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

John Doyle 道陽Jean-Lou Chameau Professor

Control and Dynamical Systems, EE, & BioE

tech1#Ca

Universal laws and architectures:Theory and lessons from

brains, bugs, nets, grids, docs, planes, fire, fashion,

art, turbulence, music, buildings, cities, earthquakes, bodies, running, throwing,

Synesthesia, spacecraft, statistical mechanics and

zombies

• 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

Fundamentals!

Case Study

• Neuroscience+ People care+ Live demos

• Internet (& Cyber-Phys)+ Understand the details- Flawed designs- Everything you’ve read is wrong (in science)*

• Cell biology (bacteria)+ Perfection Some people care

* this comment is for scientists

• Neuroscience+ People care+Live demos!

1. experiments2. data3. theory4. universals

control feedback

RNA

mRNA

RNApTranscription

Other Control

Gene

AminoAcids

Proteins

Ribosomes

Other Control

Translation

Metabolism Products

Signal transductionATP

DNANew gene

SensoryMotor

Prefrontal

Striatum

Reflex

LearningSoftware

Hardware

DigitalAnalog

Horizontal Gene

Transfer

Horizontal App

Transfer

Horizontal Meme

Transfer

Slow

Flexible

Fast

Inflexible

Ideal

FragileArchitecture?

Slow

Flexible

Fast

Inflexible

Ideal

Fragile

Impossible (law)

Architecture

Architecture (constraints that

deconstrain)

Slow

Flexible

Fast

Inflexible

Impossible (law)

Architecture


deconstrain)

General Special

Universal laws and architectures (Turing)

ideal

Robust vision with motion• Object motion• Self motion

Vision

Motion

Fast

Slow

Flexible Inflexible

Vision

Explain this amazing system.

LayeringFeedback

Experiment• Motion/vision control without blurring• Which is easier and faster?

Robust vision with• Hand motion• Head motion

Fast

Slow

VOR

vision

Why?• Mechanism• Tradeoff

Fast

Slow

Flexible Inflexible

VOR

vision

Vestibular Ocular Reflex (VOR)

Mechanism

Tradeoff

Slow

Flexible

vision

eye vision

Actslow

delay

Fast

Inflexible

Slow

Flexible

vision

eye vision

Actslow

delay

Fast

Inflexible

VOR

fast

Slow

Flexible

eye

Act

Fast

Inflexible

VOR

fast

Vestibular Ocular Reflex (VOR)

Slow

Flexible

eye

Act

Fast

Inflexible

VOR

fast

It works in the dark or with your eyes closed, but

you can’t tell.

Slow

Flexible

vision

eye vision

Actslow

delay

Fast

Inflexible

VOR

fast

vision

eye vision

Actslow

delay

VOR

Slow

Flexible

Fast

Inflexible

Illusion

Highly evolved (hidden)

architecture

LayeringFeedback

eye vision

Act

VOR

Layering

AutomaticUnconscious

PartiallyConscious

eye vision

Actslow

delay

VOR

fastLayeringFeedback

vision

eye vision

Actslow

delay

VOR

Slow

Flexible

Fast

Inflexible

Illusion

fastArchitecture

Slow

Flexible

Fast

Inflexible

Impossible (law)

Architecture


deconstrain)

General Special

Universal laws and architectures (Turing)

ideal

Fast

Slow

Flexible Inflexible

Apps

OS

HW

AppsOS

HardwareDigital

LumpedDistributed

Tech implications/extensions

Layered Architecture

AppsOS

HardwareDigital

LumpedDistributed

Any layer needs all

lower layers.

Layered architectures 101

Apps

OS

HW

Operating SystemAppsOS

HardwareDigital

LumpedDistributed

OS

DiverseDeconstrained(Hardware)

Deconstrained(Applications)

DiverseHorizontal App

Transfer

Horizontal HW

Transfer

Layered architectures

Apps

OS

HW

OS


Minimal diversity

and change

Apps

OS

HW

DiverseDeconstrained

DeconstrainedDiverse

Horizontal Transfer

Horizontal Transfer

diversity and change

diversity and change

DiverseDeconstrained(Hardware)


DiverseHorizontal App

Transfer

Horizontal HW

Transfer


Apps

OS

HW

Maximal diversity

and change

DiverseDeconstrained

(Hardware)


Diverse


ConstrainedBut hidden

Apps

OS

HW

Core Protocols

Fast

Slow

Flexible Inflexible

General Special

Apps

OS

HW

Fast

Slow

Flexible Inflexible

General Special

Apps

OS

HW

FastCostly

SlowCheap

Flexible Inflexible

General Special

Layered Architecture

AppsOSHW

DigitalLumpedDistrib.

OSHW



LumpedDistrib. Distrib.

Any layer needs all lower layers.

DigitalLumped Lumped

.

AppsOS

HardwareDigital

Lumped

Act

Decide

Sense

Act

Sense

AppsOS

HardwareDigital

Lumped

DecideSlow

Inflexible

Fragile

Slow

Inflexible

Fragile

Expensive

Efficiency/instability/layers/feedback

• Money/finance/lobbyists/etc• Society/agriculture/weapons/etc• Bipedalism• Maternal care• Warm blood• Flight• Mitochondria• Translation (ribosomes)• Glycolysis (2011 Science)

• All create new efficiencies but also instabilities• Requires new active/layered/complex/active control

Slow

Inflexible

Fragile

Expensive

accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecredibleprocess

capablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable

dependabledeployablediscoverable distributabledurableeffectiveefficientevolvableextensiblefail transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeableinteroperable learnablemaintainable

manageablemobilemodifiablemodularnomadicoperableorthogonalityportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable robust

safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplicitystablestandards

compliantsurvivablesustainabletailorabletestabletimelytraceableubiquitousunderstandableupgradableusable

Requirements on systems and architectures

accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable

dependabledeployablediscoverable distributabledurableeffective

evolvableextensiblefail transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeableinteroperable learnablemaintainable

manageablemobilemodifiablemodularnomadicoperableorthogonalityportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable

safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplestablestandardssurvivable

tailorabletestabletimelytraceableubiquitousunderstandableupgradableusable

efficient

robust

sustainable

Sustainable robust + efficient

accessibleaccountableaccurateadaptableadministrableaffordableauditableautonomyavailablecompatiblecomposable configurablecorrectnesscustomizabledebugabledegradabledeterminabledemonstrable

dependabledeployablediscoverable distributabledurableeffective

evolvableextensiblefail

transparentfastfault-tolerantfidelityflexibleinspectableinstallableIntegrityinterchangeabl

einteroperable learnablemaintainable

manageablemobilemodifiablemodularnomadicoperableorthogonalit

yportableprecisionpredictableproducibleprovablerecoverablerelevantreliablerepeatablereproducibleresilientresponsivereusable

safety scalableseamlessself-sustainableserviceablesupportablesecurablesimplestablestandardssurvivable

tailorabletestabletimelytraceableubiquitousunderstandableupgradableusable

efficient

robust

sustainable

Simple dichotomous

tradeoff pairs

PCA Principal Concept Analysis

wasteful

fragile

efficientrobust

wasteful

fragile

efficientrobust

Laws

Architectures

LayeringFeedback

Robust

FragileUniversal

laws

wasteful

efficient

Slow

Flexible

Fast

Inflexible

Robust

FragileUniversal

laws

wasteful

efficient

Chandra, Buzi, and Doyle

UG biochem, math, control theory

Most important paper so far.

k

z pz p

10-1 100 101100

101

too fragile

complex

No tradeoff

expensive

fragile

2 20

1 ln

ln

zS j dz

z pz p

Law #1 : ChemistryLaw #2 : Autocatalysis

Law #3:

I recently found this paper, a rare example of exploring an explicit tradeoff between robustness and efficiency.

This seems like an important paper but it is rarely cited.

1m

Bacteria

Phage

Survive

Phage lifecycle

Survive

Phage lifecycle

Infect

Multiply

Survive

Phage lifecycle

Infect

Multiply

Survive

Phage lifecycle

InfectLyse

Multiply

Survive

Phage lifecycle

Tradeoff?

Costly/slow

fragile

Efficient/fast

robust

Survive

Grow/Multiply

ideal

Ideal for phage, bad for bacteria

fragile

robust

Survive

SlowCostly

FastEfficientCheap

Multiply

thinsmall

thickbig

Capsid sizeGenome size

What the data says

fragile

robust

Survive

SlowCostly

FastEfficientCheap

Multiply

thinsmall

thickbig

Good architecture?

Evolut

ion

Laws?

Impossible?

Not viable?

thinsmall

thickbig


Shared architecture

thinsmall

thickbig

Capsid sizeGenome sizeWhy fragile?

Instability?


Instability?


Instability?

Defect


Instability?

Defect

thinsmall

thickbig


Active control

Passive control

fragile

robust

Survive

SlowCostly

FastEfficientCheap

Multiply

thinsmall

thickbig


What the data says

Multiply

Survive

Phage lifecycle

InfectLyse

costly

fragile

cheap

robust

Survive

Multiply

thinsmall

architectures

thickbig

Evolut

ionLaws

Universals • Laws, constraints, tradeoffs– Robust/fragile– Efficient/wasteful– Fast/slow– Flexible/inflexible

• Architecture• Hijacking, parasitism,

predation

control feedback

RNA

mRNA

RNApTranscription

Other Control

Gene

AminoAcids

Proteins

Ribosomes

Other Control

Translation

Metabolism Products


DNANew gene

Horizontal Gene

TransferBacteria

Phage

control feedback

RNA

mRNA

RNApTranscription

Other Control

Gene

AminoAcids

Proteins

Ribosomes

Other Control

Translation

Metabolism Products


DNANew gene

Horizontal Gene

Transfer

Sequence ~100 E Coli (not chosen randomly)• ~ 4K genes per cell• ~20K different genes in total (pangenome)• ~ 1K universally shared genes • ~ 300 essential (minimal) genes

Clinical issue: antibiotic resistance?

control feedback

RNA

mRNA

RNApTranscription

Other Control

Gene

AminoAcids

Proteins

Ribosomes

Other Control

Translation

Metabolism Products


DNANew gene

SensoryMotor

Prefrontal

Striatum

Reflex

LearningSoftware

Hardware

DigitalAnalog

Horizontal Gene

Transfer

Horizontal App

Transfer

Horizontal Meme

Transfer

What can go wrong?

Horizontal Bad Gene Transfer

Horizontal Bad App Transfer

Horizontal Bad Meme

Transfer

Parasites &

Hijacking

Fragility?

Exploiting layered

architecture

Virus

Virus

Meme

easyhard

Law #1 : Mechanics ChemistryLaw #2 : Gravity Autocatalysis

hard harder

Why?vision

Act

delay

Law #3 : Light

Universal laws and architectures:brains, bugs, networks, physiology,

grids, medicine, wildfire, turbulence,literature, fashion, dance, earthquakes,

art, music, Lego, buildings, citiesvision

Act

delay

Control theory+ NeuroscienceBalancing

an inverted pendulum

Mechanics+Gravity +Light +

Crashes can be

made rare with active

control.

easy

hard

Gravity is stabilizing

Gravity is destabilizing

harder

More unstable

Law #1 : MechanicsLaw #2 : Gravity

hard harder hardest!

Easy to prove using simple models.

What is sensed matters.

Why?

Why?!?




Slow

Inflexible

Fragile

Expensive




easy hard

Universal laws

vision

Act

delay

+ Neuroscience

Balancing an inverted pendulum


2 20

1 ln

ln

pT j dp

z ppz p

Some math details, which can be skipped

easy


2cos sin

cos sin 0sin

M m x ml u

x l gy x l

0

M m x ml u

x l gy x l

linearize

Mechanics+Gravity

easyhard


2cos sin

cos sin 0sin

M m x ml u

x l gy x l

0

M m x ml u

x l gy x l

linearize

hard harder


Why?vision

Act

delay

Law #3 : Light 0

y x

M m x ml u

x l gl

eye vision

slow

Act

delay

Control

l

1pl

noiseerror

ET jN

Universal laws and architectures:brains, bugs, networks, physiology,

grids, medicine, wildfire, turbulence,literature, fashion, dance, earthquakes,

art, music, Lego, buildings, citiesvision

Act

delay + Neuroscience



2 20

1 ln

ln

pT j dp

z ppz p

1

2

4

8

.1 1

Length l (meters)

.05 .5.2

1pl

Fragility

p .3s

2 20

1 2ln pT j d pp

Law #4 :

.1s

1

2

4

8

.1 1

Length l (meters)

.05 .5.2

1pl

Fragility

p .3s

2 20

1 2ln pT j d pp

Law #4 :

.1s

Shorter

Fragile

1

2

4

8

.1 1

Length l (meters)

.05 .5.2

1pl

Fragility

p .3s

2 20

1 2ln pT j d pp

Law #4 :

.1s Slow

er




Why?



Unstable poles Unstable zeros

0l l0l l

hardest!

0l l

2 20

l1 n n2l z ppT j dp p

pz

0l l

1

2

4

8

.1 1.05 .5.2Length (meters)

Fragility

ln z pp

p

z

.1s

2 20

l1 n n2l z ppT j dp p

pz

.3s

0 1l l

0l l

Sense(Measure Lengthl0, m)

Length l to CoM, m

0.2 0.4 0.6 0.8 1

0.4

0.6

0.8

1

1.2

1

1.5

2

2.5

3

3.5easy

hardhard

robust(easy)

fragile(hard)

Sense(Measure Lengthl0, m)

Length l to CoM, m

0.2 0.4 0.6 0.8 1

0.4

0.6

0.8

1

1.2

1

1.5

2

2.5

3

3.5

hardhardrobust(easy)

hard!

0l l

easy

vision

Act

delay

2 20

1 ln

ln

pT j dp

z ppz p

Holds for all controllers.

Like Turing, a “law” about intrinsic problem difficulty.




Slow

Inflexible

Fragile

Expensive

1

2

4

8

.1 1.05 .5.2

0l l

0 1l l

Length (meters)

Fragility

lnz pp

p

z

.1s

k

z pz p

10-1 100 101100

101

too fragile

complex

No tradeoff

expensive

fragile

eye vision

Actslow

VOR

fast

Act

delay


Control

costly

fragile

cheap

robust

Survive

Multiply

thinsmall

thickbig

Laws

1

2

4

8

.1 1.05 .5.2

0l l

0 1l l

Length (meters)

Fragility

lnz pp

p

z

.1s

k

z pz p

10-1 100 101100

101

too fragile

complex

No tradeoff

expensive

fragile

costly

fragile

cheap

robust

Survive

Multiply

thinsmall

thickbig

Laws

Slow

Inflexible

Fragile

Expensive

Slow

Flexible

vision

eye vision

Act slowdelay

Fast

Inflexible

VOR

fastSlow

Inflexible

Fragile

Expensive

Slow

Flexible

Fast

Inflexible

Impossible (law)

General Special

1

2

4

8

.1 1.05 .5.2

0l l

0 1l l

Length (meters)

Fragility

ln z pp

p

z

.1s

k

z pz p

10-1 100 101100

101

too fragile

complex

No tradeoff

expensive

fragile

costly

fragile

cheap

robust

Survive

Multiply

thinsmall

thickbig

Laws

Slow

Flexible

vision

eye vision

Act slowdelay

Fast

Inflexible

VOR

fast

Slow

Flexible

Fast

Inflexible

Impossible (law)

Universal laws

What (some) reviewers say• “…to establish universality … is simply wrong. It

cannot be done…• … a mathematical scheme without any real

connections to biological or medical… • …universality is well justified in physics… for

biological and physiological systems …a dream …never be realized, due to the vast diversity in such systems.

• …does not seem to understand or appreciate the vast diversity of biological and physiological systems…

• …a high degree of abstraction, which …make[s] the model useless …

Control, OR

CommsCompute

Physics

Shannon

Bode

Turing

Gödel

EinsteinHeisenberg

Carnot

Boltzmann

Theory?Deep, but fragmented, incoherent, incomplete

Nash

Von Neumann

Control, OR

Compute

Bode

Turing

Delay and risk are most important

• Worst-case (“risk”)• Time complexity (delay)

• Worst-case (“risk”)• Delay severely degrades

robust performance

Computation for control• Off-line design• On-line implementation• Learning and adaptation

Control, OR

CommunicateCompute

Physics

Shannon

Bode

Turing

Einstein

Heisenberg

Carnot

Boltzmann

Delay and risk are

most important

Delay and risk are

least important

Communicate

Physics

Shannon

Einstein

Heisenberg

Carnot

Boltzmann

Dominates “high

impactscience” literature

• Average case (risk neutral)• Random ensembles• Asymptotic (infinite delay)

• “Layering” by averaging

• Space complexity

Control, OR

CommunicateCompute

Physics

Shannon

Bode

Turing

Delay and risk are

most important

Delay and risk are

least important

New progress!

Physics of Fluids (2011)

wU

z x

y

uz x

yFlow

upflowhigh-speed

region

downflowlow speed

streak

Blunted turbulent velocity profile

Laminar

Turbulent

wU3D coupling

Coherent structures and turbulent drag

wasteful

fragile Laminar

Turbulent

efficient

robust

Laminar

Turbulent

wU

?

Control?

Fundamentals!

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

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