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Convex Analysisの二,三の進展について

Objectives: Lao Juan (LJ, 劳倦) is a syndrome described in Chinese medicine (CM) that manifests with : Lao Juan (LJ, 劳倦) is a syndrome described in Chinese medicine (CM) that manifests with fatigue, fever, spontaneous sweating, indigestion, work-induced pain, weakness of the limbs, and shortness of breath. fatigue, fever, spontaneous sweating, indigestion, work-induced pain, weakness of the limbs, and shortness of breath. The present study was conducted to examine the reliability and validity of a Lao Juan Questionnaire (LJQ). The present study was conducted to examine the reliability and validity of a Lao Juan Questionnaire (LJQ). Methods: A total of 151 outpatients and 73 normal subjects were asked to complete the LJQ. Seventy-three normal subjects A total of 151 outpatients and 73 normal subjects were asked to complete the LJQ. Seventy-three normal subjects were additionally asked to complete the Chalder Fatigue Scale (CFS). Twelve clinicians determined whether the were additionally asked to complete the Chalder Fatigue Scale (CFS). Twelve clinicians determined whether the 151 outpatients exhibited LJ or not. The internal consistency and construct validity for the LJQ were estimated using 151 outpatients exhibited LJ or not. The internal consistency and construct validity for the LJQ were estimated using data from the outpatient subjects. The CFS data were used to examine the concurrent validity of the LJQ. Total LJQ data from the outpatient subjects. The CFS data were used to examine the concurrent validity of the LJQ. Total LJQ scores and the clinicians' diagnoses of the outpatients were used to perform receiver operating characteristics (ROC) scores and the clinicians' diagnoses of the outpatients were used to perform receiver operating characteristics (ROC) curve analyses and to defi ne an optimum cut-off score for the LJQ. curve analyses and to defi ne an optimum cut-off score for the LJQ. Results: The 19-item LJQ had satisfactory internal : The 19-item LJQ had satisfactory internal consistency (α=0.828) and concurrent validity, with signifi cant correlations between the LJQ and the CFS subscales. consistency (α=0.828) and concurrent validity, with signifi cant correlations between the LJQ and the CFS subscales. In the test of construct validity using principal component analysis, a total of six factors were extracted, and the overall In the test of construct validity using principal component analysis, a total of six factors were extracted, and the overall variance explained by all factors was 59.5%. In ROC curve analyses, the sensitivity, specifi city, and area under the variance explained by all factors was 59.5%. In ROC curve analyses, the sensitivity, specifi city, and area under the curve were 76.0%, 59.2%, and 0.709, respectively. The optimum cut-off score was defi ned as six points. curve were 76.0%, 59.2%, and 0.709, respectively. The optimum cut-off score was defi ned as six points. Conclusions: Our results suggest that the LJQ is a reliable and valid instrument for evaluating LJ. Our results suggest that the LJQ is a reliable and valid instrument for evaluating LJ. KEYWORDS Chinese medicine, chronic fatigue syndrome, Chinese medicine-pattern Chinese medicine, chronic fatigue syndrome, Chinese medicine-pattern

Development and Validation of A

We present CasADi, an open-source software framework for numerical optimization. CasADi is a general-purpose tool that can be used to model and solve optimization problems with a large degree of flexibility, larger than what is associated with popular algebraic modeling languages such as AMPL, GAMS, JuMP or Pyomo. Of special interest are problems constrained by differential equations, i.e. optimal control problems. CasADi is written in self-contained C++, but is most conveniently used via full-featured interfaces to Python, MATLAB or Octave. Since its inception in late 2009, it has been used successfully for academic teaching as well as in applications from multiple fields, including process control, robotics and aerospace. This article gives an up-to-date and accessible introduction to the CasADi framework, which has undergone numerous design improvements over the last 7 years.

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CasADi: a software framework for nonlinear optimization and optimal control

This paper recalls a few past achievements in Model Predictive Control, gives an overview of some current developments and suggests a few avenues for future research.

Model Predictive Control

System Identification I

In this paper the software environment and algorithm collection ACADO Toolkit is presented, which implements tools for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control as well as state and parameter estimation. The ACADO Toolkit is implemented as a self-contained C++ code, while the object-oriented design allows for convenient coupling of existing optimization packages and for extending it with user-written optimization routines. We discuss details of the software design of the ACADO Toolkit 1.0 and describe its main software modules. Along with that we highlight a couple of algorithmic features, in particular its functionality to handle symbolic expressions. The user-friendly syntax of the ACADO Toolkit to set up optimization problems is illustrated with two tutorial examples: an optimal control and a parameter estimation problem. Copyright © 2010 John Wiley & Sons, Ltd.

ACADO toolkit—An open-source framework for automatic control and dynamic optimization

An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range

In this paper we investigate nonlinear model predictive control (NMPC) for control of power generating kites under changing wind conditions. We derive a realistic nonlinear model for a kite and compute energy optimal loops for different wind speeds. We formulate the optimal control problem used by NMPC with an adaptive periodic reference orbit. Under changing wind conditions we use the corresponding energy optimal orbit as reference. To assure that the references do not unnecessarily depend on the wind conditions, we added extra constraints. We solve this NMPC problem numerically with the real-time iteration scheme using direct multiple shooting. Finally, we present numerical simulations which show how this approach can handle even large disturbances of the wind direction and speed with negligible energy losses. Copyright © 2007 John Wiley & Sons, Ltd.

Nonlinear MPC of kites under varying wind conditions for a new class of large-scale wind power generators

This paper is about distributed derivative-based algorithms for solving optimization problems with a separable (potentially nonconvex) objective function and coupled affine constraints. A parallelizable method is proposed that combines ideas from the fields of sequential quadratic programming and augmented Lagrangian algorithms. The method negotiates shared dual variables that may be interpreted as prices, a concept employed in dual decomposition methods and the alternating direction method of multipliers (ADMM). Here, each agent solves its own small-scale nonlinear programming problem and communicates with other agents by solving coupled quadratic programming problems. These coupled quadratic programming problems have equality constraints for which parallelizable methods are available. The use of techniques associated with standard sequential quadratic programming methods gives a method with superlinear or quadratic convergence rate under suitable conditions. This is in contrast to existing decomposition...

An Augmented Lagrangian Based Algorithm for Distributed NonConvex Optimization

In this paper we present optimization studies for kites that produce wind energy by periodically pulling a generator on the ground while flying fast in a crosswind direction. We derive a model for a single kite and formulate an optimal control problem with periodic boundary conditions and free cycle duration. The objective function is the average power at the generator. We solve this nonlinear and unstable optimal control problem numerically with a direct multiple shooting method. Here, the main result is that we can attain about 5MW with a 500m2-kite at equation wind speed. Finally, we consider a system of two kites and show that such systems can further increase the efficiency.

Boris Houska

Papers

ACADO toolkit—An open-source framework for automatic control and dynamic optimization

An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range

Nonlinear MPC of kites under varying wind conditions for a new class of large-scale wind power generators

An Augmented Lagrangian Based Algorithm for Distributed NonConvex Optimization

Optimal control for power generating kites