J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley...
Transcript of J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley...
![Page 1: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/1.jpg)
J. Barkley Rosser Memorial Lecture
Universal laws and architectures
J. Comstock Doyle
John G Braun Professor
Control and Dynamical Systems, EE, BE
Caltech
![Page 2: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/2.jpg)
“Universal laws and architectures?”
• Universal “conservation laws” (constraints)
• Universal architectures (constraints that deconstrain)
• Mention recent papers*
• Focus on broader context not in papers
• Lots of case studies (motivate & illustrate)
• You can have all of the slides
*try to get you to read them?
A rant
![Page 3: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/3.jpg)
Supplementary talk
Tomorrow, 12:30pm
Engineering Hall Rm 2305
Details and more rants
3
![Page 4: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/4.jpg)
This paper aims to bridge progress in neuroscience involving
sophisticated quantitative analysis of behavior, including the use
of robust control, with other relevant conceptual and theoretical
frameworks from systems engineering, systems biology, and
mathematics.
Doyle, Csete, Proc Nat Acad Sci USA, JULY 25 2011
Most accessible No math
![Page 5: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/5.jpg)
Sensory Motor
Prefrontal
Striatum
Reflex
Catab
olism
AA
RN
A
transl. Proteins
xRNA transc. P
recurso
rs
DNA Repl. Gene
ATP
ATP
Ribosome
RNAp
DNAp
Software
Hardware
Digital
Analog
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
![Page 6: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/6.jpg)
Math genealogy
Alonzo Church
(1903–1995)
Alan Turing
(1912 – 1954)
J Barkley Rosser Sr.
(1907 – 1989)
![Page 7: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/7.jpg)
Oswald Veblen
Alonzo Church
(1903–1995)
Alan Turing
(1912 – 1954)
J Barkley Rosser Sr.
(1907 – 1989)
E. H. (Eliakim Hastings) Moore (1862 –1932)
E. H. Moore has 31
students and 16642
descendants
George Birkhoff
Joseph Walsh
Joseph Doob
Paul Halmos
Donald Sarason
J Comstock Doyle
(1954-)
![Page 8: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/8.jpg)
Happy families are all alike; every unhappy
family is unhappy in its own way.
Leo Tolstoy, Anna Karenina,
Chapter 1, first line
• What does this mean?
• Given diversity of people and environments?
• About organization and architecture.
• Happy empathy + cooperation + simple rules?
• Constraints on components and architecture
![Page 9: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/9.jpg)
UTM
data
TM
“Laws” =
hard limits,
tradeoffs
Architecture
=Constraints
(that deconstrain)
Components
System
Protocols
Four types of constraints
![Page 10: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/10.jpg)
• Cell biology
• Networking
• Neuroscience
• Medical physiology
• Smartgrid, cyber-phys
• Wildfire ecology
• Earthquakes
• Lots of aerospace
• Physics:
– turbulence,
– stat mech (QM?)
• “Toy”:
– Lego,
– clothing,
• Buildings, cities • Synesthesia
today’s
and other
case
studies
![Page 11: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/11.jpg)
Case studies (focus)
• Bacterial biosphere
• Internet, PC, smartphone, etc
• Human brain and mind
• Human physiology
• Amazing evolvability (sustainability?)
• Illustrate architecture in (hopefully) accessible way
• Cyber-physical architecture is the technology challenge
![Page 12: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/12.jpg)
Case studies (purpose)
• Illustrate/motivate theory and universals
– Laws (constraints, hard limits, tradeoffs)
– Architectures (design, forward and reverse
engineering, organization)
• Impact for domain experts
– Frameworks to organize existing, isolated facts
– Suggests new experiments
![Page 13: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/13.jpg)
Architecture case studies comparison
Bacteria+ Internet+ Brain
Understood?
By scientists?
Live demos?!?
Who cares? *
Design quality?
Math?
+See also “Bacterial Internet” (LC)
*Except for a few bacteriophiles (LC, SR, JD, ?)
![Page 14: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/14.jpg)
“vertical” +“horizontal” evolution in Bacteria/Internet/Brain
in Genes/Apps/Memes
• Vertical (lineages)
– accumulation of small increments
– de novo invention
– Accelerated RosenCaporalian evolution
• Horizontal
– Swap existing gene/app/meme
– Source of most individual change?
• Both essential to large scale (r)evolution
![Page 15: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/15.jpg)
• Evolution is not only (or even primarily) due to
slow accumulation of random mutations
• Effective architectures facilitate all aspects of
“evolvability”
• Lamarckian and Darwinian
“vertical” +“horizontal” evolution in Bacteria/Internet/Brain
in Genes/Apps/Memes
![Page 16: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/16.jpg)
“Evolvability”
• Robustness of lineages to large changes
on long timescales
• Essentially an architectural question
– What makes an architecture evolvable?
– What does “architecture” mean here?
• What are the limits on evolvability?
• How does architecture, evolvability,
robustness, and complexity relate?
• Key: tradeoffs, robustness, layering
![Page 17: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/17.jpg)
“Nothing in biology makes sense except
in the light of evolution.”
T Dobzhansky
“Nothing in evolution makes sense
except in the light of biology.”
Tony Dean (U Minn) paraphrasing T Dobzhansky
![Page 18: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/18.jpg)
When concepts fail, words arise Faust, Goethe
Mephistopheles. …Enter the templed hall of Certainty.
Student. Yet in each word some concept there must be.
Mephistopheles. Quite true! But don't torment yourself too
anxiously;
For at the point where concepts fail,
At the right time a word is thrust in there…
![Page 19: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/19.jpg)
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 failure transparent 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
![Page 20: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/20.jpg)
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 failure transparent 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
![Page 21: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/21.jpg)
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 failure transparent 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 simple stable standards
compliant survivable sustainable tailorable testable timely traceable ubiquitous understandable upgradable usable
Simplified, minimal requirements
![Page 22: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/22.jpg)
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
evolvable extensible failure transparent 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
stable standards
compliant survivable
tailorable testable timely traceable ubiquitous understandable upgradable usable
Lumping requirements into simple groups
efficient
robust
simple
sustainable
![Page 23: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/23.jpg)
Requirements on systems and architectures
efficient
robust
sustainable
simple
![Page 24: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/24.jpg)
Requirements on systems and architectures
efficient
robust
sustainable
simple
![Page 25: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/25.jpg)
Requirements on systems and architectures
efficient
robust
simple
sustainable fragile
wasteful
complex
evolvable
![Page 26: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/26.jpg)
Requirements on systems and architectures
efficient
robust simple
sustainable
fragile
wasteful
complex
![Page 27: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/27.jpg)
Requirements on systems and architectures
efficient
robust
sustainable
fragile
wasteful
Best
![Page 28: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/28.jpg)
wasteful
fragile
robust
efficient
At best we
get one
Current
Technology?
![Page 29: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/29.jpg)
wasteful
fragile
robust
efficient
Often
neither
???
![Page 30: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/30.jpg)
Future evolution of the “smart” grid?
efficient
robust
fragile
wasteful
Now
Future?
![Page 31: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/31.jpg)
Bad
theory?
???
?
?
Bad
architectures?
wasteful
fragile
gap?
robust
efficient
![Page 32: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/32.jpg)
Case studies
wasteful
fragile
Sharpen hard bounds
laws and
architectures?
efficient
robust
![Page 33: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/33.jpg)
Case studies
wasteful
fragile
Sharpen
hard bounds
bad
Find and
fix bugs
Even with a
murky
picture
![Page 34: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/34.jpg)
Control, OR
Comms Compute
Physics
Shannon
Bode
Turing
Godel
Einstein
Heisenberg
Carnot
Boltzmann
Theory? Deep, but fragmented, incoherent, incomplete Nash
Von Neumann
Kalman
Pontryagin
![Page 35: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/35.jpg)
Control
Comms Compute
Physics
Shannon
Bode
Turing
Godel
Einstein
Heisenberg
Carnot
Boltzmann
inflexible?
fragile?
slow?
?
• Each theory one dimension
• Tradeoffs across dimensions
• Assume architectures a priori
• Progress is encouraging, but…
• Stovepipes are an obstacle…
![Page 36: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/36.jpg)
Control, OR
Communicate Compute
Physics
Shannon
Bode
Turing
Einstein
Heisenberg
Carnot
Boltzmann
Delay is most
important
Delay is least
important
![Page 37: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/37.jpg)
Physics Einstein
Heisenberg
Carnot
Boltzmann
Delay is most
important
Delay is least
important
Control, OR
Communicate Compute
Shannon
Bode
Turing
New progress!
Lowering the barrier
![Page 38: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/38.jpg)
Control, OR
Compute
Bode
Turing
Delay is most
important
![Page 39: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/39.jpg)
Control, OR
Compute
Bode
Turing
Delay is most
important
![Page 40: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/40.jpg)
Control, OR
Compute
Bode
Turing
Delay is most
important Differences?
large t
small t
(hopefully)
![Page 41: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/41.jpg)
Compute
Turing (1912-1954)
• Turing 100th birthday in 2012
• Turing
− machine (math, CS)
− test (AI, neuroscience)
− pattern (biology)
• Arguably greatest*
− all time math/engineering combination
− WW2 hero
− “invented” software
*Also world-class runner.
![Page 42: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/42.jpg)
Key papers/results
• Theory (1936): Turing machine (TM), computability, (un)decidability, universal machine (UTM)
• Practical design (early 1940s): code-breaking, including the design of code-breaking machines
• Practical design (late 1940s): general purpose digital computers and software, layered architecture
• Theory (1950): Turing test for machine intelligence
• Theory (1952): Reaction diffusion model of morphogenesis, plus practical use of digital computers to simulate biochemical reactions
![Page 43: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/43.jpg)
Components of robustness
efficient
robust
fragile
wasteful
![Page 44: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/44.jpg)
Components of robustness
robust
fragile
robust
fragile
![Page 45: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/45.jpg)
Speed and flexibility
robust
fragile
Fast
Slow
Flexible Inflexible
Solve problems
Make decisions
Take actions
![Page 46: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/46.jpg)
Fast
Slow
Flexible Inflexible
Laws and architectures
Architecture
(constraints that
deconstrain)
![Page 47: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/47.jpg)
Bacteria Internet Brain
Understood?
By scientists?
Live demos?!?
Who cares? *
Design quality?
Math?
big picture from high
level with a bit of Internet
![Page 48: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/48.jpg)
Familiar layered
architecture:
PC, smartphone,
router, etc Apps
OS
Hardware
Digital
Lumped
Distributed
![Page 49: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/49.jpg)
OS
Deconstrained
(Hardware)
Deconstrained
(Applications)
Constrained
Any
application
can
Run on any
hardware
Constrained
Provided they
are compatible
with the OS
“hourglass”
![Page 50: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/50.jpg)
OS
Deconstrained
(Applications)
Constrained
“hourglass”
Many
applications
can
Run on this
hardware
![Page 51: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/51.jpg)
OS
Deconstrained
(Hardware)
Deconstrained
(Applications)
Constrained
Any
application
can
Run on any
hardware
Constrained
“hourglass”
almost
almost
![Page 52: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/52.jpg)
OS
Deconstrained
(Hardware)
Deconstrained
(Applications)
Layered architectures
Constrained Control, share, virtualize,
and manage resources
Processing
Memory
I/O
Few global variables
Don’t cross layers
Essentials CS 101
![Page 53: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/53.jpg)
TCP
IP
Physical
Diverse
Diverse applications
![Page 54: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/54.jpg)
OS/
TCP/IP
Deconstrained
(Hardware)
Deconstrained
(Applications)
Constrained
Any
application
can
Run on any
hardware
Constrained
Provided they are
compatible with
the OS or TCP/IP
![Page 55: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/55.jpg)
Tradeoffs:
PC, smartphone, router, etc
Apps
OS
HW
Digital
Lumped
Distrib.
Fast
Slow
Flexible Inflexible
![Page 56: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/56.jpg)
Tradeoffs:
PC, smartphone, router, etc
Apps
OS
HW
Digital
Lumped
Distrib.
OS
HW
Digital
Lumped
Distrib.
Digital
Lumped
Distrib.
Lumped
Distrib.
Distrib. Fast
Slow
Flexible Inflexible
Accident or
necessity?
![Page 57: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/57.jpg)
Architecture?
Apps
OS HW
Digital
Lumped
Distrib.
OS HW
Digital
Lumped
Distrib.
Digital
Lumped
Distrib.
Lumped
Distrib.
Distrib. Fast
Slow
Flexible Inflexible
![Page 58: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/58.jpg)
Slow
Flexible
Fast
Inflexible Fast
Slow
Flexible Inflexible
Software
Hardware
Digital
Analog
Turing
architecture
![Page 59: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/59.jpg)
Slow
Flexible
Fast
Slow
Flexible Inflexible
Software
Hardware
Digital
Analog
Horizontal
App
Transfer
Horizontal
HW
Transfer
![Page 60: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/60.jpg)
App Shared architecture and infrastructure is and must be mostly
hidden
What you see: The hardware
interface and the application
function
![Page 61: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/61.jpg)
Slow
Flexible
Fast
Inflexible Fast
Slow
Flexible Inflexible
Hard
limits?
Software
Hardware
Digital
Analog
Bacteria and brains have similar:
• layered architectures
• tradeoffs and constraints
Need
• Details
• Theorems
![Page 62: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/62.jpg)
Sensory Motor
Prefrontal
Striatum
Reflex
Catab
olism
AA
RN
A
transl. Proteins
xRNA transc. P
recurso
rs
DNA Repl. Gene
ATP
ATP
Ribosome
RNAp
DNAp
Software
Hardware
Digital
Analog
Flexible/
Adaptable/
Evolvable
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
Depends
crucially on
layered
architecture
![Page 63: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/63.jpg)
Catab
olism
AA
RN
A
transl. Proteins
xRNA transc. P
recurso
rs
DNA Repl. Gene
ATP
ATP
Ribosome
RNAp
DNAp
Horizontal
Gene
Transfer
Sequence ~100 E Coli (not chosen randomly)
• ~ 4K genes per cell
• ~20K different genes in total
• ~ 1K universally shared genes
• ~ 300 essential (minimal) genes
See slides on
bacterial
biosphere
![Page 64: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/64.jpg)
Mechanisms in molecular biology
Think of this as a “protocol stack”
0. HGT (Horizontal Gene Transfer)
1. DNA replication
2. DNA repair
3. Mutation
4. Transcription
5. Translation
6. Metabolism
7. Signal transduction
8. …
![Page 65: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/65.jpg)
Think of this as a “protocol stack”
0. HGT
1. DNA replication
2. DNA repair
3. Mutation
4. Transcription
5. Translation
6. Metabolism
7. Signal transduction
8. …
Highly
controlled
Control 1.0
![Page 66: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/66.jpg)
Think of this as a “protocol stack”
0. HGT
1. DNA replication
2. DNA repair
3. Mutation
4. Transcription
5. Translation
6. Metabolism
7. Signal transduction
8. …
Highly
controlled
Highly
controlled
?!?
Control 2.0
![Page 67: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/67.jpg)
Central
nervous
system
Brain
Prosencephalon
Telencephalon
Rhinencephalon, Amygdala,
Hippocampus, Neocortex, Basal
ganglia, Lateral ventricles
Diencephalon
Epithalamus, Thalamus,
Hypothalamus, Subthalamus,
Pituitary gland, Pineal gland,
Third ventricle
Brain stem
Mesencephalon Tectum, Cerebral peduncle,
Pretectum, Mesencephalic duct
Rhombencephalon
Metencephalon Pons,
Cerebellum
Myelencephalon Medulla
oblongata
Spinal cord
CNS “stack”
![Page 68: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/68.jpg)
Universal architectures
What can go wrong?
![Page 69: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/69.jpg)
Horizontal
Bad Gene
Transfer
Horizontal
Bad App
Transfer
Horizontal
Bad Meme
Transfer
Parasites &
Hijacking
Fragility?
Exploiting
layered
architecture
Virus
Virus
![Page 70: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/70.jpg)
Unfortunately, not intelligent design
Ouch.
![Page 71: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/71.jpg)
Why?
left recurrent laryngeal nerve
![Page 72: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/72.jpg)
Why? Building humans from fish parts.
Fish parts
![Page 73: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/73.jpg)
It could be worse.
![Page 74: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/74.jpg)
App App
IPC
Global
and direct
access to
physical
address!
DNS
IP addresses
interfaces
(not nodes)
caltech.edu?
131.215.9.49
![Page 75: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/75.jpg)
App App
IPC
Global
and direct
access to
physical
address!
Robust?
• Secure
• Scalable
• Verifiable
• Evolvable
• Maintainable
• Designable
• …
DNS
IP addresses
interfaces
(not nodes)
![Page 76: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/76.jpg)
Physical
IP
TCP
Application
Naming and addressing need to have scope and
• resolved within layer
• translated between layers
• not exposed outside of layer
Related “issues”
• VPNs
• NATS
• Firewalls
• Multihoming
• Mobility
• Routing table size
• Overlays
• …
![Page 77: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/77.jpg)
TCP
IP
Physical
Diverse
Until late 1980s, no
congestion control, which
led to “congestion collapse”
![Page 78: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/78.jpg)
Original design challenge?
TCP/
IP
Deconstrained
(Hardware)
Deconstrained
(Applications)
Constrained • Expensive mainframes
• Trusted end systems
• Homogeneous
• Sender centric
• Unreliable comms
Facilitated wild evolution
Created
• whole new ecosystem
• completely opposite
Networked OS
![Page 79: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/79.jpg)
?
Deconstrained
(Hardware)
Deconstrained
(Applications)
Next layered architectures
Constrained Control, share, virtualize,
and manage resources
Comms
Memory, storage
Latency
Processing
Cyber-physical
Few global variables
Don’t cross layers
![Page 80: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/80.jpg)
Every layer
has
different
diverse
graphs.
Architecture is least
graph topology.
Architecture
facilitates
arbitrary
graphs.
Persistent errors
and confusion
(“network science”)
Physical
IP
TCP
Application
![Page 81: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/81.jpg)
![Page 82: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/82.jpg)
Notices of the AMS, 2009
![Page 83: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/83.jpg)
Reactions
Assembly
DNA/RNA
control
control
DNA
Ou
tsid
e
Insid
e
Tra
ns
mit
ter
Ligands &
Receptors
Re
ce
ive
r
Responses
control
Receiver
Re
sp
on
se
s
Protein
Cross-layer control
• Highly organized
• Naming and addressing
Coming later:
contrast with cells
![Page 84: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/84.jpg)
Cat
abo
lism
AA
Ribosome
RNA RNAp
transl. Proteins
xRNA transc.
Pre
curs
ors
DNA DNAp
Repl. Gene
ATP
ATP
Enzymes
Building
Blocks
Crosslayer
autocatalysis
Macro-layers
Inside every cell
almost
![Page 85: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/85.jpg)
AA
RNA
transl. Proteins
xRNA transc.
Pre
curs
ors
DNA Repl. Gene
ATP
Enzymes
Shared protocols
NAD
• Universal core constraints
• “virtual machines”
![Page 86: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/86.jpg)
Cat
abo
lism
AA
Ribosome
RNA
RNAp
transl. Proteins
xRNA transc.
Pre
curs
ors
DNA DNAp
Repl. Gene
ATP
ATP
cheap
flexible
fast slow
expensive
inflexible
Enzymes
Building Blocks
Cheap Flexible
Expensive Inflexible
fast
slow
![Page 87: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/87.jpg)
cheap
flexible
fast slow
expensive
inflexible
Fast
Cheap
Flexible
Impossible
![Page 88: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/88.jpg)
Reactions
Assembly
DNA/RNA
control
control
DNA
Ou
tsid
e
Insid
e
Tra
ns
mit
ter
Ligands &
Receptors
Re
ce
ive
r
Responses
control
Receiver
Re
sp
on
se
s
Protein
Cross-layer control
• Highly organized
• Naming and addressing
• Prices? Duality?
• Minimal case study?
![Page 89: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/89.jpg)
Cata
bo
lism
AA
Ribosome
RNA
RNAp
transl. Proteins
xRNA transc.
Pre
cu
rso
rs
DNA
DNAp
Repl. Gene
ATP
ATP
Enzymes
Building Blocks
Control
Upper megalayer/metalayer performs all cell
functions, behaviors, scope is functional,
distributed
Genome is physical,
scope is location
Signal
transduction and
transcription
factors do
name/address
translation
![Page 90: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/90.jpg)
Tra
nsm
itte
r
Receiv
er
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
nsm
itte
r
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Receiv
er
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
• 50 such “two component” systems in E. Coli
• All use the same protocol
- Histidine autokinase transmitter
- Aspartyl phospho-acceptor receiver
• Huge variety of receptors and responses
• Also multistage (phosphorelay) versions
Signal
transduction
![Page 91: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/91.jpg)
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
nsm
itte
r
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Receiv
er
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
Tra
ns
mit
ter
Re
ce
ive
r
Variety of
Ligands &
Receptors
Variety of
responses
![Page 92: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/92.jpg)
+CH 3 R
ATP ADP P
~
flagellar motor
Z
Y
P
Y
P i B
B
P
P i
CW
-CH 3
ATP
W A
MCPs
W A
+ATT
-ATT
MCPs SLOW
FAST
ligand
binding
mot
or
More necessity and robustness
• Integral feedback and signal transduction (bacterial
chemotaxis, G protein) (Yi, Huang, Simon)
• Example of “exploratory process”
![Page 93: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/93.jpg)
Random walk
Ligand Motion Motor
Bacterial chemotaxis
![Page 94: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/94.jpg)
gradient
Biased random walk
Ligand
Signal
Transduction
Motion Motor
CheY
![Page 95: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/95.jpg)
Tra
nsm
itte
r
Receiv
er
Ligands &
Receptors Responses
Shared
protocols
Flow of “signal”
Recognition,
specificity
• “Name resolution” within signal transduction
• Transmitter must locate “cognate” receiver
and avoid non-cognate receivers
• Global search by rapid, local diffusion
• Limited to very small volumes
![Page 96: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/96.jpg)
Tra
nsm
itte
r
Receiv
er
Ligands &
Receptors Responses
Tra
nsm
itte
r
Receiv
er
Ligands &
Receptors Responses
Tra
ns
mit
ter
Rec
eiv
er
Ligands &
Receptors Responses
Shared
protocols
Flow of “signal”
Recognition,
specificity
![Page 97: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/97.jpg)
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
Ligands &
Receptors
Variety of
Ligands &
Receptors
Variety of
Ligands &
Receptors
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
responses
Variety of
Ligands &
Receptors
Variety of
responses
Tra
nsm
itte
r
Re
ceiv
er Tra
nsm
itte
r
Receiv
er Tra
nsm
itte
r
Receiv
er
Recognition,
specificity
Huge variety • Combinatorial
• Almost digital
• Easily reprogrammed
• Located by diffusion
![Page 98: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/98.jpg)
Tra
nsm
itte
r
Receiv
er
Tra
nsm
itte
r
Receiv
er
Tra
ns
mit
ter
Rec
eiv
er
Flow of “signal”
Limited variety • Fast, analog (via #)
• Hard to change
Reusable in
different pathways
![Page 99: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/99.jpg)
Internet
sites
Users
Tra
nsm
itte
r
Receiv
er
Ligands &
Receptors Responses
Shared
protocols
Flow of “signal”
Recognition,
specificity
Note: Any
wireless system
and the Internet
to which it is
connected work
the same way.
Lap
top
Ro
ute
r
Flow of packets
Recognition,
Specificity (MAC)
![Page 100: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/100.jpg)
Molecular phylogenies
show evolvability of this
bowtie architecture.
“Name” recognition is
almost digital.
Response regulators can
translate these names to
DNA addresses with
another DNA-binding
domain (also digital).
![Page 101: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/101.jpg)
invariant
active-site
residues
conserved residues of
interaction surface with
phosphotransferase
domains
highly variable amino acids
of the interaction surface
that are responsible for
specificity of the
interaction
![Page 102: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/102.jpg)
conserved functional
domains
highly
variability for
specificity of the
interaction • Automobiles: Keys
provide specificity but no
other function. Other
function conserved,
driver/vehicle interface
protocol is “universal.”
• Ethernet cables:
Specificity via MAC
addresses, function via
standardized protocols.
MAC
invariant
active-site
residues
![Page 103: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/103.jpg)
Tra
nsm
itte
r
Ligands &
Receptors
Receiv
er
Responses
“Name” recognition
= molecular recognition
= localized functionally
= global spatially
Transcription factors
do “name” to “address”
translation
![Page 104: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/104.jpg)
DNA
Tra
nsm
itte
r
Ligands &
Receptors
Receiv
er
Responses
“Name” recognition
= molecular recognition
= localized functionally
Transcription factors
do “name” to “address”
translation
![Page 105: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/105.jpg)
DNA
Tra
nsm
itte
r
Ligands &
Receptors
Receiver
Resp
on
ses
“Addressing”
= molecular recognition
= localized spatially Both are
• Almost digital
• Highly
programmable
“Name” recognition
= molecular recognition
= localized functionally
Transcription factors
do “name” to “address”
translation
![Page 106: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/106.jpg)
Tradeoffs:
PC, smartphone, router, etc
Apps
OS
HW
Digital
Lumped
Distrib.
OS
HW
Digital
Lumped
Distrib.
Digital
Lumped
Distrib.
Lumped
Distrib.
Distrib. Fast
Slow
Flexible Inflexible
Accident or
necessity?
![Page 107: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/107.jpg)
Think of this as a “protocol stack”
0. HGT
1. DNA replication
2. DNA repair
3. Mutation
4. Transcription
5. Translation
6. Metabolism
7. Signal transduction
8. …
Highly
controlled
Highly
controlled
?!?
Control 2.0
![Page 108: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/108.jpg)
HGT
Transc
Transl
Sig trans
…
Fast
Slow
Flexible Inflexible
Transc
Transl
Sig trans
…
Transl
Sig trans
…
Sig trans
…
Control 3.0
![Page 109: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/109.jpg)
More (old, background) reading
![Page 110: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/110.jpg)
![Page 111: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/111.jpg)
Other fun stuff not for today
Not enough time
![Page 112: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/112.jpg)
Wildfire ecosystem as ideal example
• Cycles on years to decades timescale
• Regime shifts: grass vs shrub vs tree
• Fire= keystone “specie” – Metabolism: consumes vegetation
– Doesn’t (co-)evolve
– Simplifies co-evolution spirals and metabolisms
• 4 ecosystems globally with convergent evo – So Cal, Australia, S Africa, E Mediterranean
– Similar vegetation mix
– Invasive species
![Page 113: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/113.jpg)
Very accessible No math
I’m interested in fire…
![Page 114: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/114.jpg)
Accessible ecology UG math
![Page 115: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/115.jpg)
Universal “laws” (constraints)
• Some constraints on bio & tech rise “bottom up” from physics/chemistry
– Gravity
– Speed of light
– Small moieties (energy, redox, …)… more later
• But, the most universal laws for bio&tech are largely independent of physics
• Most scientists and many engineers don’t understand and/or believe this is even possible
• So skepticism is warranted
![Page 116: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/116.jpg)
Control, OR
Compute
Bode
Turing
Delay is most
important Software
Hardware
Digital
Analog
Turing as “new”
starting point?
![Page 117: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/117.jpg)
Turing’s 3 step research: 0. Virtual (TM) machines 1. hard limits, (un)decidability
using standard model (TM) 2. Universal architecture
achieving hard limits (UTM) 3. Practical implementation in
digital electronics (biology?)
Essentials: 0. Model 1. Universal laws 2. Universal architecture 3. Practical implementation
Software
Hardware
Digital
Analog
Turing as “new”
starting point?
![Page 118: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/118.jpg)
Turing’s 3 step research: 0. Virtual (TM) machines 1. hard limits, (un)decidability
using standard model (TM) 2. Universal architecture
achieving hard limits (UTM) 3. Practical implementation in
digital electronics (biology?)
TM Hardware
Logic
memory
![Page 119: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/119.jpg)
Component
constraint
System constraint
=
“algorithm”
Logic
memory
Constraints
![Page 120: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/120.jpg)
• …being digital should be of greater
interest than that of being electronic.
That it is electronic is certainly
important because these machines
owe their high speed to this… But this
is virtually all that there is to be said on
that subject.
• That the machine is digital however
has more subtle significance. … One
can therefore work to any desired
degree of accuracy.
1947 Lecture to LMS
Hardware
Digital
Analog
![Page 121: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/121.jpg)
• … digital … of greater interest than
that of being electronic …
• …any desired degree of accuracy…
• This accuracy is not obtained by more
careful machining of parts, control of
temperature variations, and such
means, but by a slight increase in the
amount of equipment in the machine.
1947 Lecture to LMS
Hardware
Digital
Analog
![Page 122: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/122.jpg)
Summarizing Turing:
• Digital more important than electronic…
• Robustness: accuracy and repeatability.
• Achieved more by internal hidden complexity
than precise components or environments.
TM Hardware
Digital
Analog
Turing Machine (TM)
• Digital
• Symbolic
• Logical
• Repeatable
![Page 123: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/123.jpg)
• … quite small errors in the initial conditions
can have an overwhelming effect at a later time.
The displacement of a single electron by a
billionth of a centimetre at one moment might
make the difference between a man being killed
by an avalanche a year later, or escaping.
1950, Computing Machinery and Intelligence,
Mind
The butterfly effect
avalanche
![Page 124: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/124.jpg)
• … small errors in the initial conditions can have an
overwhelming effect at a later time….
• It is an essential property of the mechanical
systems which we have called 'discrete state
machines' that this phenomenon does not occur.
• Even when we consider the actual physical
machines instead of the idealised machines,
reasonably accurate knowledge of the state at one
moment yields reasonably accurate knowledge any
number of steps later.
1950, Computing Machinery and Intelligence, Mind
![Page 125: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/125.jpg)
Turing’s 3 step research: 0. Virtual (TM) machines 1. hard limits, (un)decidability
using standard model (TM) 2. Universal architecture
achieving hard limits (UTM) 3. Practical implementation in
digital electronics (biology?)
TM Hardware
Logic
memory
![Page 126: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/126.jpg)
large
space
time
Logic
memory
fast
slow
TM has memory
![Page 127: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/127.jpg)
large
space
time
Logic
memory
fast
slow
TM has memory
space is free
![Page 128: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/128.jpg)
time?
Decidable problem = algorithm that solves it
Most naively posed problems are undecidable.
Logic
memory
![Page 129: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/129.jpg)
“Laws” =
(un)decidability
Components
System
![Page 130: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/130.jpg)
Turing’s 3 step research: 0. Virtual (TM) machines 1. hard limits, (un)decidability
using standard model (TM) 2. Universal architecture
achieving hard limits (UTM) 3. Practical implementation in
digital electronics (biology?)
UTM
data
program (TM)
![Page 131: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/131.jpg)
UTM
data
TM
“Laws” =
hard limits,
tradeoffs
Architecture
=Constraints
(that deconstrain)
Components
System
Protocols
Four types of constraints
![Page 132: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/132.jpg)
2. Universal architecture achieving hard limits (UTM)
UTM
data
program (TM)
• Software: A Turing machine (TM) can be data for another Turing machine • A Universal Turing Machine can run any TM • A UTM is a virtual machine. • There are lots of UTMs, differ only (but greatly) in speed and programmability (space assumed free)
Software
Hardware
![Page 133: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/133.jpg)
UTM
TM
program HALT
• Given a TM (i.e. a computer program) • Does it halt (or run forever)? • Or do more or less anything in particular. • Undecidable! There does not exist a special TM that can tell if any other TM halts. • i.e. the program HALT does not exist.
The halting problem
![Page 134: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/134.jpg)
Thm: TM H=HALT does not exist. That is, there does not exist a program like this:
1 if halts( , )
0 otherwise
TM inputH TM input
Proof is by contradiction. Sorry, don’t know any alternative. And Turing is a god.
![Page 135: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/135.jpg)
Thm: No such H exists. Proof: Suppose it does. Then define 2 more programs:
1 if halts( , )
0 otherwise
TM inputH TM input
1 if ( , ) 0'( , )
loop forever otherwise
*( ) '( , )
H TM inputH TM input
H TM H TM TM
Run * ( *) '( *, *)
halt if * ( *) loops forever
loop forever otherwise
H H H H H
H H
Contradiction!
![Page 136: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/136.jpg)
UTM
data
TM
Implications • Large, thin, nonconvex everywhere… • TMs and UTMs are perfectly repeatable • But perfectly unpredictable • Undecidable: Will a TM halt? Is a TM a UTM? Does a TM do X (for almost any X)? • Easy to make UTMs, but hard to recognize them. • Is anything decidable? Yes, questions NOT about TMs.
![Page 137: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/137.jpg)
Fast
Slow
Flexible/
General Inflexible/
Specific
Undecidable NP P
Really
slow
Computational
complexity
Decidable
![Page 138: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/138.jpg)
Flexible/
General
Inflexible/
Specific
NP P
Decidable
Computational
complexity
PSPACENPPNL
PSPACE ≠ NL
NL PSPACE
Space is powerful and/or cheap.
![Page 139: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/139.jpg)
Fast
Slow
Flexible/
General
Inflexible/
Specific
Undecidable NP P
Really
slow
These are hard limits on the intrinsic computational
complexity of problems.
Decidable
Must still seek algorithms
that achieve the limits,
and architectures that
support this process.
![Page 140: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/140.jpg)
Plant Act Sense Control
Compute
Delay is
even more
important
in control
Software
Hardware
Digital
Analog
Control
Computational complexity of
• Designing control algorithms
• Implementing control algorithms
![Page 141: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/141.jpg)
Slow
Flexible
Fast
Inflexible Fast
Slow
Flexible Inflexible
Unachievable
robustness
Most
UTMs here
![Page 142: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/142.jpg)
Slow
Flexible
Fast
Inflexible Fast
Slow
Flexible Inflexible
Impossible
Most
UTMs here
![Page 143: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/143.jpg)
Issues for engineering
• Turing remarkably relevant for 76 years
• UTMs are implementable
– Differ only (but greatly) in speed and programmability
– Time/speed/delay is most critical resource
– Space (memory) almost free for most purposes
• Read/write random access memory hierarchies
• Further gradations of decidable (P/NP/coNP)
• Most crucial:
– UTMs differ vastly in speed, usability, and
programmability
– You can fix bugs but it is hard to automate
finding/avoiding them
![Page 144: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/144.jpg)
Issues for engineering
• Turing remarkably relevant for 76 years
• UTMs are implementable
– Differ only (but greatly) in speed and programmability
– Time/speed/delay is most critical resource
– Space (memory) almost free for most purposes
• Read/write random access memory hierarchies
• Further gradations of decidable (P/NP/coNP)
• Most crucial:
– UTMs differ vastly in speed, usability, and
programmability
– You can fix bugs but it is hard to automate
finding/avoiding them
![Page 145: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/145.jpg)
Conjectures, biology
• Memory potential
• Examples
– Insects
– Scrub jays
– Autistic Savants
Gallistel and King
• But why so rare and/or accidental?
• Large memory, computation of limited value?
• Selection favors fast robust action?
• Brains are distributed (not studied by Gallistel)
![Page 146: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/146.jpg)
Control, OR
Communicate Compute
Physics
Shannon
Bode
Turing
Einstein
Heisenberg
Carnot
Boltzmann
Delay is most
important
Delay is least
important
![Page 147: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/147.jpg)
space
time
UTM
data
TM
• Suppose we only care about space? • And time is free • Bad news: compression undecidable. • Shannon: change the problem!
![Page 148: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/148.jpg)
Shannon’s brilliant insight • Forget time • Forget files, use infinite random ensembles Good news • Laws and architecture! • Info theory most popular and accessible topic in systems engineering • Fantastic for some engineering problems
Communications
Shannon
![Page 149: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/149.jpg)
Shannon’s brilliant insight • Forget time • Forget files, use infinite random ensembles Bad news • Laws and architecture very brittle
• Less than zero impact on internet architecture • Almost useless for biology (But see Lestas et al, 2010) • Misled, distracted generations of biologists (and neuroscientists)
Communications
Shannon
![Page 150: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/150.jpg)
Physics Einstein
Heisenberg
Carnot
Boltzmann
Delay is most
important
Delay is least
important
Control, OR
Communicate Compute
Shannon
Bode
Turing
New progress!
Lowering the barrier
![Page 151: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/151.jpg)
Slow
Flexible
Fast
Slow
Flexible Inflexible
Software
Hardware
Digital
Analog
Horizontal
App
Transfer
Horizontal
HW
Transfer
![Page 152: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/152.jpg)
Sensory Motor
Prefrontal
Striatum
Reflex
Catab
olism
AA
RN
A
transl. Proteins
xRNA transc. P
recurso
rs
DNA Repl. Gene
ATP
ATP
Ribosome
RNAp
DNAp
Software
Hardware
Digital
Analog
Flexible/
Adaptable/
Evolvable
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
Depends
crucially on
layered
architecture
![Page 153: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/153.jpg)
Robust Fragile
Human complexity
Metabolism
Regeneration & repair
Healing wound /infect
Obesity, diabetes
Cancer
AutoImmune/Inflame
Start with physiology
Lots of triage
![Page 154: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/154.jpg)
Robust
Benefits
Metabolism
Regeneration & repair
Healing wound /infect
Efficient
Mobility
Survive uncertain food supply
Recover from moderate trauma
and infection
![Page 155: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/155.jpg)
Robust Fragile
Mechanism?
Metabolism
Regeneration & repair
Healing wound /infect
Fat accumulation
Insulin resistance
Proliferation
Inflammation
Obesity, diabetes
Cancer
AutoImmune/Inflame
Fat accumulation
Insulin resistance
Proliferation
Inflammation
![Page 156: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/156.jpg)
Robust Fragile
What’s the difference?
Metabolism
Regeneration & repair
Healing wound /infect
Obesity, diabetes
Cancer
AutoImmune/Inflame
Fat accumulation
Insulin resistance
Proliferation
Inflammation
Controlled
Dynamic
Uncontrolled
Chronic
![Page 157: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/157.jpg)
Controlled
Dynamic
Low mean
High variability
Fat accumulation
Insulin resistance
Proliferation
Inflammation
![Page 158: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/158.jpg)
Controlled
Dynamic
Uncontrolled
Chronic
Low mean
High variability
High mean
Low variability
Fat accumulation
Insulin resistance
Proliferation
Inflammation
Death
![Page 159: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/159.jpg)
Robust Fragile
Restoring robustness?
Metabolism
Regeneration & repair
Healing wound /infect
Obesity, diabetes
Cancer
AutoImmune/Inflame
Fat accumulation
Insulin resistance
Proliferation
Inflammation
Controlled
Dynamic
Uncontrolled
Chronic
Low mean
High variability
High mean
Low variability
Fat accumulation
Insulin resistance
Proliferation
Inflammation
![Page 160: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/160.jpg)
Robust Yet Fragile
Human complexity
Metabolism
Regeneration & repair
Immune/inflammation
Microbe symbionts
Neuro-endocrine
Complex societies
Advanced technologies
Risk “management”
Obesity, diabetes
Cancer
AutoImmune/Inflame
Parasites, infection
Addiction, psychosis,…
Epidemics, war,…
Disasters, global &!%$#
Obfuscate, amplify,…
Accident or necessity?
![Page 161: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/161.jpg)
Robust Fragile Metabolism
Regeneration & repair
Healing wound /infect
Obesity, diabetes
Cancer
AutoImmune/Inflame Fat accumulation
Insulin resistance
Proliferation
Inflammation
• Fragility Hijacking, side effects, unintended…
• Of mechanisms evolved for robustness
• Complexity control, robust/fragile tradeoffs
• Math: robust/fragile constraints (“conservation laws”)
Accident or necessity?
Both
![Page 162: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/162.jpg)
fragile
robust
Some features robust to some perturbations
Other features or other
perturbations
![Page 163: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/163.jpg)
fragile
robust
Some features robust to some perturbations
Other features or other
perturbations
Increased complexity?
![Page 164: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/164.jpg)
0 5 10 -2
-1.5
-1
-0.5
0
0.5
1
Frequency
Sensitivity Function
ln S j
0
1ln 0S j d
![Page 165: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/165.jpg)
Why
Necessity
Control, OR
Compute
Bode
Turing
Delay is
most
important
![Page 166: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/166.jpg)
delay a
w
u x
1
1
t t t t ax px w u
p
P
K
delay a
![Page 167: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/167.jpg)
0
t a t tu px w
x u w
No delay or
no uncertainty delay a
w
u x
1
1
t t t t ax px w u
p
P
K
![Page 168: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/168.jpg)
0
t a t tu px w
x u w
No delay or no uncertainty
ax u p w
With delay and uncertainty
delay a
w
u x
1
1
t t t t ax px w u
p
P
K
![Page 169: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/169.jpg)
L
u
x
q m
M
m
M
Linearized pendulum on a cart
![Page 170: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/170.jpg)
2cos sin
cos sin 0
sin
M m x ml u
x l g
y x l
q q q q
q q q
q
linearize l
m
M
0
M m x ml u
x l g
y x l
q
q q
q
![Page 171: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/171.jpg)
Robust
=agile and balancing
![Page 172: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/172.jpg)
Robust
=agile and balancing
![Page 173: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/173.jpg)
l
m
M
l
Efficient=length of pendulum (artificial)
![Page 174: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/174.jpg)
0
M m x ml u
x l g
y x l
q
q q
q
2
2 2
2
2
1
1
11
x ls gu D s s Mls M m g
D s s
ls gy x l
D s
g m gp r r z
l M l
q
q
transform+algebra
m
l
lLow
Control
![Page 175: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/175.jpg)
l
Delay
1p
l
noise error
E
T jN
![Page 176: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/176.jpg)
0
0
1ln 0
1ln 0
T j d
S j d
Easy, even with eyes closed No matter what the length
Proof: Standard UG control theory: Easy calculus, easier contour integral, easiest Poisson Integral formula
![Page 177: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/177.jpg)
0 5 10 -2
-1.5
-1
-0.5
0
0.5
1
Frequency
Sensitivity Function
ln S j
0
1ln 0S j d
![Page 178: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/178.jpg)
l
M
l
Harder if delayed or short
Short
Delay
![Page 179: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/179.jpg)
l
m
M
l
mr
M
l
Also harder if sensed low
(details later)
Low
Control
![Page 180: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/180.jpg)
l
Delay
1p
l
noise error
E
T jN
![Page 181: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/181.jpg)
l
Delay
1p
l
2 2
0
1 2 1ln ln ( )mp
pT j d T p p
p l
noise error
E
T jN
Delay
is hard
![Page 182: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/182.jpg)
l
Delay
1p
l
2 2
0
1 2 1ln ln ( )mp
pT j d T p p
p l
noise error
E
T jN
Delay
is hard
Any control
This holds for any
controller so is an intrinsic
constraint on the difficulty
of the problem.
![Page 183: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/183.jpg)
Fragility
up
1/delay
1
l
L
down
2 2
0
1 2 1ln
pT j d p
p l
For fixed length
large
small 1/
small
large 1/
Too fragile
![Page 184: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/184.jpg)
2 2
0
1 2 1ln
pT j d p
p l
large
small 1/
small
large 1/
We would like to tolerate large
delays (and small lengths), but
large delays severely constrain
the achievable robustness.
![Page 185: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/185.jpg)
l
M
Short
is hard
Delay
1p
l
2 2
0
1 2 1ln ln ( )mp
pT j d T p p
p l
![Page 186: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/186.jpg)
Fragility
up
length L
1p
l
L
Too fragile
Why oscillations?
Side effects of
hard tradeoffs
down
2 2
0
1 2 1ln ln ( )mp
pT j d T p p
p l
For fixed delay
![Page 187: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/187.jpg)
Fragility
up
length L
1p
l
L
Too fragile
down
2 2
0
1 2 1ln ln ( )mp
pT j d T p p
p l
The ratio of delay
between people
is proportional to
the lengths they
can stabilize.
![Page 188: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/188.jpg)
l
m
M
Eyes moved down is harder (RHP zero) Similar to delay
l
![Page 189: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/189.jpg)
l
m
M
l
mr
M
lSuppose 1
Units 1
mr
M
M g
2
2 21
1 1
1
ls gy x l
s ls g
g g z pp z
l l z p
q
![Page 190: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/190.jpg)
l
m
M
l
mr
M
l
2
2
11
1 11
1
1 11 1 1 1
3 3 3
11
3
g m gp r r z
l M l
p z rr
p gp r p
z l
p
0 0
11 1
1 1 2
gp r p p
l
l
Compare
Move eyes
![Page 191: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/191.jpg)
l
This is a cartoon, but can be made precise.
Frag
ility
change length
lnz p
z p
2 2
0
2 2
0
1 2ln ln
1 2ln ln
z z pS j d
z z p
p z pT j d
p z p
L
change sense
down
1
1 r
1
1
z p
z p
l
![Page 192: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/192.jpg)
This is a cartoon, but can be made precise.
Frag
ility
lnz p
z p
2 2
0
1 2ln ln
z z pS j d
z z p
L
down
Hard limits on the intrinsic robustness of control problems.
Must (and do) have algorithms that achieve the limits, and
architectures that support this process.
![Page 193: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/193.jpg)
simple tech
complex tech
How general is this picture?
wasteful
fragile
efficient
robust
Implications for human evolution? Cognition? Technology? Basic sciences?
![Page 194: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/194.jpg)
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.
![Page 196: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/196.jpg)
Multiply
Survive
Phage lifecycle
Infect Lyse
![Page 197: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/197.jpg)
slow
fragile
fast
robust
Survive
Multiply
thin
small
thick
big
Capsid
Genome
![Page 198: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/198.jpg)
Chandra, Buzi, and Doyle
UG biochem, math, control theory
Most important paper so far.
![Page 199: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/199.jpg)
simple enzyme
Fragility
Enzyme amount
complex enzyme
lnz p
z p
2 2
0
1ln ln
z z pS j d
z z p
Theorem!
z and p functions of enzyme complexity
and amount
Savageaumics
![Page 200: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/200.jpg)
k
z p
z p
10 -1
10 0
10 1 10
0
10 1
Simple, but
too fragile
complex
No tradeoff
Hard tradeoff in glycolysis is • robustness vs efficiency • absent without autocatalysis • too fragile with simple control • plausibly robust with complex control
expensive
fragile
2 2
0
1ln
ln
zS j d
z
z p
z p
![Page 201: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/201.jpg)
What (some) reviewers say
• “…to establish universality for all biological and physiological systems 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 that will 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 …
![Page 202: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/202.jpg)
simple tech
complex tech
metabolic expensive
fragile
cheap
robust
Implications for human evolution? Cognition? Technology? Basic sciences?
large delay small
slow fast multiply
This picture is very general
![Page 203: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/203.jpg)
This picture is very general
metabolic
expensive cheap
large small
slow fast
multiply
Domain specific costs/tradeoffs
metabolic
overhead
CNS reaction
time (delay)
phage
multiplication
rate
![Page 204: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/204.jpg)
This picture is very general
expensive cheap
large small
slow fast
Domain specific costs/tradeoffs
metabolic cost
reaction time
phage x rate
fragile
robust
simple tech
complex tech
![Page 205: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/205.jpg)
fragile
robust
Survive
thin
small
thick
big
Capsid thickness
Genome size
slow fast multiply
![Page 206: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/206.jpg)
Fragility
up
1/delay
1
l
L
down
2 2
0
1 2 1ln
pT j d p
p l
For fixed length
large
small 1/
small
large 1/
Too fragile
![Page 207: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/207.jpg)
l
m
M
mr
M
This is a cartoon, but can be made precise.
l
Frag
ility
change length
lnz p
z p
2 2
0
1 2ln ln
z z pS j d
z z p
L
change sense
down
1
1 r
![Page 208: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/208.jpg)
k
z p
z p
10 -1
10 0
10 1 10
0
10 1
Simple, but
too fragile
complex
No tradeoff
Hard tradeoff in glycolysis is • robustness vs efficiency • absent without autocatalysis • too fragile with simple control • plausibly robust with complex control
metabolic
cost
fragile
2 2
0
1ln
ln
zS j d
z
z p
z p
![Page 209: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/209.jpg)
Fast
Slow
Flexible/
General Inflexible/
Specific
Decidable NP P
Really
slow
Computational
complexity
Turing has the original
“universal law”
![Page 210: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/210.jpg)
This is about speed
and flexibility of
computation.
How do these
two constraints
(laws) relate? control
l
Delay
noise
small delay
large
delay
Flexible Inflexible
Computation
delay adds to
total delay.
Computation is
a component
in control.
![Page 211: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/211.jpg)
control
l
Delay
noise
Delay comes from
sensing,
communications,
computing, and
actuation.
Delay limits robust
performance.
2 2
0
1 2 1ln ln ( )mp
pT j d T p p
p l
![Page 212: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/212.jpg)
Fragility
up 1
l
L
down
large small
Delay makes
control hard.
computation.
Computation
delay adds to
total delay.
Computation is
a component
in control.
2 2
0
1 2 1ln
pT j d p
p l
small delay
large
delay
Flexible Inflexible
![Page 213: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/213.jpg)
Fragility
up 1
l
down
large small
2 2
0
1 2 1ln
pT j d p
p l
This needs
formalization:
What flexibility
makes control
hard?
Large,
structured
uncertainty?
![Page 214: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/214.jpg)
Fragility Limitations on hard limits
simple
Overhead, waste
complex
• General • Rigorous • First principle
• Domain specific • Ad hoc • Phenomenological
Plugging in domain details
?
![Page 215: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/215.jpg)
Stat physics
Complex networks
Physics Heisenberg
Carnot
Boltzmann
Control
Alderson &Doyle, Contrasting
Views of Complexity and
Their Implications for
Network-Centric
Infrastructure,
IEEE TRANS ON SMC,
JULY 2010
Sandberg, Delvenne,
& Doyle, On Lossless
Approximations, the Fluctuation-
Dissipation Theorem, and
Limitations of Measurement,
IEEE TRANS ON AC,
FEBRUARY, 2011
![Page 216: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/216.jpg)
J. Fluid Mech (2010)
Streamlined
Laminar Flow
Turbulent Flow
Turbulence and drag?
![Page 217: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/217.jpg)
Physics of Fluids (2011)
wU
z x
y
uz
x
y Flow
upflow high-speed
region
downflow low speed
streak
Blunted turbulent velocity profile
Laminar
Turbulent
wU3D coupling
Coherent structures and turbulent drag
![Page 218: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/218.jpg)
wasteful
fragile Laminar
Turbulent
efficient
robust
Laminar
Turbulent
wU
?
![Page 219: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/219.jpg)
Delays and layering
Demos and cartoons
![Page 220: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/220.jpg)
sense
move Spine
delay=death
![Page 221: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/221.jpg)
![Page 222: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/222.jpg)
![Page 223: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/223.jpg)
![Page 224: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/224.jpg)
Fast
Slow
![Page 225: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/225.jpg)
Vestibulo-
ocular
reflex
![Page 226: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/226.jpg)
Act
Ac
Fast
Slow
Sense Act
Sense
Move
head
Move
hand
Slow
Fast?
Same actuators
Delay is limiting
![Page 227: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/227.jpg)
Act
Ac
Fast
Slow
Sense Act
Sense
Move
head
Move
hand
Slow Fast?
Same actuators
Delay is limiting
Versus standing on one leg
• Eyes open vs closed
• Contrast
− young surfers
− old football players
![Page 228: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/228.jpg)
sense
move Spine
delay=death
![Page 229: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/229.jpg)
sense
move Spine
Reflex
Reflect
![Page 230: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/230.jpg)
sense
move Spine
Reflex
Reflect
![Page 231: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/231.jpg)
sense
move Spine
Reflect
Reflex
![Page 232: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/232.jpg)
move
Reflect
![Page 233: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/233.jpg)
sense
move Spine
Reflect
Reflex
![Page 234: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/234.jpg)
Physiology
Organs
Layered architectures (cartoon)
Cells
![Page 235: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/235.jpg)
sen
se
mo
ve
Spin
e
Ref
lect
Ref
lex
Prediction
Goals
Actions
errors
Actions
![Page 236: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/236.jpg)
Physiology
Organs
Meta-layers cartoon
Prediction
Goals
Actions
errors
Actions Co
rte
x
![Page 237: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/237.jpg)
Visual
Cortex Visual
Thalamus
10x
? Why?
![Page 238: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/238.jpg)
Visual
Cortex Visual
Thalamus
?
There are 10x
feedback neurons
Physiology
Organs
Prediction
Goals
Actions
errors
Actions
Prediction
Goals
Conscious
perception
10x
Why?
What are the consequences?
![Page 239: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/239.jpg)
3D +time
Simulation
Seeing is dreaming
Conscious perception
Conscious perception Zzzzzz…..
![Page 240: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/240.jpg)
Same size?
![Page 241: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/241.jpg)
![Page 242: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/242.jpg)
Same size
![Page 243: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/243.jpg)
Same size
![Page 244: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/244.jpg)
Same size
Even when you “know” they are
the same, they appear different
Toggle between this slide and
the ones before and after
![Page 245: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/245.jpg)
Same size?
Vision: evolved for complex
simulation and control, not
2d static pictures
Even when you “know” they are
the same, they appear different
![Page 246: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/246.jpg)
3D +time
Simulation
+ complex
models
(“priors”)
Seeing is dreaming
Conscious perception
Conscious perception
Zzzzzz…..
![Page 247: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/247.jpg)
3D +time
Simulation
+ complex
models
(“priors”)
Seeing is dreaming
Conscious perception
Conscio
us
pe
rce
ptio
n
Prediction
errors
![Page 248: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/248.jpg)
Inferring shape
from shading
![Page 249: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/249.jpg)
![Page 250: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/250.jpg)
Which blue line is longer?
![Page 251: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/251.jpg)
Which blue line is longer?
![Page 252: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/252.jpg)
Which blue line is longer?
![Page 253: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/253.jpg)
Which blue line is longer?
![Page 254: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/254.jpg)
Which blue line is longer?
![Page 255: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/255.jpg)
Which blue line is longer?
![Page 256: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/256.jpg)
Which blue line is longer?
With social
pressure, this one.
Standard social psychology experiment.
![Page 257: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/257.jpg)
![Page 258: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/258.jpg)
Unconscious
but high level
Effect: rival-schemata ambiguity
![Page 259: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/259.jpg)
Chess experts
• can reconstruct entire
chessboard with < ~ 5s
inspection
• can recognize 1e5 distinct
patterns
• can play multiple games
blindfolded and simultaneous
• are no better on random
boards
(Simon and Gilmartin, de Groot)
www.psywww.com/intropsych/ch07_cognition/expertise_and_domain_specific_knowledge.html
![Page 260: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/260.jpg)
When needed, even wasps can do it.
![Page 261: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/261.jpg)
• Polistes fuscatus can differentiate among normal wasp
face images more rapidly and accurately than nonface
images or manipulated faces.
• Polistes metricus is a close relative lacking facial
recognition and specialized face learning.
• Similar specializations for face learning are found in
primates and other mammals, although P. fuscatus
represents an independent evolution of specialization.
• Convergence toward face specialization in distant taxa
as well as divergence among closely related taxa with
different recognition behavior suggests that specialized
cognition is surprisingly labile and may be adaptively
shaped by species-specific selective pressures such as
face recognition.
![Page 262: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/262.jpg)
Fig. 1 Images used for training wasps.
M J Sheehan, E A Tibbetts Science 2011;334:1272-1275
Published by AAAS
![Page 263: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/263.jpg)
Meta-layers
Fast,
Limited
scope
Slow,
Broad
scope
Unfortunately, we’re not
sure how this all works.
![Page 264: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/264.jpg)
Sensory Motor
Prefrontal
Striatum
Reflex
Catab
olism
AA
RN
A
transl. Proteins
xRNA transc. P
recurso
rs
DNA Repl. Gene
ATP
ATP
Ribosome
RNAp
DNAp
Software
Hardware
Digital
Analog
Flexible/
Adaptable/
Evolvable
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
Depends
crucially on
layered
architecture
![Page 265: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/265.jpg)
Fast
Inflexible
Neuro motivation
Reflex
![Page 266: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/266.jpg)
• Acquire
• Translate/
integrate
• Automate
Sensory Motor
Prefrontal
Striatum
Slow
Flexible Learning
Ashby & Crossley
Thanks to
Bassett & Grafton
Slow
![Page 267: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/267.jpg)
• Acquire
• Translate/
integrate
• Automate
Sensory Motor
Prefrontal
Striatum
Fast
Fast
Inflexible
Ashby & Crossley
Slow
Flexible
![Page 268: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/268.jpg)
Fast
Inflexible
Slow
Flexible
Striatum
![Page 269: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/269.jpg)
• Acquire
• Translate/
integrate
• Automate
Sensory Motor
Prefrontal
Striatum
Fast
Inflexible
Build on Turing to show what is
necessary to make this work.
Reflex
Slow
Flexible
![Page 270: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/270.jpg)
Sensory Motor
Prefrontal
Striatum
Reflex
![Page 271: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/271.jpg)
Sensory Motor
Prefrontal
Striatum
Reflex
Slow
Flexible
Fast
Inflexible Fast
Slow
Flexible Inflexible
Software
Hardware
Digital
Analog
Horizontal
App Transfer
Horizontal HW
Transfer
Universal
Architecture
![Page 272: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/272.jpg)
Slow
Flexible
Fast
Inflexible
Sensory Motor
Prefrontal
Striatum
Reflex
Catab
olism
AA
RNA
transl. Proteins
xRNA transc. P
recurso
rs
DNA Repl. Gene
ATP
ATP
Ribosome
RNAp
DNAp
Software
Hardware
Digital
Analog
(bacterial)
bio-
sphere
Techno-
sphere
Cogni-
sphere
![Page 273: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/273.jpg)
Sensory Motor
Prefrontal
Striatum
Reflex
Catab
olism
AA
RNA
transl. Proteins
xRNA transc. P
recurso
rs
DNA Repl. Gene
ATP
ATP
Ribosome
RNAp
DNAp
Software
Hardware
Digital
Analog
Flexible/
Adaptable/
Evolvable
Horizontal
Gene
Transfer
Horizontal
App
Transfer
Horizontal
Meme
Transfer
Depends
crucially on
layered
architecture
![Page 274: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/274.jpg)
VTA dopamine
Universal reward systems sports music dance crafts art toolmaking sex
food
Glucose
Oxygen
Organs
Tissues
Cells
Molecules
Universal metabolic system
Blood
Constraints
that
deconstrain
Reward Drive Control Memory
![Page 275: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/275.jpg)
dopamine
Blood
Glucose
Oxygen
Constraints
Modularity 2.0
![Page 276: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/276.jpg)
sports music dance crafts art toolmaking sex
food
Organs
Tissues
Cells
Molecules
Reward Drive Control Memory
that
deconstrain
Modularity 2.0
![Page 277: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/277.jpg)
dopamine
work family community nature
Universal reward/metabolic systems
Robust and adaptive, yet …
food sex toolmaking sports music dance crafts art
Blood Organs
Tissues
Cells
Molecules
Reward Drive Control Memory
![Page 278: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/278.jpg)
sex food toolmaking sports music dance crafts art
work family community nature
cocaine amphetamine
dopamine
Blood Organs
Tissues
Cells
Molecules
Reward Drive Control Memory
![Page 279: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/279.jpg)
work family community nature
sex toolmaking sports music dance crafts art
dopamine
Vicarious
money
salt sugar/fat nicotine alcohol
industrial agriculture
market/ consumer culture
Organs Tissues Cells Molecules
Reward Drive Control Memory
![Page 280: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/280.jpg)
Vicarious
money
salt sugar/fat nicotine alcohol
high sodium
obesity
overwork
smoking
alcoholism
drug abuse
hyper- tension
athero- sclerosis
diabetes
inflammation
immune suppression
coronary, cerebro- vascular, reno- vascular
cancer
cirrhosis
accidents/ homicide/ suicide
From Sterling
![Page 281: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/281.jpg)
VTA
Prefrontal cortex Accumbens
dopamine
Universal reward systems sports music dance crafts art toolmaking sex food
Glucose
Oxygen
Organs
Tissues
Cells
Molecules
Universal metabolic system
Blood
food
![Page 282: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/282.jpg)
VTA dopamine
Glucose
Oxygen
Vicarious
money
salt sugar/fat nicotine alcohol
high sodium
obesity
overwork
smoking
alcoholism
drug abuse
hyper- tension
athero- sclerosis
diabetes
inflammation
immune suppression
coronary, cerebro- vascular, reno- vascular
cancer
cirrhosis
accidents/ homicide/ suicide
Yet Fragile
![Page 283: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/283.jpg)
What about: CNS and Cyber-physical:
decentralized control with internal delays?
![Page 284: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/284.jpg)
0
t a t tu px w
x u w
No delay or no uncertainty
ax u p w
With delay and uncertainty
delay a
w
u x
1
1
t t t t ax px w u
p
P
K
![Page 285: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/285.jpg)
delay a
w
u x
P
K
a=act
Focus on delays
Actuator delay
1
1
t t t t ax px w u
p
![Page 286: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/286.jpg)
a=act
Focus on delays
Actuator delay
![Page 287: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/287.jpg)
t=transmission
l=internal r=internal
p=plant
a=act s=sense
0 0
Decentralized control
![Page 288: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/288.jpg)
l=internal r=internal
p=plant
a=act s=sense
total remote + plant delay
l p a s r
![Page 289: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/289.jpg)
t=transmission
0 0
Communications delay
![Page 290: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/290.jpg)
t
l r
p
a s
0 0
t l p a s r
Then decentralized control design can be made convex
t l p a s r
Rotkowitz, Lall, and a cast of thousands including Lamperski, Parrilo (Friday)…
![Page 291: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/291.jpg)
t
p
a s
0 0
Want
small
t p a s
a s
A primary driver of human brain evolution?
![Page 292: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/292.jpg)
• Acquire
• Translate/
integrate
• Automate Reflex
Wolpert, Grafton, etc
Brain as optimal controller
robust
![Page 293: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/293.jpg)
Going beyond black box: control is
decentralized with internal delays.
Huge theory progress
in last decade,
year, mo., …
![Page 294: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/294.jpg)
Decision-making
components in
the brain
Decentralized, but initially assume
computation is fast and memory is abundant.
![Page 295: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/295.jpg)
Plant is also distributed with its
own component dynamics
![Page 296: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/296.jpg)
Internal delays between brain components, and
their sensor and actuators, and also externally
between plant components
![Page 297: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/297.jpg)
Internal delays involve both computation and
communication latencies
![Page 298: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/298.jpg)
Physics Einstein
Heisenberg
Carnot
Boltzmann
Delay is most
important
Delay is least
important
Control, OR
Communicate Compute
Shannon
Bode
Turing
New progress!
This progress
is important.
![Page 299: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/299.jpg)
Going beyond black box: control is
decentralized with internal delays.
Huge theory progress
in last decade,
year, mo., …
![Page 300: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/300.jpg)
Sensory Motor
Prefrontal
Striatum
Slow
Flexible
Going beyond black box: control is
decentralized with internal delays.
Reflex
Fast
Inflexible Mammal NS
seems organized
to reduce delays
in motor control
![Page 301: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/301.jpg)
weak
fragile
slow
strong
robust
fast
Human evolution
Apes
How is this progress?
hands feet skeleton muscle skin gut long helpless childhood
All very different.
![Page 302: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/302.jpg)
inefficient
wasteful
weak
fragile
efficient
(slow)
strong
robust
hands feet skeleton muscle skin gut This much seems pretty
consistent among experts regarding circa 1.5-2Mya
Homo Erectus? Roughly modern
So how did H. Erectus survive and expand globally?
Very fragile
![Page 303: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/303.jpg)
inefficient
wasteful
weak
fragile
efficient
(slow)
strong
robust
(fast)
Apes
speed & strength
endurance
![Page 304: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/304.jpg)
inefficient
wasteful
weak
fragile
(slow)
efficient
(slow)
strong
robust
(fast)
Human evolution Apes
hands feet skeleton muscle skin gut
![Page 305: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/305.jpg)
inefficient
wasteful
weak
fragile
efficient
(slow)
strong
robust
Hard tradeoffs?
Apes
Architecture? Evolvable?
![Page 306: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/306.jpg)
weak
fragile
efficient
(slow)
strong
robust
+ sticks stones
fire teams
From weak prey to invincible
predator?
Speculation? There is only evidence for crude stone tools.
But sticks, fire, teams might not leave a record?
endurance
![Page 307: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/307.jpg)
weak
fragile
efficient
(slow)
strong
robust
+ sticks stones
fire teams
From weak prey to invincible predator
Before much brain expansion?
Speculation? With only evidence for crude stone tools. But sticks and fire might not leave a record?
Plausible but speculation?
![Page 308: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/308.jpg)
Today 2Mya
Cranial capacity
Gap?
Before much brain expansion?
![Page 309: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/309.jpg)
weak
fragile
efficient
(slow)
strong
robust
hands feet skeleton muscle skin gut
+ sticks stones
fire
From weak prey to invincible
predator
Before much brain expansion?
Key point: Our physiology,
technology, and brains
have co-evolved
Huge implications.
Probably true no matter what
![Page 310: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/310.jpg)
Today 2Mya
Cranial capacity
![Page 311: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/311.jpg)
weak
fragile
efficient
(slow)
strong
robust
hands feet skeleton muscle skin gut
+ sticks stones
fire
From weak prey to invincible
predator
Before much brain expansion?
Key point needing more discussion: The evolutionary
challenge of big brains is homeostasis, not
basal metabolic load.
Huge implications.
![Page 312: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/312.jpg)
inefficient
wasteful
weak
fragile
efficient
(slow)
strong
robust
+ sticks stones
fire
Architecture?
![Page 313: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/313.jpg)
weak
fragile
efficient
(slow)
strong
robust
hands feet skeleton muscle skin gut
+ sticks stones
fire
From weak prey to invincible
predator
Before much brain expansion?
![Page 314: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/314.jpg)
inefficient
wasteful
weak
fragile
efficient
(slow)
strong
robust
+ sticks stones
fire
Architecture?
![Page 315: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/315.jpg)
sticks stones fire
Human
complexity?
wasteful
fragile
efficient
robust
Consequences of our evolutionary
history?
![Page 316: J. Barkley Rosser Memorial Lecturepages.cs.wisc.edu/~brecht/DoyleUWCSTooManySlides.pdfJ. Barkley Rosser Memorial Lecture Universal laws and architectures J. Comstock Doyle ... safety](https://reader031.fdocuments.net/reader031/viewer/2022022515/5afe01677f8b9a864d8e5bdc/html5/thumbnails/316.jpg)
wasteful
fragile
efficient
robust Hard tradeoffs?
Constraints
(that deconstrain)