Books and Book Chapters

  1. C. Kulkarni, M. Daigle, I. Roychoudhury, S. Sankararaman, and K. Goebel, "Prognostics and Health Monitoring: Application to an Unmanned Electric Aircraft," in Advances in Computational Intelligence and Autonomy for Aerospace Systems, edited by J. Valasek, vol. 254, AIAA, 2018.
  2. M. Daigle, A. Bregon, and I. Roychoudhury, "Diagnosis of Hybrid Systems Using Structural Model Decomposition," Fault Diagnosis of Hybrid Dynamic and Complex Systems, Springer, Cham, pp. 179-207, March 2018.
  3. K. Goebel, M. Daigle, A. Saxena, S. Sankararaman, I. Roychoudhury​, and J. Celaya, "Prognostics: The Science of Making Predictions," April 2017.

Journals

  1. O. Bektas, J. A. Jones, S. Sankararaman, I. Roychoudhury, and K. Goebel, "A Neural Network Framework for Similarity-Based Prognostics," MethodsX, to appear, February 2019. Published online as https://doi.org/10.1016/j.mex.2019.02.015.
  2. O. Bektas, J. A. Jones, S. Sankararaman, I. Roychoudhury, and K. Goebel, "Reconstructing Secondary Test Database from PHM08 Challenge Data Set,", Data in Brief, vol. 21, pp. 2464-2469, November 2018.
  3. O. Bektas, J. A. Jones, S. Sankararaman, I. Roychoudhury, and K. Goebel, "A Neural Network Filtering Approach for Similarity-Based Remaining Useful Life Estimation," The International Journal of Advanced Manufacturing Technology, pp. 1-17, October 2018.
  4. M. Rigamonti, P. Baraldi, E. Zio, I. Roychoudhury, K. Goebel, and S. Poll, "Ensemble of Optimized Echo State Networks for Remaining Useful Life Prediction," Neurocomputing, vol. 281, pp. 121-138, March 2018.
  5. M. Daigle, I. Roychoudhury, and A. Bregon, "Qualitative Event-based Diagnosis Applied to a Spacecraft Electrical Power Distribution System," Control Engineering Practice, vol. 38, pp. 75-91, May 2015.
  6. E. Balaban, A. Saxena, S. Narasimhan, I. Roychoudhury, M. Koopmans, C. Ott, and K. Goebel,  "Prognostic Health Management System Development for Electro-Mechanical Actuators," Journal of Aerospace Information Systems,  vol. 12, no. 3, pp. 329-344, March 2015. Published online as doi: 10.2514/1.I010171 
  7. M. Daigle, A. Bregon, and I. Roychoudhury, "Distributed Prognostics Based on Structural Model Decomposition," IEEE Transactions on Reliability, vol. 63, no. 2, pp. 495-510, June 2014. Published online as doi: 10.1109/TR.2014.2313791.
  8. A. Bregon, M. Daigle, I. Roychoudhury, G. Biswas, X. Koutsoukos, and B. Pulido, "An Event-based Distributed Diagnosis Framework using Structural Model Decomposition," Artificial Intelligence, vol. 210, no. 0, pp. 1-35, Feb 2014.
  9. E. Balaban, S. Narasimhan, M. Daigle, I. Roychoudhury, A. Sweet, C. Bond, and G. Gorospe, "Development of a Mobile Robot Test Platform and Methods for Validation of Prognostics-Enabled Decision Making Algorithms," International Journal of Prognostics and Health Management, vol. 4, no. 1, May 2013.
  10. I. Roychoudhury, M. Daigle, G. Biswas, and X. Koutsoukos, "Efficient Simulation of Hybrid Systems: A Hybrid Bond Graph Approach," SIMULATION: Transactions of the Society for Modeling and Simulation International, vol. 87, no. 6, pp. 467-498, June 2011. Published online on April, 2010 as doi:10.1177/0037549710364478 (abstract).
  11. M. Daigle, I. Roychoudhury, G. Biswas, X. Koutsoukos, "A Comprehensive Diagnosis Methodology for Complex Hybrid Systems: A Case Study on Spacecraft Power Distribution Systems," IEEE Transactions on System, Man, and Cybernetics, Part A: Special issue on "Model-based Diagnosis: Facing Challenges in Real-world Applications", vol. 4, no. 5, pp. 917-931, September 2010.
  12. I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Designing Distributed Diagnosers for Complex Continuous Systems," IEEE Transactions on Automation Science and Engineering, vol. 6, no. 2, pp. 277-290, April 2009.
  13. I. Roychoudhury, M. Daigle, G. Biswas, and X. Koutsoukos, "An Efficient Method for Simulating Complex Systems with Switching Behaviors Using Hybrid Bond Graphs," Simulation News Europe , vol. 18, no. 3-4, pp. 5-13, December 2008.

Theses

  1. I. Roychoudhury, "Distributed Diagnosis of Continuous Systems: Global Diagnosis Through Local Analysis," PhD Dissertation, Vanderbilt University, August 2009.

Conferences

             2021
  1. P. Sheth, I. Roychoudhury, C. Chatar, and J. Celaya, "A Hybrid Physics-Based and Machine-Learning Approach for Stick/Slip Prediction," in Proceedings of the IADC/SPE International Drilling Conference and Exhibition, Galveston, TX, March 2021, to appear.

    2018
  2. C. Kulkarni, J. Schumann, and I. Roychoudhury, "On-board Battery Monitoring and Prognostics for Electric-Propulsion Aircraft," in Proceedings of the AIAA/IEEE Electric Aircraft Technologies Symposium (EATS), Cincinnati, OH, July 2018. 
  3. C. Kulkarni, I. Roychoudhury, and G. Gorospe, "Distributed Diagnosis of Electric Aircraft Powertrain", in Proceedings of the Fourth European Conference of the Prognostics and Health Management Society, 2018, Utrecht, The Netherlands, July 2018.​

    2017
  4. M. Daigle, I. Roychoudhury, L. Spirkovska, K. Goebel, S. Sankararaman, J. Ossenfort, and C. Kulkarni, "Real-Time Prediction of Safety Margins in the National Airspace", in Proceedings of AIAA Aviation 2017, Denver, CO, June 2017.
  5. L. Spirkovska, I. Roychoudhury, M. Daigle, and K. Goebel, "Real-Time Safety Monitoring: Concept for Supporting Safe Flight Operations," in Proceedings of AIAA Aviation 2017, Denver, CO, June 2017.
  6. S. Sankararaman, I. Roychoudhury, X. Zhang, and K. Goebel, "Preliminary Investigation of Impact of Technological Impairment on Trajectory-Based Operations," in Proceedings of AIAA Aviation 2017, Denver, CO, June 2017.
  7. E. Balaban, I. Roychoudhury, L. Spirkovska, S. Sankararaman, C. Kulkarni, and T. Arnon, "Dynamic Routing of Aircraft in the Presence of Adverse Weather Using a POMDP Framework," in Proceedings of AIAA Aviation 2017, Denver, CO, June 2017
    ​
    2016
  8. M. Daigle, A. Bregon, and I. Roychoudhury, "A Qualitative Fault Isolation Approach for Parametric and Discrete Faults Using Structural Model Decomposition," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2016, Denver, CO, October 2016. ​
  9. M. Daigle, S. Sankararaman, and I. Roychoudhury, "System-level Prognostics for the National Airspace," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2016, Denver, CO, October 2016. 
  10. A. Bregon, M. Daigle, and I. Roychoudhury, "Qualitative Fault Isolation of Hybrid Systems: A Structural Model Decomposition-Based Approach," in Proceedings of the Third European Conference of the Prognostics and Health Management Society 2016, Bilbao, Spain, July 2016. 
  11. M. Rigamonti, P. Baraldi, E. Zio, I. Roychoudhury, K. Goebel, and S. Poll, "Echo State Network for the Remaining Useful Life Prediction of a Turbofan Engine Under Variable Operating Conditions," in Proceedings of the Third European Conference of the Prognostics and Health Management Society 2016, Bilbao, Spain, July 2016. 
  12. I. Roychoudhury, M. Daigle, K. Goebel, L. Spirkovska, S. Sankararaman, J. Ossenfort, C. Kulkarni, W. McDermott, and S. Poll, "Initial Demonstration of the Real-Time Safety Monitoring Framework for the National Airspace System Using Flight Data," in Proceedings of AIAA Aviation 2016, Washington, DC, June 2016. 
  13. I. Roychoudhury, L. Spirkovska, M. Daigle, E. Balaban, S. Sankararaman, C. Kulkarni, S. Poll, and K. Goebel, "Predicting Real-Time Safety of the National Airspace System," in Proceedings of the AIAA Infotech@Aerospace (part of the AIAA SciTech Forum 2016), San Diego, CA, January 2016.

    2015
  14. J. Schumann, I. Roychoudhury, and C. Kulkarni, "Diagnostic Reasoning Using Prognostic Information for Unmanned Aerial Systems," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2015, Coronado, CA, October 2015.
  15. M. Daigle, I. Roychoudhury, and A. Bregon, "Model-based Prognostics of Hybrid Systems,"  in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2015, Coronado, CA, October 2015.
  16. M. Daigle, A. Bregon, and I. Roychoudhury, "A Structural Model Decomposition Framework for Hybrid Systems Diagnosis," in Proceedings of the 26th International Workshop on Principles of Diagnosis, August 2015. 
  17. A. Bregon, M. Daigle, and I. Roychoudhury, "An Integrated Framework for Distributed Diagnosis of Process and Sensor Faults," in Proceedings of the 2015 IEEE Aerospace Conference, March 2015.

    2014
  18. M. Daigle, I. Roychoudhury, and A. Bregon, "Qualitative Event-Based Fault Isolation Under Uncertain Observations," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2014, Fort Worth, Texas, September 2014.
  19. M. Daigle, I. Roychoudhury, and A. Bregon, "Integrated Diagnostics and Prognostics for the Electrical Power System of a Planetary Rover," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2014, Fort Worth, Texas, September 2014.
  20. A. Sweet, G. Gorospe, M. Daigle, J. Celaya, E. Balaban, I. Roychoudhury, and S. Narasimhan, "Demonstration of Prognostics-Enabled Decision Making Algorithms on a Hardware Mobile Robot Test Platform," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2014, Fort Worth, Texas, September 2014.
  21. M. Daigle, I. Roychoudhury, and A. Bregon, "Diagnosability-based Sensor Placement Through Structural Model Decomposition," in Proceedings of the Second European Conference of the Prognostics and Health Management Society 2014, Nantes, France, July 2014.

    2013
  22. I. Roychoudhury, A. Saxena, J. Celaya, and K. Goebel, "Distilling the Verification Process for Prognostics Algorithms," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2013, New Orleans, LA, October 2013. (Nominated for Best Paper Award)
  23. A. Bregon, S. Narasimhan, I. Roychoudhury, M. Daigle, and B, Pulido, "An Efficient Model-based Diagnosis Engine for Hybrid Systems using Structural Model Decomposition," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2013, New Orleans, LA, October 2013.
  24. M. Daigle, I. Roychoudhury, and A. Bregon, "Qualitative Event-based Diagnosis with Possible Conflicts: Case Study on the Fourth International Diagnostic Competition," in Proceedings of the 24th International Workshop on Principles of Diagnosis, Jerusalem, Israel, October 2013.
  25. R. Rajamani, A. Saxena, F. Kramer, M. Augustine, J. B. Schroeder, K. Goebel, G. Schao, I. Roychoudhury, and W. Lin, "Developing IVHM Requirements for Aerospace Systems," in SAE 2013 AeroTech Congress & Exhibition, September 2013.
  26. A. Saxena, I. Roychoudhury, W. Lin, and K.  Goebel, "Towards Requirements in Systems Engineering for Aerospace IVHM Design," in Proceedings of the AIAA Infotech@Aerospace, Boston, MA, August 2013.
  27. I. Roychoudhury, V. Hafiychuk, and K. Goebel, "Model-Based Diagnosis and Prognosis of a Water Recycling System," in Proceedings of the 2013 IEEE Aerospace Conference, March 2013.
  28. I. Roychoudhury, M. Daigle, A. Bregon, and B. Pulido, "A Structural Model Decomposition Framework for Systems Health Management," in Proceedings of the 2013 IEEE Aerospace Conference, March 2013.

    2012
  29. A. Bregon, M. Daigle, and I. Roychoudhury, "An Integrated Framework for Model-Based Distributed Diagnosis and Prognosis," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2012, Minneapolis, MN, September 2012.
  30. M. Daigle, I. Roychoudhury, and A. Bregon, "A Distributed Approach to System-Level Prognostics," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2012, Minneapolis, MN, September 2012.
  31. A. Bregon, M. Daigle, and I. Roychoudhury, "An Integrated Model-Based Distributed Diagnosis and Prognosis Framework," in Proceedings of the 23rd International Workshop on Principles of Diagnosis, Great Malvern, UK, July - August 2012. 
  32. S. Narasimhan, E. Balaban, M. Daigle, I. Roychoudhury, A. Sweet, J. Celaya, and K. Goebel, “Autonomous Decision Making for Planetary Rovers Using Diagnostic and Prognostic Information,” Proceedings of the 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS 2012), Mexico City, Mexico, August 2012.
  33. M. Daigle, A. Bregon, and I. Roychoudhury, “Qualitative Event-based Diagnosis with Possible Conflicts Applied to Spacecraft Power Distribution Systems,” Proceedings of the 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (SAFEPROCESS 2012), Mexico City, Mexico, August 2012.
  34. A. Saxena, J. Celaya, I. Roychoudhury, S. Saha, B. Saha, and K. Goebel, "Designing Data-Driven Battery Prognostic Approaches for Variable Loading Profiles: Some Lessons Learnt," Proceedings of the First European Conference of the Prognostic and Health Management Society, Dresden, Germany, July 2012.
  35. A. Saxena, I. Roychoudhury, C. Neukom, A. Huang, G. Pisanich, and D. Tran, “Evaluating the Impact of Unrestricted Operation of Unmanned Aircraft Systems in the National Airspace System,” Proceedings of the AIAA Infotech@Aerospace, Garden Grove, CA, June 2012.
  36. A. Saxena, I. Roychoudhury, J. Celaya, B. Saha, S. Saha, and K. Goebel, “Requirements Flowdown for Prognostics Health Management,” Proceedings of the AIAA Infotech@Aerospace, Garden Grove, CA, June 2012.

    2011
  37. I. Roychoudhury and M. Daigle, "An Integrated Model-Based Diagnostic and Prognostic Framework," in Proceedings of the 22nd International Workshop on Principles of Diagnosis, Murnau, Germany, October 2011.
  38. A. Bregon, M. Daigle, I. Roychoudhury, G. Biswas, X. Koutsoukos, and B. Pulido, "Improving Distributed Diagnosis Through Structural Model Decomposition," in Proceedings of the 22nd International Workshop on Principles of Diagnosis, Murnau, Germany, October 2011.
  39. M. Daigle, A. Bregon, and I. Roychoudhury, "Qualitative Event-based Diagnosis with Possible Conflicts: Case Study on the Third International Diagnostics Competition", in Proceedings of the 22nd International Workshop on Principles of Diagnosis, Murnau, Germany, October 2011.
  40. M. Daigle, I. Roychoudhury, S. Narasimhan, B. Saha, S. Saha, and K. Goebel, "Investigating the Effect of Damage Progression Model Choice on Prognostics Performance," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2011, Montreal, Canada, September 2011. (Best Paper, Theoretical Paper Category)
  41. M. Daigle, A. Bregon, and I. Roychoudhury, "Distributed Damage Estimation for Prognostics Based on Structural Model Decomposition," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2011, Montreal, Canada, September 2011. (Nominated for Best Paper Award,  Theoretical Paper Category)
  42. E. Balaban, S. Narasimhan, M. Daigle, J. Celaya, I. Roychoudhury, B. Saha, S. Saha, and K. Goebel, "A Mobile Robot Testbed for Prognostics-Enabled Autonomous Decision Making," in Proceedings of the Annual Conference of the Prognostics and Health Management Society 2011, Montreal, Canada, September 2011. (Nominated for Best Paper Award, Application Paper Category)
  43. E. Balaban, A. Saxena, S. Narasimhan, I. Roychoudhury, and K. Goebel, "Experimental Validation of a Prognostic Health Management System for Electro-Mechanical Actuators," in Proceedings of the AIAA Infotech@Aerospace, St. Louis, Missouri, March 2011.

    2010
  44. S. Narasimhan, I. Roychoudhury, E. Balaban, and A. Saxena, "Combining Model-Based and Feature-Driven Diagnosis Approaches -  A Case Study on Electromechanical Actuators," in Proceedings of the 21st International Workshop on Principles of Diagnosis, October 2010.
  45. M. Daigle, I. Roychoudhury, G. Biswas, and X. Koutsoukos, "An Event-based Approach to Distributed Diagnosis of Continuous Systems," in Proceedings of the 21st International Workshop on Principles of Diagnosis, October 2010.
  46. M. Daigle and I. Roychoudhury, "Qualitative Event-based Diagnosis: Case Study on the Second International Diagnostic Competition," in Proceedings of the 21st International Workshop on Principles of Diagnosis, October 2010.
  47. E. Balaban, A. Saxena, S. Narasimhan, I. Roychoudhury, K. Goebel, and M. Koopmans, "Airborne Electro-Mechanical Actuator Test Stand for Development of Prognostic Health Management Systems," in Proceedings of the Annual Conference of the Prognostics and Health Management Society, October 2010.
  48. I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Distributed Diagnosis in Uncertain Environments Using Dynamic Bayesian Networks," in Proceedings of the 18th Mediterranean Conference on Control and Automation (MED'10), Marrakech, Morocco, June 2010.
  49. A. Saxena, I. Roychoudhury, J. R. Celaya, S. Saha, B. Saha, and K. Goebel, "Requirements Specifications for Prognostics: An Overview," in Proceedings of the AIAA Infotech@Aerospace, Atlanta, Georgia, April 2010.
  50. I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Using Factored Bond Graphs for Distributed Diagnosis of Complex Systems", in Proceedings of the 9th International Conference on Bond Graph Modeling and Simulation, pp. 11-18, Orlando, FL, April 2010.

    2009
  51. I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Factoring Dynamic Bayesian Networks Based on Structural Observability," Proceedings of 48th IEEE Conference on Decision and Control (IEEE CDC 2009), Shanghai, P. R. China, December 2009.
  52. I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Distributed Diagnosis of Dynamic Systems Using Dynamic Bayesian Networks", in Proceedings of the 20th International Workshop on Principles of Diagnosis, Stockholm, Sweden, June 2009.
  53. I. Roychoudhury, M. Daigle, G. Biswas, X. Koutsoukos, A. Patterson-Hine, and S. Poll, "Comprehensive Diagnosis of Complex Electrical Power Systems," 7th IFAC Symposium on Fault Detection, Supervision, and Safety of Technical Processes (SAFEPROCESS 2009), June 2009.
  54. I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Efficient Estimation for Diagnosis Using Factored Dynamic Bayesian Networks," 7th IFAC Symposium on Fault Detection, Supervision, and Safety of Technical Processes (SAFEPROCESS 2009), June 2009

    2008
  55. I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Comprehensive Diagnosis of Continuous Systems Using Dynamic Bayes Nets", in Proceedings of the 19th International Workshop on Principles of Diagnosis, pp. 151-158, Blue Mountains, Australia, September 2008.
  56. I. Roychoudhury, M. Daigle, G. Biswas, and X. Koutsoukos, "Efficient Simulation of Hybrid Systems: An Application to Electrical Power Distribution Systems," in Proceedings of the 22nd European Conference on Modeling and Simulation, pp. 471-477, June 2008.

    2007
  57. S. Poll, A. Patterson-Hine, J. Camisa, D. Nishikawa, L. Spirkovska, D. Garcia, D. Hall, C. Neukom, A. Sweet, S. Yentus, C. Lee, J. Ossenfort, I. Roychoudhury, M. Daigle, G. Biswas, X. Koutsoukos, and R. Lutz, "Evaluation, Selection, and Application of Model-Based Diagnosis Tools and Approaches," AIAA Infotech@Aerospace 2007 Conference and Exhibit, May 2007.
  58. S. Poll, A. Patterson-Hine, J. Camisa, D. Garcia, D. Hall, C. Lee, O. Mengshoel, C. Neukom, D. Nishikawa, J. Ossenfort, A. Sweet, S. Yentus, I. Roychoudhury, M. Daigle, G. Biswas, and X. Koutsoukos, "Advanced Diagnostics and Prognostics Testbed," 18th International Workshop on Principles of Diagnosis, pp. 178-185, May 2007.
  59. A. Moustafa, M. Daigle, I. Roychoudhury, C. Shantz, G. Biswas, S. Mahadevan, and X. Koutsoukos, "Fault Diagnosis of Civil Engineering Structures using the Bond Graph Approach," 18th International Workshop on Principles of Diagnosis, pp. 146-153, May 2007.
  60. M. Daigle, I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Efficient Simulation of Component-Based Hybrid Models Represented as Hybrid Bond Graphs," Hybrid Systems: Computation and Control (HSCC 2007), vol. 4416, pp. 680-683, Apr 2007. (short paper)
  61. I. Roychoudhury, M. Daigle, G. Biswas, X. Koutsoukos, and P. J. Mosterman, "A Method for Efficient Simulation of Hybrid Bond Graphs," International Conference on Bond Graph Modeling (ICBGM 2007), pp. 177-184, Jan 2007.

    2006
  62. I. Roychoudhury, G. Biswas, X. Koutsoukos, "A Bayesian Approach to Efficient Diagnosis of Incipient Faults", 17th International Workshop on Principles of Diagnosis (DX 06), Spain, pp. 243 - 250, June 2006.

    2005
  63. I. Roychoudhury, G. Biswas, X. Koutsoukos, and S. Abdelwahed, "Designing distributed diagnosers for complex physical systems", in Proceedings of the 16th International Workshop on Principles of Diagnosis (DX 05), Monterey, California, pp. 31 - 36, June 2005.

Technical Reports

  1. I. Roychoudhury, L. Spirkovska, M. O'Connor, and C. Kulkarni, "Survey of Methods to Predict Controller Workload for Real-Time Monitoring of Airspace Safety," NASA/TM-2018-219985, NASA Ames Research Center, August 2018.
  2. I. Roychoudhury, M. S. Reveley, N. Phojanamongkolkij, and K. M. Leone, "Assessment of the State-of-the-Art of System-Wide Safety and Assurance Technologies," NASA/TM-2017-219515, NASA Glenn Research Center, June 2017.
  3. I. Roychoudhury, L. Spirkovska, M. Daigle, E. Balaban, S. Sankararaman, C. Kulkarni, S. Poll, and K. Goebel, "Real-Time Monitoring and Prediction of Airspace Safety," NASA/TM-2015-218928, NASA Ames Research Center, December 2015.
  4. M. Daigle, I. Roychoudhury, G. Biswas, X. Koutsoukos, A. Patterson-Hine, and S. Poll, "A Comprehensive Diagnosis Methodology for Complex Hybrid Systems: A Case Study on Spacecraft Power Distribution Systems," Technical Report ISIS-08-908, Institute for Software Integrated Systems, Vanderbilt University, Dec 2008.
  5. M. Daigle, I. Roychoudhury, G. Biswas, and X. Koutsoukos, "Efficient Simulation of Hybrid Models Represented as Hybrid Bond Graphs," Technical Report ISIS-06-712, Institute for Software Integrated Systems, Vanderbilt University, Dec 2006.