def check_input_opa(NU, femp=None):
if femp is None:
# from dolfin_navier_scipy.problem_setups import cyl_fems
# femp = cyl_fems(2)
from dolfin_navier_scipy.problem_setups import drivcav_fems
femp = drivcav_fems(20)
V = femp["V"]
Q = femp["Q"]
cdcoo = femp["cdcoo"]
# get the system matrices
stokesmats = dts.get_stokessysmats(V, Q)
# check the B
B1, Mu = cou.get_inp_opa(cdcoo=cdcoo, V=V, NU=NU, xcomp=0)
B2, Mu = cou.get_inp_opa(cdcoo=cdcoo, V=V, NU=NU, xcomp=1)
# get the rhs expression of Bu
Bu1 = spsla.spsolve(
stokesmats["M"],
B1 * np.vstack([np.linspace(0, 1, NU).reshape((NU, 1)), np.linspace(0, 1, NU).reshape((NU, 1))]),
)
Bu2 = spsla.spsolve(
stokesmats["M"],
B2 * np.vstack([np.linspace(0, 1, NU).reshape((NU, 1)), np.linspace(0, 1, NU).reshape((NU, 1))]),
)
Bu3 = spsla.spsolve(stokesmats["M"], B1 * np.vstack([1 * np.ones((NU, 1)), 0.2 * np.ones((NU, 1))]))
bu1 = dolfin.Function(V)
bu1.vector().set_local(Bu1)
bu1.vector()[2] = 1 # for scaling and illustration purposes
bu2 = dolfin.Function(V)
bu2.vector().set_local(Bu2)
bu2.vector()[2] = 1 # for scaling and illustration purposes
bu3 = dolfin.Function(V)
bu3.vector().set_local(Bu3)
bu3.vector()[2] = 1 # for scaling and illustration purposes
plt.figure(11)
dolfin.plot(bu1, title="plot of Bu - extending in x")
plt.figure(12)
dolfin.plot(bu2, title="plot of Bu - extending in y")
plt.figure(13)
dolfin.plot(bu3, title="plot of Bu - extending in y")
# dolfin.plot(V.mesh())
dolfin.interactive()
plt.show(block=False)
def check_penaro(problemname='cylinderwake', N=2,
Re=1.0e2, t0=0.0, tE=2.0, Nts=1e3+1, plot=False):
femp = dnsps.cyl_fems(N, bccontrol=True, verbose=True)
V = femp['V']
nu = femp['charlen']/Re
bcsd = femp['contrbcssubdomains']
bcssfuns = femp['contrbcsshapefuns']
stokesmats = dts.get_stokessysmats(V, femp['Q'], nu=nu,
bccontrol=True, cbclist=bcsd,
cbshapefuns=bcssfuns)
if plot:
plt.figure(2)
plt.spy(stokesmats['amatrob'])
print 'Number of nonzeros in amatrob:', stokesmats['amatrob'].nnz
plt.show()
def check_penaro(problemname='cylinderwake', N=2,
Re=1.0e2, t0=0.0, tE=2.0, Nts=1e3+1, plot=False):
femp = dnsps.cyl_fems(N, bccontrol=True, verbose=True)
V = femp['V']
nu = femp['charlen']/Re
bcsd = femp['contrbcssubdomains']
bcssfuns = femp['contrbcsshapefuns']
stokesmats = dts.get_stokessysmats(V, femp['Q'], nu=nu,
bccontrol=True, cbclist=bcsd,
cbshapefuns=bcssfuns)
if plot:
plt.figure(2)
plt.spy(stokesmats['amatrob'])
print('Number of nonzeros in amatrob:', stokesmats['amatrob'].nnz)
plt.show()
def optcon_nse(problemname='drivencavity',
N=10,
Nts=10,
nu=1e-2,
clearprvveldata=False,
ini_vel_stokes=False,
stst_control=False,
closed_loop=True,
outernwtnstps=1,
t0=None,
tE=None,
use_ric_ini_nu=None,
alphau=1e-9,
gamma=1e-3,
spec_tip_dict=None,
nwtn_adi_dict=None,
linearized_nse=False,
stokes_flow=False,
ystar=None):
tip = time_int_params(Nts, t0=t0, tE=tE)
if spec_tip_dict is not None:
tip.update(spec_tip_dict)
if nwtn_adi_dict is not None:
tip['nwtn_adi_dict'] = nwtn_adi_dict
problemdict = dict(drivencavity=dnsps.drivcav_fems,
cylinderwake=dnsps.cyl_fems)
problemfem = problemdict[problemname]
femp = problemfem(N)
# output
ddir = 'data/'
try:
os.chdir(ddir)
except OSError:
raise Warning('need "' + ddir + '" subdir for storing the data')
os.chdir('..')
if linearized_nse and not outernwtnstps == 1:
raise Warning('Linearized problem can have only one Newton step')
if closed_loop:
if stst_control:
data_prfx = ddir + 'stst_' + problemname + '__'
else:
data_prfx = ddir + 'tdst_' + problemname + '__'
else:
data_prfx = ddir + problemname + '__'
if stokes_flow:
data_prfx = data_prfx + 'stokes__'
# specify in what spatial direction Bu changes. The remaining is constant
if problemname == 'drivencavity':
uspacedep = 0
elif problemname == 'cylinderwake':
uspacedep = 1
stokesmats = dts.get_stokessysmats(femp['V'], femp['Q'], nu)
rhsd_vf = dts.setget_rhs(femp['V'], femp['Q'], femp['fv'], femp['fp'], t=0)
# remove the freedom in the pressure
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
rhsd_vf['fp'] = rhsd_vf['fp'][:-1, :]
# reduce the matrices by resolving the BCs
(stokesmatsc, rhsd_stbc, invinds, bcinds,
bcvals) = dts.condense_sysmatsbybcs(stokesmats, femp['diribcs'])
print 'Dimension of the div matrix: ', stokesmatsc['J'].shape
# pressure freedom and dirichlet reduced rhs
rhsd_vfrc = dict(fpr=rhsd_vf['fp'], fvc=rhsd_vf['fv'][invinds, ])
# add the info on boundary and inner nodes
bcdata = {'bcinds': bcinds, 'bcvals': bcvals, 'invinds': invinds}
femp.update(bcdata)
# casting some parameters
NV = len(femp['invinds'])
soldict = stokesmatsc # containing A, J, JT
soldict.update(femp) # adding V, Q, invinds, diribcs
# soldict.update(rhsd_vfrc) # adding fvc, fpr
soldict.update(fv=rhsd_stbc['fv'] + rhsd_vfrc['fvc'],
fp=rhsd_stbc['fp'] + rhsd_vfrc['fpr'],
N=N,
nu=nu,
trange=tip['tmesh'],
get_datastring=get_datastr,
data_prfx=data_prfx,
clearprvdata=clearprvveldata,
paraviewoutput=tip['ParaviewOutput'],
vfileprfx=tip['proutdir'] + 'vel_',
pfileprfx=tip['proutdir'] + 'p_')
#
# Prepare for control
#
contp = ContParams(femp['odcoo'], ystar=ystar, alphau=alphau, gamma=gamma)
# casting some parameters
NY, NU = contp.NY, contp.NU
contsetupstr = problemname + '__NV{0}NU{1}NY{2}'.format(NV, NU, NY)
# get the control and observation operators
try:
b_mat = dou.load_spa(ddir + contsetupstr + '__b_mat')
u_masmat = dou.load_spa(ddir + contsetupstr + '__u_masmat')
print 'loaded `b_mat`'
except IOError:
print 'computing `b_mat`...'
b_mat, u_masmat = cou.get_inp_opa(cdcoo=femp['cdcoo'],
V=femp['V'],
NU=NU,
xcomp=uspacedep)
dou.save_spa(b_mat, ddir + contsetupstr + '__b_mat')
dou.save_spa(u_masmat, ddir + contsetupstr + '__u_masmat')
try:
mc_mat = dou.load_spa(ddir + contsetupstr + '__mc_mat')
y_masmat = dou.load_spa(ddir + contsetupstr + '__y_masmat')
print 'loaded `c_mat`'
except IOError:
print 'computing `c_mat`...'
mc_mat, y_masmat = cou.get_mout_opa(odcoo=femp['odcoo'],
V=femp['V'],
NY=NY)
dou.save_spa(mc_mat, ddir + contsetupstr + '__mc_mat')
dou.save_spa(y_masmat, ddir + contsetupstr + '__y_masmat')
# restrict the operators to the inner nodes
mc_mat = mc_mat[:, invinds][:, :]
b_mat = b_mat[invinds, :][:, :]
# for further use:
c_mat = lau.apply_massinv(y_masmat, mc_mat, output='sparse')
if contp.ystarx is None:
c_mat = c_mat[NY:, :][:, :] # TODO: Do this right
mc_mat = mc_mat[NY:, :][:, :] # TODO: Do this right
y_masmat = y_masmat[:NY, :][:, :NY] # TODO: Do this right
mct_mat_reg = lau.app_prj_via_sadpnt(amat=stokesmatsc['M'],
jmat=stokesmatsc['J'],
rhsv=mc_mat.T,
transposedprj=True)
# set the weighing matrices
contp.R = contp.alphau * u_masmat
#
# solve the differential-alg. Riccati eqn for the feedback gain X
# via computing factors Z, such that X = -Z*Z.T
#
# at the same time we solve for the affine-linear correction w
#
# tilde B = BR^{-1/2}
tb_mat = lau.apply_invsqrt_fromright(contp.R, b_mat, output='sparse')
# tb_dense = np.array(tb_mat.todense())
trct_mat = lau.apply_invsqrt_fromright(y_masmat,
mct_mat_reg,
output='dense')
if closed_loop:
cntpstr = 'NV{3}NY{0}NU{1}alphau{2}gamma{4}'.\
format(contp.NU, contp.NY, contp.alphau, NV, contp.gamma)
else:
cntpstr = ''
# we gonna use this quite often
M, A = stokesmatsc['M'], stokesmatsc['A']
datastrdict = dict(time=None, meshp=N, nu=nu, Nts=Nts, data_prfx=data_prfx)
# compute the uncontrolled steady state (Navier-)Stokes solution
# as initial value
if ini_vel_stokes:
# compute the uncontrolled steady state Stokes solution
ini_vel, newtonnorms = snu.solve_steadystate_nse(vel_nwtn_stps=0,
vel_pcrd_stps=0,
**soldict)
soldict.update(dict(iniv=ini_vel))
else:
ini_vel, newtonnorms = snu.solve_steadystate_nse(**soldict)
soldict.update(dict(iniv=ini_vel))
if closed_loop:
if stst_control:
if stokes_flow:
convc_mat = sps.csr_matrix((NV, NV))
rhs_con, rhsv_conbc = np.zeros((NV, 1)), np.zeros((NV, 1))
lin_point = None
else:
lin_point, newtonnorms = snu.solve_steadystate_nse(**soldict)
(convc_mat, rhs_con,
rhsv_conbc) = snu.get_v_conv_conts(prev_v=lin_point,
invinds=invinds,
V=femp['V'],
diribcs=femp['diribcs'])
# infinite control horizon, steady target state
cdatstr = get_datastr(time=None,
meshp=N,
nu=nu,
Nts=None,
data_prfx=data_prfx)
try:
Z = dou.load_npa(cdatstr + cntpstr + '__Z')
print 'loaded ' + cdatstr + cntpstr + '__Z'
except IOError:
if use_ric_ini_nu is not None:
cdatstr = get_datastr(nwtn=None,
time=None,
meshp=N,
nu=use_ric_ini_nu,
Nts=None,
data_prfx=data_prfx)
try:
zini = dou.load_npa(ddir + cdatstr + cntpstr + '__Z')
print 'Initialize Newton ADI by Z from ' + cdatstr
except IOError:
raise Warning('No data for initialization of '
' Newton ADI -- need ' + cdatstr + '__Z')
cdatstr = get_datastr(meshp=N, nu=nu, data_prfx=data_prfx)
else:
zini = None
parnadi = pru.proj_alg_ric_newtonadi
Z = parnadi(mmat=M,
amat=-A - convc_mat,
jmat=stokesmatsc['J'],
bmat=tb_mat,
wmat=trct_mat,
z0=zini,
nwtn_adi_dict=tip['nwtn_adi_dict'])['zfac']
dou.save_npa(Z, fstring=cdatstr + cntpstr + '__Z')
print 'saved ' + cdatstr + cntpstr + '__Z'
if tip['compress_z']:
Zc = pru.compress_Zsvd(Z,
thresh=tip['comprz_thresh'],
k=tip['comprz_maxc'])
Z = Zc
fvnstst = rhs_con + rhsv_conbc + rhsd_stbc['fv'] + rhsd_vfrc['fvc']
# X = -ZZ.T
mtxtb_stst = -pru.get_mTzzTtb(M.T, Z, tb_mat)
mtxfv_stst = -pru.get_mTzzTtb(M.T, Z, fvnstst)
fl = mc_mat.T * contp.ystarvec(0)
wft = lau.solve_sadpnt_smw(amat=A.T + convc_mat.T,
jmat=stokesmatsc['J'],
rhsv=fl + mtxfv_stst,
umat=mtxtb_stst,
vmat=tb_mat.T)[:NV]
auxstrg = cdatstr + cntpstr
dou.save_npa(wft, fstring=cdatstr + cntpstr + '__w')
dou.save_npa(mtxtb_stst, fstring=cdatstr + cntpstr + '__mtxtb')
feedbackthroughdict = {
None: dict(w=auxstrg + '__w', mtxtb=auxstrg + '__mtxtb')
}
cns = 0
soldict.update(data_prfx=data_prfx + '_cns{0}'.format(cns))
if linearized_nse:
soldict.update(vel_pcrd_stps=0,
vel_nwtn_stps=1,
lin_vel_point={None: lin_point})
dictofvels = snu.\
solve_nse(return_dictofvelstrs=True,
closed_loop=True,
static_feedback=True,
tb_mat=tb_mat,
stokes_flow=stokes_flow,
clearprvveldata=True,
feedbackthroughdict=feedbackthroughdict, **soldict)
else: # time dep closed loop
cns_data_prfx = 'data/cnsvars'
invd = init_nwtnstps_value_dict
curnwtnsdict = invd(tmesh=tip['tmesh'], data_prfx=cns_data_prfx)
# initialization: compute the forward solution
if stokes_flow:
dictofvels = None
else:
dictofvels = snu.solve_nse(return_dictofvelstrs=True,
stokes_flow=stokes_flow,
**soldict)
# dbs.plot_vel_norms(tip['tmesh'], dictofvels)
# function for the time depending parts
# -- to be passed to the solver
def get_tdpart(time=None,
dictofvalues=None,
feedback=False,
V=None,
invinds=None,
diribcs=None,
**kw):
if stokes_flow:
convc_mat = sps.csr_matrix((NV, NV))
rhs_con, rhsv_conbc = np.zeros((NV, 1)), np.zeros((NV, 1))
else:
curvel = dou.load_npa(dictofvalues[time])
convc_mat, rhs_con, rhsv_conbc = \
snu.get_v_conv_conts(prev_v=curvel, invinds=invinds,
V=V, diribcs=diribcs)
return convc_mat, rhsv_conbc + rhs_con
gttdprtargs = dict(dictofvalues=dictofvels,
V=femp['V'],
diribcs=femp['diribcs'],
invinds=invinds)
# old version rhs
# ftilde = rhs_con + rhsv_conbc + rhsd_stbc['fv']
for cns in range(outernwtnstps):
datastrdict.update(data_prfx=data_prfx + cntpstr +
'_cns{0}'.format(cns))
soldict.update(data_prfx=data_prfx + cntpstr +
'_cns{0}'.format(cns))
sfd = sdr.solve_flow_daeric
feedbackthroughdict = \
sfd(mmat=M, amat=A, jmat=stokesmatsc['J'],
bmat=b_mat,
# cmat=ct_mat_reg.T,
mcmat=mct_mat_reg.T,
v_is_my=True, rmat=contp.alphau*u_masmat,
vmat=y_masmat, rhsv=rhsd_stbc['fv'],
gamma=contp.gamma,
rhsp=None,
tmesh=tip['tmesh'], ystarvec=contp.ystarvec,
nwtn_adi_dict=tip['nwtn_adi_dict'],
comprz_thresh=tip['comprz_thresh'],
comprz_maxc=tip['comprz_maxc'], save_full_z=False,
get_tdpart=get_tdpart, gttdprtargs=gttdprtargs,
curnwtnsdict=curnwtnsdict,
get_datastr=get_datastr, gtdtstrargs=datastrdict)
# for t in tip['tmesh']: # feedbackthroughdict.keys():
# curw = dou.load_npa(feedbackthroughdict[t]['mtxtb'])
# print cns, t, np.linalg.norm(curw)
cdatstr = get_datastr(time='all',
meshp=N,
nu=nu,
Nts=None,
data_prfx=data_prfx)
if linearized_nse:
dictofvels = snu.\
solve_nse(return_dictofvelstrs=True,
closed_loop=True, tb_mat=tb_mat,
lin_vel_point=dictofvels,
feedbackthroughdict=feedbackthroughdict,
vel_nwtn_stps=1,
vel_pcrd_stps=0,
**soldict)
else:
dictofvels = snu.\
solve_nse(return_dictofvelstrs=True,
closed_loop=True, tb_mat=tb_mat,
stokes_flow=stokes_flow,
feedbackthroughdict=feedbackthroughdict,
vel_pcrd_stps=1,
vel_nwtn_stps=2,
**soldict)
# for t in dictofvels.keys():
# curw = dou.load_npa(dictofvels[t])
# print cns, t, np.linalg.norm(curw)
gttdprtargs.update(dictofvalues=dictofvels)
else:
# no control
feedbackthroughdict = None
tb_mat = None
cdatstr = get_datastr(meshp=N,
nu=nu,
time='all',
Nts=Nts,
data_prfx=data_prfx)
soldict.update(clearprvdata=True)
dictofvels = snu.solve_nse(feedbackthroughdict=feedbackthroughdict,
tb_mat=tb_mat,
closed_loop=closed_loop,
stokes_flow=stokes_flow,
return_dictofvelstrs=True,
static_feedback=stst_control,
**soldict)
(yscomplist, ystarlist) = dou.extract_output(dictofpaths=dictofvels,
tmesh=tip['tmesh'],
c_mat=c_mat,
ystarvec=contp.ystarvec)
save_output_json(yscomplist,
tip['tmesh'].tolist(),
ystar=ystarlist,
fstring=cdatstr + cntpstr + '__sigout')
costfunval = eval_costfunc(W=y_masmat,
V=contp.gamma * y_masmat,
R=None,
tbmat=tb_mat,
cmat=c_mat,
ystar=contp.ystarvec,
tmesh=tip['tmesh'],
veldict=dictofvels,
fbftdict=feedbackthroughdict)
print 'Value of cost functional: ', costfunval
costfunval = eval_costfunc(W=y_masmat,
V=contp.gamma * y_masmat,
R=None,
tbmat=tb_mat,
cmat=c_mat,
ystar=contp.ystarvec,
penau=False,
tmesh=tip['tmesh'],
veldict=dictofvels,
fbftdict=feedbackthroughdict)
print 'Value of cost functional not considering `u`: ', costfunval
print 'dim of v :', femp['V'].dim()
charlene = .15 if problemname == 'cylinderwake' else 1.0
print 'Re = charL / nu = {0}'.format(charlene / nu)
def get_sysmats(problem='drivencavity', N=10, scheme=None, ppin=None,
Re=None, nu=None, bccontrol=False, mergerhs=False,
onlymesh=False):
""" retrieve the system matrices for stokes flow
Parameters
----------
problem : {'drivencavity', 'cylinderwake'}
problem class
N : int
mesh parameter
nu : real, optional
kinematic viscosity, is set to `L/Re` if `Re` is provided
Re : real, optional
Reynoldsnumber, is set to `L/nu` if `nu` is provided
bccontrol : boolean, optional
whether to consider boundary control via penalized Robin \
defaults to `False`
mergerhs : boolean, optional
whether to merge the actual rhs and the contribution from the \
boundary conditions into one rhs, defaults to `False`
onlymesh : boolean, optional
whether to only return `femp`, containing the mesh and FEM spaces, \
defaults to `False`
Returns
-------
femp : dict
with the keys:
* `V`: FEM space of the velocity
* `Q`: FEM space of the pressure
* `diribcs`: list of the (Dirichlet) boundary conditions
* `bcinds`: indices of the boundary nodes
* `bcvals`: values of the boundary nodes
* `invinds`: indices of the inner nodes
* `fv`: right hand side of the momentum equation
* `fp`: right hand side of the continuity equation
* `charlen`: characteristic length of the setup
* `nu`: the kinematic viscosity
* `Re`: the Reynolds number
* `odcoo`: dictionary with the coordinates of the domain of \
observation
* `cdcoo`: dictionary with the coordinates of the domain of \
* `ppin` : {int, None}
which dof of `p` is used to pin the pressure, typically \
`-1` for internal flows, and `None` for flows with outflow
control
stokesmatsc : dict
a dictionary of the condensed matrices:
* `M`: the mass matrix of the velocity space,
* `MP`: the mass matrix of the pressure space,
* `A`: the stiffness matrix,
* `JT`: the gradient matrix, and
* `J`: the divergence matrix
* `Jfull`: the uncondensed divergence matrix
and, if `bccontrol=True`, the boundary control matrices that weakly \
impose `Arob*v = Brob*u`, where
* `Arob`: contribution to `A`
* `Brob`: input operator
`if mergerhs`
rhsd : dict
`rhsd_vfrc` and `rhsd_stbc` merged
`else`
rhsd_vfrc : dict
of the dirichlet and pressure fix reduced right hand sides
rhsd_stbc : dict
of the contributions of the boundary data to the rhs:
* `fv`: contribution to momentum equation,
* `fp`: contribution to continuity equation
Examples
--------
femp, stokesmatsc, rhsd_vfrc, rhsd_stbc \
= get_sysmats(problem='drivencavity', N=10, nu=1e-2)
"""
problemdict = dict(drivencavity=drivcav_fems,
cylinderwake=cyl_fems)
problemfem = problemdict[problem]
femp = problemfem(N, scheme=scheme, bccontrol=bccontrol)
if onlymesh:
return femp
# setting some parameters
if Re is not None:
nu = femp['charlen']/Re
else:
Re = femp['charlen']/nu
if bccontrol:
cbclist = femp['contrbcssubdomains']
cbshapefuns = femp['contrbcsshapefuns']
else:
cbclist, cbshapefuns = None, None
stokesmats = dts.get_stokessysmats(femp['V'], femp['Q'], nu,
cbclist=cbclist,
cbshapefuns=cbshapefuns,
bccontrol=bccontrol)
rhsd_vf = dts.setget_rhs(femp['V'], femp['Q'],
femp['fv'], femp['fp'], t=0)
# remove the freedom in the pressure if required
if problem == 'cylinderwake':
print('cylinderwake: pressure need not be pinned')
if ppin is not None:
raise UserWarning('pinning the p will give wrong results')
elif ppin is None:
print('pressure is not pinned - `J` may be singular for internal flow')
elif ppin == -1:
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
rhsd_vf['fp'] = rhsd_vf['fp'][:-1, :]
print('pressure pinned at last dof `-1`')
else:
raise NotImplementedError('Cannot pin `p` other than at `-1`')
# reduce the matrices by resolving the BCs
(stokesmatsc,
rhsd_stbc,
invinds,
bcinds,
bcvals) = dts.condense_sysmatsbybcs(stokesmats,
femp['diribcs'])
stokesmatsc.update({'Jfull': stokesmats['J']})
# pressure freedom and dirichlet reduced rhs
rhsd_vfrc = dict(fpr=rhsd_vf['fp'], fvc=rhsd_vf['fv'][invinds, ])
if bccontrol:
Arob, fvrob = dts.condense_velmatsbybcs(stokesmats['amatrob'],
femp['diribcs'])
if np.linalg.norm(fvrob) > 1e-15:
raise UserWarning('diri and control bc must not intersect')
Brob = stokesmats['bmatrob'][invinds, :]
stokesmatsc.update({'Brob': Brob, 'Arob': Arob})
# add the info on boundary and inner nodes
bcdata = {'bcinds': bcinds,
'bcvals': bcvals,
'invinds': invinds,
'ppin': ppin}
femp.update(bcdata)
femp.update({'nu': nu})
femp.update({'Re': Re})
if mergerhs:
rhsd = dict(fv=rhsd_vfrc['fvc']+rhsd_stbc['fv'],
fp=rhsd_vfrc['fpr']+rhsd_stbc['fp'])
return femp, stokesmatsc, rhsd
else:
return femp, stokesmatsc, rhsd_vfrc, rhsd_stbc
import numpy as np
import dolfin
import dolfin_navier_scipy.dolfin_to_sparrays as dts
import dolfin_navier_scipy.problem_setups as dnsps
N = 2
femp = dnsps.drivcav_fems(N)
mesh = dolfin.UnitSquareMesh(N, N)
stokesmats = dts.get_stokessysmats(femp['V'], femp['Q'])
# reduce the matrices by resolving the BCs
(stokesmatsc, rhsd_stbc, invinds, bcinds,
bcvals) = dts.condense_sysmatsbybcs(stokesmats, femp['diribcs'])
fv = dolfin.Constant(('0', '1'))
v = dolfin.interpolate(fv, femp['V'])
invals = np.zeros(invinds.size)
coorar, xinds, yinds, corvec = dts.get_dof_coors(femp['V'])
icoorar, ixinds, iyinds, icorvec = dts.get_dof_coors(femp['V'],
invinds=invinds)
invals[ixinds] = icoorar[:, 0]
# print coorar, xinds
# print icoorar, ixinds
# print v.vector().array()
def test_lyap_ress_compress(self):
"""comp of factrd lyap ress and compr of Z
"""
N = 15
NY = 5
verbose = True
k = None # sing vals to keep
thresh = 1e-6
nwtn_adi_dict = dict(adi_max_steps=250,
adi_newZ_reltol=1e-8,
nwtn_max_steps=24,
nwtn_upd_reltol=4e-8,
nwtn_upd_abstol=4e-8,
verbose=verbose)
femp = drivcav_fems(N)
stokesmats = dtn.get_stokessysmats(femp['V'], femp['Q'], nu=1)
# remove the freedom in the pressure
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
# reduce the matrices by resolving the BCs
(stokesmatsc, rhsd_stbc, invinds, bcinds,
bcvals) = dtn.condense_sysmatsbybcs(stokesmats, femp['diribcs'])
M = stokesmatsc['M']
J = stokesmatsc['J']
NV = M.shape[0]
F = - stokesmatsc['M'] - 0.1*stokesmatsc['A'] - \
sps.rand(NV, NV, density=0.03, format='csr')
W = np.random.randn(NV, NY)
nwtn_adi_dict = dict(adi_max_steps=50,
adi_newZ_reltol=1e-11,
nwtn_max_steps=24,
nwtn_upd_reltol=4e-7,
nwtn_upd_abstol=4e-7,
full_upd_norm_check=True,
verbose=verbose)
Z = pru.solve_proj_lyap_stein(amat=F,
mmat=M,
jmat=J,
wmat=W,
adi_dict=nwtn_adi_dict)['zfac']
MtZ = M.T * Z
MtXM = np.dot(M.T * Z, Z.T * M)
FtXM = F.T * np.dot(Z, Z.T) * M
Mlu = spsla.factorized(M.tocsc())
MinvJt = lau.app_luinv_to_spmat(Mlu, J.T)
Sinv = np.linalg.inv(J * MinvJt)
P = np.eye(NV) - np.dot(MinvJt, Sinv * J)
PtW = np.dot(P.T, W)
ProjRes = np.dot(P.T, np.dot(FtXM, P)) + \
np.dot(np.dot(P.T, FtXM.T), P) + \
np.dot(PtW, PtW.T)
resn = np.linalg.norm(ProjRes)
ownresn = np.sqrt(pru.comp_proj_lyap_res_norm(Z, F, M, W, J))
# test smart fnorm comp
self.assertTrue((np.allclose(np.linalg.norm(MtXM),
np.linalg.norm(np.dot(MtZ.T, MtZ)))))
# test smart comp of ress
self.assertTrue(np.allclose(resn, ownresn))
# reduction of Z
Zred = pru.compress_Zsvd(Z, k=k, thresh=thresh, shplot=True)
MtZr = M.T * Zred
MtXMr = np.dot(MtZr, MtZr.T)
# TEST: reduction is 'projected'
self.assertTrue((np.allclose(MtXMr, np.dot(P.T, np.dot(MtXMr, P)))))
# TEST: diff in apprx
self.assertTrue(
np.allclose(np.linalg.norm(np.dot(MtZ.T, MtZ)),
np.linalg.norm(np.dot(MtZr.T, MtZr))))
# print 'norm of red res: ', np.linalg.norm(ProjRes)
ownresr = np.sqrt(pru.comp_proj_lyap_res_norm(Zred, F, M, W, J))
self.assertTrue(np.allclose(ownresr, resn))
def get_sysmats(problem='drivencavity', N=10, scheme=None, ppin=None,
Re=None, nu=None, bccontrol=False, mergerhs=False,
onlymesh=False):
""" retrieve the system matrices for stokes flow
Parameters
----------
problem : {'drivencavity', 'cylinderwake'}
problem class
N : int
mesh parameter
nu : real, optional
kinematic viscosity, is set to `L/Re` if `Re` is provided
Re : real, optional
Reynoldsnumber, is set to `L/nu` if `nu` is provided
bccontrol : boolean, optional
whether to consider boundary control via penalized Robin \
defaults to `False`
mergerhs : boolean, optional
whether to merge the actual rhs and the contribution from the \
boundary conditions into one rhs
onlymesh : boolean, optional
whether to only return `femp`, containing the mesh and FEM spaces, \
defaults to `False`
Returns
-------
femp : dict
with the keys:
* `V`: FEM space of the velocity
* `Q`: FEM space of the pressure
* `diribcs`: list of the (Dirichlet) boundary conditions
* `bcinds`: indices of the boundary nodes
* `bcvals`: values of the boundary nodes
* `invinds`: indices of the inner nodes
* `fv`: right hand side of the momentum equation
* `fp`: right hand side of the continuity equation
* `charlen`: characteristic length of the setup
* `nu`: the kinematic viscosity
* `Re`: the Reynolds number
* `odcoo`: dictionary with the coordinates of the domain of \
observation
* `cdcoo`: dictionary with the coordinates of the domain of \
* `ppin` : {int, None}
which dof of `p` is used to pin the pressure, typically \
`-1` for internal flows, and `None` for flows with outflow
control
stokesmatsc : dict
a dictionary of the condensed matrices:
* `M`: the mass matrix of the velocity space,
* `A`: the stiffness matrix,
* `JT`: the gradient matrix, and
* `J`: the divergence matrix
* `Jfull`: the uncondensed divergence matrix
and, if `bccontrol=True`, the boundary control matrices that weakly \
impose `Arob*v = Brob*u`, where
* `Arob`: contribution to `A`
* `Brob`: input operator
`if mergerhs`
rhsd : dict
`rhsd_vfrc` and `rhsd_stbc` merged
`else`
rhsd_vfrc : dict
of the dirichlet and pressure fix reduced right hand sides
rhsd_stbc : dict
of the contributions of the boundary data to the rhs:
* `fv`: contribution to momentum equation,
* `fp`: contribution to continuity equation
Examples
--------
femp, stokesmatsc, rhsd_vfrc, rhsd_stbc \
= get_sysmats(problem='drivencavity', N=10, nu=1e-2)
"""
problemdict = dict(drivencavity=drivcav_fems,
cylinderwake=cyl_fems)
problemfem = problemdict[problem]
femp = problemfem(N, scheme=scheme, bccontrol=bccontrol)
if onlymesh:
return femp
# setting some parameters
if Re is not None:
nu = femp['charlen']/Re
else:
Re = femp['charlen']/nu
if bccontrol:
cbclist = femp['contrbcssubdomains']
cbshapefuns = femp['contrbcsshapefuns']
else:
cbclist, cbshapefuns = None, None
stokesmats = dts.get_stokessysmats(femp['V'], femp['Q'], nu,
cbclist=cbclist,
cbshapefuns=cbshapefuns,
bccontrol=bccontrol)
rhsd_vf = dts.setget_rhs(femp['V'], femp['Q'],
femp['fv'], femp['fp'], t=0)
# remove the freedom in the pressure if required
if problem == 'cylinderwake':
print 'cylinderwake: pressure need not be pinned'
if ppin is not None:
raise UserWarning('pinning the p will give wrong results')
elif ppin is None:
print 'pressure is not pinned - `J` may be singular for internal flow'
elif ppin == -1:
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
rhsd_vf['fp'] = rhsd_vf['fp'][:-1, :]
print 'pressure pinned at last dof `-1`'
else:
raise NotImplementedError('Cannot pin `p` other than at `-1`')
# reduce the matrices by resolving the BCs
(stokesmatsc,
rhsd_stbc,
invinds,
bcinds,
bcvals) = dts.condense_sysmatsbybcs(stokesmats,
femp['diribcs'])
stokesmatsc.update({'Jfull': stokesmats['J']})
# pressure freedom and dirichlet reduced rhs
rhsd_vfrc = dict(fpr=rhsd_vf['fp'], fvc=rhsd_vf['fv'][invinds, ])
if bccontrol:
Arob, fvrob = dts.condense_velmatsbybcs(stokesmats['amatrob'],
femp['diribcs'])
if np.linalg.norm(fvrob) > 1e-15:
raise UserWarning('diri and control bc must not intersect')
Brob = stokesmats['bmatrob'][invinds, :]
stokesmatsc.update({'Brob': Brob, 'Arob': Arob})
# add the info on boundary and inner nodes
bcdata = {'bcinds': bcinds,
'bcvals': bcvals,
'invinds': invinds,
'ppin': ppin}
femp.update(bcdata)
femp.update({'nu': nu})
femp.update({'Re': Re})
if mergerhs:
rhsd = dict(fv=rhsd_vfrc['fvc']+rhsd_stbc['fv'],
fp=rhsd_vfrc['fpr']+rhsd_stbc['fp'])
return femp, stokesmatsc, rhsd
else:
return femp, stokesmatsc, rhsd_vfrc, rhsd_stbc
def test_lyap_ress_compress(self):
"""comp of factrd lyap ress and compr of Z
"""
N = 15
NY = 5
verbose = True
k = None # sing vals to keep
thresh = 1e-6
nwtn_adi_dict = dict(adi_max_steps=250,
adi_newZ_reltol=1e-8,
nwtn_max_steps=24,
nwtn_upd_reltol=4e-8,
nwtn_upd_abstol=4e-8,
verbose=verbose)
femp = drivcav_fems(N)
stokesmats = dtn.get_stokessysmats(femp['V'], femp['Q'], nu=1)
# remove the freedom in the pressure
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
# reduce the matrices by resolving the BCs
(stokesmatsc,
rhsd_stbc,
invinds,
bcinds,
bcvals) = dtn.condense_sysmatsbybcs(stokesmats,
femp['diribcs'])
M = stokesmatsc['M']
J = stokesmatsc['J']
NV = M.shape[0]
F = - stokesmatsc['M'] - 0.1*stokesmatsc['A'] - \
sps.rand(NV, NV, density=0.03, format='csr')
W = np.random.randn(NV, NY)
nwtn_adi_dict = dict(adi_max_steps=50,
adi_newZ_reltol=1e-11,
nwtn_max_steps=24,
nwtn_upd_reltol=4e-7,
nwtn_upd_abstol=4e-7,
full_upd_norm_check=True,
verbose=verbose)
Z = pru.solve_proj_lyap_stein(amat=F, mmat=M,
jmat=J, wmat=W,
adi_dict=nwtn_adi_dict)['zfac']
MtZ = M.T * Z
MtXM = np.dot(M.T*Z, Z.T*M)
FtXM = F.T * np.dot(Z, Z.T) * M
Mlu = spsla.factorized(M.tocsc())
MinvJt = lau.app_luinv_to_spmat(Mlu, J.T)
Sinv = np.linalg.inv(J * MinvJt)
P = np.eye(NV) - np.dot(MinvJt, Sinv * J)
PtW = np.dot(P.T, W)
ProjRes = np.dot(P.T, np.dot(FtXM, P)) + \
np.dot(np.dot(P.T, FtXM.T), P) + \
np.dot(PtW, PtW.T)
resn = np.linalg.norm(ProjRes)
ownresn = np.sqrt(pru.comp_proj_lyap_res_norm(Z, F, M, W, J))
# test smart fnorm comp
self.assertTrue((np.allclose(np.linalg.norm(MtXM),
np.linalg.norm(np.dot(MtZ.T, MtZ)))))
# test smart comp of ress
self.assertTrue(np.allclose(resn, ownresn))
# reduction of Z
Zred = pru.compress_Zsvd(Z, k=k, thresh=thresh, shplot=True)
MtZr = M.T * Zred
MtXMr = np.dot(MtZr, MtZr.T)
# TEST: reduction is 'projected'
self.assertTrue((np.allclose(MtXMr, np.dot(P.T, np.dot(MtXMr, P)))))
# TEST: diff in apprx
self.assertTrue(np.allclose(np.linalg.norm(np.dot(MtZ.T, MtZ)),
np.linalg.norm(np.dot(MtZr.T, MtZr))))
# print 'norm of red res: ', np.linalg.norm(ProjRes)
ownresr = np.sqrt(pru.comp_proj_lyap_res_norm(Zred, F, M, W, J))
self.assertTrue(np.allclose(ownresr, resn))
def lqgbt(problemname='drivencavity',
N=10, Nts=10, nu=1e-2, plain_bt=True,
savetomatfiles=False):
tip = time_int_params(Nts, nu)
problemdict = dict(drivencavity=dnsps.drivcav_fems,
cylinderwake=dnsps.cyl_fems)
problemfem = problemdict[problemname]
femp = problemfem(N)
data_prfx = problemname + '__'
NU, NY = 3, 4
# specify in what spatial direction Bu changes. The remaining is constant
if problemname == 'drivencavity':
uspacedep = 0
elif problemname == 'cylinderwake':
uspacedep = 1
# output
ddir = 'data/'
try:
os.chdir(ddir)
except OSError:
raise Warning('need "' + ddir + '" subdir for storing the data')
os.chdir('..')
stokesmats = dts.get_stokessysmats(femp['V'], femp['Q'],
tip['nu'])
rhsd_vf = dts.setget_rhs(femp['V'], femp['Q'],
femp['fv'], femp['fp'], t=0)
# remove the freedom in the pressure
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
rhsd_vf['fp'] = rhsd_vf['fp'][:-1, :]
# reduce the matrices by resolving the BCs
(stokesmatsc,
rhsd_stbc,
invinds,
bcinds,
bcvals) = dts.condense_sysmatsbybcs(stokesmats,
femp['diribcs'])
# pressure freedom and dirichlet reduced rhs
rhsd_vfrc = dict(fpr=rhsd_vf['fp'], fvc=rhsd_vf['fv'][invinds, ])
# add the info on boundary and inner nodes
bcdata = {'bcinds': bcinds,
'bcvals': bcvals,
'invinds': invinds}
femp.update(bcdata)
# casting some parameters
NV, DT, INVINDS = len(femp['invinds']), tip['dt'], femp['invinds']
soldict = stokesmatsc # containing A, J, JT
soldict.update(femp) # adding V, Q, invinds, diribcs
soldict.update(rhsd_vfrc) # adding fvc, fpr
soldict.update(fv_stbc=rhsd_stbc['fv'], fp_stbc=rhsd_stbc['fp'],
N=N, nu=tip['nu'],
nnewtsteps=tip['nnewtsteps'],
vel_nwtn_tol=tip['vel_nwtn_tol'],
ddir=ddir, get_datastring=None,
data_prfx=data_prfx,
paraviewoutput=tip['ParaviewOutput'],
vfileprfx=tip['proutdir']+'vel_',
pfileprfx=tip['proutdir']+'p_')
#
# compute the uncontrolled steady state Stokes solution
#
v_ss_nse, list_norm_nwtnupd = snu.solve_steadystate_nse(**soldict)
#
# Prepare for control
#
contsetupstr = problemname + '__NV{0}NU{1}NY{2}'.format(NV, NU, NY)
# get the control and observation operators
try:
b_mat = dou.load_spa(ddir + contsetupstr + '__b_mat')
u_masmat = dou.load_spa(ddir + contsetupstr + '__u_masmat')
print 'loaded `b_mat`'
except IOError:
print 'computing `b_mat`...'
b_mat, u_masmat = cou.get_inp_opa(cdcoo=femp['cdcoo'], V=femp['V'],
NU=NU, xcomp=uspacedep)
dou.save_spa(b_mat, ddir + contsetupstr + '__b_mat')
dou.save_spa(u_masmat, ddir + contsetupstr + '__u_masmat')
try:
mc_mat = dou.load_spa(ddir + contsetupstr + '__mc_mat')
y_masmat = dou.load_spa(ddir + contsetupstr + '__y_masmat')
print 'loaded `c_mat`'
except IOError:
print 'computing `c_mat`...'
mc_mat, y_masmat = cou.get_mout_opa(odcoo=femp['odcoo'],
V=femp['V'], NY=NY)
dou.save_spa(mc_mat, ddir + contsetupstr + '__mc_mat')
dou.save_spa(y_masmat, ddir + contsetupstr + '__y_masmat')
# restrict the operators to the inner nodes
mc_mat = mc_mat[:, invinds][:, :]
b_mat = b_mat[invinds, :][:, :]
c_mat = lau.apply_massinv(y_masmat, mc_mat, output='sparse')
# TODO: right choice of norms for y
# and necessity of regularization here
# by now, we go on number save
#
# setup the system for the correction
#
(convc_mat, rhs_con,
rhsv_conbc) = snu.get_v_conv_conts(prev_v=v_ss_nse, invinds=invinds,
V=femp['V'], diribcs=femp['diribcs'])
f_mat = - stokesmatsc['A'] - convc_mat
cdatstr = snu.get_datastr_snu(time=None, meshp=N, nu=tip['nu'],
Nts=None, dt=None)
if savetomatfiles:
import datetime
import scipy.io
(coors, xinds,
yinds, corfunvec) = dts.get_dof_coors(femp['V'], invinds=invinds)
infostr = 'These are the coefficient matrices of the linearized ' +\
'Navier-Stokes Equations \n for the ' +\
problemname + ' to be used as \n\n' +\
' $M \\dot v = Av + J^Tp + Bu$ and $Jv = 0$ \n\n' +\
' the Reynoldsnumber is computed as L/nu \n' +\
' Note that this is the reduced system for the velocity update\n' +\
' caused by the control, i.e., no boundary conditions\n' +\
' or inhomogeneities here. To get the actual flow, superpose \n' +\
' the steadystate velocity solution `v_ss_nse` \n\n' +\
' the control setup is as follows \n' +\
' B maps into the domain of control - the first half of the colums' +\
'actuate in x-direction, the second in y direction \n' +\
' C measures averaged velocities in the domain of observation' +\
' the first components are in x, the last in y-direction \n\n' +\
' Visualization: \n\n' +\
' `coors` -- array of (x,y) coordinates in ' +\
' the same order as v[xinds] or v[yinds] \n' +\
' `xinds`, `yinds` -- indices of x and y components' +\
' of v = [vx, vy] -- note that indexing starts with 0\n' +\
' for testing use corfunvec wich is the interpolant of\n' +\
' f(x,y) = [x, y] on the grid \n\n' +\
'Created in `exp_cylinder_mats.py` ' +\
'(see https://github.com/highlando/lqgbt-oseen) at\n' +\
datetime.datetime.now().strftime("%I:%M%p on %B %d, %Y")
mddir = '/afs/mpi-magdeburg.mpg.de/data/csc/projects/qbdae-nse/data/'
if problemname == 'cylinderwake':
charlen = 0.15 # diameter of the cylinder
Re = charlen/nu
elif problemname == 'drivencavity':
Re = nu
else:
Re = nu
scipy.io.savemat(mddir + problemname +
'__mats_N{0}_Re{1}'.format(NV, Re),
dict(A=f_mat, M=stokesmatsc['M'], nu=nu, Re=Re,
J=stokesmatsc['J'], B=b_mat, C=c_mat,
v_ss_nse=v_ss_nse, info=infostr,
contsetupstr=contsetupstr, datastr=cdatstr,
coors=coors, xinds=xinds, yinds=yinds,
corfunvec=corfunvec))
return
def optcon_nse(problemname='drivencavity',
N=10, Nts=10, nu=1e-2, clearprvveldata=False,
ini_vel_stokes=False, stst_control=False,
closed_loop=True,
outernwtnstps=1,
t0=None, tE=None,
use_ric_ini_nu=None,
alphau=1e-9, gamma=1e-3,
spec_tip_dict=None,
nwtn_adi_dict=None,
linearized_nse=False,
stokes_flow=False,
ystar=None):
tip = time_int_params(Nts, t0=t0, tE=tE)
if spec_tip_dict is not None:
tip.update(spec_tip_dict)
if nwtn_adi_dict is not None:
tip['nwtn_adi_dict'] = nwtn_adi_dict
problemdict = dict(drivencavity=dnsps.drivcav_fems,
cylinderwake=dnsps.cyl_fems)
problemfem = problemdict[problemname]
femp = problemfem(N)
# output
ddir = 'data/'
try:
os.chdir(ddir)
except OSError:
raise Warning('need "' + ddir + '" subdir for storing the data')
os.chdir('..')
if linearized_nse and not outernwtnstps == 1:
raise Warning('Linearized problem can have only one Newton step')
if closed_loop:
if stst_control:
data_prfx = ddir + 'stst_' + problemname + '__'
else:
data_prfx = ddir + 'tdst_' + problemname + '__'
else:
data_prfx = ddir + problemname + '__'
if stokes_flow:
data_prfx = data_prfx + 'stokes__'
# specify in what spatial direction Bu changes. The remaining is constant
if problemname == 'drivencavity':
uspacedep = 0
elif problemname == 'cylinderwake':
uspacedep = 1
stokesmats = dts.get_stokessysmats(femp['V'], femp['Q'], nu)
rhsd_vf = dts.setget_rhs(femp['V'], femp['Q'],
femp['fv'], femp['fp'], t=0)
# remove the freedom in the pressure
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
rhsd_vf['fp'] = rhsd_vf['fp'][:-1, :]
# reduce the matrices by resolving the BCs
(stokesmatsc, rhsd_stbc,
invinds, bcinds, bcvals) = dts.condense_sysmatsbybcs(stokesmats,
femp['diribcs'])
print 'Dimension of the div matrix: ', stokesmatsc['J'].shape
# pressure freedom and dirichlet reduced rhs
rhsd_vfrc = dict(fpr=rhsd_vf['fp'], fvc=rhsd_vf['fv'][invinds, ])
# add the info on boundary and inner nodes
bcdata = {'bcinds': bcinds, 'bcvals': bcvals, 'invinds': invinds}
femp.update(bcdata)
# casting some parameters
NV = len(femp['invinds'])
soldict = stokesmatsc # containing A, J, JT
soldict.update(femp) # adding V, Q, invinds, diribcs
# soldict.update(rhsd_vfrc) # adding fvc, fpr
soldict.update(fv=rhsd_stbc['fv']+rhsd_vfrc['fvc'],
fp=rhsd_stbc['fp']+rhsd_vfrc['fpr'],
N=N, nu=nu,
trange=tip['tmesh'],
get_datastring=get_datastr,
data_prfx=data_prfx,
clearprvdata=clearprvveldata,
paraviewoutput=tip['ParaviewOutput'],
vfileprfx=tip['proutdir']+'vel_',
pfileprfx=tip['proutdir']+'p_')
#
# Prepare for control
#
contp = ContParams(femp['odcoo'], ystar=ystar, alphau=alphau, gamma=gamma)
# casting some parameters
NY, NU = contp.NY, contp.NU
contsetupstr = problemname + '__NV{0}NU{1}NY{2}'.format(NV, NU, NY)
# get the control and observation operators
try:
b_mat = dou.load_spa(ddir + contsetupstr + '__b_mat')
u_masmat = dou.load_spa(ddir + contsetupstr + '__u_masmat')
print 'loaded `b_mat`'
except IOError:
print 'computing `b_mat`...'
b_mat, u_masmat = cou.get_inp_opa(cdcoo=femp['cdcoo'], V=femp['V'],
NU=NU, xcomp=uspacedep)
dou.save_spa(b_mat, ddir + contsetupstr + '__b_mat')
dou.save_spa(u_masmat, ddir + contsetupstr + '__u_masmat')
try:
mc_mat = dou.load_spa(ddir + contsetupstr + '__mc_mat')
y_masmat = dou.load_spa(ddir + contsetupstr + '__y_masmat')
print 'loaded `c_mat`'
except IOError:
print 'computing `c_mat`...'
mc_mat, y_masmat = cou.get_mout_opa(odcoo=femp['odcoo'],
V=femp['V'], NY=NY)
dou.save_spa(mc_mat, ddir + contsetupstr + '__mc_mat')
dou.save_spa(y_masmat, ddir + contsetupstr + '__y_masmat')
# restrict the operators to the inner nodes
mc_mat = mc_mat[:, invinds][:, :]
b_mat = b_mat[invinds, :][:, :]
# for further use:
c_mat = lau.apply_massinv(y_masmat, mc_mat, output='sparse')
if contp.ystarx is None:
c_mat = c_mat[NY:, :][:, :] # TODO: Do this right
mc_mat = mc_mat[NY:, :][:, :] # TODO: Do this right
y_masmat = y_masmat[:NY, :][:, :NY] # TODO: Do this right
mct_mat_reg = lau.app_prj_via_sadpnt(amat=stokesmatsc['M'],
jmat=stokesmatsc['J'],
rhsv=mc_mat.T,
transposedprj=True)
# set the weighing matrices
contp.R = contp.alphau * u_masmat
#
# solve the differential-alg. Riccati eqn for the feedback gain X
# via computing factors Z, such that X = -Z*Z.T
#
# at the same time we solve for the affine-linear correction w
#
# tilde B = BR^{-1/2}
tb_mat = lau.apply_invsqrt_fromright(contp.R, b_mat, output='sparse')
# tb_dense = np.array(tb_mat.todense())
trct_mat = lau.apply_invsqrt_fromright(y_masmat,
mct_mat_reg, output='dense')
if closed_loop:
cntpstr = 'NV{3}NY{0}NU{1}alphau{2}gamma{4}'.\
format(contp.NU, contp.NY, contp.alphau, NV, contp.gamma)
else:
cntpstr = ''
# we gonna use this quite often
M, A = stokesmatsc['M'], stokesmatsc['A']
datastrdict = dict(time=None, meshp=N, nu=nu, Nts=Nts,
data_prfx=data_prfx)
# compute the uncontrolled steady state (Navier-)Stokes solution
# as initial value
if ini_vel_stokes:
# compute the uncontrolled steady state Stokes solution
ini_vel, newtonnorms = snu.solve_steadystate_nse(vel_nwtn_stps=0,
vel_pcrd_stps=0,
**soldict)
soldict.update(dict(iniv=ini_vel))
else:
ini_vel, newtonnorms = snu.solve_steadystate_nse(**soldict)
soldict.update(dict(iniv=ini_vel))
if closed_loop:
if stst_control:
if stokes_flow:
convc_mat = sps.csr_matrix((NV, NV))
rhs_con, rhsv_conbc = np.zeros((NV, 1)), np.zeros((NV, 1))
lin_point = None
else:
lin_point, newtonnorms = snu.solve_steadystate_nse(**soldict)
(convc_mat, rhs_con,
rhsv_conbc) = snu.get_v_conv_conts(prev_v=lin_point,
invinds=invinds,
V=femp['V'],
diribcs=femp['diribcs'])
# infinite control horizon, steady target state
cdatstr = get_datastr(time=None, meshp=N, nu=nu,
Nts=None, data_prfx=data_prfx)
try:
Z = dou.load_npa(cdatstr + cntpstr + '__Z')
print 'loaded ' + cdatstr + cntpstr + '__Z'
except IOError:
if use_ric_ini_nu is not None:
cdatstr = get_datastr(nwtn=None, time=None, meshp=N,
nu=use_ric_ini_nu, Nts=None,
data_prfx=data_prfx)
try:
zini = dou.load_npa(ddir + cdatstr
+ cntpstr + '__Z')
print 'Initialize Newton ADI by Z from ' + cdatstr
except IOError:
raise Warning('No data for initialization of '
' Newton ADI -- need ' + cdatstr
+ '__Z')
cdatstr = get_datastr(meshp=N, nu=nu,
data_prfx=data_prfx)
else:
zini = None
parnadi = pru.proj_alg_ric_newtonadi
Z = parnadi(mmat=M, amat=-A-convc_mat,
jmat=stokesmatsc['J'],
bmat=tb_mat, wmat=trct_mat, z0=zini,
nwtn_adi_dict=tip['nwtn_adi_dict'])['zfac']
dou.save_npa(Z, fstring=cdatstr + cntpstr + '__Z')
print 'saved ' + cdatstr + cntpstr + '__Z'
if tip['compress_z']:
Zc = pru.compress_Zsvd(Z, thresh=tip['comprz_thresh'],
k=tip['comprz_maxc'])
Z = Zc
fvnstst = rhs_con + rhsv_conbc + rhsd_stbc['fv'] + rhsd_vfrc['fvc']
# X = -ZZ.T
mtxtb_stst = -pru.get_mTzzTtb(M.T, Z, tb_mat)
mtxfv_stst = -pru.get_mTzzTtb(M.T, Z, fvnstst)
fl = mc_mat.T * contp.ystarvec(0)
wft = lau.solve_sadpnt_smw(amat=A.T+convc_mat.T,
jmat=stokesmatsc['J'],
rhsv=fl+mtxfv_stst,
umat=mtxtb_stst,
vmat=tb_mat.T)[:NV]
auxstrg = cdatstr + cntpstr
dou.save_npa(wft, fstring=cdatstr + cntpstr + '__w')
dou.save_npa(mtxtb_stst, fstring=cdatstr + cntpstr + '__mtxtb')
feedbackthroughdict = {None:
dict(w=auxstrg + '__w',
mtxtb=auxstrg + '__mtxtb')}
cns = 0
soldict.update(data_prfx=data_prfx+'_cns{0}'.format(cns))
if linearized_nse:
soldict.update(vel_pcrd_stps=0,
vel_nwtn_stps=1,
lin_vel_point={None: lin_point})
dictofvels = snu.\
solve_nse(return_dictofvelstrs=True,
closed_loop=True,
static_feedback=True,
tb_mat=tb_mat,
stokes_flow=stokes_flow,
clearprvveldata=True,
feedbackthroughdict=feedbackthroughdict, **soldict)
else: # time dep closed loop
cns_data_prfx = 'data/cnsvars'
invd = init_nwtnstps_value_dict
curnwtnsdict = invd(tmesh=tip['tmesh'],
data_prfx=cns_data_prfx)
# initialization: compute the forward solution
if stokes_flow:
dictofvels = None
else:
dictofvels = snu.solve_nse(return_dictofvelstrs=True,
stokes_flow=stokes_flow,
**soldict)
# dbs.plot_vel_norms(tip['tmesh'], dictofvels)
# function for the time depending parts
# -- to be passed to the solver
def get_tdpart(time=None, dictofvalues=None, feedback=False,
V=None, invinds=None, diribcs=None, **kw):
if stokes_flow:
convc_mat = sps.csr_matrix((NV, NV))
rhs_con, rhsv_conbc = np.zeros((NV, 1)), np.zeros((NV, 1))
else:
curvel = dou.load_npa(dictofvalues[time])
convc_mat, rhs_con, rhsv_conbc = \
snu.get_v_conv_conts(prev_v=curvel, invinds=invinds,
V=V, diribcs=diribcs)
return convc_mat, rhsv_conbc+rhs_con
gttdprtargs = dict(dictofvalues=dictofvels,
V=femp['V'],
diribcs=femp['diribcs'],
invinds=invinds)
# old version rhs
# ftilde = rhs_con + rhsv_conbc + rhsd_stbc['fv']
for cns in range(outernwtnstps):
datastrdict.update(data_prfx=data_prfx+cntpstr+'_cns{0}'.
format(cns))
soldict.update(data_prfx=data_prfx+cntpstr+'_cns{0}'.
format(cns))
sfd = sdr.solve_flow_daeric
feedbackthroughdict = \
sfd(mmat=M, amat=A, jmat=stokesmatsc['J'],
bmat=b_mat,
# cmat=ct_mat_reg.T,
mcmat=mct_mat_reg.T,
v_is_my=True, rmat=contp.alphau*u_masmat,
vmat=y_masmat, rhsv=rhsd_stbc['fv'],
gamma=contp.gamma,
rhsp=None,
tmesh=tip['tmesh'], ystarvec=contp.ystarvec,
nwtn_adi_dict=tip['nwtn_adi_dict'],
comprz_thresh=tip['comprz_thresh'],
comprz_maxc=tip['comprz_maxc'], save_full_z=False,
get_tdpart=get_tdpart, gttdprtargs=gttdprtargs,
curnwtnsdict=curnwtnsdict,
get_datastr=get_datastr, gtdtstrargs=datastrdict)
# for t in tip['tmesh']: # feedbackthroughdict.keys():
# curw = dou.load_npa(feedbackthroughdict[t]['mtxtb'])
# print cns, t, np.linalg.norm(curw)
cdatstr = get_datastr(time='all', meshp=N, nu=nu,
Nts=None, data_prfx=data_prfx)
if linearized_nse:
dictofvels = snu.\
solve_nse(return_dictofvelstrs=True,
closed_loop=True, tb_mat=tb_mat,
lin_vel_point=dictofvels,
feedbackthroughdict=feedbackthroughdict,
vel_nwtn_stps=1,
vel_pcrd_stps=0,
**soldict)
else:
dictofvels = snu.\
solve_nse(return_dictofvelstrs=True,
closed_loop=True, tb_mat=tb_mat,
stokes_flow=stokes_flow,
feedbackthroughdict=feedbackthroughdict,
vel_pcrd_stps=1,
vel_nwtn_stps=2,
**soldict)
# for t in dictofvels.keys():
# curw = dou.load_npa(dictofvels[t])
# print cns, t, np.linalg.norm(curw)
gttdprtargs.update(dictofvalues=dictofvels)
else:
# no control
feedbackthroughdict = None
tb_mat = None
cdatstr = get_datastr(meshp=N, nu=nu, time='all',
Nts=Nts, data_prfx=data_prfx)
soldict.update(clearprvdata=True)
dictofvels = snu.solve_nse(feedbackthroughdict=feedbackthroughdict,
tb_mat=tb_mat, closed_loop=closed_loop,
stokes_flow=stokes_flow,
return_dictofvelstrs=True,
static_feedback=stst_control,
**soldict)
(yscomplist,
ystarlist) = dou.extract_output(dictofpaths=dictofvels,
tmesh=tip['tmesh'],
c_mat=c_mat, ystarvec=contp.ystarvec)
save_output_json(yscomplist, tip['tmesh'].tolist(), ystar=ystarlist,
fstring=cdatstr + cntpstr + '__sigout')
costfunval = eval_costfunc(W=y_masmat, V=contp.gamma*y_masmat,
R=None, tbmat=tb_mat, cmat=c_mat,
ystar=contp.ystarvec,
tmesh=tip['tmesh'], veldict=dictofvels,
fbftdict=feedbackthroughdict)
print 'Value of cost functional: ', costfunval
costfunval = eval_costfunc(W=y_masmat, V=contp.gamma*y_masmat,
R=None, tbmat=tb_mat, cmat=c_mat,
ystar=contp.ystarvec, penau=False,
tmesh=tip['tmesh'], veldict=dictofvels,
fbftdict=feedbackthroughdict)
print 'Value of cost functional not considering `u`: ', costfunval
print 'dim of v :', femp['V'].dim()
charlene = .15 if problemname == 'cylinderwake' else 1.0
print 'Re = charL / nu = {0}'.format(charlene/nu)
def solve_euler_timedep(method=1, Omega=8, tE=None, Prec=None,
N=40, NtsList=None, LinaTol=None, MaxIter=None,
UsePreTStps=None, SaveTStps=None, SaveIniVal=None,
scheme='TH', nu=0, Re=None, inikryupd=None,
tolcor=False, prob=None):
"""system to solve
du\dt + (u*D)u + grad p = fv
div u = fp
"""
methdict = {
1: 'HalfExpEulSmaMin',
2: 'HalfExpEulInd2'}
# instantiate object containing mesh, V, Q, rhs, velbcs, invinds
# set nu=0 for Euler flow
if prob == 'cyl':
femp, stokesmatsc, rhsd_vfrc, rhsd_stbc \
= dnsps.get_sysmats(problem='cylinderwake', N=N, Re=Re,
scheme=scheme)
Mc, Ac = stokesmatsc['M'], stokesmatsc['A']
MPa = stokesmatsc['MP']
BTc, Bc = stokesmatsc['JT'], stokesmatsc['J']
Ba = stokesmatsc['Jfull']
# bcinds, bcvals = femp['bcinds'], femp['bcvals']
fvbc, fpbc = rhsd_stbc['fv'], rhsd_stbc['fp']
inivdict = dict(A=Ac, J=Bc, JT=BTc, M=Mc,
ppin=None, V=femp['V'], Q=femp['Q'],
fv=fvbc, fp=fpbc, vel_pcrd_stps=0, vel_nwtn_stps=0,
return_vp=True, diribcs=femp['diribcs'],
invinds=femp['invinds'])
dimredsys = Bc.shape[1] + Bc.shape[0]
vp_init = snu.solve_steadystate_nse(**inivdict)[0]
PrP = FempToProbParams(N, omega=Omega, femp=femp, pdof=None)
PrP.Pdof = None # No p pinning for outflow flow
print 'Nv, Np -- w/o boundary nodes', BTc.shape
else:
if Re is not None:
nu = 1./Re
PrP = ProbParams(N, omega=Omega, nu=nu, scheme=scheme)
# get system matrices as np.arrays
smts = dts.get_stokessysmats(PrP.V, PrP.Q, nu=nu)
rhsvecs = dts.setget_rhs(PrP.V, PrP.Q, PrP.fv, PrP.fp)
# Ma, Aa, BTa, Ba = smts['A'], smts['JT'], smts['J']
# MPa = smts['MP']
# Ma, Aa, BTa, Ba, MPa = dtn.get_sysNSmats(PrP.V, PrP.Q, nu=nu)
# fv, fp = rhsvecs['fv'], rhsvecs['fp']
# fv, fp = dtn.setget_rhs(PrP.V, PrP.Q, PrP.fv, PrP.fp)
print 'Nv, Np -- w/ boundary nodes', smts['BTa'].shape
# condense the system by resolving the boundary values
# (Mc, Ac, BTc, Bc, fvbc, fpbc, bcinds, bcvals,
# invinds) = dtn.condense_sysmatsbybcs(Ma, Aa, BTa, Ba,
smts.update(rhsvecs)
smtsc = dts.condense_sysmatsbybcs(smts, PrP.velbcs)
Mc, Ac, BTc, Bc = smtsc['Mc'], smtsc['Ac'], smtsc['BTc'], smtsc['Bc']
fvbc, fpbc = smtsc['fvbc'], smtsc['fpbc']
# invinds
print 'Nv, Np -- w/o boundary nodes', BTc.shape
PrP.Pdof = 0 # Thats how the smamin is constructed
dimredsys = Bc.shape[0] + Bc.shape[1]
# TODO: this should sol(0)
vp_init = np.zeros((dimredsys, 1))
# instantiate the Time Int Parameters
TsP = TimestepParams(methdict[method], N, scheme=scheme)
if NtsList is not None:
TsP.Ntslist = NtsList
if LinaTol is not None:
TsP.linatol = LinaTol
if MaxIter is not None:
TsP.MaxIter = MaxIter
if tE is not None:
TsP.tE = tE
if Omega is not None:
TsP.Omega = Omega
if SaveTStps is not None:
TsP.SaveTStps = SaveTStps
if UsePreTStps is not None:
TsP.UsePreTStps = UsePreTStps
if SaveIniVal is not None:
TsP.SaveIniVal = SaveIniVal
if inikryupd is not None:
TsP.inikryupd = inikryupd
TsP.TolCorB = tolcor
print 'Mesh parameter N = %d' % N
print 'Time interval [%d,%1.2f]' % (TsP.t0, TsP.tE)
print 'Omega = %d' % TsP.Omega
print 'You have chosen %s for time integration' % methdict[method]
print 'The tolerance for the linear solver is %e' % TsP.linatol
print 'tolcor -- controlling the abs residuals -- is ', tolcor
if method == 1:
# Rearrange the matrices and rhs
# from smamin_utils import col_columns_atend
from scipy.io import loadmat
if prob == 'cyl' and scheme == 'CR':
if N == 0:
cricell = 758
elif N == 1:
cricell = 1498
elif N == 2:
cricell = 2386
elif N == 3:
cricell = 4843
else:
raise NotImplementedError()
# TODO: this is hard coded...
# dptatnb = dolfin.Point(2.2, 0.2)
# cricell = smt.get_cellid_nexttopoint(PrP.mesh, dptatnb)
elif prob == 'cyl':
raise NotImplementedError()
else:
cricell = None
MSmeCL, ASmeCL, BSme, B2Inds, B2BoolInv, B2BI = smt.\
get_smamin_rearrangement(N, PrP, M=Mc, A=Ac, B=Bc,
crinicell=cricell, addnedgeat=cricell,
scheme=scheme, fullB=Ba)
FvbcSme = np.vstack([fvbc[~B2BoolInv, ], fvbc[B2BoolInv, ]])
FpbcSme = fpbc
# inivalue
dname = 'IniValSmaMinN%s' % N
try:
IniV = loadmat(dname)
qqpq_init = IniV['qqpq_old']
vp_init = None
except IOError:
qqpq_init = None
# Output
try:
os.chdir('json')
except OSError:
raise Warning('need "json" subdirectory for storing the data')
os.chdir('..')
if TsP.ParaviewOutput:
os.chdir('results/')
for fname in glob.glob(TsP.method + scheme + '*'):
os.remove(fname)
os.chdir('..')
# ## Time stepping ## #
for i, CurNTs in enumerate(TsP.Ntslist):
TsP.Nts = CurNTs
if method == 2:
tis.halfexp_euler_nseind2(Mc, MPa, Ac, BTc, Bc, fvbc, fpbc,
PrP, TsP, vp_init=vp_init)
elif method == 1:
tis.halfexp_euler_smarminex(MSmeCL, ASmeCL, BSme,
MPa, FvbcSme, FpbcSme,
B2BoolInv, PrP, TsP,
qqpq_init=qqpq_init, vp_init=vp_init)
# Output only in first iteration!
TsP.ParaviewOutput = False
save_simu(TsP, PrP)
return
def check_output_opa(NY, femp=None):
if femp is None:
# from dolfin_navier_scipy.problem_setups import cyl_fems
# femp = cyl_fems(2)
from dolfin_navier_scipy.problem_setups import drivcav_fems
femp = drivcav_fems(20)
V = femp['V']
Q = femp['Q']
odcoo = femp['odcoo']
testcase = 2 # 1,2
# testvelocities
if testcase == 1:
"""case 1 -- not div free"""
exv = dolfin.Expression(('x[1]', 'x[1]'), element=V.ufl_element())
if testcase == 2:
"""case 2 -- disc div free"""
exv = dolfin.Expression(('1', '1'), element=V.ufl_element())
testv = dolfin.interpolate(exv, V)
odcoo = femp['odcoo']
stokesmats = dts.get_stokessysmats(V, Q, nu=1)
# remove the freedom in the pressure
stokesmats['J'] = stokesmats['J'][:-1, :][:, :]
stokesmats['JT'] = stokesmats['JT'][:, :-1][:, :]
bc = dolfin.DirichletBC(V, exv, 'on_boundary')
# reduce the matrices by resolving the BCs
(stokesmatsc,
rhsd_stbc,
invinds,
bcinds,
bcvals) = dts.condense_sysmatsbybcs(stokesmats, [bc])
# check the C
MyC, My = cou.get_mout_opa(odcoo=odcoo, V=V, NY=NY)
# MyC = MyC[:, invinds][:, :]
# signal space
ymesh = dolfin.IntervalMesh(NY - 1, odcoo['ymin'], odcoo['ymax'])
Y = dolfin.FunctionSpace(ymesh, 'CG', 1)
y1 = dolfin.Function(Y)
y2 = dolfin.Function(Y)
# y3 = dolfin.Function(Y)
# dolfin.plot(V.mesh())
ptmct = lau.app_prj_via_sadpnt(amat=stokesmats['M'],
jmat=stokesmats['J'],
rhsv=MyC.T,
transposedprj=True)
testvi = testv.vector().array()
testvi0 = np.atleast_2d(testv.vector().array()).T
testvi0 = lau.app_prj_via_sadpnt(amat=stokesmats['M'],
jmat=stokesmats['J'],
rhsv=testvi0)
print "||J*v|| = {0}".format(np.linalg.norm(stokesmats['J'] * testvi))
print "||J* v_df|| = {0}".format(np.linalg.norm(stokesmats['J'] * testvi0))
# # testsignals from the test velocities
testy = spsla.spsolve(My, MyC * testvi)
testyv0 = spsla.spsolve(My, MyC * testvi0)
# testyg = spsla.spsolve(My, MyC * (testvi.flatten() - testvi0))
testry = spsla.spsolve(My, np.dot(ptmct.T, testvi))
print "||C v_df - C_df v|| = {0}".format(np.linalg.norm(testyv0 - testry))
plt.figure(1)
y1.vector().set_local(testy[:NY])
dolfin.plot(y1, title="x-comp of C*v")
plt.figure(2)
y2.vector().set_local(testy[NY:])
dolfin.plot(y2, title="y-comp of C*v")
# y2.vector().set_local(testyv0[:NY])
# dolfin.plot(y2, title="x-comp of $C*(P_{df}v)$")
# y3.vector().set_local(testyg[:NY])
# dolfin.plot(y3, title="x-comp of $C*(v - P_{df}v)$")
plt.show(block=False)
import numpy as np
import dolfin
import dolfin_navier_scipy.dolfin_to_sparrays as dts
import dolfin_navier_scipy.problem_setups as dnsps
N = 2
femp = dnsps.drivcav_fems(N)
mesh = dolfin.UnitSquareMesh(N, N)
stokesmats = dts.get_stokessysmats(femp['V'], femp['Q'])
# reduce the matrices by resolving the BCs
(stokesmatsc,
rhsd_stbc,
invinds,
bcinds,
bcvals) = dts.condense_sysmatsbybcs(stokesmats,
femp['diribcs'])
fv = dolfin.Constant(('0', '1'))
v = dolfin.interpolate(fv, femp['V'])
invals = np.zeros(invinds.size)
coorar, xinds, yinds, corvec = dts.get_dof_coors(femp['V'])
icoorar, ixinds, iyinds, icorvec = dts.get_dof_coors(femp['V'],
invinds=invinds)
invals[ixinds] = icoorar[:, 0]
# print coorar, xinds