An official website of the United States government
A general formulation of piecewise linear systems with discontinuous force elements is provided in this paper. It has been demonstrated that this class of nonlinear systems is of great importance due to their ability to accurately model numerous scientific and engineering phenomena. Additionally, it is shown that this class of nonlinear systems can demonstrate a wide spectrum of nonlinear motions and in fact, the phenomenon of weak chaos is observed in a mechanical assembly for the first time. Despite such importance, efficient methods for fast and accurate evaluation of piecewise linear systems’ responses are lacking and the methods of the literature are either incompatible, very slow, very inaccurate, or bear a combination of the aforementioned deficiencies. To overcome this shortcoming, a novel symbolic-numeric method is presented in this paper that is able to obtain the analytical response of piecewise linear systems with discontinuous elements in an efficient manner. Contrary to other efficient methods that are based on stationary steady state dynamics, this method will not experience failure upon the occurrence of complex motion and is able to capture the entirety of the dynamics.
more »
« less
Learning Linear Complementarity Systems
This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear complementarity systems (LCSs). We propose a violation-based loss which enables efficient learning of the LCS parameterization, without prior knowledge of the hybrid mode boundaries, using gradient-based methods. The proposed violation-based loss incorporates both dynamics prediction loss and a novel complementarity - violation loss. We show several properties attained by this loss formulation, including its differentiability, the efficient computation of first- and second-order derivatives, and its relationship to the traditional prediction loss, which strictly enforces complementarity. We apply this violation-based loss formulation to learn LCSs with tens of thousands of (potentially stiff) hybrid modes. The results demonstrate a state-of-the-art ability to identify piecewise-affine dynamics, outperforming methods which must differentiate through non-smooth linear complementarity problems.
more »
« less
- Award ID(s):
- 1830218
- PAR ID:
- 10335683
- Editor(s):
- Firoozi, Roya; Mehr, Negar; Yel, Esen; Antonova, Rika; Bohg, Jeannette; Schwager, Mac; Kochenderfer, Mykel
- Date Published:
- Journal Name:
- Learning for Dynamics and Control Conference
- Volume:
- 168
- Page Range / eLocation ID:
- 1137-1149
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
This paper focuses on the system identification of an important class of nonlinear systems: nonlinear systems that are linearly parameterized, which enjoy wide applications in robotics and other mechanical systems. We consider two system identification methods: least-squares estimation (LSE), which is a point estimation method; and set-membership estimation (SME), which estimates an uncertainty set that contains the true parameters. We provide non-asymptotic convergence rates for LSE and SME under i.i.d. control inputs and control policies with i.i.d. random perturbations, both of which are considered as non-active-exploration inputs. Compared with the counter-example based on piecewise-affine systems in the literature, the success of non-active exploration in our setting relies on a key assumption about the system dynamics: we require the system functions to be real-analytic. Our results, together with the piecewise-affine counter-example, reveal the importance of differentiability in nonlinear system identification through non-active exploration. Lastly, we numerically compare our theoretical bounds with the empirical performance of LSE and SME on a pendulum example and a quadrotor example.more » « less
-
Simulating stiff materials in applications where deformations are either not significant or else can safely be ignored is a fundamental task across fields. Rigid body modeling has thus long remained a critical tool and is, by far, the most popular simulation strategy currently employed for modeling stiff solids. At the same time, rigid body methods continue to pose a number of well known challenges and trade-offs including intersections, instabilities, inaccuracies, and/or slow performances that grow with contact-problem complexity. In this paper we revisit the stiff body problem and present ABD, a simple and highly effective affine body dynamics framework, which significantly improves state-of-the-art for simulating stiff-body dynamics. We trace the challenges in rigid-body methods to the necessity of linearizing piecewise-rigid trajectories and subsequent constraints. ABD instead relaxes the unnecessary (and unrealistic) constraint that each body's motion be exactly rigid with a stiff orthogonality potential, while preserving the rigid body model's key feature of a small coordinate representation. In doing so ABD replaces piecewise linearization with piecewise linear trajectories. This, in turn, combines the best of both worlds: compact coordinates ensure small, sparse system solves, while piecewise-linear trajectories enable efficient and accurate constraint (contact and joint) evaluations. Beginning with this simple foundation, ABD preserves all guarantees of the underlying IPC model we build it upon, e.g., solution convergence, guaranteed non-intersection, and accurate frictional contact. Over a wide range and scale of simulation problems we demonstrate that ABD brings orders of magnitude performance gains (two- to three-orders on the CPU and an order more when utilizing the GPU, obtaining 10, 000× speedups) over prior IPC-based methods, while maintaining simulation quality and nonintersection of trajectories. At the same time ABD has comparable or faster timings when compared to state-of-the-art rigid body libraries optimized for performance without guarantees, and successfully and efficiently solves challenging simulation problems where both classes of prior rigid body simulation methods fail altogether.more » « less
-
Abstract This paper is about learning the parameter-to-solution map for systems of partial differential equations (PDEs) that depend on a potentially large number of parameters covering all PDE types for which a stable variational formulation (SVF) can be found. A central constituent is the notion of variationally correct residual loss function, meaning that its value is always uniformly proportional to the squared solution error in the norm determined by the SVF, hence facilitating rigorous a posteriori accuracy control. It is based on a single variational problem, associated with the family of parameter-dependent fibre problems, employing the notion of direct integrals of Hilbert spaces. Since in its original form the loss function is given as a dual test norm of the residual; a central objective is to develop equivalent computable expressions. The first critical role is played by hybrid hypothesis classes, whose elements are piecewise polynomial in (low-dimensional) spatio-temporal variables with parameter-dependent coefficients that can be represented, for example, by neural networks. Second, working with first-order SVFs we distinguish two scenarios: (i) the test space can be chosen as an $$L_{2}$$-space (such as for elliptic or parabolic problems) so that residuals can be evaluated directly as elements of $$L_{2}$$; (ii) when trial and test spaces for the fibre problems depend on the parameters (as for transport equations) we use ultra-weak formulations. In combination with discontinuous Petrov–Galerkin concepts the hybrid format is then instrumental to arrive at variationally correct computable residual loss functions. Our findings are illustrated by numerical experiments representing (i) and (ii), namely elliptic boundary value problems with piecewise constant diffusion coefficients and pure transport equations with parameter-dependent convection fields.more » « less
-
In this paper, we aim to address a relevant estimation problem that aviation professionals encounter in their daily operations. Specifically, aircraft load planners require information on the expected number of checked bags for a flight several hours prior to its scheduled departure to properly palletize and load the aircraft. However, the checked baggage prediction problem has not been sufficiently studied in the literature, particularly at the flight level. Existing prediction approaches have not properly accounted for the different impacts of overestimating and underestimating checked baggage volumes on airline operations. Therefore, we propose a custom loss function, in the form of a piecewise quadratic function, which aligns with airline operations practice and utilizes machine learning algorithms to optimize checked baggage predictions incorporating the new loss function. We consider multiple linear regression, LightGBM, and XGBoost, as supervised learning algorithms. We apply our proposed methods to baggage data from a major airline and additional data from various U.S. government agencies. We compare the performance of the three customized supervised learning algorithms. We find that the two gradient boosting methods (i.e., LightGBM and XGBoost) yield higher accuracy than the multiple linear regression; XGBoost outperforms LightGBM while LightGBM requires much less training time than XGBoost. We also investigate the performance of XGBoost on samples from different categories and provide insights for selecting an appropriate prediction algorithm to improve baggage prediction practices. Our modeling framework can be adapted to address other prediction challenges in aviation, such as predicting the number of standby passengers or no-shows.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
