Pendulum Dataset

We create a synthetic dataset based on the physical model called pendulum. The pendulum is modeled as a damped harmonic oscillator, i.e.,

\[ \theta(t) = \theta(0) \cos(2 \pi t / p)\exp(-\beta t), \]

where \(\theta(t)\) is the angle of the pendulum at time \(t\). The period \(p\) is calculated using

\[ p = 2 \pi \sqrt(L / g), \]

with \(L\) being the length of the pendulum and \(g\) being the surface gravity.

Pendulum Angle Physics and Pytorch Dataset

import math
from functools import cached_property
from typing import Dict, List

import pandas as pd

class Pendulum:
    """Class for generating time series data for a pendulum.

    The pendulum is modelled as a damped harmonic oscillator, i.e.,

    $$
    \theta(t) = \theta(0) \cos(2 \pi t / p)\exp(-\beta t),
    $$

    where $\theta(t)$ is the angle of the pendulum at time $t$.
    The period $p$ is calculated using

    $$
    p = 2 \pi \sqrt(L / g),
    $$

    with $L$ being the length of the pendulum
    and $g$ being the surface gravity.

    :param length: Length of the pendulum.
    :param gravity: Acceleration due to gravity.
    """

    def __init__(self, length: float, gravity: float = 9.81) -> None:
        self.length = length
        self.gravity = gravity

    @cached_property
    def period(self) -> float:
        """Calculate the period of the pendulum."""
        return 2 * math.pi * math.sqrt(self.length / self.gravity)

    def __call__(
        self,
        num_periods: int,
        num_samples_per_period: int,
        initial_angle: float = 0.1,
        beta: float = 0,
    ) -> Dict[str, List[float]]:
        """Generate time series data for the pendulum.

        Returns a list of floats representing the angle
        of the pendulum at each time step.

        :param num_periods: Number of periods to generate.
        :param num_samples_per_period: Number of samples per period.
        :param initial_angle: Initial angle of the pendulum.
        """
        time_step = self.period / num_samples_per_period
        steps = []
        time_series = []
        for i in range(num_periods * num_samples_per_period):
            t = i * time_step
            angle = (
                initial_angle
                * math.cos(2 * math.pi * t / self.period)
                * math.exp(-beta * t)
            )
            steps.append(t)
            time_series.append(angle)

        return {"t": steps, "theta": time_series}

pen = Pendulum(length=100)
df = pd.DataFrame(pen(10, 400, initial_angle=1, beta=0.001))

_, ax = plt.subplots(figsize=(10, 6.18))
df.plot(x="t", y="theta", ax=ax)

We take this time series and ask our model to forecast the next step (forecast horizon is 1).

PyTorch Dataset and Lightning DataModule

In our tutorials, we will use Pytorch lightning excessively. We defined some useful modules in our ts_dl_utils package and this notebook.

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Contributors: LM