From 2ae248421d9d1e528a80eebe45bc1122da34fbbc Mon Sep 17 00:00:00 2001 From: Frank14f <1515444314@qq.com> Date: Tue, 30 Jun 2026 16:26:54 +0800 Subject: [PATCH] fix(oid): confirm FIFO bias bug has no structural impact - Fixed bias_arr[4] (front 0), bias_arr[5] (bottom -4U0), bias_arr[6] (top +4U0) - Re-ran full karman pipeline: force-sig overlap unchanged (-0.034) - Force-OID still beats POD (0.295 vs 0.068, was 0.750 vs 0.418) - Absolute R2 shifted because corrected FIFO changed PPO trajectory start - Structural conclusion (force-sig near-orthogonal) is robust Co-authored-by: Cursor --- LegacyCelerisLab/kernels/macros.h | 2 +- configs/config_lbm_karman_2000x600.json | 50 + src/CCD_analysis/Lyu23.md | 1000 ++++++++ src/CCD_analysis/README.md | 91 +- src/CCD_analysis/ccd/validate.py | 270 +++ src/CCD_analysis/ccd_knowledge.md | 145 +- .../compare_dqctl_scenes.py | 188 ++ .../decompose_corrections.py | 11 +- .../diagnose_corrections.py | 52 +- .../visualize_action_ccd.py | 126 + 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a/LegacyCelerisLab/kernels/macros.h b/LegacyCelerisLab/kernels/macros.h index d3af419..7a2466d 100644 --- a/LegacyCelerisLab/kernels/macros.h +++ b/LegacyCelerisLab/kernels/macros.h @@ -33,5 +33,5 @@ #define V_TAYLOR 0b00000001 // variables -#define N_OBJS 6 +#define N_OBJS 7 // #define N_SENS 2 \ No newline at end of file diff --git a/configs/config_lbm_karman_2000x600.json b/configs/config_lbm_karman_2000x600.json new file mode 100644 index 0000000..cb3007c --- /dev/null +++ b/configs/config_lbm_karman_2000x600.json @@ -0,0 +1,50 @@ +{ + "_doc": "Karman Cloak Re100: uniform inlet, free-slip walls, 2000x600 grid. Pinball centered.", + "grid": { + "lattice_model": "D2Q9", + "nx": 2000, + "ny": 600, + "nz": 1 + }, + "physics": { + "data_type": "FP32", + "viscosity": 0.004, + "velocity": 0.01, + "rho": 1.0 + }, + "method": { + "collision": "MRT", + "streaming": "double_buffer", + "store_precision": "FP32", + "ddf_shifting": false, + "les": { + "enabled": false, + "cs": 0.16, + "closed_form": true + }, + "trt": { + "magic_param": 0.1875 + }, + "inlet": { + "profile": "uniform", + "scheme": "regularized", + "trt_neq_damp": 0.5, + "regularized_neq_damp": 0.5 + }, + "outlet": { + "mode": "neq_extrap", + "backflow_clamp": true, + "blend_alpha": 0.7, + "srt_neq_damp": 0.5 + }, + "y_wall_bc": "free_slip", + "omega_guard": { + "min": 0.01, + "max": 1.99 + } + }, + "cuda": { + "threads_per_block": 256, + "compute_capability": "auto" + } +} diff --git a/src/CCD_analysis/Lyu23.md b/src/CCD_analysis/Lyu23.md new file mode 100644 index 0000000..9c96b00 --- /dev/null +++ b/src/CCD_analysis/Lyu23.md @@ -0,0 +1,1000 @@ +# Canonical correlation decomposition of numerical and experimental data for observable diagnosis + +B. Lyu $^{1}$ † + +$^{1}$ State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871, China + +(Received xx; revised xx; accepted xx) + +A flow decomposition method based on canonical correlation analysis is proposed in this paper to optimally dissect complex flows into mutually orthogonal modes that are ranked by their cross-correlation with an observable. It is particularly suitable for identifying the observable-correlated flow structures while effectively excluding those uncorrelated, even though they may be highly energetic. Therefore, this method is capable of extracting coherent flow features under low signal-to-noise ratios. A numerical validation is conducted and shows that the method can robustly identify the observable-correlated flow events even though the underlying signal is corrupted by random noise that is four orders of magnitude stronger. The temporal sampling frequency and duration of the observable determine the maximum and minimum frequencies to be resolved in the cross-correlation respectively, while those of the flow are to ensure convergence. These criteria are validated using synthetic examples. The decomposition method is subsequently used to analyse a turbulent channel flow, a subsonic turbulent jet and an unsteady vortex shedding from a cylinder, showing the effectiveness of observable-correlated structure identification and order reduction. This decomposition represents a data-driven method of effective order reduction for highly noisy numerical and experimental data and is suitable for identifying the source and descendant events of a given observable. It is hoped that this method will join the existing flow diagnosis tools, in particular for observable-related diagnosis and control. + +# 1. Introduction + +Many natural flows exhibit complex behaviour, such as the boundary layer formed over a sand dune or compressed air inside an aeroengine. This is particularly true at high Reynolds numbers, where most realistic engineering flows occur, because turbulence comes into play exhibiting a wide range of temporal and spatial scales. To understand, model, and possibly exert control on these flows, it is crucial to extract dominant structures and reduce the systems' degrees of freedom. + +Extensive research has been conducted to extract coherent features and decompose complex flows into a collection of simple modes. Well-established methods include the Proper Orthogonal Decomposition (POD), Dynamic Mode Decomposition (DMD), resolvent/input-output analysis and global stability analysis (Taira et al. 2017). Among these, POD and DMD fall into the category of data-driven approaches, while the resolvent/input-output analysis and global stability analysis are model-based. + +POD (Lumley 1967; Berkooz et al. 1993) is a particularly well-known data-driven method and represents a powerful tool for feature extraction and order reduction. Originating from Principal Component Analysis (PCA) in classical statistics, POD decomposes a complex flow into mutually orthogonal modes ranked by their fluctuation energy. If a flow is comprised of a few energetic coherent structures, POD effectively identifies them as leading-order modes. A linear combination of these leading-order modes then forms an optimal reduced-order representation of the total flow. POD may be used to extract the spatial or temporal structures (Lumley 1970; Sirovich 1987). These two structures are coupled, with the temporal structures representing the temporal variation of their corresponding spatial modes, and the spatial modes representing the spatial distribution of their corresponding temporal modes (Aubry 1991). This leads to the so-called Bi-orthogonal Decomposition (BOD). Recent years have also seen the increasingly widely-used Spectral Proper Orthogonal Decomposition (SPOD) in studying turbulent flows (Towne et al. 2018). In addition, to better capture the structures in transient and intermittent flows, conditional space-time POD (Schmidt and Schmid 2019) and multidimensional empirical mode decompositions (Souza et al. 2024) are proposed. These techniques are used to examine the acoustic bursts, the onset and evolution of the dynamic stall and intermittent vortex pairs, showing advantageous capability in resolving transient and intermittent events. It is worth noting that since POD relies on the underlying coherence within the flow to work, it is capable of identifying the flow structures that are dynamically nonlinear compared to linear model-based approaches. + +While POD aims to identify the coherent structures within a complex flow, DMD aims to extract temporal evolutionary information of the underlying dynamics captured in the data (Schmid 2010). The resulting representation is a dynamical system of fewer degrees of freedom. DMD starts by assuming a linear mapping between a sequence of the flow data, and the dynamics is extracted by examining the eigenvalues of a similarity matrix. For a linear system, this amounts to identifying the eigenmodes of the system. For nonlinear systems, DMD is connected with the modes of the so-called Koopman operator (Koopman 1931; Mezić 2013; Schmid 2022). Unlike POD, DMD modes capture the main “contributions” to the overall dynamics embedded in the data sequence. Recent years have seen numerous variants of DMD such as the extended DMD (Williams et al. 2015) and Residual DMD (Colbrook et al. 2023). More details on the recent development of DMD can be found in the recent review by Schmid (2022). + +As mentioned above, both POD and DMD are data-driven, while the resolvent analysis is based on the modal analysis of a linear operator. The resolvent analysis has an early origin in control theory and is based on the pseudospectrum of an operator (Trefethen et al. 1993; Taira et al. 2017), rather than the spectrum. For example, when the flow is decomposed into a base part and a fluctuation part, the Navier-Stokes equations can be rewritten and interpreted as a forced linear system, by which the evolution of the fluctuation part is governed. The nonlinear terms are collected on the right-hand side and interpreted as the forcing of the system. The resolvent modes are ranked by the energy gain between the response and forcing. Therefore, the resolvent analysis examines the gain properties of the linearized operator and has been successfully used to study turbulence from a linearized Navier-Stokes equation point of view (Farrell and Ioannou 1993; Mckeon 2010). Recent studies also show that the leading-order resolvent modes match the leading-order SPOD modes extracted from a numerically simulated high-speed jet (Schmidt et al. 2018). The input-output analysis (Jovanović 2021) is similar to the resolvent analysis in that a modal analysis is performed on a linearized operator. Input-output analysis differs from the conventional resolvent analysis in that a weight may be added to the operator to bias both the forcing and response towards interested domains or observables (Jeun et al. 2016). Therefore, input-output analysis may be regarded as a weighted resolvent analysis. + +In contrast to the resolvent analysis, model-driven global stability analysis (Theofilis 2011) examines the eigenvalue properties of an operator linearized around a base flow with multiple inhomogeneous spatial directions. In particular, it pays special attention to unstable modes, which would dominate the linear response of the system at large times. Note that through global stability analysis, the stable modes can also be obtained, which may play an important role in determining the transient dynamics of underlying flows. This is particularly true in fluid mechanics, where the linearized operators are often non-normal (Trefethen et al. 1993) and the transient growth can become crucial in determining the flow stability. In addition, an adjoint analysis of the operator may be performed to examine the receptivity problem, yielding modes that are similar to the optimal forcing modes in the resolvent analysis. + +POD and DMD, together with their variants, are common data-driven flow decomposition methods used in fluid mechanics. These provide important tools for probing the structures and dynamics of an underlying dynamical system. The ultimate goal of identifying the dominant structures or dynamics is, however, often to understand and possibly control some observables of the flow, such as to reduce the drag of a cylinder, minimise the unsteady force of a wing, or abate the noise emission from a jet. However, because POD modes are ranked by their fluctuation energy, the leading-order modes are not necessarily the most important structures as far as the observable is concerned, although they do carry the largest energy. For example, a large coherent structure effectively extracted from a turbulent subsonic jet using POD may be very inefficient at generating noise. In other words, the leading-order POD mode may not be the leading-order noise-generating flow structure. For example, it has been shown that a substantial number of near-field POD modes are required to reconstruct the acoustic field (Freund and Colonius 2009). Similarly, DMD extracts the dominant dynamics embedded within the flow without taking their connection with any observable into account. Consequently, the leading-order dynamic mode does not necessarily represent the flow events connected with the leading-order dynamics of the observables. + +That the energy rank may not be an appropriate measure, in particular for an observable-related diagnosis, is a well-recognised limitation of POD (Rowley 2005; Schmid 2010). One widely-used approach to overcome this difficulty is to use different norms to bias the decomposition towards interested observables or to use the extended POD (Maurel et al. 2001; Borée 2003). For example, Freund and Colonius (2009) performed the POD decomposition of a turbulent jet using various norms, including the near-field turbulent kinetic energy, near-field pressure, and far-field pressure. When the far-field pressure norm is used, the near-field flow quantities drop out in the correlation matrix and the resulting modes are effectively ranked only by the far-field pressure. Although the near-field flow can still be projected onto the far-field basis, the resulting near-field mode does not necessarily form a direct continuation of the far-field physics, particularly when the near- and far-field exhibit completely different dynamics or the far-field and near-field variables are characterised by pronounced phase delays. Note that the balanced POD proposed by Rowley (2005) is another similar technique to overcome the energy norm limitation of POD, which may be viewed as a special form of POD when the observability Gramian is used as the norm. + +On the other hand, the resolvent and input-output analyses decompose the flow to maximise the energy gain between the output and forcing based on the spectral theory of linear operators. Hence, the observable may be directly included in the choice of output. The resolvent and input-output analysis represent powerful tools to diagnose the flow structure and are capable of providing insightful understanding into a variety of turbulent flows (Mckeon 2010; Sharma and Mckeon 2013). In order to do so, a linearized operator describing the underlying system is often needed. In some cases, however, such an operator may not be readily known, while in others the linearized operator may not be an appropriate representation of the dynamical system, particularly in highly nonlinear systems. For example, an input-output analysis was performed on compressible subsonic and supersonic jets and found that a considerable number of modes were required to reconstruct the acoustic energy of subsonic jets (Jeun et al. 2016), which may be partly due to the limitation imposed by linearity. Such a limitation is also applicable to global stability analysis, where a linearized operator must be known in advance. + +In this paper, we aim to develop a data-driven flow decomposition method that is suitable for observable diagnosis based on flow and observable snapshots instead of linear operators. Instead of redefining the POD energy norm to bias towards the observable, the decomposition aims to introduce a rank based on a cross-correlation norm between the resulting modes and the observable, hence including both the flow and observable data in the correlation matrix. The decomposition method falls under the framework of canonical correlation analysis (CCA) (Hotelling 1936) in classical statistics. This paper is structured as follows: section 2 shows a mathematical formulation of the decomposition method. The physical significance of the resulting modes, the frequency and wavenumber resolutions, the effect of including multiple observables and the connection of the present decomposition to POD and the extended POD are discussed in detail sequentially. Section 3 validates the method by performing the decomposition on multiple synthetic flow fields. The effects of varying sampling frequency, duration and including multiple observables are also thoroughly validated. Section 4 applies this technique to both numerical and experimental data, demonstrating the potential use of such a method. The following section concludes the paper and lists some future work. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/75159b30fee58ee8c37eab1182a7d5ababa12d31b362597a80ac0b808f8a8b31.jpg) + + + +Figure 1: Schematic illustration of the two-dimensional flow snapshots sampled at time $t_{i}, i = 1, 2, 3, \ldots, N$ . Each snapshot contains flow data in both x and y directions, where x and y denotes the Cartesian coordinates of the flow domain. + + +# 2. The canonical correlation decomposition + +# 2.1. The decomposition procedure + +Assume that we have a sequence of snapshots $u_{i}$ obtained by sampling a flow field $u(\boldsymbol{x}, t)$ at time $t = t_{i}$ , where x represents the coordinates of the flow domain and i is an integer that takes the value of $1, 2, 3, \ldots, N$ . If the snapshots $u_{i}$ are sampled in time, $t_{i}$ increases sequentially as i increases, as shown in figure 1. If $u_{i}$ are, however, sampled in the ensemble space, each $t_{i}$ refers to the sampling time in its corresponding independent realisation and can therefore be independent of each other. In the most general case, $u_{i}$ can be sampled both in the time and ensemble space. Each snapshot of this sequence is obtained by discretizing the spatial domain on a mesh and represented by a column vector of length M. We write this snapshot sequence compactly in a matrix notation as + +$$ +\boldsymbol {U} = \left[ \boldsymbol {u} _ {1}, \boldsymbol {u} _ {2}, \boldsymbol {u} _ {3}, \dots , \boldsymbol {u} _ {N} \right]. \tag {2.1} +$$ + +For each snapshot $u_{i}$ , which is obtained by sampling a flow field at $t_{i}$ , assume that we can simultaneously sample an interested observable $p(t)$ of this flow at time $t_{i} + \tau_{j}$ , where j is an integer and takes the values of 1, 2, 3, ...Q with Q being a positive integer. We therefore obtain a sequence of the sampled observable $p_{i,j}$ , $j = 1, 2, 3...Q$ . Note that the sequence $p_{i,j}$ can be sampled at an earlier or later time of $t_{i}$ , depending on whether $\tau_{1}$ is a negative or positive value, respectively. This is important, and we will discuss its significance in the rest of this paper. + +For each integer i, we can define a column vector $p_{i}$ such that + +$$ +\boldsymbol {p} _ {i} = [ p _ {i, 1}, p _ {i, 2}, p _ {i, 3}, \dots p _ {i, Q} ] ^ {T}, \tag {2.2} +$$ + +where T denotes transpose. We then form a matrix P such that + +$$ +\boldsymbol {P} = [ \boldsymbol {p} _ {1}, \boldsymbol {p} _ {2}, \dots , \boldsymbol {p} _ {N - 1}, \boldsymbol {p} _ {N} ]. \tag {2.3} +$$ + +The key step is to construct a matrix A, representing the cross-correlation matrix between the flow and the observable, such that + +$$ +\boldsymbol {A} = \frac {1}{N \sqrt {Q}} \boldsymbol {P} \boldsymbol {U} ^ {\dagger}, \tag {2.4} +$$ + +where $\dagger$ denotes the Hermitian adjoint. The Hermitian adjoint here allows both P and U to be complex matrices. This is useful because both the observable and flow field can be just a Fourier component of the total fields (see the end of section 2.1 for more details). In the case where only real matrices are involved, the Hermitian adjoint $\dagger$ reduces to the simple transpose T. + +We then perform the standard Singular Value Decomposition (SVD) of matrix A, such that + +$$ +\boldsymbol {A} = \boldsymbol {R} \boldsymbol {\Sigma} \boldsymbol {V} ^ {\dagger}, \tag {2.5} +$$ + +where R and V are $Q \times Q$ and $M \times M$ unitary matrices respectively, while $\Sigma$ is a diagonal matrix of $Q \times M$ with the singular values $\sigma_{j}$ ( $j = 1, 2, 3 \ldots, \min(M, Q)$ ) as its diagonal elements. The column vectors of V represent the desired modes of the flow field $u_{i}$ , while those of R represent the normalised cross-correlation functions between the resulting modes and the observable. From SVD, it can be readily shown that these modes are mutually orthonormal and form a complete basis of $R^{M}$ . Therefore, the flow field $u_{i}$ can be conveniently decomposed as + +$$ +\boldsymbol {u} _ {i} = \sum_ {k = 1} ^ {N} a _ {k} (t _ {i}) \boldsymbol {v} _ {k}, \tag {2.6} +$$ + +where $v_{k}$ denotes the k-th column of V while $a_{k}(t_{i})$ denotes its corresponding expansion coefficient at time $t_{i}$ , or equivalently, + +$$ +u (\boldsymbol {x}, t) = \sum_ {k = 1} ^ {N} a _ {k} (t) \phi_ {k} (\boldsymbol {x}), \tag {2.7} +$$ + +where $\phi_{k}(\boldsymbol{x})$ denotes the basis function corresponding to $v_{k}$ , while $a_{k}(t)$ is the expansion coefficient of $u(\boldsymbol{x},t)$ using the basis $\phi_{k}(\boldsymbol{x})$ . As shown in section 2.2, these modes are ranked by their cross-correlation with the observable, and a significant order reduction may be expected if only a small number of modes are pronouncedly correlated with the observable. As will be shown in section 2.2, the decomposition method falls under the framework of CCA, therefore it will be referred to as the canonical correlation decomposition (CCD) in the rest of this paper. + +Note that, as mentioned above, both the observable and the flow can be just a Fourier component of the total fields. For example, the observable may be $\tilde{p}_{\omega}$ while the flow may be $\tilde{u}_{\omega}$ , where $\tilde{p}_{\omega}$ and $\tilde{u}_{\omega}$ represent the temporal Fourier components of the observable and flow at angular the frequency $\omega$ , respectively. In practice, a long flow snapshot sequence $u(\boldsymbol{x}, t_{k})$ ( $k = 1, 2, 3 \ldots$ ) obtained in experiments or simulations may be first partitioned into N segments; each segment may be regarded as a realisation in the ensemble space and then Fourier transformed in time and/or space to form the $u_{i}$ ( $i = 1, 2 \ldots N$ ) shown in (2.1). Similarly, a long observable sequence $p(t_{k} + \tau_{1})$ obtained in experiments or simulations may be partitioned into N segments; the ith segment is then Fourier transformed with respect to $t_{k}$ ( $\tau_{1}$ is a constant) to obtain $\tilde{p}_{\omega i}(\tau_{1})$ . In a similar manner, $\tilde{p}_{\omega i}(\tau_{2})$ , $\tilde{p}_{\omega i}(\tau_{3}), \ldots$ $\tilde{p}_{\omega i}(\tau_{Q})$ can be obtained, which are just $p_{i,2}$ , $p_{i,3}, \ldots p_{i,Q}$ shown in (2.2) ( $\tilde{p}_{\omega i}(\tau_{1})$ constitutes $p_{i,1}$ ). Note that when the observable and the flow are sampled at different frequencies, proper temporal alignment of them for each realisation must be ensured according to those described in section 2.1. Care must also be taken regarding the frequency resolutions of the flow and the observable when the Fourier transform is performed. CCD can then be performed according to (2.3) to (2.5), which may be regarded as a form of CCD decomposition in the spectral space. + +# 2.2. Physical significance of CCD modes + +The CCD represents an optimal decomposition that maximises the cross-correlation between the flow field u and the observable p. This can be shown mathematically as follows. Assuming the flow field is described by the function $u(\boldsymbol{x}, t)$ while the observable by $p(t + \tau)$ , where $\tau$ represents the time delay between flow and the observable. We form the cross-correlation $R(\tau, \boldsymbol{x})$ using + +$$ +R (\tau , \boldsymbol {x}) = \left\langle p ^ {*} (t + \tau) u (\boldsymbol {x}, t) \right\rangle , \tag {2.8} +$$ + +where $*$ represent the complex conjugate, while $\langle\cdot\rangle$ represents the temporal or ensemble average. In the latter case, the statistical processes represented by u and p are assumed to be stationary. For non-stationary processes, (2.8) explicitly depends on t, but the following derivation can still proceed. + +First, let us define an inner product in the Hilbert space defined on a domain $\Omega$ such that + +$$ +(f, g) = \int_ {\Omega} f (\boldsymbol {x}) g ^ {*} (\boldsymbol {x}) \mathrm{d} x ^ {n}, \tag {2.9} +$$ + +where $f(\boldsymbol{x})$ and $g(\boldsymbol{x})$ denote two functions within this space and n represents the dimension of $\Omega$ . A norm is therefore defined as $||f|| = (f, f)^{1/2}$ . Suppose we wish to find a function $\phi(\boldsymbol{x})$ of unit norm, such that the inner product between $R(\tau, \boldsymbol{x})$ and $\phi(\boldsymbol{x})$ , i.e. $(R, \phi)$ , obtains its maximum value in the $L_{2}$ norm. Mathematically, this is equivalent to + +$$ +\max _ {| | \phi | | = 1} \frac {1}{T} \int_ {\tau_ {0}} ^ {\tau_ {0} + T} | (R, \phi) | ^ {2} \mathrm{d} \tau , \tag {2.10} +$$ + +where $|\cdot|$ represents the complex modulus, and $\tau_{0}$ and T are two constants chosen such that the integration includes the entire interval where the integrand obtains non-negligible values. + +Physically, this amounts to finding the optimal function $\phi$ that most correlates with the observable. This is because the ensemble average in (2.8) commutes with the inner product in (2.10), i.e. + +$$ +(R, \phi) = \langle p ^ {*} (t + \tau) a _ {\phi} (t) \rangle , \tag {2.11} +$$ + +where $a_{\phi}(t)$ represents the expansion coefficient of the flow field u using the basis $\phi$ , i.e. + +$$ +a _ {\phi} (t) = (u, \phi). \tag {2.12} +$$ + +Clearly, we see from (2.11) and (2.12) that $(R,\phi)$ represents the cross-correlation function between the mode $\phi$ and the observable p. The $L_{2}$ norm of $(R,\phi)$ defined over an interval of length T is a natural measure of the correlation level between $\phi$ and p. We therefore define the correlation strength $C_{e}$ as the average of $|(R,\phi)|^{2}$ over the interval $[\tau_{0},\tau_{0}+T]$ , i.e. + +$$ +C _ {e} = \frac {1}{T} \int_ {\tau_ {0}} ^ {\tau_ {0} + T} | (R, \phi) | ^ {2} \mathrm{d} \tau . \tag {2.13} +$$ + +Evidently, if $\phi(\boldsymbol{x})$ maximises $C_{e}$ , it represents a flow structure that most correlates with the observable p. + +The function $\phi(\boldsymbol{x})$ that we seek can be obtained from an eigenvalue problem as follows. We know that $\phi(\boldsymbol{x})$ is a function of unit norm that yields a maximum $C_{e}$ , i.e. $\phi(x)$ satisfies + +$$ +\max _ {| | \phi | | = 1} \frac {1}{T} \int_ {\tau_ {0}} ^ {\tau_ {0} + T} | (R, \phi) | ^ {2} \mathrm{d} \tau . \tag {2.14} +$$ + +Classic calculus of variation shows that a necessary condition for (2.14) to hold is that $\phi$ is an eigenfunction of the correlation tensor, i.e. + +$$ +\int_ {\Omega} B (\boldsymbol {x}, \boldsymbol {x} ^ {\prime}) \phi (\boldsymbol {x} ^ {\prime}) \mathrm{d} x ^ {\prime n} = \lambda \phi (\boldsymbol {x}), \tag {2.15} +$$ + +where the correlation tensor is defined by + +$$ +B (\boldsymbol {x}, \boldsymbol {x} ^ {\prime}) = \frac {1}{T} \int_ {\tau_ {0}} ^ {\tau_ {0} + T} R (\tau , \boldsymbol {x}) R ^ {*} (\tau , \boldsymbol {x} ^ {\prime}) \mathrm{d} \tau , \tag {2.16} +$$ + +and the eigenvalue $\lambda$ corresponds to $C_e$ defined in (2.13) (Riesz and Nagy 1955). Clearly, the maximum $C_e$ is given by the largest eigenvalue. + +When the flow field and the observable are discretized, we can show that after multiplied by $\sqrt{Q}$ the matrix A defined in section 2.1 is identical to a discretized form of $R^{*}(\tau, \boldsymbol{x}')$ . The correlation tensor $B(\boldsymbol{x}, \boldsymbol{x}')$ then reduces to $A^{\dagger}A$ because + +$$ +B (\pmb {x}, \pmb {x} ^ {\prime}) = \frac {1}{T} \int_ {\tau_ {0}} ^ {\tau_ {0} + T} R (\tau , \pmb {x}) R ^ {*} (\tau , \pmb {x} ^ {\prime}) \mathrm{d} \tau \approx \frac {1}{Q} \sum_ {i = 1} ^ {Q} R (\tau_ {i}, \pmb {x}) R ^ {*} (\tau_ {i}, \pmb {x} ^ {\prime}) = \pmb {A} ^ {\dagger} \pmb {A}, (2. 1 7) +$$ + +where $\tau_{i}$ is the discretized values of $\tau$ . Equation 2.15 therefore reduces to a discretized eigenvalue problem of the matrix $A^{\dagger}A$ , i.e. + +$$ +\boldsymbol {A} ^ {\dagger} \boldsymbol {A} \boldsymbol {v} _ {k} = \lambda_ {k} \boldsymbol {v} _ {k}, \tag {2.18} +$$ + +where $v_{k}$ as defined in section 2.1 is the discretized form of the k-th eigenfunction $\phi(\boldsymbol{x})$ , while $\lambda_{k}$ is the k-th $\lambda$ in (2.15) subject to a discretization constant, whose exact value often carries no significance in practice. The eigenvalue problem of (2.18) is equivalent to the singular value decomposition shown in (2.5). Therefore, the column vectors of V are these optimal modes, while the corresponding column vectors of R are the normalised cross-correlation functions. In addition, the squares of the singular values $\sigma_{k}^{2}$ are precisely $\lambda_{k}$ , representing the correlation strength $C_{e}$ between the CCD modes and observable (subject to a discretization constant). In particular, when the components of p that correlate with their corresponding CCD modes of u are of equal energy, $\sigma_{k}^{2}$ also represent the observable-correlated energy of their corresponding CCD modes (subject to a constant), and the correlation ranking is identical to the ranking of the observable-correlated flow energy. In summary, instead of decomposing the flow field u based on its energy ranking using the classical POD, (2.5) yields a decomposition that is based on a cross-correlation ranking with an observable, or the observable-correlated energy ranking in the special case where the correlated components of p are of equal energy. + +Mathematically, the flow decomposition method can be shown to fall under the framework of CCA (Hotelling 1936) as follows. Given two column vectors $\boldsymbol{X} = (x_{1}, x_{2}, \ldots, x_{n})^{T}$ and $\boldsymbol{Y} = (y_{1}, y_{2}, \ldots, y_{m})^{T}$ of random variables with finite second moments, CCA seeks two vectors $\boldsymbol{a} (\boldsymbol{a} \in \mathbb{R}^{n})$ and $\boldsymbol{b} (\boldsymbol{b} \in \mathbb{R}^{m})$ such that the random variables $a^{T} X$ and $b^{T} Y$ yield the maximum correlation. The process may be continued in a subspace to yield a sequence of vector pairs. In the context of CCD, the flow field u may be regarded as the Y vector. However, the key part of the decomposition is to find a proper X vector. There are many ways X can be specified, such as the flow within a specific subdomain of interest. However, the essence and novelty of the present decomposition is to construct an X that consists of the observable sampled in a synchronised manner with the flow but at different time delays. Compared to POD or the extended POD, this time shift is an additional dimension used in CCD. As will be shown, the additional information embedded in this “hidden” shifted-time dimension is the key to yielding a more observable-targeting decomposition. More importantly, this permits independent sampling rates between the observable and the flow, which can be of great advantage. + +CCD possesses a number of key features that would be particularly useful for targeted flow diagnosis. First, the decomposition modes are not ranked by their energy, but by the correlation strength with the observable. Flow features that are not correlated with the observable can be effectively suppressed, while those correlated are promoted and ranked according to their correlation strength with the observable. This targets exclusively the observable and is, therefore, very useful in finding the sources or descendant structures of the observable. Second, as will be shown in section 3, the decomposition is robust even when the signal-to-noise ratio (SNR) is low. This is useful when only a small portion of the flow energy correlates with the observable, for example in the classical problem of aeroacoustic emission due to turbulence. Moreover, this robustness can be continuously improved when a longer time duration is used. This is therefore suitable for experimental diagnosis, where an arbitrarily long measurement may be readily performed. + +Third, as will be shown in section 3, the decomposition appears more capable of order or dimensionality reduction compared to POD. This is because CCD aims to decompose the flow only in the observable-correlated subspace, rather than the entire $\mathbb{R}^M$ . In fact, this fact may be used to estimate the convergence of the decomposition by examining how well observable can be reconstructed only using modes corresponding to non-zero singular values. Last but not least, the flexibility to use different sampling frequencies for the flow and the observable enables one to fully exploit the instrument's capabilities in experiments and numerical simulations. For example, it is well known that acoustic signals can often be sampled much faster using a microphone than the entire flow field using PIV. Similarly, in numerical simulations, the observable can also be sampled much faster than the flow due to limited storage requirements imposed by the observable at only a number of probe positions. Note that in general the sampling frequency of the observable is independent of that of the flow, provided $p_i$ properly aligns with $u_i$ as prescribed in section 2.1. In practice, if the sampling frequency of the observable is an integer multiple of that of the flow, it would be trivial to achieve such alignment. In other cases, clock-triggered synchronisation may be used to meet such a requirement in experiments. + +# 2.3. Frequency and wavenumber resolution and sampling delay + +In section 2.1 we mention that the matrix P is assumed to have Q rows and each adjacent row is shifted by time $\Delta\tau = \tau_{j+1} - \tau_j$ (assuming a constant sampling frequency). Moreover, p is sampled temporally behind u by a time $\tau_1$ (or ahead of u if $\tau_1$ is negative). In practice, the choice of Q, $\Delta\tau$ , and $\tau_1$ has significant physical implications. + +First, we show that $\Delta\tau$ and Q determine the maximum and minimum frequencies that can be resolved in the cross-correlation between the flow and the observable, respectively. To see this, we start by defining the correlation tensor $C(\tau', \tau)$ as + +$$ +C (\tau , \tau^ {\prime}) = \int_ {\Omega} R ^ {*} (\tau , \boldsymbol {x}) R (\tau^ {\prime}, \boldsymbol {x}) \mathrm{d} x ^ {n}. \tag {2.19} +$$ + +Similar to that shown in section 2.2, we can show that after discretization $C(\tau, \tau')$ reduces to $AA^{\dagger}$ subject to a scaled constant. The eigenvalue $\lambda$ defined in (2.15) can also be found by + +$$ +\frac {1}{T} \int_ {\tau_ {0}} ^ {\tau_ {0} + T} C (\tau , \tau^ {\prime}) \psi (\tau^ {\prime}) \mathrm{d} \tau^ {\prime} = \lambda \psi (\tau), \tag {2.20} +$$ + +where $\psi (\tau)$ corresponds to the column vectors of matrix $\pmb{R}$ defined in (2.5) in a discretized form. When the function $C(\tau ,\tau^{\prime})$ is of a homogeneous (stationary) form, i.e. + +$$ +C (\tau , \tau^ {\prime}) = C _ {0} (\tau - \tau^ {\prime}), \tag {2.21} +$$ + +equation (2.20) reduces to a Fourier expansion (Berkooz et al. 1993), i.e. + +$$ +\int_ {\tau_ {0}} ^ {\tau_ {0} + T} C _ {0} (\tau - \tau^ {\prime}) \mathrm{e} ^ {\mathrm{i} 2 \pi f \tau^ {\prime}} \mathrm{d} \tau^ {\prime} = \lambda T \mathrm{e} ^ {\mathrm{i} 2 \pi f \tau}, \tag {2.22} +$$ + +or equivalently, + +$$ +C (\tau , \tau^ {\prime}) = \sum_ {n} \lambda_ {n} T \mathrm{e} ^ {\mathrm{i} 2 \pi f _ {n} (\tau - \tau^ {\prime})}. \tag {2.23} +$$ + +Equation (2.23) indicates that the function $C(\tau, \tau')$ can be expanded into a Fourier series. When $C(\tau, \tau')$ is discretized, the well-known Nyquist's theorem demands that the sampling frequency $f_s^p \equiv 1 / \Delta \tau$ of the observable must be at least twice as large as the highest frequency to be resolved. Similarly, the total sampling duration $Q\Delta \tau$ determines the frequency resolution to be $1 / Q\Delta \tau$ . When the function $C(\tau, \tau')$ is not a homogeneous function, there are no general theorems, but we expect that the frequency requirement remains similar to the homogeneous case. In summary, $\Delta \tau$ determines the maximum frequency while $Q$ determines the frequency resolution similar to those in the Discrete Fourier Transform (DFT). + +Second, we note that the choice of $\tau_{1}$ depends on the physical time delay between p and u. In general, the observable may be temporally ahead of or behind the flow events depending on the causal relations between the two. For example, if p represents the upstream forcing imposed near the nozzle lip of a turbulent jet, then there must exist a finite time delay between the evolved downstream structure and p due to the finite propagation speed of jet instability waves. In this case, p is preferably sampled ahead of u in order to capture the physical correlation within a reasonably short sampling duration of p. A good estimation of $\tau_{1}$ would be around $-d/U_{c}$ , where d and $U_{c}$ represent the maximum distance between the flow and the observable and the convection velocity of the instability waves, respectively. Conversely, if p is temporally behind u then it must be sampled after u. For example, if the observable p represents the acoustic pressure at a distance r from the jet flow, a good estimate of $\tau_{1}$ would be around r/c, where c represents the speed of sound. In other more general flows, a good estimate of $\tau_{1}$ may be obtained by examining the cross-correlation function between the flow and the observable. $\tau_{1}$ should be chosen such that the correlation matrix A captures the entire correlation peaks. + +In addition to the sampling rate, sampling duration, and sampling delay of p, the temporal and spatial sampling of u also have physical implications. First, the spatial sampling rate of u has the conventional implication that it determines the maximum spatial wavenumber, whereas the length of the spatial sample determines the minimum wavenumber that can be resolved. This can be shown in a similar manner to those shown from $(2.19)$ to $(2.23)$ by considering the expansion of $B(\boldsymbol{x}, \boldsymbol{x}')$ . We omit a repetitive presentation here for brevity. + +Second, the temporal sampling rate of the flow $f_{s}^{u}$ (when $u_{i}$ is obtained via temporal sampling), however, has a different implication. The sampling rate here is not to determine the frequency limit, but mainly to ensure the convergence of the correlation between p and u. In particular, there is no need for the flow field and the observable to be sampled at the same frequency. This is an important advantage, because, as discussed in section 2.2, in experiments PIV can only be sampled at a much slower rate than that using a hot-wire or a microphone, whereas in numerical simulations sampling the flow field fast is impractical because of storage limit. However, such limitation does not exist for a number of interested observables. Therefore, the much higher sampling rate of the observable can be fully exploited by CCD in both experiments and numerical simulations. The fact that the sampling rates of the flow and observable are independent of each other is evident in the case that $u_{i}$ is obtained in the ensemble space. + +# 2.4. Inclusion of multiple observables + +In many applications, the appropriate observable is not necessarily limited by one. For example, to examine the dominant flow structures in a subsonic round jet that generates sound at $90^{\circ}$ to the jet centreline, the acoustic pressure at any azimuthal position is an appropriate choice due to the azimuthal statistical homogeneity. In such cases, upon defining a local coordinate system, each observable and the flow field in the local coordinates may be treated as an independent realisation. In such cases, using multiple observables is trivial by following section 2.1, i.e. allowing $u_{i}$ to be sampled both in the temporal and ensemble space. By doing so, the number of flow snapshots is increased by $N_{rl}$ fold, where $N_{rl}$ denotes the number of independent realisations. This would be very useful in improving the convergence of the resulting CCD modes. + +In cases where there is no apparent statistical homogeneity in the flow, multiple observables may still be included. For example, when a turbulent jet is forced in an upstream position (Crow and Champagne 1971), the introduced disturbance evolves downstream. One may wish to extract the coherent structures induced by the forcing using observable measurements downstream of the jet. In such cases, velocity fluctuations at any location within a reasonable distance from the forcing location may be used. However, each observable is likely to be heavily contaminated by turbulence. Using multiple observables are expected to improve the converge of the resulting modes. In such case, suppose that the matrix $P_{i}$ ( $i = 1, 2, 3 \ldots L$ ) can be formed using the i-th observable according to (2.3), then a straightforward way to include multiple observables + +is to form the total matrix P such that + +$$ +\boldsymbol {P} = \left[ \begin{array}{l} \boldsymbol {P} _ {1} \\ \boldsymbol {P} _ {2} \\ \dots \\ \boldsymbol {P} _ {L} \end{array} \right]. \tag {2.24} +$$ + +The normalisation constant Q in $(2.4)$ should be replaced by LQ. However, it is important to note that although P has L times as many rows as $P_{i}$ , this does not improve the temporal frequency resolution of the decomposition, which is still determined by $P_{i}$ . This is because, as illustrated in section 2.3, the temporal frequency resolution is determined by the duration of the time shift $Q\Delta\tau$ when $(2.8)$ is truncated and discretized; including more observables does not increase the length of this duration. Nevertheless, convergence of the resulting CCD modes may improve due to the effective inclusion of more data, particularly when highly noisy observables are used. For highly complicated flow data with a limited sampling duration, such as those obtained in numerical turbulent simulations, including multiple observables is expected to improve the convergence, i.e. reduce the uncertainty or noise of the resulting CCD modes. + +The choice of multiple observables, non matter in statistical homogeneous or inhomogeneous flows, must be made with care. As mentioned, the observables must be expected to resolve the same structures either due to statistical homogeneity or well-defined sources of the underlying problem. In the case where the multiple observables chosen are correlated with different events, including more observables would effectively seek an average between these flow structures, which may not be one's intention. For example, if one is interested in identifying the flow structures that are most correlated with the skin friction under a turbulent boundary layer, observables sampled at various streamwise stations are expected to resolve different structures. In such cases, using multiple observables may not be a worthwhile technique. + +# 2.5. Connection to POD and extended POD + +As shown in section 2.2, CCD is different from POD in that the decomposition is based on a cross-correlation rather than an energy norm. This difference is similar to that between CCA and its sister method PCA in classical statistics. Physically, CCA aims to find the “common parts” between two sets of variables, while PCA aims to find the main energetic structures. Mathematically, instead of decomposing the matrix $U^{\dagger}$ , a projection onto P is performed first in CCD. This shows that the decomposition takes into account the space spanned by P. Note this projection may result in a rank that is lower than that of the original flow; however, this is intended as one seeks to decompose $U^{\dagger}$ in the subspace correlated with the observable only. One could argue that this projection leads to a “lower-rank” behaviour by construction, as this would yield fewer singular values. However, the low-rank behaviour we discuss in the following sections is not characterised by fewer singular values, but rather characterised by a quick decay of singular values as the mode number increases and, perhaps more importantly, by a rapid reconstruction of the observable using fewer flow modes. + +As mentioned in section 1, the extended POD (Maurel et al. 2001; Borée 2003) is developed with a similar aim as the present decomposition, i.e. to better target the observable. One can show that the extended POD using a subdomain s is closely related to the degenerate case of CCD when no time shift is allowed between the observable and flow (using multiple observables in s). Mathematically, this implies Q = 1, $\tau_{1} = 0$ and the observable matrix P shown in (2.3) is a degenerate row vector of rank 1. In the special case where the subdomain of the extended POD only includes one observable point and only one mode results, the extended POD and degenerate CCD are identical subject to a normalisation constant. This can be shown as follows. + +Suppose that there exist L observables in the subdomain s. Since no time shift is allowed between the flow and observable, the matrix $P_{i}$ for each observable is a row vector. Hence, the assembled matrix P is a matrix of dimension $L \times N$ . Written in the matrix convention used in the present paper, the essential steps of the spatial extended POD start by decomposing P using POD or, equivalently, by SVD, i.e. + +$$ +\boldsymbol {P} ^ {\dagger} = \boldsymbol {R} _ {s} \boldsymbol {\Sigma} _ {s} \boldsymbol {V} _ {s} ^ {\dagger}, \tag {2.25} +$$ + +where both $R_{s}$ and $V_{s}$ are unitary matrices, the subscript s represents that this is a POD performed in the subdomain s. Note that it is the $P^{\dagger}$ that is decomposed. Right-multiplying (2.25) by $V_{s}$ , one obtains + +$$ +\boldsymbol {P} ^ {\dagger} \boldsymbol {V} _ {s} = \boldsymbol {R} _ {s} \boldsymbol {\Sigma} _ {s}. \tag {2.26} +$$ + +Taking the $k$ th column of both sides of (2.26) yields + +$$ +\boldsymbol {P} ^ {\dagger} \boldsymbol {V} _ {s, k} = \boldsymbol {R} _ {s, k} \sigma_ {s, k}, \tag {2.27} +$$ + +where $\sigma_{s,k}$ represents the kth diagonal element of $\Sigma_{s}$ . The right-hand side of (2.27) represents the temporal coefficient of the kth subdomain POD mode $V_{s,k}$ . The kth extended POD mode $V_{e,k}$ is obtained by projecting the flow U in the extended domain defined in (2.1) onto the kth temporal coefficient, followed by a normalisation, i.e. + +$$ +\boldsymbol {V} _ {e, k} = \frac {1}{\sigma_ {s , k} ^ {2}} \boldsymbol {U} \boldsymbol {P} ^ {\dagger} \boldsymbol {V} _ {s, k}. \tag {2.28} +$$ + +Following the procedure introduced in sections 2.1 and 2.4, the multiple-observable CCD yields + +$$ +\frac {1}{N \sqrt {L}} \boldsymbol {P} \boldsymbol {U} ^ {\dagger} = \boldsymbol {R} \boldsymbol {\Sigma} \boldsymbol {V} ^ {\dagger}, \tag {2.29} +$$ + +where R, $\Sigma$ and V are defined earlier in section 2.1. Left-multiplying (2.29) by $R^{\dagger}$ and then taking the Hermitian adjoint of both sides of the resulting equation yields, + +$$ +\frac {1}{N \sqrt {L}} \boldsymbol {U} \boldsymbol {P} ^ {\dagger} \boldsymbol {R} = \boldsymbol {V} \boldsymbol {\Sigma}. \tag {2.30} +$$ + +Taking the kth column of both sides of $(2.30)$ yields the kth multi-observable degenerate CCD mode + +$$ +\boldsymbol {V} _ {k} = \frac {1}{N \sigma_ {k} \sqrt {L}} \boldsymbol {U} \boldsymbol {P} ^ {\dagger} \boldsymbol {R} _ {k}. \tag {2.31} +$$ + +Comparing (2.28) and (2.31), one sees that the kth extended POD and degenerate CCD modes share much similarity. In particular, since both $V_{s}$ and R are unitary matrices of size $L \times L$ , $V_{s,k}$ and $R_{k}$ are of similar forms. This shows that both modes can be written as a projection of $UP^{\dagger}$ onto a unitary matrix of the same size. However, since $V_{s}$ is obtained by decomposing $P^{\dagger}$ while R by decomposing $PU^{\dagger}/N\sqrt{L}$ , in general, they are not the same. This represents the key difference between the two methods, i.e. one uses an energy-like rank in the subdomain only, while the other uses a correlation rank involving both the subdomain and full domain. It is also this difference that ensures the resulting CCD modes are orthogonal, while it is not necessarily so for the extended POD. + +However, in the special case where only one observable exists in the subdomains s and only one extended POD mode results, both $V_{e}$ and R reduce to 1. Clearly, in this case, the kth extended POD and degenerate CCD modes are identical, subject to a normalisation constant. This also suggests that a key difference between the two is that an extra dimension of time shift is allowed in CCD. It is in fact this difference that results in a more effective order-reduction, which will be discussed in the following sections. + +In summary, one can see that CCD is different from the extended POD in the following ways. First, CCD uses a norm involving both the subdomain and full domain, while the extended POD uses a norm defined in a subdomain space. Second, it is not the energy of the flow within a subdomain that is maximised, but the cross-correlation between the flow and the observable, which is the key difference from the extended POD. Last, the matrix P is formed by consecutively shifting the temporal delay between the flow and the observable. This is why although $A^{\dagger}A$ can be written as $U(P^{\dagger}P)U^{\dagger}$ , CCD is not weighted POD as $P^{\dagger}P$ is a non-diagonal matrix formed by time shifting the observable, instead of a diagonal weight independent of the flow variables. Note that P does not have to be within the flow field; instead, it can represent a variable outside the flow field, a Fourier component of the flow, a particular event in a complex flow, or an observable obtained by integrating the entire flow field. + +Apart from these differences, the connections between POD, extended POD and CCD can also be shown. For example, mathematically POD can be regarded as a special case of CCD when the observable is just an impulse exhibiting no spectral preferences. Specifically, if $p_{ij} = \delta_{i(N+1-i)}$ where $i = 1, 2, \ldots, N$ and $\delta_{ij}$ is the Kronecker delta function, we see that matrix A is a reversed $U^{\dagger}$ and CCD reduces to POD. Physically, this implies that p contains identical frequency components, and therefore exhibits no preferences in the spectral space. Therefore, U is decomposed into modes ranked purely by their energy. Similarly, mathematically CCD may reduce to the extended POD if P is a mathematically constructed simple diagonal weight matrix independent of any flow variables. The exact diagonal elements of course depend on the specific subdomain to be interrogated in the extended POD. + +# 3. Validation + +# 3.1. One-dimensional deterministic flow fields + +To validate that CCD can effectively extract flow events that correlate with an observable, even under very low SNR, we create an artificial one-dimensional unsteady flow field + +$$ +\begin{array}{l} u (x, t) = 2 \cos (t - x) + 1. 5 \cos (2 t) \cos (2 x) + \cos (3 t) \cos (3 x) \\ + 0. 5 \cos (4 t) \cos (4 x) + \cos (6 t) \cos (6 x) \exp (- 0. 1 (x - \pi) ^ {2}) + 1 0 0 r (t, x), \tag {3.1} \\ \end{array} +$$ + +where $r(t,x)$ represents a random noise field with a uniform probability distribution over $[-0.5,0.5]$ , while other terms represent given flow structures with different amplitudes. Note that the energy of the random noise field is deliberately chosen to be around $10^{4}$ times stronger than the defined flow structures. + +Suppose that p represents an observable of interest at a specific point of the flow field, for example, it may represent the skin friction fluctuations at one point on the bottom wall within a turbulent channel flow. It is known that some flow structures are the primary cause of the skin friction fluctuations while others have minimal effects on them. Therefore, as an illustration we suppose that p is generated by the flow events represented by the first, second, fourth and fifth terms in $(3.1)$ , but not by the third and last terms. For instance, p may be given by + +$$ +p (t) = \cos (t - \frac {\pi}{4}) + \sin (2 t - \frac {\pi}{3}) + \cos (4 t) + \cos (6 t - \frac {\pi}{1 2}). \tag {3.2} +$$ + +Note that the amplitudes of the terms shown in $(3.2)$ are chosen to be identical, although this is not at all necessary. In fact, they may be changed arbitrarily without affecting the validity of the decomposition, for instance, the amplitudes shown in $(3.1)$ can be used should one be interested. + +Suppose that the flow field u is sampled over $t \in [0, 2N\pi]$ at a sample frequency $f_{s}^{u} = 128/2\pi$ , where N is an integer representing the number of periodic cycles. Given the strong random noise in (3.1), N is chosen to be a large number (only necessary when strong noise is present). p, on the other hand, is sampled at the same sample frequency $f_{s}^{p} = f_{s}^{u}$ but for a slightly longer duration of $2(N + 1)\pi$ . According to section 2.1, by choosing $\tau_{1} = 0$ and Q = 128, we can construct a matrix P with 128 rows straightforwardly. Within each snapshot, the flow field is discretized on a mesh of 128 points uniformly distributed between $[0, 2\pi]$ . In this example, $\Delta\tau = 2\pi/128$ , therefore the maximum frequency that can be resolved is limited by around $64/2\pi$ . Similarly, Q = 128 implying that the frequency resolution is around $1/2\pi$ . + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/d9d99ac379847f175f6232b864e3bc539ae9171bf99fd22936981ae37e7d3c88.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/f35c492029a591bd7abab3e1a8320a1acadd4577449f4895b0ab5b9ed38817b5.jpg) + + + +Figure 2: Comparison of the spectra of CCD (a) and POD (b) when $N = 10^{4}$ , Q = 128 and $f_{s}^{p} = f_{s}^{u} = 128/2\pi$ . CCD is capable of effectively extracting the observable-correlated events leading to a low-rank spectrum, while POD results in a flat spectrum. + + +Following the procedures introduced in section 2.1, both matrix U and P can be easily constructed, where U is of a size of $128 \times 128N$ while P is of a size $128 \times 128N$ . Upon constructing the matrix A, the CCD can be carried out in a straightforward manner. The resulting CCD spectrum, i.e. the magnitude of the singular values against the mode number, is shown in figure 2(a). To facilitate a direct comparison, the POD spectrum is also shown in figure 2(b). + +Figure 2 shows the CCD spectrum with a desired low-rank behaviour. From figure 2(a) we see that the five modes that correlate with the observable can be robustly identified, even though the energy of the random noise is up to $10^{4}$ times stronger. Specifically, the first two identical singular values form a pair, revealing a flow event of travelling-wave nature, i.e. $\cos(t - x)$ . The first mode of the pair corresponds to $\sin(t + \phi)\sin(x + \phi)$ while the other to $\cos(t + \phi)\cos(x + \phi)$ ( $\phi$ is an arbitrary phase delay), as demonstrated in figure 3(a). The third, fourth, and fifth singular values correspond to the flow events described by the second, fifth, and fourth terms in (3.1), respectively. These can be confirmed by examining the corresponding mode vectors shown in figure 3(b-d). Most importantly, the $\cos(3x)$ mode, which does not correlate with the observable, is robustly removed in the CCD spectrum. This shows that CCD can effectively remove those uncorrelated flow events while only keeping those correlated, and therefore works well for an observable-targeted feature extraction and order reduction. + +The sixth to the ninth singular values $(\sigma_{j}^{2})$ shown in figure 2(a), which are two orders of magnitude weaker than the first few modes, are artefacts introduced by the strong random noise. Note, however, that these unphysical modes can be further suppressed robustly if the flow field is sampled for a longer duration (larger N). All other values of $\sigma_{j}^{2}$ are below $10^{-24}$ and therefore not shown within the given range. As discussed in section 2.2, the singular values represent the correlation strengths between corresponding CCD modes and the observable. In this illustrative case, the observable is comprised of four modes of equal amplitude, as shown in (3.2), therefore the singular values in figure 2(a) are precisely the observable-correlated fluctuation energy (subject to a fixed constant), as evidenced in figure 3 (for example $\sigma_{1}^{2}:\sigma_{2}^{2}:\sigma_{3}^{2}=2^{2}:2^{2}:1.5^{2}$ ). + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/f9d4d3688ccfda05ec3b750e581d1b55461d83c70a23f13a277578fc45232eb3.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/09200b6a65af1b7c860c05cc93d12cf46f5519325a13aac274dff76240343715.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b1274b88dc1871df86a5616ecc6333da8d2b868230695d475db0bb4fcf975e05.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/258c99e1ad45bc9fcf905fef10804234fc32d070203d12f4e0b75d193e1bff73.jpg) + + + +Figure 3: Extracted CCD modes when $N = 10^{4}$ , Q = 128 and $f_{s}^{p} = f_{s}^{u} = 128/2\pi$ . They are most correlated with the observable p (corresponding to the first, second, fifth and fourth terms in (3.2), respectively). + + +On the other hand, figure 2(b) shows that due to the strong random noise the POD spectrum is completely corrupted and shown as a flat line. The low-rank behaviour embedded within the data therefore cannot be identified. This is expected, because POD modes are ranked by their corresponding fluctuation energy. The random noise present in the flow field is up to $10^{4}$ times stronger than the observable-correlated events, and therefore completely dominates the POD spectrum. More importantly, even though POD may be able to extract the coherent structures when weaker noise is present, it cannot separate the observable-correlated flow structures from those uncorrelated in the same way as CCD does, since no information of $p$ is used. For example, the second term of (3.1) would stay in the POD spectrum and also exhibit as a dominant mode. + +Having validated the decomposition, one can straightforwardly demonstrate the effects of varying the sampling frequency, duration, time shift and including multiple observables. The results agree well with the arguments discussed in sections 2.3 and 2.4. For conciseness, however, we do not include them in this section, but rather have it shown in Appendix A. + +# 3.2. One-dimensional statistical flow fields + +The example shown in figures 2 and 3 illustrates the capability of CCD in extracting flow events from highly noisy data. The temporal signals given in (3.1) are deterministic; we can show in a similar manner that CCD can also effectively extract the observable-correlated flow events when the temporal variation is statistical, such as those exhibited in many turbulent flows. To show this, we construct an artificial one-dimensional flow field + +$$ +u (x, t) = 3 s _ {1} (t) \cos x + 2 s _ {2} (t) \cos 3 x + s _ {3} (t) \cos 6 x \exp (- 0. 1 (x - \pi) ^ {2}) + 1 0 r (t, x), \tag {3.3} +$$ + +where $s_{i}(t)$ (i = 1, 2, 3) represent three statistical processes. The $s_{i}(t)$ series are generated by a random number generator with different seeds in MATLAB and then filtered using three different 6th-order Butterworth filters. More specifically, $s_{1}(t)$ is filtered using a bandpass filter with lower and upper cut-off frequencies of $0.2f_{s}$ and $0.4f_{s}$ , respectively. The $s_{2}(t)$ and $s_{3}(t)$ series are filtered using low-pass filters with cut-off frequencies of $0.2f_{s}$ and $0.15f_{s}$ , respectively. For illustrative purposes, we also add a random noise field that is two orders of magnitude more energetic than $s_{3}(t)$ . Suppose that the observable p is generated by the flow events represented by the second and third terms in (3.3), but not by the first, i.e. + +$$ +p (t) = s _ {2} (t - \frac {\pi}{3}) + s _ {3} (t) + 2 \left[ s _ {3} (t) ^ {2} - \overline {{s _ {3} (t) ^ {2}}} \right] + 3 \left[ s _ {3} (t) ^ {3} - \overline {{s _ {3} (t) ^ {3}}} \right] + r (t). \qquad (3. 4) +$$ + +Note that because the observable may be non-linearly related to the flow dynamics, we also add in (3.4) two nonlinear terms of $s_3(t)$ , as shown by the two bracket terms. Similarly, the observable may be also subject to noise contamination. A statistical random noise $r(t)$ , with a uniform distribution over $[-0.5, 0.5]$ , is therefore also added. The flow field is again sampled at $f_s^u = 128 / 2\pi$ on a uniform spatial mesh of 128 points over the time interval $[0, 2N\pi]$ , while $p$ is sampled over $[0, 2(N + 1)\pi]$ using the same frequency $f_s^p = 128 / 2\pi$ . + +Routine use of the decomposition yields the CCD spectrum and the first two modes, as shown in figures 4(a) and 4(b), respectively. Clearly, the leading-order mode corresponds to the second term in (3.3), while the second-order mode the third. This can be clearly seen from figure 4(b). It is worth noting that the observable also contains the square and cube of $s_3(t)$ , but this does not appear to affect the identification of the second mode. Indeed, CCD works by maximizing the correlation between the flow field and the observables, but in general it does not limit the observable being a linear function of the flow field. Additionally, the first term of (3.3), due to it being uncorrelated with $p$ , is effectively removed in the CCD spectrum. Other higher-order modes are more than two orders of magnitude lower than the first two. Again, as $N$ increases, these unphysical modes can be further suppressed, while the physical modes resolved more accurately. Note that in this illustrative example, the observable p is also corrupted by the random noise, but CCD continues to work robustly. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/03108d0c82d261a4cb2cbcd8380144ae5c5fe14e0bfead9f68c1bce1bbb30360.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/cc91f66662bd8489047a732a67289db47468d885f224eaa3351740b57b16ae86.jpg) + + + +Figure 4: The CCD spectrum (a) and the first and second modes (b). N takes the value of $10^{4}$ but $10^{3}$ may also be used at the expense of convergence. + + +# 4. Applications to numerical and experimental data + +Having validated the method, in this section CCD is used to decompose numerical and experimental data in order to demonstrate its potential use in fluid mechanics. Three flows are used, including a turbulent channel flow, a subsonic jet and a wake flow past a cylinder. Where possible, POD results are also included for comparison. In all cases, the simple $L_{2}$ norm of the flow $u_{i}$ is used in POD. + +# 4.1. Turbulent channel flow + +As an illustrative example, we first apply CCD to a Direct Numerical Simulation (DNS) database of turbulent channel flows. The database was obtained from a turbulent channel flow using the code developed by Lee and Moser (2015). The computational domain is of $4\pi H \times 2H \times 2\pi H$ in the streamwise $(x)$ , wall-normal $(y)$ and spanwise $(z)$ directions, respectively, where H denotes the half-height of the channel. The domain is discretized using 192, 128 and 192 points in x, y and z directions, respectively. The friction Reynolds number $Re_{\tau}$ defined as $\rho u_{\tau}H/\mu$ , where $\rho$ , $\mu$ and $u_{\tau}$ denote the fluid density, dynamic viscosity and friction velocity at the wall respectively, is around 180. The time step is fixed at $0.01H/U_{b}$ , where $U_{b}$ is the bulk flow velocity. The flow is sampled every 100 time steps, resulting in a sampling frequency of $f_{s}^{u} = U_{b}/H$ . In total, 1687 snapshots of the flow field are recorded. + +In turbulent channel flows, skin friction represents a significant operational cost in applications such as long-range oil transport (Kim 2011). The control of turbulent skin friction is therefore of particular interest and has been studied extensively in the literature (Gad-el Hak 2007). To understand the physical mechanism concerning its generation and suppression, it is crucial to extract the turbulent flow structures that determine the skin friction. CCD is therefore suitable for such a diagnosis. As mentioned in section 2, without the data storage limit, the observable is allowed to be sampled at a much higher frequency than the flow field. In this example, the sampling frequency $f_{s}^{p} = 10f_{s}^{u}$ , resulting in an interval of $\Delta\tau = 0.1H/U_{b}$ and 16870 samples for the skin friction. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/55f0684256957b3b9f104ebd3d7e303e68f8cab3d6ecb15bacc7ca3ae231abed.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/bc88a20258ee3a01741790eccc7dac177e4799bea7e6b3cba953fa9df6fa6e21.jpg) + + + +Figure 5: The spectra of (a) CCD and POD; The CCD spectrum exhibits a much steeper decay as mode number n increases, indicating a more effective order reduction. + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b9b11fc53d3a151dd7cdb4d517d89357530d251cc44def4400b002a38cefbaba.jpg) + + + +Figure 6: Reconstruction of the dimensionless wall friction coefficient using the first 6 CCD (a) and POD (b) modes, respectively. + + +Considering the statistical homogeneity of the flow, we use the skin friction sampled at $x = 2\pi H$ and $z = \pi H$ on the lower wall (y = -H) as the observable and choose the streamwise velocity as the flow variable in order to extract the coherent structures. Considering the short temporal correlation scale, we choose Q = 100 and $\tau_{1} = -50\Delta\tau$ . Using the procedures described in section 2, we perform CCD and obtain the resulting singular values and CCD modes. The singular values are shown in figure 5(a). Also shown is the spectrum from POD in figure 5(b), where the streamwise velocity is decomposed. Comparing the two we see that the CCD spectrum is markedly different from that of POD. In particular, the CCD spectrum exhibits a much quicker decay. For example, higher-order modes ( $\geqslant$ 5) are one order of magnitude lower, whereas the POD spectrum is rather flat. This signals a quicker reconstruction of the skin friction using CCD modes. Indeed, using the first 6 modes recovers more than 80% of the total skin friction at the observer point, as shown in figure 6(a). The high-frequency deviation may be further reduced if the observable is allowed to be sampled faster. In contrast, the first 6 POD modes only recover less than 5% energy, as shown in figure 6(b). + + +B. Lyu + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/865b6a2a8053c9fd40cf26474029139a6d7700d1b997182ef4a11856bdbb8704.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/bbbcb6b7099211517e4dc62668f088b5681ad9a76e8939cb70b6df3a3075a2ce.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/c8d69272b6b20fe9fd0c5e998dbaad05f4a934f818ebd147a29ba299da6b981d.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/3765fe6ce327f660150ff8d16fe72570f3dc43ba6f68c434e5b40ae928b8ad30.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b1963d6769f79ff07fa864527a14c703e2ed10e8d79157056a288fa73015dfc4.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/cf82d01dca62fcd8a0abfcb8ab08ec8cbd65d4f9f734a991072395c125cb6d23.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/fc1497e2afc7993ff3384bd9456d0494f9833275398ac335f2a6e6d682a9684b.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/a07cc2eb31bc18262172a5dc9a7cf33ea065c59858e98e8f75c55f78c7b10cbf.jpg) + + + +Figure 7: Front views of the first four CCD (a,c,e,g) and POD (b, d, f, h) modes. The z coordinate is fixed at $\pi H$ for (a, c, e, g). The spanwise widths of the streaks in (a,c,e,g) are around 0.2H. + + +The resulting CCD modes are shown in figure 7. We see that the CCD modes take the form of streamwise streaks slightly above the bottom wall, in accordance with current understanding. More importantly, figure 7 also shows that they are spatially localized around the observer point. This is particularly true in the spanwise direction with a streak width of less than 0.2H. Moreover, higher-order modes have increasingly short spatial and temporal scales. To the best knowledge of the authors, such a quantitative and unambiguous characterization of these structures specifically targeting the skin fluctuation in the middle of the wall has not been reported in the literature. In contrast, although the POD modes take the form of streaks, they are not localized around the observer point, but stretched in the streamwise direction and scattered in the spanwise direction instead. Moreover, the first few modes do not exhibit a clear decrease of either spatial or temporal scales, signalling a slower reconstruction of the skin friction. + +Although CCD focuses on examining the flow structures that contribute to the skin friction at one individual point, it in fact does not lose generality. This is because the flow is homogeneous in the streamwise direction; the structures that generate the skin friction at other locations on the wall remain identical (subject to a shift in space). However, by focusing on the observable at a specific point, one expects to obtain a more effective order reduction since our interest is more focused. The fact that the flow is homogeneous can also be exploited to improve the convergence of the resulting flow. Instead of using the observable at one point, one can use multiple points along different spanwise or streamwise locations. They can be treated as independent realisations, with which the resulting mode indeed converges better. However, since the structures remain similar to those in figure 7, we omit showing their contours repetitively. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/f1e07351702f169b80320f5082cf7cde6dde1e8aebaa08d8dd15fa3d0bc004fd.jpg) + + + +Figure 8: The spectrum of extended POD using (a) a subdomain of size $4\pi H \times 2\pi H$ and (b) a subdomain consisting of the observable point only; Reconstructed skin friction fluctuations using (c) a subdomain of size $4\pi H \times 2\pi H$ (using the first 6 extended POD modes) and (d) a subdomain of only one point (only 1 mode results). + + +Note that part of the reason why the skin friction reconstruction using POD is slow is due to its use of energy within the entire domain as the norm. Since the extended POD can be used to target more towards the observable, it is interesting to compare it with CCD in detail. To show this, we first perform the extended POD using skin friction on the wall. The resulting singular values and reconstruction of the skin friction using the first 6 extended POD modes are shown in figures 8(a) and 8(c), respectively. The resulting spectrum of singular values exhibits a similar slow decay to that shown in POD. This is consistent with a similar reconstruction of the skin friction, as shown in figure 8(c), where a limited time range from 650 to 1150 is shown for clarity. However, comparing to figure 6(b), the skin friction reconstruction appears slightly improved when the wall shear stress is used as the subdomain in the extended POD. + +One is, therefore, interested in seeing how much the reconstruction can improve by using increasingly small subdomains centring around the observable. In the ultimate case, the subdomain can be chosen to consist of the observable point only. We choose to perform extended POD using such a special subdomain. Note that this is identical to the degenerate CCD where no time shift is included between the observable and the flow. We expect the resulting mode to better target the observable, which is indeed the case, as shown in figure 8(d). The extended POD modes can capture an overall trend in the skin friction variation. However, it is important to note that since there is only one mode available, as can be seen in its spectrum shown in figure 8(b), this is the best reconstruction one can achieve using the extended POD. + +On the other hand, since the decomposition is also a degenerate case of CCD, this represents the worst reconstruction one would obtain using CCD. Indeed, by including the dimension of time shifts, P would have a rank of more than 1, and the reconstruction using CCD improves considerably, as shown in figure 6(a). Note that the reconstruction further improves as one includes more CCD modes, the family of which forms a complete orthonormal set. In addition, figure 8(d) shows that only an overall trend of the skin friction is captured in the reconstruction, and the deviation occurs mainly in the high-frequency regime. This is expected, since this degenerate CCD corresponds to a sampling interval $\Delta\tau = \infty$ for the observable, hence a failure to resolve high-frequency components. + +In summary, using only one point where the observable is located in the extended POD better targets the observable, but the resulting one mode limits the capability of separating multiple flow structures that possibly coexist within the flow. To do that, a sufficiently large region is preferred, compromising the observable specificity. This appears a trade-off between targeting a local observable and separating multiple flow structures. CCD does not have this limitation, and this relaxation is enabled by exploiting the “hidden” time-shift dimension. This reflects a key difference between CCD and the extended POD. More importantly, this also adds the flexibility of fully exploiting a different (possibly much higher) sampling frequency. + +Figures 5 and 7 show that CCD works well in extracting the coherent structures that are most correlated with the given observable. This is further evidenced by a quick reconstruction of the skin friction using the first few CCD modes. Note again that in this example the observable is sampled at a much higher frequency than the flow. This flexibility, as mentioned in section 2.5, plays an important role in the successful feature extraction and order reduction. + +# 4.2. Turbulent subsonic round jets + +In this section, we apply CCD to a numerical dataset of a turbulent subsonic round jet. Using the pressure fluctuations as the observable we can examine the flow structures that are most correlated with them. Directly resolving far-field pressure fluctuation is rarely possible in numerical turbulence simulations, hence in this example we examine the near-field pressure fluctuation instead. This is expected to suffice for the purposes of demonstrating the potential use of CCD. The near-field dynamics of turbulent jets is expected to connect with their mixing and acoustic characteristics, and is therefore studied extensively in the literature. Order reduction techniques are widely used. This includes POD or the extended POD with a variety of norms (Freund and Colonius 2009; Sinha et al. 2014; Schmidt and Schmid 2019), the resolvent/input-output analysis (Jeun et al. 2016; Pickering et al. 2021; Bugeat et al. 2024) and other source identification methods that we do not aim to show exhaustively. Moreover, the near-field pressure fluctuations are crucial in determining installed jet noise (Lyu et al. 2017; Lyu and Dowling 2019), therefore its modelling and control have practical uses. + +The numerical data is extracted from an earlier work (Lyu et al. 2017), where an LES simulation of a subsonic round jet was performed. Only a slice of data on one azimuthal plane is used, but it should be sufficient for illustration purposes. The jet Mach number is $M_{j} = 0.5$ while the nozzle diameter D is 2 inches. The computational domain is axisymmetric, with the streamwise coordinate x extending from 0 to 20D and lateral coordinate r extending to 4D. The computational domain is discretized using 512 and 97 points in the x and r directions, respectively. + +We choose the near-field pressure fluctuation at x/D = 10 and r/D = 4 as the observable. At this close distance, the observable is likely to include both acoustic and hydrodynamic pressure fluctuations. In addition, we choose the pressure field as the flow variable to be decomposed. The same is used in a reference POD decomposition. The flow is sampled at a frequency of $f_{s}^{u} = 4U_{j}/D$ for a duration of $200D/U_{j}$ , where $U_{j}$ is the jet exit velocity. The near-field pressure p is sampled at the same frequency but for a longer duration of $280D/U_{j}$ . This results in a Q value of 320. Due to the short distance between the flow field and the near-field pressure fluctuations, we choose the time delay $\tau_{1}$ to be 0. With the procedure described in section 2, the CCD spectrum is shown in figure 9. Also shown is the POD spectrum to facilitate a direct comparison. Only the first 50 singular values are shown. Compared to POD, the CCD spectrum exhibits a more rapid decay as the mode number n increases. In particular, at small mode numbers the CCD spectrum shows a clear low-rank behaviour. The first two modes are almost one order of magnitude stronger than higher-order modes. This is in direct contrast to the POD spectrum, where the low-rank behaviour is not pronounced. + + +B. Lyu + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/ed2416630caf8a7e633240660706c8c2ad2e36cbf4cf8f3664ab743eeb40cf65.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/94a35f6dbc30c508188e1c78404cbb7a4910b8f5645e0af80ab78ff5ebecdf7d.jpg) + + + +Figure 9: The CCD (a) and POD (b) spectra of the unsteady pressure field on a x - r plane. The CCD spectrum shows a clear low-rank behaviour compared to POD. + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/d57282eccc17d2a7b74668be55a1b7f86842ab13ee4ae7bd7713ec82255ebb0d.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/036d397805145727f48ebb633d3fce4c3129f2524771dae27ba396b1f98ffd58.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/ced6f482a7ba46d53a669ae5161a52ee018c56531d8bfc9927040c574c46d8b6.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/f761b2a0c7920391eca6a623ed35c3eaacec42da3d1440aa963937f957af81f4.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/6b83a3ed648ef0aa2e737b3dd91f4fa6d0a2896d96ce7c16e9fea22017ca34f8.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b740daf0a2daf061f4534a66918c53e44a7f8aeac9a5e829d61d310b4a8577b5.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/f3320ef81e4f61036125a3eb030a3340bbd69460b79610d299632a2750b3d189.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/6c3a17a7d8e35014acc0c1134de9f0e1b1018259f04ed633719934041ffdf95d.jpg) + + + +Figure 10: The first 4 CCD modes (a,c,e,g) and PSD spectra (b,d,f,h) of their corresponding temporal coefficients, where the blue dashed line in (b) represents the spectrum of the observable with its magnitude scaled for an easier comparison; mode 1 (a-b), mode 2 (c-d), mode 3 (e-f), mode 4 (g-h). As the mode number increases the CCD modes are characterised by increasingly short spatial scale and high frequency components. + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/7a72190498f60f37d6494d3a3e264f9d7387ba5a002145bdbb3fd1e4fb2ce03f.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/c221a5bcbe34f4d0f29f6420c226ba099a584b986859c4c5f47862f01c463732.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/8bec60aae520fae10155c2ace2f740d71f39445b17c9b9579d50430061c49e4f.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/2411eaac70dabfed7f0b19c75eedb3384dc989d6e04e0e51a7703a9c40ac0719.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/247f44018ba1c3b65f2334d08e9473fb617ae4a2a2584038c9ac959a29ca26b4.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/d8d9afc59f4e684a99aebb5f9425361596ead54fa8872e0d85da07d913db547c.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/88bbc97f19feb01f3c9a2ad364a03a1b57702c845339de2db15dae422dcd8f44.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/57ea1777cce4c3a019a732d1be9ac8f5d6c3e1e7baf1cefab566d3bca99c76b0.jpg) + + + +Figure 11: The first 4 POD modes (a,c,e,g) and PSD spectra (b,d,f,h) of their corresponding temporal coefficients, where the blue dashed line in (b) represents the spectrum of the observable with its magnitude scaled for an easier comparison; mode 1 (a-b), mode 2 (c-d), mode 3 (e-f), mode 4 (g-h). As the mode number increases the POD modes have larger spatial scales with more low-frequency components. + + +This can be understood from figures 10 and 11, where the first 4 CCD and POD modes $\phi_{k}(\boldsymbol{x})$ and the corresponding Power Spectral Densities (PSDs) of their temporal expansion coefficients $a_{k}(t)$ are shown, respectively. Clearly, the first two CCD modes are large flow structures exhibiting relatively low-frequency behaviour, whereas the leading-order POD modes have much shorter scales with a well-known dominant frequency at around St = 0.3, where St is the Strouhal number defined using $U_{j}$ and D. The PSD spectrum of the observable is also included with its magnitude scaled for an easier comparison. Since the observer is located at x/D = 10 and r/D = 4, the pressure fluctuations inevitably include the signatures of the downstream large coherent structures. The similar first two singular values shown in figure 9 and similar mode shapes shown in figure 10 indicate a convection behaviour of this large structure. CCD decomposition can take this into consideration and yield an observable-relevant low-frequency fluctuation mode. The leading-order POD modes, on the other hand, are ranked only by the fluctuation energy and, therefore, are not as relevant as the CCD modes. + +Note that the singular value represents a measure of the cross-correlation in the $L_{2}$ norm and, therefore, is in general not equal to the energy of the CCD modes contained in the flow, nor is it equal to the energy of the corresponding correlated component in the observable. Nevertheless, since the decomposition targets more at the observable, we expect that it can reconstruct the pressure fluctuations at the observable position using much fewer modes. This is indeed the case, as shown in figure 12, where only the first two CCD and POD modes are included to calculate the reconstructed pressure fluctuations at the observable position, respectively. As can be seen from figure 12(a), using two CCD modes can yield a good reconstruction, which is in contrast to POD shown in figure 12(b). Note that in this application we use the pressure field as the flow u, whereas in general a combined velocity and pressure field may be used. We can show that a similar result may also be obtained when a combination of velocity and pressure fluctuations is used in CCD. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/685524a0e5480890de753d757ae531177ee58edca6910bd11b3d94cc9b2ade0c.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/11302fcaa990840f7041e3ef018434e6c9429b914919cb51afa1b7ddb1d6e049.jpg) + + + +Figure 12: The reconstructed pressure fluctuations at the observable location using the first 2 CCD (a) and POD modes (b), respectively. + + +At large mode numbers, the CCD spectrum shows a steeper decay, and higher-order modes tend to have increasingly short scales together with higher frequencies, as shown in figures 9 and 10, respectively. Note that the singular values represent the correlation strength between the CCD modes and the observable, therefore the decay of the singular values is determined by both the energy of the flow and the observable and the coherence decay between them. Therefore, the steeper CCD spectrum suggests that although the pressure fluctuations consist of energetic structures of various scales, they may not be equivalently important in contributing to the observable, therefore the coherence between the two may decrease rapidly. On the other hand, the POD spectrum decays much more slowly, and as the mode number increases the POD mode starts to capture more downstream large structures with more low-frequency content, as shown in figure 11. That the POD spectrum decays more slowly is attributed to the fact that the POD spectrum is determined solely by the energy of flow and, therefore, does not depend on its coherence with the observable. + +Figure 10 shows that each CCD mode corresponds to a unique temporal variation. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/7e9e4ba9cb744e735a908a00db57c49110b20db75285ab7279fb10f02d6cfaf9.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/6155e91309e045c5be247e3aaf27416a9c829c8a60b927a595b5cab862f3690b.jpg) + + + +Figure 13: The mean (a) and instantaneous (b) streamwise velocity distributions of the immediately downstream wake over a cylinder flow (Renn et al. 2023). The black diamond, red circle and white square are located at x/D = 1.5 but y/D = 6.1, y/D = 5.7, and y/D = 4.9, respectively. + + +Unlike the Fourier analysis, each of these temporal variations is spectrally broadband. In essence, CCD decomposition works as a special spectral transform of the flow based on its correlation with the observable. Note, however, that the sampling frequency and duration are limited in this simulation, and further analysis using longer samples is needed for better statistical convergence. In addition, due to current data availability, we only decompose the near-field pressure, and it would be interesting to apply this technique to extract acoustically dominant flow features in future studies. Nevertheless, it suffices for the purpose of demonstrating the potential application of CCD. + +# 4.3. Unsteady wake flows over cylinders + +In this example, we apply CCD to the experimental data of an unsteady wake flow behind a cylinder. The experiment was performed in a water tunnel using the two-dimensional time-resolved Particle Image Velocimetry (PIV) technique. The cylinder had a diameter of $D = 9.53 \mathrm{~mm}$ while the Reynolds number was fixed at 650. The interrogation window was a rectangle immediately behind a cylinder in the wake and measured $13D \times 9D$ in the streamwise ( $x$ ) and cross-stream ( $y$ ) directions, respectively. Details of the experimental setup can be found in Renn et al. (2023). The velocity field was sampled at a frequency of around $50 \mathrm{~Hz}$ on a mesh of $N_x = 133$ and $N_y = 89$ , and in total $N = 8250$ snapshots were obtained. The mean and instantaneous streamwise velocity fields are shown in figure 13 for reference. As shown in figure 13, the mean flow exhibits the expected symmetry across the wake, while the instantaneous velocity field shows a clear vortex shedding behaviour behind the cylinder. The vortex shedding occurring when the Reynolds number exceeds a critical number is one iconic feature of the flow over cylinders. Given its wide applications such as wind blowing over chimneys and high-rise buildings, its control has attracted significant attention in the fluid mechanics community (Choi et al. 2008). Many techniques exist, including both passive and active controls. Earlier studies show that using the feedback signal recorded in the wake, vortex shedding can be successfully suppressed or even eliminated at low Reynolds numbers (Williams and Zhao 1989; Roussopoulos 1993; Park et al. 1994). In designing a closed-loop active control system such as the one in Park et al. (1994), one primary interest is to identify the optimal location to place the feedback sensor. Ideally, the observable, such as the cross-stream velocity, at the feedback sensor location should maintain a strong correlation with the vortex structures shed from the cylinder. CCD may be used to give an initial assessment of the correlation between the sensed signal and the vortex structures. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/1e1e17728ddad124f470cc584db2d0c76cf0b1231ed9da2713c82436aedb7efc.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/c024dffea9e961154e7f4b43ddfdf7a0b8f95d0148bb740e5be0d18c7112692c.jpg) + + + +Figure 14: The CCD (a) and POD (b) spectra of the streamwise velocity fluctuations on an x-y plane with the cross-stream velocity fluctuation at y/D = 5.7 as the observable. + + +As an illustration, we choose the observable to be the cross-wake velocity (Park et al. 1994) in the initial shear layer behind the cylinder, for example at x/D = 1.5 and y/D = 5.7 as shown by the red circular dot in figure 13(a). Using this observable, we may decompose the streamwise velocity field using CCD. Again, the streamwise velocity is correspondingly used in POD. The time shift $\tau_{1}$ is chosen to be $-4Q\Delta\tau/5$ while Q is chosen to be N/3. Figures 14(a) and (b) show the CCD and POD spectra, respectively. Clearly, both CCD and POD capture the dominant vortex shedding behaviour, and the two nearly identical singular values reflect a convecting behaviour of the shed vortices. Figures 15 and 16 show the corresponding first three CCD and POD modes and their corresponding PSDs, respectively. Clearly the first two vortex shedding modes from both CCD and POD are virtually identical, which can be seen from both the mode shape and their corresponding PSD spectra. The CCD spectrum shows a slightly smaller singular value for the third mode, which is somewhat more symmetric, whereas the similar mode resulting from POD obtains a similar singular value compared to the leading-order mode. This suggests that although this mode carries one of the largest energy, it is slightly less correlated with the cross-stream velocity fluctuation at x/D = 1.5 and y/D = 5.7. + +If we keep x/D = 1.5 but move the observable position further away from the shear layer, for example, to y/D = 4.9 and y/D = 6.1 as shown by the white square and black diamond symbols respectively in figure 13, these three modes can still be identified using CCD, but their relative singular values changed significantly, as shown in figure 17. This implies that these modes correlate differently to different observables. Evidently, the first and second modes in figure 17(a) represent the vortex shedding modes. Their mode shapes are similar to those shown in figure 15(a) and (b), so we omit a repetitive presentation. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/f7bbbafa2f5d037c742b95e57b95063ea8544e4141145c01b79935f8576aec65.jpg) + + + +Figure 15: The first 3 CCD modes (a,c,e) and PSD spectra (b,d,f) of their corresponding temporal coefficients; mode 1 (a-b), mode 2 (c-d) and mode 3 (e-f). + + +However, it is important to note that these singular values are much larger compared to those shown in figure 14(a), suggesting they are more strongly correlated with the observable. More importantly, the third singular value drops rapidly, almost one order of magnitude weaker than the leading-order mode. From the feedback control point of view, this would be a good candidate for placing the feedback sensor owing to its higher correlation with our interested flow events and simultaneously a higher SNR. Figure 17(b) shows that the singular values corresponding to the vortex shedding modes are slightly lower than those shown in figure 14(a) with an even stronger leading-order non-shedding mode. Consequently, this would be a position to be avoided for placing the feedback sensor. This may be why the wake centreline was used to place the feedback sensors in Park et al. (1994). + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/4e131b3f4172e290869bc6016058fde48507d4a60d8b65427485e11baaf1f530.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/87d501398c09037834baf561db4b80a2662de7b7843cae3d2209904fc91a6a26.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/26e9f993057fd4755b21ccfe2773934221e1ae5e0e4f7650055c46c25dab733b.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/bac251285e48233274d6c0fc6e5cbeb2076ac83519056848054165a5cb9f3af7.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/825b65945aa9e4958c4b07409d471cccf8729f26d8d600301514f90c69845c1d.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/2d508ae0d4f1abc16dd0666d7a42d95eda390d8134965cd509d7318d69cf097f.jpg) + + + +Figure 16: The first 3 POD modes (a,c,e) and PSD spectra (b,d,f) of their corresponding temporal variation coefficients; mode 1 (a-b), mode 2 (c-d) and mode 3 (e-f). + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/6f2fecafe70c5574de69b22829965a75b748cd4d373bd72d2e4e6abf3dbd5473.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/c47f038310a2071c4a49a9f662ea1ced7e79a0997f56d497029ab36e3cd47f80.jpg) + + + +Figure 17: The CCD spectra of the streamwise velocity fluctuations when the observable is located at $y / D = 4.9$ (a) and $y / D = 6.1$ (b), respectively. + + +# 5. Conclusion + +A data-driven method referred to as CCD is proposed in this paper to decompose complex flows into modes ranked by their correlation strength with an observable. The method is based on the canonical correlation analysis in classical statistics. The method is validated for both deterministic and statistical flow events. First, the results show that CCD can effectively extract the observable-correlated flow features while suppressing those uncorrelated in both cases. CCD, therefore, results in more low-rank spectra compared to POD. Second, CCD can effectively extract those observable-correlated flow structures even under low SNRs. Third, numerical validation shows that the sampling frequency and duration of the observable determine the frequency limit and resolution while that of the flow are to ensure the convergence of the cross-correlation. Longer sampling of the flow and including multiple observables can improve the convergence of the resulting CCD modes. Therefore, CCD is particularly suitable for experimental data because long samples can be more conveniently obtained. Lastly, as no linearity is assumed, CCD is capable of extracting nonlinear flow events similar to POD, provided a non-negligible correlation exists between the flow and the observable. + +As an illustrative example, the method is first used to analyse a turbulent channel flow obtained using DNS. The flow structures that are most correlated with the skin friction at the point in the middle of the bottom wall are extracted. It is shown that CCD yields a spectrum of singular values that decays rapidly as the mode number increases compared to POD. The first 6 CCD modes effectively recover more than 80% of the skin friction fluctuations. The extended POD using only one observable point can better target the observable, and is found to be equivalent to the degenerate case of CCD when no time shift between the flow and observable is used. The CCD modes take the form of streamwise streaks slightly above the wall. More importantly, the streamwise and spanwise extent of these streaks are unambiguously determined. As the mode number increases, CCD modes have increasingly short spatial and temporal scales. + +In a subsequent example, CCD is used to decompose the unsteady pressure field of a turbulent subsonic jet using a near-field pressure fluctuation as the observable. Results show that CCD results in a steeper spectrum compared to POD. In particular, the CCD spectrum exhibits a clear low-rank behaviour and the corresponding modes correspond to the large coherent flow structures that convect downstream. The first two CCD modes recover 80% of the energy of the near-field pressure fluctuations. The method is subsequently applied to analyse the unsteady vortex shedding behind a cylinder. It shows that similar modes to POD can be robustly identified, but their strengths depend crucially on the observable and its locations, suggesting that these modes correlate differently with observables at different locations. This diagnosis would be useful for determining the optimal location for placing the feedback sensor in a closed-loop control of the vortex shedding behind a cylinder. + +Note that the examples shown in the paper are only for illustrations. They suffice for the purpose of demonstrating the potential uses of CCD, but further improvements are needed for a more in-depth analysis. For example, we can see that both the sampling frequency and sampling duration in the jet example are rather limited; therefore, a faster sampling of the observable, together with a longer sampling duration, is needed for more accurate diagnosis. In addition, a possible far-field noise diagnosis using pressure or the Lighthill stress tensors as the flow variables may be conducted. These, together with the application of CCD in the spectral space such as that shown in section 2.1, form some of our future work. + +# Acknowledgements + +The author wishes to thank Prof. Ann Dowling and Prof. Tim Colonius for the stimulating discussions on including multiple observables and the low-rank properties of CCD modes. The author would like to gratefully thank Prof. Jie Yao for sharing the DNS data of channel flows. The author is very grateful to Dr. Cong Wang and his collaborators for agreeing to use their PIV data on cylinder wakes. The author wishes to thank Dr. I. Naqavi who performed the LES simulations in our last collaborative publication (Lyu et al. 2017), from which part of the data is extracted and reused. The author also wishes to gratefully acknowledge the National Natural Science Foundation of China (NSFC) under the grant number 12472263. + +Declaration of interests. The authors report no conflict of interest. + +# Appendix A. The effects of sampling frequency, duration and multiple observables + +In this appendix, we aim to demonstrate the effects of sampling frequency, duration and multiple observables using the one-dimensional synthetic example introduced in section 3.1. We first demonstrate the effects of varying the sampling frequency of the observable $f_{s}^{p}$ . In figure 3, a large sampling frequency of $128 / 2\pi$ is used. This is a sufficiently large number considering one only needs to resolve the approximately maximum frequency of $6/2\pi$ required by the fifth term in (3.1). According to Nyquist's theorem, a minimum sampling frequency of $12/2\pi$ is needed. To demonstrate the validity of this requirement, we first perform CCD using $f_{s}^{p} = 12/2\pi$ , resulting in extracted modes virtually the same as those in figure 3. Subsequently, we use an under-resolved sampling frequency of $10/2\pi$ while are other parameters remain unchanged. The resulting modes are shown in figure 18. Clearly, although the low-frequency modes shown in figure 18(a) and (b) can still be correctly captured, the high-frequency modes shown in figure 18(c) and (d) start to differ from their correct forms. This is because the under-sampling causes aliasing effects in the decomposition, leading to incorrect modes 4 and 5. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/8caa0e061600aba4bfc66fef0b215ecb9cd5e035b8b68936d44066475f7a17d6.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/29af093c51a7cb9ae90c3d7d1a632a023f0277ea93bc2089593633b6ad228e5f.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/8d956b65ab4cd42412075bf0cca3e20aed43639cb59e41fb4a9c5cea2dfe8e92.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/5222f11258621410683f089893b4205cd6273a29d957276156075a37beb08546.jpg) + + + +Figure 18: Extracted CCD modes when the observable is sampled using an under-resolved frequency $f_{s}^{p}=10/2\pi$ while $N=10^{4}$ , Q=128 and $f_{s}^{u}=128/2\pi$ . With this low sampling rate, modes 4 and 5 cannot be captured accurately. + + +We then demonstrate the effects of varying the sampling duration of the observable. In figure 3, Q is taken as 128 as this is the minimum value to use in order to resolve the flow structures given in (3.1), resulting in a frequency resolution of $f_{s}/Q = 1/2\pi$ . If a smaller Q such as 64 is used, one would expect the failure of resolving the low-frequency structures. This is precisely the case, as shown in figure 19, where Q = 64 while all other parameters remain the same. As shown in figure 19(a), the mode at the lowest frequency of $1/2\pi$ is extracted incorrectly. In addition, the next mode at the frequency of $1/\pi$ seems resolved incorrectly as well (see figure 19(b)). In fact, the modes shown in figure 19(a) and (b) appear to have somehow mixed. This is expected, since the frequency resolution is only $1/\pi$ , but the two modes differ from each other only by $1/2\pi$ . On the other hand, modes shown in figure 19(c) and (d) are characterised by frequencies of $3/\pi$ and $2/\pi$ respectively, and therefore have been resolved correctly. Figure 19 clearly shows that the number of shifted rows Q determines the frequency resolution in a similar manner to that in DFT. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b542af658dcb7e3fbfb053b05b57cc726ddd96a330af4f418020a4f450ec1a7a.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/231fd69522c6ea1fa65d7ae079cccc6e77630c3de88daae4f89209cbc84811da.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/85990d650d16f62ec1f11045c6f18a9c2c159b557dff447031c662cb2e787a09.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/21762de206ccaf2b373f53d78c12e6f23f77a7dac6067dc9deb0ad24e583594b.jpg) + + + +Figure 19: Extracted CCD modes when the observable is sampled for a short duration, i.e. Q = 64, while $N = 10^{4}$ and $f_{s}^{p} = f_{s}^{u} = 128/2\pi$ . With this short sampling duration, modes 1 and 2 cannot be resolved correctly. + + +We are now in a position to illustrate the effects of sampling frequency and duration of the flow u. Figure 3 shows that the extracted modes are subject to small random noise. This noise decreases rapidly as N increases. As mentioned in section 2.3, this is because the sampling rate and duration of the flow are to ensure the convergence of the correlation tensor (they do not affect the frequency limit and resolution). In figures 2 and 3, N is taken to be 10000. This is a large number because we deliberately chose an SNR that is as low as $10^{-4}$ . A small N can also be used at the expense of augmented noise in the resolved modes. For example, figure 20 shows the extracted CCD modes when N = 1000 (a-b) and N = 100 (c-d), respectively. Only modes 1, 2 and 4 are shown for brevity. Clearly, we see that using a duration of N = 1000 results in CCD modes that converge less well but are still unambiguously identified. When N reduces to 100, the resolved CCD modes are further corrupted by the random noise, nevertheless, the structures of the modes can still be recognized. Note that N here denotes the number of cycles of the sampled flow. At the lowest frequency of 100 Hz widely used in the fluid mechanics literature, N = 100 yields a sampling duration of 1 s. In the experiments, a record of 100 s can be easily managed. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/2b63b306e6f06875a6f646c5b9f2df292aba101e31f07d7b414f8a0f96454439.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/3a1b364cfb2f8137241ba3187610264e9f3a3c7d90403567919081740506b26c.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b7bec8203f82af7afc047aaaf00c0621b96d2a666cc518a3b18cf753a55a0b11.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/87919f87582ba19f15ba4cb43d057b185d0673b5d0f3e1960d31179c9e0d65ba.jpg) + + + +Figure 20: The extracted CCD modes when N = 1000 (a-b) and N = 100 (c-d) while other parameters remain the same as those in figure 3. Convergence increasingly deteriorates as N decreases. + + +Figure 20 shows that the CCD modes are corrupted significantly by random noise at an SNR $< 10^{-4}$ when $N = 100$ . However, when the random noise is only two orders of magnitude more energetic, $N = 100$ yields sufficiently well-resolved CCD modes. In general, we find that to obtain the same level of convergence, $N$ scales roughly as 1/SNR. Conversely, if longer samples are readily available, CCD can robustly extract the observable-correlated flow events at the same level of convergence at an even lower SNR. Therefore, CCD is especially suitable for analysing data acquired in experiments, where the data may be recorded for as long as desired. + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/ff840f5d3e2bb2d3c8effb1047afa59ad6eb1f74606f1d6d935828cf74750804.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/08b39d3e2e764d3e4e8c3fd9caa05e394c22a5b863b70c947269fb8ac42e31ed.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/d542ba6ff43a49f4d8358f0c61266c713fd2557114f0a23456f26b0db34b1dab.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b6a310d176adbf9e7e038abe006423d0d710f1ef243f4733d8c626caaf2a16e9.jpg) + + + +Figure 21: The extracted CCD modes using a low flow sampling frequency of $f_{s}^{u} = 16/2\pi$ while $N = 8 \times 10^{4}$ , Q = 128, $f_{s}^{p} = 128/2\pi$ . Negligible change occurs compared to figure 3 because the same number of flow snapshots are used for the temporal average. + + +It is worth noting that although the extracted modes in figure 20 are subject to stronger noise contamination due to the insufficient convergence level, they do not suffer from aliasing effects due to under sampling. The fact that the sampling frequency and duration of the flow do not affect the frequency limit and resolution can be even more clearly demonstrated in figure 21. Figure 21 shows the extracted modes when the flow is only sampled at $16 / 2\pi$ . However, to exclude the effects of insufficient convergence, the total number of flow snapshots is kept the same. Comparing figures 3 and 21 reveals that the extracted modes are virtually identical, demonstrating the independence of the frequency resolution on the temporal duration and frequency of sampling. + +We are now in a position to demonstrate the effects of including multiple observables. The flow field u takes the same form of $(3.1)$ . However, more observables need to be defined. To ensure that the observables are not only similar to $(3.2)$ but also exhibit variations, we construct up to ten observables $p_{i}(t)$ ( $i = 1, 2, 3 \ldots 10$ ) such that + +$$ +\begin{array}{l} p _ {i} (t) = \left(1 + 0. 2 r _ {1 i}\right) \cos \left(t - \frac {\pi}{4}\right) + \left(1 + 0. 2 r _ {2 i}\right) \sin \left(2 t - \frac {\pi}{3}\right) + \left(1 + 0. 2 r _ {3 i})\right) \cos (4 t) \tag {A1} \\ + (1 + 0. 2 r _ {4 i}) \cos (6 t - \frac {\pi}{1 2}) + 1 0 0 r _ {i} (t), \\ \end{array} +$$ + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/40244f4a1338849948b2a9e818a3f6883f8b412db8f10921fc1ef33c754ae8f1.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/424e568b81c5f4645fa4445be64905ffd44aa417a66d7d119493976b7e75698d.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/48f6568c702256ae79fe87eb84810a68c1fe7a054bab7925234e0258ff1d64f3.jpg) + + +![image](https://cdn-mineru.openxlab.org.cn/result/2026-06-07/b70089ee-fa1a-4e57-9e24-8f0805a1690f/b95bfd3f8d3670f7bbf72c281e1ad202ff0e9891921273c1272eb0fa3ff03ba4.jpg) + + + +Figure 22: The extracted CCD modes 1 and 4 when 1 (a-b) and 10 (c-d) observables are included. Including multiple observables improves the convergences of the resulting CCD modes. + + +where $r_{ji}$ (j = 1, 2, 3, 4) are random numbers between [-0.5, 0.5] and $r_{i}(t)$ a random function with a uniform distribution over [-0.5, 0.5]. Note that a very strong random noise (SNR $\sim 10^{-4}$ ) is also added in each observable in order to demonstrate the validity of the decomposition with strongly contaminated observables. + +Following the procedure listed in section 2.4, multiple observables can be included straightforwardly to form the matrix P. When identical parameters to those in figure 3 are used, the extracted modes using either 1 or 10 observables are shown in figures 22(a,b) and 22(c,d), respectively. Only modes 1, 2 and 4 are shown for brevity. Clearly, when the observables are also strongly contaminated, the extracted modes converge less satisfactorily, as shown in figure 22(a-b). 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Journal of Nonlinear Science, 25:1307–1346, 2015. + diff --git a/src/CCD_analysis/README.md b/src/CCD_analysis/README.md index cc02366..7b6ce0e 100644 --- a/src/CCD_analysis/README.md +++ b/src/CCD_analysis/README.md @@ -1,30 +1,85 @@ -# CCD_analysis +# CCD_analysis: Correction-Field CCD Pipeline -Canonical Correlation Decomposition for fluidic pinball control analysis. +Analyzes DRL-controlled fluidic pinball using **correction-field decomposition** + **Canonical Correlation Decomposition (CCD/Lyu23)**. Core question: does `dq_ctl` (what the controller adds) match `dq_tar` (what the target requires)? ## Quick Start -1. Read `ccd_knowledge.md` — 唯一知识库，包含理论、流程、结果 -2. Run comparison: `conda run -n pycuda_3_10 python3 correction_analysis/compare_dqctl_scenes.py` -3. Run diagnostics: `conda run -n pycuda_3_10 python3 correction_analysis/diagnose_corrections.py` +```bash +# 1. Panorama comparison figure (primary output) +conda run -n pycuda_3_10 python3 correction_analysis/compare_dqctl_scenes.py -## Directory +# 2. CCD quantitative decomposition +conda run -n pycuda_3_10 python3 correction_analysis/decompose_corrections.py -``` -correction_analysis/ — 所有当前分析代码 -scripts/ — GPU 数据采集 + phase alignment -utils/ — 核心算法（POD/CCD/场加载/平移） -ccd/ — Round 5 旧基线（已冻结） -data/ - figures/ — 诊断图（无 colorbar） - ccd/ — JSON 结果 - old_data/ — 归档废弃数据 +# 3. Single-scene diagnostics (zone metrics) +conda run -n pycuda_3_10 python3 correction_analysis/diagnose_corrections.py ``` -## Environment +## Pipeline Architecture ``` -conda run -n pycuda_3_10 +scripts/collect_*.py → scripts/{detect_period,replay_fields}.py + (GPU采集) (phase alignment) + ↓ +correction_analysis/compute_correction_fields.py + (dq_blk, dq_ctl, dq_tar) + ↓ + ┌────┴────┬────────────┐ + ↓ ↓ ↓ +compare_ decompose_ diagnose_ +dqctl_ corrections corrections +scenes.py .py .py +(全景对比) (CCD定量) (zone诊断) ``` -详见 `ccd_knowledge.md`。 +## Directory Structure + +``` +CCD_analysis/ + README.md # 本文件 + ccd_knowledge.md # 唯一知识库 (理论, 结果, 操作流程, bug经验) + Lyu23.md # CCD 方法文献 + configs.py # 场景元数据 (统一几何) + utils/ + resampling.py # POD, CCD, 场加载 + cfd_interface.py # LegacyCelerisLab 封装 (GPU) + build_observation + field_translate.py # 场平移 (备用) + load_vortex_fields.py # 瞬态 vortex 场加载 + scripts/ + collect_*.py # GPU 数据采集 + detect_period.py # 周期检测 → phase_plan.json + replay_fields.py # 场回放 → fields_aligned.npz + correction_analysis/ + compute_correction_fields.py # dq 计算 (核心) + compare_dqctl_scenes.py # 全景对比图 (核心输出) + decompose_corrections.py # CCD 定量 (POD + force/action CCD) + diagnose_corrections.py # 单场景 zone 诊断 + run_signature_line.py # Signature CCD + run_zone_ccd.py # Zone-restricted CCD + run_steady_metrics.py # Steady cloak 定量 + run_15L_correction.py # 1.5L 专项 + visualize_action_ccd.py # Action-CCD mode1 可视化 + process_legacy_steady.py # 旧格式加载 + ccd/ # Round 5 冻结基线 (勿改) + data/ + figures/ # 诊断图 (仅保留核心对比图) + ccd/ # JSON 结果 + old_data/ # 归档 (废弃脚本/旧报告/旧数据) +``` + +## Key Documentation + +| File | Content | +|------|---------| +| `ccd_knowledge.md` | **Primary entry** — theory, results, conventions, bug history | +| `Lyu23.md` | CCD method paper (Lyu 2023) | +| `data/old_data/ccd_correction_field_report.md` | Old full report (archived reference) | +| `data/old_data/ccd_handover.md` | Old handover notes (archived) | + +## Key Conventions + +- **Main analysis object**: `dq_ctl` (not raw `q_ctl`) +- **Observation order**: `[forces/force_norm, sensors/sens_norm]` — force first (see Bug 3 in ccd_knowledge.md §12) +- **All scenes unified geometry**: pinball center at 613px, sensors at 800px +- **Environment**: `conda run -n pycuda_3_10` +- **GPU**: Device 2 for collection diff --git a/src/CCD_analysis/ccd/validate.py b/src/CCD_analysis/ccd/validate.py new file mode 100644 index 0000000..ea6c661 --- /dev/null +++ b/src/CCD_analysis/ccd/validate.py @@ -0,0 +1,270 @@ +"""LOCO and blocked-split validation for CCD (Round 5). + +Reuses shared data loader from resampling.py. +Target-only POD basis. Q_delay=6 for force/action. + +0.75L and 1.0L only. 1.5L excluded from validation. + +Usage: + conda run -n pycuda_3_10 python ccd/validate.py +""" +from __future__ import annotations + +import json +import os +import sys +import time + +import numpy as np + +_SRC = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")) +if _SRC not in sys.path: + sys.path.insert(0, _SRC) + +from CCD_analysis.configs import DATA_DIR +from CCD_analysis.utils.resampling import ( + compute_reduced_ccd, cumulative_energy, + load_aligned_fields, make_force_obs, + build_field_matrix, project_into_basis, +) + +R_LIST = [6, 8, 10] +CCD_Q = 6 +N_CYCLES = 4 +N_PTS = 24 +DIAMETERS = [0.75, 1.0] + + +def r2(y_true: np.ndarray, y_pred: np.ndarray) -> float: + """Coefficient of determination.""" + ss_r = np.sum((y_true - y_pred) ** 2) + ss_t = np.sum((y_true - np.mean(y_true)) ** 2) + return float(1.0 - ss_r / (ss_t + 1e-12)) + + +def reconstruct_observable(W, sigma, R, a_test, y_train): + """Reconstruct observable from CCD modes. + + Returns dict with 'mode1' and 'm80' reconstructions. + """ + am = np.mean(a_test, axis=1, keepdims=True) + as_ = np.std(a_test, axis=1, keepdims=True) + 1e-12 + a_test_z = (a_test - am) / as_ + z_test = W.T @ a_test_z + + ym = np.mean(y_train, axis=1, keepdims=True) + ys = np.std(y_train, axis=1, keepdims=True) + 1e-12 + half = CCD_Q // 2 + m_obs = y_train.shape[0] + + en = cumulative_energy(sigma) + m80 = int(np.searchsorted(en, 0.80) + 1) if len(en) > 0 else 1 + + results = {} + + # Mode-1 + if R.shape[1] >= 1: + pz_1 = R[:, :1] * sigma[:1] @ z_test[:1, :] + yp_1 = pz_1[half * m_obs:(half + 1) * m_obs, :] * ys + ym + results["mode1"] = yp_1 + else: + results["mode1"] = np.zeros_like(y_train[:, :a_test.shape[1]]) + + # M80 + n_rm = min(m80, R.shape[1]) + if n_rm >= 1: + pz_m = R[:, :n_rm] * sigma[:n_rm] @ z_test[:n_rm, :] + yp_m = pz_m[half * m_obs:(half + 1) * m_obs, :] * ys + ym + results["m80"] = yp_m + else: + results["m80"] = np.zeros_like(y_train[:, :a_test.shape[1]]) + + return results + + +def run_single_diameter(diam: float, scene_data: dict) -> dict: + """Run validation for one diameter. Returns results dict.""" + tgt_key = f"target_cylinder_{diam}L" + ill_key = f"illusion_{diam}L" + + tgt_d = scene_data[tgt_key] + ill_d = scene_data[ill_key] + unc_d = scene_data["pinball"] + + # Pre-build target-only field matrices + tgt_f = build_field_matrix(tgt_d["ux"], tgt_d["uy"]) + ill_f = build_field_matrix(ill_d["ux"], ill_d["uy"]) + unc_f = build_field_matrix(unc_d["ux"], unc_d["uy"]) + + diam_results = {} + pod_cache = {} + + # Pre-compute target-only POD for each fold + for fold in range(N_CYCLES): + test_cyc = fold + train_cyc = [c for c in range(N_CYCLES) if c != test_cyc] + train_idx = sorted([c * N_PTS + p for c in train_cyc for p in range(N_PTS)]) + for r in R_LIST: + Q_ref = tgt_f[:, train_idx] + mf = np.mean(Q_ref, axis=1) + U, _, _ = np.linalg.svd(Q_ref - mf[:, None], full_matrices=False) + pod_cache[("loco", fold, r)] = (mf, U[:, :r]) + + # Blocked split + train_idx_full = list(range(0, 2 * N_PTS)) + for r in R_LIST: + Q_ref = tgt_f[:, train_idx_full] + mf = np.mean(Q_ref, axis=1) + U, _, _ = np.linalg.svd(Q_ref - mf[:, None], full_matrices=False) + pod_cache[("blocked", 0, r)] = (mf, U[:, :r]) + + # -- LOCO -- + print("\n--- LOCO (4-fold) ---", flush=True) + loco_results = {} + for r in R_LIST: + for obs in ["force_fy", "force_fx", "action"]: + fold_r2_m1, fold_r2_m80 = [], [] + for fold in range(N_CYCLES): + test_cyc = fold + train_cyc = [c for c in range(N_CYCLES) if c != test_cyc] + train_idx = sorted([c * N_PTS + p for c in train_cyc for p in range(N_PTS)]) + test_idx = sorted([c * N_PTS + p for c in [test_cyc] for p in range(N_PTS)]) + + mf, modes_r = pod_cache[("loco", fold, r)] + + for name, d, fld in [ + (tgt_key, tgt_d, tgt_f), (ill_key, ill_d, ill_f), ("pinball", unc_d, unc_f) + ]: + if obs == "action" and "illusion" not in name: + continue + if d.get("forces") is None and "force" in obs: + continue + + a_train = modes_r.T @ (fld[:, train_idx] - mf[:, None]) + a_test = modes_r.T @ (fld[:, test_idx] - mf[:, None]) + + if "force" in obs: + f_mode = obs.split("_")[1] # "fy" or "fx" + y_train = make_force_obs(d["forces"][train_idx], name, mode=f_mode) + y_test = make_force_obs(d["forces"][test_idx], name, mode=f_mode) + else: + y_train = d["actions"][train_idx, :].T + y_test = d["actions"][test_idx, :].T + + W, sigma, Rmat, _, _, _ = compute_reduced_ccd(a_train, y_train, Q_delay=CCD_Q) + recon = reconstruct_observable(W, sigma, Rmat, a_test, y_train) + + ch_m1 = [r2(y_test[c], recon["mode1"][c]) for c in range(y_test.shape[0])] + ch_m80 = [r2(y_test[c], recon["m80"][c]) for c in range(y_test.shape[0])] + fold_r2_m1.append(float(np.mean(ch_m1))) + fold_r2_m80.append(float(np.mean(ch_m80))) + + if fold_r2_m1: + key = f"LOCO_{obs}_r{r}" + loco_results[key] = { + "mode1": { + "mean": float(np.mean(fold_r2_m1)), + "std": float(np.std(fold_r2_m1)), + }, + "m80": { + "mean": float(np.mean(fold_r2_m80)), + "std": float(np.std(fold_r2_m80)), + }, + } + print(f" {key}: R2_m1={loco_results[key]['mode1']['mean']:.4f}+-" + f"{loco_results[key]['mode1']['std']:.4f} " + f"R2_m80={loco_results[key]['m80']['mean']:.4f}+-" + f"{loco_results[key]['m80']['std']:.4f}", flush=True) + + # -- Blocked split -- + print("\n--- Blocked Split (train=0-47, test=48-95) ---", flush=True) + blocked = {} + test_idx_full = list(range(2 * N_PTS, 4 * N_PTS)) + for r in R_LIST: + for obs in ["force_fy", "force_fx", "action"]: + mf, modes_r = pod_cache[("blocked", 0, r)] + per_case_m1, per_case_m80 = {}, {} + + for name, d, fld in [ + (tgt_key, tgt_d, tgt_f), (ill_key, ill_d, ill_f), ("pinball", unc_d, unc_f) + ]: + if obs == "action" and "illusion" not in name: + continue + if d.get("forces") is None and "force" in obs: + continue + + a_train = modes_r.T @ (fld[:, train_idx_full] - mf[:, None]) + a_test = modes_r.T @ (fld[:, test_idx_full] - mf[:, None]) + + if "force" in obs: + f_mode = obs.split("_")[1] + y_train = make_force_obs(d["forces"][train_idx_full], name, mode=f_mode) + y_test = make_force_obs(d["forces"][test_idx_full], name, mode=f_mode) + else: + y_train = d["actions"][train_idx_full, :].T + y_test = d["actions"][test_idx_full, :].T + + W, sigma, Rmat, _, _, _ = compute_reduced_ccd(a_train, y_train, Q_delay=CCD_Q) + recon = reconstruct_observable(W, sigma, Rmat, a_test, y_train) + + ch_m1 = [r2(y_test[c], recon["mode1"][c]) for c in range(y_test.shape[0])] + ch_m80 = [r2(y_test[c], recon["m80"][c]) for c in range(y_test.shape[0])] + per_case_m1[name] = float(np.mean(ch_m1)) + per_case_m80[name] = float(np.mean(ch_m80)) + + key = f"blocked_{obs}_r{r}" + blocked[key] = { + "mode1": { + "mean": float(np.mean(list(per_case_m1.values()))), + "per_case": per_case_m1, + }, + "m80": { + "mean": float(np.mean(list(per_case_m80.values()))), + "per_case": per_case_m80, + }, + } + print(f" {key}: R2_m1={blocked[key]['mode1']['mean']:.4f} " + f"R2_m80={blocked[key]['m80']['mean']:.4f}", flush=True) + + diam_results["LOCO"] = loco_results + diam_results["blocked_split"] = blocked + return diam_results + + +def run(): + print("=" * 60, flush=True) + print("CCD Validation (Round 5)", flush=True) + print("=" * 60, flush=True) + + t_start = time.time() + all_results = {} + + for diam in DIAMETERS: + tgt_key = f"target_cylinder_{diam}L" + ill_key = f"illusion_{diam}L" + print(f"\n{'=' * 60}", flush=True) + print(f"Diameter {diam}L", flush=True) + print(f"{'=' * 60}", flush=True) + + t0 = time.time() + scene_data = { + tgt_key: load_aligned_fields(tgt_key), + ill_key: load_aligned_fields(ill_key), + "pinball": load_aligned_fields("pinball"), + } + print(f" Data loaded in {time.time() - t0:.0f}s", flush=True) + + t1 = time.time() + all_results[f"{diam}L"] = run_single_diameter(diam, scene_data) + print(f" Analysis done in {time.time() - t1:.0f}s", flush=True) + + out_dir = os.path.join(DATA_DIR, "ccd") + with open(os.path.join(out_dir, "validation_results.json"), "w") as f: + json.dump(all_results, f, indent=2) + + print(f"\nTotal: {time.time() - t_start:.0f}s", flush=True) + print(f"Saved to {out_dir}/validation_results.json", flush=True) + + +if __name__ == "__main__": + run() diff --git a/src/CCD_analysis/ccd_knowledge.md b/src/CCD_analysis/ccd_knowledge.md index e4f487d..aafbaf1 100644 --- a/src/CCD_analysis/ccd_knowledge.md +++ b/src/CCD_analysis/ccd_knowledge.md @@ -241,17 +241,24 @@ def compute_reduced_ccd(pod_coeffs, observable, Q_delay=6): ## 5. 结果 -### 5.1 Correction-field CCD 主表 +### 5.1 Correction-field CCD 主表（2026-06-28 更新，统一几何后重跑） | 指标 | 0.75L | 1.0L | 1.5L | |------|-------|------|------| -| **O(dqctl, dqtar) mode1** | **0.564** | **0.913** | **0.667** | -| force_fy m80 | 2 | **1** (r=8/10) | 2 | -| action sigma1 | 1.39 | 1.13 | **0.28** | -| O(force, sig) tau=0 | **0.413** | **0.551** | — | -| O(force, sig) tau=tau_c | **0.806** | **0.768** | — | +| **O(dqctl, dqtar) mode1 (r=6)** | **0.383** | **0.926** | **0.922** | +| **O(dqctl, dqtar) mode1 (r=10)** | **0.320** | **0.684** | **0.661** | +| force_fy m80 (r=6) | 2 | 2 | **1** | +| action sigma1 (r=6) | 1.49 | 1.17 | **0.20** | | Phase drift | low | low | **high** | -| Body-wake/sensor KE ratio | 0.73 | 1.17 | **2.58** | +| 1.5L special: rank sensitivity | — | — | O drops 0.922→0.661 (r=6→10) | + +**关键变化**（vs 6月15日旧版，Illusion 旧几何 pinball x≈393px）： +- 0.75L O 从 0.564 → **0.383**（-32%）：旧几何的空间错位虚高了 overlap。统一几何后揭示真实匹配度远低于预期。 +- 1.0L O 从 0.913 → **0.926**（+1.4%）：基本不变，1.0L 的控制修正与目标一致。 +- 1.5L O(r=6)=**0.922**（首次获得）：dominant mode 匹配度高，但更高阶 mode 快速发散（r=10 时降至 0.661），反映多尺度控制策略。 +- 1.5L action sigma1=**0.20**（远低于 0.75L 的 1.49 和 1.0L 的 1.17）：确认高频调制机制下动作与流场结构的映射极其分散。 + +以下 force-sig overlap 和 zone 数据来自 6 月 15 日旧版（待用统一几何和新 zone 定义重跑）： ### 5.2 三区域 Force-Signature Overlap @@ -284,8 +291,8 @@ def compute_reduced_ccd(pod_coeffs, observable, Q_delay=6): |------|------------------|------| | steady_cloak | 0.196 | 稳态，开环 | | karman_re100 | 0.397 | 周期，PPO 闭环 | -| vortex_lamb | 0.157 | 瞬态，PPO 闭环 | -| vortex_taylor | 0.191 | 瞬态，PPO 闭环 | +| vortex_lamb | 0.164 | 瞬态，PPO 闭环（fade-in/out + swapped norm） | +| vortex_taylor | 0.203 | 瞬态，PPO 闭环（fade-in/out + swapped norm） | **结论**：不论上游条件如何（稳态/周期涡街/瞬态涡），控制策略的基本物理机制一致——"通过后两圆柱旋转补偿 pinball 阻塞引起的速度亏损，前端圆柱调节升力"。这与 SR 分析的结论完全吻合。 @@ -299,7 +306,7 @@ def compute_reduced_ccd(pod_coeffs, observable, Q_delay=6): **结论**：开环恒速旋转几乎无法抑制波动。需要闭环 DRL 控制。 -### 5.5 Action-CCD Mode 1 可视化 +### 5.5 Action-CCD Mode 1 Action-CCD 找出了控制器直接调制的主要结构。对 Cloak 场景，action-CCD mode 1 ≈ dq_ctl mean field，确认了"控制调制的结构 = correction-field 的主成分"的直觉。 @@ -311,14 +318,13 @@ Action-CCD 找出了控制器直接调制的主要结构。对 Cloak 场景，ac 所有位于 `data/figures/` 下（无 colorbar，干净布局，裁剪到 x=300-1100）： -| 图 | 内容 | 列数 | -|----|------|------| -| `corr_comparison_all_scenes.png` | 7 场景全景（4 cloak + 3 illusion） | 7 × 4 行 | -| `corr_illusion_comparison_dqctl.png` | Illusion 三直径对比 | 3 × 4 行 | -| `corr_cloak_comparison_dqctl.png` | Cloak 四场景对比 | 4 × 4 行 | -| `corr_illusion_{diam}L_dq_ctl/blk/tar_*.png` | 各场景单独 dq 图 | 3/1 panels | -| `corr_illusion_{diam}L_ctl_vs_tar.png` | dq_ctl vs dq_tar 对比 | 2×2 | -| `action_ccd_mode1_{scene}.png` | Action-CCD mode1 | 1×3 | +| 图 | 内容 | +|----|------| +| `corr_comparison_all_scenes.png` | 7 场景全景（4 cloak + 3 illusion），4 行 × 7 列 | +| `corr_cloak_comparison_dqctl.png` | Cloak 四场景 dq_ctl 对比 | +| `corr_illusion_comparison_dqctl.png` | Illusion 三直径 dq_ctl 对比 | +| `corr_{scene}_ctl_vs_tar.png` | 单场景 dq_ctl vs dq_tar 对比（2×2） | +| `steady_cloak_cancel_test.png` | Steady cloak 抵消检验 | ### 6.2 全景对比图的读法 @@ -389,33 +395,37 @@ conda run -n pycuda_3_10 python3 correction_analysis/compare_dqctl_scenes.py ``` src/CCD_analysis/ - ccd_knowledge.md <-- 本文档（唯一知识库） - configs.py -- 场景元数据 + ccd_knowledge.md ← 本文档（唯一知识库） + configs.py ← 场景元数据（统一几何） + README.md ← 快速入口 + Lyu23.md ← CCD 方法文献 + ccd/ ← Round 5 冻结基线（勿改） utils/ - resampling.py -- POD, CCD, 场加载 - field_translate.py -- 场平移对齐 - load_vortex_fields.py -- 瞬态 vortex 场加载 - cfd_interface.py -- LegacyCelerisLab 封装 (GPU) + resampling.py ← POD, CCD, 场加载 + field_translate.py ← 场平移（备用，不参与默认 pipeline） + load_vortex_fields.py ← 瞬态 vortex 场加载 + cfd_interface.py ← LegacyCelerisLab 封装 (GPU) scripts/ - detect_period.py -- 周期检测 → phase_plan.json - replay_fields.py -- 场回放 → fields_aligned.npz - collect_*.py -- GPU 数据采集 + detect_period.py ← 周期检测 → phase_plan.json + replay_fields.py ← 场回放 → fields_aligned.npz + collect_*.py ← GPU 数据采集 correction_analysis/ - compute_correction_fields.py -- correction-field 计算 - diagnose_corrections.py -- 诊断图生成 - compare_dqctl_scenes.py -- 多场景对比图 - decompose_corrections.py -- 旧 force/action CCD - run_signature_line.py -- 旧 signature CCD - run_15L_correction.py -- 旧 1.5L 分析 - run_zone_ccd.py -- 旧 zone CCD - run_steady_metrics.py -- 旧 steady cloak 度量 - process_legacy_steady.py -- 旧格式加载 + compute_correction_fields.py ← correction-field 计算 + diagnose_corrections.py ← 诊断图生成 + compare_dqctl_scenes.py ← 多场景对比图 + decompose_corrections.py ← CCD 定量分解（POD + force/action CCD） + run_signature_line.py ← signature CCD + run_15L_correction.py ← 1.5L 专项分析 + run_zone_ccd.py ← zone-restricted CCD + run_steady_metrics.py ← steady cloak 定量度量 + visualize_action_ccd.py ← action-CCD mode1 可视化 + process_legacy_steady.py ← 旧格式加载 data/ - {scene_id}/{scene_name}/ -- 各场景数据 - resampled/{scene}/ -- phase_plan.json - ccd/ -- JSON 结果文件 - figures/ -- PNG 图（无 colorbar 版本） - old_data/ -- 归档废弃数据 + {scene_id}/{scene_name}/ ← 各场景数据 + resampled/ ← phase_plan.json + ccd/ ← JSON 结果文件 + figures/ ← PNG 诊断图 + old_data/ ← 归档（旧报告、旧脚本、旧 resampled 数据） ``` --- @@ -449,8 +459,51 @@ src/CCD_analysis/ | 方向 | 状态 | 说明 | |------|------|------| | Karman cloak CCD 分析 | 数据已齐，分析延后 | 问题定义不同（distortion compensation） | -| 1.5L force-sig overlap | 待重跑 | SI=800 数据已有；SI=200 高频采集待做 | -| SR-CCD-OID 映射 | 草稿 | 归档在 `data/old_data/sr_ccd_oid_mapping.md`，需根据各方向最终报告校正 | -| 1.5L 高频采样 | 待做 | 子步采集（SI=200），解析高频控制结构 | -| 统一几何后 CCD 重跑 | 待做 | `decompose_corrections.py` 需加 1.5L 后重跑；`correction_ccd_results.json` 仍为 6 月 15 日旧版 | -| 项目目录清理 | 已完成 (2026-06-28) | 移除根级 `old_data/`、`old_scripts/`、`output/`、`steady/`；废弃脚本归档至 `data/old_data/`；文档更新至统一几何 | +| Vortex 数据采集 Bug 修复 | 已完成 | 修复 cylinder order swap（BOTTOM=id4, TOP=id5）+ FIFO warmup 导致涡量消失；重采集 Taylor/Lamb | +| SR-CCD-OID 映射 | 草稿 | 归档 `data/old_data/sr_ccd_oid_mapping.md`，需最终校正 | +| 统一几何后 CCD 重跑 | 已完成 | `correction_ccd_results.json` 已更新（含 1.5L） | +| Vortex 对比图更新 | 已完成 | `compare_dqctl_scenes.py` 已用修正数据重跑 | +| 项目目录清理 + 文档更新 | 已完成 | 移除废弃目录、SI=200 错误数据、旧诊断图 | + +--- + +## 12. Vortex 采集 Bug 排查经验（2026-06-29） + +`collect_vortex.py` 中发现了四个独立 bug，按发现顺序： + +**Bug 1 — 圆柱顺序对调** +- 训练 env `legacy_env_vortex.py` 添加顺序：front(id3) → TOP(+y, id4) → BOTTOM(-y, id5) +- action 映射：`temp[3]=front, temp[4]=TOP(bias=-4), temp[5]=BOTTOM(bias=+4)` +- 脚本先后把 TOP/BOTTOM 添加顺序写反 → 后两圆柱旋转方向全错 +- 症状：Lamb front 剧烈振荡 (std=0.28)，dipole 对称性完全破坏 + +**Bug 2 — 涡量消失** +- FIFO warmup 在涡加入后跑 150×800=120000 步 → 涡从 x=15 漂出域外 (1280 lu) +- 症状：涡量场只有 pinball 尾流，完全看不到 vortex 结构 + +**Bug 3（核心）— 观测值归一化顺序错误** +- 训练 env 产出：`obs = [forces/force_norm, sensors/sens_norm]`（force 先） +- 脚本将 channel 和 norm 互换：`[sensors/force_norm, forces/sens_norm]` +- 模型收到不匹配分布的反馈 +- 症状：Lamb cross-corr 仅 0.73, Taylor 仅 0.50；后圆柱同向转而非反向 + +**Bug 4 — fade-in/out 缺失** +- `uni_test.ipynb` 有 25 步渐入 + 25 步渐出到 steady-cloak bias +- 脚本直接给全量 PPO action，无过渡 + +**最终修正方案**： +1. Cylinder order 匹配训练 env +2. Bias 使用 uni_test 值：[-5, +5]（FIFO），[-5.1, +5.1]（fade target） +3. Obs 归一化：`forces_norm = obs[6:12]/force_norm`，`sens_norm = (obs[0:6]-sens_dev)/sens_norm`，`hstack([forces_norm, sens_norm])` +4. 25-step fade-in / 25-step fade-out + +**修正后验证**： + +| 场景 | sim | cross-corr | active front mean | dq_ctl RMS | +|------|:---:|:----------:|:-----------------:|:----------:| +| vortex_lamb | 0.946 | 0.974 | 0.007 | 0.146 | +| vortex_taylor | 0.923 | 0.953 | -0.030 | 0.188 | + +**其他脚本审计**：`collect_karman.py` 和 `collect_illusion.py` 使用 `build_observation()` 函数，该函数正确实现了 force-first 归一化，无需修改。`collect_vortex.py` 是唯一手动构建 obs 的脚本。 + +**代码注释**：`collect_vortex.py` 的文件头 docstring 和关键行号均有 BUG HISTORY 和 BUG-FIX 标记。 diff --git a/src/CCD_analysis/correction_analysis/compare_dqctl_scenes.py b/src/CCD_analysis/correction_analysis/compare_dqctl_scenes.py new file mode 100644 index 0000000..f420a65 --- /dev/null +++ b/src/CCD_analysis/correction_analysis/compare_dqctl_scenes.py @@ -0,0 +1,188 @@ +"""Generate comparison figures across all cloak & illusion scenarios. + +All dq_ctl fields use unified geometry (pinball center at ~613px, sensors at ~800px), +set during GPU collection (configs.py UNIFIED coordinates). +Figures zoom into the region around the pinball/cylinder (x=300-1100) to exclude +boundary artifacts. + +1. All-scenes panorama: steady_cloak, karman_re100, vortex_lamb, vortex_taylor, + illusion_0.75L, illusion_1.0L, illusion_1.5L +2. Illusion-only comparison: 0.75L, 1.0L, 1.5L + +Usage: + conda run -n pycuda_3_10 python correction_analysis/compare_dqctl_scenes.py +""" +from __future__ import annotations + +import os +import sys + +import numpy as np +import matplotlib +matplotlib.use("Agg") +import matplotlib.pyplot as plt + +_SRC = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")) +if _SRC not in sys.path: + sys.path.insert(0, _SRC) + +from CCD_analysis.configs import DATA_DIR, NX, NY +from CCD_analysis.correction_analysis.compute_correction_fields import ( + compute_correction, +) + +FIG_DIR = os.path.join(DATA_DIR, "figures") +os.makedirs(FIG_DIR, exist_ok=True) + +# Display crop region (pixels) — around pinball at x~613 +CROP_X0, CROP_X1 = 300, 1100 + +# Scene groups +CLOAK_SCENES = ["steady_cloak", "karman_re100", "vortex_lamb", "vortex_taylor"] +ILLUSION_SCENES = ["illusion_0.75L", "illusion_1.0L", "illusion_1.5L"] +ALL_SCENES = CLOAK_SCENES + ILLUSION_SCENES + +SCENE_LABELS = { + "steady_cloak": "Steady Cloak", + "karman_re100": "Karman Cloak", + "vortex_lamb": "Vortex Lamb", + "vortex_taylor": "Vortex Taylor", + "illusion_0.75L": "Illusion 0.75L", + "illusion_1.0L": "Illusion 1.0L", + "illusion_1.5L": "Illusion 1.5L", +} + +FIELD_METRICS = [ + ("ux_mean", r"mean $u_x$", "RdBu_r", True), + ("uy_mean", r"mean $u_y$", "RdBu_r", True), + ("rms", "RMS", "viridis", False), + ("vorticity", r"$\omega_z$", "RdBu_r", True), +] + + +def compute_metrics(st: str) -> dict | None: + """Load dq_ctl for a scene and compute metrics.""" + try: + corr = compute_correction(st) + dq = corr.get("dq_ctl") + if dq is None: + return None + ux, uy = dq["ux"], dq["uy"] + return { + "ux_mean": np.mean(ux, axis=0), + "uy_mean": np.mean(uy, axis=0), + "rms": np.sqrt(np.std(ux, axis=0)**2 + np.std(uy, axis=0)**2), + "vorticity": np.gradient(np.mean(uy, axis=0), axis=1) + - np.gradient(np.mean(ux, axis=0), axis=0), + } + except Exception as e: + print(f" SKIP {st}: {e}") + return None + + +def crop_field(f: np.ndarray) -> np.ndarray: + """Crop to display region (NY, NX_cropped).""" + return f[:, CROP_X0:CROP_X1] + + +def plot_comparison(scene_list: str | list, name: str): + """Generate a grid of dq_ctl metrics for selected scenes.""" + if isinstance(scene_list, str): + scene_list = [scene_list] + + # Load all fields + fields = {} + for st in scene_list: + print(f" Loading {st}...", flush=True) + m = compute_metrics(st) + if m is not None: + fields[st] = m + + n_scenes = len(fields) + if n_scenes == 0: + print(" No valid fields, skipping") + return + + scene_names = list(fields.keys()) + n_rows = len(FIELD_METRICS) + + # Compute global vmax per metric from CROPPED fields + metric_vmax = {} + for mkey, _, _, _ in FIELD_METRICS: + all_vals = np.concatenate( + [abs(crop_field(fields[s][mkey])).ravel() for s in fields]) + vmax = float(np.percentile(all_vals[np.isfinite(all_vals)], 99.5)) + metric_vmax[mkey] = max(vmax, 1e-12) + + fig, axes = plt.subplots(n_rows, n_scenes, + figsize=(3.5 * n_scenes, 3.0 * n_rows)) + if n_rows == 1: + axes = [axes] + if n_scenes == 1: + axes = [[a] for a in axes] + + nx_crop = CROP_X1 - CROP_X0 + extent = (CROP_X0, CROP_X1, 0, NY - 1) + + for row, (mkey, mlabel, cmap, symmetric) in enumerate(FIELD_METRICS): + for col, sn in enumerate(scene_names): + ax = axes[row][col] + f = crop_field(fields[sn][mkey]) + vmax = metric_vmax[mkey] + + kwargs = {"cmap": cmap, "origin": "lower", + "aspect": "equal", "extent": extent} + if symmetric: + kwargs["vmin"] = -vmax + kwargs["vmax"] = vmax + else: + kwargs["vmin"] = 0 + kwargs["vmax"] = vmax + + ax.imshow(f, **kwargs) + ax.tick_params(left=False, right=False, labelleft=False, + bottom=False, top=False, labelbottom=False) + + if row == 0: + ax.set_title(SCENE_LABELS.get(sn, sn), fontsize=10) + if col == 0: + ax.set_ylabel(mlabel, fontsize=10) + + plt.suptitle(f"dq_ctl: [{', '.join(SCENE_LABELS.get(s,s) for s in scene_names)}]", + fontsize=12, y=1.01) + plt.tight_layout() + path = os.path.join(FIG_DIR, name) + fig.savefig(path, dpi=150, bbox_inches="tight") + plt.close(fig) + print(f" Saved: {path}", flush=True) + + # Stats + print(f"\n --- RMS (cropped region) ---") + for sn in scene_names: + rms_crop = crop_field(fields[sn]["rms"]) + rms_val = float(np.sqrt(np.mean(rms_crop**2))) + print(f" {sn:22s}: RMS={rms_val:.6f}") + + +def main(): + print("=" * 60) + print("Comparison: dq_ctl across all cloak & illusion scenes") + print("=" * 60) + + # 1. All 7 scenes panorama + print("\n--- All 7 scenes panorama ---") + plot_comparison(ALL_SCENES, "corr_comparison_all_scenes.png") + + # 2. Illusion-only (3 diameters) + print("\n--- Illusion-only comparison ---") + plot_comparison(ILLUSION_SCENES, "corr_illusion_comparison_dqctl.png") + + # 3. Cloak-only (4 scenes) for reference + print("\n--- Cloak-only comparison ---") + plot_comparison(CLOAK_SCENES, "corr_cloak_comparison_dqctl.png") + + print("\nDone!") + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/src/CCD_analysis/correction_analysis/decompose_corrections.py b/src/CCD_analysis/correction_analysis/decompose_corrections.py index 776b3fc..b906e26 100644 --- a/src/CCD_analysis/correction_analysis/decompose_corrections.py +++ b/src/CCD_analysis/correction_analysis/decompose_corrections.py @@ -30,7 +30,9 @@ from CCD_analysis.correction_analysis.compute_correction_fields import ( R_CANDIDATES = [6, 8, 10] CCD_Q = 6 -SCENE_TYPES = ["illusion_0.75L", "illusion_1.0L", "steady_cloak"] +SCENE_TYPES = ["illusion_0.75L", "illusion_1.0L", "illusion_1.5L", "steady_cloak"] +DIAMETERS_MAIN = [0.75, 1.0] +DIAMETER_SPECIAL = 1.5 # flagged as special_mechanism (high-freq modulation) def compute_modal_overlap(W_dict, scene_label, r, obs_label="force_fy"): @@ -101,7 +103,9 @@ def main(): continue diam = corr.get("diam") - print(f"\n--- {st} (diam={diam}) ---", flush=True) + is_special = (diam is not None and diam >= DIAMETER_SPECIAL) + flag = " [SPECIAL MECHANISM — high-freq modulation]" if is_special else "" + print(f"\n--- {st} (diam={diam}){flag} ---", flush=True) Q_ctl = dict_to_field_matrix(dq_ctl) N = Q_ctl.shape[1] @@ -146,6 +150,7 @@ def main(): "scene": st, "diam": diam, "obs": flabel, "r": r, "m80": m80, "N": sig.size, "sigma_top3": [float(sig[i]) for i in range(min(3,len(sig)))], + "special_mechanism": is_special, } if fmode == "fy": print(f" {key}: m80={m80} s1={float(sig[0]):.4f}", flush=True) @@ -163,6 +168,7 @@ def main(): "scene": st, "diam": diam, "obs": "action", "r": r, "m80": m80, "N": sig.size, "sigma_top3": [float(sig[i]) for i in range(min(3,len(sig)))], + "special_mechanism": is_special, } print(f" {key}: m80={m80} s1={float(sig[0]):.4f}", flush=True) @@ -181,6 +187,7 @@ def main(): "m80": int(np.searchsorted(cumulative_energy(sig_t), 0.80)+1) if len(sig_t) > 0 else 0, "N": sig_t.size, "sigma_top3": [float(sig_t[i]) for i in range(min(3,len(sig_t)))], + "special_mechanism": is_special, } # Overlap: dq_ctl vs dq_tar ck = f"{st}_dqctl_force_fy_r{r}" diff --git a/src/CCD_analysis/correction_analysis/diagnose_corrections.py b/src/CCD_analysis/correction_analysis/diagnose_corrections.py index e9e4da3..b388871 100644 --- a/src/CCD_analysis/correction_analysis/diagnose_corrections.py +++ b/src/CCD_analysis/correction_analysis/diagnose_corrections.py @@ -47,46 +47,27 @@ SCENE_TYPES = [ # --------------------------------------------------------------------------- -# Three-zone masks +# Three-zone masks (unified geometry: pinball center at 613 px, sensors at 800 px) # --------------------------------------------------------------------------- -def define_zones_illusion() -> dict: - """Define three-zone masks for illusion layout (sensors at x=30*L0).""" +def define_zones() -> dict: + """Define three-zone masks for all scenes (unified geometry, 2026-06-28). + + All scenes now use the same pinball/sensor positions after unified collection. + Zone ranges: + near_body: 580-720 px (around pinball at x≈613) + body_wake: 720-850 px (near wake downstream) + sensor_zone: 780-850 px (around sensors at x=800) + """ zones = {} - # Zone 1: near-body — envelope around pinball cylinders - # pinball front at x=380 (19*L0), rear at x=406 (20.3*L0) - # Extend to x=[350, 500], full height - mask = np.zeros((NY, NX), dtype=bool) - mask[:, 350:500] = True - zones["near_body"] = mask - - # Zone 2: body-connected near wake — immediate downstream - mask = np.zeros((NY, NX), dtype=bool) - mask[:, 500:700] = True - zones["body_wake"] = mask - - # Zone 3: downstream sensor zone — around sensors at x=600 - mask = np.zeros((NY, NX), dtype=bool) - mask[:, 580:650] = True - zones["sensor_zone"] = mask - - return zones - - -def define_zones_karman() -> dict: - """Define three-zone masks for Karman layout (sensors at x=40*L0=800).""" - zones = {} - # Zone 1: near-body — around pinball at x=600 mask = np.zeros((NY, NX), dtype=bool) mask[:, 580:720] = True zones["near_body"] = mask - # Zone 2: body-connected near wake mask = np.zeros((NY, NX), dtype=bool) mask[:, 720:850] = True zones["body_wake"] = mask - # Zone 3: downstream sensor zone — around sensors at x=800 mask = np.zeros((NY, NX), dtype=bool) mask[:, 780:850] = True zones["sensor_zone"] = mask @@ -272,8 +253,7 @@ def run(): print("Phase 2: Baseline Diagnostics (correction fields)", flush=True) print("=" * 60, flush=True) - zones_ill = define_zones_illusion() - zones_karman = define_zones_karman() + zones = define_zones() all_metrics = {} @@ -292,11 +272,7 @@ def run(): print(f" SKIP: no valid data (N=0)", flush=True) continue - # Determine which zones to use - is_illusion = "illusion" in scene_type - is_karman = "karman" in scene_type or "vortex" in scene_type - zones = zones_ill if is_illusion else (zones_karman if is_karman else zones_ill) - + # Unified geometry — same zones for all scenes for dq_key, dq_label in [ ("dq_blk", "dq_blk (pinball blockage)"), ("dq_ctl", "dq_ctl (control correction)"), @@ -313,8 +289,8 @@ def run(): metrics = zone_metrics(dq, zones, dq_label) all_metrics[f"{scene_type}_{dq_key}"] = metrics - # For illusion/karman/vortex, also plot dq_tar if available - if dq_key == "dq_ctl" and (is_illusion or is_karman): + # For scenes with a target, also plot dq_tar if available + if dq_key == "dq_ctl" and corr.get("dq_tar") is not None: dq_tar = corr.get("dq_tar") if dq_tar is not None: plot_mean_rms(dq_tar, "dq_tar (target correction)", prefix, zones) diff --git a/src/CCD_analysis/correction_analysis/visualize_action_ccd.py b/src/CCD_analysis/correction_analysis/visualize_action_ccd.py new file mode 100644 index 0000000..1cf2e13 --- /dev/null +++ b/src/CCD_analysis/correction_analysis/visualize_action_ccd.py @@ -0,0 +1,126 @@ +"""Action-CCD mode 1 visualization for cloak scenes. + +Action-CCD finds correction-field structures most correlated with cylinder +rotation speeds. For cloak scenes (steady/karman/vortex), this should reveal +the structures the controller directly modulates — clean velocity deficit +compensation and cylinder dipoles, excluding upstream disturbance structures. + +Usage: + conda run -n pycuda_3_10 python correction_analysis/visualize_action_ccd.py +""" +from __future__ import annotations + +import os +import sys + +import numpy as np +import matplotlib +matplotlib.use("Agg") +import matplotlib.pyplot as plt + +_SRC = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")) +if _SRC not in sys.path: + sys.path.insert(0, _SRC) + +from CCD_analysis.configs import DATA_DIR, NX, NY, L0 +from CCD_analysis.utils.resampling import ( + compute_pod, cumulative_energy, e95_index, compute_reduced_ccd, + unstack_velocity_modes, +) +from CCD_analysis.correction_analysis.compute_correction_fields import ( + compute_correction, dict_to_field_matrix, +) + +FIG_DIR = os.path.join(DATA_DIR, "figures") +os.makedirs(FIG_DIR, exist_ok=True) + +CLOAK_SCENES = ["steady_cloak", "vortex_lamb", "vortex_taylor"] +# karman_re100 excluded due to 72 vs 96 frame mismatch + +R = 10 +CCD_Q = 6 +CROP_X0, CROP_X1 = 300, 1100 + + +def main(): + print("=" * 60) + print("Action-CCD Mode 1: Cloak scenes") + print("=" * 60) + + for st in CLOAK_SCENES: + print(f"\n--- {st} ---", flush=True) + + # Load correction fields + corr = compute_correction(st) + dq_ctl = corr.get("dq_ctl") + if dq_ctl is None or dq_ctl.get("actions") is None: + print(f" SKIP: no dq_ctl or no actions") + continue + + # Build snapshot matrix and compute POD + Q = dict_to_field_matrix(dq_ctl) + N = Q.shape[1] + mf, modes, sv, coeffs = compute_pod(Q) + e95 = e95_index(cumulative_energy(sv)) + print(f" POD: E95={e95}, N_modes={len(sv)}") + + # Action-CCD: find structures correlated with actions + a_r = coeffs[:R, :] + actions = dq_ctl["actions"][:N].T # (3, N) + W, sigma, _, _, _, _ = compute_reduced_ccd(a_r, actions, Q_delay=CCD_Q) + + print(f" Action-CCD: sigma[0]={sigma[0]:.4f}, sigma_top3={sigma[:3]}") + + # Reconstruct CCD mode 1 in physical space + # z1 = W[:, 0] @ A_z → CCD temporal coefficient + # CCD mode = sum over POD modes of (CCD direction weights * POD mode) + w1 = W[:, 0] / (np.linalg.norm(W[:, 0]) + 1e-12) + ccd_mode1 = modes[:, :R] @ w1 # (2*NX*NY,) + + # Unstack into ux, uy + half = NX * NY + ux_mode = ccd_mode1[:half].reshape(NY, NX) + uy_mode = ccd_mode1[half:].reshape(NY, NX) + + # Plot mode 1: ux + uy + vorticity, cropped + vor = np.gradient(uy_mode, axis=1) - np.gradient(ux_mode, axis=0) + + fig, axes = plt.subplots(1, 3, figsize=(14, 4)) + extent = (CROP_X0, CROP_X1, 0, NY - 1) + + # ux + vmax_ux = max(abs(ux_mode).max(), 1e-12) + axes[0].imshow(ux_mode[:, CROP_X0:CROP_X1], cmap="RdBu_r", + vmin=-vmax_ux, vmax=vmax_ux, + origin="lower", aspect="equal", extent=extent) + axes[0].set_title(f"{st}: Action-CCD mode 1 ux") + + # uy + vmax_uy = max(abs(uy_mode).max(), 1e-12) + axes[1].imshow(uy_mode[:, CROP_X0:CROP_X1], cmap="RdBu_r", + vmin=-vmax_uy, vmax=vmax_uy, + origin="lower", aspect="equal", extent=extent) + axes[1].set_title(f"{st}: Action-CCD mode 1 uy") + + # vorticity + vmax_vor = max(np.percentile(abs(vor), 99), 1e-12) + axes[2].imshow(vor[:, CROP_X0:CROP_X1], cmap="RdBu_r", + vmin=-vmax_vor, vmax=vmax_vor, + origin="lower", aspect="equal", extent=extent) + axes[2].set_title(f"{st}: Action-CCD mode 1 vorticity") + + for ax in axes: + ax.tick_params(left=False, right=False, labelleft=False, + bottom=False, top=False, labelbottom=False) + + plt.tight_layout() + path = os.path.join(FIG_DIR, f"action_ccd_mode1_{st}.png") + fig.savefig(path, dpi=150, bbox_inches="tight") + plt.close(fig) + print(f" Saved: {path}") + + print("\nDone!") + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/src/CCD_analysis/scripts/collect_vortex.py b/src/CCD_analysis/scripts/collect_vortex.py new file mode 100644 index 0000000..5e56cac --- /dev/null +++ b/src/CCD_analysis/scripts/collect_vortex.py @@ -0,0 +1,509 @@ +"""Collect vortex cloak data for CCD correction-field analysis. + +Collects field snapshots for three scene types per vortex type: + - vortex_target_{type}: vortex only (no pinball), the "ideal" target flow + - vortex_uncontrolled_{type}: vortex + pinball, zero control (q_blk) + - vortex_{type}: vortex + pinball + PPO control (q_ctl) + +All use LegacyCelerisLab (matching existing CCD data convention). + +Usage: + conda run -n pycuda_3_10 python scripts/collect_vortex.py \\ + --type lamb --device 2 + conda run -n pycuda_3_10 python scripts/collect_vortex.py \\ + --type taylor --device 2 + conda run -n pycuda_3_10 python scripts/collect_vortex.py \\ + --type all --device 2 + +--- BUG HISTORY (2026-06-29) --- +Three independent bugs in this script were discovered and fixed after +Lamb dipole showed non-physical front cylinder oscillation: + +BUG 1 - Cylinder order swap (lines 166-168, 254-257): + Original training env adds cylinders: front(id3) -> TOP(+y, id4) -> BOTTOM(-y, id5). + action = [aF, aT(+bias), aB(-bias)] -> temp[3]=aF, temp[4]=aT(+bias), temp[5]=aB(-bias). + We had TOP and BOTTOM swapped, so bias -4 went to the wrong cylinder. + Consequence: rear cylinders rotated in opposite directions; front overcompensated. + +BUG 2 - Observation normalization swap (lines 368-371): + Training env produces obs = [forces/force_norm, sensors/sens_norm] (force-first). + We incorrectly fed [sensors/force_norm, forces/sens_norm] (channel-swapped + wrong norms). + Consequence: model received garbage feedback; on Lamb, similarity appeared 0.94 from + the similarity computation but cross-correlation was only 0.73. + +BUG 3 - Missing fade-in/out transitions (lines 314-357): + uni_test.ipynb uses 25-step fade-in from steady-cloak bias [-5.1U0, +5.1U0] to PPO action, + and 25-step fade-out back to steady-cloak. We applied PPO action immediately at full scale. + Consequence: flow instability from abrupt control changes. + +Fix summary: + - Cylinder order: TOP(+y) at id4, BOTTOM(-y) at id5. + - Bias: [-5, +5] U0 for both Lamb and Taylor (matching uni_test). + - Observation: forces_norm=obs[6:12]/force_norm_fact, sens_norm=(obs[0:6]-sens_dev)/sens_norm_fact. + Assembled as hstack([forces_norm, sens_norm]) — force first. + - Fade-in/out: 25 steps linear interpolation between steady_bias and PPO action. + +Comparison with other collect scripts: + collect_karman.py and collect_illusion.py use build_observation() from cfd_interface.py + which does force-first correctly. Only this script built obs manually. +""" +from __future__ import annotations + +import argparse +import json +import os +import sys +import time +from collections import deque + +import numpy as np + +_REPO = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")) +if _REPO not in sys.path: + sys.path.insert(0, _REPO) +_SRC = os.path.join(_REPO, "src") +if _SRC not in sys.path: + sys.path.insert(0, _SRC) + +from LegacyCelerisLab import FlowField + +from CCD_analysis.configs import ( + get_scene, data_dir_for_scene, model_path_for_scene, + LEGACY_CFG_DIR, L0, CENTER_Y, U0, +) +from CCD_analysis.utils.cfd_interface import ( + load_legacy_configs, get_velocity_field, + load_ppo_model, +) + +DATA_TYPE = np.float32 +FIFO_LEN = 150 + + +# --------------------------------------------------------------------------- +# Vortex configuration +# --------------------------------------------------------------------------- + +_VORTEX_CFG = { + "lamb": {"vortex_type": "lamb", "vortex_strength": 0.5 * U0}, + "taylor": {"vortex_type": "taylor", "vortex_strength": 0.03 * U0}, +} + + +# --------------------------------------------------------------------------- +# Target: vortex only (no pinball), save fields.npz +# --------------------------------------------------------------------------- + +def collect_target(vtype: str, device_id: int, out_dir: str, + n_steps: int = 150) -> dict: + """Collect field snapshots for vortex-only target flow. + + Records the vortex evolving through a sensor-only environment + at x=40*L0. Saves fields.npz and sensors.npz. + """ + cfg = _VORTEX_CFG[vtype] + cuda_cfg, field_cfg = load_legacy_configs(LEGACY_CFG_DIR) + field_cfg = field_cfg._replace(viscosity=float(0.004)) + + ff = FlowField(field_cfg, cuda_cfg, device_id=device_id) + ny = ff.FIELD_SHAPE[1] + n_sensors = 3 + + # Add 3 sensors at x=40*L0 + sensor_positions = [2.0, 0.0, -2.0] + for y_off in sensor_positions: + ff.add_sensor((40.0 * L0, CENTER_Y + y_off * L0, 0.0), L0 / 4.0) + + # Short stabilization (1xNX/U0 for vortex, not 4x) + stabilize_steps = int(1 * ff.FIELD_SHAPE[0] / U0) + ff.run(stabilize_steps, np.zeros(n_sensors, dtype=DATA_TYPE)) + + # Save clean flow DDF + ff.get_ddf() + ff.save_ddf() + + # Add vortex at x=10*L0 + vc = cfg["vortex_type"] + vs = cfg["vortex_strength"] + ff.add_vortex((10.0 * L0, CENTER_Y, 0.0), + 2.0 * L0, vs, 0, vc) + + # Record vortex evolution + sens_list, forc_list = [], [] + ux_list, uy_list = [], [] + + for step in range(n_steps): + ff.run(800, np.zeros(n_sensors, dtype=DATA_TYPE)) + obs = ff.obs.copy() # (n_sensors*2,) = 6 sensor channels + sens_list.append(obs) + forc_list.append(np.zeros(6, dtype=DATA_TYPE)) # placeholder + ux, uy = get_velocity_field(ff, u0=U0) + ux_list.append(ux) + uy_list.append(uy) + + # Save + np.savez_compressed(os.path.join(out_dir, "fields.npz"), + ux=np.stack(ux_list), uy=np.stack(uy_list)) + np.savez(os.path.join(out_dir, "sensors.npz"), + sensors=np.array(sens_list, dtype=np.float32), + forces=np.array(forc_list, dtype=np.float32)) + + del ff + return {"scene": f"vortex_target_{vtype}", "n_steps": n_steps} + + +# --------------------------------------------------------------------------- +# Uncontrolled: vortex + pinball, zero control (q_blk) +# --------------------------------------------------------------------------- + +def collect_uncontrolled(vtype: str, device_id: int, out_dir: str, + n_steps: int = 150) -> dict: + """Collect field snapshots for vortex + pinball with zero control. + + Records the transient interaction of vortex with the pinball. + Target phases are recorded alongside field snapshots. + """ + cfg = _VORTEX_CFG[vtype] + cuda_cfg, field_cfg = load_legacy_configs(LEGACY_CFG_DIR) + field_cfg = field_cfg._replace(viscosity=float(0.004)) + + ff = FlowField(field_cfg, cuda_cfg, device_id=device_id) + ny = ff.FIELD_SHAPE[1] + n_sensors = 3 + + # ---- Phase 1: Sensors + target recording ---- + for y_off in [2.0, 0.0, -2.0]: + ff.add_sensor((40.0 * L0, CENTER_Y + y_off * L0, 0.0), L0 / 4.0) + + stabilize_steps = int(1 * ff.FIELD_SHAPE[0] / U0) + ff.run(stabilize_steps, np.zeros(n_sensors, dtype=DATA_TYPE)) + + # Save clean DDF (pre-pinball, pre-vortex) + ff.get_ddf() + ff.save_ddf() + + # Record target (vortex only, for similarity reference) + ff.add_vortex((10.0 * L0, CENTER_Y, 0.0), + 2.0 * L0, cfg["vortex_strength"], 0, cfg["vortex_type"]) + target_states = np.empty((0, 6), dtype=DATA_TYPE) + for _ in range(min(FIFO_LEN, n_steps)): + ff.run(800, np.zeros(n_sensors, dtype=DATA_TYPE)) + target_states = np.vstack((target_states, ff.obs.copy())) + np.savez(os.path.join(out_dir, "target.npz"), target_states=target_states) + + # ---- Phase 2: Add pinball, record uncontrolled flow ---- + ff.restore_ddf() + ff.apply_ddf() + + # BUG-FIX (2026-06-29): cylinder order MUST match training env. + # Original env adds: front(3) -> TOP(+y,id4) -> BOTTOM(-y,id5). + # Swapping TOP/BOTTOM causes rear cylinders to rotate wrong direction. + ff.add_cylinder((30.0 * L0, CENTER_Y, 0.0), L0 / 2.0) # id 3: front + ff.add_cylinder((31.3 * L0, CENTER_Y + 0.75 * L0, 0.0), L0 / 2.0) # id 4: TOP (+y) + ff.add_cylinder((31.3 * L0, CENTER_Y - 0.75 * L0, 0.0), L0 / 2.0) # id 5: BOTTOM (-y) + + n_obj = ff.obs.size // 2 + assert n_obj == 6, f"Expected 6, got {n_obj}" + + # Bias action stabilization (matching uni_test: [-5, +5] for both Lamb and Taylor) + ff.run(stabilize_steps, np.zeros(n_obj, dtype=DATA_TYPE)) + ff.run(stabilize_steps, np.array([0.0, 0.0, 0.0, 0.0, -5.0 * U0, 5.0 * U0], dtype=DATA_TYPE)) + + # Add vortex at x=15*L0 + ff.add_vortex((15.0 * L0, CENTER_Y, 0.0), + 2.0 * L0, cfg["vortex_strength"], 0, cfg["vortex_type"]) + + # Record uncontrolled flow (zero actions on pinball) + sens_list, forc_list = [], [] + ux_list, uy_list = [], [] + + for step in range(n_steps): + # Zero control on pinball + ff.run(800, np.zeros(n_obj, dtype=DATA_TYPE)) + obs = ff.obs.copy() + sens_list.append(obs[0:6]) + forc_list.append(obs[6:12]) + ux, uy = get_velocity_field(ff, u0=U0) + ux_list.append(ux) + uy_list.append(uy) + + np.savez_compressed(os.path.join(out_dir, "fields.npz"), + ux=np.stack(ux_list), uy=np.stack(uy_list)) + np.savez(os.path.join(out_dir, "sensors.npz"), + sensors=np.array(sens_list, dtype=np.float32), + forces=np.array(forc_list, dtype=np.float32)) + + del ff + return {"scene": f"vortex_uncontrolled_{vtype}", "n_steps": n_steps} + + +# --------------------------------------------------------------------------- +# Controlled: vortex + pinball + PPO (q_ctl) +# --------------------------------------------------------------------------- + +def collect_controlled(vtype: str, device_id: int, out_dir: str, + n_steps: int = 150) -> dict: + """Collect field snapshots for vortex + pinball with PPO control. + + Loads the trained PPO model, runs inference, saves fields and telemetry. + Also saves norm.json and ddf/fifo checkpoints for possible replay. + """ + scene_name = f"vortex_{vtype}" + cfg_src = get_scene(scene_name) + cfg_v = _VORTEX_CFG[vtype] + cuda_cfg, field_cfg = load_legacy_configs(LEGACY_CFG_DIR) + field_cfg = field_cfg._replace(viscosity=float(0.004)) + + ff = FlowField(field_cfg, cuda_cfg, device_id=device_id) + ny = ff.FIELD_SHAPE[1] + n_sensors = 3 + + # Save config + with open(os.path.join(out_dir, "config.json"), "w") as f: + json.dump({k: str(v) if not isinstance(v, (int, float, list, bool)) else v + for k, v in cfg_src.items()}, f, indent=2) + + # ---- Phase 1: Sensor-only target recording with vortex ---- + for y_off in [2.0, 0.0, -2.0]: + ff.add_sensor((40.0 * L0, CENTER_Y + y_off * L0, 0.0), L0 / 4.0) + + stabilize_steps_short = int(1 * ff.FIELD_SHAPE[0] / U0) + ff.run(stabilize_steps_short, np.zeros(n_sensors, dtype=DATA_TYPE)) + + ff.get_ddf() + ff.save_ddf() + + ff.add_vortex((10.0 * L0, CENTER_Y, 0.0), + 2.0 * L0, cfg_v["vortex_strength"], 0, cfg_v["vortex_type"]) + + target_states = np.empty((0, 6), dtype=DATA_TYPE) + for _ in range(min(FIFO_LEN, n_steps)): + ff.run(800, np.zeros(n_sensors, dtype=DATA_TYPE)) + target_states = np.vstack((target_states, ff.obs.copy())) + np.savez(os.path.join(out_dir, "target.npz"), target_states=target_states) + + # ---- Phase 2: Add pinball, compute norm ---- + ff.restore_ddf() + ff.apply_ddf() + + # Object order MUST match training env: front(id3), TOP(+y,id4), BOTTOM(-y,id5) + ff.add_cylinder((30.0 * L0, CENTER_Y, 0.0), L0 / 2.0) # id 3: front + ff.add_cylinder((31.3 * L0, CENTER_Y + 0.75 * L0, 0.0), L0 / 2.0) # id 4: TOP (+y) + ff.add_cylinder((31.3 * L0, CENTER_Y - 0.75 * L0, 0.0), L0 / 2.0) # id 5: BOTTOM (-y) + + n_obj = ff.obs.size // 2 + assert n_obj == 6, f"Expected 6, got {n_obj}" + + # Stabilize with zero action, then bias action matching training env + ff.run(stabilize_steps_short, np.zeros(n_obj, dtype=DATA_TYPE)) + ff.run(stabilize_steps_short, np.array([0.0, 0.0, 0.0, 0.0, -5.0 * U0, 5.0 * U0], dtype=DATA_TYPE)) + + # Add vortex at x=15*L0 + ff.add_vortex((15.0 * L0, CENTER_Y, 0.0), + 2.0 * L0, cfg_v["vortex_strength"], 0, cfg_v["vortex_type"]) + + # Save DDF checkpoint (vortex at x=15, pinball stabilized with bias) + ff.get_ddf() + ff.save_ddf() + + # Norm collection (zero action on vortex+pinball) + fifo = deque(maxlen=FIFO_LEN) + for _ in range(FIFO_LEN): + ff.run(800, np.zeros(n_obj, dtype=DATA_TYPE)) + fifo.append(ff.obs.copy()) + + temp_states = np.array(fifo, dtype=DATA_TYPE) + force_norm_fact = 6.0 * float(np.max(np.abs(temp_states[:, 6:12]))) + sens_deviation = np.mean(temp_states[:, 0:6], axis=0).astype(DATA_TYPE) + sens_norm_fact = np.zeros(6, dtype=DATA_TYPE) + for i in range(6): + sens_norm_fact[i] = 5.0 * float(np.max(np.abs(temp_states[:, i] - sens_deviation[i]))) + + norm = { + "force_norm_fact": force_norm_fact, + "sens_deviation": sens_deviation.tolist(), + "sens_norm_fact": sens_norm_fact.tolist(), + "action_bias": [0.0, -4.0, 4.0], + } + with open(os.path.join(out_dir, "norm.json"), "w") as f: + json.dump(norm, f, indent=2) + + # Bias FIFO init (restore DDF so vortex starts from x=15) + ff.restore_ddf() + ff.apply_ddf() + fifo.clear() + # BUG-FIX (2026-06-29): use uni_test bias [-5,+5], not training env bias [-4,+4]. + # The model was tested with [-5,+5] in uni_test.ipynb. + bias_fifo_arr = np.array([0.0, 0.0, 0.0, 0.0, -5.0 * U0, 5.0 * U0], dtype=DATA_TYPE) + for _ in range(FIFO_LEN): + ff.run(800, bias_fifo_arr) + fifo.append(ff.obs.copy()) + + save_states = np.array(list(fifo), dtype=DATA_TYPE) + # Restore DDF back to vortex-at-x=15 checkpoint + ff.restore_ddf() + ff.apply_ddf() + + # Save checkpoints for replay (vortex at initial position) + np.save(os.path.join(out_dir, "ddf_checkpoint.npy"), ff.ddf) + np.save(os.path.join(out_dir, "fifo_checkpoint.npy"), save_states) + + # ---- Phase 3: Controlled PPO inference (fade-in/out matching uni_test) ---- + model_path = model_path_for_scene(scene_name) + if model_path is None: + raise FileNotFoundError(f"No model found for scene: {scene_name}") + + model = load_ppo_model(model_path, device=f"cuda:{device_id}", s_dim=12) + model.set_random_seed(0) + + # Restore DDF to vortex-at-x=15 checkpoint + ff.restore_ddf() + ff.apply_ddf() + + # Start with zeros observation (matching uni_test) + obs = np.zeros(12, dtype=np.float32) + + sens_list, forc_list, act_list, rew_list = [], [], [], [] + ux_list = [] + uy_list = [] + fifo = deque(maxlen=FIFO_LEN) + + # Steady-cloak bias for transition (matching uni_test: [-5.1, +5.1]) + # BUG-FIX (2026-06-29): uni_test uses [-5.1,+5.1], not training env [-4,+4]. + steady_bias = np.array([0.0, -5.1 * U0, 5.1 * U0], dtype=DATA_TYPE) + + for step in range(n_steps): + action, _ = model.predict(obs, deterministic=True) + action = action.astype(np.float32).flatten() + act_list.append(action.copy()) + + temp_action = np.array(action * 4.0 + np.array([0.0, -4.0, 4.0]), dtype=DATA_TYPE) + + # Fade-in (0-24), active (25-44), fade-out (45-69), steady-cloak (70+) + if step < 25: + w = step / 25.0 + temp_val = temp_action * w * U0 + steady_bias * (1.0 - w) + elif 45 <= step < 70: + w = (step - 45) / 25.0 + temp_val = temp_action * (1.0 - w) * U0 + steady_bias * w + elif step >= 70: + temp_val = steady_bias + else: + temp_val = temp_action * U0 + + temp = np.zeros(n_obj, dtype=DATA_TYPE) + temp[3:6] = temp_val + + ff.context.push() + ff.run(800, temp) + ff.context.pop() + + obs_slice = ff.obs.copy() + fifo.append(obs_slice) + sens_list.append(obs_slice[0:6]) + forc_list.append(obs_slice[6:12]) + + # Build observation for next step + # BUG-FIX (2026-06-29): force-first with CORRECT norms. + # OLD (broken): sens_raw = obs[0:6]/force_norm, force_raw = (obs[6:12]-sens_dev)/sens_norm + # obs = hstack([sens_raw, force_raw]) ← completely wrong! + # NEW (correct): forces_norm = obs[6:12]/force_norm, sens_norm = (obs[0:6]-sens_dev)/sens_norm + # obs = hstack([forces_norm, sens_norm]) ← force first + # Training env produces: obs = hstack([forces/force_norm, sensors/sens_norm]). + # collect_karman and collect_illusion use build_observation() which does this correctly. + forces_norm = obs_slice[6:12] / force_norm_fact + sens_norm = (obs_slice[0:6] - sens_deviation) / sens_norm_fact + obs = np.clip(np.hstack([forces_norm, sens_norm]), -1.0, 1.0).astype(np.float32) + + # Save field snapshot + ux, uy = get_velocity_field(ff, u0=U0) + ux_list.append(ux) + uy_list.append(uy) + + # Save field snapshots + np.savez_compressed(os.path.join(out_dir, "fields.npz"), + ux=np.stack(ux_list), uy=np.stack(uy_list)) + + # Save telemetry + np.savez(os.path.join(out_dir, "controlled.npz"), + sensors=np.array(sens_list, dtype=np.float32), + forces=np.array(forc_list, dtype=np.float32), + actions=np.array(act_list, dtype=np.float32)) + + # Compute similarity + from CCD_analysis.utils.cfd_interface import compute_similarity + states_arr = np.array(sens_list, dtype=np.float32) + n_align = min(states_arr.shape[0], target_states.shape[0]) + if n_align >= 30: + sim = compute_similarity(target_states, states_arr[:n_align], 30) + else: + sim = 0.0 + + result = {"scene": scene_name, "similarity": float(sim), "n_steps": n_steps} + with open(os.path.join(out_dir, "result.json"), "w") as f: + json.dump(result, f, indent=2) + + del ff, model + return result + + +# --------------------------------------------------------------------------- +# Main +# --------------------------------------------------------------------------- + +def main(): + ap = argparse.ArgumentParser(description="Collect vortex cloak fields for CCD") + ap.add_argument("--type", type=str, default="lamb", + help='Vortex type: lamb, taylor, or "all"') + ap.add_argument("--device", type=int, default=2, help="GPU device ID") + ap.add_argument("--steps", type=int, default=150, + help="Number of recording steps (max 150 for transient)") + ap.add_argument("--skip-target", action="store_true", + help="Skip vortex_target collection") + ap.add_argument("--skip-uncontrolled", action="store_true", + help="Skip uncontrolled collection") + ap.add_argument("--skip-controlled", action="store_true", + help="Skip controlled collection") + args = ap.parse_args() + + if args.type.lower() == "all": + vtypes = ["lamb", "taylor"] + else: + vtypes = [args.type.lower()] + + t_start = time.time() + for vtype in vtypes: + print(f"\n{'=' * 60}") + print(f"Vortex type: {vtype}") + print(f"{'=' * 60}") + + # --- Target: vortex only --- + if not args.skip_target: + scene_name = f"vortex_target_{vtype}" + print(f"\n--- Collecting target: {scene_name} ---") + out_dir = data_dir_for_scene(scene_name) + r = collect_target(vtype, args.device, out_dir, args.steps) + print(f" Done: {r['scene']} -> {out_dir}") + + # --- Uncontrolled: vortex + pinball, zero control --- + if not args.skip_uncontrolled: + scene_name = f"vortex_uncontrolled_{vtype}" + print(f"\n--- Collecting uncontrolled: {scene_name} ---") + out_dir = data_dir_for_scene(scene_name) + r = collect_uncontrolled(vtype, args.device, out_dir, args.steps) + print(f" Done: {r['scene']} -> {out_dir}") + + # --- Controlled: vortex + pinball + PPO --- + if not args.skip_controlled: + scene_name = f"vortex_{vtype}" + print(f"\n--- Collecting controlled: {scene_name} ---") + out_dir = data_dir_for_scene(scene_name) + r = collect_controlled(vtype, args.device, out_dir, args.steps) + print(f" Done: {r['scene']} -> {out_dir} sim={r['similarity']:.4f}") + + elapsed = time.time() - t_start + print(f"\nTotal time: {elapsed:.1f}s") + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/src/CCD_analysis/utils/field_translate.py b/src/CCD_analysis/utils/field_translate.py new file mode 100644 index 0000000..f716435 --- /dev/null +++ b/src/CCD_analysis/utils/field_translate.py @@ -0,0 +1,113 @@ +"""Field translation (spatial shifting) utilities for CCD analysis. + +When computing correction fields across scenes with different object positions +(e.g., illusion pinball at x=393 vs cloak pinball at x=613), fields must be +translated so that reference points align before subtraction. + +All functions operate on field arrays with shape (NY, NX) or (N, NY, NX). +NX = 1280, NY = 512 in the standard grid. +""" +from __future__ import annotations + +import numpy as np + + +def translate_field_x(field: np.ndarray, shift_x: int, + fill_edge: bool = True) -> np.ndarray: + """Horizontally shift a field by a given number of pixels. + + Parameters + ---------- + field : (NY, NX) or (N, NY, NX) ndarray + Velocity field(s) in legacy (NY, NX) order. + shift_x : int + Positive = shift right, negative = shift left. + fill_edge : bool + If True, fill vacated columns with edge values (smooth). + If False, fill with zeros (creates boundary artifacts). + + Returns + ------- + shifted : ndarray with same shape as input. + """ + if shift_x == 0: + return field.copy() + + if field.ndim == 2: + ny, nx = field.shape + result = np.zeros_like(field) + shift = shift_x + if shift > 0: + result[:, shift:] = field[:, :-shift] + if fill_edge: + # Fill left vacated columns with leftmost column value + result[:, :shift] = field[:, :1] + else: + s = -shift + result[:, :-s] = field[:, s:] + if fill_edge: + # Fill right vacated columns with rightmost column value + result[:, -s:] = field[:, -1:] + return result + elif field.ndim == 3: + n, ny, nx = field.shape + result = np.zeros_like(field) + shift = shift_x + if shift > 0: + result[:, :, shift:] = field[:, :, :-shift] + if fill_edge: + # Broadcast leftmost column across vacated columns + result[:, :, :shift] = field[:, :, :1] + else: + s = -shift + result[:, :, :-s] = field[:, :, s:] + if fill_edge: + result[:, :, -s:] = field[:, :, -1:] + return result + else: + raise ValueError(f"Unsupported field ndim: {field.ndim}") + + +def translate_fields_dict(q: dict, shift_x: int) -> dict: + """Translate ux and uy fields in a data dict, leaving telemetry unchanged.""" + if shift_x == 0: + return q + return { + "ux": translate_field_x(q["ux"], shift_x), + "uy": translate_field_x(q["uy"], shift_x), + "forces": q.get("forces"), + "sensors": q.get("sensors"), + "actions": q.get("actions"), + "meta": {**q.get("meta", {}), "translated_by": shift_x}, + "step_indices": q.get("step_indices"), + } + + +# --------------------------------------------------------------------------- +# Reference positions (pixel coordinates) +# --------------------------------------------------------------------------- +# All scenes now use UNIFIED geometry: +# pinball at (30, 31.3) x L0 -> center = 613 px +# sensors at 40 x L0 +# target cylinder at 30.65 x L0 = 613 px (same as pinball center) +# field_translate kept for optional cross-comparison or future use. + +ILLUSION_REF_X = 613 # UNIFIED: was 393 +CLOAK_REF_X = 613 # unchanged +TARGET_CYL_REF_X = 613 # UNIFIED: was 400 (now same as pinball center) + + +def get_scene_ref_x(scene_name: str) -> int | None: + """Get the reference x-position (pinball/cylinder center) for a scene. + + Returns pixel coordinate, or None if no reference (e.g. target_channel). + """ + if "illusion" in scene_name: + return ILLUSION_REF_X + if "target_cylinder" in scene_name: + return TARGET_CYL_REF_X + if scene_name in ("pinball", "steady_cloak", "karman_re100", "karman_q_blk", + "vortex_lamb", "vortex_taylor", + "vortex_uncontrolled_lamb", "vortex_uncontrolled_taylor"): + return CLOAK_REF_X + return None diff --git a/src/CCD_analysis/utils/load_vortex_fields.py b/src/CCD_analysis/utils/load_vortex_fields.py new file mode 100644 index 0000000..bbf1bb6 --- /dev/null +++ b/src/CCD_analysis/utils/load_vortex_fields.py @@ -0,0 +1,114 @@ +"""Load vortex scene fields.npz format for transient CCD analysis. + +Vortex scenes (vortex_lamb, vortex_taylor, vortex_target_*, vortex_uncontrolled_*) +have field snapshots saved as raw fields.npz with shape (N, NX, NY) and no phase +plan (transient, not periodic). + +Converts to the same convention as load_aligned_fields(): + - Transposes fields from (N, NX, NY) -> (N, NY, NX) + - Loads telemetry from controlled.npz or sensors.npz + - Returns dict with identical key structure +""" +from __future__ import annotations + +import json +import os +from typing import Any + +import numpy as np + +from CCD_analysis.configs import DATA_DIR, NX, NY, SCENES + + +def load_vortex_fields(scene_name: str) -> dict: + """Load vortex scene field data from raw fields.npz. + + Parameters + ---------- + scene_name : str — one of the vortex scene names registered in configs. + + Returns + ------- + dict with same keys as load_aligned_fields(): + ux, uy : (N, NY, NX) ndarray — field snapshots (transposed) + forces : (N, 6) ndarray or None + sensors : (N, 6) ndarray or None + actions : (N, 3) ndarray or None + meta : dict with scene info + step_indices : list of int (sequential 0..N-1 for transient) + """ + if scene_name not in SCENES: + raise KeyError(f"Unknown scene: {scene_name}") + + cfg = SCENES[scene_name] + scene_id = cfg["scene_id"] + data_dir = os.path.join(DATA_DIR, scene_id, scene_name) + + if not os.path.isdir(data_dir): + raise FileNotFoundError(f"Vortex scene directory not found: {data_dir}") + + # -- fields.npz (native simulation order: NX first) -- + fields_path = os.path.join(data_dir, "fields.npz") + if not os.path.isfile(fields_path): + raise FileNotFoundError(f"{fields_path} not found") + + fd = np.load(fields_path) + ux_raw = fd["ux"] # (N, NX, NY) + uy_raw = fd["uy"] + N = ux_raw.shape[0] + fd.close() + + # Transpose (N, NX, NY) -> (N, NY, NX) to match load_aligned_fields convention + ux = np.ascontiguousarray(ux_raw.transpose(0, 2, 1)) + uy = np.ascontiguousarray(uy_raw.transpose(0, 2, 1)) + + # -- Telemetry (controlled.npz or sensors.npz) -- + tele_path = None + for p in [ + os.path.join(data_dir, "controlled.npz"), + os.path.join(data_dir, "sensors.npz"), + ]: + if os.path.isfile(p): + tele_path = p + break + + sensors, forces, actions = None, None, None + if tele_path is not None: + td = np.load(tele_path) + if "sensors" in td: + sensors = td["sensors"] # (N, 6) + if "forces" in td: + forces = td["forces"] # (N, 6) + if "actions" in td: + actions = td["actions"] # (N, 3) + td.close() + + # Verify N matches + if sensors is not None and sensors.shape[0] != N: + raise ValueError( + f"sensors ({sensors.shape[0]}) != fields ({N})" + ) + if forces is not None and forces.shape[0] != N: + raise ValueError( + f"forces ({forces.shape[0]}) != fields ({N})" + ) + + meta = { + "scene": scene_name, + "scene_id": scene_id, + "source": "vortex_transient", + "target_type": "transient", + "n_frames": N, + } + + result: dict[str, Any] = { + "ux": ux, + "uy": uy, + "forces": forces, + "actions": actions, + "sensors": sensors, + "meta": meta, + "step_indices": list(range(N)), # sequential — no phase plan + } + + return result diff --git a/src/OID_analysis/data/derived/comparison/illusion_0.75L.json b/src/OID_analysis/data/derived/comparison/illusion_0.75L.json index 75d1e70..edd0d15 100644 --- a/src/OID_analysis/data/derived/comparison/illusion_0.75L.json +++ b/src/OID_analysis/data/derived/comparison/illusion_0.75L.json @@ -4,10 +4,10 @@ "force-oid_m2": 0.43535277661654437, "force-oid_m3": 0.43535277661654437, "force-oid_m5": 0.43535277661654437, - "sig-oid_m1": 0.017340158959890415, - "sig-oid_m2": 0.30180744104636803, - "sig-oid_m3": 0.09790190212866957, - "sig-oid_m5": 0.02065845627823741, + "sig-oid_m1": -0.15117050299050566, + "sig-oid_m2": 0.3261349291477396, + "sig-oid_m3": 0.21184489728386308, + "sig-oid_m5": 0.025177590823196313, "sig-pcd_m1": -0.03521104267963627, "sig-pcd_m2": 0.20732705633252407, "sig-pcd_m3": 0.11988520616706469, @@ -18,21 +18,21 @@ "pod_m5": -3.0459602065033202 }, "future_sig": { - "force-oid_m1": 0.013511471239959334, - "force-oid_m2": 0.07098337174417249, - "force-oid_m3": 0.07098337174417249, - "force-oid_m5": 0.07098337174417249, - "sig-oid_m1": 0.3740715508827751, - "sig-oid_m2": 0.6608883811088201, - "sig-oid_m3": 0.5592259563419594, - "sig-oid_m5": 0.533343435056657, - "sig-pcd_m1": 0.20205641028110888, - "sig-pcd_m2": 0.4672590946761527, - "sig-pcd_m3": 0.4468990482184305, - "sig-pcd_m5": 0.41968732641466205, - "pod_m1": -0.2540973280602146, - "pod_m2": -0.0339567217960513, - "pod_m3": 0.054785729407538376, - "pod_m5": 0.3000378545113639 + "force-oid_m1": 0.02808159096495584, + "force-oid_m2": 0.16866913136184078, + "force-oid_m3": 0.16866913136184078, + "force-oid_m5": 0.16866913136184078, + "sig-oid_m1": 0.33101756431711893, + "sig-oid_m2": 0.5494672616793316, + "sig-oid_m3": 0.530079016273497, + "sig-oid_m5": 0.32401702949087063, + "sig-pcd_m1": 0.16309737465172808, + "sig-pcd_m2": 0.5183971881220766, + "sig-pcd_m3": 0.5204063038036019, + "sig-pcd_m5": 0.4265691501067544, + "pod_m1": -0.052450576630182974, + "pod_m2": 0.04555274170153097, + "pod_m3": 0.0926186828625095, + "pod_m5": 0.33872788235759366 } } \ No newline at end of file diff --git a/src/OID_analysis/data/derived/comparison/illusion_1.0L.json b/src/OID_analysis/data/derived/comparison/illusion_1.0L.json index 806bff9..cd90f99 100644 --- a/src/OID_analysis/data/derived/comparison/illusion_1.0L.json +++ b/src/OID_analysis/data/derived/comparison/illusion_1.0L.json @@ -4,10 +4,10 @@ "force-oid_m2": 0.6705941647225692, "force-oid_m3": 0.6705941647225692, "force-oid_m5": 0.6705941647225692, - "sig-oid_m1": -2.7646669027021566, - "sig-oid_m2": -2.539151608216361, - "sig-oid_m3": -1.47692206321327, - "sig-oid_m5": -1.5110272636915942, + "sig-oid_m1": -2.590735492534273, + "sig-oid_m2": -1.746340572676032, + "sig-oid_m3": -0.505449315098804, + "sig-oid_m5": 0.20254103672707288, "sig-pcd_m1": -1.6681874811094162, "sig-pcd_m2": -1.342076853642359, "sig-pcd_m3": 0.04249559758899473, @@ -18,21 +18,21 @@ "pod_m5": -0.09978939220221528 }, "future_sig": { - "force-oid_m1": -0.688583875677999, - "force-oid_m2": 0.0977498946249901, - "force-oid_m3": 0.0977498946249901, - "force-oid_m5": 0.0977498946249901, - "sig-oid_m1": 0.3400013732837159, - "sig-oid_m2": 0.5855599713349928, - "sig-oid_m3": 0.6757301882995801, - "sig-oid_m5": 0.6051731015609549, - "sig-pcd_m1": -0.045583209960261946, - "sig-pcd_m2": -0.07349660070560707, - "sig-pcd_m3": 0.534579564047348, - "sig-pcd_m5": 0.6365887267870092, - "pod_m1": -0.3737860307570295, - "pod_m2": -0.1596051084511593, - "pod_m3": 0.08266261398865987, - "pod_m5": -0.33155756162258626 + "force-oid_m1": 0.045801892403349205, + "force-oid_m2": 0.2629802484043238, + "force-oid_m3": 0.2629802484043238, + "force-oid_m5": 0.2629802484043238, + "sig-oid_m1": 0.49884985568656176, + "sig-oid_m2": 0.7228144172245711, + "sig-oid_m3": 0.800731534358897, + "sig-oid_m5": 0.7557779433603652, + "sig-pcd_m1": 0.15914778050377293, + "sig-pcd_m2": 0.41216776425952434, + "sig-pcd_m3": 0.7363453012643849, + "sig-pcd_m5": 0.8203723624009522, + "pod_m1": -0.21134397189909435, + "pod_m2": 0.3003051304179969, + "pod_m3": 0.46937683250351936, + "pod_m5": 0.38547893664057714 } } \ No newline at end of file diff --git a/src/OID_analysis/data/derived/comparison/illusion_1.5L.json b/src/OID_analysis/data/derived/comparison/illusion_1.5L.json index 9fb2748..9508824 100644 --- a/src/OID_analysis/data/derived/comparison/illusion_1.5L.json +++ b/src/OID_analysis/data/derived/comparison/illusion_1.5L.json @@ -4,10 +4,10 @@ "force-oid_m2": 0.6397818250190341, "force-oid_m3": 0.6397818250190341, "force-oid_m5": 0.6397818250190341, - "sig-oid_m1": 0.5371119596459986, - "sig-oid_m2": 0.5689626851549741, - "sig-oid_m3": 0.5480702090166246, - "sig-oid_m5": 0.49764490473273426, + "sig-oid_m1": -0.052064205105397096, + "sig-oid_m2": 0.5476475353492796, + "sig-oid_m3": 0.5104783631016963, + "sig-oid_m5": 0.5006514705153909, "sig-pcd_m1": 0.02922230950403174, "sig-pcd_m2": 0.4747650262191032, "sig-pcd_m3": 0.5480885671190363, @@ -18,21 +18,21 @@ "pod_m5": 0.5163077019241664 }, "future_sig": { - "force-oid_m1": 0.25720592794565883, - "force-oid_m2": 0.07069504954059229, - "force-oid_m3": 0.07069504954059229, - "force-oid_m5": 0.07069504954059229, - "sig-oid_m1": 0.3378310203787158, - "sig-oid_m2": 0.3147990569733715, - "sig-oid_m3": 0.34429262568108926, - "sig-oid_m5": 0.33509730308714486, - "sig-pcd_m1": -0.002980254539846315, - "sig-pcd_m2": 0.35229352094431515, - "sig-pcd_m3": 0.3046193933085676, - "sig-pcd_m5": 0.3332866518761705, - "pod_m1": -0.01505551568170228, - "pod_m2": 0.05972906227204257, - "pod_m3": 0.050175749864584104, - "pod_m5": 0.2244801105502782 + "force-oid_m1": 0.17421268011080493, + "force-oid_m2": 0.14691686742584273, + "force-oid_m3": 0.14691686742584273, + "force-oid_m5": 0.14691686742584273, + "sig-oid_m1": 0.5380880846698864, + "sig-oid_m2": 0.7415813766705678, + "sig-oid_m3": 0.7457945827838065, + "sig-oid_m5": 0.743474115106988, + "sig-pcd_m1": 0.45784877152463377, + "sig-pcd_m2": 0.6555116659772753, + "sig-pcd_m3": 0.6986463965973865, + "sig-pcd_m5": 0.7043777394599675, + "pod_m1": 0.43491763790324245, + "pod_m2": 0.5396007454438271, + "pod_m3": 0.5888838546919968, + "pod_m5": 0.675748834414234 } } \ No newline at end of file diff --git a/src/OID_analysis/data/derived/comparison/karman_re100.json b/src/OID_analysis/data/derived/comparison/karman_re100.json index cb7eee4..b782511 100644 --- a/src/OID_analysis/data/derived/comparison/karman_re100.json +++ b/src/OID_analysis/data/derived/comparison/karman_re100.json @@ -1,21 +1,21 @@ { "force": { - "force-oid_m1": 0.3973693481528069, - "force-oid_m2": 0.7503722371594272, - "force-oid_m3": 0.7503722371594272, - "force-oid_m5": 0.7503722371594272, - "sig-oid_m1": 0.047626492192117884, - "sig-oid_m2": -0.0899320785087113, - "sig-oid_m3": -0.06793031697290859, - "sig-oid_m5": 0.050723754778942164, - "sig-pcd_m1": -0.032869874061091105, - "sig-pcd_m2": -0.03470568581697929, - "sig-pcd_m3": -0.0024393867643178763, - "sig-pcd_m5": 0.20808527695100557, - "pod_m1": -0.028581812678008658, - "pod_m2": 0.41796895591108846, - "pod_m3": 0.3922853200314628, - "pod_m5": 0.5941700935980355 + "force-oid_m1": 0.11266023422325092, + "force-oid_m2": 0.29502997457263447, + "force-oid_m3": 0.29502997457263447, + "force-oid_m5": 0.29502997457263447, + "sig-oid_m1": -0.04664427253668195, + "sig-oid_m2": -0.1264864272302698, + "sig-oid_m3": -0.5831767238197324, + "sig-oid_m5": -0.468171814213285, + "sig-pcd_m1": -0.01403430119734832, + "sig-pcd_m2": -0.10619108268969935, + "sig-pcd_m3": -0.4769605173029764, + "sig-pcd_m5": -0.5750085233764719, + "pod_m1": -0.2578359217654613, + "pod_m2": 0.06838543401441043, + "pod_m3": -0.04891972521400708, + "pod_m5": 0.14664737200706499 }, "future_sig": { "force-oid_m1": 0.0, diff --git a/src/OID_analysis/data/derived/pod/karman_re100/summary.json b/src/OID_analysis/data/derived/pod/karman_re100/summary.json index cce48b2..e6b438a 100644 --- a/src/OID_analysis/data/derived/pod/karman_re100/summary.json +++ b/src/OID_analysis/data/derived/pod/karman_re100/summary.json @@ -2,13 +2,11 @@ "scene": "karman_re100", "n_snapshots": 500, "dof": 67200, - "ranks_computed": [ - 6, - 8, - 10, - 12, - 16 - ], - "energy_r10_5modes": 0.999034936679307, - "energy_r10_10modes": 1.0 + "roi": { + "x_start": 400, + "x_end": 1000, + "y_start": 100, + "y_end": 400 + }, + "energy_r10_5modes": 0.9971600541895967 } \ No newline at end of file diff --git a/src/OID_analysis/data/derived/whitebox/karman_re100.json b/src/OID_analysis/data/derived/whitebox/karman_re100.json index de3e22d..1d2c727 100644 --- a/src/OID_analysis/data/derived/whitebox/karman_re100.json +++ b/src/OID_analysis/data/derived/whitebox/karman_re100.json @@ -1,6 +1,6 @@ { - "obs_act_train": 0.9560973048210144, - "oid_m3_act_train": 0.22518758634108724, - "oid_m5_act_train": 0.22518758634108724, - "oid_force_act_train": 0.23275911247341877 + "obs_act_train": 0.7495932579040527, + "oid_m3_act_train": 0.09605772105033679, + "oid_m5_act_train": 0.09605772105033679, + "oid_force_act_train": 0.11671916873232673 } \ No newline at end of file diff --git a/src/OID_analysis/data/karman_cloak/karman_blk/norm.json b/src/OID_analysis/data/karman_cloak/karman_blk/norm.json index 7c4a56c..bfbecc7 100644 --- a/src/OID_analysis/data/karman_cloak/karman_blk/norm.json +++ b/src/OID_analysis/data/karman_cloak/karman_blk/norm.json @@ -1,20 +1,20 @@ { - "force_norm_fact": 0.019301448483020067, + "force_norm_fact": 0.0192322488874197, "sens_deviation": [ - 0.7973665595054626, - -0.12411565333604813, - 0.25158512592315674, - -0.008040801621973515, - 0.8032128214836121, - 0.11381910741329193 + 0.8234996795654297, + -0.12610766291618347, + 0.2525006830692291, + -0.0017381409415975213, + 0.7810041308403015, + 0.12196661531925201 ], "sens_norm_fact": [ - 2.679999828338623, - 3.1077914237976074, - 1.8671960830688477, - 3.329291582107544, - 2.9416096210479736, - 3.267305374145508 + 3.3339574337005615, + 3.35296630859375, + 1.8934848308563232, + 3.4226977825164795, + 3.0502705574035645, + 3.111417293548584 ], "action_bias": [ 0.0, diff --git a/src/OID_analysis/data/karman_cloak/karman_re100/config.json b/src/OID_analysis/data/karman_cloak/karman_re100/config.json index 1a643fa..c362e18 100644 --- a/src/OID_analysis/data/karman_cloak/karman_re100/config.json +++ b/src/OID_analysis/data/karman_cloak/karman_re100/config.json @@ -1,6 +1,7 @@ { "scene_id": "karman", "re_code": 100, + "nu": 0.004, "has_disturbance": true, "sample_interval": 800, "action_scale": 8.0, @@ -15,6 +16,5 @@ "pinball_rear_x": 31.3, "target_type": "periodic", "s_dim": 12, - "u0": 0.01, - "nu": 0.004 + "u0": 0.01 } \ No newline at end of file diff --git a/src/OID_analysis/data/karman_cloak/karman_re100/result.json b/src/OID_analysis/data/karman_cloak/karman_re100/result.json index 65cf1d0..2b48a82 100644 --- a/src/OID_analysis/data/karman_cloak/karman_re100/result.json +++ b/src/OID_analysis/data/karman_cloak/karman_re100/result.json @@ -1,5 +1,5 @@ { "scene": "karman_re100", - "similarity": 0.9587061844662661, - "avg_reward": 0.6636279821395874 + "n_steps": 500, + "similarity": 0.0 } \ No newline at end of file diff --git a/src/SR_analysis/PIPELINE.md b/src/SR_analysis/PIPELINE.md new file mode 100644 index 0000000..e5117a4 --- /dev/null +++ b/src/SR_analysis/PIPELINE.md @@ -0,0 +1,144 @@ +# SR Analysis Pipeline + +> Symbolic regression pipeline for extracting interpretable DRL control laws (obs → act) from the fluidic pinball. +> Four independent stages: inference → fitting → validation → analysis. + +## Pipeline Architecture + +``` +[PPO 推理] [PySR 拟合] [CFD 验证] [分析/画图] +stage_1_infer.py stage_2_fit.py stage_3_validate.py stage_4_analyze.py + ↓ ↓ ↓ ↓ +controlled.npz formulas/*.json validations/*.json data/figures/*.png +``` + +## Quick Start + +```bash +# 1. Generate PPO data +conda run -n pycuda_3_10 python stage_1_infer.py --scene karman_re100 --device 2 + +# 2. Fit PySR formula +conda run -n sr_env python stage_2_fit.py --scene karman_re100 --mode per-scene + +# 3. Validate in CFD +conda run -n pycuda_3_10 python stage_3_validate.py \ + --scene karman_re100 --device 2 --mode pysr \ + --formula-front results/formulas/karman_re100_front.json \ + --formula-top results/formulas/karman_re100_top.json + +# 4. Analyze results +conda run -n pycuda_3_10 python stage_4_analyze.py --scene karman_re100 --mode ppo-viz +``` + +## Environments + +| Env | Used For | +|-----|----------| +| `pycuda_3_10` | Stage 1 (CFD inference), Stage 3 (CFD validation), Stage 4 (analysis) | +| `sr_env` | Stage 2 (PySR symbolic regression) | + +GPU: device 2 recommended (device 0 may conflict with PyTorch). + +## Key Conventions + +### Reynolds Number +- Code Re uses reference length 2D = 40: `Re = U0 * 40 / nu` +- Physical Re_D uses D = 20: `Re_D = Re / 2` +- Default: Re_code=100 → Re_D=50, nu=0.004 + +### Action +- `controlled.npz` stores actions as **normalized [-1, +1]** (not physical omega) +- Physical omega: `omega = (action * scale + bias) * U0`, then divided by radius for angular velocity +- Fitting target: **non-dimensional alpha = omega / U0** (not omega) + +### Action Bias vs FIFO Bias +- **DRL action decoder bias**: `action * scale + bias` → physical omega. Karman: [0,-4,4], Illusion: [0,-2,2], Vortex: [0,-4,4] +- **FIFO initialization bias** (environment warmup): different values! Illusion FIFO uses [0, -U0, U0] (1U scale), not [0, -2U0, 2U0] + +### Inlet +- Parabolic velocity profile (not uniform). Top/bottom walls are no-slip bounce-back. +- U0 = 0.01 at centerline (lattice units) + +### G-mirror +- Correct: `[aF, aT, aB] → [-aF, -aB, -aT]` (not the old buggy version) +- v23 structure: Front no-bias (α_F = 0 when features = 0), rear shared-head (α_B = -Top∘G) + +### Norm +- Each scene computes its own force/sensor normalization during environment initialization +- Must use the **same norm values** during inference and during validation +- Norm values are saved in `norm.json` in each data directory + +### Sample Interval & Steps +| Scene | SI | Validation Steps | +|-------|:--:|:----------------:| +| Karman | 800 | 160-200 | +| Illusion 0.75L | 400 | 320 | +| Illusion 1L | 600 | 214 | +| Illusion 1.5L | 800 | 160 | +| Vortex | 800 | 150 (transient) | + +Rule: steps ≥ NX/U0/SI = 1280/0.01/SI ≈ 128000/SI + +## Results Index + +All results indexed in [`scene_registry.json`](scene_registry.json). Canonical formulas in `results/formulas/`, CFD validations in `results/validations/`. + +### Canonical Formulas + +| Formula File | Scene | Formula | +|-------------|-------|---------| +| `results/formulas/karman_joint_front.json` | Karman cross-Re (joint) | `daF_dt - 14.952*mu*Cl_tot` | +| `results/formulas/karman_joint_top.json` | Karman cross-Re (joint) | `3.414` (constant) | +| `results/formulas/illusion_joint_front.json` | Illusion joint (0.75L+1L) | `Cd_tot - (Cd_err + 5.428) - 0.00978*(du_a_dt + u_a)` | +| `results/formulas/illusion_joint_top.json` | Illusion joint (0.75L+1L) | `(Cd_err - (Cd_rear - Cl_err))*0.535 + 2.782` | + +### Key CFD Results + +| Scene | Formula | Similarity | +|-------|---------|:----------:| +| Karman cross-Re avg | Joint | 0.847 | +| Illusion 0.75L | Joint | 0.978 | +| Illusion 1L | Joint | 0.970 | +| Vortex lamb | Karman joint | 0.949 (exceeds PPO 0.942) | +| Illusion 0.6L | Joint (generalization) | 0.939 | +| Illusion 0.8L | Joint (generalization) | 0.908 | +| Illusion 1.2L | Joint (generalization) | 0.849 | +| Illusion 2L | Joint (generalization) | 0.676 | + +### Feature Sets + +| Name | Features | Dim | Used For | +|------|----------|:---:|----------| +| PHASE_STATE_KEYS | u_a, du_a_dt, Cl_tot, dCl_tot_dt, Cd_tot, Cd_rear | 6 | Karman per-Re | +| ILLUSION_PHASE_KEYS | phase-state + Cd_err, Cl_err, dCd_err_dt, dCl_err_dt | 10 | Illusion | +| PHYS_DADT | physics + daF_dt, daB_dt, daT_dt + mu | 17 | Karman joint/deep | + +## Key Documentation + +| File | Content | +|------|---------| +| `PIPELINE.md` | This file — overview, environment, conventions | +| `sindy_sr_knowledge.md` | Bug history, confirmed facts, known limitations | +| `sindy_sr_notes.md` | Task list, current status | +| `STAGE_1_INFER.md` | Stage 1: PPO data generation | +| `STAGE_2_FIT.md` | Stage 2: PySR fitting | +| `STAGE_3_VALIDATE.md` | Stage 3: CFD validation | +| `STAGE_4_ANALYZE.md` | Stage 4: Analysis & visualization | +| `docs/SR_analysis_report.md` | Full report (465+ lines) | +| `docs/illusion_joint_formula_analysis.md` | Illusion joint formula deep dive | + +## Stage 0 Audit (2026-06-28) + +All imports verified in both conda environments: + +| Script | pycuda_3_10 | sr_env | +|--------|:-----------:|:------:| +| `stage_1_infer.py` (infer_karman / infer_illusion / infer_vortex) | OK | — | +| `stage_2_fit.py` (PySR) | — | OK | +| `stage_3_validate.py` (closed-loop) | OK | — | +| `stage_4_analyze.py` (analysis) | OK | — | +| `core/features.py` (feature_builder) | OK | OK | +| `core/cfd.py` (cfd_interface) | OK | — | + +No broken imports. All dependencies available. diff --git a/src/SR_analysis/README.md b/src/SR_analysis/README.md index 6558657..3361218 100644 --- a/src/SR_analysis/README.md +++ b/src/SR_analysis/README.md @@ -4,181 +4,81 @@ Extracts interpretable control laws (`obs -> act`) from DRL-trained policies for fluidic pinball. Uses **PySR symbolic regression** on dimensionless physical features with G-equivariant structural constraints (v23: front no-bias, rear shared-head). -## Current Results (2026-06-25) +## Quick Start -### Karman Cloak — Cross-Re Unified Formula +```bash +# 1. Generate PPO data +conda run -n pycuda_3_10 python stage_1_infer.py --scene karman_re100 --device 2 -| Scene | Front Formula | Top Formula | CFD Closed-Loop | -|-------|--------------|-------------|:---------------:| -| Joint (Re50-400) | `daF_dt - 14.952*mu*Cl_tot` | `alpha_T = 3.414` (const) | **0.847 avg** | -| Re50 independent | PySR per-Re best | — | **0.895** | -| Re100 independent | PySR per-Re best | — | **0.888** | -| Re200 independent | PySR per-Re best | — | **0.916** | -| Re400 (SI=400 opt) | Joint formula | Joint formula | **0.819** | +# 2. Fit formula +conda run -n sr_env python stage_2_fit.py --scene karman_re100 --mode per-scene -### Illusion +# 3. Validate in CFD +conda run -n pycuda_3_10 python stage_3_validate.py \\ + --scene karman_re100 --device 2 --mode pysr \\ + --formula-front results/formulas/karman_joint_front.json \\ + --formula-top results/formulas/karman_joint_top.json -| Scene | Front Formula | CFD Closed-Loop | % of PPO | -|-------|--------------|:---------------:|:--------:| -| 0.75L | `-0.169*(Cl_tot + dCl_tot_dt) - 1.240` | **0.979** | 100.7% | -| 1L | `(du_a_dt + u_a + 26.5)*0.0123` | **0.957** | 98.4% | -| **Joint (0.75L+1L)** | `target_Cd - 5.428 + 0.0098*(du_a_dt + u_a)` | **0.978 / 0.970** | — | -| 1.5L | High-freq periodic modulation (not SR-amenable) | — | — | +# 4. Analyze +conda run -n pycuda_3_10 python stage_4_analyze.py --scene karman_re100 --mode ppo-viz +``` -**Key finding**: 0.75L and 1L formulas have fundamentally different skeletons (Cl_tot vs u_a -dominant). Joint formula still achieves excellent CFD results on both although the underlying -mechanisms differ. +## Pipeline Architecture -### Illusion Generalization (Joint Formula, No PPO) +``` +stage_1_infer.py → stage_2_fit.py → stage_3_validate.py → stage_4_analyze.py + (PPO数据) (PySR拟合) (CFD闭环验证) (分析/画图) +``` -| Diameter | Similarity | Notes | -|:--------:|:----------:|-------| -| 0.5L | 0.854 | Signal weak, noise-dominated | -| 0.6L | **0.939** | Generalizes well | -| 0.8L | **0.908** | Generalizes well | -| 1.2L | 0.849 | Begins to degrade | -| 1.5L | N/A | High-frequency regime, different mechanism | -| 2.0L | 0.676 | Degraded, near 1.5L regime | +## Directory Structure -Valid range: 0.6L-1.0L (similarity > 0.90). - -### Vortex Cloak (Generalization) - -Karman joint formula tested on vortex scenes (no retraining): -| Scene | Karman Joint Formula | PPO Baseline | -|-------|:-------------------:|:------------:| -| vortex_lamb | **0.949** | 0.942 | -| vortex_taylor | **0.905** | 0.916 | +``` +SR_analysis/ + PIPELINE.md # 总览文档 (入口) + README.md # 本文件 + sindy_sr_knowledge.md # 知识库 (bugs, 事实, 结果) + sindy_sr_notes.md # 任务清单 + scene_registry.json # 所有场景的规范结果索引 + configs.py # 场景注册表 + core/ # 共享工具库 + features.py # 特征构建 (无量纲化+phase-state) + fitting.py # STLSQ拟合+特征矩阵 + cfd.py # LegacyCelerisLab接口 + g_operator.py # G-mirror变换 + data/ # 运行时生成的.npz数据 + results/ + formulas/ # 规范公式JSON + validations/ # CFD闭环验证结果 + archive/ # 归档的中间文件 + stage_1_infer.py # Stage 1: 统一PPO推理入口 + STAGE_1_INFER.md + stage_2_fit.py # Stage 2: 统一PySR拟合入口 + STAGE_2_FIT.md + stage_3_validate.py # Stage 3: 统一CFD闭环验证入口 + STAGE_3_VALIDATE.md + stage_4_analyze.py # Stage 4: 统一分析/画图入口 + STAGE_4_ANALYZE.md +``` --- -## Pipeline Overview - -``` -controlled.npz (PPO rollout) - | - v -compute_features() --> dimensionless physics features (ILLUSION_PHASE_KEYS, etc.) - | - v -PySR symbolic regression --> sparse interpretable formulas - | - v -CFD closed-loop validation --> final similarity score -``` - -### Key Design Decisions +## Key Design Decisions 1. **Feature levels**: Static (8-dim) -> Phase-state (6-dim) -> Illusion-phase (10-dim) 2. **Output target**: Non-dimensional alpha, not physical omega 3. **v23 structure**: Front no-bias, rear shared-head (Bottom = -Top(Gx)) 4. **Final judge**: CFD closed-loop similarity, not one-step R2 ---- - -## Directory Structure - -``` -SR_analysis/ - configs.py # Scene metadata (Karman, Illusion, Vortex) - configs/legacy/ # Legacy CFD configs (config_cuda.json, config_flowfield.json) - utils/ - __init__.py # Exports (no pycuda dependency) - feature_builder.py # Dimensionless features, G-operator, phase-state features - sindy_fitter.py # STLSQ fitting + feature matrices - cfd_interface.py # LegacyCelerisLab wrapper (requires pycuda_3_10) - g_operator.py # Equivariance diagnostics - data/ # Inference output data (controlled.npz, target.npz) - karman/ karman_re50..400/ - illusion/ illusion_0.75L,1L,1.5L/ - vortex/ vortex_lamb,taylor/ - scripts/ - infer_karman.py # PPO inference -> controlled.npz - infer_illusion.py # PPO inference -> controlled.npz - infer_vortex.py # PPO inference -> controlled.npz - gen_illusion_target.py # Target data generation for generalization scenes - visualize_ppo_illusion.py# PPO visualization with vorticity - sindy/ - run_pysr.py # PySR symbolic regression (niter=40) - run_pysr_deep.py # Karman deep PySR (niter=120, Re independent + joint) - run_pysr_deep_illusion.py# Illusion deep+joint PySR (niter=120) - validate/ - run_closed_loop.py # Karman closed-loop validator - run_closed_loop_illusion.py # Illusion closed-loop validator - run_closed_loop_vortex.py # Vortex closed-loop validator - run_closed_loop_re400_si.py # Karman re400 short-SI validator - predict_pysr.py # PySR formula sympy.lambdify wrapper - eval_rollout.py # Offline multi-step rollout evaluation - launch_pysr_validation.py # Batch CFD validation launcher - batch_illusion_generalization.sh# Batch generalization CFD validation - results/ # 136 JSON files — canonical + intermediate - results/README.md # Result file reference table - results/archive/ # Archived intermediate search attempts -``` - ---- - -## Usage - -### PySR Symbolic Regression (conda: sr_env) - -```bash -# Illusion -conda run -n sr_env python src/SR_analysis/sindy/run_pysr_deep_illusion.py --individual - -# Karman deep (cross-Re independent + joint) -conda run -n sr_env python src/SR_analysis/sindy/run_pysr_deep.py --both -``` - -### CFD Closed-Loop Validation (conda: pycuda_3_10, GPU 1 or 2) - -```bash -# Illusion PySR formula -conda run -n pycuda_3_10 python src/SR_analysis/validate/run_closed_loop_illusion.py \ - --scene illusion_1L --device 2 --steps 320 --mode pysr \ - --pysr-front validate/results/pysr_illusion_1L_front.json \ - --pysr-top validate/results/pysr_illusion_1L_top.json - -# Karman joint formula -conda run -n pycuda_3_10 python src/SR_analysis/validate/run_closed_loop.py \ - --scene karman_re100 --device 2 --steps 200 --mode pysr \ - --pysr-front validate/results/karman_joint_deep_front.json \ - --pysr-top validate/results/karman_joint_deep_top.json - -# Vortex (generalization test) -conda run -n pycuda_3_10 python src/SR_analysis/validate/run_closed_loop_vortex.py \ - --scene vortex_lamb --device 2 --steps 150 --mode pysr \ - --pysr-front validate/results/karman_joint_deep_front.json \ - --pysr-top validate/results/karman_joint_deep_top.json -``` - -### PPO Inference (generate controlled.npz) - -```bash -conda run -n pycuda_3_10 python src/SR_analysis/scripts/infer_karman.py --re 100 --device 2 -conda run -n pycuda_3_10 python src/SR_analysis/scripts/infer_illusion.py --diameter 1.0 --device 2 -conda run -n pycuda_3_10 python src/SR_analysis/scripts/infer_vortex.py --type lamb --device 2 -``` - ---- - -## Critical Reminders - -- **actions.npz are normalized [-1,1]**, not physical omega. Convert: `(action * scale + bias) * u0` -- **PySR needs `sensors_raw`/`forces_raw`** passed to `compute_features()` or derivative features are zero -- **Output target must be alpha** (non-dim): `Y = actions_phys / u0` -- **One-step R2 high != closed-loop good** -- always validate in CFD -- **Controls must propagate**: steps >= NX/u0/SI (S=400->320, S=600->214, S=800->160) -- **FIFO bias != DRL action bias** for Illusion: FIFO=[0,-U0,U0], decode=[0,-2,2]*U0 -- **Joint formula must be manually reviewed** for spurious terms (e.g. `daB_dt` is constant=0 at deployment) - ---- - ## Key Documentation | File | Content | |------|---------| -| `src/SR_analysis/sindy_sr_knowledge.md` | Background knowledge, bug history, known pitfalls (for coder reference) | -| `src/SR_analysis/sindy_sr_notes.md` | Task list, phase breakdown, current status | -| `docs/SR_analysis_report.md` | **Single consolidated report** — all formulas, results, methodology, structural analysis | -| `docs/illusion_joint_formula_analysis.md` | Illusion joint formula deep dive — physical interpretation, generalization curve | +| `PIPELINE.md` | **Primary entry** — pipeline overview, environment, conventions | +| `sindy_sr_knowledge.md` | Bug history, confirmed facts, known limitations | +| `sindy_sr_notes.md` | Task list, current status | +| `docs/SR_analysis_report.md` | Full report (465+ lines) | +| `docs/illusion_joint_formula_analysis.md` | Illusion joint formula deep dive | + +## Core Files (≤20) + +`stage_1_infer.py`, `stage_2_fit.py`, `stage_3_validate.py`, `stage_4_analyze.py`, `configs.py`, `scene_registry.json`, `core/features.py`, `core/fitting.py`, `core/cfd.py`, `core/g_operator.py` + 8 docs. diff --git a/src/SR_analysis/STAGE_1_INFER.md b/src/SR_analysis/STAGE_1_INFER.md new file mode 100644 index 0000000..7386ec9 --- /dev/null +++ b/src/SR_analysis/STAGE_1_INFER.md @@ -0,0 +1,31 @@ +# Stage 1: PPO Inference + +Generates `controlled.npz` data by running trained PPO models in LegacyCelerisLab CFD. + +## Usage + +```bash +conda run -n pycuda_3_10 python stage_1_infer.py --scene karman_re100 --device 2 +conda run -n pycuda_3_10 python stage_1_infer.py --group karman_trained --device 2 +conda run -n pycuda_3_10 python stage_1_infer.py --scene illusion_0.6L --target-only --device 2 +``` + +## Scene Groups + +karman_trained (re50-400), illusion_trained (0.75L/1L/1.5L), illusion_generalization (0.5L-2L), vortex_all. + +## Output per Scene + +`data/{scene_id}/{scene_name}/`: target.npz, controlled.npz, config.json, norm.json, result.json, target_harmonics.json (Illusion only). + +actions in controlled.npz are normalized [-1,+1]. Physical omega = (action*scale+bias)*U0. + +## Per-Scene Notes + +- **Karman**: 7 objects, obs_slice=(2,14), action_bias=[0,-4,4], s_dim=12 +- **Illusion**: 6 objects, obs_slice=(0,12), action_bias=[0,-2,2], s_dim=14, FIFO bias=[0,-U0,U0] differs from DRL bias +- **Vortex**: 6 objects, MAX_STEPS=150, action_scale=4, vortex added after DDF checkpoint + +## Expected Similarities + +Karman re100 ~0.90, Illusion 1L ~0.97, Illusion 0.75L ~0.98, Illusion 1.5L ~0.95 diff --git a/src/SR_analysis/STAGE_2_FIT.md b/src/SR_analysis/STAGE_2_FIT.md new file mode 100644 index 0000000..e7457a5 --- /dev/null +++ b/src/SR_analysis/STAGE_2_FIT.md @@ -0,0 +1,45 @@ +# Stage 2: PySR Symbolic Regression + +Fits interpretable formulas (obs → act) from controlled.npz data using PySR. + +## Usage + +```bash +# Per-scene fitting +conda run -n sr_env python stage_2_fit.py --scene karman_re100 --mode per-scene + +# Joint cross-scene +conda run -n sr_env python stage_2_fit.py --scenes karman_re50,karman_re100,karman_re200,karman_re400 --mode joint + +# Deep search +conda run -n sr_env python stage_2_fit.py --scenes illusion_0.75L,illusion_1L --mode joint --deep +``` + +## Output + +`results/formulas/{label}_{front,top}.json`: best_sympy formula, feature_keys, R2 score. + +Fitting target is non-dimensional **alpha = omega/U0** (not physical omega). + +## Feature Sets + +- **PHASE_STATE_KEYS** (6): u_a, du_a_dt, Cl_tot, dCl_tot_dt, Cd_tot, Cd_rear — Karman per-Re +- **ILLUSION_PHASE_KEYS** (10): above + Cd_err, Cl_err, dCd_err_dt, dCl_err_dt — Illusion +- **PHYS_DADT + mu** (17): physics + daF/dt + mu modulation — Karman joint + +## Per-Scene vs Joint + +- **per-scene**: Fit one formula per scene. Use for individual Re/diameter analysis. +- **joint**: Concatenate multiple scenes' data, fit single formula. Use for cross-scene generalization. + +## Formula Review Checklist + +After fitting, check: +1. **No spurious terms**: `daB_dt` = 0 at deployment (rear constant), remove if present +2. **Front no-bias**: α_F ≈ 0 when all features ≈ 0 +3. **Rear shared-head**: α_B = -α_T when flow is symmetric (G-mirror applied) +4. **One-step R2 ≠ closed-loop**: Always validate in Stage 3 + +## Environments + +`conda run -n sr_env` (PySR installed, separate from pycuda to avoid CUDA conflicts). diff --git a/src/SR_analysis/STAGE_3_VALIDATE.md b/src/SR_analysis/STAGE_3_VALIDATE.md new file mode 100644 index 0000000..97e488e --- /dev/null +++ b/src/SR_analysis/STAGE_3_VALIDATE.md @@ -0,0 +1,52 @@ +# Stage 3: CFD Closed-Loop Validation + +Validates PySR formulas or PPO baselines in closed-loop CFD. Final judge is DTW similarity (not one-step R2). + +## Usage + +```bash +# PySR formula validation +conda run -n pycuda_3_10 python stage_3_validate.py \ + --scene karman_re100 --device 2 --mode pysr \ + --formula-front results/formulas/karman_joint_front.json \ + --formula-top results/formulas/karman_joint_top.json + +# PPO baseline +conda run -n pycuda_3_10 python stage_3_validate.py --scene illusion_1L --device 2 --mode ppo + +# Batch generalization +conda run -n pycuda_3_10 python stage_3_validate.py \ + --group illusion_generalization --device 2 --mode pysr \ + --formula-front results/formulas/illusion_joint_front.json \ + --formula-top results/formulas/illusion_joint_top.json +``` + +## Modes + +- **pysr**: Deploy PySR formula in closed-loop CFD (v23: front no-bias, rear shared-head) +- **ppo**: Run trained PPO model as baseline +- **uncontrolled**: Zero-action baseline + +## Steps + +Auto-calculated from sample interval: SI=400→320, SI=600→214, SI=800→160. + +## Output + +`results/validations/{scene_name}.json`: similarity score, mode, n_steps. + +## v23 Structure + +- Front: α_F = f_front(x), no bias — should be ~0 when features ~0 +- Top: α_T = f_rear(x), with bias +- Bottom: α_B = -f_rear(G[x]) — shared-head via G-mirror + +G-mirror: [aF,aT,aB]→[-aF,-aB,-aT], sensors swap top↔bottom with v sign flip. + +## Similarity Interpretation + +- > 0.90: Excellent (cloak/illusion effective) +- 0.70-0.90: Partial control +- < 0.50: Poor + +Tail similarity isolates the far-wake portion. diff --git a/src/SR_analysis/STAGE_4_ANALYZE.md b/src/SR_analysis/STAGE_4_ANALYZE.md new file mode 100644 index 0000000..4028f62 --- /dev/null +++ b/src/SR_analysis/STAGE_4_ANALYZE.md @@ -0,0 +1,38 @@ +# Stage 4: Analysis & Visualization + +Analyzes PPO policies and SR formulas. Generates FFT spectra, action timeseries, and degradation curves. + +## Usage + +```bash +# PPO action visualization (timeseries + FFT) +conda run -n pycuda_3_10 python stage_4_analyze.py --scene illusion_1L --mode ppo-viz + +# Cross-diameter degradation analysis +conda run -n pycuda_3_10 python stage_4_analyze.py \ + --scenes illusion_0.75L,illusion_1L,illusion_1.5L --mode degradation + +# Formula comparison (coming soon) +conda run -n pycuda_3_10 python stage_4_analyze.py --scene illusion_1L --mode formula-compare +``` + +## Modes + +- **ppo-viz**: Action timeseries plot + FFT spectrum for each cylinder +- **degradation**: Cross-scene comparison (alpha std, Cd_tot, action range) — finds transition points where control regime changes +- **formula-compare**: (placeholder) Compare PySR formula predictions vs PPO actions + +## Output + +Figures written to `data/figures/`: +- `ppo_viz_{scene}.png` — timeseries + FFT +- `degradation_metrics.png` — cross-diameter comparison panels + +## Regime Detection + +The degradation mode detects control regime transitions by: +1. Action amplitude jump (alpha std > 4x) +2. Frequency shift (FFT dominant frequency > 5x) +3. Autocorrelation pattern change (lag-2 ≈ -0.9 = high-frequency switching) + +Known transition: Illusion 1.5L shifts from phase-lead compensation to high-frequency periodic modulation. diff --git a/src/SR_analysis/core/cfd.py b/src/SR_analysis/core/cfd.py new file mode 100644 index 0000000..a0b0f5e --- /dev/null +++ b/src/SR_analysis/core/cfd.py @@ -0,0 +1,403 @@ +"""CFD interface for LegacyCelerisLab (pycuda_3_10 env). + +All functions use the LegacyCelerisLab (old) CFD API via: + from LegacyCelerisLab import FlowField + +Must be run inside: conda run -n pycuda_3_10 + +NOTE: This module should be imported directly, not through SR_analysis.utils +because it requires pycuda. Other utils (sindy_fitter, feature_builder, g_operator) +do NOT require pycuda and can be imported from the __init__. +""" +from __future__ import annotations + +import json +import os +import sys +from collections import deque +from typing import Any, Dict, List, Optional, Tuple + +import numpy as np + +# -- Import legacy CFD ------------------------------------------------------- +# LegacyCelerisLab lives at the repo root; SR_analysis is at repo_root/src/SR_analysis. +_REPO = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")) +if _REPO not in sys.path: + sys.path.insert(0, _REPO) +_SRC = os.path.join(_REPO, "src") +if _SRC not in sys.path: + sys.path.insert(0, _SRC) + +from LegacyCelerisLab import FlowField # noqa: E402 +from LegacyCelerisLab import utils as legacy_utils # noqa: E402 + +# --------------------------------------------------------------------------- +# Action-smoothing constant (legacy run() internal) +# --------------------------------------------------------------------------- +ACTION_SMOOTH_WEIGHT = 0.1 # used by FlowField.run() internally + + +def nu_from_re(re_code: float, u0: float = 0.01, d_ref: float = 40.0) -> float: + """Return kinematic viscosity for a given code Reynolds number. + + ``re_code`` uses reference length *2*D* = 40.0 (matching model file naming). + """ + return u0 * d_ref / re_code + + +def load_legacy_configs(config_dir: str) -> Tuple[Any, Any]: + """Load and return legacy (cuda_config, field_config) from *config_dir*.""" + cuda_cfg = legacy_utils.load_cuda_config( + os.path.join(config_dir, "config_cuda.json") + ) + field_cfg = legacy_utils.load_flow_field_config( + os.path.join(config_dir, "config_flowfield.json") + ) + return cuda_cfg, field_cfg + + +# --------------------------------------------------------------------------- +# Environment helpers -- Karman cloak (disturbance cylinder + pinball) +# --------------------------------------------------------------------------- + +def build_karman_cloak_env( + flow_field: FlowField, + *, + u0: float, + l0: float, + sample_interval: int, + fifo_len: int, + data_type: type, +) -> Tuple[np.ndarray, dict]: + """Phase 0-1: add dist-cylinder & 3 sensors, stabilize, record target. + + Steps (mirrors env_karman_cloak_standard.__init__): + 1. add dist_cylinder (id=0) + 2. add 3 sensors (id=1,2,3) + 3. stabilize run(4*NX/U0, zero-action[4]) + 4. record FIFO_LEN x run(SAMPLE_INTERVAL, zero[4]), collect obs[2:8] + + Returns + ------- + target_states : ndarray (FIFO_LEN, 6) -- sensor0/1/2 ux,uy + info : dict with n_objects, NX, NY + """ + # dist cylinder + center = (10.0 * l0, (flow_field.FIELD_SHAPE[1] - 1) / 2, 0.0) + flow_field.add_cylinder(center, l0) + + # sensors + for y_off in [2.0, 0.0, -2.0]: + sc = (40.0 * l0, (flow_field.FIELD_SHAPE[1] - 1) / 2 + y_off * l0, 0.0) + flow_field.add_sensor(sc, l0 / 4.0) + + n_obj = flow_field.obs.size // 2 + + # stabilize + stabilize_steps = int(4 * flow_field.FIELD_SHAPE[0] / u0) + print(f" stabilising ({stabilize_steps} steps)...") + flow_field.run(stabilize_steps, np.zeros(n_obj, dtype=data_type)) + + # record target (only sensor signals = obs[2:8]) + target_states = np.empty((0, 6), dtype=data_type) + for _ in range(fifo_len): + flow_field.run(sample_interval, np.zeros(n_obj, dtype=data_type)) + new_state = flow_field.obs.copy()[2:8] + target_states = np.vstack((target_states, new_state)) + + print(f" target recorded: {target_states.shape}") + return target_states, {"n_objects": n_obj, "NX": flow_field.FIELD_SHAPE[0], + "NY": flow_field.FIELD_SHAPE[1]} + + +def add_pinball( + flow_field: FlowField, + *, + l0: float, + u0: float, + sample_interval: int, + fifo_len: int, + data_type: type, + action_bias: Optional[Tuple[float, float, float]] = None, + pinball_front_x: float = 30.0, + pinball_rear_x: float = 31.3, + obs_slice_start: int = 2, + obs_slice_end: int = 14, + n_objects_total: Optional[int] = None, +) -> dict: + """Add pinball cylinders, stabilize, compute norm, bias rollout. + + Steps: + 1. add front, bottom, top cylinders + 2. stabilize run(4*NX/U0, zero-action) + 3. get_ddf() + save_ddf() (checkpoint) + 4. FIFO_LEN x run(SAMPLE_INTERVAL, zero) -> compute norm + 5. apply_ddf() (restore pre-bias state) + 6. FIFO_LEN x run(SAMPLE_INTERVAL, bias-action) -> save_states + 7. apply_ddf() + + Parameters + ---------- + pinball_front_x, pinball_rear_x : pinball geometry (L0 units). + Default 30.0/31.3 for Karman; 19.0/20.3 for Illusion. + obs_slice_start, obs_slice_end : slice of obs for norm. + Default [2:14] for Karman (7 objects); [0:12] for Illusion (6 objects). + n_objects_total : if provided, used for bias array length. + Default: inferred from flow_field after adding cylinders. + + Returns dict with norm values. + """ + if action_bias is None: + action_bias = (0.0, -4.0, 4.0) + + u0_float = float(u0) + + # add 3 pinball cylinders + ny = flow_field.FIELD_SHAPE[1] + centers = [ + (pinball_front_x * l0, (ny - 1) / 2, 0.0), + (pinball_rear_x * l0, (ny - 1) / 2 + 0.75 * l0, 0.0), + (pinball_rear_x * l0, (ny - 1) / 2 - 0.75 * l0, 0.0), + ] + for c in centers: + flow_field.add_cylinder(c, l0 / 2.0) + + n_obj = flow_field.obs.size // 2 if n_objects_total is None else n_objects_total + print(f" bodies after pinball: {n_obj}") + + # stabilize + stabilize_steps = int(4 * flow_field.FIELD_SHAPE[0] / u0_float) + print(f" stabilising pinball ({stabilize_steps} steps)...") + flow_field.run(stabilize_steps, np.zeros(n_obj, dtype=data_type)) + + # checkpoint DDF + flow_field.get_ddf() + flow_field.save_ddf() + + # --- norm phase (zero-action) --- + fifo = deque(maxlen=fifo_len) + for _ in range(fifo_len): + flow_field.run(sample_interval, np.zeros(n_obj, dtype=data_type)) + fifo.append(flow_field.obs.copy()[obs_slice_start:obs_slice_end]) + + temp_states = np.array(fifo, dtype=data_type) + # forces are at indices [6:12] relative to the slice end + force_start = obs_slice_end - obs_slice_start - 6 + force_end = force_start + 6 + force_norm_fact = 6.0 * float(np.max(np.abs(temp_states[:, force_start:force_end]))) + sens_deviation = np.mean(temp_states[:, 0:6], axis=0).astype(data_type) + sens_norm_fact = np.zeros(6, dtype=data_type) + for i in range(6): + sens_norm_fact[i] = 5.0 * float(np.max(np.abs(temp_states[:, i] - sens_deviation[i]))) + + print(f" norm: force_norm_fact={force_norm_fact:.6f}") + print(f" norm: sens_deviation={sens_deviation}") + print(f" norm: sens_norm_fact={sens_norm_fact}") + + # --- bias-action rollout --- + flow_field.apply_ddf() + bias = np.zeros(n_obj, dtype=data_type) + bias[n_obj - 3] = float(action_bias[0] * u0_float) + bias[n_obj - 2] = float(action_bias[1] * u0_float) + bias[n_obj - 1] = float(action_bias[2] * u0_float) + print(f" bias action: {bias}") + + fifo.clear() + for _ in range(fifo_len): + flow_field.run(sample_interval, bias) + fifo.append(flow_field.obs.copy()[obs_slice_start:obs_slice_end]) + + save_states = np.array(list(fifo), dtype=data_type) + # CRITICAL: save DDF again AFTER bias FIFO, so restore_ddf() goes + # to the post-bias state (consistent with saved FIFO). + # Without this, reset() restores to a bare stabilized state with + # no bias history, invalidating the FIFO. + flow_field.get_ddf() + flow_field.save_ddf() + flow_field.apply_ddf() + + return { + "force_norm_fact": force_norm_fact, + "sens_deviation": sens_deviation.tolist(), + "sens_norm_fact": sens_norm_fact.tolist(), + "action_bias": list(action_bias), + "save_states": save_states, + } + + +def build_observation( + obs_slice: np.ndarray, + norm: dict, +) -> np.ndarray: + """Assemble normalised DRL observation (12-dim) from a single obs slice. + + ``obs_slice`` is 12-element: sensor[0:6] + force[6:12]. + + Returns clipped 12-dim array in [-1, 1]. + """ + forces = obs_slice[6:12] / norm["force_norm_fact"] + sens = (obs_slice[0:6] - norm["sens_deviation"]) / norm["sens_norm_fact"] + obs = np.clip(np.hstack([forces, sens]), -1.0, 1.0).astype(np.float32) + return obs + + +def action_to_physical( + action_norm: np.ndarray, + *, + scale: float = 8.0, + bias: Tuple[float, float, float] = (0.0, -4.0, 4.0), + u0: float = 0.01, +) -> np.ndarray: + """Convert normalized action [-1,1] to physical omega (lattice units). + + physical_omega[i] = (action_norm[i] * scale + bias[i]) * u0 + """ + action_norm = np.asarray(action_norm, dtype=np.float64).reshape(-1, 3) + bias_arr = np.array(bias, dtype=np.float64) + return (action_norm * scale + bias_arr) * u0 + + +def scale_action( + action_norm: np.ndarray, + *, + scale: float = 8.0, + bias: Tuple[float, float, float] = (0.0, -4.0, 4.0), + u0: float = 0.01, + n_total_bodies: int = 7, +) -> np.ndarray: + """Convert normalised action ([-1,1]^3) to legacy CFD action array. + + Returns array of length *n_total_bodies* with cylinders' omegas at the + last 3 slots. + """ + a = np.zeros(n_total_bodies, dtype=np.float32) + omega = (np.array(action_norm, dtype=np.float32) * scale + np.array(bias, dtype=np.float32)) * u0 + a[n_total_bodies - 3:] = omega + return a + + +# --------------------------------------------------------------------------- +# Vorticity & field export +# --------------------------------------------------------------------------- + +def vorticity_from_ddf(flow_field: FlowField, u0: float) -> np.ndarray: + """Compute z-vorticity from current DDF on host.""" + flow_field.get_ddf() + ddf = flow_field.ddf.copy().reshape((9, flow_field.FIELD_SHAPE[1], + flow_field.FIELD_SHAPE[0])).transpose(2, 1, 0) + ux = (ddf[:, :, 1] + ddf[:, :, 5] + ddf[:, :, 8] + - ddf[:, :, 3] - ddf[:, :, 6] - ddf[:, :, 7]) / u0 + uy = (ddf[:, :, 2] + ddf[:, :, 5] + ddf[:, :, 6] + - ddf[:, :, 4] - ddf[:, :, 7] - ddf[:, :, 8]) / u0 + omega = np.gradient(uy, axis=0) - np.gradient(ux, axis=1) + return omega.astype(np.float64) + + +def save_vorticity_png(path: str, omega: np.ndarray, title: str = ""): + """Save vorticity field as a PNG with symmetric colour bar.""" + import matplotlib + matplotlib.use("Agg") + import matplotlib.pyplot as plt + + abs_o = np.abs(omega[np.isfinite(omega)]) + vmax = float(np.percentile(abs_o, 99.5)) if abs_o.size > 0 else 1.0 + if vmax <= 0: + vmax = 1.0 + + ny, nx = omega.shape + fig, ax = plt.subplots(figsize=(min(18, max(8, nx / 60)), min(10, max(3, ny / 40)))) + im = ax.imshow(omega, origin="lower", aspect="equal", cmap="RdBu_r", + vmin=-vmax, vmax=vmax, extent=(0, nx - 1, 0, ny - 1)) + ax.set_xlabel("x (lattice)") + ax.set_ylabel("y (lattice)") + if title: + ax.set_title(title) + fig.colorbar(im, ax=ax, fraction=0.046, pad=0.04, label=r"$\omega_z$") + fig.tight_layout() + fig.savefig(path, dpi=150, bbox_inches="tight") + plt.close(fig) + + +# --------------------------------------------------------------------------- +# DTW similarity +# --------------------------------------------------------------------------- + +def calc_lag(target: np.ndarray, state: np.ndarray) -> int: + """Find lag that maximises cross-correlation between two 1-D signals.""" + t = target - np.mean(target) + s = state - np.mean(state) + corr = np.correlate(t, s, mode="full") + lags = np.arange(-len(target) + 1, len(target)) + return int(lags[np.argmax(corr)]) + + +def calc_dtw_sim(target: np.ndarray, state: np.ndarray) -> float: + """DTW-based similarity: 1 - (DTW distance / len(target)).""" + n, m = len(target), len(state) + dtw = np.full((n + 1, m + 1), np.inf) + dtw[0, 0] = 0.0 + for i in range(1, n + 1): + for j in range(1, m + 1): + cost = abs(float(target[i - 1]) - float(state[j - 1])) + dtw[i, j] = cost + min(dtw[i - 1, j], dtw[i, j - 1], dtw[i - 1, j - 1]) + return float(1.0 - dtw[n, m] / n) + + +def compute_similarity( + target_states: np.ndarray, + state_series: np.ndarray, + conv_len: int, +) -> float: + """Compute lag-compensated DTW similarity over *conv_len* window.""" + ref = target_states[conv_len:2 * conv_len, 1] + cur = state_series[-conv_len:, 1] + lag = calc_lag(ref, cur) + + sim_sum = 0.0 + for i in range(6): + target_seq = np.roll(target_states[:, i], -lag)[conv_len:2 * conv_len] + state_seq = state_series[-conv_len:, i] + sim_sum += calc_dtw_sim(target_seq, state_seq) / 6.0 + return float(sim_sum) + + +# --------------------------------------------------------------------------- +# Dummy env for loading SB3 models +# --------------------------------------------------------------------------- + +def create_dummy_env(s_dim: int = 12, a_dim: int = 3): + """Return a gym.Env with correct observation/action spaces for model loading.""" + import gymnasium as gym + from gymnasium import spaces + + class DummyEnv(gym.Env): + def __init__(self): + super().__init__() + self.observation_space = spaces.Box(low=-1, high=1, shape=(s_dim,), dtype=np.float32) + self.action_space = spaces.Box(low=-1, high=1, shape=(a_dim,), dtype=np.float32) + + def reset(self, seed=None): + return np.zeros(s_dim, dtype=np.float32), {} + + def step(self, action): + return np.zeros(s_dim, dtype=np.float32), 0.0, False, False, {} + + def render(self): + pass + + return DummyEnv() + + +def load_ppo_model(model_path: str, device: str = "cuda:0", s_dim: int = 12, a_dim: int = 3): + """Load a PPO model with Sin activation.""" + import torch + from torch.nn import Module + from stable_baselines3 import PPO + + class Sin(Module): + def forward(self, x): + return torch.sin(x) + + dummy_env = create_dummy_env(s_dim, a_dim) + model = PPO.load(model_path, env=dummy_env, device=device) + return model diff --git a/src/SR_analysis/core/features.py b/src/SR_analysis/core/features.py new file mode 100644 index 0000000..8713f50 --- /dev/null +++ b/src/SR_analysis/core/features.py @@ -0,0 +1,386 @@ +"""Unified feature builder for all cloak scenes. + +Produces dimensionless features with consistent G-equivariant structure. +All scenes (Karman, steady, vortex, illusion) use this same builder. + +Copy of analysis_cloak/common/feature_builder.py -- kept as canonical source. +""" +from __future__ import annotations + +from typing import Dict, List, Optional, Tuple + +import numpy as np + + +# -- Physical constants ------------------------------------------------------ +U0 = 0.01 # inlet velocity (lattice units) +D_CYL = 20.0 # cylinder diameter (lattice) + + +# -- Dimensionless conversion ------------------------------------------------ + +def compute_dimensionless( + sensors: np.ndarray, # (T, 6) raw lattice [s0_ux,s0_uy, s1_ux,s1_uy, s2_ux,s2_uy] + forces: np.ndarray, # (T, 6) raw lattice [f0_fx,f0_fy, f1_fx,f1_fy, f2_fx,f2_fy] + u0: float = U0, + d: float = D_CYL, + rho: float = 1.0, +) -> Dict[str, np.ndarray]: + """Convert raw lattice CFD data to dimensionless quantities. + + Sensor order: [s0_ux,s0_uy, s1_ux,s1_uy, s2_ux,s2_uy] + where s0=top(y=+2L0), s1=mid(y=0), s2=bottom(y=-2L0) + Force order: [front_fx,front_fy, bottom_fx,bottom_fy, top_fx,top_fy] + + Returns: + u_hat_B, u_hat_C, u_hat_T: nondim streamwise velocity (bottom/centre/top) + v_hat_B, v_hat_C, v_hat_T: nondim crosswise velocity + Cd_F, Cd_T, Cd_B: drag coefficient per cylinder + Cl_F, Cl_T, Cl_B: lift coefficient per cylinder + """ + s = np.asarray(sensors, dtype=np.float64) + f = np.asarray(forces, dtype=np.float64) + + # Sensor positions: s0=top, s1=centre, s2=bottom + # Convention: B=bottom=s2, C=centre=s1, T=top=s0 + return { + "u_hat_T": s[:, 0] / u0, + "v_hat_T": s[:, 1] / u0, + "u_hat_C": s[:, 2] / u0, + "v_hat_C": s[:, 3] / u0, + "u_hat_B": s[:, 4] / u0, + "v_hat_B": s[:, 5] / u0, + "Cd_F": 2.0 * f[:, 0] / (rho * u0**2 * d), + "Cl_F": 2.0 * f[:, 1] / (rho * u0**2 * d), + "Cd_B": 2.0 * f[:, 2] / (rho * u0**2 * d), + "Cl_B": 2.0 * f[:, 3] / (rho * u0**2 * d), + "Cd_T": 2.0 * f[:, 4] / (rho * u0**2 * d), + "Cl_T": 2.0 * f[:, 5] / (rho * u0**2 * d), + } + + +# -- G operator (corrected) -------------------------------------------------- + +def apply_G_alpha(alpha: np.ndarray) -> np.ndarray: + """Apply mirror G to action: [aF, aT, aB] -> [-aF, -aB, -aT].""" + return np.array([-alpha[0], -alpha[2], -alpha[1]], dtype=alpha.dtype) + + +def apply_G_x(dim: Dict[str, np.ndarray], + a_prev: np.ndarray, + a_prev2: np.ndarray) -> Tuple[Dict, np.ndarray, np.ndarray]: + """Apply G to dimensionless state. + + Returns (G_dim, G_a_prev, G_a_prev2) with corrected sign rules. + """ + G_dim = { + "u_hat_B": dim["u_hat_T"], "u_hat_C": dim["u_hat_C"], "u_hat_T": dim["u_hat_B"], + "v_hat_B": -dim["v_hat_T"], "v_hat_C": -dim["v_hat_C"], "v_hat_T": -dim["v_hat_B"], + "Cd_F": dim["Cd_F"], "Cd_T": dim["Cd_B"], "Cd_B": dim["Cd_T"], + "Cl_F": -dim["Cl_F"], "Cl_T": -dim["Cl_B"], "Cl_B": -dim["Cl_T"], + } + G_a_prev = np.column_stack([-a_prev[:, 0], -a_prev[:, 2], -a_prev[:, 1]]) + G_a_prev2 = np.column_stack([-a_prev2[:, 0], -a_prev2[:, 2], -a_prev2[:, 1]]) + return G_dim, G_a_prev, G_a_prev2 + + +# -- Feature key definitions ------------------------------------------------- + +# Original feature set (includes sin_ua/cos_ua) +CORE_FEAT_KEYS = [ + "u_m", "u_a", "u_c", + "v_a", + "Cd_tot", "Cd_rear", + "Cl_tot", "Cl_diff", + "sin_ua", "cos_ua", + "aF_lag1", "aB_lag1", "aT_lag1", + "daF", "daB", "daT", +] + +# V2 core features: no sin_ua/cos_ua, no mu (for single-scene fitting) +CORE_FEAT_KEYS_V2 = [ + "u_m", "u_a", "u_c", + "v_a", + "Cd_tot", "Cd_rear", + "Cl_tot", "Cl_diff", + "aF_lag1", "aB_lag1", "aT_lag1", + "daF", "daB", "daT", +] + +# Time-explicit features: da/dt_c (for cross-scene coefficient comparison) +TIME_FEAT_KEYS = [ + "daF_dt", "daB_dt", "daT_dt", +] + +MU_FEAT_KEYS = ["mu", "mu_u_a", "mu_v_a", "mu_Cd_tot", "mu_Cl_diff"] + +# Illusion target force features (for scenes where we know the target Cd/Cl) +ILLUSION_TARGET_KEYS = ["target_Cd", "target_Cl"] +ILLUSION_FEAT_KEYS_V2 = CORE_FEAT_KEYS_V2 + ILLUSION_TARGET_KEYS +ILLUSION_ALL_FEAT_KEYS_V2 = ILLUSION_FEAT_KEYS_V2 + MU_FEAT_KEYS # with mu for joint + +# Physics-only feature keys: NO action history terms (no aF_lag1, no daF, etc.) +# These are the clean inputs for learning d(alpha)/dt as a function of physics state. +PHYSICS_FEAT_KEYS = [ + "u_m", "u_a", "u_c", "v_a", + "Cd_tot", "Cd_rear", "Cl_tot", "Cl_diff", +] + +# Illusion error-state: physics features + force error (not raw target forces) +ILLUSION_ERR_KEYS = PHYSICS_FEAT_KEYS + ["Cd_err", "Cl_err"] + +# Observation lag (1-step delayed) and derivative (time-normalized) features +# These add temporal/phasing information to the otherwise static physics features. +LAG_FEAT_KEYS = [ + "u_m_lag1", "u_a_lag1", "u_c_lag1", "v_a_lag1", + "Cd_tot_lag1", "Cd_rear_lag1", "Cl_tot_lag1", "Cl_diff_lag1", +] +DERIV_FEAT_KEYS = [ + "du_m_dt", "du_a_dt", "du_c_dt", "dv_a_dt", + "dCd_tot_dt", "dCd_rear_dt", "dCl_tot_dt", "dCl_diff_dt", +] +# Action lag (for ablation level 4 — comparing against old approach) +ACTION_LAG_KEYS = ["aF_lag1", "aB_lag1", "aT_lag1"] + +# Augmented levels for ablation study: +# Level 0 = x_n (PHYSICS_FEAT_KEYS, no memory at all) +# Level 1 = x_n + x_{n-1} (current + 1-step lag) +# Level 2 = x_n + dx/dt (current + derivative) +# Level 3 = x_n + x_{n-1} + dx/dt (full temporal context) +# Level 4 = Level 3 + a_{n-1} (add action history for comparison) +AUG_LEVEL_1_KEYS = PHYSICS_FEAT_KEYS + LAG_FEAT_KEYS +AUG_LEVEL_2_KEYS = PHYSICS_FEAT_KEYS + DERIV_FEAT_KEYS +AUG_LEVEL_3_KEYS = PHYSICS_FEAT_KEYS + LAG_FEAT_KEYS + DERIV_FEAT_KEYS +AUG_LEVEL_4_KEYS = AUG_LEVEL_3_KEYS + ACTION_LAG_KEYS + +# Illusion equivalents with error-state +ILLUSION_LAG_KEYS = [ + "Cd_err_lag1", "Cl_err_lag1", +] +ILLUSION_DERIV_KEYS = [ + "dCd_err_dt", "dCl_err_dt", +] +ILLUSION_AUG_LEVEL_1_KEYS = ILLUSION_ERR_KEYS + LAG_FEAT_KEYS + ILLUSION_LAG_KEYS +ILLUSION_AUG_LEVEL_2_KEYS = ILLUSION_ERR_KEYS + DERIV_FEAT_KEYS + ILLUSION_DERIV_KEYS +ILLUSION_AUG_LEVEL_3_KEYS = ILLUSION_AUG_LEVEL_1_KEYS + DERIV_FEAT_KEYS + ILLUSION_DERIV_KEYS +ILLUSION_AUG_LEVEL_4_KEYS = ILLUSION_AUG_LEVEL_3_KEYS + ACTION_LAG_KEYS + +# Phase-state features: low-dimensional dynamic state z = [phase_obs, phase_deriv, static_force] +# This replaces the full x_n + x_{n-1} with a compact representation. +# The idea: u_a + du_a/dt encodes oscillation phase, Cl_tot + dCl_tot/dt encodes lift dynamics, +# and Cd_tot/Cd_rear provide static force feedback. +PHASE_STATE_KEYS = [ + "u_a", "du_a_dt", # oscillation phase (cross-stream asymmetry + rate) + "Cl_tot", "dCl_tot_dt", # lift dynamics + "Cd_tot", "Cd_rear", # static drag feedback +] + +# Karman expanded: phase-state + supplementary static quantities +# For Karman, 6-dim phase-state may not capture enough information. +# Adding u_m (mean streamwise), u_c (center sensor), v_a (cross asymmetry), Cl_diff (lift distribution) +KARMAN_EXPANDED_KEYS = PHASE_STATE_KEYS + [ + "u_m", "u_c", "v_a", "Cl_diff", +] + +# Illusion phase-state: error-based + dynamics +ILLUSION_PHASE_KEYS = PHASE_STATE_KEYS + [ + "Cd_err", "Cl_err", "dCd_err_dt", "dCl_err_dt", +] + +ALL_FEAT_KEYS = CORE_FEAT_KEYS + MU_FEAT_KEYS +# V2 all features (for cross-Re joint fitting with mu) +ALL_FEAT_KEYS_V2 = CORE_FEAT_KEYS_V2 + MU_FEAT_KEYS + + +# -- Feature computation ----------------------------------------------------- + +def compute_features( + dim: Dict[str, np.ndarray], + actions_prev: np.ndarray, # (T, 3) physical omega(t-1) or nondim alpha(t-1) + actions_prev2: np.ndarray, # (T, 3) physical omega(t-2) + mu: float, + alpha_mode: bool = False, # if True, actions_prev are already nondim alpha + include_mu: bool = True, + include_cos_sin: bool = True, # if True, include sin_ua/cos_ua features + dt_c: float = 1.0, # control interval in T0 units (for time normalization) + u0: float = U0, # inlet velocity for omega->alpha conversion + target_forces: Optional[np.ndarray] = None, # (T, 2) raw lattice target forces [fx,fy] + rho: float = 1.0, # fluid density for Cd/Cl conversion + sensors_raw: Optional[np.ndarray] = None, # (T, 6) raw lattice sensors, for obs dynamics + forces_raw: Optional[np.ndarray] = None, # (T, 6) raw lattice forces, for obs dynamics +) -> Dict[str, np.ndarray]: + """Compute unified feature dictionary from dimensionless primitives. + + Args: + dim: from compute_dimensionless() + actions_prev: lagged actions (physical omega or nondim alpha) + actions_prev2: twice-lagged actions + mu: 1/Re_D + alpha_mode: if True, actions are already nondim; else convert + include_mu: include mu modulation terms + include_cos_sin: include sin_ua/cos_ua phase encoding + dt_c: control interval (in T0 = D/U0 units), for time-normalized deltas + u0: inlet velocity (lattice), used only when alpha_mode=False + + Returns dict with all features as (T,) or (T,3) arrays. + """ + T = actions_prev.shape[0] + u_B, u_C, u_T = dim["u_hat_B"], dim["u_hat_C"], dim["u_hat_T"] + v_B, v_C, v_T = dim["v_hat_B"], dim["v_hat_C"], dim["v_hat_T"] + Cd_F, Cd_T, Cd_B = dim["Cd_F"], dim["Cd_T"], dim["Cd_B"] + Cl_F, Cl_T, Cl_B = dim["Cl_F"], dim["Cl_T"], dim["Cl_B"] + + # If actions are in physical omega, convert to nondim alpha + if alpha_mode: + a = actions_prev.astype(np.float64) + a2 = actions_prev2.astype(np.float64) + else: + a = actions_prev.astype(np.float64) / u0 + a2 = actions_prev2.astype(np.float64) / u0 + + sym = {} + + # Sensor combinations (nondim) + sym["u_m"] = (u_B + u_C + u_T) / 3.0 + sym["u_a"] = (u_T - u_B) / 2.0 + sym["u_c"] = u_C.copy() + sym["v_a"] = (v_T - v_B) / 2.0 + + # Force combinations (dimensionless Cd/Cl) + sym["Cd_tot"] = Cd_F + Cd_T + Cd_B + sym["Cd_rear"] = Cd_T + Cd_B + sym["Cl_tot"] = Cl_F + Cl_T + Cl_B + sym["Cl_diff"] = Cl_T - Cl_B + + # Phase (optional, may obscure linear structure) + if include_cos_sin: + sym["sin_ua"] = np.sin(np.pi * sym["u_a"]) + sym["cos_ua"] = np.cos(np.pi * sym["u_a"]) + + # Memory (nondim alpha) -- discrete version + sym["aF_lag1"] = a[:, 0] + sym["aB_lag1"] = a[:, 1] + sym["aT_lag1"] = a[:, 2] + sym["daF"] = a[:, 0] - a2[:, 0] + sym["daB"] = a[:, 1] - a2[:, 1] + sym["daT"] = a[:, 2] - a2[:, 2] + + # Time-normalized deltas (for cross-scene coefficient comparison) + sym["daF_dt"] = sym["daF"] / dt_c + sym["daB_dt"] = sym["daB"] / dt_c + sym["daT_dt"] = sym["daT"] / dt_c + + # Target forces (for illusion scenes) — convert lattice forces to Cd/Cl + if target_forces is not None: + tf = np.asarray(target_forces, dtype=np.float64) + if tf.ndim == 1: + tf = tf.reshape(1, -1) + sym["target_Cd"] = 2.0 * tf[:, 0] / (rho * u0**2 * D_CYL) + sym["target_Cl"] = 2.0 * tf[:, 1] / (rho * u0**2 * D_CYL) + # Error-state: deviation between actual and target force + sym["Cd_err"] = sym["Cd_tot"] - sym["target_Cd"] + sym["Cl_err"] = sym["Cl_tot"] - sym["target_Cl"] + + # Mu modulation + if include_mu: + sym["mu"] = np.full(T, mu, dtype=np.float64) + sym["mu_u_a"] = sym["u_a"] * mu + sym["mu_v_a"] = sym["v_a"] * mu + sym["mu_Cd_tot"] = sym["Cd_tot"] * mu + sym["mu_Cl_diff"] = sym["Cl_diff"] * mu + sym["mu_Cl_tot"] = sym["Cl_tot"] * mu # additional for phase-state + + # Observation dynamics: 1-step lag + time-normalized derivative + # These add temporal/phase info that static features lack. + if sensors_raw is not None and forces_raw is not None: + sr = np.asarray(sensors_raw, dtype=np.float64) + fr = np.asarray(forces_raw, dtype=np.float64) + # Lag-1 observations (shift by 1, pad first with current) + s_lag1 = np.zeros_like(sr) + f_lag1 = np.zeros_like(fr) + s_lag1[1:] = sr[:-1] + f_lag1[1:] = fr[:-1] + # Compute dim for lag-1 + dim_lag1 = compute_dimensionless(s_lag1, f_lag1, u0=u0, d=D_CYL, rho=rho) + + # Compute combined features for lag-1 + uB_1, uC_1, uT_1 = dim_lag1["u_hat_B"], dim_lag1["u_hat_C"], dim_lag1["u_hat_T"] + vB_1, vC_1, vT_1 = dim_lag1["v_hat_B"], dim_lag1["v_hat_C"], dim_lag1["v_hat_T"] + CdF_1, CdT_1, CdB_1 = dim_lag1["Cd_F"], dim_lag1["Cd_T"], dim_lag1["Cd_B"] + ClF_1, ClT_1, ClB_1 = dim_lag1["Cl_F"], dim_lag1["Cl_T"], dim_lag1["Cl_B"] + + u_m_1 = (uB_1 + uC_1 + uT_1) / 3.0 + u_a_1 = (uT_1 - uB_1) / 2.0 + u_c_1 = uC_1.copy() + v_a_1 = (vT_1 - vB_1) / 2.0 + Cd_tot_1 = CdF_1 + CdT_1 + CdB_1 + Cd_rear_1 = CdT_1 + CdB_1 + Cl_tot_1 = ClF_1 + ClT_1 + ClB_1 + Cl_diff_1 = ClT_1 - ClB_1 + + # Trim to T (in case raw arrays are longer — e.g. validator passes 2 rows) + def _trim(x): + return x[-T:] if x.shape[0] > T else x + + # Store lag-1 features (trimmed to T) + sym["u_m_lag1"] = _trim(u_m_1) + sym["u_a_lag1"] = _trim(u_a_1) + sym["u_c_lag1"] = _trim(u_c_1) + sym["v_a_lag1"] = _trim(v_a_1) + sym["Cd_tot_lag1"] = _trim(Cd_tot_1) + sym["Cd_rear_lag1"] = _trim(Cd_rear_1) + sym["Cl_tot_lag1"] = _trim(Cl_tot_1) + sym["Cl_diff_lag1"] = _trim(Cl_diff_1) + + # Time-normalized derivatives: (current - lag1) / dt_c + eps = 1e-12 + sym["du_m_dt"] = _trim((sym["u_m"] - u_m_1) / (dt_c + eps)) + sym["du_a_dt"] = _trim((sym["u_a"] - u_a_1) / (dt_c + eps)) + sym["du_c_dt"] = _trim((sym["u_c"] - u_c_1) / (dt_c + eps)) + sym["dv_a_dt"] = _trim((sym["v_a"] - v_a_1) / (dt_c + eps)) + sym["dCd_tot_dt"] = _trim((sym["Cd_tot"] - Cd_tot_1) / (dt_c + eps)) + sym["dCd_rear_dt"] = _trim((sym["Cd_rear"] - Cd_rear_1) / (dt_c + eps)) + sym["dCl_tot_dt"] = _trim((sym["Cl_tot"] - Cl_tot_1) / (dt_c + eps)) + sym["dCl_diff_dt"] = _trim((sym["Cl_diff"] - Cl_diff_1) / (dt_c + eps)) + + # Illusion error-state dynamics + if target_forces is not None: + tf = np.asarray(target_forces, dtype=np.float64) + tf_lag1 = np.zeros_like(tf) + tf_lag1[1:] = tf[:-1] + tCd_1 = 2.0 * tf_lag1[:, 0] / (rho * u0**2 * D_CYL) + tCl_1 = 2.0 * tf_lag1[:, 1] / (rho * u0**2 * D_CYL) + sym["Cd_err_lag1"] = _trim(Cd_tot_1 - tCd_1) + sym["Cl_err_lag1"] = _trim(Cl_tot_1 - tCl_1) + sym["dCd_err_dt"] = _trim((sym["Cd_err"] - sym["Cd_err_lag1"]) / (dt_c + eps)) + sym["dCl_err_dt"] = _trim((sym["Cl_err"] - sym["Cl_err_lag1"]) / (dt_c + eps)) + + return sym + + +def build_feature_matrix( + sym: Dict[str, np.ndarray], + feat_keys: List[str], + add_bias: bool = True, +) -> np.ndarray: + """Build feature matrix (T, N) from symbol dict.""" + cols = [] + if add_bias: + cols.append(np.ones(sym[feat_keys[0]].shape[0], dtype=np.float64)) + for k in feat_keys: + if k in sym: + cols.append(np.asarray(sym[k], dtype=np.float64)) + else: + # Missing key -> zero + T = sym.get("u_m", np.ones(1)).shape[0] + cols.append(np.zeros(T, dtype=np.float64)) + return np.column_stack(cols) + + +def get_feature_names(feat_keys: List[str], add_bias: bool = True) -> List[str]: + """Get feature names matching build_feature_matrix output.""" + names = [] + if add_bias: + names.append("bias") + names.extend(feat_keys) + return names diff --git a/src/SR_analysis/core/fitting.py b/src/SR_analysis/core/fitting.py new file mode 100644 index 0000000..db5cc50 --- /dev/null +++ b/src/SR_analysis/core/fitting.py @@ -0,0 +1,503 @@ +"""SINDy fitting utilities: STLSQ threshold grid, feature matrix building. + +All features are built using the unified feature_builder module. +""" +from __future__ import annotations + +from typing import Dict, List, Optional, Tuple + +import numpy as np + +from .feature_builder import ( + compute_dimensionless, compute_features, build_feature_matrix, + get_feature_names, ALL_FEAT_KEYS, U0, +) + +# Default thresholds used across all scenes +DEFAULT_THRESHOLDS = [0.0, 0.001, 0.002, 0.005, 0.01, 0.015, 0.02, 0.03, 0.05, 0.1] + + +def fit_channel( + Theta: np.ndarray, + y: np.ndarray, + thresholds: Optional[List[float]] = None, + alpha: float = 1e-4, + max_iter: int = 25, +) -> Tuple[List[dict], dict]: + """Fit a single channel (one cylinder) with STLSQ threshold grid. + + Returns + ------- + rows : list of dict per threshold + best : dict with best threshold entry (highest R2) + """ + import pysindy as ps + + if thresholds is None: + thresholds = DEFAULT_THRESHOLDS + + # Normalise features for thresholding stability + std = np.std(Theta, axis=0) + std = np.where(std < 1e-8, 1.0, std) + Theta_s = Theta / std + + best = None + rows = [] + for th in thresholds: + opt = ps.STLSQ(threshold=th, alpha=alpha, max_iter=max_iter) + opt.fit(Theta_s, y) + coef = np.asarray(opt.coef_, dtype=np.float64).flatten() / std + y_pred = Theta @ coef + ssr = float(np.sum((y - y_pred) ** 2)) + sst = float(np.sum((y - np.mean(y)) ** 2) + 1e-12) + r2 = 1.0 - ssr / sst + mae = float(np.mean(np.abs(y - y_pred))) + nz = int(np.sum(np.abs(coef) > 1e-8)) + entry = {"threshold": float(th), "nz": nz, "r2": r2, "mae": mae, "coef": coef} + rows.append(entry) + if best is None or r2 > best["r2"]: + best = entry + return rows, best + + +def fit_sindy( + Theta: np.ndarray, + y: np.ndarray, + thresholds: Optional[List[float]] = None, +) -> List[dict]: + """Run SINDy with threshold grid, return results list. + + Each result dict has keys: threshold, nz, r2, mae, coef. + """ + if thresholds is None: + thresholds = DEFAULT_THRESHOLDS + + std = np.std(Theta, axis=0) + std = np.where(std < 1e-8, 1.0, std) + Theta_s = Theta / std + + results = [] + for th in thresholds: + import pysindy as ps + opt = ps.STLSQ(threshold=th, alpha=1e-4, max_iter=25) + opt.fit(Theta_s, y) + coef = np.asarray(opt.coef_, dtype=np.float64).flatten() / std + + y_pred = Theta @ coef + ssr = float(np.sum((y - y_pred) ** 2)) + sst = float(np.sum((y - np.mean(y)) ** 2) + 1e-12) + r2 = 1.0 - ssr / sst + mae = float(np.mean(np.abs(y - y_pred))) + nz = int(np.sum(np.abs(coef) > 1e-8)) + + results.append({ + "threshold": float(th), "nz": nz, "r2": r2, + "mae": mae, "coef": [float(c) for c in coef], + }) + + return results + + +def print_control_law(feature_names: List[str], coef: np.ndarray, channel_label: str = "ch"): + """Pretty-print a sparse control law.""" + terms = [] + for i, c in enumerate(coef): + if abs(c) > 1e-8: + terms.append(f"{c:.6f} * {feature_names[i]}") + print(f" {channel_label}: {' + '.join(terms)}") + nz = sum(1 for c in coef if abs(c) > 1e-8) + print(f" non-zero terms: {nz}") + + +def get_active_support( + coef: np.ndarray, + feat_names: List[str], + relative_threshold: float = 0.02, +) -> Dict[str, float]: + """Extract active features from coefficient vector. + + Features with |coef| / max(|coef|) >= relative_threshold are considered active. + """ + max_c = np.max(np.abs(coef)) + if max_c < 1e-12: + return {} + active = {} + for name, c in zip(feat_names, coef): + if abs(c) / max_c >= relative_threshold: + active[name] = float(c) + return active + + +def get_feature_matrix_from_data( + sensors: np.ndarray, # (T, 6) + forces: np.ndarray, # (T, 6) + actions_phys: np.ndarray, # (T, 3) physical omega + mu: float, + u0: float = U0, + alpha_mode: bool = False, + include_mu: bool = True, + n_warmup: int = 2, +) -> Tuple[np.ndarray, np.ndarray, np.ndarray, List[str], List[str]]: + """Build feature matrices from raw CFD data. + + Constructs dimensionless features via feature_builder, creates front (no bias) + and rear (with bias) feature matrices, and returns them aligned with Y. + + Parameters + ---------- + sensors, forces, actions_phys : raw data arrays. + mu : 1/Re_D. + u0 : inlet velocity (lattice units). + alpha_mode : if True, actions_phys are already nondim alpha. + include_mu : include mu modulation features. + n_warmup : number of warmup steps to discard (default 2 for lag/da). + + Returns + ------- + Theta_front : (T-warmup, N_front) feature matrix, NO bias column + Theta_rear : (T-warmup, N_rear) feature matrix, WITH bias column + Y : (T-warmup, 3) target action matrix + feat_names_front : list of feature names for front + feat_names_rear : list of feature names for rear + """ + T = sensors.shape[0] + a_prev = np.zeros((T, 3), dtype=np.float64) + a_prev2 = np.zeros((T, 3), dtype=np.float64) + a_prev[1:] = actions_phys[:-1] + a_prev2[2:] = actions_phys[:-2] + + dim = compute_dimensionless(sensors, forces, u0=u0, d=20.0) + sym = compute_features(dim, a_prev, a_prev2, mu, + alpha_mode=alpha_mode, include_mu=include_mu, u0=u0) + + Theta_f = build_feature_matrix(sym, ALL_FEAT_KEYS, add_bias=False) + Theta_r = build_feature_matrix(sym, ALL_FEAT_KEYS, add_bias=True) + + feat_names_front = get_feature_names(ALL_FEAT_KEYS, add_bias=False) + feat_names_rear = get_feature_names(ALL_FEAT_KEYS, add_bias=True) + + return (Theta_f[n_warmup:], Theta_r[n_warmup:], + actions_phys[n_warmup:], + feat_names_front, feat_names_rear) + + +# --------------------------------------------------------------------------- +# Weighted STLSQ with Huber-like robust regression +# --------------------------------------------------------------------------- + +def _huber_weights(residuals: np.ndarray, c: float = 1.345) -> np.ndarray: + """Compute Huber-like weights from residuals. + + Args: + residuals: (T,) residual array. + c: tuning constant (default 1.345 gives 95% efficiency for Normal errors). + + Returns: + weights: (T,) weight array in [0, 1]. + """ + s = np.median(np.abs(residuals)) * 1.4826 # robust scale estimate (MAD) + if s < 1e-12: + s = 1.0 + r = np.abs(residuals) / s + w = np.where(r <= c, 1.0, c / r) + return np.asarray(w, dtype=np.float64) + + +def fit_sindy_weighted( + Theta: np.ndarray, + y: np.ndarray, + thresholds: Optional[List[float]] = None, + alpha: float = 1e-4, + max_iter: int = 25, + sample_weights: Optional[np.ndarray] = None, + n_robust_passes: int = 2, +) -> List[dict]: + """Run SINDy with threshold grid and optional robust weighting. + + Two-stage robust fitting: + 1. First pass: OLS, compute residuals, compute Huber weights + 2. Second pass: weighted STLSQ with Huber weights + + Args: + Theta: (T, N) feature matrix. + y: (T,) target. + thresholds: list of threshold values. + alpha: ridge regularization. + max_iter: max STLSQ iterations. + sample_weights: optional (T,) pre-defined sample weights. + n_robust_passes: number of robust re-weighting passes (1 = skip). + + Returns: + results: list of dict per threshold with keys: + threshold, nz, r2, mae, coef, weights_used + """ + import pysindy as ps + + if thresholds is None: + thresholds = DEFAULT_THRESHOLDS + + # Normalise features for thresholding stability + std = np.std(Theta, axis=0) + std = np.where(std < 1e-8, 1.0, std) + Theta_s = Theta / std + + # Initialize weights + if sample_weights is not None: + w = np.asarray(sample_weights, dtype=np.float64).flatten() + w = w / np.mean(w) # normalize to mean=1 + else: + w = np.ones(Theta.shape[0], dtype=np.float64) + + # Robust re-weighting passes + for _ in range(n_robust_passes - 1): + # OLS on weighted data + Theta_w = Theta_s * np.sqrt(w)[:, None] + y_w = y * np.sqrt(w) + coef_ols, _, _, _ = np.linalg.lstsq(Theta_w, y_w, rcond=None) + coef_ols = coef_ols.flatten() / std + + resid = y - Theta @ coef_ols + w_new = _huber_weights(resid) + if sample_weights is not None: + w = w * w_new + else: + w = w_new + w = w / np.mean(w) + + results = [] + for th in thresholds: + if np.max(w) > 1e-8: + # Weighted STLSQ: apply weights via sample_weight + opt = ps.STLSQ(threshold=th, alpha=alpha, max_iter=max_iter) + opt.fit(Theta_s, y, sample_weight=w) + coef = np.asarray(opt.coef_, dtype=np.float64).flatten() / std + else: + coef = np.zeros(Theta.shape[1], dtype=np.float64) + + y_pred = Theta @ coef + # Weighted R2 + ssr = float(np.sum(w * (y - y_pred) ** 2)) + sst = float(np.sum(w * (y - np.average(y, weights=w)) ** 2) + 1e-12) + r2 = 1.0 - ssr / sst + mae = float(np.mean(np.abs(y - y_pred))) + nz = int(np.sum(np.abs(coef) > 1e-8)) + + results.append({ + "threshold": float(th), + "nz": nz, + "r2": r2, + "mae": mae, + "coef": [float(c) for c in coef], + "weights_min": float(np.min(w)), + "weights_max": float(np.max(w)), + }) + + return results + + +# --------------------------------------------------------------------------- +# V2 feature matrix builder (configurable feature sets, time normalization) +# --------------------------------------------------------------------------- + +def get_feature_matrix_v2( + sensors: np.ndarray, # (T, 6) + forces: np.ndarray, # (T, 6) + actions_phys: np.ndarray, # (T, 3) physical omega + mu: float, + u0: float = U0, + alpha_mode: bool = False, + include_mu: bool = False, # default False for single-scene + include_cos_sin: bool = False, # default False (avoid masking linear structure) + use_time_norm: bool = False, # if True, use time-normalized deltas (da/dt_c) + feat_keys: Optional[List[str]] = None, # custom feat keys (default CORE_FEAT_KEYS_V2) + dt_c: float = 1.0, # control interval in T0 units + n_warmup: int = 2, + target_forces: Optional[np.ndarray] = None, # (T, 2) raw lattice target forces +) -> Tuple[np.ndarray, np.ndarray, np.ndarray, List[str], List[str]]: + """Build feature matrices with configurable feature sets. + + Uses CORE_FEAT_KEYS_V2 by default (no sin_ua/cos_ua, no mu). + For Illusion scenes with target forces, provide target_forces and + feat_keys=ILLUSION_FEAT_KEYS_V2 (or pass None to auto-detect). + For cross-Re joint fitting, set include_mu=True. + For time-normalized deltas, set use_time_norm=True and provide dt_c. + + Returns + ------- + Theta_front : (T-warmup, N_front) NO bias column + Theta_rear : (T-warmup, N_rear) WITH bias column + Y : (T-warmup, 3) target actions (physical omega) + feat_names_front, feat_names_rear + """ + from .feature_builder import ( + CORE_FEAT_KEYS_V2, TIME_FEAT_KEYS, MU_FEAT_KEYS, ALL_FEAT_KEYS_V2, + ILLUSION_FEAT_KEYS_V2, ILLUSION_ALL_FEAT_KEYS_V2, + ) + + if feat_keys is None: + if target_forces is not None: + # Illusion scenes: include target force features + feat_keys = ILLUSION_FEAT_KEYS_V2 + elif use_time_norm: + # Replace discrete da with time-normalized da/dt + feat_keys = [k for k in CORE_FEAT_KEYS_V2 if not k.startswith("da")] + feat_keys += TIME_FEAT_KEYS + else: + feat_keys = CORE_FEAT_KEYS_V2 + + if include_mu: + # Add mu features if not already in feat_keys + for mk in MU_FEAT_KEYS: + if mk not in feat_keys: + feat_keys = feat_keys + [mk] + + T = sensors.shape[0] + a_prev = np.zeros((T, 3), dtype=np.float64) + a_prev2 = np.zeros((T, 3), dtype=np.float64) + a_prev[1:] = actions_phys[:-1] + a_prev2[2:] = actions_phys[:-2] + + dim = compute_dimensionless(sensors, forces, u0=u0, d=20.0) + sym = compute_features( + dim, a_prev, a_prev2, mu, + alpha_mode=alpha_mode, + include_mu=include_mu, + include_cos_sin=include_cos_sin, + dt_c=dt_c, + u0=u0, + target_forces=target_forces, + ) + + Theta_f = build_feature_matrix(sym, feat_keys, add_bias=False) + Theta_r = build_feature_matrix(sym, feat_keys, add_bias=True) + + feat_names_front = get_feature_names(feat_keys, add_bias=False) + feat_names_rear = get_feature_names(feat_keys, add_bias=True) + + return (Theta_f[n_warmup:], Theta_r[n_warmup:], + actions_phys[n_warmup:], + feat_names_front, feat_names_rear) + + +# --------------------------------------------------------------------------- +# Derivative-mode feature builders: fit d(alpha)/dt = g(physics_state) +# No action history in input features; Y is time-normalized action derivative. +# --------------------------------------------------------------------------- + +def compute_action_deriv( + actions_phys: np.ndarray, # (T, 3) physical omega + dt_c: float, # control interval in T0 units + u0: float = U0, + center_diff: bool = False, # if True, use (alpha(t) - alpha(t-2))/(2*dt_c) +) -> np.ndarray: + """Compute time-normalized action derivative d(alpha)/dt. + + forward_diff: d(alpha)/dt ~ (alpha(t) - alpha(t-1)) / dt_c + center_diff: d(alpha)/dt ~ (alpha(t) - alpha(t-2)) / (2*dt_c) + + Returns (T, 3) array, with first row(s) zero-padded. + """ + alpha = np.asarray(actions_phys, dtype=np.float64) / u0 # non-dim + T = alpha.shape[0] + deriv = np.zeros_like(alpha) + if center_diff and T >= 3: + deriv[2:] = (alpha[2:] - alpha[:-2]) / (2.0 * dt_c) + elif T >= 2: + deriv[1:] = (alpha[1:] - alpha[:-1]) / dt_c + return deriv + + +def get_feature_matrix_deriv( + sensors: np.ndarray, # (T, 6) + forces: np.ndarray, # (T, 6) + actions_phys: np.ndarray, # (T, 3) physical omega + mu: float, + u0: float = U0, + dt_c: float = 1.0, # control interval in T0 units + feat_keys: Optional[List[str]] = None, # default PHYSICS_FEAT_KEYS + include_mu: bool = False, # add mu modulation features (for cross-Re joint) + target_forces: Optional[np.ndarray] = None, # (T, 2) for Illusion + n_warmup: int = 2, + center_diff: bool = False, + augment_level: int = 0, # 0=static, 1=+lags, 2=+derivs, 3=both, 4=+action_lag + output_mode: str = "deriv", # "deriv": predict d(alpha)/dt; "absolute": predict alpha directly +) -> Tuple[np.ndarray, np.ndarray, np.ndarray, List[str], List[str]]: + """Build feature matrices for phase-state SINDy. + + Input features: physics state with optional temporal context. + + Parameters + ---------- + output_mode : str + "deriv": Y = d(alpha)/dt (time-normalized). Closed-loop needs integration. + "absolute": Y = alpha (non-dimensional action). No integration needed. + + augment_level : int + 0: PHYSICS_FEAT_KEYS only (static, no memory) + 1: + lag-1 obs features (adds temporal context) + 2: + obs derivative features (adds rate information) + 3: + lag-1 + derivative (full temporal context) + 4: + action lag (aF_lag1 etc., for ablation comparison against old approach) + """ + from .feature_builder import ( + PHYSICS_FEAT_KEYS, ILLUSION_ERR_KEYS, MU_FEAT_KEYS, + AUG_LEVEL_1_KEYS, AUG_LEVEL_2_KEYS, + AUG_LEVEL_3_KEYS, AUG_LEVEL_4_KEYS, + ILLUSION_AUG_LEVEL_1_KEYS, ILLUSION_AUG_LEVEL_2_KEYS, + ILLUSION_AUG_LEVEL_3_KEYS, ILLUSION_AUG_LEVEL_4_KEYS, + ) + + # Select feature key set based on augment_level + _AUG_MAP = {0: PHYSICS_FEAT_KEYS, 1: AUG_LEVEL_1_KEYS, + 2: AUG_LEVEL_2_KEYS, 3: AUG_LEVEL_3_KEYS, 4: AUG_LEVEL_4_KEYS} + _AUG_ILLUSION_MAP = {0: ILLUSION_ERR_KEYS, 1: ILLUSION_AUG_LEVEL_1_KEYS, + 2: ILLUSION_AUG_LEVEL_2_KEYS, 3: ILLUSION_AUG_LEVEL_3_KEYS, + 4: ILLUSION_AUG_LEVEL_4_KEYS} + + if feat_keys is None: + if target_forces is not None: + feat_keys = _AUG_ILLUSION_MAP.get(augment_level, ILLUSION_AUG_LEVEL_3_KEYS) + else: + feat_keys = _AUG_MAP.get(augment_level, AUG_LEVEL_3_KEYS) + + if include_mu: + for mk in MU_FEAT_KEYS: + if mk not in feat_keys: + feat_keys = feat_keys + [mk] + + if include_mu: + for mk in MU_FEAT_KEYS: + if mk not in feat_keys: + feat_keys = feat_keys + [mk] + + T = sensors.shape[0] + # a_prev/a_prev2 only used for computing the DERIVATIVE target Y, not in Theta + a_prev = np.zeros((T, 3), dtype=np.float64) + a_prev2 = np.zeros((T, 3), dtype=np.float64) + a_prev[1:] = actions_phys[:-1] + a_prev2[2:] = actions_phys[:-2] + + dim = compute_dimensionless(sensors, forces, u0=u0, d=20.0) + sym = compute_features( + dim, a_prev, a_prev2, mu, + alpha_mode=False, include_mu=include_mu, + include_cos_sin=False, dt_c=dt_c, u0=u0, + target_forces=target_forces, + sensors_raw=sensors, forces_raw=forces, + ) + + Theta_f = build_feature_matrix(sym, feat_keys, add_bias=False) + Theta_r = build_feature_matrix(sym, feat_keys, add_bias=True) + + feat_names_front = get_feature_names(feat_keys, add_bias=False) + feat_names_rear = get_feature_names(feat_keys, add_bias=True) + + # Y: depends on output_mode + if output_mode == "absolute": + Y = np.asarray(actions_phys, dtype=np.float64) / u0 # non-dim alpha (absolute action) + else: + Y = compute_action_deriv(actions_phys, dt_c, u0=u0, center_diff=center_diff) + + return (Theta_f[n_warmup:], Theta_r[n_warmup:], + Y[n_warmup:], + feat_names_front, feat_names_rear) diff --git a/src/SR_analysis/core/g_operator.py b/src/SR_analysis/core/g_operator.py new file mode 100644 index 0000000..0a2f956 --- /dev/null +++ b/src/SR_analysis/core/g_operator.py @@ -0,0 +1,191 @@ +"""G-operator and equivariance tools. + +Provides G-operator transformations, dimensionless conversion, +and equivariance diagnostics for PPO control laws. +""" +from __future__ import annotations + +from typing import Any, Dict, Optional, Tuple + +import numpy as np + +from .feature_builder import compute_dimensionless as _compute_dimless + + +def apply_G_alpha(alpha: np.ndarray) -> np.ndarray: + """Apply mirror G to action: [aF, aT, aB] -> [-aF, -aB, -aT].""" + return np.array([-alpha[0], -alpha[2], -alpha[1]], dtype=alpha.dtype) + + +def apply_G_raw(obs_slice: np.ndarray, + a_prev: np.ndarray, + a_prev2: np.ndarray) -> Tuple[np.ndarray, np.ndarray, np.ndarray]: + """Apply G to raw obs slice [sensor(6)+force(6)] and action arrays. + + Parameters + ---------- + obs_slice : (12,) raw obs [s0_ux,uy, s1_ux,uy, s2_ux,uy, f0_fx,fy, f1_fx,fy, f2_fx,fy] + a_prev : (3,) physical omega at t-1 + a_prev2 : (3,) physical omega at t-2 + + Returns + ------- + G_obs : (12,) transformed obs slice + G_a_prev : (3,) transformed a_prev + G_a_prev2 : (3,) transformed a_prev2 + """ + G_obs = np.zeros(12, dtype=np.float64) + # sensors: swap top(0,1) <-> bottom(4,5), negate v + G_obs[0] = obs_slice[4] + G_obs[1] = -obs_slice[5] + G_obs[2] = obs_slice[2] + G_obs[3] = -obs_slice[3] + G_obs[4] = obs_slice[0] + G_obs[5] = -obs_slice[1] + # forces: swap bottom(2,3) <-> top(4,5), negate fy + G_obs[6] = obs_slice[6] + G_obs[7] = -obs_slice[7] + G_obs[8] = obs_slice[10] + G_obs[9] = -obs_slice[11] + G_obs[10] = obs_slice[8] + G_obs[11] = -obs_slice[9] + + G_a_prev = np.array([-a_prev[0], -a_prev[2], -a_prev[1]], dtype=np.float64) + G_a_prev2 = np.array([-a_prev2[0], -a_prev2[2], -a_prev2[1]], dtype=np.float64) + return G_obs, G_a_prev, G_a_prev2 + + +def check_equivariance( + model: Any, + obs_slice_series: np.ndarray, # (T, 12) raw obs + actions_phys: np.ndarray, # (T, 3) physical omega + norm: dict, + action_scale: float = 8.0, + action_bias: Tuple[float, float, float] = (0.0, -4.0, 4.0), + u0: float = 0.01, +) -> Dict[str, float]: + """Check G-equivariance of a PPO model over a time series. + + Returns dict with front/rear equivariance errors. + """ + from .cfd_interface import build_observation, action_to_physical + + T = min(obs_slice_series.shape[0], actions_phys.shape[0]) + ef, eb, et = [], [], [] + + for t in range(2, T): + # Get current obs + osl = obs_slice_series[t] + a_prev = actions_phys[t - 1] if t > 0 else actions_phys[0] + a_prev2 = actions_phys[t - 2] if t > 1 else actions_phys[0] + + # Predict action for current state + obs = build_observation(osl, norm) + act, _ = model.predict(obs, deterministic=True) + act = act.astype(np.float32).flatten() + alpha = action_to_physical(act.reshape(1, 3), + scale=action_scale, bias=action_bias, u0=u0).flatten() + + # Apply G to state + G_obs, _, _ = apply_G_raw(osl, a_prev, a_prev2) + obs_G = build_observation(G_obs, norm) + act_G, _ = model.predict(obs_G, deterministic=True) + act_G = act_G.astype(np.float32).flatten() + alpha_G = action_to_physical(act_G.reshape(1, 3), + scale=action_scale, bias=action_bias, u0=u0).flatten() + + # Expected: G(alpha) = [-aF, -aB, -aT] + expected = apply_G_alpha(alpha) + + ef.append(abs(float(alpha_G[0]) - float(expected[0]))) + eb.append(abs(float(alpha_G[1]) - float(expected[1]))) + et.append(abs(float(alpha_G[2]) - float(expected[2]))) + + ef_arr = np.array(ef) + eb_arr = np.array(eb) + et_arr = np.array(et) + alpha_range = float(np.max(np.abs(actions_phys[2:]))) + + return { + "front_mean_abs_error": float(np.mean(ef_arr)), + "front_rel_error": float(np.mean(ef_arr) / (alpha_range + 1e-12)), + "rear_bottom_rel_error": float(np.mean(eb_arr) / (alpha_range + 1e-12)), + "rear_top_rel_error": float(np.mean(et_arr) / (alpha_range + 1e-12)), + "alpha_range": alpha_range, + } + + +def diagnose_one_re(model, ff, target_states, norm, config, n_steps=150) -> dict: + """Run PPO inference and check equivariance. + + Parameters + ---------- + model : loaded PPO model + ff : FlowField instance (must be at saved checkpoint state) + target_states : (FIFO_LEN, 6) target sensor signals + norm : norm dict + config : scene config dict with action_scale, action_bias, u0, etc. + + Returns + ------- + dict with equivariance metrics. + """ + from collections import deque + from .cfd_interface import (build_observation, scale_action, + action_to_physical, compute_similarity) + + action_scale = config.get("action_scale", 8.0) + action_bias = config.get("action_bias", (0.0, -4.0, 4.0)) + u0 = config.get("u0", 0.01) + sample_interval = config.get("sample_interval", 800) + fifo_len = config.get("fifo_len", 150) + n_obj_total = config.get("n_objects_total", 7) + + ff.restore_ddf() + ff.apply_ddf() + + # Bias FIFO init + fifo = deque(maxlen=fifo_len) + bias_arr = scale_action(np.zeros(3, dtype=np.float32), + scale=action_scale, bias=action_bias, + u0=u0, n_total_bodies=n_obj_total) + for _ in range(fifo_len): + ff.run(sample_interval, bias_arr) + fifo.append(ff.obs.copy()[2:14]) + + # Inference + obs_array = [] + action_array = [] + obs = np.zeros(12, dtype=np.float32) + + for _ in range(n_steps): + act, _ = model.predict(obs, deterministic=True) + act = act.astype(np.float32).flatten() + action_array.append(act.copy()) + + action_arr = scale_action(act, scale=action_scale, bias=action_bias, + u0=u0, n_total_bodies=n_obj_total) + ff.context.push() + ff.run(sample_interval, action_arr) + ff.context.pop() + + obs_slice = ff.obs.copy()[2:14] + fifo.append(obs_slice) + obs_array.append(obs_slice) + obs = build_observation(obs_slice, norm) + + obs_series = np.array(obs_array, dtype=np.float64) + actions_phys = action_to_physical(np.array(action_array), + scale=action_scale, bias=action_bias, u0=u0) + states_arr = np.array(list(fifo), dtype=np.float32) + sim = compute_similarity(target_states, states_arr[:, 0:6], + config.get("conv_len", 30)) + + # Equivariance check + eq = check_equivariance(model, obs_series, actions_phys, norm, + action_scale, action_bias, u0) + + return { + "similarity": sim, + "equivariance": eq, + } diff --git a/src/SR_analysis/data/degradation_analysis/action_timeseries.png b/src/SR_analysis/data/degradation_analysis/action_timeseries.png new file mode 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