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OpEn: Code Generation for Embedded Nonconvex optimization *

IFAC-PapersOnLine 2020年第2期53卷 6548-6554页

作者： Pantelis Sopasakis Emil Fresk Panagiotis Patrinos Queen’s University Belfast School of Electronics Electrical Engineering and Computer Science (EEECS) and Centre for Intelligent and Autonomous Manufacturing Systems (i-AMS) Ashby Building Stranmillis Road BT9 5AG Belfast Northern Ireland WideFind AB Aurorum 1C 977 75 Luleå Sweden KU Leuven Department of Electrical Engineering (ESAT) STADIUS Center for Dynamical Systems Signal Processing and Data Analytics & Optimization in Engineering (OPTEC) Kasteelpark Arenberg 10 3001 Leuven Belgium

We present optimization Engine (OpEn): an open-source code generation framework for real-time embedded nonconvex optimization, which implements a novel numerical method. OpEn combines the proximal averaged Newton-type method for optimal control (PANOC) with the penalty and augmented Lagrangian methods to compute approximate stationary points of nonconvex problems. The proposed method involves very simple algebraic operations such as vector products, has a low memory footprint and exhibits very good convergence properties that allow the solution of nonconvex problems on embedded devices. OpEn’s core solver is written is Rust — a modern, high-performance, memory-safe and thread-safe systems programming language — while users can call it from Python, MATLAB, C, C++, ROS or over a TCP socket.

关键词： Embedded numerical optimization nonconvex optimization problems code generation model predictive control moving horizon estimation Rust Robot Operating System

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Stochastic economic model predictive control for Markovian switching systems

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IFAC-PapersOnLine 2017年第1期50卷 524-530页

作者： Sopasakis P. Herceg D. Patrinos P. Bemporad A. KU Leuven Department of Electrical Engineering (ESAT) STADIUS Center for Dynamical Systems Signal Processing and Data Analytics & Optimization in Engineering (OPTEC) Kasteelpark Arenberg 10 Leuven 3001 Belgium IMT School for Advanced Studies Lucca Piazza San Ponziano 6 Lucca 55100 Italy

The optimization of process economics within the model predictive control (MPC) formulation has given rise to a new control paradigm known as economic MPC (EMPC). Several authors have discussed the closed-loop properties of EMPC-controlled deterministic systems, however, little have uncertain systems been studied. In this paper we propose EMPC formulations for nonlinear Markovian switching systems which guarantee recursive feasibility, asymptotic performance bounds and constrained mean square (MS) stability. © 2017

关键词： Economic model predictive control Markovian switching systems Stochastic control Stochastic dissipativity

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Modeling and administration scheduling of fractional-order pharmacokinetic systems

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IFAC-PapersOnLine 2017年第1期50卷 9742-9747页

作者： Herceg D. Ntouskas S. Sopasakis P. Dokoumetzidis A. Macheras P. Sarimveis H. Patrinos P. IMT School for Advanced Studies Lucca Piazza San Francesco 19 Lucca 55100 Italy National Technical University of Athens (NTUA) School of Chemical Engineering 9 Heroon Polytechneiou Street Zografou Campus Athens 15780 Greece KU Leuven Department of Electrical Engineering (ESAT) STADIUS Center for Dynamical Systems Signal Processing and Data Analytics Optimization in Engineering (OPTEC) Kasteelpark Arenberg 10 Leuven 3001 Belgium Laboratory of Biopharmaceutics & Pharmacokinetics Faculty of Pharmacy National & Kapodistrian University of Athens Panepistimiopolis Zografou 15771 Greece

Fractional-order dynamical systems were recently introduced in the field of pharmacokinetics where they proved powerful tools for modeling the absorption, disposition, distribution and excretion of drugs which are liable to anomalous diffusion, deep tissue trapping and other nonlinear phenomena. In this paper we present several ways to simulate such fractional-order pharmacokinetic models and we evaluate their accuracy and complexity on a fractional-order pharmacokinetic model of Amiodarone, an anti-arrhythmic drug. We then propose an optimal administration scheduling scheme and evaluate it on a population of patients. © 2017

关键词： Drug administration Fractional-order systems Pharmacokinetics

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Parameter estimations in predictive microbiology: How to build statistically sound secondary models 9

Parameter estimations in predictive microbiology: How to bui...

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9th International Conference on Simulation and Modelling in the Food and Bio-Industry, FOODSIM 2016

作者： Akkermans, Simen Logist, Filip Vanimpe, Jan F.M. KU Leuven Department of Chemical Engineering BioTeC - Chemical and Biochemical Process Technology and Control OPTEC - Optimization in Engineering Center-of-Excellence CPMF2 - Flemish Cluster Predictive Microbiology in Foods Gebroeders De Smetstraat 1 GentB-9000 Belgium

ISBN: (纸本)9789077381922

When building models to describe the effect of environmental conditions on the microbial growth rate, parameter estimations can be performed either with a onestep method, i.e., directly on the cell density measurements, or in a two-step method, i.e., via the estimated growth rates. The two-step method is often preferred due to its simplicity. The current research demonstrates that the two-step method is, however, only valid if the correct data transformation is applied and a strict experimental protocol is followed for all experiments. Moreover, the one-step method leads to a better approximation of the confidence intervals on the estimated parameters. Therefore, the one-step method is preferred and the two-step method should be avoided.

关键词： Parameter estimation

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Role of differential plating-based methods in the detection of sublethal injury induced to Listeria monocytogenes by natural plant extracts 9

Role of differential plating-based methods in the detection ...

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9th International Conference on Simulation and Modelling in the Food and Bio-Industry, FOODSIM 2016

作者： Verheyen, Davy Baka, Maria Noriega, Estefanía Vanimpe, Jan F.M. KU Leuven Department of Chemical Engineering BioTeC - Chemical and Biochemical Process Technology and Control OPTEC - Optimization in Engineering Center-of-Excellence CPMF2 - Flemish Cluster Predictive Microbiology in Foods Gebroeders De Smetstraat 1 GentB-9000 Belgium

ISBN: (纸本)9789077381922

Recently, food researchers are investigating natural plant extracts as milder food preservation technologies. Milder treatments might cause sublethal injury (SI), which is a major food safety concern. This study demonstrates that both grape seed extract and garlic extract are suitable to inactivate Listeria monocytogenes. Both extracts cause a significant amount of SI, which increases at more severe treatments. Finally, experimental results indicated that the thin agar layer (TAL) method is a promising alternative to the traditional method, which uses the difference between plate counts on general and selective media to determine SI. The TAL method is unable to determine the total viable population of healthy and injured micro-organisms as adequately as the general medium in the traditional method, but can be used to determine SI in real food products.

关键词： Food preservation

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Development of vacuum-packed meat-based model systems for the evaluation of the food intrinsic complexity on Listeria monocytogenes growth at refrigeration and abuse temperatures 9

Development of vacuum-packed meat-based model systems for th...

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9th International Conference on Simulation and Modelling in the Food and Bio-Industry, FOODSIM 2016

作者： Baka, Maria Noriega, Estefanía Van Langendonck, Kristof Vanimpe, Jan F.M. KU Leuven Department of Chemical Engineering BioTeC - Chemical and Biochemical Process Technology and Control OPTEC - Optimization in Engineering Center-of-Excellence CPMF2 - Flemish Cluster Predictive Microbiology in Foods Gebroeders De Smetstraat 1 GentB-9000 Belgium

ISBN: (纸本)9789077381922

Food intrinsic complexity ((micro)structure, composition and physicochemical characteristics) influences microbial growth. In this study, food (model) systems with variable (micro)structural complexity, compositional and physicochemical characteristics were developed. The model systems targeted the following (micro)structures: liquids, aqueous gels, emulsions, gelled emulsions, and canned meat, which is a food product, classified as a gelled emulsion. The growth dynamics of Listeria monocytogenes were studied at 4, 8 and 12°C in/on the developed model systems, which covered the whole spectrum of food (micro)structure. The composition and physicochemical characteristics of canned meat and gelled emulsions targeted Frankfurter sausages. Results indicated that L. monocytogenes grows faster on canned meat, indicating that microbial growth is possibly underestimated in/on model systems than real foods.

关键词： Meats

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Parametric uncertainty propagation for robust dynamic optimization of biological networks

Parametric uncertainty propagation for robust dynamic optimi...

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American Control Conference

作者： Philippe Nimmegeers Dries Telen Mickey Beetens Filip Logist Jan Van Impe KU Leuven BioTeC+ - Chemical and Biochemical Process Technology and Control & OPTEC - Center of Excellence: Optimization in Engineering Department of Chemical Engineering Ghent Belgium

ISBN: (纸本)9781467386838

An important trend in biochemical industry is the search for a more sustainable operation. This requires an improved design and operation of processes with respect to economic, environmental and safety aspects. For an accurate macroscopic process control, multi-scale models based on microscopic systems biology insights are increasingly used. However, model uncertainty as well as external disturbances are inevitably present. Hence, there is a need for approaches which can guarantee process safety despite this presence of uncertainty in the model parameters. Therefore, techniques for the propagation of the parametric uncertainties to the states are vital for a robust process control. In this work, the potential of the polynomial chaos expansion approach is investigated for optimal control of a four step linear pathway with Michaelis-Menten kinetics by manipulating the enzyme expression rates.

关键词： Uncertainty Mathematical model Chaos Robustness optimization Biological system modeling Linear programming Biological system modeling chaos linear programming Uncertainty Propagation Mathematical Model model parameters Uncertainty Robustness design improvement Parametric external disturbance model uncertainty

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Linear convergence of distributed multiple shooting

Linear convergence of distributed multiple shooting

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European Control Conference (ECC)

作者： Vyacheslav Kungurtsev Attila Kozma Moritz Diehl Electrical Engineering Department (ESAT-STADIUS) Optimization in Engineering Center (OPTEC) KU Leuven

ISBN: (纸本)9781479947287

Distributed multiple shooting is a modification of the multiple shooting approach for discretizing optimal control problems wherein the separate components of a large-scale system are discretized as well as shooting time intervals. In an SQP algorithm that solves the resulting discretized nonlinear program, the adjoint based version of the algorithm additionally discards certain derivatives appearing in the resulting quadratic programs in order to lead to computational savings in sensitivity generation and solving the QP. It was conjectured that adjoint-based distributed multiple shooting behaves like an inexact SQP method and converges linearly to the optimal solution, provided that the discarded derivatives are sufficiently uninfluential in the total dynamics of the system. This paper confirms this conjecture theoretically by providing the appropriate convergence theory, as well as numerically, by analyzing the convergence properties of the algorithm as applied to a problem involving detection of the source of smoke within a set of rooms.

关键词： Convergence Approximation methods Optimal control Couplings Vectors Jacobian matrices Sensitivity

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Control of Dual-Airfoil Airborne Wind Energy systems based on nonlinear MPC and MHE

Control of Dual-Airfoil Airborne Wind Energy systems based o...

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European Control Conference (ECC)

作者： Mario Zanon Greg Horn Sébastien Gros Moritz Diehl Optimization in Engineering Center (OPTEC) K.U. Leuven Heverlee Belgium

ISBN: (纸本)9781479947287

Airborne Wind Energy (AWE) systems generate energy by flying a tethered airfoil across the wind flow at a high velocity. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Nonlinear Model Predictive Control (NMPC) and state estimation approaches based on Moving Horizon Estimation (MHE). Dual-Airfoil AWE systems, i.e. systems with two airfoils attached to a Y-shaped tether have been shown to be more effective than systems based on a single airfoil. This paper proposes a control scheme for a dual-airfoil AWE system based on NMPC and MHE and studies its performance in a realistic scenario based on state-of-the-art turbulence models.

关键词： Automotive components Atmospheric modeling Trajectory Vectors Drag optimization Estimation

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Efficient robust economic nonlinear model predictive control of an industrial batch reactor 19

Efficient robust economic nonlinear model predictive control...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Lucia, Sergio Andersson, Joel A.E. Brandt, Heiko Bouaswaig, Ala Diehl, Moritz Engell, Sebastian Process Dynamics and Operations Group TU Dortmund Dortmund44227 Germany OPTEC Optimization in Engineering Center Electrical Engineering Department ESAT-STADIUS KU Leuven Leuven3001 Belgium BASF SE Ludwigshafen67056 Germany

ISBN: (纸本)9783902823625

In this paper we present a systematic and efficient approach to deal with uncertainty in Nonlinear Model Predictive Control (NMPC). The main idea of the approach is to represent the NMPC setting as a real-time decision problem under uncertainty that is formulated as a multi-stage stochastic problem with recourse, based on a description of the uncertainty by a scenario tree. This formulation explicitly takes into account the fact that new information will be available in the future and thus reduces the conservativeness compared to open-loop worst-case approaches. We show that the proposed multistage NMPC formulation can deal with significant plant-model mismatch as it is usually encountered in the process industry and still satisfies tight constraints for the different values of the uncertain parameters, in contrast to standard NMPC. The use of an economic cost function leads to a superior performance compared to the standard tracking formulation. The potential of the approach is demonstrated for an industrial case study provided by BASF SE in the context of the European Project EMBOCON. The numerical solution of the resulting large optimization problems is implemented using the optimization framework CasADi. © IFAC.

关键词： Industrial economics

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