8,277 research outputs found
Calculation of Generalized Polynomial-Chaos Basis Functions and Gauss Quadrature Rules in Hierarchical Uncertainty Quantification
Stochastic spectral methods are efficient techniques for uncertainty
quantification. Recently they have shown excellent performance in the
statistical analysis of integrated circuits. In stochastic spectral methods,
one needs to determine a set of orthonormal polynomials and a proper numerical
quadrature rule. The former are used as the basis functions in a generalized
polynomial chaos expansion. The latter is used to compute the integrals
involved in stochastic spectral methods. Obtaining such information requires
knowing the density function of the random input {\it a-priori}. However,
individual system components are often described by surrogate models rather
than density functions. In order to apply stochastic spectral methods in
hierarchical uncertainty quantification, we first propose to construct
physically consistent closed-form density functions by two monotone
interpolation schemes. Then, by exploiting the special forms of the obtained
density functions, we determine the generalized polynomial-chaos basis
functions and the Gauss quadrature rules that are required by a stochastic
spectral simulator. The effectiveness of our proposed algorithm is verified by
both synthetic and practical circuit examples.Comment: Published by IEEE Trans CAD in May 201
Enabling High-Dimensional Hierarchical Uncertainty Quantification by ANOVA and Tensor-Train Decomposition
Hierarchical uncertainty quantification can reduce the computational cost of
stochastic circuit simulation by employing spectral methods at different
levels. This paper presents an efficient framework to simulate hierarchically
some challenging stochastic circuits/systems that include high-dimensional
subsystems. Due to the high parameter dimensionality, it is challenging to both
extract surrogate models at the low level of the design hierarchy and to handle
them in the high-level simulation. In this paper, we develop an efficient
ANOVA-based stochastic circuit/MEMS simulator to extract efficiently the
surrogate models at the low level. In order to avoid the curse of
dimensionality, we employ tensor-train decomposition at the high level to
construct the basis functions and Gauss quadrature points. As a demonstration,
we verify our algorithm on a stochastic oscillator with four MEMS capacitors
and 184 random parameters. This challenging example is simulated efficiently by
our simulator at the cost of only 10 minutes in MATLAB on a regular personal
computer.Comment: 14 pages (IEEE double column), 11 figure, accepted by IEEE Trans CAD
of Integrated Circuits and System
Quantification of airfoil geometry-induced aerodynamic uncertainties - comparison of approaches
Uncertainty quantification in aerodynamic simulations calls for efficient
numerical methods since it is computationally expensive, especially for the
uncertainties caused by random geometry variations which involve a large number
of variables. This paper compares five methods, including quasi-Monte Carlo
quadrature, polynomial chaos with coefficients determined by sparse quadrature
and gradient-enhanced version of Kriging, radial basis functions and point
collocation polynomial chaos, in their efficiency in estimating statistics of
aerodynamic performance upon random perturbation to the airfoil geometry which
is parameterized by 9 independent Gaussian variables. The results show that
gradient-enhanced surrogate methods achieve better accuracy than direct
integration methods with the same computational cost
Motion Planning of Uncertain Ordinary Differential Equation Systems
This work presents a novel motion planning framework, rooted in nonlinear programming theory, that treats uncertain fully and under-actuated dynamical systems described by ordinary differential equations. Uncertainty in multibody dynamical systems comes from various sources, such as: system parameters, initial conditions, sensor and actuator noise, and external forcing. Treatment of uncertainty in design is of paramount practical importance because all real-life systems are affected by it, and poor robustness and suboptimal performance result if it’s not accounted for in a given design. In this work uncertainties are modeled using Generalized Polynomial Chaos and are solved quantitatively using a least-square collocation method. The computational efficiency of this approach enables the inclusion of uncertainty statistics in the nonlinear programming optimization process. As such, the proposed framework allows the user to pose, and answer, new design questions related to uncertain dynamical systems.
Specifically, the new framework is explained in the context of forward, inverse, and hybrid dynamics formulations. The forward dynamics formulation, applicable to both fully and under-actuated systems, prescribes deterministic actuator inputs which yield uncertain state trajectories. The inverse dynamics formulation is the dual to the forward dynamic, and is only applicable to fully-actuated systems; deterministic state trajectories are prescribed and yield uncertain actuator inputs. The inverse dynamics formulation is more computationally efficient as it requires only algebraic evaluations and completely avoids numerical integration. Finally, the hybrid dynamics formulation is applicable to under-actuated systems where it leverages the benefits of inverse dynamics for actuated joints and forward dynamics for unactuated joints; it prescribes actuated state and unactuated input trajectories which yield uncertain unactuated states and actuated inputs.
The benefits of the ability to quantify uncertainty when planning the motion of multibody dynamic systems are illustrated through several case-studies. The resulting designs determine optimal motion plans—subject to deterministic and statistical constraints—for all possible systems within the probability space
Stochastic Nonlinear Model Predictive Control with Efficient Sample Approximation of Chance Constraints
This paper presents a stochastic model predictive control approach for
nonlinear systems subject to time-invariant probabilistic uncertainties in
model parameters and initial conditions. The stochastic optimal control problem
entails a cost function in terms of expected values and higher moments of the
states, and chance constraints that ensure probabilistic constraint
satisfaction. The generalized polynomial chaos framework is used to propagate
the time-invariant stochastic uncertainties through the nonlinear system
dynamics, and to efficiently sample from the probability densities of the
states to approximate the satisfaction probability of the chance constraints.
To increase computational efficiency by avoiding excessive sampling, a
statistical analysis is proposed to systematically determine a-priori the least
conservative constraint tightening required at a given sample size to guarantee
a desired feasibility probability of the sample-approximated chance constraint
optimization problem. In addition, a method is presented for sample-based
approximation of the analytic gradients of the chance constraints, which
increases the optimization efficiency significantly. The proposed stochastic
nonlinear model predictive control approach is applicable to a broad class of
nonlinear systems with the sufficient condition that each term is analytic with
respect to the states, and separable with respect to the inputs, states and
parameters. The closed-loop performance of the proposed approach is evaluated
using the Williams-Otto reactor with seven states, and ten uncertain parameters
and initial conditions. The results demonstrate the efficiency of the approach
for real-time stochastic model predictive control and its capability to
systematically account for probabilistic uncertainties in contrast to a
nonlinear model predictive control approaches.Comment: Submitted to Journal of Process Contro
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