发表机构
University of Auckland; Auckland Bioengineering Institute（奥克兰大学; 奥克兰生物工程研究所）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究针对机器人软食管（RoSE）的闭环控制问题，设计了带传感器的RoSEv2.0，采用基于SINDYC的模型预测控制生成目标蠕动波，还完成了支架迁移测试，为食管相关体外研究提供支持。
AI 中文摘要
食管癌引发的狭窄会使食管腔变窄，进而导致吞咽困难。为缓解吞咽困难，机器人软食管（RoSE）被研发出来，它为食管支架测试和食物黏度研究提供了一种新型体外平台。在之前的RoSE中，由于导管缺乏可视性和嵌入式传感能力，蠕动波的产生与控制以开环方式完成。因此，本研究设计了RoSE 2.0版本（RoSEv2.0），配备了嵌入式飞行时间（TOF）传感器和压力传感器，分别用于测量导管位移和气压，以实现建模与控制。研究人员对RoSEv2.0实施了模型预测控制（MPC），以自主控制蠕动和气压曲线。所实施的MPC采用带控制的稀疏识别非线性动力学（SINDYC）模型来估计RoSEv2.0的未来状态，该动力学模型由TOF和压力传感器数据推导得出。MPC成功生成了速度为20 mm/s、波长为75 mm、振幅为5、7.5和10 mm的蠕动波。此外，配备MPC的RoSEv2.0还被用于对不同食团稠度进行支架迁移测试。本文的主要贡献在于将基于SINDYC的MPC应用于解决RoSE的闭环控制问题，以实现所需的蠕动波。
英文摘要
Strictures caused by esophageal cancer can narrow down the esophageal lumen, leading to dysphagia. Palliation of dysphagia has driven the development of a Robotic Soft Esophagus (RoSE), which provides a novel in vitro platform for esophageal stent testing and food viscosity studies. In RoSE, peristaltic wave generation and control were done in an open-loop manner since the conduit lacked visibility and embedded sensing capability. Hence, in this work, RoSE version 2.0 (RoSEv2.0) is designed with embedded Time Of Flight (TOF) and pressure sensors to measure conduit displacement and air pressure, respectively, for modeling and control. Model Predictive Control (MPC) of RoSEv2.0 is implemented to govern the peristalsis and air pressure profile autonomously. The implemented MPC used Sparse Identification Nonlinear Dynamics with Control (SINDYC) models to estimate the future states of ROSEv2.0. The dynamic models are discovered from the TOF and pressure sensor data. Peristalsis waves of speed 20 mm/s, wavelength 75 mm, and amplitudes 5, 7.5, and 10 mm were successfully generated by the MPC. Additionally, RoSEv2.0 with the MPC was employed to perform stent migration testing with various food bolus consistencies. The major contribution claimed in this paper is the application of SINDYC-based MPC to solve the closed-loop control problem of RoSE for achieving desired peristaltic waves.
CommentsAccepted manuscript. 12 pages. Published in IEEE Transactions on Industrial Electronics. Project page: https://bhattner143.github.io/rosev2-dtsindyc.github.io/ Code: https://github.com/bhattner143/SINDYc_MPC_RoSE_symmetric_peristaltic
Journal refIEEE Trans. Ind. Electron., vol. 69, no. 10, pp. 10363-10373, Oct. 2022
