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At least 955 records · Page 53

Comparison of unfolding methods using RooFitUnfold

In this study we describe RooFitUnfold, an extension of the RooFit statistical software package to treat unfolding problems, and which includes most of the unfolding methods that commonly used in particle physics. The package provides a common interface to these algorithms as well as common uniform methods to evaluate their performance in terms of bias, variance and coverage. In this paper we exploit this common interface of RooFitUnfold to compare the performance of unfolding with the Richardson–Lucy, Iterative Dynamically Stabilized, Tikhonov, Gaussian Process, bin-by-bin and inversion methods on several example problems.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator

A method is presented to order (n) recursively invert the Jacobian matrix for a serial n-link manipulator. By realizing that the Jacobian relationship involving accelerations is a special case for the forward dynamics problem, it is possible to obtain the Jacobian inverse by directly applying Rodriguez's (1987) recursive forward dynamics algorithm. In this technique, the n-link robot equation is formulated as a spatially recursive algorithm in the form of a filtering and smoothing problem. To compute the Jacobian inverse via this algorithm, the n-link manipulator is modeled with only a unit end-point mass and zero applied torques.

Meldrum, D. R.↗

Forward and inverse kinematics of double universal joint robot wrists

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Williams, Robert L., II↗

Optimal parallel solution of sparse triangular systems

A method for the parallel solution of triangular sets of equations is described that is appropriate when there are many right-handed sides. By preprocessing, the method can reduce the number of parallel steps required to solve Lx = b compared to parallel forward or backsolve. Applications are to iterative solvers with triangular preconditioners, to structural analysis, or to power systems applications, where there may be many right-handed sides (not all available a priori). The inverse of L is represented as a product of sparse triangular factors. The problem is to find a factored representation of this inverse of L with the smallest number of factors (or partitions), subject to the requirement that no new nonzero elements be created in the formation of these inverse factors. A method from an earlier reference is shown to solve this problem. This method is improved upon by constructing a permutation of the rows and columns of L that preserves triangularity and allow for the best possible such partition. A number of practical examples and algorithmic details are presented. The parallelism attainable is illustrated by means of elimination trees and clique trees.

Alvarado, Fernando L.↗

Preview-Based Stable-Inversion for Output Tracking

Stable Inversion techniques can be used to achieve high-accuracy output tracking. However, for nonminimum phase systems, the inverse is non-causal - hence the inverse has to be pre-computed using a pre-specified desired-output trajectory. This requirement for pre-specification of the desired output restricts the use of inversion-based approaches to trajectory planning problems (for nonminimum phase systems). In the present article, it is shown that preview information of the desired output can be used to achieve online inversion-based output tracking of linear systems. The amount of preview-time needed is quantified in terms of the tracking error and the internal dynamics of the system (zeros of the system). The methodology is applied to the online output tracking of a flexible structure and experimental results are presented.

Zou, Qing-Ze↗

Total ozone and aerosol optical depths inferred from radiometric measurements in the Chappuis absorption band

A second-derivative smoothing technique, commonly used in inversion work, is applied to the problem of inferring total columnar ozone amounts and aerosol optical depths. The application is unique in that the unknowns may be solved for directly without employing standard inversion methods. It is shown, however, that by employing inversion constraints, better solutions are normally obtained. The method is quite versatile and able to deal with varying total ozone and various aerosol size distributions. The technique is applied first in simulation, then to 119 days of measurements taken in Tucson, Arizona, that are compared to TOMS values for the same dates. The technique is also applied to two measurements taken at Mauna Loa, Hawaii, for which Dobson ozone values are available in addition to the TOMS values, and the results agree to within 15 percent. It is also shown through simulations that additional information can be obtained from measurements outside the Chappuis band. This approach reduces the bias and spread of the estimated total ozone and is unique in that it uses measurements from both the Chappuis and Huggins absorption bands.

Flittner, D. E.↗

Uncertainty quantification in scientific machine learning: Methods, metrics, and comparisons

Neural networks (NNs) are currently changing the computational paradigm on how to combine data with mathematical laws in physics and engineering in a profound way, tackling challenging inverse and ill-posed problems not solvable with traditional methods. However, quantifying errors and uncertainties in NN-based inference is more complicated than in traditional methods. This is because in addition to aleatoric uncertainty associated with noisy data, there is also uncertainty due to limited data, but also due to NN hyperparameters, overparametrization, optimization and sampling errors as well as model misspecification. Although there are some recent works on uncertainty quantification (UQ) in NNs, there is no systematic investigation of suitable methods towards quantifying the total uncertainty effectively and efficiently even for function approximation, and there is even less work on solving partial differential equations and learning operator mappings between infinite-dimensional function spaces using NNs. In this work, we present a comprehensive framework that includes uncertainty modeling, new and existing solution methods, as well as evaluation metrics and post-hoc improvement approaches. Further, to demonstrate the applicability and reliability of our framework, we present an extensive comparative study in which various methods are tested on prototype problems, including problems with mixed input-output data, and stochastic problems in high dimensions. In the Appendix, we include a comprehensive description of all the UQ methods employed. Further, to help facilitate the deployment of UQ in Scientific Machine Learning research and practice, we present and develop in [1] an open-source Python library (github.com/Crunch-UQ4MI/neuraluq), termed NeuralUQ, that is accompanied by an educational tutorial and additional computational experiments.

11 physics-informed neural networks↗

A Comparison of Exact and Model Exchange–Correlation Potentials for Molecules

Accurate exchange–correlation (XC) potentials for three-dimensional systems–via solution of the inverse density functional theory (DFT) problem–are now available to test the quality of DFT approximations. Herein, the exact XC potential for seven molecules–dihydrogen at four different bond-lengths, lithium hydride, water, and ortho-benzyne–are computed from full configuration interaction reference densities. These are compared to model XC potentials from nonlocal (B3LYP, HSE06, SCAN0, and M08-HX) and semilocal/local (SCAN, PBE, and PW92) XC functionals. Whereas for most systems, relative errors in the ground-state densities are O(10 –3 –10 –2 ) , the model XC potentials have much higher errors of O(10 –1 –10 0 ) . Among the model XC functionals, SCAN0 offers the best agreement with the exact XC potential, underlining the significance of satisfying exact conditions as well as including nonlocal effects in XC functionals. This work indicates that tests against the exact XC potential will provide a promising new direction for building more accurate XC functionals for DFT.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Electron ptychography achieves atomic-resolution limits set by lattice vibrations

Transmission electron microscopes use electrons with wavelengths of a few picometers, potentially capable of imaging individual atoms in solids at a resolution ultimately set by the intrinsic size of an atom. However, owing to lens aberrations and multiple scattering of electrons in the sample, the image resolution is reduced by a factor of 3 to 10. By inversely solving the multiple scattering problem and overcoming the electron-probe aberrations using electron ptychography, we demonstrate an instrumental blurring of less than 20 picometers and a linear phase response in thick samples. The measured widths of atomic columns are limited by thermal fluctuations of the atoms. As a result, our method is also capable of locating embedded atomic dopant atoms in all three dimensions with subnanometer precision from only a single projection measurement.

42 ENGINEERING↗

Signal Preconditioning to Minimize Impulse Response Contribution

A study was performed to identify a method to minimize the effect of a linear time-invariant (LTI) system impulse response on an input. Three methods were studied: Wiener filter, the N4SID algorithm and transfer function estimation, the latter two using functions from MATLAB’s System Identification Toolbox. Although all three methods were able estimate an unknown forward impulse response given an input/output time series pair, only the Wiener filter was able to estimate a system inverse which satisfactorily solved the problem using a cosine similarity measure.

42 ENGINEERING↗

Bayesian Estimation of Oscillator Parameters: Toward Anomaly Detection and Cyber-Physical System Security

Cyber-physical system security presents unique challenges to conventional measurement science and technology. Anomaly detection in software-assisted physical systems, such as those employed in additive manufacturing or in DNA synthesis, is often hampered by the limited available parameter space of the underlying mechanism that is transducing the anomaly. As a result, the formulation of anomaly detection for such systems often leads to inverse or ill-posed problems, requiring statistical treatments. Here, we present Bayesian inference of unknown parameters associated with a generic actuator considered as a representative vital element of a cyber-physical system. Via a series of experimental input-output measurements, a transfer function for the actuator is obtained numerically, which serves as our model for the proposed method. Linear, nonlinear, and delayed dynamics may be assumed for the actuator response. By devising a code-based malicious signal, we study the efficacy of Bayesian inference for its potential to produce a detection, including uncertainty quantification, with a remarkably small number of input data points. Our approach should be adaptable to a variety of real-time cyber-physical anomaly detection scenarios.

47 OTHER INSTRUMENTATION↗

Towards an optimal inversion method for remote atmospheric sensing

The inference of atmospheric structure from satellite radiometric observations requires an inversion algorithm. A variety of techniques was spawned to meet these demands. One class, the nonlinear inversion methods, copes with the problem of data noise. Unlike linear techniques which require a priori data smoothing, the nonlinear method can be applied directly to raw data. The algorithm discriminates the noise input by resolving the inferences into two types of solution, associating the real roots with atmospheric structure while ascribing the imaginary roots to noise.

King, J. I. F.↗

A study of non-unique solutions of the two-dimensional boundary layer equations at laminar separation and reattachment points

Nonunique laminar boundary layer equation solutions in direct problem calculations are identified for the case of accelerating flow. As a separation or reattachment point is approached, the multiple solutions approach each other and become identical. The computer code used to generate these results was developed for the solution of compressible, laminar or turbulent boundary layer, and free wake problems, in either direct or inverse mode. Similarity solutions in either a primitive variable or a stream function form are possible, and the resulting equations are solved by means of a modified Keller's Box scheme in which the energy equation and turbulence modeling equations are solved simultaneously with the continuity and momentum equations. Examples illustrating the nature of the solutions at the separation and reattachment points are presented.

Drela, M.↗

The structure of the unstable marine boundary layer viewed by lidar and aircraft observations

The marine atmospheric boundary layer (MABL) during a cold-air outbreak off the Atlantic coast between New York and Virginia on January 20, 1983 is characterized on the basis of airborne lidar observations, vertical soundings (potential temperature, vapor mixing ratio, relative humidity, and wind), and horizontal (770-m) temperature records. The data are presented in tables and graphs and analyzed in detail. The organization of the MABL is defined by 1-2-km-scale roll vortices with up and downdrafts of 2-4 m/s at 210 m; north-south orientation of the roll axes (parallel to the low-level winds); rising arms coinciding with updrafts rich in moisture, aerosols, and heat; and 150-200-m (peak-to-trough) undulations of the inversion. Consideration is given to problems inherent in the interpretation of lidar data for MABL studies.

Atlas, D.↗

Characterization of robotics parallel algorithms and mapping onto a reconfigurable SIMD machine

The kinematics, dynamics, Jacobian, and their corresponding inverse computations are six essential problems in the control of robot manipulators. Efficient parallel algorithms for these computations are discussed and analyzed. Their characteristics are identified and a scheme on the mapping of these algorithms to a reconfigurable parallel architecture is presented. Based on the characteristics including type of parallelism, degree of parallelism, uniformity of the operations, fundamental operations, data dependencies, and communication requirement, it is shown that most of the algorithms for robotic computations possess highly regular properties and some common structures, especially the linear recursive structure. Moreover, they are well-suited to be implemented on a single-instruction-stream multiple-data-stream (SIMD) computer with reconfigurable interconnection network. The model of a reconfigurable dual network SIMD machine with internal direct feedback is introduced. A systematic procedure internal direct feedback is introduced. A systematic procedure to map these computations to the proposed machine is presented. A new scheduling problem for SIMD machines is investigated and a heuristic algorithm, called neighborhood scheduling, that reorders the processing sequence of subtasks to reduce the communication time is described. Mapping results of a benchmark algorithm are illustrated and discussed.

Lee, C. S. G.↗

On the unique structure of the magnetic fields of Uranus and Neptune

The magnetic fields of Uranus and Neptune, which have comparable dipole, quadrupole, and octupole harmonics, are unique in the present-day solar system, but they resemble the geomagnetic field at the epochs of excursions and reversals known from paleomagnetic data. The precession dynamo model, in which the dominant role in the generation of the planetary magnetic fields is played by external gravitational forces, allows us to propose two scenarios for the formation of the unique topology of the magnetic fields of Uranus and Neptune. In the first case, tidal flows in the 'oceans' of these two planets extend down to the depths where the matter has a noticeable electric conductivity and velocity. A hydromagnetic interaction of the moving conducting fluid with the planetary magnetic field outside the generation region results in the deformation of the field and the deceleration of the motion under the action of the radial magnetic field. In the second case, the deformation of the field facilitates drastic changes in cyclonic cells within the generation region causing instabilities that result in a multi-polar field structure, excursions, and inversions. This paper considers this problem in greater detail by using the Neptune-Triton system as an example.

Dolginov, Sh. SH.↗

Optimal Power Management of Battery Energy Storage Systems via Ensemble Kalman Inversion

Optimal power management of battery energy storage systems (BESS) is crucial for their safe and efficient operation. Numerical optimization techniques are frequently utilized to solve the optimal power management problems. However, these techniques often fall short of delivering real-time solutions for large-scale BESS due to their computational complexity. To address this issue, this paper proposes a computationally efficient approach. We introduce a new set of decision variables called power-sharing ratios corresponding to each cell, indicating their allocated power share from the output power demand. We then formulate an optimal power management problem to minimize the system-wide power losses while ensuring compliance with safety, balancing, and power supply-demand match constraints. To efficiently solve this problem, a parametrized control policy is designed and leveraged to transform the optimal power management problem into a parameter estimation problem. We then implement the ensemble Kalman inversion to estimate the optimal parameter set. The proposed approach significantly reduces computational requirements due to 1) the much lower dimensionality of the decision parameters and 2) the estimation treatment of the optimal power management problem. Finally, we conduct extensive simulations to validate the effectiveness of the proposed approach. The results show promise in accuracy and computation time compared with explored numerical optimization techniques.

Farakhor, Amir↗

Dynamic Inversion based Control of a Docking Mechanism

The problem of position and attitude control of the Stewart platform based docking mechanism is considered motivated by its future application in space missions requiring the autonomous docking capability. The control design is initiated based on the framework of the intelligent flight control architecture being developed at NASA Ames Research Center. In this paper, the baseline position and attitude control system is designed using dynamic inversion with proportional-integral augmentation. The inverse dynamics uses a Newton-Euler formulation that includes the platform dynamics, the dynamics of the individual legs along with viscous friction in the joints. Simulation results are presented using forward dynamics simulated by a commercial physics engine that builds the system as individual elements with appropriate joints and uses constrained numerical integration,

Kulkarni, Nilesh V.↗