Murray Wiki - User contributions [en]

Group Schedule, Summer 2015

2015-09-18T23:39:59Z

Slivings: /* Week 15: 21 Sep - 25 Sep */

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 2015]]
|}

The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:

:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 213 ANB
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 243 ANB
|}

{| width=100% border=1

|- valign=top
| width=25% |
=== Week 1: 15 Jun - 19 Jun ===
'''Biocircuits: 15 Jun (Mon), 10a-12p'''
* Yutaka Hori (long)
* Abel Chiao (short)
'''NCS: 17 Jun (Wed), 10:30a-12p'''
* Vasu Raman (main)
* Open (short)
<hr>
* TX-TL workshop, Tue-Fri
| width=25% |

=== Week 2: 22 Jun - 26 Jun ===
'''Biocircuits: 23 Jun (Tue), 10a-12p'''
* Ania Baetica (long)
* Anandh Swaminathan (short)
'''NCS: 24 Jun (Wed), 10:30a-12p'''
* Cat McGhan (main)
* Sumanth Dathathri (short)

| width=25% |

=== Week 3: 29 Jun - 3 Jul ===
'''Biocircuits: 29 Jun (Mon), 10a-12p'''
* Victoria Hsiao (long)
* Anu Thubagere (short)
'''NCS: 29 Jun (Mon), 1:30p-3p'''
* Tony Fragoso (main)
* Cat McGhan (short)
<hr>
* Richard out of town, Tue-Fri (ACC)

|- valign=top
| width=25% |

=== Week 4: 6 Jul - 12 Jul ===
'''Biocircuits: 10 Jul (Fri), 10a-12p'''
* Shaunak Sen (long)
* Emzo de los Santos (short)
'''NCS: 10 Jul (Fri), 1:30p-3p'''
* Scott Livingston
* Open (short)
<hr>
* Richard out of town, Mon-Thu
* Biocircuits lab cleanup, Thursday @ 10 am

| width=25% |

=== Week 5: 13 Jul - 17 Jul ===
'''Biocircuits: 16 Jul (Thu), 10a-12p 114 Steele'''
* Vipul Singhal (long)
* Zach Sun (short)
'''NCS: 17 Jul (Fri), 10:30a-12p'''
* Jiangang Li (main)
* Open (short)

| width=25% |

=== Week 6: 20 Jul - 24 Jul ===
* Richard out of town Mon-Fri (China)

|- valign=top
| width=25% |

=== Week 7: 27 Jul - 31 Jul ===
* Richard out of town Mon-Fri (China)

| width=25% |

=== Week 8: 3 Aug - 7 Aug ===
'''Biocircuits: 4 Aug (Tue), 10a-12p'''
* Enoch Yeung (long)
* Seung Lee (short)
'''NCS: 5 Aug (Wed), 10:30a-12p'''
* Ivan Papusha (main)
* Anthony Gong (short)

| width=25% |

=== Week 9: 10 Aug - 14 Aug ===
'''Biocircuits: 11 Aug (Tue), 10a-12p'''
* Yong Wu (long)
* Ron Pereira (short)
'''NCS: 12 Aug (Wed), 10:30a-12p'''
* Daniel Naftalovich
* Scott C.L. (short)

|- valign=top
| width=25% |

=== Week 10: 17 Aug - 21 Aug ===
* RMM out of town Mon-Fri (ISAT)
* Biocircuits lab cleanup, Tue @ 10 am
| width=25% |

=== Week 11: 24 Aug - 28 Aug ===
* RMM out of town Mon-Fri (Sweden)
| width=25% |

=== Week 12: 31 Aug - 4 Sep ===
'''Biocircuits: 1 Sep (Tue), 10a-12p'''
* Open (long)
* Shaobin Guo (short)
'''NCS: 1 Sep (Tue), 1:30p-3p'''
* Samira Farahani
* Ioannis Filippidis

|- valign=top
| width=25% |

=== Week 13: 7 Sep - 11 Sep ===
'''Biocircuits: 8 Sep (Tue), 10a-12p'''
* Annual lab safety briefing (Dora Gosen)
* Clare Hayes (short)
'''NCS: 8 Sep (Tue), 12:15-1:15p, 110 STL'''
* Ioannis Filippidis (main)

| width=25% |

=== Week 14: 14 Sep - 18 Sep ===
* RMM out of town, Mon-Fri (vacation)

| width=25% |

=== Week 15: 21 Sep - 25 Sep ===
'''NCS: 24 Sep (Thu), 11:30a-1p'''
* Benson Christalin
* open (short)
'''Biocircuits: 23 Sep (Wed), 3:30p-5:30p'''
* James Parkin (short)
* Sean Sanchez (short)
|}

Group Schedule, Summer 2015

2015-08-26T21:35:16Z

Slivings: /* Week 15: 21 Sep - 25 Sep */

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 2015]]
|}

The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:

:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 213 ANB
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 243 ANB
|}

{| width=100% border=1

|- valign=top
| width=25% |
=== Week 1: 15 Jun - 19 Jun ===
'''Biocircuits: 15 Jun (Mon), 10a-12p'''
* Yutaka Hori (long)
* Abel Chiao (short)
'''NCS: 17 Jun (Wed), 10:30a-12p'''
* Vasu Raman (main)
* Open (short)
<hr>
* TX-TL workshop, Tue-Fri
| width=25% |

=== Week 2: 22 Jun - 26 Jun ===
'''Biocircuits: 23 Jun (Tue), 10a-12p'''
* Ania Baetica (long)
* Anandh Swaminathan (short)
'''NCS: 24 Jun (Wed), 10:30a-12p'''
* Cat McGhan (main)
* Sumanth Dathathri (short)

| width=25% |

=== Week 3: 29 Jun - 3 Jul ===
'''Biocircuits: 29 Jun (Mon), 10a-12p'''
* Victoria Hsiao (long)
* Anu Thubagere (short)
'''NCS: 29 Jun (Mon), 1:30p-3p'''
* Tony Fragoso (main)
* Cat McGhan (short)
<hr>
* Richard out of town, Tue-Fri (ACC)

|- valign=top
| width=25% |

=== Week 4: 6 Jul - 12 Jul ===
'''Biocircuits: 10 Jul (Fri), 10a-12p'''
* Shaunak Sen (long)
* Emzo de los Santos (short)
'''NCS: 10 Jul (Fri), 1:30p-3p'''
* Scott Livingston
* Open (short)
<hr>
* Richard out of town, Mon-Thu
* Biocircuits lab cleanup, Thursday @ 10 am

| width=25% |

=== Week 5: 13 Jul - 17 Jul ===
'''Biocircuits: 16 Jul (Thu), 10a-12p 114 Steele'''
* Vipul Singhal (long)
* Zach Sun (short)
'''NCS: 17 Jul (Fri), 10:30a-12p'''
* Jiangang Li (main)
* Open (short)

| width=25% |

=== Week 6: 20 Jul - 24 Jul ===
* Richard out of town Mon-Fri (China)

|- valign=top
| width=25% |

=== Week 7: 27 Jul - 31 Jul ===
* Richard out of town Mon-Fri (China)

| width=25% |

=== Week 8: 3 Aug - 7 Aug ===
'''Biocircuits: 4 Aug (Tue), 10a-12p'''
* Enoch Yeung (long)
* Seung Lee (short)
'''NCS: 5 Aug (Wed), 10:30a-12p'''
* Ivan Papusha (main)
* Anthony Gong (short)

| width=25% |

=== Week 9: 10 Aug - 14 Aug ===
'''Biocircuits: 11 Aug (Tue), 10a-12p'''
* Yong Wu (long)
* Ron Pereira (short)
'''NCS: 12 Aug (Wed), 10:30a-12p'''
* Daniel Naftalovich
* Scott C.L. (short)

|- valign=top
| width=25% |

=== Week 10: 17 Aug - 21 Aug ===
* RMM out of town Mon-Fri (ISAT)
* Biocircuits lab cleanup, Tue @ 10 am
| width=25% |

=== Week 11: 24 Aug - 28 Aug ===
* RMM out of town Mon-Fri (Sweden)
| width=25% |

=== Week 12: 31 Aug - 4 Sep ===
'''Biocircuits: 1 Sep (Tue), 10a-12p'''
* Open (long)
* Shaobin Guo (short)
'''NCS: 1 Sep (Tue), 1:30p-3p'''
* Samira Farahani
* Ioannis Filippidis

|- valign=top
| width=25% |

=== Week 13: 7 Sep - 11 Sep ===
'''Biocircuits: 8 Sep (Tue), 10a-12p'''
* Annual lab safety briefing (Dora Gosen)
* Clare Hayes (short)
'''NCS: 8 Sep (Tue), 12:15-1:15p, 110 STL'''
* Ioannis Filippidis (main)

| width=25% |

=== Week 14: 14 Sep - 18 Sep ===
* RMM out of town, Mon-Fri (vacation)

| width=25% |

=== Week 15: 21 Sep - 25 Sep ===
'''Biocircuits: 21 Sep (Mon), 10a-12p'''
* James Parkin (short)
* Sean Sanchez (short)
'''NCS: 24 Sep (Thu), 10:30a-12p'''
* Benson Christalin
* Scott C.L. (short)
|}

Group Schedule, Summer 2015

2015-08-11T18:58:29Z

Slivings: /* Week 9: 10 Aug - 14 Aug */

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 2015]]
|}

The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:

:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 213 ANB
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 243 ANB
|}

{| width=100% border=1

|- valign=top
| width=25% |
=== Week 1: 15 Jun - 19 Jun ===
'''Biocircuits: 15 Jun (Mon), 10a-12p'''
* Yutaka Hori (long)
* Abel Chiao (short)
'''NCS: 17 Jun (Wed), 10:30a-12p'''
* Vasu Raman (main)
* Open (short)
<hr>
* TX-TL workshop, Tue-Fri
| width=25% |

=== Week 2: 22 Jun - 26 Jun ===
'''Biocircuits: 23 Jun (Tue), 10a-12p'''
* Ania Baetica (long)
* Anandh Swaminathan (short)
'''NCS: 24 Jun (Wed), 10:30a-12p'''
* Cat McGhan (main)
* Sumanth Dathathri (short)

| width=25% |

=== Week 3: 29 Jun - 3 Jul ===
'''Biocircuits: 29 Jun (Mon), 10a-12p'''
* Victoria Hsiao (long)
* Anu Thubagere (short)
'''NCS: 29 Jun (Mon), 1:30p-3p'''
* Tony Fragoso (main)
* Cat McGhan (short)
<hr>
* Richard out of town, Tue-Fri (ACC)

|- valign=top
| width=25% |

=== Week 4: 6 Jul - 12 Jul ===
'''Biocircuits: 10 Jul (Fri), 10a-12p'''
* Shaunak Sen (long)
* Emzo de los Santos (short)
'''NCS: 10 Jul (Fri), 1:30p-3p'''
* Scott Livingston
* Open (short)
<hr>
* Richard out of town, Mon-Thu
* Biocircuits lab cleanup, Thursday @ 10 am

| width=25% |

=== Week 5: 13 Jul - 17 Jul ===
'''Biocircuits: 16 Jul (Thu), 10a-12p 114 Steele'''
* Vipul Singhal (long)
* Zach Sun (short)
'''NCS: 17 Jul (Fri), 10:30a-12p'''
* Jiangang Li (main)
* Open (short)

| width=25% |

=== Week 6: 20 Jul - 24 Jul ===
* Richard out of town Mon-Fri (China)

|- valign=top
| width=25% |

=== Week 7: 27 Jul - 31 Jul ===
* Richard out of town Mon-Fri (China)

| width=25% |

=== Week 8: 3 Aug - 7 Aug ===
'''Biocircuits: 4 Aug (Tue), 10a-12p'''
* Enoch Yeung (long)
* Seung Lee (short)
'''NCS: 5 Aug (Wed), 10:30a-12p'''
* Ivan Papusha (main)
* Anthony Gong (short)

| width=25% |

=== Week 9: 10 Aug - 14 Aug ===
'''Biocircuits: 11 Aug (Tue), 10a-12p'''
* Yong Wu (long)
* Ron Pereira (short)
'''NCS: 12 Aug (Wed), 10:30a-12p'''
* Daniel Naftalovich
* Scott C.L. (short)

|- valign=top
| width=25% |

=== Week 10: 17 Aug - 21 Aug ===
* RMM out of town Mon-Fri (ISAT)
* Biocircuits lab cleanup, Tue @ 10 am
| width=25% |

=== Week 11: 24 Aug - 28 Aug ===
* RMM out of town Mon-Fri (Sweden)
| width=25% |

=== Week 12: 31 Aug - 4 Sep ===
'''Biocircuits: 1 Sep (Tue), 10a-12p'''
* Open (long)
* Shaobin Guo (short)
'''NCS: 1 Sep (Tue), 1:30p-3p'''
* Samira Farahani
* Open (short)

|- valign=top
| width=25% |

=== Week 13: 7 Sep - 11 Sep ===
'''Biocircuits: 8 Sep (Tue), 10a-12p'''
* Annual lab safety briefing (Dora Gosen)
* Clare Hayes (short)
'''NCS: 8 Sep (Tue), 12:15-1:15p, 110 STL'''
* Ioannis Filippidis (main)

| width=25% |

=== Week 14: 14 Sep - 18 Sep ===
* RMM out of town, Mon-Fri (vacation)

| width=25% |

=== Week 15: 21 Sep - 25 Sep ===
'''Biocircuits: 21 Sep (Mon), 10a-12p'''
* James Parkin (short)
* Sean Sanchez (short)
'''NCS: 24 Sep (Thu), 10:30a-12p'''
* Benson Christalin
* Open (short)
|}

Group Schedule, Spring 2015

2015-04-05T19:52:14Z

Slivings: /* Week 2: 6 Apr - 10 Apr */ NCS short talk by Scott

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, Winter 2015]]
|}

The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:

:{| width=100%
|- valign=top
| width=33% |
* Group meetings - 213 ANB
| width=33% |
* Biocircuits subgroup - 111 Keck
| width=33% |
* NCS subgroup - 243 ANB
|}

{| width=100% border=1

|- valign=top
| width=33% |
=== Week 1: 30 Mar - 3 Apr ===

'''Biocircuits: 1 Apr (Wed), 10a-12p 114 Steele'''
* Lab safety (Clare, Richard)
* Ania Baetica (short)

'''NCS: 1 Apr (Wed), 4p-5:30p'''
* Anthony Fragoso (main)
* Open (short)

| width=33% |

=== Week 2: 6 Apr - 10 Apr ===
'''NCS: 6 Apr (Mon), 2:30p-4p'''
* Catharine McGhan (main)
* Scott (short)
'''Biocircuits: 8 Apr (Wed), 10a-12p 114 Steele'''
* Emzo de los Santos (long)
* Yutaka Hori (short)
| width=33% |

=== Week 3: 13 Apr - 17 Apr ===
* Richard out of town, Mon-Thu
* Biocircuits lab cleanup, Wed @ 10 am
|- valign=top
| width=33% |

=== Week 4: 20 Apr - 24 Apr ===
'''NCS: 20 Apr (Mon), 2:30p-4p
* Scott Livingston (main)
* Open (short)
'''Biocircuits: 22 Apr (Wed), 10a-12p 114 Steele
* Anandh Saminathan (long)
* Victoria Hsiao (short)
| width=33% |

=== Week 5: 27 Apr - 1 May ===
'''Biocircuits: 29 Apr (Wed), 10a-12p 114 Steele'''
* Anu Thubagere (long)
* Dan Siegal (short)
<hr>
* NASA Formal Methods Symposium, Mon-Wed

| width=33% |

=== Week 6: 4 May - 8 May ===
'''NCS: 4 May (Mon), 2:30p-4p
* Ivan Papusha (main)
* Benson Christalin(short)
'''Biocircuits: 6 May (Wed), 10a-12p 114 Steele'''
* Clare Hayes (long)
* Vipul Singhal (short)
|- valign=top
| width=33% |

=== Week 7: 11 May - 15 May ===
'''NCS: 11 May (Mon), 2:30p-4p
* Ioannis Filippidis (main)
* Open (short)
'''Biocircuits: 13 May (Wed), 10a-12p 114 Steele'''
* Shaobin Guo (long)
* Yong Wu (short)

| width=33% |

=== Week 8: 18 May - 22 May ===
'''Biocircuits: 20 May (Wed), 10a-12p 114 Steele'''
* Zach Sun (long)
* Enoch Yeung (short)
'''NCS: 20 May (Wed), 4-5:30p
* Samira Farahani (main)
* Open (short)

| width=33% |

=== Week 9: 25 May - 29 May ===
'''NCS: 25 May (Mon), 2:30p-4p
* Yilin Mo (main)
* Open (short)
'''Biocircuits: 27 May (Wed), 10a-12p 114 Steele'''
* Rotation student (long)
* Sean Sanchez (short)

|- valign=top
| width=33% |

=== Week 10: 1 Jun - 5 Jun ===
'''NCS: 1 Jun (Mon), 2:30p-4p
* Vasu Raman (main)
* Open (short)
'''Biocircuits: 4 Jun (Thu), 10a-12p'''
* Rotation student (long)
* Tiffany Zhou (short)

| width=33% |

=== Week 11: 8 Jun - 12 Jun ===
'''NCS: 8 Jun (Mon), 2:30p-4p
* Benson Christalin (short)
* Daniel Naftalovich (short)
<hr>
* SEED: Wed-Sat in Boston
| width=33% |

|}

Group Schedule, Spring 2015

2015-03-21T16:19:00Z

Slivings: swap main NCS presentation dates of Scott and Yilin

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, Winter 2015]]
|}

The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:

:{| width=100%
|- valign=top
| width=33% |
* Group meetings - 213 ANB
| width=33% |
* Biocircuits subgroup - 111 Keck
| width=33% |
* NCS subgroup - 243 ANB
|}

{| width=100% border=1

|- valign=top
| width=33% |
=== Week 1: 30 Mar - 3 Apr ===
'''NCS: 30 Mar (Mon), 4p-5:30p'''
* Anthony Fragoso (main)
* James Bern (short)
'''Biocircuits: 1 Apr (Wed), 10a-12p 110 Steele'''
* Lab safety (Clare, Richard)
* Ania Baetica (short)

| width=33% |

=== Week 2: 6 Apr - 10 Apr ===
'''NCS: 6 Apr (Mon), 2:30p-4p'''
* Catharine McGhan (main)
* Open (short)
'''Biocircuits: 8 Apr (Wed), 10a-12p 114 Steele'''
* Emzo de los Santos (long)
* Yutaka Hori (short)
| width=33% |

=== Week 3: 13 Apr - 17 Apr ===
* Richard out of town, Mon-Thu
* Biocircuits lab cleanup, Wed @ 10 am
|- valign=top
| width=33% |

=== Week 4: 20 Apr - 24 Apr ===
'''NCS: 20 Apr (Mon), 2:30p-4p
* Scott Livingston (main)
* Open (short)
'''Biocircuits: 22 Apr (Wed), 10a-12p 114 Steele
* Anandh Saminathan (long)
* Victoria Hsiao (short)
| width=33% |

=== Week 5: 27 Apr - 1 May ===
'''Biocircuits: 29 Apr (Wed), 10a-12p 114 Steele'''
* Anu Thubagere (long)
* Dan Siegal (short)
<hr>
* NASA Formal Methods Symposium, Mon-Wed

| width=33% |

=== Week 6: 4 May - 8 May ===
'''NCS: 4 May (Mon), 2:30p-4p
* Ivan Papusha (main)
* Open (short)
'''Biocircuits: 6 May (Wed), 10a-12p 114 Steele'''
* Clare Hayes (long)
* Vipul Singhal (short)
|- valign=top
| width=33% |

=== Week 7: 11 May - 15 May ===
'''NCS: 11 May (Mon), 2:30p-4p
* Vasu Raman (main)
* Open (short)
'''Biocircuits: 13 May (Wed), 10a-12p 114 Steele'''
* Shaobin Guo (long)
* Yong Wu (short)

| width=33% |

=== Week 8: 18 May - 22 May ===
'''Biocircuits: 20 May (Wed), 10a-12p 114 Steele'''
* Zach Sun (long)
* Enoch Yeung (short)
'''NCS: 20 May (Wed), 4-5:30p
* Samira Farahani (main)
* Open (short)

| width=33% |

=== Week 9: 25 May - 29 May ===
'''NCS: 25 May (Mon), 2:30p-4p
* Yilin Mo (main)
* Open (short)
'''Biocircuits: 27 May (Wed), 10a-12p 114 Steele'''
* Rotation student (long)
* Sean Sanchez (short)

|- valign=top
| width=33% |

=== Week 10: 1 Jun - 5 Jun ===
'''NCS: 1 Jun (Mon), 2:30p-4p
* Ioannis Filippidis (main)
* Open (short)
'''Biocircuits: 4 Jun (Thu), 10a-12p'''
* Rotation student (long)
* Tiffany Zhou (short)

| width=33% |

=== Week 11: 8 Jun - 12 Jun ===
'''NCS: 8 Jun (Mon), 2:30p-4p
* Benson Christalin (short)
* Daniel Naftalovich (short)
<hr>
* SEED: Wed-Sat in Boston
| width=33% |

|}

Group Schedule, Winter 2015

2015-02-18T19:17:57Z

Slivings: /* Week 8: 23 Feb - 27 Feb */

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, Fall 2014]]
|}

The schedule for group and subgroup meetings is given below. Contact Richard if you need to change the schedule. Unless otherwise noted, here are the locations of the meetings:

:{| width=100%
|- valign=top
| width=30% |
* Group meetings - 213 ANB
| width=30% |
* Biocircuits subgroup - 111 Keck
| width=30% |
* NCS subgroup - 243 ANBzachza
|}

{| width=100% border=1

|- valign=top
| width=25% |
=== Week 1: 5 Jan - 9 Jan ===
'''Biocircuits: 6 Jan (Tue), 10a-12p'''
* Yutaka Hori (long)
* Lab updates (Richard)
'''NCS: 8 Jan (Thu), 9:30-11a 111 Keck'''
* Anthony Fragoso (main)
* Open (short)
<hr>
* MPP retreat, Fri-Sun (SF)
| width=25% |

=== Week 2: 12 Jan - 16 Jan ===
'''Biocircuits: 12 Jan, 1p - 3p'''
* Ania Baetica (long)
* Emzo de los Santos (short)
<hr>
* AFOSR BRI call: Mon, 8:30a-10a
* iCyPhy BIT mini-workshop: Tue, 8a-5p
* RMM unavailable Wed-Fri

| width=25% |

=== Week 3: 19 Jan - 23 Jan ===
'''Biocircuits: 20 Jan (Tue), 10a-12p'''
* Anandh Swaminathan (short)
* Victoria Hsiao (long)
'''NCS: 22 Jan (Thu), 9:30a-11a 110 Steele'''
* Ivan Papusha (main)
* Open (short)

|- valign=top
| width=25% |

=== Week 4: 26 Jan - 30 Jan ===
'''Biocircuits: 27 Jan (Tue), 10a-12p'''
* Dan Siegal (long)
* Anu Thubagere (short)

'''NCS: 29 Jan (Thu), 9:30a-11a 110 Steele'''
* Yilin Mo (main)
* Open (short)
<hr>
* Brian Munsky visit on Mon
* Rahul Sarpeshkar visit on Mon
* Richard out of town on Wed?

| width=25% |

=== Week 5: 2 Feb - 6 Feb ===
'''NCS: 5 Feb (Thu), 3:30p-5p, 110 Steele'''
* Vasu Raman (main)
* Open (short)
<hr>
* AFOSR BRI telecon: Mon, 8:30a-10a
* iCyPhy planning meeting: Mon-Tue, in Berkeley
* Biocircuits lab cleanup: Tue, 10a-12p

| width=25% |

=== Week 6: 9 Feb - 13 Feb ===
'''Biocircuits: 10 Feb (Tue), 10a-12p'''
* Ye Yuan (long)
* <s>Vanessa Jonsson (short)</s>
'''NCS: 12 Feb (Thu), 9:30a-11a 110 Steele'''
* Cat McGhan (main)
* Cat McGhan (short)
'''Group Meeting: 9 Feb (Mon), 12p-1:15p 121 ANB'''
* Nikolay Atanasov - University of Pennsylvania
<hr>
* Richard out of town on Fri
|- valign=top
| width=25% |

=== Week 7: 16 Feb - 20 Feb ===
'''Biocircuits: 17 Feb (Tue), 10a-12p'''
* Vipul Singhal (long)
* Clare Hayes (short)
'''NCS: 19 Feb (Thu), 9:30a-11a 110 Steele'''
* Ioannis Filippidis (main)
* Samira Farahani (short)
'''Group Meeting: 20 Feb (Fri), 12p-1:15p 107 ANB'''
* Mark Muller - ETH

| width=25% |

=== Week 8: 23 Feb - 27 Feb ===
'''Biocircuits: 23 Feb (Mon), 1p-3p'''
* Yong Wu (long)
* Shaobin Guo (short)
'''NCS: 25 Feb (Wed), 4p-5:30p 114 Steele Library'''
* Scott C. Livingston
* Scott C. Livingston, part 2 (short)
<hr>
* MPP protocol synthesis workshop: Thu-Fri

| width=25% |

=== Week 9: 2 Mar - 6 Mar ===
'''Biocircuits: 2 Mar (Mon), 1p-3p 114 Steele Library'''
* Enoch Yeung (long)
* Zach Sun (short)
'''NCS: 5 Mar (Thu), 9:30a-11a 110 Steele'''
* Samira Farahani
* Open (short)
<hr>
* Richard out of town Tue-Wed (Seattle)

|- valign=top
| width=25% |

=== Week 10: 9 Mar - 13 Mar===
'''Biocircuits: 9 Mar (Mon), 9a-11a'''
* Henrike N (long)
* Sean Sanchez (short)
'''NCS: 12 Mar (Thu), 9:30a-11a 110 Steele'''
* Daniel Naftalovich (short)
* Benson Christalin (short)
<hr>
* Richard out of town, Tue-Wed (Boston)
* Group camping trip, 13-15 Mar

| width=25% |

=== Week 11: 16 Mar - 20 Mar ===
Finals week
<hr>
* Richard out of town, Mon-Fri
* Biocircuits lab cleanup: Tue, 10a-12p

| width=25% |

=== Week 12: 23 Mar - 27 Mar ===
Spring break
|}

SURF discussions, Jan 2015

2015-01-22T13:08:21Z

Slivings: /* 23 Jan (Fri) */ Meeting with Charlie, Scott, Benson

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

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

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

==== 23 Jan (Fri) ====
* 10:00:Aileen Cheng
<hr>
* 14:00: Enrique, Clare + Vipul
* 14:30: Marcus Greiff
<hr>
* 16:00: Charlie Erwall
|

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

The agenda for the phone call is (roughly):

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

SURF discussions, Jan 2015

2015-01-20T23:50:20Z

Slivings: /* 23 Jan (Fri) */

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

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

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

==== 23 Jan (Fri) ====
* 10:00:Aileen Cheng
<hr>
* 14:00: Enrique, Clare + Vipul
* 14:30: Marcus Greiff
<hr>
* 16:00: Open
|

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

The agenda for the phone call is (roughly):

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

CDS 112,Winter 2015

2015-01-09T18:17:46Z

Slivings: /* Software */ Add link to updated tutorial.

__NOTOC__
{| width=100% border=1
|-
| align=center width=25% | [[CDS 112,Winter_2015|CDS 112]]
| align=center width=25% | [[CDS 112, Winter 2015 - Course Schedule|Schedule]]
| align=center width=25% | Course Texts: [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control OBC]; [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Anderson&Moore]
|}

This is the homepage for CDS 112 (Control System Design) for Winter 2014/2015. __NOTOC__

<table width=100%>
<tr valign=top>
<td>
'''Instructor'''
* [http://www.robotics.caltech.edu/~jwb/ Joel Burdick], jwb@robotics.caltech.edu, 319 Thomas, 626-395-4139
* Lectures: MWF 1:00-1:55 pm, 107 Annenberg
* Prior years (this course formally was listed as 110(b)): [http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2007 WI07][http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2008 WI08] [https://www.cds.caltech.edu/help/cms.php?op=wiki&wiki_op=view&id=223 WI09] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b%2C_Winter_2010 WI10] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b,_Winter_2011 WI11] [http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_110b,_Winter_2013 WI13]
</td><td>

'''Teaching Assistants'''
* Matthew (Matt) Burkhardt: mburkhar@caltech.edu
* Office hours TBD
</td></tr>
</table>

== Announcements ==
* '''01/05/2015:''' The course lecture ''location'' will move. Please show up to Annenberg 107 for the first lecture, where the new lecture location will be announced.

__NOTOC__

== Course Information ==

CDS 112 is an introduction to optimal control and optimal estimation. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity.

=== Course Text and References ===

The primary course texts are
* [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control'']. This is an evolving set of notes which will help support the class lectures for the first 4-5 weeks of the course.
* [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]. Chapters of this classic text on Estimation and Kalman Filtering (freely available on-line) will serve as the primary source for weeks 5-9.

The following books may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* [http://www.cds.caltech.edu/~macmardg/courses/cds110b/dft/dft.html ''Feedback Control Theory'']
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.
* [http://www.kxcad.net/cae_MATLAB/Matlab_Ebooks/Grewal,%20Andrews.%20Kalman%20filtering..%20theory%20and%20practice%20using%20MATLAB%20(2ed.,%20Wiley,%202001)(410s).pdf M.S. Grewal & A.P. Andrews, '''Kalman Filtering: Theory and Practice Using MATLAB''', 2nd ed., John Wiley & Sons, 2001];
* [http://www2.elo.utfsm.cl/~ipd481/Papers%20varios/kalman1960.pdf A ''transcribed'' copy of Kalman's original 1960 paper on the discrete time filter];

=== Course Schedule, Readings, and Homework ===
A detailed course schedule is available on the [[CDS 112, Winter 2015 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page). This schedule also includes links to the homeworks, the homework solutions, and the suggested class readings.

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

*''Homework (70%):'' Homework sets will be handed out every 7-10 days and due days/dates will vary. Students are allowed two grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams which you may create as part of your homework solutions are considered part of your homework solution and should be printed and turned in with the problem set .

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (11 Mar) and due at the end of finals (18 Mar). It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

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

=== Software ===
Computer exercises will be assigned as part of the regular homeworks. The
exercises can be done exclusvely in MATLAB, using the Control Toolbox and
SIMULINK, but it is not necessary to use MATLAB/SIMULINK if you choose. Caltech has a site license for this software and it may be obtained
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at
<center>
http://www.engin.umich.edu/group/ctm/basic/basic.html
</center>

Besides MATLAB, students may use [https://www.python.org/ Python], in
particular the [http://python-control.sf.net/ Python Control Systems Toolbox] and various [http://www.scipy.org/ SciPy] packages. [http://scottman.net/ Scott] (email: slivingston@cds caltech) is available to answer any student questions or concerns specific to using Python, including helping newcomers with first steps.
A tutorial script used previously in [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_101/110a,_Fall_2014 CDS 110a] is available at ([https://gist.githubusercontent.com/slivingston/6d808e8e7ec7febb8e95/raw/448f62e731b0682be8e5ef8bcac0a0d5a5269d75/cds110-tutorial.py direct link to the file])
<center>
https://gist.github.com/slivingston/6d808e8e7ec7febb8e95
</center>

CDS 112,Winter 2015

2015-01-09T17:48:23Z

Slivings: /* Software */ Add contact for Scott to aid with Python-related questions

__NOTOC__
{| width=100% border=1
|-
| align=center width=25% | [[CDS 112,Winter_2015|CDS 112]]
| align=center width=25% | [[CDS 112, Winter 2015 - Course Schedule|Schedule]]
| align=center width=25% | Course Texts: [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control OBC]; [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Anderson&Moore]
|}

This is the homepage for CDS 112 (Control System Design) for Winter 2014/2015. __NOTOC__

<table width=100%>
<tr valign=top>
<td>
'''Instructor'''
* [http://www.robotics.caltech.edu/~jwb/ Joel Burdick], jwb@robotics.caltech.edu, 319 Thomas, 626-395-4139
* Lectures: MWF 1:00-1:55 pm, 107 Annenberg
* Prior years (this course formally was listed as 110(b)): [http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2007 WI07][http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2008 WI08] [https://www.cds.caltech.edu/help/cms.php?op=wiki&wiki_op=view&id=223 WI09] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b%2C_Winter_2010 WI10] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b,_Winter_2011 WI11] [http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_110b,_Winter_2013 WI13]
</td><td>

'''Teaching Assistants'''
* Matthew (Matt) Burkhardt: mburkhar@caltech.edu
* Office hours TBD
</td></tr>
</table>

== Announcements ==
* '''01/05/2015:''' The course lecture ''location'' will move. Please show up to Annenberg 107 for the first lecture, where the new lecture location will be announced.

__NOTOC__

== Course Information ==

CDS 112 is an introduction to optimal control and optimal estimation. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity.

=== Course Text and References ===

The primary course texts are
* [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control'']. This is an evolving set of notes which will help support the class lectures for the first 4-5 weeks of the course.
* [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]. Chapters of this classic text on Estimation and Kalman Filtering (freely available on-line) will serve as the primary source for weeks 5-9.

The following books may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* [http://www.cds.caltech.edu/~macmardg/courses/cds110b/dft/dft.html ''Feedback Control Theory'']
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.
* [http://www.kxcad.net/cae_MATLAB/Matlab_Ebooks/Grewal,%20Andrews.%20Kalman%20filtering..%20theory%20and%20practice%20using%20MATLAB%20(2ed.,%20Wiley,%202001)(410s).pdf M.S. Grewal & A.P. Andrews, '''Kalman Filtering: Theory and Practice Using MATLAB''', 2nd ed., John Wiley & Sons, 2001];
* [http://www2.elo.utfsm.cl/~ipd481/Papers%20varios/kalman1960.pdf A ''transcribed'' copy of Kalman's original 1960 paper on the discrete time filter];

=== Course Schedule, Readings, and Homework ===
A detailed course schedule is available on the [[CDS 112, Winter 2015 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page). This schedule also includes links to the homeworks, the homework solutions, and the suggested class readings.

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

*''Homework (70%):'' Homework sets will be handed out every 7-10 days and due days/dates will vary. Students are allowed two grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams which you may create as part of your homework solutions are considered part of your homework solution and should be printed and turned in with the problem set .

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (11 Mar) and due at the end of finals (18 Mar). It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

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

=== Software ===
Computer exercises will be assigned as part of the regular homeworks. The
exercises can be done exclusvely in MATLAB, using the Control Toolbox and
SIMULINK, but it is not necessary to use MATLAB/SIMULINK if you choose. Caltech has a site license for this software and it may be obtained
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at
<center>
http://www.engin.umich.edu/group/ctm/basic/basic.html
</center>

Besides MATLAB, students may use [https://www.python.org/ Python], in
particular the [http://python-control.sf.net/ Python Control Systems Toolbox] and various [http://www.scipy.org/ SciPy] packages. [http://scottman.net/ Scott] (email: slivingston@cds caltech) is available to answer any student questions or concerns specific to using Python, including helping newcomers with first steps.
A tutorial script used previously in [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_101/110a,_Fall_2014 CDS 110a] is available at
<center>
http://www.cds.caltech.edu/~slivings/TA/CDS110ab/cds110-tutorial.py
</center>

CDS 112,Winter 2015

2015-01-09T17:44:49Z

Slivings: /* Software */ Python links

__NOTOC__
{| width=100% border=1
|-
| align=center width=25% | [[CDS 112,Winter_2015|CDS 112]]
| align=center width=25% | [[CDS 112, Winter 2015 - Course Schedule|Schedule]]
| align=center width=25% | Course Texts: [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control OBC]; [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Anderson&Moore]
|}

This is the homepage for CDS 112 (Control System Design) for Winter 2014/2015. __NOTOC__

<table width=100%>
<tr valign=top>
<td>
'''Instructor'''
* [http://www.robotics.caltech.edu/~jwb/ Joel Burdick], jwb@robotics.caltech.edu, 319 Thomas, 626-395-4139
* Lectures: MWF 1:00-1:55 pm, 107 Annenberg
* Prior years (this course formally was listed as 110(b)): [http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2007 WI07][http://www.cds.caltech.edu/~murray/wiki/CDS_110b%2C_Winter_2008 WI08] [https://www.cds.caltech.edu/help/cms.php?op=wiki&wiki_op=view&id=223 WI09] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b%2C_Winter_2010 WI10] [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_110b,_Winter_2011 WI11] [http://www.cds.caltech.edu/~murray/wiki/index.php/CDS_110b,_Winter_2013 WI13]
</td><td>

'''Teaching Assistants'''
* Matthew (Matt) Burkhardt: mburkhar@caltech.edu
* Office hours TBD
</td></tr>
</table>

== Announcements ==
* '''01/05/2015:''' The course lecture ''location'' will move. Please show up to Annenberg 107 for the first lecture, where the new lecture location will be announced.

__NOTOC__

== Course Information ==

CDS 112 is an introduction to optimal control and optimal estimation. Upon completion of the course, students will be able to design and analyze control systems of moderate complexity.

=== Course Text and References ===

The primary course texts are
* [http://www.cds.caltech.edu/~murray/amwiki/index.php?title=Supplement:_Optimization-Based_Control ''Optimization-based Control'']. This is an evolving set of notes which will help support the class lectures for the first 4-5 weeks of the course.
* [http://users.cecs.anu.edu.au/~john/papers/BOOK/B02.PDF Brian D.O. Anderson and John B. Moore, '''Optimal Filtering''', Prentice-Hall, 1979]. Chapters of this classic text on Estimation and Kalman Filtering (freely available on-line) will serve as the primary source for weeks 5-9.

The following books may also be useful. They are available in the library (non-reserve), from other students, or you can order them online.

* [http://www.cds.caltech.edu/~macmardg/courses/cds110b/dft/dft.html ''Feedback Control Theory'']
* B. Friedland, ''Control System Design: An Introduction to State-Space Methods'', McGraw-Hill, 1986.
* G. F. Franklin, J. D. Powell, and A. Emami-Naeni, ''Feedback Control of Dynamic Systems'', Addison-Wesley, 2002.
* [http://www.kxcad.net/cae_MATLAB/Matlab_Ebooks/Grewal,%20Andrews.%20Kalman%20filtering..%20theory%20and%20practice%20using%20MATLAB%20(2ed.,%20Wiley,%202001)(410s).pdf M.S. Grewal & A.P. Andrews, '''Kalman Filtering: Theory and Practice Using MATLAB''', 2nd ed., John Wiley & Sons, 2001];
* [http://www2.elo.utfsm.cl/~ipd481/Papers%20varios/kalman1960.pdf A ''transcribed'' copy of Kalman's original 1960 paper on the discrete time filter];

=== Course Schedule, Readings, and Homework ===
A detailed course schedule is available on the [[CDS 112, Winter 2015 - Course Schedule|course schedule]] page (also shown on the "menu bar" at the top of each course page). This schedule also includes links to the homeworks, the homework solutions, and the suggested class readings.

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

*''Homework (70%):'' Homework sets will be handed out every 7-10 days and due days/dates will vary. Students are allowed two grace periods of two days each that can be used at any time (but no more than 1 grace period per homework set). Late homework beyond the grace period will not be accepted without a note from the health center or the Dean. MATLAB code and SIMULINK diagrams which you may create as part of your homework solutions are considered part of your homework solution and should be printed and turned in with the problem set .

* ''Final exam (30%):'' The final exam will be handed out on the last day of class (11 Mar) and due at the end of finals (18 Mar). It will be an open book exam and computers will be allowed (though not required).

=== Collaboration Policy ===

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

=== Software ===
Computer exercises will be assigned as part of the regular homeworks. The
exercises can be done exclusvely in MATLAB, using the Control Toolbox and
SIMULINK, but it is not necessary to use MATLAB/SIMULINK if you choose. Caltech has a site license for this software and it may be obtained
from [http://software.caltech.edu IMSS] (Caltech students only). An online tutorial is available at
<center>
http://www.engin.umich.edu/group/ctm/basic/basic.html
</center>

Besides MATLAB, students may use [https://www.python.org/ Python], in
particular the [http://python-control.sf.net/ Python Control Systems Toolbox] and various [http://www.scipy.org/ SciPy] packages.
A tutorial script used previously in [http://www.cds.caltech.edu/~macmardg/wiki/index.php?title=CDS_101/110a,_Fall_2014 CDS 110a] is available at
<center>
http://www.cds.caltech.edu/~slivings/TA/CDS110ab/cds110-tutorial.py
</center>

SURF 2015: Formal synthesis of switching protocols for estimation and control of aircraft electric power systems

2014-12-25T20:43:09Z

Slivings: /* References */

'''[[SURF 2015|2015 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentors: Benson Christalin and Scott C. Livingston

[[File:Testbed-photograph-20141222-0833.jpg|400px|thumb|Figure 1. The test bed as of 22 Dec 2014. The relay board is green and toward the right side of the photograph. While not shown here, it attaches to a computer via USB to allow control from software.]]

The electric power system (EPS) has come to be a large and crucial part of modern aircraft. Designs include a variety of power sources---from AC generators to DC batteries---and several types of load buses with different criticality levels [5]. Electric power is typically routed throughout the aircraft using a network of contactors. Each contactor can be commanded to be closed or open, effectively connecting or disconnecting the corresponding circuit branch. The control problem in this context is to find a switching protocol for contactor configurations so as to guarantee formally specified properties, often referred to as "the requirements." For example, it is unsafe to attach two AC generators in parallel, and thus it is a requirement that contactor configurations in which that occurs are always avoided.

Such complicated designs are challenging for traditional engineering practices and motivate the introduction of formal verification and synthesis methods [1]. Since experiments on an actual aircraft EPS are not yet feasible, we have developed a small test bed for validating implementations from our research on fault detection and correct-by-construction control [2], [3], [4]. http://vimeo.com/112469771 displays a demo of the implementation of fault detection on the test bed on Aug 2014. Figure 1 is a recent photograph.

An important direction of future work is exploring control in the midst of sensing. This refers broadly to the need to estimate changes to the states of components in an EPS while controlling contactors so as to maintain safety. Continuing with the earlier example requirement, the controller must not parallel two generators while it is experimentally switching contactors to localize a wiring failure. The practical motivation is built-in test (BIT), which are automatic procedures that use internal logic and hardware to characterize the quality, performance and reliability of the system, both before and during flight. During the SURF, the student would make use of and possibly contribute new code to the [http://tulip-control.org Temporal Logic Planning (TuLiP) toolbox].

There are also improvements that can be made to the test bed, which the SURF can involve according to desires of the student. E.g.,

# expanding the test bed to model new types of faults;
# improving modularity to ease addition of new components;
# extending the current model in [http://ptolemy.eecs.berkeley.edu/ Ptolemy II] to use [https://www.fmi-standard.org/ FMI].

For additional context, consult relevant SURF descriptions from [https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2014:_Switching_control_synthesis_in_the_presence_of_uncertainty_and_general_loads_for_an_aircraft_electric_power_system_testbed 2014] and [https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2012:_Aircraft_electric_power_system_modeling_in_SIMULINK/Stateflow 2012].

=== References ===

[1] P. Nuzzo, H. Xu, N. Ozay, J.B. Finn, A.L. Sangiovanni-Vincentelli, R.M. Murray, A. Donzé, and S.A. Seshia. A Contract-Based Methodology for Aircraft Electric Power System Design. IEEE Access, 2: 1--25. Jan 2014; [[http://dx.doi.org/10.1109/ACCESS.2013.2295764 DOI]].

[2] R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R.M. Murray. An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols. in ''Proceedings of HSCC'', pp. 89--94. Apr 2013; [[http://dx.doi.org/10.1145/2461328.2461344 DOI]][[http://resolver.caltech.edu/CaltechAUTHORS:20130115-094546873 tech report]].

[3] L. Persson, S.C. Livingston, and R.M. Murray. An improved aircraft electric power testbed for validating synthesis methods. submitted for the [http://nasaformalmethods.org/ NASA Formal Methods Symposium]. Nov 2014; [[http://scottman.net/pre/plm_nfm15_submitted.pdf draft (under review)]].

[4] Q. Maillet, H. Xu, N. Ozay, and R.M. Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity. in ''Proceedings of CDC''. Dec 2013; [[http://www.cds.caltech.edu/~murray/papers/2013b_mxom13-cdc.html preprint]].

[5] R. G. Michalko, "Electrical starting, generation, conversion and distribution system architecture for a more electric vehicle," [http://patft.uspto.gov/netacgi/nph-Parser?patentnumber=7439634 U.S. Patent 7 439 634], Oct. 21, 2008.

SURF 2015

2014-12-24T16:33:45Z

Slivings: Add link to description of project co-mentored by Benson and Scott

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

=== Applying for a SURF project ===

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

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

=== List of available projects ===

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

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


|-
| {{SURF entry|2015|Correct-by-Construction Control of UAVs Under Environmental Uncertainty}}
| NGC
| [http://directory.caltech.edu/personnel/farahani Samira Farahani]
|
|-
| {{SURF entry|2015|Formal synthesis of switching protocols for estimation and control of aircraft electric power systems}}
|
| Benson Christalin and Scott C. Livingston
|
|-
| {{SURF entry|2015|Machine-readable protocols and rapid-prototyping for synthetic biology research}}
| MPP
| Scott C. Livingston and Sean Sanchez
|
|-
| {{SURF entry|2015|Design space exploration of the violacein pathway in TX-TL}}
| PMTI
| Yong Wu and Shaobin Guo
|
|}

SURF 2015: Formal synthesis of switching protocols for estimation and control of aircraft electric power systems

2014-12-24T16:32:48Z

Slivings: Add caption to Figure 1.

'''[[SURF 2015|2015 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentors: Benson Christalin and Scott C. Livingston

[[File:Testbed-photograph-20141222-0833.jpg|400px|thumb|Figure 1. The test bed as of 22 Dec 2014. The relay board is green and toward the right side of the photograph. While not shown here, it attaches to a computer via USB to allow control from software.]]

The electric power system (EPS) has come to be a large and crucial part of modern aircraft. Designs include a variety of power sources---from AC generators to DC batteries---and several types of load buses with different criticality levels [5]. Electric power is typically routed throughout the aircraft using a network of contactors. Each contactor can be commanded to be closed or open, effectively connecting or disconnecting the corresponding circuit branch. The control problem in this context is to find a switching protocol for contactor configurations so as to guarantee formally specified properties, often referred to as "the requirements." For example, it is unsafe to attach two AC generators in parallel, and thus it is a requirement that contactor configurations in which that occurs are always avoided.

Such complicated designs are challenging for traditional engineering practices and motivate the introduction of formal verification and synthesis methods [1]. Since experiments on an actual aircraft EPS are not yet feasible, we have developed a small test bed for validating implementations from our research on fault detection and correct-by-construction control [2], [3], [4]. http://vimeo.com/112469771 displays a demo of the implementation of fault detection on the test bed on Aug 2014. Figure 1 is a recent photograph.

An important direction of future work is exploring control in the midst of sensing. This refers broadly to the need to estimate changes to the states of components in an EPS while controlling contactors so as to maintain safety. Continuing with the earlier example requirement, the controller must not parallel two generators while it is experimentally switching contactors to localize a wiring failure. The practical motivation is built-in test (BIT), which are automatic procedures that use internal logic and hardware to characterize the quality, performance and reliability of the system, both before and during flight. During the SURF, the student would make use of and possibly contribute new code to the [http://tulip-control.org Temporal Logic Planning (TuLiP) toolbox].

There are also improvements that can be made to the test bed, which the SURF can involve according to desires of the student. E.g.,

# expanding the test bed to model new types of faults;
# improving modularity to ease addition of new components;
# extending the current model in [http://ptolemy.eecs.berkeley.edu/ Ptolemy II] to use [https://www.fmi-standard.org/ FMI].

For additional context, consult relevant SURF descriptions from [https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2014:_Switching_control_synthesis_in_the_presence_of_uncertainty_and_general_loads_for_an_aircraft_electric_power_system_testbed 2014] and [https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2012:_Aircraft_electric_power_system_modeling_in_SIMULINK/Stateflow 2012].

=== References ===

[1] P. Nuzzo, H. Xu, N. Ozay, J.B. Finn, A.L. Sangiovanni-Vincentelli, R.M. Murray, A. Donzé, and S.A. Seshia. A Contract-Based Methodology for Aircraft Electric Power System Design. IEEE Access, 2: 1--25. Jan 2014; [[http://dx.doi.org/10.1109/ACCESS.2013.2295764 DOI]].

[2] R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R.M. Murray. An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols. in ''Proceedings of HSCC'', pp. 89--94. Apr 2013; [[http://dx.doi.org/10.1145/2461328.2461344 DOI]][[http://resolver.caltech.edu/CaltechAUTHORS:20130115-094546873 tech report]].

[3] L. Persson, S.C. Livingston, and R.M. Murray. An improved aircraft electric power testbed for validating synthesis methods. submitted for the [http://nasaformalmethods.org/ NASA Formal Methods Symposium]. Nov 2014; [[http://scottman.net/pre/plm_nfm15_submitted.pdf draft (under review)]].

[4] Q. Maillet, H. Xu, N. Ozay, and R.M. Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity. in ''Proceedings of CDC''. Dec 2013; [[http://www.cds.caltech.edu/~murray/papers/2013b_mxom13-cdc.html preprint]].

[5] R. G. Michalko, ``Electrical starting, generation, conversion and distribution system architecture for a more electric vehicle,'' [http://patft.uspto.gov/netacgi/nph-Parser?patentnumber=7439634 U.S. Patent 7 439 634], Oct. 21, 2008.

SURF 2015: Formal synthesis of switching protocols for estimation and control of aircraft electric power systems

2014-12-24T16:24:53Z

Slivings: Created page with "'''2015 SURF project description''' * Mentor: Richard M. Murray * Co-mentors: Benson Christalin and Scott C. Livingston [[File:Testbed-photograph-20141222-0833...."

'''[[SURF 2015|2015 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentors: Benson Christalin and Scott C. Livingston

[[File:Testbed-photograph-20141222-0833.jpg|400px|thumb|Figure 1.]]

The electric power system (EPS) has come to be a large and crucial part of modern aircraft. Designs include a variety of power sources---from AC generators to DC batteries---and several types of load buses with different criticality levels [5]. Electric power is typically routed throughout the aircraft using a network of contactors. Each contactor can be commanded to be closed or open, effectively connecting or disconnecting the corresponding circuit branch. The control problem in this context is to find a switching protocol for contactor configurations so as to guarantee formally specified properties, often referred to as "the requirements." For example, it is unsafe to attach two AC generators in parallel, and thus it is a requirement that contactor configurations in which that occurs are always avoided.

Such complicated designs are challenging for traditional engineering practices and motivate the introduction of formal verification and synthesis methods [1]. Since experiments on an actual aircraft EPS are not yet feasible, we have developed a small test bed for validating implementations from our research on fault detection and correct-by-construction control [2], [3], [4]. http://vimeo.com/112469771 displays a demo of the implementation of fault detection on the test bed on Aug 2014. Figure 1 is a recent photograph.

An important direction of future work is exploring control in the midst of sensing. This refers broadly to the need to estimate changes to the states of components in an EPS while controlling contactors so as to maintain safety. Continuing with the earlier example requirement, the controller must not parallel two generators while it is experimentally switching contactors to localize a wiring failure. The practical motivation is built-in test (BIT), which are automatic procedures that use internal logic and hardware to characterize the quality, performance and reliability of the system, both before and during flight. During the SURF, the student would make use of and possibly contribute new code to the [http://tulip-control.org Temporal Logic Planning (TuLiP) toolbox].

There are also improvements that can be made to the test bed, which the SURF can involve according to desires of the student. E.g.,

# expanding the test bed to model new types of faults;
# improving modularity to ease addition of new components;
# extending the current model in [http://ptolemy.eecs.berkeley.edu/ Ptolemy II] to use [https://www.fmi-standard.org/ FMI].

For additional context, consult relevant SURF descriptions from [https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2014:_Switching_control_synthesis_in_the_presence_of_uncertainty_and_general_loads_for_an_aircraft_electric_power_system_testbed 2014] and [https://www.cds.caltech.edu/~murray/wiki/index.php/SURF_2012:_Aircraft_electric_power_system_modeling_in_SIMULINK/Stateflow 2012].

=== References ===

[1] P. Nuzzo, H. Xu, N. Ozay, J.B. Finn, A.L. Sangiovanni-Vincentelli, R.M. Murray, A. Donzé, and S.A. Seshia. A Contract-Based Methodology for Aircraft Electric Power System Design. IEEE Access, 2: 1--25. Jan 2014; [[http://dx.doi.org/10.1109/ACCESS.2013.2295764 DOI]].

[2] R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R.M. Murray. An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols. in ''Proceedings of HSCC'', pp. 89--94. Apr 2013; [[http://dx.doi.org/10.1145/2461328.2461344 DOI]][[http://resolver.caltech.edu/CaltechAUTHORS:20130115-094546873 tech report]].

[3] L. Persson, S.C. Livingston, and R.M. Murray. An improved aircraft electric power testbed for validating synthesis methods. submitted for the [http://nasaformalmethods.org/ NASA Formal Methods Symposium]. Nov 2014; [[http://scottman.net/pre/plm_nfm15_submitted.pdf draft (under review)]].

[4] Q. Maillet, H. Xu, N. Ozay, and R.M. Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity. in ''Proceedings of CDC''. Dec 2013; [[http://www.cds.caltech.edu/~murray/papers/2013b_mxom13-cdc.html preprint]].

[5] R. G. Michalko, ``Electrical starting, generation, conversion and distribution system architecture for a more electric vehicle,'' [http://patft.uspto.gov/netacgi/nph-Parser?patentnumber=7439634 U.S. Patent 7 439 634], Oct. 21, 2008.

File:Testbed-photograph-20141222-0833.jpg

2014-12-24T16:20:09Z

Slivings: Photograph on 22 Dec 2014 of the test bed in the lab for validating switching controllers intended for aircraft electric power systems.

Photograph on 22 Dec 2014 of the test bed in the lab for validating switching controllers intended for aircraft electric power systems.

SURF 2015: Machine-readable protocols and rapid-prototyping for synthetic biology research

2014-12-22T04:53:35Z

Slivings:

'''[[SURF 2015|2015 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentors: Scott C. Livingston and Sean Sanchez

[[File:Juicebox-20130725.jpg|300px|thumb|Figure 1. Partially assembled prototype of a liquid handling robot for synthetic biology experiments. It is designed and assembled using the kinds of tools one would find in a "[http://fab.cba.mit.edu/about/faq/ fab lab]". The white component in the center contains a motor-driven pipette; below it is a black well plate on a movable platform.]]
[[File:Juicebox-UI-20130726.png|300px|thumb|Figure 2. Screenshot of the user interface for the tool shown in Figure 1. The grids toward the top and left of the window depict different well plates. The sequence of coordinates in the lower-right describes moving and mixing actions.]]

One of the pillars of science is repeatability. For synthetic biology, repeatability is also important because it facilitates the composition of multiple methods to yield new (combined) circuits in vitro and in vivo. Stated broadly, a central concern of synthetic biology is predictable engineering of chemical processes within cells, and a crucial enabler to this end is repeatable experiments. Despite methodological progress within particular labs or by particular people, sharing protocols that work "out-of-the-box" remains challenging. There has been some effort to share and organize protocols [1].

We are thus motivated to develop a machine-readable format for protocols. By "machine-readable" we mean one that may be reliably parsed by software. Such a format would provide the basis for several improvements to current practices:

# scheduling to manage completion of steps of a protocol and negotiate collaborations and triage during interruptions;
# assessing capabilities of lab equipment to decide whether it can be used for some steps;
# automating steps when the approriate tool is available, supporting manual tasks when not;
# facilitating composition of protocols;
# versioning (tracking the history of modifications).

Toward achieving these, a summer research project would focus on the construction of a tool that automates some parts of protocols using TX-TL [2] and provides a platform on which to explore formats for experiment protocols that could realize the above ambitions. Throughout the summer, there would be an emphasis on agile design practices, in which the student will make use of rapid-prototyping technologies, like so-called 3D-printing. While the project could focus on a different tool, some initial progress has been made toward a liquid-handling robot (Figures 1 and 2) based on the [http://mtm.cba.mit.edu/machines/mtm_snap-lock/index.html MTM Snap milling machine].

While there will be involvement with traditional activities like pipetting in a cell biology lab, much of this project will focus on engineering. Though not necessary, it would be useful for the student to have some knowledge about one or more of the following:

* electronic circuit layout; e.g., using a CAD tool like [http://www.cadsoftusa.com/eagle-pcb-design-software/ EAGLE ]
* motors of the scale and type used on small RC vehicles
* mechanical design using CAD tools like SolidWorks
* comfortable at the UNIX terminal
* Python or C programming language
* GUI development; e.g., as in Web design or desktop applications

The nature of the project is pliable according to skills with which the student arrives. So, no need to worry if you only know about one or two of the above!

== References ==
[1] [http://openwetware.org/ OpenWetWare] from the [http://biobricks.org/ BioBricks Foundation]

[2] Z.Z. Sun, C.A. Hayes, J. Shin, F. Caschera, R.M. Murray, V. Noireaux (2013). Protocols for Implementing an Escherichia coli Based TX-TL Cell-Free Expression System for Synthetic Biology. J. Vis. Exp. (79), e50762, DOI: [http://dx.doi.org/10.3791/50762 10.3791/50762]

SURF 2015: Machine-readable protocols and rapid-prototyping for synthetic biology research

2014-12-20T22:54:29Z

Slivings:

'''[[SURF 2015|2015 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentor: Scott C. Livingston and Sean Sanchez

[[File:Juicebox-20130725.jpg|300px|thumb|Figure 1. Partially assembled prototype of a liquid handling robot for synthetic biology experiments. It is designed and assembled using the kinds of tools one would find in a "[http://fab.cba.mit.edu/about/faq/ fab lab]". The white component in the center contains a motor-driven pipette; below it is a black well plate on a movable platform.]]
[[File:Juicebox-UI-20130726.png|300px|thumb|Figure 2. Screenshot of the user interface for the tool shown in Figure 1. The grids toward the top and left of the window depict different well plates. The sequence of coordinates in the lower-right describes moving and mixing actions.]]

One of the pillars of science is repeatability. For synthetic biology, repeatability is also important because it facilitates the composition of multiple methods to yield new (combined) circuits in vitro and in vivo. Stated broadly, a central concern of synthetic biology is predictable engineering of chemical processes within cells, and a crucial enabler to this end is repeatable experiments. Despite methodological progress within particular labs or by particular people, sharing protocols that work "out-of-the-box" remains challenging. There has been some effort to share and organize protocols [1].

We are thus motivated to develop a machine-readable format for protocols. By "machine-readable" we mean one that may be reliably parsed by software. Such a format would provide the basis for several improvements to current practices:

# scheduling to manage completion of steps of a protocol and negotiate collaborations and triage during interruptions;
# assessing capabilities of lab equipment to decide whether it can be used for some steps;
# automating steps when the approriate tool is available, supporting manual tasks when not;
# facilitating composition of protocols;
# versioning (tracking the history of modifications).

Toward achieving these, a summer research project would focus on the construction of a tool that automates some parts of protocols using TX-TL [2] and provides a platform on which to explore formats for experiment protocols that could realize the above ambitions. Throughout the summer, there would be an emphasis on agile design practices, in which the student will make use of rapid-prototyping technologies, like so-called 3D-printing. While the project could focus on a different tool, some initial progress has been made toward a liquid-handling robot (Figures 1 and 2) based on the [http://mtm.cba.mit.edu/machines/mtm_snap-lock/index.html MTM Snap milling machine].

While there will be involvement with traditional activities like pipetting in a cell biology lab, much of this project will focus on engineering. Though not necessary, it would be useful for the student to have some knowledge about one or more of the following:

* electronic circuit layout; e.g., using a CAD tool like [http://www.cadsoftusa.com/eagle-pcb-design-software/ EAGLE ]
* motors of the scale and type used on small RC vehicles
* mechanical design using CAD tools like SolidWorks
* comfortable at the UNIX terminal
* Python or C programming language
* GUI development; e.g., as in Web design or desktop applications

The nature of the project is pliable according to skills with which the student arrives. So, no need to worry if you only know about one or two of the above!

== References ==
[1] [http://openwetware.org/ OpenWetWare] from the [http://biobricks.org/ BioBricks Foundation]

[2] Z.Z. Sun, C.A. Hayes, J. Shin, F. Caschera, R.M. Murray, V. Noireaux (2013). Protocols for Implementing an Escherichia coli Based TX-TL Cell-Free Expression System for Synthetic Biology. J. Vis. Exp. (79), e50762, DOI: [http://dx.doi.org/10.3791/50762 10.3791/50762]

SURF 2015

2014-12-19T04:19:43Z

Slivings: Add link to description of project co-mentored by Scott and Sean

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

=== Applying for a SURF project ===

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

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

=== List of available projects ===

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

{| border=1 width=100%
|-
| '''Title''' || '''Grant/Project''' || '''Co-Mentors''' || '''Comments'''



|-
| {{SURF entry|2015|Correct-by-Construction Control of UAVs Under Environmental Uncertainty}}
| NGC
| [http://directory.caltech.edu/personnel/farahani Samira Farahani]
|
|-
| {{SURF entry|2015|Machine-readable protocols and rapid-prototyping for synthetic biology research}}
|
| Scott C. Livingston and Sean Sanchez
|
|}

SURF 2015: Machine-readable protocols and rapid-prototyping for synthetic biology research

2014-12-18T21:37:34Z

Slivings: Created page with "'''2015 SURF project description''' * Mentor: Richard M. Murray * Co-mentor: Scott C. Livingston and Sean Sanchez [[File:Juicebox-20130725.jpg|300px|thumb|Figur..."

'''[[SURF 2015|2015 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentor: Scott C. Livingston and Sean Sanchez

[[File:Juicebox-20130725.jpg|300px|thumb|Figure 1. Partially assembled prototype of a liquid handling robot for synthetic biology experiments. It is designed and assembled using the kinds of tools one would find in a "[http://fab.cba.mit.edu/about/faq/ fab lab]". The white component in the center contains a motor-driven pipette; below it is a black well plate on a movable platform.]]
[[File:Juicebox-UI-20130726.png|300px|thumb|Figure 2. Screenshot of the user interface for the tool shown in Figure 1. The grids toward the top and left of the window depict different well plates. The sequence of coordinates in the lower-right describes moving and mixing actions.]]

One of the pillars of science is repeatability. For synthetic biology, repeatability is also important because it facilitates the composition of multiple methods to yield new (combined) circuits in vitro and in vivo. Stated broadly, a central concern of synthetic biology is predictable engineering of chemical processes within cells, and a crucial enabler to this end is repeatable experiments. Despite methodological progress within particular labs or by particular people, sharing protocols that work "out-of-the-box" remains challenging. There has been some effort to share and organize protocols [1].

We are thus motivated to develop a machine-readable format for protocols. By "machine-readable" we mean one that may be reliably parsed by software. Such a format would provide the basis for several improvements to current practices:

# scheduling to manage completion of steps of a protocol and negotiate collaborations and triage during interruptions;
# assessing capabilities of lab equipment to decide whether it can be used for some steps;
# automating steps when the approriate tool is available, supporting manual tasks when not;
# facilitating composition of protocols;
# versioning (tracking the history of modifications).

Toward achieving these, a summer research project would focus on the construction of a tool that automates some parts of protocols using TXTL [2] and provides a platform on which to explore formats for experiment protocols that could realize the above ambitions. Throughout the summer, there would be an emphasis on agile design practices, in which the student will make use of rapid-prototyping technologies, like so-called 3D-printing. While the project could focus on a different tool, some initial progress has been made toward a liquid-handling robot (Figures 1 and 2) based on the [http://mtm.cba.mit.edu/machines/mtm_snap-lock/index.html MTM Snap milling machine].

While there will be involvement with traditional activities like pipetting in a cell biology lab, much of this project will focus on engineering. Though not necessary, it would be useful for the student to have some knowledge about one or more of the following:

* electronic circuit layout; e.g., using a CAD tool like [http://www.cadsoftusa.com/eagle-pcb-design-software/ EAGLE ]
* motors of the scale and type used on small RC vehicles
* mechanical design using CAD tools like SolidWorks
* comfortable at the UNIX terminal
* Python or C programming language
* GUI development; e.g., as in Web design or desktop applications

The nature of the project is pliable according to skills with which the student arrives. So, no need to worry if you only know about one or two of the above!

== References ==
[1] [http://openwetware.org/ OpenWetWare] from the [http://biobricks.org/ BioBricks Foundation]

[2] Z.Z. Sun, C.A. Hayes, J. Shin, F. Caschera, R.M. Murray, V. Noireaux (2013). Protocols for Implementing an Escherichia coli Based TX-TL Cell-Free Expression System for Synthetic Biology. J. Vis. Exp. (79), e50762, DOI: [http://dx.doi.org/10.3791/50762 10.3791/50762]

File:Juicebox-UI-20130726.png

2014-12-18T21:18:13Z

Slivings: Screenshot of the user interface for the liquid handling robot prototype ca. 26 Jul 2013. Credit: Scott C. Livingston

Screenshot of the user interface for the liquid handling robot prototype ca. 26 Jul 2013. Credit: Scott C. Livingston

File:Juicebox-20130725.jpg

2014-12-18T21:12:12Z

Slivings: Photograph of the mostly assembled liquid handling robot prototype developed ca. 25 Jul 2013. Credit: Emzo de los Santos

Photograph of the mostly assembled liquid handling robot prototype developed ca. 25 Jul 2013. Credit: Emzo de los Santos

SURF discussions, Jan 2014

2014-01-23T14:23:30Z

Slivings: /* 29 Jan (Wed) */

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

{| width=100% border=1
|- valign=top
|
==== 27 Jan (Mon) ====
* 9:00: Open

* 11:00: Open
* 11:30: Juan and Ioannis
|

==== 28 Jan (Tue) ====
* 13:00: Open
* 13:30: Open
* 14:00: Open
|

==== 29 Jan (Wed) ====
* 9:30: Open

* 12:00: Linnea Persson and Scott Livingston

* 17:30: Open
|}

The agenda for the phone call is (roughly):

# Student: Description of the basic idea behind the project (based on students's understanding)
# All: Discussion about approaches, things to read, variations to consider, etc
# Mentor/co-mentor: Discussion of the format of the proposal
# Student: Questions and discussion about the process

SURF 2014: Switching control synthesis in the presence of uncertainty and general loads for an aircraft electric power system testbed

2013-12-21T18:02:54Z

Slivings: Italicize journal and booktitles in references list. Add start month to EMSOFT entry.

'''[[SURF 2014|2014 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentor: Scott C. Livingston

[[File:surf2014-aes-rig2012.jpg|300px|thumb|Figure 1. Current rig; from Figure 5 of [1].]]
[[File:surf2014-aes-schematic2012.png|300px|thumb|Figure 2. Schematic of part of current rig, modeling an aircraft electric power system single-line diagram; from Figure 6 of [1].]]
[[File:surf2014-ptolemy-triv-example.jpg|200px|thumb|Figure 3. Example hierarchical model mixing discrete-event and finite state machine semantics in Ptolemy; from Figure 3 of [3].]]

Complex engineered systems are difficult to understand, create, and maintain. A current practical example is control design for vehicle management systems, which broadly refers to the coordination of mechanical, electrical, and computational aspects of the various components of modern vehicles. Concretely, we consider electric power systems on aircraft. Correct operation is crucial for modern designs, yet ensuring that formal requirements are met is very difficult. An aircraft electric power system can be a complex network of different types of generators, loads, and interconnections, all of which vary with time. A control problem in this setting is to decide how to switch contactors "on" and "off" to ensure desired operation.

Toward addressing this, our research group has explored the use of correct-by-construction controller synthesis for switching protocols. Previous work includes development of an aircraft electric power systems testbed [1], to which controllers from the [http://www.cds.caltech.edu/tulip Temporal Logic Planning (TuLiP) toolbox] may be applied. The rig and some of its schematic are shown in Figures 1 and 2. Recent work has considered estimating the state of the network in the presence of uncertainty [2]. A next step in the ongoing development of the testbed is representing in and interfacing with the modeling environment [http://ptolemy.eecs.berkeley.edu/ Ptolemy II], which provides means for treating multiple notions of time [3].

Possibly making use of Ptolemy II, this SURF project will explore control under more general loads on the aircraft power system testbed. It will be necessary to address practical and theoretical difficulties arising from state uncertainty and interface semantics, among other things.

=== Possible parts of the project ===

# Interface the testbed in [1] with software models of other aircraft components, including the heating and air conditioning system. The interface here should be general, so that other types of loads can be added on the aircraft electric power system. Simulations will be developed in [http://ptolemy.eecs.berkeley.edu/ Ptolemy II].
# Modularize using [https://www.fmi-standard.org/ FMI], and solve problems concerning time semantics that can occur for hybrid systems represented with functional mock-up units (FMUs) [4].
# Expand the testbed to support experiments involving uncertainty, and conduct such experiments. Begin using techniques from [2].

=== References ===

[1] R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R.M. Murray. An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols. in ''Proceedings of HSCC'', pp. 89--94. Apr 2013; [[http://dx.doi.org/10.1145/2461328.2461344 DOI]][[http://resolver.caltech.edu/CaltechAUTHORS:20130115-094546873 tech report]].

[2] Q. Maillet, H. Xu, N. Ozay, and R.M. Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity. in ''Proceedings of CDC''. Dec 2013; [[http://www.cds.caltech.edu/~murray/papers/2013b_mxom13-cdc.html preprint]].

[3] S. Tripakis, C. Stergiou, C. Shaver, and E.A. Lee (2013). A modular formal semantics for Ptolemy. ''Mathematical Structures in Computer Science'', 23: 834--881; [[http://dx.doi.org/10.1017/S0960129512000278 DOI]][[http://chess.eecs.berkeley.edu/pubs/999.html tech report]].

[4] D. Broman, C. Brooks, L. Greenberg, E.A. Lee, M. Masin, S. Tripakis, and M. Wetter. Determinate composition of FMUs for co-simulation. in ''Proceedings of EMSOFT''. Sep 2013; [[http://dl.acm.org/citation.cfm?id=2555754.2555756&coll=DL&dl=GUIDE&CFID=390779542&CFTOKEN=31736574 ACM DL]].

SURF 2014: Switching control synthesis in the presence of uncertainty and general loads for an aircraft electric power system testbed

2013-12-21T04:24:55Z

Slivings: Adjust figure sizes

'''[[SURF 2014|2014 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentor: Scott C. Livingston

[[File:surf2014-aes-rig2012.jpg|300px|thumb|Figure 1. Current rig; from Figure 5 of [1].]]
[[File:surf2014-aes-schematic2012.png|300px|thumb|Figure 2. Schematic of part of current rig, modeling an aircraft electric power system single-line diagram; from Figure 6 of [1].]]
[[File:surf2014-ptolemy-triv-example.jpg|200px|thumb|Figure 3. Example hierarchical model mixing discrete-event and finite state machine semantics in Ptolemy; from Figure 3 of [3].]]

Complex engineered systems are difficult to understand, create, and maintain. A current practical example is control design for vehicle management systems, which broadly refers to the coordination of mechanical, electrical, and computational aspects of the various components of modern vehicles. Concretely, we consider electric power systems on aircraft. Correct operation is crucial for modern designs, yet ensuring that formal requirements are met is very difficult. An aircraft electric power system can be a complex network of different types of generators, loads, and interconnections, all of which vary with time. A control problem in this setting is to decide how to switch contactors "on" and "off" to ensure desired operation.

Toward addressing this, our research group has explored the use of correct-by-construction controller synthesis for switching protocols. Previous work includes development of an aircraft electric power systems testbed [1], to which controllers from the [http://www.cds.caltech.edu/tulip Temporal Logic Planning (TuLiP) toolbox] may be applied. The rig and some of its schematic are shown in Figures 1 and 2. Recent work has considered estimating the state of the network in the presence of uncertainty [2]. A next step in the ongoing development of the testbed is representing in and interfacing with the modeling environment [http://ptolemy.eecs.berkeley.edu/ Ptolemy II], which provides means for treating multiple notions of time [3].

Possibly making use of Ptolemy II, this SURF project will explore control under more general loads on the aircraft power system testbed. It will be necessary to address practical and theoretical difficulties arising from state uncertainty and interface semantics, among other things.

=== Possible parts of the project ===

# Interface the testbed in [1] with software models of other aircraft components, including the heating and air conditioning system. The interface here should be general, so that other types of loads can be added on the aircraft electric power system. Simulations will be developed in [http://ptolemy.eecs.berkeley.edu/ Ptolemy II].
# Modularize using [https://www.fmi-standard.org/ FMI], and solve problems concerning time semantics that can occur for hybrid systems represented with functional mock-up units (FMUs) [4].
# Expand the testbed to support experiments involving uncertainty, and conduct such experiments. Begin using techniques from [2].

=== References ===

[1] R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R.M. Murray. An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols. in Proceedings of HSCC, pp. 89--94. Apr 2013; [[http://dx.doi.org/10.1145/2461328.2461344 DOI]][[http://resolver.caltech.edu/CaltechAUTHORS:20130115-094546873 tech report]].

[2] Q. Maillet, H. Xu, N. Ozay, and R.M. Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity. in Proceedings of CDC. Dec 2013; [[http://www.cds.caltech.edu/~murray/papers/2013b_mxom13-cdc.html preprint]].

[3] S. Tripakis, C. Stergiou, C. Shaver, and E.A. Lee (2013). A modular formal semantics for Ptolemy. Mathematical Structures in Computer Science, 23: 834--881; [[http://dx.doi.org/10.1017/S0960129512000278 DOI]][[http://chess.eecs.berkeley.edu/pubs/999.html tech report]].

[4] D. Broman, C. Brooks, L. Greenberg, E.A. Lee, M. Masin, S. Tripakis, and M. Wetter. Determinate composition of FMUs for co-simulation. in Proceedings of EMSOFT. 2013; [[http://dl.acm.org/citation.cfm?id=2555754.2555756&coll=DL&dl=GUIDE&CFID=390779542&CFTOKEN=31736574 ACM DL]].

File:Surf2014-aes-schematic2012.png

2013-12-21T04:20:36Z

Slivings:

File:Surf2014-aes-rig2012.jpg

2013-12-21T04:20:07Z

Slivings:

File:Surf2014-ptolemy-triv-example.jpg

2013-12-21T04:18:52Z

Slivings:

SURF 2014: Switching control synthesis in the presence of uncertainty and general loads for an aircraft electric power system testbed

2013-12-21T04:18:00Z

Slivings: Created page with "'''2014 SURF project description''' * Mentor: Richard M. Murray * Co-mentor: Scott C. Livingston [[File:surf2014-aes-rig2012.png|thumb|Figure 1. Current rig; fr..."

'''[[SURF 2014|2014 SURF]] project description'''
* Mentor: Richard M. Murray
* Co-mentor: Scott C. Livingston

[[File:surf2014-aes-rig2012.png|thumb|Figure 1. Current rig; from Figure 5 of [1].]]
[[File:surf2014-aes-schematic2012.png|thumb|Figure 2. Schematic of part of current rig, modeling an aircraft electric power system single-line diagram; from Figure 6 of [1].]]
[[File:surf2014-ptolemy-triv-example.jpg|thumb|Figure 3. Example hierarchical model mixing discrete-event and finite state machine semantics in Ptolemy; from Figure 3 of [3].]]

Complex engineered systems are difficult to understand, create, and maintain. A current practical example is control design for vehicle management systems, which broadly refers to the coordination of mechanical, electrical, and computational aspects of the various components of modern vehicles. Concretely, we consider electric power systems on aircraft. Correct operation is crucial for modern designs, yet ensuring that formal requirements are met is very difficult. An aircraft electric power system can be a complex network of different types of generators, loads, and interconnections, all of which vary with time. A control problem in this setting is to decide how to switch contactors "on" and "off" to ensure desired operation.

Toward addressing this, our research group has explored the use of correct-by-construction controller synthesis for switching protocols. Previous work includes development of an aircraft electric power systems testbed [1], to which controllers from the [http://www.cds.caltech.edu/tulip Temporal Logic Planning (TuLiP) toolbox] may be applied. The rig and some of its schematic are shown in Figures 1 and 2. Recent work has considered estimating the state of the network in the presence of uncertainty [2]. A next step in the ongoing development of the testbed is representing in and interfacing with the modeling environment [http://ptolemy.eecs.berkeley.edu/ Ptolemy II], which provides means for treating multiple notions of time [3].

Possibly making use of Ptolemy II, this SURF project will explore control under more general loads on the aircraft power system testbed. It will be necessary to address practical and theoretical difficulties arising from state uncertainty and interface semantics, among other things.

=== Possible parts of the project ===

# Interface the testbed in [1] with software models of other aircraft components, including the heating and air conditioning system. The interface here should be general, so that other types of loads can be added on the aircraft electric power system. Simulations will be developed in [http://ptolemy.eecs.berkeley.edu/ Ptolemy II].
# Modularize using [https://www.fmi-standard.org/ FMI], and solve problems concerning time semantics that can occur for hybrid systems represented with functional mock-up units (FMUs) [4].
# Expand the testbed to support experiments involving uncertainty, and conduct such experiments. Begin using techniques from [2].

=== References ===

[1] R. Rogersten, H. Xu, N. Ozay, U. Topcu, and R.M. Murray. An Aircraft Electric Power Testbed for Validating Automatically Synthesized Reactive Control Protocols. in Proceedings of HSCC, pp. 89--94. Apr 2013; [[http://dx.doi.org/10.1145/2461328.2461344 DOI]][[http://resolver.caltech.edu/CaltechAUTHORS:20130115-094546873 tech report]].

[2] Q. Maillet, H. Xu, N. Ozay, and R.M. Murray. Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity. in Proceedings of CDC. Dec 2013; [[http://www.cds.caltech.edu/~murray/papers/2013b_mxom13-cdc.html preprint]].

[3] S. Tripakis, C. Stergiou, C. Shaver, and E.A. Lee (2013). A modular formal semantics for Ptolemy. Mathematical Structures in Computer Science, 23: 834--881; [[http://dx.doi.org/10.1017/S0960129512000278 DOI]][[http://chess.eecs.berkeley.edu/pubs/999.html tech report]].

[4] D. Broman, C. Brooks, L. Greenberg, E.A. Lee, M. Masin, S. Tripakis, and M. Wetter. Determinate composition of FMUs for co-simulation. in Proceedings of EMSOFT. 2013; [[http://dl.acm.org/citation.cfm?id=2555754.2555756&coll=DL&dl=GUIDE&CFID=390779542&CFTOKEN=31736574 ACM DL]].

SURF 2014

2013-12-21T04:10:49Z

Slivings: Add project that Scott will co-mentor.

{{righttoc}}
This page is intended for students interested in working on SURF projects in the Summer of 2014. 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 10 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 11 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 2014.
# If you are selected for a SURF, please be aware of the following information
#* All SURF projects in my group will start on 17 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'''
|-
| {{SURF entry|2014|Switching control synthesis in the presence of uncertainty and general loads for an aircraft electric power system testbed}}
|
| [http://scottman.net Scott C. Livingston]
|
|}

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

2013-12-09T06:48:16Z

Slivings: /* 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_lm14-icra.html Moving bounding boxes and incremental synthesis for dynamic obstacles], Scott C. Livingston, Richard M. Murray. Submitted, 2014 International Conference on Robotics and Automation (ICRA).

*[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

Travis Gibson, Nov 2013

2013-11-23T06:35:59Z

Slivings: /* Schedule */ add link to seminar during lunch hour.

=== 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: 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.

September 2013 Meetings

2013-08-26T16:22:19Z

Slivings: /* Mon, 9 Sep / Tue, 10 Sep */

The list below has times that I am available to meet between 3 and 13 September. 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__

{| border=1 width=100%
|- valign=top
| width=20% |
2 Sep - Labor Day
| width=20% |
==== Tue, 3 Sep ====
{{agenda begin}}
{{agenda item|2:00p|Emzo}}
{{agenda item|3:00p|Joe Levine}}
{{agenda item| | }}
{{agenda item|4:30|Enoch}}
{{agenda item|5:30|Open}}
{{agenda end}}
| width=20% |
==== Wed, 4 Sep ====
{{agenda begin}}
{{agenda item| | }}
{{agenda item| | }}
{{agenda item| | }}
{{agenda item|4:30|Open}}
{{agenda item|5:30|Open}}
{{agenda end}}
| colspan=2 width=40% |
==== Thu, 5 Sep / Fri, 6 Sep ====
{| cellspacing=0 cellpadding=0
|- valign=top
| width=50% |
{{agenda begin}}
{{agenda item|2:00p|Open}}
{{agenda item|3:00p|Open}}
{{agenda item| | }}
{{agenda item|4:30|Open}}
{{agenda item|5:30|Open}}
{{agenda end}}
| width=50% |
Note: I may need to travel on either Thu or Fri {{implies}} please only sign up for a slot if you can make that time on both days.
|}
|- valign=top
| colspan=2 width=40% |
==== Mon, 9 Sep / Tue, 10 Sep ====
{| cellspacing=0 cellpadding=0
|- valign=top
| width=50% |
{{agenda begin}}
{{agenda item|2:00p|dsg}}
{{agenda item|3:00p|Scott Livingston}}
{{agenda item| | }}
{{agenda item|4:30|Open}}
{{agenda item|5:30|Open}}
{{agenda end}}
| width=50% |
Note: I may need to travel on either Mon or Tue {{implies}} please only sign up for a slot if you can make that time on both days.
|}
| width=20% |

==== Wed, 11 Sep ====
{{agenda begin}}
{{agenda item|1:00p|Open}}
{{agenda item|2:00p|Open}}
{{agenda item| | }}
{{agenda item|4:00|Open}}
{{agenda item|5:00|Open}}
{{agenda end}}
| width=20% |
==== Thu, 12 Sep ====
{{agenda begin}}
{{agenda item|2:00p|Open}}
{{agenda item|3:00p|Open}}
{{agenda item| | }}
{{agenda item|4:30|Open}}
{{agenda item|5:30|Open}}
{{agenda end}}
| width=20% |
==== Fri, 13 Sep ====
{{agenda begin}}
{{agenda item|1:00p|Vanessa}}
{{agenda item|2:00p|Open}}
{{agenda end}}
|}

TuLiP planning, May 2013

2013-05-14T20:00:48Z

Slivings: /* Notes */

This page contains a draft description of the TuLiP toolbox.

== Architecture ==

Notes from 30 April 2013 meeting:

[[Image:tulip-planning_30Apr13.jpg|640px]]

== Examples ==
This section contains a set of example that illustrate how the TuLiP code should be structured. This goes first so that we focus on the TuLiP interface and functionality and then figure out what is required to support it.

=== Load up an example stored in files and synthesize a controller ===
This example shows how to load up a problem that is specified in files and synthesize a controller. Save the controller to a file, but also generate a version that can be executed in Ptolemy.

==== Code ====
<pre>
import tulip

# Load up the system and environment descriptions, plus specifications
system = tulip.ts.load("robot-discrete.tsf")
environment = tulip.sp.load("robot-env.spf")
specs = tulip.sp.load("robot-specs.spf")

# Synthesize a controller
controller = tulip.syn.jtlv(system, environment, specs)

# Save the controller in TuLiP and Ptolemy formats
tulip.ts.save("robot-control.tsf")
tulip.ptolemy.savefsm("robot-control.fsm")
</pre>

==== Notes ====
# The <tt>.tsf</tt> (transition system file) and <tt>.spf</tt> (specification file) formats are the default TuLiP file formats.
#* Alternatively, perhaps we have a single file format <tt>.tlp</tt> and then use <tt>tulip.load</tt> and <tt>tulip.save</tt> to read and write. The type of object would just be part of the file specification. --[[User:Murray|Richard Murray]] ([[User talk:Murray|talk]]) 15:07, 11 May 2013 (PDT)
# The <tt>ts</tt> module contains data types and functions for representing different types of transition systems. Multiple transition systems are supported, including deterministic transition systems, Markov decision processes, Kripke structures, Rabin automata, etc.
# The <tt>sp</tt> module contains data types and functions for representing specifications. Multiple temporal logics, including LTL, MTL, CTL, PCTL, TCTL, STL, etc are supported.
# The <tt>syn</tt> module contains interfaces to various synthesis tools. Supported tools include JTLV, gr1c and PRISM. The input arguments must be compatible with the synthesis tool, but all arguments should be core TuLiP objects.
#* Would it make more sense to have a module for each program we support? So this line would become <tt>tulip.jtlv.syn</tt>? --[[User:Murray|Richard Murray]] ([[User talk:Murray|talk]]) 15:07, 11 May 2013 (PDT)
# The <tt>ptolemy</tt> module contains functions for interfacing with Ptolemy.
#* Should we instead make an FMI interface and then use Ptolemy's FMI capability? --[[User:Murray|Richard Murray]] ([[User talk:Murray|talk]]) 15:09, 11 May 2013 (PDT)
#* We should be careful about MoC the automaton is synthesized for (event-based, discrete-time, continuous-time etc.) while interfacing. Ptolemy and FMI seem to have better support for certain types. -- Necmiye
# It would be nice to have transition system class support symbolic representations (e.g., based on variable tuples as is now instead of listing all states). For instance for a 10x10 grid, one might want to define the problem in terms of x and y coordinates instead of listing 100 states. Another example where listing the states is difficult is vms examples, where we have temperature, ice_level, wind_level, etc. This way we can take better advantage of underlying symbolic computations. -- Necmiye
#* The <code>gridworld</code> module already provides an example of this. --[[User:Slivings|Slivings]] ([[User talk:Slivings|talk]]) 09:09, 14 May 2013 (PDT)

=== Create a discrete example from scratch ===

This example shows how to create a system and environment from scratch, then synthesize a controller. It is based on the <tt>robot-simple.py</tt> example that is distributed with TuLiP and used in the EECI short course.

==== Code ====
<pre>
import tulip

#
# Create the system transition system corresponding to a 2x3 grid of cells
#
system = tulip.ts()
system.addstates({'c11', 'c12', 'c13', 'c21', 'c22', 'c23'})

# Allow transitions between adjacent cells
system.addtransition('c11', True, {'c12', 'c21'})
system.addtransition('c12', True, {'c11', 'c13', 'c22'})
system.addtransition('c13', True, {'c12', 'c31'}})
system.addtransition('c21', True, {'c12', 'c22'})
system.addtransition('c22', True, {'c21', 'c23', 'c12'})
system.addtransition('c23', True, {'c22', 'c13'}})

# Add labels to selected points
system.addlabel('home', 'c11')
system.addlabel('lot', 'c13 or c23')

#
# Create an environment that allows an obstacle to move around in the same state space
#
# We model the environment in a slightly different way, just to show functionality
#
environment = tulip.ts()

environment.addvar('obs', system.states)
envspec = tulip.spec(environment,
( obs = c11 -> next (obs = c12 or obs = c21) ) and
( obs = c12 -> next (obs = c11 or obs = c13 or obs = c22) ) and
( obs = c13 -> next (obs = c12 or obs = c31) ) and
( obs = c21 -> next (obs = c22 or obs = c12) ) and
( obs = c22 -> next (obs = c21 or obs = c23 or obs = c12) ) and
( obs = c23 -> next (obs = c22 or obs = c13) )
')

environment.addvar('park', {1, 0})
envspec = envspec + tulip.spec(environment, '[] <> !park')

#
# System specification
#
spec = tulip.spec({system,environment}, envspec + '->
(always eventually home) and
(always (park -> eventually lot)) and
(always !(
(obs = c11 and c11) or
(obs = c12 and c12) or
(obs = c13 and c13) or
(obs = c21 and c21) or
(obs = c22 and c22) or
(obs = c23 and c23) ) )
')

# Synthesize the automaton
controller = tulip.syn.jtlv(system, environment, spec)

# Simulate the system
</pre>

=== Discretize continuous dynamics ===
<pre>
import tulip
import control

# Create a hybrid system with 2D continuous space and no discrete dynamics
system = tulip.hybrid(2, {})

# Define the dynamics for the system
sysdyn = control.ss({{0,0,1,0}, {0,0,0,1}, {0, 0, 0, 0}, {0,0,0,0}}, {{0,0}, {0,0}, {1,0}, {0,1}}, {{1,0,0,0}, {0,1, 0,0}}, 0)

# Define the regions for the system, along with labels and dynamics
system.addregion({{0,0}, {1,1}}, 'c11', sysdyn)
system.addregion({{1,0}, {2,1}}, 'c12', sysdyn)
system.addregion({{2,0}, {3,1}}, 'c13', sysdyn)
system.addregion({{0,1}, {1,2}}, 'c21', sysdyn)
system.addregion({{1,1}, {2,2}}, 'c22', sysdyn)
system.addregion({{2,1}, {3,2}}, 'c23', sysdyn)

# Discretize the dynamics
tulip.discretize(system, 0.01)
</pre>

== TuLiP classes ==

=== TransitionSystem ===

A transition system consists of
* states - a list of elements that correspond to the states of the system. Elements are nominally strings
* transitions - optional subset of states x states indicating allowable transitions (doesn't have to be deterministic)
* actions - list of actions and what transitions they enable. If empty
* labels - list of atomic propositions for any subsets of states. Atomic propositions are given by set of all label outputs
* initial states
* acceptance sets - for Buchi and Rabin automata

Available functions

=== Specification ===
A specification is a temporal logic formula. Specifications can be input and output as strings using the following symbols:
* state - evaluates to true if the system is in the discrete state
* atomic - evaluates to true if the atomic proposition is true
* logical operators: and, or, not, implies, &, ^, !, ->
* comparison operators: =, <=, >=, !=
* temporal operators: always, eventually, until, next, [], <>, U, X
* path operators: forall, exists, F, E
* probability operators?

=== HybridSystem ===

The HybridSystem class is used to define systems that have continuous time dynamics. The state space of a hybrid system can be continuous, discrete or both.

A space system consists of
* discrete state space - set of discrete states
* continuous state space - list of polygonal regions that are each subsets of R^n
* discrete inputs - set of discrete inputs that affect evolution of the system
* continuous inputs - set of continuous inputs that affect evolution of the system
* discrete transitions - set of guarded commands
* continuous dynamics - for each polygonal region, a set of dynamics that define the evolution of the system (given values for the inputs)

TuLiP planning, May 2013

2013-05-14T16:09:12Z

Slivings: /* Notes */

This page contains a draft description of the TuLiP toolbox.

== Architecture ==

Notes from 30 April 2013 meeting:

[[Image:tulip-planning_30Apr13.jpg|640px]]

== Examples ==
This section contains a set of example that illustrate how the TuLiP code should be structured. This goes first so that we focus on the TuLiP interface and functionality and then figure out what is required to support it.

=== Load up an example stored in files and synthesize a controller ===
This example shows how to load up a problem that is specified in files and synthesize a controller. Save the controller to a file, but also generate a version that can be executed in Ptolemy.

==== Code ====
<pre>
import tulip

# Load up the system and environment descriptions, plus specifications
system = tulip.ts.load("robot-discrete.tsf")
environment = tulip.sp.load("robot-env.spf")
specs = tulip.sp.load("robot-specs.spf")

# Synthesize a controller
controller = tulip.syn.jtlv(system, environment, specs)

# Save the controller in TuLiP and Ptolemy formats
tulip.ts.save("robot-control.tsf")
tulip.ptolemy.savefsm("robot-control.fsm")
</pre>

==== Notes ====
# The <tt>.tsf</tt> (transition system file) and <tt>.spf</tt> (specification file) formats are the default TuLiP file formats.
#* Alternatively, perhaps we have a single file format <tt>.tlp</tt> and then use <tt>tulip.load</tt> and <tt>tulip.save</tt> to read and write. The type of object would just be part of the file specification. --[[User:Murray|Richard Murray]] ([[User talk:Murray|talk]]) 15:07, 11 May 2013 (PDT)
# The <tt>tf</tt> module contains data types and functions for representing different types of transition systems. Multiple transition systems are supported, including deterministic transition systems, Markov decision processes, Kripke structures, Rabin automata, etc.
# The <tt>sp</tt> module contains data types and functions for representing specifications. Multiple temporal logics, including LTL, MTL, CTL, PCTL, TCTL, STL, etc are supported.
# The <tt>syn</tt> module contains interfaces to various synthesis tools. Supported tools include JTLV, gr1c and PRISM. The input arguments must be compatible with the synthesis tool, but all arguments should be core TuLiP objects.
#* Would it make more sense to have a module for each program we support? So this line would become <tt>tulip.jtlv.syn</tt>? --[[User:Murray|Richard Murray]] ([[User talk:Murray|talk]]) 15:07, 11 May 2013 (PDT)
# The <tt>ptolemy</tt> module contains functions for interfacing with Ptolemy.
#* Should we instead make an FMI interface and then use Ptolemy's FMI capability? --[[User:Murray|Richard Murray]] ([[User talk:Murray|talk]]) 15:09, 11 May 2013 (PDT)
#* We should be careful about MoC the automaton is synthesized for (event-based, discrete-time, continuous-time etc.) while interfacing. Ptolemy and FMI seem to have better support for certain types. -- Necmiye
# It would be nice to have transition system class support symbolic representations (e.g., based on variable tuples as is now instead of listing all states). For instance for a 10x10 grid, one might want to define the problem in terms of x and y coordinates instead of listing 100 states. Another example where listing the states is difficult is vms examples, where we have temperature, ice_level, wind_level, etc. This way we can take better advantage of underlying symbolic computations. -- Necmiye
#* The <code>gridworld</code> module already provides an example of this. --[[User:Slivings|Slivings]] ([[User talk:Slivings|talk]]) 09:09, 14 May 2013 (PDT)

=== Create a discrete example from scratch ===

This example shows how to create a system and environment from scratch, then synthesize a controller. It is based on the <tt>robot-simple.py</tt> example that is distributed with TuLiP and used in the EECI short course.

==== Code ====
<pre>
import tulip

#
# Create the system transition system corresponding to a 2x3 grid of cells
#
system = tulip.ts()
system.addstates({'c11', 'c12', 'c13', 'c21', 'c22', 'c23'})

# Allow transitions between adjacent cells
system.addtransition('c11', True, {'c12', 'c21'})
system.addtransition('c12', True, {'c11', 'c13', 'c22'})
system.addtransition('c13', True, {'c12', 'c31'}})
system.addtransition('c21', True, {'c12', 'c22'})
system.addtransition('c22', True, {'c21', 'c23', 'c12'})
system.addtransition('c23', True, {'c22', 'c13'}})

# Add labels to selected points
system.addlabel('home', 'c11')
system.addlabel('lot', 'c13 or c23')

#
# Create an environment that allows an obstacle to move around in the same state space
#
# We model the environment in a slightly different way, just to show functionality
#
environment = tulip.ts()

environment.addvar('obs', system.states)
envspec = tulip.spec(environment,
( obs = c11 -> next (obs = c12 or obs = c21) ) and
( obs = c12 -> next (obs = c11 or obs = c13 or obs = c22) ) and
( obs = c13 -> next (obs = c12 or obs = c31) ) and
( obs = c21 -> next (obs = c22 or obs = c12) ) and
( obs = c22 -> next (obs = c21 or obs = c23 or obs = c12) ) and
( obs = c23 -> next (obs = c22 or obs = c13) )
')

environment.addvar('park', {1, 0})
envspec = envspec + tulip.spec(environment, '[] <> !park')

#
# System specification
#
spec = tulip.spec({system,environment}, envspec + '->
(always eventually home) and
(always (park -> eventually lot)) and
(always !(
(obs = c11 and c11) or
(obs = c12 and c12) or
(obs = c13 and c13) or
(obs = c21 and c21) or
(obs = c22 and c22) or
(obs = c23 and c23) ) )
')

# Synthesize the automaton
controller = tulip.syn.jtlv(system, environment, spec)

# Simulate the system
</pre>

=== Discretize continuous dynamics ===
<pre>
import tulip
import control

# Create a hybrid system with 2D continuous space and no discrete dynamics
system = tulip.hybrid(2, {})

# Define the dynamics for the system
sysdyn = control.ss({{0,0,1,0}, {0,0,0,1}, {0, 0, 0, 0}, {0,0,0,0}}, {{0,0}, {0,0}, {1,0}, {0,1}}, {{1,0,0,0}, {0,1, 0,0}}, 0)

# Define the regions for the system, along with labels and dynamics
system.addregion({{0,0}, {1,1}}, 'c11', sysdyn)
system.addregion({{1,0}, {2,1}}, 'c12', sysdyn)
system.addregion({{2,0}, {3,1}}, 'c13', sysdyn)
system.addregion({{0,1}, {1,2}}, 'c21', sysdyn)
system.addregion({{1,1}, {2,2}}, 'c22', sysdyn)
system.addregion({{2,1}, {3,2}}, 'c23', sysdyn)

# Discretize the dynamics
tulip.discretize(system, 0.01)
</pre>

== TuLiP classes ==

=== TransitionSystem ===

A transition system consists of
* states - a list of elements that correspond to the states of the system. Elements are nominally strings
* transitions - optional subset of states x states indicating allowable transitions (doesn't have to be deterministic)
* actions - list of actions and what transitions they enable. If empty
* labels - list of atomic propositions for any subsets of states. Atomic propositions are given by set of all label outputs
* initial states
* acceptance sets - for Buchi and Rabin automata

Available functions

=== Specification ===
A specification is a temporal logic formula. Specifications can be input and output as strings using the following symbols:
* state - evaluates to true if the system is in the discrete state
* atomic - evaluates to true if the atomic proposition is true
* logical operators: and, or, not, implies, &, ^, !, ->
* comparison operators: =, <=, >=, !=
* temporal operators: always, eventually, until, next, [], <>, U, X
* path operators: forall, exists, F, E
* probability operators?

=== HybridSystem ===

The HybridSystem class is used to define systems that have continuous time dynamics. The state space of a hybrid system can be continuous, discrete or both.

A space system consists of
* discrete state space - set of discrete states
* continuous state space - list of polygonal regions that are each subsets of R^n
* discrete inputs - set of discrete inputs that affect evolution of the system
* continuous inputs - set of continuous inputs that affect evolution of the system
* discrete transitions - set of guarded commands
* continuous dynamics - for each polygonal region, a set of dynamics that define the evolution of the system (given values for the inputs)

March 2013 meeting schedule

2013-03-06T21:58:13Z

Slivings: Scott switched from 8 Mar to 10 Mar.

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|Shuo}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Jongmin}}
{{agenda item|6:45-7:30|Zoltan}}
{{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|Unavailable}}
{{agenda item|5:00-5:45|Chris Kempes}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Anandh}}
{{agenda item|6:45-7:30|Ivan}}
{{agenda end}}
| width=30% |

==== 8 Mar (Fri) ====
{{agenda begin}}
{{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|Nadine (might get shortened)}}
{{agenda item||}}
{{agenda item|5:00-5:45|Eric}}
{{agenda item|5:45-6:30|Open}}
{{agenda item|6:30-7:15|Enoch Yeung}}
{{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|dan}}
{{agenda item|4:00-5:00|Scott Livingston}}
{{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|12:30-1:15|Hold}}
{{agenda item||}}
{{agenda item|3:30-4:15|Mumu}}
{{agenda item|4:15-5:00|Shaobin}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Marcella}}
{{agenda item|6:00-6:45|Victoria}}
{{agenda item|6:45-7:30|Clare}}
{{agenda end}}
|

==== 12 Mar (Tue) ====
{{agenda begin}}
{{agenda item|11:00-11:45|Emzo}}
{{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|Vipul}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Joe}}
{{agenda item|6:00-6:45|Anu}}
{{agenda item|6:45-7:30|Zach}}
{{agenda end}}
|}

March 2013 meeting schedule

2013-03-06T21:57:48Z

Slivings: /* 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|Shuo}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Jongmin}}
{{agenda item|6:45-7:30|Zoltan}}
{{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|Unavailable}}
{{agenda item|5:00-5:45|Chris Kempes}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Anandh}}
{{agenda item|6:45-7:30|Ivan}}
{{agenda end}}
| width=30% |

==== 8 Mar (Fri) ====
{{agenda begin}}
{{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|Nadine (might get shortened)}}
{{agenda item||}}
{{agenda item|5:00-5:45|Eric}}
{{agenda item|5:45-6:30|Open}}
{{agenda item|6:30-7:15|Enoch Yeung}}
{{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|dan}}
{{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|12:30-1:15|Hold}}
{{agenda item||}}
{{agenda item|3:30-4:15|Mumu}}
{{agenda item|4:15-5:00|Shaobin}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Marcella}}
{{agenda item|6:00-6:45|Victoria}}
{{agenda item|6:45-7:30|Clare}}
{{agenda end}}
|

==== 12 Mar (Tue) ====
{{agenda begin}}
{{agenda item|11:00-11:45|Emzo}}
{{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|Vipul}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Joe}}
{{agenda item|6:00-6:45|Anu}}
{{agenda item|6:45-7:30|Zach}}
{{agenda end}}
|}

March 2013 meeting schedule

2013-03-03T06:33:37Z

Slivings: /* 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|Shuo}}
{{agenda item|5:45-6:00|UG advisee}}
{{agenda item|6:00-6:45|Jongmin}}
{{agenda item|6:45-7:30|Zoltan}}
{{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|Scott Livingston}}
{{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|Mumu}}
{{agenda item|4:15-5:00|Shaobin}}
{{agenda item|5:00-5:15|UG advisee}}
{{agenda item|5:15-6:00|Marcella}}
{{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|Emzo}}
{{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|Vipul}}
{{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

2013-02-21T02:46:56Z

Slivings:

=== 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: Necmiye, 130 Steele Lab
* 2pm: Scott Livingston; meet in the Steele library (114 Steele?)
* 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

2013-02-06T19:40:08Z

Slivings: /* 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: Open
* 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

2013-01-25T08:15:56Z

Slivings: /* 31 Jan (Thu) */

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: Anu/ Monica
* 9:20: Andrew + Enoch
* 9:40: James + Eric
|

==== 30 Jan (Wed) ====
* 14:00: Open
* 14:20: Open
* 14:40: Emzo + Aurelija
|

==== 31 Jan (Thu) ====
* 10:30: Livingston and Zheng
* 10:50: Open
* 11:10: Marcella + Mattias
|}

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

2013-01-10T00:52:28Z

Slivings: /* 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: Open
* 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).

Yushan Chen, 23 January 2013

2013-01-10T00:52:05Z

Slivings:

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: Open
* 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 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: Experiments with dynamic obstacles and correct-by-construction controllers

2012-12-23T00:22:12Z

Slivings: fix URLs

'''[[SURF 2013|2013 SURF]] project description'''
* Mentor: Richard Murray
* Co-mentor: Scott C. Livingston

[[File:Ldr_sizeref_sm.jpg‎|thumb|Robot hardware for use in experiments. A coffee mug is provided to indicate scale.]]
[[File:Qtree_addrs_sm.jpg‎|thumb|Example map for navigation. Robot is depicted as a red circle.]]

A major challenge in the design of autonomous robots is creating the
decision-making logic that controls how a robot reacts to changes in
its internal state (e.g., failure of a sensor or actuator) and changes
in its environment (e.g., other robots or people interacting with it).
This decision-making logic is often encoded as a finite state machine
that must satisfy certain safety and reachability properties. While
it may be easy to list the desired properties, manually building a
finite state machine that has them is difficult. To address this,
methods have been proposed that automatically construct a solution
from a statement of the properties it should have. However, most such
methods assume perfect models and thus may fail when actually
implemented on a robot, where uncertainty seems unavoidable.

An example of this situation is mobile robot navigation to a goal in
the presence of a human ("dynamic obstacle"). While it is difficult
to place probabilities on human motion, we can bound how far the human
can move in a fixed time period, and possibly find rules for motion in
certain situations. These "rules" guide construction of a finite
state machine that ensures the robot avoids collisions with people.
There is a trade-off in richness of these rules and computation
required to find correct strategies against them. There are at least
two approaches to cope with this:

1. Use stochastic models and provide probabilistic guarantees of correctness.

2. Patch a given strategy online to account for a changing game while
providing exact correctness.

=== Possible SURF activities ===

For a summer SURF project, you would design and conduct experiments to
compare at least one algorithm from each of these two approaches.
Some possible activities are:
* extend current experimental testbed by building "dynamic obstacles"---small vehicles that have random motion;
* propose and demonstrate scenarios to compare performance of several existing algorithms;
* study effects of uncertainty; e.g.,
** How does performance degrade with position uncertainty?
** At what noise level (or flawed actuator performance) do the original guarantees of correctness fail?
** To what extent can old solutions be updated despite uncertainty?

=== References ===

# C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins, G.J. Pappas, "Symbolic Planning and Control of Robot Motion: Finding the Missing Pieces of Current Methods and Ideas," IEEE Robotics & Automation Magazine, 2007.
#* http://dx.doi.org/10.1109/MRA.2007.339624
#* http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4141034&isnumber=4141014
# S.C. Livingston, P. Prabhakar, A.B. Jose, R.M. Murray, "Patching task-level robot controllers based on a local µ-calculus formula," Caltech CDS tech report, 2012. http://resolver.caltech.edu/CaltechCDSTR:2012.003
# B. Johnson, F. Havlak, M. Campbell, H. Kress-Gazit, "Execution and Analysis of High-Level Tasks with Dynamic Obstacle Anticipation," Proc. of ICRA 2012.
#* http://dx.doi.org/10.1109/ICRA.2012.6224980
#* http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6224980&isnumber=6224548
# For a broad introduction including elementary motion planning, see S.M. LaValle's tutorial at ICRA 2012: "Motion planning for dynamic environments"; http://msl.cs.uiuc.edu/~lavalle/icra12/

SURF 2013: Experiments with dynamic obstacles and correct-by-construction controllers

2012-12-23T00:19:13Z

Slivings: Add images

'''[[SURF 2013|2013 SURF]] project description'''
* Mentor: Richard Murray
* Co-mentor: Scott C. Livingston

[[File:Ldr_sizeref_sm.jpg‎|thumb|Robot hardware for use in experiments. A coffee mug is provided to indicate scale.]]
[[File:Qtree_addrs_sm.jpg‎|thumb|Example map for navigation. Robot is depicted as a red circle.]]

A major challenge in the design of autonomous robots is creating the
decision-making logic that controls how a robot reacts to changes in
its internal state (e.g., failure of a sensor or actuator) and changes
in its environment (e.g., other robots or people interacting with it).
This decision-making logic is often encoded as a finite state machine
that must satisfy certain safety and reachability properties. While
it may be easy to list the desired properties, manually building a
finite state machine that has them is difficult. To address this,
methods have been proposed that automatically construct a solution
from a statement of the properties it should have. However, most such
methods assume perfect models and thus may fail when actually
implemented on a robot, where uncertainty seems unavoidable.

An example of this situation is mobile robot navigation to a goal in
the presence of a human ("dynamic obstacle"). While it is difficult
to place probabilities on human motion, we can bound how far the human
can move in a fixed time period, and possibly find rules for motion in
certain situations. These "rules" guide construction of a finite
state machine that ensures the robot avoids collisions with people.
There is a trade-off in richness of these rules and computation
required to find correct strategies against them. There are at least
two approaches to cope with this:

1. Use stochastic models and provide probabilistic guarantees of correctness.

2. Patch a given strategy online to account for a changing game while
providing exact correctness.

=== Possible SURF activities ===

For a summer SURF project, you would design and conduct experiments to
compare at least one algorithm from each of these two approaches.
Some possible activities are:
* extend current experimental testbed by building "dynamic obstacles"---small vehicles that have random motion;
* propose and demonstrate scenarios to compare performance of several existing algorithms;
* study effects of uncertainty; e.g.,
** How does performance degrade with position uncertainty?
** At what noise level (or flawed actuator performance) do the original guarantees of correctness fail?
** To what extent can old solutions be updated despite uncertainty?

=== References ===

# C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins, G.J. Pappas, "Symbolic Planning and Control of Robot Motion: Finding the Missing Pieces of Current Methods and Ideas," IEEE Robotics & Automation Magazine, 2007.
#* http://doi.org/10.1109/MRA.2007.339624
#* http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4141034&isnumber=4141014
# S.C. Livingston, P. Prabhakar, A.B. Jose, R.M. Murray, "Patching task-level robot controllers based on a local µ-calculus formula," Caltech CDS tech report, 2012. http://resolver.caltech.edu/CaltechCDSTR:2012.003
# B. Johnson, F. Havlak, M. Campbell, H. Kress-Gazit, "Execution and Analysis of High-Level Tasks with Dynamic Obstacle Anticipation," Proc. of ICRA 2012.
#* http://doi.org/10.1109/ICRA.2012.6224980
#* http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6224980&isnumber=6224548
# For a broad introduction including elementary motion planning, see S.M. LaValle's tutorial at ICRA 2012: "Motion planning for dynamic environments"; http://msl.cs.uiuc.edu/~lavalle/icra12/

File:Ldr sizeref sm.jpg

2012-12-23T00:16:18Z

Slivings: Thumbnail photo of Landroid with coffee mug for scale, courtesy of Alex B. Jose.

Thumbnail photo of Landroid with coffee mug for scale, courtesy of Alex B. Jose.

File:Qtree addrs sm.jpg

2012-12-23T00:04:45Z

Slivings: quadtree map example, for use in SURF 2013 solicitation by Scott Livingston.

quadtree map example, for use in SURF 2013 solicitation by Scott Livingston.

SURF 2013: Experiments with dynamic obstacles and correct-by-construction controllers

2012-12-22T22:30:18Z

Slivings: Created page with "'''2013 SURF project description''' * Mentor: Richard Murray * Co-mentor: Scott C. Livingston A major challenge in the design of autonomous robots is creating t..."

'''[[SURF 2013|2013 SURF]] project description'''
* Mentor: Richard Murray
* Co-mentor: Scott C. Livingston

A major challenge in the design of autonomous robots is creating the
decision-making logic that controls how a robot reacts to changes in
its internal state (e.g., failure of a sensor or actuator) and changes
in its environment (e.g., other robots or people interacting with it).
This decision-making logic is often encoded as a finite state machine
that must satisfy certain safety and reachability properties. While
it may be easy to list the desired properties, manually building a
finite state machine that has them is difficult. To address this,
methods have been proposed that automatically construct a solution
from a statement of the properties it should have. However, most such
methods assume perfect models and thus may fail when actually
implemented on a robot, where uncertainty seems unavoidable.

An example of this situation is mobile robot navigation to a goal in
the presence of a human ("dynamic obstacle"). While it is difficult
to place probabilities on human motion, we can bound how far the human
can move in a fixed time period, and possibly find rules for motion in
certain situations. These "rules" guide construction of a finite
state machine that ensures the robot avoids collisions with people.
There is a trade-off in richness of these rules and computation
required to find correct strategies against them. There are at least
two approaches to cope with this:

1. Use stochastic models and provide probabilistic guarantees of correctness.

2. Patch a given strategy online to account for a changing game while
providing exact correctness.

=== Possible SURF activities ===

For a summer SURF project, you would design and conduct experiments to
compare at least one algorithm from each of these two approaches.
Some possible activities are:
* extend current experimental testbed by building "dynamic obstacles"---small vehicles that have random motion;
* propose and demonstrate scenarios to compare performance of several existing algorithms;
* study effects of uncertainty; e.g.,
** How does performance degrade with position uncertainty?
** At what noise level (or flawed actuator performance) do the original guarantees of correctness fail?
** To what extent can old solutions be updated despite uncertainty?

=== References ===

# C. Belta, A. Bicchi, M. Egerstedt, E. Frazzoli, E. Klavins, G.J. Pappas, "Symbolic Planning and Control of Robot Motion: Finding the Missing Pieces of Current Methods and Ideas," IEEE Robotics & Automation Magazine, 2007.
#* http://doi.org/10.1109/MRA.2007.339624
#* http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4141034&isnumber=4141014
# S.C. Livingston, P. Prabhakar, A.B. Jose, R.M. Murray, "Patching task-level robot controllers based on a local µ-calculus formula," Caltech CDS tech report, 2012. http://resolver.caltech.edu/CaltechCDSTR:2012.003
# B. Johnson, F. Havlak, M. Campbell, H. Kress-Gazit, "Execution and Analysis of High-Level Tasks with Dynamic Obstacle Anticipation," Proc. of ICRA 2012.
#* http://doi.org/10.1109/ICRA.2012.6224980
#* http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6224980&isnumber=6224548
# For a broad introduction including elementary motion planning, see S.M. LaValle's tutorial at ICRA 2012: "Motion planning for dynamic environments"; http://msl.cs.uiuc.edu/~lavalle/icra12/

SURF 2013

2012-12-22T22:27:52Z

Slivings: Update page name to have prefix of "SURF 2013"

{{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 ||
|-
| [[SURF 2013: Experiments with dynamic obstacles and correct-by-construction controllers|Experiments with dynamic obstacles and correct-by-construction controllers]] || || [http://scottman.net Scott C. Livingston] ||
|-
|}

SURF 2013

2012-12-22T22:20:15Z

Slivings:

{{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 ||
|-
| [[Experiments with dynamic obstacles and correct-by-construction controllers]] || || [http://scottman.net Scott C. Livingston] ||
|-
|}