# Decision-Time Learning and Planning Integrated Control for the Mild Hyperbaric Chamber
## 1 Introduction  
The environmental conditions of plateau regions are characterized by low air density and reduced oxygen concentration. As altitude increases, atmospheric pressure progressively decreases, leading to a corresponding decline in the partial pressure of oxygen in the air, thereby creating severe hypoxia conditions in high-altitude regions. This hypoxic condition exerts detrimental effects on multiple physiological systems, including the nervous, respiratory, and circulatory systems, and is the primary cause of altitude-related illnesses. When the human body is exposed to high-altitude hypoxia, inadequate oxygen supply can induce acute altitude reactions such as headaches, dizziness, and nausea. In severe cases, it may even lead to life-threatening conditions such as high-altitude pulmonary edema or high-altitude cerebral edema. Hyperbaric oxygen therapy (HBOT) has emerged as one of the most effective methods for both preventing and treating altitude sickness [1]. By allowing patients to breathe high-concentration oxygen in an environment with pressure higher than one atmosphere, HBOT increases blood oxygen content and improves tissue oxygenation. Compared to oxygen inhalation under atmospheric conditions, the elevated ambient pressure and oxygen partial pressure provided by HBOT can significantly increase the dissolved oxygen content in blood and tissues for several hours after therapy ends, thereby mitigating hypoxic damage. This therapy has achieved promising results in the treatment of hypoxic diseases and emergency intervention for altitude sickness. The core device facilitating HBOT is the hyperbaric chamber, which provides a sealed high-pressure, high-oxygen environment for therapeutic purposes. However, conventional hyperbaric chambers present limitations due to their large-scale, complex, and costly nature, requiring specialized facilities and skilled personnel, thus rendering them unsuitable for widespread use in high-altitude regions. To address this limitation, we have developed a more practical solution as the mild hyperbaric chamber (MHBC). Evolved from traditional hyperbaric chamber technology, the MHBC represents an innovative pressurized oxygen-enriched device specifically designed to offer accessible and comfortable oxygen therapy for both residents and travelers in high-altitude areas. Unlike hyperbaric chambers in hospital, the operating pressure of an MHBC is relatively slightly elevated above ambient levels (typically less than 0.6 atm). This modest pressure differential significantly reduces structural requirements and associated safety considerations, enabling a more compact and lightweight design. This feature facilitates mobile deployment, including vehicle-mounted configurations, improving portability and usability. As shown in Figure 1, the vehicle-mounted plateau MHBC incorporates an integrated design where the pressurization chamber and auxiliary power system are housed within a single modular enclosure. The chamber is secured onto the vehicle chassis using a bolted frame structure, constituting a mobile oxygen therapy unit. The MHBC establishes a comfortable, efficient, and readily accessible oxygen-enriched environment, effectively mitigating hypoxia-related health issues in high-altitude regions and emerging as one of the most effective approaches for the prevention and treatment of altitude sickness. This study focuses on the control system design for the MHBC. In the field of medical hyperbaric oxygen chambers, extensive research has been conducted on the development of automated control systems to improve treatment conditions, enhance control accuracy and system stability, and ultimately optimize therapeutic outcomes. For example, [PERSON] et al. designed a novel bench-test ventilator for hyperbaric chambers to accommodate pressure regulation under varying atmospheric conditions [2]. [PERSON] et al. developed an automated multi-place hyperbaric oxygen therapy system, significantly enhancing patient comfort and safety while reducing the incidence of barotrauma [3].