A regularizing iterative ensemble Kalman method for PDE-constrained inverse problems

We introduce a derivative-free computational framework for approximating solutions to nonlinear PDE-constrained inverse problems. The aim is to merge ideas from iterative regularization with ensemble Kalman methods from Bayesian inference to develop a derivative-free stable method easy to implement in applications where the PDE (forward) model is only accessible as a black box. The method can be derived as an approximation of the regularizing Levenberg-Marquardt (LM) scheme [14] in which the derivative of the forward operator and its adjoint are replaced with empirical covariances from an ensemble of elements from the admissible space of solutions. The resulting ensemble method consists of an update formula that is applied to each ensemble member and that has a regularization parameter selected in a similar fashion to the one in the LM scheme. Moreover, an early termination of the scheme is proposed according to a discrepancy principle-type of criterion. The proposed method can be also viewed as a regularizing version of standard Kalman approaches which are often unstable unless ad-hoc fixes, such as covariance localization, are implemented. We provide a numerical investigation of the conditions under which the proposed method inherits the regularizing properties of the LM scheme of [14]. More concretely, we study the effect of ensemble size, number of measurements, selection of initial ensemble and tunable parameters on the performance of the method. The numerical investigation is carried out with synthetic experiments on two model inverse problems: (i) identification of conductivity on a Darcy flow model and (ii) electrical impedance tomography with the complete electrode model. We further demonstrate the potential application of the method in solving shape identification problems by means of a level-set approach for the parameterization of unknown geometries

Transform-based particle filtering for elliptic Bayesian inverse problems

We introduce optimal transport based resampling in adaptive SMC. We consider elliptic inverse problems of inferring hydraulic conductivity from pressure measurements. We consider two parametrizations of hydraulic conductivity: by Gaussian random field, and by a set of scalar (non-)Gaussian distributed parameters and Gaussian random fields. We show that for scalar parameters optimal transport based SMC performs comparably to monomial based SMC but for Gaussian high-dimensional random fields optimal transport based SMC outperforms monomial based SMC. When comparing to ensemble Kalman inversion with mutation (EKI), we observe that for Gaussian random fields, optimal transport based SMC gives comparable or worse performance than EKI depending on the complexity of the parametrization. For non-Gaussian distributed parameters optimal transport based SMC outperforms EKI

Stochastic Model Predictive Control for Autonomous Mobility on Demand

This paper presents a stochastic, model predictive control (MPC) algorithm that leverages short-term probabilistic forecasts for dispatching and rebalancing Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles). We first present the core stochastic optimization problem in terms of a time-expanded network flow model. Then, to ameliorate its tractability, we present two key relaxations. First, we replace the original stochastic problem with a Sample Average Approximation (SAA), and characterize the performance guarantees. Second, we separate the controller into two separate parts to address the task of assigning vehicles to the outstanding customers separate from that of rebalancing. This enables the problem to be solved as two totally unimodular linear programs, and thus easily scalable to large problem sizes. Finally, we test the proposed algorithm in two scenarios based on real data and show that it outperforms prior state-of-the-art algorithms. In particular, in a simulation using customer data from DiDi Chuxing, the algorithm presented here exhibits a 62.3 percent reduction in customer waiting time compared to state of the art non-stochastic algorithms.Comment: Submitting to the IEEE International Conference on Intelligent Transportation Systems 201

On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms

We study the interaction between a fleet of electric, self-driving vehicles servicing on-demand transportation requests (referred to as Autonomous Mobility-on-Demand, or AMoD, system) and the electric power network. We propose a model that captures the coupling between the two systems stemming from the vehicles' charging requirements and captures time-varying customer demand and power generation costs, road congestion, battery depreciation, and power transmission and distribution constraints. We then leverage the model to jointly optimize the operation of both systems. We devise an algorithmic procedure to losslessly reduce the problem size by bundling customer requests, allowing it to be efficiently solved by off-the-shelf linear programming solvers. Next, we show that the socially optimal solution to the joint problem can be enforced as a general equilibrium, and we provide a dual decomposition algorithm that allows self-interested agents to compute the market clearing prices without sharing private information. We assess the performance of the mode by studying a hypothetical AMoD system in Dallas-Fort Worth and its impact on the Texas power network. Lack of coordination between the AMoD system and the power network can cause a 4.4% increase in the price of electricity in Dallas-Fort Worth; conversely, coordination between the AMoD system and the power network could reduce electricity expenditure compared to the case where no cars are present (despite the increased demand for electricity) and yield savings of up $147M/year. Finally, we provide a receding-horizon implementation and assess its performance with agent-based simulations. Collectively, the results of this paper provide a first-of-a-kind characterization of the interaction between electric-powered AMoD systems and the power network, and shed additional light on the economic and societal value of AMoD.Comment: Extended version of the paper presented at Robotics: Science and Systems XIV and accepted by TCNS. In Version 4, the body of the paper is largely rewritten for clarity and consistency, and new numerical simulations are presented. All source code is available (MIT) at https://dx.doi.org/10.5281/zenodo.324165

Interfacce uomo-macchina nella realtà virtuale

Questo capitolo fornisce una descrizione dei principali elementi che influenzano l'interazione uomo-macchina in riferimento alla realtà virtuale, per come si configurano attualmente, e per come si prevede si svilupperanno in un prossimo futuro. Il capitolo è organizzato nel modo seguente: la sezione 1.1 presenta il concetto di realtà virtuale soprattutto in relazione alle possibilità offerte per quanto riguarda l’interazione tra uomo e macchina, ed alle applicazioni di nuova generazione. La sezione successiva descrive i principali requisiti ed i vincoli che un sistema di realtà virtuale deve soddisfare per riuscire a fornire all’utente un’impressione convincente e delle esperienze realmente immersive. La sezione 1.3 si concentra sul feedback sensoriale principale, descrivendo le principali tecnologie di nuova generazione per la realizzazione di dispositivi in grado di fornire delle sensazioni visive e tattili estremamente realistiche. Infine la sezione 1.4 descrive brevemente alcuni esempi di applicazioni di realtà virtuale realizzate dagli autori, nel campo della simulazione chirurgica, dei musei virtuali e dei sistemi di visualizzazione autostereoscopici multiutente, e la sezione 1.5 discute brevemente la situazione attuale ed il potenziale futuro della disciplina.289-33

A Bayesian level set method for geometric inverse problems

We introduce a level set based approach to Bayesian geometric inverse problems. In these problems the interface between different domains is the key unknown, and is realized as the level set of a function. This function itself becomes the object of the inference. Whilst the level set methodology has been widely used for the solution of geometric inverse problems, the Bayesian formulation that we develop here contains two significant advances: firstly it leads to a well-posed inverse problem in which the posterior distribution is Lipschitz with respect to the observed data, and may be used to not only estimate interface locations, but quantify uncertainty in them; and secondly it leads to computationally expedient algorithms in which the level set itself is updated implicitly via the MCMC methodology applied to the level set function – no explicit velocity field is required for the level set interface. Applications are numerous and include medical imaging, modelling of subsurface formations and the inverse source problem; our theory is illustrated with computational results involving the last two applications