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Abstract Mathematical models are increasingly being developed and calibrated in tandem with data collection, empowering scientists to intervene in real time based on quantitative model predictions. Well-designed experiments can help augment the predictive power of a mathematical model but the question of when to collect data to maximize its utility for a model is non-trivial. Here we define data as model-informative if it results in a unique parametrization, assessed through the lens of practical identifiability. The framework we propose identifies an optimal experimental design (how much data to collect and when to collect it) that ensures parameter identifiability (permitting confidence in model predictions), while minimizing experimental time and costs. We demonstrate the power of the method by applying it to a modified version of a classic site-of-action pharmacokinetic/pharmacodynamic model that describes distribution of a drug into the tumor microenvironment (TME), where its efficacy is dependent on the level of target occupancy in the TME. In this context, we identify a minimal set of time points when data needs to be collected that robustly ensures practical identifiability of model parameters. The proposed methodology can be applied broadly to any mathematical model, allowing for the identification of a minimally sufficient experimental design that collects the most informative data.
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A geometric characterization of observability in inertial parameter identification
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of conditions and without approximation. It can be applied to general open-chain kinematic trees ranging from industrial manipulators to legged robots, and it is the first solution for this broad set of systems that is provably correct. The high-level operation of the algorithm is based on a key observation: Undetectable changes in inertial parameters can be represented as sequences of inertial transfers across the joints. Drawing on the exponential parameterization of rigid-body kinematics, undetectable inertial transfers are analyzed in terms of observability from linear systems theory. This analysis can be applied recursively, and lends an overall complexity of O( N) to characterize parameter identifiability for a system of N bodies. Matlab source code for the new algorithm is provided.
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- Award ID(s):
- 2220924
- PAR ID:
- 10526674
- Publisher / Repository:
- SAGE Publications
- Date Published:
- Journal Name:
- The International Journal of Robotics Research
- Volume:
- 43
- Issue:
- 14
- ISSN:
- 0278-3649
- Format(s):
- Medium: X Size: p. 2274-2302
- Size(s):
- p. 2274-2302
- Sponsoring Org:
- National Science Foundation
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