Equation section : declarative
Algorithm section : imperative
Can anyone help me with examples that show the difference between these two sections in Modelica Language? When to use what section?
The main difference between an algorithm section and an equation section is that each equation in an equation section is used in simulating a model. With an algorithm section, you have assignment statements that are imperative. This means that you can overwrite the impact of a previous assignment. As a concrete example, in the following equation section:
equation
a = b;
a = c;
There are two equations. Each will be used. If, on the other hand, I had the following algorithm section
algorithm
a := b;
a := c;
The second assignment always overrides the first one.
But let me add a little bit of a "big picture" to help you understand the real semantic difference. You can think of an algorithm as a black box. A bunch of information comes in and certain variables get assigned to. What happens in between isn't important. Consider the following algorithm:
algorithm
sum := 0;
prod := 1;
for i in 1:10 loop
sum := sum + i;
prod := prod * i;
end for;
Both sum and prod are assigned to multiple times. But in the end, all this is effectively the same as:
algorithm
sum := 1+2+3+4+5+6+7+8+9+10;
prod := 1*2*3*4*5*6*7*8*9*10;
...or even...
equation
sum = 1+2+3+4+5+6+7+8+9+10;
prod = 1*2*3*4*5*6*7*8*9*10;
But the same doesn't apply to equation sections. If I did this in an equation section:
equation
sum = 0;
for i in 1:10 loop
sum = sum + i;
end for;
I'd have a serious problem because this would expand into 11 equations:
equation
sum = 0;
sum = sum + 1;
sum = sum + 2;
...
sum = sum + 10;
So I've got one variable and 11 equations! That's not what we want.
So, to summarize, with an algorithm you can ignore what happens in the algorithm and only pay attention to what gets assigned a value. It does not matter how many times it is assigned a value it still counts as one "equation" for that variable. With an equation section, every equation persists.
P.S. - When Modelica tools do things like equation sorting, I'm pretty sure the semantics dictate that an algorithm is treated as a single block. My guess is this doesn't mean anything to you yet. But as you learn more about Modelica, you'll recognize that this can be bad for performance. So the general rule in Modelica is always using an equation over an algorithm if you can. Your simulation will be faster as a result.
Related
Maple helpfully can work out the solution to Laplace's equation in a square region and give me the answer in closed form (in terms of an infinite sum). If I try to plot the function of two variables as a 3d plot it gives me most of the surface but not all of it:
Here is the Maple code which produces the solution and turns it into an expression suitable for plotting
lapeq:=diff(v(x,y),x$2)+diff(v(x,y),y$2)=0;
bcs:=v(x,0)=0,v(0,y)=0,v(1,y)=0,v(x,1)=100;
sol1:=pdsolve({lapeq,bcs});
vxy:=eval(v(x,y),sol1);
the result of which is
All good so far. Plotting it via
plot3d(vxy,x=0..1,y=0..1);
gives a result which is fine for x in the full range (0<x<1) but only for y between 0 and around 0.9:
I have tried to evalf some point in the unknown region and Maple can't tell me numerical values there. Is there any way to get Maple to "try a bit harder" to evaluate those numbers?
You could try setting the number of terms in the sum
Compare
lapeq:=diff(v(x,y),x$2)+diff(v(x,y),y$2)=0;
bcs:=v(x,0)=0,v(0,y)=0,v(1,y)=0,v(x,1)=100;
sol1:=pdsolve({lapeq,bcs});
vxy:=subs(infinity=100,sol1);
plot3d(rhs(vxy),x=0..1,y=0..1);
With
restart;
lapeq:=diff(v(x,y),x$2)+diff(v(x,y),y$2)=0;
bcs:=v(x,0)=0,v(0,y)=0,v(1,y)=0,v(x,1)=100;
sol1:=pdsolve({lapeq,bcs});
vxy:=eval(v(x,y),sol1);
plot3d(vxy,x=0..1,y=0..1);
I'm not a huge fan of chopping the infinite sum at some value of the upper bound for n, without at least demonstrating either symbolically or numerically that it is justified. Ie, that chopping does not provide a false idea of convergence.
So, you asked how to make it work "harder". I'll take that to mean that you too might prefer to let evalf/Sum itself decide whether each infinite numeric sum converges -- rather than manually truncate it yourself at some finite value for the upper value of the range for n.
For fun, and caution, I also divide both numerator and denominator of K by the potentially large exp call (potentially much larger than 1). That may not be necessary here.
restart;
lapeq:=diff(v(x,y),x$2)+diff(v(x,y),y$2)=0:
bcs:=v(x,0)=0,v(0,y)=0,v(1,y)=0,v(x,1)=100:
sol1:=pdsolve({lapeq,bcs}):
vxy:=eval(v(x,y),sol1):
K:=op(1,vxy):
J:=simplify(combine(numer(K)/exp(2*Pi*n)))
/simplify(combine(denom(K)/exp(2*Pi*n))):
F:=subs(__d=J,
proc(x,y) local k, m, n, r;
if y<0.8 then
r:=Sum(__d,n=1..infinity);
else
UseHardwareFloats:=false;
m := ceil(1*abs(y/0.80)^16);
r:=add(Sum(eval(__d,n=m*n-k),n=1..infinity),
k=0..m-1);
end if;
evalf(r);
end proc):
plot3d( F, 0..1, 0..0.99 );
Naturally this is slower than mere chopping of terms to obtain a finite sum. And you might be satisfied with some technique that establishes that the excluded terms' sums are negligible.
An MWE (stats toolbox required, tested on MATLAB R2014b):
x = (1:3)';
b = mnrfit(x,x,'model','hierarchical');
pihat = mnrval(b,x,'model','hierarchical','type','conditional')
Output:
pihat =
1 1
2.2204e-16 1
2.2204e-16 2.2204e-16
(Ignore the issued warning, it's because of the trivial example, which is linearly separable (I'm predicting x using itself). It doesn't matter: I've tried this as well with a non-trivial (and not-so minimal) example without the warning and the results are similar.)
My problem is the result. I've specified I want the conditional probabilities. According to MATLAB's documentation on mnrval:
Specify ['conditional'] to return predictions [...] in terms of the first k – 1 conditional category probabilities [...], i.e., the probability [...] for category j, given an outcome in category j or higher.
In my example this means rows of pihat contain the probability of
x=1 given x>=1
x=2 given x>=2
(A third column for x=3 is not necessary, because if the first two probabilities are known, the third is too. It follows logically from P(x=1) + P(x=2) + P(x=3) = 1.)
Am I interpreting this correctly? Thus, if x=1 is predicted, then the first column value should be large (close to one), because P(x=1) given x>=1 is large. The second column should be close to zero, because P(x=2) given x>=2 can't be large if x=1.
However, as you can see in the first row, the second column value is large as well as the first! I believe this is incorrect according to what the documentation specifies, am I right? The current (incorrect?) result implies the predicted probabilities in the rows are not of x=j given x>=j, but what are they then? Or how should I be interpreting them?
They are not equal to the cumulative probabilities, i.e. the probability of x<=j, which increases with j. I've checked this by calculating pihat2 = mnrval(b,x,'model','hierarchical','type','cumulative'); pihat2-pihat.
I'm really new to matlab and I need some help, I know java and python. Here's a code I want to understand
x(1) = 0
y(1) = 0
i = 1
x(i+1)=x(i)+vx*t+.5*a*t^2;
i=i+1;
end
I want to know what is happening here, "vx", "t" and "a" are variables tho
x(1) = 0 and y(1) = 0 is very similar to initializing a list / array in Python where x and y are the list variables and the first position is 1. MATLAB starts indexing at 1, and not 0 like in Java and Python. The similar syntax in Java or Python is: x[0] = 0; y[0] = 0. MATLAB uses round braces to index into an array / vector / list.
i = 1
x(i+1)=x(i)+vx*t+.5*a*t^2;
i=i+1;
This is pretty simple. i is some sort of loop variable or index variable... which you failed to show us that this code is probably part of a loop. The code just sets the next value of x or the second element in the array or list to x(i) + vx*t + 0.5*a*t^2. The * operator is multiplication and the ^ is the exponentiation operator. In Python, this is equivalent to saying x[i] + vx*t + 0.5*a*(t**2). Now the origin of this equation actually comes from calculating the displacement of a body mass using Newtonian physics - the Kinematic Equations actually. As such vx is the velocity of the body mass and a is the acceleration. t would be the time point you are considering. Specifically, the displacement can be calculated as follows:
Source: The Physics Classroom - Kinematic Equations
Look at the top left equation as that is what the statement is doing in the code. This only calculates the displacement at one point in time. Therefore, what you are doing is adding the displacement that this body mass encounters at some fixed point t a certain amount of times. x captures the total displacement overall from the beginning to end. The next statement after is just incrementing the loop counter. The thing about MATLAB is that you can dynamically extend the length of a list / array / vector whereas Python or Java will give you an out-of-bounds error. However, it's recommended you should pre-allocate the right amount of memory to use before using it for efficiency. See this informative post for more details: Efficient Array Preallocation in MATLAB.
Lets say I have two vectors A and B with different lengths Length(A) is not equal to Length(B) and the Values in Vector A, are not the same as in Vector B. I want to compare each value of B with Values of A (Compare means if Value B(i) is almost the same value of A(1:end) for example B(i)-Tolerance<A(i)<B(i)+Tolerance.
How Can I do this without using for loop since the data is huge?
I know ismember(F), intersect,repmat,find but non of those function can really help me
You may try a solution along these lines:
tol = 0.1;
N = 1000000;
a = randn(1, N)*1000; % create a randomly
b = a + tol*rand(1, N); % b is "tol" away from a
a_bin = floor(a/tol);
b_bin = floor(b/tol);
result = ismember(b_bin, a_bin) | ...
ismember(b_bin, a_bin-1) | ...
ismember(b_bin, a_bin+1);
find(result==0) % should be empty matrix.
The idea is to discretize the a and b variables to bins of size tol. Then, you ask whether b is found in the same bin as any element from a, or in the bin to the left of it, or in the bin to the right of it.
Advantages: I believe ismember is clever inside, first sorting the elements of a and then performing sublinear (log(N)) search per element b. This is unlike approaches which explicitly construct differences of each element in b with elements from a, meaning the complexity is linear in the number of elements in a.
Comparison: for N=100000 this runs 0.04s on my machine, compared to 20s using linear search (timed using Alan's nice and concise tf = arrayfun(#(bi) any(abs(a - bi) < tol), b); solution).
Disadvantages: this leads to that the actual tolerance is anything between tol and 1.5*tol. Depends on your task whether you can live with that (if the only concern is floating point comparison, you can).
Note: whether this is a viable approach depends on the ranges of a and b, and value of tol. If a and b can be very big and tol is very small, the a_bin and b_bin will not be able to resolve individual bins (then you would have to work with integral types, again checking carefully that their ranges suffice). The solution with loops is a safer one, but if you really need speed, you can invest into optimizing the presented idea. Another option, of course, would be to write a mex extension.
It sounds like what you are trying to do is have an ismember function for use on real valued data.
That is, check for each value B(i) in your vector B whether B(i) is within the tolerance threshold T of at least one value in your vector A
This works out something like the following:
tf = false(1, length(b)); %//the result vector, true if that element of b is in a
t = 0.01; %// the tolerance threshold
for i = 1:length(b)
%// is the absolute difference between the
%//element of a and b less that the threshold?
matches = abs(a - b(i)) < t;
%// if b(i) matches any of the elements of a
tf(i) = any(matches);
end
Or, in short:
t = 0.01;
tf = arrayfun(#(bi) any(abs(a - bi) < t), b);
Regarding avoiding the for loop: while this might benefit from vectorization, you may also want to consider looking at parallelisation if your data is that huge. In that case having a for loop as in my first example can be handy since you can easily do a basic version of parallel processing by changing the for to parfor.
Here is a fully vectorized solution. Note that I would actually recommend the solution given by #Alan, as mine is not likely to work for big datasets.
[X Y]=meshgrid(A,B)
M=abs(X-Y)<tolerance
Now the logical index of elements in a that are within the tolerance can be obtained with any(M) and the index for B is found by any(M,2)
bsxfun to the rescue
>> M = abs( bsxfun(#minus, A, B' ) ); %//' difference
>> M < tolerance
Another way to do what you want is with a logical expression.
Since A and B are vectors of different sizes you can't simply subtract and look for values that are smaller than the tolerance, but you can do the following:
Lmat = sparse((abs(repmat(A,[numel(B) 1])-repmat(B',[1 numel(A)])))<tolerance);
and you will get a sparse logical matrix with as many ones in it as equal elements (within tolerance). You could then count how many of those elements you have by writing:
Nequal = sum(sum(Lmat));
You could also get the indexes of the corresponding elements by writing:
[r,c] = find(Lmat);
then the following code will be true (for all j in numel(r)):
B(r(j))==A(c(j))
Finally, you should note that this way you get multiple counts in case there are duplicate entries in A or in B. It may be advisable to use the unique function first. For example:
A_new = unique(A);
I'm having trouble creating a random vector V in Matlab subject to the following set of constraints: (given parameters N,D, L, and theta)
The vector V must be N units long
The elements must have an average of theta
No 2 successive elements may differ by more than +/-10
D == sum(L*cosd(V-theta))
I'm having the most problems with the last one. Any ideas?
Edit
Solutions in other languages or equation form are equally acceptable. Matlab is just a convenient prototyping tool for me, but the final algorithm will be in java.
Edit
From the comments and initial answers I want to add some clarifications and initial thoughts.
I am not seeking a 'truly random' solution from any standard distribution. I want a pseudo randomly generated sequence of values that satisfy the constraints given a parameter set.
The system I'm trying to approximate is a chain of N links of link length L where the end of the chain is D away from the other end in the direction of theta.
My initial insight here is that theta can be removed from consideration until the end, since (2) in essence adds theta to every element of a 0 mean vector V (shifting the mean to theta) and (4) simply removes that mean again. So, if you can find a solution for theta=0, the problem is solved for all theta.
As requested, here is a reasonable range of parameters (not hard constraints, but typical values):
5<N<200
3<D<150
L==1
0 < theta < 360
I would start by creating a "valid" vector. That should be possible - say calculate it for every entry to have the same value.
Once you got that vector I would apply some transformations to "shuffle" it. "Rejection sampling" is the keyword - if the shuffle would violate one of your rules you just don't do it.
As transformations I come up with:
switch two entries
modify the value of one entry and modify a second one to keep the 4th condition (Theoretically you could just shuffle two till the condition is fulfilled - but the chance that happens is quite low)
But maybe you can find some more.
Do this reasonable often and you get a "valid" random vector. Theoretically you should be able to get all valid vectors - practically you could try to construct several "start" vectors so it won't take that long.
Here's a way of doing it. It is clear that not all combinations of theta, N, L and D are valid. It is also clear that you're trying to simulate random objects that are quite complex. You will probably have a hard time showing anything useful with respect to these vectors.
The series you're trying to simulate seems similar to the Wiener process. So I started with that, you can start with anything that is random yet reasonable. I then use that as a starting point for an optimization that tries to satisfy 2,3 and 4. The closer your initial value to a valid vector (satisfying all your conditions) the better the convergence.
function series = generate_series(D, L, N,theta)
s(1) = theta;
for i=2:N,
s(i) = s(i-1) + randn(1,1);
end
f = #(x)objective(x,D,L,N,theta)
q = optimset('Display','iter','TolFun',1e-10,'MaxFunEvals',Inf,'MaxIter',Inf)
[sf,val] = fminunc(f,s,q);
val
series = sf;
function value= objective(s,D,L,N,theta)
a = abs(mean(s)-theta);
b = abs(D-sum(L*cos(s-theta)));
c = 0;
for i=2:N,
u =abs(s(i)-s(i-1)) ;
if u>10,
c = c + u;
end
end
value = a^2 + b^2+ c^2;
It seems like you're trying to simulate something very complex/strange (a path of a given curvature?), see questions by other commenters. Still you will have to use your domain knowledge to connect D and L with a reasonable mu and sigma for the Wiener to act as initialization.
So based on your new requirements, it seems like what you're actually looking for is an ordered list of random angles, with a maximum change in angle of 10 degrees (which I first convert to radians), such that the distance and direction from start to end and link length and number of links are specified?
Simulate an initial guess. It will not hold with the D and theta constraints (i.e. specified D and specified theta)
angles = zeros(N, 1)
for link = 2:N
angles (link) = theta(link - 1) + (rand() - 0.5)*(10*pi/180)
end
Use genetic algorithm (or another optimization) to adjust the angles based on the following cost function:
dx = sum(L*cos(angle));
dy = sum(L*sin(angle));
D = sqrt(dx^2 + dy^2);
theta = atan2(dy/dx);
the cost is now just the difference between the vector given by my D and theta above and the vector given by the specified D and theta (i.e. the inputs).
You will still have to enforce the max change of 10 degrees rule, perhaps that should just make the cost function enormous if it is violated? Perhaps there is a cleaner way to specify sequence constraints in optimization algorithms (I don't know how).
I feel like if you can find the right optimization with the right parameters this should be able to simulate your problem.
You don't give us a lot of detail to work with, so I'll assume the following:
random numbers are to be drawn from [-127+theta +127-theta]
all random numbers will be drawn from a uniform distribution
all random numbers will be of type int8
Then, for the first 3 requirements, you can use this:
N = 1e4;
theta = 40;
diffVal = 10;
g = #() randi([intmin('int8')+theta intmax('int8')-theta], 'int8') + theta;
V = [g(); zeros(N-1,1, 'int8')];
for ii = 2:N
V(ii) = g();
while abs(V(ii)-V(ii-1)) >= diffVal
V(ii) = g();
end
end
inline the anonymous function for more speed.
Now, the last requirement,
D == sum(L*cos(V-theta))
is a bit of a strange one...cos(V-theta) is a specific way to re-scale the data to the [-1 +1] interval, which the multiplication with L will then scale to [-L +L]. On first sight, you'd expect the sum to average out to 0.
However, the expected value of cos(x) when x is a random variable from a uniform distribution in [0 2*pi] is 2/pi (see here for example). Ignoring for the moment the fact that our limits are different from [0 2*pi], the expected value of sum(L*cos(V-theta)) would simply reduce to the constant value of 2*N*L/pi.
How you can force this to equal some other constant D is beyond me...can you perhaps elaborate on that a bit more?