In this paper, we propose a method to model radiofrequency electrosurgery capture the phenomena at higher temperatures and present methods for parameter estimation. Experimental data taken from our surgical trials performed on in vivo porcine liver show that non-Fourier Maxwell–Cattaneo-type can be suitable application when used combination with an Arrhenius-type approximates energy dissipation physical chemical reactions. The resulting structure has advantage of accuracy than existing ones,...

The first closed-loop control of electrosurgical power satisfying a specified tissue damage bound along the desired dissection path is presented. represented by 82 °C isotherm corresponding to admissible denaturation front position in relation that cutting probe tip. location assessed real time through infrared temperature readings 40 tightly related emerging denaturing patch size around moving A control-oriented hypermodel and its recasting into form amenable for use moving-horizon locally...

Electrosurgery aimed at the removal of tumors results in highly transient heat conduction. Simulations temperature fields, under assumption that soft tissue organs is governed by a telegraph (damped hyperbolic) equation, are conducted 2d setting with finite differencing space and time. Six trajectories source motion simulated: along two-phase interface, interface an offset, normal to on curved (sine function) path single phase, circular around inclusion one type matrix another type. With...

We present a novel thermodynamic parameter estimation framework for energy-based surgery on live tissue, with direct applications to tissue characterization during electrosurgery. This addresses the problem of estimating tissue-specific thermodynamics in real-time, which would enable accurate prediction thermal damage impact and damage-conscious planning electrosurgical procedures. Our approach provides basic information such as diffusivity, also allows obtaining relaxation time model heat...

This work presents a method of efficiently computing inner and outer approximations forward reachable sets for nonlinear control systems with changed dynamics authority, given an priori computed set the nominal system. The functions by shrinking or inflating precomputed based on prior knowledge system's trajectory deviation growth dynamics, depending whether approximation is desired. These determine upper bound minimal between two trajectories emanating from same point that are generated...

The first control-oriented model of the interaction an electrosurgical probe with organic tissue, based on a 1-D PDE moving boundary, is introduced. To attain desired electrosurgically-induced tissue changes using this model, non-collocated output feedback boundary control law proposed. latter realized through novel pointwise temperature-based state observer for two-phase Stefan problem. Simulation demonstrates that controller proposed meets performance objective. implementation also discussed.

In this paper, starting with a brief background on electrosurgery, we demonstrate that power electronics supported by feedback control is the verge of making major impact advancement medical discipline. We detail recent reported advances in closed-loop precision using high-frequency electronics, showing pathway towards reducing collateral damage electrosurgery to enable better surgical outcomes. vivo extension authors' previous dead tissue, electrosurgical cutting mode closed loop results...

We present a novel 3D adaptive observer framework for use in the determination of subsurface organic tissue temperatures electrosurgery. The structure leverages pointwise 2D surface temperature readings obtained from real-time infrared thermographer both parameter estimation and field observation. introduce approach to decoupled adaptation estimation, wherein can run real-time, while loop runs on slower time scale. To achieve this, we method known as attention-based noise-robust averaging,...

Chemical looping is a near-zero emission process for generating power from coal. It based on multi-phase gas-solid flow and has extremely challenging nonlinear, multi-scale dynamics with jumps, producing large dynamic model uncertainty, which renders traditional robust control techniques, such as linear parameter varying H∞ design, largely inapplicable. This complexity addressed in the present work through temporal spatiotemporal multiresolution modeling along corresponding model-based laws....

By taking enthalpy-an internal energy of a diffusion-type system-as the system state and expressing it in terms temperature profile phase-change interface position, output feedback boundary control laws for fundamentally nonlinear single-phase one-dimensional (1-D) PDE process model with moving boundaries, referred to as Stefan problem, are developed. The objective is tracking spatiotemporal temporal (solidification front) trajectory generated by reference model. external boundaries through...

This work presents a computationally efficient approach to robustly linearized model predictive control for nonlinear affine-in-control evolution equations on infinite-dimensional system state. In this setting, robust linearization refers need account the approximation errors in and discretization law, such that original output constraints are not violated true system, feature present frameworks lack. The main purpose of is enable tractable distributed parameter systems while accounting...

In this letter, we solve the problem of quantifying and mitigating control authority degradation in real time. Here, our target systems are controlled nonlinear affine-in-control evolution equations with finite input finite- or infinite-dimensional state. We consider two cases degradation: finitely many affine maps acting on unknown disjoint subsets inputs general Lipschitz continuous maps. These modes encountered practice due to actuator wear tear, hard locks ranges over-excitation, as well...

In this work, we address the problem of fault detection, identification, and recovery (FDIR) for simultaneous actuator sensor degradation. Prior studies have considered degradation to some extent, but results systems that do not redundancy while experiencing are lacking. We present a novel method robustly detecting identifying in presence potential bounded modes under influence process output noise. Subsequently, develop theory guaranteed forward reachability case stochastic differential...

Innovation is seen as a crucial factor to drive businesses grow, stand out and meet customer needs. However, most research on open innovation focuses commercial businesses. Here, we study how institutes, specifically CERN, establish their driving force, primarily through internal external openness. To explore interdisciplinary collaboration perceived by CERN’s constituents, mixed-form interviews have been conducted. A majority found be in favour of collaboration, acknowledges the impact...

This work presents a method of efficiently computing inner approximations forward reachable sets for nonlinear control systems with diminished authority, given an priori computed set the nominal system. The functions by shrinking precomputed convex based on knowledge system's trajectory deviation growth dynamics. dynamics determine upper bound minimal between two trajectories emanating from same point that are generated inputs and inputs, respectively. These function Hausdorff distance space...

In this work we present

In this work, we solve the problem of quantifying and mitigating control authority degradation in real time. Here, our target systems are controlled nonlinear affine-in-control evolution equations with finite input finite- or infinite-dimensional state. We consider two cases degradation: finitely many affine maps acting on unknown disjoint subsets inputs general Lipschitz continuous maps. These modes encountered practice due to actuator wear tear, hard locks ranges over-excitation, as well...

In this work we present Lodestar, an integrated engine for rapid real-time control system development. Using a functional block diagram paradigm, Lodestar allows complex multi-disciplinary software design, while automatically resolving execution order, circular data-dependencies, and networking. particular, presents unified set of control, signal processing, computer vision routines to users, which may be interfaced with external hardware packages using interoperable user-defined wrappers....

This work presents a method of efficiently computing inner and outer approximations forward reachable sets for nonlinear control systems with changed dynamics diminished authority, given an priori computed set the nominal system. The functions by shrinking or inflating precomputed based on prior knowledge system's trajectory deviation growth dynamics, depending whether approximation is desired. These determine upper bound minimal between two trajectories emanating from same point that are...

Progress in automatic control of thermal processes and real-time estimation heat penetration into live tissue has long been limited by the difficulty obtaining high-fidelity thermodynamic models. Traditionally, complex systems, it is often infeasible to estimate thermophysical parameters spatiotemporally varying processes, forcing adoption model-free architectures. This comes at cost losing any robustness guarantees, implies a need for extensive real-life testing. In recent years, however,...

<p>Progress in automatic control of thermal processes and real-time estimation heat penetration into live tissue has long been limited by the difficulty obtaining high-fidelity thermodynamic models. Traditionally, complex systems, it is often infeasible to estimate thermophysical parameters spatiotemporally varying processes, forcing adoption model-free architectures. This comes at cost losing any robustness guarantees, implies a need for extensive real-life testing. In recent years,...

<p>Progress in automatic control of thermal processes and real-time estimation heat penetration into live tissue has long been limited by the difficulty obtaining high-fidelity thermodynamic models. Traditionally, complex systems, it is often infeasible to estimate thermophysical parameters spatiotemporally varying processes, forcing adoption model-free architectures. This comes at cost losing any robustness guarantees, implies a need for extensive real-life testing. In recent years,...