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TUTORIAL
H. T. BANKS and MARIE DAVIDIAN
N. C. STATE UNIVERSITY
MA/ST 810, Fall, 2009
FORWARD PROBLEM
vs.
INVERSE PROBLEM
Mass-spring-dashpot system
d 2x
dx
m
+c
+ kx = F
2
dt
dt
dx
x (0 ) = x 0
(0 ) = v 0
dt
x = equilibrium displacement x
of mass m
m
F
+
M
d A
dA
m 2 +c
+ k A = QE a (t )
dt
dt
2
Ea(t)
7
= A ( ) z (t ) + F (t ), z0 =
z (t ) = dx(t ) ,
dt
v0
dt
0
A ( ) = k
m
1
0
F (t ) =
= k , c
c
F (t )
m
m
m
m
8
Observations : f (t , ) = C z (t , )
dx(t )
Laser vibrometer : f (t , ) = v(t ) =
dt
Observation operator : C =( 0 1)
Proximity probe : f (t , ) = x(t )
Observation operator : C = (1 0)
More likely, discrete ( finite number )
observations :
{ y }
j
n
j =1
where y j f (t j , )
Model driven : y j = f (t j , )
Data driven : y j = f (t j , ) + j , j is error
( Depending on the error , may need to
introduce variability into the modeling
and analysis )
11
Model driven : y j = f (t j , )
i ) System Design problem s
a ) design of spring / shock system ( automotive,
"smart " truck seats )
b ) design of thermally conductive epoxies for
use in com puter motherboards
ii ) Nondestructive Evaluation (NDE) problem s
a ) thermal interrogation of conductive structures
b ) eddy current based electromagnetic damage
detection
12
Mass-spring-dashpot system
d 2x
dx
m
+c
+ kx = F
2
dt
dt
dx
x (0 ) = x 0
(0 ) = v 0
dt
m
F
14
References:
1) H.T.Banks and K.L.Bihari, Modeling and estimating uncertainty
in parameter estimation, CRSC-TR99-40, NCSU, Dec.,1999;
Inverse Problems 17(2001),1-17.
2) K.L.Bihari, Analysis of Thermal Conductivity in Composite
Adhesives, Ph.D. Thesis, NCSU, August, 2001.
3) H.T.Banks and K.L.Bihari, Analysis of thermal conductivity in
composite adhesives, CRSC-TR01-20, NCSU, August, 2001;
Numerical Functional Analysis and Optimization, Dec.,2002,
to appear.
15
A( x, y ) = ( ( x, y ) + i ( x, y ) )( i A( x, y ) )
( x, y )
for ( x, y ) ,
I cs = ( ( x, y ) + i ( x, y ) )( i A( x, y ) ) nda for ( x, y ) cs
cs
16
References:
1) H.T.Banks,M.L.Joyner,B.Wincheski,and W.P.Winfree, Evaluation of material integrity
using reduced order computational methodology, CRSC-TR99-30, NCSU, August, 1999.
2) H.T.Banks,M.L.Joyner,B.Wincheski,and W.P.Winfree, Nondestructive evaluation using
a reduced-order computational methodology, ICASE Tech Rep 2000-10, NASA LaRC,
March 2000; Inverse Problems 16(2000),929-945.
3) H.T.Banks,M.L.Joyner,B.Wincheski,and W.P.Winfree, A reduced order computational
methodology for damage detection in structures, in Nondestructive Evaluation of Ageing
Aircraft, Airports and Aerospace Hardware (A.K.Mal,ed.) SPIE 3994(2000),10-17.
4) H.T.Banks,M.L.Joyner,B.Wincheski,and W.P.Winfree, Electromagnetic interrogation
techniques for damage detection,CRSC-TR01-15,NCSU, June,2001; Proceedings ENDE01
(Kobe, Japan, May,2001), to appear.
5) H.T.Banks,M.L.Joyner,B.Wincheski,and W.P.Winfree, Real time computational
algorithms for eddy current based damage detection, CRSC-TR01-16,NCSU,June,2001;
Inverse Problems, to appear.
6) M.L.Joyner, An Application of a Reduced Order Computational Methodolgy for
Eddy Current Based Nondestructive Evaluation Techniques, Ph.D. Thesis, NCSU,
17
June, 2001.
18
dCv ( t )
Q
Q
Q
Q
Q
= Qf CB ( t, 2 ) + br Cbr ( t ) + k Ck ( t ) + l Cl ( t ) + m Cm ( t ) + t Ct ( t ) QcCv ( t )
dt
Pbr
Pk
Pl
Pm
Pt
Ca ( t ) = ( QcCv ( t ) + QpCc ( t ) ) ( Qc + Qp Pb )
dCbr ( t )
= Qbr ( Ca ( t ) Cbr ( t ) / Pbr )
dt
DB CB
VB
C
VB B =
vC
sin
Vbr
C V D
VI I = I 2 I
r1
t
1 2CI
CI
1
sin
+
2
+ 0 ( ) B ( ) I BI ( f BCB f I CI ) + IA ( f ACA f I CI )
2
sin
sin
CA VA DA 1 2CA
CA
1
sin
VA
= 2 2
+
dCk ( t )
= Qk ( Ca ( t ) Ck ( t ) / Pk )
dt
dC ( t )
C (t )
C (t )
C (t )
= Ql Ca ( t ) l vmax l kM + l
Vl l
Pl
Pl
dt
Pl
dC ( t )
Vm m = Qm ( Ca ( t ) Cm ( t ) / Pm )
dt
Plus boundary conditions
dCt ( t )
Vt
= Qt ( Ca ( t ) Ct ( t ) / Pt )
dt
and initial conditions
Vk
References:
1)R.A.Albanese,H.T.Banks,M.V.Evans,and L.K.Potter, PBPK models for the
transport of trichloroethylene in adipose tissue,CRSC-TR01-03,NCSU,Jan.2001;
Bull. Math Biology 64(2002), 97-131
2)H.T.Banks and L.K.Potter,Well-posedness results for a class of toxicokinetic
models,CRSR-TR01-18,NCSU,July,2001; Discrete and Continuous Dynamical
Systems,submitted
3)L.K.Potter,Physiologically based pharmacokinetic models for the systemic
transport of Trichloroethylene, Ph.D. Thesis,NCSU, August, 2001
4)H.T.Banks and L.K. Potter, Model predictions and comparisions for three
Toxicokinetic models for the systemic transport of TCE,CRSC-TR01-23,NCSU,
August,2001; Mathematical and Computer Modeling 35(2002), 1007-1032
5)H.T.Banks and L.K.Potter, Probabilistic methods for addressing uncertainty
and variability in biological models: Application to a toxicokinetic model, CRSCTR02-27,NCSU,Sept.2002; Math. Biosciences, submitted.
21
22
dV
= cV (t ) + na A(t ) + nc C (t ) nvtV (t )T (t )
dt
dV
= cV (t ) + na A(t )k ( )d + ncC (t ) nvtV (t )T (t )
dt
0
where k is a probability density to be estimated from aggregate
data.
Even if k is given, these systems are nontrivial to simulaterequire
development of fundamental techniques.
23
HIV Model:
V (t ) = cV (t ) + n
A(t )d ( ) + n C (t ) p(V , T )
C
C (t ; ) d
( ) , A = acu te cells
V ( t ) = V A ( t ) + V C ( t ), V A ( t ) = 1 {V A ( t ; )} = V A ( t ; ) d 1 ( )
0
24
References:
1) D. Bortz, R. Guy, J. Hood, K. Kirkpatrick, V. Nguyen, and V. Shimanovich,
Modeling HIV infection dynamics using delay equations, in 6th CRSC Industrial
Math Modeling Workshop for Graduate Students, NCSU(July,2000), CRSC
TR00-24, NCSU, Oct, 2000
2) H. T. Banks, D. M. Bortz, and S. E. Holte, Incorporation of variability into the
modeling of viral delays in HIV infection dynamics, CRSC-TR01-25, Sept, 2001;
Math Biosciences, submitted.
3) H.T.Banks and D.M.Bortz, A parameter sensitivity methodology in the context
of HIV delay equation models, CRSC-TR02-24, August, 2002; J. Math. Biology,
submitted
4) D.M.Bortz, Modeling, Analysis,and Estimation of an In Vitro HIV Infection
Using Functional Differential Equations, Ph. D. Thesis, NCSU, August, 2002.
25
= f ( y ) for a given y
f
f
y
1
Y
26
Well-posedness:
i. Existence
i. Uniqueness
Identifiability
27
y3
f ( ) = 1 2
y2
y1
1 2
2 1
Non-existence:
No 3 such that f (3 ) = y3
Non-uniqueness:
y j = f ( j ) = f ( j ) j = 1, 2
Lack of continuity of inverse map:
y1 y2 small f 1( y1 ) f 1 ( y2 )
= 1 2 small
28
e.g., Newton :
k+1
k 1
k
= [J ( )] J ( )
k
29
k+1
k 1
k
= [J ( )] J ( )
k
For J ( ) = y1 f ( )
, J ( ) = 2( y1 f ( ))( f ( ))
f ( )
0
f ( )
y1
30
31
Tikhonov regularization
Idea : Problem for J ( ) = y1 f ( ) is ill posed ,
2
EXAMPLE:
f ( ) = 1 + sin( ),
ranging from = 0 to
100 thru values 0, .01,...,1.0,...,10,..., 40,...,80, 100,
several values of , 0 , and y1
1) =1, y1 = 1.5, 0 = 0 (tik)*
2) =.5, y1 = .8, 0 = 0 (tik1)
3) =.5, y1 = 1.6 (not in range of f ), 0 = 0 (tik2)*
4) =1, y1 = 1.5, 0 = 1.0
(tik4)
5) = 1, y1 = 1.5, 0 = 1.8
(tik6)*
6) = 1, y1 = 1.5, 0 = .5
7) = 1, y1 = 1.5, 0 = .5
(tik7)*
(tik8)*
( alt / tab )
33
=0
= 0.01
f()
y hat
J () = | yd - f() | + ||
f() = 1+sin( *)
2
2.5
2
1.5
J ()
f()
1.5
0.5
0
-2
0.5
-1
0
-2
-1
34
=0
= 0.1
f()
y hat
2
J () = | yd - f() | + ||
f() = 1+sin( *)
2
2.5
2
1.5
J ()
f()
1.5
0.5
0
-2
0.5
-1
0
-2
-1
35
=0
=1
f()
y hat
2
J () = | yd - f() | + ||
f() = 1+sin( *)
2
5
4
1.5
J ()
f()
0.5
0
-2
-1
0
-2
-1
36
=0
=6
f()
y hat
2
20
1.5
15
J ()
f()
f() = 1+sin( *)
10
0.5
0
-2
J () = | yd - f() | + ||
-1
0
-2
-1
37
=0
= 40
f()
y hat
2
J () = | yd - f() | + ||
f() = 1+sin( *)
2
120
100
1.5
J ()
f()
80
1
60
40
0.5
20
0
-2
-1
0
-2
-1
38
SENSITIVITY
How does f (t, ) = C z(t, ) change with respect to and
how does this affect the effort to minimize
J ( ) = y1 f ( ) ??
2
39
f
z
So w e are interested in
=C
ds ( t ) g
z (t , )
g
satisfies
=
s (t ) +
dt
g
g
w here
(
t
,
z
(
t
,
),
),
=
z
z
g
g
t
z
t
=
(
,
(
,
),
40
APPROXIMATION/COMPUTATIONAL ISSUES
As we have noted , most observations have the form
f (t, ) = C z(t, ),
where z is the solution of an ordinary or partial
differential equation. In general, one cannot obtain
these solutions in closed form even if is given.
Thus one must turn to approximations and
computational solutions.
41
= g (z , z ,..., z , ).
N
N
0
N
1
N
k
N
k
in
J ( ) = j=1 y j f j ( )
N
z (t ) ( x)
N
k=1 k
N
k
N N
k k=1
, leading
N
1
N
2
N
N
used in f (t , ) = C z (t , ).
N
N N
45
Linear Elements
kN ( x)
x
N
N
xk-1
xkN xk+1
( x ) ( x ) j ( x ) dx
N
i
)
46
SUMMARY REMARKS
1. Two classes of problems (model/design driven-no data,
and data driven)
2. In both classes, may need to introduce variability/uncertainty (recall PBPK, HIV examples ) even when
considering simple case of a single individual
3. If design/model driven efforts are successful (recall eddy
current NDE example), most likely will lead to
validation experiments, data, and necessitate development of statistical models
4. There are significant issues, challenges, and
methodology ( well-posedness, regularization,
approximation/computation, model reduction, etc.)
that are important to consider in both classes of
48
problems!