Murray Wiki - User contributions [en]

Ncsbook/estim

2009-08-04T05:46:07Z

Shiling: /* 30 Jul 09 telecon */

{{ncsbook menu|intro|infothy}}
This page is intended to be used for comments on Chapter 2 - State Estimation. To enter a new comment, create a new third level heading with your name and date. Then enter comments below and people can respond/converse.

=== RMM comments, 15 Jun 09 ===

# Need an intro to the chapter that summarizes what will be presented in this chapter and how it fits into the book (background chapter, etc).
# For proofs, I think we should either include the proof or just say before/after the theorem statement that the proof is available in the literature and give some citations. So remove the proof environment for Thm 2.2.
# Karl Astrom told me that a "Luenberger" observer is a ''reduced order'' observer and not just a state estimator. If we keep this section, we should check on the naming.
#* In the conference call, Vijay made the point that we probably don't need this section. Just stick with the Kalman filter. --[[User:Murray|Richard Murray]] 17:59, 16 June 2009 (PDT)
# Throughout this chapter, I think we need to add inputs. We'll need this in the TCP/UDP case.
# I'm not a huge fan of using '''bold''' symbols (eg, '''Yk''' for the vector of y's). I think it is fine to just use a capital letter, without changing the font. Probably OK to leave for now and we can hash it out later.
# We need to sort out whether the decentralized Kalman filter belongs in this chapter or in the distributed estimation chapter. I feel like it will make more sense in the later chapter, since it is really not "background" information.
# We need to decide how to refer to equations in the text. I usually write equation (1), which I feel is easier to read than Eqn. 1. I also like to put parenthesis around the equation number (use \eqref for this) since that matches the way the label appears in the text.

=== LS replies, 21 Jun 09 ===

# Have changed the outline of Ch2 and added an intro section.
# Removed proof for Thm 2.2.
# Removed the whole section on Luenberger.
# Added input to KF.
# Changed to capital letters only.
# To be arranged.
# Changed to equation (xxx).

=== 30 Jul 09 telecon ===
Comments on this chapter from 30 Jul 09 telecon:

---Changed/added/fixed by Ling----------
* Notation: covariance - \Sigma_{
* Notation: label equations as a group
* Notation: sort out notation for transpose (probably ^T)
* Notation: dx/dt = Ax + B u for continuous derivative
* Direct term: mention that we are not include this
* Lyapunov and Ricatti operators: h, g, g^n, h^n

---to be changed/added/fixed-------------
* Think through notation for sets (currently A, B, etc)
* Notation: use \mathbb E for expectation
* Discrete time noise - check derivation
* Notation: * for messy expressions

Ncsbook/estim

2009-08-04T05:45:08Z

Shiling: /* 30 Jul 09 telecon */

{{ncsbook menu|intro|infothy}}
This page is intended to be used for comments on Chapter 2 - State Estimation. To enter a new comment, create a new third level heading with your name and date. Then enter comments below and people can respond/converse.

=== RMM comments, 15 Jun 09 ===

# Need an intro to the chapter that summarizes what will be presented in this chapter and how it fits into the book (background chapter, etc).
# For proofs, I think we should either include the proof or just say before/after the theorem statement that the proof is available in the literature and give some citations. So remove the proof environment for Thm 2.2.
# Karl Astrom told me that a "Luenberger" observer is a ''reduced order'' observer and not just a state estimator. If we keep this section, we should check on the naming.
#* In the conference call, Vijay made the point that we probably don't need this section. Just stick with the Kalman filter. --[[User:Murray|Richard Murray]] 17:59, 16 June 2009 (PDT)
# Throughout this chapter, I think we need to add inputs. We'll need this in the TCP/UDP case.
# I'm not a huge fan of using '''bold''' symbols (eg, '''Yk''' for the vector of y's). I think it is fine to just use a capital letter, without changing the font. Probably OK to leave for now and we can hash it out later.
# We need to sort out whether the decentralized Kalman filter belongs in this chapter or in the distributed estimation chapter. I feel like it will make more sense in the later chapter, since it is really not "background" information.
# We need to decide how to refer to equations in the text. I usually write equation (1), which I feel is easier to read than Eqn. 1. I also like to put parenthesis around the equation number (use \eqref for this) since that matches the way the label appears in the text.

=== LS replies, 21 Jun 09 ===

# Have changed the outline of Ch2 and added an intro section.
# Removed proof for Thm 2.2.
# Removed the whole section on Luenberger.
# Added input to KF.
# Changed to capital letters only.
# To be arranged.
# Changed to equation (xxx).

=== 30 Jul 09 telecon ===
Comments on this chapter from 30 Jul 09 telecon:

** Changed/added/fixed by Ling
* Notation: covariance - \Sigma_{
* Notation: label equations as a group
* Notation: sort out notation for transpose (probably ^T)
* Notation: dx/dt = Ax + B u for continuous derivative
* Direct term: mention that we are not include this
* Lyapunov and Ricatti operators: h, g, g^n, h^n

* Think through notation for sets (currently A, B, etc)
* Notation: use \mathbb E for expectation
* Discrete time noise - check derivation
* Notation: * for messy expressions

Ncsbook/estim

2009-06-21T02:02:08Z

Shiling: /* RMM comments, 15 Jun 09 */

Summer 2008 Meeting Schedule

2008-06-08T02:08:27Z

Shiling: /* Mon */

__NOTOC__
Pick a time that works..
{| width=100% border=1
|- valign=top
| width=20% |
==== Mon ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|2:00p|Julia}}
{{agenda item|3:00p|Shuo}}
{{agenda item|4:00p|Ling}}
{{agenda item|5:00p|Open}}
{{agenda end}}
| width=20% |

==== Tue ====
{{agenda begin}}
{{agenda item|12:00p|Group meeting}}
{{agenda item|2:00p|Open}}
{{agenda item|3:00p|Open}}
{{agenda item|4:00p|Synbio SURF}}
{{agenda item|5:00p|Open}}
{{agenda end}}
| width=20% |

==== Wed ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|2:00p|Open}}
{{agenda item|3:30p|Alice SURF}}
{{agenda item|4:30p|Open}}
{{agenda item|5:30p|Open}}
{{agenda end}}
| width=20% |

==== Thu ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|2:00p|Open}}
{{agenda item|3:00p|Open}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Nok}}
{{agenda item|6:00p|iGEM SURF?}}
{{agenda end}}
|}

Vinutha Kallem, April 2008

2008-04-25T04:21:08Z

Shiling: /* Monday */

Vinutha Kallem is a PhD student at Johns Hopkins who is visiting on 28-29 April 2008. __NOTOC__

=== Schedule ===
{| width=100%
|- valign=top
| width=50% |
==== Monday ====
{{agenda begin}}
{{agenda item|9:30a|Richard}}
{{agenda item|10:00a|Open}}
{{agenda item|10:45a|Seminar prep}}
{{agenda item|11:00a|Seminar}}
{{agenda item|12:15p|Lunch: V&V?}}
{{agenda item|1:30p|Mani Chandy}}
{{agenda item|2:00p|Nok}}
{{agenda item|3:15p|Ling}}
{{agenda item|4:00p|Open}}
{{agenda item|4:45p|Open}}
{{agenda end}}
| width=50% |

==== Tuesday ====
{{agenda begin}}
{{agenda item|9:30a|Open}}
{{agenda item|10:15a|Open}}
{{agenda item|11:00a|Erik Winfree}}
{{agenda item|11:30p|Richard}}
{{agenda item|12:00p|Lunch: biocircuits?}}
{{agenda item|1:30p|Depart for airport}}
{{agenda end}}
|}

=== Abstract ===

TASK-INDUCED REDUCTION WITH APPLICATIONS TO NEEDLE STEERING

Vinutha Kallem<br>
Mechanical Engineering Department<br>
Johns Hopkins University<br>

Monday, April 28, 2008<br>
11:00 AM to 12:00 PM<br>
Steele Bldg. Room 114 (CDS Library)<br>

What if sensitive organs prevents a physician from accessing a percutaneous target using a straight, rigid needle? One promising solution involves steering flexible bevel-tip needles. These needles introduce exciting robotics and control systems challenges because the needle tip evolves on a Lie group, and the system exhibits a high degree of nonholonomy.

In this work, we present image-guided controllers for steerable needles to improve the accuracy of needle insertions. We build upon a previously proposed needle steering model to develop nonlinear observer-based controllers to drive the needle tip to a desired subspace. These controllers are designed to work in conjunction with subspace planners for the needle tip to reach a desired location in human tissue. We show that the tasks of these controllers induces symmetry, thus resulting in a reduced system which greatly simplifies controller and observer design. We propose a method to perform such reductions for generic nonholonomic kinematic systems on Lie groups with left-invariant vector fields. This technique is used to develop controllers for curve-following of a unicycle and subspace-following in needle steering. We show that this "task-induced" reduction lifts to mechanical systems.

Spring 2008 Meeting Schedule

2008-03-27T23:23:20Z

Shiling: /* Fri */

__NOTOC__
Pick a time that works..
{| width=100% border=1
|- valign=top
| width=20% |
==== Mon ====
{{agenda begin}}
{{agenda item|10:00a| Shuo}}
{{agenda item|11:00a| Julia}}
{{agenda item||}}
{{agenda item|5:00p| Yizhar/Sayan}}
{{agenda item|6:00p| Dionysios}}
{{agenda end}}
| width=20% |

==== Tue ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|3:00p| Dom}}
{{agenda item|5:00p| Mary}}
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}
{{agenda end}}
| width=20% |

==== Wed ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|2:00p| John}}
{{agenda item||}}
{{agenda item|5:00p| Johan}}
{{agenda item|6:00p| Open}}
{{agenda end}}
| width=20% |

==== Thu ====
{{agenda begin}}
{{agenda item|9:30a|Elisa}}
{{agenda item||}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|5:00p| Nok}}
{{agenda item|6:00p| Pete}}
{{agenda end}}
| width=20% |

==== Fri ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p|Ling}}
{{agenda item|6:00p|Open}}
{{agenda end}}
|}

Jan/Feb 2008 Meetings

2008-01-27T19:53:48Z

Shiling: /* Tue, 5 Feb */

The list below has times that I am available to meet between 28 Jan and 8 Feb. 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 see if you can switch). __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>
==== Mon, 28 Jan ====
{{agenda begin}}
{{agenda item|9:15a|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}

</td><td width=20%>

==== Tue, 29 Jan ====
{{agenda begin}}
{{agenda item|2:00p|Open}}
{{agenda item|3:00p|Sayan}}
{{agenda end}}
</td><td width=20%>

==== Wed, 30 Jan ====
{{agenda begin}}
{{agenda item|9:15a|Open}}
{{agenda item|10:00a|Dionysios}}
{{agenda end}}
</td><td width=20%>

==== Tue, 5 Feb ====
{{agenda begin}}
{{agenda item|3:00p|Johan}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Ling}}
{{agenda end}}
</td><td width=20%>

==== Wed, 6 Feb ====
{{agenda begin}}
{{agenda item|10:00a|Open}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}

</td></tr>
</table>

SoCal NLC, Jan 08

2008-01-25T00:05:36Z

Shiling: /* Carpooling */

* [http://ee.usc.edu/socalcontrol/ Workshop webpage]

== Carpooling ==

Elisa: leaving 8 am, returning ~5 pm. Can take 3 people
* Passengers: Nok

Richard: leaving 8 am from Steele, returning 12:30 pm. Can take 3 people
* Passengers: Ling

Group Schedule, Winter 2008

2008-01-08T21:41:44Z

Shiling: /* Group Meetings */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=100%
|- valign=top
| width=50% |
* [[Winter 2008 Meeting Schedule]]
| width=50% |
* [[Group Schedule, Fall 2007]]
|}

== Group Meetings ==
Group meetings are on Tuesdays at 6 pm in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).
{| width=100% border=1
|- valign=top
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|8 Jan|No group meeting}}
{{agenda item|15 Jan|Open}}
{{agenda item|22 Jan|Yizhar}}
{{agenda item|29 Jan|Sawyer}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|5 Feb|Open}}
{{agenda item|12 Feb|No group meeting (ICB)}}
{{agenda item|19 Feb|Ling}}
{{agenda item|26 Feb|Mary}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|4 Mar|Shuo}}
{{agenda item|11 Mar|Julia}}
{{agenda item|18 Mar|No group meeting (HYCON)}}
{{agenda item|25 Mar|Pete}}
{{agenda end}}
|}

Group Schedule, Winter 2008

2008-01-08T21:23:58Z

Shiling: /* Group Meetings */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=100%
|- valign=top
| width=50% |
* [[Winter 2008 Meeting Schedule]]
| width=50% |
* [[Group Schedule, Fall 2007]]
|}

== Group Meetings ==
Group meetings are on Tuesdays at 6 pm in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).
{| width=100% border=1
|- valign=top
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|8 Jan|No group meeting}}
{{agenda item|15 Jan|Ling}}
{{agenda item|22 Jan|Yizhar}}
{{agenda item|29 Jan|Sawyer}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|5 Feb|Open}}
{{agenda item|12 Feb|No group meeting (ICB)}}
{{agenda item|19 Feb|Ling}}
{{agenda item|26 Feb|Mary}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|4 Mar|Shuo}}
{{agenda item|11 Mar|Julia}}
{{agenda item|18 Mar|No group meeting (HYCON)}}
{{agenda item|25 Mar|Pete}}
{{agenda end}}
|}

Winter 2008 Meeting Schedule

2008-01-05T19:35:59Z

Shiling: /* Fri */

__NOTOC__
Meetings will start 7 January.
{| width=100% border=1
|- valign=top
| width=20% |
==== Mon ====
{{agenda begin}}
{{agenda item|10:00a| Shuo}}
{{agenda item|11:00a| Julia}}
{{agenda item|3:00p|Open}}
{{agenda item|5:00p| Open}}
{{agenda item|6:00p| Open}}
{{agenda end}}
| width=20% |

==== Tue ====
{{agenda begin}}
{{agenda item|9:30a|Mary}}
{{agenda item||}}
{{agenda item|3:00p| Dom}}
{{agenda item||}}
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}
{{agenda end}}
| width=20% |

==== Wed ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p| Pete}}
{{agenda item|6:00p| Sawyer}}
{{agenda end}}
| width=20% |

==== Thu ====
{{agenda begin}}
{{agenda item|9:30a|Elisa}}
{{agenda item||}}
{{agenda item|3:00p|Open}}
{{agenda item|5:00p| Nok}}
{{agenda item|6:00p| Open}}
{{agenda end}}
| width=20% |

==== Fri ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|6:00p|Ling}}
{{agenda end}}
|}

Winter 2008 Meeting Schedule

2008-01-03T00:58:40Z

Shiling: /* Fri */

__NOTOC__
Meetings will start 7 January.
{| width=100% border=1
|- valign=top
| width=20% |
==== Mon ====
{{agenda begin}}
{{agenda item|10:00a| Shuo}}
{{agenda item|11:00a| Julia}}
{{agenda item||}}
{{agenda item|5:00p| Open}}
{{agenda item|6:00p| Open}}
{{agenda end}}
| width=20% |

==== Tue ====
{{agenda begin}}
{{agenda item|9:30a|Mary}}
{{agenda item||}}
{{agenda item|3:00p| Dom}}
{{agenda item||}}
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}
{{agenda end}}
| width=20% |

==== Wed ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p| Pete}}
{{agenda item|6:00p| Sawyer}}
{{agenda end}}
| width=20% |

==== Thu ====
{{agenda begin}}
{{agenda item|9:30a|Open}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p| Open}}
{{agenda item|6:00p| Open}}
{{agenda end}}
| width=20% |

==== Fri ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|4:00p| Carson}}
{{agenda item|5:00p| Ling}}
{{agenda end}}
|}

Group Schedule, Winter 2008

2008-01-03T00:55:55Z

Shiling: /* Group Meetings */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=100%
|- valign=top
| width=50% |
* [[Winter 2008 Meeting Schedule]]
| width=50% |
* [[Group Schedule, Fall 2007]]
|}

== Group Meetings ==
Group meetings are on Tuesdays at 6 pm in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).
{| width=100% border=1
|- valign=top
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|8 Jan|Open}}
{{agenda item|15 Jan|}}
{{agenda item|22 Jan|Open}}
{{agenda item|29 Jan|Open}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|5 Feb|Open}}
{{agenda item|12 Feb|No group meeting (ICB)}}
{{agenda item|19 Feb|Ling}}
{{agenda item|26 Feb|Mary}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|4 Mar|Shuo}}
{{agenda item|11 Mar|Julia}}
{{agenda item|18 Mar|No group meeting (HYCON)}}
{{agenda item|25 Mar|Pete}}
{{agenda end}}
|}

December 2007 Meetings

2007-12-16T07:44:42Z

Shiling: /* Tue, 18 Dec */

August 2007 Meetings

2007-08-01T21:50:00Z

Shiling: /* Sun, 26 Aug */

The list below has times that I am available to meet between 30 July and 30 August. Please pick two times to meet that work (nominally one in each block) 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 see if you can switch. __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>
==== Fri, 3 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Henrik}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|Ling}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}
</td><td width=25%>

==== Wed, 8 Aug ====
{{agenda begin}}
{{agenda item|1:00p|John}}
{{agenda item|2:00p|Elisa, Per-Ola, Erik ?}}
{{agenda item|5:00p|Waydo}}
{{agenda item|6:00p|Andreas}}
{{agenda end}}
</td><td width=25%>

==== Tue, 14 Aug ====
{{agenda begin}}
{{agenda item|5:00p|Julia}}
{{agenda item|7:00p|Nok}}
{{agenda end}}
</td><td width=25%>

==== Wed, 15 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Melvin}}
{{agenda item|4:00p|Pete}}
{{agenda item|5:00p|Michael}}
{{agenda end}}
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>

==== Mon, 20 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Mary}}
{{agenda item|4:00p|Michael}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}

</td><td width=25%>

==== Tue, 21 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|John}}
{{agenda item|5:00p|Andreas}}
{{agenda end}}

</td><td width=25%>

==== Sun, 26 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Nok}}
{{agenda item|4:00p|Waydo}}
{{agenda item|5:00p|Ling}}
{{agenda end}}

</td><td width=25%>

==== Mon, 27 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Julia}}
{{agenda item|4:00p|Melvin}}
{{agenda item|5:00p|Pete}}
{{agenda end}}

</td></tr>
</table>

August 2007 Meetings

2007-08-01T21:49:46Z

Shiling: /* Mon, 20 Aug */

The list below has times that I am available to meet between 30 July and 30 August. Please pick two times to meet that work (nominally one in each block) 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 see if you can switch. __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>
==== Fri, 3 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Henrik}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|Ling}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}
</td><td width=25%>

==== Wed, 8 Aug ====
{{agenda begin}}
{{agenda item|1:00p|John}}
{{agenda item|2:00p|Elisa, Per-Ola, Erik ?}}
{{agenda item|5:00p|Waydo}}
{{agenda item|6:00p|Andreas}}
{{agenda end}}
</td><td width=25%>

==== Tue, 14 Aug ====
{{agenda begin}}
{{agenda item|5:00p|Julia}}
{{agenda item|7:00p|Nok}}
{{agenda end}}
</td><td width=25%>

==== Wed, 15 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Melvin}}
{{agenda item|4:00p|Pete}}
{{agenda item|5:00p|Michael}}
{{agenda end}}
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>

==== Mon, 20 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Mary}}
{{agenda item|4:00p|Michael}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}

</td><td width=25%>

==== Tue, 21 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|John}}
{{agenda item|5:00p|Andreas}}
{{agenda end}}

</td><td width=25%>

==== Sun, 26 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Nok}}
{{agenda item|4:00p|Waydo}}
{{agenda item|5:00p|Michael}}
{{agenda end}}

</td><td width=25%>

==== Mon, 27 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Julia}}
{{agenda item|4:00p|Melvin}}
{{agenda item|5:00p|Pete}}
{{agenda end}}

</td></tr>
</table>

August 2007 Meetings

2007-07-27T16:34:39Z

Shiling: /* Mon, 20 Aug */

The list below has times that I am available to meet between 30 July and 30 August. Please pick two times to meet that work (nominally one in each block) 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 see if you can switch. __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>
==== Fri, 3 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Henrik}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|Ling}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}
</td><td width=25%>

==== Wed, 8 Aug ====
{{agenda begin}}
{{agenda item|1:00p|Open}}
{{agenda item|2:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=25%>

==== Tue, 14 Aug ====
{{agenda begin}}
{{agenda item|5:00p|Julia}}
{{agenda item|7:00p|Open}}
{{agenda end}}
</td><td width=25%>

==== Wed, 15 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Open}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>

==== Mon, 20 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Mary}}
{{agenda item|4:00p|Ling}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}

</td><td width=25%>

==== Tue, 21 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}

</td><td width=25%>

==== Sun, 26 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Open}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}

</td><td width=25%>

==== Mon, 27 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Julia}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}

</td></tr>
</table>

August 2007 Meetings

2007-07-27T16:33:55Z

Shiling: /* Fri, 3 Aug */

The list below has times that I am available to meet between 30 July and 30 August. Please pick two times to meet that work (nominally one in each block) 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 see if you can switch. __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>
==== Fri, 3 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Henrik}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|Ling}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}
</td><td width=25%>

==== Wed, 8 Aug ====
{{agenda begin}}
{{agenda item|1:00p|Open}}
{{agenda item|2:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=25%>

==== Tue, 14 Aug ====
{{agenda begin}}
{{agenda item|5:00p|Julia}}
{{agenda item|7:00p|Open}}
{{agenda end}}
</td><td width=25%>

==== Wed, 15 Aug ====
{{agenda begin}}
{{agenda item|2:00p|Open}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=25%>

==== Mon, 20 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Mary}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Elisa}}
{{agenda end}}

</td><td width=25%>

==== Tue, 21 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Sawyer}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}

</td><td width=25%>

==== Sun, 26 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Open}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}

</td><td width=25%>

==== Mon, 27 Aug ====
{{agenda begin}}
{{agenda item|3:00p|Julia}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}

</td></tr>
</table>

Group Schedule, Summer 2007

2007-06-03T18:17:06Z

Shiling: /* Group Meetings */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=100%
|- valign=top
| width=50% |
* [[June 2007 Meetings]]
* [[Summer 2007 Meeting Schedule]]
| width=50% |
* [[Group Schedule, Spring 2007]]
|}

== Group Meetings ==
Group meetings are on Tuesdays at 6 pm in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).
{| width=100% border=1
|- valign=top
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|12 Jun|No group meeting (DGC)}}
{{agenda item|19 Jun|Open}}
{{agenda item|26 June|Open}}
{{agenda item|3 Jul|Open}}
{{agenda item|10 Jul|No group meeting (ACC)}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|17 Jul|Ling}}
{{agenda item|24 Jul|Tim}}
{{agenda item|31 Jul|Mary}}
{{agenda item|7 Aug|No group meeting (AFOSR)}}
{{agenda item|14 Aug|Waydo}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|21 Aug|Nok}}
{{agenda item|28 Aug|No group meeting (travel)}}
{{agenda item|4 Sep|Julia}}
{{agenda item|11 Sep|Dom}}
{{agenda item|18 Sep|Michael}}
{{agenda end}}
|}

June 2007 Meetings

2007-06-03T18:06:07Z

Shiling: /* Wed, 13 Jun */

The list below has times that I am available to meet between 4 June and 15 June. 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 see if you can switch). __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>
==== Mon, 4 Jun ====
Travel
</td><td width=20%>
==== Tue, 5 Jun ====
{{agenda begin}}
{{agenda item|4:00p|Tamas}}
{{agenda item|4:30p|Michael}}
{{agenda item|5:00p|Melvin}}
{{agenda end}}
</td><td width=20%>

==== Wed, 6 June ====
{{agenda begin}}
{{agenda item|5:00p|Tim}}
{{agenda item|6:00p|Dom}}
{{agenda end}}
</td><td width=20%>

==== Thu, 7 Jun ====
{{agenda begin}}
{{agenda item|3:00p|Elisa}}
{{agenda item|4:00p|Waydo}}
{{agenda item|5:00p|Julia}}
{{agenda end}}
</td><td width=20%>

==== Fri, 8 Jun ====
Commencement
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>

==== Mon, 11 Jun ====
DARPA preparations

</td><td width=20%>

==== Tue, 12 Jun ====
DARPA Site Visit
* Morning: demos at Santa Anita, north lot
* Afternoon: DARPA site visit

No group meeting
</td><td width=20%>

==== Wed, 13 Jun ====
{{agenda begin}}
{{agenda item|9:00a|DGC SURF <br> + Nok, Sam, Noel}}
{{agenda item|10:00a|Synbio SURF <br>+ Mary, Elisa}}
{{agenda item||}}
{{agenda item|4:00p|Henrik}}
{{agenda item|5:00p|Ling}}
{{agenda end}}
</td><td width=20%>

==== Thu, 14 Jun ====
{{agenda begin}}
{{agenda item|2:00p|Mary}}
{{agenda item|3:00p|Stefano}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Fri, 15 Jun ====
Travel
</td></tr>
</table>

Lars Blackmore May 2007

2007-05-09T01:04:45Z

Shiling: /* Friday */

This page is the agenda for the visit by Lars Blackmore from MIT.

== Thursday ==

* Arrive at Caltech around 2 pm
* DARPA Grand Challenge review 2-6 pm
* Dinner: _________

== Friday ==

* 9:00: Open
* 9:45: Open
* 10:30: Ling & Mike
* 11:15: Open
* Lunch: Open
* 1:00-3:00: Presentation and discussion
* 3:00-5:00: Open time (will work out based on presentation)

April 2007 Meetings

2007-04-23T19:01:17Z

Shiling: /* Mon, 30 Apr */

The list below has times that I am available to meet between 15 and 30 April. 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). __NOTOC__

I will be travelling from 1-9 May and then catching up on 10-11 May, so the next set of meetings after the block below will be the week of 14 May.

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>
==== Sun, 15 Apr ====
{{agenda begin}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Mon, 16 Apr ====
{{agenda begin}}
{{agenda item|10:30a|Pete}}
{{agenda item|11:30a|Henrik (30m)}}
{{agenda item|6:30p|Tim}}
{{agenda end}}
</td><td width=20%>

==== Tue, 17 April ====
{{agenda begin}}
{{agenda item|10:00a|Melvin}}
{{agenda item|11:00a|Stefano}}
{{agenda item|2:00p|Ling}}
{{agenda item|7:00p|Mike}}
{{agenda item|8:00p|Open (45m)}}
{{agenda end}}
</td><td width=20%>

==== Wed-Fri ====
Princeton
</td><td width=20%>

==== Sun, 22 Apr ====
{{agenda begin}}
{{agenda item|3:00p|Danielle}}
{{agenda item|4:00p|Nok}}
{{agenda item|5:00p|Zhipu}}
{{agenda item|6:00p|Maryam?}}
{{agenda end}}
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>

==== Mon, 23 Apr ====
{{agenda begin}}
{{agenda item|10:30a|John}}
{{agenda item|11:30a|Julia}}
{{agenda item|1:30p|Mary}}
{{agenda item|2:30p|Elisa}}
{{agenda end}}
</td><td width=20%>

==== Tue-Thu ====
Cornell
</td><td width=20%>

==== Fri, 27 Apr ====
{{agenda begin}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Sun, 29 Apr ====
{{agenda begin}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Mon, 30 Apr ====
{{agenda begin}}
{{agenda item|10:30a|Julia}}
{{agenda item|11:30a|Henrik}}
{{agenda item|3:00p|Mary, Elisa}}
{{agenda item|6:30p|Ling}}
{{agenda end}}
</td></tr>
</table>
-->

April 2007 Meetings

2007-04-18T00:01:04Z

Shiling: /* Mon, 30 Apr */

The list below has times that I am available to meet between 15 and 22 April. 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). __NOTOC__

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>
==== Sun, 15 Apr ====
{{agenda begin}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Mon, 16 Apr ====
{{agenda begin}}
{{agenda item|10:30a|Pete}}
{{agenda item|11:30a|Henrik (30m)}}
{{agenda item|6:30p|Tim}}
{{agenda end}}
</td><td width=20%>

==== Tue, 17 April ====
{{agenda begin}}
{{agenda item|10:00a|Melvin}}
{{agenda item|11:00a|Stefano}}
{{agenda item|2:00p|Ling}}
{{agenda item|7:00p|Mike}}
{{agenda item|8:00p|Open (45m)}}
{{agenda end}}
</td><td width=20%>

==== Wed-Fri ====
Princeton
</td><td width=20%>

==== Sun, 22 Apr ====
{{agenda begin}}
{{agenda item|3:00p|Open}}
{{agenda item|4:00p|Nok}}
{{agenda item|5:00p|Zhipu}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td></tr>
</table>

<br>
<table width=100% border=1>
<tr valign=top><td width=20%>

==== Mon, 23 Apr ====
{{agenda begin}}
{{agenda item|10:30a|John}}
{{agenda item|11:00a|Julia (30 min)}}
{{agenda item|1:30p|Mary}}
{{agenda item|2:30p|Elisa}}
{{agenda end}}
</td><td width=20%>

==== Tue-Thu ====
Cornell
</td><td width=20%>

==== Fri, 27 Apr ====
{{agenda begin}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Sun, 29 Apr ====
{{agenda begin}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td><td width=20%>

==== Mon, 30 Apr ====
{{agenda begin}}
{{agenda item|10:30a|Julia}}
{{agenda item|11:30a|Open}}
{{agenda item|1:00p|Open}}
{{agenda item|2:00p|Ling}}
{{agenda item|3:00p|Mary, Elisa}}
{{agenda item|6:30p|Open}}
{{agenda end}}
</td></tr>
</table>
-->

March 2007 Meetings

2007-03-03T06:14:36Z

Shiling: /* Monday, 5 March */

The list below has times that I am available to meet between 5 and 16 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; if we need to meet a second time we can arrange that separately. __NOTOC__

<table width=100% border=1>
<tr valign=top><td>
==== Monday, 5 March ====
{{agenda begin}}
{{agenda item|3:00p|Open}}
{{agenda item|4:00p|Ling}}
{{agenda end}}
</td><td>

==== Tuesday, 6 March ====
{{agenda begin}}
{{agenda item|3:00p|Open}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Zhipu}}
{{agenda end}}
</td><td>

==== Wednesday, 7 March ====
{{agenda begin}}
{{agenda item|12:00p|Julia}}
{{agenda end}}
</td><td>

==== Sunday, 11 Mar ====
{{agenda begin}}
{{agenda item|4:00p|Open}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td></tr>
</table>

<br>

<table width=100% border=1>
<tr valign=top><td>

==== Monday, 12 Mar ====
{{agenda begin}}
{{agenda item|9:30a|Mary}}
{{agenda item|10:30a|Open}}
{{agenda end}}
</td><td>

==== Wednesday, 14 Mar ====
{{agenda begin}}
{{agenda item|3:30p|Open}}
{{agenda item|4:30p|Open}}
{{agenda item|5:30p|Melvin}}
{{agenda end}}
</td><td>

==== Thursday, 15 Mar ====
{{agenda begin}}
{{agenda item|6:00p|Open}}
{{agenda item|7:00p|Open}}
{{agenda end}}
</td><td>

==== Friday, 16 Mar ====
{{agenda begin}}
{{agenda item|6:00p|Open}}
{{agenda end}}
</td></tr></table>

Group Schedule, Winter 2007

2007-01-10T20:48:31Z

Shiling: /* Group Meetings */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=100%
|- valign=top
| width=50% |
* [[Winter 2007 Meeting Schedule]]
* [[Yosemite Trip - Winter 2007]]
| width=50% |
* [[Group Schedule, Fall 2006]]
|}

== Group Meetings ==
Group meetings are on Tuesdays at 6 pm in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).
{| width=100% border=1
|- valign=top
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|9 Jan|Ben Recht}}
{{agenda item|16 Jan|Aaron Ames}}
{{agenda item|23 Jan|}}
{{agenda item|30 Jan|No group meeting}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|6 Feb|No group meeting}}
{{agenda item|13 Feb|}}
{{agenda item|20 Feb|}}
{{agenda item|27 Feb| Ling}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|6 Mar| Elisa Franco}}
{{agenda item|13 Mar|No group meeting}}
{{agenda item|20 Mar|No group meeting}}
{{agenda end}}
|}

== Conferences ==

{| border=1
{{conference|'''Date'''|'''Conference'''|'''Location'''|'''Submissions'''|'''Final Paper'''}}
|}

Winter 2007 Meeting Schedule

2007-01-01T23:03:29Z

Shiling: /* Wed */

__NOTOC__
{| width=100% border=1
|- valign=top
|
==== Mon ====
{{agenda begin}}
{{agenda item|10:00a| Open }}
{{agenda item|11:00a| Open }}
{{agenda end}}
|
==== Tue ====
{{agenda begin}}
{{agenda item|10:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|2:00p| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}
{{agenda item|7:00p| Open }}
{{agenda end}}
|
==== Wed ====
{{agenda begin}}
{{agenda item|10:00a| Julia }}
{{agenda item|11:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p| Ling }}
{{agenda item|6:00p| Open }}
{{agenda end}}
|

==== Thu ====
{{agenda begin}}
{{agenda item|10:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|2:00p| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p| Open }}
{{agenda item|6:00p| Open }}
{{agenda end}}
|
==== Fri ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|11:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|3:00p| Open }}
{{agenda item|4:00p| Open }}
{{agenda end}}
|}

SoCal NLC Carpool 2006-11-10

2006-11-09T00:44:58Z

Shiling: /* 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://www.ee.ucr.edu/~pfu/SCNCW/ Workshop homepage]

==== Driving out to Riverside ====

{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 11:00 am
| Richard Murray
| 4 people total:
* Richard Murray
* Ling
|}

==== Returning to Pasadena ====

{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 5:45 pm
| Richard Murray
| 4 people total:
* Richard Murray
* Ling
|}

SoCal NLC Carpool 2006-11-10

2006-11-09T00:44:43Z

Shiling: /* Driving out to Riverside */

CDS 101/110a, Fall 2006 - Recitation Schedule

2006-10-30T05:34:46Z

Shiling:

{{cds101-fa06}}
Recitations will start the week of Oct 2nd.
All students should attend one recitation per week.

* Wed 8-9 pm, 102 Steele (Laura/Richard) - Course project recitation
* Thurs 2-3 pm, 110 Steele (Elisa)
* Fri 4-5 pm, 110 Steele (Ling)

Problem 2 -- Missing parameter

2006-10-17T22:23:48Z

Shiling:

There's a missing parameter J = 0.006 kg m^2 for problem 2 in homework 4. Without this, you cannot run the simulation model.

--[[User:Ling|Ling Shi]] 3:23 pm, 17 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Homework 4]]

CDS 101/110a, Fall 2006 - FAQ

2006-10-17T22:20:22Z

Shiling:

{{cds101-fa06}} __NOTOC__
This page contains frequently asked questions for [[CDS 101|CDS 101/110]]. You can find FAQs for individual lectures and homework sets on the topics page for each week, available via the [[CDS 101/110a, Fall 2006 - Course Schedule|course schedule]].

== Week 1 ==
<ncl>CDS 101/110 FAQ - Lecture 1-1</ncl>
<ncl>CDS 101/110 FAQ - Lecture 1-2</ncl>
<ncl>CDS 101/110 FAQ - Lecture 1-3</ncl>
<ncl>CDS 101/110 FAQ - Homework 1</ncl>

== Week 2 ==
<ncl>CDS 101/110 FAQ - Lecture 2-1</ncl>
<ncl>CDS 101/110 FAQ - Lecture 2-2</ncl>
<ncl>CDS 101/110 FAQ - Lecture 2-3</ncl>
<ncl>CDS 101/110 FAQ - Homework 2</ncl>

== Week 3 ==
<ncl>CDS 101/110 FAQ - Lecture 3-1</ncl>
<ncl>CDS 101/110 FAQ - Lecture 3-2</ncl>
<ncl>CDS 101/110 FAQ - Lecture 3-3</ncl>
<ncl>CDS 101/110 FAQ - Homework 3</ncl>

== Week 4 ==
<ncl>CDS 101/110 FAQ - Lecture 4-1</ncl>
<ncl>CDS 101/110 FAQ - Lecture 4-2</ncl>
<ncl>CDS 101/110 FAQ - Lecture 4-3</ncl>
<ncl>CDS 101/110 FAQ - Homework 4</ncl>

Has a stable system a stable eq. point? a limit cycle?

2006-10-10T01:11:41Z

Shiling:

Q: Has a stable system a stable eq. point? a limit cycle?

A: Normally you first find the eq. point of a system and then you determine whether those eq. points are stable or not. You should not in general call a system stable or unstable if it has multiple eq. points and the stability should be with respect to the eq. point. Limit cycle is a property of the system dynamics and is not a concept related to eq. points. It doesn't make sense to say an eq. point has a limit cycle or not.

--[[User:Ling|Ling Shi]] 6:10 pm, 9 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 3-1]]

What is a stable system?

2006-10-10T01:00:24Z

Shiling:

Q: What is a stable system?

A: Depending on what kind of stability you specify, a stable system has different meanings. For asymptotic stability, it means all nearby initial conditions converge to the equilibrium point. For simply stability, it means that all nearby initial conditions remain nearby of an equilibrium point.

--[[User:Ling|Ling Shi]] 5:59 pm, 9 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 3-1]]

What is "closed form"?

2006-10-10T00:45:41Z

Shiling:

Q: What is "closed form"?

A: Suppose that you have two varibles x, y (similar for cases where you have more variables) and they are related by f(x, y) = 0. When it is possible to express x purely in terms of y, it is called closed form. For example, y^2 + sin(xy) = 0; You can find closed form solution for x in terms of y, but not y in terms of x.

--[[User:Ling|Ling Shi]] 5:44pm, 9 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 3-1]]

In Wed's lecture slide no.13, why does the block "Drag Aerodynamics" connected to the summation and to the vision system?

2006-10-04T22:42:24Z

Shiling:

Q: In Wed's lecture slide no.13, why does the block "Drag Aerodynamics" connected to the summation and to the vision system?

A: I'm not an expert for this system and I think Mary should give a better answer to this question. She's out of town today, so she'll get back to this question by tomorow morning. Please watch for answer by that time. Sorry for the late response.

--[[User:Ling|Ling Shi]] 3:41pm, 4 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 2-2]]

What is h in slide no. 6 of Wed's lecture?

2006-10-04T22:36:58Z

Shiling:

Q: What is h in slide no.6 of Wed's lecture?

A: h is the step size which corresponds to the epsilon in the first equation.

--[[User:Ling|Ling Shi]] 3:37pm, 4 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 2-2]]

How is the Internet a feedback system?

2006-10-03T18:52:06Z

Shiling:

Q: How is the Internet a feedback system?

A: The Internet we use today has a hierarchical structure that most applications are built on top of layered protocol stacks. The applications include e-mails, file transfers, remote log in, web browsing and etc. The simplified five layers include the application layer,
transport layer, network layer, link layer and physical layer. Feedback theory is widely used by those protocols to achieve certain performance. For example, congestion control protocols (in the network layer) aim to provide efficient and fair utilization of the network bandwidth.
In the Internet most 1-to-1 communication sessions' congestion control use Transmission Control Protocol (TCP) [1]. TCP limits the amount of transmitted but not yet acknowledged data and it consists of two major components:
1. A feedback component notifies a transmitting entity about the current status of congestion of the network.
2. Based on this feedback information, an adjustment algorithm (for example, additive increase and multiplicative decrease) regulates the transmission.

For a detailed description of how TCP works, please see [1] below.

[1] http://en.wikipedia.org/wiki/TCP/IP

--[[User:Ling|Ling Shi]] 11:37am, 3 Oct 2006 (PDT)

(Sorry for the late response, but I got the problem just now due to the busy schedule of
another TA who was supposed to answered the problem yesterday).

[[Category:CDS 101/110 FAQ - Lecture 2-1]]

Problem 3 -- Does "output get smaller as k gets larger" mean it gets more negative or more closer to zero?

2006-10-03T07:21:45Z

Shiling:

Q: Problem 3 -- Does "output get smaller as k gets larger" mean it gets more negative or more closer to zero?

A: Yes, it means the output gets closer to zero rather than gets more negative.

--[[User:Ling|Ling Shi]] 4:18pm, 2 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Homework 2]]

What's the difference between control "over" network and control "of" network?

2006-10-02T23:31:45Z

Shiling:

Control "over" the network means the feedback control loop is closed via the network. It studies the closed loop system performance subject to the available network resources. This is now so called "Networked Control Systems". Classical control theory (the material you will learn throughout the class) assumes perfect information flow from the sensor to the controller and from the controller to the actuator, ie, there is no delay and full information is transmitted and received and so on. However, this is not true in the Networked Control Systems. Due to the network uncertainty, data packets can be delayed, dropped or reordered which make closed loop control very different from the classical feedback control.

Control "of" the network on the other hand studies the network itself, for example, how to make the flow of packets smooth, how to maximize the network throughput, how to minimize the jitter in the network, how to minimize the packet drops and so on.

--[[User:Ling|Ling Shi]] 4:18pm, 2 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 2-1]]

What's the difference between control "over" network and control "of" network?

2006-10-02T23:19:34Z

Shiling:

Control "over" the network means the feedback control loop is closed via the network. It studies the closed loop system performance subject to the available network resources. This is now so called "Networked Control Systems". Classical control theory (the material you will learn throughout the class) assumes perfect information flow from the sensor to the controller and from the controller to the actuator, ie, there is no delay and full information is transmitted and received and so on. However, this is not true in the Networked Control Systems. Due to the network uncertainty, data packets can be delayed, dropped or reordered which make closed loop control very different from the classical feedback control.

Control "of" the network on the other hand studied the network itself, for example, how to make the flow of packet smooth, how to maximize the network throughput, how to minimize the jitter in the network, how to minimize the packet drops and so on.

--[[User:Ling|Ling Shi]] 4:18pm, 2 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 2-1]]

Murray.cds:Searching

2006-10-02T23:16:18Z

Shiling:

Murray.cds:Searching

2006-10-02T23:04:54Z

Shiling:

Control "over" the network means the feedback control loop is closed via the network. It studies the closed loop system performance subject to the available network resources . This is now so called "Networked Control Systems". Classical control theory (the material you will learn throughout the class) assumes perfect information flow from the sensor to the controller and from the controller to the actuator, ie, there is no delay and full information is transmitted and received and so on. However, this is not true in the Networked Control Systems. Due to the network uncertainty, data packets can be delayed, dropped or reordered which make closed loop control very different from the classical feedback control.

Control "of" the network on the other hand studied the network itself, for example, how to make the flow of packet smooth, how to maximize the network throughput, how to minimize the jitter in the network, how to minimize the packet drops and so on.

--[[User:Ling|Ling Shi]] 4:02pm, 2 Oct 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 2-1]]

How are stability, performance, and robustness different? They seem very similar

2006-09-26T05:57:51Z

Shiling:

"How are stability, performance, and robustness different? They seem very similar."

1. For dynamical systems, stability is perhaps the most important thing we want to make sure on top of all other requirements (performances). There are lots of different definitions of stability depending on different contexts as you go through the course. Roughly speaking, it means that the state of a dynamical system is always near some point (the equilibrium point). Performances are usually extra requirements on top of the stability which are in general design and application specific. Robustness comes to the analysis when we have to consider uncertain factors in designing the controller. Let's take the inverted pendulum for an example (see figure below if you haven't seen the inverted pendulum before).
[[Image:Anim_pend.gif]]

Stability: the controller you shall design has to make sure that the pendulum never falls down.

Performance 1: the controller you shall design has to move the pendulum to the vertical position from another position in minimum time.
Or Performance 2: the controller you shall design has to move the pendulum to the vertical position from another position with minimum energy.

(notice that performance 1 and 2 are in general contradicting objectives, that is you cannot in general design a controller that moves the pendulum to the vertical position with minimum time and using minimum energy)

Robustness 1: suppose the pendulum is put outside your lab where there's some wind. the controller you shall design has to take the wind into consideration and has to make sure it never falls down.

Robustness 2: there's some error in your measurement about the length of the pendulum (but you know that the error should be within 0.01cm). the controller you shall design has to take this error term into consideration and has to make sure it never falls down.

--[[User:Ling|Ling Shi]] 7:36pm, 25 September 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 1-1]]

How are stability, performance, and robustness different? They seem very similar

2006-09-26T05:57:29Z

Shiling:

"How are stability, performance, and robustness different? They seem very similar."

1. For dynamical systems, stability is perhaps the most important thing we want to make sure on top of all other requirements (performances). There are lots of different definitions of stability depending on different contexts as you go through the course. Roughly speaking, it means that the state of a dynamical system is always near some point (the equilibrium point). Performances are usually extra requirements on top of the stability which are in general design and application specific. Robustness comes to the analysis when we have to consider uncertain factors in designing the controller. Let's take the inverted pendulum for an example (see figure below if you haven't seen the inverted pendulum before).

[[Image:Anim_pend.gif]]

Stability: the controller you shall design has to make sure that the pendulum never falls down.

Performance 1: the controller you shall design has to move the pendulum to the vertical position from another position in minimum time.
Or Performance 2: the controller you shall design has to move the pendulum to the vertical position from another position with minimum energy.

(notice that performance 1 and 2 are in general contradicting objectives, that is you cannot in general design a controller that moves the pendulum to the vertical position with minimum time and using minimum energy)

Robustness 1: suppose the pendulum is put outside your lab where there's some wind. the controller you shall design has to take the wind into consideration and has to make sure it never falls down.

Robustness 2: there's some error in your measurement about the length of the pendulum (but you know that the error should be within 0.01cm). the controller you shall design has to take this error term into consideration and has to make sure it never falls down.

--[[User:Ling|Ling Shi]] 7:36pm, 25 September 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 1-1]]

How are stability, performance, and robustness different? They seem very similar

2006-09-26T05:56:38Z

Shiling:

"How are stability, performance, and robustness different? They seem very similar."

1. For dynamical systems, stability is perhaps the most important thing we want to make sure on top of all other requirements (performances). There are lots of different definitions of stability depending on different contexts as you go through the course. Roughly speaking, it means that the state of a dynamical system is always near some point (the equilibrium point). Performances are usually extra requirements on top of the stability which are in general design and application specific. Robustness comes to the analysis when we have to consider uncertain factors in designing the controller. Let's take the inverted pendulum for an example. [[Image:Anim_pend.gif]]

Stability: the controller you shall design has to make sure that the pendulum never falls down.

Performance 1: the controller you shall design has to move the pendulum to the vertical position from another position in minimum time.
Or Performance 2: the controller you shall design has to move the pendulum to the vertical position from another position with minimum energy.

(notice that performance 1 and 2 are in general contradicting objectives, that is you cannot in general design a controller that moves the pendulum to the vertical position with minimum time and using minimum energy)

Robustness 1: suppose the pendulum is put outside your lab where there's some wind. the controller you shall design has to take the wind into consideration and has to make sure it never falls down.

Robustness 2: there's some error in your measurement about the length of the pendulum (but you know that the error should be within 0.01cm). the controller you shall design has to take this error term into consideration and has to make sure it never falls down.

--[[User:Ling|Ling Shi]] 7:36pm, 25 September 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 1-1]]

File:Anim pend.gif

2006-09-26T05:55:00Z

Shiling:

How are stability, performance, and robustness different? They seem very similar

2006-09-26T05:35:31Z

Shiling:

"How are stability, performance, and robustness different? They seem very similar."

1. For dynamical systems, stability is perhaps the most important thing we want to make sure on top of all other requirements (performances). There are lots of different definitions of stability depending on different contexts as you go through the course. Roughly speaking, it means that the state of a dynamical system is always near some point (the equilibrium point). Performances are usually extra requirements on top of the stability which are in general design and application specific. Robustness comes to the analysis when we have to consider uncertain factors in designing the controller. Let's take the inverted pendulum for an example.

Stability: the controller you shall design has to make sure that the pendulum never falls down.

Performance 1: the controller you shall design has to move the pendulum to the vertical position from another position in minimum time.
Or Performance 2: the controller you shall design has to move the pendulum to the vertical position from another position with minimum energy.

(notice that performance 1 and 2 are in general contradicting objectives, that is you cannot in general design a controller that moves the pendulum to the vertical position with minimum time and using minimum energy)

Robustness 1: suppose the pendulum is put outside your lab where there's some wind. the controller you shall design has to take the wind into consideration and has to make sure it never falls down.

Robustness 2: there's some error in your measurement about the length of the pendulum (but you know that the error should be within 0.01cm). the controller you shall design has to take this error term into consideration and has to make sure it never falls down.

--[[User:Ling|Ling Shi]] 7:36pm, 25 September 2006 (PDT)

[[Category:CDS 101/110 FAQ - Lecture 1-1]]

How are stability, performance, and robustness different? They seem very similar

2006-09-26T02:41:38Z

Shiling:

"How are stability, performance, and robustness different? They seem very similar."

1. For dynamical systems, stability is perhaps the most important thing we want to make sure on top of all other requirements (performances). There are lots of different definitions of stability depending on different contexts as you go through the course. Roughly speaking, it means that the state of a dynamical system is always near some point (the equilibrium point). Performances are usually extra requirements on top of the stability which are in general design and application specific. Robustness comes to the analysis when we have to consider uncertain factors in designing the controller. Let's take the inverted pendulum for an example.

Stability: the controller you shall design has to make sure that the pendulum never falls down.

Performance 1: the controller you shall design has to move the pendulum to the vertical position from another position in minimum time.
Or Performance 2: the controller you shall design has to move the pendulum to the vertical position from another position with minimum energy.

(notice that performance 1 and 2 are in general contradicting objectives, that is you cannot in general design a controller that moves the pendulum to the vertical position with minimum time and using minimum energy)

Robustness 1: suppose the pendulum is put outside your lab where there's some wind. the controller you shall design has to take the wind into consideration and has to make sure it never falls down.

Robustness 2: there's some error in your measurement about the length of the pendulum (but you know that the error should be within 0.01cm). the controller you shall design has to take this error term into consideration and has to make sure it never falls down.

Ling 7:36pm Sept 25th 2006

[[Category:CDS 101/110 FAQ - Lecture 1-1]]

How are stability, performance, and robustness different? They seem very similar

2006-09-26T02:37:06Z

Shiling:

"How are stability, performance, and robustness different? They seem very similar."

1. For dynamical systems, stability is perhaps the most important thing we want to make sure on top of all other requirements (performances). There are lots of different definitions of stability depending on different contexts as you go through the course. Roughly speaking, it means that the state of a dynamical system is always near some point (the equilibrium point). Performances are usually extra requirements on top of the stability which are in general design and application specific. Robustness comes to the analysis when we have to consider uncertain factors in designing the controller. Let's take the inverted pendulum for an example.

Stability: the controller you shall design has to make sure that the pendulum never falls down.

Performance 1: the controller you shall design has to move the pendulum to the vertical position from another position in minimum time.
Or Performance 2: the controller you shall design has to move the pendulum to the vertical position from another position with minimum energy.

(notice that performance 1 and 2 are in general contradicting objectives, that is you cannot in general design a controller with minimum time and using minimum energy)

Robustness 1: suppose the pendulum is put outside your lab where there's some wind. the controller you shall design has to take the wind into consideration and has to make sure it never falls down.

Robustness 2: there's some error in your measurement about the length of the pendulum (but you know that the error should be within 0.01cm). the controller you shall design has to take this error term into consideration and has to make sure it never falls down.

Ling 7:36pm Sept 25th 2006

[[Category:CDS 101/110 FAQ - Lecture 1-1]]

How are stability, performance, and robustness different? They seem very similar

2006-09-26T02:36:49Z

Shiling:

"How are stability, performance, and robustness different? They seem very similar."

1. For dynamical systems, stability is perhaps the most important thing we want to make sure on top of all other requirements (performances). There are lots of different definitions of stability depending on different contexts as you go through the course. Roughly speaking, it means that the state of a dynamical system is always near some point (the equilibrium point). Performances are usually extra requirements on top of the stability which are in general design and application specific. Robustness comes to the analysis when we have to consider uncertain factors in designing the controller. Let's take the inverted pendulum for an example.

Stability: the controller you shall design has to make sure that it never falls down.

Performance 1: the controller you shall design has to move the pendulum to the vertical position from another position in minimum time.
Or Performance 2: the controller you shall design has to move the pendulum to the vertical position from another position with minimum energy.

(notice that performance 1 and 2 are in general contradicting objectives, that is you cannot in general design a controller with minimum time and using minimum energy)

Robustness 1: suppose the pendulum is put outside your lab where there's some wind. the controller you shall design has to take the wind into consideration and has to make sure it never falls down.

Robustness 2: there's some error in your measurement about the length of the pendulum (but you know that the error should be within 0.01cm). the controller you shall design has to take this error term into consideration and has to make sure it never falls down.

Ling 7:36pm Sept 25th 2006

[[Category:CDS 101/110 FAQ - Lecture 1-1]]