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Derejko P, Janus I, Kułakowski P, Kuśnierz J, Baran J, Hangiel U, Proszek J, Frydrychowski P, Michałek M, Noszczyk-Nowak A. Bipolar endo-epicardial RF ablation: Animal feasibility study. Heart Rhythm 2024:S1547-5271(24)00126-7. [PMID: 38336196 DOI: 10.1016/j.hrthm.2024.02.009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 12/04/2023] [Revised: 01/13/2024] [Accepted: 02/05/2024] [Indexed: 02/12/2024]
Abstract
BACKGROUND Bipolar radiofrequency ablation (B-RFA) is a method used to treat the arrhythmia substrate resistant to unipolar ablation. Few studies have addressed endo-epicardial B-RFA. OBJECTIVE The aim of the study was to evaluate chronic lesions resulting from endo-epicardial B-RFA and to determine optimal settings for such procedures in an animal model. METHODS In 7 pigs, up to 5 radiofrequency applications per animal were performed with 2 electrodes placed on both sides of the left ventricular free wall. Current was delivered for 60 seconds by a generator dedicated for B-RFA with power settings of 25, 30, 35, 40, and 50 W. RESULTS At 12 weeks after ablation, 31 lesions were assessed. Their maximal cross-sectional area ranged from 7.2 to 68 mm2 and correlated with total power delivered (r = 0.53), with temperature increment at the endocardial catheter (r = 0.65), and inversely with temperature decrement at the epicardial catheter (r = 0.54). For power values between 30 and 40 W, the lesion area did not differ significantly (P = .92). Lesion depth ranged from 1.9 to 11 mm and correlated with impedance decrement (r = 0.5). Lesions were transmural in 8 cases. Lesion depth/wall thickness ratio was on average 0.6 ± 0.3, with the smallest value for 25 W (0.5 ± 0.3) and the largest for 50 W (0.8 ± 0.3). Steam pops occurred at a power range of 30-50 W, with an incidence of 1 in 5 applications, with 1 case of fatal tamponade at 40 W. Impedance decrement, endocardial catheter temperature increment, and endocardial electrogram amplitude decrement were greater during applications with steam pops. CONCLUSION Chronic lesions resulting from endo-epicardial B-RFA appear smaller and less often transmural compared with acute lesions described in the literature. The incidence of steam pops during endo-epicardial B-RFA is relatively high even at low powers.
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Affiliation(s)
- Paweł Derejko
- Department of Cardiology, Medicover Hospital, Warsaw, Poland; Department of Cardiac Arrhythmias, National Institute of Cardiology, Warsaw, Poland.
| | - Izabela Janus
- Faculty of Veterinary Medicine, University of Environmental and Life Sciences, Wroclaw, Poland
| | - Piotr Kułakowski
- Department of Cardiology, Centre for Postgraduate Medical Education, Grochowski Hospital, Warsaw, Poland
| | - Jacek Kuśnierz
- Department of Cardiology, Medicover Hospital, Warsaw, Poland
| | - Jakub Baran
- Department of Cardiology, Centre for Postgraduate Medical Education, Grochowski Hospital, Warsaw, Poland
| | | | | | - Piotr Frydrychowski
- Faculty of Veterinary Medicine, University of Environmental and Life Sciences, Wroclaw, Poland
| | - Marcin Michałek
- Faculty of Veterinary Medicine, University of Environmental and Life Sciences, Wroclaw, Poland
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Kawicka M, Lewicki M, Frydrychowski P, Michałek M, Noszczyk-Nowak A. Comparative analysis of ECG records depending on body position in domestic swine (Sus scrofa domestica). Porcine Health Manag 2022; 8:39. [PMID: 36123754 PMCID: PMC9484185 DOI: 10.1186/s40813-022-00282-x] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/05/2022] [Accepted: 09/08/2022] [Indexed: 11/10/2022] Open
Abstract
Background Electrocardiography is a method widely applied in diagnosing abnormalities in the functioning of the heart muscle in veterinary medicine. It is a non-invasive and easy to perform test helpful in the general examination and a widely used patient monitoring method during anesthesia. Since the 1980s, pigs have become more and more popular companion animals. Moreover, the pig is a widely used model animal in biomedical research. Therefore, there is need to provide them with higher-quality veterinary services, also in emergency situations. It creates new challenges for veterinarians and the need to expand their knowledge of pigs’ treatment as pets. The aim of the planned experiment was to compare the ECG recordings made with two different body positions and determine if any differences occurred. Standard ECG in swine is performed under general anesthesia in the lying position on the left side, for this position of the body have been developed and reported standards in the literature. However, some procedures performed on swine require a different body position, for which there is less data in the literature.
Methods The study was carried out on 29 Polish landrace pigs weighing in the range of 33–44 kg. The tests were performed under general anesthesia with the same protocol for each animal, placing the animals first lying down on their right side, and then on their backs. The anesthesia protocol included medetomidine, midazolam, ketamine, and propofol. During the examination, ECG records were performed and analyzed in a 12-lead system with software support. Results The results show significant differences in electrocardiogram recordings depending on the animal's body position. Those differences mainly concern the amplitude of the P wave and R wave in the recordings and are even more visible comparing the electrocardiograms of the same specimen. There are also some significant differences in the duration of intervals. Based on the obtained results, reference ranges for the right lateral and dorsal positions were developed. Conclusion In conclusion, the body position has a significant impact on the ECG recording in swine, therefore performing this examination, chosen normative value tables should be compatible with the position of the examined animal.
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Affiliation(s)
- Marta Kawicka
- The Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, 31 Norwida St., 50-357, Wrocław, Poland
| | - Maksymilian Lewicki
- The Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, 31 Norwida St., 50-357, Wrocław, Poland
| | - Piotr Frydrychowski
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, The Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, 47 Grunwaldzki Square, 50-366, Wrocław, Poland
| | - Marcin Michałek
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, The Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, 47 Grunwaldzki Square, 50-366, Wrocław, Poland
| | - Agnieszka Noszczyk-Nowak
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, The Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, 47 Grunwaldzki Square, 50-366, Wrocław, Poland.
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Abstract
In clinical practice, atrial fibrillation (AF) is the most common cardiac arrhythmia in humans and it may lead to numerous complications, including central nervous system embolism. The electrical activity of the heart in AF is rapid and chaotic, while the atrioventricular conduction leads to irregular ventricular contraction. Consequently, the stroke volume is reduced, which may lead to symptoms of heart failure. Heart failure is one of the causes of AF as well. Numerous in vivo and in vitro models are used to study the pathophysiology of AF. Animal models play a key role in understanding the mechanisms of arrhythmias as well as in developing treatment regimens. The models of AF include large animals (goats, sheep, pigs, dogs) as well as small laboratory animals. This study reviews the large animal models of AF, which enhance our understanding of numerous mechanisms responsible for the development of AF, but we must be aware that the pathomechanism of AF in humans is complex and is affected by numerous factors, including environmental and congenital ones.
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Affiliation(s)
- Piotr Frydrychowski
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Poland
| | - Marcin Michałek
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Poland
| | - Agnieszka Sławuta
- Department of Internal and Occupational Diseases, Hypertension and Clinical Oncology, Wroclaw Medical University, Poland
| | - Agnieszka Noszczyk-Nowak
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Poland
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Michałek M, Tabiś A, Pasławska U, Noszczyk-Nowak A. Antioxidant defence and oxidative stress markers in cats with asymptomatic and symptomatic hypertrophic cardiomyopathy: a pilot study. BMC Vet Res 2020; 16:26. [PMID: 32000761 PMCID: PMC6990494 DOI: 10.1186/s12917-020-2256-3] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/13/2018] [Accepted: 01/23/2020] [Indexed: 01/02/2023] Open
Abstract
Background Hypertrophic cardiomyopathy is the most common cardiovascular cause of death in cats. Although the majority of cats remain asymptomatic, some may develop signs of chronic heart failure due to diastolic failure, arterial thromboembolism (ATE) or sudden cardiac death. Therefore, it is crucial to identify individuals that are in high risk of developing cardiac complications before the onset of life-threatening signs. Oxidative stress is the imbalance between the production and neutralisation of reactive oxygen species. Uncontrolled reactive oxygen species overproduction leads to protein and lipid peroxidation and damages the DNA strands, injuring the cells and leading to their death. The aim of the study was to evaluate the oxidative state in cats with hypertrophic cardiomyopathy and healthy controls. Results In total, 30 cats divided into three groups were assessed: animals with clinically evident hypertrophic cardiomyopathy (HCM; n = 8), subclinical hypertrophic cardiomyopathy (SUB-HCM; n = 11) and healthy controls (n = 11). The activity of superoxide dismutase was statistically significantly lower in animals with symptomatic and asymptomatic hypertrophic cardiomyopathy (HCM 0.99 ± 0.35 U/mL; SUB-HCM 1.39 ± 0.4 U/mL) compared to healthy cats (2.07 ± 0.76 U/mL, p < 0.01). The activity of catalase was significantly lower in the SUB-HCM group (19.4 ± 4.2 nmol/min/mL) compared to the HCM (23.6 ± 5.9 nmol/min/mL) and the control (30 ± 7.5 nmol/min/mL, p < 0.01) group. The activity of glutathione peroxidase was 4196 ± 353 nmol/min/mL in the HCM group, 4331 ± 451 nmol/min/mL in the SUB-HCM group and 4037 ± 341 nmol/min/mL in the control group and did not differ significantly between groups. The total antioxidant capacity of plasma was 602 ± 65.5 copper reducing equivalents (CRE) in the HCM group, 605.9 ± 39.9 CRE in the SUB-HCM group and 629 ± 77.5 CRE in the healthy cats and did not differ significantly between the groups. Conclusions Activities of superoxide dismutase and catalase differed in cats with hypertrophic cardiomyopathy, however the activity of the latter was only significantly lower in asymptomatic stage of the disease. The potentially beneficial effect of antioxidative substances on the disease progression in the asymptomatic and symptomatic stage of this disease should also be examined.
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Affiliation(s)
- Marcin Michałek
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Grunwaldzki sq. 47, Wrocław, 50-366, Poland.
| | - Aleksandra Tabiś
- Department of Food Hygiene and Consumer Health, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, C.K. Norwida 31, Wrocław, 50-375, Poland
| | - Urszula Pasławska
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Grunwaldzki sq. 47, Wrocław, 50-366, Poland
| | - Agnieszka Noszczyk-Nowak
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Grunwaldzki sq. 47, Wrocław, 50-366, Poland
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Michałek M, Tabiś A, Cepiel A, Noszczyk-Nowak A. Antioxidative enzyme activity and total antioxidant capacity in serum of dogs with degenerative mitral valve disease. Can J Vet Res 2020; 84:67-73. [PMID: 31949330 PMCID: PMC6923815] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Subscribe] [Scholar Register] [Received: 12/26/2018] [Accepted: 04/12/2019] [Indexed: 06/10/2023]
Abstract
This study was designed to evaluate the antioxidative status of serum by measuring its total antioxidant capacity, as well as the antioxidant enzyme activity (superoxide dismutase, catalase, and glutathione reductase), in dogs with various stages of degenerative mitral valve disease (DMVD) compared to healthy controls. In total, 71 client-owned dogs in different stages of DMVD, which included healthy controls, took part in the study. Following an anamnesis, clinical examination, standard transthoracic echocardiograpic examination, chest X-ray, complete blood (cell) count, and serum biochemistry, dogs were divided into 2 study groups. Blood was drawn from each dog once at the time of presentation and selected antioxidant parameters were measured using commercially available assay kits. The activity of superoxide dismutase gradually decreased in the more advanced stages of DMVD, while the activity of catalase was significantly higher in the group of dogs with asymptomatic DMVD compared to healthy controls and dogs with symptomatic DMVD. No significant changes were noted in total antioxidant capacity and the activity of glutathione reductase. Results suggested that DMVD has a significant impact on the activity of superoxide dismutase and catalase in the serum of the tested dogs. Knowledge of changes in the activity of antioxidative enzymes may warrant further studies, possibly to evaluate the potential role of compounds with antioxidative properties in the clinical outcome of dogs with DMVD.
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Affiliation(s)
- Marcin Michałek
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats (Michałek, Cepiel, Noszczyk-Nowak) and Department of Food Hygiene and Consumer Health (Tabiś), Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Wroclaw, Poland
| | - Aleksandra Tabiś
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats (Michałek, Cepiel, Noszczyk-Nowak) and Department of Food Hygiene and Consumer Health (Tabiś), Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Wroclaw, Poland
| | - Alicja Cepiel
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats (Michałek, Cepiel, Noszczyk-Nowak) and Department of Food Hygiene and Consumer Health (Tabiś), Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Wroclaw, Poland
| | - Agnieszka Noszczyk-Nowak
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats (Michałek, Cepiel, Noszczyk-Nowak) and Department of Food Hygiene and Consumer Health (Tabiś), Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences, Wroclaw, Poland
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Noszczyk-Nowak A, Michałek M, Janiszewski A, Kurosad A, Sławuta A, Cepiel A, Pasławska U. Analysis of Haematological and Biochemical Blood Parameters After Electrical Cardioversion of Atrial Fibrillation in Dogs. J Vet Res 2018; 62:109-112. [PMID: 29978135 PMCID: PMC5957469 DOI: 10.1515/jvetres-2018-0015] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/08/2017] [Accepted: 03/09/2018] [Indexed: 11/15/2022] Open
Abstract
Introduction Electrical cardioversion is a therapeutic procedure used to convert various types of arrhythmias back to sinus rhythm. It is used to restore the sinus rhythm in dogs with atrial fibrillation. The effect of the electrical energy used during cardioversion on red blood cells (RBC) is not fully understood. Studies on humans reported lysis of RBC following electrical cardioversion. Similar studies have not been carried out on dogs. The aim of the study was to assess the effect of electrical cardioversion on chosen RBC parameters. Material and Methods The study was carried out on 14 large and giant breed dogs weighing from 30 to 84 kg with lone atrial fibrillation (lone AF). Electrical cardioversion was carried out under general anaesthesia by biphasic shock with 70-360 J of energy. Blood was collected at T0 - during atrial fibrillation, prior to cardioversion, and at T1 - 30 min after electrical cardioversion. Complete blood counts as well as total and direct bilirubin concentrations were evaluated. A maximum output of 360 J was used. Results In all cases, electrical cardioversion was effective, and no significant changes in the number of RBC and RBC indices were noted. Similarly, there were no statistically significant differences in the levels of total and direct bilirubin. Conclusion Electrical cardioversion in dogs led neither to statistically nor clinically significant RBC lysis.
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Affiliation(s)
- Agnieszka Noszczyk-Nowak
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs, and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences,50-366Wrocław, Poland
| | - Marcin Michałek
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs, and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences,50-366Wrocław, Poland
- E-mail:
| | - Adrian Janiszewski
- Centre for Experimental Diagnostics and Biomedical Innovations, 50-366, Wrocław, Poland
| | - Agnieszka Kurosad
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs, and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences,50-366Wrocław, Poland
| | - Agnieszka Sławuta
- Department of Cardiology, Kłodzko County Hospital, 57-300Kłodzko, Poland
| | - Alicja Cepiel
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs, and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences,50-366Wrocław, Poland
| | - Urszula Pasławska
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs, and Cats, Faculty of Veterinary Medicine, Wrocław University of Environmental and Life Sciences,50-366Wrocław, Poland
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Martynowicz H, Michałek M, Wieczorek T, Smardz J, Grychowska N, Więckiewicz M, Poręba R, Skomro R, Wojakowska A, Dymczyk P, Ziętek M, Zrąbkowski M, Mazur G. Obstructive sleep apnea in young, healthy patients with sleep bruxism- the preliminary study. Sleep Med 2017. [DOI: 10.1016/j.sleep.2017.11.647] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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Noszczyk-Nowak A, Michałek M, Kałuża E, Cepiel A, Pasławska U. Prevalence of Arrhythmias in Dogs Examined between 2008 and 2014. J Vet Res 2017; 61:103-110. [PMID: 29978061 PMCID: PMC5894409 DOI: 10.1515/jvetres-2017-0013] [Citation(s) in RCA: 22] [Impact Index Per Article: 3.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/17/2016] [Accepted: 03/08/2017] [Indexed: 11/15/2022] Open
Abstract
Introduction The prevalence of arrhythmias in dogs and the influence of sex, breed, age, and body weight were analysed over a seven-year span. Material and Methods In total, 1189 referrals for cardiological examination by electrocardiography were received at one academic centre in Poland between 2008 and 2014. The largest proportion of the examined dogs were cross-breeds with body weight below 25 kg (n = 153, 12.87%), followed by German Shepherds (n = 122, 10.26%), Labrador Retrievers (n = 68, 5.72%), Yorkshire Terriers (n = 63, 5.3%), and Boxers (n = 60, 5.05%). Retrospective analysis was made of 1201 standing or right recumbent electrocardiograms without pharmacological sedation. The prevalence of arrhythmias was examined in terms of sex, age, body weight, and breed of the dogs. Results A total of 630 (52.46%) electrocardiograms showed no signs of arrhythmia, but 96 (7.99%) and 475 (39.55%) pointed to physiological and pathological arrhythmias respectively. The most commonly diagnosed type was atrial fibrillation with 33.68% incidence, followed by ventricular arrhythmias (28%), sinus pauses (27.58%), supraventricular arrhythmias (24%), and atrioventricular blocks (22.95%). Pathological arrhythmias were most commonly found in male dogs and in German Shepherds. Conclusions Atrial fibrillation predominated, followed by premature ventricular complexes. Male dogs were generally more prone to heart rhythm disturbances.
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Affiliation(s)
- Agnieszka Noszczyk-Nowak
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wroclaw University of Environmental and Life Sciences, 50-366 Wroclaw, Poland
| | - Marcin Michałek
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wroclaw University of Environmental and Life Sciences, 50-366 Wroclaw, Poland
| | - Ewelina Kałuża
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wroclaw University of Environmental and Life Sciences, 50-366 Wroclaw, Poland
| | - Alicja Cepiel
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wroclaw University of Environmental and Life Sciences, 50-366 Wroclaw, Poland
| | - Urszula Pasławska
- Department of Internal Medicine and Clinic of Diseases of Horses, Dogs and Cats, Faculty of Veterinary Medicine, Wroclaw University of Environmental and Life Sciences, 50-366 Wroclaw, Poland
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Nowacka-Leverton A, Michałek M, Pazderski D, Bartoszewicz A. Experimental verification of SMC with moving switching lines applied to hoisting crane vertical motion control. ISA Trans 2012; 51:682-693. [PMID: 22695291 DOI: 10.1016/j.isatra.2012.05.003] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/10/2011] [Revised: 04/09/2012] [Accepted: 05/13/2012] [Indexed: 06/01/2023]
Abstract
In this paper we propose sliding mode control strategies for the point-to-point motion control of a hoisting crane. The strategies employ time-varying switching lines (characterized by a constant angle of inclination) which move either with a constant deceleration or a constant velocity to the origin of the error state space. An appropriate design of these switching lines results in non-oscillatory convergence of the regulation error in the closed-loop system. Parameters of the lines are selected optimally in the sense of two criteria, i.e. integral absolute error (IAE) and integral of the time multiplied by the absolute error (ITAE). Furthermore, the velocity and acceleration constraints are explicitly taken into account in the optimization process. Theoretical considerations are verified by experimental tests conducted on a laboratory scale hoisting crane.
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Affiliation(s)
- A Nowacka-Leverton
- Technical University of Łódź, Institute of Automatic Control, Łódź, Poland.
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