michael s. branicky, sc.d., p.e. · adaptive movement in animals and machines, cleveland, oh, june...

Michael S. Branicky, Sc.D., P.E.

AFFILIATION

CURRENT DeanProfessor of Electrical Engineering and Computer ScienceSchool of EngineeringThe University of KansasEaton Hall1520 W. 15th Street, Room 1Lawrence, KS 66045-7605 U.S.A.Tel./Fax: +1-785-864-2930/-5445Email: [email protected]

Google Scholar: http://scholar.google.com/citations?user=jkwHy3AAAAAJ

[ Prepared 5 July 2013 ]

EDUCATION Massachusetts Institute of Technology (MIT), Cambridge, MA. Sc.D., Electrical Engineering and Computer Science, June 1995. Dissertation: Studies in Hybrid Systems: Modeling, Analysis, and Control. Advisor: Prof. Sanjoy K. Mitter. Minor: Computer Science

Case Western Reserve University (CWRU), Cleveland, OH. M.S., Electrical Engineering and Applied Physics, January 1990. Thesis: Rapid Configuration Space Transforms for Real-Time Robotic Reflexes. Advisor: Prof. Wyatt S. Newman

CWRU. B.S., Electrical Engineering and Applied Physics, May 1987. Magna Cum Laude

INTERESTS

PRINCIPAL Research, teaching, and leadership across Engineering and Computer Science. Interests/experience in systems & control (particularly hybrid systems and networked

control) and artificial intelligence (including motion planning and learning). Applications to robotics, flexible manufacturing, and biology

HELD

POSITIONS Dean 7/13 —Professor of Electrical Engineering and Computer Science 7/13 —School of Engineering, The University of Kansas, Lawrence, KS

Chair 7/10 — 6/13Professor 7/08 — 6/13Associate Professor 7/02 — 6/08Assistant Professor 10/96 — 6/02Dept. of Electrical Engineering and Computer Science, CWRU, Cleveland, OH. Dept. Chair: 4 degree programs, 40 faculty, 23 staff, 306 undergrads., 215 grad. students. Research in hybrid systems, networked control, robotics, and learning. Undergraduate teaching in systems & control and computer science. Graduate teaching in hybrid & discrete event systems and artificial intelligence

Expert, National Robotics Initiative (NRI) 3/12 —Program Director, Computer & Network Systems (CNS) Division 7/08 — 6/10Computer & Information Science & Engineering (CISE), National ScienceFoundation (NSF), Arlington, VA. Scientific research program management: solicitation development, proposal review,

award recommendation, portfolio management, inter-agency and community outreach. Primary programs as PD: Cyber-Physical Systems (CPS), Computer Systems Research

(CSR; core research and CAREER awards), Computing Research Infrastructure (CRI). Secondary programs: Cyber-enabled Discovery and Innovation (CDI), Expeditions in

Computing, Social-Computational Systems (SoCS), Science & Technology Centers (STC)

Michael S. Branicky — 2

Chief Scientist, Board Member, Co-Founder 5/06 — 12/12BitBacker Inc., Fairview Park, Ohio. Start-up company producing software to deliver remote computer file backup services

Managing Partner 5/01 —Cyvus LLC, Olmsted Township, Ohio. Consulting in real-time systems and industrial control

Visiting Professor 5/98Dept. of Automatic Control, Lund Institute of Technology, Lund, SWEDEN. Studied hybrid systems computer simulation languages and tools. Ph.D. committee member (J. Malmborg, Analysis and Design of Hybrid Control Systems)

Post-Doctoral Research Scientist 10/95 — 9/96Laboratory for Information and Decision Systems, MIT. Control of hybrid systems (with Prof. Sanjoy Mitter). Hybrid systems verification (with Prof. Nancy Lynch, MIT Lab for Computer Science). Organized lab-wide seminar series, supervised construction of lab-wide Web pages

Post-Doctoral Research Scientist 5/96 — 6/96Dept. of Automatic Control, Lund Institute of Technology, Lund, SWEDEN. Developed hybrid systems simulation tools (with S.E. Mattsson and Prof. K.J. Astrom)

Guest Scientist 6/95 — 9/95Siemens Corporate Research and Development, Munich, GERMANY. Formulated an abstract model for control of manufacturing and transportation systems. Designed, implemented, and tested (in C++) algorithms for the control of a continuous-

cast steel mill subject to disturbances, that met buffer and “just-in-time” constraints

Research Fellow / Research Assistant 9/90 — 5/95Laboratory for Information and Decision Systems, MIT. Developed tools for the analysis of hybrid systems. Identified phenomena, formulated a framework, derived theoretical results, and produced

algorithms for control of hybrid systems

Research Associate 7/93 — 8/93NASA Ames Research Center, Mountain View, CA. Modeling/control of flight vehicle management systems (with G. Meyer, M. Heymann). Programmed Statemate simulations of such systems

Summer Research Fellow 6/90 — 8/90USAF Armstrong Aerospace Medical Research Lab, Wright-Patterson AFB, OH. Modeled and controlled a bilateral force-reflecting telerobot testbed system. Derived kinematics and control for an exoskeleton/robot pair, culminating in peg-in-the-

hole experiments

Research Fellow 9/89 — 5/90Artificial Intelligence Lab, MIT. Experimented on and extended robotic task-level learning (with Prof. Chris G. Atkeson)

Research Assistant 8/88 — 8/89Center for Automation and Intelligent Systems Research, CWRU. Developed artificial reflexes for automatic collision avoidance. Produced real-time hierarchical control, integrated with sensing

Teaching Assistant 8/87 — 5/88Dept. of Electrical Engineering and Applied Physics, CWRU. Organized and taught recitation sections in Electronic Circuits I and II. Prepared and graded homeworks, quizzes, exams; managed Motors Lab


AND HONORSAWARDS NSF Director’s Award for Collaborative Integration (team, for NRI) 2012

NSF Director’s Superior Accomplishment Award (individual, for CPS) 2010Walter R. Fried Memorial Award for Best Paper, IEEE/ION PLANS 2010EECS Department Teaching Award 2007Winner, Best Video, Intl. Conf. Robotics and Automation 2005EECS Department Teaching Award 2004Teaching Leader Award, Case School of Engineering 2004Winner, Best Video, Intl. Conf. Robotics and Automation 2002Finalist, Best Paper, Intl. Conf. Intelligent Robots and Systems 2002Senior Member, IEEE 2001Professional Engineer, State of Ohio 2000Invited to be a DARPA Program Manager (ITO) Spring 2000Invited to be an editor of Journal of Hybrid Systems Fall 2000Nord Assistant Professor of Engineering 1996 — 1999AFOSR Graduate Fellowship 1989 — 1992NSF Graduate Fellowship (proferred) 1989B.S. magna cum laude, CWRU 1987Emily M. Hills Poetry Prize (CWRU; First Place, university-wide) 1987Full-tuition undergraduate scholarship 1983 — 1987The Southland Corporation Scholarship 1983 — 1987Scholastic Gold Circle Award, Literary Magazine Poetry (1st) 1984National Merit Scholar 1983Ohio Academic Scholar 1983

RECOGNITIONSPECIAL . Top 1% Most Cited Authors in Computer Science (5397 of 790329, August 2006 Re-

searchIndex stats, citeseer.ist.psu.edu/allcited.html)

. Top 100 Most Cited Articles in Computer Science Published in 1998 (tied for 98th with“Multiple Lyapunov functions and other analysis tools for switched and hybrid systems”by M.S. Branicky, April 2001 ResearchIndex stats, citeseer.nj.nec.com/cs)

. The above article has 2143 citations; my other top articles have 2871, 1212, 1046 cita-tions, resp.; ten additional articles have more than 100 citations each (Google Scholar, ac-cessed 7/5/13, http://scholar.google.com/citations?hl=en&user=jkwHy3AAAAAJ)

. My collaborative work on control of biologically-inspired mobile robots (with R.D. Quinn,R.E. Ritzmann, W.A. Lewinger, and C.M. Hartley) was featured in Nature, Volume 445,Number 7125, pp. 250–253, 18 January 2007 and on Animal Planet’s Buggin’ with Ruud,first aired 27 November 2005.

PATENTS Visual segmentation of lawn grass. Inventors: Alexander Schepelmann Kathryn A. Daltorio Amaury D. Rolin, Jonathan

Beno, Bradley E. Hughes James M. Green, Michael S. Branicky, Roger D. Quinn, HenryH. Snow, Frank L. Merat, Richard E. Hudson (Applicant: MTD Products Inc andCWRU)

. US Patent 20120212638, 23 August 2012

. EP Patent 2,449,532, 9 May 2012

. W0/2011/002512, 01 June 2011

Process and system for time control of a basic industry plant. Inventors: Michael Branicky, Hans-Peter Buervenich, Ferd Hergert-Mueckusch, Andreas

Schief, Ewald Schoemig, Gerhard Dachtler (Applicant: Siemens AG, Munich, GER-MANY)

. US6029097 patent, 22 February 2000


AFFILIATIONSPROFESSIONAL IEEE Member (since 1987), Senior Member (since 2001)

ASEE MemberACM MemberSigma XiMortar BoardTau Beta P iEta Kappa Nu

SERVICEPROFESSIONAL Program Co-Chair, Int’l. Conf. on Cyber-Physical Systems (ICCPS) 2013/4

IEEE Sensors Technical Achievement Award Committee 2012 —IFAC Technical Committee on Discrete Event & Hybrid Systems 2011 —Associate Editor, Systems and Control Letters 2007 — 2010Editorial Board, Nonlinear Analysis: Hybrid Systems and Applications 2005 —IEEE RAS Tech. Comm. on Algs. for Planning and Control 2005 —IFAC Technical Committee on Networked Systems 2005 —IEEE Control Systems Society Conference Editorial Board 1998 —IEEE Cleveland Chapter, Chair of Control Systems Society 1997 — 2005Vice Chair, Short Papers, IEEE Conf. on Decision and Control 2002Chair, IEEE Technical Committee on Hybrid Systems 2000 — 2001Student Best Paper Award Committee, American Control Conf. 2001Student Best Paper Award Committee, IEEE CDC 1999 — 2000IEEE Cleveland Chapter, Secretary 1999 — 2000

Program Committee Member:. IFAC Conference on Analysis and Design of Hybrid Systems (ADHS), Eindhoven, THE

NETHERLANDS, 6–8 June 2012. ACM/IEEE Second International Conference on Cyber-Physical Systems, Chicago, IL,

12–14 April 2011. National Workshop on New Research & Development Directions for Future Cyber-

Physical Energy Systems, Baltimore, MD, June 3–4, 2009 (govt. liaison). CPS Information Day, Arlington, VA, December 12, 2008 (govt. liaison). National Workshop on Research on Transportation Cyber-Physical Systems: Automo-

tive, Aviation, and Rail, Washington, DC, November 18–20, 2008 (govt. liaison). Adaptive Movement in Animals and Machines, Cleveland, OH, June 2008. Hybrid Systems: Computation and Control XI, St. Louis, MO, April 2008. Hybrid Systems: Computation and Control X, Pisa, ITALY, April 2007. NSF Workshop on Cyber-Physical Systems, Austin, TX, October 2006. Workshop on Networked Embedded Sensing and Control, Notre Dame, October 2005. American Control Conference, Portland, OR, June 2005. IFAC Conf. on Hybrid Dynamical Systems, Saint-Malo, FRANCE, June 2003. IEEE Conf. on Decision and Control, Las Vegas, NV, December 2002. Hybrid Systems: Computation and Control V, Stanford, CA, March 2002. IEEE Conf. on Decision and Control, Orlando, FL, December 2001. American Control Conference, Arlington, VA, June 2001. Hybrid Systems: Computation and Control IV, Rome, ITALY, March 2001. IEEE Conf. on Decision and Control, Sydney, AUSTRALIA, December 2000. International Conf. on Automation of Mixed Processes: Hybrid Dynamical Systems,

Dortmund, GERMANY, 19–20 September 2000. Hybrid Systems: Computation and Control III, Pittsburgh, PA, March 2000. IEEE Conf. on Decision and Control, Phoenix, AZ, December 1999. Hybrid Systems: Control and Computation II, Berg-en-Dal near Nijmegen, THE NETHER-

LANDS, March 29–31, 1999. Hybrid Systems: Control and Computation I, Berkeley, CA, April 13–15, 1998. Hybrid Systems V, Notre Dame, IN, September 11–13, 1997. Hybrid Systems IV, Cornell, NY, October 12–14, 1996. IEEE Intl. Symposium on Intelligent Control, Dearborn, MI, September 15–18, 1996


Conference Session Organization:. Robotics and Cyber-Physical Systems Special Sessions at the IEEE/RSJ 2008 Inter-

national Conference on Intelligent RObots and Systems (IROS 2008), Nice, FRANCE,September 24, 2008 (govt. liaison)

. “Networked Control Systems” (with L. Bushnell of ARO/Duke U. and G. Walsh of U.Maryland, College Park), American Control Conference, Chicago, IL. 28–30 June 2000

. “Behavioral Programming,” AAAI Spring Symposium on Hybrid Systems and AI, Stan-ford, CA, 22–24 March 1999.

. “Hybrid Systems,” IFAC International Symposium on Artificial Intelligence in Real-TimeControl, Grand Canyon National Park, AZ, 5–8 October 1998

Research Planning/Roadmapping:. Executive Steering Committee, VA Advanced Platform Technology Center: 2011, 2012. DARPA ISAT Summer Meeting, Woods Hole, MA, 15–20 August 2010. Cyber-Physical Systems PI Meeting, Arlington, VA, 9–11 August 2010. DARPA ISAT Meeting: Systems Adaptability Metrics, Menlo Park, CA, 6–8 July 2010. Inter-Agency Workshop on Cyber-Physical Systems, Institute for Defense Analyses, Ar-

lington, VA, 11 March 2010 (Co-organizer). International Workshop on the Impact of Control: Past, Present, and Future, Bercht-

esgaden, GERMANY, 18–20 October 2009; Networked Systems and Cognitive ControlWorking Groups

. NASA Workshop on V&V [Verification and Validation] of Flight Critical Systems, Wash-ington, DC, 9 September 2009

. CRA/CCC Roadmapping for Robotics Workshop: A Research Roadmap for EmergingTechnologies and Trends, Snowbird, UT, 14–15 August 2008

. Invited member, NSF Cyber-Physical Systems Summit, April 2008

. Invited expert in systems & control, DOE planning workshop: “Mathematical ResearchChallenges in Optimization of Complex Systems”, December 2007

. Invited member, NSF Cyber-Physical Systems Planning Meeting, July 2006

Research and Grant Review:. ARPA-E (smart grid): 2011, 2012. European Commission Unit on Cognitive Systems & Robotics: 2011, 2012, 2013. Review panels for NSF: 1999, 2000, 2001, 2003, 2004, 2006 (×3), 2007, 2008, 2011 (×2). Independent Review Panel for NASA’s Aviation Safety Program: 17–19 November 2009. Site Visit Team for Science Foundation Ireland (for a hybrid systems center): 2005. Site Visit Team for NSF (for a hybrid systems center): 2003, 2004. External Grant Proposal Review: Army Research Office (×2), Dutch National Research

Council (NWO), Estonian Science Foundation, Israel Science Foundation, NASA, NSF,University of California Energy Institute

Tenure/Promotion and Mid-Term Reviews:. Computer Science:

Carnegie Mellon University; University of California-Berkeley; University of Massachussetts-Amherst; Vanderbilt University; Brigham Young University

. Electrical Engineering:University of Washington, University of California-Los Angeles, Tel Aviv University;University of Akron

Publication Review:. Book Proposals:

Brooks/Cole; Cambidge University Press; McGraw-Hill; Oxford U.; SIAM; Springer-Verlag; Thomson; Wiley

. Journal Articles:IEEE Trans. Automatic Control; IEEE Trans. Robotics and Automation; IEEE Trans.Robotics; IEEE Trans. Control Systems Technology; IEEE Trans. Circuits and Systems;IEEE Trans. Neural Networks; IEE Proc. Control Theory and Applications; Automatica;


Systems and Control Letters; SIAM J. Applied Mathematics; SIAM J. on Computers;Mathematics of Control, Signals, and Systems; European J. Control; Intl. J. of RoboticsResearch; Intl. J. Robust and Nonlinear Control; Intl. J. of Control; Intl. J. of SystemsScience; IEEE J. of Oceanic Engineering; Foundations of Computational Mathematics;Advances in Applied Mathematics

. Conference Sessions/Articles:AAAI Spring Symposium; Hybrid Systems: Computation and Control I–V, X, XI; Hy-brid and Real-Time Systems; Hybrid Systems II–VI; IEEE Conf. Robotics and Au-tomation; IEEE Conf. Decision and Control; American Control Conf.; IEEE/RSJ Conf.Intelligent Robots and Systems; IEEE Conf. Control Applications; IEEE Intl. Conf. onEmerging Technologies and Factory Automation; Workshop on the Algorithmic Foun-dations of Robotics; Robotics: Science and Systems


PUBLICATIONS [ Supervised student co-authors are underlined and in boldface. ]

Summary: Over 70 refereed papers, and over 50 other publications

Refereed Papers in Archival Volumes:

1. Kathryn A. Daltorio, Brian R. Tietz, John A. Bender, Victoria A. Webster, NicholasS. Szczecinski, Michael S. Branicky, Roy E. Ritzmann and Roger D. Quinn. A modelof exploration and goal-searching in the cockroach, Blaberus discoidalis. AdaptiveBehavior. To appear.

2. M. Margaliot and M.S. Branicky. Nice reachability for planar bilinear control systemswith applications to planar linear switched systems. IEEE Trans. Automatic Control.54(6):1430–1435, 2009.

3. W.A. Lewinger, C.M. Harley, M.S. Watson, M.S. Branicky, R.E. Ritzmann, andR.D. Quinn, Animal-inspired sensing for autonomously climbing or avoiding obstacles,Applied Bionics and Biomechanics, 6(1):3–21, 2009.

4. R. Alterovitz, M. Branicky, and K. Goldberg. Constant-curvature motion planningunder uncertainty with applications in image-guided medical needle steering. Inter-national Journal of Robotics Research, 27(11–12):1361–1374, 2008.

5. A.T. Al-Hammouri, M.S. Branicky, and V. Liberatore. Co-Simulation Tools for Net-worked Control Systems. in M. Egerstedt and B. Mishra (eds.), Hybrid Systems:Computation and Control. Lecture Notes in Computer Science. Berlin: Springer,2008.

6. M.S. Branicky, M.M. Curtiss, J. Levine, and S. Morgan. Sampling-based plan-ning, control, and verification of hybrid systems. IEE Proc. Control Theory andApplications. 153(5):575–590, Sept. 2006.

7. A.T. Al-Hammouri, V. Liberatore, M.S. Branicky, and S.M. Phillips. Complete sta-bility region characterization for PI-AQM, SIGBED Review, 3(2), April 2006.

8. N.A. Wedge, A. Al-Hammouri, M.S. Branicky, and V. Liberatore. Discussion on:Development and experimental verification of a mobile client-centric networked con-trolled system,” European Journal of Control, 11(2):243–246, 2005.

9. S.M. LaValle, M.S. Branicky, and S.R. Lindemann. On the relationship betweenclassical grid search and probabilistic roadmaps. International Journal of RoboticsResearch, 23(7–8):673–692, August 2004

10. O. Bournez and M.S. Branicky. The mortality problem for matrices of low dimensions.Theory Computing Systems, 35:433–448, 2002.

11. M.S. Branicky and S.R. Chhatpar. A computational framework for the verifica-tion and synthesis of force-guided robotic assembly strategies. in C.J. Tomlin andM.R. Greenstreet (eds), Hybrid Systems: Computation and Control, Lecture Notes inComputer Science. Berlin: Springer, 120–133, 2002.

12. W. Zhang, M.S. Branicky, and S.M. Phillips. Stability of networked control systems.IEEE Control Systems Magazine, 21(1):84–99, February 2001.

13. R. DeCarlo, M.S. Branicky, B. Lennartson, and S. Pettersson. Perspectives and re-sults on the stability and stabilizability of hybrid systems. Proceedings of the IEEE,88(2):1069–1082, July 2000.

14. W.S. Newman, A. Podgurski, R.D. Quinn, F.L. Merat, M.S. Branicky, N.A. Barendt,G.C. Causey, E.L. Haaser, Y. Kim, J. Swaminathan, and V.B. Velasco, Jr. Designlessons for building agile manufacturing systems. IEEE Trans. Robotics and Automa-tion, 16(3):228–238, June 2000.

15. M.S. Branicky. Analyzing and synthesizing hybrid control systems. In G. Rozenbergand F. Vaandrager (eds.), Embedded Systems, Lecture Notes in Computer Science.Berlin: Springer, 74–113, 1998.


16. M.S. Branicky. Multiple Lyapunov functions and other analysis tools for switchedand hybrid systems. IEEE Trans. Automatic Control, 43(4):475–482, April 1998.

17. M.S. Branicky, V.S. Borkar, and S.K. Mitter. A unified framework for hybrid control:Model and optimal control theory. IEEE Trans. Automatic Control, 43(1):31–45,January 1998.

18. M.S. Branicky, E. Dolginova, and N. Lynch. A toolbox for proving and maintaininghybrid specifications. In P.J. Antsaklis et al. (eds.), Hybrid Systems IV, vol. 1273,Lecture Notes in Computer Science, pp. 18–30. Berlin: Springer, 1997.

19. M.S. Branicky and S.E. Mattsson. Simulation of hybrid systems. In P.J. Antsakliset al. (eds.), Hybrid Systems IV, vol. 1273, Lecture Notes in Computer Science, pp.31–56. Berlin: Springer, 1997.

20. M.S. Branicky. On-line, reflexive constraint satisfaction for hybrid systems: Firststeps. In O. Maler (ed.), Hybrid and Real-Time Systems, vol. 1201, Lecture Notes inComputer Science, pp. 93–107. Berlin: Springer, 1997.

21. M.S. Branicky. General hybrid dynamical systems: Modeling, analysis, and control.In R. Alur, T.A. Henzinger, and E.D. Sontag (eds.), Hybrid Systems III: Verificationand Control, vol. 1066, Lecture Notes in Computer Science, pp. 186–200. Berlin:Springer, 1996.

22. M.S. Branicky. Universal computation and other capabilities of continuous and hybridsystems. Theoretical Computer Science, 138(1):67–100, 1995.

23. M.S. Branicky. Continuity of ODE solutions. Applied Math. Letters, 7(5):57–60, 1994.

24. T.S. Wikman, M.S. Branicky, and W.S. Newman. Reflex control for robot sys-tem preservation, reliability, and autonomy. Computers and Electrical Engineering,20(5):391–407, 1994.

25. W.S. Newman and M.S. Branicky. Real-time configuration space transforms for ob-stacle avoidance. Intl. Journal of Robotics Research, 10(6):650–667, 1991.

Refereed Conference Papers:

26. Timothy Morris, Arijit Ghosh, Michael Ferrara, Ellen Gethner, Michael Branicky, Sas-try Pidaparthy, Shivakumar Sastry. Characterizing spatio-temporal pattern of eventsin a cloud conveyor system. Proc. IEEE International Conference on AutomationScience and Engineering (CASE), Madison, WI, 17–21 August 2013. Submitted.

27. K.A. Daltorio, B.R. Tietz, J.A. Bender, V.A. Webster, N.S. Szczecinki, M.S. Branicky,R.E. Ritzmann, and R.D. Quinn. A stochastic algorithm for explorative goal seekingextracted from cockroach walking data. Proc. IEEE International Conf. on Roboticsand Automation, pp. 2261–2268, Saint Paul, MN, 2012.

28. Nathan A. Wedge and Michael S. Branicky. An obstacle-responsive technique forthe management and distribution of local rapidly-exploring random trees. Proc.IEEE/RSJ International Conf. on Intelligent Robots and Systems, San Francisco,CA, September 2011.

29. Nathan A. Wedge and Michael S. Branicky. Using path-length localized RRT-likesearch to solve challenging planning problems. Proc. IEEE International Conf. onRobotics and Automation, Shanghai, CHINA, May 2011.

30. P. Thomas, M. Branicky, A. van den Bogert, and K. Jagodnik. Application of theactor-critic architecture to functional electrical stimulation control of a human arm,Innovative Applications of Artificial Intelligence (IAAI), Pasadena, 14–16 July 2009.

31. M. Margaliot and M.S. Branicky, Stability analysis of positive linear switched systems:A variational approach. IFAC Symposium on Robust Control Design (ROCOND),Haifa, ISRAEL, 16–18 June, 2009.

32. G. Alldredge, M.S. Branicky, V. Liberatore. Play-back buffers in networked controlsystems: Evaluation and design. Proc. American Control Conf., Seattle, June 11–13,2008.


33. M.S. Branicky, R.A. Knepper, and J. Kuffner. Path and trajectory diversity: Theoryand algorithms. Proc. IEEE nternational Conf. Robotics and Automation, Pasadena,CA, May 19–23, 2008.

34. M. Zucker, J. Kuffner, M. Branicky. Multipartite RRTs for rapid replanning indynamic environments. Proc. IEEE International Conf. Robotics and Automation,Rome, ITALY, April 2007.

35. R. Alterovitz, M. Branicky, and K. Goldberg. Constant-curvature motion planningunder uncertainty with applications in image-guided medical needle steering. Work-shop on Algorithmic Foundation of Robotics (WAFR), New York, July 16–18, 2006.

36. L. Wang, S.M. Phillips, M.S. Branicky, and B. Bayraktar. Nano-resonators forRF-enabled networked-control. J. of Physics: Conference Series, 38:158–162, 2006.

37. W.A. Lewinger, M.S. Branicky, and R.D. Quinn. Insect-inspired, actively com-pliant hexapod capable of object manipulation. Proc. Intl. Conf. on Climbing andWalking Robots, London, September 13–15, 2005.

38. S.R. Chhatpar and M.S. Branicky. Particle filtering for localization in robotic as-semblies with position uncertainty. Proc. IEEE/RSJ Intl. Conf. Intelligent Robotsand Systems, August 2–7, 2005.

39. S.R. Chhatpar and M.S. Branicky. Localization for robotic assemblies using probingand particle filtering. Proc. IEEE Intl. Conf. on Advanced Intelligent Mechatronics,Monterey, CA, July 24–28, 2005.

40. J.R. Hartman, M.S. Branicky, and V. Liberatore. Time-dependent dynamics in net-worked sensing and control, Proc. American Control Conf., pp. 2925–2932, Portland,June 8–10, 2005.

41. W.A. Lewinger, C.M. Harley, R.E. Ritzmann, M.S. Branicky, and R.D. Quinn.Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot. Proc. IEEE International Conf. Robotics and Automation,Barcelona, SPAIN, April 18–21, 2005.

42. S. Morgan and M.S. Branicky. Sampling-based planning for discrete spaces. Proc.IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, October 2004.

43. M.S. Branicky, M. Curtiss, J. Levine, and S. Morgan. RRTs for nonlinear, dis-crete, and hybrid planning and control. Proc. IEEE Conf. on Decision and Control,1:657–663, Maui, HI, December 9–12, 2003.

44. S.M. Phillips and M.S. Branicky. Velocity estimation using quantized measurements.Proc. IEEE Conf. on Decision and Control, 5:4847–4852, Maui, HI, December 9–12,2003.

45. S.R. Chhatpar and M.S. Branicky. Localization for robotic assemblies with positionuncertainty. Proc. Intelligent Robots and Systems, 3:2534–2540, October 2003.

46. M.S. Branicky, V. Liberatore, and S.M. Phillips. Networked control system co-simulation for co-design. Proc. American Control Conf., 4:3341–3346, Denver, June4–6, 2003.

47. S.M. LaValle and M.S. Branicky. On the relationship between classical grid searchand probabilistic roadmaps. Workshop on the Algorithmic Foundation of Robotics(WAFR), pp. 55–71, Nice, FRANCE, December 15–17, 2002.

48. M.S. Branicky, S.M. Phillips, and W. Zhang. Scheduling and feedback co-design fornetworked control systems. Proc. IEEE Conf. on Decision and Control, 2:1211–1217,Las Vegas, December 10–13, 2002.

49. M.S. Branicky and S.R. Chhatpar. A computational framework for the simula-tion, verification, and synthesis of force-guided robotic assembly strategies. Proc.IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, pp. 1471–1476, Maui, HI, Oc-tober 2001.[ Finalist, Best Paper ]


50. S.R. Chhatpar and M.S. Branicky. Search strategies for peg-in-hole assemblies withposition uncertainty. Proc. IEEE/RSJ Intl. Conf. Intelligent Robots and Systems, pp.1465–1470, Maui, HI, October 2001.

51. M.S. Branicky, S.M. LaValle, K. Olson, and L. Yang. Quasi-randomized path plan-ning. Proc. IEEE International Conf. Robotics and Automation, pp. 1481–1487, Seoul,KOREA, May 2001.

52. M.S. Branicky, T.A. Johansen, I. Petersen, and E. Frazzoli. On-line techniques forbehavioral programming. Proc. IEEE Conf. on Decision and Control, pp. 1840–1845,Sydney, AUSTRALIA, December 2000.

53. M.S. Branicky, S.M. Phillips, and W. Zhang. Stability of networked control systems:Explicit analysis of delay. Proc. American Control Conf., pp. 2352–2357, Chicago, IL,June 28–30, 2000.

54. M.S. Branicky and G. Zhang. Solving hybrid control problems: Level sets andbehavioral programming. Proc. American Control Conf., pp. 1175–1180, Chicago, IL,June 28–30, 2000.

55. M.S. Branicky, G.C. Causey, and R.D. Quinn. Modeling and throughput predictionfor flexible parts feeders. Proc. IEEE Intl. Conf. on Robotics and Automation, pp.154–161, San Francisco, CA, April 2000.

56. M.S. Branicky, R. Hebbar, and G. Zhang. A fast marching algorithm for hybridsystems. Proc. IEEE Conf. on Decision and Control, pp. 4897–4902, Phoenix, AZ,December 7–10, 1999.

57. M.S. Branicky, G.C. Causey, and R.D. Quinn. Toward a science of flexible feeding.Proc. IEEE Intl. Conf. on Advanced Intelligent Mechatronics, pp. 380–385, Atlanta,GA, September 1999.

58. M.S. Branicky and R. Hebbar. Fast marching for hybrid control. Proc. IEEE Intl.Symp. Computer Aided Control System Design, pp. 109–114, Kohala-Kona, HI, Au-gust 22–27, 1999.

59. Q. Fu and M.S. Branicky. Using Hybrid cc to simulate multi-tier peg-in-hole assem-blies. Proc. IEEE Intl. Symp. on Assembly and Task Planning, pp. 307–312, Porto,Portugal, 21–24 July 1999.

60. S.R. Chhatpar and M.S. Branicky. A hybrid systems approach to force-guidedrobotic assemblies. Proc. IEEE Intl. Symp. on Assembly and Task Planning, pp.301–306, Porto, Portugal, 21–24 July 1999.

61. G.C. Causey, R.D. Quinn, and M.S. Branicky. Testing and analysis of a flexiblefeeding system. Proc. IEEE Intl. Conf. on Robotics and Automation, pp. 2564–2571,Detroit, MI, 10–15 May 1999.

62. W.S. Newman, M.S. Branicky, H.A. Podgurski, S. Chhatpar, L. Huang, J. Swami-nathan, and H. Zhang. Force-responsive robotic assembly of transmission compo-nents. Proc. IEEE Intl. Conf. on Robotics and Automation, pp. 2096–2102, Detroit,MI, 10–15 May 1999.

63. M.S. Branicky. Stability of hybrid systems: State of the art. Proc. IEEE Conf. onDecision and Control, San Diego, CA, pp. 120–125, Dec. 1997.

64. M.S. Branicky and S.E. Mattsson. Simulation of hybrid systems in Omola/OmSim.Proc. IEEE Computer Aided Control System Design, April 1997, Gent, Belgium.

65. M.S. Branicky. Issues and subtleties in hybrid control systems. Proc. IEEE Intl.Symp. on Intelligent Control, pp. 336–341, Dearborn, MI, September, 1996.

66. M.S. Branicky and S.K. Mitter. Algorithms for optimal hybrid control. Proc. IEEEConf. Decision and Control, New Orleans, LA, pp. 2661–2666, Dec. 1995.

67. M.S. Branicky, V.S. Borkar, and S.K. Mitter. A unified framework for hybrid control.Proc. IEEE Conf. Decision and Control, Lake Buena Vista, FL, pp. 4228–4234, Dec.1994.


68. M.S. Branicky. Stability of switched and hybrid systems. Proc. IEEE Conf. Decisionand Control, Lake Buena Vista, FL, pp. 3498–3503, Dec. 1994.

69. M.S. Branicky. Analog computation with continuous ODEs. Proc. IEEE WorkshopPhysics and Computation, Dallas, pp. 265–274, Nov. 1994.

70. M.S. Branicky. Analysis of continuous switching systems: Theory and examples.Proc. American Control Conf., Baltimore, pp. 3110–3114, June 1994.

71. M.S. Branicky. Topology of hybrid systems. Proc. IEEE Conf. Decision and Control,pp. 2309–2314, Dec. 1993.

72. T.S. Wikman, M.S. Branicky, and W.S. Newman. Reflexive collision avoidance: Ageneralized approach. Proc. IEEE Intl. Conf. Robotics and Automation, Atlanta, pp.3-31–3-36, May 1993.

73. M.S. Branicky. Task-level learning: Experiments and extensions. Proc. IEEE Intl.Conf. on Robotics and Automation, pp. 266–271, April 1991.

74. M.S. Branicky and W.S. Newman. Rapid computation of configuration-space obsta-cles. Proc. IEEE Intl. Conf. Robotics and Automation, Cincinnati, pp. 304–310, May1990.

75. W.S. Newman and M.S. Branicky. Experiments in reflex control for industrial manip-ulators. Proc. IEEE Intl. Conf. Robotics and Automation, Cincinnati, pp. 266–271,May 1990.

Refereed Video Publications:

1. S.R. Chhatpar and M.S. Branicky. Localization for robotic assemblies with posi-tion uncertainty. Video Proc. IEEE International Conf. Robotics and Automation,Orlando, FL, May 15–19, 2006.

2. W.A. Lewinger, C.M. Harley, R.E. Ritzmann, M.S. Branicky, and R.D. Quinn.Insect-like antennal sensing for climbing and tunneling behavior in a biologically-inspired mobile robot. Video Proc. IEEE International Conf. Robotics and Automa-tion, Barcelona, SPAIN, April 2005.[ Winner, Best Video Award ]

3. R. Hebbar, S. Chhatpar, C. Birkhimer, M. Branicky, W. Newman, S. Charles, M.Stuart, R. Stoughton, A. Reiman, A. Korzhenyak, D. Kozlowski, and D. Gravel.Flexible robotic assembly for power-train applications (FRAPA). Video Proc. IEEEInternational Conf. Robotics and Automation, Washington, DC, May 2002.[ Winner, Best Video Award ]

4. R. Hebbar, D. Morris, S. Chhatpar, W. Newman, and M. Branicky. Force-guidedassembly with a novel parallel manipulator. Video Proc. IEEE International Conf.Robotics and Automation, Seoul, KOREA, May 2001.

5. R. Hebbar, D. Morris, S. Chhatpar, W. Newman, and M. Branicky. Force-guidedassembly with a novel parallel manipulator. Video Proc. IEEE International Conf.Robotics and Automation, Seoul, KOREA, May 2001.

6. W.S. Newman, M.S. Branicky, S.R. Chhatpar, L. Huang, and H. Zhang. Impedancebased assembly. Video Proc. IEEE Intl. Conf. on Robotics and Automation, Detroit,MI, May 1999.

7. R.D. Quinn et al. Technologies for robust agile manufacturing. Video Proc. IEEEIntl. Conf. on Robotics and Automation, Leuven, BELGIUM, April 1998.

Book Chapters:

1. S. Sastry, M. S. Branicky, and P.S. Sastry. Cloud conveyors system: A versatileabstract application for exploring cyber-physical systems. Control of Cyber-PhysicalSystems: Workshop held at Johns Hopkins University, March 2013, Danielle C. Tar-raf (ed.), vol. 642, Lecture Notes in Control and Information Sciences. New York:Springer, 2013. Accepted.


2. M.S. Branicky. Introduction to hybrid systems. In D. Hristu-Varsakelis and W.S.Levine (eds.), Handbook of Networked and Embedded Control Systems, pp. 91–116.Boston: Birkhauser, 2005.

3. M.S. Branicky. Stability of hybrid systems. In H. Unbehauen (ed.), Encyclopediaof Life Support Systems (EOLSS), Theme 6.43: Control Systems, Robotics and Au-tomation. Article 6.43.28.3. UNESCO Publishing, Eolss Publishers, Oxford, UK.Developed under the auspices of UNESCO, 2004. 22 pages.

4. O. Bournez and M.S. Branicky. On matrix mortality in low dimensions. In V.D.Blondel, E.D. Sontag, M. Vidyasagar, and J.C. Willems (eds.), Open Problems inMathematical Systems Theory, pp. 67–70, London: Springer-Verlag, 1999.

5. M.S. Branicky. Hybrid dynamical systems, or HDS: The ultimate switching experi-ence. Block Island Workshop on Switching and Logic-based Control, A.S. Morse (ed.),vol. 222, Lecture Notes in Control and Information Sciences. New York: Springer,1997. 10 pages.

Conferences and Workshops:

1. Aniruddha Gokhale, Gautam Biswas, Nilanjan Sarkar, Shivakumar Sastry and MichaelBranicky. CPS Laboratory-as-a-Service: Enabling Technology for Readily Accessibleand Scalable CPS Education. Proceedings of the First Workshop on Cyber-PhysicalSystems Education (CPS-Ed 2013) at Cyber Physical Systems Week (CPSWeek 2013),Philadelphia, Pennsylvania, USA, April 2013.Available: http://cps-vo.org/group/edu/workshop/proceedings2013

2. S. Sastry, M. S. Branicky, and P.S. Sastry. Cloud conveyors system: A versatileabstract application for exploring cyber-physical systems. Workshop on Control ofCyber-Physical Systems, Johns Hopkins University, 20–21 March 2013.

3. A. Trewyn, A. Gokhale, S. Sastry, and M. Branicky. WiP Abstract: TCP Conges-tion Control Principles for Highly Available Reconfigurable Conveyor Systems. Proc.IEEE/ACM International Conference on Cyber-Physical Systems (ICCPS), Beijing,CHINA, 17–19 April 2012, p. 212. Abstract.

4. K.A. Daltorio, A.D. Rolin, J.A. Beno, B.E. Hughes, A. Schepelmann, M.S. Bran-icky, R.D. Quinn, J.M. Green. An obstacle-edging reflex for an autonomous lawn-mower. Proc. IEEE/ION Position Location and Navigation Symposium (PLANS),Indian Wells, CA, May 2010, pp. 1079–1092.[ Walter R. Fried Memorial Award for Best Paper ]

5. Michael A. Kovacina, Michael S. Branicky, Daniel W. Palmer, and Ravi Vaidyanathan.Use of a mixed radix fitness function to evolve swarm behaviors. Proc. IEEE SwarmIntelligence Symposium, pp. 1–6, St. Louis, MO, 21–23 September 2008.

6. Nathan A. Wedge and Michael S. Branicky. On heavy-tailed runtimes and restartsin rapidly-exploring random trees. Proc. Twenty-Third AAAI Conference on ArtificialIntelligence (AAAI-08), Chicago, IL, July 13–17, 2008.

7. P.S. Thomas, M. Branicky, A. van den Bogert, and K. Jagodnik. Creating a re-inforcement learning controller for functional electrical stimulation of a human arm.Proc. Fourteenth Yale Workshop on Adaptive and Learning Systems, New Haven, CT,1–6 June 2008.

8. M.S. Branicky, M. C. Cavusoglu, and V. Liberatore. Multi-disciplinary challenges anddirections in networked cyber-physical systems. NSF Workshop on Cyber-PhysicalSystems. Austin, TX, October 16–17 2006.

9. A.T. Al-Hammouri, M.S. Branicky, V. Liberatore, and S.M. Phillips. Decentral-ized and dynamic bandwidth allocation in networked control systems. Proc. Interna-tional Workshop on Parallel and Distributed Real-Time Systems, Island of Rhodes,GREECE, April 25–26 2006.


10. A.T. Al-Hammouri, V. Liberatore, M.S. Branicky, and S.M. Phillips. Parameteriz-ing PI congestion controllers. Proc. First International Workshop on Feedback Con-trol Implementation and Design in Computing Systems and Networks, Vancouver,CANADA, April 3 2006.

11. N. Barendt, K. Correll, and M. Branicky. Servo design considerations for software-only implementations of the Precision Time Protocol. Proc. Conference on IEEE-1588Standard for a Precision Clock Synchronization Protocol for Networked Measurementand Control Systems, NIST and IEEE. Winterthur, SWITZERLAND, October 10–122005.

12. M.S. Branicky, M.M. Curtiss, J. Levine, and S. Morgan. Sampling-based reach-ability algorithms for control and verification of complex systems. Proc. ThirteenthYale Workshop on Adaptive and Learning Systems, New Haven, CT, 30 May–1 June2005.

13. N.A. Wedge, M.S. Branicky, and M.C. Cavusoglu. Computationally efficient car-diac bioelectricity models toward whole-heart simulation. Proc. Intl. Conf. IEEEEngineering in Medicine and Biology Society, September 2004.

14. M.S. Branicky, M.M. Curtiss, J. Levine, and S. Morgan. Sampling-based plan-ning and control. Proc. Twelfth Yale Workshop on Adaptive and Learning Systems,New Haven, CT, 28–30 May 2003.

15. M.S. Branicky and M.M. Curtiss. Nonlinear and hybrid control via RRTs. Proc.Intl. Symp. on Mathematical Theory of Networks and Systems, South Bend, IN, Au-gust 2002.

16. V.C. Lin, M.E. Fitzgerald, M.S. Branicky, and H.J. Chiel. Learning that food isinedible in freely-behaving Aplysia: A statistical model. Soc. Neurosci. Abstr. 27.

17. M.S. Branicky and S.R. Chhatpar. Hybrid systems: Learning, planning, and con-trol. Proc. 11th Yale Workshop on Adaptive and Learning Systems, pp. 196–200, NewHaven, CT, June 2001.

18. W.S. Newman, M. Branicky, Y.-H. Pao, C. Birkhimer, S. Chhatpar, J. Wei, and Y.Zhao. Intelligent strategies for compliant robotic assembly. Proc. 11th Yale Workshopon Adaptive and Learning Systems, pp. 139–146, New Haven, CT, June 2001.

19. R.D. Beer, M.S. Branicky, H.J. Chiel, F.L. Merat, W.S. Newman, Y.-H. Pao, S.M.Phillips, R.D. Quinn, and R.E. Ritzmann. Progress in agile procedural learningsystems. Proc. NSF Design and Manufacturing Research Conf., Vancouver, BritishColumbia, CANADA, 3–6 January 2000.

20. R.D. Beer, M.S. Branicky, H.J. Chiel, F.L. Merat, W.S. Newman, Y.-H. Pao, S.M.Phillips, R.D. Quinn, and R.E. Ritzmann. Progress in agile procedural learning sys-tems. Proc. NSF Design and Manufacturing Grantees Conf., Queen Mary, LongBeach, CA, 5–8 January 1999.

21. M.S. Branicky. Behavioral programming: Enabling a “middle-out” approach to learn-ing and intelligent systems. Proc. IFAC Intl. Symp. on Artificial Intelligence in Real-Time Control, Grand Canyon National Park, AZ, 5–8 October 1998.

22. W.S. Newman, F.L. Merat, M.S. Branicky, V.B. Velasco, Jr., N.A. Barendt, A.Podgurski, J.-Y. Jo, Y. Kim, R.D. Quinn, G.C. Causey. Technologies for robustagile manufacturing. IASTED Intl. Conf. on Robotics and Manufacturing, pp. 56–61,Banff, Alberta, July 1998.

23. M.S. Branicky. On a class of general hybrid dynamical systems. Proc. 13th IFACWorld Congress, San Francisco, June/July 1996.

24. M.S. Branicky, V.S. Borkar, and S.K. Mitter. A unified framework for hybrid control.In G. Cohen and J-P. Quadrat (eds.), Proc. 11th INRIA Intl. Conf. on the Analysisand Optimization of Systems, vol. 199, Lecture Notes in Control and InformationSciences, pp. 352–358. New York: Springer, June 1994. Extended Abstract.


25. T.V. Theodosopoulos and M.S. Branicky. A global optimization approach to syntheticmolecular conformation. SIAM Annual Meeting, Charlotte, NC, Oct. 1995.

26. M.S. Branicky. Equivalence of analog and digital computation. Workshop on Con-tinuous Algorithms and Complexity, Barcelona, Oct. 1993. Abstract.

27. T.V. Theodosopoulos and M.S. Branicky. Hierarchical algorithms for neural trainingand control. Proc. IEEE Mediterranean Symp. on New Directions in Control Theoryand Applications, Chania, Crete, June 1993.

28. T.V. Theodosopoulos, M.S. Branicky, and M.M. Livstone. A hierarchical algorithmfor neural training and control. Proc. 30th Annual Allerton Conf. Communication,Control, and Computing, Urbana, IL, pp. 913–921, Sept. 1992.

Posters:

1. P. Thomas, M. Branicky, A. van den Bogert, and K. Jagodnik. Achieving long-termstability using a reinforcement learning controller for FES control of a human arm.Research ShowCase. Case Western Reserve University, Cleveland, OH, 16 April 2009.Poster.

2. P.S. Thomas, M.S. Branicky, A. van den Bogert, and K. Jagodnik. FES controlof a human arm using reinforcement learning. Adaptive Movement in Animals andMachines (AMAM), Cleveland, OH, 1–6 June 2008. Poster.

3. A. Kanters and E. Webb. Mentors: H. Chiel and M. Branicky. Learning mecha-nisms in Aplysia Californica: A statistical investigation of learning. Support of Un-dergraduate Research and Creative Endeavors (SOURCE) Poster. 4th Annual Inter-sections Symposium and Poster Session. Case Western Reserve University, Cleveland,OH, 18 April 2008. Poster.

4. P. Thomas, A. van den Bogert, K. Jagodnik, and M. Branicky. Creating a rein-forcement learning controller for functional electrical stimulation of a human arm.Research ShowCase. Case Western Reserve University, Cleveland, OH, 17 April 2008.Poster.

5. W.S. Newman, R.D. Quinn, M.S. Branicky, F.L. Merat, et multi al. Team Case andDexter in the DARPA Urban Challenge autonomous robot race. Research ShowCase.Case Western Reserve University, Cleveland, OH, 17 April 2008. Poster.

6. A. Al-Hammouri, V. Liberatore, H. Al-Omari, Z. Al-Qudah, M. Branicky, and D.Agrawal. A co-simulation platform for actuator networks. Fifth ACM Conferenceon Embedded Networked Sensor Systems (SenSys2007). Sydney, AUSTRALIA, 6–9November 2007. Poster.

7. S. Chhatpar and M.S. Branicky. Localization for robotic assemblies with positionuncertainty. Research ShowCase. Case Western Reserve University, Cleveland, OH,2 April 2004. Poster.

8. N.A. Wedge, M.S. Branicky, M.C. Cavusoglu, and Niels Otani. Multiscale andhierarchical modeling, analysis, and simulation of cardiac bioelectricity. ResearchShowCase. Case Western Reserve University, Cleveland, OH, 2 April 2004. Poster.

9. A. Al-Hammouri, V. Liberatore, and M. Branicky. A test bed for networked controlsystems. Research ShowCase. Case Western Reserve University, Cleveland, OH, 2April 2004. Poster.

10. P. Skelly and M.S. Branicky. A hierarchy of reinforcement learning agents. IGERTStudent Research Symposium. Carnegie Mellon University, Pittsburgh, PA, 27–29June 2003. Poster.

11. P. Skelly and M. Branicky. Reinforcement learning for complex tasks. ResearchShowCase. Case Western Reserve University, Cleveland, OH, 4 April 2003. Poster.

12. M. Branicky, M. Curtiss, B. Karas, J. Levine, and S. Morgan. Sample-basedmotion planning. Research ShowCase. Case Western Reserve University, Cleveland,OH, 4 April 2003. Poster.


13. S. Chhatpar and M. Branicky. Localization for robotic assemblies with positionuncertainty. Research ShowCase. Case Western Reserve University, Cleveland, OH,4 April 2003. Poster.

14. R.D. Beer, M.S. Branicky, H.J. Chiel, F.L. Merat, W.S. Newman, Y.-H. Pao, S.M.Phillips, R.D. Quinn, and R.E. Ritzmann. Agile procedural learning systems. NSFLearning and Intelligent Systems Principle Investigators Meeting, Georgetown, 2–4May 1999. Poster.

Extra-Mural Technical Reports:

1. M.S Branicky, W. Buttner, F. Hegert, and E. Schomig. Control of a continuous-casting steel mill. Siemens Corporate R&D, Munich, GERMANY, Sept. 1995.

2. M.S. Branicky and S.J. Remis. Optimized forward kinematics for the MBA exoskele-ton and partitioned kinematics for the Merlin robot. Technical Report AAMRL-SR-90-517, Armstrong Aerospace Medical Research Laboratory, Human Systems Divi-sion, Air Force Systems Command, Wright-Patterson AFB, OH, Nov. 1990.

3. M.S. Branicky. Control and modeling for improved human sensory feedback. LGFP/DoDFellowship Summer Research Program Final Report, Universal Energy Systems, 1990.

Government Publications/Reports (co-authored):

1. Aeronautics Research Mission Directorate: 12-Month Independent Review Panel Re-port, National Aeronautics and Space Administration (NASA) Aviation Safety Pro-gram (AvSP). Prepared for Dr. Jaiwon Shin, Associate Administrator AeronauticsResearch Mission Directorate, NASA. 14 December 2009.

2. Cyber-Physical Systems (CPS). Program Announcement. Document #: nsf10515.12/11/2009. http://www.nsf.gov/pubs/2010/nsf10515/nsf10515.htm?org=NSF

3. Cyber-Physical Systems (CPS) Solicitation Frequently Asked Questions. ProgramInformation. Document #: nsf09086. 1/30/2009.http://www.nsf.gov/pubs/2009/nsf09086/nsf09086.jsp?org=NSF

4. Cyber-Physical Systems (CPS). Program Announcement. Document #: nsf08611.09/30/2008. http://www.nsf.gov/pubs/2008/nsf08611/nsf08611.htm?org=NSF

Contributing Author:

1. A Roadmap for US Robotics: From Internet to Robotics. Robotics Initiative. Com-puting Community Consortium and Computer Research Association. 21 May 2009.http://www.us-robotics.us/reports/CCC%20Report.pdf

LECTURESINVITED [ in addition to conferences/workshops covered above ]

Major Invited Lectures/Keynotes:

1. Models of Hybrid Systems, opening lectures (1.5 hours), 2nd HYCON PhD Schoolon Hybrid Systems, Siena, ITALY, 16 July 2007.

2. Networked Control Systems, plenary speaker, 3rd International Workshop on Net-worked Control Systems: Tolerant to faults, Nancy, FRANCE, 21 June 2007.

3. Sampling-Based Planning, Control, and Verification of Hybrid Systems, keynotespeaker, Intl. Conf. Hybrid Systems & Applications, U. of Louisiana at Lafayette,LA, 25 May 2006.

4. Sampling-Based Reachability, invited speaker, International Workshop on MotionPlanning in Virtual Environments (MOVIE), Toulouse, FRANCE, 7 January 2005.


5. Behavioral Programming, invited speaker/session organizer, AAAI Spring Symp.on Hybrid Systems and AI, Stanford University, March 1999.

6. Capturing Hybrid Behavior, opening presentation, Hybrid Systems V, Notre DameUniversity, September 1997.

7. Analyzing and Synthesizing Hybrid Control Systems, three-hour tutorial, Novem-ber School on Embedded Systems, Eindhoven, THE NETHERLANDS, November1996.

Other Invited Lectures/Presentations:

8. Faculty Spotlight Series: think[box]: An Innovative Home for Out-of-the-Box Thinkers, Har-court House (President Barbara R. Snyder’s home), CWRU, 3 December 2012. WithIan Charnas.

9. Funding Your Research: An Insider’s View of NSF, CWRU, 8 May 2012

10. Funding Your Research: An Insider’s View of NSF, University of Akron, Akron, OH,4 May 2012

11. Funding Your Research: An Insider’s View of NSF, University of Toledo, Toledo, OH,19 April 2012

12. Cyber-Physical Systems, 1st Southwest Workshop on Theory and Applications ofCyber-Physical Systems, Tuscon, AZ, 10–11 March 2011.

13. Funding Your Research: An Insider’s View of NSF, CWRU, 12 November 2010

14. Cyber-Physical Systems Initiative: NSF and Beyond, Georgia Tech Summer Schoolon Cyber-Physical Systems, Atlanta, GA, 23–25 June 2010.

15. Cyber-Physical Systems, 6th Northeast Control Workshop, John Hopkins University,Baltimore, MD, 23-25 April 2010.

16. Cyber-Physical Systems, IEEE Conference on Decision and Control, Shanghai, CHINA,16 December 2009.

17. Network Science and Complex Systems at NSF, Workshop on Network Science: NewDirections in Control Systems. IEEE Conference on Decision and Control. Shanghai,CHINA, 15 December 2009.

18. Cyber-Physical Systems Initiative, International Workshop on the Impact of Control:Past, Present, and Future. Berchtesgaden, GERMANY, 20 October 2009.

19. Cyber-Physical Systems: A Clear and Present Challenge, Caltech V&V Workshop,Pasadena, CA, 23–24 September 2009.

20. Cyber-Physical Systems: FY09 Report Out, Computer and Infromation Science andEngineering Directorate All Hands Meeting. National Science Foundation, Arlington,VA, 17 September 2009. With Dr. Helen Gill.

21. NSF Cyber-Physical Systems Initiative, American Control Conference, St. Louis,MO, 10 June 2009.

22. Cyber-Physical Systems Initiative: NSF and Beyond, Future Cyber-Physical EnergySystems Workshop, Baltimore, MD, 3–4 June 2009.

23. Cyber-Physical Systems Initiative: NSF and Beyond, 5th Northeast Control Work-shop, Carnegie Mellon University, Pittsburgh, PA, April 24–26, 2009.

24. Cyber-Physical Systems Initiative: NSF and Beyond, Workshop on the Science ofPower Management, Arlington, VA, April 9–10, 2009.

25. Cyber-Physical Systems Initiative: NSF and Beyond, Software-Intensive Systems Pro-ducibility (SISPI) group of DoD Science & Technology managers, April 2, 2009.

26. Cyber-Physical Systems Initiative: NSF and Beyond, Department of Computer Sci-ence & Engineering, University of Nevada-Reno, February 6, 2009.


27. NSF CAREER Award, Department of Computer Science & Engineering, Universityof Nevada-Reno, February 6, 2009.

28. NSF Initiative on Cyber-Physical Systems: Opportunity for Computer Science andControl Engineering, Special Session, IEEE Conference on Decision and Control, Can-cun, MEXICO, December 9–11, 2008.

29. Cyber-Physical Systems Initiative: NSF and Beyond, National Workshop on Researchon Transportation Cyber-Physical Systems: Automotive, Aviation, and Rail, Wash-ington, DC, November 18–20, 2008.

30. Overview of Cyber-Physical Systems, Robotics and Cyber-Physical Systems SpecialSessions at the IEEE/RSJ 2008 International Conference on Intelligent RObots andSystems (IROS 2008), Nice, FRANCE, September 24, 2008.

31. Hybrid Systems and Networked Control Systems, NSF Planning Meeting on Cyber-Physical Systems, Washington, DC, 27 July 2006.

32. Sampling-Based Planning, Control, and Verification, University of Siena, ITALY, 8May 2006.

33. Hybrid Systems, Robotics, and Control: A Sampling, Motion Planning Group, RoboticsInstitute, Carnegie Mellon University, 4 April 2006.

34. Hybrid Systems and Sampling-Based Control, EPFL, Swiss Federal Institute of Tech-nology, Lausanne, SWITZERLAND, 4 October 2005.

35. OhioICE: Technical Centers, Ohio Wright Center Finalist Competition, Columbus, 9February 2005.

36. Networked Control: Co-Design, Ohio ICE Workshop, Cleveland State University, June29, 2004.

37. Robots and Motion Planning, EECS Undergraduate Seminar Series, CWRU, 21 Novem-ber 2003.

38. Reinforcement Learning, EECS 391: Artificial Intelligence, CWRU, March 2003.

39. Motion Planning Tools for ATM, NASA Ames Research Center, July 2002.

40. Learning in Animals and Robots, NSF IGERT in Neuromechanics, CWRU, June 2002.

41. Reinforcement Learning, EECS 391: Artificial Intelligence, CWRU, March 2002.

42. Stability of networked control systems, Allerton Conf. Communication, Control, andComputing, Urbana, IL, Oct. 2001.

43. Reinforcement Learning, ECES 391: Artificial Intelligence, CWRU, March 2001.

44. Motion Planning, EEAP/EMAE/ESCI 489: Robotics I, CWRU, November 2000.

45. Configuration Space, EEAP/EMAE/ESCI 489: Robotics I, CWRU, November 2000.

46. Hybrid Systems, World Congress of Nonlinear Analysts, Catania, Sicily, ITALY, July2000.


48. Motion Planning, EEAP/EMAE/ESCI 489: Robotics I, CWRU, November 1999.

49. Configuration Space, EEAP/EMAE/ESCI 489: Robotics I, CWRU, November 1999.


51. Assembly Strategies, Ford Advanced Technology and Development Center, Dearborn,MI, March 1999.

52. Stability of Hybrid Systems, Course 18-879: Hybrid Systems, Carnegie Mellon Uni-versity, March 1999.

53. Matrix Mortality in Low Dimensions, Special Session on Open Problems in Control,IEEE Conf. on Decision and Control, Tampa FL, December 1998.

54. Stability of Hybrid Systems: State of the Art, Hybrid Systems Workshop, IEEE Conf.on Decision and Control, Tampa FL, December 1998.


55. Capturing Hybrid Behavior, Dept. of Automatic Control, Lund Institute of Technol-ogy, Lund, SWEDEN, June 1998.

56. Hybrid Systems: Why, How, and Whereto, Stanford University, EE Dept., May 1998.

57. Open Manufacturing Systems Review: FRAPA and Networking, CAMP Inc. Techni-cal Committee, Cleveland, OH, May 1998.

58. Hybrid Systems: Why, How, and Whereto, Xerox PARC, April 1998.

59. Hybrid Systems in Robotics and Automation: Problems and Solutions, Workshop onDiscrete-Event and Hybrid Systems in Robotics, IEEE Conf. Robotics and Automa-tion, Albuquerque, NM, April 1997.

60. Modeling, Analysis, and Control of Hybrid Systems, Laboratoire d’Automatique, Uni-versity of Grenoble, Grenoble, FRANCE, March 1997.

61. High-Level Planning via Low-Level Dynamics and Control, Joint Conf. on InformationSciences, Research Triangle Park, NC, March 1997.

62. Modeling, Analysis, and Control of Hybrid Systems, Control Group Seminar, Depts.of Mechanical and Electrical Engineering, University of Michigan, February 1997.

63. Simulation of Hybrid Systems, Siemens Corporate Research and Development, Mu-nich, GERMANY, July 1996.

64. Modeling, Analysis, and Control of Hybrid Systems, Dept. of Electrical Engineering,Linkoping University, Linkoping, SWEDEN, June 1996.

65. Modeling, Analysis, and Control of Hybrid Systems, School of Electrical and Com-puter Engineering, Chalmers University of Technology, Goteborg, SWEDEN, June1996.

66. Modeling, Analysis, and Control of Hybrid Systems, Dept. of Automatic Control,Lund Institute of Technology, Lund, SWEDEN, June 1996.

67. Modeling, Analysis, and Control of Hybrid Systems, Dept. of Electrical Engineeringand Computer Science, MIT, April 1996.

68. Modeling, Analysis, and Control of Hybrid Systems, Dept. of Electrical and ComputerEngineering, Northeastern University, Boston, MA, April 1996.

69. Analysis of Hybrid Systems, First Annual LIDS Student Conf., MIT, January 1996.

70. Modeling, Analysis, and Control of Hybrid Systems, Dept. of Systems, Control, andIndustrial Engineering, CWRU, November 1995.

71. Control of Hybrid Systems, Siemens Corporate Research and Development, Munich,GERMANY, July 1995.

72. Control of Hybrid Systems, Alphatech, Inc., Burlington, MA, March 1995.

73. Hybrid Control Systems, Dept. of Electrical Engineering and Applied Physics, CWRU,March 1995.


AWARDS

GRANTS AND

Summary: Over $7.8M in external awards, with over $4M as PI/co-PI

UBM: Undergraduate Research at the Interface of Mathematics and BiologyNSF $240k, 1/07 — 12/09

. with R. Snyder, C. Alexander, J. Koonce, P. Thomas, et al.

Network Middleware for Networked Control SystemsOhioICE $35k, 10/05 — 6/06

. co-PI with V. Liberatore

Intelligent Control of Upper Extremity Neural ProsthesesNIH $360k, 7/05 — 6/09

. co-PI with A. van den Bogert of Cleveland Clinic, R. Kirsch; Case PI from 6/07–6/08

SENSORS: Networked Sensing, Decision and ActuationNSF (CNS 0329910) $400k, 9/03 — 8/08

. co-PI with V. Liberatore

Geometric and Algorithmic Techniques for the Design and Verification of Hy-brid Control SystemsNSF (CNS 0208919) $213k, 7/02 — 7/06

. PI

Neuromechanical Systems IGERTNSF (DGE 9972747) $3.1M, 7/99 — 7/06

. with R. Beer, H.J. Chiel, P. Crago, R. Kirsch, R.D. Quinn, R.E. Ritzmann

BITS: Reconfigurable and Multifunctional Behavioral Pattern GeneratorsNSF (CCF 0130773) $400k, 9/02 — 8/05

. co-PI with R. Beer, H.J. Chiel

CRCNS: Dynamics and Plasticity of a Neuromechanical SystemNSF (IBN 0218386) $800k, 8/02 — 7/05

. co-PI with H.J. Chiel, R. Beer, P. Crago

Discrete Fields for Air-Traffic ManagementNASA (NAG2-1333) $103k, 11/99 — 1/03

. PI

Flexible Robotic Assembly for Powertrain ApplicationsNIST, ATP Award $582k, 2/98 — 9/01

. co-PI with W.S. Newman

Agile Procedural Learning SystemsNSF, Learning and Intelligent Systems $775k, 9/97 — 6/01

. co-PI with R. Beer, W.S. Newman, and R.E. Ritzmann

. other investigators: H.J. Chiel, F.L. Merat, S.M. Phillips, Y.-H. Pao, R.D. Quinn

. initiated interdisciplinary team; wrote entire pre-proposal; main author of full proposal

Fast Flexible Parts FeederCAMP $70k, 10/99 — 6/00

. co-PI with R.D. Quinn

Heterogeneous Open Networks for ManufacturingEveready Battery Corporation $51k, 3/99 — 3/00

. PI


Discrete Fields for Air-Traffic ManagementNASA $18k, 6/99 — 10/99

. PI

Programming Interfaces for Robotic AssemblyCAMP $100k, 10/98 — 10/99

. co-PI with W.S. Newman

Flexible Parts FeederCAMP $86k, 10/98 — 6/99

. co-PI with R.D. Quinn

DynamotorCAMP $170k, 7/98 — 6/99

. Investigator with W.S. Newman and S. Garverick

Heterogeneous Open Networks for ManufacturingOhio Board of Regents, Presidential Research Initiative $25k, 4/98 — 6/99

. PI

. only award made in university-wide competition (14 applicants)

Real-Time and Distributed SystemsCWRU Hewlett Fund (for course development) $10k, 4/98 — 6/99

. PI

Agile Manufacturing ConsortiumCAMP and five industrial sponsors $300k, 7/97 — 6/98

. investigator with R.D. Quinn, W.S. Newman, F.L. Merat

Toward an Engineering Science of Systems with State-Dependent SamplingOhio Board of Regents, Research Initiation Grant $4k, 7/97 — 6/98

. PI


MENTORING [ Boldface indicates student received support from my grants ]

Ph.D. Students Advised:. Wei Zhang, Stability Analysis of Networked Control Systems, May 2001. Margaret Mary Skelley, Hierarchical Reinforcement Learning with Function Approx-

imation for Adaptive Control, May 2004. Siddharth R. Chhatpar, Localization for Robotic Assemblies with Position Uncer-

tainty, May 2006. William A. Lewinger, Neurobiologically-based Control System for an Adaptively Walk-

ing Hexapod, May 2011 (co-advised with R.D. Quinn). Nathan A. Wedge, Sampling-Based Motion Planning Algorithms: Analysis and De-

velopment, May 2011. Chad W. Seys, A Computational Study of the Role of Genetic Reuse in Evolvability,

August 2012 (co-advised with R. Beer)

M.S. Students Advised:. Siddharth R. Chhatpar, Experiments in Force-Guided Robotic Assembly, January 1999. Bulent Bayraktar, Velocity Estimation using Quantized Measurements: Theory and

Experiments, January 1999. Zhaoxiang Pan, A Distributed Real-Time Microprocessor System, May 1999. Qingchuan Fu, Computational Methods for Solving Hybrid System Control Problems,

August 1999. Khaled Mohamed Al-Wahedi, A Hybrid Local-Global Motion Planner for Multi-Agent

Coordination, January 2000. Jayendran Swaminathan, An Object-Oriented Applications Framework for Peg-in-

Maze Assemblies, January 2000. Gang Zhang, Computational Methods for Solving Hybrid System Control Problems,

May 2000. Kari Olson, Quasi-Random Roadmap Methods (QRM): Derandomizing Probabilistic Mo-

tion Planning, August 2000. Michael C. Bristow, Real-Time Control over an Ethernet Network: Hardware and

Experiments, August 2001. Michael M. Curtiss, Motion Planning and Control Using RRTs, August 2002. Joshua Aaron Levine, Sampling-Based Planning for Hybrid Systems, January 2004. Stuart Bruce Morgan, Sampling-Based Planning for Discrete Spaces, May 2004. Nathan Alexander Wedge, Analysis of Cellular Cardiac Bioelectricity Models toward

Computationally Efficient Whole-Heart Simulation, August 2004. Justin Ray Hartman, Networked Control System Co-Simulation for Co-Design: The-

ory and Experiments, August 2004. William A. Lewinger, Insect-Inspired, Actively-Compliant Robotic Hexapod, May 2005. Michael Anthony Kovacina, Swarm Algorithms: Simulation and Generation, Jan. 2006. David J. Pawlowski, A Software Tool for the Verification of Hybrid Systems Using

Sampling-Based Methods, January 2007. Graham W. Alldredge, PID and Model Predictive Control in a Networked Environ-

ment, August 2007. Simon Carroll, Strategies for Improving Verification Techniques for Hybrid Systems,

August 2008. Philip S. Thomas, A Reinforcement Learning Controller for Functional Electrical

Stimulation of a Human Arm, August 2009

Funded Undergraduate Research Advised:. Arielle Kanters, Eric Webb (NSF RIBMS, with H.J. Chiel), May 2007 — June 2008. Phil Thomas (NIH Intelligent Control of Neuroprostheses), April 2007 — May 2008. Peter Koomen (NSF BITS, with H.J. Chiel), Fall 2003 — Summer 2005

Senior Projects: Over 30 senior project students supervised at Case since 1996. Spring 2005: A. Calabro, B. Sun, and R. Wilson won First Place, Philips Best Capstone

Project Competition (Comp. Eng.) for “A.C.E. [NY Times] Crossword Puzzle Solver”. October 2005: K. Correll presented a paper based on his senior project (IEEE 1588

Conference, SWITZERLAND); his software was made publicly available via SourceForge


TEACHING [ Notes: on sabbatical leave 2005/6; IPA rotation to NSF 2008/9, 2009/10 ]

Courses Taught:

. ENGR 131: Intro. to Computer Programming Summer 2011

. EECS 381/409: Hybrid/Discrete-Event Systems Spring 2008

. EECS 391/491: Intro. to Artificial Intelligence/Artificial Intelligence Spring 2008

. ENGR 131: Intro. to Computer Programming Fall 2007

. EECS 391/491: Intro. to Artificial Intelligence/Artificial Intelligence Spring 2007

. EECS 591: Advanced Artificial Intelligence Fall 2006

. ENGR 131: Intro. to Computer Programming Fall 2006

. EECS 391: Intro. to Artificial Intelligence Spring 2005


. EECS 246: Signals and Systems Fall 2004

. EECS/MATH 343: Theoretical Computer Science Spring 2004


. EEAP 246: Signals and Systems Fall 2003


. EECS 591: Intelligent Systems II Spring 2003



. EECS 396L, ESCI 409: Hybrid Systems, Discrete Event Systems Spring 2002


. ECES/MATH 343: Theoretical Computer Science Spring 2001


. ESCI 409: Discrete Event Systems Spring 2000

. EEAP/ECES 396, EEAP 600: Special Topics: Hybrid Systems Spring 2000


. EEAP 591: Intelligent Systems II Spring 1999

. EEAP 600: Special Topics: Reinforcement Learning Spring 1999

. EEAP 600: Special Topics: Hybrid Systems Fall 1998

. EEAP 383: Microprocessor Applications to Control Spring 1998

. EEAP 591: Intelligent Systems II Fall 1997

. EEAP 383: Microprocessor Applications to Control Spring 1997

Course Development:. Hybrid Systems: initiated as a special topics course (Fall 1998); taught five times using

own materials (1998–2005); permanently listed as new course, EECS 381 (Spring 2004). Special topics course in Reinforcement Learning, Spring 1999. Intro. and advanced artificial intelligence course, EECS 491 and 591: received new names,

descriptions, and syllabi (Spring 2007). All courses above were developed “from scratch,” with new syllabi and lecture notes

Co-taught Courses:. MATH/BIOL 342: Preparation for Research in Mathematical Biology Spring 2007. EBME 550: Neuromechanics Seminar Spring 2002. EBME 550: Neuromechanics Seminar Spring 2001. EBME 550: Neuromechanics Seminar Fall 2000


SERVICE

UNIVERSITY [ Notes: on sabbatical leave 2005/6; IPA rotation to NSF 2008/9, 2009/10 ]

To University:. CWRU Strategic Plan Finance, Infrastructure and Operations Working Group, 2013. Department Host: U.S. Secretary of Energy Steven Chu Visit, 2012. Department Host: Board of Trustees Meeting, 2012. Provost’s Informatics Alliance, 2010, 2011, 2012. Case Common Reading Selection Committee, 2008, 2009, 2010. CWRU Share the Vision Committee, 1999/0, 2000/1, 2001/2, 2002/3, 2003/4, 2004/5. Future of IT at CWRU Committee, 2002/3. Bruce Jackson Award Committee, 2002/3. Poetry Slam Team, Assistant Coach and Member, 2001/2. Smith Treuhaft Scholarship Committee, 2000, 2001. Sponsored three students in Young Scholars Program, Summer 1997. Saturday Sampler (Spring), 1997, 1998, 1999, 2000, 2001, 2005. Recruiting Telethon, 2001

To School:. Open House (Spring): 2011, 2012, 2013. Co-Chair, Bioemedical Engineering Chair Search Committee, 2012–3. Hiring Committee: Marketing Director, 2011, 2012. Hiring Committee: Associate Dean for Finance, 2010. Hiring Committee: Budget Director, 2010. CSE Visiting Committee, 2010, 2011, 2012. GLEI Board Meetings, 2010, 2011, 2012. Energy Efficiency Faculty Recruitment Committee, Spring 2008. CWRU Cutters: ION Lawn Mowing Competition Team, 2007/8. Team Case: DARPA Urban Challenge Team, Summer 2006 — Fall 2007. CSE: Advancing Collegiality, Fall 2007. Energy Initiative: Smart Grid Working Group, 2007/8. Experience Case Presentations, 2007 (×5), 2008. ENGR Core Committee, 2006/7. Summer Orientation reception, 2006. CSE Strategic Planning Team, 2004/5. Strategic Planning Initiative, 2003/4. ENGR 131 Committee, 1997/8, 1998/9. Open House (Fall), 1997, 1998, 1999, 2000, 2001, 2004

To Department:. CRA Chairs Conference, Snowbird, UT, 18–21 July 2010. EECS Student Recruiting Committee, 2007/8. AI Minor Representative, Spring 2007 — present. Chair, EECS Department Chair Search Committee, Spring 2007. CS Curriculum Committee, 2006/7, 2007/8. E-Week Banquet, 2007. Chair, ECE Curriculum Committee, 2002/3, 2003/4, 2004/5. Ohio ICE Coordinator, 2003/4, 2004/5. ECE Town Hall Meeting Moderator, 2004/5. EECS Undergraduate Studies Committee, 2001/2. Systems Curricular Responsibility Group, 2001/2. EE Curricular Responsibility Group, 2001/2. CS Curricular Responsibility Group, 2001/2. EECS Faculty Activity Committee, 2001/2. EECS Graduate Regulations Committee, 1999/0, 2000/1. EECS Faculty Recruitment Committee, 1999/0. EECS Graduate Admissions Committee, 1998/9. EEAP Undergraduate Committee, 1996/7, 1997/8. Nord Search Committee, 1996/7, 1997/8


DEVELOPMENTPROFESSIONAL . ASEE Engineering Deans Institute (EDI), 2013

. Electrical and Computer Engineering Department Heads Association (ECEDHA) An-nual Conference), 2012, 2013

. CWRU Department Chairs’ Leadership Forum, 2010, 2011, 2012, 2013

. CWRU ACES+ Program, Executive Coaching, 2010–2011 (four 1-on-1 sessions)

. Computing Research Association Chairs Conference, Snowbird, UT, 2010

. CWRU Provost’s Leadership Retreats, 2010

michael s. branicky, sc.d., p.e. · adaptive movement in animals and machines, cleveland, oh, june...

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