Probabilistic constraint reasoning with Monte Carlo integration to robot localization

This work studies the combination of safe and probabilistic reasoning through the hybridization of Monte Carlo integration techniques with continuous constraint programming. In continuous constraint programming there are variables ranging over continuous domains (represented as intervals) together with constraints over them (relations between variables) and the goal is to find values for those variables that satisfy all the constraints (consistent scenarios). Constraint programming “branch-and-prune” algorithms produce safe enclosures of all consistent scenarios. Special proposed algorithms for probabilistic constraint reasoning compute the probability of sets of consistent scenarios which imply the calculation of an integral over these sets (quadrature). In this work we propose to extend the “branch-and-prune” algorithms with Monte Carlo integration techniques to compute such probabilities. This approach can be useful in robotics for localization problems. Traditional approaches are based on probabilistic techniques that search the most likely scenario, which may not satisfy the model constraints. We show how to apply our approach in order to cope with this problem and provide functionality in real time

A new equilibrated residual method improving accuracy and efficiency of flux-free error estimates

This paper presents a new methodology to compute guaranteed upper bounds for the energy norm of the error in the context of linear finite element approximations of the reaction–diffusion equation. The new approach revisits the ideas in Parés et al. (2009) [6, 4], with the goal of substantially reducing the computational cost of the flux-free method while retaining the good quality of the bounds. The new methodology provides also a technique to compute equilibrated boundary tractions improving the quality of standard equilibration strategies. The zeroth-order equilibration conditions are imposed using an alternative less restrictive form of the first-order equilibration conditions, along with a new efficient minimization criterion. This new equilibration strategy provides much more accurate upper bounds for the energy and requires only doubling the dimension of the local linear systems of equations to be solved.Postprint (author's final draft

Variational Physics Informed Neural Networks: the role of quadratures and test functions

In this work we analyze how quadrature rules of different precisions and piecewise polynomial test functions of different degrees affect the convergence rate of Variational Physics Informed Neural Networks (VPINN) with respect to mesh refinement, while solving elliptic boundary-value problems. Using a Petrov-Galerkin framework relying on an inf-sup condition, we derive an a priori error estimate in the energy norm between the exact solution and a suitable high-order piecewise interpolant of a computed neural network. Numerical experiments confirm the theoretical predictions and highlight the importance of the inf-sup condition. Our results suggest, somehow counterintuitively, that for smooth solutions the best strategy to achieve a high decay rate of the error consists in choosing test functions of the lowest polynomial degree, while using quadrature formulas of suitably high precision.Comment: 20 pages, 22 figure

A one-shot overlapping Schwarz method for component-based model reduction: application to nonlinear elasticity

We propose a component-based (CB) parametric model order reduction (pMOR) formulation for parameterized nonlinear elliptic partial differential equations (PDEs) based on overlapping subdomains. Our approach reads as a constrained optimization statement that penalizes the jump at the components' interfaces subject to the approximate satisfaction of the PDE in each local subdomain. Furthermore, the approach relies on the decomposition of the local states into a port component -- associated with the solution on interior boundaries -- and a bubble component that vanishes at ports: this decomposition allows the static condensation of the bubble degrees of freedom and ultimately allows to recast the constrained optimization statement into an unconstrained statement, which reads as a nonlinear least-square problem and can be solved using the Gauss-Newton method. We present thorough numerical investigations for a two-dimensional neo-Hookean nonlinear mechanics problem to validate our proposal; we further discuss the well-posedness of the mathematical formulation and the \emph{a priori} error analysis for linear coercive problems

Advanced Computational Engineering

The finite element method is the established simulation tool for the numerical solution of partial differential equations in many engineering problems with many mathematical developments such as mixed finite element methods (FEMs) and other nonstandard FEMs like least-squares, nonconforming, and discontinuous Galerkin (dG) FEMs. Various aspects on this plus related topics ranging from order-reduction methods to isogeometric analysis has been discussed amongst the pariticpants form mathematics and engineering for a large range of applications