Murray Wiki - User contributions [en]

Art Krener, Mar 2014

2014-02-25T19:36:09Z

Ewolff: /* Schedule */

Art Krener will be visiting Caltech on 3 Mar 2014 (Mon). IF you would like to meet with him, sign up below.

=== Schedule ===
* 10:30 - Richard Murray, 109 Steele Lab
* 11:00 - Seminar, 121 Annenberg
* 12:00 - Lunch with Richard, John?, Doug?
* 1:30 - Matanya Horowitz, 335 Annenberg
* 2:15 - Eric Wolff, 331 Annenberg
* 3:00 - Open
* 3:45 - Open
* 4:30 - Done for the day

=== Abstract ===

Computational Issues in Nonlinear Control

Arthur J. Krener, Naval Postgraduate School 
3 March 2014 - 11:00am PST, 121 Annenberg

Over the past several decades there has been tremendous progress in the development of nonlinear systems theory but implementation of these ideas have lagged behind because of the lack of effective computational tools. Frequently the nonlinear theory requires the solution of partial differential equations in continuous time and functional equations in discrete time. Algorithms for these have been developed but further work is needed to make them broadly and easily accessible. We believe that computational nonlinear control is in a similar stage of development that computational linear control was in around early 1980s. Then there was a well developed theory of linear control but computational tools lagged behind. Soon after comprehensive tools such as MATLAB and Matrix X were developed and put to great use in implementing the linear theory. Advancements in numerical methods together with the exponential increase in computational power has made it possible to solve complex nonlinear problems, many of which are closely related to control systems applications. Developing computational algorithms and software tools for such control systems are not only promising, but also necessary.

The three topics that we will focus on are the following.
# Numerical solution of Hamillton-Jacobi-Bellman and Dynamic Programming equations
# Numerical calculation of optimal trajectories
# Numerical calculation of invariant manifolds

Dennis Bernstein, Jan 2014

2014-01-29T17:15:59Z

Ewolff: /* Schedule */

Dennis Berstein and James Forbes from U. Michigan will be visiting Caltech on 29 January 2014. If you would like to meet with Dennis and Jim during their visit, please sign up below.

=== Schedule ===
* 12:30 - Lunch and meeting with Richard
* 2:00 - Seminar, 121 Annenberg
* 3:00 - CDS tea
* 3:30 - Doug MacMartin
* 4:00 - Yilin Mo
* 4:30 - Matanya Horowitz
* 5:00 - Eric Wolff, 331 Annenberg
* 5:30 - Done for the day

=== Abstract ===
<center>
How Much Modeling Information Is Really Needed for Feedback Control?

Dennis Bernstein 
University of Michigan
</center>

Modeling for control is often expensive and time-consuming—not to mention futile, especially when a plant changes unpredictably. Our research is therefore aimed at the following fundamental question: What is the minimal modeling information (order, parameters, nonlinearities, noise spectra, etc.) that must be known—and how *well* must it be known—so that a controller can reliably meet performance specifications?
The approach we are developing is based on retrospective cost adaptive control (RCAC), which uses retrospective optimization for online learning. RCAC is easy to implement, and requires extremely limited modeling information. In this talk I will explain the rationale for RCAC, its applicability to various types of plants (stable/unstable, minimum-phase/NMP, SISO/MIMO, linear/nonlinear), the modeling information it can operate with and (especially) without, and the status of its theoretical foundation.
For flight control, we will apply RCAC to the extreme case of totally unknown control-surface faults, such as a stuck rudder or severe rate saturation. Additional examples are taken from missile control, noise and vibration control, and spacecraft attitude control with nonlinear actuation such as CMGs.

Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems

2013-12-05T20:41:48Z

Ewolff: /* Publications */

{| width=100%
|- valign=top
| width=40% | Current participants:
* Scott Livingston (CDS PhD student)
* Stephanie Tsuei (CDS MS student)
* Eric Wolff* (CDS PhD student)

<nowiki>* External funding</nowiki>
| width=40% | Past participants:
* {{Ufuk Topcu}}
* {{Pete Trautman}}
* Clemens Wilsche* (visiting student, ETHZ)
|
__TOC__
|}

== Objectives ==
We are developing theory and algorithms for model-based verification and synthesis of control
protocols. This includes development of specifications for desired system behavior and methods for
synthesizing control protocols to achieve the specification. Target areas that we are currently exploring include:
* Protocols for real-time, multi-agent, airborne communication networks, including air-to-air, air-to-ground and satellite-based communications
* Vehicle management systems, including embedded control protocols individual and integrated subsystems
* Decision-making, resource allocation and fault handling in unmanned, autonomous vehicles and mission systems
* Aircraft electric power distribution systems.

== Publications ==

* [http://www.cds.caltech.edu/~murray/papers/2013j_sun+14-acc.html Efficient control synthesis for augmented finite transition systems with an application to switching protocols], Fei Sun, Necmiye Ozay, Eric M. Wolff, Jun Liu, and Richard M. Murray. Submitted, 2014 American Control Conference (ACC).

* [http://www.cds.caltech.edu/~murray/papers/2013j_hwm14-acc.html A compositional approach to stochastic optimal control with temporal logic specifications], Matanya Horowitz, Eric M. Wolff, and Richard M. Murray. Submitted, 2014 American Control Conference (ACC).

*[http://www.cds.caltech.edu/~murray/papers/2013g_wtm14-icra.html Optimization-based control of nonlinear systems with linear temporal logic specifications], Eric M. Wolff, Ufuk Topcu, and Richard M. Murray. Submitted, 2014 International Conference on Robotics and Automation (ICRA).

* [http://www.cds.caltech.edu/~murray/papers/2013d_wm13-isrr.html Optimal control of nonlinear systems with temporal logic specifications], Eric M. Wolff and Richard M. Murray. To appear, 2013 International Symposium on Robotics Research (ISRR).

* [http://www.cds.caltech.edu/~murray/papers/2013h_wtm13-iros.html Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic], Eric M. Wolff, Ufuk Topcu, and Richard M. Murray. 2013 International Conference on Intelligent Robots and Systems (IROS).

* [http://www.cds.caltech.edu/~murray/papers/2013e_wtm13-cdc.html Optimal Control of Non-deterministic Systems for a Computationally Efficient Fragment of Temporal Logic], Eric M. Wolff, Ufuk Topcu, and Richard M. Murray. To appear, 2013 Conference on Decison and Control (CDC).

* [http://www.cds.caltech.edu/~murray/papers/2012s_olpm13-acc.html Computing Augmented Finite Transition Systems to Synthesize Switching Protocols for Polynomial Switched Systems], Necmiye Ozay, Jun Liu, Pavithra Prabhakar, and Richard M. Murray. 2013 American Control Conference (ACC)

* [http://www.cds.caltech.edu/~murray/papers/2012o_lm13-icra.html Just-in-time synthesis for motion planning with temporal logic], Scott C. Livingston and Richard M. Murray. 2013 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012n_wtm13-icra.html Efficient reactive controller synthesis for a fragment of linear temporal logic], Eric M. Wolff, Ufuk Topcu, and Richard M. Murray. 2013 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012m_lpjm13-icra.html Patching task-level robot controllers based on a local μ-calculus formula], Scott C. Livingston, Pavithra Prabhakar, Alex B. Jose and Richard M. Murray. 2013 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012k_tmmk13-icra.html Robot Navigation in Dense Human Crowds: the Case for Cooperation], Pete Trautman, Jeremy Ma, Richard M. Murray and Andreas Krause. 2013 International Conference on Robotics and Automation

* [http://www.cds.caltech.edu/~murray/papers/2012j_lotm12-tac.html Synthesis of Reactive Switching Protocols from Temporal Logic Specifications], Jun Liu, Necmiye Ozay, Ufuk Topcu, and Richard M. Murray. Submitted, IEEE T. Automatic Control

* [http://www.cds.caltech.edu/~murray/papers/2012g_xtm12-cdc.html Reactive Protocols for Aircraft Electric Power Distribution], Huan Xu, Ufuk Topcu, and Richard M. Murray. 2012 Conference on Decision and Control (CDC)

* [http://www.cds.caltech.edu/~murray/papers/2012c_ltom12-cdc.html Synthesis of Reactive Control Protocols for Differentially Flat Systems], Jun Liu, Ufuk Topcu, Necmiye Ozay, and Richard M. Murray. 2012 Conference on Decision and Control (CDC)

* [http://www.cds.caltech.edu/~murray/papers/2012b_cltbm12-icra.html Towards Formal Synthesis of Reactive Controllers for Dexterous Robotic Manipulation], Sandeep Chinchali, Scott C. Livingston, Ufuk Topcu, Joel W. Burdick, and Richard M. Murray. 2012 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012f_wtm12-cdc.html Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications], Eric M. Wolff, Ufuk Topcu and Richard M. Murray. 2012 Conference on Decision and Control (CDC)

* [http://www.cds.caltech.edu/~murray/papers/2011q_tolm12-hscc.html On Synthesizing Robust Discrete Controllers under Modeling Uncertainty], Ufuk Topcu, Necmiye Ozay, Jun Liu, and Richard M. Murray. 2012 International Conf on Hybrid Systems: Computation and Control (HSCC)

* [http://www.cds.caltech.edu/~murray/papers/2011p_lotm12-acc.html Synthesis of Switching Protocols from Temporal Logic Specifications], Jun Liu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. 2012 American Control Conference.

* [http://www.cds.caltech.edu/~murray/papers/2011o_notm12-acc.html Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing], Petter Nilsson, Necmiye Özay, Ufuk Topcu and Richard M. Murray. 2012 American Control Conference (ACC).

* [http://www.cds.caltech.edu/~murray/papers/2011h_lmb12-icra.html Backtracking temporal logic synthesis for uncertain environments], Scott Livingston, Richard M. Murray and Joel W. Burdick. 2012 International Conference on Robotics and Automation (ICRA).

== Software ==
* [http://sourceforge.net/apps/mediawiki/tulip-control/index.php?title=Main_Page TuLiP] - Temporal Logic Planning Toolbox

Correct-by-Construction Synthesis of Control Protocols for Aerospace Systems

2013-12-05T20:39:07Z

Ewolff: /* Publications */

{| width=100%
|- valign=top
| width=40% | Current participants:
* Scott Livingston (CDS PhD student)
* Stephanie Tsuei (CDS MS student)
* Eric Wolff* (CDS PhD student)

<nowiki>* External funding</nowiki>
| width=40% | Past participants:
* {{Ufuk Topcu}}
* {{Pete Trautman}}
* Clemens Wilsche* (visiting student, ETHZ)
|
__TOC__
|}

== Objectives ==
We are developing theory and algorithms for model-based verification and synthesis of control
protocols. This includes development of specifications for desired system behavior and methods for
synthesizing control protocols to achieve the specification. Target areas that we are currently exploring include:
* Protocols for real-time, multi-agent, airborne communication networks, including air-to-air, air-to-ground and satellite-based communications
* Vehicle management systems, including embedded control protocols individual and integrated subsystems
* Decision-making, resource allocation and fault handling in unmanned, autonomous vehicles and mission systems
* Aircraft electric power distribution systems.

== Publications ==

* [http://www.cds.caltech.edu/~murray/papers/2013j_sun+14-acc.html Efficient control synthesis for augmented finite transition systems with an application to switching protocols], F. Sun, N. Ozay, E. M. Wolff, J. Liu, and R. M. Murray. Submitted, 2014 American Control Conference (ACC).

* [http://www.cds.caltech.edu/~murray/papers/2013j_hwm14-acc.html A compositional approach to stochastic optimal control with temporal logic specifications], M. Horowitz, E. M. Wolff, and R. M. Murray. Submitted, 2014 American Control Conference (ACC).

*[http://www.cds.caltech.edu/~murray/papers/2013g_wtm14-icra.html Optimization-based control of nonlinear systems with linear temporal logic specifications], E. M. Wolff, U. Topcu, and R. M. Murray. Submitted, 2014 International Conference on Robotics and Automation (ICRA).

* [http://www.cds.caltech.edu/~murray/papers/2013h_wtm13-iros.html Automaton-Guided Controller Synthesis for Nonlinear Systems with Temporal Logic], Eric M. Wolff, Ufuk Topcu, and Richard M. Murray. 2013 International Conference on Intelligent Robots and Systems (IROS).

* [http://www.cds.caltech.edu/~murray/papers/2013e_wtm13-cdc.html Optimal Control of Non-deterministic Systems for a Computationally Efficient Fragment of Temporal Logic], Eric M. Wolff, Ufuk Topcu, and Richard M. Murray. To appear, 2013 Conference on Decison and Control (CDC).

* [http://www.cds.caltech.edu/~murray/papers/2012s_olpm13-acc.html Computing Augmented Finite Transition Systems to Synthesize Switching Protocols for Polynomial Switched Systems], Necmiye Ozay, Jun Liu, Pavithra Prabhakar, and Richard M. Murray. 2013 American Control Conference (ACC)

* [http://www.cds.caltech.edu/~murray/papers/2012o_lm13-icra.html Just-in-time synthesis for motion planning with temporal logic], Scott C. Livingston and Richard M. Murray. 2013 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012n_wtm13-icra.html Efficient reactive controller synthesis for a fragment of linear temporal logic], Eric M. Wolff, Ufuk Topcu, and Richard M. Murray. 2013 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012m_lpjm13-icra.html Patching task-level robot controllers based on a local μ-calculus formula], Scott C. Livingston, Pavithra Prabhakar, Alex B. Jose and Richard M. Murray. 2013 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012k_tmmk13-icra.html Robot Navigation in Dense Human Crowds: the Case for Cooperation], Pete Trautman, Jeremy Ma, Richard M. Murray and Andreas Krause. 2013 International Conference on Robotics and Automation

* [http://www.cds.caltech.edu/~murray/papers/2012j_lotm12-tac.html Synthesis of Reactive Switching Protocols from Temporal Logic Specifications], Jun Liu, Necmiye Ozay, Ufuk Topcu, and Richard M. Murray. Submitted, IEEE T. Automatic Control

* [http://www.cds.caltech.edu/~murray/papers/2012g_xtm12-cdc.html Reactive Protocols for Aircraft Electric Power Distribution], Huan Xu, Ufuk Topcu, and Richard M. Murray. 2012 Conference on Decision and Control (CDC)

* [http://www.cds.caltech.edu/~murray/papers/2012c_ltom12-cdc.html Synthesis of Reactive Control Protocols for Differentially Flat Systems], Jun Liu, Ufuk Topcu, Necmiye Ozay, and Richard M. Murray. 2012 Conference on Decision and Control (CDC)

* [http://www.cds.caltech.edu/~murray/papers/2012b_cltbm12-icra.html Towards Formal Synthesis of Reactive Controllers for Dexterous Robotic Manipulation], Sandeep Chinchali, Scott C. Livingston, Ufuk Topcu, Joel W. Burdick, and Richard M. Murray. 2012 International Conference on Robotics and Automation (ICRA)

* [http://www.cds.caltech.edu/~murray/papers/2012f_wtm12-cdc.html Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications], Eric M. Wolff, Ufuk Topcu and Richard M. Murray. 2012 Conference on Decision and Control (CDC)

* [http://www.cds.caltech.edu/~murray/papers/2011q_tolm12-hscc.html On Synthesizing Robust Discrete Controllers under Modeling Uncertainty], Ufuk Topcu, Necmiye Ozay, Jun Liu, and Richard M. Murray. 2012 International Conf on Hybrid Systems: Computation and Control (HSCC)

* [http://www.cds.caltech.edu/~murray/papers/2011p_lotm12-acc.html Synthesis of Switching Protocols from Temporal Logic Specifications], Jun Liu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. 2012 American Control Conference.

* [http://www.cds.caltech.edu/~murray/papers/2011o_notm12-acc.html Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing], Petter Nilsson, Necmiye Özay, Ufuk Topcu and Richard M. Murray. 2012 American Control Conference (ACC).

* [http://www.cds.caltech.edu/~murray/papers/2011h_lmb12-icra.html Backtracking temporal logic synthesis for uncertain environments], Scott Livingston, Richard M. Murray and Joel W. Burdick. 2012 International Conference on Robotics and Automation (ICRA).

== Software ==
* [http://sourceforge.net/apps/mediawiki/tulip-control/index.php?title=Main_Page TuLiP] - Temporal Logic Planning Toolbox

Travis Gibson, Nov 2013

2013-11-25T04:10:35Z

Ewolff: /* Schedule */

=== Schedule ===

* 8:00 am: meet with Richard, 109 Steele
* 8:30 am: Free Time
* 10:00 am: NCS (networked control systems) group meeting, 243 Annenberg
* 12:00 pm: Lunch with some postdocs; [http://www.caltech.edu/content/smart-grid-seminar-2 talk by K. Dvijotham: "Convex Structured Controller Design"] in Annenberg 107
* 1:00 pm: Seminar, Steele Lab 114
* 2:00 pm: Open
* 2:45 pm: Open
* 3:30 pm: Doug MacMartin (128 Steele)
* 4:00 pm: Eric Wolff (114 Steele)
* 4:30 pm: Meet with Richard, 109 Steele

=== Talk Abstract ===

===== Transients, Learning, and Stability in Adaptive Systems =====

One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation.
Over the past two decades several attempts have been made to provide adaptive solutions with guaranteed transient properties. In this work it is shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over their open-loop counterparts in model reference adaptive control. In addition to deriving bounds on
L-2 norms of the derivatives of the adaptive parameters which are shown to be smaller, an optimal design of CRMs is proposed which minimizes an underlying peaking phenomenon. The analytical tools proposed are applicable to a range of adaptive control problems including direct control, composite control and partial states accessible control. If time is available the application of CRM based adaptive control to Very Flexible Aircraft will be presented.

'''Bio:''' Travis received his BS('06) from Georgia Tech, and MS('08) and PhD ('13) from MIT all in Mechanical Engineering. He has worked for NASA and Boeing, and was a visiting scholar at the Technical University of Munich in 2009.

Alex Mauroy, Nov 2013

2013-11-22T21:37:52Z

Ewolff: /* Schedule */

=== Schedule ===

* 9:30 am: meet with Richard, 109 Steele
* 10:00 am: Eric Wolff, 114 Steele
* 10:30 am: Open
* 11:00 am: Prof. Oscar Bruno
* 11:30 am: Seminar prep
* 12:00 pm: Group Meeting Seminar, 213 Annenberg
* 1:15 pm: Meet with John Doyle
* 2:00 pm: Seungil You, 231 Annenberg
* 2:45 pm: Open
* 3:30 pm: Nikolai Matni, 335 Annenberg
* 4:15 pm: Open

=== Talk Abstract===

===== A spectral operator-theoretic approach to dissipative systems: geometry and global stability =====

Operator-theoretic methods provide a powerful global description of dynamical systems. They transform a nonlinear system into a linear (but infinite-dimensional) system and are therefore well-suited to spectral analysis. These methods have been largely developed over the past decades for conservative systems (i.e., on an attractor), in the context of unitary operators, but they have almost never been applied to dissipative systems (i.e., off the attractor).
> In this talk, we present an operator-theoretic framework for the study of dissipative systems, which relies on the so-called Koopman operator. In particular, we show that the global geometric properties of the systems are captured by the spectral properties of the Koopman operator. For instance the well-known isochrons of limit cycles are related to an eigenfunction of the operator, an observation which yields a new method for computing them and which is used to extend the concept to other types of attractors. In addition, (global) stability properties of the system are revealed by the existence of particular eigenfunctions. This provides a new framework for the global stability analysis of general attractors.

Alex Mauroy, Nov 2013

2013-11-22T21:37:37Z

Ewolff: /* Schedule */

=== Schedule ===

* 9:30 am: meet with Richard, 109 Steele
* 10:00 am: Eric Wolff, 114 Steele
* 10:30 am: Open
* 11:00 am: Prof. Oscar Bruno
* 11:30 am: Seminar prep
* 12:00 pm: Group Meeting Seminar, 213 Annenberg
* 1:15 pm: Meet with John Doyle
* 2:00 pm: Seungil You, 231 Annenberg
* 2:45 pm:
* 3:30 pm: Nikolai Matni, 335 Annenberg
* 4:15 pm:

=== Talk Abstract===

===== A spectral operator-theoretic approach to dissipative systems: geometry and global stability =====

Operator-theoretic methods provide a powerful global description of dynamical systems. They transform a nonlinear system into a linear (but infinite-dimensional) system and are therefore well-suited to spectral analysis. These methods have been largely developed over the past decades for conservative systems (i.e., on an attractor), in the context of unitary operators, but they have almost never been applied to dissipative systems (i.e., off the attractor).
> In this talk, we present an operator-theoretic framework for the study of dissipative systems, which relies on the so-called Koopman operator. In particular, we show that the global geometric properties of the systems are captured by the spectral properties of the Koopman operator. For instance the well-known isochrons of limit cycles are related to an eigenfunction of the operator, an observation which yields a new method for computing them and which is used to extend the concept to other types of attractors. In addition, (global) stability properties of the system are revealed by the existence of particular eigenfunctions. This provides a new framework for the global stability analysis of general attractors.

Alex Mauroy, Nov 2013

2013-11-22T21:36:37Z

Ewolff: /* Schedule */

=== Schedule ===

* 9:30 am: meet with Richard, 109 Steele
* 10:00 am: Open
* 10:30 am: Open
* 11:00 am: Prof. Oscar Bruno
* 11:30 am: Seminar prep
* 12:00 pm: Group Meeting Seminar, 213 Annenberg
* 1:15 pm: Meet with John Doyle
* 2:00 pm: Seungil You, 231 Annenberg
* 2:45 pm:
* 3:30 pm: Nikolai Matni, 335 Annenberg
* 4:15 pm: Eric Wolff, 331 Annenberg

=== Talk Abstract===

===== A spectral operator-theoretic approach to dissipative systems: geometry and global stability =====

Operator-theoretic methods provide a powerful global description of dynamical systems. They transform a nonlinear system into a linear (but infinite-dimensional) system and are therefore well-suited to spectral analysis. These methods have been largely developed over the past decades for conservative systems (i.e., on an attractor), in the context of unitary operators, but they have almost never been applied to dissipative systems (i.e., off the attractor).
> In this talk, we present an operator-theoretic framework for the study of dissipative systems, which relies on the so-called Koopman operator. In particular, we show that the global geometric properties of the systems are captured by the spectral properties of the Koopman operator. For instance the well-known isochrons of limit cycles are related to an eigenfunction of the operator, an observation which yields a new method for computing them and which is used to extend the concept to other types of attractors. In addition, (global) stability properties of the system are revealed by the existence of particular eigenfunctions. This provides a new framework for the global stability analysis of general attractors.

Alex Mauroy, Nov 2013

2013-11-21T00:24:43Z

Ewolff: /* Schedule */

=== Schedule ===

* 9:30 am: meet with Richard, 109 Steele
* 10:00 am: Open
* 10:30 am: Open
* 11:00 am: Prof. Oscar Bruno
* 11:30 am: Seminar prep
* 12:00 pm: Group Meeting Seminar, 213 Annenberg
* 1:15 pm: Meet with John Doyle
* 2:00 pm: Seungil You, 231 Annenberg
* 2:45 pm: Eric Wolff, 331 Annenberg
* 3:30 pm: Open
* 4:15 pm: Open

=== Talk Abstract===

===== A spectral operator-theoretic approach to dissipative systems: geometry and global stability =====

Operator-theoretic methods provide a powerful global description of dynamical systems. They transform a nonlinear system into a linear (but infinite-dimensional) system and are therefore well-suited to spectral analysis. These methods have been largely developed over the past decades for conservative systems (i.e., on an attractor), in the context of unitary operators, but they have almost never been applied to dissipative systems (i.e., off the attractor).
> In this talk, we present an operator-theoretic framework for the study of dissipative systems, which relies on the so-called Koopman operator. In particular, we show that the global geometric properties of the systems are captured by the spectral properties of the Koopman operator. For instance the well-known isochrons of limit cycles are related to an eigenfunction of the operator, an observation which yields a new method for computing them and which is used to extend the concept to other types of attractors. In addition, (global) stability properties of the system are revealed by the existence of particular eigenfunctions. This provides a new framework for the global stability analysis of general attractors.

Travis Gibson, Nov 2013

2013-11-21T00:21:03Z

Ewolff: /* Schedule */

=== Schedule ===

* 8:00 am: meet with Richard, 109 Steele
* 8:30 am: Free Time
* 10:00 am: NCS (networked control systems) group meeting, 243 Annenberg
* 12:00 pm: Lunch with some postdocs
* 1:00 pm: Seminar, Steele Lab 114
* 2:00 pm: Open
* 2:45 pm: Open
* 3:30 pm: Eric Wolff (Annenberg 331)
* 4:00 pm: Open
* 4:30 pm: Meet with Richard, 109 Steele

=== Talk Abstract ===

===== Transients, Learning, and Stability in Adaptive Systems =====

One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation.
Over the past two decades several attempts have been made to provide adaptive solutions with guaranteed transient properties. In this work it is shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over their open-loop counterparts in model reference adaptive control. In addition to deriving bounds on
L-2 norms of the derivatives of the adaptive parameters which are shown to be smaller, an optimal design of CRMs is proposed which minimizes an underlying peaking phenomenon. The analytical tools proposed are applicable to a range of adaptive control problems including direct control, composite control and partial states accessible control. If time is available the application of CRM based adaptive control to Very Flexible Aircraft will be presented.

'''Bio:''' Travis received his BS('06) from Georgia Tech, and MS('08) and PhD ('13) from MIT all in Mechanical Engineering. He has worked for NASA and Boeing, and was a visiting scholar at the Technical University of Munich in 2009.

March 2013 meeting schedule

2013-03-03T03:10:06Z

Ewolff: /* 8 Mar (Fri) */

The list below has times that I am available to meet between 4 March and 13 March. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). Please only sign up for one time slot. __NOTOC__

{| width=100% border=1
|- valign=top
| width=30% |
==== 6 Mar (Wed) ====
{{agenda begin}}
{{agenda item|8:45-9:45|Ophelia}}
{{agenda item||}}
{{agenda item|1:15-2:00|Stephanie}}
{{agenda item||}}
{{agenda item|5:00-5:45|Open}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Open}}
{{agenda item|6:45-7:30|Open}}
{{agenda end}}
| width=30% |
==== 7 Mar (Thu) ====
{{agenda begin}}
{{agenda item|2:00-3:30|DARPA breadboards}}
{{agenda item|4:00-4:15|UG advisee}}
{{agenda item|4:15-5:00|Open}}
{{agenda item|5:00-5:45|Open}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Anandh}}
{{agenda item|6:45-7:30|Open}}
{{agenda end}}
| width=30% |

==== 8 Mar (Fri) ====
{{agenda begin}}
{{agenda item|8:45-9:30|Open}}
{{agenda item||}}
{{agenda item|11:00-11:45|ALL telecon (Enoch, Joe M)}}
{{agenda item||}}
{{agenda item|12:00-1:15|NCS group meeting}}
{{agenda item|1:15-2:00|Open (might get shortened)}}
{{agenda item||}}
{{agenda item|5:00-5:45|Eric}}
{{agenda item|5:45-6:30|Open}}
{{agenda end}}

|- valign=top
|

==== 10 Mar (Sun) ====
{{agenda begin}}
{{agenda item|2:30-2:45|UG advisee}}
{{agenda item|2:45-3:00|UG advisee}}
{{agenda item|3:00-4:00|Open}}
{{agenda item|4:00-5:00|Open}}
{{agenda item|5:00-6:00|Open}}
{{agenda item|6:00-6:15|UG advisee}}
{{agenda item|6:15-6:30|UG advisee}}
{{agenda end}}
|
==== 11 Mar (Mon) ====
{{agenda begin}}
{{agenda item|3:30-4:15|Open}}
{{agenda item|4:15-5:00|Shaobin}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Open}}
{{agenda item|6:00-6:45|Open}}
{{agenda item|6:45-7:30|Open}}
{{agenda end}}
|

==== 12 Mar (Tue) ====
{{agenda begin}}
{{agenda item|11:00-11:45|Open}}
{{agenda item||}}
{{agenda item|1:00-3:00|Biocircuits meeting}}
{{agenda item||}}
{{agenda item|3:30-4:15|Nathan Belliveau}}
{{agenda item|4:15-5:00|Open}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Open}}
{{agenda item|6:00-6:45|Open}}
{{agenda item|6:45-7:30|Open}}
{{agenda end}}
|}

Yilin Mo, 25 February 2013

2013-02-20T23:55:56Z

Ewolff: /* Monday, February 25th */

=== Monday, February 25th ===

Yinlin Mo, from Carnegie Mellon, will be visiting campus on February 25th and will give a talk. Sign up for available meeting times.

* 9:30 am: Richard, 109 Steele Lab
* 10:15 am: Open
* 11 am: Open
* 12:00 pm: Seminar, 114 Steele Lab
* 1:15 pm: Open
* 2pm: Open
* 2:45pm: Eric (114 Steele)
* 3:30pm: Open
* 4:15pm: Open
* 5pm: Richard

Title: Secure Estimation and Control in Cyber-Physical Systems

Abstract:

The concept of Cyber-Physical System (CPS) refers to the embedding of sensing, communication, control and computation into the physical spaces. Today, CPSs can be found in areas as diverse as aerospace, automotive, chemical process control, civil infrastructure, energy, health-care, manufacturing and transportation, most of which are safety critical. Any successful attack to such kind of systems can cause major disruptions, leading to great economic losses and may even endanger human lives. The first-ever CPS malware (called Stuxnet) was found in July 2010 and has raised significant concerns about CPS security. The tight coupling between information and communication technologies and physical systems in CPS introduces new security concerns, requiring a rethinking and reexamining of the commonly used objectives and methods. In this talk, we provide two different cyber-physical threat models of CPS and analyze the performance of CPS under malicious attacks. We also develop new secure and resilient estimation and control algorithms to counter the attack.

Vasumathi Raman, 11 February 2013

2013-02-06T19:48:45Z

Ewolff: /* Monday, February 11th */

=== Monday, February 11th ===

* 9:30 am: Richard, 109 Steele Lab
* 10:00 am: Anissa (reimbursement)
* 10:15 am: Necmiye, 130 Steele Lab
* 11 am: Seminar, 114 Steele Lab
* 12 pm: Lunch (Chandler)
* 1 pm: NCS group meeting
* 3:00 pm: Mumu
* 3:45 pm: Scott Livingston; meet in Steele library.
* 4:30 pm: Eric Wolff, 114 Steele Lab (library)
* 5:15 pm: Richard, 109 Steele Lab
* 5:45 pm: done for the day

==== Seminar ====
<center>
'''Localizing Causes of Unsynthesizability for High-Level Robot Behaviours'''
</center>

A key challenge in robotics is the generation of reactive controllers for autonomous, high-level robot behaviors. Recently, Linear Temporal Logic synthesis has emerged as a powerful tool for automatically generating autonomous robot hybrid controllers that guarantee desired behaviors expressed by the GR(1) class of temporal logic specifications. However, there are still several challenges to be met when using synthesis for robot control. When there does not exist a controller that fulfills a given specification, standard approaches do not provide the user with a source of failure, making the troubleshooting of specifications an unstructured and time-consuming process. This talk will present results on automating the analysis of unsynthesizable specifications in order to identify minimal sources of failure.
The talk will also discuss unsynthesizability arising from continuous execution of discrete controllers in a physical domain, and the challenges observed when creating correct-by-construction controllers for robots with actions of arbitrary relative execution durations.

'''Bio:'''
Vasu Raman is a PhD candidate in the Department of Computer Science at Cornell University, NY. Her research addresses several challenges in correct-by-construction synthesis for robot control, including analyzing specifications that are impossible from a synthesis standpoint, and bridging the gap between provably correct discrete solutions and their continuous implementations. She is advised by Hadas Kress-Gazit in the Sibley School of Mechanical and Aerospace Engineering, and affiliated with the Autonomous Systems Lab and the LTLMoP Project. Her broader research interests include game theory, cryptography and reasoning about knowledge, and she previously worked with Joe Halpern and Rafael Pass on logical characterizations of cryptography and computational game theory. She holds a Bachelor of Arts in Computer Science and Mathematics from Wellesley College, MA.

SURF discussions, Jan 2013

2013-01-24T08:49:45Z

Ewolff: /* 28 Jan (Mon) */

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

{| width=100% border=1
|- valign=top
|
==== 28 Jan (Mon) ====
* 9:00: Open
* 9:20: Open
* 9:40: James + Eric
|

==== 30 Jan (Wed) ====
* 14:00: Open
* 14:20: Open
* 14:40: Open
|
==== 31 Jan (Thu) ====
* 10:30: Open
* 10:50: Open
* 11:10: 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

Yushan Chen, 23 January 2013

2013-01-10T01:50:26Z

Ewolff: /* Wednesday, January 23rd */

Yushan Chen, a PhD candidate in Hybrid and Networked Systems at Boston University, will be visiting campus the 23rd of January (Wed). Please sign up for a time to meet with her, including a location.

=== Wednesday, January 23rd ===

* 9:30 am: Richard
* 10 am: Eric Wolff (Steele 110)
* 10:45 am: Open
* 11:30 am - grab lunch
* 12-2: NCS group meeting
* 2-3: seminar to NCS group
* 3-4: CDS tea
* 4:00 pm: Scott Livingston (meeting at a whiteboard in Annenberg or Steele)
* 4:45: Necmiye (130 Steele)
* 5:30 pm: meeting with Richard
* 6:00 pm: done

Abstract:

In formal verification, simple models of software programs and digital circuits are checked against temporal logic properties such as safety (ie., something bad never happens) and liveness (ie., something good eventually happens). While formal verification received a lot of attention, the problem of formal synthesis, where the focus is to construct a provably-correct system (eg., safe by design) is still in its infancy. We propose theoretical frameworks and computational tools for automatic synthesis of robot controllers that are correct-by-construction from specifications given in rich, human-like languages. We consider deterministic, probabilistic, and partially unknown scenarios, in which the dynamics of each robot is modeled as a finite transition system, Markov decision process, and game transition system, respectively. These models allow for the use of (adapted) formal languages as specification languages, tools from formal verification resembling model checking, and different techniques inspired from results in concurrency theory, approximate DP, automata-learning for synthesis of provably-correct control and communication strategies. We apply the developed algorithms and frameworks to deploy robots in Khepera-based testbeds (i.e., robotic urban-like and indoor-like environments).

SURF 2013: Robot Motion Planning with Complex Tasks

2012-12-22T18:02:53Z

Ewolff:

'''Title''': Robot Motion Planning with Complex Tasks

* Mentor: Richard Murray
* Co-mentor: Eric Wolff

'''Overview''':
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

'''Goals''':
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

'''Required Skills''': Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

'''References''':

# T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).
# E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).
# E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).
# EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

SURF 2013: Robot Motion Planning with Complex Tasks

2012-12-22T18:00:49Z

Ewolff:

'''Title''': Robot Motion Planning with Complex Tasks

* Mentor: Richard Murray
* Co-mentor: Eric Wolff

'''Overview''':
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

'''Goals''':
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

'''Required Skills''': Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

'''References''':

* [1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).

* [2] E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).

* [3] E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).

* [4] EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

SURF 2013: Robot Motion Planning with Complex Tasks

2012-12-22T17:59:36Z

Ewolff:

'''Title''': Robot Motion Planning with Complex Tasks

'''Mentor''': Richard Murray

'''Co-mentor''': Eric Wolff

'''Overview''':
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

'''Goals''':
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

'''Required Skills''': Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

'''References''':

# [1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).

## [2] E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).

[3] E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).

[4] EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

SURF 2013: Robot Motion Planning with Complex Tasks

2012-12-22T17:57:02Z

Ewolff:

'''Title''': Robot Motion Planning with Complex Tasks

'''Mentor''': Richard Murray

'''Co-mentor''': Eric Wolff

'''Overview''':
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

'''Goals''':
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

'''Required Skills''': Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

'''References'''':

[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).

[2] E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).

[3] E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html).

[4] EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

Motion Planning with Complex Tasks

2012-12-22T17:54:05Z

Ewolff: Blanked the page

SURF 2013

2012-12-22T17:53:20Z

Ewolff: /* List of available projects */

{{righttoc}}
This page is intended for students interested in working on SURF projects in the Summer of 2013. It contains a list of project areas where I will be supervising projects this year along with information about how to apply for a SURF project in my group.

=== 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 11 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 12 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 22 Feb 2013.
# If you are selected for a SURF, please be aware of the following information
#* All SURF projects in my group will start on 18 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 ===

{| border=1 width=100%
|-
| '''Title''' || '''Grant/Project''' || '''Co-Mentors''' || '''Comments'''
|-
| [[The costs and benefits of various designs of biochemical 'decision engines']] || || Dan Siegal-Gaskins ||
|-
| [[Robot Motion Planning with Complex Tasks]] || || Eric Wolff ||
|-
|}

Motion Planning with Complex Tasks

2012-12-22T17:52:22Z

Ewolff:

'''Title''': Robot Motion Planning with Complex Tasks

'''Mentor''': Richard Murray

'''Co-mentor''': Eric Wolff

'''Overview''':
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

'''Goals''':
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

'''Required Skills''': Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

'''References'''

[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).

[2] E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)

[3] E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)

[4] EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

Motion Planning with Complex Tasks

2012-12-22T17:51:13Z

Ewolff:

Title: Robot Motion Planning with Complex Tasks

Mentor: Richard Murray

Co-mentor: Eric Wolff

Overview:
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

Goals:
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

Required Skills: Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

References

[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).

[2] E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)

[3] E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)

[4] EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

Motion Planning with Complex Tasks

2012-12-22T17:50:33Z

Ewolff:

Title: Motion Planning with Complex Tasks

Mentor: Richard Murray

Co-mentor: Eric Wolff

Overview:
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

Goals:
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

Required Skills: Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

References
[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).

[2] E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)

[3] E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)

[4] EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

Motion Planning with Complex Tasks

2012-12-22T17:49:25Z

Ewolff: Created page with "Title: Motion Planning with Complex Tasks Mentor: Richard Murray Co-mentor: Eric Wolff Overview: For the widespread use of robots and autonomous vehicles, it is necessary fo..."

Title: Motion Planning with Complex Tasks

Mentor: Richard Murray
Co-mentor: Eric Wolff

Overview:
For the widespread use of robots and autonomous vehicles, it is necessary for humans to naturally specify tasks for robots and have the robots automatically synthesize relevant control policies. Recent work specifies these complex tasks with temporal logics and automatically creates control policies that satisfy the task if possible. Typically, this approach involves first creating a finite state abstraction (e.g., a graph) based on the original continuous system and then using graph search techniques to create a control policy. This project will expand current capabilities by including stochastic systems where actuator noise and uncertainty are important. Additionally, it will allow the minimization of cost functions (such as time or fuel) to be included along with the logical tasks. All software will be released as part of the Temporal Logic Planning Toolbox (TuLiP)[1]. Finally, there will be an opportunity to implement these algorithms on real robots in the lab as time permits.

Goals:
This project will (i) expand the available solvers for stochastic systems [2] and optimal control problems [3], (ii) empirically analyze the performance of these solvers on robot motion planning problems, and (iii) implement the above algorithms on real robots in the lab. Open research questions include: determining good finite state abstractions of stochastic systems (theoretical performance bounds and computational techniques) and creating new state abstraction algorithms that utilize information from a cost function.

Required Skills: Experience with the Python language or the ability to learn it in a short time is required. Familiarity with or interest to learn automata theory, formal languages, and model checking (see the first 5 lectures in [4]) is desired. Some hands-on experience with robots (mechatronics) and the Robot Operating System (ROS) is desired but not necessary.

References
[1] T. Wongpiromsarn, U. Topcu, N. Ozay, H. Xu, and R.M. Murray, TuLiP: a software toolbox for receding horizon temporal logic planning, International Conference on Hybrid Systems: Computation and Control, 2011 (software available at http://tulip-control.sourceforge.net).
[2] E.M. Wolff, U. Topcu, R.M. Murray, Robust control of uncertain Markov decision processes with temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)
[3] E.M. Wolff, U. Topcu, R.M. Murray, Optimal control with weighted average costs and temporal logic specifications. (http://www.cds.caltech.edu/~ewolff/publications.html)
[4] EECI, "Specification, Design, and Verification of Distributed Embedded Systems" course website, http://www.cds.caltech.edu/~murray/wiki/index.php/HYCON-EECI,_Spring_2012.

SURF 2013

2012-12-22T17:47:58Z

Ewolff: /* List of available projects */

{{righttoc}}
This page is intended for students interested in working on SURF projects in the Summer of 2013. It contains a list of project areas where I will be supervising projects this year along with information about how to apply for a SURF project in my group.

=== 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 11 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 12 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 22 Feb 2013.
# If you are selected for a SURF, please be aware of the following information
#* All SURF projects in my group will start on 18 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 ===

{| border=1 width=100%
|-
| '''Title''' || '''Grant/Project''' || '''Co-Mentors''' || '''Comments'''
|-
| [[The costs and benefits of various designs of biochemical 'decision engines']] || || Dan Siegal-Gaskins ||
|-
| [[Motion Planning with Complex Tasks]] || || Eric Wolff ||
|-
|}

SoCal Control Workshop Carpool 2012-11-30

2012-11-26T16:14:38Z

Ewolff: /* Driving out to UCSD */

Please enter information in the table below if you can give a ride or need a ride. If you can't edit the table, send e-mail to the driver (if you need a ride) or to Richard (if you can provide a ride).

* [http://tintoretto.ucsd.edu/jorge/sccw/index.html Workshop web page]

{| width=100% cellpadding=0 cellspacing=0
|- valign=top
| width=50% align=left|
==== Driving out to UCSD ====
{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 6:30 am
| Richard Murray
| 3 passengers:
* Vipul
* Yoke Peng
* Eric
|- valign=top
| 6:30 am
| Driver
| N passengers:
* Open
|}
| width=50% align=left|

==== Returning to Pasadena ====
{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 5:30 pm
| Richard Murray
| 3 passengers
* Vipul
* Yoke Peng
* Eric
|- valign=top
| 5:30 pm
| Driver
| N passengers
* Open
|}
|}

SoCal Control Workshop Carpool 2012-11-30

2012-11-26T16:14:18Z

Ewolff: /* Returning to Pasadena */

Please enter information in the table below if you can give a ride or need a ride. If you can't edit the table, send e-mail to the driver (if you need a ride) or to Richard (if you can provide a ride).

* [http://tintoretto.ucsd.edu/jorge/sccw/index.html Workshop web page]

{| width=100% cellpadding=0 cellspacing=0
|- valign=top
| width=50% align=left|
==== Driving out to UCSD ====
{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 6:30 am
| Richard Murray
| 3 passengers:
* Vipul
* Yoke Peng
* Open
|- valign=top
| 6:30 am
| Driver
| N passengers:
* Open
|}
| width=50% align=left|

==== Returning to Pasadena ====
{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 5:30 pm
| Richard Murray
| 3 passengers
* Vipul
* Yoke Peng
* Eric
|- valign=top
| 5:30 pm
| Driver
| N passengers
* Open
|}
|}

Aaron Ames, October 2012

2012-10-11T02:57:55Z

Ewolff: /* Friday (12 Oct) */

Aaron Ames will be visiting Caltech on 11-12 October (Thu-Fri). If you would like to meet with him, sign up below.

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (11 Oct) ====
* 12:00: CDS seminar (114 Steele Lab)
* 1:15: Richard
* 2:30: Open
* 3:15: Open
* 4:00: Necmiye
* 4:45: Open
|

==== Friday (12 Oct) ====
* 9:45: Eric Wolff
* 10:30: Matanya Horowitz
* 11:15: Open
* 12:00: Lunch meeting with John's group
* 2:00: Additional discussions (TBD)
|}

=== Seminar Abstract ===

<center>
'''Simplicity on the Far Side of Complexity in the Control of Bipedal Robots'''

Speaker: Aaron Ames 
Affiliation: ME, Texas A&M 
Date and time: 11 October 2012 - 12:00pm 
Location: 114 Steele Lab
</center>

Humans have the ability to walk with deceptive ease, navigating everything from daily environments to uneven and uncertain terrain with efficiency and robustness. Despite the simplicity with which humans appear to ambulate, locomotion is inherently complex due to highly nonlinear dynamics and forcing. Yet there is evidence to suggest that humans utilize a hierarchical subdivision between cortical control and central pattern generators in the spinal column, indicating that when humans perform motion primitives potentially simple and characterizable control strategies are implemented, i.e., humans display simplicity on the far side of complexity. If these fundamental mechanisms underlying human walking can be discovered and formally understood, human-like abilities can be imbued into robotic devices with far-reaching applications ranging from legged robots for space exploration to disaster response.

This talk presents the process of formally achieving bipedal robotic walking through controller synthesis inspired by human locomotion, and demonstrates these methods through experimental realization on multiple bipedal robots. Motivated by the hierarchical control present in humans, we claim that the essential information needed to understand walking is encoded by a simple class of functions canonical to human walking. In other words, we view the human as a complex system, or "black box," and outputs of this system (as computed from human locomotion data) are presented that appear to characterize its behavior—thus yielding low dimensional characterization of human walking. By considering the equivalent outputs for the bipedal robot, a nonlinear controller can be constructed that drives the outputs of the robot to the output of the human; moreover, the parameters of this controller can be optimized so that stable robotic walking is provably achieved while simultaneously producing outputs of the robot that are as close as possible to those of a human. The end result is the automatic generation of bipedal robotic walking that is remarkably human-like and is experimentally realizable, as will be evidenced by the demonstration of the resulting controllers on multiple robotic platforms.

Biography: Dr. Aaron D. Ames is an Assistant Professor in Mechanical Engineering at Texas A&M University, with a joint appointment in Electrical and Computer Engineering. His research interests center on robotics, nonlinear control, and hybrid and cyber-physical systems, with special emphasis on bipedal robots, behavior unique to hybrid systems such as Zeno behavior, and the mathematical foundations of hybrid systems. Dr. Ames received a BS in Mechanical Engineering and a BA in Mathematics from the University of St. Thomas in 2001, and he received a MA in Mathematics and a PhD in Electrical Engineering and Computer Sciences from UC Berkeley in 2006. At UC Berkeley, he was the recipient of the 2005 Leon O. Chua Award for achievement in nonlinear science and the 2006 Bernard Friedman Memorial Prize in Applied Mathematics. Dr. Ames served as a Postdoctoral Scholar in the Control and Dynamical System Department at the California Institute of Technology from 2006 to 2008. In 2010 he received the NSF CAREER award for his research on hybrid systems and bipedal robotic walking.

Group Schedule, Fall 2012

2012-09-24T15:09:03Z

Ewolff: /* Week 9: 26-30 Nov */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [[Schedule|Richard's calendar (travel)]]
| width=50% |
* [[Group Schedule, Summer 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 114 Steele Lab
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |
=== Week 1: 1-5 Oct ===
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''
* Gita Mahmoudabadi (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 4 Oct (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Richard out of town Tue-Wed
* No group meeting this week

| width=30% |

=== Week 2: 8-12 Oct ===
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Vanessa (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town Mon, Tue am, Fri pm
* Aaron Ames visiting on Thu (seminar @ noon)
* No group meeting this week
| width=30% |

=== Week 3: 15-19 Oct ===
* Richard out of town all week
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm

|- valign=top
| width=30% |
=== Week 4: 22-26 Oct ===
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''
* Enoch (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 23 Oct (Tue), 4-5:30 pm'''
* Eric (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Ram Vasuvian visiting on Mon (seminar @ 11)
* DARPA Living Foundries west coast meeting on Thu (Richard out)
* No group meeting this week

| width=30% |

=== Week 5: 29 Oct - 2 Nov ===
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town on Tue
* iGEM World Jamboree, Fri-Mon
* No group meeting this week
| width=30% |

=== Week 6: 5-9 Nov ===
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''
* Research presentation (30 min)
* Emzo (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

|- valign=top
| width=30% |

=== Week 7: 12-16 Nov ===
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''
* Ophelia (30 min)
* Research update (15 min)
* Enoch (15 min)
* Lab updates

'''NCS: 15 Nov (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 8: 19-23 Nov ===
* Richard out of town all week
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm
* Thanksgiving break, Thu-Fri
* No group meeting this week

| width=30% |
=== Week 9: 26-30 Nov ===
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''
* Vanessa (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''
* Eric (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* DARPA breadboards telecon, Thu @ 9:30 am
* SoCal Control Workshop, Fri (UC San Diego)
* No group meeting this week

|- valign=top
| width=30% |

=== Week 10: 3-7 Dec ===
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''
* Emzo (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 11: 10-14 Dec ===
* CDC week, no group meetings
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm

| width=30% |
=== Week 12: 17-21 Dec ===
* Winter break, no group meetings
* Richard around Mon-Thu
|}

Group Schedule, Fall 2012

2012-09-24T15:07:58Z

Ewolff: /* Week 4: 22-26 Oct */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [[Schedule|Richard's calendar (travel)]]
| width=50% |
* [[Group Schedule, Summer 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 114 Steele Lab
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |
=== Week 1: 1-5 Oct ===
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''
* Gita Mahmoudabadi (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 4 Oct (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Richard out of town Tue-Wed
* No group meeting this week

| width=30% |

=== Week 2: 8-12 Oct ===
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Vanessa (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town Mon, Tue am, Fri pm
* Aaron Ames visiting on Thu (seminar @ noon)
* No group meeting this week
| width=30% |

=== Week 3: 15-19 Oct ===
* Richard out of town all week
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm

|- valign=top
| width=30% |
=== Week 4: 22-26 Oct ===
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''
* Enoch (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 23 Oct (Tue), 4-5:30 pm'''
* Eric (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Ram Vasuvian visiting on Mon (seminar @ 11)
* DARPA Living Foundries west coast meeting on Thu (Richard out)
* No group meeting this week

| width=30% |

=== Week 5: 29 Oct - 2 Nov ===
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town on Tue
* iGEM World Jamboree, Fri-Mon
* No group meeting this week
| width=30% |

=== Week 6: 5-9 Nov ===
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''
* Research presentation (30 min)
* Emzo (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

|- valign=top
| width=30% |

=== Week 7: 12-16 Nov ===
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''
* Ophelia (30 min)
* Research update (15 min)
* Enoch (15 min)
* Lab updates

'''NCS: 15 Nov (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 8: 19-23 Nov ===
* Richard out of town all week
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm
* Thanksgiving break, Thu-Fri
* No group meeting this week

| width=30% |
=== Week 9: 26-30 Nov ===
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''
* Vanessa (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* DARPA breadboards telecon, Thu @ 9:30 am
* SoCal Control Workshop, Fri (UC San Diego)
* No group meeting this week

|- valign=top
| width=30% |

=== Week 10: 3-7 Dec ===
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''
* Emzo (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 11: 10-14 Dec ===
* CDC week, no group meetings
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm

| width=30% |
=== Week 12: 17-21 Dec ===
* Winter break, no group meetings
* Richard around Mon-Thu
|}

Group Schedule, Fall 2012

2012-09-24T15:07:41Z

Ewolff: /* Week 4: 22-26 Oct */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [[Schedule|Richard's calendar (travel)]]
| width=50% |
* [[Group Schedule, Summer 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 114 Steele Lab
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |
=== Week 1: 1-5 Oct ===
'''Biocircuits: 4 Oct (Thu), 10 am - 12 pm'''
* Gita Mahmoudabadi (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 4 Oct (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Richard out of town Tue-Wed
* No group meeting this week

| width=30% |

=== Week 2: 8-12 Oct ===
'''NCS: 10 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 11 Oct (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Vanessa (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town Mon, Tue am, Fri pm
* Aaron Ames visiting on Thu (seminar @ noon)
* No group meeting this week
| width=30% |

=== Week 3: 15-19 Oct ===
* Richard out of town all week
* Biocircuits lab cleanup: 16 Oct (Tue), 10 am - 12 pm

|- valign=top
| width=30% |
=== Week 4: 22-26 Oct ===
'''Biocircuits: 23 Oct (Tue), 10 am - 12 pm'''
* Enoch (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 23 Oct (Tue), 4-5:30 pm'''
* Eric(15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* Ram Vasuvian visiting on Mon (seminar @ 11)
* DARPA Living Foundries west coast meeting on Thu (Richard out)
* No group meeting this week

| width=30% |

=== Week 5: 29 Oct - 2 Nov ===
'''NCS: 31 Oct (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

'''Biocircuits: 1 Nov (Thu), 10 am - 12 pm'''
* Research presentation (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

<hr>
* Richard out of town on Tue
* iGEM World Jamboree, Fri-Mon
* No group meeting this week
| width=30% |

=== Week 6: 5-9 Nov ===
'''Biocircuits: 6 Nov (Tue), 10 am - 12 pm'''
* Research presentation (30 min)
* Emzo (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 7 Nov (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

|- valign=top
| width=30% |

=== Week 7: 12-16 Nov ===
'''Biocircuits: 15 Nov (Thu), 10 am - 12 pm'''
* Ophelia (30 min)
* Research update (15 min)
* Enoch (15 min)
* Lab updates

'''NCS: 15 Nov (Thu), 4-5:30 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 8: 19-23 Nov ===
* Richard out of town all week
* Biocircuits lab cleanup: 20 Nov (Tue), 10 am - 12 pm
* Thanksgiving break, Thu-Fri
* No group meeting this week

| width=30% |
=== Week 9: 26-30 Nov ===
'''Biocircuits: 27 Nov (Tue), 10 am - 12 pm'''
* Vanessa (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 28 Nov (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* DARPA breadboards telecon, Thu @ 9:30 am
* SoCal Control Workshop, Fri (UC San Diego)
* No group meeting this week

|- valign=top
| width=30% |

=== Week 10: 3-7 Dec ===
'''Biocircuits: 4 Dec (Tue), 10 am - 12 pm'''
* Emzo (30 min)
* Research update (15 min)
* Research update (15 min)
* Lab updates

'''NCS: 5 Dec (Wed), 4:30-6:00 pm'''
* Research update (15 min)
* Research update (15 min)
* Research update (15 min)
* Project updates

<hr>
* No group meeting this week

| width=30% |

=== Week 11: 10-14 Dec ===
* CDC week, no group meetings
* Biocircuits lab cleanup: 11 Dec (Tue), 10 am - 12 pm

| width=30% |
=== Week 12: 17-21 Dec ===
* Winter break, no group meetings
* Richard around Mon-Thu
|}

Group Schedule, Summer 2012

2012-09-04T16:42:48Z

Ewolff: /* Week 12: 3-7 September */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [[Schedule|Richard's calendar (travel)]]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
** SURF kickoff: Wed @ 10 am in 114 Steele
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 9 Jul (Mon), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Meet in 114 Steele
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Marcella (15-20 min)
* Project updates

<hr>
* Richard out of town Tue - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Nadine (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF: Patrik (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF: Nick (10-15 min)
* SURF: Adam (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF: Ishan (10-15 min)
* SURF: Giulia G. (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF: Robert (10-15 min)
* SURF: Alex (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Vanessa Jonsson (30-40 min)
* SURF: Paulo (10-15 min)
* SURF: Giulia R. (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Eric (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Joel Burdick

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Dan Naftalovich (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Zach (30-40 min)
* Vinay, SURF exit presentation (10-15 min)
* Instrument: turbidostat (Giulia R)
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Instrument: freezers/cold room (Enoch, Marcella)
* Instruments: Nanodrop (Jongmin)
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* TuLiP updates (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Naftali Tishby (HUJI)
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Anandh (10-15 min)
* Research update (10-15 min)
* Instrument: electroporator, gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Eric (15-20 min)
* Project updates

<s>'''Group meeting: 6 Sep (Thu), 12-1:15'''</s>
* <s>Ram Vasudevan (UC Berkeley)</s> (rescheduling to Oct)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Anu (30-40 min)
* Vanessa (10-15 min)
* Gita (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Shuo (15-20 min)
* Eric (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Sebastian Trimpe (ETH)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 24 Sep (Mon), 12:30-2:30 pm'''
* Enoch (30-40 min)
* Dan (10-15 min)
* Emzo (10-15 min)
*
* Lab updates

'''NCS/Robotics: 27 Sep (Thu), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
*
* Project updates

'''Group meeting: 27 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Tue-Thu
* Biology retreat, Fri-Sun
|}

Group Schedule, Summer 2012

2012-08-09T22:03:19Z

Ewolff: /* Week 13: 10-14 September */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
** SURF kickoff: Wed @ 10 am in 114 Steele
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 9 Jul (Mon), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Meet in 114 Steele
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Marcella (15-20 min)
* Project updates

<hr>
* Richard out of town Tue - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Nadine (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF: Patrik (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF: Nick (10-15 min)
* SURF: Adam (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF: Ishan (10-15 min)
* SURF: Giulia G. (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF: Robert (10-15 min)
* SURF: Alex (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Vanessa Jonsson (30-40 min)
* SURF: Paulo (10-15 min)
* SURF: Giulia R. (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Eric (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Joel Burdick

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Dan Naftalovich (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Zach (30-40 min)
* Vinay, SURF exit presentation (10-15 min)
* Instrument: turbidostat (Giulia R)
* Instrument: freezers/cold room (Enoch, Marcella)
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Ram Vasudevan (UC Berkeley)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Anu (30-40 min)
* Vanessa (10-15 min)
* Gita (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Shuo (15-20 min)
* Eric (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Sebastian Trimpe (ETH)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Dan (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 27 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Mon
|}

Group Schedule, Summer 2012

2012-08-09T22:03:00Z

Ewolff: /* Week 11: 27-31 August */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
** SURF kickoff: Wed @ 10 am in 114 Steele
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 9 Jul (Mon), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Meet in 114 Steele
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Marcella (15-20 min)
* Project updates

<hr>
* Richard out of town Tue - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Nadine (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF: Patrik (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF: Nick (10-15 min)
* SURF: Adam (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF: Ishan (10-15 min)
* SURF: Giulia G. (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF: Robert (10-15 min)
* SURF: Alex (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Vanessa Jonsson (30-40 min)
* SURF: Paulo (10-15 min)
* SURF: Giulia R. (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Eric (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Joel Burdick

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Dan Naftalovich (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Zach (30-40 min)
* Vinay, SURF exit presentation (10-15 min)
* Instrument: turbidostat (Giulia R)
* Instrument: freezers/cold room (Enoch, Marcella)
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Ram Vasudevan (UC Berkeley)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Anu (30-40 min)
* Vanessa (10-15 min)
* Gita (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Shuo (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Sebastian Trimpe (ETH)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Dan (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 27 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Mon
|}

Group Schedule, Summer 2012

2012-08-09T22:02:47Z

Ewolff: /* Week 10: 20-24 August */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
** SURF kickoff: Wed @ 10 am in 114 Steele
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 9 Jul (Mon), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Meet in 114 Steele
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Marcella (15-20 min)
* Project updates

<hr>
* Richard out of town Tue - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Nadine (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF: Patrik (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF: Nick (10-15 min)
* SURF: Adam (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF: Ishan (10-15 min)
* SURF: Giulia G. (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF: Robert (10-15 min)
* SURF: Alex (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Vanessa Jonsson (30-40 min)
* SURF: Paulo (10-15 min)
* SURF: Giulia R. (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Eric (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Joel Burdick

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Dan Naftalovich (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Zach (30-40 min)
* Vinay, SURF exit presentation (10-15 min)
* Instrument: turbidostat (Giulia R)
* Instrument: freezers/cold room (Enoch, Marcella)
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Ram Vasudevan (UC Berkeley)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Anu (30-40 min)
* Vanessa (10-15 min)
* Gita (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Shuo (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Sebastian Trimpe (ETH)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Dan (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 27 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Mon
|}

Henrik Sandberg, July 2012

2012-07-30T22:26:45Z

Ewolff: /* Tuesday */

Henrik Sandberg will be visiting CDS on 30-31 July (Tue-Wed). __NOTOC__

=== Schedule ===
{| width=100% border=1
|- valign=top
| width=50% |
==== Monday ====
* 10 am: Open
* 11 am: Seminar, 213 Annenberg
* 12 noon: Lunch, hosted by Nikolai (meet at seminar)
<hr>
* 1:30 pm: Matanya Horowitz & Nikolai (Annenberg)
* 2:15 pm: Shuo Han (Annenberg)
* 3:00 pm: Open
* 3:45 pm: KISS workshop on ultra-reliability (Hameetman auditorium, Cahill )
|

==== Tuesday ====
* 10 am: Enoch @ ANN 3rd Floor Lounge
* 10:45 am: Eric Wolff @ ANN 3rd Floor Lounge
* 11:30 am: Open
<hr>
* 1:30 pm: Aristo
* 2:15 pm: Open
* 3:00 pm: Robert Rogersten & Giulia Ripellino, Annenberg Lounge
* 3:45 pm: Open
* 4:30 pm: Open
<hr>
* 6:30 pm: Richard, 109 Steele Lab
|}

=== Abstract ===

'''Synthesis of Models using Lossless Components and Some Related Design Trade-Offs'''

Speaker: Henrik Sandberg 
Affiliation: Electrical Engineering, KTH 
Date and time: Monday, 30 July 2012 - 11:00am 
Location: 213 Annenberg 

The area of network synthesis deals with how to implement mathematical models using a well-defined set of physical components. This area was thoroughly studied in the circuits community in the 1960-1970's, using components such as resistors, transformers, capacitors, inductors, and operational amplifiers. Today similar questions are being asked in synthetic biology and in mechanics, only now the given sets of physical components are very different. Typical questions of interest are to characterize what type of mathematical models can be implemented for given sets of components, and the minimal number of components required for a specific model.

In this talk, we address the problem of synthesizing some classes of active and passive mathematical models using only a small number of lossless physical components. The set of lossless components are relevant since they conserve energy and if we intend to implement anything on a microscopic level, for example a micro machine, we will need to respect this limitation. In our earlier work we have shown that linear models are passive if, and only if, they can be approximated to any desired degree of accuracy by a linear lossless system, over any fixed time horizon. Typically this requires a huge number of lossless components, however, which results in thermal noise as quantified by the fluctuation-dissipation theorem. Here we will see that by allowing the linear lossless components to be time-varying, not only can we avoid some thermal noise, but we can also synthesize some active components. Given the importance of active components such as operational amplifiers this is encouraging. The price for the decrease in implementation complexity is a need for an external power supply. We illustrate the control-theoretic relevance of these results by means of a few examples and design trade-offs.

Henrik Sandberg, July 2012

2012-07-27T20:40:56Z

Ewolff: /* Tuesday */

Henrik Sandberg will be visiting CDS on 30-31 July (Tue-Wed). __NOTOC__

=== Schedule ===
{| width=100% border=1
|- valign=top
| width=50% |
==== Monday ====
* 10 am: Open
* 11 am: Seminar, 213 Annenberg
* 12 noon: Lunch, hosted by Nikolai
<hr>
* 1:30 pm: Matanya Horowitz
* 2:15 pm: Shuo Han
* 3:00 pm: Nikolai Matni
* 3:45 pm: Open
* 4:30 pm: Open
|

==== Tuesday ====
* 10 am: Enoch
* 10:45 am: Eric Wolff
* 11:30 am: Open
<hr>
* 1:30 pm: Aristo
* 2:15 pm: Open
* 3:00 pm: Open
* 3:45 pm: Open
* 4:30 pm: Open
<hr>
* 6:30 pm: Richard
|}

=== Abstract ===

'''Synthesis of Models using Lossless Components and Some Related Design Trade-Offs'''

Speaker: Henrik Sandberg 
Affiliation: Electrical Engineering, KTH 
Date and time: Monday, 30 July 2012 - 11:00am 
Location: 213 Annenberg 

The area of network synthesis deals with how to implement mathematical models using a well-defined set of physical components. This area was thoroughly studied in the circuits community in the 1960-1970's, using components such as resistors, transformers, capacitors, inductors, and operational amplifiers. Today similar questions are being asked in synthetic biology and in mechanics, only now the given sets of physical components are very different. Typical questions of interest are to characterize what type of mathematical models can be implemented for given sets of components, and the minimal number of components required for a specific model.

In this talk, we address the problem of synthesizing some classes of active and passive mathematical models using only a small number of lossless physical components. The set of lossless components are relevant since they conserve energy and if we intend to implement anything on a microscopic level, for example a micro machine, we will need to respect this limitation. In our earlier work we have shown that linear models are passive if, and only if, they can be approximated to any desired degree of accuracy by a linear lossless system, over any fixed time horizon. Typically this requires a huge number of lossless components, however, which results in thermal noise as quantified by the fluctuation-dissipation theorem. Here we will see that by allowing the linear lossless components to be time-varying, not only can we avoid some thermal noise, but we can also synthesize some active components. Given the importance of active components such as operational amplifiers this is encouraging. The price for the decrease in implementation complexity is a need for an external power supply. We illustrate the control-theoretic relevance of these results by means of a few examples and design trade-offs.

Henrik Sandberg, July 2012

2012-07-27T20:40:23Z

Ewolff: /* Tuesday */

Henrik Sandberg will be visiting CDS on 30-31 July (Tue-Wed). __NOTOC__

=== Schedule ===
{| width=100% border=1
|- valign=top
| width=50% |
==== Monday ====
* 10 am: Open
* 11 am: Seminar, 213 Annenberg
* 12 noon: Lunch, hosted by Nikolai
<hr>
* 1:30 pm: Matanya Horowitz
* 2:15 pm: Shuo Han
* 3:00 pm: Nikolai Matni
* 3:45 pm: Open
* 4:30 pm: Open
|

==== Tuesday ====
* 10 am: Enoch
* 10:45 am: Eric
* 11:30 am: Open
<hr>
* 1:30 pm: Aristo
* 2:15 pm: Open
* 3:00 pm: Open
* 3:45 pm: Open
* 4:30 pm: Open
<hr>
* 6:30 pm: Richard
|}

=== Abstract ===

'''Synthesis of Models using Lossless Components and Some Related Design Trade-Offs'''

Speaker: Henrik Sandberg 
Affiliation: Electrical Engineering, KTH 
Date and time: Monday, 30 July 2012 - 11:00am 
Location: 213 Annenberg 

The area of network synthesis deals with how to implement mathematical models using a well-defined set of physical components. This area was thoroughly studied in the circuits community in the 1960-1970's, using components such as resistors, transformers, capacitors, inductors, and operational amplifiers. Today similar questions are being asked in synthetic biology and in mechanics, only now the given sets of physical components are very different. Typical questions of interest are to characterize what type of mathematical models can be implemented for given sets of components, and the minimal number of components required for a specific model.

In this talk, we address the problem of synthesizing some classes of active and passive mathematical models using only a small number of lossless physical components. The set of lossless components are relevant since they conserve energy and if we intend to implement anything on a microscopic level, for example a micro machine, we will need to respect this limitation. In our earlier work we have shown that linear models are passive if, and only if, they can be approximated to any desired degree of accuracy by a linear lossless system, over any fixed time horizon. Typically this requires a huge number of lossless components, however, which results in thermal noise as quantified by the fluctuation-dissipation theorem. Here we will see that by allowing the linear lossless components to be time-varying, not only can we avoid some thermal noise, but we can also synthesize some active components. Given the importance of active components such as operational amplifiers this is encouraging. The price for the decrease in implementation complexity is a need for an external power supply. We illustrate the control-theoretic relevance of these results by means of a few examples and design trade-offs.

Group Schedule, Summer 2012

2012-07-17T00:21:48Z

Ewolff: /* Week 11: 27-31 August */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings. Unless otherwise noted, here are the locations of the meetings:
:{| width=100%
|- valign=top
| width=50% |
* Group meetings - 213 ANB
* Subgroup lunches - 114 Steele lab
| width=50% |
* Biocircuits - 111 Keck
* NCS/Robotics - 110 Steele
|}

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Clemens (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
** SURF kickoff: Wed @ 10 am in 114 Steele
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 9 Jul (Mon), 10 am - 12 pm'''
* Victoria (25-30 min)
* Anu (10-15 min)
* Jongmin (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan (Owhadi group)

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Meet in 114 Steele
* Stephanie (15-20 min)
* Necmiye (15-20 min)
* Marcella (15-20 min)
* Project updates

<hr>
* Richard out of town Tue - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Nadine (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF: Patrik (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Shuo (15-20 min)
* SURF: Nick (10-15 min)
* SURF: Adam (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF: Ishan (10-15 min)
* SURF: Giulia G. (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Clemens Wiltsche

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Clemens (10-15 min)
* SURF: Robert (10-15 min)
* SURF: Alex (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Vanessa Jonsson (30-40 min)
* SURF: Paulo (10-15 min)
* SURF: Giulia R. (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting, 114 Steele; may shift to Thu
* Eric (15-20 min)
* Ufuk (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Dan (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Scott Livingston (15-20 min)
* Dan Naftalovich (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Zach (30-40 min)
* Research presentation [non-MPP] (10-15 min)
* Research update [non-MPP] (10-15 min)
* Instrument: freezers/cold room
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Jongmin (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Necmiye (15-20 min)
* Scott Livingston (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Ram Vasudevan (UC Berkeley)
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Anu (30-40 min)
* Vanessa (10-15 min)
* Research update (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Ufuk (15-20 min)
* Shuo (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Sebastian Trimpe (ETH)
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Dan (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 26 Sep (Thu), 12-1:15'''
* Yong Huang (J. Beck group)
<hr>
* Richard out on Mon
|}

Group Schedule, Summer 2012

2012-06-07T22:45:03Z

Ewolff: /* Week 7: 30 July - 3 August */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 10 Jul (Tue), 10 am - 12 pm'''
* Meeting may shift to Mon, 10a-12p
* Victoria (25-30 min)
* Anu (10-15 min)
* Research update (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan?

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* Richard out of town Tue pm - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Anu (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF update (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Research update (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting; may shift to Thu
* Research presentation (30-40 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting; may shift to Thu
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Research presentation (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Research presentation [non-MPP] (30-40 min)
* Enoch [non-MPP] (10-15 min)
* Research update [non-MPP] (10-15 min)
* Instrument: freezers/cold room
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Open
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Zach (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Open
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Research update (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 26 Sep (Thu), 12-1:15'''
* Open
<hr>
* Richard out on Mon
|}

Group Schedule, Summer 2012

2012-06-07T22:44:24Z

Ewolff: /* Week 1: 18-22 June */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Spring 2012]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 18-22 June ===

'''Biocircuits: 21 Jun (Thu), 10 am - 12 pm'''
* SURF introductions (40 min)
* Ophelia (20-30 min)
* Shaunak K (10-15 min)
* Lab updates

'''Group meeting: 21 Jun (Thu), 12-1'''
* Richard (research overview)

'''NCS/Robotics: 21 Jun (Thu), 4-6 pm'''
* SURF introductions (20 min)
* Eric (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* Richard out of town Mon-Tue
* SURF students start on Tue
| width=30% |

=== Week 2: 25-29 June ===
* American Control Conference (Montreal)
* Richard out of town all week
| width=30% |

=== Week 3: 2-6 July ===
* Richard out of town all week
* Institute holiday on Wed
|- valign=top
|

=== Week 4: 9-13 July ===
'''Biocircuits: 10 Jul (Tue), 10 am - 12 pm'''
* Meeting may shift to Mon, 10a-12p
* Victoria (25-30 min)
* Anu (10-15 min)
* Research update (10-15 min)
* Instrument: Microscope/CellASIC
* Lab updates

'''Group meeting: 13 Jul (Fri), 12-1:15'''
* Tim Sullivan?

'''NCS/Robotics: 13 Jul (Fri), 1:15-3 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* Richard out of town Tue pm - Thu (Living Foundries PI meeting)
|

=== Week 5: 16-20 July ===
'''Biocircuits: 17 Jul (Tue), 10 am - 12 pm'''
* Anu (30-40 min)
* Zach (10-15 min)
* SURF: Vinay V (10-15 min)
* SURF update (10-15 min)
* Instrument: Computing
* Lab updates

'''NCS/Robotics: 18 Jul (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates

'''Group meeting: 19 Jul (Thu), 12-1:15'''
* Chin-Lin Guo (BE)
<hr>
* Shaunak K SURF presentation
|

=== Week 6: 23-27 July ===
'''Biocircuits: 24 Jul (Tue), 10 am - 12 pm'''
* Emzo (30-40 min)
* Enoch (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Instrument: FACSCalibur/Quanta
* Lab updates

'''Group meeting: 25 Jul (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 25 Jul (Wed), 4-6 pm'''
* Pavithra (15-20 min)
* Research update (10-15 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Project updates
<hr>
* Richard out of town Thu-Fri
|- valign=top
|

=== Week 7: 30 July - 3 August ===
'''Biocircuits: 31 Jul (Tue), 12-1:30 pm'''
* Lunch meeting; may shift to Thu
* Research presentation (30-40 min)
* SURF update (10-15 min)
* SURF update (10-15 min)
* Lab updates

'''NCS/Robotics: 1 Aug (Wed), 12-1:30 pm'''
* Lunch meeting; may shift to Thu
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

<hr>
* KISS workshop; Richard unavailable
|

=== Week 8: 6-10 August ===
'''Biocircuits: 7 Aug (Tue), 10 am - 12 pm'''
* Research presentation (30-40 min)
* Victoria (10-15 min)
* Marcella (10-15 min)
* Instrument: Victor X3/BioTek H1MF
* Lab updates

'''Group meeting: 8 Aug (Wed), 12-1:15'''
* Open

'''NCS/Robotics: 8 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

|

=== Week 9: 13-17 August ===
* Richard out all week
|- valign=top
|

=== Week 10: 20-24 August ===
'''Biocircuits: 22 Aug (Wed), 10 am - 12 pm'''
* Research presentation [non-MPP] (30-40 min)
* Enoch [non-MPP] (10-15 min)
* Research update [non-MPP] (10-15 min)
* Instrument: freezers/cold room
* Lab updates

'''NCS/Robotics: 22 Aug (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 23 Aug (Thu), 12-1:15'''
* Lea Goentoro (Bi)
<hr>
* MPP retreat, Sun-Tue
|

=== Week 11: 27-31 August ===
'''Biocircuits: 28 Aug (Tue), 10 am - 12 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instruments: Nanodrop/electroporator
* Lab updates

'''NCS/Robotics: 29 Aug (Wed), 4-6 pm'''
* Mumu (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 30 Aug (Thu), 12-1:15'''
* Open
<hr>
* Richard out of town on Fri
|

=== Week 12: 3-7 September ===
'''Biocircuits: 4 Sep (Tue), 10 am - 12 pm'''
* Marcella (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: gel rigs/gel imager
* Lab updates

'''NCS/Robotics: 5 Sep (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 6 Sep (Thu), 12-1:15'''
* Open
<hr>
* Institute holiday on Mon
|- valign=top
|

=== Week 13: 10-14 September ===
'''Biocircuits: 11 Sep (Tue), 10 am - 12 pm'''
* Zach (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Instrument: PCR machines/centrifuges
* Lab updates

'''NCS/Robotics: 12 Sep (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 13 Sep (Thu), 12-1:15'''
* Open
<hr>
* Richard out on Fri
|

=== Week 14: 17-21 September ===
* Richard out all week
|
=== Week 15: 24-28 September ===
'''Biocircuits: 25 Sep (Tue), 10 am - 12 pm'''
* Enoch (30-40 min)
* Emzo (10-15 min)
* Research update (10-15 min)
* Lab updates

'''NCS/Robotics: 26 Sep (Wed), 4-6 pm'''
* Research update (15-20 min)
* Research update (15-20 min)
* Research update (15-20 min)
* Project updates

'''Group meeting: 26 Sep (Thu), 12-1:15'''
* Open
<hr>
* Richard out on Mon
|}

Group Schedule, Spring 2012

2012-03-21T06:12:34Z

Ewolff: /* Week 8: 21-25 May */

Group Schedule, Spring 2012

2012-03-21T06:12:11Z

Ewolff: /* Week 3: 16-20 Apr */

Feb/Mar 2012 Meetings

2012-02-20T18:19:06Z

Ewolff: /* Wed, 29 Feb */

I would like to meet with everyone sometime in the last week of Feb/first week of March. Please sign up for a time below (note that the slots are different lengths). __NOTOC__

{| width=100% border=1
|- valign=top
| width=50% |
'''In Santa Barbara''' (Vanessa, Ophelia, Dan, Emzo)
==== Tue, 28 Feb ====
* 4:00p - Open (60m)
* 5:00p - Open (60m)
==== Wed, 29 Feb ====
* 10:00a - Open (60m)
* 3:30p - Open (60m)
<hr>

==== Thu, 1 Mar ====
* 3:00p - Biocircuits subgroup (Dan, Zach, Ophelia)
* 5:00p - Open (45m)
* 5:45p - Necmiye (45m)
* 6:30p - Open (60m)
<hr>
==== Fri, 2 Mar ====
* 9:00a - Open (60m)
* 10:00a - Eugene Lavretsky (75m)
* 11:15a - Hold, Eugene (45m)
:
* 12:00p - Group meeting
* 1:15p - NCS subgroup (Mumu, Pavithra)
* 3:00p - Pavithra (45m)
* 3:45p - Andrea (60m)
* 4:45p - Shaunak (45m)
* 5:30p - Open (60m)
| width=50% |

==== Mon, 5 Mar ====
* 9:00a - Dan (60m)
* 10:00a - BE 150
* 11:00a - Open (45m)
* 11:45a - Open (45m)
:
* 1:00p - Open (60m)
* 2:00p - Open (60m)
* 3:00p - Robotics subgroup (Pete, Andrea)
* 4:30p - Open (60m)
* 5:30p - Open (60m)
* 6:30p - Open (60m)
<hr>

==== Tue, 6 Mar ====
* 9:00a - Open (60m)
* 10:00a -Eric (60m)
* 11:00a - Hold: CDS 90 (60m)

* 2:00p - Hold: CDS 90 (60m)
* 3:00p - Biocircuits subgroup (Enoch, Vanessa, Victoria)
* 5:00p - iGEM
|}

Feb/Mar 2012 Meetings

2012-02-20T18:18:35Z

Ewolff: /* Wed, 29 Feb */

I would like to meet with everyone sometime in the last week of Feb/first week of March. Please sign up for a time below (note that the slots are different lengths). __NOTOC__

{| width=100% border=1
|- valign=top
| width=50% |
'''In Santa Barbara''' (Vanessa, Ophelia, Dan, Emzo)
==== Tue, 28 Feb ====
* 4:00p - Open (60m)
* 5:00p - Open (60m)
==== Wed, 29 Feb ====
* 10:00a - Eric(60m)
* 3:30p - Open (60m)
<hr>

==== Thu, 1 Mar ====
* 3:00p - Biocircuits subgroup (Dan, Zach, Ophelia)
* 5:00p - Open (45m)
* 5:45p - Necmiye (45m)
* 6:30p - Open (60m)
<hr>
==== Fri, 2 Mar ====
* 9:00a - Open (60m)
* 10:00a - Eugene Lavretsky (75m)
* 11:15a - Hold, Eugene (45m)
:
* 12:00p - Group meeting
* 1:15p - NCS subgroup (Mumu, Pavithra)
* 3:00p - Pavithra (45m)
* 3:45p - Andrea (60m)
* 4:45p - Shaunak (45m)
* 5:30p - Open (60m)
| width=50% |

==== Mon, 5 Mar ====
* 9:00a - Dan (60m)
* 10:00a - BE 150
* 11:00a - Open (45m)
* 11:45a - Open (45m)
:
* 1:00p - Open (60m)
* 2:00p - Open (60m)
* 3:00p - Robotics subgroup (Pete, Andrea)
* 4:30p - Open (60m)
* 5:30p - Open (60m)
* 6:30p - Open (60m)
<hr>

==== Tue, 6 Mar ====
* 9:00a - Open (60m)
* 10:00a -Eric (60m)
* 11:00a - Hold: CDS 90 (60m)

* 2:00p - Hold: CDS 90 (60m)
* 3:00p - Biocircuits subgroup (Enoch, Vanessa, Victoria)
* 5:00p - iGEM
|}

Feb/Mar 2012 Meetings

2012-02-20T17:46:24Z

Ewolff: /* Wed, 29 Feb */

I would like to meet with everyone sometime in the last week of Feb/first week of March. Please sign up for a time below (note that the slots are different lengths). __NOTOC__

{| width=100% border=1
|- valign=top
| width=50% |
'''In Santa Barbara''' (Vanessa, Ophelia, Dan, Shaunak)
==== Tue, 28 Feb ====
* 4:00p - Open (60m)
* 5:00p - Open (60m)
==== Wed, 29 Feb ====
* 10:00a - Eric(60m)
* 3:30p - Andrea (60m)
<hr>

==== Thu, 1 Mar ====
* 3:00p - Biocircuits subgroup (Dan, Zach, Ophelia)
* 5:00p - Open (45m)
* 5:45p - Necmiye (45m)
* 6:30p - Open (60m)
<hr>
==== Fri, 2 Mar ====
* 9:00a - Open (60m)
* 10:00a - Eugene Lavretsky (75m)
* 11:15a - Hold, Eugene (45m)
:
* 12:00p - Group meeting
* 1:15p - NCS subgroup (Mumu, Pavithra)
* 3:00p - Pavithra (45m)
* 3:45p - Open (60m)
* 4:45p - Open (45m)
* 5:30p - Open (60m)
| width=50% |

==== Mon, 5 Mar ====
* 9:00a - Open (60m)
* 10:00a - BE 150
* 11:00a - Open (45m)
* 11:45a - Open (45m)
:
* 1:00p - Open (60m)
* 2:00p - Open (60m)
* 3:00p - Robotics subgroup (Pete, Andrea)
* 4:30p - Open (60m)
* 5:30p - Open (60m)
* 6:30p - Open (60m)
<hr>
==== Tue, 6 Mar ====
* 9:00a - Open (60m)
* 10:00a -Open (60m)
* 11:00a - Hold: CDS 90 (60m)

* 2:00p - Hold: CDS 90 (60m)
* 3:00p - Biocircuits subgroup (Enoch, Vanessa, Victoria)
* 5:00p - iGEM
|}

Hiro Ono visit, February 2012

2012-02-05T01:23:54Z

Ewolff: /* Schedule */

Masahiro (Hiro) Ono, who recently got his PhD with Brian Williams at MIT, will visit CDS on 7 Feb 2012 (Tue).

=== Schedule ===
* 10:30 am: Richard Murray, 109 Steele Lab
* 11:00 am: CDS seminar, 114 Steele
* 12:00 pm: Lunch with Necmiye Ozay + 2
** Richard will join at ~1 pm (so try for a table on the patio -:)
* 1:30 pm: Eric
* 2:15 pm: Open
* 3:00 pm: Open
* 3:45 pm: Open
* 4:30 pm: Open

=== Abstract ===

<center>
'''Risk Allocation Approach to Chance-constrained Model Predictive Control''' 
Steele Library, 11 am
</center>

This talk presents solutions to two problems in the domain
of chance-constrained model predictive control. A chance-constrained
MPC problem requires that a set of state constraints are satisfied
with a user-specified probability, in the presence of unbounded
additive uncertainty.

First, we consider decentralized finite-horizon optimal control for
multi-agent systems. The problem is particularly difficult when agents
are coupled through a joint chance constraint, which limits the
probability of constraint violation by any of the agents in the
system. We propose a dual decomposition-based algorithm, namely
Market-based Iterative Risk Allocation (MIRA), that solves the
multi-agent problem in a decentralized manner. The algorithm addresses
the issue of scalability by letting each agent optimize its own
control input given a fixed value of a dual variable, which is shared
among agents. A central module optimizes the dual variable by solving
a root-finding problem iteratively. MIRA gives exactly the same
optimal solution as the centralized optimization approach since it
reproduces the KKT conditions of the centralized approach. Our
approach is analogous to a price adjustment process in a competitive
market called tatonnement or Walrasian auction: each agent optimizes
its demand for risk at a given price, while the central module (or the
market) optimizes the price of risk, which corresponds to the dual
variable.

Second, we consider receding horizon control of dynamic systems under
unbounded uncertainty. Resolvability or recursive feasibility is an
essential property for robust model predictive controllers. However,
when an unbounded stochastic uncertainty is present, it is generally
impossible to guarantee resolvability. We propose a new concept called
probabilistic resolvability. A model predictive control (MPC)
algorithm is probabilistically resolvable if it has feasible solutions
at future time steps with a certain probability, given a feasible
solution at the current time. We propose a joint chance-constrained
MPC algorithm that guarantees probabilistic resolvability. The
proposed algorithm also guarantees the satisfaction of a joint chance
constraint, which specifies a lower bound on the probability of
satisfying a set of state constraints over a finite horizon.
Furthermore, with moderate conditions, the finite-horizon optimal
control problem solved at each time step in the proposed algorithm is
a convex optimization problem.

==== Biography ====
Masahiro Ono received a B.S. degree in Aeronautics and
Astronautics at the University of Tokyo, an M.S. degree in Technology
and Policy, and M.S. and Ph.D. degrees in Aeronautics and Astronautics
at MIT. His research is in chance-constrained model predictive control
and its applications to multiagent systems and smart buildings. He
recently accepted a faculty position at Keio University in Japan.

Ian Manchester, Jan 2012

2012-01-25T09:45:12Z

Ewolff:

Ian Manchester will visit CDS on 25 Jan 2012 (Wed). If you would like to meet with him, please sign up below.

* 12:30pm-2:00pm: Lunch and discussion; please sign up here if you want to join the lunch
meet at west gate of second floor @ Annenberg, outside classroom 213
* 2:00-3:00pm: Talk; place: TBA
* 3:00-3:30: Necmiye (maybe chat @ CDS tea)
* 3:30-4:00: Dom
* 4:00-4:30: Eric + Ufuk
* 4:30-5:00: open
* 5:00-5:30: open

<hr>

<center>
Identification and Analysis of Nonlinear Oscillations via
Convex Relaxation

'''Ian Machester''' 
MIT
</center>
Abstract: Stable and self-sustained oscillations (aka limit cycles) are an
intriguing dynamical phenomenon: they are ubiquitous in natural and
engineered systems; they are the second thing anyone looks for (after
equilibria) when analyzing a dynamic system; and yet they cause great
difficulty for many familiar concepts from systems and control. Stable
oscillation is an inherently nonlinear phenomenon. Trajectories live
on the "edge of stability", i.e. they always have one critically
stable Lyapunov exponent and cannot be asymptotically stable in the
usual sense. Their regions of attraction can never be all of R^n but
are always "donut shaped".

This talk will cover some recent work on control, analysis, and
identification for systems with limit cycles. We will derive
computationally tractable methods using transverse coordinates, convex
relaxations, and semidefinite/sum-of-squares programming. The main
examples covered will be region-of-stability analysis for an
underactuated walking robot, and black-box system identification of
live neurons in culture.

=== Biography ===

Ian Manchester received the BE and PhD degrees in Electrical Engineering from the University of New South Wales, Sydney. He was then a post-doc and guest lecturer at Umeå University, Sweden. He is presently a Research Scientist with the Robot Locomotion Group, Massachusetts Institute of Technology. For the last 2 yrs he was working with Alex Megretski and Russ Tedrake, mostly on convex optimization algorithms for nonlinear system identification and analysis. A particular focus has been identifying and analyzing systems with autonomous oscillations (limit cycles) including live neurons in culture, and walking robots.

Group Schedule, Winter 2012

2011-12-09T16:59:39Z

Ewolff: /* Week 8: 20-24 Feb */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=60%
|- valign=top
| width=50% |
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar (travel)]
| width=50% |
* [[Group Schedule, Fall 2011]]
|}

The schedule for group and subgroup meetings is given below. Everyone should sign up for times to talk in the subgroup meetings.


==== Directions: ====
* '''Biocircuits (Tue or Thu, 3-5 pm)''': graduate students should give 1 longer presentation per term + 1-2 additional research updates; postdocs, undergrads should give 1-2 research updates.
* '''NCS (Wed, 4-6 pm)''': grad students should speak 2 times per term for 15-20 min (+ discussion), postdocs and undergrads at least once
* '''Robotics (Wed, 4-6 pm)''': grad students and postdocs should speak 2 times per term for 15-20 min (+ discussion), undergrads at least once; will also do ad hoc updates
* '''Group meeting talks (WThF, 12-1:15)''': postdocs and senior grad students (G4+) should feel free to sign up for a group meeting talk (biocircuit grad students: this can be in place of longer subgroup talk)


<center>
'''Please sign up for at least one presentation in the first six weeks of the term.'''
</center>

Note that some of the meetings might need to shift, as noted; only sign up for those slots if you can make both times listed
 

{| width=100% border=1
|- valign=top
| width=30% |

=== Week 1: 4-6 Jan ===
'''NCS: 4 Jan (Wed), 4-6 pm'''
* Jun Liu (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 5 Jan (Thu), 12-1:15'''
* Ophelia
'''Biocircuits: 5 Jan (Thu), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
<hr>
Academic holiday, 2-3 Jan 
CDS quals, 6 Jan (RMM busy all day)
| width=30% |

=== Week 2: 9-13 Jan ===
'''Robotics: 11 Jan (Wed), 4-6 pm'''
* Shuo (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
* Might shift to Fri, 1-3 pm
'''Biocircuits: 12 Jan (Thu), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Group meeting: 13 Jan (Fri), 12-1:15 pm'''
* Domitilla Del Vecchio (MIT)
| width=30% |

=== Week 3: 16-20 Jan ===
'''Biocircuits: 17 Jan (Tue), 2-4 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* Note time shift in day (to "regular" day)
'''NCS: 18 Jan (Wed), 4-6 pm'''
* Eric (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 19 Jan (Thu), 12-1:15'''
* Naira Hovakimyan (UIUC)
|- valign=top
|

=== Week 4: 23-27 Jan ===
'''Biocircuits: 24 Jan (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Group meeting: 25 Jan (Wed), 12-1:15'''
* Necmiye
'''Robotics: 25 Jan (Wed), 4-6 pm'''
* Stephanie (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
* Might shift to Fri, 1-3 pm
|

=== Week 5: 30 Jan - 3 Feb ===
'''Biocircuits: 31 Jan (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Nikki(10-15 min)
* Zach (10-15 min)
* Lab updates
'''NCS: 1 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 2 Feb (Thu), 12-1:15'''
* Jongmin
|

=== Week 6: 6 Feb - 10 Feb ===
'''Biocircuits: 7 Feb (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Paul (10-15 min)
* Victoria (10-15 min)
* Lab updates
'''Group meeting: 8 Feb (Wed), 12-1:15'''
* Andrea
'''Robotics: 8 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)

|- valign=top
|

=== Week 7: 13-17 Feb ===
'''NCS: 15 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
'''Group meeting: 16 Feb (Thu), 12-1:15'''
* Open
'''Biocircuits: 16 Feb (Thu), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* Note change in day
|

=== Week 8: 20-24 Feb ===
'''Biocircuits: 21 Feb (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Robotics: 22 Feb (Wed), 4-6 pm'''
* Shuo (15-20 min)
* Eric (15-20 min)
* Short research updates (5 min each)
'''Group meeting: 23 Feb (Thu), 12-1:15'''
* Hold: possible job talk
|

=== Week 9: 27 Feb - 2 Mar ===
'''Biocircuits: 28 Feb (Tue), 3-5 pm'''
* Safety briefing (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
* Will probably shift to 2 Mar, 3-5 pm
'''NCS: 29 Feb (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Project updates
* Will probably shift to 2 Mar, 1-3 pm
'''Group meeting: 2 Mar (Fri), 12-1:15'''
* Open
|- valign=top
|

=== Week 10: 5-9 Mar ===
'''Biocircuits: 6 Mar (Tue), 3-5 pm'''
* Research presentation (30-40 min)
* Research update (10-15 min)
* Research update (10-15 min)
* Lab updates
'''Robotics: 7 Mar (Wed), 4-6 pm'''
* Open (15-20 min)
* Open (15-20 min)
* Short research updates (5 min each)
'''Group meeting: 9 Mar (Fri), 12-1:15'''
* Hold: possible job talk
|

=== Week 11: 12-16 Mar ===
Finals week; Richard out of town
|
=== Week 12: 19-23 Mar ===
Spring break; Richard out of town
|}