Active insulin infusion using optimal and derivative-weighted control

NUMERICAL SIMULATION OF AN ELECTRODYNAMIC TRANSDUCER CONTROL OF INSULIN PROVISION IN THE BERGMAN’S AND THE CHENG’S MODELS FOR THE DYNAMICS OF THE COUPLE GLUCOSE-INSULIN IN DIABETICS

This paper deals with the numerical simulation of a model of blood glucose level control of a diabetic person using an electrodynamic transducer. Two mathematical models describing the dynamics of the couple glucose–insulin are used: the Bergman’s and the Cheng’s models. First, the adaptive control is applied on the dynamics of a reservoir opener by an electrodynamic transducer. Then it is applied on the two models of the glucose–insulin dynamics. It is found that the control of the reservoir opener and that of the glycemia of a diabetic patient are efficient for some values of the control parameters.

An iterative learning strategy for the auto-tuning of the feedforward and feedback controller in type-1 diabetes

This paper proposes a scheme for the control of the blood glucose in subjects with type-1 diabetes mellitus based on the subcutaneous (s.c.) glucose measurement and s.c. insulin administration. The tuning of the controller is based on an iterative learning strategy that exploits the repetitiveness of the daily feeding habit of a patient. The control consists of a mixed feedback and feedforward contribution whose parameters are tuned through an iterative learning process that is based on the day-by-day automated analysis of the glucose response to the infusion of exogenous insulin. The scheme does not require any a priori information on the patient insulin/glucose response, on the meal times and on the amount of ingested carbohydrates (CHOs). Thanks to the learning mechanism the scheme is able to improve its performance over time. A specific logic is also introduced for the detection and prevention of possible hypoglycaemia events. The effectiveness of the methodology has been validated using long-term simulation studies applied to a set of nine in silico patients considering realistic uncertainties on the meal times and on the quantities of ingested CHOs.

A genetic algorithm tuned optimal controller for glucose regulation in type 1 diabetic subjects

An optimal state feedback controller is designed with the objective of minimizing the elevated glucose levels caused by meal intake in Type 1 diabetic subjects, by the minimal infusion of insulin. The states for the controller based on linear quadratic regulator theory are estimated from noisy data using Kalman filter. The controller designed for a physiological relevant mathematical model is coupled with another model for simulating meal dynamics, which converts meal intake into glucose appearance rate in the plasma. The tuning parameters (weighting matrices) of the controller and the design parameters (noise covariance matrices) of the Kalman filter are optimized using genetic algorithm. The controller based on the combined framework of evolutionary computing and state estimated linear quadratic regulator is found to maintain normoglycemia for meal intakes of varying carbohydrate content. The proposed approach addresses noisy output measurement, modeling error and delay in sensor measurement.

Induced L₂-norm minimization of glucose-insulin system for Type I diabetic patients

Using induced L₂-norm minimization, a robust controller was developed for insulin delivery in Type I diabetic patients. The high-complexity nonlinear diabetic patient Sorensen-model was considered and Linear Parameter Varying methodology was used to develop open-loop model and robust H(∞) controller. Considering the normoglycaemic set point (81.1 mg/dL), a polytopic set was created over the physiologic boundaries of the glucose-insulin interaction of the Sorensen-model. In this way, Linear Parameter Varying model formalism was defined. The robust control was developed considering input and output multiplicative uncertainties with two additional uncertainties from those used in the literature: sensor noise and worst-case design for meal disturbance (60 g carbohydrate). Simulation scenario on large meal absorption illustrates the applicability of the robust LPV control technique, while patient variability is tested with real data taken from the SPRINT clinical protocol on ICU patients.

Smart sensors and virtual physiology human approach as a basis of personalized therapies in diabetes mellitus

Diabetes mellitus (DM) has a growing incidence and prevalence in modern societies, pushed by the aging and change of life styles. Despite the huge resources dedicated to improve their quality of life, mortality and morbidity rates, these are still very poor. In this work, DM pathology is revised from clinical and metabolic points of view, as well as mathematical models related to DM, with the aim of justifying an evolution of DM therapies towards the correction of the physiological metabolic loops involved. We analyze the reliability of mathematical models, under the perspective of virtual physiological human (VPH) initiatives, for generating and integrating customized knowledge about patients, which is needed for that evolution. Wearable smart sensors play a key role in this frame, as they provide patient's information to the models.A telehealthcare computational architecture based on distributed smart sensors (first processing layer) and personalized physiological mathematical models integrated in Human Physiological Images (HPI) computational components (second processing layer), is presented. This technology was designed for a renal disease telehealthcare in earlier works and promotes crossroads between smart sensors and the VPH initiative. We suggest that it is able to support a truly personalized, preventive, and predictive healthcare model for the delivery of evolved DM therapies.

An improved PID switching control strategy for type 1 diabetes

In order for an "artificial pancreas" to become a reality for ambulatory use, a practical closed-loop control strategy must be developed and validated. In this paper, an improved PID control strategy for blood glucose control is proposed and critically evaluated in silico using a physiologic model of Hovorka et al. [1]. The key features of the proposed control strategy are: 1) a switching strategy for initiating PID control after a meal and insulin bolus; 2) a novel time-varying setpoint trajectory; 3) noise and derivative filters to reduce sensitivity to sensor noise; and 4) a practical controller tuning strategy. Simulation results demonstrate that proposed control strategy compares favorably to alternatives for realistic conditions that include meal challenges, incorrect carbohydrate meal estimates, changes in insulin sensitivity, and measurement noise.

A Feedforward-Feedback Glucose Control Strategy for Type 1 Diabetes Mellitus

As the "artificial pancreas" becomes closer to reality, automated insulin delivery based on real-time glucose measurements becomes feasible for people with diabetes. This paper is concerned with the development of novel feedforward-feedback control strategies for real-time glucose control and type 1 diabetes. Improved post-meal responses can be achieved by a pre-prandial snack or bolus, or by reducing the glucose setpoint prior to the meal. Several feedforward-feedback control strategies provide attractive alternatives to the standard meal insulin bolus and are evaluated in simulations using a physiological model.

Automated agitation management accounting for saturation dynamics

Agitation-sedation cycling in critically ill is damaging to patient health and increases length of and cost. A physiologically representative model of the agitation-sedation system is used as a platform to evaluate feedback controllers offering improved agitation management. A heavy-derivative controller with upper and infusion rate bounds maintains minimum plasma concentrations through a low constant infusion, and minimizes outbursts of agitation through strong, timely boluses. controller provides improved agitation management using from 37 critically ill patients, given the saturation of effect at high concentration. Approval was obtained the Canterbury Ethics Board for this research.

A critical review of mathematical models and data used in diabetology

The literature dealing with mathematical modelling for diabetes is abundant. During the last decades, a variety of models have been devoted to different aspects of diabetes, including glucose and insulin dynamics, management and complications prevention, cost and cost-effectiveness of strategies and epidemiology of diabetes in general. Several reviews are published regularly on mathematical models used for specific aspects of diabetes. In the present paper we propose a global overview of mathematical models dealing with many aspects of diabetes and using various tools. The review includes, side by side, models which are simple and/or comprehensive; deterministic and/or stochastic; continuous and/or discrete; using ordinary differential equations, partial differential equations, optimal control theory, integral equations, matrix analysis and computer algorithms.

Modeling and control of the agitation-sedation cycle for critical care patients

Agitation-sedation cycling in critically ill patients, characterized by oscillations between states of agitation and over-sedation, is damaging to patient health, and increases length of stay and healthcare costs. The mathematical model presented captures the essential dynamics of the agitation-sedation system for the first time, and is statistically validated using recorded infusion data for 37 patients. Constant patient-specific patient parameters are used, illustrating the commonality of these fundamental dynamics over a broad range of patients. The validated model serves as a basis for comparison of sedation administration methods, devices, therapeutics and protocols. Heavy derivative feedback control is shown to be an effective means of managing agitation, given consistent agitation measurement. The improved agitation management reduces the modeled mean and peak agitation levels 68.4% and 52.9% on average, respectively. Some patients showed over 90% reduction in mean agitation level through increased control gains. This improved agitation management is achieved via heavy derivative feedback control of sedation administration, which provides an essentially bolus-driven management approach, aligned with recent sedation practices.

Derivative weighted active insulin control modelling and clinical trials for ICU patients

Close control of blood glucose levels significantly reduces vascular complications in Type 1 and Type 2 diabetic individuals. Heavy derivative controllers using the data density available from emerging biosensors are developed to provide tight, optimal control of elevated blood glucose levels, while robustly handling variation in patient response. A two-compartment glucose regulatory system model is developed for intravenous infusion from physiologically verified subcutaneous infusion models enabling a proof-of-concept clinical trial at the Christchurch Hospital Department of Intensive Care Medicine. This clinical trial is the first of its kind to test a high sample rate feedback control algorithm for tight glucose regulation. The clinical trial results show tight control with reductions of 79-89% in blood glucose excursions for an oral glucose tolerance test. Experimental performance is very similar to modelled behaviour. Results include a clear need for an additional accumulator dynamic for insulin behaviour in transport to the blood and strong correlation of 10% or less between modelled insulin infused and the amounts used in clinical trials. Finally, the heavy derivative PD control approach is seen to be able to bring blood glucose levels below the (elevated) basal level, showing the potential for truly tight control.

Automated insulin infusion trials in the intensive care unit

The objective is to demonstrate the effectiveness of a simple automated insulin infusion for controlling the rise and duration of blood glucose excursion following a glucose challenge in critically ill patients with impaired glucose tolerance. A two-compartment model of the glucose regulatory system was developed for intravenous infusion control design. On two subsequent days a critically ill patient with impaired glucose tolerance was given a 75 g oral glucose tolerance test (OGTT), and the glucose level was measured every 15 min. The first day's data were used to design a heavy-derivative insulin infusion controller for the second day. Ethics approval was granted for this test. Five patients were studied. In four patients, the magnitude and duration of blood glucose excursion were reduced over 50%. Fasting level was reduced 15%, from an average of 7.2 mmol/L to 6.1 mmol/L. The fifth patient's results showed a diminished response due to the antagonistic effects of hydrocortisone on insulin, a data point not provided prior to testing. Modeling to account for this effect yielded better correlation with the test. The automated algorithm provided rapid, effective control of the blood glucose rise in response to an OGTT input. These results highlight the effectiveness of automated infusions for regulating blood glucose rise and excursions, and the potential of this approach for non-hospitalized individuals.