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Gradient methods with retards and generalizations

Gradient methods with retards and generalizations
Gradient methods with retards and generalizations

GRADIENT METHOD WITH RETARDS AND GENERALIZATIONS ?

A.FRIEDLANDER ?,J.M.MART ′

INEZ ?,B.MOLINA ?,AND M.RAYDAN ?SIAM J.N UMER.A NAL .c

1999Society for Industrial and Applied Mathematics Vol.36,No.1,pp.275–289

Abstract.A generalization of the steepest descent and other methods for solving a large scale

symmetric positive de?nitive system Ax =b is presented.Given a positive integer m ,the new iteration is given by x k +1=x k ?λ(x ν(k ))(Ax k ?b ),where λ(x ν(k ))is the steepest descent step at a previous iteration ν(k )∈{k,k ?1,...,max {0,k ?m }}.The global convergence to the solution of the problem is established under a more general framework,and numerical experiments are performed that suggest that some strategies for the choice of ν(k )give rise to e?cient methods for obtaining approximate solutions of the system.

Key words.gradient method,Barzilai–Borwein method,Rayleigh quotient,conjugate gradient method,symmetric successive overrelaxation (SSOR)preconditioning strategy

AMS subject classi?cations.65F10,49M07,65F15PII.S003614299427315X

1.Introduction.We are interested in the problem Minimize f (x )≡

12

x t

Ax ?b t x,(1.1)

where A is a real symmetric positive de?nite (SPD)n ×n matrix.The global solu-tion of (1.1)is the unique solution of Ax =b .The well-known steepest descent (or gradient)method is de?ned by the iteration

x k +1=x k ?λ(x k )g (x k ),

where λ(x )is the minimizer of ?(λ)≡f (x ?λg (x ))and g (x )=Ax ?b .Hence,λ(x )=

g (x )t g (x )

g (x )t Ag (x )

(1.2)

for all x ∈R n such that g (x )=0.This classical method is globally convergent and its storage requirements are minimal,but its rate of convergence is very low in critical cases (see [11]).

Barzilai and Borwein [3]proposed the iteration

x k +1=x k ?λ(x k ?1)g (x k )

for solving Ax =b ,where the ?rst steplength “λ(x ?1)”is arbitrary.Raydan [18]proved that the Barzilai–Borwein iteration is globally convergent and showed [17]that it is much more e?cient than the steepest descent method for solving large scale positive de?nite linear systems of equations.

?Received

by the editors August 22,1994;accepted for publication (in revised form)January 26,

1998;published electronically,January 5,1999.

https://www.wendangku.net/doc/0614065105.html,/journals/sinum/36-1/27315.html

?Department of Applied Mathematics,IMECC-UNICAMP,University of Campinas,CP 6065,13081-970Campinas SP,Brazil (friedlan@ime.unicamp.br,martinez@ime.unicamp.br).The ?rst and second authors were supported by FAPESP grant 90-3724-6,FINEP,and FAEP-UNICAMP.?Departamento de Computaci′o n,Facultad de Ciencias,Universidad Central de Venezuela,Ap.47002,Caracas 1041-A,Venezuela (bmolina@reacciun.ve,mraydan@reacciun.ve).The third author was supported by the Parallel and Distributed Computing Center at UCV.The fourth author was supported by BID-CONICIT project M-51940and FAEP-UNICAMP.

275

276 A.FRIEDLANDER,J.M.MART ′INEZ,B.MOLINA,AND M.RAYDAN

The gradient method with retards,introduced in this paper,is a generalization

of the steepest descent and the Barzilai–Borwein methods.Given a positive integer m ,the new iteration is x k +1=x k ?λ(x ν(k ))g (x k ),

(1.3)

where ν(k )is arbitrarily chosen in the set {k,k ?1,...,max {0,k ?m }}.A practical motivation for the introduction of this iteration is that it allows us to compute λ(x k )simultaneously in parallel with x k +1.Observe that,even in the e?cient conjugate gradient method,the computation of the steplength associated to the search direction necessarily precedes the computation of the new iterate.In this paper,we prove that the iteration (1.3)is globally convergent to the solution of the problem.From the practical point-of-view,we give numerical experiments that suggest that some strategies for the choice of ν(k )give rise to e?cient methods for obtaining approximate solutions of Ax =b .

In the convergence analysis we state the iteration (1.3)under a more general framework.Observe that,by (1.2),the recurrence (1.3)is a particular case of x k +1=x k ?

1αk

g k ,(1.4)

where g k =g (x k )and the scalar αk is the Rayleigh quotient of the matrix A at an n -dimensional vector,whose choice depends on the index k .For example,Barzilai and Borwein gave a second choice for the steplength that is covered by (1.4)but not by (1.3).This choice is αk =y t k ?1y k ?1s t k ?1y k ?1=s t k ?1A 2s k ?1

s t k ?1As k ?1

,

(1.5)

where s k ?1=x k ?x k ?1and y k ?1=g k ?g k ?1.In this case,αk is the Rayleigh

quotient of A at the vector √As k ?1.Our analysis corresponds to the iteration (1.4)for a family of choices of αk that include (1.3)and (1.5).

This paper is organized as follows.In section 2we establish the convergence results.The analysis that we present is an extension of the analysis presented in [18]for the particular choice of the Barzilai–Borwein method.The structure of the proofs will be the same as in [18].However,important di?erences come from the fact that now the scalars αk might be arbitrarily chosen from a ?nite collection of candidates.In section 3,we discuss this collection of possible practical choices,and we establish that some well-known methods can now be viewed as particular cases of this new scheme.We present some numerical experiments to demonstrate the potential of this new method.In section 4,we discuss preconditioning strategies.We present numerical results for elliptic partial di?erential equations to illustrate the behavior of this method when compared to the preconditioned conjugate gradient (PCG)method.Finally,in section 5we present concluding remarks.

2.Convergence analysis.Let x ?be the unique minimizer of f .Assume that {x k }is the sequence generated by (1.4)from a given vector x 0,where αk is an arbitrary

Rayleigh quotient,that is αk =u t k Au k /u t

k u k for some u k =0.We de?ne e k =x ??x k for all k .Using (1.4)and the fact that g k =Ax k ?b ,we have Ae k =αk s k

for all k.

(2.1)

GRADIENT METHOD WITH RETARDS AND GENERALIZATIONS

277

Substituting s k =e k ?e k +1in (2.1)we obtain for any k e k +1=

1

αk

(αk I ?A )e k .(2.2)

Now for any initial error e 0,there exist constants d 01,d 02,...,d 0

n such that

e 0=

n i =1

d 0i v i ,

where {v 1,v 2,...,v n }are orthonormal eigenvectors of A associated with the eigen-values {σ1,σ2,...,σn }.Throughout this work we assume that

0<σmin =σ1≤σ2≤···≤σn =σmax .

Using (2.2)we obtain for any integer k ,e k +1=

n i =1

d k +1

i

v i ,(2.3)where d k +1

i

=

αk ?σi

αk

d k i

=k j =0

αj ?σi

αj d 0i .(2.4)

The convergence properties of the sequence {e k }depend on the behavior of each

one of the sequences {d k i },1≤i ≤n .In general,these sequences increase at some iterations.However,the following lemma shows that the sequence {d k 1}decreases Q-linearly to zero independently of the Rayleigh quotient of A that is being used,at every k ,to obtain the scalar αk .

Lemma 2.1.If the scalar αk in (1.4)is always chosen as the Rayleigh quotient of A at any arbitrary nonzero vector,then the sequence {d k 1}converges to zero Q-linearly with convergence factor ?c =1?(σmin /σmax ).

Proof.For any positive integer k ,

d k +1

1=

αk ?σmin αk d k 1.Since αk satis?es 0<σmin ≤αk ≤σmax

(2.5)

for all k ,we have

|d k +1

1

|=

1?σmin

αk

|d k 1|≤?c |d k 1|,where ?c =1?σmin

σmax

<1.We now describe the collection of possible choices of the scalar αk that allows us to obtain global convergence of the iteration (1.4).Given a positive integer m ,and q j ≥1,j =1,...,m a set of real numbers,we set

αk =

e t ν(k )A

ρ(k )

e ν(k )e t ν(k )A

(ρ(k )?1)e ν(k ),

(2.6)

278 A.FRIEDLANDER,J.M.MART ′INEZ,B.MOLINA,AND M.RAYDAN

where

ν(k )∈{k,k ?1,...,max {0,k ?m }}

and

ρ(k )∈{q 1,...,q m }

for all k =0,1,2,....

Notice that the scalar αk given by (2.6)is the Rayleigh quotient of A at the vector √A (ρ(k )?1)e ν(k ),and so it satis?es (2.5)for all k .Later,in section 3,we discuss some well-known methods and some new methods that can be embedded into the scheme given by (1.4)and (2.6).In the proof of our convergence theorem,we will use the following result.

Lemma 2.2.Let {e k }be the sequence of errors generated by the method given

by (1.4)and (2.6).If the sequences {d k 1},{d k 2},...,{d k

l },de?ned in (2.4)converge to zero for a ?xed integer l ,1≤l

lim inf k →∞

|d k l +1|=0.

Proof .Suppose,by way of contradiction,that there exists a constant ε>0such

that (d k l +1)

2

min 1≤j ≤m

σ(q j ?1)

l +1≥εfor all k.

(2.7)

By (2.3),(2.6),and the orthonormality of the eigenvectors {v 1,v 2,...,v n },the

Rayleigh quotient αk can be written as

αk = n r =1(d ν(k )r

)2σρ(k )

r n

r =1(d ν(k )r

)2σ(ρ(k )?1)r .(2.8)Since the sequences {d k 1},...,{d k l }all converge to zero,there exists ?k su?ciently large

such that

max 1≤j ≤m l

r =1

(d k r )2σ(q j ?1)r

≤ε2for all k ≥?k.(2.9)By (2.8)and (2.9),we obtain for any k ≥?k +m ,( n r =l +1(d ν(k )r )2σ(ρ(k )?1)

r

)σl +1ε

2

+( n r =l +1(d ν(k )r )2σ(ρ(k )?1)r )≤αk ≤σmax .(2.10)Since

n

r =l +1

(d ν(k )r

)2σ(ρ(k )?1)

r ≥(d ν(k )

l +1)2σ(ρ(k )?1)

l +1≥ε,

then it follows from (2.10)that

2

3

σl +1≤αk ≤σmax for all k ≥?k

+m,

GRADIENT METHOD WITH RETARDS AND GENERALIZATIONS

279

which implies the bound

1?σl +1αk

≤max 12,1?σl +1σmax for all k ≥?k

+m.(2.11)Finally,using (2.11)and the ?rst part of (2.4),we obtain for all k ≥?k

+m ,|d k +1l +1|= 1?σl +1αk |d k l +1|≤?c |d k l +1|,where

?c =max

1

2,1?σmin σmax

<1.

(2.12)

Because this conclusion contradicts the hypothesis (2.7),we ?nd that the lemma is

true.

Theorem 2.1establishes the convergence of the method de?ned by (1.4)and (2.6)when applied to a quadratic function with a symmetric positive de?nite Hessian.

Theorem 2.1.Let f (x )be a strictly convex quadratic function.Let {x k }be the sequence generated by (1.4)and (2.6)and x ?the unique minimizer of f .Then,either x j =x ?for some ?nite j ,or the sequence {x k }converges to x ?.

Proof .We need only consider the case in which there is no ?nite integer j such that x j =x ?.Hence,it su?ces to prove that the sequence {e k }converges to zero.From (2.3)and the orthonormality of the eigenvectors we have

e k 22

=

n r =1

(d k r )2

.

Therefore,the sequence of errors {e k }converges to zero if and only if each one of the

sequences {d k i }for i =1,2,...,n converges to zero.

Lemma 2.1shows that {d k 1}converges to zero.We prove that {d k

p }converges to zero for 2≤p ≤n by induction on p .Therefore,we let p be any integer from this

interval,and we assume that {d k 1},...,{d k

p ?1}all tend to zero.Then for any given

ε>0there exists ?k su?ciently large such that max

1≤j ≤m

p ?1 r =1

(d k r )2σ(q j ?1)

r

<ε2

for all k ≥?k.

(2.13)

From (2.8)and (2.13),we obtain ( n r =p (d ν(k )r )2σ(ρ(k )?1)

r )σp

ε

2+(

n r =p (d ν(k )r )2σ(ρ(k )?1)r )≤αk ≤σmax ,(2.14)

for all integers k ≥?k

+m .Moreover,by Lemma 2.2,there exists k p ≥?k +m such that

(d k p p

)2

max 1≤j ≤m

σ(q j ?1)p <ε.

280 A.FRIEDLANDER,J.M.MART ′INEZ,B.MOLINA,AND M.RAYDAN

Now,consider any integer k 0>k p such that max j (d k 0?1p

)2σ(q j ?1)

p <εand

max j (d k 0p )2σ(q j ?1)p

≥ε.Clearly,for k 0≤k ≤j 0?1,

max

1≤j ≤m

n r =p

(d k r )2σ(q j ?1)

r ≥max 1≤j ≤m

(d k p )2σ(q j ?1)p

≥ε,(2.15)

where j 0is the ?rst integer greater than k 0for which max j (d j 0p

)2

σ(q j ?1)

p <ε.Then,by (2.14)and (2.15),and using an argument similar to the one used in the proof of Lemma 2.2,we have

2

3

σp ≤αk ≤σmax for k 0≤k ≤j 0?1.

(2.16)

Thus,using (2.16)and the ?rst part of (2.4),we obtain

|d k +2p |≤?c |d k +1p |

for k 0≤k ≤j 0?1,

where ?c is the constant (2.12),which satis?es ?c <1.Finally,using the bound

|d k 0+1p |≤

σmax ?σmin σmin 2|d k 0?1p |,which is implied by expression (2.5)and the ?rst part of (2.4),we conclude that

(d k p )2≤ σmax ?σmin σmin 4(d k 0?1p )2≤ σmax ?σmin σmin 4

ε(max j σ(q j ?1)p )

for all k 0+1≤k ≤j 0+1.Further,(2.4)provides the inequality (d k 0p )2

≤((σmax ?

σmin )/σmin )2(d k 0?1p )2.It follows from the conditions on k 0,k p ,and j 0that (d k p )2

is bounded above by a constant multiple of εfor all k ≥k p .Hence,since ε>0can be chosen to be arbitrarily small,we deduce lim k →∞|d k p |=0as required,which completes the proof.

It is worth mentioning that a straightforward extension of Theorem 2.3can be made for the (not necessarily strictly)convex case.This extension has been done in [9]for the Barzilai–Borwein method.

3.Classical and new choices of αk .If ρ(k )=3for all k ,we see,using (2.1)that formula (2.6)takes the form αk =

s t ν(k )As ν(k )s t ν(k )s ν(k )

=

g t

ν(k )Ag ν(k )g t ν(k )g ν(k )

.

(3.1)

Therefore,in this case the method de?ned by (1.4)and (2.6)is the gradient method

with retards introduced in section 1.On the other hand,the second method of Barzilai and Borwein,given by (1.5),corresponds to ρ(k )≡4and ν(k )≡k ?1.Consequently,the methods de?ned by ρ(k )≡4are generalizations of the second Barzilai–Borwein method.

We can de?ne the following gradient methods with retards,with the same cost of the steepest descent method,both in terms of storage and work per iteration.We de?ne ?rst k =max {0,k ?m }.ν(k )=random integer between k and k ;

(3.2)

GRADIENT METHOD WITH RETARDS AND GENERALIZATIONS281

ν(k)=k ifν(k?1)

(3.3)

ν(k)=k;

(3.4)

ν(k)=argmax{λ(x k),...,λ(x

k )};

(3.5)

ν(k)=argmin{λ(x k),...,λ(x

k )};

(3.6)

ν(k)=k if k is even,ν(k)=k if k is odd.

(3.7)

ν(k)=random integer between k and k?1.

(3.8)

From now on,we consider only gradient methods with retards as de?ned by(1.3). The following result should help us to decide which strategies,among those de?ned above,could be e?cient.

Theorem3.1.Let{s k}be the sequence generated by(1.4)and(3.1).Assume that the sequence{s k/ s k }is convergent,that is,there exists s∈R n, s =1,such that

lim k→∞

s k

s k =s.

(3.9) Then

lim k→∞αk=s t As,

(3.10)

s is an eigenvector of A with eigenvalue s t As and the convergence of{x k}is Q-superlinear.

Proof.By(3.1)we have that

αk=

s t

ν(k)

sν(k) A

sν(k)

sν(k) ,

(3.11)

whereν(k)≥k?m.By(3.9),

lim k→∞

sν(k)

sν(k) =s,

so(3.10)follows taking limits on both sides of(3.11).

Now,combining(2.1)and(2.2)it follows that

s k+1=?

1

αk+1

(A?αk I)s k.

Therefore,

s k+1

s k+1 =?

(A?αk I)s k/ s k (A?αk I)s k/ s k .

(3.12)

282 A.FRIEDLANDER,J.M.MART′INEZ,B.MOLINA,AND M.RAYDAN De?neα=s t As and

c= (A?αI)s =lim

k→∞ (A?αk I)s k/ s k .

Suppose for a moment that c=0.Taking limits on both sides of(3.12)we obtain

s=?1

c

(A?αI)s.

Therefore,

(A?(α?c)I)s=0.

This means that s is an eigenvector of A,with eigenvalueα?c.Therefore,α= s t As=α?c and,thus,c=0.So,c= (A?αI)s =0and,consequently,s is an eigenvector of A with eigenvalueα,as we wanted to prove.Hence,

lim k→∞(A?αk I)s k

s k =(A?αI)s=0.

(3.13)

But(3.13)is the Dennis–Mor′e su?cient condition(see[5])for superlinear convergence of the quasi-Newton iteration x k+1=x k?B?1k g(x k).In this case,B k=αk I.Thus, the sequence{x k}converges Q-superlinearly,as we wanted to prove.

3.1.Numerical experiments.In addition to the gradient methods with re-tards,we used the classical conjugate gradient method for solving our test problems (see[11],[14]).The conjugate gradient method uses one n-dimensional vector more than the gradient methods with retards,and requires a little more computational work per iteration.However,as it is well known,the conjugate gradient method has ex-cellent convergence properties,including?nite termination in n iterations and is the method of choice for solving large-scale symmetric positive de?nite linear systems. See,for example[2].

Iterative linear methods are very important in the context of iterative resolution of large-scale nonlinear systems of equations.In this case the“Newtonian linear sys-tem”must be solved approximately at each iteration of the nonlinear solver.See for instance,[4],[6],[7],[15],and[20].A very high precision is neither necessary nor recommendable in the resolution of these linear systems and the danger of“oversolv-ing”these subproblems may lead to unacceptable computer times in the resolution of the main problems.Thus,mild stopping criteria are used.The best-known stopping criterion(see[4])imposes that the residual at a given iterate should be a fraction of the residual at the initial iteration.In our notation,this turns out to be

Ax k?b ≤θ Ax0?b .

(3.14)

Other situations where mild stopping criteria like(3.14)are used,when the main problem is more general than the linear system,may be found in[8],[9],and[13].

In our tests we used the stopping criterion(3.14)withθ=10?1,10?2,10?3, and10?4.All our tests were done on an HP Apollo135/125workstation in double precision Fortran.The methods tested are listed below.

“0”Conjugate gradient method;

“1”Steepest descent method;

GRADIENT METHOD WITH RETARDS AND GENERALIZATIONS283

Table3.1

Average of(iterations)/(?ops×10?3)using?ve initial points.

Methodθ=10?1θ=10?2θ=10?3θ=10?4

03/189/5428/16892/552

14/2016/8083/415414/2070

23/159/4532/16072/360

33/1515/7533/165110/550

43/1115/5138/128140/476

53/1116/7042/200100/490

64/2018/9086/430503/2515

73/1511/5535/175210/1050

83/1513/6527/13576/380

93/1512/6040/20082/410

“2”Barzilai–Borwein method(method based on(3.4)with m=1);

“3”Random choice ofν(k)(3.2);

“4”Cyclic choice ofν(k)(3.3);

“5”Maximum retard(method based on(3.4)with m=5);

“6”Maximumλ(method based on(3.5);

“7”Minimumλ(method based on(3.6);

“8”Maximum-minimum retard(method based on(3.7);

“9”Random choice ofν(k),excluding steepest descent(3.8).

We now describe two di?erent test problems and the corresponding numerical results.

Two point boundary value problems:Consider the matrix A≡(a ij)given by

a ii=2/h2,a i,i?1=?1/h2if i=1,a i,i+1=?1/h2if i=n,

for i=1,...,n,where h=11/n and n=1000.Linear systems of this kind appear frequently in the numerical solution of two point boundary value problems.

We generated a random solution x?with components between?10and10and we computed b=Ax?.We used?ve initial points x0,originated by di?erent seeds of the random number generator.In Table3.1we report the average number of iterations and the average computational work required by each method using the?ve initial points,and m=5,to achieve the stopping criterion with the . ∞norm.The computational work is reported in?oating point operations(?ops)divided by103.

The preliminary numerical experiments reported in Table3.1seem to indicate that,among the di?erent strategies for the gradient method with retards,the most e?cient are“2”(Barzilai–Borwein),“3”(random),“4”(cyclic),“5”(maximum re-tard),“8”(maximum-minimum retard),and“9”(random excluding steepest descent). On the other hand,the steepest descent method,together with the strategies based on (3.5)and(3.6),are clearly less e?cient.It is interesting to observe that the successful gradient methods with retards appear to use about the same number of iterations as the conjugate gradient method for obtaining the precision(3.14),for the tested values ofθ.This can be a very useful feature of these methods since,as we mentioned before, they can be implemented using less computer time and storage than the conjugate gradient method.(For this particular problem,the computer time of one iteration of the gradient methods with retards is about0.8times the computer time of one itera-tion of the conjugate gradient method).Moreover,for some of the gradient methods

284 A.FRIEDLANDER,J.M.MART ′INEZ,B.MOLINA,AND M.RAYDAN

with retards,a steplength does not have to be computed at every iteration,and that

could represent a considerable reduction in the computational work required during the process.For example,the cyclic choice of ν(k )(method 4)only needs to compute one steplength every m +1iterations.

Random problems:We take A =QDQ t ,where

Q =(I ?2w 3w T

3

)(I ?2w 2w T 2)(I ?2w 1w T 1),w 1,w 2,and w 3are unitary random vectors,D =Diag (σ1,...,σn )is a diagonal

matrix where σ1=1,σn =cond ,and σj is randomly generated between 1and cond for j =2,...,n ?1.The entries of the right-hand-side b are randomly generated between ?10and 10.The initial point is the null vector of R n and,in these tests,we used n =5000and we allowed a maximum of 1,000iterations.

In Table 3.2we report the number of iterations used to obtain Ax k ?b 2≤θ b 2by the CG method and some of the most e?cient gradient methods with retards.We observe that the di?erence between the number of iterations used by di?erent methods is not great.For large condition numbers,the performance of gradient methods with retards deteriorates.However,it is very interesting to observe that,for cond =107all the gradient methods with retards achieved the precision 0.1in about 40iterations,while the method of conjugate gradients used more than 400iterations for the same purpose.This behavior favors the application of gradient methods with retards in the inexact-Newton context,as we mentioned before.

Since,in principle,all the gradient methods with retards,including steepest de-scent,satisfy the same convergence theorem,a more careful analysis is necessary to understand the numerical experiments.The following remarks are based on the available theory and tend to explain the numerical behavior observed.

(a)The hypothesis of Theorem 3.1(superlinear convergence)is the convergence of the normalized gradients.This hypothesis cannot be veri?ed if we choose the steepest descent method or the strategy based on (3.5),since,in both cases,the angle between successive gradients is at least 90degrees.

(b)The “ideal”behavior of an iteration based on (1.4)could be obtained choosing {α0,α1,α2,...}as di?erent eigenvalues of A .By (2.2),if (say)αk =σi ,we have that d k +j

i

=0for all j ≥1.As a result,this ideal method should ?nd the solution in a number of iterations equal to the number of di?erent eigenvalues of A .It is interesting to observe that this property is independent of the choice of the initial point.This is precisely the main termination result of the conjugate gradient method.An e?cient gradient method with retards should approximate,in some sense,the ideal iteration,and numerical results suggest that the e?cient strategies are successful in doing that.In particular,Glunt,Hayden,and Raydan [10]established a relationship with the shifted power method that adds understanding to the practical behavior of strategy “2”(Barzilai–Borwein).

4.Preconditioned version.We present the preconditioned version of the gra-dient method with retards (PGMR),and compare its performance with the PCG method on some large and sparse SPD linear systems arising from the discretization of elliptic PDE problems.Our presentation follows the recent work by Molina and Raydan [16]for the preconditioned Barzilai–Borwein method.

For practical purposes,we only consider the case ρ(k )=3for all k .In that case,one auxiliary linear system of equations needs to be solved per iteration,and the PGMR can be written as (see [16]):

GRADIENT METHOD WITH RETARDS AND GENERALIZATIONS

285

Table 3.2

Iterations required by CG,Barzilai–Borwein “2”,cyclic “4”,maximum retard “5”,and max-min retard “8”,for random problems.

cond θCG 2458102

10?191917201710?2223027342610?3335048534710?44562576657103

10?1252123302210?2636670787010?310212412314012110?4132166160185162104

10?1643830353210?218515916919017310?326735834638934210?434061*************

10?12354133373310?233838640667039810?3412>1000>1000>1000>100010?4447106

10?13424334423510?2416>1000

>1000

>1000

>1000

10?345310?4485107

10?14174334433710?2453>1000>1000>1000>1000

10?348510?4

519

Algorithm 4.1.:PGMR

Given x 0∈R n ,α0a nonzero real number,

m a positive integer and C an SPD matrix of order n .Set g 0=Ax 0?b .

For k =0,1,...(until convergence)do

Choose ν(k )∈{k,k ?1,...,max {0,k ?m }}Solve Ch k =g k ,for h k Set p k =Ah k

Set g k +1=g k ?1?αν(k )

p k Set x k +1=x k ?1?αν(k )

h k

Set ?αk +1

=h t k p k g t

k h k

End do

Notice that every iteration of the PGMR algorithm requires two inner products,two scalar-vector multiplications,two vector additions,one matrix-vector multiplica-tion,and the solution of a linear system of equations with the preconditioning matrix C .Since C is an SPD matrix,it follows from a straightforward application of Theorem 2.3that the sequence {x k }converges to x ?.

Consider now the elliptic partial di?erential equation ?

?2u (x,y )?x 2??2u (x,y )

?y 2

+?γu (x,y )=f 1(x,y ),(4.1)

286 A.FRIEDLANDER,J.M.MART′INEZ,B.MOLINA,AND M.RAYDAN

Table4.1

(iterations/?ops×10?6)whenγ=0and n=25×104.

Methodθ=10?1θ=10?4θ=10?8

PCG55/20789/334128/480

BarBor60/210100/350157/549

cyclic(m=3)70/218101/315170/530

cyclic(m=4)78/241115/356160/496

maximum(m=3)59/20698/343162/567

maximum(m=4)62/217100/349160/560

max-min(m=3)66/230108/377145/507

max-min(m=4)68/237120/438178/621

where?γ≥0and the function f1(x,y)are given.We solve(4.1)on the unit square 0≤x≤1,0≤y≤1,with homogeneous Dirichlet boundary conditions,i.e.,we wish to obtain a function u(x,y)that is continuous on the unit square,satis?es(4.1)in the interior of the unit square,and equals zero on the boundary.

To obtain the numerical solution of this problem,we discretize(4.1)using the central?nite di?erence scheme of?ve points in a uniform grid p×p with a step h=1/(p+1)and the natural ordering,producing a system of linear equations Ax=b of order n=p2.The matrix A is SPD and has block tridiagonal structure. All the diagonal blocks of A are square,symmetric,and tridiagonal matrices of order p,and there are exactly p blocks in the diagonal of A.The diagonal elements of A are(4+γ),whereγ=h2?γ.For more details see[16].

The i th position of the vector b is equal to(f1)i,where(f1)i is the evaluation of f1in the i th node of the grid in the natural ordering.Finally,note that forγ=0our model problem reduces to the classical Poisson equation for which A is ill-conditioned. Whenγincreases,the condition number of A is gradually reduced.

We ran an implementation of Algorithms PGMR and PCG,to solve problem (4.1),for di?erent values of the parameterγand di?erent step sizes h.We report results with the e?cient PCG version described in Golub and Van Loan[11],and the well-known symmetric successive overrelaxation(SSOR)preconditioning strategy for both algorithms(see,for instance,[1]).The parameterωassociated with the SSOR technique was chosen as in[16],for both methods.We also ran some experiments with the modi?ed incomplete Cholesky preconditioning strategy,introduced by Gustafsson [12].However,the results were quite similar to the ones obtained with the SSOR strategy,and we do not report them.

We start the process in both algorithms at x0=(0,0,...0)t and we setα0=1in Algorithm PGMR.We stop the process,in both algorithms whenever g k 2≤θ g0 2 for di?erent values ofθ.

In our?rst experiment we?xγ=0and p=500,i.e.,n=25×104.Table4.1shows the number of iterations and the computational work required by the PCG method and the PGMR with the following strategies(see section3):Barzilai–Borwein(Bar-Bor),cyclic retard(cyclic),maximum retard(maximum),and maximum-minimum retard(max-min).The computational work is reported in number of?ops divided by106.We can see that the di?erent strategies in the PGMR family are competitive with the PCG method.The PCG method shows a moderate improvement over the PGMR family in number of iterations.Nevertheless,when low accuracy is required, the winner in computational work by a slight di?erence is a member of the PGMR family.In particular,the case m=3seems to perform better than m=4in the three strategies that involve the parameter m.

GRADIENT METHOD WITH RETARDS AND GENERALIZATIONS287

Table4.2

(iterations/?ops×10?6)whenγ=0.1,m=3and n=25×104.

Methodθ=10?1θ=10?4θ=10?8

PCG8/3017/6430/113

BarBor8/2819/6632/112

cyclic9/2818/5632/99

maximum9/3119/6632/112

max-min8/2818/6331/108

Fig.1.PCG and cyclic for n=25×104andθ=10?8.

In our second experiment we study the e?ect of reducing the condition number of A by increasingγ.Table4.2shows the number of iterations and the computational work required by the PCG method and the PGMR when n=25×104,γ=0.1,and m=3.We observe that when the condition number of A is reduced,the PCG method and the PGMR tend to require the same number of iterations,and this number of it-erations decreases.As a consequence,some strategies in the PGMR show a moderate but consistent improvement over the PCG method in number of?ops.In particular, Figure1shows the number of?ops required by PCG and cyclic retard(m=3)for n=25×104,θ=10?8,and di?erent values ofγ.

5.Concluding remarks.We have introduced the gradient method with retards to solve symmetric and positive de?nite linear systems of equations.This method is a generalization of the steepest descent and the Barzilai and Borwein methods,and covers a wide range of possible strategies to choose steplengths that are de?ned by Rayleigh quotients.

Based on our numerical results,we conclude that some of the new strategies are very e?cient and,in general,compete favorably with the classical conjugate gradient (CG)method in storage requirements and computational work,when low precision is required.In particular,we have no theoretical explanation for the outstanding behavior of the GMR for ill-conditioned problems whenθ=10?1(see Table3.2). However,if the coe?cient matrix is very ill-conditioned and high precision is required then the CG method is clearly a better option.

288 A.FRIEDLANDER,J.M.MART′INEZ,B.MOLINA,AND M.RAYDAN We also present a preconditioned version of the GMR and test it on large and sparse linear systems arising from the discretization of elliptic PDE problems.In this case,some of the PGMR strategies show a moderate but consistent improvement over the PCG method.In fact,the GMR is a gradient method for the minimization of quadratic functions.Therefore,as any gradient method for unconstrained minimiza-tion,its performance improves if the coe?cient(Hessian)matrix is conditioned to approximate the identity,in which case it behaves more like the Newton method.

Finally,the possibility of computing the steplengths and the points in di?erent processors o?ers an additional advantage in terms of overall computer time.For example,when we consider the extension to minimize nonquadratic functions(see Raydan[19]),the steplengths can be expensive to compute,and so,it would be in-teresting to have the chance of using“old ones”while waiting for the computation of“new ones.”Furthermore,even in the sequential case,the possibility of repeating steplengths can be very time-saving.For instance,a gradient method that repeats the previous steplength whenever a nonmonotone criterion is satis?ed should be de-veloped,and deserves careful experimentation.

Acknowledgments.We are grateful to the associate editor,Prof.P.L.Toint, and the referees for their constructive comments and suggestions.

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8(1988),pp.141–148.

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https://www.wendangku.net/doc/0614065105.html,put.Chem.,14(1993),pp.114–120.

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tion of partial di?erential equations,Numer.Algorithms,13(1996),pp.45–60.

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pp.583–590.

英语介词用法大全

英语介词用法大全 TTA standardization office【TTA 5AB- TTAK 08- TTA 2C】

介词(The Preposition)又叫做前置词,通常置于名词之前。它是一种虚词,不需要重读,在句中不单独作任何句子成分,只表示其后的名词或相当于名词的词语与其他句子成分的关系。中国学生在使用英语进行书面或口头表达时,往往会出现遗漏介词或误用介词的错误,因此各类考试语法的结构部分均有这方面的测试内容。 1. 介词的种类 英语中最常用的介词,按照不同的分类标准可分为以下几类: (1). 简单介词、复合介词和短语介词 ①.简单介词是指单一介词。如: at , in ,of ,by , about , for, from , except , since, near, with 等。②. 复合介词是指由两个简单介词组成的介词。如: Inside, outside , onto, into , throughout, without , as to as for , unpon, except for 等。 ③. 短语介词是指由短语构成的介词。如: In front of , by means o f, on behalf of, in spite of , by way of , in favor of , in regard to 等。 (2). 按词义分类 {1} 表地点(包括动向)的介词。如: About ,above, across, after, along , among, around , at, before, behind, below, beneath, beside, between , beyond ,by, down, from, in, into , near, off, on, over, through, throught, to, towards,, under, up, unpon, with, within , without 等。 {2} 表时间的介词。如: About, after, around , as , at, before , behind , between , by, during, for, from, in, into, of, on, over, past, since, through, throughout, till(until) , to, towards , within 等。 {3} 表除去的介词。如: beside , but, except等。 {4} 表比较的介词。如: As, like, above, over等。 {5} 表反对的介词。如: againt ,with 等。 {6} 表原因、目的的介词。如: for, with, from 等。 {7} 表结果的介词。如: to, with , without 等。 {8} 表手段、方式的介词。如: by, in ,with 等。 {9} 表所属的介词。如: of , with 等。 {10} 表条件的介词。如:

介词in,on.at,for.with,by,of的基本用法

介词用法知多少 介词是英语中最活跃的词类之一。同一个汉语词汇在英语中可译成不同的英语介词。例如汉语中的“用”可译成:(1)用英语(in English);(2)用小刀(with a knife);(3)用手工(by hand);(4)用墨水(in ink)等。所以,千万不要以为记住介词的一两种意思就掌握了这个介词的用法,其实介词的用法非常广泛,搭配能力很强,越是常用的介词,其含义越多。下面就简单介绍几组近义介词的用法及其搭配方法。 一. in, to, on和off在方位名词前的区别 1. in表示A地在B地范围之内。如: Taiwan is in the southeast of China. 2. to表示A地在B地范围之外,即二者之间有距离间隔。如: Japan lies to the east of China. 3. on表示A地与B地接壤、毗邻。如: North Korea is on the east of China. 4. off表示“离……一些距离或离……不远的海上”。如: They arrived at a house off the main road. New Zealand lies off the eastern coast of Australia. 二. at, in, on, by和through在表示时间上的区别 1. at指时间表示: (1)时间的一点、时刻等。如: They came home at sunrise (at noon, at midnight, at ten o’clock, at daybreak, at dawn). (2)较短暂的一段时间。可指某个节日或被认为是一年中标志大事的日子。如: He went home at Christmas (at New Year, at the Spring Festival, at night). 2. in指时间表示: (1)在某个较长的时间(如世纪、朝代、年、月、季节以及泛指的上午、下午或傍晚等)内。如: in 2004, in March, in spring, in the morning, in the evening, etc (2)在一段时间之后。一般情况下,用于将来时,谓语动词为瞬间动词,意为“在……以后”。如: He will arrive in two hours. 谓语动词为延续性动词时,in意为“在……以内”。如: These products will be produced in a month. 注意:after用于将来时间也指一段时间之后,但其后的时间是“一点”,而不是“一段”。如: He will arrive after two o’clock. 3. on指时间表示: (1)具体的时日和一个特定的时间,如某日、某节日、星期几等。如: On Christmas Day(On May 4th), there will be a celebration. (2)在某个特定的早晨、下午或晚上。如: He arrived at 10 o’clock on the night of the 5th. (3)准时,按时。如: If the train should be on time, I should reach home before dark. 4. by指时间表示: (1)不迟于,在(某时)前。如:

by with and in区别

WITH/BY/IN的用法区别:"The mountain is covered with/in/by snow". The meanings are so similar that the three can be used almost interchangeably, but some subtle nuances may apply. When referring to a substance(物体) that sticks to another, use in or with, but not by: ?The actress was covered in blood, or ?The actress was covered with blood, but not ?The actress was covered by blood. When referring something that physically protects something else, use with or by, but not in: ?The field(田地) was covered with a tarp(油布), or ?The field was covered by a tarp, but not ?The field was covered in a tarp. Use covered with to indicate an unusual amount of something on top of something else; use covered by to connote a covering so dense that the object being covered is completely obscured from view: ?The mountain was covered with fog. ?The mountain was covered by fog. Another example: ?Our grass(草坪) was covered with butterflies. ?Our grass was covered by butterflies. Somehow, the latter (covered by) paints a picture where the butterflies are so close together that I can hardly see the grass at all, but in the former (covered with), I picture a lot of butterflies, just not necessarily so many that I can't see the grass. When talking about metaphorical coverage, use covered by: ?The roof damage was covered by insurance(上保险), but not ?The roof damage was covered with insurance, or ?The roof damage was covered in insurance. Another example: ?The city council meeting was covered by the news station, but not ?The city council meeting was covered with the news station, or ?The city council meeting was covered in the news station.

compare 的两个重要词组区别

compare to 和compare with 的区别是什么 Compare to 是“把……比作”的意思。例如: We compare him to a little tiger. 我们把他比作小老虎。 The last days before liberation are often compared to the darkness before the dawn. 将要解放的那些日子常常被比作黎明前的黑暗。 Compare ... with 是“把……和……比较”的意思。例如: We must compare the present with the past. 我们要把现在和过去比较一下。 We compared the translation with the original. 我们把译文和原文比较了下。 从上面比较可以看出,compare with 侧重一个仔细的比较过程。有时,两者都可以互相代替。例如: He compared London to (with) Paris. 他把伦敦比作巴黎。 London is large, compared to (with) Paris. 同巴黎比较而言,伦敦大些。 在表示“比不上”、“不能比”的意思时,用compare with 和compare to 都可以。例如: My spoken English can't be compared with yours. 我的口语比不上你的。 The pen is not compared to that one. 这笔比不上那支。 1、c ompare…to…意为“把…比作”,即把两件事物相比较的同时,发现某些方面相似的地方。这两件被比较的事物 或人在本质方面往往是截然不同的事物。如: He compared the girl to the moon in the poem. 他在诗中把那姑娘比作月亮。 2、compare…with…“与…相比,把两件事情相比较,从中找出异同”,这两件事又往往是同类的, 如:I'm afraid my English compares poorly with hers. 恐怕我的英语同她的英语相比要差得多。 compare to和compare with有何区别,当说打比方时和做比较是分别用哪个? compare…to…比喻.例如: The poets often compare life to a river. 诗人们经常把生活比喻成长河. compare…with…相比.例如: My English can't compare with his. 我的英文水平不如他.

with的用法大全

with的用法大全----四级专项训练with结构是许多英语复合结构中最常用的一种。学好它对学好复合宾语结构、不定式复合结构、动名词复合结构和独立主格结构均能起很重要的作用。本文就此的构成、特点及用法等作一较全面阐述,以帮助同学们掌握这一重要的语法知识。 一、 with结构的构成 它是由介词with或without+复合结构构成,复合结构作介词with或without的复合宾语,复合宾语中第一部分宾语由名词或代词充当,第二部分补足语由形容词、副词、介词短语、动词不定式或分词充当,分词可以是现在分词,也可以是过去分词。With结构构成方式如下: 1. with或without-名词/代词+形容词; 2. with或without-名词/代词+副词; 3. with或without-名词/代词+介词短语; 4. with或without-名词/代词+动词不定式; 5. with或without-名词/代词+分词。 下面分别举例:

1、 She came into the room,with her nose red because of cold.(with+名词+形容词,作伴随状语) 2、 With the meal over , we all went home.(with+名词+副词,作时间状语) 3、The master was walking up and down with the ruler under his arm。(with+名词+介词短语,作伴随状语。) The teacher entered the classroom with a book in his hand. 4、He lay in the dark empty house,with not a man ,woman or child to say he was kind to me.(with+名词+不定式,作伴随状语) He could not finish it without me to help him.(without+代词 +不定式,作条件状语) 5、She fell asleep with the light burning.(with+名词+现在分词,作伴随状语) 6、Without anything left in the cupboard, she went out to get something to eat.(without+代词+过去分词,作为原因状语) 二、with结构的用法 在句子中with结构多数充当状语,表示行为方式,伴随情况、时间、原因或条件(详见上述例句)。

中考介词in和with 用法

1.I don`t like a ___(rain) day. 2.Please tell Tom ___(call)me back. 3.____ is the weather like? It`s snowy. How. What. Where. Why. 4.____ ia it going? It`s great. How. What. Where. When. 5.Is he____? No, he’s ___ in the river. A. swims,fishing B. swimming, running C. swim,walking D. running, swimming 6.Hello!is that Linda speaking? Yes.______ Who’s that? Who’s it? Who are you? I’m Linda. 7.He often ____(watch)TV in the evening. But now he _____(read)a book. 8.My uncle is a ___(cook). 9.It’s a nice ____. A weather photo salad rice 10.After supper Mary often ___ along the river. Take a walk takes walk taking a walk takes a walk 11.How’s it going? _____. The weather is so cold. Preety good. Great. Terrible. Not bad. 12.Beijing ___ (have)a long history. 13.I am having a great time ____(visit)my grandmother. 14.We feel very ___ after the ___ (relax) vacation. 15.We are ___ vacation in Dalian. A in B on C at Dof 16.What ____ when it’s sunny? Aare you doing B do you do C does you D is he do 17.Tom like to go ___(skate) 18.Kate is very tired, so she needs ____(relax) 19.Would you like to ____ a photofor us? Sure. Agive B make C take Dget 20.Could you help me put up the maps on the wall?_____ A.No problem B. I hope so C. That’s all right D.That’s a good idea. 21.China plan to let Jim ____the Xisha Islands> Visit visits visiting visited 22.Where is Grace? She ____ IN THE yard. Reads read is reading was reading 23.Britain is ___ European country and Singapore is ___ Asian country A,a,a a, an the , an a ,the 1.I don`t like a ___(rain) day. 2.Please tell Tom ___(call)me back. 3.____ is the weather like? It`s snowy. How. What. Where. Why. 4.____ ia it going? It`s great. How. What. Where. When. 5.Is he____? No, he’s ___ in the river. A. swims,fishing B. swimming, running C. swim,walking D. running, swimming 6.Hello!is that Linda speaking? Yes.______ Who’s that? Who’s it? Who are you? I’m Linda. 7.He often ____(watch)TV in the evening. But now he _____(read)a book. 8.My uncle is a ___(cook). 9.It’s a nice ____. A weather photo salad rice 10.After supper Mary often ___ along the river. Take a walk takes walk taking a walk takes a walk 11.How’s it going? _____. The weather is so cold. Preety good. Great. Terrible. Not bad. 12.Beijing ___ (have)a long history. 13.I am having a great time ____(visit)my grandmother. 14.We feel very ___ after the ___ (relax) vacation. 15.We are ___ vacation in Dalian. A in B on C at Dof 16.What ____ when it’s sunny? Aare you doing B do you do C does you D is he do 17.Tom like to go ___(skate) 18.Kate is very tired, so she needs ____(relax) 19.Would you like to ____ a photofor us? Sure. Agive B make C take Dget 20.Could you help me put up the maps on the wall?_____ A.No problem B. I hope so C. That’s all right D.That’s a good idea. 21.China plan to let Jim ____the Xisha Islands> Visit visits visiting visited 22.Where is Grace? She ____ IN THE yard. Reads read is reading was reading 23.Britain is ___ European country and Singapore is ___ Asian country A,a,a a, an the , an a ,the

战略与策略的主要区别

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with用法归纳

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3、说明名词, 表示事物的附属部分或所具有的性质]具有; 带有; 加上; 包括...在内 tea with sugar 加糖的茶水 a country with a long history 历史悠久的国家4 4、表示一致]在...一边, 与...一致; 拥护, 有利于 vote with sb. 投票赞成某人 with的复合结构作独立主格,表示伴随情况时,既可用分词的独立结构,也可用with的复合结构: with +名词(代词)+现在分词/过去分词/形容词/副词/不定式/介词短语。例如: He stood there, his hand raised. = He stood there, with his hand raise.他举手着站在那儿。 典型例题 The murderer was brought in, with his hands ___ behind his back A. being tied B. having tied C. to be tied D. tied 答案D. with +名词(代词)+分词+介词短语结构。当分词表示伴随状况时,其主语常常用

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杂谈

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