Ian Mitchell

Associate Professor Computer Science Department, University of British Columbia. UBC Contacts: email: mitchell (at) cs (dot) ubc (dot) ca office: ICICS/CS 217 tel: (604) 822-2317 fax: (604) 822-5485 mail: 2366 Main Mall, Vancouver, BC, CANADA, V6T 1Z4

Courses

Courses numbered 5xx are graduate level. Courses numbered 4xx and below are undergraduate. A note to UBC students: as of the last time I checked, you could count up to two courses from the other category toward your degree (eg grad courses for undergraduates, ugrad courses for grad students). Check with your advisor and the instructor for permission. I am generally quite happy to have students take courses at either level.

I try to keep the graduate course links live, but the undergraduate course links for older courses may point to more recent offerings.

• 2011-2012:
  • Spring: CPSC 303 Numerical Approximation and Discretization.
  • Spring: CPSC 535Z Topics in Simulation and Optimization Reproducible Research and Software Carpentry.
  • Fall: CPSC 515 Computational Robotics.
• 2010-2011:
  • On sabbatical.
• 2009-2010:
  • Spring: CPSC 301 Computing in the Life Sciences. This is a brand new course for this year, and is designed for students from outside Computer Science.
  • Fall: CPSC 513 Integrated Systems Design: Introduction to Formal Verification.
• 2008-2009:
  • Spring: CPSC 303 Numerical Approximation and Discretization (in WebCT Vista). Although I would prefer to make most of the website publicly visible, because of Vista's limitations you will not be able to access the website unless you are registered for the course. If you would like to get an idea about what the course will cover without registering, you can look at the 2007-2008 web page, which had very similar material.
  • Fall: CPSC 513 Integrated Systems Design: Introduction to Formal Verification.
• 2007-2008:
  • Spring: CPSC 303 Numerical Approximation and Discretization.
  • Spring: CPSC 532M Topics in Artificial Intelligence: Dynamic Programming and Approximate Dynamic Programming. I have no plans to offer this course again before 2011.
  • Fall: nothing.
• 2006-2007:
  • Spring: CPSC 303 Numerical Approximation and Discretization.
  • Spring: CPSC 542D Topics in Numerical Computation: Level Set Methods: Dynamic Implicit Surfaces and the Hamilton-Jacobi Equation. I have no plans to offer this course again before 2011.
  • Fall: nothing.
• 2005-2006:
  • Spring: CPSC 303 Numerical Approximation and Discretization. Offered annually.
  • Fall: CPSC 513 Integrated Systems Design: Introduction to Formal Verification. This course is significantly different than previous years' CPSC 513 offerings (by Alan Hu). A similarly broad version of this course will be offered by Alan Hu in Spring 2007.
• 2004-2005:
  • Spring: CPSC 403 Numerical Solution of Ordinary Differential Equations. As of 7/2006, this course is not scheduled to be taught again.
  • Fall: CPSC 542D Topics in Numerical Computation: Level Set Methods: Dynamic Implicit Surfaces and the Hamilton-Jacobi Equation. This course will be offered again in 2006-2007.
• 2003-2004:
  • Fall: CPSC 538A Topics in Computer Systems: Computational Techniques for Hybrid and Embedded Systems Design. As of 7/2006, I do not plan to offer this course again.

Reproducible Research

• The workshop Reproducible Research: Tools & Strategies for Scientific Computing was held July 13-15, 2011 at UBC in coordination with the Applied Mathematics Perspectives series of ICIAM 2011 satellite meetings.
  • The talks were recorded and are available as streaming videos (the current format requires Silverlight; let me know if you require a different format).
  • The organizers are currently investigating the possibility of a special issue on reproducible research in the computational and data sciences; stay tuned for more information.

Research

My research agenda includes: Algorithms for designing and analyzing hybrid and embedded systems. Level set algorithms for time-dependent Hamilton-Jacobi partial differential equations (PDEs). Single pass (FMM, OUM) and sweeping algorithms for static Hamilton-Jacobi PDEs. High quality, publically released implementations of these algorithms. Application of these algorithms to path planning for autonomous and semi-autonomous systems. For those interested in experimenting with Level Set Methods for solving time-dependent Hamilton-Jacobi PDEs, such as those that arise in dynamic implicit surfaces and reachability, I have released: A Toolbox of Level Set Methods . I do not yet have any public code for direct approximation of static (time-independent) Hamilton-Jacobi PDEs, such as those that arise in robotic path planning. However, here are some slides discussing the relationship between path planning and Hamilton-Jacobi PDEs, various classes of algorithms for approximating the resulting PDEs, and a few extensions on which I have worked: Dynamic Programming Algorithms for Planning and Robotics in Continuous Domains and the Hamilton-Jacobi Equation. These slides were presented at the Fast Marching Method: Theoretical Underpinnings and Applications to Robotics tutorial at IROS 2008.

Selected publications:

Many of my academic publications are available online. Where permitted by the publishers, I have provided links to self-archived post-prints (if I have one) as well as the published versions (the latter usually require subscriptions). If the paper you want is not hyperlinked or if you are unable to access the publisher's web site, please email me and I may be able to provide a copy by other means.

Journals

• "An Ordered Upwind Method with Precomputed Stencil and Monotone Node Acceptance for Solving Static Hamilton-Jacobi Equations."
  Ken Alton and Ian M. Mitchell
  Journal of Scientific Computing, online first.
  
  • The published version is available at SpringerLink.
  
  
• "Reproducible Research: Addressing the Need for Data and Code Sharing in Computational Science"
  Yale Law School Roundtable on Data and Code Sharing
  Computing in Science and Engineering, volume 12, number 5, pp. 8-13 (2010).
  
  • The link above is to the open access published copy. In other words, you should be able to get it for free. If you cannot, let me know.
  
  
• "Fast Marching Methods for Stationary Hamilton-Jacobi Equations with Axis-Aligned Anisotropy"
  Ken Alton and Ian M. Mitchell
  SIAM Journal of Numerical Analysis, volume 47, number 1, pp. 363-385.
  
  • ©2008 Society for Industrial and Applied Mathematics.
  • SIAM copy.
  
  
• "The Flexible, Extensible and Efficient Toolbox of Level Set Methods." (almost the version accepted for publication)
  Ian M. Mitchell.
  Journal of Scientific Computing, volume 35, numbers 2-3, pages 300-329 (June 2008).
  
  • The only difference between the version linked above and the version of the paper accepted for publication is that the version linked above omits an appendix of tables containing the alpha-beta parameters for the temporal integrator schemes from section 3.1. Readers seeking those parameter values may find them in Spiteri & Ruuth (citation [38]), the function odeCFLab in the code download below, or in the Springer published version of this article.
  • The published version is available at SpringerLink.
  • Code for the new features described in section 3: tarball or zipfile. Requires version 1.1 of the Toolbox of Level Set Methods.
  • Slides for the related talk, providing a brief overview of the features of the Toolbox version 1.1 (paper sections 2.1 - 2.3 & 2.5), some internal design patterns used for flexibility and efficiency (paper section 2.4), the new SSP RK integrators and a new motion by mean curvature scheme (paper section 3). This talk was first given at the International Conference on Industrial and Applied Mathematics 2007.
  
  
• "Aircraft Autolander Safety Analysis Through Optimal Control-Based Reach Set Computation"
  Alexandre M. Bayen, Ian M. Mitchell, Meeko M. K. Oishi and Claire J. Tomlin
  AIAA Journal of Guidance, Control & Dynamics, volume 30, number 1, pages 68-77 (January-February 2007).
  
  • Unfortunately, AIAA does not appear to permit self-archiving. If you are a member of AIAA, lobby them to allow self-archiving.
  • Of course, there may be other places on the web where you can find the article.
  
  
• "Control Synthesis for State Constrained Systems and Obstacle Problems."
  Alexander B. Kurzhanski, Ian M. Mitchell and Pravin Varaiya.
  Journal of Optimization Theory and Applications, volume 128, number 3, pages 499-521 (March 2006).
  • The published version is available at SpringerLink.
  • A conference version of this work appeared in the IFAC Symposium on Nonlinear Control Systems (September, 2004).
  • Some m-files for the example from the IFAC paper are available (also a zip version). They require the Toolbox of Level Set Methods to execute.
  
  
• "Online Safety Calculations for Glideslope Recapture"
  Jonathan Sprinkle, Aaron D. Ames, J. Mikael Eklund, Ian M. Mitchell and Shankar S. Sastry
  Innovations in Systems and Software Engineering, volume 1, number 2, pp. 157-175 (July 2005).
  
  • The published version is available at SpringerLink.
  
  
• "A Time-Dependent Hamilton-Jacobi Formulation of Reachable Sets for Continuous Dynamic Games."
  Ian M. Mitchell, Alexandre M. Bayen and Claire J. Tomlin.
  IEEE Transactions on Automatic Control, volume 50, number 7, pages 947-957 (July 2005).
  
  • ©2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore copy
  
  
• "Overapproximating Reachable Sets by Hamilton-Jacobi Projections." (version accepted for publication)
  Ian Mitchell and Claire Tomlin.
  Journal of Scientific Computing, volume 19, number 1-3, pages 323-346 (December 2003).
  
  • The published version is available at SpringerLink.
  
  
• "Computational Techniques for the Verification of Hybrid Systems."
  Claire Tomlin, Ian Mitchell, Alexandre Bayen and Meeko Oishi.
  Proceedings of the IEEE, volume 91, number 7, pages 986-1001 (July 2003).
  
  • ©2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore copy
  • The proof of the correctness of this formulation of reachable sets (at least for continuous systems) appears in Mitchell, Bayen & Tomlin, IEEE TAC 2005.
  
  
• "A Hybrid Particle Level Set Method for Improved Interface Capturing" (early draft)
  Douglas Enright, Ronald Fedkiw, Joel Ferziger and Ian Mitchell.
  Journal of Computational Physics, volume 183, number 1, pp. 83-116 (November 2002).
  
  • The published version is available from the Journal of Computational Physics at Science Direct.

Single-Track Conferences

• "Scalable Calculation of Reach Sets and Tubes for Nonlinear Systems with Terminal Integrators: A Mixed Implicit Explicit Formulation" (version accepted for publication)
  Ian M. Mitchell.
  Hybrid Systems Computation and Control (April 2011).
  • The notice required by the ACM: ©ACM, 2011. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in Proceedings of 14th International Conference on Hybrid Systems: Computation & Control (April 2011), doi: 10.1145/1967701.1967718.
  • Slides from the talk given at the conference.
  • Code for computing the examples (zipfile). Requires the Toolbox of Level Set Methods version 1.1.
  
  
• "Level Set Methods for Computing Reachable Sets of Hybrid Systems with Differential Algebraic Equation Dynamics" short paper (version accepted for publication)
  Ian M. Mitchell and Yoshihiko Susuki.
  Hybrid Systems Computation and Control (April 2008).
  • Appeared in Springer-Verlag's Lecture Notes in Computer Science (LNCS) 4981, pp. 630-633.
  • The published version is available at SpringerLink.
  • This very short paper is intended as a companion to the ACC 2008 submission listed below, and it will not make much sense without reading that paper as well.
  • Code for computing the hybrid reachable tube (tarball) or hybrid reachable tube (zipfile). Requires the Toolbox of Level Set Methods version 1.1.
  
  
• "Comparing Forward & Backward Reachability as Tools for Safety Analysis." (version accepted for publication)
  Ian M. Mitchell.
  Hybrid Systems Computation and Control (April 2007).
  • Appeared in Springer-Verlag's Lecture Notes in Computer Science (LNCS) 4416, pp. 428-443.
  • The published version is available at SpringerLink.
  • Slides (3.4 MB) from the talk given at the conference.
  • The technical report version TR-2006-23 contains all the proofs, plus several additional examples.
  
  
• "A Toolbox of Hamilton-Jacobi Solvers for Analysis of Nondeterministic Continuous and Hybrid Systems." (version accepted for publication)
  Ian M. Mitchell and Jeremy A. Templeton.
  Hybrid Systems Computation and Control (March 2005).
  • Appeared in Springer-Verlag's Lecture Notes in Computer Science (LNCS) 3414, pp.480-494.
  • The published version is available at SpringerLink.
  • Slides (3.5 MB) from the talk given at the conference.
  • Figure 1(b) on p. 486 was supposed to contain an image with a square target set. Contrary to the text, the time to reach function for the circular target set that actually appeared is continuous (but not Lipschitz continuous). The time to reach function for the square target set (shown on p. 11 of the slides) is discontinuous and corresponds to the text. Both versions can be produced with the example codes below.
  • Examples from section 3 (Cost to Go) are included as part of the Toolbox of Level Set Methods version 1.1.
  • Examples from sections 4 (Stochastic Continuous Systems) and 5 (Stochastic Hybrid Systems) are available as a separate download. These codes also require version 1.1
  
  
• "Validating a Hamilton-Jacobi Approximation to Hybrid System Reachable Sets."
  Ian Mitchell, Alexandre Bayen and Claire Tomlin.
  Hybrid Systems Computation and Control (April 2001).
  • Appeared in Springer-Verlag's Lecture Notes in Computer Science (LNCS) 2034, pp. 418-432.
  • The published version is available at SpringerLink.
  • This work has since appeared in a more refined form in Tomlin, Mitchell, Bayen & Oishi, Proc. IEEE 2003 and Mitchell, Bayen & Tomlin, IEEE TAC 2005.
  
  
• "Level Set Methods for Computation in Hybrid Systems."
  Ian Mitchell and Claire Tomlin.
  Hybrid Systems Computation and Control (April 2000).
  • Appeared in Springer-Verlag's Lecture Notes in Computer Science (LNCS) 1790, pp. 310-323.
  • The published version is available at SpringerLink.
  • This work has since appeared in a more refined form in Tomlin, Mitchell, Bayen & Oishi, Proc. IEEE 2003 and Mitchell, Bayen & Tomlin, IEEE TAC 2005.
  
  
• "Reachability Analysis Using Polygonal Projections."
  Mark Greenstreet and Ian Mitchell.
  Hybrid Systems Computation and Control (April 1999).
  • Appeared in Springer-Verlag's Lecture Notes in Computer Science (LNCS) 1569, pp. 103-116.
  • The published version is available at SpringerLink.
  
  
• "Integrating Projections."
  Mark Greenstreet and Ian Mitchell.
  Hybrid Systems Computation and Control (April 1998).
  • Appeared in Springer-Verlag's Lecture Notes in Computer Science (LNCS) 1386, pp. 159-174.
  • The published version is available at SpringerLink.
  
  

Multi-Track Conferences

• "Efficient Dynamic Programming for Optimal Multi-Location Robot Rendezvous"
  Ken Alton and Ian M. Mitchell.
  Proceedings of the Conference on Decision and Control, pp. 2794-2799 (December 2008).
  • ©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore copy
  • To see the conference talk, visit Ken Alton's web page.
  
  
• "Level Set Methods for Computing Reachable Sets of Systems with Differential Algebraic Equation Dynamics"
  Elizabeth Ann Cross and Ian M. Mitchell.
  Proceedings of the American Control Conference, pp. 2260-2265 (June 2008).
  • ©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore copy.
  • Code (requires version 1.1 of the Toolbox of Level Set Methods): reachable sets on the constraint manifold (tarball) or reachable sets on the constraint manifold (zipfile).
  
  
• "Multiple Aircraft Deconflicted Path Planning with Weather Avoidance Constraints"
  Jessica J. Pannequin, Alexandre M. Bayen, Ian M. Mitchell, Hoam Chung & Shankar Sastry
  Proceedings of the AIAA Guidance, Navigation, and Control Conference (August 2007).
  
  • Unfortunately, AIAA does not appear to permit self-archiving. It looks like copies can be ordered from AIAA's publications web site, but my institution does not subscribe so I cannot verify that fact. If you are a member of AIAA, lobby them to allow self-archiving.
  • Of course, there may be other places on the web where you can find the article.
  
  
• "Computing Viable Sets and Reachable Sets to Design Feedback Linearizing Control Laws Under Saturation"
  Meeko Oishi, Ian Mitchell, Claire Tomlin and Patrick Saint-Pierre.
  Proceedings of the 45th IEEE Conference on Decision and Control, pages 3801-3807 (December 2006).
  • ©2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore copy
  • IEEE Xplore AbstractPlus
  
  
• "Optimal Path Planning under Different Norms in Continuous State Spaces."
  Ken Alton and Ian M. Mitchell.
  Proceedings of the International Conference on Robotics and Automation, pp. 866-872 (May 2006).
  
  • ©2006 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore copy
  
  
• "Control Synthesis for State Constrained Systems and Obstacle Problems."
  Alexander B. Kurzhanski, Ian M. Mitchell & Pravin Varaiya.
  Proceedings of the IFAC Symposium on Nonlinear Control Systems (September 2004).
  
  • I have been unable to find a published version online, but there is a journal version (subscription required) that appeared in the Journal of Optimization Theory and Applications. For more details, see the journal version's entry above.
  • Some m-files for the example are available (also a zip version). They require the Toolbox of Level Set Methods to execute.
  
  
• "Continuous Path Planning with Multiple Constraints."
  Ian M. Mitchell and Shankar Sastry.
  Proceedings of the 42nd IEEE Conference on Decision and Control, pages 5502-5507 (December 2003).
  • ©2003 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore AbstractPlus
  • An extended version is available as UC Berkeley Engineering Research Laboratory Technical Report UCB/ERL M03/34 (August 2003). Note that the equations in the appendix for T1 - T4, condition (5) and Pi(x0) are incorrect. We are presently (July 2007) in review on an extension which will fix these problems.
  
  
• "A Differential Game Formulation of Alert Levels in ETMS Data for High Altitude Traffic."
  Alexandre Bayen, Shriram Santhanam, Ian Mitchell and Claire Tomlin.
  Proceedings of the AIAA Guidance, Navigation, and Control Conference (August 2003).
  
  • Unfortunately, AIAA does not appear to permit self-archiving. It looks like copies can be ordered from AIAA's publications web site, but my institution does not subscribe so I cannot verify that fact. If you are a member of AIAA, lobby them to allow self-archiving.
  • Of course, there may be other places on the web where you can find the article.
  
  
• "Hybrid Verification of an Interface for an Automatic Landing."
  Meeko Oishi, Ian Mitchell, Alexandre Bayen, Claire Tomlin and Asaf Degani.
  Proceedings of the 41st IEEE Conference on Decision and Control, pp. 1607-1613 (December 2002).
  
  • ©2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
  • IEEE Xplore AbstractPlus
  
  

Technical Reports and Other Publications

• "A Toolbox of Level Set Methods."
  Ian M. Mitchell.
  UBC Department of Computer Science Technical Report TR-2007-11 (June 2007).
  
  • This techrep is the documentation for the current version of the Toolbox, and is included in the Toolbox download.
  
  
• "Comparing Forward and Backward Reachability as Tools for Safety Analysis."
  Ian M. Mitchell.
  UBC Department of Computer Science Technical Report TR-2006-23 (April 2007).
  
  • This is the long version of the HSCC 2007 paper, containing all of the proofs and some additional examples.
  
  
• "A Toolbox of Level Set Methods."
  Ian Mitchell.
  UBC Department of Computer Science Technical Report TR-2004-09 (July 2004).
  
  • This techrep is for version 1.0 of the Toolbox, and has thus been superceded by TR-2007-11.
  
  
• "Demonstrating Numerical Convergence to the Analytic Solution of some Backwards Reachable Sets with Sharp Features."
  Ian Mitchell.
  UBC Department of Computer Science Technical Report TR-2004-01 (January 2004).
  
  • This techrep was written to support some claims made in Mitchell, Bayen & Tomlin, IEEE TAC 2005 regarding the accuracy of the Hamilton-Jacobi PDE formulation of reachable sets.
  
  
• "Continuous Path Planning with Multiple Constraints"
  Ian Mitchell & Shankar Sastry.
  University of California at Berkeley Electronics Research Laboratory Memorandum UCB/ERL M03/34 (August 2003).
  
  • This is the long version of the CDC 2003 paper.
  • Note that the equations in the appendix for T1 - T4, condition (5) and Pi(x0) are incorrect. We are presently (July 2007) in review on an extension which will fix these problems.
  
  
• "Application of Level Set Methods to Control and Reachability Problems in Continuous and Hybrid Systems".
  Ian Mitchell.
  Stanford University Scientific Computing and Computational Mathematics Program Ph.D. Thesis (August 2002).
  
  • Note that equation (3.1) has a "v_a" on the second line that should be "v_b," and there are some technical problems with the proof given in section 2.4. Both errors are corrected in Mitchell, Bayen & Tomlin, IEEE TAC 2005.
  • Code recreating the examples from sections 3.1, 3.2 and 6.1.2 can be found in the Toolbox of Level Set Methods.
  
  
• "Games of Two Identical Vehicles."
  Ian Mitchell.
  Stanford University Department of Aeronautics and Astronautics Report (SUDAAR) 740 (July 2001).
  
  • The results described here were used to validate the accuracy of the Hamilton-Jacobi formulation of reachable sets in several of the papers listed above.
  • To my knowledge, this is the only truly three dimensional, non-convex level set (dynamic implicit surface) problem displaying characteristics that both converge to a shock and diverge for which we have an (almost) analytic solution.
  • Code for generating the (almost) analytic solution as described in section 4: tarball or zipfile.
  
  

Links

Local Research Groups:

• Scientific Computing Laboratory (SCL).
• Scientific Computing and Applied and Industrial Mathematics (SCAIM).
• Laboratory for Computational Intelligence (LCI).
• Integrated Systems Design Laboratory (ISD).
• Institute of Applied Mathematics (IAM) at UBC.
• Pacific Institute for the Mathematical Sciences (PIMS).

Conferences and Workshops:

• International Congress on Industrial and Applied Mathematics 2011. This congress (held in Vancouver!) replaces the SIAM Annual Meeting in 2011.
• International Conference on Robotics and Automation 2010
• Society for Industrial and Applied Mathematics 2010 Annual Meeting.
• Hybrid Systems Computation and Control 2010, a part of CPSWeek 2010.
• IEEE Conference on Decision and Control 2009
• Society for Industrial and Applied Mathematics 2009 Annual Meeting.
• International Conference on Robotics and Automation 2009
• Hybrid Systems Computation and Control 2009
• IEEE Conference on Decision and Control 2008
• Society for Industrial and Applied Mathematics 2008 Annual Meeting.
• International Conference on Robotics and Automation 2008
• American Control Conference 2008
• Hybrid Systems Computation and Control 2008
• IEEE Conference on Decision and Control 2007
• The SIAM annual meeting will not occur in 2007. Instead, consider the Sixth Interational Congress on Industrial and Applied Mathematics. Note that the next ICIAM will occur in Vancouver in 2011.
• American Control Conference 2007
• Hybrid Systems Computation and Control 2007
• International Conference on Robotics and Automation 2007
• IEEE Conference on Decision and Control 2006
• Society for Industrial and Applied Mathematics 2006 Annual Meeting, joint with SIAM Conference on Analysis of Partial Differential Equations.
• American Control Conference 2006
• Hybrid Systems Computation and Control 2006
• International Conference on Robotics and Automation 2006
• IEEE Conference on Decision and Control 2005
• Canadian Applied and Industrial Mathematics Society 2005 Annual Meeting
• IFAC World Congress 2005
• Society for Industrial and Applied Mathematics 2005 Annual Meeting
• American Control Conference 2005
• International Conference on Robotics and Automation 2005
• Hybrid Systems Computation and Control 2005
• IEEE Conference on Decision and Control 2004
• Pacific Northwest Numerical Analysis Seminar

Useful Stuff:

• A list of directions for generating PDF files from Windows using publicly available utilities.
• A collection of Matlab resources, with emphasis on links that can help beginners.
• The U.K. SHERPA RoMEO project, which collected and compares the publisher copyright policies for many technical societies and publishing houses.
  • Many of the publishers that I deal with have quite reasonable self-archiving policies which permit authors to post some version of their papers; however, the details vary and can be quite specific. This project summarizes the policies and has links to the actual wording, which can be quite useful if you want to keep your website legal.
  • For example, among the publishers that I have used, ACM, Elsevier, IEEE, SIAM, and Springer Verlag (including Kluwer) all get RoMEO green designations (the most author friendly designation). But remember to read the details of the publishers' policies before posting any copyrighted information.
  • Authors: Support the publishers with liberal policies. Lobby the other publishers to follow suit. Government sponsored academic research is done for the common good, and while the publishers must support their editorial staff, they should not be permitted to govern all access to our results for eternity, thereby locking out those who cannot afford expensive subscription fees.
• SIAM has a web site and brochure about careers in applied mathematics, of which scientific computing is a huge component.
• Proceedings for Hybrid Systems Computation and Control: 2011, 2010, 2009, 2008, 2007, 2006, 2005, 2004, 2003, 2002, 2001, 2000, 1999, 1998

Postdoctoral Work

Selected Topics Constrained Path Planning in continuous state spaces (images at right). Softwalls (preventing the use of commercial aircraft as weapons). Performed at (September 2002 to July 2003) 80% in the Robotics Lab, EECS Department, University of California at Berkeley 20% in the Physically Based Modeling Group, Computer Science Department, Stanford University. Postdoctoral Supervisors: Shankar Sastry from the EECS Department Ronald Fedkiw from the Computer Science Department

avi mpg

Doctoral Work

Selected Topics Calculating reachable sets for Continuous and Hybrid Systems Level Set Methods and Algorithms Performed in (September 1997 to August 2002) SCCM program, Stanford University Doctoral Supervisors: Claire Tomlin from the Aero/Astro Department Ronald Fedkiw from the Computer Science Department

Growing Set: avi mpg Final Set: avi mpg