Defining Parameter Samples in fmdtools
Parameter Samples are used to evaluate the performance of a model over a set of input parameters. It can then be used to do things like: - define/understand the operational envelope for different system parameters (i.e., what inputs can the system safely encounter) - quantify failure probabilities given stochastic inputs (i.e., if the statistical distribution of inputs are known, what is the resulting probability of hazards given the design)
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[1]:
import fmdtools.sim.propagate as prop
import inspect
The rover model (rover_model.py) from the examples module will be used to demonstrate this approach. The main task of the rover is to follow a given line from a starting location to an ending location.
[2]:
from examples.rover.rover_model import Rover
Additionally, this model has a corresponding Parameter class which generates the design parameters of the model given a reduced space of input parameters.
[3]:
from examples.rover.rover_model import RoverParam
print(inspect.getsource(RoverParam))
class RoverParam(Parameter):
"""Parameters for rover."""
ground: GroundParam = GroundParam()
correction: ResCorrection = ResCorrection()
degradation: DegParam = DegParam()
drive_modes: dict = {"mode_args": "set"}
def __init__(self, *args, **kwargs):
super().__init__(*args, strict_immutability=False, **kwargs)
This parameter is in turn made of other parameters:
[4]:
from rover_model import GroundParam
print(inspect.getsource(GroundParam))
class GroundParam(Parameter):
"""
Parameter defining line for rover to follow.
Fields
------
linetype: str
line type (sine or turn)
amp: float
sine amplitude
period: float
sine period
radius: float
turn radius
x_start: float
turn starting x-value
y_end: float
turn y-distance (after turn/radius) before end
x_min: float
minimum x-value for line generation (sine or turn)
x_max: float
maximum x-value for line generation (sine)
x_res: float
resolution for line generation
"""
linetype: str = 'sine'
linetype_set = ("sine", "turn")
amp: float = 1.0
period: float = 2 * np.pi
radius: float = 20.0
x_start: float = 10.0
y_end: float = 10.0
x_min: float = 0.0
x_max: float = 30.0
x_res: float = 0.1
path_buffer_on: float = 0.2
path_buffer_poor: float = 0.3
path_buffer_near: float = 0.4
dest_buffer_on: float = 1.0
dest_buffer_near: float = 2.0
def gen_ls_sine(self):
"""Generate coordinates in sine environment."""
ls = tuple([[x, sin_func(x, self.amp, self.period)]
for x in np.arange(self.x_min, self.x_max, self.x_res)])
return ls
def gen_ls_turn(self):
"""Generate line coordinates in turn environment."""
ls = [[x, turn_func(x, self.radius, self.x_start)]
for x in np.arange(self.x_min, self.radius+self.x_start, self.x_res)]
return tuple(ls)
def gen_ls(self):
"""Generate line coordinates."""
if self.linetype == 'sine':
return self.gen_ls_sine()
elif self.linetype == 'turn':
return self.gen_ls_turn()
else:
raise Exception("Invalid line time: "+self.linetype)
Below shows the performance of the rover during a (default) turn with a radius of 20 meters that begins at 20 meters. As shown, there is a slight drift from the centerline, but not enough for the rover to get lost (that would take 1 meter of drift).
[5]:
p = RoverParam(ground=dict(linetype="turn"))
mdl = Rover(p=p)
results, mdlhist = prop.nominal(mdl)
[6]:
fig, ax = mdlhist.plot_trajectories("flows.pos.s.x", "flows.pos.s.y")
mdl.flows['ground'].ga.show(fig=fig, ax=ax)
[6]:
(<Figure size 400x400 with 1 Axes>, <Axes: >)
Below shows the performance of the model over a sine wave. As shown, similar to the turn line type, the drift small enough to where the rover completes its mission within acceptable bounds.
[7]:
p = RoverParam(ground=dict(linetype="sine"))
mdl = Rover(p=p)
results, mdlhist = prop.nominal(mdl)
fig, ax = mdlhist.plot_trajectories("flows.pos.s.x", "flows.pos.s.y")
mdl.flows['ground'].ga.show(fig=fig, ax=ax)
[7]:
(<Figure size 400x400 with 1 Axes>, <Axes: >)
The performance of the rover in these situations is dependent on the parameters of the situation (e.g., the radius of the curve and the amplitude of the sine wave). Thus, it is important to define the operational envelope for the system. This can be done using a ParameterDomain, which can be used to define ranges of variables to simulate the system under, and a ParameterSample, which then samples these ranges.
[8]:
from fmdtools.sim.sample import ParameterDomain, ParameterSample
In this approach we define a parameter domain for the sine wave scenario.
Here we specify the linetype as sine (As a constant) and then add the variables “amp” and “period” which we will then sample:
[9]:
pd_sine = ParameterDomain(RoverParam)
pd_sine.add_constant("ground.linetype", "sine")
pd_sine.add_variables("ground.amp", "ground.period", lims={"ground.amp":(0, 8), "ground.period": (10, 50)})
pd_sine
[9]:
ParameterDomain with:
- variables: {'ground.amp': (0, 8), 'ground.period': (10, 50)}
- constants: {'ground.linetype': 'sine'}
- parameter_initializer: RoverParam
These can then be sampled using the ParameterSample.
Below we specify that we will sample the given variables in combination at certain resolutions:
[10]:
ps_sine = ParameterSample(pd_sine)
ps_sine.add_variable_ranges(comb_kwargs={'resolutions':{'ground.amp': 0.5, "ground.period": 10}})
ps_sine
[10]:
ParameterSample of scenarios:
- rep0_range_0
- rep0_range_1
- rep0_range_2
- rep0_range_3
- rep0_range_4
- rep0_range_5
- rep0_range_6
- rep0_range_7
- rep0_range_8
- rep0_range_9
- ... (85 total)
Notice that the properties of the scenarios are stored in their corresponding ParameterScenarios.
[11]:
ps_sine.scenarios()
[11]:
[ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.0, 1: 10}, rangeid='', name='rep0_range_0'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.0, 1: 20}, rangeid='', name='rep0_range_1'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.0, 1: 30}, rangeid='', name='rep0_range_2'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.0, 1: 40}, rangeid='', name='rep0_range_3'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.0, 1: 50}, rangeid='', name='rep0_range_4'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.5, 1: 10}, rangeid='', name='rep0_range_5'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.5, 1: 20}, rangeid='', name='rep0_range_6'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.5, 1: 30}, rangeid='', name='rep0_range_7'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.5, 1: 40}, rangeid='', name='rep0_range_8'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 0.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 0.5, 1: 50}, rangeid='', name='rep0_range_9'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.0, 1: 10}, rangeid='', name='rep0_range_10'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.0, 1: 20}, rangeid='', name='rep0_range_11'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.0, 1: 30}, rangeid='', name='rep0_range_12'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.0, 1: 40}, rangeid='', name='rep0_range_13'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.0, 1: 50}, rangeid='', name='rep0_range_14'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.5, 1: 10}, rangeid='', name='rep0_range_15'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.5, 1: 20}, rangeid='', name='rep0_range_16'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.5, 1: 30}, rangeid='', name='rep0_range_17'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.5, 1: 40}, rangeid='', name='rep0_range_18'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 1.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 1.5, 1: 50}, rangeid='', name='rep0_range_19'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.0, 1: 10}, rangeid='', name='rep0_range_20'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.0, 1: 20}, rangeid='', name='rep0_range_21'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.0, 1: 30}, rangeid='', name='rep0_range_22'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.0, 1: 40}, rangeid='', name='rep0_range_23'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.0, 1: 50}, rangeid='', name='rep0_range_24'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.5, 1: 10}, rangeid='', name='rep0_range_25'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.5, 1: 20}, rangeid='', name='rep0_range_26'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.5, 1: 30}, rangeid='', name='rep0_range_27'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.5, 1: 40}, rangeid='', name='rep0_range_28'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 2.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 2.5, 1: 50}, rangeid='', name='rep0_range_29'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.0, 1: 10}, rangeid='', name='rep0_range_30'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.0, 1: 20}, rangeid='', name='rep0_range_31'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.0, 1: 30}, rangeid='', name='rep0_range_32'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.0, 1: 40}, rangeid='', name='rep0_range_33'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.0, 1: 50}, rangeid='', name='rep0_range_34'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.5, 1: 10}, rangeid='', name='rep0_range_35'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.5, 1: 20}, rangeid='', name='rep0_range_36'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.5, 1: 30}, rangeid='', name='rep0_range_37'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.5, 1: 40}, rangeid='', name='rep0_range_38'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 3.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 3.5, 1: 50}, rangeid='', name='rep0_range_39'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.0, 1: 10}, rangeid='', name='rep0_range_40'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.0, 1: 20}, rangeid='', name='rep0_range_41'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.0, 1: 30}, rangeid='', name='rep0_range_42'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.0, 1: 40}, rangeid='', name='rep0_range_43'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.0, 1: 50}, rangeid='', name='rep0_range_44'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.5, 1: 10}, rangeid='', name='rep0_range_45'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.5, 1: 20}, rangeid='', name='rep0_range_46'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.5, 1: 30}, rangeid='', name='rep0_range_47'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.5, 1: 40}, rangeid='', name='rep0_range_48'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 4.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 4.5, 1: 50}, rangeid='', name='rep0_range_49'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.0, 1: 10}, rangeid='', name='rep0_range_50'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.0, 1: 20}, rangeid='', name='rep0_range_51'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.0, 1: 30}, rangeid='', name='rep0_range_52'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.0, 1: 40}, rangeid='', name='rep0_range_53'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.0, 1: 50}, rangeid='', name='rep0_range_54'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.5, 1: 10}, rangeid='', name='rep0_range_55'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.5, 1: 20}, rangeid='', name='rep0_range_56'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.5, 1: 30}, rangeid='', name='rep0_range_57'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.5, 1: 40}, rangeid='', name='rep0_range_58'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 5.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 5.5, 1: 50}, rangeid='', name='rep0_range_59'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.0, 1: 10}, rangeid='', name='rep0_range_60'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.0, 1: 20}, rangeid='', name='rep0_range_61'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.0, 1: 30}, rangeid='', name='rep0_range_62'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.0, 1: 40}, rangeid='', name='rep0_range_63'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.0, 1: 50}, rangeid='', name='rep0_range_64'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.5, 1: 10}, rangeid='', name='rep0_range_65'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.5, 1: 20}, rangeid='', name='rep0_range_66'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.5, 1: 30}, rangeid='', name='rep0_range_67'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.5, 1: 40}, rangeid='', name='rep0_range_68'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 6.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 6.5, 1: 50}, rangeid='', name='rep0_range_69'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.0, 1: 10}, rangeid='', name='rep0_range_70'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.0, 1: 20}, rangeid='', name='rep0_range_71'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.0, 1: 30}, rangeid='', name='rep0_range_72'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.0, 1: 40}, rangeid='', name='rep0_range_73'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.0, 1: 50}, rangeid='', name='rep0_range_74'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.5, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.5, 1: 10}, rangeid='', name='rep0_range_75'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.5, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.5, 1: 20}, rangeid='', name='rep0_range_76'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.5, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.5, 1: 30}, rangeid='', name='rep0_range_77'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.5, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.5, 1: 40}, rangeid='', name='rep0_range_78'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 7.5, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 7.5, 1: 50}, rangeid='', name='rep0_range_79'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 8.0, 'period': 10, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 8.0, 1: 10}, rangeid='', name='rep0_range_80'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 8.0, 'period': 20, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 8.0, 1: 20}, rangeid='', name='rep0_range_81'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 8.0, 'period': 30, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 8.0, 1: 30}, rangeid='', name='rep0_range_82'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 8.0, 'period': 40, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 8.0, 1: 40}, rangeid='', name='rep0_range_83'),
ParameterScenario(sequence={}, times=(), p={'ground': {'amp': 8.0, 'period': 50, 'linetype': 'sine'}}, r={}, sp={}, prob=0.011764705882352941, inputparams={0: 8.0, 1: 50}, rangeid='', name='rep0_range_84')]
ParameterSamples are sampled using prop.parameter_sample:
[12]:
res, hist = prop.parameter_sample(mdl, ps_sine)
res
SCENARIOS COMPLETE: 100%|██████████| 85/85 [00:21<00:00, 4.03it/s]
[12]:
rep0_range_0.endclass.rate: 1.0
rep0_range_0.endclass.cost: 0
rep0_range_0.endclass.prob: 0.011764705882352941
rep0_range_0.endclass.expected_cost: 0
rep0_range_0.endclass.in_bound: True
rep0_range_0.endclass.at_finish: True
rep0_range_0.endclass.line_dist: 1
rep0_range_0.endclass.num_modes: 0
rep0_range_0.endclass.end_dist: 0.0
rep0_range_0.endclass.tot_deviation: 0.0
rep0_range_0.endclass.faults: {}
rep0_range_0.endclass.classification: nominal mission
rep0_range_0.endclass.end_x: 28.999999999999964
rep0_range_0.endclass.end_y: 0.0
rep0_range_0.endclass.endpt: array(2)
rep0_range_1.endclass.rate: 1.0
rep0_range_1.endclass.cost: 0
rep0_range_1.endclass.prob: 0.011764705882352941
rep0_range_1.endclass.expected_cost: 0
rep0_range_1.endclass.in_bound: True
rep0_range_1.endclass.at_finish: True
rep0_range_1.endclass.line_dist: 1
rep0_range_1.endclass.num_modes: 0
rep0_range_1.endclass.end_dist: 0.0
rep0_range_1.endclass.tot_deviation: 0.0
rep0_range_1.endclass.faults: {}
rep0_range_1.endclass.classification: nominal mission
rep0_range_1.endclass.end_x: 28.999999999999964
rep0_range_1.endclass.end_y: 0.0
rep0_range_1.endclass.endpt: array(2)
rep0_range_2.endclass.rate: 1.0
rep0_range_2.endclass.cost: 0
rep0_range_2.endclass.prob: 0.011764705882352941
rep0_range_2.endclass.expected_cost: 0
rep0_range_2.endclass.in_bound: True
rep0_range_2.endclass.at_finish: True
rep0_range_2.endclass.line_dist: 1
rep0_range_2.endclass.num_modes: 0
rep0_range_2.endclass.end_dist: 0.0
rep0_range_2.endclass.tot_deviation: 0.0
rep0_range_2.endclass.faults: {}
rep0_range_2.endclass.classification: nominal mission
rep0_range_2.endclass.end_x: 28.999999999999964
rep0_range_2.endclass.end_y: 0.0
rep0_range_2.endclass.endpt: array(2)
rep0_range_3.endclass.rate: 1.0
rep0_range_3.endclass.cost: 0
rep0_range_3.endclass.prob: 0.011764705882352941
rep0_range_3.endclass.expected_cost: 0
rep0_range_3.endclass.in_bound: True
rep0_range_3.endclass.at_finish: True
rep0_range_3.endclass.line_dist: 1
rep0_range_3.endclass.num_modes: 0
rep0_range_3.endclass.end_dist: 0.0
rep0_range_3.endclass.tot_deviation: 0.0
rep0_range_3.endclass.faults: {}
rep0_range_3.endclass.classification: nominal mission
rep0_range_3.endclass.end_x: 28.999999999999964
rep0_range_3.endclass.end_y: 0.0
rep0_range_3.endclass.endpt: array(2)
rep0_range_4.endclass.rate: 1.0
rep0_range_4.endclass.cost: 0
rep0_range_4.endclass.prob: 0.011764705882352941
rep0_range_4.endclass.expected_cost: 0
rep0_range_4.endclass.in_bound: True
rep0_range_4.endclass.at_finish: True
rep0_range_4.endclass.line_dist: 1
rep0_range_4.endclass.num_modes: 0
rep0_range_4.endclass.end_dist: 0.0
rep0_range_4.endclass.tot_deviation: 0.0
rep0_range_4.endclass.faults: {}
rep0_range_4.endclass.classification: nominal mission
rep0_range_4.endclass.end_x: 28.999999999999964
rep0_range_4.endclass.end_y: 0.0
rep0_range_4.endclass.endpt: array(2)
rep0_range_5.endclass.rate: 1.0
rep0_range_5.endclass.cost: 0
rep0_range_5.endclass.prob: 0.011764705882352941
rep0_range_5.endclass.expected_cost: 0
rep0_range_5.endclass.in_bound: True
rep0_range_5.endclass.at_finish: True
rep0_range_5.endclass.line_dist: 1
rep0_range_5.endclass.num_modes: 0
rep0_range_5.endclass.end_dist: 0.0
rep0_range_5.endclass.tot_deviation: 0.04031193364617163
rep0_range_5.endclass.faults: {}
rep0_range_5.endclass.classification: nominal mission
rep0_range_5.endclass.end_x: 28.954484372396227
rep0_range_5.endclass.end_y: -0.33577828948066196
rep0_range_5.endclass.endpt: array(2)
rep0_range_6.endclass.rate: 1.0
rep0_range_6.endclass.cost: 0
rep0_range_6.endclass.prob: 0.011764705882352941
rep0_range_6.endclass.expected_cost: 0
rep0_range_6.endclass.in_bound: True
rep0_range_6.endclass.at_finish: True
rep0_range_6.endclass.line_dist: 1
rep0_range_6.endclass.num_modes: 0
rep0_range_6.endclass.end_dist: 0.0
rep0_range_6.endclass.tot_deviation: 0.013287216610996896
rep0_range_6.endclass.faults: {}
rep0_range_6.endclass.classification: nominal mission
rep0_range_6.endclass.end_x: 29.159994285962927
rep0_range_6.endclass.end_y: 0.12176108577474055
rep0_range_6.endclass.endpt: array(2)
rep0_range_7.endclass.rate: 1.0
rep0_range_7.endclass.cost: 0
rep0_range_7.endclass.prob: 0.011764705882352941
rep0_range_7.endclass.expected_cost: 0
rep0_range_7.endclass.in_bound: True
rep0_range_7.endclass.at_finish: True
rep0_range_7.endclass.line_dist: 1
rep0_range_7.endclass.num_modes: 0
rep0_range_7.endclass.end_dist: 0.0
rep0_range_7.endclass.tot_deviation: 0.020979046204939525
rep0_range_7.endclass.faults: {}
rep0_range_7.endclass.classification: nominal mission
rep0_range_7.endclass.end_x: 28.917836557667336
rep0_range_7.endclass.end_y: -0.12293083654799107
rep0_range_7.endclass.endpt: array(2)
rep0_range_8.endclass.rate: 1.0
rep0_range_8.endclass.cost: 0
rep0_range_8.endclass.prob: 0.011764705882352941
rep0_range_8.endclass.expected_cost: 0
rep0_range_8.endclass.in_bound: True
rep0_range_8.endclass.at_finish: True
rep0_range_8.endclass.line_dist: 1
rep0_range_8.endclass.num_modes: 0
rep0_range_8.endclass.end_dist: 0.0
rep0_range_8.endclass.tot_deviation: 0.012689026281263317
rep0_range_8.endclass.faults: {}
rep0_range_8.endclass.classification: nominal mission
rep0_range_8.endclass.end_x: 28.950969682009344
rep0_range_8.endclass.end_y: -0.501713030304046
rep0_range_8.endclass.endpt: array(2)
rep0_range_9.endclass.rate: 1.0
rep0_range_9.endclass.cost: 0
rep0_range_9.endclass.prob: 0.011764705882352941
rep0_range_9.endclass.expected_cost: 0
rep0_range_9.endclass.in_bound: True
rep0_range_9.endclass.at_finish: True
rep0_range_9.endclass.line_dist: 1
rep0_range_9.endclass.num_modes: 0
rep0_range_9.endclass.end_dist: 0.0
rep0_range_9.endclass.tot_deviation: 0.008709416578409242
rep0_range_9.endclass.faults: {}
rep0_range_9.endclass.classification: nominal mission
rep0_range_9.endclass.end_x: 28.966405094769144
rep0_range_9.endclass.end_y: -0.239309282710179
rep0_range_9.endclass.endpt: array(2)
rep0_range_10.endclass.rate: 1.0
rep0_range_10.endclass.cost: 0
rep0_range_10.endclass.prob: 0.011764705882352941
rep0_range_10.endclass.expected_cost: 0
rep0_range_10.endclass.in_bound: True
rep0_range_10.endclass.at_finish: True
rep0_range_10.endclass.line_dist: 1
rep0_range_10.endclass.num_modes: 0
rep0_range_10.endclass.end_dist: 0.0
rep0_range_10.endclass.tot_deviation: 0.07265907374931083
rep0_range_10.endclass.faults: {}
rep0_range_10.endclass.classification: nominal mission
rep0_range_10.endclass.end_x: 29.24509887978839
rep0_range_10.endclass.end_y: -0.5264756208112762
rep0_range_10.endclass.endpt: array(2)
rep0_range_11.endclass.rate: 1.0
rep0_range_11.endclass.cost: 0
rep0_range_11.endclass.prob: 0.011764705882352941
rep0_range_11.endclass.expected_cost: 0
rep0_range_11.endclass.in_bound: True
rep0_range_11.endclass.at_finish: True
rep0_range_11.endclass.line_dist: 1
rep0_range_11.endclass.num_modes: 0
rep0_range_11.endclass.end_dist: 0.0
rep0_range_11.endclass.tot_deviation: 0.01882428399199615
rep0_range_11.endclass.faults: {}
rep0_range_11.endclass.classification: nominal mission
rep0_range_11.endclass.end_x: 28.978851134353565
rep0_range_11.endclass.end_y: 0.33031616038277367
rep0_range_11.endclass.endpt: array(2)
rep0_range_12.endclass.rate: 1.0
rep0_range_12.endclass.cost: 0
rep0_range_12.endclass.prob: 0.011764705882352941
rep0_range_12.endclass.expected_cost: 0
rep0_range_12.endclass.in_bound: True
rep0_range_12.endclass.at_finish: True
rep0_range_12.endclass.line_dist: 1
rep0_range_12.endclass.num_modes: 0
rep0_range_12.endclass.end_dist: 0.0
rep0_range_12.endclass.tot_deviation: 0.020940135808406236
rep0_range_12.endclass.faults: {}
rep0_range_12.endclass.classification: nominal mission
rep0_range_12.endclass.end_x: 29.02667378003487
rep0_range_12.endclass.end_y: -0.19112420094406496
rep0_range_12.endclass.endpt: array(2)
rep0_range_13.endclass.rate: 1.0
rep0_range_13.endclass.cost: 0
rep0_range_13.endclass.prob: 0.011764705882352941
rep0_range_13.endclass.expected_cost: 0
rep0_range_13.endclass.in_bound: True
rep0_range_13.endclass.at_finish: True
rep0_range_13.endclass.line_dist: 1
rep0_range_13.endclass.num_modes: 0
rep0_range_13.endclass.end_dist: 0.0
rep0_range_13.endclass.tot_deviation: 0.023959689114854337
rep0_range_13.endclass.faults: {}
rep0_range_13.endclass.classification: nominal mission
rep0_range_13.endclass.end_x: 29.140699707404103
rep0_range_13.endclass.end_y: -1.009399162379895
rep0_range_13.endclass.endpt: array(2)
rep0_range_14.endclass.rate: 1.0
rep0_range_14.endclass.cost: 0
rep0_range_14.endclass.prob: 0.011764705882352941
rep0_range_14.endclass.expected_cost: 0
rep0_range_14.endclass.in_bound: True
rep0_range_14.endclass.at_finish: True
rep0_range_14.endclass.line_dist: 1
rep0_range_14.endclass.num_modes: 0
rep0_range_14.endclass.end_dist: 0.0
rep0_range_14.endclass.tot_deviation: 0.016012109187890512
rep0_range_14.endclass.faults: {}
rep0_range_14.endclass.classification: nominal mission
rep0_range_14.endclass.end_x: 29.200384936771
rep0_range_14.endclass.end_y: -0.5088740949686043
rep0_range_14.endclass.endpt: array(2)
rep0_range_15.endclass.rate: 1.0
rep0_range_15.endclass.cost: 0
rep0_range_15.endclass.prob: 0.011764705882352941
rep0_range_15.endclass.expected_cost: 0
rep0_range_15.endclass.in_bound: True
rep0_range_15.endclass.at_finish: True
rep0_range_15.endclass.line_dist: 1
rep0_range_15.endclass.num_modes: 0
rep0_range_15.endclass.end_dist: 0.0
rep0_range_15.endclass.tot_deviation: 0.09641579639279106
rep0_range_15.endclass.faults: {}
rep0_range_15.endclass.classification: nominal mission
rep0_range_15.endclass.end_x: 29.22890544654618
rep0_range_15.endclass.end_y: -0.8066111491747783
rep0_range_15.endclass.endpt: array(2)
rep0_range_16.endclass.rate: 1.0
rep0_range_16.endclass.cost: 0
rep0_range_16.endclass.prob: 0.011764705882352941
rep0_range_16.endclass.expected_cost: 0
rep0_range_16.endclass.in_bound: True
rep0_range_16.endclass.at_finish: True
rep0_range_16.endclass.line_dist: 1
rep0_range_16.endclass.num_modes: 0
rep0_range_16.endclass.end_dist: 0.0
rep0_range_16.endclass.tot_deviation: 0.034271198916084405
rep0_range_16.endclass.faults: {}
rep0_range_16.endclass.classification: nominal mission
rep0_range_16.endclass.end_x: 29.127166031966276
rep0_range_16.endclass.end_y: 0.4353308249083395
rep0_range_16.endclass.endpt: array(2)
rep0_range_17.endclass.rate: 1.0
rep0_range_17.endclass.cost: 0
rep0_range_17.endclass.prob: 0.011764705882352941
rep0_range_17.endclass.expected_cost: 0
rep0_range_17.endclass.in_bound: True
rep0_range_17.endclass.at_finish: True
rep0_range_17.endclass.line_dist: 1
rep0_range_17.endclass.num_modes: 0
rep0_range_17.endclass.end_dist: 0.0
rep0_range_17.endclass.tot_deviation: 0.008665927334266237
rep0_range_17.endclass.faults: {}
rep0_range_17.endclass.classification: nominal mission
rep0_range_17.endclass.end_x: 28.988004309049906
rep0_range_17.endclass.end_y: -0.31557029037246215
rep0_range_17.endclass.endpt: array(2)
rep0_range_18.endclass.rate: 1.0
rep0_range_18.endclass.cost: 0
rep0_range_18.endclass.prob: 0.011764705882352941
rep0_range_18.endclass.expected_cost: 0
rep0_range_18.endclass.in_bound: True
rep0_range_18.endclass.at_finish: True
rep0_range_18.endclass.line_dist: 1
rep0_range_18.endclass.num_modes: 0
rep0_range_18.endclass.end_dist: 0.0
rep0_range_18.endclass.tot_deviation: 0.017464958885312847
rep0_range_18.endclass.faults: {}
rep0_range_18.endclass.classification: nominal mission
rep0_range_18.endclass.end_x: 28.912657782705324
rep0_range_18.endclass.end_y: -1.4894469618395239
rep0_range_18.endclass.endpt: array(2)
rep0_range_19.endclass.rate: 1.0
rep0_range_19.endclass.cost: 0
rep0_range_19.endclass.prob: 0.011764705882352941
rep0_range_19.endclass.expected_cost: 0
rep0_range_19.endclass.in_bound: True
rep0_range_19.endclass.at_finish: True
rep0_range_19.endclass.line_dist: 1
rep0_range_19.endclass.num_modes: 0
rep0_range_19.endclass.end_dist: 0.0
rep0_range_19.endclass.tot_deviation: 0.023312475882955888
rep0_range_19.endclass.faults: {}
rep0_range_19.endclass.classification: nominal mission
rep0_range_19.endclass.end_x: 29.03938920851671
rep0_range_19.endclass.end_y: -0.732846538594535
rep0_range_19.endclass.endpt: array(2)
rep0_range_20.endclass.rate: 1.0
rep0_range_20.endclass.cost: 0
rep0_range_20.endclass.prob: 0.011764705882352941
rep0_range_20.endclass.expected_cost: 0
rep0_range_20.endclass.in_bound: True
rep0_range_20.endclass.at_finish: True
rep0_range_20.endclass.line_dist: 1
rep0_range_20.endclass.num_modes: 0
rep0_range_20.endclass.end_dist: 0.0
rep0_range_20.endclass.tot_deviation: 0.11284511123392486
rep0_range_20.endclass.faults: {}
rep0_range_20.endclass.classification: nominal mission
rep0_range_20.endclass.end_x: 29.38997261168595
rep0_range_20.endclass.end_y: -0.8981879973680189
rep0_range_20.endclass.endpt: array(2)
rep0_range_21.endclass.rate: 1.0
rep0_range_21.endclass.cost: 0
rep0_range_21.endclass.prob: 0.011764705882352941
rep0_range_21.endclass.expected_cost: 0
rep0_range_21.endclass.in_bound: True
rep0_range_21.endclass.at_finish: True
rep0_range_21.endclass.line_dist: 1
rep0_range_21.endclass.num_modes: 0
rep0_range_21.endclass.end_dist: 0.0
rep0_range_21.endclass.tot_deviation: 0.04880058739211242
rep0_range_21.endclass.faults: {}
rep0_range_21.endclass.classification: nominal mission
rep0_range_21.endclass.end_x: 29.30163064374983
rep0_range_21.endclass.end_y: 0.47762213257624786
rep0_range_21.endclass.endpt: array(2)
rep0_range_22.endclass.rate: 1.0
rep0_range_22.endclass.cost: 0
rep0_range_22.endclass.prob: 0.011764705882352941
rep0_range_22.endclass.expected_cost: 0
rep0_range_22.endclass.in_bound: True
rep0_range_22.endclass.at_finish: True
rep0_range_22.endclass.line_dist: 1
rep0_range_22.endclass.num_modes: 0
rep0_range_22.endclass.end_dist: 0.0
rep0_range_22.endclass.tot_deviation: 0.015106130029186112
rep0_range_22.endclass.faults: {}
rep0_range_22.endclass.classification: nominal mission
rep0_range_22.endclass.end_x: 29.12413778936169
rep0_range_22.endclass.end_y: -0.3705635585347911
rep0_range_22.endclass.endpt: array(2)
rep0_range_23.endclass.rate: 1.0
rep0_range_23.endclass.cost: 0
rep0_range_23.endclass.prob: 0.011764705882352941
rep0_range_23.endclass.expected_cost: 0
rep0_range_23.endclass.in_bound: True
rep0_range_23.endclass.at_finish: True
rep0_range_23.endclass.line_dist: 1
rep0_range_23.endclass.num_modes: 0
rep0_range_23.endclass.end_dist: 0.0
rep0_range_23.endclass.tot_deviation: 0.018560494077101537
rep0_range_23.endclass.faults: {}
rep0_range_23.endclass.classification: nominal mission
rep0_range_23.endclass.end_x: 28.94026562393683
rep0_range_23.endclass.end_y: -1.9687845632662222
rep0_range_23.endclass.endpt: array(2)
rep0_range_24.endclass.rate: 1.0
rep0_range_24.endclass.cost: 0
rep0_range_24.endclass.prob: 0.011764705882352941
rep0_range_24.endclass.expected_cost: 0
rep0_range_24.endclass.in_bound: True
rep0_range_24.endclass.at_finish: True
rep0_range_24.endclass.line_dist: 1
rep0_range_24.endclass.num_modes: 0
rep0_range_24.endclass.end_dist: 0.0
rep0_range_24.endclass.tot_deviation: 0.030551740099704457
rep0_range_24.endclass.faults: {}
rep0_range_24.endclass.classification: nominal mission
rep0_range_24.endclass.end_x: 29.144526240438584
rep0_range_24.endclass.end_y: -1.00390993910328
rep0_range_24.endclass.endpt: array(2)
rep0_range_25.endclass.rate: 1.0
rep0_range_25.endclass.cost: 0
rep0_range_25.endclass.prob: 0.011764705882352941
rep0_range_25.endclass.expected_cost: 0
rep0_range_25.endclass.in_bound: True
rep0_range_25.endclass.at_finish: True
rep0_range_25.endclass.line_dist: 1
rep0_range_25.endclass.num_modes: 0
rep0_range_25.endclass.end_dist: 0.0
rep0_range_25.endclass.tot_deviation: 0.12704827454099682
rep0_range_25.endclass.faults: {}
rep0_range_25.endclass.classification: nominal mission
rep0_range_25.endclass.end_x: 29.609865640536785
rep0_range_25.endclass.end_y: -0.7967210632055489
rep0_range_25.endclass.endpt: array(2)
rep0_range_26.endclass.rate: 1.0
rep0_range_26.endclass.cost: 0
rep0_range_26.endclass.prob: 0.011764705882352941
rep0_range_26.endclass.expected_cost: 0
rep0_range_26.endclass.in_bound: True
rep0_range_26.endclass.at_finish: True
rep0_range_26.endclass.line_dist: 1
rep0_range_26.endclass.num_modes: 0
rep0_range_26.endclass.end_dist: 0.0
rep0_range_26.endclass.tot_deviation: 0.0601103630798466
rep0_range_26.endclass.faults: {}
rep0_range_26.endclass.classification: nominal mission
rep0_range_26.endclass.end_x: 29.25170469072636
rep0_range_26.endclass.end_y: 0.6347985115430519
rep0_range_26.endclass.endpt: array(2)
rep0_range_27.endclass.rate: 1.0
rep0_range_27.endclass.cost: 0
rep0_range_27.endclass.prob: 0.011764705882352941
rep0_range_27.endclass.expected_cost: 0
rep0_range_27.endclass.in_bound: True
rep0_range_27.endclass.at_finish: True
rep0_range_27.endclass.line_dist: 1
rep0_range_27.endclass.num_modes: 0
rep0_range_27.endclass.end_dist: 0.0
rep0_range_27.endclass.tot_deviation: 0.025249343998657622
rep0_range_27.endclass.faults: {}
rep0_range_27.endclass.classification: nominal mission
rep0_range_27.endclass.end_x: 29.13110106039093
rep0_range_27.endclass.end_y: -0.4635193917148366
rep0_range_27.endclass.endpt: array(2)
rep0_range_28.endclass.rate: 1.0
rep0_range_28.endclass.cost: 0
rep0_range_28.endclass.prob: 0.011764705882352941
rep0_range_28.endclass.expected_cost: 0
rep0_range_28.endclass.in_bound: True
rep0_range_28.endclass.at_finish: True
rep0_range_28.endclass.line_dist: 1
rep0_range_28.endclass.num_modes: 0
rep0_range_28.endclass.end_dist: 0.0
rep0_range_28.endclass.tot_deviation: 0.011989833834154728
rep0_range_28.endclass.faults: {}
rep0_range_28.endclass.classification: nominal mission
rep0_range_28.endclass.end_x: 29.210174823054277
rep0_range_28.endclass.end_y: -2.477559578188976
rep0_range_28.endclass.endpt: array(2)
rep0_range_29.endclass.rate: 1.0
rep0_range_29.endclass.cost: 0
rep0_range_29.endclass.prob: 0.011764705882352941
rep0_range_29.endclass.expected_cost: 0
rep0_range_29.endclass.in_bound: True
rep0_range_29.endclass.at_finish: True
rep0_range_29.endclass.line_dist: 1
rep0_range_29.endclass.num_modes: 0
rep0_range_29.endclass.end_dist: 0.0
rep0_range_29.endclass.tot_deviation: 0.021520934615468466
rep0_range_29.endclass.faults: {}
rep0_range_29.endclass.classification: nominal mission
rep0_range_29.endclass.end_x: 29.196821875790913
rep0_range_29.endclass.end_y: -1.2689214678770406
rep0_range_29.endclass.endpt: array(2)
rep0_range_30.endclass.rate: 1.0
rep0_range_30.endclass.cost: 0
rep0_range_30.endclass.prob: 0.011764705882352941
rep0_range_30.endclass.expected_cost: 0
rep0_range_30.endclass.in_bound: True
rep0_range_30.endclass.at_finish: False
rep0_range_30.endclass.line_dist: 1
rep0_range_30.endclass.num_modes: 0
rep0_range_30.endclass.end_dist: 0.1701974261981555
rep0_range_30.endclass.tot_deviation: 0.14492921371085954
rep0_range_30.endclass.faults: {}
rep0_range_30.endclass.classification: incomplete mission
rep0_range_30.endclass.end_x: 29.434993679668953
rep0_range_30.endclass.end_y: -1.2615889838921517
rep0_range_30.endclass.endpt: array(2)
rep0_range_31.endclass.rate: 1.0
rep0_range_31.endclass.cost: 0
rep0_range_31.endclass.prob: 0.011764705882352941
rep0_range_31.endclass.expected_cost: 0
rep0_range_31.endclass.in_bound: True
rep0_range_31.endclass.at_finish: True
rep0_range_31.endclass.line_dist: 1
rep0_range_31.endclass.num_modes: 0
rep0_range_31.endclass.end_dist: 0.0
rep0_range_31.endclass.tot_deviation: 0.07019798659455637
rep0_range_31.endclass.faults: {}
rep0_range_31.endclass.classification: nominal mission
rep0_range_31.endclass.end_x: 29.309039641891463
rep0_range_31.endclass.end_y: 0.714583411451293
rep0_range_31.endclass.endpt: array(2)
rep0_range_32.endclass.rate: 1.0
rep0_range_32.endclass.cost: 0
rep0_range_32.endclass.prob: 0.011764705882352941
rep0_range_32.endclass.expected_cost: 0
rep0_range_32.endclass.in_bound: True
rep0_range_32.endclass.at_finish: True
rep0_range_32.endclass.line_dist: 1
rep0_range_32.endclass.num_modes: 0
rep0_range_32.endclass.end_dist: 0.0
rep0_range_32.endclass.tot_deviation: 0.033095408698309625
rep0_range_32.endclass.faults: {}
rep0_range_32.endclass.classification: nominal mission
rep0_range_32.endclass.end_x: 29.326174325808566
rep0_range_32.endclass.end_y: -0.44188457676692694
rep0_range_32.endclass.endpt: array(2)
rep0_range_33.endclass.rate: 1.0
rep0_range_33.endclass.cost: 0
rep0_range_33.endclass.prob: 0.011764705882352941
rep0_range_33.endclass.expected_cost: 0
rep0_range_33.endclass.in_bound: True
rep0_range_33.endclass.at_finish: True
rep0_range_33.endclass.line_dist: 1
rep0_range_33.endclass.num_modes: 0
rep0_range_33.endclass.end_dist: 0.0
rep0_range_33.endclass.tot_deviation: 0.008947958132256198
rep0_range_33.endclass.faults: {}
rep0_range_33.endclass.classification: nominal mission
rep0_range_33.endclass.end_x: 29.062675330702344
rep0_range_33.endclass.end_y: -2.971390738580973
rep0_range_33.endclass.endpt: array(2)
rep0_range_34.endclass.rate: 1.0
rep0_range_34.endclass.cost: 0
rep0_range_34.endclass.prob: 0.011764705882352941
rep0_range_34.endclass.expected_cost: 0
rep0_range_34.endclass.in_bound: True
rep0_range_34.endclass.at_finish: True
rep0_range_34.endclass.line_dist: 1
rep0_range_34.endclass.num_modes: 0
rep0_range_34.endclass.end_dist: 0.0
rep0_range_34.endclass.tot_deviation: 0.023799143752141937
rep0_range_34.endclass.faults: {}
rep0_range_34.endclass.classification: nominal mission
rep0_range_34.endclass.end_x: 29.201210080179663
rep0_range_34.endclass.end_y: -1.5209535998153236
rep0_range_34.endclass.endpt: array(2)
rep0_range_35.endclass.rate: 1.0
rep0_range_35.endclass.cost: 0
rep0_range_35.endclass.prob: 0.011764705882352941
rep0_range_35.endclass.expected_cost: 0
rep0_range_35.endclass.in_bound: True
rep0_range_35.endclass.at_finish: False
rep0_range_35.endclass.line_dist: 1
rep0_range_35.endclass.num_modes: 0
rep0_range_35.endclass.end_dist: 3.2491374911124042
rep0_range_35.endclass.tot_deviation: 0.1573084616393087
rep0_range_35.endclass.faults: {}
rep0_range_35.endclass.classification: incomplete mission
rep0_range_35.endclass.end_x: 26.207221354099755
rep0_range_35.endclass.end_y: -2.32087985463916
rep0_range_35.endclass.endpt: array(2)
rep0_range_36.endclass.rate: 1.0
rep0_range_36.endclass.cost: 0
rep0_range_36.endclass.prob: 0.011764705882352941
rep0_range_36.endclass.expected_cost: 0
rep0_range_36.endclass.in_bound: True
rep0_range_36.endclass.at_finish: True
rep0_range_36.endclass.line_dist: 1
rep0_range_36.endclass.num_modes: 0
rep0_range_36.endclass.end_dist: 0.0
rep0_range_36.endclass.tot_deviation: 0.07909996723249132
rep0_range_36.endclass.faults: {}
rep0_range_36.endclass.classification: nominal mission
rep0_range_36.endclass.end_x: 29.465026352745042
rep0_range_36.endclass.end_y: 0.6636458576071678
rep0_range_36.endclass.endpt: array(2)
rep0_range_37.endclass.rate: 1.0
rep0_range_37.endclass.cost: 0
rep0_range_37.endclass.prob: 0.011764705882352941
rep0_range_37.endclass.expected_cost: 0
rep0_range_37.endclass.in_bound: True
rep0_range_37.endclass.at_finish: True
rep0_range_37.endclass.line_dist: 1
rep0_range_37.endclass.num_modes: 0
rep0_range_37.endclass.end_dist: 0.0
rep0_range_37.endclass.tot_deviation: 0.040569119949447216
rep0_range_37.endclass.faults: {}
rep0_range_37.endclass.classification: nominal mission
rep0_range_37.endclass.end_x: 29.140772222353664
rep0_range_37.endclass.end_y: -0.6526840810332275
rep0_range_37.endclass.endpt: array(2)
rep0_range_38.endclass.rate: 1.0
rep0_range_38.endclass.cost: 0
rep0_range_38.endclass.prob: 0.011764705882352941
rep0_range_38.endclass.expected_cost: 0
rep0_range_38.endclass.in_bound: True
rep0_range_38.endclass.at_finish: True
rep0_range_38.endclass.line_dist: 1
rep0_range_38.endclass.num_modes: 0
rep0_range_38.endclass.end_dist: 0.0
rep0_range_38.endclass.tot_deviation: 0.015221764715137661
rep0_range_38.endclass.faults: {}
rep0_range_38.endclass.classification: nominal mission
rep0_range_38.endclass.end_x: 29.17533981045304
rep0_range_38.endclass.end_y: -3.4793141221156323
rep0_range_38.endclass.endpt: array(2)
rep0_range_39.endclass.rate: 1.0
rep0_range_39.endclass.cost: 0
rep0_range_39.endclass.prob: 0.011764705882352941
rep0_range_39.endclass.expected_cost: 0
rep0_range_39.endclass.in_bound: True
rep0_range_39.endclass.at_finish: True
rep0_range_39.endclass.line_dist: 1
rep0_range_39.endclass.num_modes: 0
rep0_range_39.endclass.end_dist: 0.0
rep0_range_39.endclass.tot_deviation: 0.01812310565797931
rep0_range_39.endclass.faults: {}
rep0_range_39.endclass.classification: nominal mission
rep0_range_39.endclass.end_x: 29.14060880327211
rep0_range_39.endclass.end_y: -1.754213472272745
rep0_range_39.endclass.endpt: array(2)
rep0_range_40.endclass.rate: 1.0
rep0_range_40.endclass.cost: 0
rep0_range_40.endclass.prob: 0.011764705882352941
rep0_range_40.endclass.expected_cost: 0
rep0_range_40.endclass.in_bound: True
rep0_range_40.endclass.at_finish: False
rep0_range_40.endclass.line_dist: 1
rep0_range_40.endclass.num_modes: 0
rep0_range_40.endclass.end_dist: 4.796434605680536
rep0_range_40.endclass.tot_deviation: 0.1718769398529267
rep0_range_40.endclass.faults: {}
rep0_range_40.endclass.classification: incomplete mission
rep0_range_40.endclass.end_x: 24.43562416078548
rep0_range_40.endclass.end_y: 1.6790813352594796
rep0_range_40.endclass.endpt: array(2)
rep0_range_41.endclass.rate: 1.0
rep0_range_41.endclass.cost: 0
rep0_range_41.endclass.prob: 0.011764705882352941
rep0_range_41.endclass.expected_cost: 0
rep0_range_41.endclass.in_bound: True
rep0_range_41.endclass.at_finish: True
rep0_range_41.endclass.line_dist: 1
rep0_range_41.endclass.num_modes: 0
rep0_range_41.endclass.end_dist: 0.0
rep0_range_41.endclass.tot_deviation: 0.089390407355406
rep0_range_41.endclass.faults: {}
rep0_range_41.endclass.classification: nominal mission
rep0_range_41.endclass.end_x: 29.499710787735783
rep0_range_41.endclass.end_y: 0.7031795984206857
rep0_range_41.endclass.endpt: array(2)
rep0_range_42.endclass.rate: 1.0
rep0_range_42.endclass.cost: 0
rep0_range_42.endclass.prob: 0.011764705882352941
rep0_range_42.endclass.expected_cost: 0
rep0_range_42.endclass.in_bound: True
rep0_range_42.endclass.at_finish: True
rep0_range_42.endclass.line_dist: 1
rep0_range_42.endclass.num_modes: 0
rep0_range_42.endclass.end_dist: 0.0
rep0_range_42.endclass.tot_deviation: 0.04851410792877185
rep0_range_42.endclass.faults: {}
rep0_range_42.endclass.classification: nominal mission
rep0_range_42.endclass.end_x: 29.15183689041273
rep0_range_42.endclass.end_y: -0.7357180582368594
rep0_range_42.endclass.endpt: array(2)
rep0_range_43.endclass.rate: 1.0
rep0_range_43.endclass.cost: 0
rep0_range_43.endclass.prob: 0.011764705882352941
rep0_range_43.endclass.expected_cost: 0
rep0_range_43.endclass.in_bound: True
rep0_range_43.endclass.at_finish: True
rep0_range_43.endclass.line_dist: 1
rep0_range_43.endclass.num_modes: 0
rep0_range_43.endclass.end_dist: 0.0
rep0_range_43.endclass.tot_deviation: 0.021399348812334133
rep0_range_43.endclass.faults: {}
rep0_range_43.endclass.classification: nominal mission
rep0_range_43.endclass.end_x: 29.216795141317544
rep0_range_43.endclass.end_y: -3.982867618902233
rep0_range_43.endclass.endpt: array(2)
rep0_range_44.endclass.rate: 1.0
rep0_range_44.endclass.cost: 0
rep0_range_44.endclass.prob: 0.011764705882352941
rep0_range_44.endclass.expected_cost: 0
rep0_range_44.endclass.in_bound: True
rep0_range_44.endclass.at_finish: True
rep0_range_44.endclass.line_dist: 1
rep0_range_44.endclass.num_modes: 0
rep0_range_44.endclass.end_dist: 0.0
rep0_range_44.endclass.tot_deviation: 0.015112800240589815
rep0_range_44.endclass.faults: {}
rep0_range_44.endclass.classification: nominal mission
rep0_range_44.endclass.end_x: 29.037344989024888
rep0_range_44.endclass.end_y: -1.9584604542297777
rep0_range_44.endclass.endpt: array(2)
rep0_range_45.endclass.rate: 1.0
rep0_range_45.endclass.cost: 0
rep0_range_45.endclass.prob: 0.011764705882352941
rep0_range_45.endclass.expected_cost: 0
rep0_range_45.endclass.in_bound: True
rep0_range_45.endclass.at_finish: False
rep0_range_45.endclass.line_dist: 1
rep0_range_45.endclass.num_modes: 0
rep0_range_45.endclass.end_dist: 8.159540248052002
rep0_range_45.endclass.tot_deviation: 0.17642298651427404
rep0_range_45.endclass.faults: {}
rep0_range_45.endclass.classification: incomplete mission
rep0_range_45.endclass.end_x: 21.904074485238326
rep0_range_45.endclass.end_y: 4.184967598174154
rep0_range_45.endclass.endpt: array(2)
rep0_range_46.endclass.rate: 1.0
rep0_range_46.endclass.cost: 0
rep0_range_46.endclass.prob: 0.011764705882352941
rep0_range_46.endclass.expected_cost: 0
rep0_range_46.endclass.in_bound: True
rep0_range_46.endclass.at_finish: True
rep0_range_46.endclass.line_dist: 1
rep0_range_46.endclass.num_modes: 0
rep0_range_46.endclass.end_dist: 0.0
rep0_range_46.endclass.tot_deviation: 0.09362925739683162
rep0_range_46.endclass.faults: {}
rep0_range_46.endclass.classification: nominal mission
rep0_range_46.endclass.end_x: 29.472057448236693
rep0_range_46.endclass.end_y: 0.8324437751946532
rep0_range_46.endclass.endpt: array(2)
rep0_range_47.endclass.rate: 1.0
rep0_range_47.endclass.cost: 0
rep0_range_47.endclass.prob: 0.011764705882352941
rep0_range_47.endclass.expected_cost: 0
rep0_range_47.endclass.in_bound: True
rep0_range_47.endclass.at_finish: True
rep0_range_47.endclass.line_dist: 1
rep0_range_47.endclass.num_modes: 0
rep0_range_47.endclass.end_dist: 0.0
rep0_range_47.endclass.tot_deviation: 0.05523840411284116
rep0_range_47.endclass.faults: {}
rep0_range_47.endclass.classification: nominal mission
rep0_range_47.endclass.end_x: 29.347957239646547
rep0_range_47.endclass.end_y: -0.6459451241581151
rep0_range_47.endclass.endpt: array(2)
rep0_range_48.endclass.rate: 1.0
rep0_range_48.endclass.cost: 0
rep0_range_48.endclass.prob: 0.011764705882352941
rep0_range_48.endclass.expected_cost: 0
rep0_range_48.endclass.in_bound: True
rep0_range_48.endclass.at_finish: True
rep0_range_48.endclass.line_dist: 1
rep0_range_48.endclass.num_modes: 0
rep0_range_48.endclass.end_dist: 0.0
rep0_range_48.endclass.tot_deviation: 0.027107771695039033
rep0_range_48.endclass.faults: {}
rep0_range_48.endclass.classification: nominal mission
rep0_range_48.endclass.end_x: 29.195053779162567
rep0_range_48.endclass.end_y: -4.480553472177286
rep0_range_48.endclass.endpt: array(2)
rep0_range_49.endclass.rate: 1.0
rep0_range_49.endclass.cost: 0
rep0_range_49.endclass.prob: 0.011764705882352941
rep0_range_49.endclass.expected_cost: 0
rep0_range_49.endclass.in_bound: True
rep0_range_49.endclass.at_finish: True
rep0_range_49.endclass.line_dist: 1
rep0_range_49.endclass.num_modes: 0
rep0_range_49.endclass.end_dist: 0.0
rep0_range_49.endclass.tot_deviation: 0.013128698021386258
rep0_range_49.endclass.faults: {}
rep0_range_49.endclass.classification: nominal mission
rep0_range_49.endclass.end_x: 29.195282489544713
rep0_range_49.endclass.end_y: -2.2705440476057746
rep0_range_49.endclass.endpt: array(2)
rep0_range_50.endclass.rate: 1.0
rep0_range_50.endclass.cost: 0
rep0_range_50.endclass.prob: 0.011764705882352941
rep0_range_50.endclass.expected_cost: 0
rep0_range_50.endclass.in_bound: True
rep0_range_50.endclass.at_finish: False
rep0_range_50.endclass.line_dist: 1
rep0_range_50.endclass.num_modes: 0
rep0_range_50.endclass.end_dist: 8.621391343800537
rep0_range_50.endclass.tot_deviation: 0.19223663123032816
rep0_range_50.endclass.faults: {}
rep0_range_50.endclass.classification: incomplete mission
rep0_range_50.endclass.end_x: 20.35124747887383
rep0_range_50.endclass.end_y: 0.8633544428667195
rep0_range_50.endclass.endpt: array(2)
rep0_range_51.endclass.rate: 1.0
rep0_range_51.endclass.cost: 0
rep0_range_51.endclass.prob: 0.011764705882352941
rep0_range_51.endclass.expected_cost: 0
rep0_range_51.endclass.in_bound: True
rep0_range_51.endclass.at_finish: True
rep0_range_51.endclass.line_dist: 1
rep0_range_51.endclass.num_modes: 0
rep0_range_51.endclass.end_dist: 0.0
rep0_range_51.endclass.tot_deviation: 0.10276433291970202
rep0_range_51.endclass.faults: {}
rep0_range_51.endclass.classification: nominal mission
rep0_range_51.endclass.end_x: 29.558832445428926
rep0_range_51.endclass.end_y: 0.7821513291334509
rep0_range_51.endclass.endpt: array(2)
rep0_range_52.endclass.rate: 1.0
rep0_range_52.endclass.cost: 0
rep0_range_52.endclass.prob: 0.011764705882352941
rep0_range_52.endclass.expected_cost: 0
rep0_range_52.endclass.in_bound: True
rep0_range_52.endclass.at_finish: True
rep0_range_52.endclass.line_dist: 1
rep0_range_52.endclass.num_modes: 0
rep0_range_52.endclass.end_dist: 0.0
rep0_range_52.endclass.tot_deviation: 0.060501672317475934
rep0_range_52.endclass.faults: {}
rep0_range_52.endclass.classification: nominal mission
rep0_range_52.endclass.end_x: 29.23771666028621
rep0_range_52.endclass.end_y: -0.8299853862990831
rep0_range_52.endclass.endpt: array(2)
rep0_range_53.endclass.rate: 1.0
rep0_range_53.endclass.cost: 0
rep0_range_53.endclass.prob: 0.011764705882352941
rep0_range_53.endclass.expected_cost: 0
rep0_range_53.endclass.in_bound: True
rep0_range_53.endclass.at_finish: True
rep0_range_53.endclass.line_dist: 1
rep0_range_53.endclass.num_modes: 0
rep0_range_53.endclass.end_dist: 0.0
rep0_range_53.endclass.tot_deviation: 0.03223606544381252
rep0_range_53.endclass.faults: {}
rep0_range_53.endclass.classification: nominal mission
rep0_range_53.endclass.end_x: 29.114064393459476
rep0_range_53.endclass.end_y: -4.97141529517165
rep0_range_53.endclass.endpt: array(2)
rep0_range_54.endclass.rate: 1.0
rep0_range_54.endclass.cost: 0
rep0_range_54.endclass.prob: 0.011764705882352941
rep0_range_54.endclass.expected_cost: 0
rep0_range_54.endclass.in_bound: True
rep0_range_54.endclass.at_finish: True
rep0_range_54.endclass.line_dist: 1
rep0_range_54.endclass.num_modes: 0
rep0_range_54.endclass.end_dist: 0.0
rep0_range_54.endclass.tot_deviation: 0.016576042731110394
rep0_range_54.endclass.faults: {}
rep0_range_54.endclass.classification: nominal mission
rep0_range_54.endclass.end_x: 29.303595488012697
rep0_range_54.endclass.end_y: -2.5842050284625966
rep0_range_54.endclass.endpt: array(2)
rep0_range_55.endclass.rate: 1.0
rep0_range_55.endclass.cost: 0
rep0_range_55.endclass.prob: 0.011764705882352941
rep0_range_55.endclass.expected_cost: 0
rep0_range_55.endclass.in_bound: False
rep0_range_55.endclass.at_finish: False
rep0_range_55.endclass.line_dist: 1
rep0_range_55.endclass.num_modes: 0
rep0_range_55.endclass.end_dist: 11.54409096763301
rep0_range_55.endclass.tot_deviation: 0.20001736233060288
rep0_range_55.endclass.faults: {}
rep0_range_55.endclass.classification: incomplete mission
rep0_range_55.endclass.end_x: 18.315635242908417
rep0_range_55.endclass.end_y: -5.157488485132333
rep0_range_55.endclass.endpt: array(2)
rep0_range_56.endclass.rate: 1.0
rep0_range_56.endclass.cost: 0
rep0_range_56.endclass.prob: 0.011764705882352941
rep0_range_56.endclass.expected_cost: 0
rep0_range_56.endclass.in_bound: True
rep0_range_56.endclass.at_finish: True
rep0_range_56.endclass.line_dist: 1
rep0_range_56.endclass.num_modes: 0
rep0_range_56.endclass.end_dist: 0.0
rep0_range_56.endclass.tot_deviation: 0.10976061305075449
rep0_range_56.endclass.faults: {}
rep0_range_56.endclass.classification: nominal mission
rep0_range_56.endclass.end_x: 29.592755394685636
rep0_range_56.endclass.end_y: 0.8001113444364056
rep0_range_56.endclass.endpt: array(2)
rep0_range_57.endclass.rate: 1.0
rep0_range_57.endclass.cost: 0
rep0_range_57.endclass.prob: 0.011764705882352941
rep0_range_57.endclass.expected_cost: 0
rep0_range_57.endclass.in_bound: True
rep0_range_57.endclass.at_finish: True
rep0_range_57.endclass.line_dist: 1
rep0_range_57.endclass.num_modes: 0
rep0_range_57.endclass.end_dist: 0.0
rep0_range_57.endclass.tot_deviation: 0.06539432566375045
rep0_range_57.endclass.faults: {}
rep0_range_57.endclass.classification: nominal mission
rep0_range_57.endclass.end_x: 29.31319210776906
rep0_range_57.endclass.end_y: -0.8268760905770671
rep0_range_57.endclass.endpt: array(2)
rep0_range_58.endclass.rate: 1.0
rep0_range_58.endclass.cost: 0
rep0_range_58.endclass.prob: 0.011764705882352941
rep0_range_58.endclass.expected_cost: 0
rep0_range_58.endclass.in_bound: True
rep0_range_58.endclass.at_finish: True
rep0_range_58.endclass.line_dist: 1
rep0_range_58.endclass.num_modes: 0
rep0_range_58.endclass.end_dist: 0.0
rep0_range_58.endclass.tot_deviation: 0.03632176954016553
rep0_range_58.endclass.faults: {}
rep0_range_58.endclass.classification: nominal mission
rep0_range_58.endclass.end_x: 28.98440092513973
rep0_range_58.endclass.end_y: -5.450945905963565
rep0_range_58.endclass.endpt: array(2)
rep0_range_59.endclass.rate: 1.0
rep0_range_59.endclass.cost: 0
rep0_range_59.endclass.prob: 0.011764705882352941
rep0_range_59.endclass.expected_cost: 0
rep0_range_59.endclass.in_bound: True
rep0_range_59.endclass.at_finish: True
rep0_range_59.endclass.line_dist: 1
rep0_range_59.endclass.num_modes: 0
rep0_range_59.endclass.end_dist: 0.0
rep0_range_59.endclass.tot_deviation: 0.020278746383925902
rep0_range_59.endclass.faults: {}
rep0_range_59.endclass.classification: nominal mission
rep0_range_59.endclass.end_x: 29.08254111086972
rep0_range_59.endclass.end_y: -2.7068971005127866
rep0_range_59.endclass.endpt: array(2)
rep0_range_60.endclass.rate: 1.0
rep0_range_60.endclass.cost: 0
rep0_range_60.endclass.prob: 0.011764705882352941
rep0_range_60.endclass.expected_cost: 0
rep0_range_60.endclass.in_bound: False
rep0_range_60.endclass.at_finish: False
rep0_range_60.endclass.line_dist: 1
rep0_range_60.endclass.num_modes: 0
rep0_range_60.endclass.end_dist: 26.345580095871306
rep0_range_60.endclass.tot_deviation: 0.20338367346864575
rep0_range_60.endclass.faults: {}
rep0_range_60.endclass.classification: incomplete mission
rep0_range_60.endclass.end_x: 3.244172048054306
rep0_range_60.endclass.end_y: 5.724426649145389
rep0_range_60.endclass.endpt: array(2)
rep0_range_61.endclass.rate: 1.0
rep0_range_61.endclass.cost: 0
rep0_range_61.endclass.prob: 0.011764705882352941
rep0_range_61.endclass.expected_cost: 0
rep0_range_61.endclass.in_bound: True
rep0_range_61.endclass.at_finish: True
rep0_range_61.endclass.line_dist: 1
rep0_range_61.endclass.num_modes: 0
rep0_range_61.endclass.end_dist: 0.0
rep0_range_61.endclass.tot_deviation: 0.11540617233743503
rep0_range_61.endclass.faults: {}
rep0_range_61.endclass.classification: nominal mission
rep0_range_61.endclass.end_x: 29.583329136273232
rep0_range_61.endclass.end_y: 0.8720821348409515
rep0_range_61.endclass.endpt: array(2)
rep0_range_62.endclass.rate: 1.0
rep0_range_62.endclass.cost: 0
rep0_range_62.endclass.prob: 0.011764705882352941
rep0_range_62.endclass.expected_cost: 0
rep0_range_62.endclass.in_bound: True
rep0_range_62.endclass.at_finish: True
rep0_range_62.endclass.line_dist: 1
rep0_range_62.endclass.num_modes: 0
rep0_range_62.endclass.end_dist: 0.0
rep0_range_62.endclass.tot_deviation: 0.07052979148498371
rep0_range_62.endclass.faults: {}
rep0_range_62.endclass.classification: nominal mission
rep0_range_62.endclass.end_x: 29.34401041748718
rep0_range_62.endclass.end_y: -0.8644398197636842
rep0_range_62.endclass.endpt: array(2)
rep0_range_63.endclass.rate: 1.0
rep0_range_63.endclass.cost: 0
rep0_range_63.endclass.prob: 0.011764705882352941
rep0_range_63.endclass.expected_cost: 0
rep0_range_63.endclass.in_bound: True
rep0_range_63.endclass.at_finish: True
rep0_range_63.endclass.line_dist: 1
rep0_range_63.endclass.num_modes: 0
rep0_range_63.endclass.end_dist: 0.0
rep0_range_63.endclass.tot_deviation: 0.041055902419956415
rep0_range_63.endclass.faults: {}
rep0_range_63.endclass.classification: nominal mission
rep0_range_63.endclass.end_x: 29.132488571587903
rep0_range_63.endclass.end_y: -5.969042055913237
rep0_range_63.endclass.endpt: array(2)
rep0_range_64.endclass.rate: 1.0
rep0_range_64.endclass.cost: 0
rep0_range_64.endclass.prob: 0.011764705882352941
rep0_range_64.endclass.expected_cost: 0
rep0_range_64.endclass.in_bound: True
rep0_range_64.endclass.at_finish: True
rep0_range_64.endclass.line_dist: 1
rep0_range_64.endclass.num_modes: 0
rep0_range_64.endclass.end_dist: 0.0
rep0_range_64.endclass.tot_deviation: 0.024145794288878388
rep0_range_64.endclass.faults: {}
rep0_range_64.endclass.classification: nominal mission
rep0_range_64.endclass.end_x: 29.115397290789332
rep0_range_64.endclass.end_y: -2.9764674834001332
rep0_range_64.endclass.endpt: array(2)
rep0_range_65.endclass.rate: 1.0
rep0_range_65.endclass.cost: 0
rep0_range_65.endclass.prob: 0.011764705882352941
rep0_range_65.endclass.expected_cost: 0
rep0_range_65.endclass.in_bound: False
rep0_range_65.endclass.at_finish: False
rep0_range_65.endclass.line_dist: 1
rep0_range_65.endclass.num_modes: 0
rep0_range_65.endclass.end_dist: 26.57966178555577
rep0_range_65.endclass.tot_deviation: 0.20284704935506792
rep0_range_65.endclass.faults: {}
rep0_range_65.endclass.classification: incomplete mission
rep0_range_65.endclass.end_x: 3.1534563435982577
rep0_range_65.endclass.end_y: 6.314525096143149
rep0_range_65.endclass.endpt: array(2)
rep0_range_66.endclass.rate: 1.0
rep0_range_66.endclass.cost: 0
rep0_range_66.endclass.prob: 0.011764705882352941
rep0_range_66.endclass.expected_cost: 0
rep0_range_66.endclass.in_bound: True
rep0_range_66.endclass.at_finish: False
rep0_range_66.endclass.line_dist: 1
rep0_range_66.endclass.num_modes: 0
rep0_range_66.endclass.end_dist: 2.198881636367323
rep0_range_66.endclass.tot_deviation: 0.11854376111531574
rep0_range_66.endclass.faults: {}
rep0_range_66.endclass.classification: incomplete mission
rep0_range_66.endclass.end_x: 28.504283016988044
rep0_range_66.endclass.end_y: 3.0813402802537593
rep0_range_66.endclass.endpt: array(2)
rep0_range_67.endclass.rate: 1.0
rep0_range_67.endclass.cost: 0
rep0_range_67.endclass.prob: 0.011764705882352941
rep0_range_67.endclass.expected_cost: 0
rep0_range_67.endclass.in_bound: True
rep0_range_67.endclass.at_finish: True
rep0_range_67.endclass.line_dist: 1
rep0_range_67.endclass.num_modes: 0
rep0_range_67.endclass.end_dist: 0.0
rep0_range_67.endclass.tot_deviation: 0.0771081674675882
rep0_range_67.endclass.faults: {}
rep0_range_67.endclass.classification: nominal mission
rep0_range_67.endclass.end_x: 29.336048086964233
rep0_range_67.endclass.end_y: -0.9457348531805283
rep0_range_67.endclass.endpt: array(2)
rep0_range_68.endclass.rate: 1.0
rep0_range_68.endclass.cost: 0
rep0_range_68.endclass.prob: 0.011764705882352941
rep0_range_68.endclass.expected_cost: 0
rep0_range_68.endclass.in_bound: True
rep0_range_68.endclass.at_finish: True
rep0_range_68.endclass.line_dist: 1
rep0_range_68.endclass.num_modes: 0
rep0_range_68.endclass.end_dist: 0.0
rep0_range_68.endclass.tot_deviation: 0.04474820768614523
rep0_range_68.endclass.faults: {}
rep0_range_68.endclass.classification: nominal mission
rep0_range_68.endclass.end_x: 28.908813125338703
rep0_range_68.endclass.end_y: -6.4304668406770125
rep0_range_68.endclass.endpt: array(2)
rep0_range_69.endclass.rate: 1.0
rep0_range_69.endclass.cost: 0
rep0_range_69.endclass.prob: 0.011764705882352941
rep0_range_69.endclass.expected_cost: 0
rep0_range_69.endclass.in_bound: True
rep0_range_69.endclass.at_finish: True
rep0_range_69.endclass.line_dist: 1
rep0_range_69.endclass.num_modes: 0
rep0_range_69.endclass.end_dist: 0.0
rep0_range_69.endclass.tot_deviation: 0.028115646146894564
rep0_range_69.endclass.faults: {}
rep0_range_69.endclass.classification: nominal mission
rep0_range_69.endclass.end_x: 29.116436099060007
rep0_range_69.endclass.end_y: -3.225055887229985
rep0_range_69.endclass.endpt: array(2)
rep0_range_70.endclass.rate: 1.0
rep0_range_70.endclass.cost: 0
rep0_range_70.endclass.prob: 0.011764705882352941
rep0_range_70.endclass.expected_cost: 0
rep0_range_70.endclass.in_bound: False
rep0_range_70.endclass.at_finish: False
rep0_range_70.endclass.line_dist: 1
rep0_range_70.endclass.num_modes: 0
rep0_range_70.endclass.end_dist: 26.823138110731406
rep0_range_70.endclass.tot_deviation: 0.20645065180004699
rep0_range_70.endclass.faults: {}
rep0_range_70.endclass.classification: incomplete mission
rep0_range_70.endclass.end_x: 3.064238683651353
rep0_range_70.endclass.end_y: 6.905349736476489
rep0_range_70.endclass.endpt: array(2)
rep0_range_71.endclass.rate: 1.0
rep0_range_71.endclass.cost: 0
rep0_range_71.endclass.prob: 0.011764705882352941
rep0_range_71.endclass.expected_cost: 0
rep0_range_71.endclass.in_bound: True
rep0_range_71.endclass.at_finish: False
rep0_range_71.endclass.line_dist: 1
rep0_range_71.endclass.num_modes: 0
rep0_range_71.endclass.end_dist: 4.706638544330022
rep0_range_71.endclass.tot_deviation: 0.12755065536085175
rep0_range_71.endclass.faults: {}
rep0_range_71.endclass.classification: incomplete mission
rep0_range_71.endclass.end_x: 27.36719115123559
rep0_range_71.endclass.end_y: 5.332993393422351
rep0_range_71.endclass.endpt: array(2)
rep0_range_72.endclass.rate: 1.0
rep0_range_72.endclass.cost: 0
rep0_range_72.endclass.prob: 0.011764705882352941
rep0_range_72.endclass.expected_cost: 0
rep0_range_72.endclass.in_bound: True
rep0_range_72.endclass.at_finish: True
rep0_range_72.endclass.line_dist: 1
rep0_range_72.endclass.num_modes: 0
rep0_range_72.endclass.end_dist: 0.0
rep0_range_72.endclass.tot_deviation: 0.08241168312823173
rep0_range_72.endclass.faults: {}
rep0_range_72.endclass.classification: nominal mission
rep0_range_72.endclass.end_x: 29.48765747739592
rep0_range_72.endclass.end_y: -0.7904473109208641
rep0_range_72.endclass.endpt: array(2)
rep0_range_73.endclass.rate: 1.0
rep0_range_73.endclass.cost: 0
rep0_range_73.endclass.prob: 0.011764705882352941
rep0_range_73.endclass.expected_cost: 0
rep0_range_73.endclass.in_bound: True
rep0_range_73.endclass.at_finish: True
rep0_range_73.endclass.line_dist: 1
rep0_range_73.endclass.num_modes: 0
rep0_range_73.endclass.end_dist: 0.0
rep0_range_73.endclass.tot_deviation: 0.048906467417241244
rep0_range_73.endclass.faults: {}
rep0_range_73.endclass.classification: nominal mission
rep0_range_73.endclass.end_x: 28.971267111905096
rep0_range_73.endclass.end_y: -6.936898211758005
rep0_range_73.endclass.endpt: array(2)
rep0_range_74.endclass.rate: 1.0
rep0_range_74.endclass.cost: 0
rep0_range_74.endclass.prob: 0.011764705882352941
rep0_range_74.endclass.expected_cost: 0
rep0_range_74.endclass.in_bound: True
rep0_range_74.endclass.at_finish: True
rep0_range_74.endclass.line_dist: 1
rep0_range_74.endclass.num_modes: 0
rep0_range_74.endclass.end_dist: 0.0
rep0_range_74.endclass.tot_deviation: 0.03213489486981362
rep0_range_74.endclass.faults: {}
rep0_range_74.endclass.classification: nominal mission
rep0_range_74.endclass.end_x: 29.355563239023194
rep0_range_74.endclass.end_y: -3.6557764559372896
rep0_range_74.endclass.endpt: array(2)
rep0_range_75.endclass.rate: 1.0
rep0_range_75.endclass.cost: 0
rep0_range_75.endclass.prob: 0.011764705882352941
rep0_range_75.endclass.expected_cost: 0
rep0_range_75.endclass.in_bound: False
rep0_range_75.endclass.at_finish: False
rep0_range_75.endclass.line_dist: 1
rep0_range_75.endclass.num_modes: 0
rep0_range_75.endclass.end_dist: 27.100934207948242
rep0_range_75.endclass.tot_deviation: 0.20616476938507275
rep0_range_75.endclass.faults: {}
rep0_range_75.endclass.classification: incomplete mission
rep0_range_75.endclass.end_x: 2.9544758962846203
rep0_range_75.endclass.end_y: 7.504025499000269
rep0_range_75.endclass.endpt: array(2)
rep0_range_76.endclass.rate: 1.0
rep0_range_76.endclass.cost: 0
rep0_range_76.endclass.prob: 0.011764705882352941
rep0_range_76.endclass.expected_cost: 0
rep0_range_76.endclass.in_bound: True
rep0_range_76.endclass.at_finish: False
rep0_range_76.endclass.line_dist: 1
rep0_range_76.endclass.num_modes: 0
rep0_range_76.endclass.end_dist: 7.172076922667674
rep0_range_76.endclass.tot_deviation: 0.13077214484659536
rep0_range_76.endclass.faults: {}
rep0_range_76.endclass.classification: incomplete mission
rep0_range_76.endclass.end_x: 25.895516761943107
rep0_range_76.endclass.end_y: 7.358975113627673
rep0_range_76.endclass.endpt: array(2)
rep0_range_77.endclass.rate: 1.0
rep0_range_77.endclass.cost: 0
rep0_range_77.endclass.prob: 0.011764705882352941
rep0_range_77.endclass.expected_cost: 0
rep0_range_77.endclass.in_bound: True
rep0_range_77.endclass.at_finish: True
rep0_range_77.endclass.line_dist: 1
rep0_range_77.endclass.num_modes: 0
rep0_range_77.endclass.end_dist: 0.0
rep0_range_77.endclass.tot_deviation: 0.08645760722947114
rep0_range_77.endclass.faults: {}
rep0_range_77.endclass.classification: nominal mission
rep0_range_77.endclass.end_x: 29.425951628409738
rep0_range_77.endclass.end_y: -0.9372430125336007
rep0_range_77.endclass.endpt: array(2)
rep0_range_78.endclass.rate: 1.0
rep0_range_78.endclass.cost: 0
rep0_range_78.endclass.prob: 0.011764705882352941
rep0_range_78.endclass.expected_cost: 0
rep0_range_78.endclass.in_bound: True
rep0_range_78.endclass.at_finish: True
rep0_range_78.endclass.line_dist: 1
rep0_range_78.endclass.num_modes: 0
rep0_range_78.endclass.end_dist: 0.0
rep0_range_78.endclass.tot_deviation: 0.05242733460217779
rep0_range_78.endclass.faults: {}
rep0_range_78.endclass.classification: nominal mission
rep0_range_78.endclass.end_x: 28.99668482843865
rep0_range_78.endclass.end_y: -7.438957825123864
rep0_range_78.endclass.endpt: array(2)
rep0_range_79.endclass.rate: 1.0
rep0_range_79.endclass.cost: 0
rep0_range_79.endclass.prob: 0.011764705882352941
rep0_range_79.endclass.expected_cost: 0
rep0_range_79.endclass.in_bound: True
rep0_range_79.endclass.at_finish: True
rep0_range_79.endclass.line_dist: 1
rep0_range_79.endclass.num_modes: 0
rep0_range_79.endclass.end_dist: 0.0
rep0_range_79.endclass.tot_deviation: 0.03615875502895397
rep0_range_79.endclass.faults: {}
rep0_range_79.endclass.classification: nominal mission
rep0_range_79.endclass.end_x: 29.296223597696212
rep0_range_79.endclass.end_y: -3.868440839854516
rep0_range_79.endclass.endpt: array(2)
rep0_range_80.endclass.rate: 1.0
rep0_range_80.endclass.cost: 0
rep0_range_80.endclass.prob: 0.011764705882352941
rep0_range_80.endclass.expected_cost: 0
rep0_range_80.endclass.in_bound: False
rep0_range_80.endclass.at_finish: False
rep0_range_80.endclass.line_dist: 1
rep0_range_80.endclass.num_modes: 0
rep0_range_80.endclass.end_dist: 27.10663026149649
rep0_range_80.endclass.tot_deviation: 0.2291470953234815
rep0_range_80.endclass.faults: {}
rep0_range_80.endclass.classification: incomplete mission
rep0_range_80.endclass.end_x: 3.0769258596114826
rep0_range_80.endclass.end_y: 7.894286824166977
rep0_range_80.endclass.endpt: array(2)
rep0_range_81.endclass.rate: 1.0
rep0_range_81.endclass.cost: 0
rep0_range_81.endclass.prob: 0.011764705882352941
rep0_range_81.endclass.expected_cost: 0
rep0_range_81.endclass.in_bound: True
rep0_range_81.endclass.at_finish: False
rep0_range_81.endclass.line_dist: 1
rep0_range_81.endclass.num_modes: 0
rep0_range_81.endclass.end_dist: 8.451600957356657
rep0_range_81.endclass.tot_deviation: 0.13644617918369573
rep0_range_81.endclass.faults: {}
rep0_range_81.endclass.classification: incomplete mission
rep0_range_81.endclass.end_x: 23.92486026024334
rep0_range_81.endclass.end_y: 7.57456263046494
rep0_range_81.endclass.endpt: array(2)
rep0_range_82.endclass.rate: 1.0
rep0_range_82.endclass.cost: 0
rep0_range_82.endclass.prob: 0.011764705882352941
rep0_range_82.endclass.expected_cost: 0
rep0_range_82.endclass.in_bound: True
rep0_range_82.endclass.at_finish: True
rep0_range_82.endclass.line_dist: 1
rep0_range_82.endclass.num_modes: 0
rep0_range_82.endclass.end_dist: 0.0
rep0_range_82.endclass.tot_deviation: 0.08966577184875783
rep0_range_82.endclass.faults: {}
rep0_range_82.endclass.classification: nominal mission
rep0_range_82.endclass.end_x: 29.517328157372404
rep0_range_82.endclass.end_y: -0.8402492510690385
rep0_range_82.endclass.endpt: array(2)
rep0_range_83.endclass.rate: 1.0
rep0_range_83.endclass.cost: 0
rep0_range_83.endclass.prob: 0.011764705882352941
rep0_range_83.endclass.expected_cost: 0
rep0_range_83.endclass.in_bound: True
rep0_range_83.endclass.at_finish: True
rep0_range_83.endclass.line_dist: 1
rep0_range_83.endclass.num_modes: 0
rep0_range_83.endclass.end_dist: 0.0
rep0_range_83.endclass.tot_deviation: 0.055920369123655764
rep0_range_83.endclass.faults: {}
rep0_range_83.endclass.classification: nominal mission
rep0_range_83.endclass.end_x: 28.989660201763556
rep0_range_83.endclass.end_y: -7.932951735588295
rep0_range_83.endclass.endpt: array(2)
rep0_range_84.endclass.rate: 1.0
rep0_range_84.endclass.cost: 0
rep0_range_84.endclass.prob: 0.011764705882352941
rep0_range_84.endclass.expected_cost: 0
rep0_range_84.endclass.in_bound: True
rep0_range_84.endclass.at_finish: True
rep0_range_84.endclass.line_dist: 1
rep0_range_84.endclass.num_modes: 0
rep0_range_84.endclass.end_dist: 0.0
rep0_range_84.endclass.tot_deviation: 0.04015079601641714
rep0_range_84.endclass.faults: {}
rep0_range_84.endclass.classification: nominal mission
rep0_range_84.endclass.end_x: 29.22108539365357
rep0_range_84.endclass.end_y: -4.057941864347776
rep0_range_84.endclass.endpt: array(2)
To speed up execution over large numbers of scenarios, multiprocessing can also be used to run the scenarios in parallel by passing an execution pool. This is not done here because it would require the model to be in a different file, and because the gains on a light-weight model like this are not significant.
Now that the approach has been simulated, the operational envelope can be visualized using the fmdtools.analyze.tabulate.NominalEnvelope class, which can be used to plot the classification of the model in the 1/2/3 dimensions over the set of given parameters as nominal or incomplete.
Note that this classification must be in the dictionary returned from the Model’s find_classification function at the end of the model run under the key classification as is done in the rover model. This classification must also be encoded as a string.
[13]:
from fmdtools.analyze.tabulate import NominalEnvelope
We can then use these results to visualize the operational envelope for the system over each case. In this case, the parameter ranges of the sine wave are plotted, showing that the rover can only a low ration of amplitude to wavelenght.
[14]:
ne = NominalEnvelope(ps_sine, res, 'at_finish', 'p.ground.amp', 'p.ground.period', func=lambda x: x == True)
ne.as_plot()
[14]:
(<Figure size 600x400 with 1 Axes>,
<Axes: xlabel='p.ground.amp', ylabel='p.ground.period'>)
While this is helpful for plotting string classifications, we also might want to compare numeric quantities (e.g., costs, hazard probabilities, etc) over the set of factors. For this, fmdtools.analyze.tabulate.Comparison is used, which creates a comparison which can be visualized as a table or plot.
[15]:
from fmdtools.analyze.tabulate import Comparison
comp = Comparison(res, ps_sine, metrics=['end_dist', 'tot_deviation'], factors=['p.ground.amp', 'p.ground.period'])
comp.sort_by_metric("end_dist")
comp.as_table()
[15]:
| end_dist | tot_deviation | ||
|---|---|---|---|
| 8.0 | 10 | 27.106630 | 0.229147 |
| 7.0 | 10 | 26.823138 | 0.206451 |
| 7.5 | 10 | 27.100934 | 0.206165 |
| 6.0 | 10 | 26.345580 | 0.203384 |
| 6.5 | 10 | 26.579662 | 0.202847 |
| ... | ... | ... | ... |
| 0.0 | 30 | 0.000000 | 0.000000 |
| 20 | 0.000000 | 0.000000 | |
| 40 | 0.000000 | 0.000000 | |
| 10 | 0.000000 | 0.000000 | |
| 50 | 0.000000 | 0.000000 |
85 rows × 2 columns
[16]:
comp.sort_by_factor("p.ground.period", reverse=True)
comp.sort_by_factor("p.ground.amp")
fig, ax = comp.as_plot("end_dist", color_factor = "p.ground.period", figsize=(20, 1))
This table can also be summarized on individual factors:
[17]:
scomp = Comparison(res, ps_sine, metrics=['end_dist'], factors=['p.ground.amp'])
scomp.sort_by_factor('p.ground.amp')
scomp.as_table()
[17]:
| end_dist | |
|---|---|
| 8.0 | 35.558231 |
| 7.5 | 34.273011 |
| 7.0 | 31.529777 |
| 6.5 | 28.778543 |
| 6.0 | 26.345580 |
| 5.5 | 11.544091 |
| 5.0 | 8.621391 |
| 4.5 | 8.159540 |
| 4.0 | 4.796435 |
| 3.5 | 3.249137 |
| 3.0 | 0.170197 |
| 0.5 | 0.000000 |
| 2.5 | 0.000000 |
| 2.0 | 0.000000 |
| 1.5 | 0.000000 |
| 1.0 | 0.000000 |
| 0.0 | 0.000000 |
[18]:
scomp.as_plot("end_dist")
[18]:
(<Figure size 600x400 with 1 Axes>, <Axes: xlabel='p.ground.amp'>)
Quantifying probabilities
Given the ability to simulate over ranges, it can additionally be used to quantify probabilities of the different end-state classifications. Result.state_probabilities() can be used to quantify the probability these classifications.
[19]:
res.state_probabilities()
[19]:
{'nominal mission': 0.8235294117647052,
'incomplete mission': 0.17647058823529416}
Nested Scenario Sampling
Thus far, we have introduced two types of samples - FaultSample, which is used to evaluate the system resilience to a set of faults - ParameterSample, which is used to evaluate system performance over a set of parameters
These both have their limitations when used alone. Simulating a FaultSample using propagate.fault_sample solely evaluates evaluates fault-driven hazards in a single nominal set of parameters (which may not generalize) while simulating a ParameterSample using propagate.parameter_sample evaluates the systerm performance/resilience to external parameters (But not faults).
To resolve these limitations, one can use a nested scenario sampling approach where a SampleApproach is simulated at each parameter level of a ParameterSample, giving the resilience of the system to faults over a set of operational parameters. This is called using the propagate.nested_sample method.
Here we use the nominal approach generated earlier with a default sampling approach to quantify resilience.
[20]:
from fmdtools.sim.sample import SampleApproach
sa = SampleApproach(mdl)
# adding fault domains
sa.add_faultdomain("power", "all_fxn_modes", "power")
sa.add_faultsample("power", "fault_times", "power", [1,2])
sa
[20]:
SampleApproach for rover with:
faultdomains: power
faultsamples: power
[21]:
nest_res, nest_hist, apps = prop.nested_sample(mdl, ps_sine,
faultdomains = {"power": (('all_fxn_modes', 'power'), {})},
faultsamples = {"power": (("fault_times", "power", [1,2]), {})})
NESTED SCENARIOS COMPLETE: 100%|██████████| 85/85 [01:12<00:00, 1.17it/s]
The resulting endclass/mdlhist dictionary is in turn nested within operational scenarios.
[22]:
nest_res.keys()
[22]:
dict_keys(['rep0_range_0.power_no_charge_t1.endclass.rate', 'rep0_range_0.power_no_charge_t1.endclass.cost', 'rep0_range_0.power_no_charge_t1.endclass.prob', 'rep0_range_0.power_no_charge_t1.endclass.expected_cost', 'rep0_range_0.power_no_charge_t1.endclass.in_bound', 'rep0_range_0.power_no_charge_t1.endclass.at_finish', 'rep0_range_0.power_no_charge_t1.endclass.line_dist', 'rep0_range_0.power_no_charge_t1.endclass.num_modes', 'rep0_range_0.power_no_charge_t1.endclass.end_dist', 'rep0_range_0.power_no_charge_t1.endclass.tot_deviation', 'rep0_range_0.power_no_charge_t1.endclass.faults', 'rep0_range_0.power_no_charge_t1.endclass.classification', 'rep0_range_0.power_no_charge_t1.endclass.end_x', 'rep0_range_0.power_no_charge_t1.endclass.end_y', 'rep0_range_0.power_no_charge_t1.endclass.endpt', 'rep0_range_0.power_no_charge_t2.endclass.rate', 'rep0_range_0.power_no_charge_t2.endclass.cost', 'rep0_range_0.power_no_charge_t2.endclass.prob', 'rep0_range_0.power_no_charge_t2.endclass.expected_cost', 'rep0_range_0.power_no_charge_t2.endclass.in_bound', 'rep0_range_0.power_no_charge_t2.endclass.at_finish', 'rep0_range_0.power_no_charge_t2.endclass.line_dist', 'rep0_range_0.power_no_charge_t2.endclass.num_modes', 'rep0_range_0.power_no_charge_t2.endclass.end_dist', 'rep0_range_0.power_no_charge_t2.endclass.tot_deviation', 'rep0_range_0.power_no_charge_t2.endclass.faults', 'rep0_range_0.power_no_charge_t2.endclass.classification', 'rep0_range_0.power_no_charge_t2.endclass.end_x', 'rep0_range_0.power_no_charge_t2.endclass.end_y', 'rep0_range_0.power_no_charge_t2.endclass.endpt', 'rep0_range_0.power_short_t1.endclass.rate', 'rep0_range_0.power_short_t1.endclass.cost', 'rep0_range_0.power_short_t1.endclass.prob', 'rep0_range_0.power_short_t1.endclass.expected_cost', 'rep0_range_0.power_short_t1.endclass.in_bound', 'rep0_range_0.power_short_t1.endclass.at_finish', 'rep0_range_0.power_short_t1.endclass.line_dist', 'rep0_range_0.power_short_t1.endclass.num_modes', 'rep0_range_0.power_short_t1.endclass.end_dist', 'rep0_range_0.power_short_t1.endclass.tot_deviation', 'rep0_range_0.power_short_t1.endclass.faults', 'rep0_range_0.power_short_t1.endclass.classification', 'rep0_range_0.power_short_t1.endclass.end_x', 'rep0_range_0.power_short_t1.endclass.end_y', 'rep0_range_0.power_short_t1.endclass.endpt', 'rep0_range_0.power_short_t2.endclass.rate', 'rep0_range_0.power_short_t2.endclass.cost', 'rep0_range_0.power_short_t2.endclass.prob', 'rep0_range_0.power_short_t2.endclass.expected_cost', 'rep0_range_0.power_short_t2.endclass.in_bound', 'rep0_range_0.power_short_t2.endclass.at_finish', 'rep0_range_0.power_short_t2.endclass.line_dist', 'rep0_range_0.power_short_t2.endclass.num_modes', 'rep0_range_0.power_short_t2.endclass.end_dist', 'rep0_range_0.power_short_t2.endclass.tot_deviation', 'rep0_range_0.power_short_t2.endclass.faults', 'rep0_range_0.power_short_t2.endclass.classification', 'rep0_range_0.power_short_t2.endclass.end_x', 'rep0_range_0.power_short_t2.endclass.end_y', 'rep0_range_0.power_short_t2.endclass.endpt', 'rep0_range_0.nominal.endclass.rate', 'rep0_range_0.nominal.endclass.cost', 'rep0_range_0.nominal.endclass.prob', 'rep0_range_0.nominal.endclass.expected_cost', 'rep0_range_0.nominal.endclass.in_bound', 'rep0_range_0.nominal.endclass.at_finish', 'rep0_range_0.nominal.endclass.line_dist', 'rep0_range_0.nominal.endclass.num_modes', 'rep0_range_0.nominal.endclass.end_dist', 'rep0_range_0.nominal.endclass.tot_deviation', 'rep0_range_0.nominal.endclass.faults', 'rep0_range_0.nominal.endclass.classification', 'rep0_range_0.nominal.endclass.end_x', 'rep0_range_0.nominal.endclass.end_y', 'rep0_range_0.nominal.endclass.endpt', 'rep0_range_1.power_no_charge_t1.endclass.rate', 'rep0_range_1.power_no_charge_t1.endclass.cost', 'rep0_range_1.power_no_charge_t1.endclass.prob', 'rep0_range_1.power_no_charge_t1.endclass.expected_cost', 'rep0_range_1.power_no_charge_t1.endclass.in_bound', 'rep0_range_1.power_no_charge_t1.endclass.at_finish', 'rep0_range_1.power_no_charge_t1.endclass.line_dist', 'rep0_range_1.power_no_charge_t1.endclass.num_modes', 'rep0_range_1.power_no_charge_t1.endclass.end_dist', 'rep0_range_1.power_no_charge_t1.endclass.tot_deviation', 'rep0_range_1.power_no_charge_t1.endclass.faults', 'rep0_range_1.power_no_charge_t1.endclass.classification', 'rep0_range_1.power_no_charge_t1.endclass.end_x', 'rep0_range_1.power_no_charge_t1.endclass.end_y', 'rep0_range_1.power_no_charge_t1.endclass.endpt', 'rep0_range_1.power_no_charge_t2.endclass.rate', 'rep0_range_1.power_no_charge_t2.endclass.cost', 'rep0_range_1.power_no_charge_t2.endclass.prob', 'rep0_range_1.power_no_charge_t2.endclass.expected_cost', 'rep0_range_1.power_no_charge_t2.endclass.in_bound', 'rep0_range_1.power_no_charge_t2.endclass.at_finish', 'rep0_range_1.power_no_charge_t2.endclass.line_dist', 'rep0_range_1.power_no_charge_t2.endclass.num_modes', 'rep0_range_1.power_no_charge_t2.endclass.end_dist', 'rep0_range_1.power_no_charge_t2.endclass.tot_deviation', 'rep0_range_1.power_no_charge_t2.endclass.faults', 'rep0_range_1.power_no_charge_t2.endclass.classification', 'rep0_range_1.power_no_charge_t2.endclass.end_x', 'rep0_range_1.power_no_charge_t2.endclass.end_y', 'rep0_range_1.power_no_charge_t2.endclass.endpt', 'rep0_range_1.power_short_t1.endclass.rate', 'rep0_range_1.power_short_t1.endclass.cost', 'rep0_range_1.power_short_t1.endclass.prob', 'rep0_range_1.power_short_t1.endclass.expected_cost', 'rep0_range_1.power_short_t1.endclass.in_bound', 'rep0_range_1.power_short_t1.endclass.at_finish', 'rep0_range_1.power_short_t1.endclass.line_dist', 'rep0_range_1.power_short_t1.endclass.num_modes', 'rep0_range_1.power_short_t1.endclass.end_dist', 'rep0_range_1.power_short_t1.endclass.tot_deviation', 'rep0_range_1.power_short_t1.endclass.faults', 'rep0_range_1.power_short_t1.endclass.classification', 'rep0_range_1.power_short_t1.endclass.end_x', 'rep0_range_1.power_short_t1.endclass.end_y', 'rep0_range_1.power_short_t1.endclass.endpt', 'rep0_range_1.power_short_t2.endclass.rate', 'rep0_range_1.power_short_t2.endclass.cost', 'rep0_range_1.power_short_t2.endclass.prob', 'rep0_range_1.power_short_t2.endclass.expected_cost', 'rep0_range_1.power_short_t2.endclass.in_bound', 'rep0_range_1.power_short_t2.endclass.at_finish', 'rep0_range_1.power_short_t2.endclass.line_dist', 'rep0_range_1.power_short_t2.endclass.num_modes', 'rep0_range_1.power_short_t2.endclass.end_dist', 'rep0_range_1.power_short_t2.endclass.tot_deviation', 'rep0_range_1.power_short_t2.endclass.faults', 'rep0_range_1.power_short_t2.endclass.classification', 'rep0_range_1.power_short_t2.endclass.end_x', 'rep0_range_1.power_short_t2.endclass.end_y', 'rep0_range_1.power_short_t2.endclass.endpt', 'rep0_range_1.nominal.endclass.rate', 'rep0_range_1.nominal.endclass.cost', 'rep0_range_1.nominal.endclass.prob', 'rep0_range_1.nominal.endclass.expected_cost', 'rep0_range_1.nominal.endclass.in_bound', 'rep0_range_1.nominal.endclass.at_finish', 'rep0_range_1.nominal.endclass.line_dist', 'rep0_range_1.nominal.endclass.num_modes', 'rep0_range_1.nominal.endclass.end_dist', 'rep0_range_1.nominal.endclass.tot_deviation', 'rep0_range_1.nominal.endclass.faults', 'rep0_range_1.nominal.endclass.classification', 'rep0_range_1.nominal.endclass.end_x', 'rep0_range_1.nominal.endclass.end_y', 'rep0_range_1.nominal.endclass.endpt', 'rep0_range_2.power_no_charge_t1.endclass.rate', 'rep0_range_2.power_no_charge_t1.endclass.cost', 'rep0_range_2.power_no_charge_t1.endclass.prob', 'rep0_range_2.power_no_charge_t1.endclass.expected_cost', 'rep0_range_2.power_no_charge_t1.endclass.in_bound', 'rep0_range_2.power_no_charge_t1.endclass.at_finish', 'rep0_range_2.power_no_charge_t1.endclass.line_dist', 'rep0_range_2.power_no_charge_t1.endclass.num_modes', 'rep0_range_2.power_no_charge_t1.endclass.end_dist', 'rep0_range_2.power_no_charge_t1.endclass.tot_deviation', 'rep0_range_2.power_no_charge_t1.endclass.faults', 'rep0_range_2.power_no_charge_t1.endclass.classification', 'rep0_range_2.power_no_charge_t1.endclass.end_x', 'rep0_range_2.power_no_charge_t1.endclass.end_y', 'rep0_range_2.power_no_charge_t1.endclass.endpt', 'rep0_range_2.power_no_charge_t2.endclass.rate', 'rep0_range_2.power_no_charge_t2.endclass.cost', 'rep0_range_2.power_no_charge_t2.endclass.prob', 'rep0_range_2.power_no_charge_t2.endclass.expected_cost', 'rep0_range_2.power_no_charge_t2.endclass.in_bound', 'rep0_range_2.power_no_charge_t2.endclass.at_finish', 'rep0_range_2.power_no_charge_t2.endclass.line_dist', 'rep0_range_2.power_no_charge_t2.endclass.num_modes', 'rep0_range_2.power_no_charge_t2.endclass.end_dist', 'rep0_range_2.power_no_charge_t2.endclass.tot_deviation', 'rep0_range_2.power_no_charge_t2.endclass.faults', 'rep0_range_2.power_no_charge_t2.endclass.classification', 'rep0_range_2.power_no_charge_t2.endclass.end_x', 'rep0_range_2.power_no_charge_t2.endclass.end_y', 'rep0_range_2.power_no_charge_t2.endclass.endpt', 'rep0_range_2.power_short_t1.endclass.rate', 'rep0_range_2.power_short_t1.endclass.cost', 'rep0_range_2.power_short_t1.endclass.prob', 'rep0_range_2.power_short_t1.endclass.expected_cost', 'rep0_range_2.power_short_t1.endclass.in_bound', 'rep0_range_2.power_short_t1.endclass.at_finish', 'rep0_range_2.power_short_t1.endclass.line_dist', 'rep0_range_2.power_short_t1.endclass.num_modes', 'rep0_range_2.power_short_t1.endclass.end_dist', 'rep0_range_2.power_short_t1.endclass.tot_deviation', 'rep0_range_2.power_short_t1.endclass.faults', 'rep0_range_2.power_short_t1.endclass.classification', 'rep0_range_2.power_short_t1.endclass.end_x', 'rep0_range_2.power_short_t1.endclass.end_y', 'rep0_range_2.power_short_t1.endclass.endpt', 'rep0_range_2.power_short_t2.endclass.rate', 'rep0_range_2.power_short_t2.endclass.cost', 'rep0_range_2.power_short_t2.endclass.prob', 'rep0_range_2.power_short_t2.endclass.expected_cost', 'rep0_range_2.power_short_t2.endclass.in_bound', 'rep0_range_2.power_short_t2.endclass.at_finish', 'rep0_range_2.power_short_t2.endclass.line_dist', 'rep0_range_2.power_short_t2.endclass.num_modes', 'rep0_range_2.power_short_t2.endclass.end_dist', 'rep0_range_2.power_short_t2.endclass.tot_deviation', 'rep0_range_2.power_short_t2.endclass.faults', 'rep0_range_2.power_short_t2.endclass.classification', 'rep0_range_2.power_short_t2.endclass.end_x', 'rep0_range_2.power_short_t2.endclass.end_y', 'rep0_range_2.power_short_t2.endclass.endpt', 'rep0_range_2.nominal.endclass.rate', 'rep0_range_2.nominal.endclass.cost', 'rep0_range_2.nominal.endclass.prob', 'rep0_range_2.nominal.endclass.expected_cost', 'rep0_range_2.nominal.endclass.in_bound', 'rep0_range_2.nominal.endclass.at_finish', 'rep0_range_2.nominal.endclass.line_dist', 'rep0_range_2.nominal.endclass.num_modes', 'rep0_range_2.nominal.endclass.end_dist', 'rep0_range_2.nominal.endclass.tot_deviation', 'rep0_range_2.nominal.endclass.faults', 'rep0_range_2.nominal.endclass.classification', 'rep0_range_2.nominal.endclass.end_x', 'rep0_range_2.nominal.endclass.end_y', 'rep0_range_2.nominal.endclass.endpt', 'rep0_range_3.power_no_charge_t1.endclass.rate', 'rep0_range_3.power_no_charge_t1.endclass.cost', 'rep0_range_3.power_no_charge_t1.endclass.prob', 'rep0_range_3.power_no_charge_t1.endclass.expected_cost', 'rep0_range_3.power_no_charge_t1.endclass.in_bound', 'rep0_range_3.power_no_charge_t1.endclass.at_finish', 'rep0_range_3.power_no_charge_t1.endclass.line_dist', 'rep0_range_3.power_no_charge_t1.endclass.num_modes', 'rep0_range_3.power_no_charge_t1.endclass.end_dist', 'rep0_range_3.power_no_charge_t1.endclass.tot_deviation', 'rep0_range_3.power_no_charge_t1.endclass.faults', 'rep0_range_3.power_no_charge_t1.endclass.classification', 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'rep0_range_82.power_short_t1.endclass.end_y', 'rep0_range_82.power_short_t1.endclass.endpt', 'rep0_range_82.power_short_t2.endclass.rate', 'rep0_range_82.power_short_t2.endclass.cost', 'rep0_range_82.power_short_t2.endclass.prob', 'rep0_range_82.power_short_t2.endclass.expected_cost', 'rep0_range_82.power_short_t2.endclass.in_bound', 'rep0_range_82.power_short_t2.endclass.at_finish', 'rep0_range_82.power_short_t2.endclass.line_dist', 'rep0_range_82.power_short_t2.endclass.num_modes', 'rep0_range_82.power_short_t2.endclass.end_dist', 'rep0_range_82.power_short_t2.endclass.tot_deviation', 'rep0_range_82.power_short_t2.endclass.faults', 'rep0_range_82.power_short_t2.endclass.classification', 'rep0_range_82.power_short_t2.endclass.end_x', 'rep0_range_82.power_short_t2.endclass.end_y', 'rep0_range_82.power_short_t2.endclass.endpt', 'rep0_range_82.nominal.endclass.rate', 'rep0_range_82.nominal.endclass.cost', 'rep0_range_82.nominal.endclass.prob', 'rep0_range_82.nominal.endclass.expected_cost', 'rep0_range_82.nominal.endclass.in_bound', 'rep0_range_82.nominal.endclass.at_finish', 'rep0_range_82.nominal.endclass.line_dist', 'rep0_range_82.nominal.endclass.num_modes', 'rep0_range_82.nominal.endclass.end_dist', 'rep0_range_82.nominal.endclass.tot_deviation', 'rep0_range_82.nominal.endclass.faults', 'rep0_range_82.nominal.endclass.classification', 'rep0_range_82.nominal.endclass.end_x', 'rep0_range_82.nominal.endclass.end_y', 'rep0_range_82.nominal.endclass.endpt', 'rep0_range_83.power_no_charge_t1.endclass.rate', 'rep0_range_83.power_no_charge_t1.endclass.cost', 'rep0_range_83.power_no_charge_t1.endclass.prob', 'rep0_range_83.power_no_charge_t1.endclass.expected_cost', 'rep0_range_83.power_no_charge_t1.endclass.in_bound', 'rep0_range_83.power_no_charge_t1.endclass.at_finish', 'rep0_range_83.power_no_charge_t1.endclass.line_dist', 'rep0_range_83.power_no_charge_t1.endclass.num_modes', 'rep0_range_83.power_no_charge_t1.endclass.end_dist', 'rep0_range_83.power_no_charge_t1.endclass.tot_deviation', 'rep0_range_83.power_no_charge_t1.endclass.faults', 'rep0_range_83.power_no_charge_t1.endclass.classification', 'rep0_range_83.power_no_charge_t1.endclass.end_x', 'rep0_range_83.power_no_charge_t1.endclass.end_y', 'rep0_range_83.power_no_charge_t1.endclass.endpt', 'rep0_range_83.power_no_charge_t2.endclass.rate', 'rep0_range_83.power_no_charge_t2.endclass.cost', 'rep0_range_83.power_no_charge_t2.endclass.prob', 'rep0_range_83.power_no_charge_t2.endclass.expected_cost', 'rep0_range_83.power_no_charge_t2.endclass.in_bound', 'rep0_range_83.power_no_charge_t2.endclass.at_finish', 'rep0_range_83.power_no_charge_t2.endclass.line_dist', 'rep0_range_83.power_no_charge_t2.endclass.num_modes', 'rep0_range_83.power_no_charge_t2.endclass.end_dist', 'rep0_range_83.power_no_charge_t2.endclass.tot_deviation', 'rep0_range_83.power_no_charge_t2.endclass.faults', 'rep0_range_83.power_no_charge_t2.endclass.classification', 'rep0_range_83.power_no_charge_t2.endclass.end_x', 'rep0_range_83.power_no_charge_t2.endclass.end_y', 'rep0_range_83.power_no_charge_t2.endclass.endpt', 'rep0_range_83.power_short_t1.endclass.rate', 'rep0_range_83.power_short_t1.endclass.cost', 'rep0_range_83.power_short_t1.endclass.prob', 'rep0_range_83.power_short_t1.endclass.expected_cost', 'rep0_range_83.power_short_t1.endclass.in_bound', 'rep0_range_83.power_short_t1.endclass.at_finish', 'rep0_range_83.power_short_t1.endclass.line_dist', 'rep0_range_83.power_short_t1.endclass.num_modes', 'rep0_range_83.power_short_t1.endclass.end_dist', 'rep0_range_83.power_short_t1.endclass.tot_deviation', 'rep0_range_83.power_short_t1.endclass.faults', 'rep0_range_83.power_short_t1.endclass.classification', 'rep0_range_83.power_short_t1.endclass.end_x', 'rep0_range_83.power_short_t1.endclass.end_y', 'rep0_range_83.power_short_t1.endclass.endpt', 'rep0_range_83.power_short_t2.endclass.rate', 'rep0_range_83.power_short_t2.endclass.cost', 'rep0_range_83.power_short_t2.endclass.prob', 'rep0_range_83.power_short_t2.endclass.expected_cost', 'rep0_range_83.power_short_t2.endclass.in_bound', 'rep0_range_83.power_short_t2.endclass.at_finish', 'rep0_range_83.power_short_t2.endclass.line_dist', 'rep0_range_83.power_short_t2.endclass.num_modes', 'rep0_range_83.power_short_t2.endclass.end_dist', 'rep0_range_83.power_short_t2.endclass.tot_deviation', 'rep0_range_83.power_short_t2.endclass.faults', 'rep0_range_83.power_short_t2.endclass.classification', 'rep0_range_83.power_short_t2.endclass.end_x', 'rep0_range_83.power_short_t2.endclass.end_y', 'rep0_range_83.power_short_t2.endclass.endpt', 'rep0_range_83.nominal.endclass.rate', 'rep0_range_83.nominal.endclass.cost', 'rep0_range_83.nominal.endclass.prob', 'rep0_range_83.nominal.endclass.expected_cost', 'rep0_range_83.nominal.endclass.in_bound', 'rep0_range_83.nominal.endclass.at_finish', 'rep0_range_83.nominal.endclass.line_dist', 'rep0_range_83.nominal.endclass.num_modes', 'rep0_range_83.nominal.endclass.end_dist', 'rep0_range_83.nominal.endclass.tot_deviation', 'rep0_range_83.nominal.endclass.faults', 'rep0_range_83.nominal.endclass.classification', 'rep0_range_83.nominal.endclass.end_x', 'rep0_range_83.nominal.endclass.end_y', 'rep0_range_83.nominal.endclass.endpt', 'rep0_range_84.power_no_charge_t1.endclass.rate', 'rep0_range_84.power_no_charge_t1.endclass.cost', 'rep0_range_84.power_no_charge_t1.endclass.prob', 'rep0_range_84.power_no_charge_t1.endclass.expected_cost', 'rep0_range_84.power_no_charge_t1.endclass.in_bound', 'rep0_range_84.power_no_charge_t1.endclass.at_finish', 'rep0_range_84.power_no_charge_t1.endclass.line_dist', 'rep0_range_84.power_no_charge_t1.endclass.num_modes', 'rep0_range_84.power_no_charge_t1.endclass.end_dist', 'rep0_range_84.power_no_charge_t1.endclass.tot_deviation', 'rep0_range_84.power_no_charge_t1.endclass.faults', 'rep0_range_84.power_no_charge_t1.endclass.classification', 'rep0_range_84.power_no_charge_t1.endclass.end_x', 'rep0_range_84.power_no_charge_t1.endclass.end_y', 'rep0_range_84.power_no_charge_t1.endclass.endpt', 'rep0_range_84.power_no_charge_t2.endclass.rate', 'rep0_range_84.power_no_charge_t2.endclass.cost', 'rep0_range_84.power_no_charge_t2.endclass.prob', 'rep0_range_84.power_no_charge_t2.endclass.expected_cost', 'rep0_range_84.power_no_charge_t2.endclass.in_bound', 'rep0_range_84.power_no_charge_t2.endclass.at_finish', 'rep0_range_84.power_no_charge_t2.endclass.line_dist', 'rep0_range_84.power_no_charge_t2.endclass.num_modes', 'rep0_range_84.power_no_charge_t2.endclass.end_dist', 'rep0_range_84.power_no_charge_t2.endclass.tot_deviation', 'rep0_range_84.power_no_charge_t2.endclass.faults', 'rep0_range_84.power_no_charge_t2.endclass.classification', 'rep0_range_84.power_no_charge_t2.endclass.end_x', 'rep0_range_84.power_no_charge_t2.endclass.end_y', 'rep0_range_84.power_no_charge_t2.endclass.endpt', 'rep0_range_84.power_short_t1.endclass.rate', 'rep0_range_84.power_short_t1.endclass.cost', 'rep0_range_84.power_short_t1.endclass.prob', 'rep0_range_84.power_short_t1.endclass.expected_cost', 'rep0_range_84.power_short_t1.endclass.in_bound', 'rep0_range_84.power_short_t1.endclass.at_finish', 'rep0_range_84.power_short_t1.endclass.line_dist', 'rep0_range_84.power_short_t1.endclass.num_modes', 'rep0_range_84.power_short_t1.endclass.end_dist', 'rep0_range_84.power_short_t1.endclass.tot_deviation', 'rep0_range_84.power_short_t1.endclass.faults', 'rep0_range_84.power_short_t1.endclass.classification', 'rep0_range_84.power_short_t1.endclass.end_x', 'rep0_range_84.power_short_t1.endclass.end_y', 'rep0_range_84.power_short_t1.endclass.endpt', 'rep0_range_84.power_short_t2.endclass.rate', 'rep0_range_84.power_short_t2.endclass.cost', 'rep0_range_84.power_short_t2.endclass.prob', 'rep0_range_84.power_short_t2.endclass.expected_cost', 'rep0_range_84.power_short_t2.endclass.in_bound', 'rep0_range_84.power_short_t2.endclass.at_finish', 'rep0_range_84.power_short_t2.endclass.line_dist', 'rep0_range_84.power_short_t2.endclass.num_modes', 'rep0_range_84.power_short_t2.endclass.end_dist', 'rep0_range_84.power_short_t2.endclass.tot_deviation', 'rep0_range_84.power_short_t2.endclass.faults', 'rep0_range_84.power_short_t2.endclass.classification', 'rep0_range_84.power_short_t2.endclass.end_x', 'rep0_range_84.power_short_t2.endclass.end_y', 'rep0_range_84.power_short_t2.endclass.endpt', 'rep0_range_84.nominal.endclass.rate', 'rep0_range_84.nominal.endclass.cost', 'rep0_range_84.nominal.endclass.prob', 'rep0_range_84.nominal.endclass.expected_cost', 'rep0_range_84.nominal.endclass.in_bound', 'rep0_range_84.nominal.endclass.at_finish', 'rep0_range_84.nominal.endclass.line_dist', 'rep0_range_84.nominal.endclass.num_modes', 'rep0_range_84.nominal.endclass.end_dist', 'rep0_range_84.nominal.endclass.tot_deviation', 'rep0_range_84.nominal.endclass.faults', 'rep0_range_84.nominal.endclass.classification', 'rep0_range_84.nominal.endclass.end_x', 'rep0_range_84.nominal.endclass.end_y', 'rep0_range_84.nominal.endclass.endpt'])
[23]:
apps
[23]:
{'rep0_range_0': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_1': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_2': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_3': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_4': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_5': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_6': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_7': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_8': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_9': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_10': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_11': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_12': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_13': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_14': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_15': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_16': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_17': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_18': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_19': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_20': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_21': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_22': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_23': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_24': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_25': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_26': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_27': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_28': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_29': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_30': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_31': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_32': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_33': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_34': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_35': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_36': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_37': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_38': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_39': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_40': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_41': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_42': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_43': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_44': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_45': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_46': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_47': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_48': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_49': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_50': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_51': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_52': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_53': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_54': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_55': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_56': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_57': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_58': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_59': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_60': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_61': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_62': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_63': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_64': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_65': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_66': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_67': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_68': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_69': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_70': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_71': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_72': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_73': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_74': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_75': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_76': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_77': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_78': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_79': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_80': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_81': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_82': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_83': SampleApproach for rover with:
faultdomains: power
faultsamples: power,
'rep0_range_84': SampleApproach for rover with:
faultdomains: power
faultsamples: power}
We can now compare the performance of the system over faults using a NestedComparison:
[24]:
import numpy as np
from fmdtools.analyze.tabulate import NestedComparison
n_comp = NestedComparison(nest_res, ps_sine, ['p.ground.amp', 'p.ground.period'], apps, [], #['fault'],
metrics=['end_dist'], default_stat=np.mean, ci_metrics=['end_dist'])
n_comp.as_table()
[24]:
| end_dist | end_dist_lb | end_dist_ub | ||
|---|---|---|---|---|
| 8.0 | 40 | 14.976024 | 0.000000 | 29.952048 |
| 7.5 | 40 | 14.913633 | 0.000000 | 29.827266 |
| 7.0 | 40 | 14.854427 | 0.000000 | 29.708854 |
| 6.5 | 40 | 14.799179 | 0.000000 | 29.598357 |
| 6.0 | 40 | 14.747961 | 0.000000 | 29.495921 |
| ... | ... | ... | ... | ... |
| 0.0 | 10 | 14.450000 | 0.000000 | 28.900000 |
| 30 | 14.450000 | 0.000000 | 28.900000 | |
| 50 | 14.450000 | 0.000000 | 28.900000 | |
| 7.5 | 10 | 28.002385 | 27.100934 | 28.453111 |
| 7.0 | 10 | 27.863240 | 26.823138 | 28.383291 |
85 rows × 3 columns
[25]:
n_comp.sort_by_factor("p.ground.period", reverse=True)
n_comp.sort_by_factor("p.ground.amp")
n_comp.as_plot("end_dist", color_factor="p.ground.period", figsize=(20,3))
[25]:
(<Figure size 2000x300 with 1 Axes>, <Axes: xlabel='p.ground.amp'>)
This is of course consistent with the nominal case, with a higher average in all cases, since fault modes inherently deviate the trajectory.
Also note the wide error bars on the fault plot–this is again because individual fault modes have a substantial impact on the trajectory (and we are only sampling a few scenarios for the bootstrap)
[26]:
fig, ax = comp.as_plot("end_dist", color_factor = "p.ground.period", figsize=(20, 3))
[ ]:
[ ]: