JOAO PEDRO HESPANHA @ UCSB
Executive committee member
Email: hespanha @ ece.ucsb.edu
João P. Hespanha was born in Coimbra, Portugal, in 1968. He received the Licenciatura in electrical and computer engineering from the Instituto Superior Técnico, Lisbon, Portugal in 1991 and the Ph.D. degree in electrical engineering and applied science from Yale University, New Haven, Connecticut in 1998. From 1999 to 2001, he was Assistant Professor at the University of Southern California, Los Angeles. He moved to the University of California, Santa Barbara in 2002, where he currently holds a Professor position with the Department of Electrical and Computer Engineering. Prof. Hespanha is the Chair of the Department of Electrical and Computer Engineering and a member of the Executive Committee for the Institute for Collaborative Biotechnologies (ICB).
His current research interests include hybrid and switched systems; multi-agent control systems; distributed control over communication networks (also known as networked control systems); the use of vision in feedback control; stochastic modeling in biology; and network security.
Dr. Hespanha is the recipient of the Yale University’s Henry Prentiss Becton Graduate Prize for exceptional achievement in research in Engineering and Applied Science, a National Science Foundation CAREER Award, the 2005 best paper award at the 2nd Int. Conf. on Intelligent Sensing and Information Processing, the 2005 Automatica Theory/Methodology best paper prize, the 2006 George S. Axelby Outstanding Paper Award, and the 2009 Ruberti Young Researcher Prize. Dr. Hespanha is a Fellow of the IEEE and an IEEE distinguished lecturer since 2007.
Detailed curriculum vitae
As computers, digital networks, and embedded systems become ubiquitous and increasingly complex, one needs to understand the coupling between logic-based components and continuous physical systems. This prompted a shift in the standard control paradigm — in which dynamical systems were typically described by differential or difference equations — to allow the modeling, analysis, and design of systems that combine continuous dynamics with discrete logic. This new paradigm is often called hybrid, impulsive, or switched control.
Good starting points to learn about hybrid control systems include
Our research covers several aspects of hybrid/switched systems:
Publications on this work can be found at the following
While some of our work on hybrid systems is of a theoretical nature, it is motivated by several high-impact application areas, including networked control systems, cooperative control of autonomous systems, communication networks, and systems biology. Details on some of these application areas are included below.
NETWORKED CONTROL SYSTEMS (NCSs)
Network Control Systems (NCSs) are spatially distributed systems in which the communication between sensors, actuators and controllers occurs through a shared band-limited digital communication network. The use of a multi-purpose shared network to connect spatially distributed elements results in flexible architectures and generally reduces installation and maintenance costs. Consequently, NCSs have been finding application in a broad range of areas such as the automotive and aerospace industries, mobile sensor networks, remote surgery, automated highway systems, and unmanned aerial vehicles.
The interest in NCSs has been steadily rising due to several factors:
Inexpensive computation and ubiquitous embedded sensing, actuation, and communication provide tremendous opportunities for societal impact, but also great challenges in the design of networked control systems, because the traditional unity feedback loop that operates in continuous time or at a fixed sampling rate is not adequate when sensor data arrives from multiple sources, asynchronously, delayed, and possibly corrupted. Moreover, the design of NCSs poses novel questions that lie at the intersection of control, communication, and signal processing:
Our research on NCSs is motivated by the following observations:
A good starting point to learn about the design of controllers for NCSs is the following survey:
J. Hespanha, P. Naghshtabrizi, Y. Xu. A Survey of Recent Results in Networked Control Systems. Proc. of IEEE Special Issue on Technology of Networked Control Systems, 95(1):138—162, Jan. 2007. [bibtex] [pdf]
Publications on this work can be found at the following URL:
COOPERATIVE CONTROL OF AUTONOMOUS AGENTS
Robotic agents have the potential to free humans from unpleasant, dangerous, and/or repetitive tasks in which human performance would degrade over time due to fatigue. Currently, assembly lines for the automotive industry are highly automated using robots for welding, painting, machine loading, parts transfer and assembly, etc. However, these robotic systems have little autonomy and essentially continuously execute preprogrammed motions with little cognition of their surroundings.
The expression autonomous agents refers to the control of ground, aerial or aquatic robots so as to perform tasks that require a significant amount of information gathering, data processing, and decision making, without explicit human control. Especially promising (and challenging) is the use of groups of robots to perform complex tasks in a cooperative fashion. These tasks include:
The interest in this area sparked in the last few years because of two main factors:
Two key technical challenges in this area have driven our research:
Publications on this work can be found at the following URLs:
ADVANCED SENSING AND ACTUATION
The emergence of novel sensor and actuator suites are creating significant opportunities (and challenges!) for control engineers.
From the actuation side, advances in materials and fabrication techniques are resulting in high-torque/low-power/low-weight electric motors at a low cost. Micro-Electro-Mechanical Systems (MEMS, which result from the integration of mechanical elements and electronics on a common silicon substrate) and smart materials (i.e., materials whose properties can be significantly changed in a controlled fashion by external stimuli, such as stress, temperature, moisture, pH, electric or magnetic fields) are also starting to be used for very low-power and high-efficiency mechanical actuators.
MEMS technology is also revolutionizing sensing, especially for what regards small, low-power, low-cost sensors for navigation. Imaging is another sensing technology with growing importance. Imaging is especially attractive because it is passive, non-contact, very versatile, and low-cost. However, it introduces several technical challenges:
The key driving force behind our research in this area is the need to develop control algorithms for systems with advanced sensors and actuators that overcome the following challenges:
Publications on the use of imaging sensors in control can
be found at the following URL:
Systems biology seeks to understand living organisms by modeling and analyzing the complex interactions of genes, proteins, and other cell elements. These interactions occur through biochemical reactions that take place inside the cell or close to the cell membrane. Particularly crucial are the chemical reactions that participate in the complex regulatory mechanism that control cell functions such as the heat shock response, which protects a cell against environmental stresses (heat, cold, oxygen deprivation, etc.); apoptosis, which leads to a programmed cell death with minimal harm to nearby cells; chemotaxis, which permits a cell to move in search of food or to flee from poisons; or cell division, which results in two daughter cells from a single parent cell.
Ultimately, the goal of systems biology is to transform the methodology used for drug discovery, which is currently dominated by mass experimentation. By enlarge, when faced with a new disease or condition, drug developers expose compromised cell cultures to a large number of chemical compounds in the hope of finding a substance that "treats" the disease. Finding such a substance, triggers a second phase of experiments aimed at making sure that this substance does not harm individual cells or organs. In addition, a mechanism must be found to deliver the treatment to the right cells. The goal of systems biology is to guide this effort so that most effort is spent searching among the most promising types of substances and making sure that all cell functions that could be affected by the potential treatment are not negatively affected.
What makes finding cures for diseases especially challenging is the fact that cells are exquisitely regulated mechanisms with multiple feedback loops. Suppose for example that it is discovered that a particular disease develops because a set of cells is lacking protein X. A naive cure would be to inject X into the blood stream in an attempt to increase its concentration. However, this can actually have a completely opposite effect if the body interprets the high concentration of X in the blood as a signal that this protein is being overproduced and shuts down the natural production of X. This is not unlike the apparent paradox that results from placing a heater next to the temperature feedback sensor of a central heating systems and suddenly realizing that the whole building got much colder.
The goal of our research has been to develop tools to analyze complex networks of biochemical reactions. Motivated by the above observations, we are especially interested in constructing dynamical models that highlight the feedback mechanisms in cell regulation and that provide a qualitative and quantitative understanding of how the different genes, proteins, and other cell elements contribute to the observed behavior (phenotype).
Gene regulatory mechanisms typically involve a large number of distinct chemical species, but it is common for some of these species to be represented by just a few molecules, which can invalidate models based on the deterministic chemical rate equation. Our work has been using tools developed for Stochastic Hybrid Systems to construct differential equations that accurately model the stochastic effects present in biochemical networks.
Publications on this work can be found at the following
Software to compute moment dynamics can be found at the
The full list of control courses at UCSB is available at: http://www.ece.ucsb.edu/~hespanha/ccdc/
IN THE NEAR FUTURE
TAUGHT IN THE PAST
|Recent talks & events|
"Why Should I Care About Stochastic Hybrid Systems" Semiplenary talk at the 49th IEEE Conference on Decision and Control, Dec. 2010. [slides]
"Networked Control Systems: Protocols and Algorithms" Invited talk at the Symposium on Recent Trends in Networked Systems and Cooperative Control (NESCOC'09), Sep. 28, 2009. [slides]
"Networked Control System Protocols Modeling & Analysis using Stochastic Impulsive Systems" Inivited talk at the Workshop on Networked Induced Constraints in Control, Sep 29, 2009. [slides]
"Switched Systems: Mixing Logic with Differential Equations" Plenary talk at the IX Brazilian Symposium of Inteligent Automation (SBAI'09), Sep. 20, 2009. [slides]
"Stochastic Hybrid Systems: Modeling, analysis, and applications to networks and biology” Electrical Engineering and Computer Science Seminar, UC Berkeley, May 1, 2006. [slides]
"Internet Routing Games” Invited talk at the Workshop on Learning and Information in Games and Control, California Institute of Technology, Mar. 22, 2006. [slides]
"Stochastic Modeling of Chemical Reactions (and more…)” UC Santa Barbara Theoretical Ecology Seminar, Mar. 17, 2006. [slides]
"Game theoretical approaches to secure and robust routing” UC Berkeley Seminar, Apr. 22, 2005. [slides]
"Stochastic hybrid systems: Applications to communications networks” 43th CDC Workshop, Paradise Island, Bahamas, Dec. 13, 2004. [slides]
"Communication constraints and latency in Networked Control Systems” UC Riverside Seminar, Nov. 15, 2004. [slides]
"Switched Systems: Mixing Logic with Differential Equations. Plenary talk at Controlo 2002, 5th Portuguese Conference on Automatic Control, University of Aveiro, September 5-7, 2002 [slides].
CONFERENCES AND WORKSHOPS
Course on Modeling Analysis and Design of Hybrid Control Systems at the HYCON Graduate School on Control from the European Embedded Control Institute, February 12-16, 2007.
Trajectory-Tracking, Path-Following, and Formation Control of Autonomous Vehicles. Workshop for the 45th IEEE Conference on Decision and Control, San Diego, CA, December 12, 2006.
Hybrid Systems Biology. Workshop for the 45th IEEE Conference on Decision and Control, San Diego, CA, December 12, 2006.
12th Southern California Non-linear Control Workshop. Santa Barbara, California, June 2, 2006.
9th International Workshop on Hybrid Systems: Computation and Control (HSCC 2006), Santa Barbara, California, from March 29--31, 2006.
Summer Study in Brazil: US undergraduate and graduate students at UCSB may apply for summer study in Brazil. The program consists of 6 weeks of study in language and applied mathematics in Rio de Janeiro, followed by a 8-10 week project in Campinas (near Sao Paolo). Funding for travel and local expenses is provided through the FIPSE program. More details at http://www.cds.caltech.edu/~murray/cdsa/.
Stochastic Hybrid Systems: Theory and Applications. Workshop for the 43rd IEEE Conference on Decision and Control, December 13, 2004.
SensorNets@UCSB Spring’04 Mini-Symposium, Bldg 406 conference room, 9-12:30noon, May 17, 2004.
8th Southern California Non-linear Control Workshop. Santa Barbara, California, May 7-8, 2004.
4th Southern California Non-linear Control Workshop. Santa Barbara, California, May 31—June 1, 2002.
Modeling and control of Large-scale distributed systems. Winter 2002 seminar series.
Logic-based Control. Tutorial session for the 10th Mediterranean Conference on Control and Automation, Lisbon, Portugal, July 9-12, 2002.
Control Using Logic and Switching. Tutorial workshop for the 40th IEEE Conference on Decision and Control in Orlando, Florida, December 4-7, 2001.
Touch in Virtual Environments. One-day conference on Haptics sponsored by the Integrated Media Systems Center and the Annenberg School for Communication, University of Southern California, Los Angeles, February 23, 2001.
Unmanned Air Vehicles: Coordination, Sensing, and Control. Tutorial workshop for the 38th Conference on Decision and Control in Phoenix, Arizona, December 7-9, 1999 and also for the IEEE International Conference on Control Applications/IEEE International Symposium on Computer-Aided Control Systems Design, Anchorage Hilton, Anchorage, Alaska, September 25-27, 2000.
System Theory on the Eve of the 21st Century. Mini-course on state-of-the-art topics on system theory by top experts in the field, Arrábida Courses Summer University, Monastery of Arrábida, Arrábida, Portugal, June 28th - July 3rd, 1999.
|Students, Postdocs, and Visitors|
Look at this page.
Hari Sivakumar, BS and MS from Univ. Michigan, Ann Arbor in Electrical Engineering, started PhD in Fall 2010.
David Copp, BS from University of Arizona, Tucson, started PhD in Fall 2011.
Justin Pearson, BS from the University of California, Santa Barbara and MS degree from Stanford University, started PhD in Fall 2012.
Henrique Ferraz, BS from Federal University of Rio de Janeiro, Brazil, started PhD in Fall 2013.
Steven Quintero, PhD 2014, BS from Embry-Riddle Aeronautical University, currently a Controls Engineer at AeroVironment, Simi Valley, CA (as of Oct. 2015)
Michael Nip, PhD 2014 (co-advised with Prof. Mustafa Khammash), BS from University of California, Berkeley, currently Data Science Fellow at Insight Data Science, San Francisco, CA (as of Oct. 2015).
Farshad R.Pour Safaei, PhD 2013, BS from University of Tehran, Iran, currently a E-Motor Control Algotithm Engineer, Mercedes-Benz Research & Development, Detroit, MI (as of Jan. 2015)
William (Josh) Russell, PhD 2012, BS from University of Washington, Seattle, currently a Quantitative Analyst at Sabrient Systems, Santa Barbara, CA (as of Mar. 2013).
Jason Isaacs, PhD 2012, BS from Eastern Kentucky University, Richmond, currently Assistant Professor at the Computer Science Department, California State University, Channel Islands, Camarillo, CA (as of Oct. 2015).
Duarte Antunes, PhD 2011 from Inst. Superior Técnico, Lisbon, Portugal (co-advised with Prof. Carlos Silvestre), Licenciature (5 year degree) and MS degrees in Electrical and Computer Engineering, currently Assistant Professor at Eindhoven University of Technology, The Netherlands (as of Jan. 2015)
Alexandre Mesquita, PhD 2010, Undergraduate Degree in Electrical Engineering 2006 (Divisão de Engenharia Eletrônica, Instituto Tecnológico de Aeronáutica - ITA), currently Assistant Professor at the Federal University of Minas Gerais, Brazil (as of Mar. 2013).
Shaunak Bopardikar, PhD 2010 (co-advised with Prof. Francesco Bullo), BT/MT in Mechanical Engineering 2004 (Indian Institute of Technology, Bombay), currently Senior Research Scientist/Engineer, United Technologies Research Center Inc., Berkeley (as of Mar. 2013).
Abhyudai Singh, PhD 2008, BT in Mechanical Engineering (Indian Institute of Technology, Kaput), currently Assistant Professor at the Electrical and Computer Engineering Dept., University of Delaware (as of Jan. 2015).
James Riehl, PhD 2007, BS in Engineering 2002 (Harvey Mudd College), currently Systems Design Engineer Specialist, AT&T Government Solutions, Inc. (as of Apr. 2010).
Payam Naghshtabrizi, PhD 2007, BS in Electrical Engineering 1997 (Sharif University of Technology, Tehran, Iran), currently at the Ethan Corporation (as of Mar. 2013).
Prabir Barooah, PhD 2007, BT 1996 (Indian Institute of Technology, Kanpur), currently Associate Professor at the Department of Mechanical Engineering, University of Florida, Gainsville (as of Jan. 2015).
Chansook Lim, PhD 2006, BS (Seoul National University, Korea), currently Assistant Professor at the Department of Computer Science Hongik University, Korea (as of Feb. 2007)
Yonggang Xu, PhD 2006, BS 1998 (Tsinghua University, Beijing, China), currently Director of Research at 4INFO, Inc., San Mateo, CA, USA (as of Mar. 2013)
Junsoo Lee, PhD 2004, BS 1990 (Seoul National University, Korea), currently Assistant Professor at the Department of Computer Science Sookmyung Women's University, Korea (as of Apr. 2006)
Hakan Kizilocak, PhD 2005, Associate Scientist at Intelligent Optical Systems, Inc., Torrance, CA, USA (as of Oct. 2005)
Kyriakos Vamvoudakis, PhD 2011 (University of Texas at Arlington)
Masashi Wakaiki, PhD 2014 (University of Kyoto, Japan)
Kunihisa Okano, PhD 2013 (Tokyo Institute of Technology, Japan)
Jason Isaacs, PhD 2012 (Assistant Professor at the Computer Science Department, California State University, Channel Islands, Camarillo, CA, as of Oct. 2015)
Farshad R.Pour Safaei, PhD 2013 (E-Motor Control Algotithm Engineer, Mercedes-Benz Research & Development, Detroit, MI, as of Jan. 2015)
Michelle Chong, PhD 2013 (University of Melbourne, Australia)
Steven Quintero, PhD 2014 (Controls Engineer at AeroVironment, Simi Valley, CA, as of Oct. 2015)
Luis Rodolfo Garcia Carrillo, PhD 2011 (Assistant Professor at Texas A&M University-Corpus Christi, as of Aug. 2013)
Shaunak Bopardikar, PhD 2010 (Senior Research Scientist, United Technologies Research Center, Berkeley, CA, as of Aug. 2013).
Daniel Klein, PhD 2007 (Intellectual Ventures, Seattle, WA, as of Aug. 2013).
Shengxian Jian, PhD 2007 (PhD from University of Illinois, Urbana Champaign).
Pedro Aguiar, 2002—2005 (Assistant Professor at the Dept. of Electrical and Computer Engineering, University of Porto, Portugal, as of Aug. 2013).
Vladimir Dobrokhodov, 2004—2005 (Research Associate Professor at the Dept. of Mechanical and Astronautical Engineering, Naval Postgraduate School, Monterey, California, USA, as of Dec. 2005).
Jongrae Kim, 2002—2004 (Associate Professor in Institute of Design, Robotics & Optimisation, School of Mechanical Engineering, University of Leeds, UK, as of Sep. 2014).
CURRENT AND FUTURE VISITORS
This list only contains visitors that will stay at UCSB for 2 weeks or longer (list sorted by date of last arrival)
Dr. Masashi Wakaiki, Dept. of Applied Analysis and Complex Dynamical Systems, Kytoto University, Japan, 4/10/2014-3/30/2015.
Dr. Kunihisa Okano, Dept. of Computational Intelligence and Systems Science, Tokyo Institute of Technology, Japan,9/1/13-8/31/15.
This list only contains visitors that stayed at UCSB for 2 weeks or longer (list sorted by date of last departure)
Victor Campus, Federal Univ. of Minas Gerais, Brazil, 8/1/2014-2/1/2015.
Prof. Adolfo Bauchspiess, Dept. of Electrical Eng., Brasilia University, Brazil, 2/10/2014-8/10/2014.
Prof. Márcio Fantini Miranda, Federal University of Minas Gerais, Brazil, 8/31/2012-08/31/2013.Prof. Kenji Hirata, Dept. of Mechanical Engineering, Nagaoka University of Technology, Japan, 9/1/08-8/31/09, 9/13/2012-3/31/2013.
Prof. Leonardo Torres, Federal University of Minas Gerais, Brazil, 10/1/2010-04/15/2011
Francesco Papi, PhD student (advisor: Prof. Luigi Chisci), University of Florence, Italy, 09/01/09-08/31/10
Prof.Ole Morten Aamo, Norwegian University of Science and Technology, 8/1/09-7/31/10
Allessandro Borri, PhD student (advisor: Prof. Marika Di Benedetto), L'Aquila University, Italy, 9/15/09-6/15/10
Vahid Hassani, PhD student (advisor: Prof. Antonio Pascoal), Institute for Systems and Robotics, Instituto Superior Tecnico, Lisbon, Portugal, 1/15/01 - 5/15/10
Andrea Alessandretti, MS student, University of Perugia, Italy, 10/22/09-04/28/10
Duarte Antunes, PhD student, Inst. Superior Técnico, Lisbon, Portugal, 8/20/07-12/20/07, 4/4/08-6/28/08, 10/1/08-12/12/08, 8/20/09-11/5/09.
Pietro Tessi, PhD student, University of Florence, Italy, 9/3/08-2/25/09
Prof. Carlos Silvestre, Institute for Systems and Robotics, Instituto Superior Tecnico, Lisbon, Portugal, 5/20/08-6/6/08
Prof. Ti-Chung Lee, EE dept., Minghsin Univ. of Science & Tech, Taiwan, 8/3/06-8/24/06 and 7/13/07-8/3/07
Hege Sande, PhD student, Norwegian University of Science and Technology, 1/1/07-6/1/07
Paolo Santesso, PhD student, Padova Univ., Italy, 9/1/06-5/31/07
Prof. Nathan Van de Wouw, Eindhoven Univ. of Technology, Netherlands, 10/01/06-2/1/07
Prof. David Angeli, University of Firenze, Italy, 11/18/06-12/3/06
Aksel Andreas Transeth, PhD student, NTNU in Trondheim, Norway, 10/1/06-12/1/06
José Pedro Gaivão, PhD student, Porto Univ., Portugal, 8/4/06-11/1/06
|Information for visitors|
Lodging information can be found in this page.
DIRECTIONS TO UCSB
From Los Angeles take the 101N and take the UCSB/Highway 217 exit a few miles after Santa Barbara. Drive up to the end of 217 and go under UCSB's Henly Gate (also known as the East gate). At the rotunda, take the first right exit and then turn left on the first lights. This will get into a large parking structure called P10. All parking in campus is paid, so you need to get a visitor's permit at an automated machine inside the parking structure. Monday-Friday visitor permits are valid in "C", (Commuter) spaces and parking lots.
My office is in the fifth floor of Harold Frank Hall (also known as HFH), room 5157. This building is quite close from the parking structure P10. You can find P10 and HFH at the right-edge of this map. Henly Gate is at D6, P10 at D5, and HFH at E5.
More information can be found at UCSB's visitor center page.
Use http://maps.google.com/ to find directions to UCSB. Use the following address for UCSB:
Google maps has a pretty good resolution in the Santa Barbara area. Click on the link above to see a satellite image of my building.
FOOD & FUN in SANTA BARBARA
I compiled a list of Santa Barbara restaurants and bars that I like. You can get it from this page.
My Erdös number is 4 (one of the paths is given in the table below). If you do not know what this means you may look it up at http://www.oakland.edu/enp/. However, it is not that interesting anyway.
Useful links (too many and outdated, I know...)
My public DSA key.
|My free/busy time :-<|