Learning the cost-to-go for mixed-integer nonlinear model predictive control

Application of nonlinear model predictive control (NMPC) to problems with hybrid dynamical systems, disjoint constraints, or discrete controls often results in mixed-integer formulations with both continuous and discrete decision variables. However, solving mixed-integer nonlinear programming problems (MINLP) in real-time is challenging, which can be a limiting factor in many applications. To address the computational complexity of solving mixed integer nonlinear model predictive control problem in real-time, this paper proposes an approximate mixed integer NMPC formulation based on value function approximation. Leveraging Bellman's principle of optimality, the key idea here is to divide the prediction horizon into two parts, where the optimal value function of the latter part of the prediction horizon is approximated offline using expert demonstrations. Doing so allows us to solve the MINMPC problem with a considerably shorter prediction horizon online, thereby reducing the online computation cost. The paper uses an inverted pendulum example with discrete controls to illustrate this approach

Feedback-controlled laser ablation for cancer treatment: comparison of On-Off and PID control strategies

: Laser ablation is a rising technique used to induce a localized temperature increment for tumor ablation. The outcomes of the therapy depend on the tissue thermal history. Monitoring devices help to assess the tissue thermal response, and their combination with a control strategy can be used to promptly address unexpected temperature changes and thus reduce unwanted thermal effects. In this application, numerical simulations can drive the selection of the laser control settings (i.e., laser power and gain parameters) and allow evaluating the thermal effects of the control strategies. In this study, the influence of different control strategies (On-Off and PID-based controls) is quantified considering the treatment time and the thermal effect on the tissue. Finite element model-based simulations were implemented to model the laser-tissue interaction, the heat-transfer, and the consequent thermal damage in liver tissue with tumor. The laser power was modulated based on the temperature feedback provided within the tumor safety margin. Results show that the chosen control strategy does not have a major influence on the extent of thermal damage but on the treatment duration; the percentage of necrosis within the tumor domain is 100% with both strategies, while the treatment duration is 630 s and 786 s for On-Off and PID, respectively. The choice of the control strategy is a trade-off between treatment duration and unwanted temperature overshoot during closed-loop laser ablation. Clinical Relevance-This work establishes that different temperature-based control of the laser ablation procedure does not have a major influence on the extent of thermal damage but on the duration of treatment

Mixed-Integer MPC Strategies for Fueling and Density Control in Fusion Tokamaks

Model predictive control (MPC) is promising for fueling and core density feedback control in nuclear fusion tokamaks, where the primary actuators, frozen hydrogen fuel pellets fired into the plasma, are discrete. Previous density feedback control approaches have only approximated pellet injection as a continuous input due to the complexity that it introduces. In this letter, we model plasma density and pellet injection as a hybrid system and propose two MPC strategies for density control: mixed-integer (MI) MPC using a conventional mixed-integer programming (MIP) solver and MPC utilizing our novel modification of the penalty term homotopy (PTH) algorithm. By relaxing the integer requirements, the PTH algorithm transforms the MIP problem into a series of continuous optimization problems, reducing computational complexity. Our novel modification to the PTH algorithm ensures that it can handle path constraints, making it viable for constrained hybrid MPC in general. Both strategies perform well with regards to reference tracking without violating path constraints and satisfy the computation time limit for real-time control of the pellet injection system. However, the computation time of the PTH-based MPC strategy consistently outpaces the conventional MI-MPC strategy

Yield, chemical composition, and efficiency of utilization of applied nitrogen from BRS Kurumi pastures.

O objetivo foi avaliar o efeito dos níveis de fertilização nitrogenada na produtividade e no valor nutritivo do BRS Kurumi quando manejado em diferentes alturas de resíduos durante os períodos seco e chuvoso do ano. O capim foi manejado em três alturas de resíduos (20, 35 e 50 cm) em associação com três níveis de fertilização com nitrogênio (0, 100 e 200 kg N/ha/ ano), durante o período seco e chuvoso do ano. Quando a altura do capim de cada parcela atingiu 80 cm, o Kurumi foi cortado nas alturas de resíduos pré-estabelecidas. Cerca de 89% da produção de MS foi observada durante o período chuvoso. A altura do resíduo de 35 cm juntamente com doses de 100 ou 200 kg N/ ha/ ano, e a altura do resíduo de 20 cm, com dose de 100 kg N/ha/ ano foram os tratamentos que apresentaram maior produção de MS durante o período chuvoso. Não foram observadas diferenças na produção de MS entre os tratamentos testados durante o período da seca. O Kurumi cultivado no período da seca apresentou maior teor de fibra em detergente neutro e menor digestibilidade. O Kurumi manejado com alturas de resíduo de 20 e 35 cm e fertilizado com 100 kg N/ha apresentou os maiores valores de eficiência de utilização do nitrogênio aplicado. Recomenda-se a utilização de 20 ou 35 cm de altura do resíduo e 100 kg de N/ha/ ano para obter maior produção de biomassa e nutrientes, qualidade nutricional e eficiência no uso do nitrogêni

Tamani grass-legume intercropping can improve productivity and composition of fodder destined to haylage or hay.

This research evaluated the biomass productivity and nutritional value of the haylage and hay from intercropping between Tamani grass and different legume species. For the productive characteristics of the different intercrops, we adopted a randomized block design, for evaluation of the combination of intercropping and conservation technic we used 5 x 2 factorial scheme (five intercrops and two types of conservation techniques). The treatments were Tamani grass as monoculture, and the intercrops of Tamani grass with crotalaria, soybean, cowpea, or pigeon pea. The conservation techniques were haylage (520 g/kg of DM) and hay (870 g/kg of DM). Plants were sown in alternate rows, with 45 cm of spacing between the rows. The parameters evaluated were grass and legume biomass production, canopy height, and haylage and hay chemical composition, and in vitro dry matter digestibility (ivDMD). There were no differences in the total biomass production between the intercrops and TA grass monoculture. The treatments intercropped with cowpea and soybean had the highest legume participation in the mixture, promoting an increase in crude protein and ivDMD content of haylage and hay. Haylage and hay had the same chemical composition, although haylage had higher ivDMD than hay. We concluded that intercropping Tamani grass with soybeans or cowpea maintained total biomass productivity and improved the nutritional value of haylage and ha