Sparse implicitization by interpolation: Characterizing non-exactness and an application to computing discriminants

We revisit implicitization by interpolation in order to examine its properties in the context of sparse elimination theory. Based on the computation of a superset of the implicit support, implicitization is reduced to computing the nullspace of a numeric matrix. The approach is applicable to polynomial and rational parameterizations of curves and (hyper)surfaces of any dimension, including the case of parameterizations with base points. Our support prediction is based on sparse (or toric) resultant theory, in order to exploit the sparsity of the input and the output. Our method may yield a multiple of the implicit equation: we characterize and quantify this situation by relating the nullspace dimension to the predicted support and its geometry. In this case, we obtain more than one multiples of the implicit equation; the latter can be obtained via multivariate polynomial gcd (or factoring). All of the above techniques extend to the case of approximate computation, thus yielding a method of sparse approximate implicitization, which is important in tackling larger problems. We discuss our publicly available Maple implementation through several examples, including the benchmark of bicubic surface. For a novel application, we focus on computing the discriminant of a multivariate polynomial, which characterizes the existence of multiple roots and generalizes the resultant of a polynomial system. This yields an efficient, output-sensitive algorithm for computing the discriminant polynomial

Symmetry Detection of Rational Space Curves from their Curvature and Torsion

We present a novel, deterministic, and efficient method to detect whether a given rational space curve is symmetric. By using well-known differential invariants of space curves, namely the curvature and torsion, the method is significantly faster, simpler, and more general than an earlier method addressing a similar problem. To support this claim, we present an analysis of the arithmetic complexity of the algorithm and timings from an implementation in Sage.Comment: 25 page

Sparse-grid polynomial interpolation approximation and integration for parametric and stochastic elliptic PDEs with lognormal inputs

By combining a certain approximation property in the spatial domain, and weighted $\ell_2$-summability of the Hermite polynomial expansion coefficients in the parametric domain obtained in [M. Bachmayr, A. Cohen, R. DeVore and G. Migliorati, ESAIM Math. Model. Numer. Anal. $\bf 51$(2017), 341-363] and [M. Bachmayr, A. Cohen, D. D\~ung and C. Schwab, SIAM J. Numer. Anal. $\bf 55$(2017), 2151-2186], we investigate linear non-adaptive methods of fully discrete polynomial interpolation approximation as well as fully discrete weighted quadrature methods of integration for parametric and stochastic elliptic PDEs with lognormal inputs. We explicitly construct such methods and prove corresponding convergence rates in $n$ of the approximations by them, where $n$ is a number characterizing computation complexity. The linear non-adaptive methods of fully discrete polynomial interpolation approximation are sparse-grid collocation methods. Moreover, they generate in a natural way discrete weighted quadrature formulas for integration of the solution to parametric and stochastic elliptic PDEs and its linear functionals, and the error of the corresponding integration can be estimated via the error in the Bochner space $L_1({\mathbb R}^\infty,V,\gamma)$ norm of the generating methods where $\gamma$ is the Gaussian probability measure on ${\mathbb R}^\infty$ and $V$ is the energy space. We also briefly consider similar problems for parametric and stochastic elliptic PDEs with affine inputs, and by-product problems of non-fully discrete polynomial interpolation approximation and integration. In particular, the convergence rate of non-fully discrete obtained in this paper improves the known one

Pseudospectral Model Predictive Control under Partially Learned Dynamics

Trajectory optimization of a controlled dynamical system is an essential part of autonomy, however many trajectory optimization techniques are limited by the fidelity of the underlying parametric model. In the field of robotics, a lack of model knowledge can be overcome with machine learning techniques, utilizing measurements to build a dynamical model from the data. This paper aims to take the middle ground between these two approaches by introducing a semi-parametric representation of the underlying system dynamics. Our goal is to leverage the considerable information contained in a traditional physics based model and combine it with a data-driven, non-parametric regression technique known as a Gaussian Process. Integrating this semi-parametric model with model predictive pseudospectral control, we demonstrate this technique on both a cart pole and quadrotor simulation with unmodeled damping and parametric error. In order to manage parametric uncertainty, we introduce an algorithm that utilizes Sparse Spectrum Gaussian Processes (SSGP) for online learning after each rollout. We implement this online learning technique on a cart pole and quadrator, then demonstrate the use of online learning and obstacle avoidance for the dubin vehicle dynamics.Comment: Accepted but withdrawn from AIAA Scitech 201

Parametric Polyhedra with at least kk Lattice Points: Their Semigroup Structure and the k-Frobenius Problem

Given an integral $d \times n$ matrix $A$, the well-studied affine semigroup \mbox{ Sg} (A)=\{ b : Ax=b, \ x \in {\mathbb Z}^n, x \geq 0\} can be stratified by the number of lattice points inside the parametric polyhedra $P_A(b)=\{x: Ax=b, x\geq0\}$. Such families of parametric polyhedra appear in many areas of combinatorics, convex geometry, algebra and number theory. The key themes of this paper are: (1) A structure theory that characterizes precisely the subset \mbox{ Sg}_{\geq k}(A) of all vectors b \in \mbox{ Sg}(A) such that $P_A(b) \cap {\mathbb Z}^n$ has at least $k$ solutions. We demonstrate that this set is finitely generated, it is a union of translated copies of a semigroup which can be computed explicitly via Hilbert bases computations. Related results can be derived for those right-hand-side vectors $b$ for which $P_A(b) \cap {\mathbb Z}^n$ has exactly $k$ solutions or fewer than $k$ solutions. (2) A computational complexity theory. We show that, when $n$, $k$ are fixed natural numbers, one can compute in polynomial time an encoding of \mbox{ Sg}_{\geq k}(A) as a multivariate generating function, using a short sum of rational functions. As a consequence, one can identify all right-hand-side vectors of bounded norm that have at least $k$ solutions. (3) Applications and computation for the $k$-Frobenius numbers. Using Generating functions we prove that for fixed $n,k$ the $k$-Frobenius number can be computed in polynomial time. This generalizes a well-known result for $k=1$ by R. Kannan. Using some adaptation of dynamic programming we show some practical computations of $k$-Frobenius numbers and their relatives