nnodely 1.5.2__tar.gz → 1.5.4__tar.gz

nnodely-1.5.4/PKG-INFO

@@ -0,0 +1,318 @@
+Metadata-Version: 2.4
+Name: nnodely
+Version: 1.5.4
+Summary: Model-structured neural network framework for the modeling and control of physical systems
+Author-email: Gastone Pietro Rosati Papini <tonegas@gmail.com>
+License: MIT License
+        
+        Copyright (c) 2024 Gastone Pietro Rosati Papini
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.
+        
+Project-URL: Homepage, https://github.com/tonegas/nnodely
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: <3.13,>=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy==1.26.4; platform_machine == "x86_64" and python_version == "3.10"
+Requires-Dist: torch==2.2.2; platform_machine == "x86_64" and python_version == "3.10"
+Requires-Dist: torch==2.6.0; platform_machine != "x86_64" or python_version != "3.10"
+Requires-Dist: numpy
+Requires-Dist: onnx
+Requires-Dist: pandas
+Requires-Dist: reportlab
+Requires-Dist: matplotlib
+Requires-Dist: onnxruntime
+Requires-Dist: graphviz
+Dynamic: license-file
+
+<a name="readme-top"></a>
+<p align="center">
+<img src="https://raw.githubusercontent.com/tonegas/nnodely/main/imgs/logo_white_info.png" alt="logo" >
+</p>
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT)
+[![codecov](https://codecov.io/github/tonegas/nnodely/graph/badge.svg?token=8V6P2PSYT4)](https://codecov.io/github/tonegas/nnodely)
+[![Documentation](https://readthedocs.org/projects/nnodely/badge/?version=main&style=default)](https://nnodely.readthedocs.io/)
+[![PyPI](https://img.shields.io/pypi/v/nnodely?color=blue&label=PyPI%20Package)](https://pypi.org/project/nnodely/)
+
+# Neural Network Framekwork for Modelling, Control, and Estimation of Physical Systems
+
+Modeling, control, and estimation of physical systems are central to many engineering disciplines. While data-driven methods like neural networks offer powerful tools, they often struggle to **incorporate prior domain knowledge**, limiting their interpretability, generalizability, and safety.
+
+To bridge this gap, we present ***nnodely*** (where "nn" can be read as "m," forming *Modely*) — a framework that facilitates the creation and deployment of **Model-Structured Neural Networks** (**MS-NNs**).  
+MS-NNs combine the learning capabilities of neural networks with structural **priors** grounded in **physics, control, and estimation theory**, enabling:
+
+- **Reduced training data** requirements  
+- **Generalization** to unseen scenarios  
+- **Real-time** deployment in real-world applications  
+
+In short:
+
+nnodely is not a replacement for a general purpose deep learning frameworks — it is a **structured layer on top of them**, purpose-built for physical systems.
+
+<br>
+<p align="center">
+  📖 <a href="https://nnodely.readthedocs.io/"><b>Documentation</b></a> •
+  🔬 <a href="./case-studies/"><b>Case Studies</b></a> •
+  🚀 <a href="https://github.com/tonegas/nnodely-applications"><b>Other Applications</b></a>
+</p>
+
+<!-- > [!NOTE]
+> **Full documentation** of the code is available at the following [link](https://nnodely.readthedocs.io/en/docs-update/)
+
+> Some **examples of applications** of nnodely in different fields are collected in the following open-source repository:   [nnodely-applications](https://github.com/tonegas/nnodely-applications) -->
+
+<h2>Table of Contents</h2>
+<ol>
+  <li><a href="#gettingstarted">Getting Started</a></li>
+  <ul>
+      <li><a href="#installation">Installation</a></li>
+      <li><a href="#helloworld">Hello, World!</a></li>
+  </ul>
+  <li><a href="#folderstructure">Structure of the Repository</a></li>
+  <li><a href="#contribute">How to contribute</a></li>
+  <li><a href="#license">License</a></li>
+  <li><a href="#references">References</a></li>
+</ol>
+
+
+<a name="gettingstarted"></a>
+## Getting Started
+
+<a name="installation"></a>
+### Installation
+
+You can install nnodely from PyPI via:
+
+```sh
+pip install nnodely
+```
+
+Alternatively, you can build it from source by first cloning the repository and installing the requirements and the nnodely library:
+
+```sh
+git clone https://github.com/tonegas/nnodely.git
+cd nnodely
+pip install -r requirements.txt
+pip install .
+```
+<a name="helloworld"></a>
+### Hello, World!
+To check if `nnodely` is installed correctly try running the following script.
+
+```python
+from nnodely import Input, Output, nnodely, Parameter
+
+x = Input("x")
+l = x.last()
+o = (Parameter('A')*l.sw([-2,-1])+Parameter('B')*l).closedLoop(x)
+f = Output("fib",o)
+model = nnodely()
+model.addModel("Fibonacci",f)
+model.addMinimize("target", l.sw([-2,-1])+l, f)
+model.neuralizeModel(1)
+model.loadData("data",{ "x" : list(range(100)) } )
+model.trainModel(prediction_samples = 2, lr = 0.5, num_of_epochs = 500)
+model.exportPythonModel(models = "Fibonacci")
+print(model({ "x" : [1] },prediction_samples = 20,num_of_samples = 20))
+```
+In the example, the neural network is trained to mimic the Fibonacci series.
+Finally, a native pytorch network is exported in a file.
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<a name="folderstructure"></a>
+## Structure of the Repository
+
+```bash
+nnodely/              # root directory
+├── nnodely/          # source code
+│   ├── basic/        # core low-level classes
+│   ├── exporter/     # model export utilities
+│   ├── layers/       # supported layers
+│   ├── operators/    # core operators
+│   ├── support/      # utility functions
+│   └── visualizer/   # visualization tools
+├── case-studies/     # main case studies
+├── docs/             # documentation
+├── tests/            # unit and integration tests
+├── imgs/             # images used in the documentation
+└── mplplots/         # utilities for MatPlotLib
+```
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<details>
+<summary>More info about repository structure</summary>
+<a name="nnodelyfolder"></a>
+
+### nnodely Folder
+This folder contains all the nnodely library files with relative references.
+
+The `nnodely` main class defined in __nnodely.py__, it contains all the main properties of the nnodely object and it derives from five main operators, cointained in the folder `operators/`:
+1. __composer.py__ contains all the functions to build the networks: `addModel`, `neuralizeModel`, `addConnection`, `addClosedLoop` etc..
+2. __loader.py__ contains the function for managing the dataset, the main function is `dataLoad`.
+3. __trainer.py__ contains the function for training the network as the `trainModel`.
+4. __exporter.py__ contains all the function for import and export: `saveModel`, `loadModel`, `exportONNX` etc..
+5. __validator.py__ contains all the function for validate the model and the `resultsAnalysis`. 
+6. All the operators derive from `Network` defined in __network.py__, that contains the shared support functions for all the operators.
+
+The folder `basic/` contains the main classes for the low level functionalities: 
+1. __model.py__ containts the pytorch template model for the structured network.
+2. __modeldef.py__ containts the operation for work with the json model definition.
+3. __loss.py__ contains the loss functions.
+4. __optimizer.py__ contains the optimizer calss.
+6. __relation.py__ contains all the main classes from which all the layers are derived.
+
+The other folders are:
+1. `exporter/` that contains the classes for the export functions.
+2. `support/` for the support functions.
+3. `visualizer/` that contains all the classes related to the visualization.
+4. And finally the `layers/` folder.
+
+The `layers/` folder contains all the layers that can be used in the MSNN.
+In particular, the model structured NN is defined by `Inputs`, `Outputs` and `Parameters`:
+1. __input.py__ contains the Input class used for create an input for the network.
+2. __output.py__ contains the Output class used for create an output for the network.
+3. __parameter.py__ contains the logic for create a generic parameters and constants.
+
+The main basic layers without parameters are:
+1. __activation.py__ this file contains all the activation functions. The activation are mainly based on the pytorch functions.
+2. __arithmetic.py__ this file contains the aritmetic functions as: +, -, /, *., **.
+3. __trigonometric.py__ this file contains all the trigonometric functions.
+4. __part.py__ are used for selecting part of the data.
+5. __fuzzify.py__ contains the operation for the fuzzification of a variable, 
+commonly used in the local model as activation function as in [[1]](#1) with rectangular activation functions or in [[3]](#3), [[4]](#4) and [[5]](#5) with triangular activation function activation functions.
+Using fuzzification it is also possible create a channel coding as presented in [[2]](#2).
+
+The main basic layers with parameters are:
+1. __fir.py__ this file contains the finite impulse response filter function. It is a linear operation on the time dimension (second dimension). 
+This filter was introduced in [[1]](#1).
+2. __linear.py__ this file contains the linear function. Typical Linear operation `W*x+b` operated on the space dimension (third dimension). 
+This operation is presented in [[1]](#1).
+3. __localmodel.py__ this file contains the logic for build a local model. This operation is presented in [[1]](#1), [[3]](#3), [[4]](#4) and [[5]](#5).
+4. __parametricfunction.py__ are the user custom function. The function can use the pytorch syntax. A parametric function is presented in [[3]](#3), [[4]](#4), [[5]](#5).
+5. __equationlearner.py__ contains the logic for the equation learner. The equation learner is used for learn a relation input outpur following a list of activation functions. The first implementation is presented in [[6]](#6).
+6. __timeoperation.py__ contains the time operation functions. The time operation are used for extract a time window from a signal. The derivative operation can be used to implement Physics-informed neural network [[7]](#7) Sobolev learning [[8]](#8).
+
+<a name="casestudiesfolder"></a>
+### Case Studies Folder
+In the case studies folder you can find the main case studies cited in the paper.
+Each case study is a jupyter notebook that explains the main functionalities of the library.
+
+<a name="docsfolder"></a>
+### Docs Folder
+This folder contains all files used to automatically generate the documentation.
+
+<a name="testsfolder"></a>
+### Tests Folder
+This folder contains the unit tests of the library. Each file tests a specific functionality.
+
+<a name="mplfolder"></a>
+### Matplotlib Folder
+This folder contains the utilities for Matplotlib.
+
+<a name="imgfolder"></a>
+### Images Folder
+This folder contains the images used in the documentation.
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+</details>
+
+<a name="contribute"></a>
+## How to Contribute
+
+To contribute to the nnodely framework, you can:
+
+- Open a pull request if you have a new feature or bug fix.  
+- Open an issue if you have a question or suggestion.  
+
+We welcome contributions and collaborations.
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<a name="license"></a>
+## License
+This project is released under the license [License: MIT](https://opensource.org/licenses/MIT).
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<a name="references"></a>
+## References
+
+<a id="1">[1]</a> 
+Mauro Da Lio, Daniele Bortoluzzi, Gastone Pietro Rosati Papini. (2019). 
+Modelling longitudinal vehicle dynamics with neural networks. 
+Vehicle System Dynamics. https://doi.org/10.1080/00423114.2019.1638947 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/model_longit_vehicle_dynamics/model_longit_vehicle_dynamics.py))
+
+<a id="2">[2]</a> 
+Alice Plebe, Mauro Da Lio, Daniele Bortoluzzi. (2019). 
+On Reliable Neural Network Sensorimotor Control in Autonomous Vehicles. 
+IEEE Transaction on Intelligent Transportation System. https://doi.org/10.1109/TITS.2019.2896375
+
+<a id="3">[3]</a> 
+Mauro Da Lio, Riccardo Donà, Gastone Pietro Rosati Papini, Francesco Biral, Henrik Svensson. (2020). 
+A Mental Simulation Approach for Learning Neural-Network Predictive Control (in Self-Driving Cars).
+IEEE Access. https://doi.org/10.1109/ACCESS.2020.3032780 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/model_lateral_vehicle_dynamics/model_lateral_vehicle_dynamics.ipynb))
+
+<a id="4">[4]</a> 
+Edoardo Pagot, Mattia Piccinini, Enrico Bertolazzi, Francesco Biral. (2023). 
+Fast Planning and Tracking of Complex Autonomous Parking Maneuvers With Optimal Control and Pseudo-Neural Networks.
+IEEE Access. https://doi.org/10.1109/ACCESS.2023.3330431 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/control_steer_car_parking/control_steer_car_parking.ipynb))
+
+<a id="5">[5]</a> 
+Mattia Piccinini, Sebastiano Taddei, Matteo Larcher, Mattia Piazza, Francesco Biral. (2023).
+A Physics-Driven Artificial Agent for Online Time-Optimal Vehicle Motion Planning and Control.
+IEEE Access. https://doi.org/10.1109/ACCESS.2023.3274836 (look [[code basic]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/control_steer_artificial_race_driver/control_steer_artificial_race_driver.ipynb)
+and [[code extended]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/control_steer_artificial_race_driver_extended/control_steer_artificial_race_driver_extended.ipynb))
+
+<a id="6">[6]</a> 
+Hector Perez-Villeda, Justus Piater, Matteo Saveriano. (2023).
+Learning and extrapolation of robotic skills using task-parameterized equation learner networks.
+Robotics and Autonomous Systems. https://doi.org/10.1016/j.robot.2022.104309 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/equation_learner/equation_learner.ipynb))
+
+<a id="7">[7]</a> 
+M. Raissi. P. Perdikaris b, G.E. Karniadakis a. (2019).
+Physics-informed neural networks: A deep learning framework for solving forward and inverse problems involving nonlinear partial differential equations
+Journal of Computational Physics. https://doi.org/10.1016/j.jcp.2018.10.045 (look the [[example Burger's equation]](https://github.com/tonegas/nnodely-applications/blob/main/pinn/pinn_Burgers_equation.ipynb))
+
+<a id="8">[8]</a> 
+Wojciech Marian Czarnecki, Simon Osindero, Max Jaderberg, Grzegorz Świrszcz, Razvan Pascanu. (2017).
+Sobolev Training for Neural Networks.
+arXiv. https://doi.org/10.48550/arXiv.1706.04859 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/sobolev/Sobolev_learning.ipynb))
+
+<a id="9">[9]</a> 
+Mattia Piccinini, Matteo Zumerle, Johannes Betz, Gastone Pietro Rosati Papini. (2025).
+A Road Friction-Aware Anti-Lock Braking System Based on Model-Structured Neural Networks.
+IEEE Open Journal of Intelligent Transportation Systems. https://doi.org/10.1109/OJITS.2025.3563347 (look at the [[code]](https://github.com/tonegas/nnodely-applications/tree/main/vehicle/road_friction_aware_ABS))
+
+<a id="10">[10]</a> 
+Mauro Da Lio, Mattia Piccinini, Francesco Biral. (2023).
+Robust and Sample-Efficient Estimation of Vehicle Lateral Velocity Using Neural Networks With Explainable Structure Informed by Kinematic Principles.
+IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/TITS.2023.3303776
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+<!--
+<a name="cite-us"></a>
+## Cite Us
+
+> TODO: Possiamo aggiungere DOI di repo con zenodo e mettere la citazione di quello [guida](https://docs.github.com/en/repositories/archiving-a-github-repository/referencing-and-citing-content)
+-->

nnodely-1.5.4/README.md

@@ -0,0 +1,272 @@
+<a name="readme-top"></a>
+<p align="center">
+<img src="https://raw.githubusercontent.com/tonegas/nnodely/main/imgs/logo_white_info.png" alt="logo" >
+</p>
+
+[![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT)
+[![codecov](https://codecov.io/github/tonegas/nnodely/graph/badge.svg?token=8V6P2PSYT4)](https://codecov.io/github/tonegas/nnodely)
+[![Documentation](https://readthedocs.org/projects/nnodely/badge/?version=main&style=default)](https://nnodely.readthedocs.io/)
+[![PyPI](https://img.shields.io/pypi/v/nnodely?color=blue&label=PyPI%20Package)](https://pypi.org/project/nnodely/)
+
+# Neural Network Framekwork for Modelling, Control, and Estimation of Physical Systems
+
+Modeling, control, and estimation of physical systems are central to many engineering disciplines. While data-driven methods like neural networks offer powerful tools, they often struggle to **incorporate prior domain knowledge**, limiting their interpretability, generalizability, and safety.
+
+To bridge this gap, we present ***nnodely*** (where "nn" can be read as "m," forming *Modely*) — a framework that facilitates the creation and deployment of **Model-Structured Neural Networks** (**MS-NNs**).  
+MS-NNs combine the learning capabilities of neural networks with structural **priors** grounded in **physics, control, and estimation theory**, enabling:
+
+- **Reduced training data** requirements  
+- **Generalization** to unseen scenarios  
+- **Real-time** deployment in real-world applications  
+
+In short:
+
+nnodely is not a replacement for a general purpose deep learning frameworks — it is a **structured layer on top of them**, purpose-built for physical systems.
+
+<br>
+<p align="center">
+  📖 <a href="https://nnodely.readthedocs.io/"><b>Documentation</b></a> •
+  🔬 <a href="./case-studies/"><b>Case Studies</b></a> •
+  🚀 <a href="https://github.com/tonegas/nnodely-applications"><b>Other Applications</b></a>
+</p>
+
+<!-- > [!NOTE]
+> **Full documentation** of the code is available at the following [link](https://nnodely.readthedocs.io/en/docs-update/)
+
+> Some **examples of applications** of nnodely in different fields are collected in the following open-source repository:   [nnodely-applications](https://github.com/tonegas/nnodely-applications) -->
+
+<h2>Table of Contents</h2>
+<ol>
+  <li><a href="#gettingstarted">Getting Started</a></li>
+  <ul>
+      <li><a href="#installation">Installation</a></li>
+      <li><a href="#helloworld">Hello, World!</a></li>
+  </ul>
+  <li><a href="#folderstructure">Structure of the Repository</a></li>
+  <li><a href="#contribute">How to contribute</a></li>
+  <li><a href="#license">License</a></li>
+  <li><a href="#references">References</a></li>
+</ol>
+
+
+<a name="gettingstarted"></a>
+## Getting Started
+
+<a name="installation"></a>
+### Installation
+
+You can install nnodely from PyPI via:
+
+```sh
+pip install nnodely
+```
+
+Alternatively, you can build it from source by first cloning the repository and installing the requirements and the nnodely library:
+
+```sh
+git clone https://github.com/tonegas/nnodely.git
+cd nnodely
+pip install -r requirements.txt
+pip install .
+```
+<a name="helloworld"></a>
+### Hello, World!
+To check if `nnodely` is installed correctly try running the following script.
+
+```python
+from nnodely import Input, Output, nnodely, Parameter
+
+x = Input("x")
+l = x.last()
+o = (Parameter('A')*l.sw([-2,-1])+Parameter('B')*l).closedLoop(x)
+f = Output("fib",o)
+model = nnodely()
+model.addModel("Fibonacci",f)
+model.addMinimize("target", l.sw([-2,-1])+l, f)
+model.neuralizeModel(1)
+model.loadData("data",{ "x" : list(range(100)) } )
+model.trainModel(prediction_samples = 2, lr = 0.5, num_of_epochs = 500)
+model.exportPythonModel(models = "Fibonacci")
+print(model({ "x" : [1] },prediction_samples = 20,num_of_samples = 20))
+```
+In the example, the neural network is trained to mimic the Fibonacci series.
+Finally, a native pytorch network is exported in a file.
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<a name="folderstructure"></a>
+## Structure of the Repository
+
+```bash
+nnodely/              # root directory
+├── nnodely/          # source code
+│   ├── basic/        # core low-level classes
+│   ├── exporter/     # model export utilities
+│   ├── layers/       # supported layers
+│   ├── operators/    # core operators
+│   ├── support/      # utility functions
+│   └── visualizer/   # visualization tools
+├── case-studies/     # main case studies
+├── docs/             # documentation
+├── tests/            # unit and integration tests
+├── imgs/             # images used in the documentation
+└── mplplots/         # utilities for MatPlotLib
+```
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<details>
+<summary>More info about repository structure</summary>
+<a name="nnodelyfolder"></a>
+
+### nnodely Folder
+This folder contains all the nnodely library files with relative references.
+
+The `nnodely` main class defined in __nnodely.py__, it contains all the main properties of the nnodely object and it derives from five main operators, cointained in the folder `operators/`:
+1. __composer.py__ contains all the functions to build the networks: `addModel`, `neuralizeModel`, `addConnection`, `addClosedLoop` etc..
+2. __loader.py__ contains the function for managing the dataset, the main function is `dataLoad`.
+3. __trainer.py__ contains the function for training the network as the `trainModel`.
+4. __exporter.py__ contains all the function for import and export: `saveModel`, `loadModel`, `exportONNX` etc..
+5. __validator.py__ contains all the function for validate the model and the `resultsAnalysis`. 
+6. All the operators derive from `Network` defined in __network.py__, that contains the shared support functions for all the operators.
+
+The folder `basic/` contains the main classes for the low level functionalities: 
+1. __model.py__ containts the pytorch template model for the structured network.
+2. __modeldef.py__ containts the operation for work with the json model definition.
+3. __loss.py__ contains the loss functions.
+4. __optimizer.py__ contains the optimizer calss.
+6. __relation.py__ contains all the main classes from which all the layers are derived.
+
+The other folders are:
+1. `exporter/` that contains the classes for the export functions.
+2. `support/` for the support functions.
+3. `visualizer/` that contains all the classes related to the visualization.
+4. And finally the `layers/` folder.
+
+The `layers/` folder contains all the layers that can be used in the MSNN.
+In particular, the model structured NN is defined by `Inputs`, `Outputs` and `Parameters`:
+1. __input.py__ contains the Input class used for create an input for the network.
+2. __output.py__ contains the Output class used for create an output for the network.
+3. __parameter.py__ contains the logic for create a generic parameters and constants.
+
+The main basic layers without parameters are:
+1. __activation.py__ this file contains all the activation functions. The activation are mainly based on the pytorch functions.
+2. __arithmetic.py__ this file contains the aritmetic functions as: +, -, /, *., **.
+3. __trigonometric.py__ this file contains all the trigonometric functions.
+4. __part.py__ are used for selecting part of the data.
+5. __fuzzify.py__ contains the operation for the fuzzification of a variable, 
+commonly used in the local model as activation function as in [[1]](#1) with rectangular activation functions or in [[3]](#3), [[4]](#4) and [[5]](#5) with triangular activation function activation functions.
+Using fuzzification it is also possible create a channel coding as presented in [[2]](#2).
+
+The main basic layers with parameters are:
+1. __fir.py__ this file contains the finite impulse response filter function. It is a linear operation on the time dimension (second dimension). 
+This filter was introduced in [[1]](#1).
+2. __linear.py__ this file contains the linear function. Typical Linear operation `W*x+b` operated on the space dimension (third dimension). 
+This operation is presented in [[1]](#1).
+3. __localmodel.py__ this file contains the logic for build a local model. This operation is presented in [[1]](#1), [[3]](#3), [[4]](#4) and [[5]](#5).
+4. __parametricfunction.py__ are the user custom function. The function can use the pytorch syntax. A parametric function is presented in [[3]](#3), [[4]](#4), [[5]](#5).
+5. __equationlearner.py__ contains the logic for the equation learner. The equation learner is used for learn a relation input outpur following a list of activation functions. The first implementation is presented in [[6]](#6).
+6. __timeoperation.py__ contains the time operation functions. The time operation are used for extract a time window from a signal. The derivative operation can be used to implement Physics-informed neural network [[7]](#7) Sobolev learning [[8]](#8).
+
+<a name="casestudiesfolder"></a>
+### Case Studies Folder
+In the case studies folder you can find the main case studies cited in the paper.
+Each case study is a jupyter notebook that explains the main functionalities of the library.
+
+<a name="docsfolder"></a>
+### Docs Folder
+This folder contains all files used to automatically generate the documentation.
+
+<a name="testsfolder"></a>
+### Tests Folder
+This folder contains the unit tests of the library. Each file tests a specific functionality.
+
+<a name="mplfolder"></a>
+### Matplotlib Folder
+This folder contains the utilities for Matplotlib.
+
+<a name="imgfolder"></a>
+### Images Folder
+This folder contains the images used in the documentation.
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+</details>
+
+<a name="contribute"></a>
+## How to Contribute
+
+To contribute to the nnodely framework, you can:
+
+- Open a pull request if you have a new feature or bug fix.  
+- Open an issue if you have a question or suggestion.  
+
+We welcome contributions and collaborations.
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<a name="license"></a>
+## License
+This project is released under the license [License: MIT](https://opensource.org/licenses/MIT).
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+
+<a name="references"></a>
+## References
+
+<a id="1">[1]</a> 
+Mauro Da Lio, Daniele Bortoluzzi, Gastone Pietro Rosati Papini. (2019). 
+Modelling longitudinal vehicle dynamics with neural networks. 
+Vehicle System Dynamics. https://doi.org/10.1080/00423114.2019.1638947 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/model_longit_vehicle_dynamics/model_longit_vehicle_dynamics.py))
+
+<a id="2">[2]</a> 
+Alice Plebe, Mauro Da Lio, Daniele Bortoluzzi. (2019). 
+On Reliable Neural Network Sensorimotor Control in Autonomous Vehicles. 
+IEEE Transaction on Intelligent Transportation System. https://doi.org/10.1109/TITS.2019.2896375
+
+<a id="3">[3]</a> 
+Mauro Da Lio, Riccardo Donà, Gastone Pietro Rosati Papini, Francesco Biral, Henrik Svensson. (2020). 
+A Mental Simulation Approach for Learning Neural-Network Predictive Control (in Self-Driving Cars).
+IEEE Access. https://doi.org/10.1109/ACCESS.2020.3032780 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/model_lateral_vehicle_dynamics/model_lateral_vehicle_dynamics.ipynb))
+
+<a id="4">[4]</a> 
+Edoardo Pagot, Mattia Piccinini, Enrico Bertolazzi, Francesco Biral. (2023). 
+Fast Planning and Tracking of Complex Autonomous Parking Maneuvers With Optimal Control and Pseudo-Neural Networks.
+IEEE Access. https://doi.org/10.1109/ACCESS.2023.3330431 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/control_steer_car_parking/control_steer_car_parking.ipynb))
+
+<a id="5">[5]</a> 
+Mattia Piccinini, Sebastiano Taddei, Matteo Larcher, Mattia Piazza, Francesco Biral. (2023).
+A Physics-Driven Artificial Agent for Online Time-Optimal Vehicle Motion Planning and Control.
+IEEE Access. https://doi.org/10.1109/ACCESS.2023.3274836 (look [[code basic]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/control_steer_artificial_race_driver/control_steer_artificial_race_driver.ipynb)
+and [[code extended]](https://github.com/tonegas/nnodely-applications/blob/main/vehicle/control_steer_artificial_race_driver_extended/control_steer_artificial_race_driver_extended.ipynb))
+
+<a id="6">[6]</a> 
+Hector Perez-Villeda, Justus Piater, Matteo Saveriano. (2023).
+Learning and extrapolation of robotic skills using task-parameterized equation learner networks.
+Robotics and Autonomous Systems. https://doi.org/10.1016/j.robot.2022.104309 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/equation_learner/equation_learner.ipynb))
+
+<a id="7">[7]</a> 
+M. Raissi. P. Perdikaris b, G.E. Karniadakis a. (2019).
+Physics-informed neural networks: A deep learning framework for solving forward and inverse problems involving nonlinear partial differential equations
+Journal of Computational Physics. https://doi.org/10.1016/j.jcp.2018.10.045 (look the [[example Burger's equation]](https://github.com/tonegas/nnodely-applications/blob/main/pinn/pinn_Burgers_equation.ipynb))
+
+<a id="8">[8]</a> 
+Wojciech Marian Czarnecki, Simon Osindero, Max Jaderberg, Grzegorz Świrszcz, Razvan Pascanu. (2017).
+Sobolev Training for Neural Networks.
+arXiv. https://doi.org/10.48550/arXiv.1706.04859 (look the [[code]](https://github.com/tonegas/nnodely-applications/blob/main/sobolev/Sobolev_learning.ipynb))
+
+<a id="9">[9]</a> 
+Mattia Piccinini, Matteo Zumerle, Johannes Betz, Gastone Pietro Rosati Papini. (2025).
+A Road Friction-Aware Anti-Lock Braking System Based on Model-Structured Neural Networks.
+IEEE Open Journal of Intelligent Transportation Systems. https://doi.org/10.1109/OJITS.2025.3563347 (look at the [[code]](https://github.com/tonegas/nnodely-applications/tree/main/vehicle/road_friction_aware_ABS))
+
+<a id="10">[10]</a> 
+Mauro Da Lio, Mattia Piccinini, Francesco Biral. (2023).
+Robust and Sample-Efficient Estimation of Vehicle Lateral Velocity Using Neural Networks With Explainable Structure Informed by Kinematic Principles.
+IEEE Transactions on Intelligent Transportation Systems. https://doi.org/10.1109/TITS.2023.3303776
+
+<p align="right">(<a href="#readme-top">back to top</a>)</p>
+<!--
+<a name="cite-us"></a>
+## Cite Us
+
+> TODO: Possiamo aggiungere DOI di repo con zenodo e mettere la citazione di quello [guida](https://docs.github.com/en/repositories/archiving-a-github-repository/referencing-and-citing-content)
+-->

{nnodely-1.5.2 → nnodely-1.5.4}/nnodely/__init__.py

@@ -20,6 +20,7 @@ from nnodely.layers.equationlearner import EquationLearner
 from nnodely.layers.timeoperation import Integrate, Differentiate
 from nnodely.layers.interpolation import Interpolation
 from nnodely.layers.rungekutta import ForwardEuler, RK2, RK4
+from nnodely.layers.neuralODE import NeuralODE
 
 # Main nnodely classes
 from nnodely.nnodely import nnodely, Modely, clearNames
@@ -36,7 +37,7 @@ from nnodely.support import logger
 major, minor = sys.version_info.major, sys.version_info.minor
 logger.LOG_LEVEL = logging.INFO
 
-__version__ = '1.5.2'
+__version__ = '1.5.4'
 
 if major < 3:
     sys.exit("Sorry, Python 2 is not supported. You need Python >= 3.10 for "+__package__+".")
@@ -56,6 +57,7 @@ __all__ = [
     'Relu', 'ELU', 'Softmax', 'Sigmoid', 'Identity',
     'Fir',
     'Linear',
+    'NeuralODE',
     'Add', 'Sum', 'Sub', 'Mul', 'Div', 'Pow', 'Neg', 'Sign',
     'Sin', 'Cos', 'Tan', 'Cosh', 'Tanh', 'Sech',
     'ParamFun',

{nnodely-1.5.2 → nnodely-1.5.4}/nnodely/basic/relation.py

@@ -41,7 +41,7 @@ class NeuObj():
     names = []
     @classmethod
     @enforce_types
-    def clearNames(self, names:str|list|None=None):
+    def clearNames(cls, names:str|list|None=None):
         if names is None:
             NeuObj.count = 0
             NeuObj.names = []
@@ -118,7 +118,7 @@ class Stream(Relation):
     """
     count = 0
     @classmethod
-    def resetCount(self):
+    def resetCount(cls):
         Stream.count = 0
 
     def __init__(self, name, json, dim, count = 1):

{nnodely-1.5.2 → nnodely-1.5.4}/nnodely/exporter/export.py

@@ -107,6 +107,16 @@ def export_python_model(model_def, model, model_path):
                     file.write("\n")
                     saved_functions.append(function_name)
 
+            elif 'NeuralODE' in name:
+                function_name = model_def['Functions'][name]['name']
+                if function_name not in saved_functions:
+                    code = model_def['Functions'][name]['code']
+                    code = code.replace(f'def {function_name}', f'def {package_name}_layers_neuralODE_{function_name}')
+                    file.write(code)
+                    file.write("\n")
+                    saved_functions.append(function_name)
+
+
         file.write("class TracerModel(torch.nn.Module):\n")
         file.write("    def __init__(self):\n")
         file.write("        super().__init__()\n")
@@ -184,8 +194,8 @@ def export_python_model(model_def, model, model_path):
             file.write(list_inputs)
             file.write("        self.states = dict()\n")
             file.write("\n")
-            file.write("    def forward(self, kwargs):\n")
-            file.write("        n_samples = min([kwargs[key].size(0) for key in self.inputs])\n")
+            file.write("    def forward(self, kwargs, n_samples = None):\n")
+            file.write("        n_samples = n_samples if n_samples else min([kwargs[key].size(0) for key in self.inputs])\n")
             for key in recurrent_inputs.keys():
                 file.write(f"        self.states['{key}'] = kwargs['{key}']\n")
             result_str = ""