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<!doctype html>
<html lang="en">
<head>
<meta charset="utf-8">
<title>Fast and Distributed Model Predictive Control</title>
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
<link rel="stylesheet" href="lib/js/reveal/css/reveal.css">
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<body>
<div class="reveal">
<div class="slides">
<section data-background=var(--my_blue) data-state="plain-slide">
<span class="fragment fade-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%; font-size:2.6em; text-align: center; color: white">
Fast and Distributed Model Predictive Control
</div>
<div style="margin-top: 10%; font-size:1.5em; text-align: center; color: white">
Tailored solutions for mechatronic systems
</div>
</span>
<span class="fragment fade-in" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%; font-size:2.6em; text-align: center; color: var(--my_lightblue)">
Fast and Distributed Model Predictive Control
</div>
<div style="margin-top: 10%; font-size:1.5em; text-align: center; color: white">
<span style="color:var(--my_lightblue)">Tailored solutions for </span>mechatronic systems
</div>
</span>
</section>
<section data-background-image="img/mechatronics.jpg" style="color:white">
<span class="fragment fade-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 25%; font-size:4em; text-align:center; color:white">
Mechatronics
</div>
</span>
<span class="fragment fade-in" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 30%; font-size:2.5em; text-align:center; color:white">
Mechanics + Electronics
</div>
<span class="fragment" data-fragment-index="2" style="position: absolute; left: 140px; font-size:1.5em; text-align:center; color:white">
(it moves)
</span>
<span class="fragment" data-fragment-index="3" style="position: absolute; left: 510px; font-size:1.5em; text-align:center; color:white">
(it has a computer)
</span>
</span>
</section>
<section data-background-image="img/car.jpg" data-background-transition="fade">
</section>
<section data-background-image="img/drone2.jpg" data-background-transition="fade">
</section>
<!--
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-->
<section data-background-image="img/agvs.jpg" data-background-transition="fade">
</section>
<section>
<h1>Mechatronic system</h1>
<span class="fragment fade-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/system.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/system_car.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="2" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/system_drone.svg">
</div>
</span>
<!-- <span class="fragment fade-in-then-out" data-fragment-index="3" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/system_robotarm.svg">
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<span class="fragment fade-in-then-out" data-fragment-index="4" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/system_agv.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="5" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/system.svg">
</div>
</span>
</section>
<section data-background=var(--my_blue) data-state="plain-slide">
<div style="margin-top: 10%; font-size:2.6em; text-align: center; color: white">
<span style="color:var(--my_lightblue)">Fast and Distributed Model Predictive</span> Control
</div>
<div style="margin-top: 10%; font-size:1.5em; text-align: center; color: white">
<span style="color:var(--my_lightblue)">Tailored solutions for </span>mechatronic systems
</div>
</section>
<section data-background-image="img/control.jpg">
<span class="fragment fade-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 20%; font-size:4em; color:white; text-align:center;">
Control
</div>
</span>
<span class="fragment fade-in" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 20%; font-size:3em; color:white; text-align:center;">
make the system behave like we want
</div>
</span>
</section>
<section>
<h1>Control</h1>
<span class="fragment replace" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control0.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="4" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control2.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="5" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control3.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="6" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_car0.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="7" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_car1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="8" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_car2.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="9" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_car3.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="10" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_car4.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="11" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_thermo0.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="12" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_thermo1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="13" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_thermo2.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="14" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_thermo3.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="15" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_agv0.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="16" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_agv1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="17" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_agv2.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="18" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/control_agv3.svg">
</div>
</span>
</section>
<section>
<h1>Control</h1>
<center>
<span class="fragment replace" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_0.svg">
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<span class="fragment replace" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="2" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_2.svg">
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<span class="fragment replace" data-fragment-index="3" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_3.svg">
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<span class="fragment replace" data-fragment-index="4" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_4.svg">
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<span class="fragment replace" data-fragment-index="5" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_5.svg">
</div>
</span>
</center>
</section>
<section>
<h1>Control</h1>
<div style="margin-top: 10%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/thermo_control.svg">
</div>
</section>
<section data-background-video="mov/garbage.mov" data-background-size="90%" data-background-video-muted="true">
<span class="fragment fade-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 20%; font-size:2em; color:white; text-align:center;">
simple control often results in surprises
</div>
</span>
<span class="fragment fade-in" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 20%; font-size:2em; color:white; text-align:center;">
we can do better
</div>
</span>
</section>
<section data-background=var(--my_blue) data-state="plain-slide">
<div style="margin-top: 10%; font-size:2.6em; text-align: center; color: white">
<span style="color:var(--my_lightblue)">Fast and Distributed</span> Model Predictive Control
</div>
<div style="margin-top: 10%; font-size:1.5em; text-align: center; color: white">
<span style="color:var(--my_lightblue)">Tailored solutions for mechatronic systems</span>
</div>
</section>
<section>
<h1>Model predictive control</h1>
<div class="fragment fade-in" data-fragment-index="2" style="margin-top:10%; width: 100%; color:var(--my_gray)">
<ul class="stretched">
<li>Decision based on prediction of system's behavior</li>
</ul>
</div>
</section>
<section data-background-image="img/agvs.jpg" data-background-transition="fade">
</section>
<section>
<h1>Model predictive control</h1>
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<div style="margin-top: 0%; font-size:1.8em; color:white; text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc0.svg">
</div>
</span>
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<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc0.svg">
</div>
</span>
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<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc9.svg">
</div>
</span>
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<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc10.svg">
</div>
</span>
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<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc11.svg">
</div>
</span>
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<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc12.svg">
</div>
</span>
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<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc13.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="6" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc14.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="7" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc15.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="8" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc16.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="9" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
without prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc17.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="10" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc0.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="11" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="12" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc2.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="13" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc3.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="14" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc4.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="15" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc5a.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="16" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc5.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="17" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc6.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="18" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc7.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="19" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
with prediction
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc8.svg">
</div>
</span>
</section>
<section>
<h1>Model predictive control</h1>
<div class="fragment fade-out" data-fragment-index="1" style="margin-top:10%; width: 100%; color:var(--my_gray); position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<ul class="stretched">
<li>Decision based on prediction of system's behavior</li>
<!-- <li>Decision made using optimization</li> -->
</ul>
</div>
<div class="fragment fade-in" data-fragment-index="1" style="margin-top:10%; width: 100%; color:var(--my_gray); position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<ul class="stretched">
<li>Decision based on prediction of system's behavior</li>
<br>
<li>Decision made using optimization</li>
</ul>
</div>
</section>
<section>
<h1>Model predictive control</h1>
<span class="fragment replace" data-fragment-index="0" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
make optimal decision
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc0.svg">
</div>
</span>
<!-- <span class="fragment replace" data-fragment-index="0" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:white; text-align:center;">
make optimal decision
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc1.svg">
</div>
</span> -->
<span class="fragment replace" data-fragment-index="0" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
optimal decision
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
non-optimal decision
</div>
<div style="margin-top: 0%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/agv_mpc18.svg">
</div>
</span>
</section>
<section>
<h1>Model predictive control</h1>
<span class="fragment fade-out" data-fragment-index="0" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization0.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="0" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization1.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization2.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="2" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization3.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="3" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization4.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="4" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization5.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="5" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization6.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="6" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization7.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="7" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization8.svg">
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="8" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%;text-align:center;">
<img style="width: 90%" class="inject-svg" data-src="img/optimization9.svg">
</div>
</span>
</section>
<section data-background=var(--my_blue) data-state="plain-slide">
<span class="fragment fade-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%; font-size:2.6em; text-align: center; color: white">
Fast and Distributed Model Predictive Control
</div>
<div style="margin-top: 10%; font-size:1.5em; text-align: center; color: white">
Tailored solutions for mechatronic systems
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%; font-size:2.6em; text-align: center; color: var(--my_lightblue)">
<span style="color:white">Fast</span> and <span style="color:white">Distributed</span> Model Predictive Control
</div>
<div style="margin-top: 10%; font-size:1.5em; text-align: center; color: var(--my_lightblue)">
Tailored solutions for mechatronic systems
</div>
</span>
<span class="fragment fade-in-then-out" data-fragment-index="2" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%; font-size:2.6em; text-align: center; color: var(--my_lightblue)">
<span style="color:white">Fast</span> and Distributed <span style="color:white">Model Predictive Control</span>
</div>
<div style="margin-top: 10%; font-size:1.5em; text-align: center; color: var(--my_lightblue)">
Tailored solutions for mechatronic systems
</div>
</span>
</section>
<section data-background-image="img/racecar.jpg" style="color:white">
<div style="margin-top: 30%; font-size:2em; text-align:center; color:white">
fast systems require fast control
</div>
</section>
<section>
<h1>Fast control</h1>
<center>
<span class="fragment replace" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_4.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="1" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 5%;text-align:center;">
<img style="width: 100%" class="inject-svg" data-src="img/sequence_6.svg">
</div>
</span>
</center>
</section>
<section>
<h1>Fast control</h1>
<div style="margin-top: 0%; font-size:1.8em; color:var(--my_gray); text-align:center;">
what is possible?
</div>
<span class="fragment replace" data-fragment-index="2" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 40%" class="inject-svg" data-src="img/tradeoff.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="2" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 40%" class="inject-svg" data-src="img/tradeoff1.svg">
</div>
</span>
<span class="fragment replace" data-fragment-index="3" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 10%;text-align:center;">
<img style="width: 40%" class="inject-svg" data-src="img/tradeoff2.svg">
</div>
</span>
</section>
<section>
<h1>Fast control</h1>
<center>
<table>
<td width=50%>
<div style="margin-top: 30%; font-size:1.2em; color:var(--my_gray); text-align:center;">
very fast control
</div>
<div style="margin-top: 10%; font-size:1.2em; color:var(--my_gray); text-align:center;">
simple problems
</div>
</td>
<td width=50%>
<div style="margin-top: 30%; font-size:1.2em; color:var(--my_gray); text-align:center;">
reasonably fast control
</div>
</div>
<div style="margin-top: 10%; font-size:1.2em; color:var(--my_gray); text-align:center;">
complex problems
</div>
</td>
</table>
</center>
</section>
<section>
<h1>Fast control</h1>
<div style="margin-top: 18%; font-size:1.2em; color:var(--my_gray); text-align:center;">
very fast control
</div>
<div style="margin-top: 5%; font-size:1.2em; color:var(--my_gray); text-align:center;">
simple problems
</div>
<div class="fragment fade-in" data-fragment-index="2" style="margin-top: 5%; font-size:0.8em; color:var(--my_gray); text-align:center;">
(linear time-invariant systems with convex constraints)
</div>
</table>
</section>
<section data-background-image="img/crane.jpg" data-background-transition="fade">
</section>
<section data-background-image="img/harddisk.jpg" data-background-transition="fade">
</section>
<section data-background-image="img/activesuspension.jpg" data-background-transition="fade">
</section>
<section>
<h1>Very fast control</h1>
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
real-time proximal gradient method
</div>
<center>
<table>
<td width=50% align="center">
<span class="fragment replace" data-fragment-index="1">
<img style="margin-top: 30%;" class="inject-svg" data-src="img/controller.svg">
</span>
<span class="fragment replace" data-fragment-index="1">
<img style="margin-top: 30%; " class="inject-svg" data-src="img/controller.svg">
</span>
<span class="fragment replace" data-fragment-index="2">
<img style="margin-top: 30%; " class="inject-svg" data-src="img/controller.svg">
</span>
<span class="fragment replace" data-fragment-index="3" style="text-align:center">
<img style="margin-top: 20%; margin-left:20%; width: 85%;" data-src="img/laptop.jpg">
<div style="margin-top: 5%; margin-left:20%; color:var(--my_gray);">10<sup>6</sup> times per second</div>
</span>
<span class="fragment replace" data-fragment-index="4">
<img style="margin-top: 20%; margin-left:0%; width: 91%;" data-src="img/arduino.png">
<div style="margin-top: 5%; color:var(--my_gray);">100 times per second</div>
</span>
</td>
<td width=50% style="position:absolute;">
<div style="margin-top:30%; width: 100%; color:var(--my_gray)">
<ul class="stretched">
<li class="fragment" data-fragment-index="1" style="font-size:1em">very simple steps</li>
<li class="fragment" data-fragment-index="2" style="font-size:1em">very fast execution</li>
</ul>
</div>
</td>
</table>
</center>
</section>
<section data-background-image="img/success.jpg">
<div style="margin-top: 30%; font-size:2em; text-align:center; color:white">
200 times faster than existing methods
</div>
</section>
<section>
<h1>Very fast control</h1>
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
suboptimal approach
</div>
<span class="fragment fade-in-then-out" data-fragment-index="1" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal0.svg">
</span>
<span class="fragment fade-in" data-fragment-index="2" style=" text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%" class="inject-svg" data-src="img/suboptimal1.svg">
</span>
</section>
<section>
<h1>Very fast control</h1>
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
suboptimality reduces over time
</div>
<span class="fragment fade-in-then-out" data-fragment-index="1" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv0.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="2" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv1.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="3" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv2a.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="4" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv2.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="5" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv3a.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="6" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv3.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="7" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv4a.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="8" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv4.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="9" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv5a.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="10" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv5.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="11" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv6a.svg">
</span>
<span class="fragment fade-in-then-out" data-fragment-index="12" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/suboptimal_agv6.svg">
</span>
</section>
<section data-background-image="img/success_mirror.jpg">
<div style="margin-top: 30%; font-size:2em; text-align:center; color:white">
performance decrease <1% compared to existing methods
</div>
</section>
<section data-background-video="mov/mecotron.mp4" data-background-video-muted="true" data-background-video-loop="true">
<span style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 30%; font-size:2em; text-align:center; color:var(--my_gray)">
guaranteed stability
</div>
</span>
<span class="fragment zoom-in" data-fragment-index="2" style="position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<img style="margin-top: 0%; margin-left: 0%; width: 30%;" class="inject-svg" data-src="img/lyapunov_approves2.svg">
</span>
</section>
<section>
<h1>Fast control</h1>
<center>
<table>
<td width=50%>
<div style="margin-top: 30%; font-size:1.2em; color:var(--my_gray); text-align:center;">
very fast control
</div>
<div style="margin-top: 10%; font-size:1.2em; color:var(--my_gray); text-align:center;">
simple problems
</div>
</td>
<td width=50%>
<div style="margin-top: 30%; font-size:1.2em; color:var(--my_gray); text-align:center;">
reasonably fast control
</div>
</div>
<div style="margin-top: 10%; font-size:1.2em; color:var(--my_gray); text-align:center;">
complex problems
</div>
</td>
</table>
</center>
</section>
<section>
<h1>Fast control</h1>
<div style="margin-top: 18%; font-size:1.2em; color:var(--my_gray); text-align:center;">
reasonably fast control
</div>
<div style="margin-top: 5%; font-size:1.2em; color:var(--my_gray); text-align:center;">
complex problems
</div>
<div class="fragment fade-in" data-fragment-index="2" style="margin-top: 5%; font-size:0.8em; color:var(--my_gray); text-align:center;">
(nonlinear systems with nonconvex constraints)
</div>
</table>
</section>
<section data-background-image="img/drone2.jpg" data-background-transition="fade">
</section>
<section data-background-image="img/agvs.jpg" data-background-transition="fade">
</section>
<section>
<h1>Reasonably fast control</h1>
<span class="fragment replace" data-fragment-index="1" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
motion in obstructed environement
</div>
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/spline_agv0.svg">
</span>
<span class="fragment replace" data-fragment-index="1" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
following a fixed path?
</div>
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/spline_agv1.svg">
</span>
<span class="fragment replace" data-fragment-index="2" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
following a fixed path?
</div>
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/spline_agv2.svg">
</span>
<span class="fragment replace" data-fragment-index="3" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
following a fixed path?
</div>
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/spline_agv3.svg">
</span>
<span class="fragment replace" data-fragment-index="4" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_red)">
✘ no solution for blocked path
</div>
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/spline_agv4.svg">
</span>
<span class="fragment replace" data-fragment-index="5" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
allow free motion planning!
</div>
<img style="margin-top: 5%; width: 90%;" class="inject-svg" data-src="img/spline_agv6.svg">
</span>
</section>
<section>
<h1>Reasonably fast control</h1>
<span class="fragment replace" data-fragment-index="1" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
search optimal free motion trajectory
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv7.svg">
</span>
<span class="fragment replace" data-fragment-index="1" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
trajectory consists of infinitely many points
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv7.svg">
</span>
<span class="fragment replace" data-fragment-index="2" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
approximate as finite number of points?
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv8.svg">
</span>
<span class="fragment replace" data-fragment-index="3" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_red)">
✘ need to find many points
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv8.svg">
</span>
<span class="fragment replace" data-fragment-index="4" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
approximate as splines!
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv9.svg">
</span>
<span class="fragment replace" data-fragment-index="5" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
find optimal control points
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv9.svg">
</span>
<span class="fragment replace" data-fragment-index="6" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
find optimal control points
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv10.svg">
</span>
<span class="fragment replace" data-fragment-index="7" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
find optimal control points
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv11.svg">
</span>
<span class="fragment replace" data-fragment-index="8" style="text-align:center; position:absolute; margin-left: auto; margin-right: auto; left: 0; right: 0;">
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
find optimal control points
</div>
<img style="margin-top: 5%; width: 80%;" class="inject-svg" data-src="img/spline_agv9.svg">
</span>
</section>
<section>
<h1>Reasonably fast control</h1>
<div style="margin-top: 0%; font-size:1.5em; text-align:center; color:var(--my_gray)">
spline-based motion control
</div>
<center>
<table>
<td width=50% align="center">
<span class="fragment replace" data-fragment-index="1">
<img style="margin-top: 30%;" class="inject-svg" data-src="img/controller.svg">
</span>
<span class="fragment replace" data-fragment-index="1">
<img style="margin-top: 30%; " class="inject-svg" data-src="img/controller.svg">
</span>
<span class="fragment replace" data-fragment-index="2">
<img style="margin-top: 30%; " class="inject-svg" data-src="img/controller.svg">
</span>
<span class="fragment replace" data-fragment-index="3">
<img style="margin-top: 20%; margin-left:20%; width: 85%;" data-src="img/laptop.jpg">
<div style="margin-top: 5%; margin-left:20%; text-align:center; color:var(--my_gray);">50 times per second</div>
</span>
<span class="fragment replace" data-fragment-index="4">
<img style="margin-top: 20%; margin-left:0%; width: 100%;" data-src="img/odroid.jpg">
<div style="margin-top: 5%; margin-left:0%; text-align:center; color:var(--my_gray);">5 times per second</div>
</span>
</td>
<td width=50% style="position:absolute;">
<div style="margin-top:20%; width: 100%; color:var(--my_gray)">
<ul class="stretched">
<li class="fragment fade-in" data-fragment-index="1">complex problem <br>         <bold>↓</bold> <br> manageable problem</li>
<li class="fragment fade-in" data-fragment-index="2">reasonably fast execution</li>
</ul>
</div>
</td>
</table>
</center>
</section>