Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun...
Transcript of Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun...
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Local
Error/flow control
Relay/MUX
Global
E/F control
Relay/MUX
Physical
Application
E/F control
Relay/MUX
Complex Network Architecture: A cartoon guide
Flow
Reactions
Protein level
Flow
Reactions
RNA level
Flow
Reactions
DNA level
John Doyle
John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering
Caltech
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Outline
• Not merely “complexity, networks, abstraction, recursion, modularity,…”
• But very specific forms of these that are needed for networks
• Emphasize fundamentals • Illustrate with case studies and cartoons:
Internet versus bacterial biosphere Operating systems Global brain architecture Smartgrid and cyberphysical
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Next steps?
• New course this term? (CDS 213?) • Discuss at 1pm • Flesh out details • Integrated control, comms, computing,
thermo/statmech, optimization, games, etc • Motivated by very generic network challenges
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Network Math and Engineering (NetME) Challenges
• Predictive modeling, simulation, and analysis of complex systems in technology and nature
• Theoretical foundation for design of network architectures
• Balance rigor/relevance, integrative/coherent • Model/simulate is critical but limited
– Predicting rare but catastrophic events – Design, not merely analysis – Managing complexity and uncertainty
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Local
Error/flow control
Relay/MUX
Global
E/F control
Relay/MUX
Physical
Application
E/F control
Relay/MUX
Flow
Reactions
Protein level
Flow
Reactions
RNA level
Flow
Reactions
DNA level
Huge range of dynamics • Spatial • Temporal
Bewildering w/out clear
grasp of layered
architecture
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“Architecture”
• Most persistent, ubiquitous, and global features of organization
• Constrains what is possible for good or bad • Platform that enables (or prevents) innovation,
sustainability, etc, • Internet, biology, energy, manufacturing,
transportation, water, food, waste, law, etc • Existing architectures are unsustainable • Theoretical foundation is fragmented,
incoherent, incomplete
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Lots of Influences Not Referenced Properly in These Notes
• Biology/Medicine (Savageau, G&K, Mattick, Csete, Arkin, Alon, Caporale, de Duve, Exerc Physio, Acute Care, etc etc…)
• Internet (Kelly/Low, Willinger, Clark, Wroclawski, Day, Chang, etc etc)
• Architecture (Alexander, Salingeros,…) • Aerospace (many, Maier is a good book) • Philosophy/History (Fox Keller, Jablonka&Lamb) • Physics/ecology (Carlson) • Management (Baldwin,…) • Resilience/Safety/Security Engineering/Economics (Wood,
Anderson, Leveson, …)
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Infrastructure networks?
• Power • Transportation • Water • Waste • Food • Healthcare • Finance
All examples of “bad” architectures: • Unsustainable • Hard to fix
Where do we look for “good” examples?
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Informative case studies in architecture
• Internet and related technology (OS) • Systems biology (particularly, bacterial biosphere) • System medicine and physiology • Ecosystems (e.g. So Cal wildfire ecology) • Aerospace systems • Electronic Design Autom. (Platform Based Design)
• Multiscale physics (turbulence, stat mech) • Misc: buildings/cities, Lego, clothing/fashion, barter/
markets/money/finance, social/political
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Simplest case studies
• Successful architectures • Robust, evolvable • Universal, foundational • Accessible, familiar • Unresolved challenges • New theoretical frameworks • Boringly retro?
Internet Bacteria
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• Universal, foundational
Techno- sphere
Internet Bacteria
Bio- sphere
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• Universal, foundational
Techno- sphere
Internet
Bio- sphere
Bacteria
Spam Viruses
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Two lines of research: 1. Patch the existing Internet architecture
so it handles its new roles
Techno- sphere
Internet
• Real time • Control over (not just of)
networks • Action in the physical world • Human collaborators and
adversaries • Net-centric everything
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Modern theory and the Internet
Verbal/cartoon
Data and statistics
Modeling and simulation
Analysis
Synthesis
Levels of understanding
Traffic
Topology
Control and dynamics
Layering
Architecture
Topics
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Recent progress (1995-)
Traffic Topology C&D Layering Architect.
Cartoon ? Data/stat
Mod/sim
Analysis
Synthesis
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Recent progress
Traffic Topology C&D Layering Architect.
Cartoon
Data/stat
Mod/sim
Analysis
Synthesis
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Physical
IP
TCP
Application Architecture is not graph topology.
Architecture facilitates arbitrary graphs.
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Diverse hardware
Operating systems
Diverse applications
Layers (Net) Computer
Ancient network architecture: “Bell-heads
versus Net-heads”
Pathways (Bell) Communications
Phone systems
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Recent progress (1995-)
Traffic Topology C&D Layering Architect.
Cartoon
Data/stat
Mod/sim
Analysis
Synthesis
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TCP IP
Physical
MAC Switch
MAC MAC Pt to Pt Pt to Pt
telephony
Diverse applications
telephony
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Resources Deconstrained
Applications Deconstrained
Theoretical framework: Constraints that deconstrain
• Layering as optimization decomposition
• Optimal control • Robust control • Game theory • Network coding • Recursive layers?
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Cyber-Physical Theories
• Thermodynamics • Communications • Control • Computation
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Physical
• Thermodynamics • Communications • Control • Computation
Cyber
• Thermodynamics • Communications • Control • Computation
Internet Bacteria
Case studies
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Physical
• Thermodynamics • Communications • Control • Computation
Cyber
• Thermodynamics • Communications • Control • Computation
Promising unifications
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Techno- sphere
Internet
Two lines of research: 1. Patch the existing Internet architecture 2. Fundamentally rethink network architecture
?
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Architecture?
Traffic Topology C&D Layering Architect.
Cartoon ? Data/stat
Mod/sim
Analysis
Synthesis
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1. 2. Fundamentally rethink network architecture
Techno- sphere
Internet Bacteria
Bio- sphere
Case studies
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Biology versus the Internet
Similarities • Evolvable architecture • Robust yet fragile • Constraints/deconstrain • Layering, modularity • Hourglass with bowties • Feedback • Dynamic, stochastic • Distributed/decentralized • Not scale-free, edge-of-chaos, self-
organized criticality, etc
Differences • Metabolism • Materials and energy • Autocatalytic feedback • Feedback complexity • Development and
regeneration • >4B years of evolution • How the parts work?
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Biology versus the Internet
Similarities • Evolvable architecture • Robust yet fragile • Constraints/deconstrain • Layering, modularity • Hourglass with bowties • Feedback • Dynamics • Distributed/decentralized • Not scale-free, edge-of-chaos, self-
organized criticality, etc
Differences • Metabolism • Materials and energy • Autocatalytic feedback • Feedback complexity • Development and
regeneration • >4B years of evolution
Focus on bacterial biosphere
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RNA DNA Protein
From Pathways
Metabolic pathways
“Central dogma” Network architecture?
To Layers?
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Local
Error/flow control
Relay/MUX
Global
E/F control
Relay/MUX
Physical
Application
E/F control
Relay/MUX
Recursive control structure
Flow
Reactions
Protein level
Flow
Reactions
RNA level
Flow
Reactions
DNA level
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In the real (vs virtual) world
What matters: • Action
What doesn’t: • Data • Information • Computation • Learning • Decision • …
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Techno- sphere
Internet
Two lines of research: 1. Patch the existing Internet architecture 2. Fundamentally rethink network architecture
?
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PNA
“return to fundamentals”
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Ring 0
“Rings” are HW defined levels of “protection”
“Ring -1”
“Ring -2”
Ring 1
Ring 2
Etc…
Etc…
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Ring 0
Platform Based Design
Ring -1
Ring -2
• Negative rings don’t mean the same thing • They would correspond to abstraction layers in hardware design • We will temporarily defer HW, but.. • PBD (Platform Based Design) is very compatible • Often a key design issue in PBD is where to put the HW/SW boundary • The PNA view of layering can be viewed as a special case of PBD
Etc…
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Ring 0
Design heuristics (KISS or E2E)
Ring -1
Ring -2
Ring 1
Ring 2
• Keep what goes in lower rings as simple as possible (but not simpler) and • Reuse verified lower ring components… • This helps robustness (more flexible, verifiable, secure, evolvable, etc…) • There is a price to pay in efficiency • Good design balances the tradeoff
• These are nearly universal heuristics • It would be nice to make these heuristics more rigorous
Etc…
Etc…
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Ring 0
My first mistake…
Ring 1
Ring 2
• I’m not going to do a very good job of drawing the HW • Actually I won’t do a good job of drawing anything but I think the hardware will be really bad. • No rings of hardware.
I’m only going to draw 3 rings of software and I’m not going to put things in the right rings, but I’m going to try to get in the ballpark…
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Lib Lib
Router
App
DIF
Lib
App IPC
DIF
DIF DIF
Lib Lib DIF
Leading to a picture like this
Want to explore the fundamentals of layering
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kernel
Hardward
App1 App2
local
lib
IPC= InterProcess Communication
A function call can be
• Local • Library (system) • IPC
user IPC
Within a single processor
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kernel
HW
Xfer Ctrl Mgmt
The kernel functions are • Data transfer (fastest) • Control (middle) • Management (slowest) App1
lib
user
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The kernel functions are • Data transfer (fastest time scale)
– Within memory (and memory hierarchies) – Between devices and memory – Between memory and computing elements
• Control (middle time scales) – Scheduling/Multiplexing resources – In time and space
• Management (slowest time scale) – What resources are available? – Where are they?
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kernel
HW
App1
lib Xfer Ctrl Mgmt
Layers have sublayers
… but it’s not clear how to draw them.
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kernel
HW
lib
system
App1
lib
“user”
The process is naturally recursive
(“hypervisor”)
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kernel
HW
system
App1
“user”
The process is naturally recursive
Xfer Ctrl Mgmt
Xfer Ctrl Mgmt
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Layers are naturally recursive
Xfer Ctrl Mgmt
Xfer Ctrl Mgmt
Layers have sublayers
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App1 App2 IPC
InterProcess Communications
• Local call • Library
(system) call • IPC
local
system
Want them all to behave similarly.
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IPC facility kernel
HW
App1 App2
IPC
? ?
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IPC facility kernel
HW
App1 App2
IPC
Xfe
r
Ctrl
Mgmt
Xfe
r
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IPC facility kernel
Xfe
r
Ctrl
Mgmt
Xfe
r
Layers have sublayers
… but it’s not clear how to draw them.
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kernel
HW
Lib1 Lib2 IPC
? ?
Mgmt, Control, DataX
system
App1 App2 IPC
“user”
IPC is naturally recursive
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IPC facility
HW
App1 App2 IPC
Xfe
r Mgmt/Ctrl
Xfe
r
IPC facility Xfe
r Mgmt/Ctrl
Xfe
r
kernel
system
“user” IP
C is
na
tura
lly
recu
rsiv
e
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kernel
HW
Driver2
lib
Driver2
system
App1 App3
lib
“user”
Driver1
Driver1
Design choices effect
performance/ robustness
![Page 54: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/54.jpg)
kernel
HW
Lib1 Lib2
Driver3
lib
IPC
? ?
Mgmt, Control, DataX Driver3
Driver2
system
App1 App2
App3 IPC
lib
“user”
layers are naturally recursive
![Page 55: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/55.jpg)
Mgmt, Ctrl, DataX, IPC
driv
er1
buses
Main processor I/O
processor
App1 App2
IPC
What happens in a computer system?
Mgmt Control DataX
Mgmt Control DataX
DIPC facility
Distributed IPC.
![Page 56: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/56.jpg)
I/O processor
Mgmt/Cntrl DataX
Mgmt Control DataX
DIPC facility
• Data transfer (fastest time scale) • Between “processors”
• Control (middle time scales) • Scheduling/Multiplexing in time
• Management (slowest time scale) • What? Where?
Mgmt and Ctrl become more
complex
![Page 57: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/57.jpg)
Any layer’s functions are • Data transfer (fastest time scale)
– Within memory (and memory hierarchies) – Between devices and memory – Between memory and computing elements – Between virtualized resources (in higher layers)
• Control (middle time scales) – Scheduling/Multiplexing resources – In time and space – Real and virtualized
• Management (slowest time scale) – What resources are available? – Where are they?
![Page 58: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/58.jpg)
App Might be all in the
same “box”.
I/O processor
Mgmt Control DataX
Main processor
![Page 59: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/59.jpg)
IPC facility
HW
App1 App2 IPC
Xfe
r Mgmt/Ctrl
Xfe
r
IPC facility Xfe
r Mgmt/Ctrl
Xfe
r
kernel
system
“user”
Black box, virtualization
![Page 60: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/60.jpg)
IPC facility
HW
App1 App2 IPC
IPC facility
kernel
system
“user”
Black box, virtualization
![Page 61: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/61.jpg)
All these signals are
“virtual”
The only “real” signals are not shown
![Page 62: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/62.jpg)
kernel
HW
Lib1 Lib2
Driver3
lib
IPC
? ?
Mgmt, Control, DataX Driver3
Driver2
system
App1 App2
App3 IPC
lib
“user”
Essential tradeoffs appear
even here
Higher layer
Design choice
Lower layer
![Page 63: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/63.jpg)
Slow, Wasteful
Fast, Efficient
Log(
was
te)
Higher layer
Lower layer
![Page 64: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/64.jpg)
Slow, Wasteful
Fast, Efficient
Expand dimensions
Slow Fast
Wasteful
Efficient
log
log
![Page 65: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/65.jpg)
Slow Fast
Wasteful
Efficient
log
log
Design tradeoffs
![Page 66: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/66.jpg)
Slow Fast
Wasteful
Efficient
log
log
SW
HW
DNA
RNA
protein
Tradeoffs are universal, but the details are not.
![Page 67: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/67.jpg)
Slow Fast
Wasteful
Efficient
log
log
DNA
Neurons
CMOS
Computational hardware substrates
![Page 68: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/68.jpg)
HARD HARD HARD E S Y for computers
for us
Slow Fast
Wasteful
Efficient
log
log
DNA
Neurons
CMOS
Brains
Some tasks:
![Page 69: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/69.jpg)
Slow Fast
Wasteful
Efficient
log
log
DNA
Neurons
CMOS
Brains
What makes this possible?
Network architecture
Cells
![Page 70: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/70.jpg)
Slow Fast
Wasteful
Efficient
log
log
DNA
RNA
Protein Network architecture
Cells
![Page 71: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/71.jpg)
Slow Fast
Wasteful
Efficient
log
log
gap
![Page 72: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/72.jpg)
Slow Fast
Wasteful
Efficient
log
log
![Page 73: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/73.jpg)
Slow Fast
Wasteful
Efficient
log
log
bad
![Page 74: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/74.jpg)
Existing hard limits have restrictive assumptions and few dimensions
• Thermodynamics (Carnot) • Communications (Shannon) • Control (Bode) • Computation (Turing)
New, promising unifications but need much more
![Page 75: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/75.jpg)
Slow Fast
Wasteful
Efficient
log
log
bad
![Page 76: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/76.jpg)
Slow, Wasteful
Collapse dimensions
Fast, Efficient
![Page 77: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/77.jpg)
Fast, Efficient Fundamental
Log(
dela
y)
Collapse dimensions
Tech
nolo
gy
trad
eoffs
Slow, Wasteful
![Page 78: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/78.jpg)
Slow, Wasteful
Fast, Efficient
Log(
was
te)
Waste • time • energy • materials • …
![Page 79: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/79.jpg)
Log(
was
te)
Log(fragility)
Higher layer
Lower layer
![Page 80: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/80.jpg)
[a system] can be robust for a given [property] and a set of [perturbations]
Yet be fragile for a different [property] or [perturbation]
Log(fragility) Log(robustness)
![Page 81: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/81.jpg)
Robust Yet Fragile
Question: Human complexity
Efficient, flexible metabolism Regeneration & renewal Rich microbial symbionts and Immune systems Complex societies Advanced technologies
Obesity and diabetes Cancer Parasites, infection Inflammation, Auto-Im. Epidemics, war, … Catastrophic failures
![Page 82: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/82.jpg)
Robust Yet Fragile
Mechanism?
Efficient, flexible metabolism Regeneration & renewal
Fat accumulation Insulin resistance Inflammation
Obesity and diabetes Cancer
Fat accumulation Insulin resistance Inflammation
Fluctuating energy
Static energy
![Page 83: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/83.jpg)
Robust Yet Fragile Implications/
Generalizations Efficient, flexible metabolism Rich microbial symbionts and Immune systems Regeneration & renewal Complex societies Advanced technologies
Obesity and diabetes Parasites, infection Inflammation, Auto-Im. Cancer Epidemics, war, … Catastrophic failures
• Fragility = Hijacking, side effects, unintended… of mechanisms evolved for robustness • Complexity is driven by control, robust/fragile tradeoffs • Math: New robust/fragile conservation laws
• Resilience/safety/security Engineering/Economics: “Human error” and “human nature” is often a symptom of bad system architecture
![Page 84: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/84.jpg)
Log(fragility)
Robust • Secure • Scalable • Verifiable • Evolvable • Maintainable • Designable • …
Fragile • Insecure • Not scalable • Unverifiable • Frozen • …
Other dimensions
![Page 85: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/85.jpg)
Log(fragility)
Robust • Secure • Scalable • Verifiable • Evolvable • Maintainable • Designable • …
Fragile • Not … • Unverifiable • Frozen • …
Collapse other dimensions
![Page 86: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/86.jpg)
Log(fragility)
![Page 87: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/87.jpg)
Log(
was
te)
Log(fragility)
HW only (fragile, fast)
SW/HW mix (robust, slow)
bad
![Page 88: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/88.jpg)
Log(fragility)
Robust • Scalable • Verifiable • Evolvable • Maintainable • Designable • …
Fragile • Not scalable • Unverifiable • Frozen • …
Higher layer
Lower layer
![Page 89: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/89.jpg)
Log(
was
te)
Log(fragility)
Higher layer
Lower layer
Mix
![Page 90: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/90.jpg)
Log(
was
te)
Log(fragility)
Higher layer
Lower layer
Good Mix
bad
![Page 91: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/91.jpg)
Log(
was
te)
Log(fragility)
Higher layer
Lower layer
???
Example?
![Page 92: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/92.jpg)
kernel
HW
lib
App1 user
Don’t cross layers
Direct access to
physical memory
Robust • Secure • Scalable • Verifiable • Evolvable • Maintainable • Designable • …
???
![Page 93: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/93.jpg)
kernel
HW
lib
App1 user
Direct access to
physical memory
Robust • Secure • Scalable • Verifiable • Evolvable • Maintainable • Designable • …
??? Separate logical names and physical addresses
![Page 94: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/94.jpg)
Separate logical names and physical addresses
Naming and addressing are important topics in OS
Needs to be an even richer topic in networking
So, finally, let’s look at a minimal network
![Page 95: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/95.jpg)
App Might be all in the
same “box”.
I/O processor
Mgmt Control DataX
Main processor
![Page 96: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/96.jpg)
Network cable
App App
IPC
D-IPC-F
A network with another “box”…
I/O processor
Mgmt Control DataX
Main processor
![Page 97: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/97.jpg)
Network cable
App App IPC
A minimal network without a NIC.
DIF= D-IPC-F =Distributed
IPC Facility
![Page 98: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/98.jpg)
Xfer
Network cable
Xfer
App App IPC
D-IPC-F Ctrl
Mgmt
Ctrl
Mgmt
Mgmt and Cntrl become even more complex
And layers have sublayers
… but it’s not clear how to draw them.
![Page 99: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/99.jpg)
What is a NIC?
Mgmt, Ctrl, DataX, IPC
driver1
buses
Main processor Network Interface
Card (NIC)
App1
Mgmt Control DataX
Mgmt Control DataX
DIPC facility
Network cable
![Page 100: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/100.jpg)
NIC
Lib
Network cable
Lib DIF
App App IPC
DIF
A minimal network with a NIC
![Page 101: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/101.jpg)
Lib Lib DIF
App App IPC
DIF
More layers
Different scopes
DIF
DIF= Distributed IPC Facility
![Page 102: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/102.jpg)
Lib Lib
Router
App
DIF
Lib
App IPC
DIF
DIF DIF
Host Host
![Page 103: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/103.jpg)
Lib Lib
Router
App
DIF
Lib
App IPC
DIF
DIF DIF
Lib Lib DIF
![Page 104: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/104.jpg)
Lib Lib
DIF
Lib
DIF
DIF DIF
Lib Lib DIF
How many layers?
![Page 105: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/105.jpg)
App App IPC
How many layers?
As many as you need to map distribute applications
Onto distributed resources
![Page 106: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/106.jpg)
Lib Lib
Router
App
DIF
Lib
App IPC
DIF
DIF DIF
Lib Lib DIF
Mgmt and Cntrl become increasingly
complex Tradeoffs become
increasingly complex
It gets harder to draw the
right pictures
![Page 107: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/107.jpg)
Lib Lib
Router
App
DIF
Lib
App IPC
DIF
DIF DIF
Lib Lib DIF
Mgmt and Cntrl become increasingly
complex
Tradeoffs become
increasingly complex
It gets harder to draw the
right pictures
And matches our “layering as
optimal control” much better.
This PNA framework clarifies
flaws in existing architecture.
![Page 108: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/108.jpg)
Log(
was
te)
Log(fragility)
Higher layer
Lower layer
???
This PNA framework clarifies
flaws in existing architecture.
![Page 109: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/109.jpg)
IP and MAC address
both name interfaces
App App IPC
Global and direct access to
physical address!
Robust? • Secure • Scalable • Verifiable • Evolvable • Maintainable • Designable • …
![Page 110: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/110.jpg)
Nodes have no addresses
![Page 111: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/111.jpg)
Lib Lib
Router
App
DIF
Lib
App IPC
DIF
DIF DIF
Lib Lib DIF
Naming and addressing • need to match their layer • translate/resolve between layers • not be exposed outside layer
![Page 112: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/112.jpg)
Physical
IP
TCP
Application
Naming and addressing • need to match their layer • translate/resolve between layers • not be exposed outside layer
Architecture issues • DNS • NATS • Firewalls • Multihoming • Mobility • Routing table size • Overlays • …
![Page 113: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/113.jpg)
Architecture issues • DNS • NATS • Firewalls • Multihoming • Mobility • Routing table size • … Lo
g(w
aste
)
Log(fragility)
???
![Page 114: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/114.jpg)
Next steps?
• New course this term? (CDS 213?) • Discuss at 1pm • Flesh out details • Integrated control, comms, computing,
thermo/statmech, optimization, games, etc • Motivated by very generic network challenges
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IPC Transfer
IPC Control IPC Management
Delimiting Transfer
Relaying/ Muxing PDU Protection Common Application
Protocol
Applications, e.g., routing, resource allocation, access control, etc.
Start with this picture from PNA
Next steps?
![Page 116: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/116.jpg)
And categorize these • Delimiting • Initial State Synch • Policy Selection • Addressing • Flow/Connection
Identifier • Relaying • Multiplexing • Ordering • Frag./Reassembly • Combining/Separation • Data Corruption
• Lost /Duplicate Detection
• Flow Control • Forward Error Cor. • Ack/Retran Control • Compression • Authentication • Access Control • Integrity • Confidentiality • Nonrepudiation • Activity
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IPC Xfer Transfer
SDU Protection
Delimiting
Addressing Ordering Frag./Reassembly Combining/Separation Lost /Duplicate Detection
Data Corruption Integrity Confidentiality Compression
Relaying Multiplexing
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IPC Mgmt
Common Application Protocol
Applications, e.g., routing, resource allocation, access control, etc.
Routing Policy Selection Flow/Connection Identifier Access Control
![Page 119: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/119.jpg)
IPC Cntrl
Flow Control Ack/Retran Control
![Page 120: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/120.jpg)
IPC Cntrl
Flow Control Ack/Retran Control
Data Corruption TTL Forward Error Cor.
IPC Xfer
SDU Protection
Delimiting
Addressing Ordering Frag./Reassembly Combining/Separation Lost /Duplicate Detection
Data Corruption? Integrity Confidentiality Compression
Relaying Multiplexing
IPC Mgmt
Policy Selection Flow/Connection Identifier Access Control
summary
![Page 121: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/121.jpg)
In the real (vs virtual) world
What matters: • Action
What doesn’t: • Data • Information • Computation • Learning • Decision • …
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Embedded
Physical plant Embedded
![Page 123: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/123.jpg)
Embedded virtual
actuator/ sensor
Network cable
Controller
Lib
App
DIF
Networked embedded
Lib
Physical plant
![Page 124: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/124.jpg)
Embedded virtual
actuator/ sensor
Network cable
Controller
DIF
Physical plant
Meta-layering of cyber-phys control
![Page 125: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/125.jpg)
Xfer Xfer D-IPC-F
Ctrl
Mgmt
Ctrl
Mgmt
Micro-layering of D-IPC-F
Network cable
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Biology versus the Internet
Similarities • Evolvable architecture • Robust yet fragile • Constraints/deconstrain • Layering, modularity • Hourglass with bowties • Feedback • Dynamics • Distributed/decentralized • Not scale-free, edge-of-chaos, self-
organized criticality, etc
Differences • Metabolism • Materials and energy • Autocatalytic feedback • Feedback complexity • Development and
regeneration • >4B years of evolution
Focus on bacterial biosphere
![Page 127: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/127.jpg)
Control of the Internet
source receiver
Packets
control packets
![Page 128: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/128.jpg)
source receiver
signaling gene expression
metabolism lineage
Biological pathways
![Page 129: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/129.jpg)
source receiver
control
energy
materials
signaling gene expression
metabolism lineage
More complex
feedback
![Page 130: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/130.jpg)
source receiver
control
energy materials
Autocatalytic feedback
![Page 131: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/131.jpg)
source receiver
control
energy
materials
signaling gene expression
metabolism lineage
More complex
feedback
What theory is relevant to these more complex feedback systems?
![Page 132: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/132.jpg)
source receiver
control
energy materials
More complex
feedback
What theory is relevant to these more complex feedback systems?
signaling gene expression
metabolism lineage
![Page 133: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/133.jpg)
Catabolism
Prec
urso
rs
Carriers
Fatty acids
Nucleotides Amino Acids
Inside every cell
Core metabolic bowtie
Skipping the “OS” story, right to networks
![Page 134: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/134.jpg)
Catabolism
Prec
urso
rs
Carriers
Fatty acids
Nucleotides Amino Acids
Core metabolism
Inside every cell (≈1030)
![Page 135: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/135.jpg)
Catabolism
Prec
urso
rs
Carriers
![Page 136: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/136.jpg)
Catabolism
TCA Pyr
Oxa
Cit
ACA
Gly G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
ATP
NADH
![Page 137: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/137.jpg)
TCA Pyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
![Page 138: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/138.jpg)
TCA Pyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
Prec
urso
rs
metabolites
![Page 139: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/139.jpg)
Enzymatically catalyzed reactions
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
Oxa
Cit
ACA
![Page 140: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/140.jpg)
TCA Pyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
ATP
Autocatalytic
NADH
Prec
urso
rs
Carriers
![Page 141: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/141.jpg)
TCA Pyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
ATP
Autocatalytic
NADH
produced
consumed Rest of cell
![Page 142: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/142.jpg)
Carriers
TCA Pyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
ATP
NADH
Reactions
Proteins
Control?
![Page 143: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/143.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Control
![Page 144: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/144.jpg)
TCA Pyr
Oxa
Cit
ACA
Gly
G1P
G6P
F6P
F1-6BP
PEP
Gly3p
13BPG
3PG
2PG
![Page 145: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/145.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
If we drew the feedback loops the diagram would be unreadable.
![Page 146: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/146.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Stoichiometry matrix
S
![Page 147: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/147.jpg)
Regulation of enzyme levels by transcription/translation/degradation
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
Oxa
Cit
ACA
Mgmt
![Page 148: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/148.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Allosteric regulation of enzymes
Error/flow Ctrl
![Page 149: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/149.jpg)
TCA
Gly
G1P
G6P
F6P
F1-6BP
PEP Pyr
Gly3p
13BPG
3PG
2PG
ATP
NADH
Oxa
Cit
ACA
Mgmt
Err/flow ctrl
Reaction
![Page 150: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/150.jpg)
Mature red blood cells live 120 days
Running only the top layers
products S reactions P
Enz1 reaction3 Enzyme form/activity
Reaction rate
Enz2
“metabolism first” origins of life?
![Page 151: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/151.jpg)
Flow/error Reactions
Protein level
Flow/error Reactions
RNA level
Flow/error Reactions
DNA level
![Page 152: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/152.jpg)
Flow/error Reactions
Protein level
Flow/error Reactions
RNA level
Flow/error Reactions
DNA level
Protein
RNA
DNA
Translation
Transcription
![Page 153: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/153.jpg)
Flow/error Reactions
Protein level
Flow/error Translation
RNA level
Flow/error Transcription
DNA level
![Page 154: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/154.jpg)
Diverse Reactions
DNA DNA DNA Diverse Genomes
Flow/error
Protein level
Flow/error Reactions
RNA level
Flow/error Reactions
Translation
Transcription
Conserved core
control
![Page 155: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/155.jpg)
Flow/error
Reactions
Protein level
Flow/error
Reactions
RNA level
Flow/error
Reactions
DNA level
Top to bottom • Metabolically costly but
fast to cheap but slow • Special enzymes to
general polymerases • Allostery to regulated
recruitment • Analog to digital • High molecule count to
low (noise)
Rich Tradeoffs
![Page 156: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/156.jpg)
Slow Fast
Wasteful
Efficient
log
log
DNA
RNA
Protein Network architecture
Cells
![Page 157: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/157.jpg)
Slow Fast
Wasteful
Efficient
log
log
DNA
RNA
Protein
Cells
???
![Page 158: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/158.jpg)
Flow
Reactions
Protein level
Flow
Reactions
RNA level
Flow
Reactions
DNA level
Fragility example: Viruses
Viruses exploit the universal bowtie/hourglass structure to hijack the cell machinery.
Viral genes
Viral proteins
![Page 159: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/159.jpg)
Layered Brain (Hawkins)?
Diverse Physiological Resources
Global, universal control
![Page 160: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/160.jpg)
Slow Fast
Wasteful
Efficient
log
log
DNA
Neurons
CMOS
Brains
What makes this possible?
Network architecture
Cells
![Page 161: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/161.jpg)
Embedded virtual
actuator/ sensor
Network cable
Controller
Lib
App
DIF
Networked embedded
Lib
Physical plant
![Page 162: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/162.jpg)
Embedded virtual
actuator/ sensor
Network cable
Controller
DIF
Physical plant
Meta-layering of cyber-phys control
![Page 163: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/163.jpg)
Physiology
Organs
Cells
Meta-layers
![Page 164: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/164.jpg)
Physiology
Organs
Meta-layers
Prediction Goals
Actions
errors
Actions Cor
tex
![Page 165: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/165.jpg)
Physiology
Organs
Meta-layers
Prediction Goals
Actions
errors
Actions From Information to “Outformation” to “Actformation”?
![Page 166: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/166.jpg)
“Architecture” in practice • Internet, biology, energy, manufacturing,
transportation, water, food, waste, law, etc • Many architectures are unsustainable/hard to fix What does “architecture” mean here? • Persistent, ubiquitous, global features • Constrains the possible (for good or bad) • Enables/prevents innovation, sustainability, etc, • Theory is fragmented, incoherent, incomplete • Needs rigor and relevance • “Constraints that deconstrain” and “facilitated
variation” (Gerhart and Kirschner)
![Page 167: Flow Architecture: A cartoon guidedoyle/wiki/images/0/02/1ArchNotes.pdfJohn Doyle John G Braun Professor Control and Dynamical Systems BioEngineering, Electrical Engineering Caltech](https://reader036.fdocuments.in/reader036/viewer/2022071606/6143df456cc38f259c25d021/html5/thumbnails/167.jpg)
Next steps?
• New course this term? (CDS 213?) • Discuss at 1pm • Flesh out details • Integrated control, comms, computing,
thermo/statmech, optimization, games, etc • Motivated by very generic network challenges