WO2000030815A1 - Verfahren und vorrichtung zur ermittlung einer regelhaftigkeit - Google Patents
Verfahren und vorrichtung zur ermittlung einer regelhaftigkeit Download PDFInfo
- Publication number
- WO2000030815A1 WO2000030815A1 PCT/EP1999/008877 EP9908877W WO0030815A1 WO 2000030815 A1 WO2000030815 A1 WO 2000030815A1 EP 9908877 W EP9908877 W EP 9908877W WO 0030815 A1 WO0030815 A1 WO 0030815A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- angle
- function
- size
- sin
- regularity
- Prior art date
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Definitions
- the invention relates to a method for determining the regularity of a cyclically fluctuating scientific or technical variable, and a device for carrying out the method.
- a fluctuating variable is a variable that oscillates over time.
- a cycle is the time span between three consecutive averages of the technical SIZE-A.
- An average - passage of value is the point in time at which the technical SIZE-A is equal to the average technical SIZE-A.
- Examples of cyclically fluctuating physical or scientific parameters are e.g. the amount of fuel injected into an internal combustion engine, the resulting pressure in the cylinder of the engine or the resulting torque, the breathing activity or the heartbeat length of a person.
- phase-synchronous fluctuations are of particular interest:
- Both types of cardio-respiratory synchronization are seen as an expression of a healthy vegetative enervation of the heart. Weaknesses in synchronization in a physically and psychologically stress-free state are, depending on the form, either associated with autonomic neuropathies (e.g. diabetes mellitus) or with an increased risk of heart attack.
- autonomic neuropathies e.g. diabetes mellitus
- the German patent application with the official file number 197 18 806.0 describes a device and a method for determining the regularity of heartbeat speeds.
- the device has a clock for setting an inhalation and / or exhalation frequency and a detector.
- An EKG measuring device is used as a detector for measuring the heart rate.
- the device contains a memory in which reference data are stored and an evaluation means for generating a value which depends on the measured heartbeat rate and on the stored reference data.
- the measure for regularity is the determined flat pattern, which is obtained as follows.
- the length of the subject's heartbeat is determined from the device. High-pass filtering with a cutoff frequency that corresponds to the respiratory rate is carried out. The individual heartbeat lengths are converted into a two-dimensional representation. The heartbeat length of a heartbeat is plotted against the heartbeat length of the preceding heartbeat. An ellipse typically results from this plot. The coordinates from this plot are then transformed into polar coordinates (angles and radii). The mean heartbeat length serves as the center of the polar coordinate system. An angle is assigned to each heartbeat length.
- the time sequence of the angles is then converted again into a two-dimensional representation.
- the angle assigned to a heartbeat is plotted against the angle of the previous heartbeat. This application typically results in a pattern that resembles a two-step staircase.
- the object of the invention is to create a simple, fast method for determining the regularity of a physical variable, including the possibility of determining the regularity of influencing this variable by a further physical variable.
- the object of the invention is also to provide a device for carrying out the method.
- values Ai in particular in succession), in particular more than three values Ai, A j , ... the SIZE-A determined per middle cycle.
- the indices i, j are used for consecutive numbering of the determined values.
- At least two determined values Ai, A 2 , ... are mapped to a size by a homogeneous function, which will be called ANGLE1 in the following.
- the values do not necessarily have to follow one another directly.
- the mapping rule is given by A— »W.
- At least two determined values A 1 + k , A 2+ , ... are mapped to a variable ANGLE2 (A—> W) by the homogeneous function W (A ⁇ , A 2 , ).
- Two values A ⁇ + m , A 2 + m , ... are advantageously mapped to a variable ANGLE3 (A- »W) by the homogeneous function W (A ⁇ , A 2 , ).
- k, m are positive integers that are greater than or equal to 1.
- m is greater than k.
- m 2k.
- A is a set of SIZE-A values.
- W is a value from the set WINKEL1, WINKEL2, ..., which is also called angle W below.
- An archetype of (AW) comprises as many elements of A as are necessary to form a value "ANGLE1, ANGLE2, ". If an archetype of (A—> W) becomes zero, the associated angle W is not defined
- k should be chosen to be relatively small, in particular smaller than the largest index in the original image of WINKEL1. Successive angles thus have overlapping original images.
- MT (G [ANGLE (n + 1), ANGLE (n), ...]) F [ANGLE (n), ANGLE (n-1), ...; pl, p2, ...] set up.
- the function MT (x) is an arbitrary, preferably non-falling monotonous function of an argument x.
- the function F can depend on one or more arguments "WINKEL1, WINKEL2, .".
- the function G [ANGLE (n + 1), ANGLE (n), ...] has at least 2 arguments and is chosen so that G has singularities where prohibited combinations of ANGLE (n + 1), ANGLE (n), ... are available.
- the parameters pl, p2, ... of the function F [ANGLE (n), ANGLE (n-1), ...; pl, p2, ...] are adapted to the determined ANGLE1, ANGLE2, ANGLE3, ... This is done for example by regression or interpolation. Linear regression makes the adjustment particularly easy.
- the regularity of a cyclically fluctuating technical SIZE-A is used, for example, to regulate a technical process (such as the injection of fuel into an engine) so that a predetermined normal state is reached.
- the regularity of a technical SIZE-A can be used by detecting deviations from a typical regularity and thus disturbances in a technical or scientific process.
- the type of disturbance can be determined by detecting deviations from the regularity in the normal state.
- a diagnosis is always possible if the discrepancy is typical for one or more types of faults.
- it is first determined how the regularity deviates from the normal state when the fault 1 is present. The result serves as a reference pattern 1. Future deviations from the regularity of the normal state are compared with reference pattern 1. If these deviations agree sufficiently with the reference pattern 1, this is at least an indication of the presence of the disturbance 1.
- the resulting measurement signal contains interference components.
- Interference components are e.g. high-frequency noise, low-frequency temperature-dependent shift phenomena or low-frequency fluctuations in physiological processes in organisms.
- a technical SIZE-A is determined from a measured value (measuring signal) in particular by removing the interference from the measured value. This is done in particular by high and / or low pass filtering.
- ANGLE (n + 1) H (ANGLE (n), ANGLE (n-1), ...; pl, p2, 7) solved and the solved equation used as a regularity. This is an immediate reproduction of the regularity.
- the implicit representation of regularity is converted into an explicit one.
- the explicit code of conduct is better suited to carry out reconstructions or controls of technical or scientific processes.
- all functions of angles in particular the functions F [ANGLE (n), ANGLE (n-1), ...; pl, p2, ...] and G [ANGLE (n + 1), ANGLE (n), ...] are selected so that they are for each of the angular arguments ANGLE (n + 1), ANGLE (n), ANGLE ( n-1), ... have a period.
- the period length P is equal to this range of values.
- the value range is the difference between the largest and the smallest angle.
- each angle W can be assigned a reduced angle W 1 within a reduced value range of length P, for which all functions have the same Accepting the value as for W.
- W mod (W, P)
- a finite range of W can also be assumed in this case.
- the homogeneous function W (AI, A2, 7) is selected so that the reverse transformation of a sequence of angles has prohibited combinations of angles.
- the homogeneous function W (A ⁇ , A 2 , 7) is selected so that the back transformation of a sequence of angles has at least one central permitted combination of angles that lies at the intersection of manifolds on which forbidden combinations of angles.
- the function G is selected such that G [ANGLE (n + 1), ANGLE (n), ...] has at least one central singularity for which there is an arbitrarily small (convex) neighborhood of There are combinations of angles in which the function G assumes any value, and the central singularity is also at a point which has the property of a central permitted combination of the previous subclaim.
- the neighborhood of a central singularity can, for example, be imagined as two 180 ° spiral staircases with infinitely small steps, which become increasingly steeper at the two ends.)
- the function G degenerates into a quantitative function.
- the function F is chosen so that F has no singularities. This method step further improves the functioning of the method.
- This specification of the homogeneous function W represents an example of suitable homogeneous functions.
- the function G becomes the function
- F [ANGLE (n), ANGLE (n-1), ...; pl, p2, ...] ⁇ ⁇ pai * sin [f * i * ANGLE (n) + ⁇ i] ⁇ + ⁇ ⁇ pbj * sin [f * j * ANGLE (n-l) + ßj] ⁇ +
- additional method steps are carried out for at least one further scientific or technical SIZE-B.
- the homogeneous function for mapping the SIZE-B is not necessarily identical to the one mentioned above and therefore not the range of values of the angle W defined thereby.
- MT (G [WINKELA (n + 1), WINKELA (n), .. .]) F [WINKELA (n), WINKELB (n), ...; pl, p2, ...] used to reproduce the regularity of SIZE-A including the influence of SIZE-B.
- the corresponding equation for the SIZE-A values has therefore been expanded to include the argument regarding the SIZE-B values.
- the value ANGLE is also identified by an A or a B.
- WINKELA (n) is assigned to SIZE-A and was previously referred to as WINKELA (n).
- WINKELB (n) is assigned to SIZE-B.
- the extension now enables not only a statement about the regularity of a scientific or technical quantity, but also a statement about the regularity of several scientific or technical quantities - including their mutual influence (correlation).
- This is the area of phenomenological reconstruction methods of multivariate processes. Different approaches are already used here, e.g. polynomial approaches or so-called radial basis functions.
- the method presented here is particularly suitable for the reconstruction of (possibly only temporarily) synchronous or phase-synchronous dynamics.
- One of the advantages of the method is that qualitative and quantitative properties of the phase synchronization can be read directly from the (estimated) equation of motion or based on the reconstruction of the phase angle.
- the mutual influence can be determined quantitatively as a correlation or phase synchronization, it is m ⁇ g- WO 00/30815 _ JJ _ PCT / EP99 / 08877
- SIZE-B is a person's breathing and SIZE-A is their heartbeat.
- SIZE-B in another example, may be injecting fuel into an engine and SIZE-A may be torque.
- Regularity can include the influence of SIZE-B.
- a device for performing the method has a measuring probe for determining values Ai of SIZE-A.
- a computer is connected to the measuring probe in such a way that the determined values are automatically fed into the computer.
- a program is installed on the computer. The program carries out the procedural steps.
- the procedural steps relate to a method for determining the phenomenological regularity of one or more cyclically fluctuating scientific or technical parameters, including their mutual influence.
- the invention determines the regularity as an autoregressive model of successive phase angles, each as a homogeneous function of zero degree at least two successive values of an output variable are defined.
- the reconstruction of the phase dynamics acquires the property of being transformable back to the output quantities and thus potentially the property of an embedding.
- the periodicity of the phase angle enables the behavioral rule to be approximated by a finite Fourier series.
- the explicit form of the equation of motion can be used to predict and / or control, as well as to identify and characterize the mutual phase synchronization of several processes.
- the (incommensurable) period length Tau was chosen as 7.777777.
- Table 2 is used as input for standard software for multiple linear regression, with the column GA representing the dependent variable and the remaining columns the independent variables. The result is:
- ANGLE (n + 1) arctan2 ⁇ sin [ANGLE (n) +2 ⁇ / 3], p 0 + pl * sin (ANGLE (n)) + ppl * cos (ANGLE (n)) + p2 * sin (2 * ANGLE (n)) + pp2 * cos (2 * ANGLE (n)) ⁇ +
- the last two columns of Table 1 contain improved reconstructions of WA and SIZE-A angles, which were calculated based on 40 SIZE-A values and using an order 6 Fourier sum. The example suggests that qualitatively correct reconstructions of the dynamics are possible even with relatively short time series.
- the second example determines the regularity of medical data.
- the respiratory flow and the heartbeat length RR are measured.
- the measured values are freed from interference by high-pass filtering.
- the result is SIZE-A and SIZE-B.
- the SIZE-A column in the following table thus results from high-pass filtering from the raw RR data and the SIZE-B column results from high-pass filtering from the uncalibrated raw respiratory flow data.
- the numerical values of all sizes are shown in Table 4 in the
- ANGLE A (n + l) (arctan2 (sin (ANGLE A (n), p 0 + pa * sin [ ANGLE A (n)] + ppa * cos [f * ANGLE A (n)] + pb * sin [ANGLE B (n)] + ppb * cos [f * ANGLE B (n)] + pab * sin [ANGLE A (n) - ANGLE B (n) k ] + ppab * cos [ANGLE A (n) - ANGLE B (n) k ])
- the figure shows the cardiac angular velocity profile (WA n + 1 -WA n ), which shows the change in the angle of the heartbeat length modulation as a function of the instantaneous values of the cardiac angle WA n and the respiratory angle WB n .
- Non-negative values of the cardiac angular velocity for a certain range of respiratory angles WB n means that the dynamics of the cardiac angle come to a standstill or even reverse until the respiratory angle WB n comes into the complementary range. (Both angular velocities are negative on average and angular are given in units of ⁇ .)
- Root (pab 2 + ppab 2 ) can be interpreted as a measure of the strength of the cross interaction from size-B to size-A.
- Another example is the time course of the injection of fuel into an engine and its torque.
- the regularity can be determined in the same way in such a case.
- Deviations from the determined image signal faults. Typical deviations can signal the type of fault.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP99958075A EP1148978A1 (de) | 1998-11-21 | 1999-11-19 | Verfahren und vorrichtung zur ermittlung einer regelhaftigkeit |
AU15544/00A AU1554400A (en) | 1998-11-21 | 1999-11-19 | Method and device for determining a regularity |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19853765.4 | 1998-11-21 | ||
DE19853765A DE19853765C1 (de) | 1998-11-21 | 1998-11-21 | Verfahren und Vorrichtung zur Ermittlung einer Regelhaftigkeit |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000030815A1 true WO2000030815A1 (de) | 2000-06-02 |
Family
ID=7888562
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1999/008877 WO2000030815A1 (de) | 1998-11-21 | 1999-11-19 | Verfahren und vorrichtung zur ermittlung einer regelhaftigkeit |
Country Status (5)
Country | Link |
---|---|
US (1) | US6651025B1 (de) |
EP (1) | EP1148978A1 (de) |
AU (1) | AU1554400A (de) |
DE (2) | DE19853765C1 (de) |
WO (1) | WO2000030815A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7444179B2 (en) * | 2003-04-29 | 2008-10-28 | University Of Pittsburgh-Of The Commonwealth System Of Higher Education | Devices, systems and methods for characterization of ventricular fibrillation and for treatment of ventricular fibrillation |
US7996075B2 (en) * | 2004-10-20 | 2011-08-09 | Cardionet, Inc. | Monitoring physiological activity using partial state space reconstruction |
US7729753B2 (en) * | 2006-03-14 | 2010-06-01 | Cardionet, Inc. | Automated analysis of a cardiac signal based on dynamical characteristics of the cardiac signal |
US8200319B2 (en) * | 2009-02-10 | 2012-06-12 | Cardionet, Inc. | Locating fiducial points in a physiological signal |
FR2997881B1 (fr) | 2012-11-09 | 2015-04-17 | Air Liquide | Buse laser a element mobile externe |
CN115389624B (zh) * | 2022-10-27 | 2023-02-10 | 智能网联汽车(山东)协同创新研究院有限公司 | 一种加工用声波测试*** |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0338705A2 (de) * | 1988-04-20 | 1989-10-25 | The University Of British Columbia | Steuerung für einen gelenkigen Roboterarm |
US5159249A (en) * | 1989-05-16 | 1992-10-27 | Dalila Megherbi | Method and apparatus for controlling robot motion at and near singularities and for robot mechanical design |
WO1995023054A1 (en) * | 1994-02-25 | 1995-08-31 | Uk Robotics Limited | Manipulator controller |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19718806A1 (de) * | 1997-05-03 | 1998-11-05 | Forschungszentrum Juelich Gmbh | Diagnose mittels Respiratorischer Sinus-Arrhythmie |
-
1998
- 1998-11-21 DE DE19853765A patent/DE19853765C1/de not_active Expired - Fee Related
-
1999
- 1999-11-19 AU AU15544/00A patent/AU1554400A/en not_active Abandoned
- 1999-11-19 EP EP99958075A patent/EP1148978A1/de not_active Withdrawn
- 1999-11-19 WO PCT/EP1999/008877 patent/WO2000030815A1/de not_active Application Discontinuation
- 1999-11-22 DE DE19956053A patent/DE19956053A1/de not_active Withdrawn
-
2002
- 2002-03-28 US US09/889,456 patent/US6651025B1/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0338705A2 (de) * | 1988-04-20 | 1989-10-25 | The University Of British Columbia | Steuerung für einen gelenkigen Roboterarm |
US5159249A (en) * | 1989-05-16 | 1992-10-27 | Dalila Megherbi | Method and apparatus for controlling robot motion at and near singularities and for robot mechanical design |
WO1995023054A1 (en) * | 1994-02-25 | 1995-08-31 | Uk Robotics Limited | Manipulator controller |
Non-Patent Citations (3)
Title |
---|
KRZYSZTOF TCHON: "A NORMAL FORM OF SINGULAR KINEMATICS OF ROBOT MANIPULATORS WITH SMALLEST DEGENERACY", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION,US,IEEE INC, NEW YORK, vol. 11, no. 3, 1 June 1995 (1995-06-01), pages 401 - 408, XP000511544, ISSN: 1042-296X * |
NENCHEV D N ET AL: "TWO APPROACHES TO SINGULARITY-CONSISTENT MOTION OF NONREDUNDANT ROBOTIC MECHANISMS", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION,US,NEW YORK, IEEE, vol. CONF. 13, 1996, pages 1883 - 1890, XP000775136, ISBN: 0-7803-2989-9 * |
TCHON K ET AL: "A NORMAL FORM SOLUTION TO THE SINGULAR INVERSE KINEMATIC PROBLEM FOR ROBOTIC MANIPULATORS: THE QUADRATIC CASE", PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION,US,NEW YORK, NY: IEEE, vol. CONF. 15, 1998, pages 3222 - 3227, XP000784570, ISBN: 0-7803-4301-8 * |
Also Published As
Publication number | Publication date |
---|---|
DE19853765C1 (de) | 2000-07-13 |
EP1148978A1 (de) | 2001-10-31 |
AU1554400A (en) | 2000-06-13 |
US6651025B1 (en) | 2003-11-18 |
DE19956053A1 (de) | 2000-05-25 |
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