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Computing, Robotics, and Imaging for the Surgical Platform

Table 3 Summary of results of the simulation campaign

From: Particle filter-based robust adaptive control for closed-loop administration of sodium nitroprusside

Batch-stream

t 0

t 1

t 2

t pp

t npp

K rel

α rel

T rel

t c 1

t c 2

t sat

t ±5

t ±10

t ±15

ε max

ε min

ε avg

 

[s]

[s]

[s]

[s]

[s]

(%)

(%)

(%)

[s]

[s]

[s]

[s]

[s]

[s]

[mmHg]

[mmHg]

[mmHg]

i-a

604

9,396

0

10,000

0

69

11

-24

396

360

0

9,442

9,995

10,000

8.43

-8.33

0.16

 

(128)

(130)

(0)

(0)

(0)

(5.0)

(3.0)

(5.0)

(46)

(59)

(0)

(104)

(14)

(0)

(0.72)

(0.95)

0.05

i-b

5,986

4,014

0

9,640

360

40

-4.0

-20

397

332

0

8,752

9,968

9,999

11.00

-10.28

0.43

 

(788)

(788)

(0)

(512)

(512)

(5.0)

(3.0)

(3.0)

(74)

(72)

(0)

(212)

(147)

(0.6)

(1.46)

(1.18)

(0.06)

ii-a

4,926

3,790

1,280

9,826

167

63

3

25

390

375

0

9,356

9,944

9,994

8.56

-8.43

0.21

 

(4,338)

(3,821)

(2,414)

(252)

(252)

(79)

(24)

(54)

(126)

(101)

(0)

(612)

(146)

(34)

(1.98)

(1.98)

(0.22)

ii-b

4,804

4,443

716

9,478

522

42

2

27

392

359

0

8,856

9,907

9,990

11.06

-9.85

0.43

 

(3,038)

(2,682)

(1,324)

(576)

(576)

(54)

(22)

(57)

(101)

(75)

(0)

(868)

(87)

(40)

(3.24)

(2.98)

(0.25)

iii-a

2,971

5,358

1,617

9,898

102

85

14

10

421

385

0

9,289

9,941

9,992

9.32

-8.97

0.24

 

(2,297)

(2,166)

(1,911)

(204)

(204)

(73)

(19)

(26)

(120)

(110)

(0)

(435)

(114)

(42)

(2.10)

(2.72)

(0.23)

iii-b

4,710

4,460

731

9,396

604

49

2.0

10

428

380

0

8,710

9,898

9,991

12.03

-10.94

0.60

 

(1,938)

(1,772)

(882)

(694)

(694)

(39)

(15)

(24)

(124)

(104)

(0)

(612)

(151)

(41)

(2.44)

(2.90)

(0.35)

iv-a

2,152

5,802

1,938

9,860

140

77

12

9

408

384

0

9,405

9,974

10,000

8.78

-8.51

0.21

 

(2,096)

(1,945)

(2,135)

(207)

(207)

(59)

(21)

(25)

(89)

(96)

(0)

(398)

(88)

(15)

(1.86)

(1.72)

(0.15)

iv-b

4,701

4,474

729

9,349

651

45

3.0

11

408

366

0

8,860

9,936

9,995

11.44

-10.15

0.50

 

(1,730)

(1,744)

(970)

(796)

(796)

(38)

(17)

(25)

(94)

(101)

(0)

(471)

(90)

(31)

(2.15)

(1.95)

(0.21)

v-a

2,834

5,350

1,689

9,898

102

94

13

12

419

404

0

9,164

9,930

9,994

9.95

-8.95

0.37

 

(2,159)

(2,030)

(1,344)

(205)

(205)

(62)

(18)

(25)

(110)

(97)

(0)

(117)

(116)

(26)

(2.30)

(1.71)

(0.36)

v-b

4,529

4,568

848

9,298

702

48

0.0

14

390

405

0

8,450

9,846

9,976

13.15

-11.76

0.68

 

(1,663)

(1,534)

(882)

(871)

(871)

(31)

(15)

(26)

(107)

(124)

(0)

(674)

(220)

(80)

(3.64)

(3.84)

(0.47)

  1. Results are provided as the mean value across a batch of simulations, with standard deviations shown in parentheses. List of performance indices: t i , time the model identified with highest probability is the i th neighbour of the true response model; tpp, time spent by the closed-loop system in a provably performant state; tnpp, time spent by the closed-loop system in a nonprovably performant state; Xrel, average relative error in the estimate of parameter X over a 10,000-s simulation; t c 1 , 2 , transition time for first and second setpoint change; tsat, time of saturation of control action; t±δ, time the controlled MAP remained within δ x mmHg of the target MAP; εmax,min,avg, greatest positive and negative values and average MAP error over a 10,000-s simulation.