| 1. |
- Kanai, M, et al.
(författare)
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- 2023
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swepub:Mat__t
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| 2. |
- Thomas, HS, et al.
(författare)
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- 2019
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swepub:Mat__t
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| 3. |
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| 4. |
- Bhat, Sriharsha, 1991-, et al.
(författare)
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Nonlinear model predictive control for hydrobatics : Experiments with an underactuated AUV
- 2023
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Ingår i: Journal of Field Robotics. - : Wiley. - 1556-4959 .- 1556-4967. ; 40:7, s. 1840-1859
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Tidskriftsartikel (refereegranskat)abstract
- Hydrobatic autonomous underwater vehicles (AUVs) can be efficient in range and speed, as well as agile in maneuvering. They can be beneficial in scenarios such as obstacle avoidance, inspections, docking, and under-ice operations. However, such AUVs are underactuated systems—this means exploiting the system dynamics is key to achieving elegant hydrobatic maneuvers with minimum controls. This paper explores the use of model predictive control (MPC) techniques to control underactuated AUVs in hydrobatic maneuvers and presents new simulation and experimental results with the small and hydrobatic SAM AUV. Simulations are performed using nonlinear model predictive control (NMPC) on the full AUV system to provide optimal control policies for several hydrobatic maneuvers in Matlab/Simulink. For implementation on AUV hardware in robot operating system, a linear time varying MPC (LTV-MPC) is derived from the nonlinear model to enable real-time control. In simulations, NMPC and LTV-MPC shows promising results to offer much more efficient control strategies than what can be obtained with PID and linear quadratic regulator based controllers in terms of rise-time, overshoot, steady-state error, and robustness. The LTV-MPC shows satisfactory real-time performance in experimental validation. The paper further also demonstrates experimentally that LTV-MPC can be run real-time on the AUV in performing hydrobatic maneouvers.
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| 5. |
- Molassiotis, A., et al.
(författare)
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Complementary and alternative medicine use in patients with gynecological cancers in Europe
- 2006
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Ingår i: International Journal of Gynecological Cancer. - : Lippincott Williams & Wilkins. - 1048-891X .- 1525-1438. ; 16:Suppl. 1, s. 219-224
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Tidskriftsartikel (refereegranskat)abstract
- The aim of the present study was to assess the use of complementary and alternative medicine (CAM) specifically in women with gynecological cancer. The design of the study was of a descriptive cross-sectional survey using a 27-item questionnaire. The study was conducted in 11 countries in Europe as part of a larger project. Data were available from 72 gynecological cancer patients. Among the participants, 40.3% used CAM after the diagnosis with cancer. The most popular CAM modalities used were herbal medicine (34.5%), relaxation techniques (21.4%), and vitamins/minerals (20.7%). A very high level of satisfaction with CAM use was reported. Patients used CAM to increase the body's ability to fight the cancer or to improve physical and emotional well-being. The main sources of information about CAM were informal (friends/ family or the media). It is important to discuss CAM use with gynecological cancer patients, as they frequently use it and such use may have implications for clinical practice.
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| 6. |
- Molassiotis, A., et al.
(författare)
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Complementary and alternative medicine use in patients with head and neck cancers in Europe
- 2006
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Ingår i: European Journal of Cancer Care. - : Blackwell Publishing. - 0961-5423 .- 1365-2354. ; 15:1, s. 19-24
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Tidskriftsartikel (refereegranskat)abstract
- The aim of the present study was to examine the patterns of complementary and alternative medicine (CAM) use in a sample of head and neck cancer patients, forming part of a larger study. A cross-sectional survey design was used collecting data through a descriptive 27-item questionnaire in nine countries in Europe. The participants were 75 patients with head and neck cancers. The prevalence rate of CAM use was 22.7%. The most common therapies used were herbal medicine (47%), medicinal teas (23.5%), use of vitamins/minerals (11.8%) and visualization (11.8%). Use of CAM dramatically increased after the diagnosis with cancer (i.e. eightfold increase in the use of herbs). A profile of CAM users was not evident in this sample. Patients used CAM for a variety of reasons together, with counteracting the ill effects from cancer and its treatment being the most common one. Information about CAM was obtained mostly from friends and family. As one in five head and neck cancer patients use CAM it is important that clinicians explore practices with their patients, improve communication about CAM with them and assist those who want to use CAM in using appropriate and safe therapies.
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