Model-Based Design and Qualification of Complex Systems

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This is a joint project with Michael Cross and Gil Refael, funded by Boeing.

Participants:
  • David Alderson (CDS postdoc, NPS)
  • Julia Braman (PhD student, ME)
  • Andrea Censi (PhD student, CDS)
  • Lijun Chen (CDS PhD, postdoc)
  • Lars Cremean (ME PhD, Aerovironment)
  • Stefano di Cairano (Visiting student, U. Siena)
  • John Doyle
  • Noel du Toit (Postdoc, CDS)
  • Michael Epstein (PhD student, ME)
  • Dennice Gayme (PhD student, CDS)
  • Shuo Han (PhD student, EE)
  • Tamas Keviczky (postdoc, CDS)
  • Dimitry Kogan (CDS MS)
  • Oleg Kogan (PhD student, Physics)

  • Tony Lee (PhD student, Physics)
  • Lun Li (PhD student, EE)
  • Scott Livingston
  • Alfred Martinez (PhD student, CDS)
  • Stephen Prajna (CDS PhD)
  • Dominic Rizzo (PhD student, ME)
  • Demetri Spanos (PhD student, CDS)
  • Heywood Tam (PhD student, Physics)
  • Ufuk Topcu (Postdoc, CDS)
  • Pete Trautman (PhD student, CDS)
  • Johan Ugander
  • Fei Wang (EE PhD; on leave)
  • Eric Wolff*
  • Tichakorn (Nok) Wongpiromsarn (PhD student, ME)

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:

  • 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).

  • 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").

  • 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.

Publications

2011-12

  • On Synthesizing Robust Discrete Controllers under Modeling Uncertainty, Ufuk Topcu, Necmiye Ozay, Jun Liu, and Richard M. Murray. Submitted, 2012 International Conf on Hybrid Systems: Computation and Control (HSCC)
  • Synthesis of Switching Protocols from Temporal Logic Specifications, Jun Liu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference.
  • Temporal Logic Control of Switched Affine Systems with an Application in Fuel Balancing, Petter Nilsson, Necmiye Özay, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference (ACC).
  • Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications, Eric M. Wolff, Ufuk Topcu and Richard M. Murray. Submitted, 2012 American Control Conference (ACC).
  • Backtracking temporal logic synthesis for uncertain environments, Scott Livingston, Richard M. Murray and Joel W. Burdick. 2012 International Conference on Robotics and Automation (ICRA), submitted.

2010-11

  • J. M. Braman and R. M. Murray, “Bisimulation conversion and verification procedure for goal-based control systems,” Formal Methods in System Design, vol. 38, no. 1, Feb. 2011.
  • Receding Horizon Temporal Logic Planning, Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M Murray. IEEE Transactions on Automatic Control, 2010.
  • Distributed Power Allocation for Vehicle Management Systems, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. IEEE Conference on Decision and Control (CDC), 2011.
  • Distributed Synthesis of Control Protocols for Smart Camera Networks, Necmiye Ozay, Ufuk Topcu, Tichakorn Wongpiromsarn, Richard M. Murray. ACM/IEEE Second International Conference on Cyber-Physical Systems, 2011.
  • H. Kress-Gazit, T. Wongpiromsarn, and U. Topcu, “Correct, Reactive, High-Level Robot Control,” Robotics & Automation Magazine, IEEE, vol. 18, no. 3, pp. 65–74, 2011.
  • U. Topcu, L. J. Lucas, H. Owhadi, and M. Ortiz, “Rigorous uncertainty quantification without integral testing,” Reliability Engineering & System Safety, vol. 96, no. 9, pp. 1085–1091, Sep. 2011.

2009-10

  • D. Gayme, A robust control approach to understanding nonlinear mechanisms in shear flow turbulence. PhD thesis, Control and Dynamical Systems, Caltech, 2010.
  • D. Gayme, B. McKeon, A. Papachristodoulou, B. Bamieh and J. C. Doyle, "A streamwise constant model of turbulence in plane Couette flow". Journal of Fluid Mechanics, 2010 (submitted).
  • Shuo Han, Andrea Censi, Andrew D. Straw, and Richard M. Murray, "A bio-plausible design for visual pose stabilization", International Conference on Intelligent Robots and Systems (IROS), 2010 (to appear).
  • Peter Trautman and Andreas Krause, "Unfreezing the Robot: Navigation in Dense, Interacting Crowds". International Conference on Intelligent Robots and Systems, 2010 (to appear).
  • Ufuk Topcu, T. Sullivan, M. McKerns, and H. Owhadi, "Uncertainty quantification via codimension-one partitioning". International Journal on Numerical Methods in Engineering, 2010 (submitted)
  • Ufuk Topcu, L. Lucas, H. Owhadi, and M. Ortiz, "Rigorous uncertainty quantification without integral testing". Reliability Engineering and System Safety, 2010 (submitted).
  • Nok Wongpiromsarn, Sayan Mitra, Richard M. Murray, and Andrew Lamperski. "Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle". ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of Cyber-Physical Software Systems (accepted).
  • Nok Wongpiromsarn, Ufuk Topcu, and Richard M. Murray. "Receding Horizon Temporal Logic Planning". IEEE Transactions on Automatic Control (submitted).
  • Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Automatic synthesis of robust embedded control software". Proceedings of the AAAI 2010 Spring Symposium on Embedded Reasoning: Intelligence in Embedded Systems.
  • Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Receding horizon control for temporal logic specifications". Proceedings of the International Conference on Hybrid Systems: Computation and Control (HSCC), 2010.
  • Nok Wongpiromsarn, Ufuk Topcu and Richard M. Murray, "Receding horizon temporal logic planning for dynamical systems". Conference on Decision and Control (CDC), 2009.
  • Ufuk Topcu, Andrew Packard and Richard M. Murray, "Compositional stability analysis based on dual decomposition". Conference Decision and Control (CDC), 2009.

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, Verification of Periodically Controlled Hybrid Systems: Application to An Autonomous Vehicle. ACM Transactions in Embedded Computing Systems (ACM TECS), Special Issue on the Verification of Cyber-Physical Software Systems (submitted).
  • Tichakorn Wongpiromsarn, Ufuk Topcu, Richard M. Murray, Receding Horizon Temporal Logic Planning for Dynamical Systems. Conference on Decision and Control (CDC), 2009 (submitted).


2007-08

  • 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.
  • 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).

2006-07

  • 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.
  • 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.
  • 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 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

Software

  • SOSTOOLS

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