Conference Program of WCICA 2012

WCICA 2012
Book of Abstracts
Book of Abstracts
Friday, July 6, 2012
PL-1 8:30-9:30 Room 305
Plenary Lecture I
Chair: Xie, Lihua
Nanyang Technological University, Singapore
◮ PL-1 8:30-9:30
Zone Model Predictive Control of an Artificial Pancreas
Doyle, Francis
University of California at Santa Barbara
Type 1 diabetes mellitus (T1DM) is a chronic autoimmune disease affecting
approximately 25 million individuals in the world, and is the 4th
leading cause of global death by disease. Current treatment requires
either multiple daily insulin injections or continuous subcutaneous (SC)
insulin infusion (CSII) delivered via an insulin infusion pump. Both
treatment modes necessitate frequent blood glucose measurements to
determine the daily insulin requirements for maintaining near-normal
blood glucose levels. More than 30 years ago, the idea of an artificial
endocrine pancreas for patients with type 1 diabetes mellitus (T1DM)
was envisioned. The closed-loop concept consisted of an insulin syringe,
a blood glucose analyzer, and a transmitter. In the ensuing
years, a number of theoretical research studies were performed with
numerical simulations to demonstrate the relevance of advanced control
design to the artificial pancreas, with delivery algorithms ranging
from simple PID, to H-infinity, to model predictive control.
Our algorithmic studies have focused on model predictive control, including
safety constraints to prevent over-dosing, and multi-parametric
implementation for regulatory review. Our latest work has focused on
soft output constraints using “zones” to emulate the medical outcome
metrics. A recent extension of that work will be described in this talk,
consisting of a multipartite zone model predictive controller (Multi-Zone-
MPC).
Multi-Zone-MPC provides different tunings for the MPC weights based
on four regions of glycemia: hypoglycemia, normoglycemia, elevated g-
lycemia, and hyperglycemia. Defining these four zones provides richer
control tunings that result in safe and effective control.
Our latest clinical investigations will be reviewed to demonstrate the
medical-relevance of such an approach to a feedback-controlled artificial
pancreas.
This presentation is based on work coauthored with Eyal Dassau, Rebecca
Harvey, Matt Percival, Benny Grosman, Howard Zisser, Dale Seborg,
and Lois Jovanovic.
PL-2 9:50-10:50 Room 305
Plenary Lecture II
Chair: Shen, Tielong
Sophia University, Japan
◮ PL-2 9:50-10:50
Applying Model Predictive Control in Automotive
Chen, Hong
Jilin University, China
The basis of model predictive control (MPC) is the on-line solution of
a constrained optimization problem updated by the actual state. The
obtained control is injected into the system until the next sampling
time, while the procedure is repeated whenever new measurements
are available. Due to its ability to handle nonlinearity, to include various
types of models predicting the future dynamics, to take time-domain
constraints into account explicitly and to coordinate multiple performance
requirements in the sense of optimization, MPC has become an
attractive feedback strategy for designing control systems in automotive.
The talk will discuss some aspects of applying MPC in automotive
through some selected examples.
PL-3 10:50-11:50 Room 305
Plenary Lecture III
Chair: Meng, Max, Q.-H.
Chinese University of Hong Kong, China
◮ PL-3 10:50-11:50
Surgical Robotics: Different Successful Concepts in the Past and in
Future
Lueth, Tim C.
Technical University of Munich, Germany
Since 20 years, surgical navigation and robotics are two important technologies
to improve the state of the art in medical treatment. To know
where an instrument is located relative to a region of interest (organ,
vessel, bone structure) inside of the body is of great importance to
achieve a preplanned postoperative situation. To guide and to move
an instrument by a robot is more complex but is definitely required for
almost all kind of surgery.
While surgical navigation became a standard in many medical disciplines,
surgical robotics is still at it’s beginning. Todays great commercial
success of only one company with just one robotics approach
(Telemanipulation), should not mislead to an interpretation that surgical
robotics is now successful. There are still more problems than solutions.
Also the visibility of this company is not typical for medical device
companies. In the talk, several navigation and robotics systems are p-
resented, that were developed within Germany during the past 15 years
with different success. All of them skipped the barrier from idea to clinical
use to the market. A collection of videos shows the robots use.
Nevertheless, there are different mechanisms that are important to consider
if a medical robot should be successful. These mechanisms are
discussed and also the rules for researcher to design robots as medical
device from the very beginning. Also some in-between solutions such
as “Navigated Control” are presented to explain when a robot is useful
and why sometimes a different solution is more successful.
In future we will see, surgical robots and medical instruments that are
patient specific printed on demand based on generative manufacturing
methods such as Selective Laser Sintering of biocompatible materials.
FrA01 13:30–15:30 Room 203A
Intelligent Control and Automation (I)
Chair: Wang, Peijin
Co-Chair: Dang, Zhaohui
Yantai Univ.
National Univ. of Defense Tech.
◮ FrA01-1 13:30–13:50
Development of a Reconfigurable Robot’s Turning Method with Line
Configuration, pp.61–66
Chang, Jian
Wu, Chengdong
Shang, Hong
Li, Bin
Shenyang Inst. of Automation (SIA), Chinese
Acad. of Sci.
northeastern Univ.
organization
Shenyang Inst. of Automation, Chinese Acad. of
Sci.
The shape-shifting robot is one of the kinds of the robot and it can
change it’s configuration according to the environment. A method is
proposed to solve the shortcomings of the traditional method of robot’s
chain turning, which can shorten the time and radius of turning. The
turning resistance moment can be also reduced. The mathematical
model is built and the resistance torque and required force is computed
By the analysis of experiment, the current of jaw motor does not exceed
the limit load of the motor and it is more quick and smooth comparing to
the link-turning. The validity and enforceability of the turning is proved
by simulations and experiments.
◮ FrA01-2 13:50–14:10
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