From 77fd01bc1c962b766a8c5abdc839a71711740e4e Mon Sep 17 00:00:00 2001 From: "Documenter.jl" Date: Sat, 2 Mar 2024 22:37:31 +0000 Subject: [PATCH] build based on bd4d2ab --- previews/PR41/assets/documenter.js | 331 ++++++++++++++++++ previews/PR41/assets/logo.png | Bin 0 -> 246623 bytes previews/PR41/assets/search.js | 267 ++++++++++++++ previews/PR41/assets/style.css | 21 ++ .../PR41/assets/themes/documenter-dark.css | 7 + .../PR41/assets/themes/documenter-light.css | 9 + previews/PR41/assets/themeswap.js | 66 ++++ previews/PR41/assets/warner.js | 49 +++ previews/PR41/cops/index.html | 2 + previews/PR41/index.html | 2 + previews/PR41/reference/index.html | 2 + previews/PR41/results_robot.vtu | Bin 0 -> 120751 bytes previews/PR41/search/index.html | 2 + previews/PR41/search_index.js | 3 + previews/PR41/siteinfo.js | 1 + previews/PR41/tuto_rocket/index.html | 183 ++++++++++ 16 files changed, 945 insertions(+) create mode 100644 previews/PR41/assets/documenter.js create mode 100644 previews/PR41/assets/logo.png create mode 100644 previews/PR41/assets/search.js create mode 100644 previews/PR41/assets/style.css create mode 100644 previews/PR41/assets/themes/documenter-dark.css create mode 100644 previews/PR41/assets/themes/documenter-light.css create mode 100644 previews/PR41/assets/themeswap.js create mode 100644 previews/PR41/assets/warner.js create mode 100644 previews/PR41/cops/index.html create mode 100644 previews/PR41/index.html create mode 100644 previews/PR41/reference/index.html create mode 100644 previews/PR41/results_robot.vtu create mode 100644 previews/PR41/search/index.html create mode 100644 previews/PR41/search_index.js create mode 100644 previews/PR41/siteinfo.js create mode 100644 previews/PR41/tuto_rocket/index.html diff --git a/previews/PR41/assets/documenter.js b/previews/PR41/assets/documenter.js new file mode 100644 index 0000000..6adfbbb --- /dev/null +++ b/previews/PR41/assets/documenter.js @@ -0,0 +1,331 @@ +// Generated by Documenter.jl +requirejs.config({ + paths: { + 'highlight-julia': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.5.1/languages/julia.min', + 'headroom': 'https://cdnjs.cloudflare.com/ajax/libs/headroom/0.12.0/headroom.min', + 'jqueryui': 'https://cdnjs.cloudflare.com/ajax/libs/jqueryui/1.12.1/jquery-ui.min', + 'katex-auto-render': 'https://cdnjs.cloudflare.com/ajax/libs/KaTeX/0.13.24/contrib/auto-render.min', + 'jquery': 'https://cdnjs.cloudflare.com/ajax/libs/jquery/3.6.0/jquery.min', + 'headroom-jquery': 'https://cdnjs.cloudflare.com/ajax/libs/headroom/0.12.0/jQuery.headroom.min', + 'katex': 'https://cdnjs.cloudflare.com/ajax/libs/KaTeX/0.13.24/katex.min', + 'highlight': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.5.1/highlight.min', + 'highlight-julia-repl': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.5.1/languages/julia-repl.min', + }, + shim: { + "highlight-julia": { + "deps": [ + "highlight" + ] + }, + "katex-auto-render": { + "deps": [ + "katex" + ] + }, + "headroom-jquery": { + "deps": [ + "jquery", + "headroom" + ] + }, + "highlight-julia-repl": { + "deps": [ + "highlight" + ] + } +} +}); +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'katex', 'katex-auto-render'], function($, katex, renderMathInElement) { +$(document).ready(function() { + renderMathInElement( + document.body, + { + "delimiters": [ + { + "left": "$", + "right": "$", + "display": false + }, + { + "left": "$$", + "right": "$$", + "display": true + }, + { + "left": "\\[", + "right": "\\]", + "display": true + } + ] +} + + ); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'highlight', 'highlight-julia', 'highlight-julia-repl'], function($) { +$(document).ready(function() { + hljs.highlightAll(); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require([], function() { +function addCopyButtonCallbacks() { + for (const el of document.getElementsByTagName("pre")) { + const button = document.createElement("button"); + button.classList.add("copy-button", "fas", "fa-copy"); + el.appendChild(button); + + const success = function () { + button.classList.add("success", "fa-check"); + button.classList.remove("fa-copy"); + }; + + const failure = function () { + button.classList.add("error", "fa-times"); + button.classList.remove("fa-copy"); + }; + + button.addEventListener("click", function () { + copyToClipboard(el.innerText).then(success, failure); + + setTimeout(function () { + button.classList.add("fa-copy"); + button.classList.remove("success", "fa-check", "fa-times"); + }, 5000); + }); + } +} + +function copyToClipboard(text) { + // clipboard API is only available in secure contexts + if (window.navigator && window.navigator.clipboard) { + return window.navigator.clipboard.writeText(text); + } else { + return new Promise(function (resolve, reject) { + try { + const el = document.createElement("textarea"); + el.textContent = text; + el.style.position = "fixed"; + el.style.opacity = 0; + document.body.appendChild(el); + el.select(); + document.execCommand("copy"); + + resolve(); + } catch (err) { + reject(err); + } finally { + document.body.removeChild(el); + } + }); + } +} + +if (document.readyState === "loading") { + document.addEventListener("DOMContentLoaded", addCopyButtonCallbacks); +} else { + addCopyButtonCallbacks(); +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'headroom', 'headroom-jquery'], function($, Headroom) { + +// Manages the top navigation bar (hides it when the user starts scrolling down on the +// mobile). +window.Headroom = Headroom; // work around buggy module loading? +$(document).ready(function() { + $('#documenter .docs-navbar').headroom({ + "tolerance": {"up": 10, "down": 10}, + }); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Modal settings dialog +$(document).ready(function() { + var settings = $('#documenter-settings'); + $('#documenter-settings-button').click(function(){ + settings.toggleClass('is-active'); + }); + // Close the dialog if X is clicked + $('#documenter-settings button.delete').click(function(){ + settings.removeClass('is-active'); + }); + // Close dialog if ESC is pressed + $(document).keyup(function(e) { + if (e.keyCode == 27) settings.removeClass('is-active'); + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Manages the showing and hiding of the sidebar. +$(document).ready(function() { + var sidebar = $("#documenter > .docs-sidebar"); + var sidebar_button = $("#documenter-sidebar-button") + sidebar_button.click(function(ev) { + ev.preventDefault(); + sidebar.toggleClass('visible'); + if (sidebar.hasClass('visible')) { + // Makes sure that the current menu item is visible in the sidebar. + $("#documenter .docs-menu a.is-active").focus(); + } + }); + $("#documenter > .docs-main").bind('click', function(ev) { + if ($(ev.target).is(sidebar_button)) { + return; + } + if (sidebar.hasClass('visible')) { + sidebar.removeClass('visible'); + } + }); +}) + +// Resizes the package name / sitename in the sidebar if it is too wide. +// Inspired by: https://github.com/davatron5000/FitText.js +$(document).ready(function() { + e = $("#documenter .docs-autofit"); + function resize() { + var L = parseInt(e.css('max-width'), 10); + var L0 = e.width(); + if(L0 > L) { + var h0 = parseInt(e.css('font-size'), 10); + e.css('font-size', L * h0 / L0); + // TODO: make sure it survives resizes? + } + } + // call once and then register events + resize(); + $(window).resize(resize); + $(window).on('orientationchange', resize); +}); + +// Scroll the navigation bar to the currently selected menu item +$(document).ready(function() { + var sidebar = $("#documenter .docs-menu").get(0); + var active = $("#documenter .docs-menu .is-active").get(0); + if(typeof active !== 'undefined') { + sidebar.scrollTop = active.offsetTop - sidebar.offsetTop - 15; + } +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +function set_theme(theme) { + var active = null; + var disabled = []; + for (var i = 0; i < document.styleSheets.length; i++) { + var ss = document.styleSheets[i]; + var themename = ss.ownerNode.getAttribute("data-theme-name"); + if(themename === null) continue; // ignore non-theme stylesheets + // Find the active theme + if(themename === theme) active = ss; + else disabled.push(ss); + } + if(active !== null) { + active.disabled = false; + if(active.ownerNode.getAttribute("data-theme-primary") === null) { + document.getElementsByTagName('html')[0].className = "theme--" + theme; + } else { + document.getElementsByTagName('html')[0].className = ""; + } + disabled.forEach(function(ss){ + ss.disabled = true; + }); + } + + // Store the theme in localStorage + if(typeof(window.localStorage) !== "undefined") { + window.localStorage.setItem("documenter-theme", theme); + } else { + console.error("Browser does not support window.localStorage"); + } +} + +// Theme picker setup +$(document).ready(function() { + // onchange callback + $('#documenter-themepicker').change(function themepick_callback(ev){ + var themename = $('#documenter-themepicker option:selected').attr('value'); + set_theme(themename); + }); + + // Make sure that the themepicker displays the correct theme when the theme is retrieved + // from localStorage + if(typeof(window.localStorage) !== "undefined") { + var theme = window.localStorage.getItem("documenter-theme"); + if(theme !== null) { + $('#documenter-themepicker option').each(function(i,e) { + e.selected = (e.value === theme); + }) + } else { + $('#documenter-themepicker option').each(function(i,e) { + e.selected = $("html").hasClass(`theme--${e.value}`); + }) + } + } +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// update the version selector with info from the siteinfo.js and ../versions.js files +$(document).ready(function() { + // If the version selector is disabled with DOCUMENTER_VERSION_SELECTOR_DISABLED in the + // siteinfo.js file, we just return immediately and not display the version selector. + if (typeof DOCUMENTER_VERSION_SELECTOR_DISABLED === 'boolean' && DOCUMENTER_VERSION_SELECTOR_DISABLED) { + return; + } + + var version_selector = $("#documenter .docs-version-selector"); + var version_selector_select = $("#documenter .docs-version-selector select"); + + version_selector_select.change(function(x) { + target_href = version_selector_select.children("option:selected").get(0).value; + window.location.href = target_href; + }); + + // add the current version to the selector based on siteinfo.js, but only if the selector is empty + if (typeof DOCUMENTER_CURRENT_VERSION !== 'undefined' && $('#version-selector > option').length == 0) { + var option = $(""); + version_selector_select.append(option); + } + + if (typeof DOC_VERSIONS !== 'undefined') { + var existing_versions = version_selector_select.children("option"); + var existing_versions_texts = existing_versions.map(function(i,x){return x.text}); + DOC_VERSIONS.forEach(function(each) { + var version_url = documenterBaseURL + "/../" + each; + var existing_id = $.inArray(each, existing_versions_texts); + // if not already in the version selector, add it as a new option, + // otherwise update the old option with the URL and enable it + if (existing_id == -1) { + var option = $(""); + version_selector_select.append(option); + } else { + var option = existing_versions[existing_id]; + option.value = version_url; + option.disabled = false; + } + }); + } + + // only 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zm6dhtY~R`{Ks7bL&(BLI>bPpDgocK0pV?eHtj4e6mV(D8Cf*Et`yVnQD}Ty|kbl3k z{BZM9&Ijvn*76stYijE2>da9Ssh*{}efmaZoyROt8R2%YY_0CPNI?s?psL80pHM*3m6Z zz6ZAaaB?X)?}3UTycjqyAaJ-j+*vATAoIItzXufXFDMkM1ARTEw7tGf)(_;nFa<1k zdive8-^l$2Z?ZprFaFIO^71jUM1yO3+`O}KykSi}Y>L%?9{cm-8D3uP+9G&o&C+D% z$F9|&I+%yZbK6)mK}*x;c1dsY{ma>!p>0;l&3Dvjk93%Ds7^bgl@8=7BZHs8nk6Bw zBvHS5P6ykt$>hdcf@aI_{Knd(n*yqlomp0J6lZzrFT;tV`cpYxWOS~hkT2uzONw+s zl*h>Q>;nc%iEbnQjM==X_1c^F;%D?&c|%+mRHQ$RW>F&dFg?4ukPXSPa%GMMdL_;b@R4|qi$h5n`VfIVgF%U1RoBWULJb zVIkTmw~f};XiEDbv*d5FpBA}$>*Cgon-+Mkn2cGnUySWN{K2;Ti8qQ@+*>2T?ho0J zwe`eSjn#0&DV}CV@9*=*S + // MIT License + function parseUri (str) { + var o = parseUri.options, + m = o.parser[o.strictMode ? "strict" : "loose"].exec(str), + uri = {}, + i = 14; + + while (i--) uri[o.key[i]] = m[i] || ""; + + uri[o.q.name] = {}; + uri[o.key[12]].replace(o.q.parser, function ($0, $1, $2) { + if ($1) uri[o.q.name][$1] = $2; + }); + + return uri; + }; + parseUri.options = { + strictMode: false, + key: ["source","protocol","authority","userInfo","user","password","host","port","relative","path","directory","file","query","anchor"], + q: { + name: "queryKey", + parser: /(?:^|&)([^&=]*)=?([^&]*)/g + }, + parser: { + strict: /^(?:([^:\/?#]+):)?(?:\/\/((?:(([^:@]*)(?::([^:@]*))?)?@)?([^:\/?#]*)(?::(\d*))?))?((((?:[^?#\/]*\/)*)([^?#]*))(?:\?([^#]*))?(?:#(.*))?)/, + loose: /^(?:(?![^:@]+:[^:@\/]*@)([^:\/?#.]+):)?(?:\/\/)?((?:(([^:@]*)(?::([^:@]*))?)?@)?([^:\/?#]*)(?::(\d*))?)(((\/(?:[^?#](?![^?#\/]*\.[^?#\/.]+(?:[?#]|$)))*\/?)?([^?#\/]*))(?:\?([^#]*))?(?:#(.*))?)/ + } + }; + + $("#search-form").submit(function(e) { + e.preventDefault() + }) + + // list below is the lunr 2.1.3 list minus the intersect with names(Base) + // (all, any, get, in, is, only, which) and (do, else, for, let, where, while, with) + // ideally we'd just filter the original list but it's not available as a variable + lunr.stopWordFilter = lunr.generateStopWordFilter([ + 'a', + 'able', + 'about', + 'across', + 'after', + 'almost', + 'also', + 'am', + 'among', + 'an', + 'and', + 'are', + 'as', + 'at', + 'be', + 'because', + 'been', + 'but', + 'by', + 'can', + 'cannot', + 'could', + 'dear', + 'did', + 'does', + 'either', + 'ever', + 'every', + 'from', + 'got', + 'had', + 'has', + 'have', + 'he', + 'her', + 'hers', + 'him', + 'his', + 'how', + 'however', + 'i', + 'if', + 'into', + 'it', + 'its', + 'just', + 'least', + 'like', + 'likely', + 'may', + 'me', + 'might', + 'most', + 'must', + 'my', + 'neither', + 'no', + 'nor', + 'not', + 'of', + 'off', + 'often', + 'on', + 'or', + 'other', + 'our', + 'own', + 'rather', + 'said', + 'say', + 'says', + 'she', + 'should', + 'since', + 'so', + 'some', + 'than', + 'that', + 'the', + 'their', + 'them', + 'then', + 'there', + 'these', + 'they', + 'this', + 'tis', + 'to', + 'too', + 'twas', + 'us', + 'wants', + 'was', + 'we', + 'were', + 'what', + 'when', + 'who', + 'whom', + 'why', + 'will', + 'would', + 'yet', + 'you', + 'your' + ]) + + // add . as a separator, because otherwise "title": "Documenter.Anchors.add!" + // would not find anything if searching for "add!", only for the entire qualification + lunr.tokenizer.separator = /[\s\-\.]+/ + + // custom trimmer that doesn't strip @ and !, which are used in julia macro and function names + lunr.trimmer = function (token) { + return token.update(function (s) { + return s.replace(/^[^a-zA-Z0-9@!]+/, '').replace(/[^a-zA-Z0-9@!]+$/, '') + }) + } + + lunr.Pipeline.registerFunction(lunr.stopWordFilter, 'juliaStopWordFilter') + lunr.Pipeline.registerFunction(lunr.trimmer, 'juliaTrimmer') + + var index = lunr(function () { + this.ref('location') + this.field('title',{boost: 100}) + this.field('text') + documenterSearchIndex['docs'].forEach(function(e) { + this.add(e) + }, this) + }) + var store = {} + + documenterSearchIndex['docs'].forEach(function(e) { + store[e.location] = {title: e.title, category: e.category, page: e.page} + }) + + $(function(){ + searchresults = $('#documenter-search-results'); + searchinfo = $('#documenter-search-info'); + searchbox = $('#documenter-search-query'); + searchform = $('.docs-search'); + sidebar = $('.docs-sidebar'); + function update_search(querystring) { + tokens = lunr.tokenizer(querystring) + results = index.query(function (q) { + tokens.forEach(function (t) { + q.term(t.toString(), { + fields: ["title"], + boost: 100, + usePipeline: true, + editDistance: 0, + wildcard: lunr.Query.wildcard.NONE + }) + q.term(t.toString(), { + fields: ["title"], + boost: 10, + usePipeline: true, + editDistance: 2, + wildcard: lunr.Query.wildcard.NONE + }) + q.term(t.toString(), { + fields: ["text"], + boost: 1, + usePipeline: true, + editDistance: 0, + wildcard: lunr.Query.wildcard.NONE + }) + }) + }) + searchinfo.text("Number of results: " + results.length) + searchresults.empty() + results.forEach(function(result) { + data = store[result.ref] + link = $(''+data.title+'') + link.attr('href', documenterBaseURL+'/'+result.ref) + if (data.category != "page"){ + cat = $('('+data.category+', '+data.page+')') + } else { + cat = $('('+data.category+')') + } + li = $('

  • ').append(link).append(" ").append(cat) + searchresults.append(li) + }) + } + + function update_search_box() { + querystring = searchbox.val() + update_search(querystring) + } + + searchbox.keyup(_.debounce(update_search_box, 250)) + searchbox.change(update_search_box) + + // Disable enter-key form submission for the searchbox on the search page + // and just re-run search rather than refresh the whole page. + searchform.keypress( + function(event){ + if (event.which == '13') { + if (sidebar.hasClass('visible')) { + sidebar.removeClass('visible'); + } + update_search_box(); + event.preventDefault(); + } + } + ); + + search_query_uri = parseUri(window.location).queryKey["q"] + if(search_query_uri !== undefined) { + search_query = decodeURIComponent(search_query_uri.replace(/\+/g, '%20')) + searchbox.val(search_query) + } + update_search_box(); + }) +}) + +}) diff --git a/previews/PR41/assets/style.css b/previews/PR41/assets/style.css new file mode 100644 index 0000000..07c73de --- 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form.docs-search>input.button{border-radius:290486px;padding-left:1em;padding-right:1em}html.theme--documenter-dark .buttons{align-items:center;display:flex;flex-wrap:wrap;justify-content:flex-start}html.theme--documenter-dark .buttons .button{margin-bottom:0.5rem}html.theme--documenter-dark .buttons .button:not(:last-child):not(.is-fullwidth){margin-right:0.5rem}html.theme--documenter-dark .buttons:last-child{margin-bottom:-0.5rem}html.theme--documenter-dark .buttons:not(:last-child){margin-bottom:1rem}html.theme--documenter-dark .buttons.are-small .button:not(.is-normal):not(.is-medium):not(.is-large){border-radius:3px;font-size:.85em}html.theme--documenter-dark .buttons.are-medium .button:not(.is-small):not(.is-normal):not(.is-large){font-size:1.25rem}html.theme--documenter-dark .buttons.are-large .button:not(.is-small):not(.is-normal):not(.is-medium){font-size:1.5rem}html.theme--documenter-dark .buttons.has-addons 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th.is-light{background-color:#ecf0f1;border-color:#ecf0f1;color:#282f2f}html.theme--documenter-dark .table td.is-dark,html.theme--documenter-dark .table th.is-dark{background-color:#282f2f;border-color:#282f2f;color:#ecf0f1}html.theme--documenter-dark .table td.is-primary,html.theme--documenter-dark .table th.is-primary{background-color:#375a7f;border-color:#375a7f;color:#fff}html.theme--documenter-dark .table td.is-link,html.theme--documenter-dark .table th.is-link{background-color:#1abc9c;border-color:#1abc9c;color:#fff}html.theme--documenter-dark .table td.is-info,html.theme--documenter-dark .table th.is-info{background-color:#024c7d;border-color:#024c7d;color:#fff}html.theme--documenter-dark .table td.is-success,html.theme--documenter-dark .table th.is-success{background-color:#008438;border-color:#008438;color:#fff}html.theme--documenter-dark .table td.is-warning,html.theme--documenter-dark .table th.is-warning{background-color:#ad8100;border-color:#ad8100;color:#fff}html.theme--documenter-dark .table td.is-danger,html.theme--documenter-dark .table th.is-danger{background-color:#9e1b0d;border-color:#9e1b0d;color:#fff}html.theme--documenter-dark .table td.is-narrow,html.theme--documenter-dark .table th.is-narrow{white-space:nowrap;width:1%}html.theme--documenter-dark .table td.is-selected,html.theme--documenter-dark .table th.is-selected{background-color:#375a7f;color:#fff}html.theme--documenter-dark .table td.is-selected a,html.theme--documenter-dark .table td.is-selected strong,html.theme--documenter-dark .table th.is-selected a,html.theme--documenter-dark .table th.is-selected strong{color:currentColor}html.theme--documenter-dark .table th{color:#f2f2f2}html.theme--documenter-dark .table th:not([align]){text-align:left}html.theme--documenter-dark .table tr.is-selected{background-color:#375a7f;color:#fff}html.theme--documenter-dark .table tr.is-selected 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    Edit on GitHub

    Simulations on COPS 3 test set

    We run DCISolver.jl and NLPModelsIpopt.jl and NLPModelsKnitro.jl on an infinite-dimensional implementation of test problems from COPS 3.0 test set.

    DCILDL

    namenvarnconstatusobjectiveopt_valtime (s)#f#cdual_feasfeas
    Isometrization of α-pinene505500max_time0.00e+001.99e+018.49e+00220.00e+002.84e+01
    Isometrization of α-pinene10051000max_time0.00e+001.99e+014.05e+00220.00e+002.84e+01
    Isometrization of α-pinene20052000max_time0.00e+001.99e+014.42e+00220.00e+002.84e+01
    Journal Bearing26000exceptionInf-1.55e-01Inf00InfInf
    Journal Bearing57750exceptionInf-1.55e-01Inf00InfInf
    Journal Bearing102000exceptionInf-1.55e-01Inf00InfInf
    Catalyst Mixing602402max_time0.00e+00-4.81e-029.96e+01111.41e-012.50e-01
    Catalyst Mixing1202802max_time0.00e+00-4.81e-023.94e+00119.98e-022.50e-01
    Catalyst Mixing24021602max_time0.00e+00-4.81e-021.07e+03227.07e-022.50e-01
    Flow in a Channel800800max_time0.00e+001.00e+005.14e+00220.00e+002.20e-01
    Flow in a Channel16001600max_time0.00e+001.00e+002.57e+00220.00e+002.20e-01
    Flow in a Channel32003200max_time0.00e+001.00e+002.78e+00220.00e+002.20e-01
    Transition States for the Dirichlet Problem90first_order0.00e+001.94e-060.00e+00110.00e+000.00e+00
    Transition States for the Dirichlet Problem190first_order0.00e+001.71e-020.00e+00110.00e+000.00e+00
    Transition States for the Dirichlet Problem390first_order0.00e+003.29e-020.00e+00110.00e+000.00e+00
    Catalytic Cracking of Gas Oil205202max_time8.21e-025.24e-036.83e+01114.19e-020.00e+00
    Catalytic Cracking of Gas Oil405402max_time8.11e-025.24e-031.11e+00112.97e-020.00e+00
    Catalytic Cracking of Gas Oil805802max_time8.11e-025.24e-032.21e+00112.10e-020.00e+00
    Hang Glider698498max_time-9.50e+021.25e+034.51e+03224.75e-158.79e+01
    Hang Glider1398998max_time-9.50e+021.25e+038.86e+03226.76e-156.44e+01
    Hang Glider27981998max_time-9.50e+021.25e+031.77e+04225.05e-094.66e+01
    Transition States for the Henon Problem90first_order0.00e+007.22e+000.00e+00110.00e+000.00e+00
    Transition States for the Henon Problem190first_order0.00e+007.52e+010.00e+00110.00e+000.00e+00
    Transition States for the Henon Problem390first_order0.00e+001.26e+020.00e+00110.00e+000.00e+00
    Transition States for the Lane-Emden Problem90first_order0.00e+008.49e+000.00e+00110.00e+000.00e+00
    Transition States for the Lane-Emden Problem190first_order0.00e+009.11e+000.00e+00110.00e+000.00e+00
    Transition States for the Lane-Emden Problem390first_order0.00e+009.28e+000.00e+00110.00e+000.00e+00
    Methanol to Hydrocarbons308303exceptionInf9.02e-03Inf00InfInf
    Methanol to Hydrocarbons608603exceptionInf9.02e-03Inf00InfInf
    Methanol to Hydrocarbons12081203exceptionInf9.02e-03Inf00InfInf
    Minimal Surface with Obstacle50022401max_time2.33e+002.51e+001.94e+01116.85e-027.34e-03
    Minimal Surface with Obstacle112525476max_time2.32e+002.51e+001.59e+00225.29e-025.08e-03
    Minimal Surface with Obstacle200029801max_time2.33e+002.51e+002.33e+00224.44e-023.84e-03
    Robot Arm1200597max_time0.00e+009.14e+003.74e+00220.00e+002.01e+04
    Robot Arm24001197max_time0.00e+009.14e+003.87e+00220.00e+004.02e+04
    Robot Arm48002397max_time0.00e+009.14e+004.08e+00220.00e+008.04e+04
    Goddard Rocket24001600max_time-1.00e+001.01e+004.83e+04221.85e-022.64e-01
    Goddard Rocket48003200max_time-1.00e+001.01e+005.78e+04221.32e-021.90e-01
    Goddard Rocket96006400max_time-1.00e+001.01e+001.23e+05229.39e-031.69e-01
    Particle Steering800400max_time0.00e+005.55e-015.91e+01220.00e+001.35e+01
    Particle Steering1600800max_time0.00e+005.55e-011.80e+02220.00e+009.56e+00
    Particle Steering32001600max_time0.00e+005.55e-016.38e+02220.00e+006.79e+00
    Elastic-Plastic Torsion78027802max_time0.00e+00-4.18e-015.58e+01115.72e-029.93e-03
    Elastic-Plastic Torsion1732717327max_time0.00e+00-4.18e-012.22e+00113.82e-026.64e-03
    Elastic-Plastic Torsion3060230602max_time0.00e+00-4.18e-012.71e+00112.87e-024.98e-03

    knitro

    namenvarnconstatusobjectiveopt_valtime (s)#f#cdual_feasfeas
    Isometrization of α-pinene505500max_time0.00e+001.99e+014.33e+00110.00e+005.00e+01
    Isometrization of α-pinene10051000max_time0.00e+001.99e+011.10e+00110.00e+005.00e+01
    Isometrization of α-pinene20052000max_time0.00e+001.99e+011.26e+00110.00e+005.00e+01
    Journal Bearing26000max_time1.20e+01-1.55e-019.39e+00105.88e-010.00e+00
    Journal Bearing57750max_time5.06e+00-1.55e-015.31e+00202.31e-010.00e+00
    Journal Bearing102000max_time-1.05e+00-1.55e-011.09e+00503.17e-040.00e+00
    Catalyst Mixing602402max_time0.00e+00-4.81e-022.82e+00221.00e-022.49e-01
    Catalyst Mixing1202802max_time0.00e+00-4.81e-022.56e+00225.00e-032.49e-01
    Catalyst Mixing24021602max_time0.00e+00-4.81e-023.60e+00222.50e-032.50e-01
    Flow in a Channel800800first_order0.00e+001.00e+005.12e+01220.00e+001.99e-13
    Flow in a Channel16001600first_order0.00e+001.00e+001.58e+00220.00e+004.44e-16
    Flow in a Channel32003200first_order0.00e+001.00e+001.55e+00220.00e+006.66e-16
    Transition States for the Dirichlet Problem90first_order0.00e+001.94e-065.16e-02100.00e+000.00e+00
    Transition States for the Dirichlet Problem190first_order0.00e+001.71e-021.99e-01100.00e+000.00e+00
    Transition States for the Dirichlet Problem390first_order0.00e+003.29e-024.02e-02100.00e+000.00e+00
    Catalytic Cracking of Gas Oil205202max_time7.94e-025.24e-035.73e+01227.01e-034.86e-07
    Catalytic Cracking of Gas Oil405402max_time7.93e-025.24e-031.45e+00225.73e-033.20e-07
    Catalytic Cracking of Gas Oil805802max_time4.65e-025.24e-032.88e+00223.14e-037.89e-05
    Hang Glider698498max_time-9.50e+021.25e+032.77e+01114.44e-169.73e+00
    Hang Glider1398998max_time-9.50e+021.25e+032.74e+01116.66e-164.86e+00
    Hang Glider27981998max_time-9.50e+021.25e+032.77e+01116.66e-162.43e+00
    Transition States for the Henon Problem90first_order0.00e+007.22e+002.82e-02100.00e+000.00e+00
    Transition States for the Henon Problem190first_order0.00e+007.52e+012.74e-02100.00e+000.00e+00
    Transition States for the Henon Problem390first_order0.00e+001.26e+025.00e-02100.00e+000.00e+00
    Transition States for the Lane-Emden Problem90first_order0.00e+008.49e+002.56e-02100.00e+000.00e+00
    Transition States for the Lane-Emden Problem190first_order0.00e+009.11e+004.14e-02100.00e+000.00e+00
    Transition States for the Lane-Emden Problem390first_order0.00e+009.28e+003.79e-02100.00e+000.00e+00
    Methanol to Hydrocarbons308303exception2.33e-019.02e-036.73e-01111.80e+3080.00e+00
    Methanol to Hydrocarbons608603exception2.33e-019.02e-035.03e-01111.80e+3080.00e+00
    Methanol to Hydrocarbons12081203exception2.33e-019.02e-036.91e-01111.80e+3080.00e+00
    Minimal Surface with Obstacle50022401max_time5.78e+002.51e+001.86e+01335.09e-024.30e-04
    Minimal Surface with Obstacle112525476max_time6.40e+002.51e+001.70e+00333.33e-021.85e-04
    Minimal Surface with Obstacle200029801max_time8.47e+002.51e+002.43e+00332.65e-021.23e-04
    Robot Arm1200597max_time0.00e+009.14e+002.04e+00220.00e+008.31e+03
    Robot Arm24001197max_time0.00e+009.14e+001.79e+00220.00e+001.66e+04
    Robot Arm48002397max_time0.00e+009.14e+002.33e+00220.00e+003.32e+04
    Goddard Rocket24001600max_time-1.00e+001.01e+003.13e+00332.50e-034.61e-02
    Goddard Rocket48003200max_time-1.00e+001.01e+003.16e+00331.25e-032.30e-02
    Goddard Rocket96006400max_time-1.00e+001.01e+003.36e+00336.25e-041.15e-02
    Particle Steering800400first_order0.00e+005.55e-011.80e+01220.00e+007.62e-12
    Particle Steering1600800first_order0.00e+005.55e-013.54e-01220.00e+001.66e-11
    Particle Steering32001600first_order0.00e+005.55e-015.49e-01220.00e+002.86e-11
    Elastic-Plastic Torsion78027802max_time0.00e+00-4.18e-011.93e+00228.06e-045.92e-04
    Elastic-Plastic Torsion1732717327max_time0.00e+00-4.18e-011.19e+01223.60e-042.64e-04
    Elastic-Plastic Torsion3060230602max_time0.00e+00-4.18e-012.72e+01222.14e-041.49e-04

    ipopt

    namenvarnconstatusobjectiveopt_valtime (s)#f#cdual_feasfeas
    Isometrization of α-pinene505500max_time0.00e+001.99e+011.67e+00110.00e+005.00e+01
    Isometrization of α-pinene10051000max_time0.00e+001.99e+011.83e+00110.00e+005.00e+01
    Isometrization of α-pinene20052000max_time0.00e+001.99e+012.02e+00110.00e+005.00e+01
    Journal Bearing26000max_time0.00e+00-1.55e-011.06e+00902.19e-050.00e+00
    Journal Bearing57750max_time0.00e+00-1.55e-011.08e+00405.14e-020.00e+00
    Journal Bearing102000max_time0.00e+00-1.55e-011.07e+00301.74e-010.00e+00
    Catalyst Mixing602402max_time0.00e+00-4.81e-022.58e+00111.00e-022.50e-01
    Catalyst Mixing1202802max_time0.00e+00-4.81e-022.53e+00115.00e-032.50e-01
    Catalyst Mixing24021602max_time0.00e+00-4.81e-025.93e+00112.50e-032.50e-01
    Flow in a Channel800800max_time0.00e+001.00e+002.68e+01222.00e-023.32e-08
    Flow in a Channel16001600max_time0.00e+001.00e+001.52e+00222.00e-026.64e-08
    Flow in a Channel32003200max_time0.00e+001.00e+001.15e+00222.00e-021.33e-07
    Transition States for the Dirichlet Problem90first_order0.00e+001.94e-064.90e-02100.00e+000.00e+00
    Transition States for the Dirichlet Problem190first_order0.00e+001.71e-021.48e-01100.00e+000.00e+00
    Transition States for the Dirichlet Problem390first_order0.00e+003.29e-024.40e-02100.00e+000.00e+00
    Catalytic Cracking of Gas Oil205202max_time0.00e+005.24e-032.90e+00221.03e-025.89e-06
    Catalytic Cracking of Gas Oil405402max_time0.00e+005.24e-031.42e+00221.47e-023.88e-06
    Catalytic Cracking of Gas Oil805802max_time0.00e+005.24e-031.88e+00223.79e-021.84e-06
    Hang Glider698498max_time0.00e+001.25e+033.71e+01111.00e+009.73e+00
    Hang Glider1398998max_time0.00e+001.25e+033.77e+01111.00e+004.86e+00
    Hang Glider27981998max_time0.00e+001.25e+033.86e+01111.00e+002.43e+00
    Transition States for the Henon Problem90first_order0.00e+007.22e+003.60e-02100.00e+000.00e+00
    Transition States for the Henon Problem190first_order0.00e+007.52e+014.00e-02100.00e+000.00e+00
    Transition States for the Henon Problem390first_order0.00e+001.26e+021.36e-01100.00e+000.00e+00
    Transition States for the Lane-Emden Problem90first_order0.00e+008.49e+003.80e-02100.00e+000.00e+00
    Transition States for the Lane-Emden Problem190first_order0.00e+009.11e+004.00e-02100.00e+000.00e+00
    Transition States for the Lane-Emden Problem390first_order0.00e+009.28e+003.90e-02100.00e+000.00e+00
    Methanol to Hydrocarbons308303unknown0.00e+009.02e-031.67e+0101InfInf
    Methanol to Hydrocarbons608603unknown0.00e+009.02e-031.20e+0001InfInf
    Methanol to Hydrocarbons12081203unknown0.00e+009.02e-031.03e+0101InfInf
    Minimal Surface with Obstacle50022401max_time0.00e+002.51e+001.29e+00111.00e+003.84e-04
    Minimal Surface with Obstacle112525476max_time0.00e+002.51e+001.14e+01111.00e+001.74e-04
    Minimal Surface with Obstacle200029801max_time0.00e+002.51e+004.18e+01111.00e+009.85e-05
    Robot Arm1200597max_time0.00e+009.14e+002.07e+00110.00e+001.41e+04
    Robot Arm24001197max_time0.00e+009.14e+002.08e+00110.00e+002.83e+04
    Robot Arm48002397max_time0.00e+009.14e+001.83e+00110.00e+005.66e+04
    Goddard Rocket24001600max_time0.00e+001.01e+002.92e+00111.19e+001.00e-02
    Goddard Rocket48003200max_time0.00e+001.01e+002.92e+00111.00e+001.00e-02
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    Particle Steering1600800max_time0.00e+005.55e-011.06e+00440.00e+006.15e-12
    Particle Steering32001600max_time0.00e+005.55e-011.07e+00440.00e+005.94e-12
    Elastic-Plastic Torsion78027802max_time0.00e+00-4.18e-017.97e+01222.00e-071.01e-05
    Elastic-Plastic Torsion1732717327max_time0.00e+00-4.18e-013.60e+02222.00e-075.46e-06
    Elastic-Plastic Torsion3060230602max_time0.00e+00-4.18e-011.14e+00111.00e+005.05e-05
    diff --git a/previews/PR41/index.html b/previews/PR41/index.html new file mode 100644 index 0000000..7e19e9d --- /dev/null +++ b/previews/PR41/index.html @@ -0,0 +1,2 @@ + +Home · PDEOptimizationProblems
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    Reference

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    Contents

    ​

    ​

    Index

    ​

    ​

    PDEOptimizationProblems.meta — Constant
    PDEOptimizationProblems.meta

    A composite type that represents the main features of the PDE-constrained optimization problem. optimize ∫( f(θ, y, u) )dΩ subject to lvar ≤ (θ, y, u) ≤ uvar ∫( res(θ, y, u, v) )dΩ = 0 –- The following keys are valid: Problem meta

    • domaindim: dimension of the domain 1/2/3 for 1D/2D/3D
    • pbtype: in pbtypes
    • nθ: size of the unknown vector
    • ny: number of unknown function
    • nu: number of control function

    Solution meta

    • optimalvalue: best known objective value (NaN if unknown, -Inf if unbounded problem)

    Classification

    • objtype: in objtypes
    • contype: in contypes
    • origin: in origins
    • has_cvx_obj: true if the problem has a convex objective
    • has_cvx_con: true if the problem has convex constraints
    • has_bounds: true if the problem has bound constraints
    • has_fixed_variables: true if it has fixed variables
    source
    PDEOptimizationProblems.burger1d — Method

    Burger1d(;n :: Int = 512, kwargs...)

    Let Ω=(0,1), we solve the one-dimensional ODE-constrained control problem: min{y,u} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -ν y'' + yy' = u + h, for x ∈ Ω, y(0) = 0, y(1)=-1, for x ∈ ∂Ω, where the constraint is a 1D stationary Burger's equation over Ω, with h(x)=2(ν + x^3) and ν=0.08. The first objective measures deviation from the data y_d(x)=-x^2, while the second term regularizes the control with α = 0.01.

    This example has been used in, Section 9.1, Estrin, R., Friedlander, M. P., Orban, D., & Saunders, M. A. (2020). Implementing a smooth exact penalty function for equality-constrained nonlinear optimization. SIAM Journal on Scientific Computing, 42(3), A1809-A1835.

    The specificity of the problem:

    • quadratic objective function;
    • nonlinear constraints with AD jacobian;

    Suggestions:

    • FEOperatorFromTerms has only one term. We might consider splitting linear and

    nonlinear terms.

    source
    PDEOptimizationProblems.cellincrease — Method

    Mairet, F., & Bayen, T. (2021). The promise of dawn: microalgae photoacclimation as an optimal control problem of resource allocation. Journal of Theoretical Biology, 515, 110597.

    Using a photosynthetic rate proportional to the photosynthetic apparatus mass fraction.

    source
    PDEOptimizationProblems.cellincrease_MichaelisMenten — Method

    Mairet, F., & Bayen, T. (2021). The promise of dawn: microalgae photoacclimation as an optimal control problem of resource allocation. Journal of Theoretical Biology, 515, 110597.

    Using Michaelis-Menten's function for the photosynthetic rate.

    source
    PDEOptimizationProblems.controlelasticmembrane1 — Method

    controlelasticmembrane1(; n :: Int = 10, args...)

    Let Ω = (-1,1)^2, we solve the following distributed Poisson control problem with Dirichlet boundary:

    min{y ∈ H^10,u ∈ H^1} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -Δy = h + u, for x ∈ Ω y = 0, for x ∈ ∂Ω umin(x) <= u(x) <= umax(x) where yd(x) = -x[1]^2 and α = 1e-2. The force term is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. In this first case, the bound constraints are constants with umin(x) = 0.0 and umax(x) = 1.0.

    source
    PDEOptimizationProblems.controlelasticmembrane2 — Method

    controlelasticmembrane2(; n :: Int = 10, args...)

    Let Ω = (-1,1)^2, we solve the following distributed Poisson control problem with Dirichlet boundary:

    min{y ∈ H^10,u ∈ H^1} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -Δy = h + u, for x ∈ Ω y = 0, for x ∈ ∂Ω umin(x) <= u(x) <= umax(x) where yd(x) = -x[1]^2 and α = 1e-2. The force term is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. In this second case, the bound constraints are umin(x) = x1+x2 and umax(x) = x1^2+x2^2 applied at the midpoint of the cells.

    source
    PDEOptimizationProblems.incompressiblenavierstokes — Method

    incompressibleNavierStokes(; n :: Int64 = 3, kargs...)

    This corresponds to the incompressible Navier-Stokes equation described in the Gridap Tutorials: https://gridap.github.io/Tutorials/stable/pages/t008incnavier_stokes/

    It has no objective function and no control, just the PDE.

    source
    PDEOptimizationProblems.inversepoissonproblem2d — Method

    inversePoissonproblem2d(;n :: Int = 512, kwargs...)

    Let Ω=(-1,1)^2, we solve the 2-dimensional PDE-constrained control problem: min{y ∈ H1^0, u ∈ L^∞} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -∇⋅(z∇u) = h, for x ∈ Ω, u(x) = 0, for x ∈ ∂Ω. Let c = (0.2,0.2) and and define S1 = {x | ||x-c||2 ≤ 0.3 } and S2 = {x | ||x-c||1 ≤ 0.6 }. The target ud is generated as the solution of the PDE with z*(x) = 1 + 0.5 * I{S1}(x) + 0.5 * I{S2}(x). The force term here is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. The control variable z represents the diffusion coefficients for the Poisson problem that we are trying to recover. Set α = 10^{-4} and discretize using P1 finite elements on a uniform mesh of 1089 triangles and employ an identical discretization for the optimization variables u, thus ncon = 1089 and npde = 961. Initial point is y0=1 and u_0 = 1. z ≥ 0 (implicit)

    This example has been used in, Section 9.2, Estrin, R., Friedlander, M. P., Orban, D., & Saunders, M. A. (2020). Implementing a smooth exact penalty function for equality-constrained nonlinear optimization. SIAM Journal on Scientific Computing, 42(3), A1809-A1835.

    source
    PDEOptimizationProblems.membrane — Method

    https://arxiv.org/pdf/2103.14552.pdf Example 1. MEMBRANE Multilevel Active-Set Trust-Region (MASTR) Method for Bound Constrained Minimization Alena Kopaničáková and Rolf Krause

    The solution and original problem is given in Domorádová, M., & Dostál, Z. (2007). Projector preconditioning for partially bound‐constrained quadratic optimization. Numerical Linear Algebra with Applications, 14(10), 791-806.

    source
    PDEOptimizationProblems.penalizedpoisson — Method

    Let Ω=(0,1)^2, we solve the unconstrained optimization problem: min{u ∈ H1^0} 0.5 ∫_Ω​ |∇u|^2 - w u dx s.t. u(x) = 0, for x ∈ ∂Ω whre w(x)=1.0.

    The minimizer of this problem is the solution of the Poisson equation: ∫_Ω​ (∇u ∇v - f*v)dx = 0, ∀ v ∈ Ω u = 0, x ∈ ∂Ω

    This example has been used in Exercice 10.2.4 (p. 308) of G. Allaire, Analyse numérique et optimisation, Les éditions de Polytechnique

    source
    PDEOptimizationProblems.poisson3d — Method

    poisson3d(; n :: Int = 10)

    This example represents a Poisson equation with Dirichlet boundary conditions over the 3d-box, (0,1)^3, and we minimize the squared H_1-norm to a manufactured solution. So, the minimal value is expected to be 0.

    It is inspired from the 2nd tutorial in Gridap.jl: https://gridap.github.io/Tutorials/stable/pages/t002_validation/

    source
    PDEOptimizationProblems.poissonboltzman2d — Method

    poissonBoltzman2d(; n :: Int = 100)

    Let Ω=(-1,1)^2, we solve the 2-dimensional PDE-constrained control problem: min{y ∈ H1^0, u ∈ L^∞} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -Δy + sinh(y) = h + u, for x ∈ Ω y(x) = 0, for x ∈ ∂Ω

    The force term here is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. The targeted function is yd(x) = {10 if x ∈ [0.25,0.75]^2, 5 otherwise}. We discretize using P1 finite elements on a uniform mesh with 10201 triangles, resulting in a problem with n = 20002 variables and m = 9801 constraints. We use y0=1 and u0 = 1 as the initial point.

    This example has been used in, Section 9.3, Estrin, R., Friedlander, M. P., Orban, D., & Saunders, M. A. (2020). Implementing a smooth exact penalty function for equality-constrained nonlinear optimization. SIAM Journal on Scientific Computing, 42(3), A1809-A1835.

    The specificity of the problem:

    • quadratic objective function;
    • nonlinear constraints with AD jacobian;
    source
    PDEOptimizationProblems.smallestlaplacianeigenvalue — Method

    smallestLaplacianeigenvalue(; n :: Int = 10, args...)

    We solve the following problem:

    min{u,z} ∫Ω​ |∇u|^2 s.t. ∫_Ω​ u^2 = 1, for x ∈ Ω u = 0, for x ∈ ∂Ω

    The solution is an eigenvector of the smallest eigenvalue of the Laplacian operator, given by the value of the objective function. λ is an eigenvalue of the Laplacian if there exists u such that

    Δu + λ u = 0, for x ∈ Ω u = 0, for x ∈ ∂Ω

    This example has been used in Exercice 10.2.11 (p. 313) of G. Allaire, Analyse numérique et optimisation, Les éditions de Polytechnique and more eigenvalue problems can be found in Section 7.3.2

    TODO:

    • does the 1 work as it is? or should it be put in lcon, ucon?
    • it is 1D for now.
    source
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z$MpK?d8MY(bkWGDf!L{)_I5k$w41l@3B1R&bK}6;iPE%FS)TFd_xxXNf_p5*POZI7 zui!nV%`eBdm`KwdDj)2y(-4=4K|jcSSuc6v}tKf+j=Ce>Is z;=QFQe;TM`r#D8Wd19x7H`T^Ykfw=mH?-irrFp}j_r*>lauWTp)0Dig_m7vRH#N?_ z#d}NjPUvZ3r)e(he6UmFUh%Qxr0K&Ou1$DvX{+;}-LO;VmKzG}v~bXd&10phqWwuV z-doydk!GurG&TNflsR@fz)^D%c6!)#aR%O7I;PmK&`_G%J&61V? +Search · PDEOptimizationProblems

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      diff --git a/previews/PR41/search_index.js b/previews/PR41/search_index.js new file mode 100644 index 0000000..6e30c85 --- /dev/null +++ b/previews/PR41/search_index.js @@ -0,0 +1,3 @@ +var documenterSearchIndex = {"docs": +[{"location":"tuto_rocket/#Goddard-Rocket-Control","page":"Rocket Control","title":"Goddard Rocket Control","text":"","category":"section"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"using Gridap, PDENLPModels, PDEOptimizationProblems","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"This tutorial shows how to solve a nonlinear rocketry control problem. The problem was drawn from the COPS3 benchmark, and was used in JuMP's tutorials rocket control.","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"PDEOptimizationProblems contains a list of predefined PDE-constrained optimization problems, e.g. Goddard rocket control problem via the function rocket. Note that the models in PDEOptimizationProblems are in Lagrangian form, so the implementation considers a Mayer to Lagrange formulation that adds an additional (constant) function H := h(T) see in the code.","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"T = 0.2 # final time\nn = 800 # number of cells\n\nnlp = rocket(n = n, T = T)","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"The return model is a GridapPDENLPModel and, in particular, is an instance of an AbstractNLPModel that can be solved with any tool from the JuliaSmoothOptimizers organization. Then, using NLPModelsIpopt.jl, we solve the model and get the required information.","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"using NLPModelsIpopt\n\nstats = ipopt(nlp, x0 = nlp.meta.x0)\nobj_ipopt, con_ipopt = stats.objective, stats.primal_feas\n(hh, Hh, vh, mh), uh = split_vectors(nlp, stats.solution)","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"Finally, we can plot the functions, and the results match JuMP's tutorial and COPS 3 report.","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"using Plots\ngr()\n\nh₀, m₀, mᵪ = 1.0, 1.0, 0.6\np = Plots.plot(\n Plots.plot(0:T/n:T, vcat(h₀, hh); xlabel = \"Time (s)\", ylabel = \"Altitude\"),\n Plots.plot(0:T/n:T, vcat(m₀, mh, mᵪ * m₀); xlabel = \"Time (s)\", ylabel = \"Mass\"),\n Plots.plot(0:T/n:T, vcat(0., vh); xlabel = \"Time (s)\", ylabel = \"Velocity\"),\n Plots.plot(0:T/(length(uh) - 1):T, uh; xlabel = \"Time (s)\", ylabel = \"Thrust\"),\n layout = (2, 2),\n legend = false,\n margin = 1Plots.cm,\n)","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"An alternative is also to intepolate the entire solution over the domain as an FEFunction (Gridap's function type) and save the interpolation in a VTK file.","category":"page"},{"location":"tuto_rocket/","page":"Rocket Control","title":"Rocket Control","text":"Ypde = nlp.pdemeta.Ypde\nh_h = FEFunction(Ypde.spaces[1], hh)\nH_h = FEFunction(Ypde.spaces[2], Hh)\nv_h = FEFunction(Ypde.spaces[3], vh)\nm_h = FEFunction(Ypde.spaces[4], mh)\nu_h = FEFunction(nlp.pdemeta.Ycon, uh)\n\nwritevtk(\n nlp.pdemeta.tnrj.trian,\n \"results_robot\",\n cellfields=[\"uh\" => u_h, \"hh\" => h_h, \"Hh\" => H_h, \"vh\" => v_h, \"mh\" => m_h],\n)","category":"page"},{"location":"reference/#Reference","page":"Reference","title":"Reference","text":"","category":"section"},{"location":"reference/","page":"Reference","title":"Reference","text":"​","category":"page"},{"location":"reference/#Contents","page":"Reference","title":"Contents","text":"","category":"section"},{"location":"reference/","page":"Reference","title":"Reference","text":"​","category":"page"},{"location":"reference/","page":"Reference","title":"Reference","text":"Pages = [\"reference.md\"]","category":"page"},{"location":"reference/","page":"Reference","title":"Reference","text":"​","category":"page"},{"location":"reference/#Index","page":"Reference","title":"Index","text":"","category":"section"},{"location":"reference/","page":"Reference","title":"Reference","text":"​","category":"page"},{"location":"reference/","page":"Reference","title":"Reference","text":"Pages = [\"reference.md\"]","category":"page"},{"location":"reference/","page":"Reference","title":"Reference","text":"​","category":"page"},{"location":"reference/","page":"Reference","title":"Reference","text":"Modules = [PDEOptimizationProblems]","category":"page"},{"location":"reference/#PDEOptimizationProblems.meta","page":"Reference","title":"PDEOptimizationProblems.meta","text":"PDEOptimizationProblems.meta\n\nA composite type that represents the main features of the PDE-constrained optimization problem. optimize ∫( f(θ, y, u) )dΩ subject to lvar ≤ (θ, y, u) ≤ uvar ∫( res(θ, y, u, v) )dΩ = 0 –- The following keys are valid: Problem meta\n\ndomaindim: dimension of the domain 1/2/3 for 1D/2D/3D\npbtype: in pbtypes\nnθ: size of the unknown vector\nny: number of unknown function\nnu: number of control function\n\nSolution meta\n\noptimalvalue: best known objective value (NaN if unknown, -Inf if unbounded problem)\n\nClassification\n\nobjtype: in objtypes\ncontype: in contypes\norigin: in origins\nhas_cvx_obj: true if the problem has a convex objective\nhas_cvx_con: true if the problem has convex constraints\nhas_bounds: true if the problem has bound constraints\nhas_fixed_variables: true if it has fixed variables\n\n\n\n\n\n","category":"constant"},{"location":"reference/#PDEOptimizationProblems.burger1d-Tuple","page":"Reference","title":"PDEOptimizationProblems.burger1d","text":"Burger1d(;n :: Int = 512, kwargs...)\n\nLet Ω=(0,1), we solve the one-dimensional ODE-constrained control problem: min{y,u} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -ν y'' + yy' = u + h, for x ∈ Ω, y(0) = 0, y(1)=-1, for x ∈ ∂Ω, where the constraint is a 1D stationary Burger's equation over Ω, with h(x)=2(ν + x^3) and ν=0.08. The first objective measures deviation from the data y_d(x)=-x^2, while the second term regularizes the control with α = 0.01.\n\nThis example has been used in, Section 9.1, Estrin, R., Friedlander, M. P., Orban, D., & Saunders, M. A. (2020). Implementing a smooth exact penalty function for equality-constrained nonlinear optimization. SIAM Journal on Scientific Computing, 42(3), A1809-A1835.\n\nThe specificity of the problem:\n\nquadratic objective function;\nnonlinear constraints with AD jacobian;\n\nSuggestions:\n\nFEOperatorFromTerms has only one term. We might consider splitting linear and\n\nnonlinear terms.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.cellincrease-Tuple","page":"Reference","title":"PDEOptimizationProblems.cellincrease","text":"Mairet, F., & Bayen, T. (2021). The promise of dawn: microalgae photoacclimation as an optimal control problem of resource allocation. Journal of Theoretical Biology, 515, 110597.\n\nUsing a photosynthetic rate proportional to the photosynthetic apparatus mass fraction.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.cellincrease_MichaelisMenten-Tuple","page":"Reference","title":"PDEOptimizationProblems.cellincrease_MichaelisMenten","text":"Mairet, F., & Bayen, T. (2021). The promise of dawn: microalgae photoacclimation as an optimal control problem of resource allocation. Journal of Theoretical Biology, 515, 110597.\n\nUsing Michaelis-Menten's function for the photosynthetic rate.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.controlelasticmembrane1-Tuple","page":"Reference","title":"PDEOptimizationProblems.controlelasticmembrane1","text":"controlelasticmembrane1(; n :: Int = 10, args...)\n\nLet Ω = (-1,1)^2, we solve the following distributed Poisson control problem with Dirichlet boundary:\n\nmin{y ∈ H^10,u ∈ H^1} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -Δy = h + u, for x ∈ Ω y = 0, for x ∈ ∂Ω umin(x) <= u(x) <= umax(x) where yd(x) = -x[1]^2 and α = 1e-2. The force term is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. In this first case, the bound constraints are constants with umin(x) = 0.0 and umax(x) = 1.0.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.controlelasticmembrane2-Tuple{}","page":"Reference","title":"PDEOptimizationProblems.controlelasticmembrane2","text":"controlelasticmembrane2(; n :: Int = 10, args...)\n\nLet Ω = (-1,1)^2, we solve the following distributed Poisson control problem with Dirichlet boundary:\n\nmin{y ∈ H^10,u ∈ H^1} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -Δy = h + u, for x ∈ Ω y = 0, for x ∈ ∂Ω umin(x) <= u(x) <= umax(x) where yd(x) = -x[1]^2 and α = 1e-2. The force term is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. In this second case, the bound constraints are umin(x) = x1+x2 and umax(x) = x1^2+x2^2 applied at the midpoint of the cells.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.incompressiblenavierstokes-Tuple","page":"Reference","title":"PDEOptimizationProblems.incompressiblenavierstokes","text":"incompressibleNavierStokes(; n :: Int64 = 3, kargs...)\n\nThis corresponds to the incompressible Navier-Stokes equation described in the Gridap Tutorials: https://gridap.github.io/Tutorials/stable/pages/t008incnavier_stokes/\n\nIt has no objective function and no control, just the PDE.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.inversepoissonproblem2d-Tuple{}","page":"Reference","title":"PDEOptimizationProblems.inversepoissonproblem2d","text":"inversePoissonproblem2d(;n :: Int = 512, kwargs...)\n\nLet Ω=(-1,1)^2, we solve the 2-dimensional PDE-constrained control problem: min{y ∈ H1^0, u ∈ L^∞} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -∇⋅(z∇u) = h, for x ∈ Ω, u(x) = 0, for x ∈ ∂Ω. Let c = (0.2,0.2) and and define S1 = {x | ||x-c||2 ≤ 0.3 } and S2 = {x | ||x-c||1 ≤ 0.6 }. The target ud is generated as the solution of the PDE with z*(x) = 1 + 0.5 * I{S1}(x) + 0.5 * I{S2}(x). The force term here is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. The control variable z represents the diffusion coefficients for the Poisson problem that we are trying to recover. Set α = 10^{-4} and discretize using P1 finite elements on a uniform mesh of 1089 triangles and employ an identical discretization for the optimization variables u, thus ncon = 1089 and npde = 961. Initial point is y0=1 and u_0 = 1. z ≥ 0 (implicit)\n\nThis example has been used in, Section 9.2, Estrin, R., Friedlander, M. P., Orban, D., & Saunders, M. A. (2020). Implementing a smooth exact penalty function for equality-constrained nonlinear optimization. SIAM Journal on Scientific Computing, 42(3), A1809-A1835.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.membrane-Tuple","page":"Reference","title":"PDEOptimizationProblems.membrane","text":"https://arxiv.org/pdf/2103.14552.pdf Example 1. MEMBRANE Multilevel Active-Set Trust-Region (MASTR) Method for Bound Constrained Minimization Alena Kopaničáková and Rolf Krause\n\nThe solution and original problem is given in Domorádová, M., & Dostál, Z. (2007). Projector preconditioning for partially bound‐constrained quadratic optimization. Numerical Linear Algebra with Applications, 14(10), 791-806.\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.penalizedpoisson-Tuple","page":"Reference","title":"PDEOptimizationProblems.penalizedpoisson","text":"Let Ω=(0,1)^2, we solve the unconstrained optimization problem: min{u ∈ H1^0} 0.5 ∫_Ω​ |∇u|^2 - w u dx s.t. u(x) = 0, for x ∈ ∂Ω whre w(x)=1.0.\n\nThe minimizer of this problem is the solution of the Poisson equation: ∫_Ω​ (∇u ∇v - f*v)dx = 0, ∀ v ∈ Ω u = 0, x ∈ ∂Ω\n\nThis example has been used in Exercice 10.2.4 (p. 308) of G. Allaire, Analyse numérique et optimisation, Les éditions de Polytechnique\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.poisson3d-Tuple{}","page":"Reference","title":"PDEOptimizationProblems.poisson3d","text":"poisson3d(; n :: Int = 10)\n\nThis example represents a Poisson equation with Dirichlet boundary conditions over the 3d-box, (0,1)^3, and we minimize the squared H_1-norm to a manufactured solution. So, the minimal value is expected to be 0.\n\nIt is inspired from the 2nd tutorial in Gridap.jl: https://gridap.github.io/Tutorials/stable/pages/t002_validation/\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.poissonboltzman2d-Tuple{}","page":"Reference","title":"PDEOptimizationProblems.poissonboltzman2d","text":"poissonBoltzman2d(; n :: Int = 100)\n\nLet Ω=(-1,1)^2, we solve the 2-dimensional PDE-constrained control problem: min{y ∈ H1^0, u ∈ L^∞} 0.5 ∫Ω​ |y(x) - yd(x)|^2dx + 0.5 * α * ∫Ω​ |u|^2 s.t. -Δy + sinh(y) = h + u, for x ∈ Ω y(x) = 0, for x ∈ ∂Ω\n\nThe force term here is h(x1,x2) = - sin( ω x1)sin( ω x2) with ω = π - 1/8. The targeted function is yd(x) = {10 if x ∈ [0.25,0.75]^2, 5 otherwise}. We discretize using P1 finite elements on a uniform mesh with 10201 triangles, resulting in a problem with n = 20002 variables and m = 9801 constraints. We use y0=1 and u0 = 1 as the initial point.\n\nThis example has been used in, Section 9.3, Estrin, R., Friedlander, M. P., Orban, D., & Saunders, M. A. (2020). Implementing a smooth exact penalty function for equality-constrained nonlinear optimization. SIAM Journal on Scientific Computing, 42(3), A1809-A1835.\n\nThe specificity of the problem:\n\nquadratic objective function;\nnonlinear constraints with AD jacobian;\n\n\n\n\n\n","category":"method"},{"location":"reference/#PDEOptimizationProblems.smallestlaplacianeigenvalue-Tuple{}","page":"Reference","title":"PDEOptimizationProblems.smallestlaplacianeigenvalue","text":"smallestLaplacianeigenvalue(; n :: Int = 10, args...)\n\nWe solve the following problem:\n\nmin{u,z} ∫Ω​ |∇u|^2 s.t. ∫_Ω​ u^2 = 1, for x ∈ Ω u = 0, for x ∈ ∂Ω\n\nThe solution is an eigenvector of the smallest eigenvalue of the Laplacian operator, given by the value of the objective function. λ is an eigenvalue of the Laplacian if there exists u such that\n\nΔu + λ u = 0, for x ∈ Ω u = 0, for x ∈ ∂Ω\n\nThis example has been used in Exercice 10.2.11 (p. 313) of G. Allaire, Analyse numérique et optimisation, Les éditions de Polytechnique and more eigenvalue problems can be found in Section 7.3.2\n\nTODO:\n\ndoes the 1 work as it is? or should it be put in lcon, ucon?\nit is 1D for now.\n\n\n\n\n\n","category":"method"},{"location":"cops/#Simulations-on-COPS-3-test-set","page":"COPS","title":"Simulations on COPS 3 test set","text":"","category":"section"},{"location":"cops/","page":"COPS","title":"COPS","text":"We run DCISolver.jl and NLPModelsIpopt.jl and NLPModelsKnitro.jl on an infinite-dimensional implementation of test problems from COPS 3.0 test set.","category":"page"},{"location":"cops/#DCILDL","page":"COPS","title":"DCILDL","text":"","category":"section"},{"location":"cops/","page":"COPS","title":"COPS","text":"name nvar ncon status objective opt_val time (s) #f #c dual_feas feas\nIsometrization of α-pinene 505 500 max_time 0.00e+00 1.99e+01 8.49e+00 2 2 0.00e+00 2.84e+01\nIsometrization of α-pinene 1005 1000 max_time 0.00e+00 1.99e+01 4.05e+00 2 2 0.00e+00 2.84e+01\nIsometrization of α-pinene 2005 2000 max_time 0.00e+00 1.99e+01 4.42e+00 2 2 0.00e+00 2.84e+01\nJournal Bearing 2600 0 exception Inf -1.55e-01 Inf 0 0 Inf Inf\nJournal Bearing 5775 0 exception Inf -1.55e-01 Inf 0 0 Inf Inf\nJournal Bearing 10200 0 exception Inf -1.55e-01 Inf 0 0 Inf Inf\nCatalyst Mixing 602 402 max_time 0.00e+00 -4.81e-02 9.96e+01 1 1 1.41e-01 2.50e-01\nCatalyst Mixing 1202 802 max_time 0.00e+00 -4.81e-02 3.94e+00 1 1 9.98e-02 2.50e-01\nCatalyst Mixing 2402 1602 max_time 0.00e+00 -4.81e-02 1.07e+03 2 2 7.07e-02 2.50e-01\nFlow in a Channel 800 800 max_time 0.00e+00 1.00e+00 5.14e+00 2 2 0.00e+00 2.20e-01\nFlow in a Channel 1600 1600 max_time 0.00e+00 1.00e+00 2.57e+00 2 2 0.00e+00 2.20e-01\nFlow in a Channel 3200 3200 max_time 0.00e+00 1.00e+00 2.78e+00 2 2 0.00e+00 2.20e-01\nTransition States for the Dirichlet Problem 9 0 first_order 0.00e+00 1.94e-06 0.00e+00 1 1 0.00e+00 0.00e+00\nTransition States for the Dirichlet Problem 19 0 first_order 0.00e+00 1.71e-02 0.00e+00 1 1 0.00e+00 0.00e+00\nTransition States for the Dirichlet Problem 39 0 first_order 0.00e+00 3.29e-02 0.00e+00 1 1 0.00e+00 0.00e+00\nCatalytic Cracking of Gas Oil 205 202 max_time 8.21e-02 5.24e-03 6.83e+01 1 1 4.19e-02 0.00e+00\nCatalytic Cracking of Gas Oil 405 402 max_time 8.11e-02 5.24e-03 1.11e+00 1 1 2.97e-02 0.00e+00\nCatalytic Cracking of Gas Oil 805 802 max_time 8.11e-02 5.24e-03 2.21e+00 1 1 2.10e-02 0.00e+00\nHang Glider 698 498 max_time -9.50e+02 1.25e+03 4.51e+03 2 2 4.75e-15 8.79e+01\nHang Glider 1398 998 max_time -9.50e+02 1.25e+03 8.86e+03 2 2 6.76e-15 6.44e+01\nHang Glider 2798 1998 max_time -9.50e+02 1.25e+03 1.77e+04 2 2 5.05e-09 4.66e+01\nTransition States for the Henon Problem 9 0 first_order 0.00e+00 7.22e+00 0.00e+00 1 1 0.00e+00 0.00e+00\nTransition States for the Henon Problem 19 0 first_order 0.00e+00 7.52e+01 0.00e+00 1 1 0.00e+00 0.00e+00\nTransition States for the Henon Problem 39 0 first_order 0.00e+00 1.26e+02 0.00e+00 1 1 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 9 0 first_order 0.00e+00 8.49e+00 0.00e+00 1 1 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 19 0 first_order 0.00e+00 9.11e+00 0.00e+00 1 1 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 39 0 first_order 0.00e+00 9.28e+00 0.00e+00 1 1 0.00e+00 0.00e+00\nMethanol to Hydrocarbons 308 303 exception Inf 9.02e-03 Inf 0 0 Inf Inf\nMethanol to Hydrocarbons 608 603 exception Inf 9.02e-03 Inf 0 0 Inf Inf\nMethanol to Hydrocarbons 1208 1203 exception Inf 9.02e-03 Inf 0 0 Inf Inf\nMinimal Surface with Obstacle 5002 2401 max_time 2.33e+00 2.51e+00 1.94e+01 1 1 6.85e-02 7.34e-03\nMinimal Surface with Obstacle 11252 5476 max_time 2.32e+00 2.51e+00 1.59e+00 2 2 5.29e-02 5.08e-03\nMinimal Surface with Obstacle 20002 9801 max_time 2.33e+00 2.51e+00 2.33e+00 2 2 4.44e-02 3.84e-03\nRobot Arm 1200 597 max_time 0.00e+00 9.14e+00 3.74e+00 2 2 0.00e+00 2.01e+04\nRobot Arm 2400 1197 max_time 0.00e+00 9.14e+00 3.87e+00 2 2 0.00e+00 4.02e+04\nRobot Arm 4800 2397 max_time 0.00e+00 9.14e+00 4.08e+00 2 2 0.00e+00 8.04e+04\nGoddard Rocket 2400 1600 max_time -1.00e+00 1.01e+00 4.83e+04 2 2 1.85e-02 2.64e-01\nGoddard Rocket 4800 3200 max_time -1.00e+00 1.01e+00 5.78e+04 2 2 1.32e-02 1.90e-01\nGoddard Rocket 9600 6400 max_time -1.00e+00 1.01e+00 1.23e+05 2 2 9.39e-03 1.69e-01\nParticle Steering 800 400 max_time 0.00e+00 5.55e-01 5.91e+01 2 2 0.00e+00 1.35e+01\nParticle Steering 1600 800 max_time 0.00e+00 5.55e-01 1.80e+02 2 2 0.00e+00 9.56e+00\nParticle Steering 3200 1600 max_time 0.00e+00 5.55e-01 6.38e+02 2 2 0.00e+00 6.79e+00\nElastic-Plastic Torsion 7802 7802 max_time 0.00e+00 -4.18e-01 5.58e+01 1 1 5.72e-02 9.93e-03\nElastic-Plastic Torsion 17327 17327 max_time 0.00e+00 -4.18e-01 2.22e+00 1 1 3.82e-02 6.64e-03\nElastic-Plastic Torsion 30602 30602 max_time 0.00e+00 -4.18e-01 2.71e+00 1 1 2.87e-02 4.98e-03","category":"page"},{"location":"cops/#knitro","page":"COPS","title":"knitro","text":"","category":"section"},{"location":"cops/","page":"COPS","title":"COPS","text":"name nvar ncon status objective opt_val time (s) #f #c dual_feas feas\nIsometrization of α-pinene 505 500 max_time 0.00e+00 1.99e+01 4.33e+00 1 1 0.00e+00 5.00e+01\nIsometrization of α-pinene 1005 1000 max_time 0.00e+00 1.99e+01 1.10e+00 1 1 0.00e+00 5.00e+01\nIsometrization of α-pinene 2005 2000 max_time 0.00e+00 1.99e+01 1.26e+00 1 1 0.00e+00 5.00e+01\nJournal Bearing 2600 0 max_time 1.20e+01 -1.55e-01 9.39e+00 1 0 5.88e-01 0.00e+00\nJournal Bearing 5775 0 max_time 5.06e+00 -1.55e-01 5.31e+00 2 0 2.31e-01 0.00e+00\nJournal Bearing 10200 0 max_time -1.05e+00 -1.55e-01 1.09e+00 5 0 3.17e-04 0.00e+00\nCatalyst Mixing 602 402 max_time 0.00e+00 -4.81e-02 2.82e+00 2 2 1.00e-02 2.49e-01\nCatalyst Mixing 1202 802 max_time 0.00e+00 -4.81e-02 2.56e+00 2 2 5.00e-03 2.49e-01\nCatalyst Mixing 2402 1602 max_time 0.00e+00 -4.81e-02 3.60e+00 2 2 2.50e-03 2.50e-01\nFlow in a Channel 800 800 first_order 0.00e+00 1.00e+00 5.12e+01 2 2 0.00e+00 1.99e-13\nFlow in a Channel 1600 1600 first_order 0.00e+00 1.00e+00 1.58e+00 2 2 0.00e+00 4.44e-16\nFlow in a Channel 3200 3200 first_order 0.00e+00 1.00e+00 1.55e+00 2 2 0.00e+00 6.66e-16\nTransition States for the Dirichlet Problem 9 0 first_order 0.00e+00 1.94e-06 5.16e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Dirichlet Problem 19 0 first_order 0.00e+00 1.71e-02 1.99e-01 1 0 0.00e+00 0.00e+00\nTransition States for the Dirichlet Problem 39 0 first_order 0.00e+00 3.29e-02 4.02e-02 1 0 0.00e+00 0.00e+00\nCatalytic Cracking of Gas Oil 205 202 max_time 7.94e-02 5.24e-03 5.73e+01 2 2 7.01e-03 4.86e-07\nCatalytic Cracking of Gas Oil 405 402 max_time 7.93e-02 5.24e-03 1.45e+00 2 2 5.73e-03 3.20e-07\nCatalytic Cracking of Gas Oil 805 802 max_time 4.65e-02 5.24e-03 2.88e+00 2 2 3.14e-03 7.89e-05\nHang Glider 698 498 max_time -9.50e+02 1.25e+03 2.77e+01 1 1 4.44e-16 9.73e+00\nHang Glider 1398 998 max_time -9.50e+02 1.25e+03 2.74e+01 1 1 6.66e-16 4.86e+00\nHang Glider 2798 1998 max_time -9.50e+02 1.25e+03 2.77e+01 1 1 6.66e-16 2.43e+00\nTransition States for the Henon Problem 9 0 first_order 0.00e+00 7.22e+00 2.82e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Henon Problem 19 0 first_order 0.00e+00 7.52e+01 2.74e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Henon Problem 39 0 first_order 0.00e+00 1.26e+02 5.00e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 9 0 first_order 0.00e+00 8.49e+00 2.56e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 19 0 first_order 0.00e+00 9.11e+00 4.14e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 39 0 first_order 0.00e+00 9.28e+00 3.79e-02 1 0 0.00e+00 0.00e+00\nMethanol to Hydrocarbons 308 303 exception 2.33e-01 9.02e-03 6.73e-01 1 1 1.80e+308 0.00e+00\nMethanol to Hydrocarbons 608 603 exception 2.33e-01 9.02e-03 5.03e-01 1 1 1.80e+308 0.00e+00\nMethanol to Hydrocarbons 1208 1203 exception 2.33e-01 9.02e-03 6.91e-01 1 1 1.80e+308 0.00e+00\nMinimal Surface with Obstacle 5002 2401 max_time 5.78e+00 2.51e+00 1.86e+01 3 3 5.09e-02 4.30e-04\nMinimal Surface with Obstacle 11252 5476 max_time 6.40e+00 2.51e+00 1.70e+00 3 3 3.33e-02 1.85e-04\nMinimal Surface with Obstacle 20002 9801 max_time 8.47e+00 2.51e+00 2.43e+00 3 3 2.65e-02 1.23e-04\nRobot Arm 1200 597 max_time 0.00e+00 9.14e+00 2.04e+00 2 2 0.00e+00 8.31e+03\nRobot Arm 2400 1197 max_time 0.00e+00 9.14e+00 1.79e+00 2 2 0.00e+00 1.66e+04\nRobot Arm 4800 2397 max_time 0.00e+00 9.14e+00 2.33e+00 2 2 0.00e+00 3.32e+04\nGoddard Rocket 2400 1600 max_time -1.00e+00 1.01e+00 3.13e+00 3 3 2.50e-03 4.61e-02\nGoddard Rocket 4800 3200 max_time -1.00e+00 1.01e+00 3.16e+00 3 3 1.25e-03 2.30e-02\nGoddard Rocket 9600 6400 max_time -1.00e+00 1.01e+00 3.36e+00 3 3 6.25e-04 1.15e-02\nParticle Steering 800 400 first_order 0.00e+00 5.55e-01 1.80e+01 2 2 0.00e+00 7.62e-12\nParticle Steering 1600 800 first_order 0.00e+00 5.55e-01 3.54e-01 2 2 0.00e+00 1.66e-11\nParticle Steering 3200 1600 first_order 0.00e+00 5.55e-01 5.49e-01 2 2 0.00e+00 2.86e-11\nElastic-Plastic Torsion 7802 7802 max_time 0.00e+00 -4.18e-01 1.93e+00 2 2 8.06e-04 5.92e-04\nElastic-Plastic Torsion 17327 17327 max_time 0.00e+00 -4.18e-01 1.19e+01 2 2 3.60e-04 2.64e-04\nElastic-Plastic Torsion 30602 30602 max_time 0.00e+00 -4.18e-01 2.72e+01 2 2 2.14e-04 1.49e-04","category":"page"},{"location":"cops/#ipopt","page":"COPS","title":"ipopt","text":"","category":"section"},{"location":"cops/","page":"COPS","title":"COPS","text":"name nvar ncon status objective opt_val time (s) #f #c dual_feas feas\nIsometrization of α-pinene 505 500 max_time 0.00e+00 1.99e+01 1.67e+00 1 1 0.00e+00 5.00e+01\nIsometrization of α-pinene 1005 1000 max_time 0.00e+00 1.99e+01 1.83e+00 1 1 0.00e+00 5.00e+01\nIsometrization of α-pinene 2005 2000 max_time 0.00e+00 1.99e+01 2.02e+00 1 1 0.00e+00 5.00e+01\nJournal Bearing 2600 0 max_time 0.00e+00 -1.55e-01 1.06e+00 9 0 2.19e-05 0.00e+00\nJournal Bearing 5775 0 max_time 0.00e+00 -1.55e-01 1.08e+00 4 0 5.14e-02 0.00e+00\nJournal Bearing 10200 0 max_time 0.00e+00 -1.55e-01 1.07e+00 3 0 1.74e-01 0.00e+00\nCatalyst Mixing 602 402 max_time 0.00e+00 -4.81e-02 2.58e+00 1 1 1.00e-02 2.50e-01\nCatalyst Mixing 1202 802 max_time 0.00e+00 -4.81e-02 2.53e+00 1 1 5.00e-03 2.50e-01\nCatalyst Mixing 2402 1602 max_time 0.00e+00 -4.81e-02 5.93e+00 1 1 2.50e-03 2.50e-01\nFlow in a Channel 800 800 max_time 0.00e+00 1.00e+00 2.68e+01 2 2 2.00e-02 3.32e-08\nFlow in a Channel 1600 1600 max_time 0.00e+00 1.00e+00 1.52e+00 2 2 2.00e-02 6.64e-08\nFlow in a Channel 3200 3200 max_time 0.00e+00 1.00e+00 1.15e+00 2 2 2.00e-02 1.33e-07\nTransition States for the Dirichlet Problem 9 0 first_order 0.00e+00 1.94e-06 4.90e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Dirichlet Problem 19 0 first_order 0.00e+00 1.71e-02 1.48e-01 1 0 0.00e+00 0.00e+00\nTransition States for the Dirichlet Problem 39 0 first_order 0.00e+00 3.29e-02 4.40e-02 1 0 0.00e+00 0.00e+00\nCatalytic Cracking of Gas Oil 205 202 max_time 0.00e+00 5.24e-03 2.90e+00 2 2 1.03e-02 5.89e-06\nCatalytic Cracking of Gas Oil 405 402 max_time 0.00e+00 5.24e-03 1.42e+00 2 2 1.47e-02 3.88e-06\nCatalytic Cracking of Gas Oil 805 802 max_time 0.00e+00 5.24e-03 1.88e+00 2 2 3.79e-02 1.84e-06\nHang Glider 698 498 max_time 0.00e+00 1.25e+03 3.71e+01 1 1 1.00e+00 9.73e+00\nHang Glider 1398 998 max_time 0.00e+00 1.25e+03 3.77e+01 1 1 1.00e+00 4.86e+00\nHang Glider 2798 1998 max_time 0.00e+00 1.25e+03 3.86e+01 1 1 1.00e+00 2.43e+00\nTransition States for the Henon Problem 9 0 first_order 0.00e+00 7.22e+00 3.60e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Henon Problem 19 0 first_order 0.00e+00 7.52e+01 4.00e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Henon Problem 39 0 first_order 0.00e+00 1.26e+02 1.36e-01 1 0 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 9 0 first_order 0.00e+00 8.49e+00 3.80e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 19 0 first_order 0.00e+00 9.11e+00 4.00e-02 1 0 0.00e+00 0.00e+00\nTransition States for the Lane-Emden Problem 39 0 first_order 0.00e+00 9.28e+00 3.90e-02 1 0 0.00e+00 0.00e+00\nMethanol to Hydrocarbons 308 303 unknown 0.00e+00 9.02e-03 1.67e+01 0 1 Inf Inf\nMethanol to Hydrocarbons 608 603 unknown 0.00e+00 9.02e-03 1.20e+00 0 1 Inf Inf\nMethanol to Hydrocarbons 1208 1203 unknown 0.00e+00 9.02e-03 1.03e+01 0 1 Inf Inf\nMinimal Surface with Obstacle 5002 2401 max_time 0.00e+00 2.51e+00 1.29e+00 1 1 1.00e+00 3.84e-04\nMinimal Surface with Obstacle 11252 5476 max_time 0.00e+00 2.51e+00 1.14e+01 1 1 1.00e+00 1.74e-04\nMinimal Surface with Obstacle 20002 9801 max_time 0.00e+00 2.51e+00 4.18e+01 1 1 1.00e+00 9.85e-05\nRobot Arm 1200 597 max_time 0.00e+00 9.14e+00 2.07e+00 1 1 0.00e+00 1.41e+04\nRobot Arm 2400 1197 max_time 0.00e+00 9.14e+00 2.08e+00 1 1 0.00e+00 2.83e+04\nRobot Arm 4800 2397 max_time 0.00e+00 9.14e+00 1.83e+00 1 1 0.00e+00 5.66e+04\nGoddard Rocket 2400 1600 max_time 0.00e+00 1.01e+00 2.92e+00 1 1 1.19e+00 1.00e-02\nGoddard Rocket 4800 3200 max_time 0.00e+00 1.01e+00 2.92e+00 1 1 1.00e+00 1.00e-02\nGoddard Rocket 9600 6400 max_time 0.00e+00 1.01e+00 2.36e+00 1 1 1.00e+00 1.00e-02\nParticle Steering 800 400 max_time 0.00e+00 5.55e-01 1.03e+01 2 2 0.00e+00 7.62e-12\nParticle Steering 1600 800 max_time 0.00e+00 5.55e-01 1.06e+00 4 4 0.00e+00 6.15e-12\nParticle Steering 3200 1600 max_time 0.00e+00 5.55e-01 1.07e+00 4 4 0.00e+00 5.94e-12\nElastic-Plastic Torsion 7802 7802 max_time 0.00e+00 -4.18e-01 7.97e+01 2 2 2.00e-07 1.01e-05\nElastic-Plastic Torsion 17327 17327 max_time 0.00e+00 -4.18e-01 3.60e+02 2 2 2.00e-07 5.46e-06\nElastic-Plastic Torsion 30602 30602 max_time 0.00e+00 -4.18e-01 1.14e+00 1 1 1.00e+00 5.05e-05","category":"page"},{"location":"","page":"Home","title":"Home","text":"CurrentModule = PDEOptimizationProblems","category":"page"},{"location":"#PDEOptimizationProblems","page":"Home","title":"PDEOptimizationProblems","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Documentation for PDEOptimizationProblems.","category":"page"}] +} diff --git a/previews/PR41/siteinfo.js b/previews/PR41/siteinfo.js new file mode 100644 index 0000000..87f54ec --- /dev/null +++ b/previews/PR41/siteinfo.js @@ -0,0 +1 @@ +var DOCUMENTER_CURRENT_VERSION = "previews/PR41"; diff --git a/previews/PR41/tuto_rocket/index.html b/previews/PR41/tuto_rocket/index.html new file mode 100644 index 0000000..431264d --- /dev/null +++ b/previews/PR41/tuto_rocket/index.html @@ -0,0 +1,183 @@ + +Rocket Control · PDEOptimizationProblems
      Edit on GitHub

      Goddard Rocket Control

      using Gridap, PDENLPModels, PDEOptimizationProblems

      This tutorial shows how to solve a nonlinear rocketry control problem. The problem was drawn from the COPS3 benchmark, and was used in JuMP's tutorials rocket control.

      PDEOptimizationProblems contains a list of predefined PDE-constrained optimization problems, e.g. Goddard rocket control problem via the function rocket. Note that the models in PDEOptimizationProblems are in Lagrangian form, so the implementation considers a Mayer to Lagrange formulation that adds an additional (constant) function H := h(T) see in the code.

      T = 0.2 # final time
+n = 800 # number of cells
+
+nlp = rocket(n = n, T = T)
      GridapPDENLPModel
+  Problem name: Goddard Rocket n=800
+   All variables: ████████████████████ 4800   All constraints: ████████████████████ 3200  
+            free: ████⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 801               free: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+           lower: ███████⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 1600             lower: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+           upper: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                upper: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+         low/upp: ██████████⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 2399           low/upp: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+           fixed: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                fixed: ████████████████████ 3200  
+          infeas: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0               infeas: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+            nnzh: ( 99.24% sparsity)   87971           linear: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+                                                    nonlinear: ████████████████████ 3200  
+                                                         nnzj: ( 99.58% sparsity)   64001 
+
+  Counters:
+             obj: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                 grad: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                 cons: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+        cons_lin: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0             cons_nln: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                 jcon: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+           jgrad: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                  jac: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0              jac_lin: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+         jac_nln: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                jprod: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0            jprod_lin: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+       jprod_nln: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0               jtprod: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0           jtprod_lin: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+      jtprod_nln: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                 hess: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0                hprod: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+           jhess: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0               jhprod: ⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅⋅ 0     
+

      The return model is a GridapPDENLPModel and, in particular, is an instance of an AbstractNLPModel that can be solved with any tool from the JuliaSmoothOptimizers organization. Then, using NLPModelsIpopt.jl, we solve the model and get the required information.

      using NLPModelsIpopt
+
+stats = ipopt(nlp, x0 = nlp.meta.x0)
+obj_ipopt, con_ipopt = stats.objective, stats.primal_feas
+(hh, Hh, vh, mh), uh = split_vectors(nlp, stats.solution)
      (Base.Generator{UnitRange{Int64}, PDENLPModels.var"#26#32"{Vector{Float64}, Gridap.MultiField.MultiFieldFESpace{Gridap.MultiField.ConsecutiveMultiFieldStyle, Gridap.FESpaces.UnConstrained, Vector{Float64}}, PDENLPModels.var"#sum_old#30", PDENLPModels.var"#leng#28"}}(PDENLPModels.var"#26#32"{Vector{Float64}, Gridap.MultiField.MultiFieldFESpace{Gridap.MultiField.ConsecutiveMultiFieldStyle, Gridap.FESpaces.UnConstrained, Vector{Float64}}, PDENLPModels.var"#sum_old#30", PDENLPModels.var"#leng#28"}([1.0000000782063823, 1.0000003130096415, 1.0000007047709742, 1.0000012538374403, 1.0000019605418038, 1.0000028252023891, 1.0000038481229483, 1.000005029592539, 1.0000063698854187, 1.0000078692609484  …  0.000297218028758686, 0.000297218028758686, 0.0003279979227687755, 0.0003279979227687755, 0.0003276886489833575, 0.0003276886489833575, 0.0004048727303939331, 0.0004048727303939331, 0.00040439001850874984, 0.00040439001850874984], MultiFieldFESpace(), PDENLPModels.var"#sum_old#30"(), PDENLPModels.var"#leng#28"()), 1:4), [3.499593124492011, 3.499593124492011, 3.499583233072741, 3.499583233072741, 3.4995730612885647, 3.4995730612885647, 3.499562551364897, 3.499562551364897, 3.4995516768785424, 3.4995516768785424  …  0.000297218028758686, 0.000297218028758686, 0.0003279979227687755, 0.0003279979227687755, 0.0003276886489833575, 0.0003276886489833575, 0.0004048727303939331, 0.0004048727303939331, 0.00040439001850874984, 0.00040439001850874984])

      Finally, we can plot the functions, and the results match JuMP's tutorial and COPS 3 report.

      using Plots
+gr()
+
+h₀, m₀, mᵪ = 1.0, 1.0, 0.6
+p = Plots.plot(
+  Plots.plot(0:T/n:T, vcat(h₀, hh); xlabel = "Time (s)", ylabel = "Altitude"),
+  Plots.plot(0:T/n:T, vcat(m₀, mh, mᵪ * m₀); xlabel = "Time (s)", ylabel = "Mass"),
+  Plots.plot(0:T/n:T, vcat(0., vh); xlabel = "Time (s)", ylabel = "Velocity"),
+  Plots.plot(0:T/(length(uh) - 1):T, uh; xlabel = "Time (s)", ylabel = "Thrust"),
+  layout = (2, 2),
+  legend = false,
+  margin = 1Plots.cm,
+)
      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

      An alternative is also to intepolate the entire solution over the domain as an FEFunction (Gridap's function type) and save the interpolation in a VTK file.

      Ypde = nlp.pdemeta.Ypde
+h_h  = FEFunction(Ypde.spaces[1], hh)
+H_h  = FEFunction(Ypde.spaces[2], Hh)
+v_h  = FEFunction(Ypde.spaces[3], vh)
+m_h  = FEFunction(Ypde.spaces[4], mh)
+u_h  = FEFunction(nlp.pdemeta.Ycon, uh)
+
+writevtk(
+  nlp.pdemeta.tnrj.trian,
+  "results_robot",
+  cellfields=["uh" => u_h, "hh" => h_h, "Hh" => H_h, "vh" => v_h, "mh" => m_h],
+)
      (["results_robot.vtu"],)