2-Input-2-Output Fuzzy Logic Based Hemodynamic Controller
Incorporate in a Non-Linear Canine Circulatory System Model

Non-Linear Circulatory Model originally developed by Clement Yu
Fuzzy-Logic Based Controller by Claudio Held
Pascal-to-C Translation by Johnnie Huang

Created on Nov. 3, 1994
Last Revised on Feb. 8, 1995

Please address all correspondences to:
Dr. Howard Kaufman
Department of Electrical, Computer, and System Engineering
Rensselaer Polytechnic Institute
Troy, NY 12180 USA
kaufmh@rpi.edu

Dr. Rob J. Roy
Department of Biomedical Engineering
Rensselaer Polytechnic Institute
Troy, NY 12180 USA
royr@rpi.edu

This is document accompanies the controller and the model program
which can be FTPed from the following site:

	ftp.rpi.edu/pub/biomed/fuzmodel.zip

or download via hypertext transfer protocol from:


	http://www.eng.rpi.edu:80/dept/biomed/WWW/roy_sftwr.html


For any inquries concerning this model or the embedded fuzzy controller,
please contact:

	huangj5@rpi.edu
	haha1234@aol.com

For information on customization of this program for testing other
prototype hemodynamic controller, please refer to CUSTOM.TXT
text file included with this program.

This text file contains the specifications and descriptions on compiling
and executing this program.

---------

RUNNING THE PROGRAM-

This program may be compiled with any ANSI C compiler.
When compiled on an UNIX system, use the following command:

	gcc -lm simulate.c -osimulate.exe


USER PROMPTS-  The program will ask the user for several inputs:

1:
	Enter filename for initializing circulatory values [*.nlm]:

Enter:
	The filename for one of the accompanied circulatory
	parameters data files.  These files have extension, *.nlm
	Example: Type 'new70.nlm'


2:
	Enter filename for initializing control values [*.fuz]:

Enter:
	The filename for one of the accompanied controller
	parameters.  These files have extension, *.fuz
	Example: Type 'c5_35.fuz'


3:
	Enter data file name ('temp' for default):

Enter:
	A filename which the output data will be dumped
	for analysis.  Default will be tempfile.
	Example: Type 'collect.dat'


Note- If a "Segmentation fault" error occurs, please
check if all the parameter files are in the same
directory.  Also note that the program may be case
sensitive (depending on your system).


DISPLAYED DATA-

The program will start running as soon as all the parameters
are entered correctly.  Each row displayed represents one
controller intervention.  The first column of the
data represents the simulated time in minutes.  The
second and third columns of the data represent the mean
arterial pressure (MAP) and cardiac output (CO).  The last
two columns are the infusion rates in ug/kg/min for sodium
nitroprusside (SNP) and dopamine (DPM) as set by the
controller.


CONFIGURING THE PROGRAM-

There are several parameters that can be modified in the codes
for further testing of the model and the controller when
needed.

The default duration of the simulation is 20 minutes.
This value can be modified at

	line#153

The circulatory model values can be modified.  These
are declared early in the program.  However, modifying these
values may cause serious changes to the entire model.

A Gaussian White Noise may be added to the simulation.  This
can be accomplished by removing the remark signs at

	line#575-581
	line#677-698
	line#728-739
	line#1465-1471

These lines include a 4th order Hamming Window which will
filter the noisy inputs to the controller.

The circulatory parameters which have the extension of *.nlm
represent different states in the model.  The file NEW70.NLM
represents a healthy dog with 100% heart contractility, with
no congested heart failure (CHF).  Any values below 70 represents
a diminished value for the heart contractility thus indicating
the occurance of CHF.  For example, NEW15.NLM represents
15/70*100%=21.4% of normal contractility.

There is only one controller parameter set, C5_35.FUZ included with
this demo packge.


CUSTOMIZATION-

To further customize the program, please refer to the attached
CUSTOM.TXT text file for more information.


NOTICE:

All floating-point variables in the program are declared using
the delcarator: LONG DOUBLE.  This will allow more digits to
be computed in order to achieve a higher precision.  However,
some compilers will not allow so much memory be allocated to
variable delcarations.  Therefore, you may changed LONG DOUBLE
to FLOAT and %lf to %f.  The changes will not cause great
differences in the overall performances.


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REFERENCES on the Non-Linear Model and/or the Fuzzy Logic Controller:

Gopinath R, Bequette BW, Kaufman H, Held CM, Huang JW, Roy RJ.  "Drug Delivery
Control System Challenge", Proc. of IEEE Conf. on Decision and Control, 1995.

Held CM, Roy RJ, "Multiple Drug Hemodynamic Control by Means of a S
upervisory-Fuzzy Rule Based Adaptive Control System:  Validation on a
Model," IEEE Trans. Biomed. Eng., April 1995, pp371-385

Yu C, Roy RJ, Kaufman H. "A Circulatory Model for Combined Nitroprusside-
Dopamine Therapy", Medical Progress Through Technology, 16:77-88, Kluwer
Academic Publishing,1990