2 research outputs found
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
Mortality from gastrointestinal congenital anomalies at 264 hospitals in 74 low-income, middle-income, and high-income countries: a multicentre, international, prospective cohort study
Summary
Background Congenital anomalies are the fifth leading cause of mortality in children younger than 5 years globally.
Many gastrointestinal congenital anomalies are fatal without timely access to neonatal surgical care, but few studies
have been done on these conditions in low-income and middle-income countries (LMICs). We compared outcomes of
the seven most common gastrointestinal congenital anomalies in low-income, middle-income, and high-income
countries globally, and identified factors associated with mortality.
Methods We did a multicentre, international prospective cohort study of patients younger than 16 years, presenting to
hospital for the first time with oesophageal atresia, congenital diaphragmatic hernia, intestinal atresia, gastroschisis,
exomphalos, anorectal malformation, and Hirschsprung’s disease. Recruitment was of consecutive patients for a
minimum of 1 month between October, 2018, and April, 2019. We collected data on patient demographics, clinical
status, interventions, and outcomes using the REDCap platform. Patients were followed up for 30 days after primary
intervention, or 30 days after admission if they did not receive an intervention. The primary outcome was all-cause,
in-hospital mortality for all conditions combined and each condition individually, stratified by country income status.
We did a complete case analysis.
Findings We included 3849 patients with 3975 study conditions (560 with oesophageal atresia, 448 with congenital
diaphragmatic hernia, 681 with intestinal atresia, 453 with gastroschisis, 325 with exomphalos, 991 with anorectal
malformation, and 517 with Hirschsprung’s disease) from 264 hospitals (89 in high-income countries, 166 in middleincome
countries, and nine in low-income countries) in 74 countries. Of the 3849 patients, 2231 (58·0%) were male.
Median gestational age at birth was 38 weeks (IQR 36–39) and median bodyweight at presentation was 2·8 kg (2·3–3·3).
Mortality among all patients was 37 (39·8%) of 93 in low-income countries, 583 (20·4%) of 2860 in middle-income
countries, and 50 (5·6%) of 896 in high-income countries (p<0·0001 between all country income groups).
Gastroschisis had the greatest difference in mortality between country income strata (nine [90·0%] of ten in lowincome
countries, 97 [31·9%] of 304 in middle-income countries, and two [1·4%] of 139 in high-income countries;
p≤0·0001 between all country income groups). Factors significantly associated with higher mortality for all patients
combined included country income status (low-income vs high-income countries, risk ratio 2·78 [95% CI 1·88–4·11],
p<0·0001; middle-income vs high-income countries, 2·11 [1·59–2·79], p<0·0001), sepsis at presentation (1·20
[1·04–1·40], p=0·016), higher American Society of Anesthesiologists (ASA) score at primary intervention
(ASA 4–5 vs ASA 1–2, 1·82 [1·40–2·35], p<0·0001; ASA 3 vs ASA 1–2, 1·58, [1·30–1·92], p<0·0001]), surgical safety
checklist not used (1·39 [1·02–1·90], p=0·035), and ventilation or parenteral nutrition unavailable when needed
(ventilation 1·96, [1·41–2·71], p=0·0001; parenteral nutrition 1·35, [1·05–1·74], p=0·018). Administration of
parenteral nutrition (0·61, [0·47–0·79], p=0·0002) and use of a peripherally inserted central catheter (0·65
[0·50–0·86], p=0·0024) or percutaneous central line (0·69 [0·48–1·00], p=0·049) were associated with lower mortality.
Interpretation Unacceptable differences in mortality exist for gastrointestinal congenital anomalies between lowincome,
middle-income, and high-income countries. Improving access to quality neonatal surgical care in LMICs will
be vital to achieve Sustainable Development Goal 3.2 of ending preventable deaths in neonates and children younger
than 5 years by 2030