15-424: Foundations of Cyber-Physical Systems (Sp'16)

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Lecture notes and lecture videos, marked with (V), as well as further reading material will be made available on this page as the semester progresses. The supporting slides, marked with (S), are made available too, but only cover part of the lecture.


DateLecture NotesExtraDue
Tue01/12Cyber-physical systems: introduction(V) (S) Ch 1
Thu01/14Differential equations & domains(V) (S)  Ch 2.2,2.3, App.B
Fri01/15Rec: ODE, FOL, prepAsst 0 
Tue01/19Choice & control(V) Ch 2.2,2.3
Thu01/21Safety & contracts(V) (S) Ch 2.2,2.3Lab 0 
Fri01/22Rec: HP: Syntax, semantics, transitions, examples
Tue01/26Dynamical systems & dynamic axioms(V) (SLICS'12
Thu01/28Truth & proof(V) (S) Ch 2.5.2,App.AAsst 1 
Fri01/29Rec: Manual proofs and tactical proofs in KeYmaera Xcode Beta 1 
Tue02/02Control loops & invariants(V) (Scode Ch 2.5.2&4
Thu02/04Events & responses(V) (Scode Lab 1 
Fri02/05Rec: Did you prove what you meant to prove?
Tue02/09Reactions & delays(V) (Scode 
Thu02/11Differential equations & differential invariants(V) (Scode (Ch 3.5)Asst 2 
Fri02/12Rec: Events to delayscode Beta 2 
Tue02/16Differential equations & proofs(V) (S) (Ch 3.5)
Thu02/18Ghosts & differential ghosts(V) (SLMCS'12Lab 2 
Fri02/19Rec: Differential invariants, differential cutscode 
Tue02/23Logical foundations & CPS(V) (SLICS'12Asst 3 
Fri02/26Rec: Debugging models, understanding failed proofs, differential cutscode Beta 3 
Tue03/01Differential invariants & proof theory(V) (SLMCS'12
Thu03/03Verified models & verified runtime validation(V) (SFMSD'16Lab 3 
Fri03/04Free: Mid-semester break
Tue03/08Free: Spring break
Thu03/10Free: Spring break
Fri03/11Free: Spring break
Tue03/15Hybrid systems & games(V) (STOCL'15
Thu03/17Winning strategies & regions(V) (STOCL'15
Fri03/18Rec: Game examples with fun and subtletyBeta 4 
Tue03/22Winning & proving hybrid games(V) (STOCL'15Asst 4 
Thu03/24Game proofs & separations(V) (STOCL'15
Fri03/25Rec: Fun and proofs with gamesLab 4 
Tue03/29Virtual substitution & real equations(V) (S) App.DWhite paper 
Thu03/31Virtual substitution & real arithmetic(V) (SSturm
Fri04/01Rec: Real arithmetic for real
Tue04/05RecapAsst 5 
Thu04/07Final exam
Fri04/08Rec: Final posteriorProposal 
Tue04/12Free: Project day (no class)
Thu04/14Free: Spring Carnival
Fri04/15Free: Spring carnival
Tue04/19Axioms & uniform substitutions(V) (SCADE-25
Thu04/21Differential axioms & uniform substitutions(V) (SCADE-25
Fri04/22Rec: Logical model-predictive control
Tue04/26Model checking & reachability analysis(V) (SHBMC'17
Thu04/28Distributed systems & hybrid systems(V) (SLMCS'12
Fri04/29Rec: Prepare for Grand PrixProject Paper 
Thu05/05CPS V&V Grand PrixSlides 
The lecture schedule is tentative!
Reading: The chapters Ch i.j and App i for further reading refer to chapters in the textbook in addition to the lecture notes.

Lab Schedule

Asst 00Preparation AssignmentFri01/15
Lab 010Scavenger HuntcodeThu01/21
Asst 160Introduction to Hybrid ProgramsThu01/28
Beta 120Charging Station (Betabot)codeFri01/29
Lab 170Charging Station (Veribot)codeThu02/04
Asst 260Loops and ProofscodeThu02/11
Beta 220Follow the Leader (Betabot)codeFri02/12
Lab 280Follow the Leader (Veribot)codeThu02/18
Asst 360Proofs, Diamonds, Differential InvariantsTue02/23
Beta 320Robots on Racetracks (Betabot)codeFri02/26
Lab 380Robots on Racetracks (Veribot)codeThu03/03
Asst 460Differential Invariants and Cut-in DifferentiallyTue03/22
Beta 420Static and Dynamic Obstacles (Betabot)codeFri03/18
Lab 480Static and Dynamic Obstacles (Veribot)codeFri03/25
Asst 560Play Around with Hybrid GamesTue04/05
White paper20Star-lab White PaperTue03/29
Proposal80Star-lab ProposalFri04/08
Project100Star-lab Final ProjectFri04/29
Paper100Term PaperFri04/29
Slides0Slides and PresentationThu05/05
Sum1000points listed

The Lab and Assignment Schedule is tentative!
Theory assignments and Betabot lab assignments are due at start of lecture/recitation on the due day.
Veribot lab assignments are due at 22:00 on the due day.
Labs have a due date and time for Betabots (due at start of lecture/recitation) and a different due date and time for Veribots (due at 22:00).

For an overview of the labs, see Labs & Assignments.