Ilge Akkaya

ilgea at eecs berkeley edu


I recently graduated from UC Berkeley EECS with a PhD and I currently work at Periscope Data as a software engineer.

I was previously part of the Ptolemy research group, advised by Edward A. Lee. My Ph.D. work addresses challenges in developing data-driven cyber-physical systems. Many sensor network applications rely on the heterogeneous integration of hardware and software. In the presence of dynamic component interactions and the perpetually changing environment, system behavior often needs to be dynamic, furthermore, it needs to be learned. In this setting, design, test and integration become more integrated, requiring novel approaches for composing smart systems.

I am working on a framework named PILOT (Ptolemy Inference, Learning, and Optimization Toolkit), which aims at enabling dynamic development of IoT applications based on on-line machine learning and optimization. PILOT is a Java-based toolkit that is developed as part of the Ptolemy II framework. The main challenges we address with PILOT are utilizing streaming data in developing data-driven systems and aspect-oriented modeling for modular design of complex cyber-physical systems.

I worked as a software engineering intern at Twitter during Summer 2014 and a PhD intern at Pacific Northwest National Lab during Summer 2012.

More Details


  • April 11-14, 2016

    We are presenting a demo titled "Building IoT Applications with Accessors in CapeCode" at ICCPS during CPSWeek 2016 in Vienna, Austria.

  • April 4-7, 2016

    I presented a paper titled "Control Improvisation with Probabilistic Temporal Specifications" at the IEEE Conference on Internet of Things Design and Implementation in Berlin, Germany. The paper won the Best Paper Award.

  • November 8-10, 2015

    Rising Stars is an inivite-only workshop for women interested in careers in academia.

  • September 9-11, 2015

    We showcased some emerging infrastructure for IoT and swarm robotics applications developed by the TerraSwarm team at the DARPA Wait What? Future Technology Forum.

Research Highlights

PILOT: An Actor-Oriented Learning and Optimization Toolkit for Building Swarm Applications

The rapid growth of networked smart sensors today offers unprecedented volumes of continually streaming data. This renders most classical control and optimization techniques that are based on monolithic approaches ineffective for cloud-based large scale application design for the IoT. We present PILOT (Ptolemy Inference, Learning, and Optimization Toolkit), an actor-oriented machine learning and optimization toolkit that is designed for developing data-intensive distributed applications for sensor networks. PILOT presents an actor interface that enables developing complex learning and optimization tasks for large scale sensor networks in a scalable and state-space aware fashion. We demonstrate key capabilities of the toolkit with a cloud-based cooperative mobile robot target tracking scenario, and study how the framework achieves design and implementation of control policies by including higher-level abstractions of learning and optimization tasks as part of the system design.

Areas of Interest

  • Cooperative Multi-Robot Navigation
  • Fault Modeling and Anomaly Detection for Cyber-Physical Systems
  • Data-Driven User Behavior Modeling
  • Automotive Data Analytics
  • Home Automation
  • Data-Driven Traffic Modeling and Adaptive Decision Making


Journal Papers & Book Chapters


  • Akkaya, I., Derler, P., Emoto, S., and Lee, E.A. Systems Engineering for Industrial Cyber-Physical Systems using Aspects. in Proceedings of the IEEE, vol. 104, no. 5, pp. 997-1012, May 2016.
    aspect-oriented modeling, systems engineering,robotic swarms,disaster response
    DOI PDF BibTeX
  • Emoto, S., Akkaya, I., and Lee, E.A. Information seeking and model predictive control of a cooperative multi-robot system. in Artificial Life and Robotics, p.1-6, Oct 2016.
    aspect-oriented modeling, systems engineering,robotic swarms,disaster response
    DOI PDF BibTeX
  • Akkaya, I., Liu, Y. & Lee, E.A. Uncertainty Analysis of Middleware Services for Streaming Smart Grid Applications. in IEEE Transactions on Services Computing, vol. 9, no. 2, pp. 174-185, March-April 1 2016.
    uncertainty analysis, smart-grid applications,monte-carlo simulation,network modeling
    DOI PDF BibTeX
  • 2015

  • Akkaya, I., Liu, Y., & Lee, E. A. Modeling and Simulation of Network Aspects for Distributed Cyber-Physical Energy Systems. In Cyber Physical Systems Approach to Smart Electric Power Grid (pp. 1-23). Springer Berlin Heidelberg, January 2015.
    aspect-oriented modeling,smart-grid applications, cyber-physical energy systems, network modeling
    DOI PDF BibTeX
  • Valle, R., Donzé, A., Fremont, D.J., Akkaya, I., Seshia, S.A., Freed, A., Wessel, D. Specification Mining For Machine Improvisation With Formal Specifications, (under review)
    specification mining, control improvisation, formal methods
    PDF BibTeX
  • Thesis


  • Akkaya, I. Data-Driven Cyber-Physical Systems via Real-Time Stream Analytics and Machine Learning, PhD Dissertation.
    PDF BibTeX
  • Conference & Workshop Papers


  • Akkaya, I., Fremont, D., Valle, R., Donzé, A., Lee, E.A., and Seshia, S. (2016). Control Improvisation with Probabilistic Temporal Specifications. In Proceedings of the 1st IEEE International Conference on Internet-of-Things Design and Implementation (IoTDI), Berlin, Germany. Best Paper Award.
    control improvisation, residential load modeling, formal methods, randomized control
    DOI arXiv BibTeX
  • Bagheri, M., Akkaya, I., Khamespanah, E., Khakpour, N., Sirjani, M., Movaghar, A., Lee, E.A. Coordinated Actors for Reliable Self-Adaptive Systems In Proceedings of Formal Aspects of Component Software (FACS), Besancon, France, Oct. 19-21, 2016.
    Coordinated actors,adaptive systems,air traffic control
    PDF BibTeX
  • Emoto, S., Akkaya, I., Lee, E.A. Cooperative Multi-Robot Information Acquisition based on Distributed Robust Model Predictive Control In Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016), Qingdao, China, December 3-7.
    Information-seeking control,model-predictive control,data-driven cyber-physical systems
    PDF BibTeX
  • 2015

  • Akkaya, I., Emoto, S., Lee, E.A. (2015). PILOT: An Actor-oriented Learning and Optimization Toolkit for Robotic Swarm Applications. In CPSWeek International Workshop on Robotic Sensor Networks (RSN'15).
    robotic swarm applications,IoT design,actor-oriented modeling
    PDF BibTeX
  • Emoto, S., Akkaya, I., and Lee, E.A. (2015). Information Seeking and Model Predictive Control of A Cooperative Robot Swarm. In SWARM'15: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics.
    robotic swarm, mutual information,obstacle avoidance,model-predictive control
    PDF BibTeX
  • Wasicek, A., Lee, E.A., Greenberg, L., Iwai, A., Akkaya, I., and Kim, H (2015). System Simulation from Operational Data In Proceedings of the 52nd Design Automation Conference (DAC).
    data-driven design,change point detection,bayesian model,automotive diagnostics
    DOI PDF BibTeX
  • Nathan, V., Akkaya, I., Jafari, R. (2015, August). A Particle Filter Framework for the Estimation of Heart Rate from ECG Signals Corrupted by Motion Artifacts. In Proceedings of EMBC 2015.
    particle filter,heart rate estimation,biomedical sensing
    DOI PDF BibTeX
  • 2014

  • Donzé, A., Valle, R., Akkaya, I., Libkind, S., Seshia, S. A., & Wessel, D. (2014, September). Machine Improvisation with Formal Specifications. In Proceedings of the 40th International Computer Music Conference (ICMC'14)
    control improvisation, formal methods, jazz improvisation, computer music
    PDF BibTeX
  • 2013

  • Akkaya, I., Liu, Y., Lee, E. A., & Gorton, I. (2013, December). Modeling Uncertainty for Middleware-based Streaming Power Grid Applications. In Proceedings of the 8th Workshop on Middleware for Next Generation Internet Computing (p. 4). ACM.
    middleware, uncertainty, cyber-physical energy systems, distributed systems, network modeling
    DOI PDF BibTeX
  • Akkaya, I., Lee, E. A., & Derler, P. (2013, May). Model-based evaluation of GPS spoofing attacks on power grid sensors. In Modeling and Simulation of Cyber-Physical Energy Systems (MSCPES), 2013 Workshop on (pp. 1-6). IEEE.
    GPS spoofing, cyber-pyhsical system security, time synchronization
    DOI PDF BibTeX
  • 2012

  • Akkaya, I., Liu, Y., & Gorton, I. (2012, December). Modeling and analysis of middleware design for streaming power grid applications. In Proceedings of the Industrial Track of the 13th ACM/IFIP/USENIX International Middleware Conference (p. 1). ACM.
    middleware, cyber-physical energy systems, network modeling
    DOI PDF BibTeX
  • 2011

  • Matic, S., Akkaya, I., Zimmer, M., Eidson, J. C., & Lee, E. A. (2011, December). PTIDES model on a distributed testbed emulating smart grid real-time applications. In Innovative Smart Grid Technologies (ISGT Europe), 2011 2nd IEEE PES International Conference and Exhibition on (pp. 1-8). IEEE.
    smart grid, PTIDES , distributed systems, real-time systems
    DOI PDF BibTeX