5 research outputs found
Tensor-Free Second-Order Differential Dynamic Programming
- Publication venue
- Publication date
- 04/03/2021
- Field of study
This paper presents a method to reduce the computational complexity of
including second-order dynamics sensitivity information into the Differential
Dynamic Programming (DDP) trajectory optimization algorithm. A tensor-free
approach to DDP is developed where all the necessary derivatives are computed
with the same complexity as in the iterative Linear Quadratic Regulator~(iLQR).
Compared to linearized models used in iLQR, DDP more accurately represents the
dynamics locally, but it is not often used since the second-order derivatives
of the dynamics are tensorial and expensive to compute. This work shows how to
avoid the need for computing the derivative tensor by instead leveraging
reverse-mode accumulation of derivative information to compute a key
vector-tensor product directly. We benchmark this approach for trajectory
optimization with multi-link manipulators and show that the benefits of DDP can
often be included without sacrificing evaluation time, and can be done in fewer
iterations than iLQR
Isolation of Alkaloidal Constituents of Zanthoxylum usambarense
- Author
- Publication venue
- 'American Chemical Society (ACS)'
- Publication date
- Field of study
Changes in Atmospheric Constituents and in Radiative Forcing
- Author
- Artaxo Paulo
- Berntsen Terje
- Betts Richard
- Bodeker Greg
- Boucher Oliver
- Collins W.D.
- Conway T.J.
- Dlugokencky E.
- Elkins J.W.
- Etheridge D.
- Fahey David W.
- Forster Piers
- Foukal P.
- Fraser P.
- Geller Marvyn
- Haywood James
- Joos F.
- Keeling C.D.
- Kinne Stefan
- Lassey K.
- Lean Judith
- Lohmann Ulrike
- Lowe David C.
- Manning A.C.
- Montzka S.
- Myhre Gunnar
- Nganga John
- O'Shaughnessy K.
- Oram D.
- Piper S.
- Plattner G.-K.
- Ponater Michael
- Prinn Ronald
- Raga Graciela
- Ramankutty N.
- Ramaswamy Venkatachalam
- Reid G.
- Rind David
- Rosenlof Karen
- Sausen Robert
- Schulz Michael
- Schwarzkopf D.
- Solanki S.K.
- Stenchikov Garry
- Stuber Nicola
- Takemura T.
- Textor Christiane
- van Dorland Rob
- Wang R.
- Weiss R.
- Whorf T.
- Publication venue
- Cambridge University Press, Cambridge, United Kingdom and New York, USA
- Publication date
- 01/10/2007
- Field of study
Neonatal mortality in Kenyan hospitals: a multisite, retrospective, cohort study
- Author
- Alfred Wanjau
- Alice Oguda
- Ambrose Agweyu
- Amilia Ngoda
- Arnest Namayi
- Beatrice Njambi
- Benjamin Tanui
- Bernadette Lusweti
- Beth Maina
- Caren Emadau
- Caroline Mwangi
- Celestine Muteshi
- Charles Nzioki
- Christine Manyasi
- David Gathara
- Dolphine Mochache
- Edith Gicheha
- Emma Namulala
- Esther Muthiani
- Esther Mwangi
- Esther Njiru
- Faith Mueni
- Faith Njeru
- Felistus Makokha
- Fred Were
- George Mbevi
- Grace Irimu
- Grace Ochieng
- Jalemba Aluvaala
- Jane Mbungu
- Jeska Kuya
- Joan Baswetty
- John Ollongo
- John Wainaina
- Joseph Nganga
- Josephine Aritho
- Josephine Ojigo
- Joyce Oketch
- Judith Onsongo
- Juma Vitalis
- Livingstone Mumelo
- Loise N. Mwangi
- Lucy Kinyua
- Lydia Thuranira
- Magdalene Kuria
- Margaret Wanjiku Mwaura
- Margaret Waweru
- Mary Nguri
- Mary Waiyego
- Mercy Chepkirui
- Morris Ogero
- Nancy Mburu
- Nyumbile Bonface
- Orina Nyakina
- Otieno George Obop
- Pauline Njeru
- Penina Mwangi
- Peter Muigai
- Rachel Inginia
- Rosemary Mututa
- Salome Okisa Muyale
- Samuel Akech
- Samuel Soita
- Seline Kulubi
- Susan Wanjala
- Sylvia Omoke
- Wagura Mwangi
- Zainab Kioni
- Publication venue
- 'BMJ'
- Publication date
- 01/05/2021
- Field of study
Background Most of the deaths among neonates in low-income and middle-income countries (LMICs) can be prevented through universal access to basic high-quality health services including essential facility-based inpatient care. However, poor routine data undermines data-informed efforts to monitor and promote improvements in the quality of newborn care across hospitals.Methods Continuously collected routine patientsâ data from structured paper record forms for all admissions to newborn units (NBUs) from 16 purposively selected Kenyan public hospitals that are part of a clinical information network were analysed together with data from all paediatric admissions ages 0â13 years from 14 of these hospitals. Data are used to show the proportion of all admissions and deaths in the neonatal age group and examine morbidity and mortality patterns, stratified by birth weight, and their variation across hospitals.Findings During the 354 hospital months study period, 90â222 patients were admitted to the 14 hospitals contributing NBU and general paediatric ward data. 46% of all the admissions were neonates (aged 0â28âdays), but they accounted for 66% of the deaths in the age group 0â13âyears. 41â657 inborn neonates were admitted in the NBUs across the 16 hospitals during the study period. 4266/41 657 died giving a crude mortality rate of 10.2% (95% CI 9.97% to 10.55%), with 60% of these deaths occurring on the first-day of admission. Intrapartum-related complications was the single most common diagnosis among the neonates with birth weight of 2000âg or more who died. A threefold variation in mortality across hospitals was observed for birth weight categories 1000â1499âg and 1500â1999âg.Interpretation The high proportion of neonatal deaths in hospitals may reflect changing patterns of childhood mortality. Majority of newborns died of preventable causes (>95%). Despite availability of high-impact low-cost interventions, hospitals have high and very variable mortality proportions after stratification by birth weight
8th IAS Conference on HIV Pathogenesis, Treatment and Prevention (IAS 2015).
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- Abdel-Mohsen M
- Abimiku A
- Abrahams F
- Abram M
- Abrams EJ
- Achii P
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- Ambinder RF
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- Moran ME
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- Moshgabadi N
- Mosoko JJ
- Mota T
- Mothopeng T
- Moukambi F
- Mourez T
- Moyo S
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- Mpofu D
- Msandiwa R
- Mshana G
- Msukwa MT
- Mtande T
- Mudender F
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- Mugo C
- Mugo NR
- Mugurungi O
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- Mugyenyi P
- Mujuru HA
- Mukerjee P
- Mukui I
- Mulawa M
- Mulder N
- Mulema V
- Mullins JI
- Munsakul W
- Munyati S
- Murakami-Ogasawara A
- Murakami-Ogasawara A
- Murphy RL
- Murray C
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- Musarandega R
- Musau S
- Mushavi A
- Mushavi A
- Musiime V
- Musinguzi J
- Musomba RZ
- Musonda R
- Mustafa M
- Mutanha N
- Mutanhaurwa R
- Muula A
- Muñoz-FernĂĄndez MĂ
- Mwale M
- Mwangomba L
- Mwanyumba S
- Myer L
- Myer L
- Myer L
- Myer L
- Myers S
- Nabitaka L
- Naggie S
- Naidoo K
- Nair G
- Najarro K
- Nalugoda F
- Namey E
- Namuwenge N
- Nanda K
- Nankya I
- Naranbhai V
- Natumanya E
- Ncube G
- Ndhlovu L
- Ndhlovu LC
- Ndjoyi-Mbiguino A
- Ndlovu B
- Ndulue N
- Ndung'u T
- Ndung'u T
- Neilands TB
- Nelson M
- Nelson W
- Neumann T
- Newell M-L
- Neytra S
- Nganga L
- Nganga L
- Ngo-Giang-Huong N
- Nguimkeu P
- Nguyen BC
- Nguyen HH
- Nguyen HL
- Nguyen MS
- Nguyen P
- Nguyen T
- Nhan T
- Nhando N
- Nicholas S
- Nickel G
- Niehues T
- Nielsen K
- Nikolopoulos G
- Nimitvilai S
- Nitayaphan S
- Njau P
- Njuguna I
- Noe S
- Nordio J
- Nosyk B
- Nosyk B
- Nsumba MS
- Ntombela F
- Nunez A
- Nunez A
- Nyandindi C
- Nyirenda M
- Nzengui GFN
- O'Brien M
- O'Connell R
- O'Doherty U
- Obel N
- Ochoa-Moreno I
- Oishi K
- Okala SG
- Okesola N
- Okitolonda E
- Okonji E
- Okonji E
- Omanga E
- Omanga E
- Omolo D
- Orkin C
- Orne-Gliemann J
- Orne-Gliemann J
- Orrell C
- Osman N
- Osmand T
- Osoti A
- Ospina-Norvell C
- Ostrowski M
- Ou S-S
- Ou S-S
- Ou S-S
- Ou SS
- Ouattara M
- Ouedraogo G
- Owen SM
- Padgett D
- Padian N
- Padian NS
- Padian NS
- Pageaux G-P
- Paiardini M
- Palma P
- Palmer S
- Palou E
- Pan J
- Panchia R
- Panchia R
- Pang PS
- Pankam T
- Pannetier J
- Panteleev A
- Pape JW
- Papoyan A
- Parades Z
- Paraskevis D
- Parikh S
- Parslow T
- Pascale J
- Pate KM
- Patel M
- Patel V
- Pattanasin S
- Peacock D
- Peeling R
- Pence BW
- Pendse R
- Perelson A
- Perez A
- Perry B
- Peters P
- Peters PJ
- Petersen M
- Peterson C
- Petit L
- Peton N
- Petro G
- Pettifor A
- Pettifor A
- Pettifor AP
- Peyrani P
- Peytavin G
- Peytavin G
- Peytavin G
- Pham HT
- Phanuphak N
- Phanuphak N
- Phanuphak N
- Phanuphak P
- Phanuphak P
- Phanuphak P
- Phanuphak P
- Phaswana-Mafuya N
- Phillips T
- Piatak M
- Piazza P
- Pick N
- Pilcher C
- Pillay D
- Pillay D
- Pillay D
- Pillay S
- Pina C
- Ping L-H
- Pinyakorn S
- Piper J
- Pitche V
- Pitisuttithum P
- Piwowar-Manning E
- Piwowar-Manning E
- Piwowar-Manning E
- Piwowar-Manning E
- Planas D
- Plantier J-C
- Platt HL
- Plazy M
- Plettenberg A
- Plotkin M
- Plummer A
- Podlekareva DN
- Pohlmeyer C
- Polacino P
- Pontones P
- Pontones P
- Poon A
- Poon AF
- Poon AFY
- Porcella SF
- Porcella SF
- Porras G
- Porter K
- Portilla J
- Post F
- Post FA
- Post FA
- Powers KA
- Powis K
- Pozniak A
- Pozniak A
- Prasithsirikul W
- Prasitsuebsai W
- Prasitsuebsai W
- Prentice H
- Prestage G
- Promda N
- Prozesky H
- Prueksakaew P
- Prueksakaew P
- Psichogiou M
- Pujol BG
- Purcell D
- Puren A
- Puthanakit T
- Puttkammer N
- Pyra M
- Quant C
- Queen S
- Quereda C
- Quinn T
- Quinn T
- Quinn TC
- Quirk E
- Quiroz-Morales V
- Rabezanahary H
- Racz L
- Raffi F
- Rain-Taljaard R
- Rajasingham R
- Rajkotia Y
- Rakhmanina N
- Ramachandran A
- Ramachandran S
- Ramapuram J
- Ramogothobeng K
- Rangel G
- Rao S
- Ratanasuwan W
- Ratcliff A
- Ravalihasy A
- Ravelomanana NLR
- Ravindran P
- Rawangban B
- Rawat A
- Ray N
- Raymond A
- Rebeiro PF
- Redd A
- Redd AD
- Reed JS
- Rees H
- Reeves RK
- Reidner G
- Reimann K
- Reinsch N
- Reliquet V
- Rerks-Ngarm S
- Reyes H
- Reyes-TerĂĄn G
- Reynolds S
- Reza T
- Richardson B
- Richardson L
- Richman D
- Rinaldo CR
- Riviere C
- Robb M
- Robertson M
- Robinson J
- Robison J
- Rocha MM
- Roche M
- Rockstroh JK
- Rodrigues V
- Rodriguez B
- Rodriguez F
- Rolland M
- Rollet-Kurhajec K
- Ronen K
- Rooney J
- Rosalind P-R
- Roseberry J
- Roseberry JC
- Rosen S
- Rosenberg N
- Rosenthal E
- Rosenthal K
- Rountree W
- Routy J-P
- Rouzioux C
- Rowhani-Rahbar A
- Rowland-Jones S
- Roxby A
- Roy Ă
- Ruane PJ
- Rudy B
- Rutherford A
- Rutledge B
- Ruxrungtham K
- Ryan E
- Saag M
- Saag MS
- Sabsanong P
- Sabuni N
- Sacha JB
- Saeed S
- Saengtawan P
- Saez-Cirion A
- Saidi F
- Salazar-Vizcaya L
- Saleh S
- Salgado M
- Salmon D
- Salo E
- Samson L
- Samson L
- Samsunder N
- Sanchez A
- Sandoval M
- Sandstrom P
- Sang N
- Santangelo P
- Santos RB
- Sathane I
- Sato P
- Satumay K
- Sauve L
- Sauve L
- Schadendorf D
- Schafer J
- Schechter M
- Schechter MT
- Scheepers E
- Scheepers E
- Scherpbier HJ
- Schley A
- Schmid RM
- Schmitz K
- Schnippel K
- Schomaker M
- Schomaker M
- Schramm B
- Schrijvers R
- Schultze A
- Schulze C
- Schwartz S
- Schwarz M
- Schwerdtfeger C
- SchĂŒrmann D
- Scully E
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- Sedaghat A
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- Sevinsky H
- Shackleton CR
- Shah M
- Shamblaw D
- Shang H
- Shankar A
- Shannon K
- Shao Y
- Shapiro R
- Sharifi H
- Shattock A
- Shattock R
- Shattock RJ
- Shaughnessy M
- Shaw A
- Shearer K
- Shen X
- Shengelia N
- Shepherd BE
- Shepherd BE
- Sherr K
- Sherwood J
- Shields J
- Shields R
- Shighata C
- Shikuma C
- Shingadia D
- Shirk E
- Shive C
- Shokoohi M
- Shwartz J
- Sibanda E
- Sibanyoni M
- Siberry G
- Sievers M
- Sievers M
- Sikaris K
- Silicano J
- Silicano R
- Siliciano RF
- Silima M
- Sim B
- Simba O
- Simon K
- Simoni JM
- Simpson S
- Singa B
- Singer J
- Singer J
- Singh B
- Singtoroj T
- Singtoroj T
- Sirisanthana T
- Sirivichayakul S
- Siriwachirachai T
- Sithole B
- Skowronska E
- Skrahin A
- Slyker J
- Slyker JA
- Smith D
- Smith KN
- Sobotha C
- Sodhi S
- Sogni P
- Sohn AH
- Solomon A
- Solomon MM
- Solomon S
- Somsouk M
- Sonza S
- Soto-Nava M
- Soto-Nava M
- Soule M
- Spinner CD
- Spoulou V
- Spörri A
- Sripan P
- Sriporn A
- Ssali F
- Ssekubugu R
- Ssemmondo E
- Stahlman S
- Stamm LM
- Stanley C
- Stekler J
- Stevens M
- Stinson K
- Stinson K
- Stintzi A
- Stirratt M
- Stirratt M
- Stojiljkovic T
- Strathdee S
- Strathdee S
- Strathdee SA
- Strumpf EC
- Struthers H
- Stuart R
- Sudjaritruk T
- Sudjaritruk T
- Sugandhi N
- Sulaberidze L
- Sulkowski M
- Sulkowski MS
- Sulkowski MS
- Sun X
- Sungkanuparph S
- Sunseri N
- Supervie V
- Suthar A
- Suttichom D
- Swanstrom R
- Swanstrom R
- Sweitzer S
- Swindells S
- Switzer WM
- Sylla M
- Sypsa V
- Szumilin E
- Taha T
- Taiwo B
- Takebe Y
- Tal K
- Taljjard D
- Tang W
- Tang W
- Tanser F
- Tanser F
- Tapia K
- Taruberekera N
- Tayea A
- Taylor A
- Taylor J
- Tayong G
- Teague A
- Techapornroong M
- Tee KK
- Teeraananchai S
- Tenakoon S
- Tene G
- Tenthani L
- Teodoro E
- Teppler H
- Terris-Prestholt F
- TerĂĄn GR
- Thai H
- Thirumurthy H
- Thirumurthy H
- Thirumurthy H
- Thomas KK
- Thomas R
- Thompson D
- Thompson LH
- Thompson M
- Tih PM
- Timimi HB
- Tippanonth N
- Tiraboschi JM
- Toby M
- Toibaro J
- Tollman S
- Tomaras G
- Torres S
- Townley E
- Trahan M-J
- Tran HT
- Traore B
- Trapence G
- Treves-Kagan S
- Treves-Kagan S
- Trichavaroj R
- Trichavaroj R
- Trinh R
- Trunfio M
- Truong KH
- Trypsteen W
- Tsereteli N
- Tucker J
- Tumba N
- Tumbare E
- Tumwesigye E
- Turrini F
- Turyamureeba B
- Twine R
- Twine R
- Twine R
- Uebel KE
- Umar E
- Urien S
- Valantin MA
- Valenzuela-Ponce H
- Valenzuela-Ponce H
- van der Elst L
- Van Eygen V
- van Heerden A
- van Lettow M
- Van Lint C
- Van Lunzen J
- Van Nguyen L
- Van Nguyen TT
- van Oosterhout J
- van Oosterhout JJ
- Van Rompay K
- van Rooyen H
- Van Schalkwyk J
- Vandekerckhove L
- Vandendriessche A
- Vasarhelyi K
- Vaudry W
- Vaudry W
- Veloso VG
- Veloso VG
- Venter F
- Ventura A
- Verhofstede C
- Vermillion M
- Vernazza P
- Vervisch K
- Vets S
- Viana R
- Vibeke R
- Vicenzi E
- Vicol LA
- Viljoen K
- Villinger F
- Vincent T
- Vitoria M
- Vittinghoff E
- Volberding P
- Volokha A
- von Werder A
- Vu QD
- Wagner A
- Wagner R
- Wagner T
- Wainberg M
- Wainfen W
- Walker BD
- Walker BD
- Walker-Sperling V
- Wallis C
- Walmsley S
- Wamalwa D
- Wamalwa D
- Wambura M
- Wamicwe J
- Wanasiri P
- Wang C
- Wang J
- Wang J
- Wang Z
- Warnke A
- Warszawski J
- Watadzaushe C
- Waterhouse D
- Wawer M
- Weaver E
- Webb GM
- Wei C
- Wei X
- Weidle P
- Weiser B
- Weiss H
- Weissenhorn W
- Welty T
- Welty T
- Wendoh J
- Wenzi LK
- Werb D
- Wertheim JO
- Westgard T
- Wiesner L
- Wijayaratne S
- Wilen C
- Wilkinson L
- Williams T
- Wilson CM
- Wilson D
- Wimonsate W
- Wittkop L
- Woelk G
- Wolf E
- Wolff M
- Wolters L
- Wood E
- Wood E
- Wood E
- Wood E
- Woods C
- Wu HL
- Wu V
- Wyles D
- Wylie JL
- Xaba T
- Xia G
- Xiao H
- Xing Y
- Xu D
- Xu J
- Xu X
- Yang B
- Yang JC
- Yang L
- Yao KA
- Yassi A
- Yates N
- Yazdanpanah Y
- Yin M
- Yindom L-M
- Yotebieng M
- Young J
- Young P
- Youngleson M
- Yu Y
- Zablotska I
- Zamor P
- Zang O
- Zash R
- Zerbe A
- Zhang M
- Zhang Y
- Zhang Y
- Zhou S
- Zhuang M
- Ziegler JB
- Zink A
- Zink C
- Zolla-Pazner S
- Zolopa A
- Zolowere DB
- Zou H
- Zuma N
- ĂsbjörnsdĂłttir KH
- Ăvila-RĂos S
- Publication venue
- 'International AIDS Society'
- Publication date
- 01/01/2015
- Field of study