Optimal Command Shaping Design for a Liquid Slosh Suppression in Overhead Crane Systems

2020 ◽  
Vol 143 (2) ◽  
Author(s):  
Emad Khorshid ◽  
AbdulAziz Al-Fadhli
Keyword(s):  
Controller Design ◽  
Cost Effective ◽  
Particle Swarm Algorithm ◽  
Model Parameters ◽  
Actual System ◽  
Automated Control ◽  
Command Shaping ◽  
Operator Experience ◽  
Liquid Slosh ◽  
Comparative Results

Abstract In many industries, liquid container transport is carried out by an overhead traveling crane. The operation of crane transferring liquid slosh containers required both operator experience and an automated control system. The goal of this research is to move the liquid inside a container in a short time and less spill for process effectiveness and safety. For controller design, a nonlinear mathematical model is developed to represent the actual system. A cost-effective, smooth continuous command shaper is presented to suppress sloshing vibration. The designed shaper is a multisine-wave function with adjustable and independent time maneuvering used to design the acceleration profile. The coefficients that control the shaper profile are obtained by solving a nonlinear constrained optimization problem using particle swarm algorithm. Simulation and experimental comparative results proved that the proposed command shaper can reduce transient peak slosh amplitudes. Moreover, it can simultaneously cancel both residual sloshing vibrations and container oscillations at the end of the transportation process which cannot be achieved using conventional zero-vibration (ZV), zero-vibration derivative (ZVD), and jerk-limited shaper. Furthermore, sensitivity analysis demonstrates that the proposed command shaper is robust to model parameters variation such as liquid depth, suspension length, or moving distance of the trolley.

scholarly journals Cost-effectiveness of TAS-102 plus bevacizumab versus TAS-102 monotherapy in patients with metastatic colorectal cancer

2021 ◽  
Vol 21 (1) ◽  
Author(s):  
Kiyoaki Sugiura ◽  
Yuki Seo ◽  
Takayuki Takahashi ◽  
Hideyuki Tokura ◽  
Yasuhiro Ito ◽  
...  
Keyword(s):  
Colorectal Cancer ◽  
Health Care ◽  
Sensitivity Analysis ◽  
Cost Effectiveness ◽  
Combination Therapy ◽  
Metastatic Colorectal Cancer ◽  
Cost Effective ◽  
Model Parameters ◽  
Combination Regimen ◽  
The Cost

Abstract Background TAS-102 plus bevacizumab is an anticipated combination regimen for patients who have metastatic colorectal cancer. However, evidence supporting its use for this indication is limited. We compared the cost-effectiveness of TAS-102 plus bevacizumab combination therapy with TAS-102 monotherapy for patients with chemorefractory metastatic colorectal cancer. Method Markov decision modeling using treatment costs, disease-free survival, and overall survival was performed to examine the cost-effectiveness of TAS-102 plus bevacizumab combination therapy and TAS-102 monotherapy. The Japanese health care payer’s perspective was adopted. The outcomes were modeled on the basis of published literature. The incremental cost-effectiveness ratio (ICER) between the two treatment regimens was the primary outcome. Sensitivity analysis was performed and the effect of uncertainty on the model parameters were investigated. Results TAS-102 plus bevacizumab had an ICER of $21,534 per quality-adjusted life-year (QALY) gained compared with TAS-102 monotherapy. Sensitivity analysis demonstrated that TAS-102 monotherapy was more cost-effective than TAS-102 and bevacizumab combination therapy at a willingness-to-pay of under $50,000 per QALY gained. Conclusions TAS-102 and bevacizumab combination therapy is a cost-effective option for patients who have metastatic colorectal cancer in the Japanese health care system.

Motion Model of Two-Wheel Differential Drive Mobile Robot under Variable Load

2014 ◽  
Vol 668-669 ◽  
pp. 352-356 ◽  
Author(s):  
Zhi Hu Ruan ◽  
Niu Wang ◽  
Bing Xin Ran
Keyword(s):  
Mobile Robot ◽  
State Space Model ◽  
Response Characteristic ◽  
Model Parameters ◽  
Variable Load ◽  
Motion Model ◽  
Actual System ◽  
Wheel Load ◽  
Differential Drive ◽  
Entire Vehicle

Based on kinematics characteristic of two-wheeled differential drive mobile robot (WMR) and response characteristic of fact motor drive system, this paper presents the analysis method of the equivalent rotation inertia, and the entire vehicle load is assigned to each wheel, and then the wheel load is converted into the corresponding equivalent rotation inertia of the motor shaft of each wheel, and motion model of WMR are obtained for combining with quasi-equivalent (QE) state space model of double-loop direct current motor systems under variable load and kinematics model of WMR under the load changes. By using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the WMR motion model and the second order model respectively comparing with the actual system which demonstrates the effectiveness of the proposing method and model.

Backstepping Based Adaptive Control of Magnetic Levitation System

2013 ◽  
Vol 341-342 ◽  
pp. 945-948 ◽  
Author(s):  
Wei Zhou ◽  
Bao Bin Liu
Keyword(s):  
Parameter Uncertainty ◽  
Closed Loop ◽  
Controller Design ◽  
Magnetic Levitation ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Actual System ◽  
Levitation System ◽  
Magnetic Levitation System ◽  
Control Accuracy

In view of parameter uncertainty in the magnetic levitation system, the adaptive controller design problem is investigated for the system. Nonlinear adaptive controller based on backstepping is proposed for the design of the actual system with parameter uncertainty. The controller can estimate the uncertainty parameter online so as to improve control accuracy. Theoretical analysis shows that the closed-loop system is stable regardless of parameter uncertainty. Simulation results demonstrate the effectiveness of the presented method.

scholarly journals Cost-effective surveillance of invasive species using info-gap theory

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Yang Liu ◽  
Penghao Wang ◽  
Melissa L. Thomas ◽  
Dan Zheng ◽  
Simon J. McKirdy
Keyword(s):  
Invasive Species ◽  
Native Species ◽  
Cost Effective ◽  
Expert Assessment ◽  
Parameter Estimates ◽  
Model Parameters ◽  
Surveillance Systems ◽  
Effective Manner ◽  
Novel Method ◽  
Population Threshold

AbstractInvasive species can lead to community-level damage to the invaded ecosystem and extinction of native species. Most surveillance systems for the detection of invasive species are developed based on expert assessment, inherently coming with a level of uncertainty. In this research, info-gap decision theory (IGDT) is applied to model and manage such uncertainty. Surveillance of the Asian House Gecko, Hemidactylus frenatus Duméril and Bibron, 1836 on Barrow Island, is used as a case study. Our research provides a novel method for applying IGDT to determine the population threshold ($$K$$ K ) so that the decision can be robust to the deep uncertainty present in model parameters. We further robust-optimize surveillance costs rather than minimize surveillance costs. We demonstrate that increasing the population threshold for detection increases both robustness to the errors in the model parameter estimates, and opportuneness to lower surveillance costs than the accepted maximum budget. This paper provides guidance for decision makers to balance robustness and required surveillance expenditure. IGDT offers a novel method to model and manage the uncertainty prevalent in biodiversity conservation practices and modelling. The method outlined here can be used to design robust surveillance systems for invasive species in a wider context, and to better tackle uncertainty in protection of biodiversity and native species in a cost-effective manner.

Empirical Study on the Relationship between Financial Development and Economic Growth in China Based on Maximum Flow Algorithm

2021 ◽  
Vol 7 (5) ◽  
pp. 4463-4473
Author(s):  
Qiao Wang
Keyword(s):  
Economic Growth ◽  
Financial Development ◽  
Influencing Factor ◽  
Maximum Flow ◽  
Theoretical Research ◽  
Particle Swarm Algorithm ◽  
Model Parameters ◽  
Factors Affecting ◽  
Flow Algorithm ◽  
The Relationship

Objectives: The relationship between finance and economic growth has always been one of the hot issues in theoretical research and empirical analysis. As one of the important factors affecting economic growth, finance has long been recognized by the majority of scholars. Methods: In the context of the development of Internet e-commerce, empirical research on the relationship between China’s financial development and economic growth is conducted based on the maximum traffic algorithm. Results: Based on this, this paper constructs the Probit and Logistic binary discrete selection model for economic growth, and the discrete particle swarm algorithm is used to solve the sequence of influencing factors, estimating the model parameters, and the degree of influence of each influencing factor is calculated. Conclusion: The degree of concurrent employment is a decisive factor in economic growth.

scholarly journals Direct Oral Anticoagulants and Vitamin K Antagonists for Treatment of Deep Venous Thrombosis and Pulmonary Embolism in the Outpatient Setting: Comparative Economic Evaluation

2017 ◽  
Vol 70 (3) ◽  
Author(s):  
Abdullah S Al Saleh ◽  
Patrick Berrigan ◽  
David Anderson ◽  
Sudeep Shivakumar
Keyword(s):  
Cost Effectiveness ◽  
Vitamin K ◽  
Oral Anticoagulants ◽  
Direct Oral Anticoagulants ◽  
Cost Effective ◽  
Vitamin K Antagonist ◽  
Economic Evaluations ◽  
Model Parameters ◽  
Outpatient Basis ◽  
Recurrent Vte

<p><strong>ABSTRACT</strong></p><p><strong>Background:</strong> To date, there have been few economic evaluations, from a Canadian perspective, of direct oral anticoagulants (DOACs) for the prevention of recurrent venous thromboembolism (VTE) in patients with acute unprovoked VTE. As a result, there is a lack of consensus about which treatment strategy should be adopted in the clinical setting.</p><p><strong>Objectives:</strong> To assess the cost-effectiveness of currently approved anti - coagulant options, in terms of cost per quality-adjusted life-year (QALY) gained, for the prevention of recurrent VTE in patients with unprovoked events managed on an outpatient basis.</p><p><strong>Methods:</strong> Microsoft Excel was used to develop a Markov model. Model parameters were determined using published literature, local hospital data, expert opinion, and chart review. The analysis considered the costs associated with pharmaceuticals, laboratory testing, hematologist fees, and treatment of recurrent VTE and major bleeding events. Effectiveness was measured in terms of QALYs, and incremental cost-effectiveness ratios (ICERs) were calculated.</p><p><strong>Results:</strong> For treatment lasting 3 months, apixaban represented the most cost-effective DOAC relative to low-molecular-weight heparin (LMWH) + vitamin K antagonist, with an ICER of $7379.66. For 6 months of treatment, apixaban again represented the most cost-effective treatment, with an ICER of $84.08 per QALY gained, and this drug dominated all the other strategies at 12 months. For lifetime treatment, DOACs were unlikely to be cost-effective, given a maximum willingness to pay of $50 000 to $100 000 per QALY. In a probabilistic sensitivity analysis at 6 months, 46.4% of iterations resulted in apixaban having lower costs and better outcomes than LMWH + vitamin K antagonist, and 78.6% of iterations resulted in an ICER below $100 000</p><p><strong>Conclusions:</strong> The findings of this study suggest that apixaban is likely cost-effective for treatment durations of 3, 6, and 12 months. However, for indefinite treatment, DOACs were unlikely to be cost-effective.</p><p><strong>RÉSUMÉ</strong></p><p><strong>Contexte :</strong> À ce jour, on a réalisé peu d’évaluations économiques, d’un point de vue canadien, sur les anticoagulants oraux directs (AOD) utilisés dans la prévention de la thromboembolie veineuse (TEV) récurrente chez les patients atteints de TEV idiopathique aiguë. Pour cette raison, aucun consensus n’a été établi quant à la stratégie thérapeutique à adopter en milieu clinique.</p><p><strong>Objectif :</strong> Évaluer le rapport coût-efficacité des anticoagulothérapies actuellement approuvées, en ce qui a trait au coût par année de vie pondérée par la qualité (QALY) gagnée, pour la prévention de la TEV récurrente chez les patients ayant subi des événements idiopathiques qui ont été traités en consultation externe.</p><p><strong>Méthodes :</strong> Le logiciel Excel de Microsoft a servi à créer un modèle de Markov. Les paramètres du modèle ont été établis à l’aide de la littérature, de données de l’hôpital local, d’opinions d’experts et d’une analyse de dossiers médicaux. L’analyse prenait en compte les coûts associés aux médicaments, aux examens de laboratoire, aux honoraires d’hématologues et au traitement de la TEV récurrente et d’hémorragies importantes. L’efficacité était mesurée en nombre de QALY et les rapports coûtefficacité différentiels ont été calculés.</p><p><strong>Résultats :</strong> Pour un traitement de trois mois, l’apixaban représentait l’AOD offrant le meilleur rapport coût-efficacité comparativement à l’héparine de bas poids moléculaire (HBPM) + un antagoniste de la vitamine K; il présentait un rapport coût-efficacité différentiel de 7379,66 $. Pour un traitement de six mois, l’apixaban représentait à nouveau le traitement le plus efficace par rapport au coût; il présentait un rapport coût-efficacité différentiel de 84,08 $ par QALY gagnée. Ce médicament surclassait toutes les autres stratégies après douze mois de traitement. En ce qui concerne un traitement à vie, les AOD offraient probablement un moins bon rapport coût-efficacité, compte tenu d’une propension à payer maximale se situant entre 50 000 $ et 100 000 $ par QALY. Dans une analyse de sensibilité probabiliste au sixième mois de traitement, 46,4 % des itérations se traduisaient par des coûts moins élevés et de meilleurs résultats pour l’apixaban relativement à l’HBPM + un antagoniste de la vitamine K. De plus, 78,6 % des itérations se traduisaient par un rapport coût-efficacité différentiel de moins de 100 000 $.</p><p><strong>Conclusions :</strong> Ces résultats laissent croire que l’apixaban présente probablement un rapport coût-efficacité intéressant pour les traitements d’une durée de 3, 6 et 12 mois. Cependant, en ce qui concerne un traitement d’une durée indéterminée, les AOD ne sont sans doute pas avantageux.</p>

Robust fault tolerant control based on adaptive observer for Takagi-Sugeno fuzzy systems with sensor and actuator faults: Application to single-link manipulator

2020 ◽  
Vol 42 (12) ◽  
pp. 2308-2323
Author(s):  
Salama Makni ◽  
Maha Bouattour ◽  
Ahmed El Hajjaji ◽  
Mohamed Chaabane
Keyword(s):  
Controller Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Single Step ◽  
Adaptive Observer ◽  
Linear Matrix ◽  
Actuator Faults ◽  
Single Link ◽  
Comparative Results ◽  
Takagi Sugeno

In this work, we investigate the problem of control for nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models affected by both sensor and actuator faults subject to an unknown bounded disturbances (UBD). For this, we design an adaptive observer to estimate state, sensor and actuator fault vectors simultaneously despite the presence of external disturbances. Based on this observer, we develop a fault tolerant control (FTC) law not only to stabilize closed loop system, but also to compensate the fault effects. For the observer-based controller design, we propose less conservative conditions formulated in terms of linear matrix inequalities (LMIs). Moreover, both observer and controller gains are calculated via solving a set of LMIs only in single step. Finally, comparative results and an application to single-link flexible joint robot are afforded to prove the efficiency of the proposed design.

scholarly journals A systematic review of economic evaluations in non-insulin antidiabetic treatments for patients with type 2 diabetes mellitus

2019 ◽  
Vol 2019 ◽  
pp. 228424031987657 ◽  
Author(s):  
Néboa Zozaya ◽  
Margarita Capel ◽  
Susana Simón ◽  
Alfonso Soto-González
Keyword(s):  
Diabetes Mellitus ◽  
Type 2 Diabetes ◽  
Type 2 Diabetes Mellitus ◽  
Management Strategies ◽  
Cost Effective ◽  
Cost Utility ◽  
Economic Evaluations ◽  
Life Years ◽  
Comparative Results

The approval of new non-insulin treatments has broadened the therapeutic arsenal, but it has also increased the complexity of choice for the treatment of type 2 diabetes mellitus (DM2). The objective of this study was to systematically review the literature on economic evaluations associated with non-insulin antidiabetic drugs (NIADs) for DM2. We searched in Medline, IBECS, Doyma and SciELO databases for full economic evaluations of NIADs in adults with DM2 applied after the failure of the first line of pharmacological treatment, published between 2010 and 2017, focusing on studies that incorporated quality-adjusted life years (QALYs). The review included a total of 57 studies, in which 134 comparisons were made between NIADs. Under an acceptability threshold of 25,000 euros per QALY gained, iSLGT-2 were preferable to iDPP-4 and sulfonylureas in terms of incremental cost-utility. By contrast, there were no conclusive comparative results for the other two new NIAD groups (GLP-1 and iDPP-4). The heterogeneity of the studies’ methodologies and results hindered our ability to determine under what specific clinical assumptions some NIADs would be more cost-effective than others. Economic evaluations of healthcare should be used as part of the decision-making process, so multifactorial therapeutic management strategies should be established based on the patients’ clinical characteristics and preferences as principal criteria.

scholarly journals Design and Simulation of MEMS Moisture Sensor Using COMSOL Multiphysics Software

2018 ◽  
Vol 7 (4.26) ◽  
pp. 141
Author(s):  
Muhamad Nazrin Ismail ◽  
Noriah Yusoff ◽  
Nor Hayati Saad ◽  
Amirul Abd Rashid
Keyword(s):  
Cost Effective ◽  
Micro Electro Mechanical System ◽  
Experimental Result ◽  
Comsol Multiphysics ◽  
Model Parameters ◽  
Moisture Sensor ◽  
Sensor Sensitivity ◽  
Sensor Devices ◽  
Major Application ◽  
Highly Correlated

Micro-electro-mechanical system (MEMS) is a hybrid technology that combines electronic, electric and mechanical technology in a micron-size system. This allowed for higher performance and multifunction devices fabricated at much lighter weight and cost effective. One of the major application of MEMS is in sensor devices area. This paper highlight the simulation study of a typical moisture sensor fabricated from Tungsten Interdigitated (IDE) MEMS device. Using COMSOL Multiphysics software, the moisture sensor was modelled based on the current material and physical dimension and layout. The model then go through validation proses to its sensitivity performance against the experimental result. Subsequently, the optimization on sensor sensitivity was carried out by varying the model parameters including the sensor physical dimension, working temperature and humidity. The simulation result suggest that the sensor sensitivity is highly correlated to the electrode distance value. The average sensitivity of the sensor improved to ~48% better when the distance between reduced to 50% from 6 micron to 3 micron tested at temperature between 25 ̊ C to 45 ̊ C. This information is valuable as the input to the sensor designer in finalizing the MEMS physical layout in producing highly sensitive moisture sensor devices.  

Incident Occurrence Models for Freeway Incident Management

2003 ◽  
Vol 1856 (1) ◽  
pp. 125-135 ◽  
Author(s):  
Sravanthi Konduri ◽  
Samuel Labi ◽  
Kumares C. Sinha
Keyword(s):  
Negative Binomial ◽  
Prediction Models ◽  
Negative Binomial Regression ◽  
Decision Support Tool ◽  
Cost Effective ◽  
Traffic Volume ◽  
Incident Management ◽  
Parameter Estimates ◽  
Model Parameters ◽  
Support Tool

Incident prediction models are presented for the Interstate 80/Interstate 94 (Borman Expressway in northwestern Indiana) and Interstate 465 (northeastern Indianapolis, Indiana) freeway sections developed as a function of traffic volume, truck percentage, and weather. Separate models were developed for all incidents and noncrash incidents. Three model types were considered (Poisson regression, negative binomial regression, and nonlinear regression), and the results were compared based on magnitudes and signs of model parameter estimates and t-statistics. Least-squares estimation and maximum-likelihood methods were used to estimate the model parameters. Data from the Indiana Department of Transportation and the Indiana Climatology Database were used to establish the relationships. For a given session and incident category, the results from the Poisson and negative binomial models were found to be consistent. It was observed that, unlike section length, traffic volume is nonlinearly related to incidents, and therefore these two variables have to be considered as separate terms in the modeling process. Truck percentage was found to be a statistically significant factor affecting incident occurrence. It was also found that the weather variable (rain and snow) was negatively correlated to incidents. The freeway incident models developed constitute a useful decision support tool for implementation of new freeway patrol systems or for expansion of existing ones. They are also useful for simulating incident occurrences with a view to identifying elements of cost-effective freeway patrol strategies (patrol deployment policies, fleet size, crew size, and beat routes).

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