Constraint-Adaptive MPC for linear systems: A system-theoretic framework for speeding up MPC through online constraint removal

Reducing the computation time of model predictive control (MPC) is important, especially for systems constrained by many state constraints. In this paper, we propose a new online constraint removal framework for linear systems, for which we coin the term constraint-adaptive MPC (ca-MPC). In so-called exact ca-MPC, we adapt the imposed constraints by removing, at each time-step, a subset of the state constraints in order to reduce the computational complexity of the receding-horizon optimal control problem, while ensuring that the closed-loop behavior is {\em identical} to that of the original MPC law. We also propose an approximate ca-MPC scheme in which a further reduction of computation time can be accomplished by a tradeoff with closed-loop performance, while still preserving recursive feasibility, stability, and constraint satisfaction properties. The online constraint removal exploits fast backward and forward reachability computations combined with optimality properties

Recent technological advancements in radiofrequency- andmicrowave-mediated hyperthermia for enhancing drug delivery

Hyperthermia therapy is a potent enhancer of chemotherapy and radiotherapy. In particular, microwave (MW) and radiofrequency (RF) hyperthermia devices provide a variety of heating approaches that can treat most cancers regardless the size. This review introduces the physics of MW/RF hyperthermia, the current state-of-the-art systems for both localized and regional heating, and recent advancements in hyperthermia treatment guidance using real-time computational simulations and magnetic resonance thermometry. Clinical trials involving RF/MW hyperthermia as adjuvant for chemotherapy are also presented per anatomical site. These studies favor the use of adjuvant hyperthermia since it significantly improves curative and palliative clinical outcomes. The main challenge of hyperthermia is the distribution of state-of-the-art heating systems. Nevertheless, we anticipate that recent technology advances will expand the use of hyperthermia to chemotherapy centers for enhanced drug delivery. These new technologies hold great promise not only for (image-guided) perfusion modulation and sensitization for cytotoxic drugs, but also for local delivery of various compounds using thermosensitive liposomes

Design of a High Selectivity Filter for MRI Guided RF Hyperthermia Therapy

Hyperthermia devices have been integrated with MR scanners to exploit MR thermometry. Integrating two RF systems require the filtering of high-power RF heating signal from MR system for simultaneous heating and imaging. Currently, a filter that suppresses 100MHz and its harmonics is in use. Development of a MR-compatible hyperthermia applicator for head and neck requires a filter that can suppress also the 433.92MHz signal. A unique new filter which has high power handling, extremely high suppression, and selectivity has been designed that attenuates 100MHz and 433.92MHz signals with low insertion loss (&lt;0.25dB) at 63.89MHz. 0.14dB insertion loss at 63.89MHz, 112dB, 88dB and 93dB signal attenuation were achieved at 100MHz, 200MHz and 433.92MHz, respectively, with the new filter design using model of LM-500 cable. A proof of concept filter was constructed to validate the design. Our investigation shows that filter requirements can be satisfied, but high-power low-loss coaxial cables are necessary.</p

Power from the people - Human-powered small-scale generation system for a sustainable dance club

Most Human-Powered Energy-Harvesting Systems are used to power ubiquitously deployed sensor networks and mobile electronics. These systems scavenge power from human activity or derive limited energy from ambient heat, light, or vibrations. In this article, systems that use human power by walking or running are analyzed, where an alternative system has been designed and implemented that generates energy from people dancing in a club environment

The influence of the inverter switching frequency on rotor losses in high-speed permanent magnet machines : an experimental study

Harmonic content of the output voltage of pulse width modulated voltage source inverters (PWM VSI) is determined by the switching frequency. On the other hand, rotor losses in high-speed permanent magnet (PM) machines are caused, among other factors, by harmonics in stator currents. These harmonics are determined by the harmonics in the inverter output voltage, and therefore dependent on the switching frequency. In high-speed PM machines, due to the high fundamental frequency, harmonics in the stator currents caused by PWM are located at very high frequencies. Measurement of rotor losses caused by these harmonics in a structure with a conductive retaining sleeve on the rotor which is prone to eddy currents might be very challenging. This paper investigates issues related to this measurement and presents a measurement method which results are compared with results from a 2D analytical model that takes into account eddy currents in the rotor.</p

Analysis and design of a slotless tubular permanent magnet actuator for high acceleration applications

This paper presents the design of a linear actuator for high acceleration applications. In the analysis, a slotless tubular permanent magnet actuator is modeled by means of semianalytical field solutions. Several slotless topologies are modeled and compared to achieve the highest acceleration. A design has been proposed and built, and measurements are conducted to verify the model

MR thermometry accuracy and prospective imaging-based patient selection in MR-guided hyperthermia treatment for locally advanced cervical cancer

The efficacy of a hyperthermia treatment depends on the delivery of well-controlled heating; hence, accurate temperature monitoring is essential for ensuring effective treatment. For deep pelvic hyperthermia, there are no comprehensive and systematic reports on MR thermometry. Moreover, data inclusion generally lacks objective selection criteria leading to a high probability of bias when comparing results. Herein, we studied whether imaging-based data inclusion predicts accuracy and could serve as a tool for prospective patient selection. The accuracy of the MR thermometry in patients with locally advanced cervical cancer was benchmarked against intraluminal temperature. We found that gastrointestinal air motion at the start of the treatment, quantified by the Jaccard similarity coefficient, was a good predictor for MR thermometry accuracy. The results for the group that was selected for low gastrointestinal air motion improved compared to the results for all patients by 50% (accuracy), 26% (precision), and 80% (bias). We found an average MR thermometry accuracy of 2.0 °C when all patients were considered and 1.0 °C for the selected group. These results serve as the basis for comprehensive benchmarking of novel technologies. The Jaccard similarity coefficient also has good potential to prospectively determine in which patients the MR thermometry will be valuable.</p

Intrasubject multimodal groupwise registration with the conditional template entropy

Image registration is an important task in medical image analysis. Whereas most methods are designed for the registration of two images (pairwise registration), there is an increasing interest in simultaneously aligning more than two images using groupwise registration. Multimodal registration in a groupwise setting remains difficult, due to the lack of generally applicable similarity metrics. In this work, a novel similarity metric for such groupwise registration problems is proposed. The metric calculates the sum of the conditional entropy between each image in the group and a representative template image constructed iteratively using principal component analysis. The proposed metric is validated in extensive experiments on synthetic and intrasubject clinical image data. These experiments showed equivalent or improved registration accuracy compared to other state-of-the-art (dis)similarity metrics and improved transformation consistency compared to pairwise mutual information

The potential of time-multiplexed steering by temperature optimization in microwave hyperthermia

Introduction: In clinical practice at Erasmus MC, the target-to-hotspot-quotient (THQ) of the specific absorption rate (SAR) is used to optimize phases and amplitudes of the signals to be applied to the hyperthermia applicator [1]. Recent research showed that the ratio between tumor and healthy tissue temperatures can be increased when amplitudes and phases are time-multiplexed when applying SAR optimization [2]. However, direct temperature optimization achieves higher tumor temperatures when considering time-multiplexed antenna steering [3]. In this work, we investigated the benefit of time-multiplexed steering when applying temperature optimization in models of patients with tumors on the head and neck region. Methods: For five patients with a tumor in the head and neck region, a Sim4Life model was created and treatment planning was applied for the HyperCollar3D. A single distribution SAR based THQ optimization was performed for reference. A novel temperature optimization scheme was developed, which optimizes the tumor temperature for the first 15 minutes of the treatment. This results in higher tumor temperatures throughout the treatment by explicitly including the transient effects in the optimization. The evaluation was based on simulations of the full treatment time of 75 minutes, with the total power scaled to reach maximum 43°C in the tumor. Performance was evaluated by comparing T50 for both healthy and tumor tissue during treatment. Results: The ratio between T50 in the healthy and tumor tissue was improved when using the novel temperature-based optimization for time-multiplexed distributions (Figure 1C). The SAR THQ showed a lower ratio for the time-multiplexed solution, this is resolved in the temperature simulations (Figure 2).Conclusion/Discussion: The resulting T50 values, show that the temperatures during treatment might benefit from the temperature optimized with the multiplexed steering approach: either the temperature in the tumor tissue can be higher or the temperature in healthy tissue could remain lower. Although the approach seems beneficial, assessment of the impact of uncertainties in thermal parameters and inclusion of a larger dataset is still required to assess the significance of the improvement and the expected clinical benefit [4]. <br/