Robust Model Predictive Control for Linear Parameter Varying Systems along with Exploration of its Application in Medical Mobile Robots

This thesis seeks to develop a robust model predictive controller (MPC) for Linear Parameter Varying (LPV) systems. LPV models based on input-output display are employed. We aim to improve robust MPC methods for LPV systems with an input-output display. This improvement will be examined from two perspectives. First, the system must be stable in conditions of uncertainty (in signal scheduling or due to disturbance) and perform well in both tracking and regulation problems. Secondly, the proposed method should be practical, i.e., it should have a reasonable computational load and not be conservative. Firstly, an interpolation approach is utilized to minimize the conservativeness of the MPC. The controller is calculated as a linear combination of a set of offline predefined control laws. The coefficients of these offline controllers are derived from a real-time optimization problem. The control gains are determined to ensure stability and increase the terminal set. Secondly, in order to test the system's robustness to external disturbances, a free control move was added to the control law. Also, a Recurrent Neural Network (RNN) algorithm is applied for online optimization, showing that this optimization method has better speed and accuracy than traditional algorithms. The proposed controller was compared with two methods (robust MPC and MPC with LPV model based on input-output) in reference tracking and disturbance rejection scenarios. It was shown that the proposed method works well in both parts. However, two other methods could not deal with the disturbance. Thirdly, a support vector machine was introduced to identify the input-output LPV model to estimate the output. The estimated model was compared with the actual nonlinear system outputs, and the identification was shown to be effective. As a consequence, the controller can accurately follow the reference. Finally, an interpolation-based MPC with free control moves is implemented for a wheeled mobile robot in a hospital setting, where an RNN solves the online optimization problem. The controller was compared with a robust MPC and MPC-LPV in reference tracking, disturbance rejection, online computational load, and region of attraction. The results indicate that our proposed method surpasses and can navigate quickly and reliably while avoiding obstacles

On matching property for groups and field extensions

In this paper we prove a sufficient condition for the existence of matchings in arbitrary groups and its linear analogue, which lead to some generalizations of the existing results in the theory of matchings in groups and central extensions of division rings. We introduce the notion of relative matchings between arrays of elements in groups and use this notion to study the behavior of matchable sets under group homomorphisms. We also present infinite families of prime numbers p such that ℤ/pℤ does not have the acyclic matching property. Finally, we introduce the linear version of acyclic matching property and show that purely transcendental field extensions satisfy this property

Investigation of drug -drug interactions status, in University-Based Pharmacies, in Lorestan, IRAN

rug drug interaction, is an importantcause for disturbing of medical managementof a disease that usually is preventive,must be continuously investigated for detection ofcauses. Due to little data about it in recently years in thisarea, study was done, to investigate of quantity of interactions,and some related factors. In this cross sectionalstudy, all prescriptions data from April to October 2016were collected. Variable data included: type and nameof drugs- the number of drugs in each prescription andcharacteristics of interactions. We used software of druginteraction fact and lexicomp on desk top DI and textbook‘Drug Interaction Facts’ .Statistical analysis done by t testand use of SPSS 19. Finally, 41096 prescriptions were collected.From these data 56% were male. 3043 of subjectshad DDI (7.4%). most interaction was in 5th degree andmajority of interactions were mild. DDI between ammoniumchloride and pseudoephedrine –antihypertensivedrugs and others-omeprazole and chlordiazepoxide hadthe most frequency, respectively. About interaction show,53% was delay and 43% was rapid. The mean quantity ofdrugs was less than four type drugs in each prescription.We conclude that, general and even OTC drug had greatDDI that must be notice to these drugs in prescriptions.There was no correlation between gender or specialtyof physician and frequency of DDI (p=0.08). Quantityof drugs in each prescription, correlate with rate of DDI(p=.003). Attendance a pharmacist in treatment team ofpatients could be helpful, for decrease the rate of DDI. Inall centers, continuous and more research for detectingDDI is necessary

Evaluation of Powdered Activated Carbon Efficiency in Removal of Dissolved Organic Carbon inWater Treatment

Materials and Methods: The increase of PAC for DOC reduction has done in three paths in the Isfahan water treatment plant (WTP). These paths including: 1) Intake up to entrance of WTP 2) Intake to exit ofWTP 3) Between entrance and exit of waterworks. The paths were simulated by the Jar test system. Then DOC and UV254 absorption were analyzed and SUVA parameter for samples and activated-carbon adsorption isotherm was calculated. Results: The injected PAC doses of 20, 40, 60, 80 and 100 mg/l caused decreasing in

Comparison of Immediate Effect of High-Power Pain Threshold Ultrasound and Deep Transverse Friction Massage on Active Myofascial Trigger Points

Introduction: The study was conducted to compare the immediate effect of high-power pain threshold ultrasound (HPPTUS) and deep transverse friction massage (DTFM) as a traditional technique on the treatment of upper trapezius active myofascial trigger points in male patients with mechanical neck pain. Materials and Methods: In this parallel single-blind randomized clinical trial study, 60 men with mechanical neck pain (mean age: 30.57±6.19 years) who met the inclusion and exclusion criteria were randomly assigned to HPPTUS and DTFM as the control group. A visual analog scale (VAS), pain pressure threshold (PPT), and range of motion (ROM) of cervical lateral flexion (CLF) were assessed before and after treatment. Results: Analysis of pre- and post-treatment findings showed that the VAS (P<0.01), PPT (P<0.01), and ROM of CLF (P<0.01) improved significantly in both groups while ROM of CLF increased significantly more in the HPPTUS group. An indirect correlation was found between the pre-treatment ROM of CLF and ROM of CLF improvement in both groups. A significant indirect correlation was observed between pre-treatment VAS and ROM of CLF improvement in the HPPTUS group. In the DTFM group a significant indirect correlation was found between pre-treatment ROM of CLF and VAS improvement. Conclusion: The results showed that HPPTUS can be used as an effective treatment for active trigger points (TP). It seems that this method is more effective than deep transverse friction massage

Factors Affecting Health Care Utilization in Tehran

Introduction: Successful health system planning and management is dependent on well informed decisions, so having complete knowledge about medical services’ utilization is essential for resource allocation and health plans. The main goal of this study is identification of factors effecting inpatient and outpatient services utilization in public and private sectors. Methods: This study encompasses all regions of Tehran in 2011 and uses Urban HEART questionnaires. This population-based survey included 34700 households with 118000 individuals in Tehran. For determining the most important factors affected on health services consumption, logit model was applied. Results: Regarding to the finding, the most important factors affected on utilization were age, income level and deciles, job status, household dimension and insurance coverage. The main point was the negative relationship between health care utilization and education but it had a positive relationship with private health care utilization. Moreover suffering from chronic disease was the most important variable in health care utilization. Conclusions: According to the mentioned results and the fact that access has effect on health services utilization, policy makers should try to eliminate financial access barriers of households and individuals. This may be done with identification of households with more than 65 or smaller than 5 years old, people in low income deciles or with chronic illness. According to age effect on health services usage and aging population of Iran, results of this study show more importance of attention to aged population needs in future years

Robust Model Predictive Controller Using Recurrent Neural Networks for Input–Output Linear Parameter Varying Systems

This paper develops a model predictive controller (MPC) for constrained nonlinear MIMO systems subjected to bounded disturbances. A linear parameter varying (LPV) model assists MPC in dealing with nonlinear dynamics. In this study, the nonlinear process is represented by an LPV using past input–output information (LPV-IO). Two primary objectives of this study are to reduce online computational load compared with the existing literature of MPC with an LPV-IO model and to confirm the robustness of the controller in the presence of disturbance. For the first goal, a recurrent neural network (RNN) is employed to solve real-time optimization problems with lower online computation. Regarding robustness, a new control law is developed, which comprises a fixed control gain (K) and a free perturbation (C). The proposed method enjoys a shrunken conservatism owing to the finding of a larger possible terminal region and using free control moves. The strategy is examined in an alkylation of benzene process and displays outstanding performance in both setpoint tracking and disturbance rejection problems. Moreover, the superiority of RNN over three conventional optimization algorithms is underlined in terms of MSE, the average time for solving the optimization problem, and the value of the cost function

Dirrofilariasis in Shepherd Dogs of High Altitudes Areas in West Azerbaijan-Iran

Although the biology and ecology of the arthropod vectors are different, some factors, such as global warming, the increasing abundance of mosquitoes, the movement of domestic hosts, and the abundance of wild reservoirs, can act as favourable factors for the distribution of infections. The aim of this study was to determine the prevalence of Dirofilaria immitis infection in shepherd dogs living in the high altitude of mountainous area (i.e.1200 meters above the sea level). The study group was comprised of 160 shepherd dogs living in 4 mountainous regions (Targavar, Margavar, Kolshin and Hovarchin) of west Azerbaijan where continuous movement of sheep and goat flocks resulted to have a little information about shepherd dogs in these regions. Additionally, arduous pathways have made impossible any access by car to some territories of these areas. The dogs were mostly mixed raced with different ages (from 1 to 10 years) and sexes (male = 136, female = 24). Blood samples were collected from cephalic vein. Direct thin and thick blood smears and modified knott’s technique were used for detecting D.immitis microfilariae and other blood parasites. The results indicated that 40 (25 %) of dogs were infected with D. immitis microfilariae. In examination of the dogs, no severe life threatening feature of the disease was diagnosed. There were no significant differences (P > 0.05) of Dirrofilaria infection among gender, age groups and geographical areas. High prevalence of asymptomatic Dirrofilariasis in shepherd dogs in this area highlights the need of controlling and preventive programs