CN115487388A - Closed-loop oxygen supply adjusting system based on oxyhemoglobin saturation feedback - Google Patents
Closed-loop oxygen supply adjusting system based on oxyhemoglobin saturation feedback Download PDFInfo
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Abstract
The invention provides a closed-loop oxygen supply regulating system based on oxyhemoglobin saturation feedback, which belongs to the technical field of human oxyhemoglobin saturation regulation and control, and comprises: the physiological detection module, the oxygen storage and delivery module and the oxygen supply intervention algorithm module; the physiological detection module is used for detecting physiological data of a user and transmitting the physiological data to the oxygen supply intervention algorithm module; the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and delivery module; and the oxygen storage and delivery module outputs oxygen under the control of the control signal.
Description
Technical Field
The invention belongs to the technical field of human oxyhemoglobin saturation regulation and control, and particularly relates to a closed-loop oxygen supply regulating system based on oxyhemoglobin saturation feedback.
Background
The high-altitude area mainly comprising the Qinghai-Tibet plateau in China occupies one fourth of the total area of the national soil, has wide area and rich resources, and has important military, economic and social strategic positions, however, the natural environment of the area is very severe, and a series of climate problems such as low oxygen and low pressure, dry and cold, overlarge wind speed, strong ultraviolet rays and the like exist. With the construction and improvement of the Qinghai-Tibet railway, the tourism industry in plateau areas is continuously developed vigorously, the number of tourists rapidly entering the plateau in low altitude areas for a long time is increased rapidly, a series of dangerous symptoms including headache, nausea, coma, even death and the like can possibly occur to people who are not suitable, and the health problems of the plateau are increasingly highlighted. In addition, although residents living in high altitude areas have certain physical adaptability to a low oxygen environment, the physiological state is always maintained at an undesirable level, and compared with normal people, the blood oxygen saturation and the heart rate of the residents are respectively too low and too fast, so that chronic altitude diseases are easily caused. Therefore, the guarantee and the promotion of the health quality of people in high altitude areas have great significance.
Thanks to the development of wearable devices and medical internet of things, a large amount of physiological monitoring information can be obtained and used for diagnosis, evaluation and treatment of diseases without affecting the normal life of people. Aiming at the process of altitude hypoxia injury, the blood oxygen saturation is known as the most direct and most effective physiological index, and secondly, the heart rate is the most effective physiological index, and a large number of medical researches use the two indexes as the judgment standard of altitude environment adaptability. Specifically, under normal circumstances, the individual should have a blood oxygen saturation of above 98% and a heart rate of 60-100 beats per minute. When the oxygen intake is too low, the blood oxygen level rapidly drops, and the heart rate significantly rises, which means that the current individual is in an anoxic state, and the health and safety are threatened. The fourth military medical university study shows that low-flow oxygen inhalation can improve physical ability and cognitive ability of the people who enter the primary and the long-lived plateaus (Shen G, wu X, tang C, et al. An oxygen evolution device for accessing and connecting to high activity [ J ]. Biomedical Engineering one, 2013, 12).
Existing oxygen delivery methods are based on open-loop structures for oxygen delivery, such as: when the hypoxia reaction is strong, the oxygen cylinder is used for active inhalation, and the hypoxia training device is adopted to supply high-concentration oxygen in a preset oxygen enrichment mode. Specifically, shenzhen, russian medical science and technology Limited developed a training system for intermittent high hypoxia and a training system and method for intermittent high hypoxia based on an intelligent algorithm (Wangbao, ologe xi Gelazahu, chenkuai, huxiao.intermittent high hypoxia training system [ P ]. Guangdong province: CN211214868U,2020-08-11. Wangbao, ologe xi Gelazahu, gujia, hutaimen, chenkui, huxiao.an intermittent high hypoxia training system and method [ P ]. Guangdong province: CN111009302A, 2020-04-14.) based on an intelligent algorithm. However, the above method lacks a systematic and personalized closed-loop strategy, and it is difficult to ensure benefit maximization intervention in resource-limited plateau environments. Although the closed-loop Control is effectively applied to a plurality of medical problems such as diabetes blood sugar regulation (Shi D, dassau E, doyle FJ. Adaptive Zone Model Predictive Control of Industrial personal computers Based on Glucose-and Velocity-Dependent Control of diabetes, IEEE Trans Biomed Eng.2019Apr;66 (4): 1045-1054.) and the like, how to design an effective closed-loop oxygen supply system and method from the standpoint of plateau health engineering is unclear.
Disclosure of Invention
In view of this, in consideration of the problems of limited oxygen content in high altitude areas, large oxygen supply equipment, lack of closed-loop intervention, no monitoring interaction platform and the like, a closed-loop oxygen supply regulation system based on blood oxygen saturation feedback is provided.
The technical scheme for realizing the invention is as follows:
a closed-loop oxygenation-based regulation system, comprising: the physiological detection module, the oxygen storage and delivery module and the oxygen supply intervention algorithm module; wherein
The physiological detection module is used for detecting physiological data of a user and transmitting the physiological data to the oxygen supply intervention algorithm module;
the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and delivery module; the system comprises two submodules, namely an upper-layer multi-parameter self-adaptive optimization submodule and a lower-layer closed-loop oxygen supply submodule;
the closed-loop oxygen supply sub-module calculates oxygen supply concentration as a control signal according to the blood oxygen saturation value detected by the physiological detection module based on the set state space model, the cost function and the constraint condition;
the multi-parameter self-adaptive optimization submodule obtains a state space model parameter estimation value and a blood oxygen saturation target interval at the current moment through iterative optimization by utilizing physiological data, model parameters and a blood oxygen saturation target interval which are collected by the physiological detection module, and outputs the state space model parameter estimation value and the blood oxygen saturation target interval to the closed-loop oxygen supply submodule for parameter updating;
and the oxygen storage and delivery module outputs oxygen under the control of the control signal.
Further, the physiological detection module of the present invention is a portable wearable device, and is configured to detect physiological data of a user, including: blood oxygen saturation, heart rate, blood pressure.
Further, the cost function of the present invention is:
wherein λ (d) k ) Is N y Step prediction time domain k step blood oxygen saturation value y k And a target interval
Distance penalty term of (d), Γ (u) k ) Is N u And controlling the penalty term of the oxygen concentration input value of the kth step in the time domain.
Further, the state space model of the present invention is:
x k+1 ＝f(x k ,u k ,w k |θ k )， (1)
y k ＝g(x k ,u k ,v k |γ k )， (2)
wherein, y k The blood oxygen saturation signal, x, detected for the k step k For the relevant state vector, u, composed of historical data k For delivery of oxygen concentration, w k And v k Representing system interference and measurements, respectivelyThe errors, f (-) and g (-) characterize the dynamics of the system, θ k And gamma k Are model parameters.
Further, the constraint conditions of the invention are as follows:
safety restraint:
wherein u is min And u max To input an oxygen concentration threshold, y min A blood oxygen saturation signal threshold required for physiological safety.
Further, the multi-parameter adaptive optimization submodule of the present invention utilizes the physiological data, the model parameters and the target interval of the blood oxygen saturation acquired by the physiological detection module to iteratively optimize to obtain the estimated value of the state space model parameters and the target interval of the blood oxygen saturation at the current moment as follows:
s.t.g 1 (Φ k )≤0
wherein the content of the first and second substances,
representing the set of parameters to be adapted at the sampling instant k, D k The data set contains physiological data detected by the physiological monitoring module, including blood oxygen saturation, heart rate and the like, f 1 (Φ k ) Target function, g, representing the performance of the blood oxygen saturation regulation 1 (Φ k ) ≦ 0 indicates the associated safety constraint.
Furthermore, the system also comprises a communication and transmission module, and wireless communication between the system and the outside is realized based on the communication and transmission module.
Furthermore, the system also comprises a cloud platform monitoring and interaction module which is integrated in the mobile terminal, stores, records and displays the monitored physiological signals, sets control targets and parameters, and generates alarms based on real-time physiological states to prompt and predict dangerous conditions.
Has the advantages that:
(1) The oxygen supply intervention algorithm module in the system can realize the optimal oxygen supply intelligent decision by utilizing the measurement data, a double-layer control structure is considered, the upper layer is in charge of the blood oxygen target interval threshold and the model parameter self-adaption, the lower layer completes the oxygen supply concentration regulation and control, the individuation difference can be fully considered, and the oxygen supply intervention strategy with the maximized benefit is provided on the basis of the self-consideration of the constraints of physiological limit, oxygen capacity and the like.
(2) The physiological detection module in the system is specially used for measuring the physiological state of the human body in the plateau environment, integrates a plurality of relevant indexes including the blood oxygen saturation, the heart rate, the blood pressure and the like, can be embedded in wearable equipment such as a bracelet and the like, and cannot cause interference to normal life.
(3) The oxygen storage and delivery module in the system can dynamically regulate and control the actual oxygen concentration output according to the optimal control input value obtained by the intervention algorithm.
(4) The cloud platform monitoring and interaction module in the system is in communication connection with the physiological detection module and the oxygen storage and delivery module, a large amount of information can be stored and utilized, an individualized physiological database is created, and health monitoring and alarming of plateau residents are achieved.
Drawings
FIG. 1 is a diagram of the relationship between modules of the present invention.
FIG. 2 is a schematic diagram of the closed-loop oxygen supply system of the present invention.
Fig. 3 is a flow chart of the human body for oxygen supply regulation by the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The design concept of the invention is as follows: the optimal oxygen supply decision and intervention are realized by each device with physiological signal measurement, oxygen concentration regulation and control transmission and data storage functions and by considering safety and resource constraints under a control theory framework of closed-loop optimization, and the whole part of the device forms a set of closed-loop oxygen supply system with complete software and hardware.
A closed-loop oxygen supply regulating system based on oxyhemoglobin saturation feedback comprises a physiological detection module, an oxygen storage and delivery module, an oxygen supply intervention algorithm module, a communication and transmission module and a cloud platform monitoring and interaction module; the relationship between the parts is shown in fig. 1, in which,
the physiological detection module is used for carrying out aggressive detection on the continuous physiological data of the user;
the physiological detection module can adopt wearable equipment including a bracelet, a finger clip and the like, and continuous physiological data (blood oxygen saturation, heart rate and the like) related to plateau adaptability are detected.
Preferably, the non-invasive measurement of the multiple physiological parameters can be performed using photoplethysmography (PPG), and the blood flow change information in the skin tissue is extracted by the LED measurement light source and detector. When a tested individual carries out closed-loop intervention, the detection equipment is worn, an embedded LED light source of the detection equipment is irradiated to the skin of a tested part (finger tip, earlobe, nose tip and the like) and then absorbed by various tissues to different degrees, the light absorption quantity changes along with the change of substances, a reflected transmitted light intensity signal is received by a photosensitive sensor and converted into an electric signal, and the electric signal is subjected to analog-digital (AD) conversion and then decomposed into a slow direct current component (DC) related to blood flow and an alternating current component (AC) with pulsating change, wherein the alternating current component is mainly formed by the change of the light absorption quantity caused by the change of blood volume (mainly blood flow in blood vessels and components thereof, such as hemoglobin) caused by heart pulsation, and therefore, different processing and calculation can be carried out through the signal to realize the measurement of different physiological signals.
The blood oxygen saturation measurement is that the light absorption degree of blood is mainly related to the content of hemoglobin carried in red blood cells, the light intensity emitted after being absorbed by human tissues is detected by a PPG technology, and oxyhemoglobin (HbO) is utilized 2 ) And the characteristic that the difference of the light absorption coefficients of the reduced hemoglobin (Hb) to different wavelengths is obvious, and the beer-Lambert optical law is combinedThe oxygen-containing condition of blood is estimated, and the soft measurement of the blood oxygen saturation is realized.
Measurement of heart rate: the peripheral microvascular arterial blood volume fluctuation's that PPG obtained change signal presents the periodic characteristic, and the heart rate mainly corresponds the cycle of pulse wave, carries out time domain analysis and processing to the signal, takes the quantity information of record crest after the filtering operation, can obtain the number of beats of the heart in every minute.
Measurement of blood pressure: the pulse wave propagation time (PWTT) is calculated to establish a measurement model of systolic pressure (SBP), and the beer-Lambert optical law is combined to obtain the human body pulse pressure difference, so that the measurement of diastolic pressure (DSP) is indirectly realized. In addition, in consideration of the problems of measurement accuracy and diversity, the signals measured by other methods (such as electrocardio) can be subjected to multi-source fusion so as to realize accurate detection and consider the physiological parameters such as integrated body temperature and the like.
And the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and delivery module.
Furthermore, the module comprises two submodules which are respectively an upper multi-parameter self-adaptive optimization submodule and a lower closed-loop oxygen supply submodule, wherein the lower closed-loop oxygen supply submodule is composed of an oxygen concentration feedback controller, a control signal is given out based on real-time physiological monitoring data and safety and resource constraints, and the upper multi-parameter self-adaptive optimization module is responsible for self-adaptation of bottom oxygen supply algorithm model parameters and blood oxygen saturation target interval threshold values.
(1) A closed-loop oxygen supply submodule: given that the normal physiological level of a person is not normally a fixed constant value, but fluctuates within a certain range, it is preferred to use an interval model predictive control algorithm to achieve oxygen intervention. First, a large amount of data is collected to perform system identification to obtain a relevant physiological model. Here consider a discrete state space model:
x k+1 ＝f(x k ,u k ,w k |θ k )， (1)
y k ＝g(x k ,u k ,v k |γ k )， (2)
wherein the output vector y of the system k The blood oxygen saturation signal, x, detected for the k step k May control input u for a related state vector composed of historical data k For delivery of oxygen concentration, w k And v k Respectively representing system interference and measurement errors. f (-) and g (-) characterize the dynamics of the system, model parameter θ k And gamma k Can be obtained by system identification method estimation.
In order to ensure that the physiological state of the human body is within an acceptable range, a cost function needs to be reasonably designed, and the following form can be selected:
wherein, λ (d) k ) Is N y Step prediction physiological measurement value and target interval of kth step in time domain
Distance penalty term of (d), Γ (u) k ) Is N u And controlling the penalty term of the oxygen concentration input value of the k step in the time domain. Gamma (u) k ) And λ (d) k ) Each containing a weight matrix for adjusting the action strength of each term.
In addition, the design of the safety constraint and the resource constraint determines the control effect to a great extent, which is a significant part that is not negligible, and basically, the design can be considered from the initial value constraint, the safety constraint, the state constraint and the output constraint:
initial value constraint: x is the number of 0 ＝x i ； (4)
And (3) state constraint:
and (3) output constraint:
safety restraint:
specifically, the threshold value u of the oxygen concentration is inputted min And u max Determined from relevant physiological knowledge. And (4) combining the formulas (3) to (7), adopting a complete mathematical tool for solving a minimization optimization problem to obtain an optimal input intervention value of each step, and transmitting the signal to an oxygen storage and delivery module for actual physical control.
(2) A multi-parameter adaptive optimization submodule: because of the large difference in physiological status between individuals, the normal physiological range of the controlled object varies when the controlled object is in the same hypoxia environment. In addition, the physiological dynamics characteristics change due to various state factors (such as exercise intensity, emotional fluctuation and the like), and the corresponding model parameters theta are changed k And gamma k May change over time. Therefore, the oxygen supply regulation and control in the same control target interval based on the fixed and unchangeable model parameters is lack of rationality, in order to fully excavate the physiological characteristics of different objects, an individualized oxygen supply control strategy is designed, and an upper layer submodule is introduced to realize the self-adaption of the control model parameters and the target interval. In particular, the regulation and control of the blood oxygen saturation of the lower layer are assisted by using relevant physiological parameters except the blood oxygen saturation, and the method is realized by solving the following optimization problem,
s.t.g 1 (Φ k )≤0 (9)
wherein, the first and the second end of the pipe are connected with each other,
a parameter set to be self-adapted at a sampling moment k is represented, and a measurement data set at the moment k is made to be I k Then there is a total data set D k ＝D k-1 ∪Φ k-1 ∪I k Including historical estimates of physiological signals and parameters, f, of heart rate, blood pressure, etc 1 (Φ k ) Target function, g, representing the performance of the blood oxygen saturation regulation 1 (Φ k ) ≦ 0 indicates the associated safety constraint.
Considering that the specific correlation between the parameters is difficult to be accurately quantified, f is 1 (. Cndot.) and g 1 The analytical expression of (c) is unknown, so a Bayesian optimization algorithm is preferably selected, the multi-parameter self-adaption problem is solved in a data-driven mode, the model parameters can be estimated in real time by solving the steps (8) - (9), the target interval range required to be reached by the control of the blood oxygen saturation in each step is determined, and the data are transmitted to the lower closed-loop oxygen supply sub-module for further oxygen concentration control.
And the oxygen storage and delivery module outputs oxygen under the control of the control signal output by the oxygen supply intervention algorithm module.
The oxygen storage and delivery module can provide sufficient oxygen by adopting an oxygen storage container such as an oxygen tank or an oxygen enrichment technology, is connected with oxygen delivery equipment such as a breathing mask and realizes oxygen concentration regulation and control and oxygen delivery within a physiologically acceptable range in continuous time by presetting the concentration value of the delivered oxygen.
The concentration regulation method is realized by preferably controlling the gas mixing ratio under the plain condition of sufficient ambient oxygen, and is realized by writing control algorithms such as proportional-integral-derivative (PID) and the like into a Micro Control Unit (MCU) to control the conduction states of a low-oxygen channel and an oxygen-enriched channel. Aiming at the plateau environment with thin oxygen, the directly used oxygen resource is limited, and the molecular sieve is preferably used for oxygen generation to provide oxygen, the technology takes air as a raw material, takes the zeolite molecular sieve as an adsorbent, adopts the pressure swing adsorption technology (PSA), namely, the pressure is increased to adsorb a medium, the oxygen and the nitrogen in the air are separated when the pressure is reduced to release the medium, and the processes are repeatedly and rapidly circulated, so that the high-purity oxygen meeting the medical oxygen standard is finally obtained. The obtained oxygen is stored by an oxygen storage container and is externally connected with a gas conduit, the two sides of the oxygen storage container are respectively connected with the storage container and a breathing mask, and the gas is transmitted into the lung of the tested individual through the mask.
A communication and transmission module: the transmission of oxygen concentration input control signals and output monitoring signals such as oxygen saturation and heart rate is realized through wired or wireless communication technologies such as Bluetooth and Wi-Fi (as shown in figure 2), and the wireless communication device is a communication bridge of a physiological detection module and a cloud platform monitoring and interaction module.
The cloud platform monitoring and interaction module is integrated in mobile terminals such as mobile phones and computers, stores, records and displays the monitored physiological signals, and generates alarms based on real-time physiological states to prompt and predict dangerous situations.
Considering that the usage scenario is mobile and mainly requires a small range of communication, the communication and transmission module preferably implements data transmission and exchange by bluetooth technology. The cloud platform monitoring and interaction module receives signals in real time through wireless transmission and respectively receives data from the physiological detection module and the oxygen storage and delivery module, wherein the physiological detection module transmits real-time continuous physiological data, and the oxygen storage and delivery module transmits oxygen concentration data provided in real time. Because the programs of the oxygen supply intervention algorithm module and the cloud platform monitoring and interaction module are written into the same mobile terminal, the oxygen concentration intervention value of each step of decision is transmitted to the oxygen storage and delivery module through the cloud platform so as to control the actual transmission of the oxygen concentration. The cloud platform monitoring and interaction module is provided with a display and interaction interface, can dynamically monitor and update current vital sign parameters, sets an expected control interval, and generates low alarm, high alarm, constraint violation alarm and hardware abnormity alarm. The low alarm and the high alarm respectively prompt the situations that the physiological signal is too high, too fast, too low and too slow; the constraint violation alarm is used for processing the condition of violating the preset safety constraint in the controller in the system operation process; the hardware abnormity alarm mainly processes the condition of abnormal connection or sudden interruption of the equipment, and if the abnormal condition of the unsuccessful connection or the sudden interruption of the connection of the hardware equipment occurs, the closed-loop system is closed immediately at the moment, and the equipment is checked. The whole operation flow of the system is shown in figure 3.
The system can utilize continuous physiological data related to oxyhemoglobin saturation, heart rate and the like provided by wearable equipment, complete closed-loop oxygen supply decision through an effective control algorithm, realize dynamic monitoring and real-time alarm by storing and displaying data on a cloud platform, and guarantee the health and safety of individuals in oxygen-deficient environments such as high-altitude areas.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A closed loop oxygen supply regulation system based on oxyhemoglobin saturation feedback is characterized by comprising: the physiological detection module, the oxygen storage and delivery module and the oxygen supply intervention algorithm module; wherein
The physiological detection module is used for detecting physiological data of a user and transmitting the physiological data to the oxygen supply intervention algorithm module;
the oxygen supply intervention algorithm module is used for generating a control signal according to the physiological data and transmitting the control signal to the oxygen storage and delivery module; the system comprises two submodules, namely an upper-layer multi-parameter self-adaptive optimization submodule and a lower-layer closed-loop oxygen supply submodule;
the closed-loop oxygen supply sub-module calculates oxygen supply concentration as a control signal according to the blood oxygen saturation value detected by the physiological detection module based on the set state space model, the cost function and the constraint condition;
the multi-parameter self-adaptive optimization submodule obtains a state space model parameter estimation value and a blood oxygen saturation target interval at the current moment through iterative optimization by utilizing the physiological data, the model parameters and the blood oxygen saturation target interval which are acquired by the physiological detection module, and outputs the state space model parameter estimation value and the blood oxygen saturation target interval to the closed-loop oxygen supply submodule for parameter updating;
and the oxygen storage and delivery module outputs oxygen under the control of the control signal.
2. The system of claim 1, wherein the physiological detection module is a portable wearable device for detecting physiological data of the user, and the system comprises: blood oxygen saturation, heart rate, blood pressure.
3. The closed-loop oximetry feedback-based oxygen supply regulation system according to claim 1, wherein the state space model is:
x k+1 ＝f(x k ,u k ,w k |θ k )， (1)
y k ＝g(x k ,u k ,v k |γ k )， (2)
wherein, y k The blood oxygen saturation signal, x, detected for the k step k For the relevant state vector, u, composed of historical data k For delivery of oxygen concentration, w k And v k Respectively representing system interference and measurement errors, f (-) and g (-) characterizing the dynamics of the system, theta k And gamma k Are model parameters.
4. The closed-loop oximetry feedback-based oxygenation regulation system of claim 3, wherein the cost function is:
wherein, λ (d) k ) Is N y Step prediction time domain k step blood oxygen saturation value y k And a target interval
Distance penalty term of (d), Γ (u) k ) Is N u And controlling the penalty term of the oxygen concentration input value of the kth step in the time domain.
5. The closed-loop oxygen supply regulation system based on blood oxygen saturation feedback as claimed in claim 1, wherein the constraint condition is:
safety restraint: u. u min ≤u k ≤u max ，
y k ≥y min ，
Wherein u is min And u max To input the threshold value of oxygen concentration, y min A blood oxygen saturation signal threshold required for physiological safety.
6. The closed-loop oxygen supply regulation system based on oxyhemoglobin saturation feedback as claimed in claim 1 or 4, wherein the multi-parameter adaptive optimization sub-module optimizes the parameters of the state space model and the cost function according to the physiological signals collected by the physiological detection module except for oxyhemoglobin saturation and the set threshold range as follows:
s.t.g 1 (Φ k )≤0
wherein the content of the first and second substances,
representing the parameter set to be adapted at the sampling instant k, D k ＝D k-1 ∪Φ k-1 ∪I k ，I k Representing physiological data detected by a physiological monitoring module, f 1 (Φ k ) Target function, g, representing the performance of the blood oxygen saturation regulation 1 (Φ k ) ≦ 0 indicates the associated safety constraint.
7. The closed-loop oxygen supply regulation system based on blood oxygen saturation feedback as claimed in claim 1, characterized in that the system further comprises a communication and transmission module, based on which the system is realized to communicate wirelessly with the outside.
8. The closed-loop oxygen supply regulation system based on blood oxygen saturation feedback as claimed in claim 1, further comprising a cloud platform monitoring and interaction module, which is integrated in the mobile terminal, stores, records and displays the monitored physiological signals, sets control targets and parameters, and generates alarms based on real-time physiological status to prompt and predict dangerous situations.
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