1. 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 brains, bugs, nets, grids, docs, planes, fire, fashion, art, turbulence, music, buildings, cities, earthquakes, bodies, running, throwing, Synesthesia, spacecraft, statistical mechanics and zombies

2. 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!

3. 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

4. Neuroscience + People care +Live demos! 1.experiments 2.data 3.theory 4.universals

5. control feedback RNA mRNA RNAp Transcription Other Control Gene Amino Acids Proteins Ribosomes Other Control Translation Metabolism Products Signal transduction ATP DNA New gene SensoryMotor Prefrontal Striatum Reflex Learning Software Hardware Digital Analog Horizontal Gene Transfer Horizontal App Transfer Horizontal Meme Transfer

6. Slow Flexible Fast Inflexible Ideal Fragile Architecture?

7. Slow Flexible Fast Inflexible Ideal Fragile Impossible (law) Architecture Architecture (constraints that deconstrain)

8. Slow Flexible Fast Inflexible Impossible (law) Architecture Architecture (constraints that deconstrain) General Special Universal laws and architectures (Turing) ideal

9. Robust vision with motion Object motion Self motion Vision Motion

11. Fast Slow Flexible Inflexible Vision Explain this amazing system. Layering Feedback

12. Experiment Motion/vision control without blurring Which is easier and faster? Robust vision with Hand motion Head motion

13. Fast Slow VOR vision Why? Mechanism Tradeoff

14. Fast Slow Flexible Inflexible VOR vision Vestibular Ocular Reflex (VOR) Mechanism Tradeoff

15. Slow Flexible vision eye vision Act slow delay Fast Inflexible

16. Slow Flexible vision eye vision Act slow delay Fast Inflexible VOR fast

17. Slow Flexible eye Act Fast Inflexible VOR fast Vestibular Ocular Reflex (VOR)

18. Slow Flexible eye Act Fast Inflexible VOR fast It works in the dark or with your eyes closed, but you can’t tell.

19. Slow Flexible vision eye vision Act slow delay Fast Inflexible VOR fast

20. vision eye vision Act slow delay VOR Slow Flexible Fast Inflexible Illusion Highly evolved (hidden) architecture Layering Feedback

21. eye vision Act VOR Layering Automatic Unconscious Partially Conscious

22. eye vision Act slow delay VOR fast Layering Feedback

23. vision eye vision Act slow delay VOR Slow Flexible Fast Inflexible Illusion fast Architecture

24. Slow Flexible Fast Inflexible Impossible (law) Architecture Architecture (constraints that deconstrain) General Special Universal laws and architectures (Turing) ideal

25. Fast Slow Flexible Inflexible Apps OS HW Apps OS Hardware Digital Lumped Distributed Tech implications/extensions

26. Layered Architecture Any layer needs all lower layers.

27. Layered architectures 101 Apps OS HW Operating System

28. OS Diverse Deconstrained ( Hardware ) Deconstrained ( Applications ) Diverse Horizontal App Transfer Horizontal HW Transfer Layered architectures Apps OS HW

29. OS Layered architectures Minimal diversity and change Apps OS HW

30. Diverse Deconstrained Diverse Horizontal Transfer diversity and change

31. Diverse Deconstrained ( Hardware ) Deconstrained ( Applications ) Diverse Horizontal App Transfer Horizontal HW Transfer Layered architectures Apps OS HW Maximal diversity and change

32. Diverse Deconstrained (Hardware) Deconstrained (Applications) Diverse Layered architectures Constrained But hidden Apps OS HW Core Protocols

33. Fast Slow Flexible Inflexible General Special Apps OS HW

34. Fast Slow Flexible Inflexible General Special Apps OS HW

35. Fast Costly Slow Cheap Flexible Inflexible General Special Layered Architecture Apps OS HW Digital Lumped Distrib. OS HW Digital Lumped Distrib. Digital Lumped Distrib. Lumped Distrib. Any layer needs all lower layers.

36. Digital Lumped Lumped. Act Decide Sense

37. Act Sense Decide Slow Inflexible Fragile Slow Inflexible Fragile Expensive

38. 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

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

40. 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 interchangeable interoperable learnable maintainable manageable mobile modifiable modular nomadic operable orthogonality portable precision predictable producible provable recoverable relevant reliable repeatable reproducible resilient responsive reusable safety scalable seamless self-sustainable serviceable supportable securable simple stable standards survivable tailorable testable timely traceable ubiquitous understandable upgradable usable efficient robust sustainable Sustainable  robust + efficient

41. 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 Simple dichotomous tradeoff pairs PCA  Principal Concept Analysis wasteful fragile efficient robust

42. wasteful fragile efficient robust Laws Architectures Layering Feedback

43. Robust Fragile Universal laws wasteful efficient

44. Slow Flexible Fast Inflexible Robust Fragile Universal laws wasteful efficient

45. Chandra, Buzi, and Doyle UG biochem, math, control theory Most important paper so far.

46. 10 10 0 1 0 1 too fragile complex No tradeoff expensive fragile Law #1 : Chemistry Law #2 : Autocatalysis Law #3:

47. 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.

48. 1m1m Bacteria Phage

49. Survive Phage lifecycle

50. Survive Phage lifecycle Infect

51. Multiply Survive Phage lifecycle Infect

52. Multiply Survive Phage lifecycle Infect Lyse

53. Multiply Survive Phage lifecycle Tradeoff?

54. Costly/ slow fragile Efficient/ fast robust Survive Grow/ Multiply ideal Ideal for phage, bad for bacteria

55. fragile robust Survive Slow Costly Fast Efficient Cheap Multiply thin small thick big Capsid size Genome size What the data says

56. fragile robust Survive Slow Costly Fast Efficient Cheap Multiply thin small thick big Good architecture? Evolution Laws? Impossible? Not viable?

57. thin small thick big Capsid size Genome size Shared architecture

58. thin small thick big Capsid size Genome size Why fragile? Instability?

59. Capsid size Genome size Why fragile? Instability?

60. Capsid size Genome size Why fragile? Instability? Defect

61. Capsid size Genome size Why fragile? Instability? Defect

62. thin small thick big Capsid size Genome size Active control Passive control

63. fragile robust Survive Slow Costly Fast Efficient Cheap Multiply thin small thick big Capsid size Genome size What the data says

64. Multiply Survive Phage lifecycle Infect Lyse costly fragile cheap robust Survive Multiply thin small architectures thick big Evolution Laws Universals Laws, constraints, tradeoffs –Robust/fragile –Efficient/wasteful –Fast/slow –Flexible/inflexible Architecture Hijacking, parasitism, predation

65. control feedback RNA mRNA RNAp Transcription Other Control Gene Amino Acids Proteins Ribosomes Other Control Translation Metabolism Products Signal transduction ATP DNA New gene Horizontal Gene Transfer Bacteria Phage

66. control feedback RNA mRNA RNAp Transcription Other Control Gene Amino Acids Proteins Ribosomes Other Control Translation Metabolism Products Signal transduction ATP DNA New 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?

67. control feedback RNA mRNA RNAp Transcription Other Control Gene Amino Acids Proteins Ribosomes Other Control Translation Metabolism Products Signal transduction ATP DNA New gene SensoryMotor Prefrontal Striatum Reflex Learning Software Hardware Digital Analog Horizontal Gene Transfer Horizontal App Transfer Horizontal Meme Transfer What can go wrong?

68. Horizontal Bad Gene Transfer Horizontal Bad App Transfer Horizontal Bad Meme Transfer Parasites & Hijacking Fragility? Exploiting layered architecture Virus Meme

69. easy hard Law #1 : Mechanics  Chemistry Law #2 : Gravity  Autocatalysis

70. hard harder Why? vision Act delay Law #3 : Light

71. Universal laws and architectures: brains, bugs, networks, physiology, grids, medicine, wildfire, turbulence, literature, fashion, dance, earthquakes, art, music, Lego, buildings, cities vision Act delay Control theory + Neuroscience Balancing an inverted pendulum Mechanics+ Gravity + Light +

72. Crashes can be made rare with active control.

73. easy hard Gravity is stabilizing Gravity is destabilizing harder More unstable Law #1 : Mechanics Law #2 : Gravity

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

75. 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

76. 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 easy hard

77. Universal laws vision Act delay + Neuroscience Balancing an inverted pendulum Mechanics+ Gravity + Light + Some math details, which can be skipped

78. easy Law #1 : Mechanics Law #2 : Gravity linearize Mechanics+Gravity

79. easy hard Law #1 : Mechanics Law #2 : Gravity linearize

80. hard harder Easy to prove using simple models. Why? vision Act delay Law #3 : Light

81. eye vision slow Act delay Control noise error

82. Universal laws and architectures: brains, bugs, networks, physiology, grids, medicine, wildfire, turbulence, literature, fashion, dance, earthquakes, art, music, Lego, buildings, cities vision Act delay + Neuroscience Balancing an inverted pendulum Mechanics+ Gravity + Light +

83. 1 2 4 8.11 Length l (meters).05.5.2 Fragility Law #4 :

84. 1 2 4 8.11 Length l (meters).05.5.2 Fragility Law #4 : Shorter Fragile

85. 1 2 4 8.11 Length l (meters).05.5.2 Fragility Law #4 : Slower

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

87. hard harder hardest! What is sensed matters. Unstable poles Unstable zeros

88. hardest!

89. 1 2 4 8.11.05.5.2 Length (meters) Fragility

90. Sense (Measure Length l 0, m) Length l to CoM, m 0.20.40.60.81 0.4 0.6 0.8 1 1.2 1 1.5 2 2.5 3 3.5 easy hard robust (easy) fragile (hard)

91. Sense (Measure Length l 0, m) Length l to CoM, m 0.20.40.60.81 0.4 0.6 0.8 1 1.2 1 1.5 2 2.5 3 3.5 hard robust (easy) hard! easy

92. vision Act delay Holds for all controllers. Like Turing, a “law” about intrinsic problem difficulty.

93. 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

94. 1 2 4 8.11.05.5.2 Length (meters) Fragility 10 10 0 1 0 1 too fragile complex No tradeoff expensive fragile eye vision Act slow VOR fast Act delay Balancing an inverted pendulum Control costly fragile cheap robust Survive Multiply thin small thick big Laws

95. 1 2 4 8.11.05.5.2 Length (meters) Fragility 10 10 0 1 0 1 too fragile complex No tradeoff expensive fragile costly fragile cheap robust Survive Multiply thin small thick big Laws Slow Inflexible Fragile Expensive

96. Slow Flexible vision eye vision Act slow delay Fast Inflexible VOR fast Slow Inflexible Fragile Expensive Slow Flexible Fast Inflexible Impossible (law) General Special

97. 1 2 4 8.11.05.5.2 Length (meters) Fragility 10 10 0 1 0 1 too fragile complex No tradeoff expensive fragile costly fragile cheap robust Survive Multiply thin small thick big Laws Slow Flexible vision eye vision Act slow delay Fast Inflexible VOR fast Slow Flexible Fast Inflexible Impossible (law) Universal laws

98. 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 …

99. Control, OR Comms Compute Physics Shannon Bode Turing Gödel Einstein Heisenberg Carnot Boltzmann Theory? Deep, but fragmented, incoherent, incomplete Nash Von Neumann

100. 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

101. Control, OR CommunicateCompute Physics Shannon Bode Turing Einstein Heisenberg Carnot Boltzmann Delay and risk are most important Delay and risk are least important

102. Communicate Physics Shannon Einstein Heisenberg Carnot Boltzmann Dominates “high impact science” literature Average case (risk neutral) Random ensembles Asymptotic (infinite delay) “Layering” by averaging Space complexity

103. Control, OR CommunicateCompute Physics Shannon Bode Turing Delay and risk are most important Delay and risk are least important New progress!

104. Physics of Fluids (2011) z x y z x y Flow upflow high-speed region downflow low speed streak Blunted turbulent velocity profile Laminar Turbulent 3D coupling Coherent structures and turbulent drag

105. wasteful fragile Laminar Turbulent efficient robust Laminar Turbulent ? Control? Fundamentals!