Ambulatory infusion device drive control and blockage detection

Abstract

A device and method for controlling operation of an ambulatory infusion device drive. The drive may have a spindle drive with a stepper motor, a drive member operatively coupled to a rotary encoder, and a driver controller that executes several steps, including actuating the stepper motor to execute a requested number of steps in a current drive control sequence, receiving a drive member position that indicates an actual position of a drive member following the actuation, computing an executed steps number from the drive member position, computing a missed steps number for the current drive control sequence, which is the difference between the requested number of steps and the executed steps number, determining when the ambulatory infusion device drive is blocked based on a statistical evaluation of a time-distribution of the missed steps number over a history of drive control sequences, and generating a blockage alarm signal.

Claims

1. A drive controller for an ambulatory infusion device drive having a stepper motor, the drive controller configured to repeatedly execute a drive control sequence, comprising: a) actuating a stepper motor to a execute a requested number of steps in a current drive control sequence; b) receiving a drive member position that indicates an actual position of a drive member following the actuation; c) computing an executed steps number from the drive member position; d) computing a missed steps number for the current drive control sequence, which is the difference between the requested number of steps and the executed steps number; e) determining when the ambulatory infusion device drive is blocked based on a statistical evaluation of a time-distribution of the missed steps number over a history of drive control sequences, wherein the history is clustered into subgroups and the statistical evaluation considers averages and/or moving sums for each subgroup; and f) generating a blockage alarm signal.

2. The drive controller according to claim 1, wherein the history of drive control sequences is time-limited.

3. The drive controller according to claim 1, wherein the drive controller stores score values for pairs of executed steps numbers and missed steps numbers, wherein the drive controller is further configured to: retrieve a score value as determined by the executed steps number and missed steps number; compute a score sum of score values for a pre-determined number of past consecutive successive drive control sequences; and compare the score sum with a score sum threshold.

4. The drive controller according to claim 1, wherein the drive controller is further configured to determine when an estimator for a threshold quantile of a distribution of the missed-steps number over a limited history exceeds a predetermined missed steps threshold.

5. The drive controller according to claim 1, wherein the drive member position is an absolute rotatory position of the drive member.

6. The drive controller according to claim 1, wherein the drive controller is further configured to: determine if the current drive control sequence has been correctly executed and increase or decrease a counter value based on the comparison; and determine when the ambulatory infusion device drive is blocked at least in part by comparing the counter value with a counter value threshold.

7. The drive controller according to claim 1, wherein the drive controller is further configured to: e′) determine if the missed steps number exceeds a first missed steps threshold; and e′1) when the missed steps number does not exceed the first missed steps threshold, decrease a score value by a score decrease value; and e′2) when the missed steps number exceeds the first missed steps threshold, increase the score value by a score increase value; wherein determining when the ambulatory infusion device drive is blocked includes determining if the score value exceeds a score value threshold.

8. The drive controller according to claim 7, wherein the score increase value is either of a first score increase value and a second score increase value and the drive controller is configured, in step (e′2) to, when the missed steps number exceeds the first missed steps threshold: (i) determine whether the missed steps number exceeds a second missed steps threshold; (ii) when the missed steps value exceeds the second missed steps threshold, increase the score value by the second score increase value; and (iii) when the missed steps value does not exceed the second missed steps threshold, increase the score value by the first score increase value.

9. The drive controller according to claim 8, wherein the drive controller is further configured to: compute a first rate of first order events and a second rate of second order events based on a distribution of the missed steps number, wherein a first order event is characterized by the missed steps number of a drive control sequence exceeding the first missed steps threshold, but not the second missed steps threshold, and a second order event is characterized by the missed steps number of a drive control sequence exceeding the second missed steps threshold; and compute a weighted sum of first order events and second order events, wherein determining when the ambulatory infusion device drive is blocked includes comparing the weighted sum with a weighted sum threshold.

10. The drive controller according to claim 1, wherein the drive controller is further configured to: compute, based on a distribution of the missed steps number, a first rate of first order events and a second rate of second order events, wherein a first order event is characterized by the missed steps number of a drive control sequence exceeding a first missed steps threshold and a second order event is characterized by the missed steps number of a drive control sequence exceeding a second missed steps threshold different from the first missed steps threshold; and compute a weighted sum of first order events and second order events, wherein determining when the ambulatory infusion device drive is blocked includes comparing the weighted sum with a weighted sum threshold.

11. A method for controlling operation of an ambulatory infusion device drive having a spindle drive with a stepper motor, a drive member operatively coupled to a rotary encoder, the method including repeatedly executing a drive control sequence comprising the following steps: a) actuating a stepper motor to execute a requested number of steps in a current drive control sequence; b) receiving a drive member position that indicates an actual position of a drive member following the actuation; c) computing an executed steps number from the drive member position; d) computing a missed steps number for the current drive control sequence, which is the difference between the requested number of steps and the executed steps number; e) determining when the ambulatory infusion device drive is blocked based on a statistical evaluation of a time-distribution of the missed steps number over a history of drive control sequences, wherein the history is clustered into subgroups and the statistical evaluation considers averages and/or moving sums for each subgroup; and f) generating a blockage alarm signal.

12. The drive controller according to claim 1, wherein the controller is configured to consider the history in a cluster of subgroups and the averages and/or moving sums are calculated for each of the clusters.

13. The method according to claim 11, wherein the controller is configured to consider the history in a cluster of subgroups and the averages and/or moving sums are calculated for each of the clusters.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The above-mentioned aspects of exemplary embodiments will become more apparent and will be better understood by reference to the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

(2) FIG. 1 shows an ambulatory infusion device with an ambulatory infusion device drive unit in a schematic functional view;

(3) FIG. 2 shows an exemplary operational flow for detecting a blockage or occlusion; and

(4) FIG. 3 shows an exemplary operational flow for determining a drive member position.

DESCRIPTION

(5) The embodiments described below are not intended to be exhaustive or to limit the invention to the precise forms disclosed in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of this disclosure.

(6) In the following, reference is first made to FIG. 1. FIG. 1 shows an ambulatory infusion device 100 in accordance with the present disclosure together with associated elements in a schematic functional view. The ambulatory infusion device 100 includes a control unit 1 (also referred to as a “controller”) and a drive 2.

(7) The control unit 1 is generally realized by electronic circuitry and is typically based on one or more processors, such as microcomputers and/or microcontrollers, and may further include peripheral components as well as safety circuitry as generally known in the art.

(8) The one or more processors are configured to execute and operate in accordance with computer program code that is stored as software and/or firmware. The control unit 1 is configured to control overall operation of the ambulatory device 100, in particular for basal drug infusion and/or on-demand bolus infusion as explained above. The control unit 1 includes a drive control unit 11 and the drive control unit 11 (also referred to as “drive controller”) includes a position determination unit 12 in accordance with the present disclosure. The control unit 1 further includes an alarming device 13 in operative coupling with the drive control unit 11, the alarming device 13 (also referred to as an “alarm”) including one or more of an acoustic or tactile indicator.

(9) The ambulatory infusion device 100 further includes a drive unit 2 that is designed to couple, in an operational configuration, with a drug reservoir 3. The drive unit 2 includes a rotatory stepper motor 21 that is controlled and actuated by the drive control unit 11. The stepper motor 21 acts on a gear unit 22 (also referred to as “gearing”), and the gear unit 22 acts, in an operational configuration, on a cartridge piston that is sealing and sliding received in a cartridge body of a drug cartridge 3, the drug cartridge 3 forming a liquid drug reservoir. The gear unit 22 may include one or more reduction gears. For transforming the rotatory motor that is generated by the stepper motor 21 into a linear displacement of the cartridge piston, a spindle drive unit with a threaded spindle is provided. This overall arrangement of the drive forms a so-called syringe driver.

(10) From the cartridge 3, drug is infused into the body of a user, in particular, patient 900 via an infusion line 890 in a controlled and metered way, in accordance with the displacement of the cartridge piston.

(11) In an embodiment, the ambulatory infusion device 100 is a compact device with a favorably watertight housing, which is designed to further receive the cartridge 3 in a cartridge compartment. In such embodiment, the housing is favorably sized and shaped to be carried, e.g., with a belt clip or in a trousers' pocket. Here, the infusion line 890 typically includes a catheter tubing of, e.g., 0.5 m to 1.5 m length with an infusion cannula. Typically, the ambulatory infusion device is designed for an application time of several years.

(12) In an alternative design, the ambulatory infusion device, in particular the control unit 1 and the drive unit 2, are designed to removably engage a disposable cradle device or cradle, the disposable cradle device being designed to be attached to the user's skin via an adhesive pad. Further, cartridge 3 of such embodiment may be designed to reliably engage the ambulatory infusion device 100 in a side-by-side configuration and to be coupled to the cradle device together with the ambulatory infusion device 100. Upon coupling, the operative coupling between the gear unit 22 and the cartridge piston is established. The threaded spindle of the spindle drive may be an integral part of the cartridge 3 and the drive nut may be part of the gear unit 22, or vice versa, with a releasable coupling between them. For such embodiment, the infusion line 890 may be reduced to an infusion cannula that directly projects from the skin-contacting surface of the cradle device. In such embodiment, the ambulatory infusion device 100 may have an application time of several weeks to several years, while the cradle device and the cartridge 3 may have a typical lifetime in a range of a number of days up to, e.g., two weeks. The ambulatory infusion device 100 is accordingly used with a number of cradle devices and reservoirs in sequence and is accordingly designed to be attached and detached without damage.

(13) In a further design, the ambulatory infusion device 100 and the reservoir 3 are designed as a common device that is favorably sealed in a water-tight manner and designed to be directly adhesively attached to the body. For such design, the whole device is designed for a limited application time of a number of days up to a few weeks and to be subsequently discarded.

(14) A power source, typically in the form of a rechargeable or non-rechargeable battery, may be part of the ambulatory infusion device 100 or be formed as common unit with the cartridge 3. The ambulatory infusion device 100 may further include other components such as a user interface, a display, a data communication unit etc., as generally known in the art. The ambulatory infusion device 100 may further be designed to exchange data with and be remotely controlled by a separate remote control device or diabetes management device. Such device may, among others, be used for programming the basal infusion schedule and requesting the infusion of on-demand drug boli.

(15) In the following, reference is additionally made to FIG. 2. FIG. 2 shows the operational flow of an exemplary method in accordance with the present disclosure, as executed by the drive control unit 11.

(16) The operations as shown in FIG. 2 are executed as part of each drive control sequence for an incremental basal infusion or as part of an on-demand-bolus infusion. It is noted that in particular an on-demand-bolus infusion is realized by a number of drive control sequences that are executed one after the other, until the total requested bolus amount is infused. It is assumed that the drive 2 has been actuated to execute a requested steps number RS at respectively prior to starting step S and the actuation of the stepper motor 21 is finished for the current drive control sequence. The current drive control sequence is referred to with index i, the directly preceding drive control sequence with i−1, and so forth.

(17) In subsequent step S01, the drive member position is determined by the position determination unit 12. The drive member is the motor axis and the drive member position is its rotational angle ϕ as absolute rotational angle starting from an initialization as explained above. The value range of the drive member position ϕ is accordingly m×360°, with m as number of revolutions for emptying the cartridge 3. The position determination unit 12 determines the rotational angle ϕ as drive member position based on the signal received from the encoder 12 and a reconstruction lookup table as described above in the general description.

(18) In subsequent step S02, the missed steps number MS.sub.i for the current drive control sequence is computed for the current drive control sequence as the difference between the requested steps number RS and the executed steps number. The executed steps number may be computed from the difference of the drive member position for the current and the preceding sequence, ϕ.sub.i−ϕ.sub.i-1. In this implementation, the missed steps number is a rotational angle. By dividing it by the step angle of, e.g., 18°, it may be computed as absolute number. Here and in the following, however, it is, as the requested steps number RS, considered as rotational angle.

(19) In subsequent step S03, a plausibility check is carried out in which the missed steps number MS.sub.i for the current drive control sequence is compared against a negative missed steps threshold and a positive missed steps threshold, and the operational flow branches in dependence of the result. The negative missed steps threshold may be a fixed value of, e.g., −72°, and the positive missed steps threshold may be the requested steps number plus a fixed value, e.g., RS+72°. If the missed steps number MS.sub.i is smaller than the negative missed steps threshold or larger than the positive missed steps threshold, the operational flow proceeds with step S04 where an alarm signal is generated and alarming device 13 is activated to provide an error alarm, and the operational flow terminates (step E).

(20) If the missed steps number MS.sub.i is found fine in step S03, the operational flow proceeds with step S05 where a further plausibility check is carried out. An accumulated missed steps number over a history of consecutive drive control sequences is computed. For an exemplary history length of 50, the accumulated missed steps number AMS may accordingly be computed as AMS=MS.sub.i+MS.sub.i-1+ . . . MS.sub.i-49. In step S05, the accumulated missed steps number AMS is compared against an accumulated missed steps threshold, and the operational flow branches in dependence of the result. If the accumulated missed steps number AMS reaches or exceeds the accumulated missed steps threshold, the operational flow proceeds with step S06 where an alarm signal is generated and alarming device 13 is activated, similar to step S04, to provide an error alarm, and the operational flow terminates (step E). The accumulated missed steps threshold may be static, i.e., a fixed and pre-determined value, or may be dynamically adapted. In an exemplary embodiment where the missed steps threshold is dynamically adapted, it may, for example, be computed as 20% of the accumulated requested steps number RS, i.e., as 0.2*(RS.sub.i+RS.sub.i-1+ . . . RS.sub.i-49) for an exemplary history length of 50. Other values may be used as well. It is noted that the steps S03/S04 and/or S05/S06 are not essential and may be omitted in a basic embodiment.

(21) If the accumulated missed steps number AMS is found acceptable in step S05, the operational flow proceeds with step S07. In step S07 and the following steps, the core steps of a method for detecting a blocked drive according to the exemplary embodiment are carried out.

(22) In step S07, the missed steps number MS.sub.i is compared with a pre-determined first missed steps threshold C_FT1, and the operational flow branches in dependence of the result. If the missed steps number MS.sub.i does not exceed the first missed steps threshold C_FT1, the operational flow proceeds with step S08.

(23) In step S08, a score value OD is compared with a first occlusion weight C_W1 that corresponds to a score decrease value, and the operational flow branches in dependence in the result. If the score value OD equals or is larger than the first occlusion weight C_W1, the operational flow proceeds with step S09 where the score value OD is decreased by the first occlusion weight C_W1. Otherwise, the score value OD is set to zero in Step S10. Via these steps, the score value OD is generally decreased by the first occlusion weight C_W1, but does not become negative. In both cases, the operational flow subsequently terminates for the current drive control sequence (step E).

(24) If it is determined in step S07 that the missed steps number MS.sub.i exceeds the first missed steps threshold C_FT1, the operational flow proceeds, following step S07, with step S11. In step S11, the missed steps number MS.sub.i is compared with a second missed steps threshold C_FT2 that is higher than the first missed steps threshold C_FT1, and the operational flow again branches in dependence of the result.

(25) If the missed steps number MS.sub.i does not exceed the second missed steps threshold C_FT2, the operational flow proceeds with step S12 where the score value OD is increased by a second occlusion weight C_W2 that corresponds to a first score increase value. If the missed steps number MS.sub.i does exceed the second missed steps threshold C_FT2, the operational flow proceeds with step S13 where the score value OD is increased by a larger third occlusion weight C_W3 that corresponds to a second score increase value and is larger than the second occlusion weight C_W2.

(26) In both cases, the operational flow subsequently proceeds with step S14 where the score value OD is compared with a score value threshold C_OD and the operational flow branches in dependence of the result.

(27) If the score value OD exceeds the score value threshold C_OD, the operational flow proceeds with step S15 where a blockage alarm is generated and the alarming device 13 is activated to provide a blockage or occlusion alarm, and the operational flow terminates (step E). Otherwise, the operational flow directly terminates, following step S14, for the current drive control sequence.

(28) As mentioned before, the procedure according to FIG. 2 is generally executed for each drive control sequence. If, however, an alarm is generated (steps, S04, S06, S15), no further drive control sequences are executed. Instead, the control unit 1 controls the ambulatory infusion device 100 to switch into an error mode where all infusion is stopped.

(29) In the following, reference is additionally made to FIG. 3. FIG. 3 shows the operational flow of an exemplary method for determining the drive member position, in particular, rotational angle ϕ of the motor axis as explained before. The method is carried out by the position determination unit 12, in particular, the drive control unit 11. The method is carried out following each actuation of the stepper motor 21 to execute a motor step, starting with S.

(30) In step R01, the encoder signal P1 from rotatory encoder 23 is read as binary signal, having either of a “0” value or “1” value. In subsequent step R02, it is determined whether the signal as read in step R01 equals its direct predecessor and the operational flow branches in dependence of the result.

(31) In the affirmative, case, the operational flow proceeds with step R03 where an equal value counter c_ER is incremented by 1. In subsequent step R04, the equal value counter c_ER is compared with a pre-determined equal value counter threshold C_ER and the operational flow branches in dependence of the result. In the affirmative case, the operational flow proceeds with step R05 where an alarm signal is generated and alarming device 13 is activated to provide an error alarm, and the operational flow terminates (step E). Here, number of consecutive “0” values or “1” values is higher than what is possible according to the device design, thereby indicating a device malfunction and/or a yet undetected blockage/occlusion. If the test is negative in step R04, the operational flow proceeds with step R07 as explained further below.

(32) If the test is negative in step R02, i.e., the read signal is different from its predecessor, the operational flow proceeds with step R06 where the equal value counter c_ER is set to zero respectively reset and the operational flow also proceeds with step R07.

(33) In step R07, a counter c_T for the total number of readings of the encoder signal P1 is incremented by one. Further in step R07, a consecutive high counter c_H is incremented by the value of the encoder signal P1, i.e., is incremented by 1 if the encoder signal P1 is a “1” value, and remains unchanged otherwise. The consecutive high counter c_H counts the number of consecutive “1” values of the encoder signal P1 for purposes as explained further below.

(34) Following R07, the operational flow proceeds with step R08 where the counter c_T is compared with a pre-determined encoder readings threshold C_T and the operational flow branches in dependence of the result. If the counter c_T equals the encoder readings threshold C_T, the operational flow proceeds with step R09. In step R09, a sum HC of “1” values over a moving window of past encoder readings is computed, with the window length being determined by the consecutive high counter c_H.

(35) Following step R09, the operational flow proceeds with step R10, where the sum HC as determined in step R09 is compared with a pre-determined lower threshold value C_LH and a pre-determined upper threshold value C_UH. If the sum HC is within the range as defined by the lower threshold value C_LH and an upper threshold value C_UH, the operational flow proceeds with step R11 where the consecutive high counter c_H and the counter c_T are set to zero, i.e., reset.

(36) In combination, steps R08, R09, R10 and R11 implement a statistical test that checks if the high and low counts of the recent past differ significantly from the theoretical ratio. Principally this could be achieved with a moving sum or moving average filter. However, when a large history size (e.g., 1000 data points) is considered, such a straight-forward approach requires a substantial amount of memory and is disadvantageous for implementation in the drive control unit. In the implementation of steps R08 to R11 as explained before, the considered history is clustered in several sub groups (e.g., size 100 data points) and the averages/moving sums are calculated for each of these clusters. Subsequently, the moving averages/moving sums over the results for the subgroups is calculated. This approach results in a drastic reduction in the memory consumption, while preserving the original intention.

(37) If the sum HC is not within the range as defined by the lower threshold value C_LH and an upper threshold value C_UH, the operational flow proceeds with step R12 where an alarm signal is generated and alarming device 13 is activated to provide an error alarm, and the operational flow terminates (step E). Steps of R07, R08, R09, R10, R11, R12, in combination, asses the number of “1” readings in groups of a size as determined by the readings threshold C.sub.T. An alarm is provided if this value not in a plausible range as defined by the lower threshold value C_LH and an upper threshold value C_UH. A non-plausible value may occur in case of a yet undetected blockage/occlusion, or in case the encoder signal P1 is systematically corrupted. Steps R07-R12 are related to a plausibility check respectively statistical test of whether the distribution of “0” readings and “1” readings of the encoder signal over a time-limited history of motor steps can be assumed to follow an equal distribution which should be ideally the case. It is noted that for a different encoder design and considering the generation of the binary signal via a Schmitt trigger, the distribution of “0” values and “1” values may be systematically non-equal, and the algorithm may be modified accordingly.

(38) It is noted that the steps that are related to the assessment detection of the consecutive number of equal encoder signal P1 readings as well as the distribution of “0” readings and “1” readings” are additional safety measures and may in principle be omitted in a basic embodiment.

(39) In step R13, the binary encoder signal P1 is fed as LSB into a 1-byte shifting register of the position determination unit 12. In subsequent step R14, a cyclic drive member position T is determined from the value of the shifting register and a pre-computed reconstruction lookup table as explained in the general description. An exemplary lookup table that may be used in the present context is provided as Annex I.

(40) In subsequent step R15, it is determined whether the value of the shifting register is valid. If this is not the case, the operational flow proceeds with step R16 where an invalid values counter c_IEE is incremented by 1 and the operational flow proceeds with step R17. In step R17 it is determined whether the invalid values counter c_IEE exceeds an invalid values threshold C_IEE. If this is the case, the operational flow proceeds with step R18 where an alarm signal is generated and alarming device 13 is activated to provide an error alarm, and the operational flow terminates (step E). Otherwise, the operational flow proceeds with step R19 where a reconstructed drive member position θ.sub.n is set to its predecessor θ.sub.n-1 as determined for the preceding motor step.

(41) If the value of the shifting register is determined to be valid in step R15, the operational flow proceeds with step R20 where the reconstructed drive member position θ.sub.n is determined according to Eqn. 1 of the general description. In subsequent step R21, the drive member position ϕ.sub.n for the current motor step is finally computed as moving average over the present a number of, e.g., the last four or five previous reconstructed drive member positions.

(42) While exemplary embodiments have been disclosed hereinabove, the present invention is not limited to the disclosed embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of this disclosure using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims.

(43) TABLE-US-00001 ANNEX I Bit pattern (EB) Cyclic drive member position (T) 00000000 164.77 00000001 141.82 00000010 171.90 00000011 157.44 00000100 158.91 00000101 141.95 00000110 160.36 00000111 162.27 00001000 165.40 00001001 152.59 00001010 C_IET 00001011 146.69 00001100 150.98 00001101 149.45 00001110 143.50 00001111 150.31 00010000 172.92 00010001 C_IET 00010010 137.12 00010011 137.65 00010100 C_IET 00010101 C_IET 00010110 C_IET 00010111 160.72 00011000 152.06 00011001 153.18 00011010 C_IET 00011011 165.32 00011100 160.17 00011101 132.90 00011110 134.76 00011111 135.29 00100000 167.11 00100001 CIET 00100010 CIET 00100011 117.34 00100100 116.13 00100101 C_IET 00100110 116.72 00100111 116.89 00101000 C_IET 00101001 C_IET 00101010 C_IET 00101011 C_IET 00101100 C_IET 00101101 C_IET 00101110 166.78 00101111 170.44 00110000 154.73 00110001 C_IET 00110010 138.26 00110011 113.40 00110100 C_IET 00110101 C_IET 00110110 C_IET 00110111 166.96 00111000 151.39 00111001 C_IET 00111010 135.35 00111011 124.09 00111100 116.58 00111101 108.07 00111110 114.82 00111111 118.89 01000000 166.76 01000001 170.12 01000010 C_IET 01000011 C_IET 01000100 C_IET 01000101 C_IET 01000110 98.55 01000111 C_IET 01001000 97.20 01001001 C_IET 01001010 C_IET 01001011 C_IET 01001100 97.98 01001101 C_IET 01001110 C_IET 01001111 98.37 01010000 C_IET 01010001 C_IET 01010010 C_IET 01010011 C_IET 01010100 C_IET 01010101 C_IET 01010110 C_IET 01010111 C_IET 01011000 C_IET 01011001 C_IET 01011010 C_IET 01011011 C_IET 01011100 0.04 01011101 179.27 01011110 C_IET 01011111 163.02 01100000 151.11 01100001 0.47 01100010 C_IET 01100011 C_IET 01100100 110.36 01100101 C_IET 01100110 97.06 01100111 C_IET 01101000 C_IET 01101001 C_IET 01101010 C_IET 01101011 C_IET 01101100 C_IET 01101101 C_IET 01101110 172.35 01101111 174.30 01110000 161.44 01110001 179.27 01110010 179.57 01110011 178.64 01110100 106.46 01110101 C_IET 01110110 C_IET 01110111 97.97 01111000 97.98 01111001 91.43 01111010 C_IET 01111011 94.15 01111100 96.61 01111101 106.05 01111110 105.29 01111111 102.10 10000000 16.06 10000001 17.77 10000010 C_IET 10000011 7.29 10000100 C_IET 10000101 C_IET 10000110 C_IET 10000111 8.47 10001000 85.49 10001001 C_IET 10001010 C_IET 10001011 C_IET 10001100 85.11 10001101 C_IET 10001110 C_IET 10001111 9.07 10010000 9.15 10010001 89.23 10010010 C_IET 10010011 C_IET 10010100 C_IET 10010101 C_IET 10010110 C_IET 10010111 9.82 10011000 3.92 10011001 90.03 10011010 C_IET 10011011 8.65 10011100 C_IET 10011101 C_IET 10011110 C_IET 10011111 6.34 10100000 89.41 10100001 C_IET 10100010 C_IET 10100011 C_IET 10100100 C_IET 10100101 C_IET 10100110 C_IET 10100111 C_IET 10101000 C_IET 10101001 C_IET 10101010 C_IET 10101011 C_IET 10101100 C_IET 10101101 C_IET 10101110 C_IET 10101111 C_IET 10110000 C_IET 10110001 C_IET 10110010 C_IET 10110011 C_IET 10110100 C_IET 10110101 C_IET 10110110 C_IET 10110111 C_IET 10111000 3.98 10111001 4.91 10111010 C_IET 10111011 3.91 10111100 25.92 10111101 C_IET 10111110 89.60 10111111 13.69 11000000 33.77 11000001 25.79 11000010 C_IET 11000011 26.69 11000100 89.50 11000101 C_IET 11000110 C_IET 11000111 26.41 11001000 37.07 11001001 C_IET 11001010 C_IET 11001011 30.93 11001100 31.74 11001101 30.67 11001110 C_IET 11001111 34.53 11010000 71.89 11010001 C_IET 11010010 C_IET 11010011 C_IET 11010100 C_IET 11010101 C_IET 11010110 C_IET 11010111 C_IET 11011000 C_IET 11011001 C_IET 11011010 C_IET 11011011 C_IET 11011100 22.73 11011101 8.98 11011110 51.71 11011111 77.64 11100000 43.70 11100001 44.72 11100010 77.66 11100011 29.15 11100100 53.59 11100101 45.22 11100110 49.02 11100111 50.16 11101000 82.34 11101001 C_IET 11101010 C_IET 11101011 C_IET 11101100 C_IET 11101101 C_IET 11101110 43.46 11101111 72.19 11110000 61.65 11110001 34.61 11110010 60.29 11110011 57.49 11110100 C_IET 11110101 C_IET 11110110 C_IET 11110111 71.04 11111000 69.11 11111001 70.00 11111010 C_IET 11111011 87.24 11111100 37.54 11111101 87.93 11111110 44.34 11111111 74.01