A model-based algorithm for blood glucose control in type I diabetic patients

Blood Glucose Prediction from Nutrition Analytics in Type 1 Diabetes: A Review

INTRODUCTION

Type 1 Diabetes (T1D) affects over 9 million worldwide and necessitates meticulous self-management for blood glucose (BG) control. Utilizing BG prediction technology allows for increased BG control and a reduction in the diabetes burden caused by self-management requirements. This paper reviews BG prediction models in T1D, which include nutritional components.

METHOD

A systematic search, utilizing the PRISMA guidelines, identified articles focusing on BG prediction algorithms for T1D that incorporate nutritional variables. Eligible studies were screened and analyzed for model type, inclusion of additional aspects in the model, prediction horizon, patient population, inputs, and accuracy.

RESULTS

The study categorizes 138 blood glucose prediction models into data-driven (54%), physiological (14%), and hybrid (33%) types. Prediction horizons of ≤30 min are used in 36% of models, 31-60 min in 34%, 61-90 min in 11%, 91-120 min in 10%, and >120 min in 9%. Neural networks are the most used data-driven technique (47%), and simple carbohydrate intake is commonly included in models (data-driven: 72%, physiological: 52%, hybrid: 67%). Real or free-living data are predominantly used (83%).

CONCLUSION

The primary goal of blood glucose prediction in T1D is to enable informed decisions and maintain safe BG levels, considering the impact of all nutrients for meal planning and clinical relevance.

Recent advances in the precision control strategy of artificial pancreas

The scientific diagnosis and treatment of patients with diabetes require frequent blood glucose testing and insulin delivery to normoglycemia. Therefore, an artificial pancreas with a continuous blood glucose (BG) monitoring function is an urgent research target in the medical industry. The problem of closed-loop algorithmic control of the BG with a time delay is a key and difficult issue that needs to be overcome in the development of an artificial pancreas. Firstly, the composition, structure, and control characteristics of the artificial pancreas are introduced. Subsequently, the research progress of artificial pancreas control algorithms is reviewed, and the characteristics, advantages, and disadvantages of proportional-integral-differential control, model predictive control, and artificial intelligence control are compared and analyzed to determine whether they are suitable for the practical application of the artificial pancreas. Additionally, key advancements in areas such as blood glucose data monitoring, adaptive models, wearable devices, and fully automated artificial pancreas systems are also reviewed. Finally, this review highlights that meal prediction, control safety, integration, streamlining the optimization of control algorithms, constant temperature preservation of insulin, and dual-hormone artificial pancreas are issues that require further attention in the future.

Developing the UVA/Padova Type 1 Diabetes Simulator: Modeling, Validation, Refinements, and Utility

Arguably, diabetes mellitus is one of the best quantified human conditions. In the past 50 years, the metabolic monitoring technologies progressed from occasional assessment of average glycemia via HbA1c, through episodic blood glucose readings, to continuous glucose monitoring (CGM) producing data points every few minutes. The high-temporal resolution of CGM data enabled increasingly intensive treatments, from decision support assisting insulin injection or oral medication, to automated closed-loop control, known as the "artificial pancreas." Throughout this progress, mathematical models and computer simulation of the human metabolic system became indispensable for the technological progress of diabetes treatment, enabling every step, from assessment of insulin sensitivity via the now classic Minimal Model of Glucose Kinetics, to in silico trials replacing animal experiments, to automated insulin delivery algorithms. In this review, we follow these developments, beginning with the Minimal Model, which evolved through the years to become large and comprehensive and trigger a paradigm change in the design of diabetes optimization strategies: in 2007, we introduced a sophisticated model of glucose-insulin dynamics and a computer simulator equipped with a "population" of N = 300 in silico "subjects" with type 1 diabetes. In January 2008, in an unprecedented decision, the Food and Drug Administration (FDA) accepted this simulator as a substitute to animal trials for the pre-clinical testing of insulin treatment strategies. This opened the field for rapid and cost-effective development and pre-clinical testing of new treatment approaches, which continues today. Meanwhile, animal experiments for the purpose of designing new insulin treatment algorithms have been abandoned.

Near-optimal feedback control for postprandial glucose regulation in type 1 diabetes

This paper is focused on feedback control of postprandial glucose levels for patients with type 1 Diabetes Mellitus. There are two important limitations that make this a challenging problem. First, the slow subcutaneous insulin pharmacokinetics that introduces a significant lag into the control loop. Second, the positivity constraint on the control action, meaning that it is not possible to remove insulin from the body. In this paper, both issues are explicitly considered in the design process using the internal model control framework, to derive a near-optimal feedback controller. Optimality is understood here as minimizing the blood glucose peak after a meal intake and, at the same time, preventing glucose values below a prescribed threshold. It is shown how the proposed controller approaches the optimal closed-loop performance as a limit case. The theoretical results are supported by a numerical example and the feasibility of the overall strategy under uncertainties is illustrated using an extended version UVa/Padova metabolic simulator.

Enzyme-Responsive Hydrogels as Potential Drug Delivery Systems-State of Knowledge and Future Prospects

Fast advances in polymer science have provided new hydrogels for applications in drug delivery. Among modern drug formulations, polymeric type stimuli-responsive hydrogels (SRHs), also called smart hydrogels, deserve special attention as they revealed to be a promising tool useful for a variety of pharmaceutical and biomedical applications. In fact, the basic feature of these systems is the ability to change their mechanical properties, swelling ability, hydrophilicity, or bioactive molecules permeability, which are influenced by various stimuli, particularly enzymes. Indeed, among a great number of SHRs, enzyme-responsive hydrogels (ERHs) gain much interest as they possess several potential biomedical applications (e.g., in controlled release, drug delivery, etc.). Such a new type of SHRs directly respond to many different enzymes even under mild conditions. Therefore, they show either reversible or irreversible enzyme-induced changes both in chemical and physical properties. This article reviews the state-of-the art in ERHs designed for controlled drug delivery systems (DDSs). Principal enzymes used for biomedical hydrogel preparation were presented and different ERHs were further characterized focusing mainly on glucose oxidase-, β-galactosidase- and metalloproteinases-based catalyzed reactions. Additionally, strategies employed to produce ERHs were described. The current state of knowledge and the discussion were made on successful applications and prospects for further development of effective methods used to obtain ERH as DDSs.

A methodical survey of mathematical model-based control techniques based on open and closed loop control approach for diabetes management

Disturbance of blood sugar level is controlled through well-known biomechanical feedback loops: high levels of glucose in blood facilitate to release insulin from the pancreas which accelerates the absorption rate of cellular glucose. Low glucose levels encourage to release pancreatic glucagon which induces glycogen breakdown to glucose in the liver. These bio-control systems do not function properly in diabetic patients. Though the control of disease seems intuitively easy, in real life, due to many differences in structure by diet and fasting, exercise, medications, patient’s profile and other stressors, it is not that easy. The mathematical models of the glucose-insulin regulatory system follow the patient’s physiological conditions which make it difficult to identify and estimate all the model parameters. In this paper, we have given a systematic literature review on mathematical models of the diabetic patients, and various kinds of disease control techniques through the development of open and closed loop insulin deliver command system and optimization of exogenous insulin rate. It demonstrates the open and closed loop type model-based control strategies underlying the assumptions of the concerned models. The combination of mathematical model with control strategies such as genetic algorithm (GA), neural network (NN), sliding mode controller (SMC), model predictive controller (MPC), and fuzzy logic control (FLC) has been considered, which provides an overview of this area, highlighting the control profile over the diabetic model with promising clinical results, outlining key challenges, and identifying needs for the future research. Also, the significance of these control algorithms has been discussed in the presence of the noises, the controller’s robustness and various other disturbances. It provides substantial information on diabetes management through various control techniques.

Nursing Diagnosis of Urology Operating Room Based on New Association Classification Algorithm

Due to the rapid development of medical engineering, massive amounts of data are recorded and preserved by various medical instruments. Therefore, finding relationships among data and summarizing clinical manifestations are of great significance to the diagnosis, treatment, and medical research of various diseases. The key to studying the nursing diagnosis support system, particularly in the urological operating room, is to select an effective classification algorithm, which is suitable for the characteristics of urological diseases. Initially, we have analyzed characteristics of urological diseases through medical data mining. Secondly, based on the traditional data mining classification method and urological disease diagnosis research, we have introduced the urological disease experimental source dataset and analyzed characteristics of the disease. Furthermore, classification algorithm and steps were introduced such as decision tree (including ID3, C4.5), Bayesian classification, BP neural network, and association rule classification algorithms. These algorithms are used to make relevant comparative experiments on the urological disease dataset. Finally, based on the diagnosis of urological diseases, a new association classification algorithm (ACCF), which is based on frequent closed item sets, is proposed along with suitable explanation. In order to verify the operational capabilities, the proposed algorithms are implemented in C++ and compared with the classification effect of traditional association classification algorithms and data mining methods. Both theoretical analysis and experiment results show that the proposed algorithm has resolved various deficiencies of the existing data mining algorithms and equally improved the accuracy of urological disease classification and prediction.

Analysis and Design Process for Predicting and Controlling Blood Glucose in Type 1 Diabetic Patients

Engineering smart software that can monitor, predict, and control blood glucose is critical to improving patients' quality of treatments with type 1 Diabetic Mellitus (T1DM). However, ensuring a reasonable glycemic level in diabetic patients is quite challenging, as many methods do not adequately capture the complexities involved in glycemic control. This problem introduces a new level of complexity and uncertainty to the patient's psychological state, thereby making this problem nonlinear and unobservable. In this paper, we formulated a mathematical model using carbohydrate counting, insulin requirements, and the Harris-Benedict energy equations to establish the framework for predicting and controlling blood glucose level regulation in T1DM. We implemented the framework and evaluated its performance using root mean square error (RMSE) and mean absolute error (MAE) on a case study. Our framework had less error rate in terms of RMSE and MAE, which indicates a better fit with reasonable accuracy.

H∞ controller and observer synthesis with delay and nonlinear perturbation of double diabetes systems

Patient having type 1 diabetes mellitus (having insulin resistance experience) cannot be treated solely by treatment procedure of type 1 patient nor does treatment employed for type 2 diabetes work for such patient. This type of diabetes patient needs a specific insulin injection procedure. For continuous insulin injection, the patient has to be classified as a different group from type 1 and type 2 patient. The patients experiencing both type 1 and 2 are called double diabetes mellitus (DDM) patient. Dynamic behavior of the patient was presented in delay differential equation (DDE). Based on the developed DDE of DDM model, controllers and observers fulfilling H_∞ norm bound are designed for this specific group of diabetes mellitus patient. Also, a nominal controller and a nominal observer are synthesized to check the proposed controller's ability for disturbance rejection, which is the glucose intake. The performance of the designed controller and observer is evaluated for a population of simulated patients. It shows that controller and observer are able to regulate and estimate, respectively, glycaemic for population of double diabetes patients.

Design of dual hormone blood glucose therapy and comparison with single hormone using MPC algorithm

The complete automated control and delivery of insulin and glucagon in type 1 diabetes is the developing technology for artificial pancreas. This improves the quality of life of a diabetic patient with the precise infusion. The amount of infusion of these hormones is controlled using a control algorithm, which has the prediction property. The control algorithm model predictive control (MPC) predicts one step ahead and infuses the hormones continuously according to the necessity for the regulation of blood glucose. In this research, the authors propose a MPC control algorithm, which is novel for a dual hormone infusion, for a mathematical model such as Sorenson model, and compare it with the insulin alone or single hormone infusion developed with MPC. Since they aim for complete automatic control and regulation, unmeasured disturbances at a random time are integrated and the performance evaluation is projected through statistical analysis. The blood glucose risk index (BGRI) and control variability grid analysis (CVGA) plot gives the additional evaluation for the comparative results of the two controllers claiming 88% performance by dual hormone evaluated through CVGA plot and 2.05 mg/dl average tracking error, 2.20 BGRI. The MPC developed for dual hormone significantly performs better and the time spent in normal glycaemia is longer while eliminating the risk of hyperglycaemia and hypoglycaemia.

Sliding mode control for a fractional-order non-linear glucose-insulin system

By providing the generalisation of integration and differentiation, and incorporating the memory and hereditary effects, fractional-order modelling has gotten significant attention in the past few years. One of the extensively studied and utilised models to describe the glucose-insulin system of a human body is Bergman's minimal model. This non-linear model comprises of integer-order differential equations. However, comparison with the experimental data shows that the fractional-order version of Bergman's minimal model is a better representative of the glucose-insulin system than its original integer-order model. To design a control law for an artificial pancreas for a diabetic patient using a fractional-order model, different techniques, including feedback linearisation, have been applied in the literature. The authors' previous work shows that the fractional-order version of Bergman's model describes the glucose-insulin system in a better way than the integer-order model. This study applies the sliding mode control technique and then compares the obtained simulation results with the ones obtained using feedback linearisation.

A revised Sorensen model: Simulating glycemic and insulinemic response to oral and intra-venous glucose load

In 1978, Thomas J. Sorensen defended a thesis in chemical engineering at the University of California, Berkeley, where he proposed an extensive model of glucose-insulin control, model which was thereafter widely employed for virtual patient simulation. The original model, and even more so its subsequent implementations by other Authors, presented however a few imprecisions in reporting the correct model equations and parameter values. The goal of the present work is to revise the original Sorensen's model, to clearly summarize its defining equations, to supplement it with a missing gastrio-intestinal glucose absorption and to make an implementation of the revised model available on-line to the scientific community.

An adaptive technique based blood glucose control in type-1 diabetes mellitus patients

This study proposes Grasshopper Optimization Algorithm (GOA) based type 1 diabetes mellitus system utilizing the nonlinear Bergman minimal model with proportional integral derivative (PID) controller. GOA is the optimization algorithm, which is utilized for selecting the optimized tuning parameters of the PID controller also solves the nonlinear system parameter identification problem. The novelty of the proposed study is to stabilize the glucose level in blood for type 1 diabetic patients by infusion of insulin in reduced time with optimal quantity. Without any intervention to the normal activities of patients, the supply of insulin injection and glucose monitoring is performed automatically for type 1 diabetic patients using this controller. In between the measured variable and set point, the difference is calculated by the PID controller to evaluate an error values. In realistic patient oriented conditions, the control performance evaluation, control optimization, and advanced patient modelling should be highly concentrated during the research/analysis on blood glucose control. Evaluation is performed to analyze control performances and implementation is done on Simulink/MATLAB environment. The performance analysis of the type 1 diabetes mellitus system with GOA technique is also discussed and to improve the control performance, to optimize the controller parameters. The simulation results have proved the substantial improvement in the performance of proposed algorithm with the better results achieved than the other conventional controllers such as PSO-PID and EHO-PID.

Artificial Pancreas Control Strategies Used for Type 1 Diabetes Control and Treatment: A Comprehensive Analysis

This paper presents a comprehensive survey about the fundamental components of the artificial pancreas (AP) system including insulin administration and delivery, glucose measurement (GM), and control strategies/algorithms used for type 1 diabetes mellitus (T1DM) treatment and control. Our main focus is on the T1DM that emerges due to pancreas’s failure to produce sufficient insulin due to the loss of beta cells (β-cells). We discuss various insulin administration and delivery methods including physiological methods, open-loop, and closed-loop schemes. Furthermore, we report several factors such as hyperglycemia, hypoglycemia, and many other physical factors that need to be considered while infusing insulin in human body via AP systems. We discuss three prominent control algorithms including proportional-integral- derivative (PID), fuzzy logic, and model predictive, which have been clinically evaluated and have all shown promising results. In addition, linear and non-linear insulin infusion control schemes have been formally discussed. To the best of our knowledge, this is the first work which systematically covers recent developments in the AP components with a solid foundation for future studies in the T1DM field.

Preventing undesirable behavior of intelligent machines

Intelligent machines using machine learning algorithms are ubiquitous, ranging from simple data analysis and pattern recognition tools to complex systems that achieve superhuman performance on various tasks. Ensuring that they do not exhibit undesirable behavior-that they do not, for example, cause harm to humans-is therefore a pressing problem. We propose a general and flexible framework for designing machine learning algorithms. This framework simplifies the problem of specifying and regulating undesirable behavior. To show the viability of this framework, we used it to create machine learning algorithms that precluded the dangerous behavior caused by standard machine learning algorithms in our experiments. Our framework for designing machine learning algorithms simplifies the safe and responsible application of machine learning.

Glucose-Responsive Insulin and Delivery Systems: Innovation and Translation

Type 1 and advanced type 2 diabetes treatment involves daily injections or continuous infusion of exogenous insulin aimed at regulating blood glucose levels in the normoglycemic range. However, current options for insulin therapy are limited by the risk of hypoglycemia and are associated with suboptimal glycemic control outcomes. Therefore, a range of glucose-responsive components that can undergo changes in conformation or show alterations in intermolecular binding capability in response to glucose stimulation has been studied for ultimate integration into closed-loop insulin delivery or "smart insulin" systems. Here, an overview of the evolution and recent progress in the development of molecular approaches for glucose-responsive insulin delivery systems, a rapidly growing subfield of precision medicine, is presented. Three central glucose-responsive moieties, including glucose oxidase, phenylboronic acid, and glucose-binding molecules are examined in detail. Future opportunities and challenges regarding translation are also discussed.

CarbMetSim: A discrete-event simulator for carbohydrate metabolism in humans

This paper describes CarbMetSim, a discrete-event simulator that tracks the blood glucose level of a person in response to a timed sequence of diet and exercise activities. CarbMetSim implements broader aspects of carbohydrate metabolism in human beings with the objective of capturing the average impact of various diet/exercise activities on the blood glucose level. Key organs (stomach, intestine, portal vein, liver, kidney, muscles, adipose tissue, brain and heart) are implemented to the extent necessary to capture their impact on the production and consumption of glucose. Key metabolic pathways (glucose oxidation, glycolysis and gluconeogenesis) are accounted for in the operation of different organs. The impact of insulin and insulin resistance on the operation of various organs and pathways is captured in accordance with published research. CarbMetSim provides broad flexibility to configure the insulin production ability, the average flux along various metabolic pathways and the impact of insulin resistance on different aspects of carbohydrate metabolism. The simulator does not yet have a detailed implementation of protein and lipid metabolism. This paper contains a preliminary validation of the simulator's behavior. Significant additional validation is required before the simulator can be considered ready for use by people with Diabetes.

Simulation Software for Assessment of Nonlinear and Adaptive Multivariable Control Algorithms: Glucose - Insulin Dynamics in Type 1 Diabetes

A simulator for testing automatic control algorithms for nonlinear systems with time-varying parameters, variable time delays, and uncertainties is developed. It is based on simulation of virtual patients with Type 1 diabetes (T1D). Nonlinear models are developed to describe glucose concentration (GC) variations based on user-defined scenarios for meal consumption, insulin administration, and physical activity. They compute GC values and physiological variables, such as heart rate, skin temperature, accelerometer, and energy expenditure, that are indicative of physical activities affecting GC dynamics. This is the first simulator designed for assessment of multivariable controllers that consider supplemental physiological variables in addition to GC measurements to improve glycemic control. Virtual patients are generated from distributions of identified model parameters using clinical data. The simulator will enable testing and evaluation of new control algorithms proposed for automated insulin delivery as well as various control algorithms for nonlinear systems with uncertainties, time-varying parameters and delays.

Adaptive Control of an Artificial Pancreas Using Model Identification, Adaptive Postprandial Insulin Delivery, and Heart Rate and Accelerometry as Control Inputs

BACKGROUND

People with type 1 diabetes (T1D) have varying sensitivities to insulin and also varying responses to meals and exercise. We introduce a new adaptive run-to-run model predictive control (MPC) algorithm that can be used to help people with T1D better manage their glucose levels using an artificial pancreas (AP). The algorithm adapts to individuals' different insulin sensitivities, glycemic response to meals, and adjustment during exercise as a continuous input during free-living conditions.

METHODS

A new insulin sensitivity adaptation (ISA) algorithm is presented that updates each patient's insulin sensitivity during nonmeal periods to reduce the error between the actual glucose levels and the process model. We further demonstrate how an adaptive learning postprandial hypoglycemia prevention algorithm (ALPHA) presented in the previous work can complement the ISA algorithm, and the algorithm can adapt in several days. We further show that if physical activity is incorporated as a continuous input (heart rate and accelerometry), performance is improved. The contribution of this work is the description of the ISA algorithm and the evaluation of how ISA, ALPHA, and incorporation of exercise metrics as a continuous input can impact glycemic control.

RESULTS

Incorporating ALPHA, ISA, and physical activity into the MPC improved glycemic outcome measures. The adaptive learning postprandial hypoglycemia prevention algorithm combined with ISA significantly reduced time spent in hypoglycemia by 71.7% and the total number of rescue carbs by 67.8% to 0.37% events/day/patient. Insulin sensitivity adaptation significantly reduced model-actual mismatch by 12.2% compared to an AP without ISA. Incorporating physical activity as a continuous input modestly improved time in the range 70 to 180 mg/dL during high physical activity days from 84.4% to 84.9% and reduced the percentage time in hypoglycemia by 23.8% from 2.1% to 1.6%.

CONCLUSION

Adapting postprandial insulin delivery, insulin sensitivity, and adapting to physical exercise in an MPC-based AP systems can improve glycemic outcomes.

Diabetes Technology: Monitoring, Analytics, and Optimal Control

Over the past 50 years, the diabetes technology field progressed remarkably through self-monitoring of blood glucose (SMBG), continuous subcutaneous insulin infusion (CSII), risk and variability analysis, mathematical models and computer simulation of the human metabolic system, real-time continuous glucose monitoring (CGM), and control algorithms driving closed-loop control systems known as the "artificial pancreas" (AP). This review follows these developments, beginning with an overview of the functioning of the human metabolic system in health and in diabetes and of its detailed quantitative network modeling. The review continues with a brief account of the first AP studies that used intravenous glucose monitoring and insulin infusion, and with notes about CSII and CGM-the technologies that made possible the development of contemporary AP systems. In conclusion, engineering lessons learned from AP research, and the clinical need for AP systems to prove their safety and efficacy in large-scale clinical trials, are outlined.

Glucose-responsive insulin by molecular and physical design

The concept of a glucose-responsive insulin (GRI) has been a recent objective of diabetes technology. The idea behind the GRI is to create a therapeutic that modulates its potency, concentration or dosing relative to a patient's dynamic glucose concentration, thereby approximating aspects of a normally functioning pancreas. From the perspective of the medicinal chemist, the GRI is also important as a generalized model of a potentially new generation of therapeutics that adjust potency in response to a critical therapeutic marker. The aim of this Perspective is to highlight emerging concepts, including mathematical modelling and the molecular engineering of insulin itself and its potency, towards a viable GRI. We briefly outline some of the most important recent progress toward this goal and also provide a forward-looking viewpoint, which asks if there are new approaches that could spur innovation in this area as well as to encourage synthetic chemists and chemical engineers to address the challenges and promises offered by this therapeutic approach.

Optimal regulation of blood glucose level in Type I diabetes using insulin and glucagon

The Glucose-Insulin-Glucagon nonlinear model accurately describes how the body responds to exogenously supplied insulin and glucagon in patients affected by Type I diabetes. Based on this model, we design infusion rates of either insulin (monotherapy) or insulin and glucagon (dual therapy) that can optimally maintain the blood glucose level within desired limits after consumption of a meal and prevent the onset of both hypoglycemia and hyperglycemia. This problem is formulated as a nonlinear optimal control problem, which we solve using the numerical optimal control package PSOPT. Interestingly, in the case of monotherapy, we find the optimal solution is close to the standard method of insulin based glucose regulation, which is to assume a variable amount of insulin half an hour before each meal. We also find that the optimal dual therapy (that uses both insulin and glucagon) is better able to regulate glucose as compared to using insulin alone. We also propose an ad-hoc rule for both the dosage and the time of delivery of insulin and glucagon.

Automated closed-loop control of diabetes: the artificial pancreas

The incidence of Diabetes Mellitus is on the rise worldwide, which exerts enormous health toll on the population and enormous pressure on the healthcare systems. Now, almost hundred years after the discovery of insulin in 1921, the optimization problem of diabetes is well formulated as maintenance of strict glycemic control without increasing the risk for hypoglycemia. External insulin administration is mandatory for people with type 1 diabetes; various medications, as well as basal and prandial insulin, are included in the daily treatment of type 2 diabetes. This review follows the development of the Diabetes Technology field which, since the 1970s, progressed remarkably through continuous subcutaneous insulin infusion (CSII), mathematical models and computer simulation of the human metabolic system, real-time continuous glucose monitoring (CGM), and control algorithms driving closed-loop control systems known as the "artificial pancreas" (AP). All of these developments included significant engineering advances and substantial bioelectronics progress in the sensing of blood glucose levels, insulin delivery, and control design. The key technologies that enabled contemporary AP systems are CSII and CGM, both of which became available and sufficiently portable in the beginning of this century. This powered the quest for wearable home-use AP, which is now under way with prototypes tested in outpatient studies during the past 6 years. Pivotal trials of new AP technologies are ongoing, and the first hybrid closed-loop system has been approved by the FDA for clinical use. Thus, the closed-loop AP is well on its way to become the digital-age treatment of diabetes.

Artificial Pancreas: Clinical Study in Latin America Without Premeal Insulin Boluses

BACKGROUND

Emerging therapies such as closed-loop (CL) glucose control, also known as artificial pancreas (AP) systems, have shown significant improvement in type 1 diabetes mellitus (T1DM) management. However, demanding patient intervention is still required, particularly at meal times. To reduce treatment burden, the automatic regulation of glucose (ARG) algorithm mitigates postprandial glucose excursions without feedforward insulin boluses. This work assesses feasibility of this new strategy in a clinical trial.

METHODS

A 36-hour pilot study was performed on five T1DM subjects to validate the ARG algorithm. Subjects wore a subcutaneous continuous glucose monitor (CGM) and an insulin pump. Insulin delivery was solely commanded by the ARG algorithm, without premeal insulin boluses. This was the first clinical trial in Latin America to validate an AP controller.

RESULTS

For the total 36-hour period, results were as follows: average time of CGM readings in range 70-250 mg/dl: 88.6%, in range 70-180 mg/dl: 74.7%, <70 mg/dl: 5.8%, and <50 mg/dl: 0.8%. Results improved analyzing the final 15-hour period of this trial. In that case, the time spent in range was 70-250 mg/dl: 94.7%, in range 70-180 mg/dl: 82.6%, <70 mg/dl: 4.1%, and <50 mg/dl: 0.2%. During the last night the time spent in range was 70-250 mg/dl: 95%, in range 70-180 mg/dl: 87.7%, <70 mg/dl: 5.0%, and <50 mg/dl: 0.0%. No severe hypoglycemia occurred. No serious adverse events were reported.

CONCLUSIONS

The ARG algorithm was successfully validated in a pilot clinical trial, encouraging further tests with a larger number of patients and in outpatient settings.

Improved Generalized Predictive Control Algorithm for Blood Glucose Control of Type 1 Diabetes

Artificial pancreas (AP) is an important treatment for patients with Type 1 diabetes (T1D). The control algorithm adopted in an AP system determines its reliability and accuracy. The generalized predictive control (GPC) is a representative adaptive control algorithm and has been widely applied to AP systems. However, we found that the traditional GPC controller does not work well for adolescents with T1D because of their high-fluctuating blood glucose and high insulin resistance. Here, we propose an improved GPC algorithm with an adaptive reference glucose trajectory and an adaptive softening factor. The slopes of the reference trajectory and the value of softening factor are calculated real-time on the basis of the blood glucose concentration (BGC) variations. In silico testing was done using the US Food and Drug Administration (FDA) approved virtual patient software T1D mellitus. The BGC trace and density of 20 patient-subjects (10 adults and 10 adolescents) were recorded. Results showed that the average BGC percentage within the target regions (70-180 mg/dL) of the tests with adaptive reference glucose trajectory and softening factor for adolescents (0.93 ± 0.07) was significantly higher than that of the traditional GPC algorithm tests (0.88 ± 0.11), suggesting that the control quality of the blood glucose of adolescents is significantly improved with our GPC algorithm. Therefore, our improved GPC controller is effective and should have a good applicability in AP systems.

Velocity-weighting & velocity-penalty MPC of an artificial pancreas: Improved safety & performance

A novel Model Predictive Control (MPC) law for the closed-loop operation of an Artificial Pancreas (AP) to treat type 1 diabetes is proposed. The contribution of this paper is to simultaneously enhance both the safety and performance of an AP, by reducing the incidence of controller-induced hypoglycemia, and by promoting assertive hyperglycemia correction. This is achieved by integrating two MPC features separately introduced by the authors previously to independently improve the control performance with respect to these two coupled issues. Velocity-weighting MPC reduces the occurrence of controller-induced hypoglycemia. Velocity-penalty MPC yields more effective hyperglycemia correction. Benefits of the proposed MPC law over the MPC strategy deployed in the authors' previous clinical trial campaign are demonstrated via a comprehensive in-silico analysis. The proposed MPC law was deployed in four distinct US Food & Drug Administration approved clinical trial campaigns, the most extensive of which involved 29 subjects each spending three months in closed-loop. The paper includes implementation details, an explanation of the state-dependent cost functions required for velocity-weighting and penalties, a discussion of the resulting nonlinear optimization problem, a description of the four clinical trial campaigns, and control-related trial highlights.

Model-Fusion-Based Online Glucose Concentration Predictions in People with Type 1 Diabetes

Accurate predictions of glucose concentrations are necessary to develop an artificial pancreas (AP) system for people with type 1 diabetes (T1D). In this work, a novel glucose forecasting paradigm based on a model fusion strategy is developed to accurately characterize the variability and transient dynamics of glycemic measurements. To this end, four different adaptive filters and a fusion mechanism are proposed for use in the online prediction of future glucose trajectories. The filter fusion mechanism is developed based on various prediction performance indexes to guide the overall output of the forecasting paradigm. The efficiency of the proposed model fusion based forecasting method is evaluated using simulated and clinical datasets, and the results demonstrate the capability and prediction accuracy of the data-based fusion filters, especially in the case of limited data availability. The model fusion framework may be used in the development of an AP system for glucose regulation in patients with T1D.

Higher Order Sliding Mode Control for Blood Glucose Regulation of Type 1 Diabetic Patients

Type 1 diabetes mellitus (T1DM) treatment depends on the delivery of exogenous insulin to obtain near normal glucose levels. This article proposes a method for blood glucose level regulation in type 1 diabetics. The control strategy is based on comparing the first order sliding mode control (FOSMC) with a higher order SMC based on the super twisting control algorithm. The higher order sliding mode is used to overcome chattering, which can induce some undesirable and harmful phenomena for human health. In order to test the controller in silico experiments, Bergman's minimal model is used for studying the dynamic behavior of the glucose and insulin inside human body. Simulation results are presented to validate the effectiveness and the good performance of this control technique. The obtained results clearly reveal improved performance of the proposed higher order SMC in regulating the blood glucose level within the normal glycemic range in terms of accuracy and robustness.

Extremum Seeking Control for Personalized Zone Adaptation in Model Predictive Control for Type 1 Diabetes

Zone model predictive control has proven to be an effective closed-loop method to regulate blood glucose for people with type 1 diabetes (T1D). In this paper, we present a universal model-free optimization scheme for adapting the zone for T1D patients individually. The adaptation is based on a clinical glycemic risk index named relative regularized glycemic penalty index (rrGPI), which is calculated from glucose measurements by a continuous glucose monitor. The scheme's objective is to minimize rrGPI by simultaneously modulating a controller's blood glucose target zone's upper bound and lower bound. The adaptation mechanism is based on extremum seeking control, in which the zone boundaries are driven by gradient estimation obtained by continuously sinusoidally modulating and demodulating the rrGPI readings. To improve the adaptation method's robustness against uncertainties, a decaying feedback gain and a vanishing dither signal are employed. in-silico trials suggested that the personalized optimized zone can be reached within a week of adaptation. Both for announced and unannounced meals, the proposed method outperforms the fixed zone [80, 140] mg/dL, which has been employed in the authors' clinical trials. It is also shown that the developed method has strong robustness against real-life uncertainties.

Rational Design of Glucose-Responsive Insulin Using Pharmacokinetic Modeling

A glucose responsive insulin (GRI) is a therapeutic that modulates its potency, concentration, or dosing of insulin in relation to a patient's dynamic glucose concentration, thereby approximating aspects of a normally functioning pancreas. Current GRI design lacks a theoretical basis on which to base fundamental design parameters such as glucose reactivity, dissociation constant or potency, and in vivo efficacy. In this work, an approach to mathematically model the relevant parameter space for effective GRIs is induced, and design rules for linking GRI performance to therapeutic benefit are developed. Well-developed pharmacokinetic models of human glucose and insulin metabolism coupled to a kinetic model representation of a freely circulating GRI are used to determine the desired kinetic parameters and dosing for optimal glycemic control. The model examines a subcutaneous dose of GRI with kinetic parameters in an optimal range that results in successful glycemic control within prescribed constraints over a 24 h period. Additionally, it is demonstrated that the modeling approach can find GRI parameters that enable stable glucose levels that persist through a skipped meal. The results provide a framework for exploring the parameter space of GRIs, potentially without extensive, iterative in vivo animal testing.

Fractional calculus in pharmacokinetics

We are witnessing the birth of a new variety of pharmacokinetics where non-integer-order differential equations are employed to study the time course of drugs in the body: this is dubbed "fractional pharmacokinetics". The presence of fractional kinetics has important clinical implications such as the lack of a half-life, observed, for example with the drug amiodarone and the associated irregular accumulation patterns following constant and multiple-dose administration. Building models that accurately reflect this behaviour is essential for the design of less toxic and more effective drug administration protocols and devices. This article introduces the readers to the theory of fractional pharmacokinetics and the research challenges that arise. After a short introduction to the concepts of fractional calculus, and the main applications that have appeared in literature up to date, we address two important aspects. First, numerical methods that allow us to simulate fractional order systems accurately and second, optimal control methodologies that can be used to design dosing regimens to individuals and populations.

An Integrative multi-lineage model of variation in leukopoiesis and acute myelogenous leukemia

Background

Acute myelogenous leukemia (AML) progresses uniquely in each patient. However, patients are typically treated with the same types of chemotherapy, despite biological differences that lead to differential responses to treatment.

Results

Here we present a multi-lineage multi-compartment model of the hematopoietic system that captures patient-to-patient variation in both the concentration and rates of change of hematopoietic cell populations. By constraining the model against clinical hematopoietic cell recovery data derived from patients who have received induction chemotherapy, we identified trends for parameters that must be met by the model; for example, the mitosis rates and the probability of self-renewal of progenitor cells are inversely related. Within the data-consistent models, we found 22,796 parameter sets that meet chemotherapy response criteria. Simulations of these parameter sets display diverse dynamics in the cell populations. To identify large trends in these model outputs, we clustered the simulated cell population dynamics using k-means clustering and identified thirteen ‘representative patient’ dynamics. In each of these patient clusters, we simulated AML and found that clusters with the greatest mitotic capacity experience clinical cancer outcomes more likely to lead to shorter survival times. Conversely, other parameters, including lower death rates or mobilization rates, did not correlate with survival times.

Conclusions

Using the multi-lineage model of hematopoiesis, we have identified several key features that determine leukocyte homeostasis, including self-renewal probabilities and mitosis rates, but not mobilization rates. Other influential parameters that regulate AML model behavior are responses to cytokines/growth factors produced in peripheral blood that target the probability of self-renewal of neutrophil progenitors. Finally, our model predicts that the mitosis rate of cancer is the most predictive parameter for survival time, followed closely by parameters that affect the self-renewal of cancer stem cells; most current therapies target mitosis rate, but based on our results, we propose that additional therapeutic targeting of self-renewal of cancer stem cells will lead to even higher survival rates.

Electronic supplementary material

The online version of this article (doi:10.1186/s12918-017-0469-2) contains supplementary material, which is available to authorized users.

Application of Zone Model Predictive Control Artificial Pancreas During Extended Use of Infusion Set and Sensor: A Randomized Crossover-Controlled Home-Use Trial

OBJECTIVE

As artificial pancreas (AP) becomes standard of care, consideration of extended use of insulin infusion sets (IIS) and continuous glucose monitors (CGMs) becomes vital. We conducted an outpatient randomized crossover study to test the safety and efficacy of a zone model predictive control (zone-MPC)-based AP system versus sensor augmented pump (SAP) therapy in which IIS and CGM failures were provoked via extended wear to 7 and 21 days, respectively.

RESEARCH DESIGN AND METHODS

A smartphone-based AP system was used by 19 adults (median age 23 years [IQR 10], mean 8.0 ± 1.7% HbA1c) over 2 weeks and compared with SAP therapy for 2 weeks in a crossover, unblinded outpatient study with remote monitoring in both study arms.

RESULTS

AP improved percent time 70-140 mg/dL (48.1 vs. 39.2%; P = 0.016) and time 70-180 mg/dL (71.6 vs. 65.2%; P = 0.008) and decreased median glucose (141 vs. 153 mg/dL; P = 0.036) and glycemic variability (SD 52 vs. 55 mg/dL; P = 0.044) while decreasing percent time <70 mg/dL (1.3 vs. 2.7%; P = 0.001). AP also improved overnight control, as measured by mean glucose at 0600 h (140 vs. 158 mg/dL; P = 0.02). IIS failures (1.26 ± 1.44 vs. 0.78 ± 0.78 events; P = 0.13) and sensor failures (0.84 ± 0.6 vs. 1.1 ± 0.73 events; P = 0.25) were similar between AP and SAP arms. Higher percent time in closed loop was associated with better glycemic outcomes.

CONCLUSIONS

Zone-MPC significantly and safely improved glycemic control in a home-use environment despite prolonged CGM and IIS wear. This project represents the first home-use AP study attempting to provoke and detect component failure while successfully maintaining safety and effective glucose control.

Periodic zone-MPC with asymmetric costs for outpatient-ready safety of an artificial pancreas to treat type 1 diabetes. AUTOMATICA : THE JOURNAL OF IFAC, THE INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL 2016;71:237-246. [PMID: 27695131 PMCID: PMC5040369 DOI: 10.1016/j.automatica.2016.04.015]

A novel Model Predictive Control (MPC) law for an Artificial Pancreas (AP) to automatically deliver insulin to people with type 1 diabetes is proposed. The MPC law is an enhancement of the authors' zone-MPC approach that has successfully been trialled in-clinic, and targets the safe outpatient deployment of an AP. The MPC law controls blood-glucose levels to a diurnally time-dependent zone, and enforces diurnal, hard input constraints. The main algorithmic novelty is the use of asymmetric input costs in the MPC problem's objective function. This improves safety by facilitating the independent design of the controller's responses to hyperglycemia and hypoglycemia. The proposed controller performs predictive pump-suspension in the face of impending hypoglycemia, and subsequent predictive pump-resumption, based only on clinical needs and feedback. The proposed MPC strategy's benefits are demonstrated by in-silico studies as well as highlights from a US Food and Drug Administration approved clinical trial in which 32 subjects each completed two 25 hour closed-loop sessions employing the proposed MPC law.

Randomized Crossover Comparison of Personalized MPC and PID Control Algorithms for the Artificial Pancreas

OBJECTIVE

To evaluate two widely used control algorithms for an artificial pancreas (AP) under nonideal but comparable clinical conditions.

RESEARCH DESIGN AND METHODS

After a pilot safety and feasibility study (n = 10), closed-loop control (CLC) was evaluated in a randomized, crossover trial of 20 additional adults with type 1 diabetes. Personalized model predictive control (MPC) and proportional integral derivative (PID) algorithms were compared in supervised 27.5-h CLC sessions. Challenges included overnight control after a 65-g dinner, response to a 50-g breakfast, and response to an unannounced 65-g lunch. Boluses of announced dinner and breakfast meals were given at mealtime. The primary outcome was time in glucose range 70-180 mg/dL.

RESULTS

Mean time in range 70-180 mg/dL was greater for MPC than for PID (74.4 vs. 63.7%, P = 0.020). Mean glucose was also lower for MPC than PID during the entire trial duration (138 vs. 160 mg/dL, P = 0.012) and 5 h after the unannounced 65-g meal (181 vs. 220 mg/dL, P = 0.019). There was no significant difference in time with glucose <70 mg/dL throughout the trial period.

CONCLUSIONS

This first comprehensive study to compare MPC and PID control for the AP indicates that MPC performed particularly well, achieving nearly 75% time in the target range, including the unannounced meal. Although both forms of CLC provided safe and effective glucose management, MPC performed as well or better than PID in all metrics.

Hybrid Closed-Loop Insulin Delivery in Type 1 Diabetes During Supervised Outpatient Conditions

BACKGROUND

Efficacy and safety of the Medtronic Hybrid Closed-Loop (HCL) system were tested in subjects with type 1 diabetes in a supervised outpatient setting.

METHODS

The HCL system is a prototype research platform that includes a sensor-augmented insulin pump in communication with a control algorithm housed on an Android-based cellular device. Nine subjects with type 1 diabetes (5 female, mean age 53.3 years, mean A1C 7.2%) underwent 9 studies totaling 571 hours of closed-loop control using either default or personalized parameters. The system required meal announcements with estimates of carbohydrate (CHO) intake that were based on metabolic kitchen quantification (MK), dietician estimates (D), or subject estimates (Control). Postprandial glycemia was compared for MK, D, and Control meals.

RESULTS

The overall sensor glucose mean was 145 ± 43, the overall percentage time in the range 70-180 mg/dL was 80%, the overall percentage time <70 mg/dL was 0.79%. Compared to intervals of default parameter use (225 hours), intervals of personalized parameter use (346 hours), sensor glucose mean was 158 ± 49 and 137 ± 37 mg/dL (P < .001), respectively, and included more time in range (87% vs 68%) and less time below range (0.54% vs 1.18%). Most subjects underestimated the CHO content of meals, but postprandial glycemia was not significantly different between MK and matched Control meals (P = .16) or between D and matched Control meals (P = .76). There were no episodes of severe hypoglycemia.

CONCLUSIONS

The HCL system was efficacious and safe during this study. Personally adapted HCL parameters were associated with more time in range and less time below range than default parameters. Accurate estimates of meal CHO did not contribute to improved postprandial glycemia.

Tackling problem nonlinearities & delays via asymmetric, state-dependent objective costs in MPC of an artificial pancreas

The design of a Model Predictive Control (MPC) law for an Artificial Pancreas (AP) that automatically delivers insulin to people with type 1 diabetes mellitus is considered. An MPC law was recently proposed that exploits the simplicity of linear dynamical models, but is in two ways a 'nonlinear' departure of standard linear MPC, while circumnavigating the complexity of cumbersome, fully nonlinear MPC approaches. The first of two issues focused on is the nonlinearity of the control problem, and it is demonstrated how this can be tackled via asymmetric objective functions. The second issue is controller induced hypoglycemia resulting from the large delay in actuation and sensing. The proposed MPC strategy employs an asymmetric, state-dependent objective function that leads to a nonlinear optimization problem. The result is an AP controller with significantly elevated safety and comparable control performance. The contribution of this paper is a detailed in-silico analysis of the proposed control law, and a clinical demonstration of the benefits of asymmetric objective functions.

Identification of Main Factors Explaining Glucose Dynamics During and Immediately After Moderate Exercise in Patients With Type 1 Diabetes

BACKGROUND

Physical activity is recommended for patients with type 1 diabetes (T1D). However, without proper management, it can lead to higher risk for hypoglycemia and impaired glycemic control. In this work, we identify the main factors explaining the blood glucose dynamics during exercise in T1D. We then propose a prediction model to quantify the glycemic drop induced by a mild to moderate physical activity.

METHODS

A meta-data analysis was conducted over 59 T1D patients from 4 different studies in the United States and France (37 men and 22 women; 47 adults; weight, 71.4 ± 10.6 kg; age, 42 ± 10 years; 12 adolescents: weight, 60.7 ± 12.5 kg; age, 14.0 ± 1.4 years). All participants had physical activity between 3 and 5 pm at a mild to moderate intensity for approximately 30 to 45 min. A multiple linear regression analysis was applied to the data to identify the main parameters explaining the glucose dynamics during such physical activity.

RESULTS

The blood glucose at the beginning of exercise ([Formula: see text]), the ratio of insulin on board over total daily insulin ([Formula: see text]) and the age as a categorical variable (1 for adult, 0 for adolescents) were significant factors involved in glucose evolution at exercise (all P < .05). The multiple linear regression model has an R-squared of .6.

CONCLUSIONS

The main factors explaining glucose dynamics in the presence of mild-to-moderate exercise in T1D have been identified. The clinical parameters are formally quantified using real data collected during clinical trials. The multiple linear regression model used to predict blood glucose during exercise can be applied in closed-loop control algorithms developed for artificial pancreas.

Switched LPV Glucose Control in Type 1 Diabetes

OBJECTIVE

The purpose of this paper is to regulate the blood glucose level in Type 1 Diabetes Mellitus patients with a practical and flexible procedure that can switch among a finite number of distinct controllers, depending on the user's choice.

METHODS

A switched linear parameter-varying controller with multiple switching regions, related to hypo-, hyper-, and euglycemia situations, is designed. The key feature is to arrange the controller into a framework that provides stability and performance guaranty.

RESULTS

The closed-loop performance is tested on the complete in silico adult cohort of the UVA/Padova metabolic simulator, which has been accepted by the U.S. Food and Drug Administration in lieu of animal trials. The outcome produces comparable or improved results with respect to previous works.

CONCLUSION

The strategy is practical because it is based on a model tuned only with a priori patient information in order to cover the interpatient uncertainty. Results confirm that this control structure yields tangible improvements in minimizing risks of hyper- and hypoglycemia in scenarios with unannounced meals.

SIGNIFICANCE

This flexible procedure opens the possibility of taking into account, at the design stage, unannounced meals and/or patients' physical exercise.