Murray Wiki - User contributions [en]

Mary Dunlop, Oct 2017

2017-10-18T21:41:54Z

Abaetica: /* Friday */

Mary Dunlop will visit Caltech on 19-20 Oct 2017. __NOTOC__

== Topics ==

Richard will organize a set of discussions with Mary on different topics. If you are interested in joining in the discussions, sign up below. You should put your name and any constraints on your time.

{| border=1
|- valign=top
| width=33% |
==== Topic #1: mutational robustness ====
* Richard - available 1-5 pm
* Anandh - 24/7/365

| width=33% |

==== Topic #2: feedback control of biological systems ====
* Richard - available 1-5 pm
* Ania - 1pm - 4pm

| width=33% |

==== Topic #3: TX-TL (modeling and experiments) ====
* Richard - available 1-5 pm
* William - busy 1-4 pm
* Vipul - available all day
* Name - availability
|}

==== Additional topics ====
* If you have an additional topic you would like to discuss, but it here.

== Schedule ==
To be filled out later.

==== Thursday ====
* 11:00 am: Seminar in Gates-Thomas

=== Friday ===
* 8:45 am: Open
* 9:30 am: Ania
* 10:15 am: Open
* 11 am - 2 pm: off campus
* 2-5 pm: group discussions (sign up above)
* 5:00 pm: Done for the day

Mary Dunlop, Oct 2017

2017-10-18T21:41:35Z

Abaetica: /* Topic #2: feedback control of biological systems */

Mary Dunlop will visit Caltech on 19-20 Oct 2017. __NOTOC__

== Topics ==

Richard will organize a set of discussions with Mary on different topics. If you are interested in joining in the discussions, sign up below. You should put your name and any constraints on your time.

{| border=1
|- valign=top
| width=33% |
==== Topic #1: mutational robustness ====
* Richard - available 1-5 pm
* Anandh - 24/7/365

| width=33% |

==== Topic #2: feedback control of biological systems ====
* Richard - available 1-5 pm
* Ania - 1pm - 4pm

| width=33% |

==== Topic #3: TX-TL (modeling and experiments) ====
* Richard - available 1-5 pm
* William - busy 1-4 pm
* Vipul - available all day
* Name - availability
|}

==== Additional topics ====
* If you have an additional topic you would like to discuss, but it here.

== Schedule ==
To be filled out later.

==== Thursday ====
* 11:00 am: Seminar in Gates-Thomas

=== Friday ===
* 8:45 am: Open
* 9:30 am: Open
* 10:15 am: Open
* 11 am - 2 pm: off campus
* 2-5 pm: group discussions (sign up above)
* 5:00 pm: Done for the day

May 2017 meeting schedule

2017-05-08T16:55:24Z

Abaetica: /* 15 May (Mon) */

Richard will be in town several different times in May. Please sign up for a time to meet below. Please note that these are likely the last "sabbatical" meetings until Richard returns to Pasadena in early July. __NOTOC__

{| border=1 width=100%
|- valign=top
| width=33% |
| width=33% |
==== 15 May (Mon) ====
* 9:30 am: Open
* 10:15 am: Open
* 11:00 am: Faculty meeting
* 11:30 am: Open
* 12:15 pm: Lunch
* 1:30 pm: Open
* 2:15 pm: Reed
* 3:00 pm: Open
* 3:45 pm: Break
* 4:00 pm: Namita
* 4:45 pm: Ania
* 5:30 pm: Open
* 6:15 pm: Done for the day

| width=33% |

==== 16 May (Tue)====
* 9:30 am: Yong
* 10:15 am: Tung
* 11:00 am: Faculty meeting
* 12:00 pm: Lunch
* 1:30 pm: Depart
* 12:00 pm: Lunch
* 1:30 pm: Depart

|- valign=top
| width=33% |

====21 May (Sun) ====
* 1:45 pm: Open
* 2:30 pm: Open
* 3:15 pm: Open
* 4:00 pm: Break
* 4:15 pm: Open
* 5:00 pm: Open
* 5:45 pm: Open
* 6:30 pm: Done for the day

| width=33% |

==== 22 May (Mon) ====
* 10:15 am: Mark
* 11:00 am: Cindy
* 11:45 am: Lunch
* 12:00 pm: DARPA BioCon meeting
* 2:00 pm: Swati + Reed
* 2:45 pm: Off campus
* 4:15 pm: James
* 5:00 pm: Non-Caltech meetings
* 6:30 pm: Done for the day

| width=33% |

==== 23 May (Tue) ====
* 9:30 am: Faculty discussion
* 10:30 am: Hold (Susan)
* 11:30 am: Lunch
* 12:00 pm: Telecon
* 1:00 pm: Anu thesis defense
* 3:00 pm: Terri (?)
* 3:30 pm: Depart

|- valign=top
| width=33% |

====28 May (Sun) ====
* 1:45 pm: Open
* 2:30 pm: George
* 3:15 pm: Open
* 4:00 pm: Done for the day
| width=33% |

====29 May (Mon) ====
* 1:45 pm: Open (if needed)
* 2:30 pm: Open (if needed)
* 3:15 pm: Open (if needed)
* 4:00 pm: Done for the day
| width=33% |

==== 30 May (Tue) ====
* 9:30 am: Shan
* 10:15 am: Shaobin
* 11:00 am: Stepan seminar
* 12:00 pm: Lunch
* 1:30 pm: Namita
* 2:15 pm: Andrey
* 3:00 pm: Depart
|}

Apr 2017 meeting schedule

2017-04-12T19:25:13Z

Abaetica: /* 21 Apr (Fri) */

Richard will be in town 19-21 Apr. Please sign up for a time to meet below. __NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 19 Apr (Wed) ====
* 9:30 am: Hold (Sofie or Leo)
* 10:30 am: Admin meeting (SP, MC)
* 11:15 am: Shaobin
* 12:00 pm: DARPA BioCon meeting
* 2:00 pm: Candidacy exam
* 3:00 pm: CDS tea
* 3:45 pm: Yong
* 4:30 pm: Admin meeting (LL)
* 5:00 pm: Open (tentative)
* 5:45 pm: Associates event

| width=25% |

==== 20 Apr (Thu) ====
* 9:30 am: Hold (Sofie or Leo)
* 10:30 am: Mark
* 11:15 am: Tony Fragoso
* 12:00 pm: Lunch
* 1:30 pm: EBRC telecon
* 2:30 pm: Anandh
* 3:15 pm: James
* 4:00 pm: Vipul
* 4:45 pm: Break
* 5:00 pm: Tung
* 5:45 pm: Sam
* 6:00 pm: Open (if needed)
* 6:45 pm: Open (if needed)
* 7:30 pm: Done for the day

| width=25% |

==== 21 Apr (Fri) ====
* 9:15 am: Open
* 10:00 am: JPL CIF meeting
* 11:15 am: Karena
* 12:00 pm: Lunch
* 12:45 pm: William
* 1:30 pm: Namita
* 2:15 pm: Open
* 3:00 pm: Break
* 3:15 pm: Open
* 4:00 pm: Miki
* 4:45 pm: Ania
* 5:30 pm: Done for the day

| width=25% |

==== 23 Apr (Sun) ====
* 1:45 pm: Anu
* 2:30 pm: Open
* 3:15 pm: Open
* 4:00 pm: Break
* 4:15 pm: Open
* 5:00 pm: Sumanth
* 5:45 pm: Shan
* 6:30 pm: Done for the day
|}

Mar 2017 meeting schedule

2017-02-26T23:53:46Z

Abaetica: /* 6 Mar (Mon) */

Richard will be in town 3-7 Mar. Please sign up for a time to meet below. __NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 3 Mar (Fri) ====
* 10:00 am: DENSO CPM telecon
* 11:00 am: Reed
* 11:45 am: Shaobin
* 12:30 pm: Lunch
* 1:00 pm: Hold: DARPA telecon
* 2:00 pm: Open
* 2:45 pm: Open
* 3:30 pm: SBIR telecon (w/ Mark P)
* 4:00 pm: Faculty meeting
* 5:45 pm: Sumanth Dathathri
* 6:30 pm: Done for the day

| width=25% |

==== 5 Mar (Sun) ====
* 1:45 pm: Open
* 2:30 pm: Open
* 3:15 pm: Open
* 4:00 pm: Break
* 4:15 pm: Open
* 5:00 pm: Open
* 5:45 pm: Open
* 6:30 pm: Done for the day

| width=25% |

==== 6 Mar (Mon) ====
* 9:30 am: AFOSR BRI telecon
* 10:30 am: Yong
* 11:15 am: Fragoso
* 12:00 pm: Lunch
* 12:30 pm: Hold: DARPA telecon
* 1:30 pm: Open
* 2:15 pm: Ioannis
* 3:00 pm: Miki
* 3:45 pm: Break
* 4:00 pm: James
* 4:45 pm: Open
* 5:30 pm: Ania
* 6:15 pm: Done for the day

| width=25% |

==== 7 Mar (Tue) ====
* 9:30 am: Busy
* 10:15 am: Tung
* 11:00 am: Hold: DARPA telecon
* 12:00 pm: Lunch
* 12:45 pm: Hold
* 1:15 pm: Andrew M
* 2:00 pm: Andy Halleran
* 2:45 pm: Depart for airport
|}

Leopold Green, 13 Feb 2017

2017-02-10T19:00:12Z

Abaetica:

Leo Green will be visiting Caltech on 13 Feb 2017.

Monday, 13 Feb:
* ~9:55a: arrive on campus. Meet with Andrey Shur in <TBD>
* 10a-12p: Lab meeting, 111 Keck
* 12p: Lunch at Ath (or elsewhere), hosted by Andrey (+ 1-2 others, if desired)
* 1:15p: Andrey
* 2:00p: Anandh
* 2:45p: none
* 3:30p: Ania
* 4:15p: Done for the day

Leopold Green, 13 Feb 2017

2017-02-10T18:52:14Z

Abaetica:

Leo Green will be visiting Caltech on 13 Feb 2017.

Monday, 13 Feb:
* ~9:55a: arrive on campus. Meet with Andrey Shur in <TBD>
* 10a-12p: Lab meeting, 111 Keck
* 12p: Lunch at Ath (or elsewhere), hosted by Andrey (+ 1-2 others, if desired)
* 1:15p: Open
* 2:00p: Open
* 2:45p: Ania
* 3:30p: Andrey
* 4:15p: Done for the day

Michaëlle Mayalu, Jan 2017

2017-01-23T16:35:23Z

Abaetica: /* 24 Jan (Tue) */

Michaëlle Mayalu from MIT will visit on 23-24 January. __NOTOC__

=== Schedule ===
{| border=1
|- valign=top
| width=50% |
==== 23 Jan (Mon) ====
* 8 am: Breakfast with Richard (Ath)
* 9 am: Anandh (103 Steele?)
* 10 am: DARPA Biological Control program meeting, 168 Broad (walk over with Richard)
<hr>
* 12 pm: Seminar, 121 Annenberg (abtract below)
* 1 pm: open (grab lunch if you haven't already eaten)
<hr>
* 2 pm: Open
* 2:45 pm: Noah Olsman (2nd floor lounge, Annenberg)
* 3:30 pm: Nikolai Matni (2nd floor lounge, Annenberg)
* 4:15 pm: Aaron Ames, 266 Gates-Thomas
<hr>
* 6:30 pm: Meet Richard in 107 Steele. Walk to dinner.

| width=50% |

==== 24 Jan (Tue) ====
* 9:00 am: Open
* 9:45 am: Open
* 10:30 am: Cindy (2nd floor lounge, Annenberg)
* 11:15 am: Open
<hr>
* 12 pm: Henrike Niederholtmeyer seminar, 121 Annenberg
<hr>
* 1:00 pm: Open
* 1:45 pm: [[Jan 2017 meeting schedule|Richard]]
* 2:30 pm: John Doyle
* 3:15 pm: Vipul (Keck 222)
* 4:00 pm: Ania (2nd floor lounge, Annenberg)
* 4:45 pm: Open
* 5:30 pm: Done for the day
|}

=== Seminar info ===
<center>
'''Reduced-order Systems Approach to Prediction of Emergent Behaviors'''

Michaëlle N. Mayalu 
Massachusetts Institute of Technology

Monday, January 23, 2017 
12-1 pm, 121 Annenberg
</center>

Increased understanding of the physical and chemical principles that drive a biological process has led to the development of mathematical formulations that are used to simulate a rich variety of responses. As a result, a vast amount of simulation data can be created for analyzing single cell behavior numerically. However complex and extensive mechanisms involved in emergent behavior of multiple interacting cells may become intractable due to mathematical and computational complexity. This talk will address how we can exploit simulation data describing the nonlinear dynamics of single cell behavior to create a reduced- order linear state equation in latent variable space. Furthermore, the linearity of the reduced-order latent variable state equation allows for the superposition of multiple solutions to predict emergent behaviors of interacting cells.
The linear latent state equation describing the nonlinear dynamics of single cell is created in two steps. First the original independent state variables are augmented by adding auxiliary variables necessary to “sufficiently inform” the single cell nonlinear dynamics. This creates a high-dimensional state space where a linear description of the nonlinear system can be found. Second, latent variables extracted from the high-dimensional state space and used to create the reduced-order linear equation. While the resultant latent state equation is linear, complex nonlinearities are embedded in the compact model, leading to precise and global linearization of nonlinear dynamics. Furthermore, in order to predict multi-cell emergent behavior, the reduced-order linear models of single cells are used as agents in a comprehensive agent-based framework based on linear superposition of mutually shared variables. The approach is motivated by emergent behaviors in collective cell migration in order to gain insight for the study and control cancer metastasis and wound healing. However, the general approach may be applied to systems of interacting nonlinear agents, which would otherwise be prohibitively complex to compute.

Michaëlle N. Mayalu is a Ph.D. student at the Brit and Alex d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge MA. She received the B.S., and M.S., degrees in Mechanical Engineering in 2010 and 2012 from Massachusetts Institute of Technology. Her thesis work is focused on modeling and predicting biological systems behavior by drawing on aspects of dynamic modeling and simulation, data analysis, statistical learning and control theory. Her thesis supervisor is Professor H. Harry Asada in the Department of Mechanical Engineering at MIT.

Michaëlle Mayalu, Jan 2017

2017-01-20T20:22:25Z

Abaetica: /* 24 Jan (Tue) */

Michaëlle Mayalu from MIT will visit on 23-24 January. __NOTOC__

=== Schedule ===
{| border=1
|- valign=top
| width=50% |
==== 23 Jan (Mon) ====
* 8 am: Breakfast with Richard (Ath)
* 9 am: Anandh (103 Steele?)
* 10 am: DARPA Biological Control program meeting, 168 Broad (walk over with Richard)
<hr>
* 12 pm: Seminar, 121 Annenberg (abtract below)
* 1 pm: lunch with TBD
<hr>
* 2 pm: Open
* 2:45 pm: Open
* 3:30 pm: Open
* 4:15 pm: Aaron Ames, 266 Gates-Thomas
<hr>
* 5:30 pm: Meet Richard in 107 Steele. Walk to dinner.

| width=50% |

==== 24 Jan (Tue) ====
* 9:00 am: Open
* 9:45 am: Open
* 10:30 am: Open
* 11:15 am: Ania (2nd floor lounge, Annenberg)
<hr>
* 12 pm: Henrike Niederholtmeyer seminar, 121 Annenberg
<hr>
* 1:00 pm: Open
* 1:45 pm: [[Jan 2017 meeting schedule|Richard]]
* 2:30 pm: John Doyle
* 3:15 pm: Vipul (Keck 222)
* 4:00 pm: Open
* 4:45 pm: Open
* 5:30 pm: Done for the day
|}

=== Seminar info ===
<center>
'''Reduced-order Systems Approach to Prediction of Emergent Behaviors'''

Michaëlle N. Mayalu 
Massachusetts Institute of Technology

Monday, January 23, 2017 
12-1 pm, 121 Annenberg
</center>

Increased understanding of the physical and chemical principles that drive a biological process has led to the development of mathematical formulations that are used to simulate a rich variety of responses. As a result, a vast amount of simulation data can be created for analyzing single cell behavior numerically. However complex and extensive mechanisms involved in emergent behavior of multiple interacting cells may become intractable due to mathematical and computational complexity. This talk will address how we can exploit simulation data describing the nonlinear dynamics of single cell behavior to create a reduced- order linear state equation in latent variable space. Furthermore, the linearity of the reduced-order latent variable state equation allows for the superposition of multiple solutions to predict emergent behaviors of interacting cells.
The linear latent state equation describing the nonlinear dynamics of single cell is created in two steps. First the original independent state variables are augmented by adding auxiliary variables necessary to “sufficiently inform” the single cell nonlinear dynamics. This creates a high-dimensional state space where a linear description of the nonlinear system can be found. Second, latent variables extracted from the high-dimensional state space and used to create the reduced-order linear equation. While the resultant latent state equation is linear, complex nonlinearities are embedded in the compact model, leading to precise and global linearization of nonlinear dynamics. Furthermore, in order to predict multi-cell emergent behavior, the reduced-order linear models of single cells are used as agents in a comprehensive agent-based framework based on linear superposition of mutually shared variables. The approach is motivated by emergent behaviors in collective cell migration in order to gain insight for the study and control cancer metastasis and wound healing. However, the general approach may be applied to systems of interacting nonlinear agents, which would otherwise be prohibitively complex to compute.

Michaëlle N. Mayalu is a Ph.D. student at the Brit and Alex d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge MA. She received the B.S., and M.S., degrees in Mechanical Engineering in 2010 and 2012 from Massachusetts Institute of Technology. Her thesis work is focused on modeling and predicting biological systems behavior by drawing on aspects of dynamic modeling and simulation, data analysis, statistical learning and control theory. Her thesis supervisor is Professor H. Harry Asada in the Department of Mechanical Engineering at MIT.

Michaëlle Mayalu, Jan 2017

2017-01-20T20:22:06Z

Abaetica: /* 24 Jan (Tue) */

Michaëlle Mayalu from MIT will visit on 23-24 January. __NOTOC__

=== Schedule ===
{| border=1
|- valign=top
| width=50% |
==== 23 Jan (Mon) ====
* 8 am: Breakfast with Richard (Ath)
* 9 am: Anandh (103 Steele?)
* 10 am: DARPA Biological Control program meeting, 168 Broad (walk over with Richard)
<hr>
* 12 pm: Seminar, 121 Annenberg (abtract below)
* 1 pm: lunch with TBD
<hr>
* 2 pm: Open
* 2:45 pm: Open
* 3:30 pm: Open
* 4:15 pm: Aaron Ames, 266 Gates-Thomas
<hr>
* 5:30 pm: Meet Richard in 107 Steele. Walk to dinner.

| width=50% |

==== 24 Jan (Tue) ====
* 9:00 am: Open
* 9:45 am: Open
* 10:30 am: Open
* 11:15 am: Ania, 2nd floor lounge, Annenberg
<hr>
* 12 pm: Henrike Niederholtmeyer seminar, 121 Annenberg
<hr>
* 1:00 pm: Open
* 1:45 pm: [[Jan 2017 meeting schedule|Richard]]
* 2:30 pm: John Doyle
* 3:15 pm: Vipul (Keck 222)
* 4:00 pm: Open
* 4:45 pm: Open
* 5:30 pm: Done for the day
|}

=== Seminar info ===
<center>
'''Reduced-order Systems Approach to Prediction of Emergent Behaviors'''

Michaëlle N. Mayalu 
Massachusetts Institute of Technology

Monday, January 23, 2017 
12-1 pm, 121 Annenberg
</center>

Increased understanding of the physical and chemical principles that drive a biological process has led to the development of mathematical formulations that are used to simulate a rich variety of responses. As a result, a vast amount of simulation data can be created for analyzing single cell behavior numerically. However complex and extensive mechanisms involved in emergent behavior of multiple interacting cells may become intractable due to mathematical and computational complexity. This talk will address how we can exploit simulation data describing the nonlinear dynamics of single cell behavior to create a reduced- order linear state equation in latent variable space. Furthermore, the linearity of the reduced-order latent variable state equation allows for the superposition of multiple solutions to predict emergent behaviors of interacting cells.
The linear latent state equation describing the nonlinear dynamics of single cell is created in two steps. First the original independent state variables are augmented by adding auxiliary variables necessary to “sufficiently inform” the single cell nonlinear dynamics. This creates a high-dimensional state space where a linear description of the nonlinear system can be found. Second, latent variables extracted from the high-dimensional state space and used to create the reduced-order linear equation. While the resultant latent state equation is linear, complex nonlinearities are embedded in the compact model, leading to precise and global linearization of nonlinear dynamics. Furthermore, in order to predict multi-cell emergent behavior, the reduced-order linear models of single cells are used as agents in a comprehensive agent-based framework based on linear superposition of mutually shared variables. The approach is motivated by emergent behaviors in collective cell migration in order to gain insight for the study and control cancer metastasis and wound healing. However, the general approach may be applied to systems of interacting nonlinear agents, which would otherwise be prohibitively complex to compute.

Michaëlle N. Mayalu is a Ph.D. student at the Brit and Alex d’Arbeloff Laboratory for Information Systems and Technology in the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge MA. She received the B.S., and M.S., degrees in Mechanical Engineering in 2010 and 2012 from Massachusetts Institute of Technology. Her thesis work is focused on modeling and predicting biological systems behavior by drawing on aspects of dynamic modeling and simulation, data analysis, statistical learning and control theory. Her thesis supervisor is Professor H. Harry Asada in the Department of Mechanical Engineering at MIT.

Jan 2017 meeting schedule

2017-01-13T18:33:55Z

Abaetica: /* 23 Jan (Mon) */

Richard will be in town 20-24 Jan. Please sign up for a time to meet below. __NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 20 Jan (Fri) ====
* Richard arrives on campus ~9:45 am
* 10:15 am: Mark
* 11:00 am: Yong
* 11:45 am: Anandh
* 12:30 pm: Lunch
* 1:30 pm: Yong and Frances A
* 2:30 pm: Sumanth Dathathri
* 3:15 pm: Open
* 4:00 pm: Miki
* 4:45 pm: Break
* 5:00 pm: Cindy
* 5:45 pm: Open
* 6:30 pm: Done for the day

| width=25% |

==== 22 Jan (Sun) ====
* 1:45 pm: Open
* 2:30 pm: Open
* 3:15 pm: Rory
* 4:00 pm: Break
* 4:15 pm: Open
* 5:00 pm: Open
* 5:45 pm: Open
* 6:30 pm: Done for the day

| width=25% |

==== 23 Jan (Mon) ====
* 8:00 am: Michaelle
* 9:00 am: Hold: Jaymie
* 10:00 am: BioCon meeting
* 12:00 pm: Seminar ([[Michaëlle Mayalu, Jan 2017|Michaelle]])
* 1:00 pm: Hold until needed
* 1:45 pm: Open
* 2:30 pm: CDS faculty meeting
* 4:15 pm: Tony Fragoso
* 5:00 pm: Ania
* 5:45 pm: Open
* 6:30 pm: Dinner with visitors

| width=25% |

==== 24 Jan (Tue) ====
* 9:45 am: Henrike
* 10:30 am: Karena
* 11:15 am: Tung
* 12:00 pm: Seminar ([[Henrike Niederholtmeyer, Jan 2017|Henrike]])
* 1:15 pm: [[Michaëlle Mayalu, Jan 2017|Michaelle]]
* 2:00 pm: Anu
* 2:45 pm: [[Henrike Niederholtmeyer, Jan 2017|Henrike]]
* 3:30 pm: Depart for airport
|}

Nov 2016 meeting schedule

2016-11-03T20:43:45Z

Abaetica: /* 16 Nov (Wed) */

Richard will be in town 13-16 Nov. Please sign up for a time to meet below.
__NOTOC__

{| border=1
|- valign=top
| width=25% |

==== 13 Nov (Sun) ====
 
 
<hr>
* 2 pm: Hold until needed
* 2:45 pm: Hold until needed
* 3:30 pm: Hold until needed
* 4:15 pm: Break
* 5:00 pm: Hold until needed
* 5:45 pm: Hold until needed
* 6:30 pm: Done for the day

| width=25% |

==== 14 Nov (Mon) ====
* 10:30 am: Open
* 11:15 am: Tung
<hr>
* 1:30 pm: Open
* 2:15 pm: Andrey Shur
* 3:00 pm: Shaobin
* 3:45 pm: Break
* 4:00 pm: Miki
* 4:45 pm: Open
* 5:30 pm: Anu
* 6:15 pm: Done for the day
| width=25% |

====15 Nov (Tue) ====
* 10:30 am: Mark
* 11:15 am: Reed
<hr>
* 1:30 pm: Open
* 2:15 pm: Karena Cai
* 3:00 pm: Tony Fragoso
* 3:45 pm: Break
* 4:00 pm: Open
* 4:45 pm: Cindy
* 5:30 pm: Open
* 6:15 pm: Done for the day
| width=25% |

==== 16 Nov (Wed) ====
* 10:30 am: Ania
* 11:15 am: Open
<hr>
* 1:30 pm: Open
* 2:15 pm: Open
* 3:00 pm: CDS tea
* Depart for airport at ~4 pm
|}

Sep/Oct 2016 meeting schedule

2016-09-22T19:56:08Z

Abaetica: /* 3 Oct (Mon) */

Richard will be in town 29 Sept - 3 Oct 2016. Please sign up for a time to meet below.
__NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 29 Sep (Thu) ====
* Flying in from SF in the morning
* 1:00 pm: George
* 1:45 pm: Andrey
* 2:30 pm: Tony Fragoso
* 3:15 pm: Break
* 3:30 pm: Richard C.
* 4:15 pm: Sam
* 5:00 pm: Mark
* 5:45 pm: Break
* 6:00 pm: Reed
* 6:45 pm: Rory
* 7:30 pm: Done for the day
| width=25% |

==== 30 Sep (Fri) ====
* Morning: busy with other meetings/phone calls
* 1:30-3:30 pm: Integrase project meeting (Victoria, Andrey, George, Sam, Ania, Cindy, Jining)
* 3:30 pm: Miki
* 4:30 pm: break
* 4:45 pm: Andrew
* 5:30 pm: Anandh
* 6:15 pm: Done for the day
| width=25% |

==== 2 Oct (Sun) ====
* 1:45 pm: YONG
* 2:30 pm: Open
* 3:15 pm: Karena
* 4:00 pm: Break
* 4:15 pm: Cindy
* 5:00 pm: Open
* 5:45 pm: Open
* 6:30 pm: Done for the day

| width=25% |

==== 3 Oct (Mon) ====
* 10 am - 12 pm: DARPA BioCon meeting
* 12:00 pm: Candidacy exam
* 1:45 pm: Jaymie
* 2:45 pm: Tung
* 3:30 pm: Shaobin
* 4:15 pm: Victoria
* 5:00 pm: Break
* 5:15 pm: Daniel N
* 6:00 pm: William
* 6:45 pm: Ania
* 7:30 pm: Done for the day
|}

Aug 2016 meeting schedule

2016-08-04T05:44:02Z

Abaetica: /* 10 Aug (Wed) */

Richard will be in town 7-10 August 2016. Please sign up for a time to meet below.
__NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 7 Aug (Sun) ====
* 2:15 pm: Open
* 3:00 pm: Karena
* 3:45 pm: Yong
* 4:00 pm: Break
* 4:45 pm: Sam
* 5:30 pm: George
* 6:30 pm: Daniel
| width=25% |

==== 8 Aug (Mon) ====
* 9-11 am: TX-TL project meeting (Clare, Mark, Shaobin, Yong, Vipul, Sam, Miki)
<hr>
* 12:45 pm: Anandh
* 1:30 pm: Shaobin
* 2:15 pm: Richard C
* 3:00 pm: Victoria
* 3:45 pm: Break
* 4:00 pm: Andrew
* 4:45 pm: Anu
* 5:30 pm: Andrey
| width=25% |

==== 9 Aug (Tue) ====
* 8:30 am: Reed
* 9:15 am: Mark
* 10:00 am: Jaymie
* 11 am - 2 pm: DARPA Biological Control project meeting (Anandh, Ania, Cindy, James, Reed, Andrey, George, Sam?)
* 1:00 pm: Tung
* 1:45 pm: Hold: James
* 2:30 pm: Tony Fragoso
* 3:15 pm: Break
* 3:30 pm: Vipul
* 4:15 pm: Ioannis
* 5:00 pm: no longer available
| width=25% |

==== 10 Aug (Wed) ====
* 9-11 am: Integrase project meeting (Victoria, Andrey, George, Sam, Ania, Cindy)
* 11:00 am: Ania
* 11:45 am: Unavailable
* 12:45 pm: Miki
* 1:45 pm: Alex
* 2:30 pm: Leave for airport
|}

Aug 2016 meeting schedule

2016-08-04T05:43:25Z

Abaetica: /* 9 Aug (Tue) */

Richard will be in town 7-10 August 2016. Please sign up for a time to meet below.
__NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 7 Aug (Sun) ====
* 2:15 pm: Open
* 3:00 pm: Karena
* 3:45 pm: Yong
* 4:00 pm: Break
* 4:45 pm: Sam
* 5:30 pm: George
* 6:30 pm: Daniel
| width=25% |

==== 8 Aug (Mon) ====
* 9-11 am: TX-TL project meeting (Clare, Mark, Shaobin, Yong, Vipul, Sam, Miki)
<hr>
* 12:45 pm: Anandh
* 1:30 pm: Shaobin
* 2:15 pm: Richard C
* 3:00 pm: Victoria
* 3:45 pm: Break
* 4:00 pm: Andrew
* 4:45 pm: Anu
* 5:30 pm: Andrey
| width=25% |

==== 9 Aug (Tue) ====
* 8:30 am: Reed
* 9:15 am: Mark
* 10:00 am: Jaymie
* 11 am - 2 pm: DARPA Biological Control project meeting (Anandh, Ania, Cindy, James, Reed, Andrey, George, Sam?)
* 1:00 pm: Tung
* 1:45 pm: Hold: James
* 2:30 pm: Tony Fragoso
* 3:15 pm: Break
* 3:30 pm: Vipul
* 4:15 pm: Ioannis
* 5:00 pm: no longer available
| width=25% |

==== 10 Aug (Wed) ====
* 9-11 am: Integrase project meeting (Victoria, Andrey, George, Sam, Ania, Cindy)
* 11:00 am: Hold: Ania
* 11:45 am: Unavailable
* 12:45 pm: Miki
* 1:45 pm: Alex
* 2:30 pm: Leave for airport
|}

Aug 2016 meeting schedule

2016-07-31T18:17:54Z

Abaetica: /* 9 Aug (Tue) */

Richard will be in town 7-10 August 2016. Please sign up for a time to meet below.
__NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 7 Aug (Sun) ====
* 2:15 pm:
* 3:00 pm: Open
* 3:45 pm: Yong
* 4:00 pm: Break
* 4:45 pm: Open
* 5:30 pm: Open
* 6:30 pm: Open
| width=25% |

==== 8 Aug (Mon) ====
* 9-11 am: Integrase project meeting (Victoria, Andrey, Sam, Ania, Cindy)
<hr>
* 12:45 pm: Anandh
* 1:30 pm: Shaobin (if TXTL meeting changed to today)
* 2:15 pm: Richard C
* 3:00 pm: Open
* 3:45 pm: Break
* 4:00 pm: Open
* 4:45 pm: Open
| width=25% |

==== 9 Aug (Tue) ====
* 8:30 am: Open
* 9:15 am: Open
* 10:00 am: Jaymie
* 11 am - 2 pm: DARPA Biological Control project meeting (Anandh, Ania, Cindy, James, Reed, Andrey, Sam?)
* 1:00 pm: Tung
* 1:45 pm: Hold: James
* 2:30 pm: Tony Fragoso
* 3:15 pm: Break
* 3:30 pm: Vipul
* 4:15 pm: Ioannis
* 5:00 pm: Ania
* 5:45 pm: Break
| width=25% |

==== 10 Aug (Wed) ====
* 9-11 am: TX-TL project meeting (Clare, Mark, Shaobin, Yong, Vipul, Sam, Miki)
* 11:00 am: Shaobin
* 11:45 am: Unavailable
* 12:45 pm: Miki
* 1:45 pm: Open
* 2:30 pm: Leave for airport
|}

Aug 2016 meeting schedule

2016-07-31T18:17:38Z

Abaetica: /* 7 Aug (Sun) */

Richard will be in town 7-10 August 2016. Please sign up for a time to meet below.
__NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 7 Aug (Sun) ====
* 2:15 pm:
* 3:00 pm: Open
* 3:45 pm: Yong
* 4:00 pm: Break
* 4:45 pm: Open
* 5:30 pm: Open
* 6:30 pm: Open
| width=25% |

==== 8 Aug (Mon) ====
* 9-11 am: Integrase project meeting (Victoria, Andrey, Sam, Ania, Cindy)
<hr>
* 12:45 pm: Anandh
* 1:30 pm: Shaobin (if TXTL meeting changed to today)
* 2:15 pm: Richard C
* 3:00 pm: Open
* 3:45 pm: Break
* 4:00 pm: Open
* 4:45 pm: Open
| width=25% |

==== 9 Aug (Tue) ====
* 8:30 am: Open
* 9:15 am: Open
* 10:00 am: Jaymie
* 11 am - 2 pm: DARPA Biological Control project meeting (Anandh, Ania, Cindy, James, Reed, Andrey, Sam?)
* 1:00 pm: Tung
* 1:45 pm: Hold: James
* 2:30 pm: Tony Fragoso
* 3:15 pm: Break
* 3:30 pm: Vipul
* 4:15 pm: Ioannis
* 5:00 pm: Open
* 5:45 pm: Break
| width=25% |

==== 10 Aug (Wed) ====
* 9-11 am: TX-TL project meeting (Clare, Mark, Shaobin, Yong, Vipul, Sam, Miki)
* 11:00 am: Shaobin
* 11:45 am: Unavailable
* 12:45 pm: Miki
* 1:45 pm: Open
* 2:30 pm: Leave for airport
|}

Aug 2016 meeting schedule

2016-07-31T18:17:10Z

Abaetica: /* 7 Aug (Sun) */

Richard will be in town 7-10 August 2016. Please sign up for a time to meet below.
__NOTOC__

{| border=1
|- valign=top
| width=25% |
==== 7 Aug (Sun) ====
* 2:15 pm:
* 3:00 pm: Open
* 3:45 pm: Yong
* 4:00 pm: Break
* 4:45 pm: Ania
* 5:30 pm: Open
* 6:30 pm: Open
| width=25% |

==== 8 Aug (Mon) ====
* 9-11 am: Integrase project meeting (Victoria, Andrey, Sam, Ania, Cindy)
<hr>
* 12:45 pm: Anandh
* 1:30 pm: Shaobin (if TXTL meeting changed to today)
* 2:15 pm: Richard C
* 3:00 pm: Open
* 3:45 pm: Break
* 4:00 pm: Open
* 4:45 pm: Open
| width=25% |

==== 9 Aug (Tue) ====
* 8:30 am: Open
* 9:15 am: Open
* 10:00 am: Jaymie
* 11 am - 2 pm: DARPA Biological Control project meeting (Anandh, Ania, Cindy, James, Reed, Andrey, Sam?)
* 1:00 pm: Tung
* 1:45 pm: Hold: James
* 2:30 pm: Tony Fragoso
* 3:15 pm: Break
* 3:30 pm: Vipul
* 4:15 pm: Ioannis
* 5:00 pm: Open
* 5:45 pm: Break
| width=25% |

==== 10 Aug (Wed) ====
* 9-11 am: TX-TL project meeting (Clare, Mark, Shaobin, Yong, Vipul, Sam, Miki)
* 11:00 am: Shaobin
* 11:45 am: Unavailable
* 12:45 pm: Miki
* 1:45 pm: Open
* 2:30 pm: Leave for airport
|}

Research meetings, Jan/Feb 2016

2016-01-18T19:43:24Z

Abaetica: /* 26 Jan 2016 (Tue) */

Please sign up for a slot below. __NOTOC__

{| border=1 width=100%
|- valign = top
|
=== 25 Jan 2016 (Mon) ===
* Richard in SF
|
=== 26 Jan 2016 (Tue) ===
* 1-2 pm: open
* 2-3 pm: Anders Knight
* 3-4 pm: Reed McCardell
* 5:30-6:30 pm: Ania Baetica
|

=== 27 Jan 2016 (Wed) ===
* 8:30-9:30 am: open
* 9:30-10:30 am: open
* 4-5 pm: open
* 5-6 pm: open
|
=== 28 Jan 2016 (Thu) ===
* 5:30-6:30 pm: open
* 6:30-7:30 pm: open
|
=== 29 Jan 2016 (Fri) ===
* 2-3 pm: open
* 3-4 pm: open
* 4:30-5:30 pm: open
* 5:30-6:30 pm: open
|- valign = top
|
=== 25 Jan 2016 (Mon) ===
* Richard in Hartford
|
=== 2 Feb 2016 (Tue) ===
* 9-10 am: open
* 2-3 pm: open
* 3-4 pm: open
* 4-5 pm: open
* 5:30-6:30 pm: open
* 6:30-7:30 pm: open
|
=== 3 Feb 2016 (Wed) ===
* 8:30-9:30 am: open
* 9:30-10:30 am: open
|
=== 4 Feb 2016 (Thu) ===
* Richard in SF
|
=== 5 Feb 2016 (Fri) ===
* BE visiting day
|}

Research meetings, Jan/Feb 2016

2016-01-18T19:42:58Z

Abaetica: /* 26 Jan 2016 (Tue) */

Please sign up for a slot below. __NOTOC__

{| border=1 width=100%
|- valign = top
|
=== 25 Jan 2016 (Mon) ===
* Richard in SF
|
=== 26 Jan 2016 (Tue) ===
* 1-2 pm: Ania Baetica
* 2-3 pm: Anders Knight
* 3-4 pm: Reed McCardell
* 5:30-6:30 pm: open
|

=== 27 Jan 2016 (Wed) ===
* 8:30-9:30 am: open
* 9:30-10:30 am: open
* 4-5 pm: open
* 5-6 pm: open
|
=== 28 Jan 2016 (Thu) ===
* 5:30-6:30 pm: open
* 6:30-7:30 pm: open
|
=== 29 Jan 2016 (Fri) ===
* 2-3 pm: open
* 3-4 pm: open
* 4:30-5:30 pm: open
* 5:30-6:30 pm: open
|- valign = top
|
=== 25 Jan 2016 (Mon) ===
* Richard in Hartford
|
=== 2 Feb 2016 (Tue) ===
* 9-10 am: open
* 2-3 pm: open
* 3-4 pm: open
* 4-5 pm: open
* 5:30-6:30 pm: open
* 6:30-7:30 pm: open
|
=== 3 Feb 2016 (Wed) ===
* 8:30-9:30 am: open
* 9:30-10:30 am: open
|
=== 4 Feb 2016 (Thu) ===
* Richard in SF
|
=== 5 Feb 2016 (Fri) ===
* BE visiting day
|}

File:Recitation 110 nov 17.pdf

2015-11-18T10:19:09Z

Abaetica: Abaetica uploaded a new version of "File:Recitation 110 nov 17.pdf"

CDS 101/110, Fall 2015

2015-11-18T10:13:37Z

Abaetica: /* Lecture Schedule */

{| width=100%
|-
| colspan=2 align=center |
Introduction to Control Systems__NOTOC__
|- valign=top
| width=50% |
'''Instructors'''
* Richard Murray (CDS/BE), murray@cds.caltech.edu
* Lectures: MWF, 2-3 pm, 105 ANB
* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
| width=50% |
'''Teaching Assistants'''
* Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS), Daniel Guo (EE)
* Contact: cds110-tas@cds.caltech.edu
* Office hours: Sun, 3-4 pm in 106 ANB, Mon, 3-4 pm in 243 ANB and Tue, 7-8 pm in 106 ANB
|}

This is the course homepage for CDS 101/110, Fall 2015.

=== Announcements ===
* 16 Nov: HW #7 and lecture notes posted
* 9 Nov: HW #6, midterm solutions and lecture notes posted
* 8 Nov 2015: Homework and exam statistics for the first half of the class
** HW 1: CDS 110: average 34/40; CDS 101: average 28/30
** HW 2: CDS 110: average 28/33; CDS 101: average 18/20
** HW 3: CDS 110: average 21/25; CDS 101: average 8/9
** HW 4: CDS 110: average 34/38; CDS 101: average 16/20
** Midterm: CDS 110: average = 59/75, σ = 10.7; CDS 101: average = 36/40, σ = 2.3
* 19 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} posted: references corrected on problem 1
* 12 Oct 2015: {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} has been posted; due 21 Oct (Wed), 2 pm
* 10 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} posted: references to equations and sections corrected
* 5 Oct 2015: {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} has been posted; due 14 Oct (Wed), 2 pm
* 30 Sep 2015: Office hours for CDS 101/110 are Mon, 3-4 pm in 243 ANB and Tue, 7-9 pm in 106 ANB
* 28 Sep 2015: HW #1 has been posted; due 7 Oct (Wed), 2 pm
* 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send e-mail to Richard

=== Course Syllabus ===

CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.

=== Lecture Schedule ===

{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
|-
| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
|- valign=top
|- valign=top
| '''Week 1''' 
28 Sep 30 Sep* 2 Oct
| Introduction and Review
* Introduction to feedback and control
* Review of differential equation and linear algebra
* Feedback principles and examples
| FBS-1e 1.1-1.2, 1.4-1.5 FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
* [[Media:ReviewLAODEs.pdf | Wed review session notes]] (PDF)
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} Due: 7 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw1-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 2''' 
5 Oct 7 Oct 9 Oct*
| Modeling, Stability
* State space models
* Phase portraits and stability
* Introduction to MATLAB
| FBS-1e 2.1-2.2, 3.1 4.1-4.3 FBS-2e 3.1-3.2, 4.1, 5.1-5.3
* {{cds110 fa15 pdf |L2-1_modeling-05Oct15_h.pdf | Mon lecture notes}}
* {{cds110 fa15 pdf |L2-2_stability-07Oct15_h.pdf | Wed lecture notes}}
| {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} Due: 14 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw2-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 3''' 
12 Oct* 14 Oct* 16 Oct*
| Linear Systems
* Input/output response of LTI systems
* Matrix exponential, convolution equation
* Linearization around an equilibrium point
| FBS-1e 5.1-5.4 FBS-2e 6.1-6.4
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} Due: 21 Oct, 2 pm
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]

{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 4''' 
19 Oct 21 Oct 23 Oct*
| State Feedback
* Reachability
* State feedback and eigenvalue placement
| FBS-1e 6.1-6.4 FBS-2e 7.1-7.4
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} Due: 28 Oct, 2 pm

[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}
* Python: {{cds110 fa15 python|bike_linmod.py}}

{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 5''' 
26 Oct 28 Oct 30 Oct
| State space control design
* Trajectory generation, feedforward
* Integral feedback
* State estimation (if time)
* Midterm review
| FBS-1e 7.1-7.3 FBS-2e 8.1-8.3
| Midterm exam Due: 3 Nov, 5 pm

{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 6''' 
2 Nov 4 Nov 6 Nov*
| Transfer Functions
* Frequency domain modeling
* Block diagram algebra
* Bode plots
| FBS-1e 8.1-8.4 FBS-2e 9.1-9.4
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} Due: 11 Nov, 2 pm

{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 7''' 
9 Nov 11 Nov 13 Nov*
| Loop Analysis
* Loop transfer function and the Nyquist criterion
* Stability margins
| FBS-1e 9.1-9.3 FBS-2e 10.1-10.3
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} Due: 18 Nov, 2 pm
|- valign=top
| '''Week 8''' 
16 Nov 18 Nov* 20 Nov
| PID Control
* Simple controllers for complex systems
* Integral action and anti-windup
| FBS-1e 10.1-10.4 FBS-2e 11.1-11.4
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}
* [[Media:Recitation_110_nov_17.pdf | Wed lecture slides]] (PDF)
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} Due: 25 Nov, 2 pm
|- valign=top
| '''Week 9''' 
23 Nov 25 Nov*
| Loop Shaping, I
* Sensitivity functions
* Feedback design via loop shaping
| FBS-1e 11.1-11.3 FBS-2e 12.1-12.4
| {{cds110 fa15 pdf pending |hw8.pdf | HW 8}} Due: 2 Dec, 2 pm
|- valign=top
| '''Week 10''' 
30 Nov 2 Dec 4 Dec
| Loop Shaping II
* Fundamental limitations
* Modeling uncertainty
* Performance/robustness tradeoffs
| FBS-1e 11.4, 12.1-12.4 FBS-2e 12.6-12.7, 13.1-13.3
| Final exam Due 11 Dec, 5 pm
|}

=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final exam:

*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged. You may consult
outside reference materials, other students, the TA, or the
instructor, but you cannot consult homework solutions from
prior years and you must cite any use of material from outside
references. All solutions that are handed in should be written up
individually and should reflect your own understanding of the subject
matter at the time of writing. MATLAB/Python scripts and plots are
considered part of your writeup and should be done individually (you
can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

=== Course Text and References ===

The primary course text is
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

[[Category: Courses]]

CDS 101/110, Fall 2015

2015-11-18T10:12:12Z

Abaetica: /* Lecture Schedule */

{| width=100%
|-
| colspan=2 align=center |
Introduction to Control Systems__NOTOC__
|- valign=top
| width=50% |
'''Instructors'''
* Richard Murray (CDS/BE), murray@cds.caltech.edu
* Lectures: MWF, 2-3 pm, 105 ANB
* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
| width=50% |
'''Teaching Assistants'''
* Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS), Daniel Guo (EE)
* Contact: cds110-tas@cds.caltech.edu
* Office hours: Sun, 3-4 pm in 106 ANB, Mon, 3-4 pm in 243 ANB and Tue, 7-8 pm in 106 ANB
|}

This is the course homepage for CDS 101/110, Fall 2015.

=== Announcements ===
* 16 Nov: HW #7 and lecture notes posted
* 9 Nov: HW #6, midterm solutions and lecture notes posted
* 8 Nov 2015: Homework and exam statistics for the first half of the class
** HW 1: CDS 110: average 34/40; CDS 101: average 28/30
** HW 2: CDS 110: average 28/33; CDS 101: average 18/20
** HW 3: CDS 110: average 21/25; CDS 101: average 8/9
** HW 4: CDS 110: average 34/38; CDS 101: average 16/20
** Midterm: CDS 110: average = 59/75, σ = 10.7; CDS 101: average = 36/40, σ = 2.3
* 19 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} posted: references corrected on problem 1
* 12 Oct 2015: {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} has been posted; due 21 Oct (Wed), 2 pm
* 10 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} posted: references to equations and sections corrected
* 5 Oct 2015: {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} has been posted; due 14 Oct (Wed), 2 pm
* 30 Sep 2015: Office hours for CDS 101/110 are Mon, 3-4 pm in 243 ANB and Tue, 7-9 pm in 106 ANB
* 28 Sep 2015: HW #1 has been posted; due 7 Oct (Wed), 2 pm
* 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send e-mail to Richard

=== Course Syllabus ===

CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.

=== Lecture Schedule ===

{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
|-
| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
|- valign=top
|- valign=top
| '''Week 1''' 
28 Sep 30 Sep* 2 Oct
| Introduction and Review
* Introduction to feedback and control
* Review of differential equation and linear algebra
* Feedback principles and examples
| FBS-1e 1.1-1.2, 1.4-1.5 FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
* [[Media:ReviewLAODEs.pdf | Wed review session notes]] (PDF)
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} Due: 7 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw1-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 2''' 
5 Oct 7 Oct 9 Oct*
| Modeling, Stability
* State space models
* Phase portraits and stability
* Introduction to MATLAB
| FBS-1e 2.1-2.2, 3.1 4.1-4.3 FBS-2e 3.1-3.2, 4.1, 5.1-5.3
* {{cds110 fa15 pdf |L2-1_modeling-05Oct15_h.pdf | Mon lecture notes}}
* {{cds110 fa15 pdf |L2-2_stability-07Oct15_h.pdf | Wed lecture notes}}
| {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} Due: 14 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw2-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 3''' 
12 Oct* 14 Oct* 16 Oct*
| Linear Systems
* Input/output response of LTI systems
* Matrix exponential, convolution equation
* Linearization around an equilibrium point
| FBS-1e 5.1-5.4 FBS-2e 6.1-6.4
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} Due: 21 Oct, 2 pm
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]

{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 4''' 
19 Oct 21 Oct 23 Oct*
| State Feedback
* Reachability
* State feedback and eigenvalue placement
| FBS-1e 6.1-6.4 FBS-2e 7.1-7.4
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} Due: 28 Oct, 2 pm

[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}
* Python: {{cds110 fa15 python|bike_linmod.py}}

{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 5''' 
26 Oct 28 Oct 30 Oct
| State space control design
* Trajectory generation, feedforward
* Integral feedback
* State estimation (if time)
* Midterm review
| FBS-1e 7.1-7.3 FBS-2e 8.1-8.3
| Midterm exam Due: 3 Nov, 5 pm

{{cds110 fa15 pdf |caltech/midterm-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 6''' 
2 Nov 4 Nov 6 Nov*
| Transfer Functions
* Frequency domain modeling
* Block diagram algebra
* Bode plots
| FBS-1e 8.1-8.4 FBS-2e 9.1-9.4
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} Due: 11 Nov, 2 pm

{{cds110 fa15 pdf |caltech/hw5-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 7''' 
9 Nov 11 Nov 13 Nov*
| Loop Analysis
* Loop transfer function and the Nyquist criterion
* Stability margins
| FBS-1e 9.1-9.3 FBS-2e 10.1-10.3
* {{cds110 fa15 pdf |L7-1_loopanal-09Nov15_h.pdf | Mon lecture slides}}
* {{cds110 fa15 pdf |L7-3_delay+nyquist.pdf | Fri recitation notes}}
| {{cds110 fa15 pdf |hw6-fa15.pdf | HW 6}} Due: 18 Nov, 2 pm
|- valign=top
| '''Week 8''' 
16 Nov 18 Nov* 20 Nov
| PID Control
* Simple controllers for complex systems
* Integral action and anti-windup
| FBS-1e 10.1-10.4 FBS-2e 11.1-11.4
* {{cds110 fa15 pdf |L8-1_pid-16Nov15_h.pdf | Mon lecture slides}}
* {{cds110 fa15 pdf |Recitation_110_nov_17.pdf | Wed lecture slides}}
| {{cds110 fa15 pdf |hw7-fa15.pdf | HW 7}} Due: 25 Nov, 2 pm
|- valign=top
| '''Week 9''' 
23 Nov 25 Nov*
| Loop Shaping, I
* Sensitivity functions
* Feedback design via loop shaping
| FBS-1e 11.1-11.3 FBS-2e 12.1-12.4
| {{cds110 fa15 pdf pending |hw8.pdf | HW 8}} Due: 2 Dec, 2 pm
|- valign=top
| '''Week 10''' 
30 Nov 2 Dec 4 Dec
| Loop Shaping II
* Fundamental limitations
* Modeling uncertainty
* Performance/robustness tradeoffs
| FBS-1e 11.4, 12.1-12.4 FBS-2e 12.6-12.7, 13.1-13.3
| Final exam Due 11 Dec, 5 pm
|}

=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final exam:

*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged. You may consult
outside reference materials, other students, the TA, or the
instructor, but you cannot consult homework solutions from
prior years and you must cite any use of material from outside
references. All solutions that are handed in should be written up
individually and should reflect your own understanding of the subject
matter at the time of writing. MATLAB/Python scripts and plots are
considered part of your writeup and should be done individually (you
can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

=== Course Text and References ===

The primary course text is
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

[[Category: Courses]]

File:Recitation 110 nov 17.pdf

2015-11-18T10:09:45Z

Abaetica:

CDS 101/110, Fall 2015

2015-11-06T23:57:52Z

Abaetica: /* Lecture Schedule */

{| width=100%
|-
| colspan=2 align=center |
Introduction to Control Systems__NOTOC__
|- valign=top
| width=50% |
'''Instructors'''
* Richard Murray (CDS/BE), murray@cds.caltech.edu
* Lectures: MWF, 2-3 pm, 105 ANB
* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
| width=50% |
'''Teaching Assistants'''
* Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS)
* Contact: cds110-tas@cds.caltech.edu
* Office hours: Mon, 3-4 pm in 243 ANB and Tue, 7-9 pm in 106 ANB
|}

This is the course homepage for CDS 101/110, Fall 2015.

=== Announcements ===
* 19 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} posted: references corrected on problem 1
* 12 Oct 2015: {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} has been posted; due 21 Oct (Wed), 2 pm
* 10 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} posted: references to equations and sections corrected
* 5 Oct 2015: {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} has been posted; due 14 Oct (Wed), 2 pm
* 30 Sep 2015: Office hours for CDS 101/110 are Mon, 3-4 pm in 243 ANB and Tue, 7-9 pm in 106 ANB
* 28 Sep 2015: HW #1 has been posted; due 7 Oct (Wed), 2 pm
* 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send e-mail to Richard

=== Course Syllabus ===

CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.

=== Lecture Schedule ===

{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
|-
| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
|- valign=top
|- valign=top
| '''Week 1''' 
28 Sep 30 Sep* 2 Oct
| Introduction and Review
* Introduction to feedback and control
* Review of differential equation and linear algebra
* Feedback principles and examples
| FBS-1e 1.1-1.2, 1.4-1.5 FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
* [[Media:ReviewLAODEs.pdf | Wed review session notes]] (PDF)
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} Due: 7 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw1-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 2''' 
5 Oct 7 Oct 9 Oct*
| Modeling, Stability
* State space models
* Phase portraits and stability
* Introduction to MATLAB
| FBS-1e 2.1-2.2, 3.1 4.1-4.3 FBS-2e 3.1-3.2, 4.1, 5.1-5.3
* {{cds110 fa15 pdf |L2-1_modeling-05Oct15_h.pdf | Mon lecture notes}}
* {{cds110 fa15 pdf |L2-2_stability-07Oct15_h.pdf | Wed lecture notes}}
| {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} Due: 14 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw2-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 3''' 
12 Oct* 14 Oct* 16 Oct*
| Linear Systems
* Input/output response of LTI systems
* Matrix exponential, convolution equation
* Linearization around an equilibrium point
| FBS-1e 5.1-5.4 FBS-2e 6.1-6.4
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} Due: 21 Oct, 2 pm
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]

{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 4''' 
19 Oct 21 Oct 23 Oct*
| State Feedback
* Reachability
* State feedback and eigenvalue placement
| FBS-1e 6.1-6.4 FBS-2e 7.1-7.4
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} Due: 28 Oct, 2 pm

[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}
* Python: {{cds110 fa15 python|bike_linmod.py}}

{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 5''' 
26 Oct 28 Oct 30 Oct
| Output Feedback
* State estimation
* Trajectory generation, feedforward
* Midterm review
| FBS-1e 7.1-7.3 FBS-2e 8.1-8.3
| Midterm exam Due: 3 Nov, 5 pm
|- valign=top
| '''Week 6''' 
2 Nov 4 Nov 6 Nov*
| Transfer Functions
* Frequency domain modeling
* Block diagram algebra
* Bode plots
| FBS-1e 8.1-8.4 FBS-2e 9.1-9.4
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} Due: 11 Nov, 2 pm
|- valign=top
| '''Week 7''' 
9 Nov 11 Nov 13 Nov*
| Loop Analysis
* Loop transfer function and the Nyquist criterion
* Stability margins
| FBS-1e 9.1-9.3 FBS-2e 10.1-10.3
| {{cds110 fa15 pdf pending |hw6.pdf | HW 6}} Due: 18 Nov, 2 pm
|- valign=top
| '''Week 8''' 
16 Nov 18 Nov* 20 Nov
| PID Control
* Simple controllers for complex systems
* Integral action and anti-windup
| FBS-1e 10.1-10.4 FBS-2e 11.1-11.4
| {{cds110 fa15 pdf pending |hw7.pdf | HW 7}} Due: 25 Nov, 2 pm
|- valign=top
| '''Week 9''' 
23 Nov 25 Nov*
| Loop Shaping, I
* Sensitivity functions
* Feedback design via loop shaping
| FBS-1e 11.1-11.3 FBS-2e 12.1-12.4
| {{cds110 fa15 pdf pending |hw8.pdf | HW 8}} Due: 2 Dec, 2 pm
|- valign=top
| '''Week 10''' 
30 Nov 2 Dec 4 Dec
| Loop Shaping II
* Fundamental limitations
* Modeling uncertainty
* Performance/robustness tradeoffs
| FBS-1e 11.4, 12.1-12.4 FBS-2e 12.6-12.7, 13.1-13.3
| Final exam Due 11 Dec, 5 pm
|}

=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final exam:

*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged. You may consult
outside reference materials, other students, the TA, or the
instructor, but you cannot consult homework solutions from
prior years and you must cite any use of material from outside
references. All solutions that are handed in should be written up
individually and should reflect your own understanding of the subject
matter at the time of writing. MATLAB/Python scripts and plots are
considered part of your writeup and should be done individually (you
can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

=== Course Text and References ===

The primary course text is
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

[[Category: Courses]]

CDS 101/110, Fall 2015

2015-11-06T23:53:50Z

Abaetica: /* Lecture Schedule */

{| width=100%
|-
| colspan=2 align=center |
Introduction to Control Systems__NOTOC__
|- valign=top
| width=50% |
'''Instructors'''
* Richard Murray (CDS/BE), murray@cds.caltech.edu
* Lectures: MWF, 2-3 pm, 105 ANB
* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
| width=50% |
'''Teaching Assistants'''
* Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS)
* Contact: cds110-tas@cds.caltech.edu
* Office hours: Mon, 3-4 pm in 243 ANB and Tue, 7-9 pm in 106 ANB
|}

This is the course homepage for CDS 101/110, Fall 2015.

=== Announcements ===
* 19 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} posted: references corrected on problem 1
* 12 Oct 2015: {{cds110 fa15 pdf |hw3-fa15.pdf | HW 3}} has been posted; due 21 Oct (Wed), 2 pm
* 10 Oct 2015: Corrected version of {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} posted: references to equations and sections corrected
* 5 Oct 2015: {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} has been posted; due 14 Oct (Wed), 2 pm
* 30 Sep 2015: Office hours for CDS 101/110 are Mon, 3-4 pm in 243 ANB and Tue, 7-9 pm in 106 ANB
* 28 Sep 2015: HW #1 has been posted; due 7 Oct (Wed), 2 pm
* 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send e-mail to Richard

=== Course Syllabus ===

CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.

=== Lecture Schedule ===

{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
|-
| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
|- valign=top
|- valign=top
| '''Week 1''' 
28 Sep 30 Sep* 2 Oct
| Introduction and Review
* Introduction to feedback and control
* Review of differential equation and linear algebra
* Feedback principles and examples
| FBS-1e 1.1-1.2, 1.4-1.5 FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
* [[Media:ReviewLAODEs.pdf | Wed review session notes]] (PDF)
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} Due: 7 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw1-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 2''' 
5 Oct 7 Oct 9 Oct*
| Modeling, Stability
* State space models
* Phase portraits and stability
* Introduction to MATLAB
| FBS-1e 2.1-2.2, 3.1 4.1-4.3 FBS-2e 3.1-3.2, 4.1, 5.1-5.3
* {{cds110 fa15 pdf |L2-1_modeling-05Oct15_h.pdf | Mon lecture notes}}
* {{cds110 fa15 pdf |L2-2_stability-07Oct15_h.pdf | Wed lecture notes}}
| {{cds110 fa15 pdf |hw2-fa15.pdf | HW 2}} Due: 14 Oct, 2 pm

{{cds110 fa15 pdf |caltech/hw2-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 3''' 
12 Oct* 14 Oct* 16 Oct*
| Linear Systems
* Input/output response of LTI systems
* Matrix exponential, convolution equation
* Linearization around an equilibrium point
| FBS-1e 5.1-5.4 FBS-2e 6.1-6.4
* {{cds110 fa15 pdf |L3-1_linsys-12Oct15.pdf | Mon lecture slides}}
* {{cds110 fa15 pdf |L3-3_recitation.pdf | Fri recitation slides}}
| {{cds110 fa15 pdf |hw3-fa15.pdf|HW 3}} Due: 21 Oct, 2 pm
* Python: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa12/python/cartpend.py cartpend.py]
* MATLAB: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend.m cartpend.m], [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa10/matlab/cartpend_model.m cartpend_model.m]
* SIMULINK: [http://www.cds.caltech.edu/~macmardg/courses/cds101/fa09/matlab/balance_simple.mdl balance_simple.mdl]

{{cds110 fa15 pdf |caltech/hw3-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 4''' 
19 Oct 21 Oct 23 Oct*
| State Feedback
* Reachability
* State feedback and eigenvalue placement
| FBS-1e 6.1-6.4 FBS-2e 7.1-7.4
* {{cds110 fa15 pdf |L4-1_statefbk-19Oct15_h.pdf | Mon lecture slides}}
* MATLAB: {{cds110 fa15 matlab|L4_1_statefbk.m}}, {{cds110 fa15 matlab |predprey.m}}, {{cds110 fa15 matlab |predprey_rh.m}}
* Python: {{cds110 fa15 python|L4_1_statefbk.py}}, {{cds110 fa15 python|predprey.py}}
| {{cds110 fa15 pdf |hw4-fa15.pdf|HW 4}} Due: 28 Oct, 2 pm

[http://www.cds.caltech.edu/~murray/amwiki/index.php/Bicycle_dynamics Bicycle dynamics]
* MATLAB: {{cds110 fa15 matlab|bike_linmod.m}}
* Python: {{cds110 fa15 python|bike_linmod.py}}

{{cds110 fa15 pdf |caltech/hw4-fa15_solns.pdf | Solutions}} (Caltech access only)
|- valign=top
| '''Week 5''' 
26 Oct 28 Oct 30 Oct
| Output Feedback
* State estimation
* Trajectory generation, feedforward
* Midterm review
| FBS-1e 7.1-7.3 FBS-2e 8.1-8.3
| Midterm exam Due: 3 Nov, 5 pm
|- valign=top
| '''Week 6''' 
2 Nov 4 Nov 6 Nov*
| Transfer Functions
* Frequency domain modeling
* Block diagram algebra
* Bode plots
| FBS-1e 8.1-8.4 FBS-2e 9.1-9.4
* {{cds110 fa15 pdf |L6-1_xferfcns-02Nov15_h.pdf | Mon lecture slides}}
| {{cds110 fa15 pdf |hw5-fa15.pdf | HW 5}} Due: 11 Nov, 2 pm
* [[Media:Recitation_nov_6.pdf | Fri review session notes]] (PDF)
|- valign=top
| '''Week 7''' 
9 Nov 11 Nov 13 Nov*
| Loop Analysis
* Loop transfer function and the Nyquist criterion
* Stability margins
| FBS-1e 9.1-9.3 FBS-2e 10.1-10.3
| {{cds110 fa15 pdf pending |hw6.pdf | HW 6}} Due: 18 Nov, 2 pm
|- valign=top
| '''Week 8''' 
16 Nov 18 Nov* 20 Nov
| PID Control
* Simple controllers for complex systems
* Integral action and anti-windup
| FBS-1e 10.1-10.4 FBS-2e 11.1-11.4
| {{cds110 fa15 pdf pending |hw7.pdf | HW 7}} Due: 25 Nov, 2 pm
|- valign=top
| '''Week 9''' 
23 Nov 25 Nov*
| Loop Shaping, I
* Sensitivity functions
* Feedback design via loop shaping
| FBS-1e 11.1-11.3 FBS-2e 12.1-12.4
| {{cds110 fa15 pdf pending |hw8.pdf | HW 8}} Due: 2 Dec, 2 pm
|- valign=top
| '''Week 10''' 
30 Nov 2 Dec 4 Dec
| Loop Shaping II
* Fundamental limitations
* Modeling uncertainty
* Performance/robustness tradeoffs
| FBS-1e 11.4, 12.1-12.4 FBS-2e 12.6-12.7, 13.1-13.3
| Final exam Due 11 Dec, 5 pm
|}

=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final exam:

*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged. You may consult
outside reference materials, other students, the TA, or the
instructor, but you cannot consult homework solutions from
prior years and you must cite any use of material from outside
references. All solutions that are handed in should be written up
individually and should reflect your own understanding of the subject
matter at the time of writing. MATLAB/Python scripts and plots are
considered part of your writeup and should be done individually (you
can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

=== Course Text and References ===

The primary course text is
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

[[Category: Courses]]

File:Recitation nov 6.pdf

2015-11-06T23:51:34Z

Abaetica:

CDS 101/110, Fall 2015

2015-09-30T04:01:35Z

Abaetica: /* Lecture Schedule */

{| width=100%
|-
| colspan=2 align=center |
Introduction to Control Systems__NOTOC__
|- valign=top
| width=50% |
'''Instructors'''
* Richard Murray (CDS/BE), murray@cds.caltech.edu
* Lectures: MWF, 2-3 pm, 105 ANB
* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
| width=50% |
'''Teaching Assistants'''
* Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS)
* Contact: cds110-tas@cds.caltech.edu
* Office hours: Mon and Tue (time and location TBD)
|}

This is the course homepage for CDS 101/110, Fall 2015.

=== Announcements ===
* 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send e-mail to Richard

=== Course Syllabus ===

CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.

=== Lecture Schedule ===

{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
|-
| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
|- valign=top
|- valign=top
| '''Week 1''' 
28 Sep 30 Sep* 2 Oct
| Introduction and Review
* Introduction to feedback and control
* Review of differential equation and linear algebra
* Feedback principles and examples
| FBS-1e 1.1-1.2, 1.4-1.5 FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
* [[Media:ReviewLAODEs.pdf | Review session notes]]
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} Due: 7 Oct, 2 pm
|- valign=top
| '''Week 2''' 
5 Oct 7 Oct 9 Oct*
| Modeling, Stability
* State space models
* Phase portraits and stability
* Introduction to MATLAB
| FBS-1e 2.1-2.2, 4.1-4.3 FBS-2e 3.1-3.2, 5.1-5.3
| {{cds110 fa15 pdf pending |hw2.pdf | HW 2}} Due: 14 Oct, 2 pm
|- valign=top
| '''Week 3''' 
12 Oct* 14 Oct* 16 Oct*
| Linear Systems
* Input/output response of LTI systems
* Matrix exponential, convolution equation
* Linearization around an equilibrium point
| FBS-1e 5.1-5.4 FBS-2e 6.1-6.4
| {{cds110 fa15 pdf pending |hw3.pdf | HW 3}} Due: 21 Oct, 2 pm
|- valign=top
| '''Week 4''' 
19 Oct 21 Oct 23 Oct*
| State Feedback
* Reachability
* State feedback and eigenvalue placement
| FBS-1e 6.1-6.4 FBS-2e 7.1-7.4
| {{cds110 fa15 pdf pending |hw4.pdf | HW 4}} Due: 28 Oct, 2 pm
|- valign=top
| '''Week 5''' 
26 Oct 28 Oct 30 Oct
| Output Feedback
* State estimation
* Trajectory generation, feedforward
* Midterm review
| FBS-1e 7.1-7.3 FBS-2e 8.1-8.3
| Midterm exam Due: 3 Nov, 5 pm
|- valign=top
| '''Week 6''' 
2 Nov 4 Nov 6 Nov*
| Transfer Functions
* Frequency domain modeling
* Block diagram algebra
* Bode plots
| FBS-1e 8.1-8.4 FBS-2e 9.1-9.4
| {{cds110 fa15 pdf pending |hw5.pdf | HW 5}} Due: 11 Nov, 2 pm
|- valign=top
| '''Week 7''' 
9 Nov 11 Nov 13 Nov*
| Loop Analysis
* Loop transfer function and the Nyquist criterion
* Stability margins
| FBS-1e 9.1-9.3 FBS-2e 10.1-10.3
| {{cds110 fa15 pdf pending |hw6.pdf | HW 6}} Due: 18 Nov, 2 pm
|- valign=top
| '''Week 8''' 
16 Nov 18 Nov* 20 Nov
| PID Control
* Simple controllers for complex systems
* Integral action and anti-windup
| FBS-1e 10.1-10.4 FBS-2e 11.1-11.4
| {{cds110 fa15 pdf pending |hw7.pdf | HW 7}} Due: 25 Nov, 2 pm
|- valign=top
| '''Week 9''' 
23 Nov 25 Nov*
| Loop Shaping, I
* Sensitivity functions
* Feedback design via loop shaping
| FBS-1e 11.1-11.3 FBS-2e 12.1-12.4
| {{cds110 fa15 pdf pending |hw8.pdf | HW 8}} Due: 2 Dec, 2 pm
|- valign=top
| '''Week 10''' 
30 Nov 2 Dec 4 Dec
| Loop Shaping II
* Fundamental limitations
* Modeling uncertainty
* Performance/robustness tradeoffs
| FBS-1e 11.4, 12.1-12.4 FBS-2e 12.6-12.7, 13.1-13.3
| Final exam Due 11 Dec, 5 pm
|}

=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final exam:

*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged. You may consult
outside reference materials, other students, the TA, or the
instructor, but you cannot consult homework solutions from
prior years and you must cite any use of material from outside
references. All solutions that are handed in should be written up
individually and should reflect your own understanding of the subject
matter at the time of writing. MATLAB/Python scripts and plots are
considered part of your writeup and should be done individually (you
can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

=== Course Text and References ===

The primary course text is
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

[[Category: Courses]]

File:ReviewLAODEs.pdf

2015-09-30T03:44:27Z

Abaetica: Abaetica uploaded a new version of "File:ReviewLAODEs.pdf"

CDS 101/110, Fall 2015

2015-09-30T03:11:14Z

Abaetica: /* Lecture Schedule */

{| width=100%
|-
| colspan=2 align=center |
Introduction to Control Systems__NOTOC__
|- valign=top
| width=50% |
'''Instructors'''
* Richard Murray (CDS/BE), murray@cds.caltech.edu
* Lectures: MWF, 2-3 pm, 105 ANB
* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
| width=50% |
'''Teaching Assistants'''
* Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS)
* Contact: cds110-tas@cds.caltech.edu
* Office hours: Mon and Tue (time and location TBD)
|}

This is the course homepage for CDS 101/110, Fall 2015.

=== Announcements ===
* 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send e-mail to Richard

=== Course Syllabus ===

CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.

=== Lecture Schedule ===

{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
|-
| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
|- valign=top
|- valign=top
| '''Week 1''' 
28 Sep 30 Sep* 2 Oct
| Introduction and Review
* Introduction to feedback and control
* Review of differential equation and linear algebra
* Feedback principles and examples
| FBS-1e 1.1-1.2, 1.4-1.5 FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
* {{cds110 fa15 pdf |ReviewLAODEs.pdf | Review session notes}}
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} Due: 7 Oct, 2 pm
|- valign=top
| '''Week 2''' 
5 Oct 7 Oct 9 Oct*
| Modeling, Stability
* State space models
* Phase portraits and stability
* Introduction to MATLAB
| FBS-1e 2.1-2.2, 4.1-4.3 FBS-2e 3.1-3.2, 5.1-5.3
| {{cds110 fa15 pdf pending |hw2.pdf | HW 2}} Due: 14 Oct, 2 pm
|- valign=top
| '''Week 3''' 
12 Oct* 14 Oct* 16 Oct*
| Linear Systems
* Input/output response of LTI systems
* Matrix exponential, convolution equation
* Linearization around an equilibrium point
| FBS-1e 5.1-5.4 FBS-2e 6.1-6.4
| {{cds110 fa15 pdf pending |hw3.pdf | HW 3}} Due: 21 Oct, 2 pm
|- valign=top
| '''Week 4''' 
19 Oct 21 Oct 23 Oct*
| State Feedback
* Reachability
* State feedback and eigenvalue placement
| FBS-1e 6.1-6.4 FBS-2e 7.1-7.4
| {{cds110 fa15 pdf pending |hw4.pdf | HW 4}} Due: 28 Oct, 2 pm
|- valign=top
| '''Week 5''' 
26 Oct 28 Oct 30 Oct
| Output Feedback
* State estimation
* Trajectory generation, feedforward
* Midterm review
| FBS-1e 7.1-7.3 FBS-2e 8.1-8.3
| Midterm exam Due: 3 Nov, 5 pm
|- valign=top
| '''Week 6''' 
2 Nov 4 Nov 6 Nov*
| Transfer Functions
* Frequency domain modeling
* Block diagram algebra
* Bode plots
| FBS-1e 8.1-8.4 FBS-2e 9.1-9.4
| {{cds110 fa15 pdf pending |hw5.pdf | HW 5}} Due: 11 Nov, 2 pm
|- valign=top
| '''Week 7''' 
9 Nov 11 Nov 13 Nov*
| Loop Analysis
* Loop transfer function and the Nyquist criterion
* Stability margins
| FBS-1e 9.1-9.3 FBS-2e 10.1-10.3
| {{cds110 fa15 pdf pending |hw6.pdf | HW 6}} Due: 18 Nov, 2 pm
|- valign=top
| '''Week 8''' 
16 Nov 18 Nov* 20 Nov
| PID Control
* Simple controllers for complex systems
* Integral action and anti-windup
| FBS-1e 10.1-10.4 FBS-2e 11.1-11.4
| {{cds110 fa15 pdf pending |hw7.pdf | HW 7}} Due: 25 Nov, 2 pm
|- valign=top
| '''Week 9''' 
23 Nov 25 Nov*
| Loop Shaping, I
* Sensitivity functions
* Feedback design via loop shaping
| FBS-1e 11.1-11.3 FBS-2e 12.1-12.4
| {{cds110 fa15 pdf pending |hw8.pdf | HW 8}} Due: 2 Dec, 2 pm
|- valign=top
| '''Week 10''' 
30 Nov 2 Dec 4 Dec
| Loop Shaping II
* Fundamental limitations
* Modeling uncertainty
* Performance/robustness tradeoffs
| FBS-1e 11.4, 12.1-12.4 FBS-2e 12.6-12.7, 13.1-13.3
| Final exam Due 11 Dec, 5 pm
|}

=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final exam:

*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged. You may consult
outside reference materials, other students, the TA, or the
instructor, but you cannot consult homework solutions from
prior years and you must cite any use of material from outside
references. All solutions that are handed in should be written up
individually and should reflect your own understanding of the subject
matter at the time of writing. MATLAB/Python scripts and plots are
considered part of your writeup and should be done individually (you
can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

=== Course Text and References ===

The primary course text is
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

[[Category: Courses]]

File:ReviewLAODEs.pdf

2015-09-30T03:08:25Z

Abaetica:

CDS 101/110, Fall 2015

2015-09-30T03:07:37Z

Abaetica: /* Lecture Schedule */

{| width=100%
|-
| colspan=2 align=center |
Introduction to Control Systems__NOTOC__
|- valign=top
| width=50% |
'''Instructors'''
* Richard Murray (CDS/BE), murray@cds.caltech.edu
* Lectures: MWF, 2-3 pm, 105 ANB
* Office hours: Wed 3:30-4:30 pm (please e-mail to confirm)
| width=50% |
'''Teaching Assistants'''
* Ania Baetica (CDS), Benson Christalin (CDS), Jerry Cruz (CDS)
* Contact: cds110-tas@cds.caltech.edu
* Office hours: Mon and Tue (time and location TBD)
|}

This is the course homepage for CDS 101/110, Fall 2015.

=== Announcements ===
* 28 Sep 2015: the student mailing list and Piazza invitations have been sent out; if you didn't get one then send e-mail to Richard

=== Course Syllabus ===

CDS 101/110 provides an introduction to feedback and control in physical,
biological, engineering, and information sciences. Basic principles of
feedback and its use as a tool for altering the dynamics of systems and
managing uncertainty. Key themes throughout the course will include
input/output response, modeling and model reduction, linear versus nonlinear
models, and local versus global behavior.

CDS 101 is a 6 unit (2-0-4) class intended for advanced students in science
and engineering who are interested in the principles and tools of feedback
control, but not the analytical techniques for design and synthesis of control
systems. CDS 110 is a 12 unit class (3-0-9) that provides a traditional first
course in control for engineers and applied scientists. It assumes a stronger
mathematical background, including working knowledge of linear algebra and
ODEs. Familiarity with complex variables (Laplace transforms, residue theory)
is helpful but not required.

=== Lecture Schedule ===

{| class="mw-collapsible wikitable" width=100% border=1 cellpadding=5
|-
| '''Date'''
| '''Topic'''
| '''Reading'''
| '''Homework'''
|- valign=top
|- valign=top
| '''Week 1''' 
28 Sep 30 Sep* 2 Oct
| Introduction and Review
* Introduction to feedback and control
* Review of differential equation and linear algebra
* Feedback principles and examples
| FBS-1e 1.1-1.2, 1.4-1.5 FBS-2e 1.1-1.5 (skim), ''2.1-2.4''
* {{cds110 fa15 pdf |bgsurvey.pdf | Background survey}}
* {{cds110 fa15 pdf |L1-1_intro-28Sep15_h.pdf | Mon lecture notes}},
* {{cds110 fa15 pdf |reviewLAODEs.pdf | Review session notes}}
| {{cds110 fa15 pdf |hw1-fa15.pdf | HW 1}} Due: 7 Oct, 2 pm
|- valign=top
| '''Week 2''' 
5 Oct 7 Oct 9 Oct*
| Modeling, Stability
* State space models
* Phase portraits and stability
* Introduction to MATLAB
| FBS-1e 2.1-2.2, 4.1-4.3 FBS-2e 3.1-3.2, 5.1-5.3
| {{cds110 fa15 pdf pending |hw2.pdf | HW 2}} Due: 14 Oct, 2 pm
|- valign=top
| '''Week 3''' 
12 Oct* 14 Oct* 16 Oct*
| Linear Systems
* Input/output response of LTI systems
* Matrix exponential, convolution equation
* Linearization around an equilibrium point
| FBS-1e 5.1-5.4 FBS-2e 6.1-6.4
| {{cds110 fa15 pdf pending |hw3.pdf | HW 3}} Due: 21 Oct, 2 pm
|- valign=top
| '''Week 4''' 
19 Oct 21 Oct 23 Oct*
| State Feedback
* Reachability
* State feedback and eigenvalue placement
| FBS-1e 6.1-6.4 FBS-2e 7.1-7.4
| {{cds110 fa15 pdf pending |hw4.pdf | HW 4}} Due: 28 Oct, 2 pm
|- valign=top
| '''Week 5''' 
26 Oct 28 Oct 30 Oct
| Output Feedback
* State estimation
* Trajectory generation, feedforward
* Midterm review
| FBS-1e 7.1-7.3 FBS-2e 8.1-8.3
| Midterm exam Due: 3 Nov, 5 pm
|- valign=top
| '''Week 6''' 
2 Nov 4 Nov 6 Nov*
| Transfer Functions
* Frequency domain modeling
* Block diagram algebra
* Bode plots
| FBS-1e 8.1-8.4 FBS-2e 9.1-9.4
| {{cds110 fa15 pdf pending |hw5.pdf | HW 5}} Due: 11 Nov, 2 pm
|- valign=top
| '''Week 7''' 
9 Nov 11 Nov 13 Nov*
| Loop Analysis
* Loop transfer function and the Nyquist criterion
* Stability margins
| FBS-1e 9.1-9.3 FBS-2e 10.1-10.3
| {{cds110 fa15 pdf pending |hw6.pdf | HW 6}} Due: 18 Nov, 2 pm
|- valign=top
| '''Week 8''' 
16 Nov 18 Nov* 20 Nov
| PID Control
* Simple controllers for complex systems
* Integral action and anti-windup
| FBS-1e 10.1-10.4 FBS-2e 11.1-11.4
| {{cds110 fa15 pdf pending |hw7.pdf | HW 7}} Due: 25 Nov, 2 pm
|- valign=top
| '''Week 9''' 
23 Nov 25 Nov*
| Loop Shaping, I
* Sensitivity functions
* Feedback design via loop shaping
| FBS-1e 11.1-11.3 FBS-2e 12.1-12.4
| {{cds110 fa15 pdf pending |hw8.pdf | HW 8}} Due: 2 Dec, 2 pm
|- valign=top
| '''Week 10''' 
30 Nov 2 Dec 4 Dec
| Loop Shaping II
* Fundamental limitations
* Modeling uncertainty
* Performance/robustness tradeoffs
| FBS-1e 11.4, 12.1-12.4 FBS-2e 12.6-12.7, 13.1-13.3
| Final exam Due 11 Dec, 5 pm
|}

=== Grading ===
The final grade will be based on homework sets, a midterm exam, and a final exam:

*''Homework (50%):'' Homework sets will be handed out weekly and due on Wednesdays by 2 pm either in class or in the labeled box across from 107 Steele Lab. Each student is allowed up to two extensions of no more than 2 days each over the course of the term. Homework turned in after Friday at 2 pm or after the two extensions are exhausted will not be accepted without a note from the health center or the Dean. MATLAB/Python code and SIMULINK/Modelica diagrams are considered part of your solution and should be printed and turned in with the problem set (whether the problem asks for it or not).

* ''Midterm exam (20%):'' A midterm exam will be handed out at the beginning of midterms period (28 Oct) and due at the end of the midterm examination period (3 Nov). The midterm exam will be open book and computers will be allowed (though not required).

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (4 Dec) and due at the end of finals week. It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

Collaboration on homework assignments is encouraged. You may consult
outside reference materials, other students, the TA, or the
instructor, but you cannot consult homework solutions from
prior years and you must cite any use of material from outside
references. All solutions that are handed in should be written up
individually and should reflect your own understanding of the subject
matter at the time of writing. MATLAB/Python scripts and plots are
considered part of your writeup and should be done individually (you
can share ideas, but not code).

No collaboration is allowed on the midterm or final exams.

=== Course Text and References ===

The primary course text is
* K. J. Astrom and Richard M. Murray, [http://fbsbook.org ''Feedback Systems: An Introduction for Scientists and Engineers''], Princeton University Press, 2008
This book is available via the Caltech online bookstore or via download from the [http://fbsbook.org companion web site]. Note that the second edition of this book is in preparation for publication and will serve as the primary text for the course (but almost all of the material we will cover is also in the first edition).

The following additional references may also be useful:

* A. D. Lewis, ''A Mathematical Approach to Classical Control'', 2003. [http://www.mast.queensu.ca/~andrew/teaching/math332/notes.shtml Online access].
* J. Distefano III, A. R. Stubberud and Ivan J. Williams (Author), ''Schaum's Outline of Feedback and Control Systems'', 2nd Edition, 2013.

In addition to the books above, the textbooks below may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.

[[Category: Courses]]

Yosemite Trip - 2015

2015-03-06T22:51:49Z

Abaetica: /* Currently used */

We are organizing a winter Murray Group trip to Yosemite this year. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.

Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.

= Details =

=== Trip Date ===
We've selected the trip date based on people's availability and Richard's schedule:
* 13-15 March, 2015

If you are interested in joining the group trip, email Zachary Sun. We will have housing openings up to two weeks' before departure.

=== Trip Itinerary ===
* Friday - Meet your carpool from early morning to early afternoon and drive to Yosemite. Check into cabins.
* Saturday - Hang out at Yosemite. There are a couple of possible day activities depending on the snow state, including hiking, cross-country skiing, downhill skiing at Badger Pass, "research" if you're so inclined, or just hanging around camp :) Equipment can be rented at Yosemite.
* Sunday - Open activities (including day hikes or sleeping in) in the morning, return to Pasadena in the afternoon/evening.

=== Information about Yosemite ===
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]
* [http://www.nps.gov/yose/ Yosemite National Park]
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]

= Participants =
* Richard Murray, +1 - ___ departure
* Zachary Sun - ___ departure (can drive, room for 4)
* Ioannis Fillippidis
* Marcella Gomez, +1
* Samira Farahani
* Enoch Yeung, +1.5
* Yong Wu
* Vipul Singhal
* Sean Sanchez + 1
* Clare Hayes
* Yutaka Hori
* Emzo de los Santos
* Shaobin Guo + 1
* Anandh Swaminathan
* Ivan Papusha
* Victoria Hsiao
* Ania Baetica, +1
* Vasu Raman, +1
*Anu Thubagere
*Henrike Niederholtmeyer

= Transportation =

For drivers: If there is snow you'll need chains for your car; these can be bought online or at Wal-Mart. A couple of days before you can confirm the weather forecast.

SEE GOOGLE DOC.

= Currently booked and used housing =
SEE GOOGLE DOC FOR UPDATES AND ASSIGNMENTS
== Currently used ==

*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123375
*Curry Village Heated Tent: 3 beds, Zachary Sun / Shaobin Guo / Yutaka Hori, Conf 399SB123409
*Curry Village Heated Tent: 3 beds, Conf #: 399SB123664
*Curry Village Heated Tent: 3 beds, Anandh / Ivan / Vipul (Confirmation Number: 399SB123673)
*Curry Village Heated Tent: 3/3 beds, Ania / Ioannis / Thomas (Confirmation Number: 399SB124221)
*Curry Village Heated Tent: 3 beds (can fit 2 additional people), Vasu (Confirmation Number: 399SB124439)
*Curry Village Heated Cabin (fancy fancy): 3 beds, Victoria/ Anu/ Clare/ Yong? (Confirmation Number: 399SB124780)

== Reservations to be cancelled by Feb. 20 (unless you need it!) ==
*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123372
*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123374

== Details ==
1) The majority of people will probably choose to live in Camp Curry. These are either tents or cabins.

*Unheated tent. If you dare to brave the cold! It will cost the night's low temperature (average 30's)./night + 11% tax. Can sleep 4 comfortably (1 double bed, 3 single beds). *These have cots and sheets, this is not camping but rather low-cost glamping*
*Heated tent. Will cost the night's low + $20. (max $60/night + 11% tax). Can sleep 3 comfortably (1 double bed, 2 single beds). *These have cots and sheets, this is not camping but rather low-cost glamping*
*Cabin w/o private bathroom. $153/night + 11% tax. 2 double beds.
*Cabin w/ private bathroom. $204/night + 11% tax. 2 double beds.

<gallery>
nonheatedtent.jpg | Non-heated canvas tent. Live here at your own risk of freezing!
heatedtent.jpg | Heated canvas tent.
cabin.jpg | Curry Village cabins, heated.
</gallery>
(Images c.www.yosemitepark.com)

2) There is also housing at Yosemite Lodge and the Ahwahnee. These are pricier options though starting at $200/night, and you'll be a drive or shuttle away from Camp. See http://www.yosemitepark.com/the-ahwahnee.aspx or http://www.yosemitepark.com/yosemite-lodge.aspx.

= Meals =

Due to the amount of people involved, please arrange with your carpool all meals except for dinner on Friday night and dinner on Saturday night. Note that Camp Curry will be open for breakfast. Dinner on Friday we will do as a group at Camp Curry, and on Saturday it will be TBA between Camp Curry and Yosemite Lodge (though if you don't want to eat the stuff at Camp Curry, you can arrange your meal there as well :)). Participants responsible for their own food costs for the weekend.

= Event planning =

Unclear if there will be snow. We plan on meeting at 9pm on Friday at Camp Curry to discuss events and activities for Saturday all day and Sunday morning!

= Packing List =

'''Head and Hands'''
* Winter hat
* Gloves or mittens
* Scarf (optional)

'''Upper Body Layers'''
* 2 t-shirts
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)
* Sweater or sweatshirt
* Fleece jacket or wool sweater
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket

'''Lower Body'''
* Underwear as needed
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them
* Synthetic long underwear bottoms (if you have them)

'''Feet'''
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)
* Socks

'''Travel Gear'''
* Small backpack for day hiking/skiing

'''Sleeping'''
* The tents come with cots, but to supplment you can either bring blankets or a sleeping bag.

'''Micellaneous'''
* 2 quart-sized water bottles
* 1 small flashlight or headlamp
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap
* Towel for showering (though they should have 1 in case you forget)
* Sunscreen, lip balm, tissues
* Sunglasses
* Any medications you need
* Camera (optional)
* Board games to play at night (Pictionary, Cranium, etc.)
* BYOB
* Money for ski rentals, dinners, and food / gas in your carpools

= Pictures =
These pictures are from the 2003 Murray Group winter trip to Yosemite.
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]

Yosemite Trip - 2015

2015-03-06T22:50:43Z

Abaetica: /* Participants */

We are organizing a winter Murray Group trip to Yosemite this year. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.

Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.

= Details =

=== Trip Date ===
We've selected the trip date based on people's availability and Richard's schedule:
* 13-15 March, 2015

If you are interested in joining the group trip, email Zachary Sun. We will have housing openings up to two weeks' before departure.

=== Trip Itinerary ===
* Friday - Meet your carpool from early morning to early afternoon and drive to Yosemite. Check into cabins.
* Saturday - Hang out at Yosemite. There are a couple of possible day activities depending on the snow state, including hiking, cross-country skiing, downhill skiing at Badger Pass, "research" if you're so inclined, or just hanging around camp :) Equipment can be rented at Yosemite.
* Sunday - Open activities (including day hikes or sleeping in) in the morning, return to Pasadena in the afternoon/evening.

=== Information about Yosemite ===
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]
* [http://www.nps.gov/yose/ Yosemite National Park]
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]

= Participants =
* Richard Murray, +1 - ___ departure
* Zachary Sun - ___ departure (can drive, room for 4)
* Ioannis Fillippidis
* Marcella Gomez, +1
* Samira Farahani
* Enoch Yeung, +1.5
* Yong Wu
* Vipul Singhal
* Sean Sanchez + 1
* Clare Hayes
* Yutaka Hori
* Emzo de los Santos
* Shaobin Guo + 1
* Anandh Swaminathan
* Ivan Papusha
* Victoria Hsiao
* Ania Baetica, +1
* Vasu Raman, +1
*Anu Thubagere
*Henrike Niederholtmeyer

= Transportation =

For drivers: If there is snow you'll need chains for your car; these can be bought online or at Wal-Mart. A couple of days before you can confirm the weather forecast.

SEE GOOGLE DOC.

= Currently booked and used housing =
SEE GOOGLE DOC FOR UPDATES AND ASSIGNMENTS
== Currently used ==

*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123375
*Curry Village Heated Tent: 3 beds, Zachary Sun / Shaobin Guo / Yutaka Hori, Conf 399SB123409
*Curry Village Heated Tent: 3 beds, Conf #: 399SB123664
*Curry Village Heated Tent: 3 beds, Anandh / Ivan / Vipul (Confirmation Number: 399SB123673)
*Curry Village Heated Tent: 2/3 beds, Ania / Ioannis (Confirmation Number: 399SB124221)
*Curry Village Heated Tent: 3 beds (can fit 2 additional people), Vasu (Confirmation Number: 399SB124439)
*Curry Village Heated Cabin (fancy fancy): 3 beds, Victoria/ Anu/ Clare/ Yong? (Confirmation Number: 399SB124780)

== Reservations to be cancelled by Feb. 20 (unless you need it!) ==
*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123372
*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123374

== Details ==
1) The majority of people will probably choose to live in Camp Curry. These are either tents or cabins.

*Unheated tent. If you dare to brave the cold! It will cost the night's low temperature (average 30's)./night + 11% tax. Can sleep 4 comfortably (1 double bed, 3 single beds). *These have cots and sheets, this is not camping but rather low-cost glamping*
*Heated tent. Will cost the night's low + $20. (max $60/night + 11% tax). Can sleep 3 comfortably (1 double bed, 2 single beds). *These have cots and sheets, this is not camping but rather low-cost glamping*
*Cabin w/o private bathroom. $153/night + 11% tax. 2 double beds.
*Cabin w/ private bathroom. $204/night + 11% tax. 2 double beds.

<gallery>
nonheatedtent.jpg | Non-heated canvas tent. Live here at your own risk of freezing!
heatedtent.jpg | Heated canvas tent.
cabin.jpg | Curry Village cabins, heated.
</gallery>
(Images c.www.yosemitepark.com)

2) There is also housing at Yosemite Lodge and the Ahwahnee. These are pricier options though starting at $200/night, and you'll be a drive or shuttle away from Camp. See http://www.yosemitepark.com/the-ahwahnee.aspx or http://www.yosemitepark.com/yosemite-lodge.aspx.

= Meals =

Due to the amount of people involved, please arrange with your carpool all meals except for dinner on Friday night and dinner on Saturday night. Note that Camp Curry will be open for breakfast. Dinner on Friday we will do as a group at Camp Curry, and on Saturday it will be TBA between Camp Curry and Yosemite Lodge (though if you don't want to eat the stuff at Camp Curry, you can arrange your meal there as well :)). Participants responsible for their own food costs for the weekend.

= Event planning =

Unclear if there will be snow. We plan on meeting at 9pm on Friday at Camp Curry to discuss events and activities for Saturday all day and Sunday morning!

= Packing List =

'''Head and Hands'''
* Winter hat
* Gloves or mittens
* Scarf (optional)

'''Upper Body Layers'''
* 2 t-shirts
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)
* Sweater or sweatshirt
* Fleece jacket or wool sweater
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket

'''Lower Body'''
* Underwear as needed
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them
* Synthetic long underwear bottoms (if you have them)

'''Feet'''
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)
* Socks

'''Travel Gear'''
* Small backpack for day hiking/skiing

'''Sleeping'''
* The tents come with cots, but to supplment you can either bring blankets or a sleeping bag.

'''Micellaneous'''
* 2 quart-sized water bottles
* 1 small flashlight or headlamp
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap
* Towel for showering (though they should have 1 in case you forget)
* Sunscreen, lip balm, tissues
* Sunglasses
* Any medications you need
* Camera (optional)
* Board games to play at night (Pictionary, Cranium, etc.)
* BYOB
* Money for ski rentals, dinners, and food / gas in your carpools

= Pictures =
These pictures are from the 2003 Murray Group winter trip to Yosemite.
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]

Nikolay Atanasov, Feb 2015

2015-02-09T18:52:35Z

Abaetica: /* Schedule */

Nikolay Atanasov, a student at Penn working with George Pappas and Kostas Danilidis will be visiting Caltech on 9 Feb (Mon). He will give a group meeting talk on some of his recent work. If you would like to meet with him, please sign up below:

=== Schedule ===

Monday:
* 10:00a: Richard (109 Steele Lab)
* 10:30a: Open
* 11:15a: Open
* 12p-1:15p: Group meeting presentation, 121 Annenberg
* 1:15p: Vasu (121 Annenberg)
* 2:00p: Yorie Nakahira
* 2:45p: Tony Fragoso (Annenberg 2nd floor common area)
* 3:30p: Ivan Papusha (Annenberg 2nd floor common area)
* 4:15p: None
* 5:00p: Done for the day

=== Seminar info ===

Active Information Acquisition with Applications in Robotics and Computer Vision 
Nikolay Atanasov, University of Pennsylvania

Monday, February 9th, 12 pm 
121 Annenberg

Abstract: The remarkable advances in sensing and mobility for robotic systems allow us to address some important information gathering problems such as environmental monitoring, source seeking, simultaneous localization and mapping (SLAM), and object recognition. The goal of active information acquisition is to design control strategies for multiple sensing robots, aimed at improving the accuracy and efficiency of tracking an evolving phenomenon of interest (target). First, we present a greedy approach to information acquisition via applications in source seeking and mobile robot localization. Next, we consider nonmyopic information acquisition in the case of linear Gaussian models and develop an approximate algorithm with suboptimality guarantees. The algorithm is computationally fast, since it exploits linearized sensing models, and memory efficient, since it exploits sparsity in the target model. Decentralized control and estimation are discussed and an application to active multi-robot SLAM is presented. Finally, we consider nonmyopic information acquisition with general sensing models and present applications in active object recognition.

Biography: Nikolay A. Atanasov received a B.S. degree in electrical engineering from Trinity College, Hartford, CT, in 2008 and an M.S. degree in electrical engineering from the University of Pennsylvania, Philadelphia, PA, in 2012. Currently, he is working towards the Ph.D. degree in electrical and systems engineering at the University of Pennsylvania under the supervision of Professor George J. Pappas and Professor Kostas Daniilidis. His research interests are in active information acquisition with applications to robotics and computer vision, encompassing problems such as active object recognition, active localization and mapping, environmental monitoring, security and surveillance, search and rescue, etc. The fields relevant to his research are robotics, control theory, optimization, and computer vision.

Nikolay Atanasov, Feb 2015

2015-02-05T21:18:45Z

Abaetica: /* Schedule */

Nikolay Atanasov, a student at Penn working with George Pappas and Kostas Danilidis will be visiting Caltech on 9 Feb (Mon). He will give a group meeting talk on some of his recent work. If you would like to meet with him, please sign up below:

=== Schedule ===

Monday:
* 10:00a: Richard (109 Steele Lab)
* 10:30a: Open
* 11:15a: Open
* 12p-1:15p: Group meeting presentation, 121 Annenberg
* 1:15p: Vasu (location TBD)
* 2:00p: Open
* 2:45p: Open
* 3:30p: Open
* 4:15p: Yorie Nakahira
* 5:00p: Done for the day

=== Seminar info ===

Active Information Acquisition with Applications in Robotics and Computer Vision 
Nikolay Atanasov, University of Pennsylvania

Monday, February 9th, 12 pm 
121 Annenberg

Abstract: The remarkable advances in sensing and mobility for robotic systems allow us to address some important information gathering problems such as environmental monitoring, source seeking, simultaneous localization and mapping (SLAM), and object recognition. The goal of active information acquisition is to design control strategies for multiple sensing robots, aimed at improving the accuracy and efficiency of tracking an evolving phenomenon of interest (target). First, we present a greedy approach to information acquisition via applications in source seeking and mobile robot localization. Next, we consider nonmyopic information acquisition in the case of linear Gaussian models and develop an approximate algorithm with suboptimality guarantees. The algorithm is computationally fast, since it exploits linearized sensing models, and memory efficient, since it exploits sparsity in the target model. Decentralized control and estimation are discussed and an application to active multi-robot SLAM is presented. Finally, we consider nonmyopic information acquisition with general sensing models and present applications in active object recognition.

Biography: Nikolay A. Atanasov received a B.S. degree in electrical engineering from Trinity College, Hartford, CT, in 2008 and an M.S. degree in electrical engineering from the University of Pennsylvania, Philadelphia, PA, in 2012. Currently, he is working towards the Ph.D. degree in electrical and systems engineering at the University of Pennsylvania under the supervision of Professor George J. Pappas and Professor Kostas Daniilidis. His research interests are in active information acquisition with applications to robotics and computer vision, encompassing problems such as active object recognition, active localization and mapping, environmental monitoring, security and surveillance, search and rescue, etc. The fields relevant to his research are robotics, control theory, optimization, and computer vision.

SURF discussions, Jan 2015

2015-01-25T22:31:22Z

Abaetica: /* 30 Jan (Fri) */

Slots for talking with applicants and co-mentors about SURF projects. Please sign up for one of the slots below. All times are PST. __NOTOC__

{| width=100% border=1
|- valign=top
|
==== 21 Jan (Wed) ====
* 9:20: Samira and Nuno
* 9:50: Ania, Vipul, and Cody
<hr>
* 14:30: Rafsan Chowdhury
<hr>
* <s>15:30: Open</s>
|

==== 22 Jan (Thu) ====
* 9:00: Divyansh, Shaunak
<hr>
* 17:30: Open
* 18:00: Anushka, Clare + Vipul
|

==== 23 Jan (Fri) ====
* 10:00:Aileen Cheng
<hr>
* 14:00: Enrique, Clare + Vipul
* 14:30: Marcus Greiff
<hr>
* 16:00: Charlie Erwall
|- valign=top
|
==== 26 Jan (Mon) ====
* 8:00: Cat, Riashat
* 8:30: Phuc (Sam), Yong, Shaobin
<hr>
* 9:30: Rafsan, Scott, Sean (?)
<hr>
* 17:30: Samira, Vasu, Yuening
* 18:00: Jihoon, Clare, Vipul (?)
|

==== 29 Jan (Thu) ====
* 12:30: Open
<hr>
* 16:30: Open
|
==== 30 Jan (Fri) ====
* 12:45: Xianglin, Ania, and Vipul
* 1:15: Open
|}

The agenda for the phone call is (roughly):

# Description of the basic idea behind the project (based on applicant's understanding)
# Discussion about approaches, things to read, variations to consider, etc
# Discussion of the format of the proposal
# Questions and discussion about the process

SURF discussions, Jan 2015

2015-01-25T22:31:10Z

Abaetica: /* 30 Jan (Fri) */

Slots for talking with applicants and co-mentors about SURF projects. Please sign up for one of the slots below. All times are PST. __NOTOC__

{| width=100% border=1
|- valign=top
|
==== 21 Jan (Wed) ====
* 9:20: Samira and Nuno
* 9:50: Ania, Vipul, and Cody
<hr>
* 14:30: Rafsan Chowdhury
<hr>
* <s>15:30: Open</s>
|

==== 22 Jan (Thu) ====
* 9:00: Divyansh, Shaunak
<hr>
* 17:30: Open
* 18:00: Anushka, Clare + Vipul
|

==== 23 Jan (Fri) ====
* 10:00:Aileen Cheng
<hr>
* 14:00: Enrique, Clare + Vipul
* 14:30: Marcus Greiff
<hr>
* 16:00: Charlie Erwall
|- valign=top
|
==== 26 Jan (Mon) ====
* 8:00: Cat, Riashat
* 8:30: Phuc (Sam), Yong, Shaobin
<hr>
* 9:30: Rafsan, Scott, Sean (?)
<hr>
* 17:30: Samira, Vasu, Yuening
* 18:00: Jihoon, Clare, Vipul (?)
|

==== 29 Jan (Thu) ====
* 12:30: Open
<hr>
* 16:30: Open
|
==== 30 Jan (Fri) ====
* 12:45:
Xianglin, Ania, and Vipul
* 1:15: Open
|}

The agenda for the phone call is (roughly):

# Description of the basic idea behind the project (based on applicant's understanding)
# Discussion about approaches, things to read, variations to consider, etc
# Discussion of the format of the proposal
# Questions and discussion about the process

SURF discussions, Jan 2015

2015-01-20T19:09:03Z

Abaetica: /* 21 Jan (Wed) */

Slots for talking with applicants and co-mentors about SURF projects. Please sign up for one of the slots below. All times are PST. __NOTOC__

{| width=100% border=1
|- valign=top
|
==== 21 Jan (Wed) ====
* 9:20: Samira and Nuno
* 9:50: Ania, Vipul, and Cody
<hr>
* 14:30: Rafsan Chowdhury
<hr>
* 15:30: Open
|

==== 22 Jan (Thu) ====
* 9:00: Open
<hr>
* 17:30: Open
* 18:00: Open
|

==== 23 Jan (Fri) ====
* 10:00:Aileen Cheng
<hr>
* 14:00: Open
* 14:30: Open
<hr>
* 16:00: Open
|

==== 26 Jan (Mon) ====
* 8:00: Open
* 8:30: Phuc (Sam), Yong, Shaobin
<hr>
* 17:30: Samira, Vasu, Yuening (tentative)
* 18:00: Open
|}

The agenda for the phone call is (roughly):

# Description of the basic idea behind the project (based on applicant's understanding)
# Discussion about approaches, things to read, variations to consider, etc
# Discussion of the format of the proposal
# Questions and discussion about the process

SURF 2015: Design of equilibrium and transient distributions of stochastic biochemical reaction networks

2015-01-01T22:29:07Z

Abaetica: /* SURF 2015: Design of equilibrium and transient distributions of stochastic biochemical reaction networks */

[https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2015 2015 SURF] '''project description'''

* Mentor: Richard M. Murray

* Co-mentors: Ania Baetica and Vipul Singhal

Understanding how to design biocircuits subject to stochastic effects is one of the goals of the Murray lab. Experimental evidence has made it clear that stochastic fluctuations have a significant and even beneficial role in genetic circuits [1]. These fluctuations are particularly strong in the low molecule numbers regime that both our biocircuits and numerous cellular processes run in [2]. To better understand stochastic behavior, we model our biocircuits as stochastic biochemical reaction networks and perform design over time-evolving distributions of molecular species from our system. The goal of this project is to perform biologically-informed design of the equilibrium (stationary) and transient distributions in pertinent examples of stochastic biochemical reaction networks.

Stochastic behavior of biochemical reaction networks is described analytically by the Chemical Master Equation (CME). The time-evolution of molecular species distributions is described by an infinite-dimensional ODE. Approximations to the solution of the CME are used routinely for computer simulations (SSA algorithm), but analytical solutions are difficult to obtain due to the infinite-dimensionality of the equation. Nonetheless, the CME has been solved analytically for special case gene regulatory systems [3] and for monomolecular reaction systems [4]. Analytic solutions were determined for both the stationary and the transient distributions of molecular species in these examples. However, the problem of designing these probability distributions to reflect biologically relevant constraints remains largely unaddressed, with the exception of reference [5].

In this SURF project, we seek to understand how to choose parameters (rate constants, e.g.) such that the equilibrium and transient distributions of molecular species display desirable properties with direct biological significance (e.g. the distribution of switching times for the toggle switch [6] should be short-tailed so that fast/slow switching is rare). We will perform design on the distributions that are analytic solutions to the CME from reference papers [3] and [4]. Students will pick the biocircuit examples of their choice from the references provided and/or other sources.

The design process will take place in steps:

# Students will model the biocircuit in MATLAB to gain intuition of stationary and transient behavior under different inputs. We will use the analytic solution for the transient and equilibrium distributions of the CME.
# Students will identify appropriate biologically relevant constraints for the design problem. Then they will translate them into design optimization problems. Some of the problems will have analytical solutions and some will require the use of computational methods (MATLAB toolboxes such as SOSTOOLS or sampling techniques such as MCMC).
# We will perform sensitivity analysis and robustness analysis for the solutions of the design problems.

''Required Skills'': Students are required to be flexible about learning new analytical and computational techniques. Experience with a scientific programming language of your choice is required (MATLAB/C/Python). Background in probability (ACM/EE/CMS 116) and optimization (ACM/CMS 113) is recommended, but not required.

'''References'''

[http://www.nature.com/nature/journal/v467/n7312/full/nature09326.html] ''Functional roles for noise in genetic circuits'', A. Eldar, M. Elowitz. Nature Reviews, 2010.

[http://www.sciencemag.org/content/297/5584/1183.full] ''Stochastic Gene Expression in a Single Cell'', M. Elowitz, A. Levine, E. Siggia, P. Swain. Science, 2002.

[http://rsif.royalsocietypublishing.org/content/11/97/20140054] ''Equilibrium Distributions of Simple Biochemical Reaction Systems for Time-Scale Separation in Stochastic Reaction Networks'', B. Mélykúti, J.P. Hespanha, M. Khammash. J. R. Soc. Interface, 2014.

[http://link.springer.com/article/10.1007%2Fs00285-006-0034-x#page-1] ''Solving the Chemical Master Equation for Monomolecular Reaction Systems Analytically'', T. Jahnke, W. Huisinga. J. Math. Biol., 2007.

[http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5256308&tag=1] ''A Linear Programming Approach to Parameter Fitting for the Master Equation'', N. Martins, J. Gonçalves. IEEE, 2009.

[http://www.nature.com/nature/journal/v403/n6767/full/403339a0.html] ''Construction of a Genetic Toggle Switch in Escherichia Coli'', T. Gardner, C. Cantor, J. Collins. Letters to Nature, 2000.

SURF 2015: Design of equilibrium and transient distributions of stochastic biochemical reaction networks

2015-01-01T22:28:34Z

Abaetica: Created page with "== '''SURF 2015: Design of equilibrium and transient distributions of stochastic biochemical reaction networks''' == [https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_..."

== '''SURF 2015: Design of equilibrium and transient distributions of stochastic biochemical reaction networks''' ==

[https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2015 2015 SURF] '''project description'''

* Mentor: Richard M. Murray

* Co-mentors: Ania Baetica and Vipul Singhal

Understanding how to design biocircuits subject to stochastic effects is one of the goals of the Murray lab. Experimental evidence has made it clear that stochastic fluctuations have a significant and even beneficial role in genetic circuits [1]. These fluctuations are particularly strong in the low molecule numbers regime that both our biocircuits and numerous cellular processes run in [2]. To better understand stochastic behavior, we model our biocircuits as stochastic biochemical reaction networks and perform design over time-evolving distributions of molecular species from our system. The goal of this project is to perform biologically-informed design of the equilibrium (stationary) and transient distributions in pertinent examples of stochastic biochemical reaction networks.

Stochastic behavior of biochemical reaction networks is described analytically by the Chemical Master Equation (CME). The time-evolution of molecular species distributions is described by an infinite-dimensional ODE. Approximations to the solution of the CME are used routinely for computer simulations (SSA algorithm), but analytical solutions are difficult to obtain due to the infinite-dimensionality of the equation. Nonetheless, the CME has been solved analytically for special case gene regulatory systems [3] and for monomolecular reaction systems [4]. Analytic solutions were determined for both the stationary and the transient distributions of molecular species in these examples. However, the problem of designing these probability distributions to reflect biologically relevant constraints remains largely unaddressed, with the exception of reference [5].

In this SURF project, we seek to understand how to choose parameters (rate constants, e.g.) such that the equilibrium and transient distributions of molecular species display desirable properties with direct biological significance (e.g. the distribution of switching times for the toggle switch [6] should be short-tailed so that fast/slow switching is rare). We will perform design on the distributions that are analytic solutions to the CME from reference papers [3] and [4]. Students will pick the biocircuit examples of their choice from the references provided and/or other sources.

The design process will take place in steps:

# Students will model the biocircuit in MATLAB to gain intuition of stationary and transient behavior under different inputs. We will use the analytic solution for the transient and equilibrium distributions of the CME.
# Students will identify appropriate biologically relevant constraints for the design problem. Then they will translate them into design optimization problems. Some of the problems will have analytical solutions and some will require the use of computational methods (MATLAB toolboxes such as SOSTOOLS or sampling techniques such as MCMC).
# We will perform sensitivity analysis and robustness analysis for the solutions of the design problems.

''Required Skills'': Students are required to be flexible about learning new analytical and computational techniques. Experience with a scientific programming language of your choice is required (MATLAB/C/Python). Background in probability (ACM/EE/CMS 116) and optimization (ACM/CMS 113) is recommended, but not required.

'''References'''

[http://www.nature.com/nature/journal/v467/n7312/full/nature09326.html] ''Functional roles for noise in genetic circuits'', A. Eldar, M. Elowitz. Nature Reviews, 2010.

[http://www.sciencemag.org/content/297/5584/1183.full] ''Stochastic Gene Expression in a Single Cell'', M. Elowitz, A. Levine, E. Siggia, P. Swain. Science, 2002.

[http://rsif.royalsocietypublishing.org/content/11/97/20140054] ''Equilibrium Distributions of Simple Biochemical Reaction Systems for Time-Scale Separation in Stochastic Reaction Networks'', B. Mélykúti, J.P. Hespanha, M. Khammash. J. R. Soc. Interface, 2014.

[http://link.springer.com/article/10.1007%2Fs00285-006-0034-x#page-1] ''Solving the Chemical Master Equation for Monomolecular Reaction Systems Analytically'', T. Jahnke, W. Huisinga. J. Math. Biol., 2007.

[http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5256308&tag=1] ''A Linear Programming Approach to Parameter Fitting for the Master Equation'', N. Martins, J. Gonçalves. IEEE, 2009.

[http://www.nature.com/nature/journal/v403/n6767/full/403339a0.html] ''Construction of a Genetic Toggle Switch in Escherichia Coli'', T. Gardner, C. Cantor, J. Collins. Letters to Nature, 2000.

SURF 2015

2014-12-30T22:13:11Z

Abaetica: /* List of available projects */

{{righttoc}}
This page is intended for students interested in working on SURF projects in the Summer of 2015. It contains information about how to apply for a SURF project in my group along with a list of project areas.

=== Applying for a SURF project ===

Because I get many students interested in doing SURFs in my group and because we have several projects available, we use the first few weeks in January to sort out who we will work with in writing proposals. We only submit one proposal per project area and so we often can't accommodate everyone who wants to work in my group over the summer.

# A list of SURF project descriptions is given in the table below. Due to the number of SURF projects that we support, we are only able to support students who select from among these projects. Please make sure to read the project descriptions, required skills (if any) and skim a few of the listed references before contacting me about doing a SURF project.
# Students interested in writing proposals for SURF projects should contact me via e-mail by 9 Jan (Fri) and provide the following information:
#* A list of up to three SURF projects from the list below that you are interested in working on
#* A one page resume listing relevant experience and coursework
#* If you are not a Caltech student, I will also need the following additional information:
#** An unofficial copy of your academic transcript
#** Names of two faculty members at your current institution that I can contact for a reference
# Starting on 10 January, I will go through all applications and work with my group to identify who is a possible fit for each project. We will then contact you and ask for you to meet (or talk with) possible co-mentors so that we can eventually work out who we will work with in writing up a proposal.
# We hope to make final decisions on projects by about 20 Jan, at which point we will start working with students on writing up proposals.
# All applications should go through the normal SURF application process, described at www.surf.caltech.edu. SURF applications are due on ~21 Feb 2015.
# If you are selected for a SURF, please be aware of the following information
#* All SURF projects in my group will start on 16 Jun (Tue). If you can't start on that date, please make sure that you indicate this when you contact me
#* All SURF projects are for a minimum of 10 weeks, although I usually recommend that you try to stay for 12 weeks if possible (at no additional pay). It's hard to complete a project in just 10 weeks and spending a few extra weeks can greatly improve the project.
#* All SURF students in my group will be expected to devote full-time effort to their SURF project, so you cannot have a second job in addition to your SURF.

=== List of available projects ===

Projects will be posted as they come available. I recommend waiting until near the deadline submission before submitting your project preferences.

{| border=1 width=100%
|-
| '''Title''' || '''Grant/Project''' || '''Co-Mentors''' || '''Comments'''
|-
| {{SURF entry|2015|Improved State Estimation and Control of a Pioneer 3-DX for a Resilient Spacecraft Executive}}
| KISS
| [https://www.cds.caltech.edu/~cmcghan/ Catharine McGhan]
| Multiple positions may be available


|-
| {{SURF entry|2015|Optimal Trajectory Generation under Environmental Uncertainties using Signal Temporal Logic Specifications}}
| NGC
| [http://directory.caltech.edu/personnel/farahani Samira Farahani]
|
|-
| {{SURF entry|2015|Formal synthesis of switching protocols for estimation and control of aircraft electric power systems}}
|
| Benson Christalin and Scott C. Livingston
|
|-
| {{SURF entry|2015|Platform-based design for robotics applications}}
|
| [http://www.cms.caltech.edu/~vasu/ Vasu Raman] and Samira Farahani
|
|-
| {{SURF entry|2015|Machine-readable protocols and rapid-prototyping for synthetic biology research}}
| MPP
| Scott C. Livingston and Sean Sanchez
|
|-
| {{SURF entry|2015|Design space exploration of the violacein pathway in TX-TL}}
| PMTI
| Yong Wu and Shaobin Guo
|
|-
| {{SURF entry|2015|Rapid prototyping of moderate complexity biomolecular circuits}}
| MPP
| Clare Hayes
| Multiple positions may be available
|
|-
| {{SURF entry|2015|Design of equilibrium and transient distributions of stochastic biochemical reaction networks }}
|
| Ania Baetica and Vipul Singhal
|

|}

SURF 2015

2014-12-30T21:03:01Z

Abaetica: /* List of available projects */

SURF 2015

2014-12-30T21:02:18Z

Abaetica: /* List of available projects */

SURF 2015

2014-12-30T21:01:42Z

Abaetica: /* List of available projects */

{{righttoc}}
This page is intended for students interested in working on SURF projects in the Summer of 2015. It contains information about how to apply for a SURF project in my group along with a list of project areas.

=== Applying for a SURF project ===

Because I get many students interested in doing SURFs in my group and because we have several projects available, we use the first few weeks in January to sort out who we will work with in writing proposals. We only submit one proposal per project area and so we often can't accommodate everyone who wants to work in my group over the summer.

# A list of SURF project descriptions is given in the table below. Due to the number of SURF projects that we support, we are only able to support students who select from among these projects. Please make sure to read the project descriptions, required skills (if any) and skim a few of the listed references before contacting me about doing a SURF project.
# Students interested in writing proposals for SURF projects should contact me via e-mail by 9 Jan (Fri) and provide the following information:
#* A list of up to three SURF projects from the list below that you are interested in working on
#* A one page resume listing relevant experience and coursework
#* If you are not a Caltech student, I will also need the following additional information:
#** An unofficial copy of your academic transcript
#** Names of two faculty members at your current institution that I can contact for a reference
# Starting on 10 January, I will go through all applications and work with my group to identify who is a possible fit for each project. We will then contact you and ask for you to meet (or talk with) possible co-mentors so that we can eventually work out who we will work with in writing up a proposal.
# We hope to make final decisions on projects by about 20 Jan, at which point we will start working with students on writing up proposals.
# All applications should go through the normal SURF application process, described at www.surf.caltech.edu. SURF applications are due on ~21 Feb 2015.
# If you are selected for a SURF, please be aware of the following information
#* All SURF projects in my group will start on 16 Jun (Tue). If you can't start on that date, please make sure that you indicate this when you contact me
#* All SURF projects are for a minimum of 10 weeks, although I usually recommend that you try to stay for 12 weeks if possible (at no additional pay). It's hard to complete a project in just 10 weeks and spending a few extra weeks can greatly improve the project.
#* All SURF students in my group will be expected to devote full-time effort to their SURF project, so you cannot have a second job in addition to your SURF.

=== List of available projects ===

Projects will be posted as they come available. I recommend waiting until near the deadline submission before submitting your project preferences.

{| border=1 width=100%
|-
| '''Title''' || '''Grant/Project''' || '''Co-Mentors''' || '''Comments'''
|-
| {{SURF entry|2015|Improved State Estimation and Control of a Pioneer 3-DX for a Resilient Spacecraft Executive}}
| KISS
| [https://www.cds.caltech.edu/~cmcghan/ Catharine McGhan]
| Multiple positions may be available


|-
| {{SURF entry|2015|Optimal Trajectory Generation under Environmental Uncertainties using Signal Temporal Logic Specifications}}
| NGC
| [http://directory.caltech.edu/personnel/farahani Samira Farahani]
|
|-
| {{SURF entry|2015|Formal synthesis of switching protocols for estimation and control of aircraft electric power systems}}
|
| Benson Christalin and Scott C. Livingston
|
|-
| {{SURF entry|2015|Platform-based design for robotics applications}}
|
| [http://www.cms.caltech.edu/~vasu/ Vasu Raman] and Samira Farahani
|
|-
| {{SURF entry|2015|Machine-readable protocols and rapid-prototyping for synthetic biology research}}
| MPP
| Scott C. Livingston and Sean Sanchez
|
|-
| {{SURF entry|2015|Design space exploration of the violacein pathway in TX-TL}}
| PMTI
| Yong Wu and Shaobin Guo
|
|-
| {{SURF entry|2015|Rapid prototyping of moderate complexity biomolecular circuits}}
| MPP
| Clare Hayes
| Multiple positions may be available
|
| {{SURF entry|2015|}}
|
| Ania Baetica and Vipul Singhal
|

|}

Yosemite Trip - 2015

2014-11-07T22:46:28Z

Abaetica: /* Currently booked housing */

__NOTOC__
(partially plagiarized from Yosemite Trip 2007) 
We are organizing a winter Murray Group trip to Yosemite this year. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.

Snowshoes, skis (downhill and cross country), and snowboards are available for rent at Yosemite for those in the group desiring to take part in such activities.

= Details =

=== Trip Date ===
We've selected the trip date based on people's availability and Richard's schedule:
* 13-15 March, 2015

If you are interested in joining the group trip, email Zachary Sun. We will have housing openings up to two weeks' before departure.

=== Trip Itinerary ===
* Friday - Meet your carpool from early morning to early afternoon and drive to Yosemite. Check into cabins.
* Saturday - Hang out at Yosemite. There are a couple of possible day activities depending on the snow state, including hiking, cross-country skiing, downhill skiing at Badger Pass, "research" if you're so inclined, or just hanging around camp :) Equipment can be rented at Yosemite.
* Sunday - Open activities (including day hikes or sleeping in) in the morning, return to Pasadena in the afternoon/evening.

=== Information about Yosemite ===
* [http://www.yosemitepark.com/Accommodations_CurryVillage.aspx Lodging in Curry Village]
* [http://www.nps.gov/yose/ Yosemite National Park]
* [http://www.yosemitepark.com/BadgerPass_RentalPricing.aspx Gear Rental]

= Participants =
* Richard Murray, +1 - ___ departure
* Zachary Sun - ___ departure (can drive, room for 4)
* Ioannis Fillippidis
* Marcella Gomez, +1
* Samira Farahani
* Enoch Yeung, +1.5
* Yong Wu
* Vipul Singhal
* Sean Sanchez + 1
* Clare Hayes
* Yutaka Hori
* Emzo de los Santos
* Shaobin Guo
* Anandh Swaminathan
* Ivan Papusha
* Victoria Hsiao
* Ania Baetica

= Housing =

1) The majority of people will probably choose to live in Camp Curry. These are either tents or cabins.

*Unheated tent. If you dare to brave the cold! It will cost the night's low temperature (average 30's)./night + 11% tax. Can sleep 4 comfortably (1 double bed, 3 single beds). *These have cots and sheets, this is not camping but rather low-cost glamping*
*Heated tent. Will cost the night's low + $20. (max $60/night + 11% tax). Can sleep 3 comfortably (1 double bed, 2 single beds). *These have cots and sheets, this is not camping but rather low-cost glamping*
*Cabin w/o private bathroom. $153/night + 11% tax. 2 double beds.
*Cabin w/ private bathroom. $204/night + 11% tax. 2 double beds.

<gallery>
nonheatedtent.jpg | Non-heated canvas tent. Live here at your own risk of freezing!
heatedtent.jpg | Heated canvas tent.
cabin.jpg | Curry Village cabins, heated.
</gallery>
(Images c.www.yosemitepark.com)

2) There is also housing at Yosemite Lodge and the Ahwahnee. These are pricier options though starting at $200/night, and you'll be a drive or shuttle away from Camp. See http://www.yosemitepark.com/the-ahwahnee.aspx or http://www.yosemitepark.com/yosemite-lodge.aspx.

= Currently booked housing =
*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123372
*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123374
*Curry Village Heated Tent: 3 beds, Held by Zachary Sun for last minute stays and modifications, Conf 399SB123375
*Curry Village Heated Tent: 3 beds, Zachary Sun / Shaobin Guo / Yutaka Hori, Conf 399SB123409
*Curry Village Heated Tent: 3 beds, Conf #: 399SB123664
*Curry Village Heated Tent: 3 beds, Anandh / Ivan / Vipul (Confirmation Number: 399SB123673)
*Curry Village Heated Tent: 2/3 beds, Ania / Ioannis (Confirmation Number: 399SB124221)

= Meals =
This is old, will update with new information:
<pre>
John will coordinate the group breakfasts, lunches, and snacks to help save on the trip cost. We will plan to bring two breakfasts and two lunchs. For dinners there is a local cafe where we can apparently get pizza and other food items. The following items are suggested for breakfast, lunch, and snacks. Please let John know if you want anything added to this list

*Breakfasts: bagels, cream cheese, butter, orange juice, oatmeal (variety of flavors)
*Lunches: sandwiches (wheat bread, pita, salami/cold cuts, cheese, lettuce, tomatos, mustard, peanut butter, jelly), lemonade, apples, bananas, carrots (peeled)
*Snacks: Granola bars, trail mix, apples, bananas, cookies, lemonade, dark chocolate! (and some milk chocolate too...), oh and Skittles for Richard.

There is supposed to be an eating area at Curry Village with a toaster and microwave, so we will hopefully be able to warm the bagels...
</pre>

= Packing List =

'''Head and Hands'''
* Winter hat
* Gloves or mittens
* Scarf (optional)

'''Upper Body Layers'''
* 2 t-shirts
* Mid-weight long sleeve shirt (long underwear is best, cotton is okay)
* Sweater or sweatshirt
* Fleece jacket or wool sweater
* Winter coat and/or a rain coat or shell if it fits over the fleece jacket

'''Lower Body'''
* Underwear as needed
* Jeans are okay for skiing if you're not planning to fall down a lot, fine for wearing at night
* If you're not an expert skiier I'd recommend snow pants or fleece pants/jeans with synthetic athletic-style pants over them
* Synthetic long underwear bottoms (if you have them)

'''Feet'''
* 1 pair hiking boots or sturdy sneakers (if you want to snowshoe you should bring boots)
* Socks

'''Travel Gear'''
* Small backpack for day hiking/skiing

'''Sleeping'''
* The tents come with cots, but to supplment you can either bring blankets or a sleeping bag. (This is not necessarily necessary in the heated tents and cabins, but very much so in the unheated tents)! You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee.

'''Micellaneous'''
* 2 quart-sized water bottles
* 1 small flashlight or headlamp
* 1 toilet kit: toothbrush, toothpaste, shampoo, soap
* Towel for showering (though they should have 1 in case you forget)
* Sunscreen, lip balm, tissues
* Sunglasses
* Any medications you need
* Camera (optional)
* Board games to play at night (Pictionary, Cranium, etc.)
* BYOB
* Money for ski rentals, dinner, food on the drive up

= Pictures =
These pictures are from the 2003 Murray Group winter trip to Yosemite.
[[Image:Yosemite03-1.jpg|frame|none|Richard, Lars, and Domitilla]]
[[Image:Yosemite03-2.jpg|frame|none|Half Dome]]