Automation

PLAYLIST

Notes (Google Drive)

IMage Gallery 

Software tools

NetLogo Simulations

Resources

Automation

Automation: Learning Outcomes

auto08 Big Picture: appreciate the ambition of automation and generic notion of building something whose adaptive behavior can be specified by a finite number of settings coupled to a feedback mechanism

auto01 Fundamentals: define "automatic" and explain what components of an automatic machine (sensor, actuator, mechanism, control) do

auto04 Mechanics of Examples: explain how cams and followers, steam engine governor, thermostat work

auto05 Feedback: explain the concept; give everyday examples; distinguish positive and negative; describe possible system behaviors verbally and with charts

auto07 PID Controllers: describe to person-on-the-street what PID controller does; explain association of past, present, future with I, P, D; describe what's going on in an output over time chart; carry out simple math of difference equations in a PID table

auto06 Causal Loop Diagrams: interpret CLD, construct from text, distinguish positive and negative causal relations, recognize balancing/reinforcing loop

auto03 Taxonomy: recognize/explain difference between automation as following rules/seeking goal; open/closed loop

auto02 History: describe linguistic origins of "automatic" and "cyber"; convey sense that automation is not new but a long-term human project; describe automata and famous historical exemplars of automation (centrifugal governor, Jacquard loom)

auto08 Big Picture

auto01 Fundamentals

auto04 Mechanics of Examples

auto05 Feedback

auto07 PID Controllers

auto06 Causal Loop Diagrams

auto03 Taxonomy

auto02 History

Automation: Learning Outcomes

auto08 Big Picture

auto01 Fundamentals

auto04 Mechanics of Examples

auto05 Feedback

auto07 PID Controllers

auto06 Causal Loop Diagrams

auto03 Taxonomy

auto02 History

Pre-Class Class

Serious Active Learning

mostly "flipped" classroom

readings/lectures BEFORE class

review/stop+think Qs accompany readings→answers to be written down

class built around problems, activities, and Q&A, drawing on written answers

default expectation is cameras on, ready to be "called on,"  minimize time "waiting on turning mic on"

SHORT exposition → heads-down Q (→ heads-together) → report back → feedback

problem set sections per topic

class session 2-4 "items"

Quercus module: each item is a (non-graded) quiz

typical protocol

The class deck(s)

The class deck(s)

The STUDY GUIDE

Name Table
Athaliah 1
Benner 1
Bo 2
Christina 2
Chyna 3
Cindy 4
Eden Racca 4
Elizabeth 4
Hajir 5
Hyemin 5
Julia 6
Luckyna 6
Marco 7
Nicholas 7
Oliver 8
Purnima 9
Reese 9
Samita 9
Shae-Linn 10
Tiago 10
Waanmathi 11
Yahui 11
Yandrickx 12
Yuxuan 12
Zhiqi 12

ROUND 1

20001

[auto01] Write a definition for the term "automatic."

Name Table
Athaliah 1
Benner 13
Bo 2
Christina 12
Chyna 3
Cindy 10
Eden Racca 4
Elizabeth 9
Hajir 5
Hyemin 8
Julia 6
Luckyna 7
Marco 7
Nicholas 6
Oliver 8
Purnima 5
Reese 9
Samita 4
Shae-Linn 10
Tiago 3
Waanmathi 11
Yahui 2
Yandrickx 12
Yuxuan 1
Zhiqi 7
Zoie 4

ROUND 2

20002

[auto02] What ancient Greek word is the origin of our prefix "cyber-"?

STOP+THINK

What are some examples of feedback that you've come across today?

(Q20005)

AUTOMATION I

Humans, Machines, Governance, and Automation

1

2

3

4

Unpacking
"Automation"

PID ControllERS

FEEDBACK

Motivation

See Also

Main TAKEAWAY VERSION 1

Automatic machines can be controlled to do what humans want by minimizing error through feedback.

Terminology

machine

automatic

control

feedback

cybernetics

A machine is "(1): an instrument (such as a lever) designed to transmit or modify the application of power, force, or motion
(2): an assemblage of parts that transmit forces, motion, and energy one to another in a predetermined manner"

An automatic machine is one that, once turned on, operates without human intervention.

Regulation of a system to achieve desired performance.

control that does not have access to feedback.

control that does have access to feedback.

Evaluative information about a process that is available to a controller of that process

the science of automatic control systems in both machines and living things

closed loop

open loop

humans

We are lazy and we like to control things.

from Kubernetes (κυβερνήτης, Greek for "governor", "helmsman" or "captain" or "steerer"; becomes gubernet- in Latin)

 

Earliest usages were more social than technical: governance of society

 

GOVERNANCE

Cybernetics

STOP+THINK:What's the "AUTOMAT" Part?

These things were "AUTOMATIC" in that humans supplied the energy or the power but the device could carry out the sequence of activities "on its own."

The Secret: built-in CONTROL

AKA GOVERNANCE

αὐτόματον, automaton, "acting of one's own will." First used by Homer to describe an automatic door.

Automaton

Automaton clock in Gloucester, United Kingdom

Henri Maillardet automaton, London, c1810 - Franklin Institute

The Six Simple Machines

wheel

Pulley

inclined plane

LEVER

wedge

screw

MACHINE: an instrument designed to transmit or modify the application of power, force, or motion.

MACHINES:

  • transferring a force from one place to another,
  • changing the direction of a force,
  • increasing the magnitude of a force, or
  • increasing the distance or speed of a force.

 

Tools and Machines Bibliography

  1. Wikipedia, "Kenneth Oakley"
  2. Oakley, KP. 1964. Man the Tool-maker
  3. Lucas, Jim. 2018. "6 Simple Machines: Making Work Easier"
  4. SMORE. "Work, energy, and simple machines"
  5. Wikipedia. "Tool use by animals"

MACHINE:
an assemblage of parts
that transmit

forces, motion, and energy

to one another

in a predetermined manner.

See also

Cybernetics : the study of the control of systems.

centrifugal governor

UNPACKING "Automation"

2

TWO KINDS OF Automation

Instruction Following

Goal Seeking

An automatic machine is one that, once turned on, operates without human intervention.

components of an automatic machine

Actuator: generates force

Mechanism: transmit and focus force

Sensor: detects states

Controller: Compares sensor output to
               goal and adjusts actuator

 

Stop+Think: automatic kettle?

Actuator: ?

 

Mechanism: ?

 

Sensor: ?

 

Controller: ?

 

button

switch

heater

 

temperature
sensor

at 100c
throw switch

Automation as Following Instructions

Behind
the
scenes

V. Ryan (no relation) aka techteacher@technologystudent.com has a great website with lots of material on engineering and machines.  Check out their animation of a "cam" - here a circular piece (red) that is mounted on an axis that is not at its center.

This produces an up and down motion of the grey part which is called the "follower."

V. Ryan (no relation) aka techteacher@technologystudent.com has a great website with lots of material on engineering and machines.  

Differently shaped cams yield different patterns of motion

Wikipedia says the camshaft was first described in 1206 by Arab engineer Al-Jazari. He employed it as part of his automata, water-raising machines, and water clocks such as the castle clock.

Exercise

3. [auto04] What would a charting of the follower's motion be for this cam?

follower

time

time

command

rotation

2

3

7

4

follower

time

command

rotation

2

3

7

4

follower

time

2

3

6

4

STOP+THINK

What might a flow chart for this automatic machine look like?

command

sequence

2

3

7

5

follower

command

sequence

2

3

7

5

Exercise

3. [auto04] What would a charting of the follower's motion be for this cam?

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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3

Automation Class I Activities

Q: simple causal loop: description via broadcast work together drawing (pairs)

ROUNDs of 2

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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ROUNDs of 3

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

Zoie

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

7

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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ROUNDs of 4

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

1

2

4

5

3

ROUND of 2

20002

[auto02] Draw a flowchart for a simple cam/follower automation

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

12

10

7

1

2

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11

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ROUND of 3

20002

[auto02] Draw a flowchart for a simple cam/follower automation

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

ROUND of 4

20002

[auto02] Draw a flowchart for a simple cam/follower automation

7

1

2

4

6

5

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7

1

2

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5

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7

1

2

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

1

2

4

5

3

Jacquard Loom, see also

Sequence

Heads-Down, Think and Write on your own white board

Find your table

Breakout rooms open, go to your room

Decide on order

Timer starts

Hear from everyone, craft collective response, write on table's white board

15 second warning - finish up

Return to main room. Instructor resets deck. Individual called to report for group

Feedback/takeaway

instruction

rotation

1

4

3

2

follower

1

2

3

4

Exercise

[auto04] Quick draw flowchart for cam- or card-based automation if it's basically "instruction 1, instruction 2, instruction 3, instruction 4, repeat." Use the graphical pieces below.

Exercise

[auto04] Quick draw flowchart for cam- or card-based automation if it's basically "instruction 1, instruction 2, instruction 3, instruction 4, repeat."

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

12

10

7

1

2

4

11

9

8

6

5

3

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2

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11

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13

Automation as Sequence

2

3

7

5

Centrifugal Governor

17th century
Credited to Christiaan Huygens,
adapted by James Watt 1788.


Concept: balls spin under steam pressure; faster pressure, faster spin; faster spin, pull arms down; arm motion opens pressure release; pressure decrease leads to speed decrease and valve closes

 

Centrifugal Governor

17th century
Credited to Christiaan Huygens,
adapted by James Watt 1788.


Concept: balls spin under steam pressure; faster pressure, faster spin; faster spin, pull arms down; arm motion opens pressure release; pressure decrease leads to speed decrease and valve closes

 

steam

steam

centrifugal governor

centrifugal governor

Exercise

[auto02] The Jacquard loom and the centrifugal steam engine governor are fundamentally different approaches to automation.  Can you say why/how?

Exercise

[auto02] The Jacquard loom and the centrifugal steam engine governor are fundamentally different approaches to automation.  Can you say why/how?

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

12

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13

Automation as Goal Seeking

CLOSE ENOUGH TO GOAL?

Action

Adjust

Exercise

4. [auto04] The centrifugal governor slows a machine down if it is going too fast and speeds it up if it is going too slow (compared to a chosen speed). What does this look like in a flow chart? Arrange these items to capture this logic.

Exercise

4. [auto04] The centrifugal governor slows a machine down if it is going too fast and speeds it up if it is going too slow (compared to a chosen speed). What does this look like in a flow chart? Arrange these items to capture this logic.

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Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

Automation as Goal Seeking

TOO FAST?

TOO SLOW?

SLOW DOWN

SPEED UP

GO

But where do these diamonds get the information they need to decide?


SENSORS!
 

Is the music box following instructions or pursuing a goal?

FeedBACK

3

auto05 Feedback: explain the concept; give everyday examples; distinguish positive and negative; describe possible system behaviors verbally and with charts

Title Text

How does a Stampede HAPPEN?

One horse runs. Others say "chill out, Max."
 

Two horses run. Others say, "Dudes, relax."
 

Three horses run. Nearby others say, "Hey, something happening?" And speed up a bit.
 

Others see change. Start hurrying
 

More horses perceive the change and pick up the pace...

What's the Relationship?

What's the Relationship?

What's the Relationship?

Reinforcing
Loop

What does the system look like over time?

What does the system look like over time?

How does a thermostat work?

Why does this happen?

How do Toilets work?

How Does This Work?

Why does this happen?

ANSWER:


FEEDBACK


(or Lack of Feedback!)

Feedback

Evaluative information about a process that is available to a controller of that process

a system paying attention to the effect it has on the world.

Feedback

When an output is also an input

Feedback

INPUT

OUTPUT

STOP+THINK

How many different kinds of feedback have you seen today?

Two Kinds of Automation

How do these differ?

Open vs Closed

Loop Automation

In open-loop automation the control of the process is independent of the output.

 

In closed loop automation, the control of the process depends on feedback based on the output of the process.

 

Centrifugal Governor is an example of a
Closed Loop System

JacquArd Loom is an example of a
OPEN Loop System

STOP+THINK: Open or Closed Loop?

Exercise

5. [auto04] Consider these four "systems" - are they "open" or "closed" loops? If they are closed loop, what's the feedback and how does the system use it?

  • Comedian telling jokes in front of a live audience.
  • Electric hand-held hair dryer.
  • Playing the game "hotter and colder"
  • Timer based clothes dryer

Exercise

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

12

10

7

1

2

4

11

9

8

6

5

3

12

10

7

1

2

4

11

9

8

6

5

3

13

13

Closed Loop Systems
Depend
on
Feedback

auto06 Causal Loop Diagrams: interpret CLD, construct from text, distinguish positive and negative causal relations, recognize balancing/reinforcing loop

DEF 1: a group of interacting or interdependent things

System

Use arrows to iNdicate "has an effect on"

something about A has an effect on B

something about B has an effect on A

something about A has an effect on B

something about B has an effect on A

the more B panics, the more A panics

the more A panics, the more B panics

Use arrows to iNdicate "has an effect on"

Title Text

Why does THIS HAPPEN?

What ARE THE QUANTITIES?

What's the Relationship?

+

+

Causal Loop Diagrams

Each measurable cause/effect is represented by a word or phrase

Arrows point from causes to effects

Arrows are labeled + or - to indicate positive or negative (inverse) causal relationships.

population
births
deaths

See also

  1. Lannon, Colleen. "Causal Loop Construction: The Basics" @ The Systems Thinker
  2. DonnaGurule. 2018. "Systems Thinking: Causal Loop Diagrams" (16m40s)
  3. The Climate Leader. 2015. "Causal Diagrams" (8m34s)

How does the System behave?

+

+

TIME

Horses Running

What's going on here?

Describe the process of turning on a faucet and get it to the right temperature to wash your hands?

Positive Causal Relationship: the more A, the more B OR
the less A the less B

Negative Causal Relationship: the more A, the less B OR
the less A the more B

GAP = actual - desired

more hot higher actual

higher actual bigger gap

bigger gap less hotter

-

+

+

-

+

+

-

+

+

We might start out too cold,

add warm, still be a bit cold,

TIME

GAP

TIME

GAP

We might start out too cold,

add more warm, getting close,

just a bit more warm, ahhh, just right.

Add warm, still be a bit cold,

add more warm, now we are a bit too warm,

turn back the warm a bit, ahhh, just right.

Compare these two systems

+

+

Horses Running

TIME

TIME

GAP

Types of System Behavior

SYSTEM OUTPUT

TIME

Types of System Behavior Behavior

How does the get the water to hand washing temperature system look?

If you have a friend who is alternately warm and cold relationally, what does the system  look?

How do accidents happen?

Which curve do we associate with COVID?

Two Kinds of "Feedback LOOPS"

Positive or Reinforcing

NEGAtive or BALANCING

Reinforcing
Loop

This is a positive feedback loop.  AKA a "reinforcing" (R) loop.  R loops always have an even number of minus signs.

-

+

+

Balancing
Loop

Reinforcing
Loop

This is a positive feedback loop.  AKA a "reinforcing" (R) loop.  R loops always have an even number of minus signs.

-

+

+

Balancing
Loop

This is a negative feedback loop.  AKA a "balancing" (B) loop.  B loops always have an odd number of minus signs.

The more open the throttle,
the faster the machine.

 

The faster the machine,
the higher the rotational frequency.

 

The higher the rotational frequency,
t
he higher the angle.

 

The higher the angle,
the less open the throttle.

 

The less open the throttle,
the slower the machine.

Causal Loop Diagrams

Direction of Relationships

Valence of Relationships

"When A grows, B grows"

Linked Causes and Effects

"A influences B"

+

-

"When A grows, B shrinks"

Exercise

Benner

Waanmathi

Fiza

Nicholas

Luckyna

Hajir

Athalia

Bo

Cindy

Zoie

Tiago

Shae-Linn

Samita

Reese

Oliver

Marco

Julia

Min

Elizabeth

Eden

Chyna

Christina

Zhiqi

Vivian

Yandrickx

Yahui

12

10

7

1

2

4

11

9

8

6

5

3

12

10

7

1

2

4

11

9

8

6

5

3

13

13

"When things go well, I get over confident and start to cut corners. Things start slipping and I get careful and then things go better."

"The hungrier I am, the more I eat.
The more I eat, the less hungry I am."

"The hotter I am, the more I sweat. The more I sweat, the cooler I get. The colder I am the more I shiver. The more I shiver, the warmer I get."

The warmer the earth is, the more thawing and melting. The more things thaw and melt, the more CO2 gets released. The more CO2 in the atmosphere, the more sunlight gets reflected back. The more reflected sunlight, the warmer the earth.

Example: Hunger

Hungry

Eating

+

-

"The hungrier I am, the more I eat.
The more I eat, the less hungry I am."

Example: Work Habits

Things Go Well

Confidence

+

"When things go well, I get over confident and start to cut corners. Things start slipping and I get careful and then things go better."

Cut Corners

+

-

Biological Feedback

causal loop for insulin/glucagon

References

Feedback
and
System Behavior

https://storage.googleapis.com/ltkcms.appspot.com/fs/yd/images/cover/negative-feedback-loop.base?v=1587496185

Positive Feedback

Amplifier

amplifies

sound from

microphone.

Sound comes

out of speaker

and goes into

microphone.

 

If amplifier affects higher

pitched sounds more then higher pitch amplification outpaces

lower pitches and we hear screeeeeeeeeeech.

Temperature

Thawing and Melting

CO2 Release

Sunlight Reflected Back

The warmer the earth is, the more thawing and melting. The more things thaw and melt, the more CO2 gets released. The more CO2 in the atmosphere, the more sunlight gets reflected back. The more reflected sunlight, the warmer the earth.

What does the system look like over time?

R loops produce unconstrained growth in a system.

How do thermostats work?

thermo   stat

temperature      unchanging

How does it work?

Room  Cold?

Turn Heat ON

Room warm?

Turn Heat OFF

How does a thermostat work?

SET TEMPERATURE

THERMOMETER

SWITCH

CAUSAL LOOP

SET TEMP

ACTUAL TEMP

GAP

SWITCH

HEAT

But HOW are these causally related?

CAUSAL LOOP

SET TEMP

ACTUAL TEMP

GAP

HEAT

+

-

+

HOW does the "system" behave?

balancing loop

This is a negative feedback loop.  AKA a "balancing" (B) loop.  B loops always have an odd number of minus signs.

TIME

TEMP

SET TEMP

ACTUAL TEMP

GAP

Furnace switches off but some heat continues to flow

Furnace ON

B loops produce systems that oscillate or settle down.

AUTOMATION II

PID CONTROL

4

Next

The Problem of Control

How to automate the process of achieving a set output goal

from "GAP" to "ERROR"

Nicolas
Minorsky

1885-1970

Expert helmspersons pay attention to what's going on, how things are changing, and where things have been so far.

I
N
S
I
G
H
T

Expert Control Takes Account of...

How far off the target am I at the moment?

Is my error increasing or decreasing?

How well or how badly have I been doing overall?

PRESENT

PAST

FUTURE

Three Ways to Think about Error

Proportion = what is the current error?

Derivative = how is error changing?

Integral = how much error has accumulated?

PAST

FUTURE

PRESENT

https://youtu.be/wkfEZmsQqiA

Tutorial