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Technical note
a r t i c l e i n f o a b s t r a c t
Article history: This note describes the design and testing of a programmable pulsatile flow pump using an Arduino
Received 12 December 2016 micro-controller. The goal of this work is to build a compact and affordable system that can relatively
Revised 15 September 2017
easily be programmed to generate physiological waveforms. The system described here was designed to
Accepted 8 October 2017
be used in an in-vitro set-up for vascular access hemodynamics research, and hence incorporates a gear
pump that delivers a mean flow of 900 ml/min in a test flow loop, and a peak flow of 1106 ml/min. After
Keywords: a number of simple identification experiments to assess the dynamic behaviour of the system, a feed-
Pulsatile flow pump forward control routine was implemented. The resulting system was shown to be able to produce the
In-vitro targeted representative waveform with less than 3.6% error. Finally, we outline how to further increase
Hemodynamics
the accuracy of the system, and how to adapt it to specific user needs.
Arduino
Feed forward control © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.
https://doi.org/10.1016/j.medengphy.2017.10.006
1350-4533/© 2017 IPEM. Published by Elsevier Ltd. All rights reserved.
68 S. Drost et al. / Medical Engineering and Physics 51 (2018) 67–71
Table 1
Coefficients for Fourier series to construct wave-
form (cn∗ denotes the complex conjugate of cn ).
n cn
0 0.9
1 −0.015−i
2 −0.036 − 0.03i
3 −6 · 10−3 + 1.2 · 10−3 i
4 −0.012 + 6 · 10−4 i
c−n cn∗
Fig. 1. Experimental set-up (not to scale): Flow loop, consisting of reservoir (R),
flexible tubing, perspex tube (T), Transonic flow sensor (Q), and gear pump (P). Con-
trol loop, consisting of an Arduino (A) with a Solid State Relay (SSR). For monitoring
and identification a data acquisition card (N) and PC are used.
N 2π nt and read the resulting flow rates, respectively), and then the Mat-
Q (t ) = cn exp i , (1) lab script IdentifyPump.m for the actual identification (see sup-
T plementary material for the code).
n=−N
S. Drost et al. / Medical Engineering and Physics 51 (2018) 67–71 69
2.2.2. Control
Fig. 2 shows the control scheme that was used. The control of
the pump is based on a feed forward controller to achieve the de-
sired tracking behaviour, and a run-to-run controller that adds a
constant voltage to the feed forward signal during each period. The
value of this constant, c, is adapted at the end of each period as
c := c + γ (Q̄r − Q̄ ), where Q̄r is the mean reference flow, Q̄ is the
measured mean flow, and γ is a proportionality constant regulat-
ing the strength of the run-to-run controller, set to 5.0 in our case
(trial-and-error). In the control scheme block T is a delay of one
pulse cycle. The advantage of using a run-to-run controller is that
it will result in a correct mean flow, even if there are estimation
errors in the non-linear mapping and the dynamic response (Eqs. 4
and 5, respectively). The feed forward signal, uff , is calculated as:
−1 ωc2
uff = (P (s )F (s ) ) Q˜r + c, F (s ) =
(s + 2ζ ωc s + ωc2 )(s/ωc + 1 )
(3)
The low pass filter F(s) is needed to make the complete system
Fig. 3. Relation between the input voltage and the measured flow in steady state
strictly proper and hence invertible, ωc is the cut off frequency of (the dots represent measurement points, the drawn line shows the fitted function,
this filter in radians per second (set to 10 Hz in our case, using with the weight vector as mentioned in the text).
trial-and-error to balance between a sufficiently fast response on
the one hand, and highly oscillatory behaviour on the other).
3. Experiments
3.1.1. Non-linearity test. Fig. 4 shows this virtual flow with the gray line. The black
A set of driving voltages were set on the input of the pump line is the fitted response. For the present fit a quantity like the
system, and the resulting steady flow rates were measured. The root mean square error (RMSE) would not give much useful infor-
result is shown in Fig. 3. The dots show the measured steady state mation, as its value would be mainly determined by the noise level
values, and the line is the fitted function. The relation between the of the measured signal. Analysing the signals in the frequency do-
flow and the virtual flow is given by: main would be a better option, but is considered to be beyond the
scope of this work. Therefore the quality of the fitted response was
Q = p1 ln( p2 Q˜ + p3 ) + p4 , (4)
assessed visually, and only the final waveform was analysed quan-
where p1 to p4 are the fit parameters. This relation is not based titatively. The corresponding transfer function is
on the underlying physics, but on providing a good fit. The ap-
4617
plied weight vector is w = [0.5, 0.5, 1, 1, 5, 5, 1, 1, 1], for the mea- P (s ) = . (5)
sured flow rates Q = [0, 0.45, 0.62, 0.74, 0.84, 0.93, 1.05, 1.15, 1.21],
(s + 2.932 )(s2 + 2.6s + 1580 )
respectively. These coefficients were chosen to optimise the fit in The first part of the denominator represents the exponential in-
the working regime. crease/decline due to a step, with a time constant of 2.9 s, which
can be seen in Fig. 4. The second part of the denominator coin-
3.1.2. Linear system identification cides with the characteristic equation of a standard second order
A set of steps is applied to the pump and the actual flow is system, s2 + 2ζ ωr + ωr2 , with a relative damping of the character-
measured to identify the linear dynamic response. The non-linear istic equation, ζ = 0.03, and a resonance frequency, ωr = 6.3 Hz
mapping (2) is inverted to calculate the virtual flow in the step (39.7 rad/s). The convolution of these two terms determines the
70 S. Drost et al. / Medical Engineering and Physics 51 (2018) 67–71
t = 0.5 s. The origin of the deviation from the reference signal be-
tween 0.9 and 1.0 s (−3.5% at t = 0.97 s) is unclear and should
be investigated in more detail. The average error (average differ-
ence between the measured signal and the reference signal during
one period) is 1.3% of the target value, while the maximum error
is 3.6%, at t = 0.47 s. This is within the accuracy of the Transonic
flow sensor (4% for the ME 6PXN in-line sensor). Overall, the per-
formance of the system is good, with an accuracy that is perfectly
acceptable for in-vitro hemodynamics experiments.
For applications like the one discussed here, in which the tar- Supplementary material
geted waveform contains a relatively large DC-component, also de-
livering this DC-component separately can improve the accuracy. Supplementary material associated with this article can be
This can for example be done by combining two separate power found, in the online version, at 10.1016/j.medengphy.2017.10.006.
supplies, or two separate pumps (see e.g. [12]).
As a safety measure, a relief valve may be included in the flow References
loop, to prevent possible damage to the set-up in case the flow
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