John Doyle 道陽 Jean-Lou Chameau Professor Control and Dynamical Systems, EE, & BioE

1. Universal laws and architectures: Theory and lessons frombrains, bugs,nets, grids, planes, docs, fire, bodies, fashion, earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia,spacecraft, statistical mechanics John Doyle 道陽 Jean-Lou Chameau Professor Controland Dynamical Systems, EE, & BioE 1 # Ca tech

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 When concepts fail, words arise. Mephistopheles, Faust, Goethe Sorry, still too many words and slides. Hopefully read later?

5. Concrete case studies • Theorems When concepts fail, words arise. Mephistopheles, Faust, Goethe • “Laws and Architecture” • Few words more misused • Few concepts more confused • What’s the best/simplest fix?

6. Concrete case studies • Theorems and words Reality is a crutch for people who can’t do math.Anon, Berkeley, 70’s

7. Fundamentals! • Brains • Nets/Grids (cyberphys) • Bugs (microbes, ants) • Medical physiology • Lots of aerospace • Wildfire ecology • Earthquakes • Physics: • turbulence, • stat mech (QM?) • “Toy”: • Lego • clothing, fashion • Buildings, cities • Synesthesia

8. Focus today: • Neuroscience + People care + Live demos • Cell biology (esp. bacteria) + Perfection  Some people care • Internet (of everything) (& Cyber-Phys) + Understand the details - Flawed designs • Everything you’ve read is wrong (in science)* • Medical physiology (esp. HRV) + People care, somewhat familiar - Demos more difficult * Mostly high impact “journals”

9. Focus today: • Neuroscience + People care + Live demos • Cell biology (esp. bacteria) + Perfection  Some people care • Internet (of everything) (& Cyber-Phys) + Understand the details - Flawed designs • Everything you’ve read is wrong (in science)* • Medical physiology + People care, somewhat familiar - Demos more difficult * Mostly high impact “journals”

10. Siri 3.0 Glass 3.0 What we want to build but can’t, yet. FaceWorld

11. The zombie apocalypse is already here…

12. Sustainable  robust + efficient 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 efficient sustainable robust

13. Priorities • Functionality (behavior, semantics) • Robustness • Uncertain environment and components • Fast (sense, decide, act) • Flexible (adaptable, evolvable) • Efficiency • Energy • Other resources (make and maintain)

14. Simple, apparent, obvious • Functionality • Robustness • Uncertain environment and components • Fast (sense, decide, act) • Flexible (adaptable, evolvable) • Efficiency Hidden

15. Complexity Robustness • Functionality (behavior, semantics) • Robustness • Uncertain environment and components • Fast (sense, decide, act) • Flexible (adaptable, evolvable) • Efficiency • Energy • Other resources (make and maintain)

16. Sustainable  robust + efficient 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 efficient sustainable robust

17. PCA  Principal Concept Analysis  With function given 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 fragile Simple dichotomous tradeoff pairs efficient sustainable robust efficient wasteful robust

18. The main tradeoff Actual fragile Ideal robust efficient wasteful

19. Efficiency/instability/layers/feedback • New efficiencies but also instability/fragility • New distributed/layered/complex/active control • Sustainable infrastructure? (e.g. smartgrids) • Money/finance/lobbyists/etc • Industrialization • Society/agriculture/weapons/etc • Bipedalism • Maternal care • Warm blood • Flight • Mitochondria • Oxygen • Translation (ribosomes) • Glycolysis (2011 Science) Live demo?

20. Tradeoffs (swim/crawl to run/bike) Function= Locomotion fragile robust efficient costly

21. Tradeoffs >2x fragile 4x robust efficient costly

22. Universal laws Actual fragile Impossible (law) Ideal robust efficient wasteful

23. The risk Actual fragile Impossible (law) Ideal robust efficient wasteful

24. Universal laws and architectures fragile Flexibly achieves what’s possible Architecture Impossible (law) Ideal robust efficient wasteful

25. Our heroes Universal laws and architectures fragile Evolution Complexity Architecture Impossible (law) Ideal robust efficient wasteful

26. Efficiency/instability/layers/feedback • All create new efficiencies but also instabilities • Needs new distributed/layered/complex/active control • Sustainable infrastructure? (e.g. smartgrids) • Money/finance/lobbyists/etc • Industrialization • Society/agriculture/weapons/etc • Bipedalism • Maternal care • Warm blood • Flight • Mitochondria • Oxygen • Translation (ribosomes) • Glycolysis (2011 Science) Major transitions

27. “Nothing in biology makes sense except in the light of evolution.” T Dobzhansky “Nothing in evolution makes sense except in the light of biology.” Tony Dean (U Minn) paraphrasing T Dobzhansky

28. Tradeoffs >2x fragile 4x robust efficient costly

29. Materials and energy have many “universal conservation laws” that limit achievable efficiency. Perfect efficiency would have zero waste. Impossible (law) efficient wasteful

30. Robustness also has “universal conservation laws” that are less familiar… …though their consequence are surprisingly ubiquitous. fragile robust Impossible (law)

31. Brains • Nets/Grids (cyberphys) • Bugs (microbes, ants) • Medical physiology • Lots of aerospace • Wildfire ecology • Earthquakes • Physics: • turbulence, • stat mech (QM?) • “Toy”: • Lego • clothing, fashion • Buildings, cities • Synesthesia fragile robust

32. experiments data theory universals • Neuroscience + People care +Live demos!

33. Simpler demo? Tradeoffs fragile >2x 4x robust efficient costly

34. A convenient cartoon harder Function= Movement fragile hard easy robust efficient costly

35. A convenient cartoon demo harder Function= Movement fragile hard easy robust “costly” “efficient?”

36. cartoon demo harder fragile hard easy robust “costly” “efficient” up&short down or long

37. cartoon demo Length is positive (not “waste,” but a cartoon) Impossible short long

38. Universal laws? Law #1 : Mechanics Law #2 : Gravity Gravity is destabilizing fragile hard Gravity is stabilizing easy robust up&short down or long Cerebellum

39. Efficiency/instability/layers/feedback • New efficiencies but also instabilities • New distributed/layered/complex/active control • Sustainable infrastructure? (e.g. smartgrids) • Money/finance/lobbyists/etc • Industrialization • Society/agriculture/weapons/etc • Bipedalism • Maternal care • Warm blood • Flight • Mitochondria • Oxygen • Translation (ribosomes) • Glycolysis (2011 Science) cartoon demo destabilizing stabilizing

40. Universal laws? Law #1 : Mechanics Law #2 : Gravity Gravity is destabilizing We think of mechanics and gravity as “obeying universal laws.” Gravity is stabilizing But both “universal” and “law” are confused and overloaded, so unfortunate terminology.

41. Universal laws? Law #1 : Mechanics Law #2 : Gravity Gravity is destabilizing We think of mechanics and gravity as “obeying universal laws.” (Generally: constraints) Gravity is stabilizing But the consequences (even of gravity) depend on other constraints.

42. Law #1 : Mechanics Law #2 : Gravity Law #3 : ?? Law #4 : ?? More unstable fragile harder robust up&short down or long

43. hardest! fragile harder robust up&short down or long

44. What is sensed matters. Why?!? hardest! hard harder Why? Easy to prove using simple models.

45. Why? Accident or necessity? Universal laws? hardest! fragile harder robust up&short down or long

46. Some minimal math details (4) Universal laws + Mechanics+ Gravity + Light + vision Balancing an inverted pendulum delay + Neuroscience Act

47. Law #1 : Mechanics Law #2 : Gravity 1d motion Use “conservation laws” easy hard

48. Standard inverted pendulum y m l length m mass M mass g gravity u control force l  M u x

49. Law #1 : Mechanics Law #2 : Gravity 1d motion easy linearize hard

50. n noise e error eye Law #3 : Light (vision)