The distributed event-triggered optimization problem for multiple nonholonomic robots has been studied to minimize the global battery energy consumption. Each robot possesses its own cost function which depends on the...The distributed event-triggered optimization problem for multiple nonholonomic robots has been studied to minimize the global battery energy consumption. Each robot possesses its own cost function which depends on the state of the hand position and represents battery energy consumption. By coordinate transformation, the dynamics of the hand positions can be formulated into two groups of first-order integrators. Then the distributed event-triggered optimization algorithm is designed such that the states of robots' hand positions exponentially converge to the optimizer of the global cost function.Meanwhile, the velocity and orientation of each robot are ensured to reach zero and a certain constant, respectively. Moreover, the inter-execution time is lower bounded and the Zeno behavior is therefore naturally avoided. Numerical simulations show the effectiveness of the proposed algorithm.展开更多
The goal is to help create smooth energy-optimal monophasic pulse waveforms for defibrillation using the Luo-Rudy cardiomyocyte membrane computer model. The waveforms were described with the help of the piecewise line...The goal is to help create smooth energy-optimal monophasic pulse waveforms for defibrillation using the Luo-Rudy cardiomyocyte membrane computer model. The waveforms were described with the help of the piecewise linear function. Each line segment provides a transition from one present level of the transmembrane potential to the next with a minimal energy value. The duration of the last segment was defined as a minimum duration at which an action potential occurs. Monophasic waveforms of segments 3, 10 and 29 were built using different increments of the transmembrane potential. The pulse energy efficiency was evaluated according to their threshold energy ratios in mA2·ms/cm4. There was virtually no difference between the threshold energy ratios of the three waveforms constructed and those of the previously studied energy-optimal half- sine waveform: 241 - 242 and 243 mA2·ms/cm4. The pulse waveform constructed is characterized by a low rise and fall as the duration of the rise is ~1.5 times longer than that of the fall. Conclusion: Energy-optimal smooth monophasic pulse waveforms have the same threshold energy ratio as the optimal half-sine one which was studied before. The latter is equivalent to the first phase of biphasic quasisinusoidal Gurvich-Venin pulse which has been used in Russia since 1972. Thus, the use of the Luo-Rudy cardiomyocyte membrane model appears to offer no possibilities for a substantial increase in the energy efficiency (threshold energy ratio reduction) of the classical monophasic defibrillation pulse waveforms.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.11701138)the Natural Science Foundation of Hebei Province,China(Grant Nos.F2017202009 and F2018202075)
文摘The distributed event-triggered optimization problem for multiple nonholonomic robots has been studied to minimize the global battery energy consumption. Each robot possesses its own cost function which depends on the state of the hand position and represents battery energy consumption. By coordinate transformation, the dynamics of the hand positions can be formulated into two groups of first-order integrators. Then the distributed event-triggered optimization algorithm is designed such that the states of robots' hand positions exponentially converge to the optimizer of the global cost function.Meanwhile, the velocity and orientation of each robot are ensured to reach zero and a certain constant, respectively. Moreover, the inter-execution time is lower bounded and the Zeno behavior is therefore naturally avoided. Numerical simulations show the effectiveness of the proposed algorithm.
文摘The goal is to help create smooth energy-optimal monophasic pulse waveforms for defibrillation using the Luo-Rudy cardiomyocyte membrane computer model. The waveforms were described with the help of the piecewise linear function. Each line segment provides a transition from one present level of the transmembrane potential to the next with a minimal energy value. The duration of the last segment was defined as a minimum duration at which an action potential occurs. Monophasic waveforms of segments 3, 10 and 29 were built using different increments of the transmembrane potential. The pulse energy efficiency was evaluated according to their threshold energy ratios in mA2·ms/cm4. There was virtually no difference between the threshold energy ratios of the three waveforms constructed and those of the previously studied energy-optimal half- sine waveform: 241 - 242 and 243 mA2·ms/cm4. The pulse waveform constructed is characterized by a low rise and fall as the duration of the rise is ~1.5 times longer than that of the fall. Conclusion: Energy-optimal smooth monophasic pulse waveforms have the same threshold energy ratio as the optimal half-sine one which was studied before. The latter is equivalent to the first phase of biphasic quasisinusoidal Gurvich-Venin pulse which has been used in Russia since 1972. Thus, the use of the Luo-Rudy cardiomyocyte membrane model appears to offer no possibilities for a substantial increase in the energy efficiency (threshold energy ratio reduction) of the classical monophasic defibrillation pulse waveforms.
