@let@token eserved@d = *@let@token height=.55in]figures ...sorensen/talks/mtns08/mtns08t.pdf ·...
TRANSCRIPT
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New Directions in the Application
of Model Order Reduction
D.C. Sorensen
I Collaborators: M. Heinkenschloss, K. WillcoxS. Chaturantabut, R. Nong
I Support: AFOSR and NSF
MTNS 08 Blacksburg, VA July 2008
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Projection Methods for MOR
Impossible Calculations Made Possible withROM
Experiments with many instances of same reduced model
Brief Intro to Gramian Based Model Reduction
Proper Orthogonal Decomposition (POD)
Balanced Reduction
Neural Modeling: Local Reduction ⇒ Many Interactions
Nonlinear MOR: Application of Empirical Interpolation (EIM)
Process/Design Variation: Monte-Carlo via ROM
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LTI Model Reduction by Projection
x = Ax + Bu
y = Cx
Approximate x ∈ SV = Range(V), a k-diml. subspacei.e. Put x = Vx, and then force
WT [V ˙x − (AVx + Bu)] = 0
y = CVx
If WTV = Ik , then the k dimensional reduced model is
˙x = Ax + Bu
y = Cx
where A = WTAV, B = WTB, C = CV.
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Moment Matching ↔ Krylov Subspace Projection
Based on Lanczos, Arnoldi, Rational Krylov methods
Pade via Lanczos (PVL)
Freund, Feldmann
Bai
Multipoint Rational Interpolation
Grimme
Gallivan, Grimme, Van Dooren
Recent: Optimal H2 approximation via interpolationGugercin, Antoulas, Beattie
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Gramian Based Model Reduction
Proper Orthogonal Decomposition (POD)Principal Component Analysis (PCA)
x(t) = f(x(t),u(t)), y = g(x(t),u(t))
The Gramian
P =
∫ ∞
ox(τ)x(τ)Tdτ
Eigenvectors of P
P = VS2VT
Orthogonal Basisx(t) = VSw(t)
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PCA or POD Reduced Basis
Low Rank Approximation
x ≈ Vk xk(t)
Galerkin condition – Global Basis
˙xk = VTk f(Vk xk(t),u(t))
Global Approximation Error ? (H2 bound for LTI)
‖x− Vk xk‖2 ≈ σk+1
Snapshot Approximation to P
P ≈ 1
m
m∑j=1
x(tj)x(tj)T = XXT
Truncate SVD : X = VSUT ≈ VkSkUTk
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SVD Compression
m
k ( m + n)
m x n
v.s.
Storage
Advantage of SVD Compression
k
n
0 20 40 60 80 100 120 140 160 180 2000
10
20
30
40
50
60
70
80
90
100SVD of Clown
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Image Compression - Feature Detection
original rank = 10
rank = 30 rank = 50
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POD in CFD
Extensive Literature
Karhunen-Loeve, L. Sirovich
Burns, King
Kunisch and Volkwein
Gunzburger
Many, many others
Incorporating Observations – Balancing
Lall, Marsden and Glavaski
K. Willcox and J. Peraire
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POD vs. FEM
I Both are Galerkin Projection
I POD - Global Basis fns. vs FEM - Local Basis fns.
I FEM - Complex Behavior via Mesh Refinement/ Higher OrderHigh Dimension - Sparse Matrices
I POD - Complex Behavior contained in Global BasisLow Dimension - Dense Matrices
I Caveat: POD is ad hoc: Must sample rich set of inputs andparameter settings
I Qx: How to automate parameter/input sampling for POD
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POD for LTI systems
Impulse Response: H(s) = C(sI− A)−1B, s ≥ 0
Input to State Map: x(t) = eAtB
Controllability Gramian:
P =
∫ ∞
ox(τ)x(τ)Tdτ =
∫ ∞
oeAτBBT eAT τdτ
State to Output Map: y(t) = CeAtx(0)
Observability Gramian:
Q =
∫ ∞
oeAT τCTCeAτdτ
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Balanced Reduction (Moore 81)
Lyapunov Equations for system Gramians
AP + PAT + BBT = 0 ATQ+QA + CTC = 0
With P = Q = S : Want Gramians Diagonal and Equal
States Difficult to Reach are also Difficult to Observe
Reduced Model Ak = WTk AVk , Bk = WT
k B , Ck = CkVk
I PVk = WkSk QWk = VkSk
I Reduced Model Gramians Pk = Sk and Qk = Sk .
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Hankel Norm Error estimate (Glover 84)
Why Balanced Truncation?
I Hankel singular values =√
λ(PQ)
I Model reduction H∞ error (Glover)
‖y − y‖2 ≤ 2× (sum neglected singular values)‖u‖2I Extends to MIMO
I Preserves Stability
Key Challenge
I Approximately solve large scale Lyapunov Equationsin Low Rank Factored Form
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CD Player Frequency Response
‖y − y‖2 ≤ 2× (sum neglected singular values)‖u‖2
100
101
102
103
104
105
106
107
10−10
10−8
10−6
10−4
10−2
100
102
Freq−Response CD−Player : τ = 0.001, n = 120 , k = 12
|G(jω
)|
Frequency ω
OriginalReduced
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CD Player Frequency Response
‖y − y‖2 ≤ 2× (sum neglected singular values)‖u‖2
100
101
102
103
104
105
106
107
10−10
10−8
10−6
10−4
10−2
100
102
Freq−Response CD−Player : τ = 1e−005, n = 120 , k = 37
|G(jω
)|
Frequency ω
OriginalReduced
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CD Player - Hankel Singular Values√
λ(PQ)
‖y − y‖2 ≤ 2× (sum neglected singular values)‖u‖2
0 20 40 60 80 100 12010
−14
10−12
10−10
10−8
10−6
10−4
10−2
100
102
Hankel Singular Values
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Approximate Balancing
AP + PAT + BBT = 0 ATQ+QA + CTC = 0
• Sparse Case: Iteratively Solve in Low Rank Factored Form,
P ≈ UkUTk , Q ≈ LkL
Tk
[X,S,Y] = svd(UTk Lk)
Wk = LYkS−1/2k and Vk = UXkS
−1/2k .
Now: PWk ≈ VkSk and QVk ≈WkSk
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Recent Progress LTI MOR
I Low Rank Approximate Solutions to Lyapunov Eqnsn = 1M Now Possible – Large Scale BTMOR Possible
I Optimal H2 reduction – IRKAPromising for Large no. Inputs
I Descriptor Systemse.g. Stykel (LAA 06) – general theory and approach
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Balanced Truncation MOR of Oseen Eqn.
Semi-Discrete Oseen Equations: A Descriptor System
Ed
dtv(t) = Av(t) + Bu(t), y(t) = Cv(t) + Du(t)
0 1 2 3 4 5 6 7−150
−100
−50
0
50
100
150
Time
fullreduced
10−4
10−2
100
102
104
75.5
76
76.5
77
77.5
78
78.5
79
79.5
80
Frequency
fullreduced
Figure: Time response (left) and frequency response (right) for the full
order model (circles) and for the reduced order model (solid line).
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Velocity Profile
full 22K dof reduced 15 dof
Figure: Velocities generated with the full order model (left col-
umn) and with the reduced order model (right column) at t =
1.0996, 2.9845, 3.7699, 4.86965, 6.2832 (top to bottom).
Heinkenschloss, Sun, S., SISSC 08
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NOTICEState Variables will be y
for remainder
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Reduced Order Neural Modeling
Steve Cox Tony Kellems
LINEAR MODELSBalanced Truncation Optimal H2
Nan Xiao and Derrick Roos Ryan Nong
Complex Model (Dim 160 K) → 20 variable ROM
NONLINEAR MODELSEmpirical Interpolation (EIM) - Patera
Saifon Chaturantabut T. Kellems
Nonlinear H-H Neuron Model (Dim 1198) → 30 variable ROM
Complex nonlinear behavior well approximated
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Neuron Image AR-1-20-04-A
Image from NeuromartJ.O. Martinez, Rice-Baylor Archive of Neuronal Morphology,
http://www.caam.rice.edu/ cox/neuromart/, accessed 29 July 08
“Developed” using Neurolucida and NeuroExplorer
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Neuron Cell
90µm
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Hodgkin-Huxley Neuron Model
Full Non-Linear Model
Ij ,syn is the synaptic input into branch j
aj
2Ri∂xxvj = Cm∂tvj + GNam
3j hj(vj − ENa)
+ GKn4j (vj − EK ) + Gl(vj − El) + Ij ,syn(x , t)
Kinetics of the potassium (n) and sodium (h,m) channels
∂tmj = αm(vj)(1−mj)− βm(vj)mj
∂thj = αh(vj)(1− hj)− βh(vj)hj
∂tnj = αn(vj)(1− nj)− βn(vj)nj .
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Ultimate Goal for Neural Modeling
I Ultimate goal is to simulate a few-Million neuron systemover a minute of brain-time: Feasibility Demonstrated
I Currently limited to a 10K neuron systemover a few brain-seconds without new technology
I Single Cell Simulation Time Reduction: 100 - 1000 times
I ROM computation time: seconds - few minutes
I 20 - 30 neuron types sufficient for Cortex
I Parallel computing required - under development(Kellems)
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Cell Response - Lin and Non-Lin
0 5 10 15 20 25 30−0.2
−0.1
0
0.1
0.2
0.3
0.4
0.5
0.6v
Morphology: RC−3−04−04−B.asc
t (ms)
0 5 10 15 20 25 300.052
0.0525
0.053
0.0535
0.054
0.0545
0.055
0.0555
0.056
0.0565
0.057
m
0 5 10 15 20 25 300.589
0.59
0.591
0.592
0.593
0.594
0.595
0.596
0.597
0.598
h
0 5 10 15 20 25 300.3175
0.318
0.3185
0.319
0.3195
0.32
0.3205
0.321
0.3215
0.322
n
Lin HHBTFull HH
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Cell Response - Linear
0 5 10 15 20 25 30−0.2
−0.1
0
0.1
0.2
0.3
0.4
0.5
0.6v
Morphology: RC−3−04−04−B.asc
t (ms)
0 5 10 15 20 25 300.052
0.0525
0.053
0.0535
0.054
0.0545
0.055
0.0555
0.056
0.0565
0.057
m
0 5 10 15 20 25 300.589
0.59
0.591
0.592
0.593
0.594
0.595
0.596
0.597
0.598
h
0 5 10 15 20 25 300.3175
0.318
0.3185
0.319
0.3195
0.32
0.3205
0.321
0.3215
0.322
n
Lin HHBTFull HH
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Cell Response - Near Threshold
0 5 10 15 20 25 30−1
−0.5
0
0.5
1
1.5
2v
Morphology: RC−3−04−04−B.asc
t (ms)
0 5 10 15 20 25 300.045
0.05
0.055
0.06
0.065
0.07
m
0 5 10 15 20 25 30
0.565
0.57
0.575
0.58
0.585
0.59
0.595
0.6
0.605
h
0 5 10 15 20 25 300.315
0.32
0.325
0.33
0.335
0.34
n
Lin HHBTFull HH
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Optimal H2 Methods: IRKA
PROBLEM:
Many inputs ⇒ Controllability Gramian Not Low Rank
Kellems and Nong
Using Variant of IRKA
Gugercin, Antoulas, Beattie (2008)
Reduced 160K Neuron Model to a ROM of order 20.
Solve times to construct ROM are under 2 minsHigh End Workstation(Sun Ultra 20) in MATLAB
Parameter Study Experiment 158 hrs (full) → 3.4 hrs (ROM)
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ROM Results on Realistic Neuron
AR-1-20-04-A (Rosenkranz lab)Full system size 6726 Reduced system size 25
60µm
B
0 20 40 60 80 100−1
0
1
2
3
4Comparison of Soma Voltages
Time (ms)
Som
a P
oten
tial w
.r.t.
res
t (m
V)
NonlinearLinearizedReduced (k = 25)
0 20 40 60 80 100 12010
−12
10−10
10−8
10−6
10−4
10−2
Errors in Soma Voltage (Lin. vs. Reduced)
Time (ms)
Som
a V
olta
ge E
rror
(m
V)
Abs. ErrorRel. Error
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Error vs HS-Values: AR-1-20-04-A
0 10 20 30 40 50 60 70 80 90−20
−15
−10
−5
0
Number of Singular Values used (10 runs/value)
log 10
of E
rror (
v lin v
s. v BT
)
Error follows Hankel singular value decay: AR−1−20−04−A, 35 Stimuli
AMax. Abs. Error25−75% Error BarsNormalized HSV’s
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Highly Branched Neuron
n408 (Pyapali et al., 1998)
Full system size 41, 364 165, 330Reduced system size 20 20
110µm
C
0 10 20 30 400
200
400
600
800
1000
k (reduced system size)
Time to compute reduced model using IRKA
Sec
onds
A
0 10 20 30 40−8
−6
−4
−2
0
2
log 10
of M
ax. A
bs. E
rror
k (reduced system size)
Output error vs. full systemB
h = 2 µm (N = 41364)
h = 0.5 µ m (N = 165330)
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Model Reduction of Nonlinear Terms
Saifon Chaturantabut
Implemenation of EIM method of Patera et.al. (2004)
Test Case: FitzHugh-Nagumo equations
εvt(x , t) = ε2vxx(x , t) + f (v(x , t))− w(x , t)
wt(x , t) = βv(x , t)− γw(x , t),
f (v) = v(v − 0.1)(1− v)
IC’s and BC’s
v(x , 0) = 0, w(x , 0) = 0 x ∈ [0, L]
vx(0, t) = −i0(t), vx(L, t) = 0 t ≥ 0
After FEM discretization,
Eyt = Ay + g(t) +N (y), y(0) = 0
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Problem with Direct POD
If we apply the POD basis directly to construct a discretizedsystem, the original system of order N:
E ddt y(t) = Ay(t) + g(t) +N (y(t))
become a system of order k N:
E ddt y(t) = Ay(t) + g(t) + N (y(t)),
where the nonlinear term :
N (y(t)) = UT︸︷︷︸k×N
N (Uy(t))︸ ︷︷ ︸N×1
⇒ Computational Complexity still depends on N!!
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Nonlinear Approximation via EIM
WANT:
N (y(t))← C︸︷︷︸k×nm
N (y(t))︸ ︷︷ ︸nm×1
99K k , nm N
Complexity k Independent of N
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EIM Steps
Eyt = Ay + g(t) +N (y), y(0) = 0
1) Run trajectory and collect snapshots Y = [y1, y2, . . . ym]perhaps with several different inputs and parameter values.
2) Truncate SVD of snapshots to get a POD basis for Trajectory
3) Collect nonlinear snapshots sj = f (yj) = [f (y1,j), f (y2,j), . . . , f (yN,j)]T
4) Truncate SVD of nonlinear snapshots to get another POD basisfor the nonlinear term
5) Select EIM interpolation points and approximate nonlinear termvia collocation in the non-linear POD basis
6) Construct the nonlinear ROM from the reduced linear andnonlinear terms
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Nonlinear Approximation via EIM Contd.
HOW:
CN (y(t)) =
(UT
∫Ω[Ψ(x)]TQ(x)dx
)︸ ︷︷ ︸
C
(Q−1
z fz(t))︸ ︷︷ ︸
N (y(t))
where
I fz(t) = [f (Φ(z1)y(t)), f (Φ(z2)y(t)), . . . f (Φ(znm)y(t))]T
I zj Empirical Interpolation Points
and where
I Ψ(x) = [ψ1(x), ψ2(x), . . . ψN(x)] - FEM basis
I Φ(x) = [φ1(x), φ2(x), . . . φk(x)] - POD basis- From Snapshots Ψ(x)y(t`)
I Q(x) = [q1(x), q2(x), . . . qnm(x)] - Nonlinear POD basis- From Snapshots s` = f (Ψ(x)y(t`))
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EIM: Numerical Example
f (y ;µ) = (1− y)cos(3πµ(y + 1))e−(1+y)µ,
6 POD basis fns from 50 snapshots µ ∈ [1, π] uniform
−1 −0.5 0 0.5 1−1.5
−1
−0.5
0
0.5
1
1.5
2
x
s(x;
µ)
Plot of Approximate Functions (dim = 10) with Exact Functions (in black solid line)
µ= 1 µ= 1.1713 µ= 1.3855 µ= 3.1416
Figure: Approximate Function from EIM with 10 POD basis
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EIM Reduction of FitzHugh-Nagumo Fiber
click figure for movie
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EIM Reduction of FitzHugh-Nagumo Fiber
Nonlinear Reduction N = 1024→ k = 40
click figure for movie
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EIM for Hodgkin-Huxley Equations
Kellems
After FEM or FD discretization HH-equations yield ODE system2664
a(x)CmI 0 0 00 I 0 00 0 I 00 0 0 I
3775
2664
vtmthtnt
3775 =
2664
12Ri
H 0 0 0
0 0 0 00 0 0 00 0 0 0
3775
2664
vmhn
3775 +
2664
g0(t)000
3775 +
2664
N v (v, m, h, n)Nm(v, m)
N h(v, h)N n(v, n)
3775
succinctly written as Eyt = Ay + g(t) +N (y)
Implementation Issues
1) Choose input stimuli to generate snapshots over full wave
2) NL-snapshots generated for nonlinear term N v (v ,m, h, n)
3) Terms Nm(v ,m),N h(v , h),N n(v , n) evaluated only at EIM points
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EIM Reduction of Hodgkin-Huxley Fiber
Three Inputs
0 10 20 30 40 50 60−80
−60
−40
−20
0
20
40
60Forked neuron: voltages at node 10
Time (ms)
Vol
tage
(m
V)
Full (N = 1198)
Reduced (k,nm = 30)
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EIM Reduction of HH : 3 inputs
Voltage Profile at Various Times (Full vs ROM)
0 0.2 0.4−75
−70
−65
0 0.2 0.4−76
−74
−72
−70
0 0.2 0.4−76
−74
−72
−70
0 0.2 0.4−76
−74
−72
0 0.2 0.4−78
−76
−74
−72
0 0.2 0.4−78
−76
−74
−72
0 0.2 0.4−80
−70
−60
0 0.2 0.4−80
−60
−40
−20
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
50
0 0.2 0.4−100
−50
0
0 0.2 0.4−70
−60
−50
−40
0 0.2 0.4−70
−60
−50
0 0.2 0.4−70
−65
−60
−55
0 0.2 0.4−66
−65.5
−65
−64.5
0 0.2 0.4−66
−65.5
−65
−64.5
0 0.2 0.4−65.5
−65
−64.5
0 0.2 0.4−65.5
−65
−64.5
−64
0 0.2 0.4−65
−64.5
−64
0 0.2 0.4−65
−64.5
−64
−63.5
0 0.2 0.4−65
−64
−63
−62
0 0.2 0.4−66
−64
−62
−60
0 0.2 0.4−66
−64
−62
−60
0 0.2 0.4−66
−64
−62
−60
0 0.2 0.4−66
−64
−62
−60
0 0.2 0.4−65
−64
−63
−62
0 0.2 0.4−65
−64
−63
−62
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Blade Variation → Turbine Reliability/Performance
Siemens press picture
Small variations among blades ⇒ large impact on forced response
Determines high-cycle fatigue properties
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Parametric ROM for Geometric Shape Variations
T. Bui-Thanh, , K. Willcox, and O. Ghattas 2007
Efficient reduced order models for probabilisticanalysis of the effects of blade geometry
2D problem governed by the Euler equations
Three orders of magnitude reduction in number of states
Accurately reproduce CFD Monte Carlo simulation resultsat fraction of computational cost.
Results impossible without ROM
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Euler Equations → DG Discretization
Mathematical Model governed by 2D Euler Equations
DG + BC’s ⇒
E(w)dy
dt+ R(y,u;w) = 0
R nonlinear function of y,u;w
u ∈ Rm m-external forcing inputs via BC’s
w - random vector associated with geometric variability
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Parametrically Dependent Linear Model
Linearize about steady state yss(g(w)) corresponding to geometry g(w)y = yss + y
E(w)dy
dt= A(w)y + B(w)u
z = C(y)
Linearize E,A,B,C :
e.g. A(w) ≈ A0 + A1w1 + A2w2 + . . .Amwm
One time off-line cost: nominal geometry base
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Construct POD Basis → ROM
Adaptive Sampling Method
Starting with existing POD basis Φ, construct ROMThen iterate:
1) Select new parameter value wj via
wj = argmaxw‖z(w)− zr (w)‖s.t. PDE Constraints
2) Collect additional snapshots y(t;wj) for w = wj
3) Update POD basis Φ
5) Project Ai ,Bi ,Ci via e.g. Ai = ΦTAiΦ
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ROM vs Full Linear Response
Outputs:z(1) = CL Lift Coefficientz(2) = CM Moment Coefficient
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ROM Preservation of Statistics
Linearized CFD (left)
ROM predictions of work per cycle (WPC)
Monte Carlo simulation results for 10,000 blade geometries
Same geometries analyzed in each case.
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Prediction and Cost
CFD (Full) Reduced
Model Size 103,008 290
Number nonzeros 2,846,056 84,100
Offline cost — 10.92 hrs
Online cost 515.61 hrs 1.10 hrs
Blade 1 WPC mean -1.8583 -1.8515
Blade 1 WPC variance 0.0503 0.0506
Blade 2 WPC mean -1.8599 -1.8583
Blade 2 WPC variance 0.0136 0.0138
10 random parameters
Computations on 64 bit PC with 3.2GH Pentium Processor
WPC = integral of the blade motion times the lift force over one unsteady cycle
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Summary
Gramian Based Model Reduction: POD, Balanced Reduction
Optimal H2 Reduction via IRKA
Neural Modeling - Single Cell ROM ⇒ Many InteractionsExample of important class of problems(including Monte Carlo of Stochastic Systems)
Nonlinear MOR via EIMDemonstrated effective reduction and feasibility
Process Variation - Blade Geometry EffectsExample of important future application of MOR