Numerical investigation on a block preconditioning strategy to improve the computational efficiency of DFN models

[EN] The simulation of underground flow across intricate fracture networks can be addressed by means of discrete fracture network models. The combination of such models with an optimization formulation allows for the use of nonconforming and independent meshes for each fracture. The arising algebraic problem produces a symmetric saddle-point matrix with a rank-deficient leading block. In our work, we investigate the properties of the system to design a block preconditioning strategy to accelerate the iterative solution of the linearized algebraic problem. The matrix is first permuted and then projected in the symmetric positive-definite Schur-complement space. The proposed strategy is tested in applications of increasing size, in order to investigate its capabilities.Gazzola, L.; Ferronato, M.; Berrone, S.; Pieraccini, S.; Scialò, S. (2022). Numerical investigation on a block preconditioning strategy to improve the computational efficiency of DFN models. En Proceedings of the YIC 2021 - VI ECCOMAS Young Investigators Conference. Editorial Universitat Politècnica de València. 346-354. https://doi.org/10.4995/YIC2021.2021.12234OCS34635

Null-space preconditioners for saddle point systems

The null-space method is a technique that has been used for many years to reduce a saddle point system to a smaller, easier to solve, symmetric positive-definite system. This method can be understood as a block factorization of the system. Here we explore the use of preconditioners based on incomplete versions of a particular null-space factorization, and compare their performance with the equivalent Schur-complement based preconditioners. We also describe how to apply the non-symmetric preconditioners proposed using the conjugate gradient method (CG) with a non-standard inner product. This requires an exact solve with the (1,1) block, and the resulting algorithm is applicable in other cases where Bramble-Pasciak CG is used. We verify the efficiency of the newly proposed preconditioners on a number of test cases from a range of applications

Parallel Matrix-free polynomial preconditioners with application to flow simulations in discrete fracture networks

We develop a robust matrix-free, communication avoiding parallel, high-degree polynomial preconditioner for the Conjugate Gradient method for large and sparse symmetric positive definite linear systems. We discuss the selection of a scaling parameter aimed at avoiding unwanted clustering of eigenvalues of the preconditioned matrices at the extrema of the spectrum. We use this preconditioned framework to solve a $3 \times 3$ block system arising in the simulation of fluid flow in large-size discrete fractured networks. We apply our polynomial preconditioner to a suitable Schur complement related with this system, which can not be explicitly computed because of its size and density. Numerical results confirm the excellent properties of the proposed preconditioner up to very high polynomial degrees. The parallel implementation achieves satisfactory scalability by taking advantage from the reduced number of scalar products and hence of global communications

H2, fixed architecture, control design for large scale systems

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.Includes bibliographical references (p. 227-234).by Mathieu Mercadal.Ph.D

Regularisoitu riippuvuuksien mallintaminen geeniekpressio- ja metabolomiikkadatan välillä metabolian säätelyn tutkimuksessa

Fusing different high-throughput data sources is an effective way to reveal functions of unknown genes, as well as regulatory relationships between biological components such as genes and metabolites. Dependencies between biological components functioning in the different layers of biological regulation can be investigated using canonical correlation analysis (CCA). However, the properties of the high-throughput bioinformatics data induce many challenges to data analysis: the sample size is often insufficient compared to the dimensionality of the data, and the data pose multi-collinearity due to, for example, co-expressed and co-regulated genes. Therefore, a regularized version of classical CCA has been adopted. An alternative way of introducing regularization to statistical models is to perform Bayesian data analysis with suitable priors. In this thesis, the performance of a new variant of Bayesian CCA called gsCCA is compared to a classical ridge regression regularized CCA (rrCCA) in revealing relevant information shared between two high-throughput data sets. The gsCCA produces a partly similar regulatory effect as the classical CCA but, in addition, the gsCCA introduces a new type of regularization to the data covariance matrices. Both CCA methods are applied to gene expression and metabolic concentration measurements obtained from an oxidative-stress tolerant Arabidopsis thaliana ecotype Col-0, and an oxidative stress sensitive mutant rcd1 as time series under ozone exposure and in a control condition. The aim of this work is to reveal new regulatory mechanisms in the oxidative stress signalling in plants. For the both methods, rrCCA and gsCCA, the thesis illustrates their potential to reveal both already known and new regulatory mechanisms in Arabidopsis thaliana oxidative stress signalling.Bioinformatiikassa erityyppisten mittausaineistojen yhdistäminen on tehokas tapa selvittää tuntemattomien geenien toiminnallisuutta sekä säätelyvuorovaikutuksia eri biologisten komponenttien, kuten geenien ja metaboliittien, välillä. Riippuvuuksia eri biologisilla säätelytasoilla toimivien komponenttien välillä voidaan tutkia kanonisella korrelaatioanalyysilla (canonical correlation analysis, CCA). Bioinformatiikan tietoaineistot aiheuttavat kuitenkin monia haasteita data-analyysille: näytteiden määrä on usein riittämätön verrattuna aineiston piirteiden määrään, ja aineisto on multikollineaarista johtuen esim. yhdessä säädellyistä ja ilmentyvistä geeneistä. Tästä syystä usein käytetään regularisoitua versiota kanonisesta korrelaatioanalyysistä aineiston tilastolliseen analysointiin. Vaihtoehto regularisoidulle analyysille on bayesilainen lähestymistapa yhdessä sopivien priorioletuksien kanssa. Tässä diplomityössä tutkitaan ja vertaillaan uuden bayesilaisen CCA:n sekä klassisen harjanneregressio-regularisoidun CCA:n kykyä löytää oleellinen jaettu informaatio kahden bioinformatiikka-tietoaineiston välillä. Uuden bayesilaisen menetelmän nimi on ryhmittäin harva kanoninen korrelaatioanalyysi. Ryhmittäin harva CCA tuottaa samanlaisen regularisointivaikutuksen kuin harjanneregressio-CCA, mutta lisäksi uusi menetelmä regularisoi tietoaineistojen kovarianssimatriiseja uudella tavalla. Molempia CCA-menetelmiä sovelletaan geenien ilmentymisaineistoon ja metaboliittien konsentraatioaineistoon, jotka on mitattu Arabidopsis thaliana:n hapetus-stressiä sietävästä ekotyypistä Col-0 ja hapetus-stressille herkästä rcd1 mutantista aika-sarjana, sekä otsoni-altistuksessa että kontrolliolosuhteissa. Diplomityö havainnollistaa harjanneregressio-CCA:n ja ryhmittäin harvan CCA:n kykyä paljastaa jo tunnettuja ja mahdollisesti uusia säätelymekanismeja geenien ja metabolittien välillä kasvisolujen viestinnässä hapettavan stressin aikana

Nonlinear probabilistic estimation of 3-D geometry from images

Thesis (Ph. D.)--Massachusetts Institute of Technology, Program in Media Arts & Sciences, 1997.Includes bibliographical references (p. 159-164).by Ali Jerome Azarbayejani.Ph.D

Visual Navigation in Unknown Environments

Navigation in mobile robotics involves two tasks, keeping track of the robot's position and moving according to a control strategy. In addition, when no prior knowledge of the environment is available, the problem is even more difficult, as the robot has to build a map of its surroundings as it moves. These three problems ought to be solved in conjunction since they depend on each other. This thesis is about simultaneously controlling an autonomous vehicle, estimating its location and building the map of the environment. The main objective is to analyse the problem from a control theoretical perspective based on the EKF-SLAM implementation. The contribution of this thesis is the analysis of system's properties such as observability, controllability and stability, which allow us to propose an appropriate navigation scheme that produces well-behaved estimators, controllers, and consequently, the system as a whole. We present a steady state analysis of the SLAM problem, identifying the conditions that lead to partial observability. It is shown that the effects of partial observability appear even in the ideal linear Gaussian case. This indicates that linearisation alone is not the only cause of SLAM inconsistency, and that observability must be achieved as a prerequisite to tackling the effects of linearisation. Additionally, full observability is also shown to be necessary during diagonalisation of the covariance matrix, an approach often used to reduce the computational complexity of the SLAM algorithm, and which leads to full controllability as we show in this work.Focusing specifically on the case of a system with a single monocular camera, we present an observability analysis using the nullspace basis of the stripped observability matrix. The aim is to get a better understanding of the well known intuitive behaviour of this type of systems, such as the need for triangulation to features from different positions in order to get accurate relative pose estimates between vehicle and camera. Through characterisation the unobservable directions in monocular SLAM, we are able to identify the vehicle motions required to maximise the number of observable states in the system. When closing the control loop of the SLAM system, both the feedback controller and the estimator are shown to be asymptotically stable. Furthermore, we show that the tracking error does not influence the estimation performance of a fully observable system and viceversa, that control is not affected by the estimation. Because of this, a higher level motion strategy is required in order to enhance estimation, specially needed while performing SLAM with a single camera. Considering a real-time application, we propose a control strategy to optimise both the localisation of the vehicle and the feature map by computing the most appropriate control actions or movements. The actions are chosen in order to maximise an information theoretic metric. Simulations and real-time experiments are performed to demonstrate the feasibility of the proposed control strategy