HIGH PERFORMANCE MODELLING AND COMPUTING IN COMPLEX MEDICAL CONDITIONS: REALISTIC CEREBELLUM SIMULATION AND REAL-TIME BRAIN CANCER DETECTION

The personalized medicine is the medicine of the future. This innovation is supported by the ongoing technological development that will be crucial in this field. Several areas in the healthcare research require performant technological systems, which elaborate huge amount of data in real-time. By exploiting the High Performance Computing technologies, scientists want to reach the goal of developing accurate diagnosis and personalized therapies. To reach these goals three main activities have to be investigated: managing a great amount of data acquisition and analysis, designing computational models to simulate the patient clinical status, and developing medical support systems to provide fast decisions during diagnosis or therapies. These three aspects are strongly supported by technological systems that could appear disconnected. However, in this new medicine, they will be in some way connected. As far as the data are concerned, today people are immersed in technology, producing a huge amount of heterogeneous data. Part of these is characterized by a great medical potential that could facilitate the delineation of the patient health condition and could be integrated in our medical record facilitating clinical decisions. To ensure this process technological systems able to organize, analyse and share these information are needed. Furthermore, they should guarantee a fast data usability. In this contest HPC and, in particular, the multicore and manycore processors, will surely have a high importance since they are capable to spread the computational workload on different cores to reduce the elaboration times. These solutions are crucial also in the computational modelling, field where several research groups aim to implement models able to realistically reproduce the human organs behaviour to develop their simulators. They are called digital twins and allow to reproduce the organ activity of a specific patient to study the disease progression or a new therapy. Patient data will be the inputs of these models which will predict her/his condition, avoiding invasive and expensive exams. The technological support that a realistic organ simulator requires is significant from the computational point of view. For this reason, devices as GPUs, FPGAs, multicore devices or even supercomputers are needed. As an example in this field, the development of a cerebellar simulator exploiting HPC will be described in the second chapter of this work. The complexity of the realistic mathematical models used will justify such a technological choice to reach reduced elaboration times. This work is within the Human Brain Project that aims to run a complete realistic simulation of the human brain. Finally, these technologies have a crucial role in the medical support system development. Most of the times during surgeries, it is very important that a support system provides a real-time answer. Moreover, the fact that this answer is the result of the elaboration of a complex mathematical problem, makes HPC system essential also in this field. If environments such as surgeries are considered, it is more plausible that the computation is performed by local desktop systems able to elaborate the data directly acquired during the surgery. The third chapter of this thesis describes the development of a brain cancer detection system, exploiting GPUs. This support system, developed as part of the HELICoiD project, performs a real-time elaboration of the brain hyperspectral images, acquired during surgery, to provide a classification map which highlights the tumor. The neurosurgeon is facilitated in the tissue resection. In this field, the GPU has been crucial to provide a real-time elaboration. Finally, it is possible to assert that in most of the fields of the personalized medicine, HPC will have a crucial role since they consist in the elaboration of a great amount of data in reduced times, aiming to provide specific diagnosis and therapies for the patient

High performance implementation of MPC schemes for fast systems

In recent years, the number of applications of model predictive control (MPC) is rapidly increasing due to the better control performance that it provides in comparison to traditional control methods. However, the main limitation of MPC is the computational e ort required for the online solution of an optimization problem. This shortcoming restricts the use of MPC for real-time control of dynamic systems with high sampling rates. This thesis aims to overcome this limitation by implementing high-performance MPC solvers for real-time control of fast systems. Hence, one of the objectives of this work is to take the advantage of the particular mathematical structures that MPC schemes exhibit and use parallel computing to improve the computational e ciency. Firstly, this thesis focuses on implementing e cient parallel solvers for linear MPC (LMPC) problems, which are described by block-structured quadratic programming (QP) problems. Speci cally, three parallel solvers are implemented: a primal-dual interior-point method with Schur-complement decomposition, a quasi-Newton method for solving the dual problem, and the operator splitting method based on the alternating direction method of multipliers (ADMM). The implementation of all these solvers is based on C++. The software package Eigen is used to implement the linear algebra operations. The Open Message Passing Interface (Open MPI) library is used for the communication between processors. Four case-studies are presented to demonstrate the potential of the implementation. Hence, the implemented solvers have shown high performance for tackling large-scale LMPC problems by providing the solutions in computation times below milliseconds. Secondly, the thesis addresses the solution of nonlinear MPC (NMPC) problems, which are described by general optimal control problems (OCPs). More precisely, implementations are done for the combined multiple-shooting and collocation (CMSC) method using a parallelization scheme. The CMSC method transforms the OCP into a nonlinear optimization problem (NLP) and de nes a set of underlying sub-problems for computing the sensitivities and discretized state values within the NLP solver. These underlying sub-problems are decoupled on the variables and thus, are solved in parallel. For the implementation, the software package IPOPT is used to solve the resulting NLP problems. The parallel solution of the sub-problems is performed based on MPI and Eigen. The computational performance of the parallel CMSC solver is tested using case studies for both OCPs and NMPC showing very promising results. Finally, applications to autonomous navigation for the SUMMIT robot are presented. Specially, reference tracking and obstacle avoidance problems are addressed using an NMPC approach. Both simulation and experimental results are presented and compared to a previous work on the SUMMIT, showing a much better computational e ciency and control performance.Tesi

Structural sustainability appraisal in BIM

The provision of Application Programming Interface (API) in BIM-enable tools can contribute to facilitating BIM-related research. APIs are useful links for running plug-ins and external programmes but they are yet to be fully exploited in expanding the BIM scope. The modelling of n-Dimensional (nD) building performance measures can potentially benefit from BIM extension through API implementations. Sustainability is one such measure associated with buildings. For the structural engineer, recent design criteria have put great emphasis on the sustainability credentials as part of the traditional criteria of structural integrity, constructability and cost. This paper examines the utilization of API in BIM extension and presents a demonstration of an API application to embed sustainability issues into the appraisal process of structural conceptual design options in BIM. It concludes that API implementations are useful in expanding the BIM scope. Also, the approach including process modelling, algorithms and object-based instantiations demonstrated in the API implementation can be applicable to other nD building performance measures as may be relevant to the various professional platforms in the construction domain

Embedded System Design

A unique feature of this open access textbook is to provide a comprehensive introduction to the fundamental knowledge in embedded systems, with applications in cyber-physical systems and the Internet of things. It starts with an introduction to the field and a survey of specification models and languages for embedded and cyber-physical systems. It provides a brief overview of hardware devices used for such systems and presents the essentials of system software for embedded systems, including real-time operating systems. The author also discusses evaluation and validation techniques for embedded systems and provides an overview of techniques for mapping applications to execution platforms, including multi-core platforms. Embedded systems have to operate under tight constraints and, hence, the book also contains a selected set of optimization techniques, including software optimization techniques. The book closes with a brief survey on testing. This fourth edition has been updated and revised to reflect new trends and technologies, such as the importance of cyber-physical systems (CPS) and the Internet of things (IoT), the evolution of single-core processors to multi-core processors, and the increased importance of energy efficiency and thermal issues

Embedded System Design

A unique feature of this open access textbook is to provide a comprehensive introduction to the fundamental knowledge in embedded systems, with applications in cyber-physical systems and the Internet of things. It starts with an introduction to the field and a survey of specification models and languages for embedded and cyber-physical systems. It provides a brief overview of hardware devices used for such systems and presents the essentials of system software for embedded systems, including real-time operating systems. The author also discusses evaluation and validation techniques for embedded systems and provides an overview of techniques for mapping applications to execution platforms, including multi-core platforms. Embedded systems have to operate under tight constraints and, hence, the book also contains a selected set of optimization techniques, including software optimization techniques. The book closes with a brief survey on testing. This fourth edition has been updated and revised to reflect new trends and technologies, such as the importance of cyber-physical systems (CPS) and the Internet of things (IoT), the evolution of single-core processors to multi-core processors, and the increased importance of energy efficiency and thermal issues

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Multibody dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: Formulations and Numerical Methods, Efficient Methods and Real-Time Applications, Flexible Multibody Dynamics, Contact Dynamics and Constraints, Multiphysics and Coupled Problems, Control and Optimization, Software Development and Computer Technology, Aerospace and Maritime Applications, Biomechanics, Railroad Vehicle Dynamics, Road Vehicle Dynamics, Robotics, Benchmark Problems. The conference is organized by the Department of Mechanical Engineering of the Universitat Politècnica de Catalunya (UPC) in Barcelona. The organizers would like to thank the authors for submitting their contributions, the keynote lecturers for accepting the invitation and for the quality of their talks, the awards and scientific committees for their support to the organization of the conference, and finally the topic organizers for reviewing all extended abstracts and selecting the awards nominees.Postprint (published version