I am trying to verify my RK4 code and have a state space model to solve the same system. I have a 14 state system with initial conditions, but the conditions change with time (each iteration). I am trying to formulate A,B,C,D matrices and use sys and lsim in order to compile the results for all of my states for the entire time span. I am trying to do it similar to this:
for t=1:1:5401
y1b=whatever
.
.
y14b = whatever
y_0 = vector of ICs
A = (will change with time)
B = (1,14) with mostly zeros and 3 ones
C = ones(14,1)
D = 0
Q = eye(14)
R = eye(1)
k = lqr(A,B,C,D)
A_bar = A - B*k
sys = ss(A_bar,B,C,D)
u = zeros(14,1)
sto(t,14) = lsim(sys,u,t,y_0)
then solve for new y1b-y14b from outside function
end
In other words I am trying to use sto(t,14) to store each iteration of lsim and end up with a matrix of all of my states for each time step from 1 to 5401. I keep getting this error message:
Error using DynamicSystem/lsim (line 85)
In time response commands, the time vector must be real, finite, and must contain
monotonically increasing and evenly spaced time samples.
and
Error using DynamicSystem/lsim (line 85)
When simulating the response to a specific input signal, the input data U must be a
matrix with as many rows as samples in the time vector T, and as many columns as
input channels.
Any helpful input is greatly appreciated. Thank you
For lsim to work, t has to contain at least 2 points.
Also, the sizes of B and C are flipped. You have 1 input and 1 output so u should be length of t in lsim by 1.
Lastly, it looks like you try to put all initials conditions at once in lsim with y_0 where you just want the part relevant to this iteration.
s = [t-1 t];
u = [0; 0];
if t==1
y0 = y_0;
else
y0 = sto(t-1,1:14);
end
y = lsim(sys, u, s, y0);
sto(t,1:14) = y(end,:);
I'm not sure I understood correctly your question but I hope it helps.
Related
This piece of code is part of a larger function. I already created a list of molecular weights and I also defined a list of all the fragments in my data.
I'm trying to figure out how I can go through the list of fragments, calculate their molecular weight and check if it matches the number in the other list. If it matches, the sequence is appended into an empty list.
combs = [397.47, 2267.58, 475.63, 647.68]
fragments = ['SKEPFKTRIDKKPCDHNTEPYMSGGNY', 'KMITKARPGCMHQMGEY', 'AINV', 'QIQD', 'YAINVMQCL', 'IEEATHMTPCYELHGLRWV', 'MQCL', 'HMTPCYELHGLRWV', 'DHTAQPCRSWPMDYPLT', 'IEEATHM', 'MVGKMDMLEQYA', 'GWPDII', 'QIQDY', 'TPCYELHGLRWVQIQDYA', 'HGLRWVQIQDYAINV', 'KKKNARKW', 'TPCYELHGLRWV']
frags = []
for c in combs:
for f in fragments:
if c == SeqUtils.molecular_weight(f, 'protein', circular = True):
frags.append(f)
print(frags)
I'm guessing I don't fully know how the SeqUtils.molecular_weight command works in Python, but if there is another way that would also be great.
You are comparing floating point values for equality. That is bound to fail. You always have to account for some degree of error when dealing with floating point values. In this particular case you also have to take into account the error margin of the input values.
So do not compare floats like this
x == y
but instead like this
abs(x - y) < epsilon
where epsilon is some carefully selected arbitrary number.
I did two slight modifications to your code: I swapped the order of the f and the c loop to be able to store the calculated value of w. And I append the value of w to the list frags as well in order to better understand what is happening.
Your modified code now looks like this:
from Bio import SeqUtils
combs = [397.47, 2267.58, 475.63, 647.68]
fragments = ['SKEPFKTRIDKKPCDHNTEPYMSGGNY', 'KMITKARPGCMHQMGEY', 'AINV', 'QIQD', 'YAINVMQCL', 'IEEATHMTPCYELHGLRWV',
'MQCL', 'HMTPCYELHGLRWV', 'DHTAQPCRSWPMDYPLT', 'IEEATHM', 'MVGKMDMLEQYA', 'GWPDII', 'QIQDY',
'TPCYELHGLRWVQIQDYA', 'HGLRWVQIQDYAINV', 'KKKNARKW', 'TPCYELHGLRWV']
frags = []
threshold = 0.5
for f in fragments:
w = SeqUtils.molecular_weight(f, 'protein', circular=True)
for c in combs:
if abs(c - w) < threshold:
frags.append((f, w))
print(frags)
This prints the result
[('AINV', 397.46909999999997), ('IEEATHMTPCYELHGLRWV', 2267.5843), ('MQCL', 475.6257), ('QIQDY', 647.6766)]
As you can see, the first value for the weight differs from the reference value by about 0.0009. That's why you did not catch it with your approach.
I'm trying to implement FastICA (independent component analysis) for blind signal separation of images, but first I thought I'd take a look at some examples from Github that produce good results. I'm trying to compare the main loop from the algorithm's steps on Wikipedia's FastICA and I'm having quite a bit of difficulty seeing how they're actually the same.
They look very similar, but there's a few differences that I don't understand. It looks like this implementation is similar to (or the same as) the "Multiple component extraction" version from Wiki.
Would someone please help me understand what's going on in the four or so lines having to do with the nonlinearity function with its first and second derivatives, and the first line of updating the weight vector? Any help is greatly appreciated!
Here's the implementation with the variables changed to mirror the Wiki more closely:
% X is sized (NxM, 3x50K) mixed image data matrix (one row for each mixed image)
C=3; % number of components to separate
W=zeros(numofIC,VariableNum); % weights matrix
for p=1:C
% initialize random weight vector of length N
wp = rand(C,1);
wp = wp / norm(wp);
% like do:
i = 1;
maxIterations = 100;
while i <= maxIterations+1
% until mat iterations
if i == maxIterations
fprintf('No convergence: ', p,maxIterations);
break;
end
wp_old = wp;
% this is the main part of the algorithm and where
% I'm confused about the particular implementation
u = 1;
t = X'*b;
g = t.^3;
dg = 3*t.^2;
wp = ((1-u)*t'*g*wp+u*X*g)/M-mean(dg)*wp;
% 2nd and 3rd wp update steps make sense to me
wp = wp-W*W'*wp;
wp = wp / norm(wp);
% or until w_p converges
if abs(abs(b'*bOld)-1)<1e-10
W(:,p)=b;
break;
end
i=i+1;
end
end
And the Wiki algorithms for quick reference:
First, I don't understand why the term that is always zero remains in the code:
wp = ((1-u)*t'*g*wp+u*X*g)/M-mean(dg)*wp;
The above can be simplified into:
wp = X*g/M-mean(dg)*wp;
Also removing u since it is always 1.
Second, I believe the following line is wrong:
t = X'*b;
The correct expression is:
t = X'*wp;
Now let's go through each variable here. Let's refer to
w = E{Xg(wTX)T} - E{g'(wTX)}w
as the iteration equation.
X is your input data, i.e. X in the iteration equation.
wp is the weight vector, i.e. w in the iteration equation. Its initial value is randomised.
g is the first derivative of a nonquadratic nonlinear function, i.e. g(wTX) in the iteration equation
dg is the first derivative of g, i.e. g'(wTX) in the iteration equation
M although its definition is not shown in the code you provide, but I think it should be the size of X.
Having the knowledge of the meaning of all variables, we can now try to understand the codes.
t = X'*b;
The above line computes wTX.
g = t.^3;
The above line computes g(wTX) = (wTX)3. Note that g(u) can be any equation as long as f(u), where g(u) = df(u)/du, is nonlinear and nonquadratic.
dg = 3*t.^2;
The above line computes the derivative of g.
wp = X*g/M-mean(dg)*wp;
Xg obviously calculates Xg(wTX). Xg/M calculates the average of Xg, which is equivalent to E{Xg(wTX)T}.
mean(dg) is E{g'(wTX)} and multiplies by wp or w in the equation.
Now you have what you needed for Newton-Raphson Method.
I have the following problem: given a 3D irregular geometry A with
(i,j,k)-coordinates, which are the centroids of connected voxels, create a table with the (i_out,j_out,k_out)-coordinates of the cells that represent the complementary set B of the bounding box of A, which we may call C. That is to say, I need the voxel coordinates of the set B = C - A.
To get this done, I am using the Matlab code below, but it is taking too much time to complete when C is fairly large. Then, I would like to speed up the code. To make it clear: cvc is the matrix of voxel coordinates of A; allcvc should produce C and B results from outcvc after setdiff.
Someone has a clue regarding the code performance, or even to improve my strategy?
Problem: the for-loop seems to be the villain.
My attempts: I have tried to follow some hints of Yair Altman's book by doing some tic,toc analyses, using pre-allocation and int8 since I do not need double values. deal yet gave me a slight improvement with min,max. I have also checked this discussion here, but, parallelism, for instance, is a limitation that I have for now.
% A bounding box limits
m = min(cvc,[],1);
M = max(cvc,[],1);
[im,jm,km,iM,jM,kM] = deal(m(1),m(2),m(3),M(1),M(2),M(3));
% (i,j,k) indices of regular grid
I = im:iM;
J = jm:jM;
K = km:kM;
% (i,j,k) table
m = length(I);
n = length(J);
p = length(K);
num = m*n*p;
allcvc = zeros(num,3,'int8');
for N = 1:num
for i = 1:m
for j = 1:n
for k = 1:p
aux = [I(i),J(j),K(k)];
allcvc(N,:) = aux;
end
end
end
end
% operation of exclusion: out = all - in
[outcvc,~] = setdiff(allcvc,cvc,'rows');
To avoid all for-loops in the present code you can use ndgrid or meshgrid functions. For example
[I,J,K] = ndgrid(im:iM, jm:jM, km:kM);
allcvc = [I(:),J(:),K(:)];
instead of your code between % (i,j,k) indices of regular grid and % operation of exclusion: out =.
Background
I have a large set of vectors (orientation data in an axis-angle representation... the axis is the vector). I want to apply a clustering algorithm to. I tried kmeans but the computational time was too long (never finished). So instead I am trying to implement KFCG algorithm which is faster (Kirke 2010):
Initially we have one cluster with the entire training vectors and the codevector C1 which is centroid. In the first iteration of the algorithm, the clusters are formed by comparing first element of training vector Xi with first element of code vector C1. The vector Xi is grouped into the cluster 1 if xi1< c11 otherwise vector Xi is grouped into cluster2 as shown in Figure 2(a) where codevector dimension space is 2. In second iteration, the cluster 1 is split into two by comparing second element Xi2 of vector Xi belonging to cluster 1 with that of the second element of the codevector. Cluster 2 is split into two by comparing the second element Xi2 of vector Xi belonging to cluster 2 with that of the second element of the codevector as shown in Figure 2(b). This procedure is repeated till the codebook size is reached to the size specified by user.
I'm unsure what ratio is appropriate for the codebook, but it shouldn't matter for the code optimization. Also note mine is 3-D so the same process is done for the 3rd dimension.
My code attempts
I've tried implementing the above algorithm into Matlab 2013 (Student Version). Here's some different structures I've tried - BUT take way too long (have never seen it completed):
%training vectors:
Atgood = Nx4 vector (see test data below if want to test);
vecA = Atgood(:,1:3);
roA = size(vecA,1);
%Codebook size, Nsel, is ratio of data
remainFrac2=0.5;
Nseltemp = remainFrac2*roA; %codebook size
%Ensure selected size after nearest power of 2 is NOT greater than roA
if 2^round(log2(Nseltemp)) < roA
NselIter = round(log2(Nseltemp));
else
NselIter = ceil(log2(Nseltemp)-1);
end
Nsel = 2^NselIter; %power of 2 - for LGB and other algorithms
MAIN BLOCK TO OPTIMIZE:
%KFCG:
%%cluster = cell(1,Nsel); %Unsure #rows - Don't know how to initialize if need mean...
codevec(1,1:3) = mean(vecA,1);
count1=1;
count2=1;
ind=1;
for kk = 1:NselIter
hh2 = 1:2:size(codevec,1)*2;
for hh1 = 1:length(hh2)
hh=hh2(hh1);
% for ii = 1:roA
% if vecA(ii,ind) < codevec(hh1,ind)
% cluster{1,hh}(count1,1:4) = Atgood(ii,:); %want all 4 elements
% count1=count1+1;
% else
% cluster{1,hh+1}(count2,1:4) = Atgood(ii,:); %want all 4
% count2=count2+1;
% end
% end
%EDIT: My ATTEMPT at optimizing above for loop:
repcv=repmat(codevec(hh1,ind),[size(vecA,1),1]);
splitind = vecA(:,ind)>=repcv;
splitind2 = vecA(:,ind)<repcv;
cluster{1,hh}=vecA(splitind,:);
cluster{1,hh+1}=vecA(splitind2,:);
end
clear codevec
%Only mean the 1x3 vector portion of the cluster - for centroid
codevec = cell2mat((cellfun(#(x) mean(x(:,1:3),1),cluster,'UniformOutput',false))');
if ind < 3
ind = ind+1;
else
ind=1;
end
end
if length(codevec) ~= Nsel
warning('codevec ~= Nsel');
end
Alternatively, instead of cells I thought 3D Matrices would be faster? I tried but it was slower using my method of appending the next row each iteration (temp=[]; for...temp=[temp;new];)
Also, I wasn't sure what was best to loop with, for or while:
%If initialize cell to full length
while length(find(~cellfun('isempty',cluster))) < Nsel
Well, anyways, the first method was fastest for me.
Questions
Is the logic standard? Not in the sense that it matches with the algorithm described, but from a coding perspective, any weird methods I employed (especially with those multiple inner loops) that slows it down? Where can I speed up (you can just point me to resources or previous questions)?
My array size, Atgood, is 1,000,000x4 making NselIter=19; - do I just need to find a way to decrease this size or can the code be optimized?
Should this be asked on CodeReview? If so, I'll move it.
Testing Data
Here's some random vectors you can use to test:
for ii=1:1000 %My size is ~ 1,000,000
omega = 2*rand(3,1)-1;
omega = (omega/norm(omega))';
Atgood(ii,1:4) = [omega,57];
end
Your biggest issue is re-iterating through all of vecA FOR EACH CODEVECTOR, rather than just the ones that are part of the corresponding cluster. You're supposed to split each cluster on it's codevector. As it is, your cluster structure grows and grows, and each iteration is processing more and more samples.
Your second issue is the loop around the comparisons, and the appending of samples to build up the clusters. Both of those can be solved by vectorizing the comparison operation. Oh, I just saw your edit, where this was optimized. Much better. But codevec(hh1,ind) is just a scalar, so you don't even need the repmat.
Try this version:
% (preallocs added in edit)
cluster = cell(1,Nsel);
codevec = zeros(Nsel, 3);
codevec(1,:) = mean(Atgood(:,1:3),1);
cluster{1} = Atgood;
nClusters = 1;
ind = 1;
while nClusters < Nsel
for c = 1:nClusters
lower_cluster_logical = cluster{c}(:,ind) < codevec(c,ind);
cluster{nClusters+c} = cluster{c}(~lower_cluster_logical,:);
cluster{c} = cluster{c}(lower_cluster_logical,:);
codevec(c,:) = mean(cluster{c}(:,1:3), 1);
codevec(nClusters+c,:) = mean(cluster{nClusters+c}(:,1:3), 1);
end
ind = rem(ind,3) + 1;
nClusters = nClusters*2;
end
I'm working on a color image segmentation in HSV color space using Matlab fuzzy toolbox.
the goal is to read an RGB image->convert to hsv->use H,S,V values as an input for fuzzy system and then find which class(here is our 16 constant output color) does this pixel belongs.
here is the fuzzy system :
"The reasoning procedure is based on a zero-order Takagi-Sugeno model, so that the consequent part of each fuzzy rule is a crisp discrete value of the set{Black, White, Red, Orange,etc}.
Since this model has 10 fuzzy sets for Hue, 5 for Saturation and 4 for Value, the total number of rules required for this model is 10*5*4=200".(1)
The problem is that when I use this line in my program to get output value
segimg=reshape(evalfis([h s v],hsvRuleSugeno),imgh,imgw);
the out put is not any of my constant classes, because it uses centroid for defuzzification and as you see below I can't rely on it, as an output !
I search many papers and websites but I think it's so simple that no one explained it! I'm missing something or probably i don't have enough knowledge would you please help me to understand this problem ?
reference:
(1): Human Perception-based Color Segmentation Using Fuzzy Logic,Lior Shamir Department of Computer Science, Michigan Tech.
The paper explains the computation process in section 2.3. You do not need non-discrete or centroid value as obtained from evalfis. I'm assuming you have made all the rules which must be giving one of the 16 classes as output. That means each each output class is associated with at least one rule. According to the paper, you need to:
Make 16 groups containing rules associated to each output class. One group for yellow, one for white and one for black so on...
Calculate the strength of each and every rule.
For each group, find summation of strength value of all the rules contained in that group.
Then find the group with maximum cumulative sum of strength of its contained rules.
To achieve this, we cannot rely on centroid based defuzzified value. I checked the documentation on evalfis and below is script that should be able to perform above algorithm. Idea is to collect strength of each rule, order the rules into groups based on rule's output class, then find summation of each group and find maximum.
[output, IRR, ORR, ARR] = evalfis(input, fismat)
m = cat(2, ORR, ARR);
m = sortrows(m, 1)
r = [];
for l = 2 : size(m, 1)
if m(l, 1) ~= m(l - 1, 1)
r = cat(1, r, m(l - 1, :));
else
m(l, 2) = m(l, 2) + m(l - 1, 2);
end
end
if size(m, 1) >= 2
r = cat(1, r, m(size(m, 1), :));
end
% r now contains the final class to be choosen
disp(r)
Thanks a lot for your answer Shivam,
Actually your code has an error but I got the idea and started working on it, and finally found what to do ! here is what I use and the result was OK ! now I have to work on adjusting rules to get better results
for i=1:imh
for j=1:imw
[output, IRR, ORR, ARR] = evalfis([h(i,j);s(i,j);v(i,j)], hsvRuleSugeno);
m = cat(2,ARR,ORR);
[trash,idx] = unique(m(:,1),'first');
out = m(sort(idx),:);
out(:,[1,2])=out(:,[2,1]);
out = sortrows(out, 1);
res=zeros(size(out));
for l = 2 : size(out, 1)
if out(l, 1) == out(l - 1, 1)
res(l-1,1) = out(l-1,1);
res(l-1,2) = out(l-1,2)+out(l,2);
else
res(l,1) = out(l,1);
res(l,2) = out(l,2);
end
end
[num idx] = max(res(:,2));
[x y] = ind2sub(size(res),idx);
segimg(i,j)=res(x,y)/10;
end
end
the segment result :http://i45.tinypic.com/2aj9mg.jpg