1. A control system for maneuvering an underwater vehicle, said control system comprising:
a propulsor system positioned on the underwater vehicle; and
a controller operationally connected to said propulsor wherein said controller is capable recognizing at least two inferior olives such that a first inferior olive of the inferior olives oscillates in synchronism with a predetermined delay time t and a phase angle corresponding to a second inferior olive of the inferior olives to resolve nonlinear functions in response to disturbances when maneuvering;
wherein the inferior olives are controlled by synchronization of initial conditions of the first inferior olive and the second inferior olive such that a controlled output variable is chosen as
e(t)=hu(x1(t), x2(t\u2212td))=u1(t)\u2212u2(t\u2212td)
wherein a composite state vector for the inferior olives is defined as xa(t)=(x1(t)T, x2(t\u2212td)T \u03b5 R8 and a vector field is defined by
L
f
\ue89e
h
u
\ue8a0
(
x
a
\ue8a0
(
t
)
)
=
\u2202
h
\u2202
x
a
\ue89e
f
\ue8a0
(
x
a
\ue8a0
(
t
)
)
=
\u2202
h
u
\u2202
x
1
\ue89e
f
1
\ue8a0
(
x
1
\ue8a0
(
t
)
)
+
\u2202
h
u
\u2202
x
2
\ue89e
f
2
\ue8a0
(
x
2
\ue8a0
(
t
–
t
d
)
)
;
resolving
\ue89e
\ue89e
L
f
i
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h
u
\ue8a0
(
x
a
)
=
L
f
\ue89e
L
f
j
–
1
\ue89e
h
u
\ue8a0
(
x
a
\ue8a0
(
t
)
)
\ue89e
\ue89e
and
L
g
\ue89e
L
f
k
\ue89e
h
u
\ue8a0
(
x
a
)
=
\u2202
L
f
k
\ue89e
h
u
\u2202
x
a
\ue89e
g
wherein an input-output linearizing control law for the inferior olives programmable to the controller is selected by
u
c
\ue89e
\ue89e
1
=
b
u
\ue89e
\ue89e
1
–
1
\ue89e
(
–
a
u
\ue89e
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1
–
\u2211
j
=
0
3
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p
j
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L
f
j
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h
u
\ue8a0
(
x
a
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(
t
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)
.
2. A method for maneuvering an underwater vehicle, said method comprising the steps of:
providing at least two inferior olives;
resolving e=h(x1(t), x2(t\u2212td));
choosing an output variable
e(t)=hu(x1(t), x2(t\u2212td))=u1(t)\u2212u2(t\u2212td);
defining a composite state vector for the inferior olives as
xa(t)=(x1(t)T, x2(t\u2212td)T \u03b5 R8;
defining along a vector field
L
f
\ue89e
h
u
\ue8a0
(
x
a
\ue8a0
(
t
)
)
=
\u2202
h
\u2202
x
a
\ue89e
f
\ue8a0
(
x
a
\ue8a0
(
t
)
)
=
\u2202
h
u
\u2202
x
1
\ue89e
f
1
\ue8a0
(
x
1
\ue8a0
(
t
)
)
+
\u2202
h
u
\u2202
x
2
\ue89e
f
2
\ue8a0
(
x
2
\ue8a0
(
t
–
t
d
)
)
;
resolving
\ue89e
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L
f
i
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h
u
\ue8a0
(
x
a
)
=
L
f
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L
f
j
–
1
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h
u
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(
x
a
\ue8a0
(
t
)
)
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and
L
g
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L
f
k
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h
u
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(
x
a
)
=
\u2202
L
f
k
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h
u
\u2202
x
a
\ue89e
g
;
selecting an input-output linearizing control law
by
\ue89e
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u
c
\ue89e
\ue89e
1
=
b
u
\ue89e
\ue89e
1
–
1
\ue89e
(
–
a
u
\ue89e
\ue89e
1
–
\u2211
j
=
0
3
\ue89e
p
j
\ue89e
L
f
j
\ue89e
h
u
\ue8a0
(
x
a
\ue8a0
(
t
)
)
;
producing an output equation of the form
e(4)+p3e(3)+p2e(2)+p1\u0117+p0e=0;
synchronizing the inferior olives such that a first inferior olive of the inferior olives oscillates in synchronism with a delay time corresponding to a desired phase angle with respect to a second inferior olive of the inferior olives;
processing the synchronized inferior olives with a controller; and
maneuvering a propulsor of the underwater vehicle with the controller.
3. The method in accordance with claim 2, further comprising the step of obtaining frequencies of the inferior olives by time scaling.
4. A method for controlling an underwater vehicle, said method comprising the steps of:
providing at least two inferior olives;
choosing an output variable for the inferior olives
e(t)=hv(xa(t))=v1(t)\u2212v2(t\u2212td)={tilde over (v)}(t);
selecting an input-output linearizing control law by
u
c
\ue89e
\ue89e
1
=
b
v
\ue89e
\ue89e
1
–
1
(
–
a
v
\ue89e
\ue89e
1
–
\u2211
j
=
0
2
\ue89e
p
j
\ue89e
L
f
j
\ue89e
h
v
\ue8a0
(
x
a
\ue8a0
(
t
)
)
)
;
determining an output equation e(3)+p2e(2)+p1\u0117+p0e=0;
choosing gains pi such that a characteristic polynomial is
\u03a0v(\u03bb)=\u03bb3+p2\u03bb2+p1\u03bb+p0;
establishing residual dynamics such that an equilibrium point is asymptotically stable;
achieving local synchronization of the inferior olives such a first inferior olive of the inferior olives oscillates in synchronism with a delay time corresponding to a desired phase angle with respect to a second inferior olive of the inferior olives in a closed system;
processing the synchronized inferior olives with a controller; and
maneuvering a propulsor of the underwater vehicle with the controller.
5. The method in accordance with claim 4, said method further comprising the step of establishing asymptotic stability of the zero dynamics using a center manifold theorem.
6. A method for controlling an underwater vehicle, said method comprising the steps of:
providing at least two inferior olives;
choosing an output variable e(t)=z1(t)\u2212z2(t\u2212td)=hz(xa);
selecting an input-output linearizing control law by
u
c
\ue89e
\ue89e
1
=
b
z
\ue89e
\ue89e
1
–
1
\ue89e
(
–
a
z
\ue89e
\ue89e
1
–
\u2211
j
=
0
1
\ue89e
p
j
\ue89e
L
f
j
\ue89e
h
v
\ue8a0
(
x
a
\ue8a0
(
t
)
)
;
determining an output equation e(2)+p1\u0117+p0e=0;
choosing gains pi such that a characteristic polynomial is
\u03a0z(\u03bb)=\u03bb2+p1\u03bb+p0;
defining a composite state vector for the inferior olives as
xa(t)=(x1(t)T, x2(t\u2212td)T \u03b5 R8;
establishing residual dynamics such that an equilibrium point is asymptotically stable;
achieving local synchronization of the inferior olives such a first inferior olive of the inferior olives oscillates in synchronism with a delay time corresponding to a desired phase angle with respect to a second inferior olive of the inferior olives in a closed system;
processing the synchronized inferior olives with a controller; and
maneuvering a propulsor of the underwater vehicle with the controller.
7. A method for controlling an underwater vehicle, said method comprising the steps of:
providing at least two inferior olives;
choosing an output variable
e(t)=w1(t)\u2212w2(t\u2212td)={tilde over (w)}=hw(xa(t));
selecting an input-output control law by uc1={tilde over (z)}(t)+p0 \u03b5Ca\u22121 {tilde over (w)} thereby satisfying an output with {tilde over ({dot over (w)}+p0{tilde over (w)}=0 and in a closed-loop system {tilde over (w)} tends to zero;
establishing residual dynamics such that an equilibrium point is asymptotically stable;
achieving local synchronization of the inferior olives such a first inferior olive of the inferior olives oscillates in synchronism with a delay time corresponding to a desired phase angle with respect to a second inferior olive of the inferior olives in the closed system;
processing the synchronized inferior olives with a controller; and
maneuvering a propulsor of the underwater vehicle with the controller.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An apparatus for aspiration of material from within the body lumen, comprising:
a tubular device comprising a proximal end, a distal end sized for introduction into the body lumen, and an aspiration lumen extending between the proximal and distal ends, the tubular device comprising an inner liner defining the aspiration lumen, the inner liner comprising a coating on an inner surface thereof, the coating having properties selected to at least one of decrease resistance to flow of material aspirated through the tubular device and decrease the propensity of aspirated material to clog the aspiration lumen;
at least one passive macerating element positioned within the aspiration lumen; and
an aspiration source connectable to the tubular device such that the aspiration source communicates with the aspiration lumen to remove material from a body lumen within which the tubular device is introduced, the at least one passive macerating element adapted to passively cut or separate material as it is drawn into the aspiration lumen during aspiration by the aspiration source.
2. The tubular device of claim 1, wherein the distal end is sized for introduction into one of a coronary artery and an artery within the neurovasculature.
3. The tubular device of claim 1, wherein the coating comprises a fibrinolytic coating.
4. The tubular device of claim 1, wherein the coating comprises a hydrophilic coating.
5. The tubular device of claim 1, wherein the aspiration source comprises a vacuum source.
6. The tubular device of claim 5, wherein the vacuum source comprises at least one of a syringe, a vacuum pump, a vacuum bottle, and wall suction.
7. The tubular device of claim 5, wherein the vacuum source is intermittent or oscillatory.
8. The tubular device of claim 1, wherein the passive macerating element comprises one of a wire and a blade.
9. The tubular device of claim 1, further comprising an aspiration mechanism for removing at least one of embolic material, thrombus and plaque from the body lumen.
10. The tubular device of claim 1, wherein the aspiration lumen comprises a relatively smaller distal region and a relatively larger proximal region.
11. The tubular device of claim 1, further comprising a transport element carried by the tubular device for mechanically removing material from the body lumen within which the tubular device is introduced.
12. The tubular device of claim 11, wherein the transport element comprises an impeller.
13. An apparatus for aspiration of material from within a body lumen, comprising:
a tubular device comprising a proximal end, a distal end sized for introduction into the body lumen, and an aspiration lumen extending between the proximal and distal ends, the tubular device comprising an inner liner defining the aspiration lumen, a coating on an inner surface of the inner liner, and an outer tubular layer surrounding the inner liner, the coating comprising a fibrinolytic coating to decrease the propensity of aspirated material to clog the aspiration lumen;
an aspiration source connectable to the tubular device such that the aspiration source communicates with the aspiration lumen to remove material from a body lumen within which the tubular device is introduced; and
a passive macerating element mounted across the aspiration lumen to cut or separate material drawn into the aspiration lumen.
14. The tubular device of claim 13, wherein the coating further comprises a hydrophilic coating.
15. The tubular device of claim 13, wherein the macerating element comprises one or more wires or blades.
16. The tubular device of claim 13, further comprising a transport element within the aspiration lumen for mechanically removing material from the body lumen within which the tubular device is introduced.
17. The tubular device of claim 13, further comprising a reinforcing layer between the inner liner and the tubular layer.
18. A method for aspirating material within a body lumen, comprising:
providing a tubular device comprising an aspiration lumen extending between proximal and distal ends thereof, the tubular device comprising an inner liner defining the aspiration lumen, a coating on an inner surface of the inner liner, at least one passive macerating element within the aspiration lumen, and an outer tubular layer surrounding the inner liner, the coating having properties selected to at least one of decrease resistance to flow of material aspirated through the tubular device and decrease the propensity of aspirated material to clog the aspiration lumen;
introducing the distal end of the tubular device into the body lumen; and
coupling an aspiration source to the tubular device to aspirate material from the body lumen via the aspiration lumen, the at least one passive macerating element passively cutting or separating material as it is aspirated into the aspiration lumen.
19. The method of claim 18, wherein the tubular device further comprises a transport element within the aspiration lumen for mechanically removing material from the body lumen.
20. The method of claim 18, wherein the at least one passive macerating element within the aspiration lumen comprises a wire or blade that cuts or separates material aspirated into the aspiration lumen.
21. The method of claim 18, wherein the body lumen comprises an artery within the neurovasculature.
22. The apparatus of claim 13, wherein the aspiration lumen comprises a relatively smaller distal region extending proximally from the distal tip and a relatively larger proximal region to maximize the diameter of the aspiration lumen and thereby at least one of decrease resistance to flow of aspirated material through the aspiration lumen and decrease the propensity of aspirated material to clog the aspiration lumen.
23. The apparatus of claim 1, wherein the at least one passive macerating element is mounted across the aspiration lumen adjacent the distal end.