John Doyle John G Braun Professor Control and Dynamical Systems, EE, & BioE C a # l t e c h

1. and zombies Universal laws (and architectures):networks, bugs, brains, dance, art, music, literature, fashion John Doyle John G Braun Professor Control and Dynamical Systems, EE, & BioE C a#lt e c h

2. Requirements on systems and architectures dependable deployable discoverable distributable durable effective efficient evolvable extensible fail transparent fast fault-tolerant fidelity flexible inspectable installable Integrity interchangeable interoperable learnable maintainable manageable mobile modifiable modular nomadic operable orthogonality portable precision predictable producible provable recoverable relevant reliable repeatable reproducible resilient responsive reusable robust safety scalable seamless self-sustainable serviceable supportable securable simplicity stable standards compliant survivable sustainable tailorable testable timely traceable ubiquitous understandable upgradable usable accessible accountable accurate adaptable administrable affordable auditable autonomy available credible process capable compatible composable configurable correctness customizable debugable degradable determinable demonstrable

3. Requirements on systems and architectures When concepts fail, words arise. Mephistopheles, Faust, Goethe dependable deployable discoverable distributable durable effective efficient evolvable extensible fail transparent fast fault-tolerant fidelity flexible inspectable installable Integrity interchangeable interoperable learnable maintainable manageable mobile modifiable modular nomadic operable orthogonality portable precision predictable producible provable recoverable relevant reliable repeatable reproducible resilient responsive reusable robust safety scalable seamless self-sustainable serviceable supportable securable simplicity stable standards compliant survivable sustainable tailorable testable timely traceable ubiquitous understandable upgradable usable accessible accountable accurate adaptable administrable affordable auditable autonomy available credible process capable compatible composable configurable correctness customizable debugable degradable determinable demonstrable Mephistopheles. …Enter the templed hall of Certainty. Student. Yet in each word some concept there must be. Mephistopheles. Quite true! But don't torment yourself too anxiously;For at the point where concepts fail,At the right time a word is thrust in there…

4. Concrete case studies • Theorems Mephistopheles. …Enter the templed hall of Certainty. Student. Yet in each word some concept there must be. Mephistopheles. Quite true! But don't torment yourself too anxiously;For at the point where concepts fail,At the right time a word is thrust in there… When concepts fail, words arise. Mephistopheles, Faust, Goethe

5. Case studies • Neuroscience • Tech nets • Cell biology • Medical physiology • Smartgrid, cyber-phys • Wildfire ecology • Earthquakes • Lots of aerospace • Physics: • turbulence, • stat mech (QM?) • “Toy”: • Lego • clothing, fashion • Buildings, cities • Synesthesia

6. Case studies • Neuroscience • Tech nets • Cell biology • Medical physiology • Smartgrid, cyber-phys • Wildfire ecology • Earthquakes • Lots of aerospace • Physics: • turbulence, • stat mech (QM?) • “Toy”: • Lego • clothing, fashion • Buildings, cities • Synesthesia

7. Diverse outfits The layered architecture of clothing Diverse Garments Xform Cloth Xform Constraints that deconstrain Thread Protocols Xform Fiber

8. This paper aims to bridge progress in neuroscience involving sophisticated quantitative analysis of behavior, including the use of robust control, with other relevant conceptual and theoretical frameworks from systems engineering, systems biology, and mathematics. Most accessible No math Doyle, Csete, Proc Nat AcadSci USA, JULY 25 2011

9. Architecture case studies comparison

10. d = head Speed and flexibility tradeoffs vision - e=d-u VOR u d = hand slow Act delay fast vision Slow Vestibular Ocular Reflex (VOR) VOR Fast Flexible Inflexible

11. Head and hand motion head hand vision eye eye Compensating eye movement Vestibular Ocular Reflex (VOR) A handwaving explanation illustrating fundamental tradeoffs

12. Easy Hard head hand vision eye eye Why? Head Accident or necessity? Hand

13. hand vision eye eye vision - error=d-u u d = disturbance = hand u = eye position Act

14. hand vision eye eye slow Hard vision - e=d-u u slow d = hand Act delay

15. head vision eye eye d = head vision - e=d-u u Act

16. head vision fast eye eye Easy d = head vision - e=d-u VOR u Act fast

17. Doesn’t depend on vision Works in the dark head fast eye eye Easy d = head - e=d-u VOR u Act fast

18. head vision fast eye eye Easy d = head vision - e=d-u VOR u Act fast

19. head hand vision fast eye eye slow d = head vision - e=d-u VOR u slow d = hand Act delay fast

20. Standing and seeing Vision is important in balance? Why?

21. Better at low frequencies vision Slow Better at high frequencies VOR Fast Inflexible Flexible

22. Laws and architectures: lessons from VOR and vision • Robust control • nested, diverse feedbacks • hidden, automatic, unconscious • Speed vs flexibility tradeoffs (laws?) • Good architectures manage tradeoffs • Evolution: necessity vs accident? • Universal?

23. (Overly) Simple dichotomous tradeoff pairs Slow efficient Fast Flexible Inflexible Global Local

24. PCA  Principal Concept Analysis  dependable deployable discoverable distributable durable effective evolvable extensible fail transparent fast fault-tolerant fidelity flexible inspectable installable Integrity interchangeable interoperable learnable maintainable manageable mobile modifiable modular nomadic operable orthogonality portable precision predictable producible provable recoverable relevant reliable repeatable reproducible resilient responsive reusable safety scalable seamless self-sustainable serviceable supportable securable simple stable standards survivable tailorable testable timely traceable ubiquitous understandable upgradable usable accessible accountable accurate adaptable administrable affordable auditable autonomy available compatible composable configurable correctness customizable debugable degradable determinable demonstrable Slow Simple dichotomous tradeoff pairs efficient sustainable Fast Flexible Inflexible Global Local robust

25. Formalize architecture as constraints • Good architecture = “constraints that deconstrain” (G&K) • Most effective architectures are layered • Constraints on system and components • System level function and uncertainty • Component level capability and uncertainty • Laws, hard limits, tradeoffs • Protocols (are the essence of constraints that deconstrain)

26. Want fast, flexible, and general Slow Architecture Architecture (constraints that deconstrain) Impossible Fast Inflexible Flexible Special General

27. Speed and flexibility tradeoffs Combining controls vision Slow both VOR Fast Inflexible Flexible

28. Speed and flexibility tradeoffs Accident or necessity? vision Slow both VOR laws? (constraints) Fast Inflexible Flexible

29. Sensing fast and slow • Applies to vision and hearing? • For action (fast, luminance) • For “perception” (slow, includes color)

30. Stare at the intersection

32. This is pretty good.

34. Universal tradeoffs? Slow Learning Evolution Fast Inflexible Flexible

35. Learning Slow Flexible Prefrontal Motor Slow Sensory Striatum Reflex (Fastest, Least Flexible) Ashby & Crossley

36. Learning can be very slow. Slow Flexible Prefrontal Motor Fast Sensory Learning Striatum Fast Inflexible Reflex (Fastest, Least Flexible) Ashby & Crossley

37. Learning can be very slow. Universal tradeoffs? Evolution is even slower. Prefrontal Learn Slow Motor Fast Sense Evolve Reflex Fast Inflexible Flexible

38. Universal architectures Prefrontal • Evolution on • long timescales Learn Evolution on long timescales Motor Fast Sense Evolve Reflex

39. Many more dimensions dependable deployable discoverable distributable durable effective efficient extensible fail transparent fault-tolerant fidelity inspectable installable Integrity interchangeable interoperable learnable maintainable manageable mobile modifiable modular nomadic operable orthogonality portable precision predictable producible provable recoverable relevant repeatable reproducible responsive reusable safety scalable seamless self-sustainable serviceable supportable securable simplicity standards compliant survivable sustainable tailorable testable timely traceable ubiquitous understandable upgradable usable accessible accountable accurate administrable affordable auditable autonomy available credible process capable compatible composable configurable correctness customizable debugable degradable determinable demonstrable adaptable evolvable stable fast flexible reliable resilient robust

40. Universal laws (constraints) Well known from physics and chemistry: • Classical: gravity, energy, carbon,… • Modern: speed of light, “Heisenberg”, … Not so much: • Robustness • Critical to study of complex systems • Unknown outside narrow technical disciplines • Theorems, not mere metaphors

41. Modern Turing tradeoffs: PC, smartphone, router, etc Apps OS HW Digital Lumped Distrib. OS HW Digital Lumped Distrib. Digital Lumped Distrib. Lumped Distrib. Distrib. Slow Accident or necessity? Fast Inflexible Flexible Special General

42. Horizontal Meme Transfer Prefrontal Flexible/ Adaptable/Evolvable Learning Motor Sensory Software Striatum Hardware Reflex Horizontal App Transfer DNAp Repl. Gene DNA Digital Analog RNAp transc. xRNA ATP RNA Ribosome AA transl. Proteins Horizontal Gene Transfer Depends crucially on layered architecture Nucl. AA ATP Catabolism Precursors

43. Sequence ~100 E Coli (not chosen randomly) • ~ 4K genes per cell • ~20K different genes in total • ~ 1K universally shared genes • ~ 300 essential (minimal) genes DNAp Repl. Gene DNA RNAp transc. xRNA ATP RNA Ribosome AA transl. Proteins Horizontal Gene Transfer See slides on bacterial biosphere Nucl. AA ATP Catabolism Precursors

44. Mechanisms in molecular biology 0. HGT (Horizontal Gene Transfer) DNA replication DNA repair Mutation Transcription Translation Metabolism Signal transduction … Think of this as a “protocol stack”

45. Control 1.0 0. HGT DNA replication DNA repair Mutation Transcription Translation Metabolism Signal transduction … Highly controlled Think of this as a “protocol stack”

46. Control 2.0 0. HGT DNA replication DNA repair Mutation Transcription Translation Metabolism Signal transduction … Highly controlled ?!? Highly controlled Think of this as a “protocol stack”

47. Apps OS HW Digital Lumped Distrib. OS HW Digital Lumped Distrib. Digital Lumped Distrib. Lumped Distrib. Distrib. Slow Cheap • HGT • DNA replication • DNA repair • Mutation • Transcription • Translation • Metabolism • Signal… Fast Costly Inflexible Flexible Special General

48. CNS HW “stack” Brain

49. Laws and architectures (Turing, 1936) Slow Turing 1912-1954 Universal Turing Machine Architecture (constraints that deconstrain) Undecidable Fast Inflexible Flexible Special General

50. Computational complexity Really slow Slow hard limits Fast Undecidable Decidable NP P Flexible/ General Inflexible/ Specific