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52 records · Page 3

Stability analysis of position and force control problems for robot arms

A stability analysis for robot manipulators under the influence of external forces is presented. Several control objectives are considered: rejecting the external force as a source of disturbance, complying to the external force as a generalized mass-spring-damper system, and actively controlling the external force when a dynamic model for the environment is available. An explanation of instability is given for the case in which the environment has flexibility and the gains are inappropriately chosen. When the environment is stiff in the force control subspace, robust stability can be achieved via the integral force feedback.

Wen, John T.↗

Local Excitations of a Charged Nitrogen Vacancy in Diamond with Multireference Density Matrix Embedding Theory

Here, we investigate the negatively charged nitrogen-vacancy center in diamond using periodic density matrix embedding theory (pDMET). To describe the strongly correlated excited states of this system, the complete active space self-consistent field (CASSCF) followed by n-electron valence state second-order perturbation theory (NEVPT2) was used as the impurity solver. Since the NEVPT2-DMET energies show a linear dependence on the inverse of the size of the embedding subspace, we performed an extrapolation of the excitation energies to the nonembedding limit using a linear regression. The extrapolated NEVPT2-DMET first triplet–triplet excitation energy is 2.31 eV and that for the optically inactive singlet–singlet transition is 1.02 eV, both in agreement with the experimentally observed vertical excitation energies of ∼2.18 eV and ∼1.26 eV, respectively. This is the first application of pDMET to a charged periodic system and the first investigation of the NV – defect using NEVPT2 for periodic supercell models.

36 MATERIALS SCIENCE↗

Contextual subspace variational quantum eigensolver calculation of the dissociation curve of molecular nitrogen on a superconducting quantum computer

Abstract We present an experimental demonstration of the Contextual Subspace Variational Quantum Eigensolver on superconducting hardware. Calculating the potential energy curve of molecular nitrogen proves challenging for many conventional quantum chemistry techniques, since static correlation dominates in the dissociation limit. Our quantum simulations retain good agreement with the Full Configuration Interaction energy, outperforming all benchmarked single-reference wavefunction techniques in capturing the bond-breaking appropriately. Moreover, our methodology is competitive with multiconfigurational approaches but at a saving of quantum resource, meaning larger active spaces can be treated for a fixed qubit allowance. To achieve this result, we deploy an error mitigation/suppression strategy comprised of Dynamical Decoupling, Measurement-Error Mitigation and Zero-Noise Extrapolation. Circuit parallelization also provides passive noise-averaging and improves the effective shot yield to reduce the measurement overhead. Furthermore, we introduce a modified adaptive ansatz construction algorithm that incorporates hardware awareness into our variational circuits, minimizing the transpilation cost for the target qubit topology.

Physics↗

Assessing the Impact of Soil Layer Depth Specification on the Observability of Modeled Soil Moisture and Brightness Temperature

The utility of hydrologic land surface models (LSMs) can be enhanced by using information from observational platforms, but mismatches between the two are common.This study assesses the degree to which model agreement with observations (observability) is affected by two mechanisms in particular: 1) physical incongruities between the support volumes being characterized and 2) inadequateor inconsistent parameterizations of physical processes. The Noah and Noah-MP LSMs by default characterize surface soil moisture (SSM) in the top 10 cm of the soil column. This depth may be reasonable when comparing against soil moisture from in situ probes centered at 5 cm,but it is notably different from the 5 cm (or less) sensing depth of NASA’s Soil Moisture Active Passive (SMAP) satellite mission. These depth inconsistencies are examined by using thinner model layers in the Noah and Noah-MP LSMs and comparing resultant simulations to in situ and SMAP soil moisture. In addition, a forward radiative transfer model to simulate microwave brightness temperatures (Tbs) is used to facilitate direct comparisons of LSM-based and SMAP-based L-band Tb retrievals. Observability is quantified using Kolmogorov-Smirnov distance values, calculated from empirical cumulative distribution functions of SSM and Tb time series. Experiment results depend on the particular subspace being analyzed (SSM or Tb). This study concludes that therole of increasedsoil layer discretizationon LSM observability is secondary to the influence of component parameterizations, the effects of which dominate systematic differences with observations

SMAP↗

Block-Krylov component synthesis method for structural model reduction

A new analytical method is presented for generating component shape vectors, or Ritz vectors, for use in component synthesis. Based on the concept of a block-Krylov subspace, easily derived recurrence relations generate blocks of Ritz vectors for each component. The subspace spanned by the Ritz vectors is called a block-Krylov subspace. The synthesis uses the new Ritz vectors rather than component normal modes to reduce the order of large, finite-element component models. An advantage of the Ritz vectors is that they involve significantly less computation than component normal modes. Both 'free-interface' and 'fixed-interface' component models are derived. They yield block-Krylov formulations paralleling the concepts of free-interface and fixed-interface component modal synthesis. Additionally, block-Krylov reduced-order component models are shown to have special disturbability/observability properties. Consequently, the method is attractive in active structural control applications, such as large space structures. The new fixed-interface methodology is demonstrated by a numerical example. The accuracy is found to be comparable to that of fixed-interface component modal synthesis.

Craig, Roy R., Jr.↗

The Active Optics System on the Vera C. Rubin Observatory: Optimal Control of Degeneracy among the Large Number of Degrees of Freedom

Abstract The Vera C. Rubin Observatory is a unique facility for survey astronomy that will soon be commissioned and begin operations. Crucial to many of its scientific goals is the achievement of sustained high image quality, limited only by the seeing at the site. This will be maintained through an active optics system that controls optical element misalignments and corrects mirror figure error to minimize aberrations caused by both thermal and gravitational effects. However, the large number of adjustment degrees of freedom available on the Rubin Observatory introduces a range of degeneracies, including many that are induced by noise due to imperfect measurement of the wave-front errors. We present a structured methodology for identifying these degeneracies through an analysis of image noise level. We also present a novel scaling strategy based on truncated singular value decomposition that mitigates the degeneracy and optimally distributes the adjustment over the available degrees of freedom. Our approach ensures the attainment of optimal image quality, while avoiding excursions around the noise-induced subspace of degeneracies, marking a significant improvement over the previous techniques adopted for Rubin, which were based on an optimal integral controller. This new approach is likely to also yield significant benefits for all telescopes that incorporate large numbers of degrees of freedom of adjustment.

79 ASTRONOMY AND ASTROPHYSICS↗

Null states and time evolution in a toy model of black hole dynamics

Abstract Spacetime wormholes can provide non-perturbative contributions to the gravitational path integral that make the actual number of statese S in a gravitational system much smaller than the number of states$$ {e}^{S_{\textrm{p}}} $$ e S p predicted by perturbative semiclassical effective field theory. The effects on the physics of the system are naturally profound in contexts in which the perturbative description actively involvesN=O(e S ) of the possible$$ {e}^{S_{\textrm{p}}} $$ e S p perturbative states; e.g., in late stages of black hole evaporation. Such contexts are typically associated with the existence of non-trivial quantum extremal surfaces. However, by forcing a simple topological gravity model to evolve in time, we find that such effects can also have large impact forN≪e S (in which case no quantum extremal surfaces can arise). In particular, even for smallN, the insertion of generic operators into the path integral can cause the non-perturbative time evolution to differ dramatically from perturbative expectations. On the other hand, this discrepancy is small for the special case where the inserted operators are non-trivial only in a subspace of dimensionD≪e S . We thus study this latter case in detail. We also discuss potential implications for more realistic gravitational systems.

Physics↗

Preliminary Theoretical Analysis of Mixed Precision Krylov Subspace Methods (Q3 Report)

The third quarter of the project was spent performing theoretical finite precision analysis of Krylov subspace method variants that use mixed precision. Our focus here is on the Conjugate Gradient (CG) method and the Lanczos method. We have performed an analysis of maximum attainable accuracy for the classical CG method in which 3 precisions are used: a working precision ε, a precision ε IP for the inner product computations, and a precision ε MV for the matrix-vector products. Our results show that performing inner product computations in lower precision does not affect the attainable accuracy. Further, we have performed a complete error analysis of the s-step Lanczos algorithm. In this case, we show that the numerical behavior of the algorithm can be significantly improved by using extra precision in a small part of the computation. We summarize the main theorems in the remainder of the document. Other activities include attending biweekly xSDK meetings. The subsequent quarter will be spent finalizing these results into technical reports and/or manuscripts for submission to journals, as well as identifying opportunities for future work.

97 MATHEMATICS AND COMPUTING↗

Practical implications of SFQ-based two-qubit gates

Scalability of today’s superconducting quantum computers is limited due to the huge costs of generating/routing microwave control pulses per qubit from room temperature. One active research area in both industry and academia is to push the classical controllers to the dilution refrigerator in order to increase the scalability of quantum computers. Superconducting Single Flux Quantum (SFQ) is a classical logic technology with low power consumption and ultra-high speed, and thus is a promising candidate for in-fridge classical controllers with maximized scalability. Prior work has demonstrated high-fidelity SFQ-based single-qubit gates. However, little research has been done on SFQ-based multi-qubit gates, which are necessary to realize SFQ-based universal quantum computing.In this paper, we present the first thorough analysis of SFQ-based two-qubit gates. Our observations show that SFQ-based two-qubit gates tend to have high leakage to qubit non-computational subspace, which presents severe design challenges. We show that despite these challenges, we can realize gates with high fidelity by carefully designing optimal control methods and qubit architectures. We develop optimal control methods that suppress leakage, and also investigate various qubit architectures that reduce the leakage. After carefully engineering our SFQ-friendly quantum system, we show that it can achieve similar gate fidelity and gate time to microwave-based quantum systems. Furthermore, the promising results of this paper show that (1) SFQ-based universal quantum computation is both feasible and effective; and (2) SFQ is a promising approach in designing classical controller for quantum machines because it can increase the scalability while preserving gate fidelity and performance.

42 ENGINEERING↗

Reduced scaling extended multi-state CASPT2 (XMS-CASPT2) using supporting subspaces and tensor hyper-contraction

We present a reduced scaling formulation of the extended multi-state CASPT2 (XMS-CASPT2) method, which is based on our recently developed state-specific CASPT2 (SS-CASPT2) formulation using supporting subspaces and tensor hyper-contraction. By using these two techniques, the off-diagonal elements of the effective Hamiltonian can be computed with only O(N 3 ) operations and O(N 2 ) memory, where N is the number of basis functions. Furthermore, this limits the overall computational scaling to O(N 4 ) operations and O(N 2 ) memory. Thus, excited states can now be obtained at the same reduced (relative to previous algorithms) scaling we achieved for SS-CASPT2.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Assessing the Effectiveness of Generalized Likelihood Ratio Test Detector Schemes in Seismic Event Detection and the Avoidance of Nontarget Signals

Cross-correlation techniques have played a long-standing and pivotal role in seismic event monitoring. However, the performance of correlation-based detectors is challenged by nuisance seismicity, or nontarget signals. Such detections are a problem when the mission is to automatically map events to the correct source region. Using aftershocks of the 2014 $M_w$ 6.0 South Napa, California, earthquake, we demonstrate the effectiveness of utilizing a dynamic correlation processor framework in a generalized likelihood ratio test (GLRT) detector configuration to minimize nontarget detections. A GLRT maximizes a detection statistic with respect to one or more unknown parameters. In this case, the detection statistic is a template signal match against the waveform in a window sliding over a data stream, and the unknown parameter is an index variable indicating group membership of the template event or events. Detected events are assigned to the event group that yields the largest detection statistic. In this work, our results show that a GLRT detector will outperform a suite of independently operating correlation and subspace detectors in terms of having a lower nontarget detection rate at a given missed detection rate. We also show that a GLRT detector composed of a few high-rank subspace detectors has a slightly higher nontarget detection rate, but a significantly lower missed detection rate, than a GLRT detector composed of many low-rank subspace detectors. The high-rank GLRT configuration produced impressive results even with marginal data (single channel, single station, and very low time bandwidth product), which bodes well for the utility of building efficient aftershock classification systems and global monitoring systems at larger scales. However, future work is required to assess performance at the regional scale and to assess the performance of the system at detecting target events not used in the detector template creation.

58 GEOSCIENCES↗

Multidisciplinary Design Technology Development: A Comparative Investigation of Integrated Aerospace Vehicle Design Tools

This research effort is a joint program between the Departments of Aerospace and Mechanical Engineering and the Computer Science and Engineering Department at the University of Notre Dame. The purpose of the project was to develop a framework and systematic methodology to facilitate the application of Multidisciplinary Design Optimization (MDO) to a diverse class of system design problems. For all practical aerospace systems, the design of a systems is a complex sequence of events which integrates the activities of a variety of discipline "experts" and their associated "tools". The development, archiving and exchange of information between these individual experts is central to the design task and it is this information which provides the basis for these experts to make coordinated design decisions (i.e., compromises and trade-offs) - resulting in the final product design. Grant efforts focused on developing and evaluating frameworks for effective design coordination within a MDO environment. Central to these research efforts was the concept that the individual discipline "expert", using the most appropriate "tools" available and the most complete description of the system should be empowered to have the greatest impact on the design decisions and final design. This means that the overall process must be highly interactive and efficiently conducted if the resulting design is to be developed in a manner consistent with cost and time requirements. The methods developed as part of this research effort include; extensions to a sensitivity based Concurrent Subspace Optimization (CSSO) NMO algorithm; the development of a neural network response surface based CSSO-MDO algorithm; and the integration of distributed computing and process scheduling into the MDO environment. This report overviews research efforts in each of these focus. A complete bibliography of research produced with support of this grant is attached.

Renaud, John E.↗

Multidisciplinary Design Technology Development: A Comparative Investigation of Integrated Aerospace Vehicle Design Tools

This research effort is a joint program between the Departments of Aerospace and Mechanical Engineering and the Computer Science and Engineering Department at the University of Notre Dame. Three Principal Investigators; Drs. Renaud, Brockman and Batill directed this effort. During the four and a half year grant period, six Aerospace and Mechanical Engineering Ph.D. students and one Masters student received full or partial support, while four Computer Science and Engineering Ph.D. students and one Masters student were supported. During each of the summers up to four undergraduate students were involved in related research activities. The purpose of the project was to develop a framework and systematic methodology to facilitate the application of Multidisciplinary Design Optimization (N4DO) to a diverse class of system design problems. For all practical aerospace systems, the design of a systems is a complex sequence of events which integrates the activities of a variety of discipline "experts" and their associated "tools". The development, archiving and exchange of information between these individual experts is central to the design task and it is this information which provides the basis for these experts to make coordinated design decisions (i.e., compromises and trade-offs) - resulting in the final product design. Grant efforts focused on developing and evaluating frameworks for effective design coordination within a MDO environment. Central to these research efforts was the concept that the individual discipline "expert", using the most appropriate "tools" available and the most complete description of the system should be empowered to have the greatest impact on the design decisions and final design. This means that the overall process must be highly interactive and efficiently conducted if the resulting design is to be developed in a manner consistent with cost and time requirements. The methods developed as part of this research effort include; extensions to a sensitivity based Concurrent Subspace Optimization (CSSO) MDO algorithm; the development of a neural network response surface based CSSO-MDO algorithm; and the integration of distributed computing and process scheduling into the MDO environment. This report overviews research efforts in each of these focus. A complete bibliography of research produced with support of this grant is attached.

Renaud, John E.↗

Datasets for Custom-trained Machine-learning Interatomic Potentials: Nitric Acid Aqueous Solution

This dataset was generated using an iterative active learning strategy with the ArcaNN software package (https://github.com/arcann-chem/arcann_training) to train machine-learning interatomic potentials (MLIPs) for aqueous nitric acid. Each active-learning cycle consisted of three stages: (1) training, (2) exploration, and (3) labeling. The initial training set comprised approximately 800 randomly selected configurations from a previous study by Lewis et al. (https://doi.org/10.1021/jp205510q), which investigated nitric acid solutions at 2, 3, 4, and 5 mol/L. For all configurations, single-point calculations of atomic forces and total energies were performed at the quantum density functional theory BLYP-D2 and PBE-D3 levels of theory using the CP2K Quickstep module. Valence electrons were treated explicitly, while core electrons on all atoms were represented by norm-conserving Goedecker–Teter–Hutter (GTH) pseudopotentials. Long-range dispersion interactions were accounted for using Grimme dispersion corrections. Wave functions were expanded in a mixed Gaussian-and-plane-wave scheme using TZV2P-MOLOPT basis sets for all elements and an 800 Ry auxiliary plane-wave cutoff for the electron density. Self-consistent field convergence was accelerated using orbital transformation and Direct Inversion in the Iterative Subspace, with a convergence threshold of 10^{-6}. All single-point calculations were carried out in periodic orthorhombic cells whose dimensions match those of the molecular configurations sampled from earlier trajectories. The CELL_REF keyword in CP2K was used to define a fixed reference cell, ensuring consistency in the reference data used for MLIP training, particularly when cell fluctuations are present in NpT simulations. The resulting high-fidelity energies and forces constitute the ground-truth labels used to train the MLIPs contained in this dataset.

Dinpajooh, Mohammadhasan [Pacific Northwest Nation↗

Physical, numerical, and computational challenges of modeling neutrino transport in core-collapse supernovae

The proposal that core collapse supernovae are neutrino driven is still the subject of active investigation more than 50 years after the seminal paper by Colgate and White. The modern version of this paradigm, which we owe to Wilson, proposes that the supernova shock wave is powered by neutrino heating, mediated by the absorption of electron-flavor neutrinos and antineutrinos emanating from the proto-neutron star surface, or neutrinosphere. Neutrino weak interactions with the stellar core fluid, the theory of which is still evolving, are flavor and energy dependent. The associated neutrino mean free paths extend over many orders of magnitude and are never always small relative to the stellar core radius. Thus, neutrinos are never always fluid like. Instead, a kinetic description of them in terms of distribution functions that determine the number density of neutrinos in the six-dimensional phase space of position, direction, and energy, for both neutrinos and antineutrinos of each flavor, or in terms of angular moments of these neutrino distributions that instead provide neutrino number densities in the four-dimensional phase-space subspace of position and energy, is needed. In turn, the computational challenge is twofold: (i) to map the kinetic equations governing the evolution of these distributions or moments onto discrete representations that are stable, accurate, and, perhaps most important, respect physical laws such as conservation of lepton number and energy and the Fermi–Dirac nature of neutrinos and (ii) to develop efficient, supercomputer-architecture-aware solution methods for the resultant nonlinear algebraic equations. In this review, we present the current state of the art in attempts to meet this challenge.

79 ASTRONOMY AND ASTROPHYSICS↗

Custom-trained Machine-learning Interatomic Potentials: ZnCl2 Aqueous Solution

This dataset was generated using an iterative active-learning strategy implemented in the ArcaNN software package (https://github.com/arcann-chem/arcann_training) to train machine-learning interatomic potentials for aqueous ZnCl2 solutions. Each active-learning cycle consisted of three stages: training, exploration, and labeling. The initial training set combined configurations generated in this work from enhanced-sampling ab initio molecular dynamics simulations with configurations from a previously reported neural-network-potential study of aqueous ZnCl2. The enhanced-sampling ab initio molecular dynamics simulations involved Zn–Cl separation and the chloride coordination number around Zn²? as collective variables. These configurations served as the seed dataset. Subsequent active-learning cycles expanded the training set by identifying and labeling configurations that were poorly represented by the current models, thereby improving coverage of ion-association states and changes in local coordination and charge-state environments relevant to the solution free-energy landscape. For all selected configurations, single-point calculations of the total energies and atomic forces were performed within density functional theory using the CP2K Quickstep module. Reference calculations employed the revPBE-D3 and r2SCAN exchange-correlation functionals. Motivated by recent work on aqueous Zn²?, the main revPBE calculations omitted D3 dispersion contributions involving Zn²?, while retaining the D3 correction for water and chloride. For comparison, fully dispersion-corrected revPBE-D3 reference calculations were also performed, with D3 applied to all species, including Zn²?. Valence electrons were treated explicitly, while core electrons were represented using norm-conserving Goedecker–Teter–Hutter pseudopotentials. The wave functions were expanded using the mixed Gaussian-and-plane-wave scheme with TZV2P-MOLOPT basis sets for all elements and a 600 Ry auxiliary plane-wave cutoff for the electron density. Self-consistent-field convergence was accelerated using the orbital-transformation and Direct Inversion in the Iterative Subspace algorithms, with a convergence threshold of 10?6. All single-point calculations were performed in periodic orthorhombic cells. The CELL_REF keyword in CP2K was used to define a fixed reference cell with a box length of 25 Å. This treatment ensured a consistent reference for configurations extracted from NpT trajectories with fluctuating cell dimensions. The resulting DFT energies and atomic forces constitute the ground-truth labels used to train the MLIPs. The resulting MLIP was trained for aqueous ZnCl2 solutions spanning concentrations from 0 to 30 molal and a broad pH range, from strongly acidic to strongly basic conditions. Representative examples of configurations included in the MLIP training dataset are provided below. These include 1) Representative configurations from the dataset labeled at the revPBE-D3 level, with D3 dispersion interactions involving Zn2+ excluded (revPBE-wo-D3). 2) Representative configurations from the dataset labeled at the fully dispersion-corrected revPBE-D3 level, with D3 interactions applied to all species, including Zn2+ (revPBE-D3). 3) Representative configurations from the dataset labeled at the r2SCAN level of theory (r2SCAN).

Dinpajooh, Mohammadhasan [Pacific Northwest Nation↗