Abstract: The present invention discloses an iterative learning control (ILC) method for a multi-particle vehicle platoon driving system, and relates to the field of ILC. The method includes: firstly, discretizing a multi-particle train dynamic equation using a finite difference method to obtain a partial recurrence equation, and then transforming the partial recurrence equation into a spatially interconnected system model; secondly, transforming the spatially interconnected system model into an equivalent one-dimensional dynamic model using a lifting technology, and in order to compensate input delay, designing an ILC law based on a state observer; and thirdly, transforming a controlled object into an equivalent discrete repetitive process according to the ILC law, and converting a controller combination problem into a linear matrix inequality based on stability analysis of the repetitive process.

Abstract: A pen needle assembly apparatus includes a housing (30), a movable gripping assembly (32) for gripping a pen needle assembly (18), and an actuator (108). The housing (30) has a top end (34), a bottom end (36), and an inner cavity (38) for storing used pen needle assemblies. The gripping assembly (32) in one embodiment includes two movable jaws (58) that are movable to engage and grip the outer cover (22) of the pen needle assembly (18) so that the needle hub (16) can be separated from the outer cover (22) and placed back in the outer cover (22) after use of the pen needle. The actuator (108) is connected to the jaws (58) where movement of the actuator separates the jaws to release the outer cover of the pen needle assembly. The housing (30) has an opening 160) for engaging the inner shield (24) of the pen needle assembly to remove the inner shield (24) from the needle hub (16).

Abstract: A pen needle assembly apparatus (60) includes a housing (30), a movable support (40) for supporting a pen needle (18), an ejector (80) for ejecting a used pen needle from the support, and an actuator (56). The support (40) is rotated relative to the housing (30) to index the pen needles to a position where the pen needle can be accessed and coupled to a delivery device (10). The used pen needle (18) is returned to the well (42) in the support and the support rotated toward the ejector (80) where the used pen needle is ejected to a compartment (50) in the housing for disposal. A cover (60) on the housing includes at least one opening (65) for accessing the pen needle when the support is rotated to position a pen needle relative to the opening in the cover.

Abstract: A pen needle apparatus includes a housing (32), a movable gripping mechanism (34) for gripping a pen needle assembly (18), and an actuator (36). The gripping mechanism (34) includes first and second pivoting arms (44) that pivot between a first closed position and a second open position. In the closed position, the arms engage and grip the outer cover (22) of the pen needle assembly (18) so that the needle hub (16) can be separated from the outer cover (22) and the pen needle placed back in the outer cover (22) after use of the pen needle. The actuator (36) is connected to the arms (44) where movement of the actuator pivots the arms to a second open position to release the outer cover of the pen needle assembly. The arms include a gripping surface for engaging the inner shield (24) of the pen needle assembly to assist in removing the inner shield (24) from the needle hub (16).

Abstract: A pen needle assembly apparatus includes a tray (34), a movable clamping assembly (36) for gripping a pen needle assembly (18), and an actuator assembly (38). The tray (34) has a top end (42), a bottom end (40), and an inner cavity for storing used pen needle assemblies. The clamping assembly (36) in one embodiment includes at least one movable clamping member (48) that is movable between a first position where the clamping member engage and grip the outer cover (22) of the pen needle assembly (18) so that the needle hub (16) can be separated from the outer cover (22) and placed back in the outer cover (22) after use of the pen needle. The actuator assembly (38) is connected to the movable clamping member (48) where movement of the actuator releases the movable clamping member to move to the open positon and release the outer cover of the pen needle assembly.

Abstract: A surgical stapling device includes a handle assembly, a central body extending distally from the handle assembly, and a head portion including an anvil assembly and a shell assembly. The shell assembly includes an annular knife having an inner surface and an outer surface and first and second angled surfaces defining a blade edge. The first angled surface defines an angle S1 with a longitudinal axis of the stapling device and the second angled surface defines an angle S2 with the longitudinal axis of the stapling device.

Abstract: A pen needle assembly apparatus includes a housing (30), a movable gripping assembly (32) for gripping a pen needle assembly (18), and an actuator (108). The housing (30) has a top end (34), a bottom end (36), and an inner cavity (38) for storing used pen needle assemblies. The gripping assembly (32) in one embodiment includes two movable jaws (58) that are movable to engage and grip the outer cover (22) of the pen needle assembly (18) so that the needle hub (16) can be separated from the outer cover (22) and placed back in the outer cover (22) after use of the pen needle. The actuator (108) is connected to the jaws (58) where movement of the actuator separates the jaws to release the outer cover of the pen needle assembly. The housing (30) has an opening 160) for engaging the inner shield (24) of the pen needle assembly to remove the inner shield (24) from the needle hub (16).

Abstract: A pen needle assembly apparatus (60) includes a housing (30), a movable support (40) for supporting a pen needle (18), an ejector (80) for ejecting a used pen needle from the support, and an actuator (56). The support (40) is rotated relative to the housing (30) to index the pen needles to a position where the pen needle can be accessed and coupled to a delivery device (10). The used pen needle (18) is returned to the well (42) in the support and the support rotated toward the ejector (80) where the used pen needle is ejected to a compartment (50) in the housing for disposal. A cover (60) on the housing includes at least one opening (65) for accessing the pen needle when the support is rotated to position a pen needle relative to the opening in the cover.

Abstract: A surgical stapling device (10) having an indicator mechanism that is movable between first, second and third positions. The first position of the indicator (26) indicates to a clinician that the jaws of the surgical stapling device (10) have yet to be approximated. The second position of the indicator (26) indicates to a clinician that the jaws of the surgical stapling device (10) are approximated. The third position of the indicator (26) indicates to a clinician that the surgical stapling device (10) has been fired and is depleted of staples.

Abstract: A loading unit (100) including a shipping member (200) is provided. The shipping member (200) is receivable on a distal end of the loading unit (100) in a first orientation to prevent movement of a pusher assembly (130) from a first to a second position and in a second orientation to effect separation of the loading unit (100) from a surgical stapling device (10).

Abstract: A surgical stapling device includes a handle assembly, a central body extending distally from the handle assembly, and a head portion including an anvil assembly and a shell assembly. The shell assembly includes an annular knife having an inner surface and an outer surface and first and second angled surfaces defining a blade edge. The first angled surface defines an angle S1 with a longitudinal axis of the stapling device and the second angled surface defines an angle S2 with the longitudinal axis of the stapling device.

Abstract: A surgical stapling device (10) having an indicator mechanism that is movable between first, second and third positions. The first position of the indicator (26) indicates to a clinician that the jaws of the surgical stapling device (10) have yet to be approximated. The second position of the indicator (26) indicates to a clinician that the jaws of the surgical stapling device (10) are approximated. The third position of the indicator (26) indicates to a clinician that the surgical stapling device (10) has been fired and is depleted of staples.

Abstract: A loading unit (100) including a shipping member (200) is provided. The shipping member (200) is receivable on a distal end of the loading unit (100) in a first orientation to prevent movement of a pusher assembly (130) from a first to a second position and in a second orientation to effect separation of the loading unit (100) from a surgical stapling device (10).