity of the considered system can be achieved without internal positivity. Conditions of the internal and external positivity are proposed and proved. Theoretical considerations are supported by experiments. Experiments were done using the real system containing typical industrial components. The proposed results can be applied in real temperature measurements, for example in thermal cameras.

Deconvolving breath alcohol concentration from biosensor measured transdermal alcohol level under uncertainty: a Bayesian approach.

The posterior distribution (PD) of random parameters in a distributed parameter-based population model for biosensor measured transdermal alcohol is estimated. The output of the model is transdermal alcohol concentration (TAC), which, via linear semigroup theory can be expressed as the convolution of blood or breath alcohol concentration (BAC or BrAC) with a filter that depends on the individual participant or subject, the biosensor hardware itself, and environmental conditions, all of which can be considered to be random under the presented framework. The distribution of the input to the model, the BAC or BrAC, is also sequentially estimated. A Bayesian approach is used to estimate the PD of the parameters conditioned on the population sample's measured BrAC and TAC. We then use the PD for the parameters together with a weak form of the forward random diffusion model to deconvolve an individual subject's BrAC conditioned on their measured TAC. Priors for the model are obtained from simultaneous temporal population observations of BrAC and TAC via deterministic or statistical methods. The requisite computations require finite dimensional approximation of the underlying state equation, which is achieved through standard finite element (i.e., Galerkin) techniques. The posteriors yield credible regions, which remove the need to calibrate the model to every individual, every sensor, and various environmental conditions. Consistency of the Bayesian estimators and convergence in distribution of the PDs computed based on the finite element model to those based on the underlying infinite dimensional model are established. Results of human subject data-based numerical studies demonstrating the efficacy of the approach are presented and discussed.

Shape memory alloy tube actuators inherently enable internal fluidic cooling for a robotic finger under force control.

This paper presents the design, control and evaluation of a novel robotic finger actuated by shape memory alloy (SMA) tubes which intrinsically afford an internal conduit for fluidic cooling. The SMA tubes are thennomechanically programmed to flex the robotic finger when Joule heated. A superelastic SMA plate provides a spring return motion to extend the finger when cooling liquid is pumped through the internal channel of the SMA tube actuators. The mechanical design and nonlinear force controller are presented for this unique robotic finger. Sinusoidal and step response experiments demonstrate excellent error minimization when operated below the bandwidth which was empirically determined to be 6 rad s-1. Disturbance rejection experiments are also performed to demonstrate the potential to minimize externally applied forces. This method of internal liquid cooling of Joule heated SMA tubes simultaneously increases the system bandwidth and expands the potential uses of SMA actuators for robotic applications. The results show that this novel robotic finger is capable of precise force control and has a high strength to weight ratio. The finger can apply a force of 4.35 N and has a mass of 30 g. Implementing this design into wearable prosthetic devices could enable lightweight, high strength applications previously not achievable.

Sampled-data control for linear time-delay distributed parameter systems.

Some real systems have spatiotemporal dynamics and are time-delay distributed parameter systems (DPSs). The existence of time-delay may lead to system instability. The analysis and design of DPSs with time-delay is essentially more complicated. To take into account the factor of time-delay and fully enjoy the benefits of the digital technology in control engineering, it is a theoretical and practical value to consider the sampled-data control (SDC) problem of DPSs with time-delay. However, there are few attempts to solve the SDC problem of time-delay DPSs. In this paper, we introduce a SDC for linear time-delay DPSs described by parabolic partial differential equations (PDEs). A SDC design is developed in the formulation of spatial linear matrix inequalities (LMIs) by constructing an appropriate Lyapunov functional, which can stabilize exponentially the time-delay DPSs. This stabilization condition can be applied to either slowing-varying time delay or fast-varying one. Finally, simulation results of a numerical example are provided to illustrate the effectiveness of the proposed method.

Comparing a Distributed Parameter Model-Based System Identification Technique with More Conventional Methods for Inverse Problems.

Three methods for the estimation of blood or breath alcohol concentration (BAC/BrAC) from biosensor measured transdermal alcohol concentration (TAC) are evaluated and compared. Specifically, we consider a system identification/quasi-blind deconvolution scheme based on a distributed parameter model with unbounded input and output for ethanol transport in the skin and compare it to two more conventional system identification and filtering/deconvolution techniques for ill-posed inverse problems, one based on frequency domain methods, and the other on a time series approach using an ARMA input/output model. Our basis for comparison are five statistical measures of interest to alcohol researchers and clinicians: peak BAC/BrAC, time of peak BAC/BrAC, the ascending and descending slopes of the BAC/BrAC curve, and the area underneath the BAC/BrAC curve.

Improving control and estimation for distributed parameter systems utilizing mobile actuator-sensor network.

This paper proposes a scheme for non-collocated moving actuating and sensing devices which is unitized for improving performance in distributed parameter systems. By Lyapunov stability theorem, each moving actuator/sensor agent velocity is obtained. To enhance state estimation of a spatially distributes process, two kinds of filters with consensus terms which penalize the disagreement of the estimates are considered. Both filters can result in the well-posedness of the collective dynamics of state errors and can converge to the plant state. Numerical simulations demonstrate that the effectiveness of such a moving actuator-sensor network in enhancing system performance and the consensus filters converge faster to the plant state when consensus terms are included.

Optimal Control of One-dimensional Cellular Uptake in Tissue Engineering.

A control problem motivated by tissue engineering is formulated and solved in which control of the uptake of growth factors (signaling molecules) is necessary to spatially and temporally regulate cellular processes for the desired growth or regeneration of a tissue. Four approaches are compared for determining 1D optimal boundary control trajectories for a distributed parameter model with reaction, diffusion, and convection: (i) basis function expansion, (ii) method of moments, (iii) internal model control (IMC), and (iv) model predictive control (MPC). The proposed method-of-moments approach is computationally efficient while enforcing a non-negativity constraint on the control input. While more computationally expensive than methods (i)-(iii), the MPC formulation significantly reduced the computational cost compared to simultaneous optimization of the entire control trajectory. A comparison of the pros and cons of each of the four approaches suggests that an algorithm that combines multiple approaches is most promising for solving the optimal control problem for multiple spatial dimensions.