Murray Wiki - User contributions [en]

Winter 2009 Meeting Schedule

2008-12-23T08:03:51Z

Wongpiromsarn: /* Fri */

__NOTOC__
Please sign up for a time to meet. Note that some meetings are for different lengths of time and different frequencies.
{| width=100% border=1
|- valign=top
| width=20% |
==== Mon ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|2:00p|Dionysios}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
|

==== Tue ====
{{agenda begin}}
{{agenda item|1:30p|Dom}}
{{agenda item|2:00p|Open}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
|

==== Wed ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|2:00p|Julia}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p|Elisa}}
{{agenda item|6:00p|Ufuk}}
{{agenda end}}
|

==== Thu ====
{{agenda begin}}
{{agenda item|1:30p|Mumu}}
{{agenda item|2:00p|Yizhar}}
{{agenda item||}}
{{agenda item|4:30p|Odd: Francisco}}
{{agenda item||Even: Open}}
{{agenda item|6:00p|Open}}
{{agenda end}}
|

==== Fri ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|2:00p|Shuo}}
{{agenda item|3:00p|Andrea}}
{{agenda item|4:00p|Nok}}
{{agenda item|5:00p|Open}}
{{agenda item||}}
{{agenda end}}
|}

David Hill, Dec 08

2008-12-02T07:45:44Z

Wongpiromsarn: /* Schedule */

David Hill from Australian National University will be visiting Caltech on 4-5 Dec (Thu-Fri).

=== Schedule ===

4 Dec (Thu)
* 7:30 am - breakfast with Richard
* 8:45 am - Francisco/Sawyer
* 9:30 am - Ufuk/Nok
* 10:15 am - open
* 10:45 am - seminar prep
* 11:00 am - Seminar, 114 Steele
* 12:00 pm - Lunch with CDS faculty
* 1:30 pm - open
* 2:15 pm - Steven Low
* 3:00 pm - Shuo (and probably Andrea?)
* 3:45 pm - open

5 Dec (Fri)
* Appointments on request (send e-mail to Richard)
* 1:30 pm - Mani Chandy

=== Seminar Abstract ===
<center>
'''Feedback Networks'''

David J Hill<br>
Federation Fellow<br>
Research School of Information Sciences and Engineering<br>
The Australian National University (ANU)
</center>
The field of systems and control has gone through stages based around focus on
preferred models for systems and appropriate structures for controllers, including linear systems and state variable feedback, time-varying parametric systems and adaptive control, nonlinear systems and optimal control and so on. However, important control tasks in living systems and modern infrastructure technology actually take the form of systems with network structure controlled by distributed control, with switching, time-delays and other complexities, i.e. control of
networks by networks or feedback networks. Examples in engineering include power grids, road traffic control and Internet congestion control. This model opens up a plethora of new systems and control science questions, which are being studied by separate communities in science and engineering.

This seminar will describe recent work in this area mainly focussing on work in the Lab for Networks and Control at ANU. The emphasis is on the role of structure, i.e. the various graphs in the networks (system, sensing and controller), stability-related questions and self-organising mechanisms for control.

=== Biography ===
David J Hill received the BE and BSc degrees from the University of Queensland, Australia, in 1972 and 1974, respectively. He received the PhD degree in Electrical Engineering from the University of Newcastle, Australia, in 1976. He is currently a Professor and Australian Research Council Federation Fellow in the Research School of Information Sciences and Engineering at The Australian National University. He has held academic and substantial visiting positions at the universities of Melbourne, California (Berkeley), Newcastle (Australia), Lund (Sweden), Sydney and Hong Kong (City University). He holds honorary professorships at the University of Sydney, University of Queensland (Australia), South China University of Technology, City University of Hong Kong, Wuhan University and Northeastern University (China). His research interests are in network systems science, stability analysis, nonlinear control and applications. He is a Fellow of the Institution of Engineers, Australia, the Institute of Electrical and Electronics Engineers, USA and the Australian Academy of Science; he is also a Foreign Member of the Royal Swedish Academy of Engineering Sciences.

Workshop: Specification and Verification of Embedded Systems

2008-11-24T04:24:55Z

Wongpiromsarn: /* Summary and Discussion */

== Aim ==
These notes aim at refreshing our memory on the discussion we had on verification on Oct 28, 09 at Caltech and initializing a discussion on Richard's question/suggestion how model predictive control type ideas may play a role in constructing FSA from specifications and then translating to hybrid controllers.

== Summary and Discussion ==
Automatically generating a finite state machine from LTL properties provides a way to construct a supervisory controller that is correct by construction. To describe how this works, we distinguish between system specifications (all the possible behaviors of the system) and requirements (the valid/desirable/correct behaviors of the system).
* Using the system (and environment) specifications, construct a finite state model which represents all the possible state transitions of the system. For example, in robot motion planning, we discretize the space into regions. These regions are represented by the nodes of the finite state model. An edge from node A to node B means that from region A, the robot can go to region B, i.e. since a robot cannot jump, there is an edge from A to B if regions A and B are adjacent. {{comment|nok|Question: If from the system requirements, we know, for example, that we cannot go to region C (say, it is occupied by an obstacle), can we just remove all the edges to C (or even remove the node C) at this stage, so we can speed up the search we need to do in the next step? It may not matter if we extract an automaton offline but if we want to do it online, incorporating requirements in this stage may save computation time a bit.}}
* From the system requirements and the previously constructed finite state model, use a graph search algorithm similar to that used in model checkers to extract an automaton from the finite state model which satisfies the requirement.

A serious drawback of this technique is that it suffers from state explosion (the finite state model of the system can get quite large) and thus, in practice, is not applicable for a complex system. In addition, extracting an automaton which satisfies the LTL requirements may take a long time since all the possible behaviors from the beginning to the end of the execution need to be considered in detail.

Receding horizon control is an effective approach to deal with large constrained control problems. The main idea is to choose the control action by repeatedly solving on line an optimal control problem over a finite horizon with certain cost associated with the end state. That is, we do not need to solve the whole sequence of the control actions from the beginning to the end of the execution. Instead, we only solve the optimization problem over a short period of time and use the cost associated with the end state of the horizon to guarantee the stability of the system. We may be able to apply similar idea to the construction of finite state machine from LTL requirements. For example, we do not really care about what exactly may happen more than 500 m ahead of the vehicle, we only need to know that from each of those points, we can get to the desired end state (or the sequence of desired states, in case we need to visit several checkpoints) with some approximated cost. This allows us to reduce the number of states that need to be considered while extracting an automaton which satisfies the LTL specifications. Using the idea from online/offline MPC, one thing we can do is to build a coarse finite state model offline and keep refining some portion of it online as the vehicle moves. In this case, extracting an automaton to be executed needs to be done online so we need to make sure that this process is fast enough.

* Possible uses of MPC type ideas
** More complicated dynamics beyond <math>\dot{x} = u</math>
** The properties of the MPC solutions (how much online computation, margins in the solutions, feasibility, etc) may guide the partitioning of the space (relates to Nok's 500m examples).

==Possible questions/ideas ==
* It is said that ''Synthesis'' constructs FSA as the solution of a two-player game. Can this game be expressed as a min-max optimization problem? If so, starting from that interpretation, can the problem be simplified/restructured for more efficient/smaller FSA construction?
* Is it possible to construct the FSA partially?
**Drive the construction with some objective. Imposing some kind of optimality may reduce the number of states to be visited.
*Varying detail construction: Finer requirements/partitioning close to the initial point and reduced details away from the initial point (just enough detail to ``guarantee" some ``safety" properties). Nok's 500m examples motivates this.
* How to reason about the correctness of the composition of two FSA which are correct-by-design? Conversely, given the high level system specification/requirement, how to come up with the requirements for each mode? For example, given the high level requirements for Alice (go from one checkpoint to another one, avoid obstacles, etc) how to come up with the requirements for the intersection, road, and zone modes and the transitions between these modes?

Workshop: Specification and Verification of Embedded Systems

2008-11-24T04:16:31Z

Wongpiromsarn: /* Summary and Discussion */

== Aim ==
These notes aim at refreshing our memory on the discussion we had on verification on Oct 28, 09 at Caltech and initializing a discussion on Richard's question/suggestion how model predictive control type ideas may play a role in constructing FSA from specifications and then translating to hybrid controllers.

== Summary and Discussion ==
Automatically generating a finite state machine from LTL properties provides a way to construct a supervisory controller that is correct by construction. To describe how this works, we distinguish between system specifications (all the possible behaviors of the system) and requirements (the valid/desirable/correct behaviors of the system).
* Using the system (and environment) specifications, construct a finite state model which represents all the possible state transitions of the system. For example, in robot motion planning, we discretize the space into regions. These regions are represented by the nodes of the finite state model. An edge from node A to node B means that from region A, the robot can go to region B, i.e. since a robot cannot jump, there is an edge from A to B if regions A and B are adjacent.
* From the system requirements and the previously constructed finite state model, use a graph search algorithm similar to that used in model checkers to extract an automaton from the finite state model which satisfies the requirement.

A serious drawback of this technique is that it suffers from state explosion (the finite state model of the system can get quite large) and thus, in practice, is not applicable for a complex system. In addition, extracting an automaton which satisfies the LTL requirements may take a long time since all the possible behaviors from the beginning to the end of the execution need to be considered in detail.

Receding horizon control is an effective approach to deal with large constrained control problems. The main idea is to choose the control action by repeatedly solving on line an optimal control problem over a finite horizon with certain cost associated with the end state. That is, we do not need to solve the whole sequence of the control actions from the beginning to the end of the execution. Instead, we only solve the optimization problem over a short period of time and use the cost associated with the end state of the horizon to guarantee the stability of the system. We may be able to apply similar idea to the construction of finite state machine from LTL requirements. For example, we do not really care about what exactly may happen more than 500 m ahead of the vehicle, we only need to know that from each of those points, we can get to the desired end state (or the sequence of desired states, in case we need to visit several checkpoints) with some approximated cost. This allows us to reduce the number of states that need to be considered while extracting an automaton which satisfies the LTL specifications. Using the idea from online/offline MPC, one thing we can do is to build a coarse finite state model offline and keep refining some portion of it online as the vehicle moves. In this case, extracting an automaton to be executed needs to be done online so we need to make sure that this process is fast enough.

* Possible uses of MPC type ideas
** More complicated dynamics beyond <math>\dot{x} = u</math>
** The properties of the MPC solutions (how much online computation, margins in the solutions, feasibility, etc) may guide the partitioning of the space (relates to Nok's 500m examples).

==Possible questions/ideas ==
* It is said that ''Synthesis'' constructs FSA as the solution of a two-player game. Can this game be expressed as a min-max optimization problem? If so, starting from that interpretation, can the problem be simplified/restructured for more efficient/smaller FSA construction?
* Is it possible to construct the FSA partially?
**Drive the construction with some objective. Imposing some kind of optimality may reduce the number of states to be visited.
*Varying detail construction: Finer requirements/partitioning close to the initial point and reduced details away from the initial point (just enough detail to ``guarantee" some ``safety" properties). Nok's 500m examples motivates this.
* How to reason about the correctness of the composition of two FSA which are correct-by-design? Conversely, given the high level system specification/requirement, how to come up with the requirements for each mode? For example, given the high level requirements for Alice (go from one checkpoint to another one, avoid obstacles, etc) how to come up with the requirements for the intersection, road, and zone modes and the transitions between these modes?

Workshop: Specification and Verification of Embedded Systems

2008-11-24T04:02:47Z

Wongpiromsarn: /* Nok's Summary */

== Aim ==
These notes aim at refreshing our memory on the discussion we had on verification on Oct 28, 09 at Caltech and initializing a discussion on Richard's question/suggestion how model predictive control type ideas may play a role in constructing FSA from specifications and then translating to hybrid controllers.

== Summary and Discussion ==
Automatically generating a finite state machine from LTL properties provides a way to construct a supervisory controller that is correct by construction. To describe how this works, we distinguish between system specifications (all the possible behaviors of the system) and requirements (the valid/desirable/correct behaviors of the system).
* Using the system (and environment) specifications, construct a finite state model which represents all the possible state transitions of the system. For example, in robot motion planning, we discretize the space into regions. These regions are represented by the nodes of the finite state model. An edge from node A to node B means that from region A, the robot can go to region B, i.e. since a robot cannot jump, there is an edge from A to B if regions A and B are adjacent.
* From the system requirements and the previously constructed finite state model, use a graph search algorithm similar to that used in model checkers to extract an automaton from the finite state model which satisfies the requirement.

A serious drawback of this technique is that it suffers from state explosion (the finite state model of the system can get quite large) and thus, in practice, is not applicable for a complex system. In addition, extracting an automaton which satisfies the LTL requirements may take a long time since all the possible behaviors from the beginning to the end of the execution need to be considered in detail.

Receding horizon control is an effective approach to deal with large constrained control problems. The main idea is to choose the control action by repeatedly solving on line an optimal control problem over a finite horizon with certain cost associated with the end state. That is, we do not need to solve the whole sequence of the control actions from the beginning to the end of the execution. Instead, we only solve the optimization problem over a short period of time and use the cost associated with the end state of the horizon to guarantee the stability of the system. We may be able to apply similar idea to the construction of finite state machine from LTL requirements. For example, we do not really care about what exactly may happen more than 500 m ahead of the vehicle, we only need to know that from each of those points, we can get to the desired end state (or the sequence of desired states, in case we need to visit several checkpoints) with some approximated cost. This allows us to reduce the number of states that need to be considered while extracting an automaton which satisfies the LTL specifications. Using the idea from online/offline MPC, one thing we can do is to build a coarse finite state model offline and keep refining some portion of it online as the vehicle moves. In this case, extracting an automaton to be executed needs to be done online so we need to make sure that this process is fast enough.

* Possible uses of MPC type ideas
** More complicated dynamics beyond <math>\dot{x} = u</math>
** The properties of the MPC solutions (how much online computation, margins in the solutions) may guide the partitioning of the space (relates to Nok's 500m examples).

==Possible questions/ideas ==
* It is said that ''Synthesis'' constructs FSA as the solution of a two-player game. Can this game be expressed as a min-max optimization problem? If so, starting from that interpretation, can the problem be simplified/restructured for more efficient/smaller FSA construction?
* Is it possible to construct the FSA partially?
**Drive the construction with some objective. Imposing some kind of optimality may reduce the number of states to be visited.
*Varying detail construction: Finer requirements/partitioning close to the initial point and reduced details away from the initial point (just enough detail to ``guarantee" some ``safety" properties). Nok's 500m examples motivates this.
* How to reason about the correctness of the composition of two FSA which are correct-by-design? Conversely, given the high level system specification/requirement, how to come up with the requirements for each mode? For example, given the high level requirements for Alice (go from one checkpoint to another one, avoid obstacles, etc) how to come up with the requirements for the intersection, road, and zone modes and the transitions between these modes?

Workshop: Specification and Verification of Embedded Systems

2008-11-23T00:00:18Z

Wongpiromsarn: /* Nok's summary */

== Aim ==
These notes aim at refreshing our memory on the discussion we had on verification on Oct 28, 09 at Caltech and initializing a discussion on Richard's question/suggestion how model predictive control type ideas may play a role in constructing FSA from specifications and then translating to hybrid controllers.

== Nok's summary ==
Automatically generating a finite state machine from LTL properties provides a way to construct a supervisory controller that is correct by construction. To describe how this works, we distinguish between system specifications (all the possible behaviors of the system) and requirements (the valid/desirable behaviors of the system).
* Using the system (and environment) specifications, construct a finite state model which represents all the possible state transitions of the system. For example, in robot motion planning, we discretize the space into regions. These regions are represented by the nodes of the finite state model. An edge from node A to node B means that from region A, the robot can go to region B.
* From the system requirements and the previously constructed finite state model, use a graph search algorithm similar to that used in model checkers to extract an automaton from the finite state model which satisfies the requirement.

A serious drawback of this technique is that it suffers from state explosion (the finite state model of the system can get quite large) and thus, in practice, is not applicable for a complex system. In addition, extracting an automaton which satisfies the LTL requirements may take a long time since all the possible behaviors from the beginning to the end of the execution need to be considered in detail.

Receding horizon control is an effective approach to deal with large constrained control problems. The main idea is to choose the control action by repeatedly solving on line an optimal control problem over a finite horizon with certain cost associated with the end state. That is, we do not need to solve the whole sequence of the control actions from the beginning to the end of the execution. Instead, we only solve the optimization problem over a short period of time and use the cost associated with the end state of the horizon to guarantee the stability of the system. We may be able to apply similar idea to the construction of finite state machine from LTL requirements. For example, we do not really care about what exactly may happen more than 500 m ahead of the vehicle, we only need to know that from each of those points, we can get to the desired end state (or the sequence of desired states, in case we need to visit several checkpoints) with some approximated cost. This allows us to reduce the number of states that need to be considered while extracting an automaton which satisfies the LTL specifications. Using the idea from online/offline MPC, one thing we can do is to build a coarse finite state model offline and keep refining some portion of it online as the vehicle moves. In this case, extracting an automaton to be executed needs to be done online so we need to make sure that this process is fast enough.

==Possible questions/ideas ==
* It is said that ''Synthesis'' constructs FSA as the solution of a two-player game. Can this game be expressed as a min-max optimization problem? If so, starting from that interpretation, can the problem be simplified/restructured for more efficient/smaller FSA construction?
* Is it possible to construct the FSA partially?
**Drive the construction with some objective. Imposing some kind of optimality may reduce the number of states to be visited.
**
*Varying detail construction: Finer requirements/partitioning close to the initial point and reduced details away from the initial point (just enough detail to ``guarantee" some ``safety" properties). Nok's 500m examples motivates this.

Workshop: Specification and Verification of Embedded Systems

2008-11-22T23:51:00Z

Wongpiromsarn: /* Nok's summary */

Hadas Kress-Gazit, Oct 2008

2008-10-27T01:49:12Z

Wongpiromsarn: /* Tuesday, 28 Oct */

Hadas Kress-Gazit from Penn/Cornell will be visiting on 27-28 Oct. She will attend the MURI review on the 27th and we will have meetings and discussions on the 28th.

=== Tuesday, 28 Oct ===
* 9 am - talk by Hadas (latest updates, reflections on review, etc)
* 10 am - Discussion: V&V technologies (including proof by construction)
* Noon - lunch with students and postdocs
* 1:30 pm - Discussion: challenge problems
* 3:30 pm - Ufuk
* 4:15 pm - Nok
* 5:00 pm - Open

Model-Based Design and Qualification of Complex Systems

2008-10-24T19:19:06Z

Wongpiromsarn: /* Publications */

This is a joint project with [http://crossgroup.caltech.edu/index.html Michael Cross], [http://www.cds.caltech.edu/~doyle John Doyle] and [http://www.cmp.caltech.edu/refael/ Gil Refael], funded by Boeing.

{| width=100%
|- valign=top
| Current participants:
* {{Julia Braman}}
* Dennice Gayme (PhD student, CDS)
* {{Shou Han}}
* Oleg Kogan (PhD student, Physics)
* Tony Lee (PhD student, Physics)
* {{Dominic Rizzo}}
* Heywood Tam (PhD student, Physics)
* {{Pete Trautman}}
* {{Nok Wongpiromsarn}}
| Past participants:
* David Alderson (CDS postdoc, NPS)
* Lijun Chen (CDS PhD, postdoc)
* Lars Cremean (ME PhD, Aerovironment)
* Stefano di Cairano (Visiting student, U. Sienna)
* Michael Epstein (PhD student, ME)
* Tamas Keviczky (postdoc, CDS)
* Dimitry Kogan (CDS MS)
* Lun Li (PhD student, EE)
* Alfred Martinez (PhD student, CDS)
* Stephen Prajna (CDS PhD)
* Demetri Spanos (PhD student, CDS)
* {{Johan Ugander}}
* Fei Wang (EE PhD; on leave)
|
__TOC__
|}

== Objectives ==

The broad goal of this project is to develop new theory, algorithms
and demonstrations of model-based design strategies for complex
systems. This activity is broken up into three broad themes:
* <p>''Systems Modeling Theory and Practice:'' Development of modeling and analysis tools, with emphasis on hierarchies of simulations that can be used for verification and testing at different levels of fidelity. A key issue is the development of multiple simulations that can be combined to form high fidelity models while at the same time being used in simpler combinations for rapid testing of higher level functions (where highly detailed models are too large or too slow to allow exploration of the relevant design space). </p>

* <p> ''Engineering Implementation:'' Apply analysis and methods in robust-yet-fragile behavior and multi-scale modeling to specific engineering systems of systems that will provide an evaluation of the efficacy of both the framework and the tools toward applications. Two specific testbeds are being used for this purpose: the Caltech multi-vehicle wireless testbed (MVWT) and the Caltech autonomous vehicle testbed ("Alice").</p>

* <p> ''Multiscale Analysis of Complex Systems:'' Study novel approaches to multiscale analysis based on methodologies and techniques developed for physical dynamical systems. To develop the required methodologies and techniques we are focusing on an archetype complex system which may contain a multitude of scales, namely collections of disparate coupled nonlinear oscillators where each oscillator may have its own natural frequency. </p>

== Publications ==
'''2008-09'''
* Julia M B Braman, Richard M Murray, "Automatic Conversion Software for the Safety Verification of Goal-Based Control Programs." International Conference on Software Engineering, 2009 (submitted).

* Julia M B Braman, Richard M Murray, "Control Program Verification for a Sample Titan Aerobot Mission." AIAA Infotech@Aerospace Conference, 2009 (submitted).

* Julia M B Braman, Richard M Murray, "Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata." International Conference on Hybrid Systems: Computation and Control, 2009 (submitted).

* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, [http://www.cds.caltech.edu/~murray/papers/2008r_wmml09-hscc.html Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle]. International Conference on Hybrid Systems: Computation and Control, 2009 (submitted).

* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, [http://resolver.caltech.edu/CaltechCDSTR:2008.003 Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle]. CDS Technical Report, California Institute of Technology, 2008.

'''2007-08'''
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008f_bm08-cdc.html Failure Probability of Verifiable Goal-based Control Programs due to State Estimation Uncertainty]. Conference on Decision and Control, 2008 (submitted).

* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007u_bm07-cds.html Conversion and Verification Procedure for Goal-Based Control Programs]. CDS Technical Report, California Institute of Technology, 2007.

* Julia M B Braman, Richard M Murray, David A Wagner, [http://www.cds.caltech.edu/~murray/papers/2007t_bmw07-iros.html Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control System]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007

* Julia M B Braman, Richard M Murray, Michel D Ingham, [http://www.cds.caltech.edu/~murray/papers/2007s_bmi07-infotech.html Verification Procedure for Generalized Goal-based Control Programs]. AIAA Infotech@Aerospace Conference and Exhibit, 2007.

* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007n_bm08-acc.html Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty]. American Control Conference, 2008 (to appear).

* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007i_bm08-iros.html Automatic Conversion Software for the Safety Verification of Goal-based Control Programs]. Proceedings of the International Conference on Intelligent Robots and Systems, 2008 (submitted).

* Joel W Burdick, Noel duToit, Andrew Howard, Christian Looman, Jeremy Ma, Richard M Murray and Tichakorn Wongpiromsarn, [http://gc.caltech.edu/media/papers/dgc07-final.pdf Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge], DARPA Urban Challenge Final Report, 2007.

* L. Chen, S. H. Low and J. C. Doyle, "Contention Control: A Game-theoretic Approach". Proceedings of IEEE CDC, December 2007.

* L. Chen, T. Cui, S. H. Low and J. C. Doyle, "A Game-Theoretic Model for Medium Access Control". Proceedings of International Wireless Internet Conference, October 2007.

* T. Cui, L. Chen, T. Ho, S. Low and L. Andrew, "Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks,". Proceedings of IEEE Conference on Mobile Ad-hoc and Sensor Systems, October 2007.

* T. Cui, L. Chen and T. Ho, "Distributed Optimization in Wireless Networks Using Broadcast Advantage". Proceedings of IEEE CDC, December 2007.

* T. Cui, L. Chen and T. Ho, "Optimization Based Rate Control for Multicast with Network Coding: A Multipath Formulation". Proceedings of IEEE CDC, December 2007.

* T. Cui, T. Ho and L. Chen, "Distributed Minimum Cost Multicasting with Lossless Source Coding and Network Coding". Proceedings of IEEE CDC, December 2007.

* T. Cui, L. Chen and T. Ho, "Energy Efficient Opportunistic Network Coding for Wireless Networks". Proceedings of IEEE Infocom, April 2008.

* Noel E DuToit, Tichakorn Wongpiromsarn, Joel W Burdick, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008c_dwbm08-ivcs.html Situational Reasoning for Road Driving in an Urban Environment]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).

* Michael Epstein, Ling Shi, Abhishek Tiwari, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008i_estm08-automatica.html Probabilistic Performance of State Estimation Across a Lossy Network]. Automatica, 2008 (to appear).

* Michael Epstein, Ling Shi, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007w_esm07-cdc.html Estimation schemes for networked control systems using UDP-like communication]. Conference on Decision and Control (CDC), 3945 - 3951, 2007.

* Michael Epstein, Kevin Lynch, Karl Henrik Johansson, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007p_eljm08-ifac.html Using Hierarchical Decomposition to Speed Up Average Consensus]. International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear).

* Oleg Kogan, J. L. Rogers, Gil Refael, and M. C. Cross, "Renormalization group method for predicting frequency clusters in a chain of nearest-neighbor Kuramoto oscillators", 2008 (in preparation).

* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008h_wm08-cdc.html Formal Verification of an Autonomous Vehicle System]. Conference on Decision and Control, 2008 (submitted).

* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008d_wm08-ivcs.html Distributed Mission and Contingency Management for the DARPA Urban Challenge]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).

'''2006-07'''
* D. Alderson and L. Li. [http://www.cds.caltech.edu/~lun/publications/PRE06.pdf On the Diversity of Graph with Highly Variable Connectivity]. ''Physical Review E'', 2007.

* F. Borrelli and T. Keviczky. Distributed LQR design for identical dynamically decoupled systems. ''IEEE Trans. Automatic Control'', 2007, submitted.


* L. Chen, T. Ho, S. H. Low, M. Chiang and J. C. Doyle, Optimization Based Rate Control for Multicast with Network Coding, Proceedings of IEEE Infocom, 2007.

* L. B. Cremean, T. B. Foote, J. H. Gillula, G. H. Hines, D. Kogan, K. L. Kriechbaum, J. C. Lamb, J. Leibs, L. Lindzey, C. E. Rasmussen, A. D. Stewart, J. W. Burdick, and R. M. Murray. {{htdb|2005t_cre+06-jfr|Alice: An information-rich autonomous vehicle for high-speed desert navigation}}. ''Journal of Field Robotics'', 2007.

* T. Cui, T. Ho and L. Chen, On Distributed Distortion Optimization for Correlated Sources with Network Coding, Proceedings of IEEE ISIT, 2007.

* T. Cui, L. Chen and T. Ho, Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks, technical report, 2007.

* J.-C. Delvenne, H. Sandberg, and J. C. Doyle. Thermodynamics of Linear Systems. In ''Proceedings of the European Control Conference'', 2007.

* D. Gayme, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow". CDS Candidacy Report, May 2008.

* D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J.C. Doyle, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow", Under preparation for journal submission, 2008.

* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. The Statistical Mechanics of Fluctuation-Dissipation and Measurement Back Action. In ''Proceedings of the American Control Conference'', 2007.

* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. Linear-Quadratic-Gaussian Heat Engines. Submitted, 2007.

* H. Sandberg and R. M. Murray. Frequency-Weighted Model Reduction with Applications to Structured Models. In ''Proceedings of the American Control Conference'', 2007.

* J. Wang, L. Li, S. H. Low, and J. C. Doyle. Cross-layer optimization in tcp/ip networks. ''IEEE/ACM Transactions on Networking'', 13(3), 2006.

'''2005-06'''
* D. Alderson, L. Li, W. Willinger, and J. C. Doyle. Understanding Internet topology: Principles, models, and validation. ''IEEE/ACM Transactions on Networking'', 13(6), 2005.

* D. Alderson and W. Willinger. A contrasting look at self-organization in the Internet and next-generation communication networks. ''IEEE Communications Magazine'', July 2005.

* L. Chen, S. H. Low, M. Chiang, and J. C. Doyle. Cross-layer congestion control, routing and scheduling design in ad hoc wireless networks. In ''Proceedings of IEEE Infocom'', 2006.

* L. Chen, S. H. Low, and J. C. Doyle. Joint congestion control and media access control design for wireless ad hoc networks. In ''Proceedings of IEEE Infocom'', 2005.

* L. Chen, S. H. Low and J. C. Doyle, Random Access Game and Medium Access Control Design, submitted, technical report, 2006.

* J. C. Doyle, D. Alderson, L. Li, S. Low, M. Roughan, S. Shalunov, R. Tanaka, and W. Willinger. The ``robust yet fragile'' nature of the Internet. ''Proceedings of the National Academy of Sciences'', 102(41):14497--14502, 2005.

* D. Gayme, J. C Doyle, S. Prajna, A. Papachristodoulou, and Maryam Fazel. Optimization based methods for determining basins of attraction in the logistic map and set membership in the mandelbrot set. Preprint, 2006.

* D. Gayme, M. Fazel, and J. C. Doyle. Sos proofs of invariant regions in the logistic map. In ''Proc. IEEE Control and Decision Conference'', 2006. Submitted.

* S. Glavaski, A. Papachristodoulou, and K. Ariyur. Safety verification of controlled advanced life support system using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2005.

* D. Kogan. Realtime path planning through optimization methods. Master's thesis, California Institute of Technology, 2005.

* L. Li, D. Alderson, J. C. Doyle and W. Willinger. [http://www.cds.caltech.edu/~lun/publications/IM06.pdf Towards a Theory of Scale-Free Graphs: Definition, Properties, and Implications]. ''Internet Mathematics'' 2(4), p 431-523, Mar. 2006.

* L. Li, D. Alderson, W. Willinger and J. C. Doyle. [http://www.cds.caltech.edu/~lun/publications/sigcomm04.pdf A First-Principles Approach to Understanding the Internet's Router-level Topology]. Proceedings of ACM Sigcomm, 2004,

* S. H. Low, J. C. Doyle, L. Li, A. Tang, J. Wang, Optimization Model of Internet Protocols, Proceedings of ACM Sigmetrics, June 2005.

* S. Prajna and A. Jadbabaie. Safety verification of hybrid systems using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2004.

* S. Prajna and A. Jadbabaie. Methods for safety verification of time-delay systems. In ''Proceedings of the IEEE Conference on Decision and Control'', 2005.

* S. Prajna, A. Jadbabaie, and G. J. Pappas. Stochastic safety verification using barrier certificates. In ''Proceedings of the IEEE Conference on Decision and Control'', 2004.

* S. Prajna, A. Papachristodoulou, P. J. Seiler, and P. A. Parrilo. SOSTOOLS -- Sum of Squares Optimization Toolbox, User's Guide. Available at http://www.cds.caltech.edu/sostools and http://www.mit.edu/~parrilo/sostools, 2002, 2004.

* S. Prajna and A. Rantzer. On the necessity of barrier certificates. In ''Proceedings of the IFAC World Congress'', 2005.

* S. Prajna and A. Rantzer. Primal-dual tests for safety and reachability. In ''Hybrid Systems: Computation and Control''. Springer-Verlag, 2005.

== Reports ==
* [[Media:boeing_report-may08.pdf|Annual report, May 2007 to April 2008]]
* [[Media:boeing_report-mar06.pdf|Annual report, January 2005 to March 2006]]
* [[Media:boeing_report-apr06.pdf|Annual report, March 2006 to April 2007]]

== Software ==
* SOSTOOLS

== Related Activities ==
* [[Connections II]] - Workshop on Foundations of Network Science (Caltech, August 2006)
* [http://www.cds.caltech.edu/~murray/VaVmuri V&V MURI] - Specification, Design and Verification of Distributed Embedded Systems (AFOSR MURI)

Model-Based Design and Qualification of Complex Systems

2008-10-24T19:14:31Z

Wongpiromsarn: /* Publications */

This is a joint project with [http://crossgroup.caltech.edu/index.html Michael Cross], [http://www.cds.caltech.edu/~doyle John Doyle] and [http://www.cmp.caltech.edu/refael/ Gil Refael], funded by Boeing.

{| width=100%
|- valign=top
| Current participants:
* {{Julia Braman}}
* Dennice Gayme (PhD student, CDS)
* {{Shou Han}}
* Oleg Kogan (PhD student, Physics)
* Tony Lee (PhD student, Physics)
* {{Dominic Rizzo}}
* Heywood Tam (PhD student, Physics)
* {{Pete Trautman}}
* {{Nok Wongpiromsarn}}
| Past participants:
* David Alderson (CDS postdoc, NPS)
* Lijun Chen (CDS PhD, postdoc)
* Lars Cremean (ME PhD, Aerovironment)
* Stefano di Cairano (Visiting student, U. Sienna)
* Michael Epstein (PhD student, ME)
* Tamas Keviczky (postdoc, CDS)
* Dimitry Kogan (CDS MS)
* Lun Li (PhD student, EE)
* Alfred Martinez (PhD student, CDS)
* Stephen Prajna (CDS PhD)
* Demetri Spanos (PhD student, CDS)
* {{Johan Ugander}}
* Fei Wang (EE PhD; on leave)
|
__TOC__
|}

== Objectives ==

The broad goal of this project is to develop new theory, algorithms
and demonstrations of model-based design strategies for complex
systems. This activity is broken up into three broad themes:
* <p>''Systems Modeling Theory and Practice:'' Development of modeling and analysis tools, with emphasis on hierarchies of simulations that can be used for verification and testing at different levels of fidelity. A key issue is the development of multiple simulations that can be combined to form high fidelity models while at the same time being used in simpler combinations for rapid testing of higher level functions (where highly detailed models are too large or too slow to allow exploration of the relevant design space). </p>

* <p> ''Engineering Implementation:'' Apply analysis and methods in robust-yet-fragile behavior and multi-scale modeling to specific engineering systems of systems that will provide an evaluation of the efficacy of both the framework and the tools toward applications. Two specific testbeds are being used for this purpose: the Caltech multi-vehicle wireless testbed (MVWT) and the Caltech autonomous vehicle testbed ("Alice").</p>

* <p> ''Multiscale Analysis of Complex Systems:'' Study novel approaches to multiscale analysis based on methodologies and techniques developed for physical dynamical systems. To develop the required methodologies and techniques we are focusing on an archetype complex system which may contain a multitude of scales, namely collections of disparate coupled nonlinear oscillators where each oscillator may have its own natural frequency. </p>

== Publications ==
'''2008-09'''
* Julia M B Braman, Richard M Murray, "Automatic Conversion Software for the Safety Verification of Goal-Based Control Programs." International Conference on Software Engineering, 2009 (submitted).

* Julia M B Braman, Richard M Murray, "Control Program Verification for a Sample Titan Aerobot Mission." AIAA Infotech@Aerospace Conference, 2009 (submitted).

* Julia M B Braman, Richard M Murray, "Probabilistic Safety Analysis of Sensor-Driven Hybrid Automata." International Conference on Hybrid Systems: Computation and Control, 2009 (submitted).

* Tichakorn Wongpiromsarn, Sayan Mitra, Richard M. Murray, Andrew Lamperski, "Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle." International Conference on Hybrid Systems: Computation and Control, 2009 (submitted).

'''2007-08'''
* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008f_bm08-cdc.html Failure Probability of Verifiable Goal-based Control Programs due to State Estimation Uncertainty]. Conference on Decision and Control, 2008 (submitted).

* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007u_bm07-cds.html Conversion and Verification Procedure for Goal-Based Control Programs]. CDS Technical Report, California Institute of Technology, 2007.

* Julia M B Braman, Richard M Murray, David A Wagner, [http://www.cds.caltech.edu/~murray/papers/2007t_bmw07-iros.html Safety Verification of a Fault Tolerant Reconfigurable Autonomous Goal-Based Robotic Control System]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007

* Julia M B Braman, Richard M Murray, Michel D Ingham, [http://www.cds.caltech.edu/~murray/papers/2007s_bmi07-infotech.html Verification Procedure for Generalized Goal-based Control Programs]. AIAA Infotech@Aerospace Conference and Exhibit, 2007.

* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007n_bm08-acc.html Safety Verification of Fault Tolerant Goal-based Control Programs with Estimation Uncertainty]. American Control Conference, 2008 (to appear).

* Julia M B Braman, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007i_bm08-iros.html Automatic Conversion Software for the Safety Verification of Goal-based Control Programs]. Proceedings of the International Conference on Intelligent Robots and Systems, 2008 (submitted).

* Joel W Burdick, Noel duToit, Andrew Howard, Christian Looman, Jeremy Ma, Richard M Murray and Tichakorn Wongpiromsarn, [http://gc.caltech.edu/media/papers/dgc07-final.pdf Sensing, Navigation and Reasoning Technologies for the DARPA Urban Challenge], DARPA Urban Challenge Final Report, 2007.

* L. Chen, S. H. Low and J. C. Doyle, "Contention Control: A Game-theoretic Approach". Proceedings of IEEE CDC, December 2007.

* L. Chen, T. Cui, S. H. Low and J. C. Doyle, "A Game-Theoretic Model for Medium Access Control". Proceedings of International Wireless Internet Conference, October 2007.

* T. Cui, L. Chen, T. Ho, S. Low and L. Andrew, "Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks,". Proceedings of IEEE Conference on Mobile Ad-hoc and Sensor Systems, October 2007.

* T. Cui, L. Chen and T. Ho, "Distributed Optimization in Wireless Networks Using Broadcast Advantage". Proceedings of IEEE CDC, December 2007.

* T. Cui, L. Chen and T. Ho, "Optimization Based Rate Control for Multicast with Network Coding: A Multipath Formulation". Proceedings of IEEE CDC, December 2007.

* T. Cui, T. Ho and L. Chen, "Distributed Minimum Cost Multicasting with Lossless Source Coding and Network Coding". Proceedings of IEEE CDC, December 2007.

* T. Cui, L. Chen and T. Ho, "Energy Efficient Opportunistic Network Coding for Wireless Networks". Proceedings of IEEE Infocom, April 2008.

* Noel E DuToit, Tichakorn Wongpiromsarn, Joel W Burdick, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008c_dwbm08-ivcs.html Situational Reasoning for Road Driving in an Urban Environment]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).

* Michael Epstein, Ling Shi, Abhishek Tiwari, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008i_estm08-automatica.html Probabilistic Performance of State Estimation Across a Lossy Network]. Automatica, 2008 (to appear).

* Michael Epstein, Ling Shi, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007w_esm07-cdc.html Estimation schemes for networked control systems using UDP-like communication]. Conference on Decision and Control (CDC), 3945 - 3951, 2007.

* Michael Epstein, Kevin Lynch, Karl Henrik Johansson, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2007p_eljm08-ifac.html Using Hierarchical Decomposition to Speed Up Average Consensus]. International Federation of Automatic Control (IFAC) World Congress, 2008 (to appear).

* Oleg Kogan, J. L. Rogers, Gil Refael, and M. C. Cross, "Renormalization group method for predicting frequency clusters in a chain of nearest-neighbor Kuramoto oscillators", 2008 (in preparation).

* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008h_wm08-cdc.html Formal Verification of an Autonomous Vehicle System]. Conference on Decision and Control, 2008 (submitted).

* Tichakorn Wongpiromsarn, Richard M Murray, [http://www.cds.caltech.edu/~murray/papers/2008d_wm08-ivcs.html Distributed Mission and Contingency Management for the DARPA Urban Challenge]. International Workshop on Intelligent Vehicle Control Systems (IVCS), 2008 (to appear).

'''2006-07'''
* D. Alderson and L. Li. [http://www.cds.caltech.edu/~lun/publications/PRE06.pdf On the Diversity of Graph with Highly Variable Connectivity]. ''Physical Review E'', 2007.

* F. Borrelli and T. Keviczky. Distributed LQR design for identical dynamically decoupled systems. ''IEEE Trans. Automatic Control'', 2007, submitted.


* L. Chen, T. Ho, S. H. Low, M. Chiang and J. C. Doyle, Optimization Based Rate Control for Multicast with Network Coding, Proceedings of IEEE Infocom, 2007.

* L. B. Cremean, T. B. Foote, J. H. Gillula, G. H. Hines, D. Kogan, K. L. Kriechbaum, J. C. Lamb, J. Leibs, L. Lindzey, C. E. Rasmussen, A. D. Stewart, J. W. Burdick, and R. M. Murray. {{htdb|2005t_cre+06-jfr|Alice: An information-rich autonomous vehicle for high-speed desert navigation}}. ''Journal of Field Robotics'', 2007.

* T. Cui, T. Ho and L. Chen, On Distributed Distortion Optimization for Correlated Sources with Network Coding, Proceedings of IEEE ISIT, 2007.

* T. Cui, L. Chen and T. Ho, Opportunistic Source Coding for Data Gathering in Wireless Sensor Networks, technical report, 2007.

* J.-C. Delvenne, H. Sandberg, and J. C. Doyle. Thermodynamics of Linear Systems. In ''Proceedings of the European Control Conference'', 2007.

* D. Gayme, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow". CDS Candidacy Report, May 2008.

* D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J.C. Doyle, "Streamwise Constant Model of Turbulence Statistics in Plane Couette Flow", Under preparation for journal submission, 2008.

* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. The Statistical Mechanics of Fluctuation-Dissipation and Measurement Back Action. In ''Proceedings of the American Control Conference'', 2007.

* H. Sandberg, J.-C. Delvenne, and J. C. Doyle. Linear-Quadratic-Gaussian Heat Engines. Submitted, 2007.

* H. Sandberg and R. M. Murray. Frequency-Weighted Model Reduction with Applications to Structured Models. In ''Proceedings of the American Control Conference'', 2007.

* J. Wang, L. Li, S. H. Low, and J. C. Doyle. Cross-layer optimization in tcp/ip networks. ''IEEE/ACM Transactions on Networking'', 13(3), 2006.

'''2005-06'''
* D. Alderson, L. Li, W. Willinger, and J. C. Doyle. Understanding Internet topology: Principles, models, and validation. ''IEEE/ACM Transactions on Networking'', 13(6), 2005.

* D. Alderson and W. Willinger. A contrasting look at self-organization in the Internet and next-generation communication networks. ''IEEE Communications Magazine'', July 2005.

* L. Chen, S. H. Low, M. Chiang, and J. C. Doyle. Cross-layer congestion control, routing and scheduling design in ad hoc wireless networks. In ''Proceedings of IEEE Infocom'', 2006.

* L. Chen, S. H. Low, and J. C. Doyle. Joint congestion control and media access control design for wireless ad hoc networks. In ''Proceedings of IEEE Infocom'', 2005.

* L. Chen, S. H. Low and J. C. Doyle, Random Access Game and Medium Access Control Design, submitted, technical report, 2006.

* J. C. Doyle, D. Alderson, L. Li, S. Low, M. Roughan, S. Shalunov, R. Tanaka, and W. Willinger. The ``robust yet fragile'' nature of the Internet. ''Proceedings of the National Academy of Sciences'', 102(41):14497--14502, 2005.

* D. Gayme, J. C Doyle, S. Prajna, A. Papachristodoulou, and Maryam Fazel. Optimization based methods for determining basins of attraction in the logistic map and set membership in the mandelbrot set. Preprint, 2006.

* D. Gayme, M. Fazel, and J. C. Doyle. Sos proofs of invariant regions in the logistic map. In ''Proc. IEEE Control and Decision Conference'', 2006. Submitted.

* S. Glavaski, A. Papachristodoulou, and K. Ariyur. Safety verification of controlled advanced life support system using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2005.

* D. Kogan. Realtime path planning through optimization methods. Master's thesis, California Institute of Technology, 2005.

* L. Li, D. Alderson, J. C. Doyle and W. Willinger. [http://www.cds.caltech.edu/~lun/publications/IM06.pdf Towards a Theory of Scale-Free Graphs: Definition, Properties, and Implications]. ''Internet Mathematics'' 2(4), p 431-523, Mar. 2006.

* L. Li, D. Alderson, W. Willinger and J. C. Doyle. [http://www.cds.caltech.edu/~lun/publications/sigcomm04.pdf A First-Principles Approach to Understanding the Internet's Router-level Topology]. Proceedings of ACM Sigcomm, 2004,

* S. H. Low, J. C. Doyle, L. Li, A. Tang, J. Wang, Optimization Model of Internet Protocols, Proceedings of ACM Sigmetrics, June 2005.

* S. Prajna and A. Jadbabaie. Safety verification of hybrid systems using barrier certificates. In ''Hybrid Systems: Computation and Control'', 2004.

* S. Prajna and A. Jadbabaie. Methods for safety verification of time-delay systems. In ''Proceedings of the IEEE Conference on Decision and Control'', 2005.

* S. Prajna, A. Jadbabaie, and G. J. Pappas. Stochastic safety verification using barrier certificates. In ''Proceedings of the IEEE Conference on Decision and Control'', 2004.

* S. Prajna, A. Papachristodoulou, P. J. Seiler, and P. A. Parrilo. SOSTOOLS -- Sum of Squares Optimization Toolbox, User's Guide. Available at http://www.cds.caltech.edu/sostools and http://www.mit.edu/~parrilo/sostools, 2002, 2004.

* S. Prajna and A. Rantzer. On the necessity of barrier certificates. In ''Proceedings of the IFAC World Congress'', 2005.

* S. Prajna and A. Rantzer. Primal-dual tests for safety and reachability. In ''Hybrid Systems: Computation and Control''. Springer-Verlag, 2005.

== Reports ==
* [[Media:boeing_report-may08.pdf|Annual report, May 2007 to April 2008]]
* [[Media:boeing_report-mar06.pdf|Annual report, January 2005 to March 2006]]
* [[Media:boeing_report-apr06.pdf|Annual report, March 2006 to April 2007]]

== Software ==
* SOSTOOLS

== Related Activities ==
* [[Connections II]] - Workshop on Foundations of Network Science (Caltech, August 2006)
* [http://www.cds.caltech.edu/~murray/VaVmuri V&V MURI] - Specification, Design and Verification of Distributed Embedded Systems (AFOSR MURI)

Fall 2008 Meeting Schedule

2008-09-25T12:50:03Z

Wongpiromsarn: /* Fri */

__NOTOC__
Sign up for a time to meet. Note that different slots are for different amounts of time. Here are some guides:
* 30 minute slot - weekly meeting; good if you are busy with mainly classes
* 60 minute slot - standard weekly meeting
* 90 minute slot - ''biweekly'' meeting. Pick even or odd weeks (week of 29 Sep = odd)
{| width=100% border=1
|- valign=top
| width=20% |
==== Mon ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|4:30p|Yizhar}}
{{agenda item|5:30p|Open}}
{{agenda item|6:30p|Andrea}}
{{agenda end}}
| width=20% |

==== Tue ====
{{agenda begin}}
{{agenda item|1:30p|Julia}}
{{agenda item|2:30p|Mumu}}
{{agenda item|3:00p|Odd: Open}}
{{agenda item||Even: Open}}
{{agenda item|6:00p|Odd: Francisco}}
{{agenda item||Even: Open}}
{{agenda end}}
| width=20% |

==== Wed ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|4:30p|Shuo}}
{{agenda item|5:30p|Ufuk}}
{{agenda item|6:30p|Elisa}}
{{agenda end}}
| width=20% |

==== Thu ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|3:30p|Open (short)}}
{{agenda item|4:00p|Odd: Sawyer}}
{{agenda item||Even: Open}}
{{agenda item|5:30p|Dionysios}}
{{agenda item|6:30p|Ophelia}}
{{agenda end}}
| width=20% |

==== Fri ====
{{agenda begin}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|3:00p|Pete}}
{{agenda item|4:00p|Nok}}
{{agenda item|5:00p|Open}}
{{agenda item||}}
{{agenda end}}
|}

Summer 2008 Meeting Schedule

2008-06-08T04:53:13Z

Wongpiromsarn: /* Tue */

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

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

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

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

Summer 2008 Meeting Schedule

2008-06-07T23:44:03Z

Wongpiromsarn: /* Thu */

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

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

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

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

Group Schedule, Summer 2008

2008-06-07T23:43:37Z

Wongpiromsarn: /* Group Meetings */

This page contains information about various upcoming events that are of interest to the group. __NOTOC__
{| width=100%
|- valign=top
| width=50% |
* [[Summer 2008 Meeting Schedule]]
* [http://www.cds.caltech.edu/~murray/calendar.html Richard's calendar]
| width=50% |
* [[Group Schedule, Spring 2008]]
|}

== Group Meetings ==
Group meetings are on Tuesdays at *noon* in 114 Steele. Visitors are welcome (but be prepared to get signed up to give a talk!).
{| width=100% border=1
|- valign=top
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|17 Jun|Dionysios}}
{{agenda item|24 Jun|Open}}
{{agenda item|1 Jul|Open}}
{{agenda item|8 Jul|No group meeting (IFAC)}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|15 Jul|No group meeting (RMM out)}}
{{agenda item|22 Jul|Open}}
{{agenda item|5 Aug|No group meeting (AFOSR)}}
{{agenda item|12 Aug|Open}}
{{agenda end}}
| width=30% |
{{agenda begin}}
{{agenda item|Date|Speaker}}
{{agenda item|19 Aug|No group meeting (ARO)}}
{{agenda item|26 Aug|No group meeting (Sweden)}}
{{agenda item|2 Sep|Nok}}
{{agenda item|9 Sep|No group meeting (Berkeley)}}
{{agenda end}}
|}

Vinutha Kallem, April 2008

2008-04-25T04:18:28Z

Wongpiromsarn: /* Monday */

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

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

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

=== Abstract ===

TASK-INDUCED REDUCTION WITH APPLICATIONS TO NEEDLE STEERING

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

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

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

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

David Thorsley, April 2008

2008-04-22T22:35:04Z

Wongpiromsarn: /* Friday (25 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Elisa}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Julia (329 Thomus)}}
{{agenda item|11:15|Erik Winfree (204 Moore)}}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan (334 Moore)}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}
{{agenda item|3:30|Joseph Schaeffer (210C Moore)}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

David Thorsley, April 2008

2008-04-22T21:54:23Z

Wongpiromsarn: /* Friday (25 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Elisa}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Julia (329 Thomus)}}
{{agenda item|11:15|Erik Winfree }}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan (334 Moore)}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}
{{agenda item|3:30|Joseph Schaeffer (210C Moore)}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

David Thorsley, April 2008

2008-04-22T21:54:06Z

Wongpiromsarn: /* Friday (25 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Elisa}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Julia (329 Thomus)}}
{{agenda item|11:15|Erik Winfree (210C Moore)}}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan (334 Moore)}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}
{{agenda item|3:30|Joseph Schaeffer}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

David Thorsley, April 2008

2008-04-22T19:11:52Z

Wongpiromsarn: /* Friday (25 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Elisa}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Julia (329 Thomus)}}
{{agenda item|11:15|Erik Winfree}}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan (334 Moore)}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Mani Chandy (264 Jorgensen)}}
{{agenda item|3:30|Joseph Schaeffer}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

David Thorsley, April 2008

2008-04-22T18:59:59Z

Wongpiromsarn: /* Friday (25 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Elisa}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Julia}}
{{agenda item|11:15|Erik Winfree}}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Mani Chandy}}
{{agenda item|3:30|Joseph Schaeffer}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

David Thorsley, April 2008

2008-04-21T19:39:30Z

Wongpiromsarn: /* Thursday (24 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Elisa}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, Dionysios, Joseph Schaeffer}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Julia}}
{{agenda item|11:15|Open}}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Mani Chandy}}
{{agenda item|3:30|Joseph Schaeffer}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

David Thorsley, April 2008

2008-04-21T19:39:23Z

Wongpiromsarn: /* Friday (25 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Elisa}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, Dionysios, ___}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Julia}}
{{agenda item|11:15|Open}}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Mani Chandy}}
{{agenda item|3:30|Joseph Schaeffer}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

David Thorsley, April 2008

2008-04-19T20:26:21Z

Wongpiromsarn: /* Thursday (24 Apr) */

David Thorsley, a research associate with Eric Klavins at U. Washington, will be visiting Caltech on 24-25 April. This page is for keeping track of his schedule. __NOTOC__

=== Schedule ===

{| width=100% border=1
|- valign=top
| width=50% |
==== Thursday (24 Apr) ====
{{agenda begin}}
{{agenda item|9:30|Nok Wongpiromsarn}}
{{agenda item|10:15|Open}}
{{agenda item|11:00|Seminar (CDS library)}}
{{agenda item|12:15|Lunch: Nok, ___, ___}}
{{agenda end}}
| width=50% |

==== Friday (25 Apr) ====
{{agenda begin}}
{{agenda item|10:30|Open}}
{{agenda item|11:15|Open}}
{{agenda item|12:00|Lunch: Nok, Sayan, ___}}
{{agenda item|1:30|Sayan}}
{{agenda item|2:15|Open}}
{{agenda item|3:00|Open}}
{{agenda end}}
|}

=== Seminar ===

APPROXIMATING STOCHASTIC BIOCHEMICAL NETWORKS

David Thorsley<br>
Research Associate<br>
Department of Electrical Engineering <br>
University of Washington

Thursday, April 24, 2008<br>
11:00 AM to 12:00 PM<br>
Steele 114 (CDS Library)

Understanding stochastic phenomena is a fundamental problem throughout science and engineering. When faced with new types of complex or complicated systems, we as engineers strive to develop intuitive methods that allow us to intelligently and safely make simple approximations, thus allowing us to more easily and efficiently answer questions about these systems. In the emerging field of systems biology, we are still striving to develop the necessary approaches to approximation that will make the analyses of such systems tractable. In this talk, I will present a general methodology for quantifying the differences between stochastic biochemical networks that can be used in to address the problems of model comparison, model reduction, and parameter optimization. The potential of this approach will be illustrated using a stochastic reaction network model of gene expression in bacteria.
</pre>

Jan/Feb 2008 Meetings

2008-01-27T21:43:01Z

Wongpiromsarn: /* Wed, 6 Feb */

The list below has times that I am available to meet between 28 Jan and 8 Feb. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__

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

</td><td width=20%>

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

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

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

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

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

Winter 2008 Meeting Schedule

2008-01-03T20:31:51Z

Wongpiromsarn: /* Thu */

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

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

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

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

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

December 2007 Meetings

2007-12-16T04:05:40Z

Wongpiromsarn: /* Tue, 18 Dec */

The list below has times that I am available to meet between 4 June and 15 June. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and see if you can switch). __NOTOC__

{| width=60%
|- valign=top
| width=50% |
==== Mon, 17 Dec ====
{{agenda begin}}
{{agenda item|9:15a|Dionysios}}
{{agenda item|10:00a|Shuo}}
{{agenda item|11:00a|Yizhar}}
{{agenda item|1:00p|Julia}}
{{agenda item|6:30p|Open (if needed)}}
{{agenda end}}
| width=50% |

==== Tue, 18 Dec ====
{{agenda begin}}
{{agenda item|8:00a|Open (if needed)}}
{{agenda item|12:30p|Open (if needed)}}
{{agenda item|3:00p|Mary}}
{{agenda item|4:00p|Nok}}
{{agenda item|5:00p|Open}}
{{agenda item|6:00p|Open}}
{{agenda item|7:00p|Open (if needed)}}
{{agenda end}}
|}

August 2007 Meetings

2007-07-30T00:24:38Z

Wongpiromsarn:

The list below has times that I am available to meet between 30 July and 30 August. Please pick two times to meet that work (nominally one in each block) and fill in your name. If none of the times work, send me e-mail or find someone else who has a slot that does work and see if you can switch. __NOTOC__

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

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

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

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

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

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

</td><td width=25%>

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

</td><td width=25%>

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

</td><td width=25%>

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

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

Summer 2007 Murray Group Trip

2007-07-06T23:04:12Z

Wongpiromsarn: /* Interested People (order of preference) */

The proposed group trip this summer is camping on Catalina Island or some other more local beach. Below is a list of possible dates for the trip, followed by some camping options that are available for each set of dates. If you are interested in attending, please add your name to the list below, listing after your name at least one of the trip options, in order of preference. '''Please indicate your interest by Friday, July 6!'''

<H3> Possible Trips </H3>
<ol>
<li> August 22-24 (Wednesday - Friday) - Camping on Catalina at the Little Harbor Campsite
<ul>
</ul>
<li> August 24-26 (Friday - Sunday) - Camping on a "local" beach
<ul> </ul>
<li> August 25-27 (Saturday - Monday) - Camping on a "local" beach
<ul> </ul>
</ol>

<H3> Camping Options </H3>
<P>The following activities are available at the Little Harbor and "local" beach campsites: snorkeling, hiking, kayaking, surfing (plus lessons), scuba diving, and swimming. </P?>
<H4> Little Harbor, Catalina Island </H4>
[[Image:littleharbor.jpg]]
<BR> (some random picture I found when I searched for "Little Harbor Catalina")
<P>
The following description has been copied from the [http://www.visitcatalinaisland.com Santa Catalina Island Company's website]:</P>
<P>Rated "One of the Best Campgrounds in the West" by Sunset Magazine, [http://www.visitcatalinaisland.com/avalon/camp_littleHarbor.php '''Little Harbor Campground'''] is perfect for campers who enjoy playing on the beach or in the water. Located about seven miles east of Two Harbors and 16 miles from Avalon, Little Harbor is a sandy, beachfront campground with lots of opportunities for recreation. Facilities and activities include BBQ and fire ring, showers, fresh water, chemical toilets, lockers, and kayak and snorkel gear rentals are available from Wet Spot Rentals daily.</P>
<P> The round-trip boat ride to Catalina is $50.50 and camping is $12/night/person. Gear rental and food is extra.</P>

<H4> Local Beach </H4>
<P> Some options for the "local" beach are the Morro Strand State Beach, Crystal Cove State Park, and possible Malibu Creek State Park.</P>
<P> The following description was copied from the [http://www.parks.ca.gov/?page_id=593 Morro Strand State Beach website]. </P>
<P>This beach is a coastal frontage park featuring outstanding picnic sites. A three-mile stretch of beach connects the southern and northern entrances to the beach. Fishing, windsurfing, jogging, and kite flying are popular.</P>
<P> The following description was copied from the [http://www.parks.ca.gov/?page_id=644 Crystal Cove State Park website]. </P>
<P>In addition to the Historic District, Crystal Cove State Park has 3.5 miles of beach and undeveloped woodland, which is popular for hiking and horseback riding. The offshore waters are designated as an underwater park. Crystal Cove is used by mountain bikers inland and scuba and skin divers underwater. The beach is popular with swimmers and surfers. Visitors can explore tidepools and sandy coves. Crystal Cove offers sand and surf, rocky reefs, ridges and canyons - plus recreational opportunities - that appeal to everybody. State Park Rangers conduct nature hikes in the winter.
The park features three miles of Pacific coastline, plus wooded canyons, open bluffs, and offshore waters designated as an underwater park. Crystal Cove is not just used by people who enjoy water related activities, such as swimming, surfing, sunbathing, scuba and skin diving, but also people who like to fish, mountain bike and hike. </P>
<P>Info on the Malibu Creek State Park can be found [http://www.parks.ca.gov/default.asp?page_id=614 here].</P>

=== Interested People (order of preference) ===
* Julia Braman (1, 2, 3)
* Sawyer Fuller (1, 2, 3)
* Richard Murray (1, 2, 3)
* Mary Dunlop (1, 2, 3)
* Elisa Franco (1, 2, 3)
* Dom Rizzo (1, 2, 3)
* Andreas Ulbig (1, 2, 3)
* John Carson (2)
* Nok (2, 1)

Summer 2007 Meeting Schedule

2007-06-03T14:28:36Z

Wongpiromsarn: /* Thu */

__NOTOC__
Meetings will start on '''18 June'''.
{| width=100% border=1
|- valign=top
| width=25% |
==== Mon ====
{{agenda begin}}
{{agenda item|2:00p| Open}}
{{agenda item|3:00p| Open}}
{{agenda item|4:00p| Open}}
{{agenda item|5:00p| Open}}
{{agenda end}}
| width=25% |

==== Tue ====
{{agenda begin}}
{{agenda item|2:00p| Open}}
{{agenda item|3:00p| Stefano}}
{{agenda item|4:00p| Open}}
{{agenda item|5:00p| Open}}
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}
{{agenda item|7:00p| Zhipu/Ling <br>(alt weeks) }}
{{agenda end}}
| width=25% |

==== Wed ====
{{agenda begin}}
{{agenda item|2:00p| Open}}
{{agenda item||}}
{{agenda item|4:00p| Open}}
{{agenda item|5:00p| Open}}
{{agenda end}}
| width=25% |

==== Thu ====
{{agenda begin}}
{{agenda item|2:00p| Open}}
{{agenda item|3:00p| Open}}
{{agenda item|4:00p| Waydo}}
{{agenda item|5:00p| Nok}}
{{agenda end}}
|

|}

Group Schedule, Summer 2007

2007-06-03T14:27:38Z

Wongpiromsarn: /* Group Meetings */

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

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

April 2007 Meetings

2007-04-15T01:35:20Z

Wongpiromsarn: /* Sun, 22 Apr */

The list below has times that I am available to meet between 15 and 22 April. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). __NOTOC__

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

==== Mon, 16 Apr ====
{{agenda begin}}
{{agenda item|10:30a|Open}}
{{agenda item|11:00a|Open (30m)}}
{{agenda item|6:30p|Open}}
{{agenda end}}
</td><td width=20%>

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

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

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

<br>

March 2007 Meetings

2007-03-03T09:56:56Z

Wongpiromsarn: /* Sunday, 11 Mar */

The list below has times that I am available to meet between 5 and 16 March. Please pick a time that works and fill in your name. If none of the times work, send me e-mail (or find someone else who has a slot that does work and figure out how much of a bribe is required to get them to switch). Please only sign up for one time slot; if we need to meet a second time we can arrange that separately. __NOTOC__

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

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

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

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

<br>

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

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

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

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

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

Yosemite Trip - Winter 2007

2007-02-14T09:34:35Z

Wongpiromsarn: /* Participants */

__NOTOC__
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.

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

= Details =

=== Trip Date ===
We've selected the trip date based on people's availability and Richard's schedule:
* 16-18 Feb

If you are interested in joining the group trip, email John Carson or Mary Dunlop.

=== Trip Itinerary ===
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.

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

= Participants =
* Richard Murray - 3pm departure
* Mary Dunlop - morning departure (driving)
* John Carson (and Vanessa) - likely afternoon departure
* Julia Braman (and Kevin) - morning departure (driving)
* Stefano Di Cairano - afternoon is preferred, can go in the morning if necessary
* Elisa Franco - morning departure
* Tim Chung - morning departure
* Nok - morning or afternoon departure
* Sawyer Fuller - morning or afternoon departure (driving)
* Laura de Vargas Roditi - morning departure
* Daniele Tamino - morning departure

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

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

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

= Packing List =

2/12/07 update: Weather looks mostly sunny with a few snow showers towards the end of the weekend, mid-40s during the day in the valley (where we're staying) and in the 30s at Badger Pass (where we'll be skiing).

[http://www.weather.com/outlook/recreation/outdoors/tenday/CANPYOSE:13 Yosemite Valley Weather]

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

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

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

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

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

'''Sleeping'''
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee.

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

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

Yosemite Trip - Winter 2007

2007-02-14T09:17:11Z

Wongpiromsarn: /* Participants */

__NOTOC__
John and Mary are organizing a winter Murray Group trip to Yosemite this year. We'll be staying in heated cabins in Yosemite valley. This will be a fun and casual trip for all group members, there will be no special skills or special gear required.

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

= Details =

=== Trip Date ===
We've selected the trip date based on people's availability and Richard's schedule:
* 16-18 Feb

If you are interested in joining the group trip, email John Carson or Mary Dunlop.

=== Trip Itinerary ===
* Friday - Meet early in the morning (early) and drive to Yosemite. Check into cabins and do a short hike.
* Saturday - Skiing! Yosemite has both cross country skiing and a small downhill ski area. You can rent skis, snowboards, and snowshoes there.
* Sunday - Day hike in the morning, return to Pasadena in the afternoon/evening.

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

= Participants =
* Richard Murray - 3pm departure
* Mary Dunlop - morning departure (driving)
* John Carson (and Vanessa) - likely afternoon departure
* Julia Braman (and Kevin) - morning departure (driving)
* Stefano Di Cairano - afternoon is preferred, can go in the morning if necessary
* Elisa Franco - morning departure
* Tim Chung - morning departure
* Nok - afternoon is preferred, can go in the morning if necessary
* Sawyer Fuller - morning or afternoon departure (driving)
* Laura de Vargas Roditi - morning departure
* Daniele Tamino - morning departure

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

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

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

= Packing List =

2/12/07 update: Weather looks mostly sunny with a few snow showers towards the end of the weekend, mid-40s during the day in the valley (where we're staying) and in the 30s at Badger Pass (where we'll be skiing).

[http://www.weather.com/outlook/recreation/outdoors/tenday/CANPYOSE:13 Yosemite Valley Weather]

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

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

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

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

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

'''Sleeping'''
* We have beds for everyone, but if you'd prefer to sleep in a sleeping bag on top of the bed or on the floor rather than sharing a bed then you should bring a sleeping bag and sleeping pad. You can rent both from the [http://www.caltechy.org/services/rentals/outrent/ Caltech Y] for a small fee.

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

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

MVWTfest January 2007

2007-01-15T23:23:36Z

Wongpiromsarn: /* Monday */

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
** CVS -> DGC subversion
* get Steelebots to move (RMM)
** extract SW
** figure out comms
** convert to run on gclab
* player/stage/gazebo (Julia)
** player/gazebo demo
** getKetan software integrated (in player)
* vision system (Steve, Sawyer)
** verify HW
** verify firmware
** reconfig
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* complete JM's task 1
{{agenda end}}

=== Tuesday ===
{{agenda begin}}
{{agenda item|9am|}}
* proximity functions
* player code
* finish graph classes (position + internal state)
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

MVWTfest January 2007

2007-01-15T23:20:14Z

Wongpiromsarn: /* Monday */

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
** CVS -> DGC subversion
* get Steelebots to move (RMM)
* player/stage/gazebo (Julia)
** player/gazebo demo
** getKetan software integrated (in player)
* vision system (Steve, Sawyer)
** verify HW
** verify firmware
** reconfig
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* complete JM's task 1
{{agenda end}}

=== Tuesday ===
{{agenda begin}}
{{agenda item|9am|}}
* proximity functions
* player code
* finish graph classes (position + internal state)
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

MVWTfest January 2007

2007-01-15T23:16:52Z

Wongpiromsarn: /* Monday */

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
** CVS -> DGC subversion
* get Steelebots to move (RMM)
* player/stage/gazebo (Julia)
* vision system (Steve, Sawyer)
** verify HW
** verify firmware
** reconfig
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* complete JM's task 1
{{agenda end}}

=== Tuesday ===
{{agenda begin}}
{{agenda item|9am|}}
* proximity functions
* player code
* finish graph classes (position + internal state)
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

MVWTfest January 2007

2007-01-15T23:03:36Z

Wongpiromsarn: /* Monday */

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
* get Steelebots to move (RMM)
* player/stage/gazebo (Julia)
* vision system (Steve, Sawyer)
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* make 4 Steelebots moving according to plan
* finish graph classes
* write a proximity function
* complete JM's task 1
{{agenda end}}

=== Tuesday ===
{{agenda begin}}
{{agenda item|9am|}}
* proximity functions
* player code
* finish graph classes (position + internal state)
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

MVWTfest January 2007

2007-01-15T22:53:34Z

Wongpiromsarn: /* Monday */

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
* get Steelebots to move (RMM)
* player/stage/gazebo (Julia)
* vision system (Steve, Sawyer)
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item|5p|Task 1}}
* make 1 robot go in circle
* finish graph classes (position + internal state)
* write a proximity function
* complete JM's task 1
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

MVWTfest January 2007

2007-01-15T22:53:18Z

Wongpiromsarn: /* Schedule */

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
* get Steelebots to move (RMM)
* player/stage/gazebo (Julia)
* vision system (Steve, Sawyer)
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda item:5p|Task 1}}
* make 1 robot go in circle
* finish graph classes (position + internal state)
* write a proximity function
* complete JM's task 1
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

MVWTfest January 2007

2007-01-15T19:48:32Z

Wongpiromsarn: /* Monday */

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|12:30p|Lunch break}}
{{agenda item|1:30p|Lab demo and account setup}}
* demos
* initial infrastructure
* EGG discussion
* rough plan for week
{{agenda item|3p|}}
* More infra
* get Steelebots to move (RMM)
* player/stage/gazebo (Julia)
* vision system (Steve, Sawyer)
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

MVWT

2007-01-15T19:40:27Z

Wongpiromsarn:

{{righttoc}}

[[MVWTfest January 2007]]

The Caltech Multi-Vehicle Wireless Testbed (MVWT) is a testbed for networked control, computing and communications systems. It consists of up to 12 mobile vehicles with embedded computing and communications capability for use in testing new approaches for command and control across dynamic networks. The system allows testing of a variety of communications-related technologies, including distributed command and control algorithms, dynamically reconfigurable network topologies, source coding for real-time transmission of data in lossy environments, and multi-network communications. A unique feature of the testbed is the use of vehicles that have second order dynamics, requiring real-time feedback algorithms to stabilize the system while performing cooperative tasks.

The MVWT is part of the the Caltech Vehicles Laboratory and consists of individual vehicles with PC-based computation and controls, and multiple communications devices (802.11 wireless ethernet, and Bluetooth). Several different types of vehicles have been developed, including wheeled mobile robots, a thrust vectored vehicle on castors and a hovercraft. The laboratory contains access points for the 802.11, overhead visual sensing (to allow emulation of GPS signal processing), a centralized computer for emulating certain distributed computations, and network gateways to control and manipulate communications traffic.

== Hardware ==

== Software ==

== Papers ==
We have written several papers that describ the MVWT and provide additional information on how it is configured.

MVWT I (Kelly robots):
* A Platform for Cooperative and Coordinated Control of Multiple Vehicles: The Caltech Multi-Vehicle Wireless Testbed, Timothy Chung, Lars Cremean, William B. Dunbar, Zhipu Jin, Eric Klavins, David Moore, Abhishek Tiwari, Dave van Gogh, Stephen Waydo.Conference on Cooperative Control and Optimization, 2002.

* The Caltech Multi-Vehicle Wireless Testbed, Lars Cremean, William Dunbar, David van Gogh, Jason Hickey, Eric Klavins, Jason Meltzer, Richard M. Murray. Conference on Decision and Control (CDC), 2002.

MVWT II (Hovercraft):
* [http://www.cds.caltech.edu/~murray/papers/2004e_jin+04-acc.html.html MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed], Zhipu Jin, Stephen Waydo, Elisabeth B. Wildanger, Michael Lammers, Hans Scholze, Peter Foley, David Held, Richard M. Murray. 2004 American Control Conference (ACC).

In addition, several papers have been written using the MVWT to collect data and test out new approaches to communications, computing and control:
* Position Tracking for a Nonlinear Underactuated Hovercraft: Controller Design and Experimental Results, Antonio Pedro Aguiar, Lars Cremean, Joao Pedro Hespanha. Conference on Decision and Control, 2003

== History ==

== Pictures ==
Here are some pictures of the testbed and the different vehicles. Click on the thumbnails to get a larger version.

{|
|-
| [[Image:mvwt_kelly.jpg|thumb|Vectored thrust vehicle (Kelly)]]
| [[Image:mvwt_hovercraft.jpg|thumb|Hovercraft vehicle]]
| [[Image:mvwt_steelebot.jpg|thumb|Wheeled vehicle (Steelebot)]]
|-
| [[Image:mvwt_schematic.jpg|thumb|Schematic view of the testbed]]
| [[Image:mvwt_testbed.jpg|thumb|Picture of the testbed with two vehicles]]
| [[Image:mvwt_formation.jpg|thumb|Formation control with three vehicles]]
|}

MVWTfest January 2007

2007-01-15T19:38:29Z

Wongpiromsarn:

This page collections information for the January 2007 ''MVWTfest''.

Participants: Julia Braman, Sawyer Fuller, JM McNew, Richard Murray, Kevin Oishi, Ketan Savla (Thu-Fri), David Thorsley, Steve Waydo (Mon), Nok Wongpiromsarn

{|
|- valign=top
| width=50% |
'''Goals:'''
# Implement a cooperative control algorithm using graph grammars and involving at least 4 vehicles
# Learn about graph grammars, cooperative control, MDS, etc
# Leave with the ability to implement algorithms
| width=50% |
'''Activities:'''
* MVWT demos and training - get everyone up to speed on using the testbed
* Fix up infrastructure and documentation, aimed at improving usability for everyone
* Informal talks on research of general interest
|}

'''Useful links:'''
* [[MVWT]] - main wiki page (not very complete yet). We will fill this in during the week
* [http://www.cds.caltech.edu/~mvwt Old MVWT page] - we need to copy everything from here to the wiki

== Schedule ==

=== Monday ===
{{agenda begin}}
{{agenda item|11a|Organizational meeting - set out goals and rough schedule}}
{{agenda item|1p|Lunch break}}
{{agenda item|2p|Lab demo and account setup}}
{{agenda item|4p|Recap for the day; plans for Tue}}
{{agenda end}}

== Goals ==
* 4 physical robots executing cooperative task specified as EGG
* Plug adn play interface: EGG, CCL, MDS, ...
* Learn about MVWT and Alice
* Leave with simulation code (for EGG + MVWT)
* Dynamic, flowing (loops, circles)
* Leave EGG behind
* Tell other people how testbed works
* How to use SOS to proe EGG protocol
* Vision system working
* Subversion repository for code (MVWT, player/stage, EGG), tutorial
* (partially) switch to DGC cluster
* doc -> wiki
* Fault detection ideas + (maybe) prototype implementation
* Rethink/redo MVWT network
* (UW people) Set up meetings with Mani Chandy, Jason Hickey, Joel Burdick

Winter 2007 Meeting Schedule

2007-01-01T23:14:47Z

Wongpiromsarn: /* Thu */

__NOTOC__
{| width=100% border=1
|- valign=top
|
==== Mon ====
{{agenda begin}}
{{agenda item|10:00a| Open }}
{{agenda item|11:00a| Henrik }}
{{agenda end}}
|

==== Tue ====
{{agenda begin}}
{{agenda item|10:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|2:00p| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|6:00p|[[Group Schedule|Group Meeting]]}}
{{agenda item|7:00p| Open }}
{{agenda end}}
|
==== Wed ====
{{agenda begin}}
{{agenda item|10:00a| Julia }}
{{agenda item|11:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p| Ling }}
{{agenda item|6:00p| Open }}
{{agenda end}}
|

==== Thu ====
{{agenda begin}}
{{agenda item|10:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|2:00p| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00p| Nok }}
{{agenda item|6:00p| Open }}
{{agenda end}}
|

==== Fri ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|11:00a| Open }}
{{agenda item||}}
{{agenda item||}}
{{agenda item|3:00p| Open }}
{{agenda item|4:00p| Open }}
{{agenda end}}
|}

SoCal NLC Carpool 2006-11-10

2006-11-10T04:32:45Z

Wongpiromsarn:

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

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

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

{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 11:00 am
| Richard Murray
| 4 people total:
* Richard Murray
* Ling
* Kalle
* Waydo (can drive if needed)
|}

==== Returning to Pasadena ====

{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 5:45 pm
| Richard Murray
| 4 people total:
* Richard Murray
* Ling
* Kalle
* Waydo (can drive if needed)
|}

SoCal NLC Carpool 2006-11-10

2006-11-09T02:08:49Z

Wongpiromsarn:

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

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

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

{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 11:00 am
| Richard Murray
| 4 people total:
* Richard Murray
* Ling
* Nok (can drive if needed)
|}

==== Returning to Pasadena ====

{| border=1
|- valign=top
| Departure time
| Driver
| Passengers
|- valign=top
| 5:45 pm
| Richard Murray
| 4 people total:
* Richard Murray
* Ling
* Nok (can drive if needed)
|}

CS/EE/ME 75, 2006-07 - Team overviews

2006-10-08T07:20:35Z

Wongpiromsarn:

* Sensing Team (Laura Lindzey, Pete Trautman)
* Navigation Team (Jessica Gonzalez, Noel duToit)
* [[Media:2006-10-09_mission.pdf|Mission Team (Josh Feingold, Nok Wongpiromsarn)]]
* Operations Team (Ken Fisher, Richard Murray)

File:2006-10-09 mission.pdf

2006-10-08T07:19:22Z

Wongpiromsarn:

Fall 2006 Meeting Schedule

2006-09-17T04:16:50Z

Wongpiromsarn: /* Monday */

<table width=100% border=1>
<tr valign=top><td>
==== Monday ====
{{agenda begin}}
{{agenda item||}}
{{agenda item|9:45-10:30|Open}}
{{agenda item|10:30-11:15|Open}}
{{agenda item|11:15-12:00|Open}}
{{agenda item||}}
{{agenda item||}}
{{agenda item||}}
{{agenda item|5:00-5:45|Nok}}
{{agenda item|5:45-6:30|Open}}
{{agenda item|6:30-7:15|Open}}
{{agenda end}}
</td><td>

==== Tuesday ====
{{agenda begin}}
{{agenda item|9:00-9:45|Mary}}
{{agenda item|9:45-10:30|John}}
{{agenda item|10:30-11:15|Open}}
{{agenda item|11:15-12:00|Open}}
{{agenda item||}}
{{agenda item|2:15-3:00|Open}}
{{agenda item||}}
{{agenda item|5:15-6:00|Zhipu}}
{{agenda item|6:00-7:00|[[Group Schedule|Group Meeting]]}}
{{agenda item|7:15-8:00|Open}}
{{agenda item|8:00-8:45|Open}}
{{agenda end}}
</td><td>

==== Wednesday ====
{{agenda begin}}
{{agenda item|9:00-9:45|Open}}
{{agenda item|9:45-10:30|Open}}
{{agenda item|10:30-11:15|Stefano}}
{{agenda item|11:15-12:00|Elisa}}
{{agenda end}}
</td></tr></table>

August 2006 meeting schedule

2006-08-13T01:06:51Z

Wongpiromsarn: /* Thursday, 24 Aug */

The list below has times that I am available to meet between 21 August and 1 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). Please only sign up for one time slot; if we need to meet a second time we can arrange that separately. __NOTOC__

<table width=100% border=1>
<tr valign=top><td>
==== Monday, 21 Aug ====
{{agenda begin}}
{{agenda item|4:00-4:45|Elisa Franco}}
{{agenda item|4:45-5:30|Pete Trautman}}
{{agenda item|5:30-6:15|Mary Dunlop}}
{{agenda item|6:15-7:00|Ketan Savla}}
{{agenda end}}
</td><td>

==== Thursday, 24 Aug ====
{{agenda begin}}
{{agenda item|2:00-2:45|Open}}
{{agenda item|2:45-3:30|Open}}
{{agenda item|3:30-4:15|Open}}
{{agenda item|4:15-5:00|Nok}}
{{agenda item|5:00-5:45|Open}}
{{agenda end}}
</td><td>

==== Friday, 25 Aug ====
{{agenda begin}}
{{agenda item|2:00-2:45|Open}}
{{agenda item|2:45-3:30|Abhishek Tiwari}}
{{agenda item|3:30-4:15|Open}}
{{agenda item|4:15-5:00|Open}}
{{agenda item|5:00-5:45|Open}}
{{agenda end}}
</td><td>

==== Monday, 28 Aug ====
{{agenda begin}}
{{agenda item|2:00-2:45|Henrik Sandberg}}
{{agenda item|2:45-3:30|Michael Epstein}}
{{agenda item|3:30-4:15|John Carson}}
{{agenda item|4:15-5:00|Fei Wang}}
{{agenda item|5:00-5:45|Open}}
{{agenda end}}
</td></tr></table>