universal laws and architectures - arpa-e...earthquakes, turbulence, music, buildings, cities, art,...
TRANSCRIPT
![Page 1: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/1.jpg)
John Doyle 道陽
Jean-Lou Chameau Professor
Control and Dynamical Systems, EE, & BioE
tech 1 # Ca
Universal laws
and architectures: Theory and lessons from
grids, brains, bugs, nets, planes, docs, fire, bodies, fashion,
earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics
![Page 2: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/2.jpg)
John Doyle 道陽
Jean-Lou Chameau Professor
Control and Dynamical Systems, EE, & BioE
tech 1 # Ca
Universal laws
and architectures: Theory and lessons from
grids, brains, bugs, nets, planes, docs, fire, bodies, fashion,
earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics
![Page 3: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/3.jpg)
Efficiency and robustness
in sustainable infrastructure
• Accept previous talks as givens
‒ New efficiencies and instability/fragility
‒ Needs distributed/layered/complex/active control
• What could go wrong (longterm)?
• How to fix/avoid (technical) problems.
• Persistent errors/confusion in science & engineering
![Page 4: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/4.jpg)
Efficiency and robustness
• Efficient use of resources
– Less inertia and damping instability
• Robustness on all scales
– Fluctuations in supply and demand
– Component uncertainty and failure*
– Adaptability to large changes*
– Evolvability on long time scales*
* Aspects of “plug and play” modularity
![Page 5: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/5.jpg)
Efficiency/instability/layers/feedback
• 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)
• All create new efficiencies but also unstable/fragile
• Needs new distributed/layered/complex/active control
• Persistent errors/confusion in science & engineering
Major transitions
in evolution
![Page 6: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/6.jpg)
• Nets/Grids (cyberphys)
• Brains
• Bugs (microbes, ants)
• Medical physiology
(tomorrow)
• Lots of aerospace
• Wildfire ecology
• Earthquakes
• Physics: – turbulence,
– stat mech (QM?)
• “Toy”: – Lego
– clothing, fashion
• Buildings, cities • Synesthesia
Case StudyI
![Page 7: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/7.jpg)
wasteful
fragile
efficient
robust
Actual
Ideal
The main tradeoff
![Page 8: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/8.jpg)
Efficiency/instability/layers/feedback
• 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)
• New efficiencies but also instability/fragility
• New distributed/layered/complex/active control
Live demo?
![Page 9: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/9.jpg)
costly
fragile
efficient
robust
Tradeoffs (swim/crawl to run/bike)
Function=
Locomotion
![Page 10: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/10.jpg)
costly
fragile
efficient
robust
Tradeoffs
4x
>2x
![Page 11: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/11.jpg)
wasteful
fragile
efficient
robust
Universal laws
“Universal laws”
limit achievable
robust efficiency.
![Page 12: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/12.jpg)
wasteful
fragile
efficient
robust Ideal
Actual
Universal laws
![Page 13: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/13.jpg)
wasteful
fragile
efficient
robust Ideal
Actual
The risk
![Page 14: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/14.jpg)
wasteful
fragile
efficient
robust Ideal
Universal laws
and architectures
Flexibly achieves
what’s possible
![Page 15: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/15.jpg)
control feedback
RNA
mRNA
RNAp
Transcription
Other
Control
Gene
Amino
Acids
Proteins
Ribosomes
Other
Control
Translation
Metabolism Products
Signal transduction
ATP
DNA
New
gene
Sensory Motor
Prefrontal
Striatum
Reflex
Software
Hardware
Digital
Analog
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
Evolvable
architectures
Requires
shared “OS”
![Page 17: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/17.jpg)
Sensory Motor
Prefrontal
Striatum
Slow
Flexible
Learning
Ashby & Crossley
Slow
Reflex (Fastest,
Least
Flexible)
Extreme heterogeneity
![Page 18: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/18.jpg)
Sensory Motor
Prefrontal
Striatum
Fast
Fast
Inflexible
Slow
Flexible
Reflex (Fastest,
Least
Flexible)
Ashby & Crossley
Learning can
be very slow.
![Page 19: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/19.jpg)
Sense
Fast
Slow
Flexible Inflexible
Motor
Prefrontal
Fast
Reflex
HMT Horizontal
Meme
Transfer
![Page 20: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/20.jpg)
Sense
Fast
Slow
Flexible Inflexible
Motor
Prefrontal
Fast
Reflex
Horizontal
Hardware
Transfer
HHT
![Page 21: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/21.jpg)
Sense
Fast
Slow
Flexible Inflexible
Motor
Prefrontal
Fast
Reflex
Apps
OS
HW
HMT
HHT
![Page 22: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/22.jpg)
Fast
Slow
Flexible Inflexible
General Special
Apps
OS
HW
![Page 23: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/23.jpg)
Fast
Slow
Flexible Inflexible
General Special
Apps
OS
HW
Horizontal
App
Transfer
Horizontal
Hardware
Transfer
![Page 24: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/24.jpg)
Slow
Flexible
Fast
Inflexible
Architecture
(constraints that
deconstrain)
General Special
Universal laws and architectures
(Turing)
ideal
![Page 25: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/25.jpg)
Slow
Flexible
Fast
Inflexible
General Special
NP(time)
P(time)
analytic
Npspace=Pspace
Decidable
Computation
(on and off-line)
![Page 26: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/26.jpg)
control feedback
RNA
mRNA
RNAp
Transcription
Other
Control
Gene
Amino
Acids
Proteins
Ribosomes
Other
Control
Translation
Metabolism Products
Signal transduction
ATP
DNA
New
gene
Sensory Motor
Prefrontal
Striatum
Reflex
Software
Hardware
Digital
Analog
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
Accelerating
evolution
Requires
shared “OS”
![Page 27: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/27.jpg)
control feedback
RNA
mRNA
RNAp Transcription
Other
Control
Gene
Amino
Acids
Proteins
Ribosomes
Other
Control
Translation
Metabolism Products
Signal transduction
ATP
DNA
New
gene
Sensory Motor
Prefrontal
Striatum
Reflex
Software
Hardware
Digital
Analog
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
What can
go wrong?
Before
exploring
mechanisms
![Page 28: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/28.jpg)
Horizontal
Bad Gene
Transfer
Horizontal
Bad App
Transfer
Horizontal
Bad Meme
Transfer
Parasites
&
Hijacking
Fragility?
Exploiting
layered
architecture
Virus
Virus
Meme
![Page 29: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/29.jpg)
Horizontal
Bad Meme
Transfer
Our
greatest
fragility?
Meme
Many human
beliefs are:
• False
• Unhealthy
![Page 30: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/30.jpg)
Slow
Fast
Flexible Inflexible
General Special
Apps OS HW Dig. Lump. Distrib.
OS HW Dig. Lump. Distrib.
Digital Lump. Distrib.
Lumped Distrib.
Distrib.
HGT DNA repair Mutation DNA replication Transcription Translation Metabolism
Signal
Sense Motor
Prefrontal
Fast
Reflex
vision
VOR
![Page 31: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/31.jpg)
slow
flexible
fast
inflexible
fragile
robust
Slow
Fast
Flexible Inflexible
General Special
![Page 32: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/32.jpg)
slow
flexible
fast
inflexible
waste
efficient
fragile
robust
![Page 33: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/33.jpg)
slow
flexible
fast
inflexible
fragile
robust
waste
efficient
fragile
robust
![Page 34: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/34.jpg)
slow
flexible
fast
inflexible
fragile
robust
waste efficient
fragile
robust
![Page 35: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/35.jpg)
waste efficient
fragile
robust
slow
flexible
fast
inflexible
fragile
robust
![Page 36: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/36.jpg)
costly
fragile
efficient
robust
Function=
Movement
![Page 37: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/37.jpg)
costly
fragile
efficient
robust
hard
harder
A convenient cartoon
easy
Function=
Movement
![Page 38: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/38.jpg)
“costly”
fragile
“efficient”
robust easy
hard
harder
up&short
cartoon demo
down or long
![Page 39: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/39.jpg)
fragile
robust easy
hard
up&short down or long
Gravity is
stabilizing
Gravity is
destabilizing
Law #1 : Mechanics
Law #2 : Gravity
Universal laws?
![Page 40: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/40.jpg)
Efficiency/instability/layers/feedback
• 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)
• New efficiencies but also instabilities
• New distributed/layered/complex/active control
stabilizing
destabilizing
![Page 41: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/41.jpg)
fragile
robust
harder
up&short down or long
More
unstable
Law #1 : Mechanics
Law #2 : Gravity
Law #3 : ??
Law #4 : ??
![Page 42: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/42.jpg)
hard harder hardest!
Easy to prove using simple models.
What is sensed matters.
Why?
Why?!?
![Page 43: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/43.jpg)
fragile
robust
harder
up&short down or long
hardest!
Why?
Accident or necessity?
Universal laws?
![Page 44: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/44.jpg)
Four Universal laws =
vision
Act
delay
+ Neuroscience
Balancing
an inverted
pendulum
Mechanics+
Gravity +
Light +
expz p
T pz p
Some
minimal
math
details
![Page 45: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/45.jpg)
easy
hard
Law #1 : Mechanics
Law #2 : Gravity
0
O
M m x ml u
x l g
y x l
&&&&
&&&&
linearize
1d motion
2cos sin
cos sin 0
sinO
M m x ml u
x l g
y x l
&& &&&
&&&&
![Page 46: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/46.jpg)
hard harder
Easy to prove using simple models.
vision
Act
delay
Law #3 : Light
0
O
M m x ml u
x l g
y x l n
&&&&
&&&&
![Page 47: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/47.jpg)
eye
l
N noise E error
E
T jN
Frequency
domain
?T
![Page 48: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/48.jpg)
eye vision
slow
Act
delay
Control
l
N noise E error
E
T jN
![Page 49: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/49.jpg)
expT p
Universal laws, art, music, Lego
vision
Act
delay
Balancing
an inverted
pendulum
Mechanics+
Gravity +
Light +
1p
l
.3s
![Page 50: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/50.jpg)
2 2
0
1exp ln exp ln
sup
pT T j d
p
T T j
@
exp lnexp
Tp
T
Amplification (noise to error)
Entropy rate
Energy (L2)
![Page 51: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/51.jpg)
exp lnexp
Tp
T
Entropy rate
Energy (L2)
exp pt
delay
Before
you can
react
time
state
intuition
![Page 52: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/52.jpg)
10
100
Length, m
.1 1 .5 .2 2
exp p
1p
l
.3s
Shorter
expT p
![Page 53: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/53.jpg)
10
Length, m .1 1 .5 .2
2
loglog
0.2 0.4 0.6 0.8 1 2
4
6
8
10
linear
exp p
Also
exponential
in delay!
![Page 54: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/54.jpg)
eye vision
Act
delay
Control
l noise
error
P
+
noise
error
C
E
T jN
Cerebellum
![Page 55: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/55.jpg)
P
+
noise
error
C
E
T jN
sup sup Re( ) 0|T T j T s s
Max modulus
Proof?
Easy
1
exp
( ) ( ) exp
exp
Ms P s s
T M M p p p
T p
P
1
1
( ) ( )
P p T p
M p p
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s s
![Page 56: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/56.jpg)
hard harder hardest!
Easy to prove using simple models.
What is sensed matters.
Why?
![Page 57: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/57.jpg)
hard harder hardest!
What is sensed matters.
Unstable poles Unstable zeros
0l l0l l
![Page 58: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/58.jpg)
exp lnexp
T z pp
z pT
Fragility two ways (Bode* and Zames):
Unstable zeros
![Page 59: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/59.jpg)
P
+
noise
error
C
sup sup Re( ) 0|T T j T s s
Proof?
( ) ( ) ( ) ( ) 1
exp
T s M s s j
s zs s
s z
1
exp
( ) ( ) exp
exp
M
s zs P s s
s z
z pT M M p p p
z p
z pT p
z p
P
![Page 60: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/60.jpg)
exp
expex
lp
n z pp
z p
Tp
T
hardest!
0l l
0l l
![Page 61: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/61.jpg)
exp p
expz p
pz p
10
100
Length, m
.1 1 .5 .2 2
1p
l
.3s
hardest! hard
exp
expex
lp
n z pp
z p
Tp
T
![Page 62: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/62.jpg)
10
100
Speed 1/
.1 1 .5 .2 2
.3s
exp p
vision
Act
delay
Vary delay?
![Page 63: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/63.jpg)
easy harder
“costly”
fragile
“efficient”
robust
Hard tradeoff
![Page 64: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/64.jpg)
“costly”
fragile
“efficient”
robust
Bad
design
Gratuitous
fragility
![Page 65: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/65.jpg)
10
100
Speed 1/
.1 1 .5 .2 2
.3s
exp p
vision
Act
delay
Delay kills.
![Page 66: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/66.jpg)
“costly”
fragile
“efficient”
robust
exp lnexp
z pT
Tp
z p
Same constraints:
Mechanics+
Gravity+
Different
consequences Constrained
sensing
unconstrained
The nature of “laws”
![Page 67: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/67.jpg)
“costly”
fragile
“efficient”
robust easy
hard
harder hardest!
up&short down or long
Different
consequences
![Page 68: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/68.jpg)
wasteful
fragile
efficient
robust
Universal laws
and architectures
Flexibly achieves
what’s possible
![Page 69: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/69.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Highly
evolved
(hidden)
architecture
![Page 70: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/70.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
slowest
![Page 71: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/71.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Delays
everywhere
Distributed
control
slowest
![Page 72: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/72.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
noise
Act
slowest Heterogeneous
delays
everywhere
![Page 73: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/73.jpg)
Efficiency/instability/layers/feedback
• 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
How universal? Very.
![Page 74: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/74.jpg)
Chandra, Buzi, and Doyle
UG biochem, math,
control theory
Insight
Accessible
Verifiable
![Page 75: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/75.jpg)
Glycolytic oscillations
• Exhaustively studied
– Extensive experiments and data
– Detailed models and simulations
– Great! But all just deepen the mystery
• Perfectly illustrates “conservation law”
• Without which? Bewilderment.
exp ln T z p
z pT
![Page 76: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/76.jpg)
Law #1 : Chemistry (vs mechanics)
Law #2 : Autocatalysis (vs gravity)
( RHP p and z)
exp ln T z p
z pT
Law #3:
![Page 77: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/77.jpg)
k
z p
z p
10 -1
10 0
10 1 10
0
10 1
too
fragile
complex
No tradeoff
expensive
fragile
Law #1 : Chemistry
Law #2 : Autocatalysis
( RHP p and z)
Law #3:
exp ln T z p
z pT
![Page 78: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/78.jpg)
0 100 200 300 400 0 100 200 300 400
40
60
80
100
120
140
160
180
HR
High mean, low variability
Low mean, high variability
sec
controls
external
disturbances
heart rate
ventilation
errors
O2
BP
energy
Homeostasis
and HRV
![Page 79: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/79.jpg)
Universal
laws?
10
100
Length, m
.1 1 .5 .2 2
k10 -1
10 0
10 1 10
0
10 1
expensive
fragile
exp lnexp
T z pp
z pT
wasteful
fragile
efficient
robust Ideal
![Page 80: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/80.jpg)
Info Thry
Control, OR
Compute
Physics Orthophysics
(Eng/Bio/Math)
Optimization Statistics
Comms for
Comp/Cntrl/Bio
Theory
![Page 81: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/81.jpg)
Localized (distributed) control
• Localizable control: Wang, Matni, You and Doyle ACC ’14
• Localized LQR control: Wang, Matni, and Doyle CDC’14
![Page 82: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/82.jpg)
Another extremely toy model
• Concretely illustrate important new ideas
• Minimal complexity otherwise
• Familiar, intuitive circuit dynamics
• Emphasize role of delays
• Instability mechanism is artificial
• Comparable to biological instabilities
• … but (so far) rare in tech infrastructure
![Page 83: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/83.jpg)
• LC circuit
• Each node = grounded capacitance
• Each link = inductance
![Page 84: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/84.jpg)
System Model
• Assuming each L and each C has unit value, the dynamics of the system are
where x(t) is states of node voltage and link current, M is the incidence matrix of the circuit graph.
(Will reorder for plotting later.)
![Page 85: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/85.jpg)
Discrete Time System Model
• A first order (Euler) approximation is
• With step = 0.2, the maximum eigenvalue of Ad is 1.0768
• Artificially create a very unstable system
• Only biology is systematically this unstable, so far.
![Page 86: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/86.jpg)
Simplified diagram (2 states per node)
Actuated and sensed
Only sensed
Actuated and sensed
Only sensed
Only sensed
![Page 87: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/87.jpg)
Simplified diagram (2 states per node)
Actuated and sensed
Only sensed
Actuated and sensed
Only sensed
Only sensed
![Page 88: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/88.jpg)
Actuated and sensed
Only sensed
Simplified diagram (2 states per node)
Actuated and sensed
Only sensed
![Page 89: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/89.jpg)
Actuated and sensed
Only sensed
Nominally each has delay 1.
Expensive? 0. Physical 1. Actuation
Simplified diagram (2 states per node)
![Page 90: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/90.jpg)
Controller
Physical plant
![Page 91: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/91.jpg)
Actuated and sensed
Only sensed
Sense, comm/comp, act.
Expensive? 0. Physical 1. Actuation 2. Comms speed 3. Comp speed 4. Sensing …
![Page 92: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/92.jpg)
Controller
Physical plant
![Page 93: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/93.jpg)
Data “plane”
Controller “plane”
SDN/ODP
![Page 94: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/94.jpg)
Physical
Data “plane”
Cyber
Controller “plane”
![Page 95: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/95.jpg)
Actuated and sensed
Only sensed
Sense, comm/comp, act. Nominally each has delay 1.
![Page 96: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/96.jpg)
Actuated and sensed
Only sensed
Expensive: • physical plant • passive stability • actuation • low delay (comms
and comp)
Cheap: • comms bandwidth • compute memory • sensing
True for cells, nets, grids, brains, but not in general
![Page 97: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/97.jpg)
System Model
• The discrete time system equation is
• Example: 30 C, 29 L
![Page 98: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/98.jpg)
Open loop dynamics
Simplified diagram
![Page 99: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/99.jpg)
( )x t
( )x t
t
0 50 -1
0
1
Open loop
![Page 100: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/100.jpg)
( )x t
t
0 50 100 150 200 250 -1
0
1
Open loop
![Page 101: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/101.jpg)
( )x t
t
0 50 100 150 200 250 -1
0
1
15( )v t
Threshold to |x(t)|< 1
![Page 102: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/102.jpg)
( )x t
Open loop
t
0 50 100 150 200 250 -1
0
1
0 50 100 150 200 250 -1
0
1
0 50 100 150 200 250
-1
0
1
2 ( )v t
9 ( )v t
15( )v t
Disturbance propagation
Threshold to |x(t)|< 1
![Page 103: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/103.jpg)
( )x t
Open loop
t
0 50 100 150 200 250 -1
0
1
0 50 100 150 200 250 -1
0
1
0 50 100 150 200 250 -1
0
1
2 ( )v t
9 ( )v t
15( )v t
22( )v t
29( )v t
log ( )x t
![Page 104: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/104.jpg)
( )x t
t
log ( )x t
Open
loop
Space-time cone
log ( )x t
plot log ( )x t
![Page 105: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/105.jpg)
( )x t
t
log ( )x t
Open
loop
log ( )x t
plot log ( )x t
0 50 100 150 200 250 -1
0
1
15( )v t
Threshold to |x(t)| < 1
![Page 106: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/106.jpg)
( )x t
t
log ( )x t
Space-time cone
log ( )x t
log ( )x tOpen
loop
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( )x t
tSpace-time state cone
State
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Controller Design
Critical Issues
1. Transient LQ (H2) cost: (x’x+u’u)
2. Actuator Density
3. Communication (vs plant) Speed
4. Locality/Scalability (Computation)
5. Time/space horizon
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Actuator Density
• Standard (centralized) optimal H2 control
• No delay (initially)
• Defer other issues ( comm, comp, sense)
• Objective: min sum (x’x+u’u)
• Actuator density = # actuators / # states
• Trade-off: actuator density vs norm
• Example: 30 C, 29 L
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1
1
10 2
10 4
Actuation
.5 .2
1
3
Norm - Actuator Density (normalized)
Opt H2
norm
Artificially unstable system
sparse dense
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Actuated and sensed
Only sensed
1
1
10 2
10 4
Actuator Density
norm 1
3
Comm speed = 0 delay
Standard control
(circa 1970)
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Opt undelay central state
Opt undelay central ctrl
Sparse actuation
Optimal Controller
+ Norm H2 optimal
‒ Communication undelayed
‒ Design/model global/huge P
‒ Implementation local/huge P
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Color
code?
log ( )x t
log ( )u t
( )x t
( )u t
t
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Actuated and sensed
Only sensed
Expensive? 0. Physical 1. Actuation 2. Comms speed 3. Comp speed 4. Sensing …
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Communication speed
Versus plant speed
Nominally delay 1. Expensive? 0. Physical 1. Actuation 2. Comms speed 3. Comp speed 4. Sensing …
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undelay central ctrl undelay central state
Communication speed =
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undelay central state
Communication speed =
undelay central ctrl
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0 2 4 6 8 10 1
1.05
1.1
1.15
1.2
Communication
Speed
Distributed
Localized
Norm
1.5
Undelayed central
slow fast
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undelay central ctrl undelay central state
delay distr state delay distr
ctrl
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undelay central ctrl
central state
delay distr state
delay distr
ctrl
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delay distr state delay distr
ctrl
Distributed (QI) Controller
+ Norm (H2) “small”
+ Optimal for constraints
+ Communication delayed
‒ Design/model global/huge P
‒ Implementation local/huge P
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delay distr
ctrl
delay local ctrl delay local state
delay distr state
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delay distr state
delay distr
ctrl
delay local
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delay local
ctrl
delay local state
Localized Controller
+ Norm (H2) “small”
+ Optimal for constraints
+ Communication delayed
+ Design/model local/small
+ Implementation local/small
+ State local
Everything is scalable.
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1
1
10 2
10 4
Actuator Density
norm 1
3
Centralized
0 2 4 6 8 10 1
1.05
1.1
1.15
1.2
Communication Speed
Distributed
Localized
Norm
1.5
Tradeoffs
Conjecture:
Norm bad
before method
breaks
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Extras
For “handout” and further study
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0 2 4 6 8 10 1
1.05
1.1
1.15
1.2
Communication Speed
Distributed
Localized
Norm
1.5
Undelayed central
Normalized by undelayed centralized
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delay local
ctrl
delay local state
[ ] 0x T
x
u
X
U
Linear equations
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( )x t
tSpace-time state cone
State
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( )x t
t
finite
impulse
response
(FIR)
Communication
and Control Cone
Space-time state cone
State
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( )x t
tfinite
impulse
response
(FIR)
Control
[ ] 0x T
x
u
X
U
Space-time state cone
Local space-time controllability
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( )x tPast
t
Past delayed
state needed
to compute
control
Communications
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( )x t
tfinite
impulse
response
(FIR)
Control
[ ] 0x T
x
u
X
U
Space-time state cone
Local space-time controllability
Past
This can linearly
constrain any
optimization
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Optimal delayed localized (very new, scalable)
Optimal delayed distributed (newish)
(but not scalable)
Optimal undelayed centralized state (old)
State
State
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undelay central ctrl undelay central state
delay local ctrl delay local state
AWGN in C2, L26, C29
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( )x t
tfinite
impulse
response
(FIR)
Control
[ ] 0x T
x
u
X
U
Space-time state cone
Local space-time controllability
Past
This can linearly
constrain any
optimization
Localized Controller
+ Norm (H2) small
+ Optimal for constraints
+ Communication is delayed
+ Design/model local/small
+ Implementation local/small
+ State local
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Localized Controller
+ Norm (H2) small
+ Optimal for constraints
+ Design/model is local
+ Implementation is local
+ State stays local
- Bandwidth is
? Output feedback?
? Approximately local?
? Layering?
? Nonlinear, MPC, etc?
? Comms codesign? See also Javad’s new relaxations
Mostly good news, but
incomplete
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Extensions
• Scalable optimal control
– Localizable control: Y.-S. Wang, N. Matni, S. You and J. C. Doyle ACC ’14
– Localized LQR control: Y.-S. Wang, N. Matni, and J. C. Doyle CDC’14
– Output feedback progress
• Dealing with varying-delays (jitter)
– Two player LQR with varying delays: N. Matni and J. C. Doyle CDC’ 13, N. Matni, A. Lamperski and J C. Doyle IFAC ‘14
![Page 139: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/139.jpg)
More Nikolai Matni
• Distributed/scalable system identification – Low-rank + Low-order decompositions: N. Matni and
A. Rantzer, CDC’ 14
• Structured Robustness – Distributed Controllers Satisfying an H∞ norm bound:
N. Matni CDC ‘14
• Regularization for Design
– Topology/interconnection design: N. Matni, CDC ‘13 (best student paper), TCNS ’14
– More broadly (including actuator/sensor placement): N. Matni and V. Chandrasekaran, CDC ’14
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More Extensions/Apps • Apps: neuro, smartgrid, CPS, cells
• IMC/RHC, etc (all of centralized control theory)
• Cyber theory: Delay jitter (uncertainty)
• Cyber: Comms co-design (CDC student prize paper)
• Physical: Robustness (unmodeled dynamics, noise)
• Cyber-phys: System ID, ML, adaptive
• SDN (Software defined nets, OpenDaylight)
• Revisit “layering as optimization”?
• Poset causality (streamlining)?
• Quantization and network coding?
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Controller
Physical plant
Revisit layering as optimization decomposition Chiang, Low, Calderbank, Doyle, 2007
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Data “plane”
Controller “plane”
SDN/ODP
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Physical
Data “plane”
Cyber
Controller “plane” Layered
Architectures
![Page 144: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/144.jpg)
1
1
10 2
10 4
Actuator Density
norm 1
3
Centralized
0 2 4 6 8 10 1
1.05
1.1
1.15
1.2
Communication Speed
Distributed
Localized
Norm
1.5
Undelayed central Tradeoffs
Conjecture:
Norm bad
before method
breaks
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0 2 4 6 8 10 1
1.05
1.1
1.15
Communication Speed
Delayed Centralized
Decentralized
Localized
norm
Speed
(=1/delay)
Local control theory
Error
0
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0 2 4 6 8 10 1
1.05
1.1
1.15
Communication Speed
Delayed Centralized
Decentralized
Localized
norm
Speed
(=1/delay)
Local control theory
Error
0
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Speed
(=1/delay)
Rate (BW)
Local control theory
Info theory
Error
Communications
0
Error
0
Due to quantization,
loss, noise
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Speed
(=1/delay)
Rate (BW)
Local control theory
Error Error
Communications
0 0
Info theory
Error
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Speed
(=1/delay)
Rate (BW)
Local control theory
Error Error
Communications
0 0
Info theory
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Speed
Rate
Local control theory Info
theory
Error Error
0 0
Communications
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Speed
Rate
Local control theory Info
theory
Error Error
Communications
0
Error
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Speed
Rate
Local control theory Info
theory
Error Error
Communications
0
Error
ideal
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Speed
Rate
Error Error
Local control
0
Error
ideal
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Resource 2
Resource 1
Error Error
Tradeoffs
0
Error
ideal
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d e=d-u -
decode/ control/
encode
Plant
(P) CA
source/ disturbance
CS
sense/ encode
delay
decode/ actuate
Channels
min 0,log AS d p C
log SS d p C
E jS j
D j
@
0P p p
a)
b)
c)
d)
e)
2 2
1ln ln if
2
z z p pS j d p z
z z p z
f) 0P z
0
1f d f d
@
Control over limited channels (Martins et al)
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Slow Fast
Architecture
(constraints that
deconstrain)
General
Special
Universal laws and architectures
(Turing)
ideal
Speed
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Slow Fast
General
Special
Speed
Memory
Memory is cheap, reusable, powerful.
Time is not.
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Resource 2
Resource 1
Error Error
Tradeoffs
0
Error
ideal
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Error Error
0
ideal
Speed
(comms, comp)
Actuation
Critical Tradeoffs
• Cheap: memory, bandwidth, sensors
• Not : time (1/speed), actuators • Brains/bodies, cells, CyberPhySys, …
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0
ideal
Speed
(comms, comp)
Actuation
Critical Tradeoffs
All costs are ultimately “physical.”
Cost
![Page 161: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/161.jpg)
eye vision
Act
delay
Control
l noise
error E
T jN
P
+
noise
error
C
Understand this more deeply?
+ Neuroscience
Mechanics+
Gravity +
Light +
Control theory
exp lnexp
T z pp
z pT
![Page 162: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/162.jpg)
eye vision
Act
delay
Control
l noise
error
Understand this more deeply?
+ Neuroscience
Vision
Motion
![Page 163: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/163.jpg)
Robust vision w/motion
• Object motion
• Self motion
Vision
Motion
eye vision
Act
delay
Control
noise error
![Page 164: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/164.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Highly
evolved
(hidden)
architecture
![Page 165: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/165.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
![Page 166: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/166.jpg)
Fast
Slow
Flexible Inflexible
Vision
Explain this
amazing
system.
Layering
Feedback
![Page 167: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/167.jpg)
Experiment • Motion/vision control without blurring
• Which is easier and faster?
Robust vision with
• Hand motion
• Head motion
![Page 168: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/168.jpg)
Fast
Slow
VOR
vision
Why?
• Mechanism
• Tradeoff
Cerebellum
![Page 169: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/169.jpg)
Fast
Slow
Flexible Inflexible
VOR
vision
Vestibular
Ocular
Reflex
(VOR)
Mechanism
Tradeoff
![Page 170: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/170.jpg)
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
![Page 171: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/171.jpg)
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
VOR
fast
![Page 172: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/172.jpg)
Slow
Flexible
eye
Act
Fast
Inflexible
VOR
fast
Vestibular
Ocular
Reflex
(VOR)
![Page 173: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/173.jpg)
Slow
Flexible
eye
Act
Fast
Inflexible
VOR
fast
It works in the
dark or with your
eyes closed, but
you can’t tell.
![Page 174: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/174.jpg)
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
VOR
fast
![Page 175: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/175.jpg)
vision
eye vision
Act slow
delay
VOR
Slow
Flexible
Fast
Inflexible
Illusion
Highly
evolved
(hidden)
architecture
Layering
Feedback
![Page 176: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/176.jpg)
eye vision
Act
VOR
Layering
Automatic
Unconscious
Partially
Conscious
Cerebellum
![Page 177: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/177.jpg)
eye vision
Act slow
delay
VOR
fast
Layering
Feedback
![Page 178: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/178.jpg)
vision
eye vision
Act slow
delay
VOR
Slow
Flexible
Fast
Inflexible
Illusion
fast
Architecture
layered/
distributed
![Page 179: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/179.jpg)
vision
eye vision
Act slow
delay
VOR
Slow
Flexible
Fast
Inflexible
Illusion
fast
Architecture
layered/
distributed
Robust or fine-tuned? Both
Modular or plastic? Both
![Page 180: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/180.jpg)
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
VOR
fast
3D + motion
See Marge
Livingstone
Color?
![Page 181: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/181.jpg)
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
VOR
fast
See Marge
Livingstone
3D + motion
color
vision
Slowest
![Page 182: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/182.jpg)
Stare at the intersection
![Page 183: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/183.jpg)
![Page 184: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/184.jpg)
Stare at the intersection.
![Page 185: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/185.jpg)
![Page 186: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/186.jpg)
![Page 187: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/187.jpg)
![Page 188: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/188.jpg)
Stare at the intersection.
![Page 189: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/189.jpg)
![Page 190: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/190.jpg)
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
VOR
fast
3D + motion
color
vision
Slowest
![Page 191: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/191.jpg)
Slow
Flexible
vision
Fast
Inflexible
VOR
color
vision
Seeing is dreaming
• is simulation • requiring “internal model”
![Page 192: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/192.jpg)
gradient
Biased random walk
Ligand
Signal
Transduction
Motion Motor
CheY
![Page 193: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/193.jpg)
+CH 3 R
ATP ADP P
~
flagellar motor
Z
Y
P
Y
P i B
B
P
P i
CW
-CH 3
ATP
W A
MCPs
W A
+ATT
-ATT
MCPs SLOW
FAST
ligand
binding
motor
Bacterial chemotaxis
• Internal model necessary for robust chemotaxis
• Reality is 3d, but…
• Internal model virtual and 1d
![Page 194: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/194.jpg)
Slow
Flexible
Fast
Inflexible
Architecture
(constraints that
deconstrain)
General Special
Universal laws and architectures
(Turing)
ideal
![Page 195: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/195.jpg)
Slow
Flexible
Fast
Inflexible
General Special
NP(time)
P(time)
analytic
Npspace=Pspace
Decidable
Computation
(on and off-line)
![Page 196: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/196.jpg)
Slow
Flexible
vision
Fast
Inflexible
VOR
color
vision
Layering
Distributed
Feedback
![Page 197: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/197.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Error
+
Very rough cartoon
![Page 198: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/198.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
Error
+
Error Tune
gain
Slightly better
gain AOS
AOS = Accessory Optical system
![Page 199: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/199.jpg)
Cortex
eye vision
Act slow
delay
VOR
This fast
“forward”
path
Object
motion
Head
motion
Cerebellum
Error
+
Error Tune
gain
Slightly better
gain AOS
AOS = Accessory Optical system
Needs
“feedback”
tuning
Via AOS and
cerebellum
(not cortex)
![Page 200: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/200.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Highly
evolved
(hidden)
architecture
![Page 201: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/201.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
![Page 202: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/202.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Highly
evolved
(hidden)
architecture
![Page 203: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/203.jpg)
vision
eye vision
Act slow
delay
VOR
Slow
Flexible
Fast
Inflexible
Illusion
Highly
evolved
(hidden)
architecture
Layering
Distributed
Feedback
![Page 204: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/204.jpg)
10
100
Length, m
.1 1 .5 .2 2
k10 -1
10 0
10 1 10
0
10 1
too
fragile
complex
No tradeoff
expensive
fragile
exp ln
expT z p
pz pT
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
VOR
fast Universal
laws?
![Page 205: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/205.jpg)
10
100
Length, m
.1 1 .5 .2 2
Slow
Flexible
vision
eye vision
Act slow
delay
Fast
Inflexible
VOR
fast
exp lnexp
T z pp
z pT
How do
these fit
together?
![Page 206: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/206.jpg)
slow
flexible
fast
inflexible
How do these fit together?
“waste” “efficient”
fragile
robust
vision
VOR
![Page 207: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/207.jpg)
delay sec/m
.01
1
.1
area
.1 1 10 diam(m)
.01 1 100
Retinal ganglion axons?
Other myelinated
Why such extreme diversity in axon size and delay?
![Page 208: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/208.jpg)
.01
1
delay sec/m
Aα
C
.1
Aβ
Aγ Aδ
area
.1 1 10 diam(m)
.01 1 100
Axon
size and
speed
Fast
Small
Slow
Large
![Page 209: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/209.jpg)
delay sec/m
.01
1
.1
area
.1 1 10 diam(m)
.01 1 100
Retinal ganglion axons?
Other myelinated
Why such extreme diversity in axon size and delay?
VOR No
diversity
in VOR?
Resolution and bandwidth are cheap
speed costs
![Page 210: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/210.jpg)
axon
Same area
= same “cost”
axon axon
2 x resolution
(less noise)
axon
2 x speed
(less delay)
Double
the
area
(and
cost)?
speed costs
Resolution and bandwidth are cheap
1delay
speed
![Page 211: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/211.jpg)
vision
Act
delay
10
100
Speed 1/
.1 1 .5 .2 2
.3s
exp p
axon axon
axon
2 x resolution
(less noise)
axon
2 x
speed doubly
expensive
but necessary
![Page 212: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/212.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
AOS = Accessory Optical system
noise
Act
Delays
everywhere
Distributed
control
slowest
![Page 213: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/213.jpg)
Cortex
eye vision
Act slow
delay
VOR
fast
Object
motion
Head
motion
Cerebellum
+
Error Tune gain
gain
AOS
noise
Act
slowest Heterogeneous
delays
everywhere
![Page 214: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/214.jpg)
expE p N
Fast
Slow
Flexible Inflexible
Reflex
Sense Motor
Prefrontal
Fast
Apps
OS
HW
vision
Act
delay
axon axon
axon
2 x resolution
(less noise)
axon
2 x
speed doubly
expensive
but necessary
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slow
flexible
fast
inflexible
How do these fit together?
“waste” “efficient”
fragile
robust
vision
VOR
speed
costs
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slow
flexible
fast
inflexible
In general?
wasteful efficient
fragile
robust
![Page 217: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/217.jpg)
slow
flexible
fast
inflexible
fragile
robust
waste efficient
fragile
robust
![Page 218: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/218.jpg)
slow
flexible
fast
inflexible
fragile
robust
waste
efficient
fragile
robust
![Page 219: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/219.jpg)
slow
flexible
fast
inflexible
waste
efficient
fragile
robust
![Page 220: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/220.jpg)
accessible accountable accurate adaptable administrable affordable auditable autonomy available compatible composable configurable correctness customizable debugable degradable determinable demonstrable
dependable deployable discoverable distributable durable effective
evolvable extensible fail
transparent fast fault-tolerant fidelity flexible inspectable installable Integrity interchangeabl
e interoperable learnable maintainable
manageable mobile modifiable modular nomadic operable orthogonalit
y 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
efficient
robust
sustainable
PCA Principal Concept Analysis
flexible
fast
efficient
robust
![Page 221: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/221.jpg)
slow
flexible
fast
inflexible
waste
efficient
![Page 222: Universal laws and architectures - ARPA-E...earthquakes, turbulence, music, buildings, cities, art, running, throwing, Synesthesia, spacecraft, statistical mechanics . John Doyle 道陽](https://reader034.vdocuments.site/reader034/viewer/2022042305/5ed12ba1d47f090fe816e030/html5/thumbnails/222.jpg)
slow
flexible
fast
inflexible
waste
efficient
Slow
slow
inflexible
fragile
waste Same
picture