Miroslav Pajic | Scholars@Duke

Miroslav Pajic
Dickinson Family Associate Professor

Miroslav Pajic's research focuses on design and analysis of cyber-physical systems with varying levels of autonomy and human interaction, at the intersection of (more traditional) areas of embedded systems, AI, learning and controls, formal methods and robotics.

Current Research Interests

Design and analysis of autonomous cyber-physical systems (CPS), and in particular, embedded systems, AI, learning and controls, CPS security and high-assurance autonomy, with various application domains including robotics, automotive, and medical systems

Current Appointments & Affiliations

Dickinson Family Associate Professor, Electrical and Computer Engineering, Pratt School of Engineering 2020
Associate Professor in the Department of Electrical and Computer Engineering, Electrical and Computer Engineering, Pratt School of Engineering 2020
Associate Professor of Computer Science, Computer Science, Trinity College of Arts & Sciences 2020

Contact Information

Background
Education, Training, & Certifications
- Ph.D., University of Pennsylvania 2012
Previous Appointments & Affiliations
- Assistant Professor in the Department of Electrical and Computer Engineering, Electrical and Computer Engineering, Pratt School of Engineering 2015 - 2020
- Assistant Professor of Computer Science, Computer Science, Trinity College of Arts & Sciences 2016 - 2020
- Nortel Networks Assistant Professor in the Pratt School of Engineering, Electrical and Computer Engineering, Pratt School of Engineering 2018 - 2020
- Adjunct Assistant Professor in the Department of Electrical and Computer Engineering, Electrical and Computer Engineering, Pratt School of Engineering 2014 - 2015
Recognition
In the News
- MAR 15, 2022 Pratt School of Engineering
  
  In Driverless Cars, Objects May Be Dangerously Close
- SEP 21, 2021 Office of Faculty Advancement
  
  Meet the Newly Tenured Faculty of 2021
- OCT 12, 2018 Pratt School of Engineering
  
  Finding Free Bytes for Security
- AUG 31, 2015
  
  Duke Partners with NSF, Others to Secure and Protect the Emerging Internet of Things
- APR 2, 2015 Pratt School of Engineering
  
  Miroslav Pajic: Making Smart Systems That Interact with the Physical World
Expertise
Subject Headings
- Muser Mentor
Research
Selected Grants
- AI Institute: Athena: AI-Driven Next-generation Networks at the Edge awarded by National Science Foundation 2021 - 2026
- Analyzing retinal microanatomy in retinopathy of prematurity to improve care awarded by National Institutes of Health 2016 - 2026
- SHF: Small: Transforming Computer Architecture Evaluation with Statistical Model Checking awarded by National Science Foundation 2021 - 2024
- IUCRC Proposal Phase 1 Duke: Center for Alternative Sustainable and Intelligent Computing (ASIC) awarded by National Science Foundation 2018 - 2023
- Adaptive Protocol Synthesis and Error Recovery in Micro-Electrode-Dot-Array (MEDA) Microfluidic Biochips awarded by National Science Foundation 2019 - 2023
- Center of Excellence: Assured Autonomy in Contested Environments awarded by University of Florida 2019 - 2023
- CAREER: Foundations for Secure Control of Cyber-Physical Systems awarded by National Science Foundation 2017 - 2023
- Platform-Level Services for Security of Naval Cyber-Physical Systems awarded by Office of Naval Research 2019 - 2022
- CPS: Medium: Collaborative Research: Smart Ultrasound Elastography for Improved Medical Imaging awarded by National Science Foundation 2018 - 2022
- Scalar Closed-Loop STN/GPi DBS Based on Evoked and Spontaneous Potentials awarded by National Institutes of Health 2017 - 2022
- Next Big Research Challenges in Cyber-Physical Systems awarded by National Science Foundation 2021 - 2022
- Design of High-Assurance Cyber-Physical Systems awarded by Office of Naval Research 2017 - 2021
- Development of Control-Aware Cyber Techniques for Attack-Resilient Industrial Control & Combat Systems awarded by University of Pennsylvania 2017 - 2020
- Planning IUCRC Duke University: Center for Alternative Sustainable and Intelligent Computing awarded by National Science Foundation 2017 - 2018
- Synergy: Collaborative Research: Security and Privacy-Aware Cyber-Physical Systems awarded by Intel Corporation 2015 - 2018
- Design of High-Assurance Autonomous Vehicles awarded by University of Pennsylvania 2015 - 2016
Publications & Artistic Works
Selected Publications
- Academic Articles
  - Elfar, M., T. C. Liang, K. Chakrabarty, and M. Pajic. “Formal Synthesis of Adaptive Droplet Routing for MEDA Biochips.” Ieee Transactions on Computer Aided Design of Integrated Circuits and Systems 41, no. 8 (August 1, 2022): 2504–17. https://doi.org/10.1109/TCAD.2021.3110190.
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  - Lee, T., M. Hu, Q. Gao, J. Amason, D. Borkar, D. D’Alessio, M. Canos, A. Shariff, M. Pajic, and M. Hadziahmetovic. “Evaluation of a deep learning supported remote diagnosis model for identification of diabetic retinopathy using wide-field Optomap.” Annals of Eye Science 7 (June 1, 2022). https://doi.org/10.21037/aes-21-53.
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  - Khazraei, A., and M. Pajic. “Attack-resilient state estimation with intermittent data authentication.” Automatica 138 (April 1, 2022). https://doi.org/10.1016/j.automatica.2021.110035.
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  - Khazraei, A., S. Hallyburton, Q. Gao, Y. Wang, and M. Pajic. “Learning-Based Vulnerability Analysis of Cyber-Physical Systems.” Proceedings 13th Acm/Ieee International Conference on Cyber Physical Systems, Iccps 2022, January 1, 2022, 259–69. https://doi.org/10.1109/ICCPS54341.2022.00030.
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  - Sun, S., Y. Zhang, X. Luo, P. Vlantis, M. Pajic, and M. M. Zavlanos. “Formal Verification of Stochastic Systems with ReLU Neural Network Controllers.” Proceedings Ieee International Conference on Robotics and Automation, January 1, 2022, 6800–6806. https://doi.org/10.1109/ICRA46639.2022.9811866.
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  - Wang, Y., M. Zarei, B. Bonakdarpoor, and M. Pajic. “Probabilistic conformance for cyber-physical systems.” Iccps 2021 Proceedings of the 2021 Acm/Ieee 12th International Conference on Cyber Physical Systems (With Cps Iot Week 2021), May 19, 2021, 55–66. https://doi.org/10.1145/3450267.3450534.
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  - Gao, Qitong, Joshua Amason, Scott Cousins, Miroslav Pajic, and Majda Hadziahmetovic. “Automated Identification of Referable Retinal Pathology in Teleophthalmology Setting.” Transl Vis Sci Technol 10, no. 6 (May 3, 2021): 30. https://doi.org/10.1167/tvst.10.6.30.
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  - Jakovljevic, Z., V. Lesi, and M. Pajic. “Attacks on Distributed Sequential Control in Manufacturing Automation.” Ieee Transactions on Industrial Informatics 17, no. 2 (February 1, 2021): 775–86. https://doi.org/10.1109/TII.2020.2987629.
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  - Luo, X., M. Pajic, and M. M. Zavlanos. “An optimal graph-search method for secure state estimation.” Automatica 123 (January 1, 2021). https://doi.org/10.1016/j.automatica.2020.109323.
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  - Bozkurt, A. K., Y. Wang, M. M. Zavlanos, and M. Pajic. “Model-Free Reinforcement Learning for Stochastic Games with Linear Temporal Logic Objectives.” Proceedings Ieee International Conference on Robotics and Automation 2021-May (January 1, 2021): 10649–55. https://doi.org/10.1109/ICRA48506.2021.9561989.
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  - Bozkurt, A. K., Y. Wang, and M. Pajic. “Secure Planning Against Stealthy Attacks via Model-Free Reinforcement Learning.” Proceedings Ieee International Conference on Robotics and Automation 2021-May (January 1, 2021): 10656–62. https://doi.org/10.1109/ICRA48506.2021.9560940.
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  - Bozkurt, A. K., Y. Wang, and M. Pajic. “Model-Free Learning of Safe yet Effective Controllers.” Proceedings of the Ieee Conference on Decision and Control 2021-December (January 1, 2021): 6560–65. https://doi.org/10.1109/CDC45484.2021.9683634.
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  - Lesi, V., Z. Jakovljevic, and M. Pajic. “Security Analysis for Distributed IoT-Based Industrial Automation.” Ieee Transactions on Automation Science and Engineering, January 1, 2021. https://doi.org/10.1109/TASE.2021.3106335.
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  - Liang, T. C., Z. Zhong, M. Pajic, and K. Chakrabarty. “Extending the Lifetime of MEDA Biochips by Selective Sensing on Microelectrodes.” Ieee Transactions on Computer Aided Design of Integrated Circuits and Systems 39, no. 11 (November 1, 2020): 3531–43. https://doi.org/10.1109/TCAD.2020.3012746.
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  - Jakovljevic, Z., V. Lesi, S. Mitrovic, and M. Pajic. “Distributing Sequential Control for Manufacturing Automation Systems.” Ieee Transactions on Control Systems Technology 28, no. 4 (July 1, 2020): 1586–94. https://doi.org/10.1109/TCST.2019.2912776.
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  - Gao, Qitong, Ying Xu, Joshua Amason, Anna Loksztejn, Scott Cousins, Miroslav Pajic, and Majda Hadziahmetovic. “Automated Recognition of Retinal Pigment Epithelium Cells on Limited Training Samples Using Neural Networks.” Transl Vis Sci Technol 9, no. 2 (June 2020): 31. https://doi.org/10.1167/tvst.9.2.31.
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  - Bozkurt, A. K., Y. Wang, M. M. Zavlanos, and M. Pajic. “Control Synthesis from Linear Temporal Logic Specifications using Model-Free Reinforcement Learning.” Proceedings Ieee International Conference on Robotics and Automation, May 1, 2020, 10349–55. https://doi.org/10.1109/ICRA40945.2020.9196796.
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  - Wang, Y., S. Nalluri, and M. Pajic. “Hyperproperties for Robotics: Planning via HyperLTL.” Proceedings Ieee International Conference on Robotics and Automation, May 1, 2020, 8462–68. https://doi.org/10.1109/ICRA40945.2020.9196874.
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  - Lesi, V., I. Jovanov, and M. Pajic. “Integrating Security in Resource-Constrained Cyber-Physical Systems.” Acm Transactions on Cyber Physical Systems 4, no. 3 (May 1, 2020). https://doi.org/10.1145/3380866.
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  - Elfar, M., Y. Wang, and M. Pajic. “Context-Aware Temporal Logic for Probabilistic Systems.” Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 12302 LNCS (January 1, 2020): 215–32. https://doi.org/10.1007/978-3-030-59152-6_12.
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  - Nedeljkovic, D. M., Z. B. Jakovljevic, Z. D. Miljkovic, and M. Pajic. “Detection of Cyber-attacks in Systems with Distributed Control based on Support Vector Regression.” Telfor Journal 12, no. 2 (January 1, 2020): 104–9. https://doi.org/10.5937/TELFOR2002104N.
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  - Jovanov, I., and M. Pajic. “Relaxing Integrity Requirements for Attack-Resilient Cyber-Physical Systems.” Ieee Transactions on Automatic Control 64, no. 12 (December 1, 2019): 4843–58. https://doi.org/10.1109/TAC.2019.2898510.
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  - Zhu, H., M. L. Cummings, M. Elfar, Z. Wang, and M. Pajic. “Operator Strategy Model Development in UAV Hacking Detection.” Ieee Transactions on Human Machine Systems 49, no. 6 (December 1, 2019): 540–49. https://doi.org/10.1109/THMS.2018.2888578.
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  - Ivanov, R., N. Atanasov, M. Pajic, J. Weimer, G. J. Pappas, and I. Lee. “Continuous estimation using context-dependent discrete measurements.” Ieee Transactions on Automatic Control 64, no. 1 (January 1, 2019): 238–53. https://doi.org/10.1109/TAC.2018.2797839.
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  - Lee, I., and M. Pajic. “Guest editorial: Special issue on medical cyber-physical systems.” Acm Transactions on Cyber Physical Systems 2, no. 4 (August 1, 2018). https://doi.org/10.1145/3243122.
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  - Miao, F., Q. Zhu, M. Pajic, and G. J. Pappas. “A hybrid stochastic game for secure control of cyber-physical systems.” Automatica 93 (July 1, 2018): 55–63. https://doi.org/10.1016/j.automatica.2018.03.012.
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  - Li, Z., K. Y. T. Lai, J. McCrone, P. H. Yu, K. Chakrabarty, M. Pajic, T. Y. Ho, and C. Y. Lee. “Efficient and Adaptive Error Recovery in a Micro-Electrode-Dot-Array Digital Microfluidic Biochip.” Ieee Transactions on Computer Aided Design of Integrated Circuits and Systems 37, no. 3 (March 1, 2018): 601–14. https://doi.org/10.1109/TCAD.2017.2729347.
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  - Pajic, M., J. Weimer, N. Bezzo, O. Sokolsky, G. J. Pappas, and I. Lee. “Design and Implementation of Attack-Resilient Cyberphysical Systems: With a Focus on Attack-Resilient State Estimators.” Ieee Control Systems 37, no. 2 (April 1, 2017): 66–81. https://doi.org/10.1109/MCS.2016.2643239.
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  - Miao, F., Q. Zhu, M. Pajic, and G. J. Pappas. “Coding Schemes for Securing Cyber-Physical Systems Against Stealthy Data Injection Attacks.” Ieee Transactions on Control of Network Systems 4, no. 1 (March 1, 2017): 106–17. https://doi.org/10.1109/TCNS.2016.2573039.
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  - Pajic, M., I. Lee, and G. J. Pappas. “Attack-resilient state estimation for noisy dynamical systems.” Ieee Transactions on Control of Network Systems 4, no. 1 (March 1, 2017): 82–92. https://doi.org/10.1109/TCNS.2016.2607420.
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  - Jakovljevic, Z., S. Mitrovic, and M. Pajic. “Cyber physical production systems-an IEC 61499 perspective.” Lecture Notes in Mechanical Engineering, January 1, 2017, 27–39. https://doi.org/10.1007/978-3-319-56430-2_3.
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  - Jakovljevic, Z., V. Majstorovic, S. Stojadinovic, S. Zivkovic, N. Gligorijevic, and M. Pajic. “Cyber-physical manufacturing systems (CPMS).” Lecture Notes in Mechanical Engineering, January 1, 2017, 199–214. https://doi.org/10.1007/978-3-319-56430-2_14.
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  - Park, J., R. Ivanov, J. Weimer, M. Pajic, S. H. Son, and I. Lee. “Security of cyber-physical systems in the presence of transient sensor faults.” Acm Transactions on Cyber Physical Systems 1, no. 3 (January 1, 2017). https://doi.org/10.1145/3064809.
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  - Jakovljevic, Z., P. B. Petrovic, D. Milkovic, and M. Pajic. “Diagnosis of irregularities in the robotized part mating process based on contextual recognition of contact states transitions.” Assembly Automation 35, no. 2 (April 7, 2015): 190–99. https://doi.org/10.1108/AA-10-2014-077.
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  - Jakovljevic, Z., R. Puzovic, and M. Pajic. “Recognition of Planar Segments in Point Cloud based on Wavelet Transform.” Ieee Transactions on Industrial Informatics, April 2015, 342–52. https://doi.org/10.1109/TII.2015.2389195.
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  - Gatsis, K., M. Pajic, A. Ribeiro, and G. J. Pappas. “Opportunistic Control Over Shared Wireless Channels.” Ieee Transactions on Automatic Control, March 2015, 3140–55. https://doi.org/10.1109/TAC.2015.2416922.
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  - Jiang, Z., M. Pajic, R. Alur, and R. Mangharam. “Closed-loop verification of medical devices with model abstraction and refinement.” International Journal on Software Tools for Technology Transfer 16, no. 2 (April 1, 2014): 191–213. https://doi.org/10.1007/s10009-013-0289-7.
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  - Jakovljevic, Z., P. B. Petrovic, V. D. Mikovic, and M. Pajic. “Fuzzy inference mechanism for recognition of contact states in intelligent robotic assembly.” Journal of Intelligent Manufacturing 25, no. 3 (January 1, 2014): 571–87. https://doi.org/10.1007/s10845-012-0706-x.
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  - Pajic, M., Z. Jiang, I. Lee, O. Sokolsky, and R. Mangharam. “Safety-critical medical device development using the UPP2SF model translation tool.” Transactions on Embedded Computing Systems 13, no. 4 SPEC. ISSUE (January 1, 2014). https://doi.org/10.1145/2584651.
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  - Mangharam, R., and M. Pajic. “Distributed control for cyber-physical systems.” Journal of the Indian Institute of Science 93, no. 3 (July 1, 2013): 353–87.
  - Pajic, M., R. Mangharam, G. J. Pappas, and S. Sundaram. “Topological conditions for in-network stabilization of dynamical systems.” Ieee Journal on Selected Areas in Communications 31, no. 4 (April 4, 2013): 794–807. https://doi.org/10.1109/JSAC.2013.130415.
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  - Pajic, M., A. Chernoguzov, and R. Mangharam. “Robust architectures for embedded wireless network control and actuation.” Transactions on Embedded Computing Systems 11, no. 4 (December 1, 2012). https://doi.org/10.1145/2362336.2362349.
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  - Pajic, Miroslav, Rahul Mangharam, Oleg Sokolsky, David Arney, Julian Goldman, and Insup Lee. “Model-Driven Safety Analysis of Closed-Loop Medical Systems.” Ieee Transactions on Industrial Informatics, October 2012. https://doi.org/10.1109/tii.2012.2226594.
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  - Hadziahmetovic, Majda, Miroslav Pajic, Steven Grieco, Ying Song, Delu Song, Yafeng Li, Alyssa Cwanger, et al. “The Oral Iron Chelator Deferiprone Protects Against Retinal Degeneration Induced through Diverse Mechanisms.” Transl Vis Sci Technol 1, no. 3 (2012): 2. https://doi.org/10.1167/tvst.1.3.2.
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  - Zhihao, Jiang, M. Pajic, and R. Mangharam. “Cyber-Physical Modeling of Implantable Cardiac Medical Devices.” Proceedings of the Ieee 100, no. 1 (January 2012): 122–37. https://doi.org/10.1109/JPROC.2011.2161241.
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  - Pajic, M., S. Sundaram, G. J. Pappas, and R. Mangharam. “The wireless control network: A new approach for control over networks.” Ieee Transactions on Automatic Control 56, no. 10 (October 1, 2011): 2305–18. https://doi.org/10.1109/TAC.2011.2163864.
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  - Mangharam, R., and M. Pajic. “Spatio-temporal techniques for anti-jamming in embedded wireless networks.” Eurasip Journal on Wireless Communications and Networking 2010 (June 18, 2010). https://doi.org/10.1155/2010/819318.
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  - Ivanov, R., Jason E., M. Pajic, and M. Lee, I. “Attack-Resilient Sensor Fusion for Safety-Critical Cyber-Physical Systems (Accepted).” Acm Transactions on Embedded Computing Systems, n.d.
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- Book Sections
  - Ivanov, R., M. Pajic, and I. Lee. “Attack-resilient sensor fusion for CPS.” In Multisensor Data Fusion: From Algorithms and Architectural Design to Applications, 409–21, 2017. https://doi.org/10.1201/b18851.
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  - Weimer, James, Nicola Bezzo, Miroslav Pajic, GeorgeJ Pappas, Oleg Sokolsky, and Insup Lee. “Resilient Parameter-Invariant Control with Application to Vehicle Cruise Control.” In Control of Cyber-Physical Systems, edited by Danielle C. Tarraf, 449:197–216. Springer International Publishing, 2013. https://doi.org/10.1007/978-3-319-01159-2_11.
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  - Jiang, Zhihao, Miroslav Pajic, Salar Moarref, Rajeev Alur, and Rahul Mangharam. “Modeling and Verification of a Dual Chamber Implantable Pacemaker.” In Tools and Algorithms for the Construction and Analysis of Systems, edited by Cormac Flanagan and Barbara KÃ nig, 7214:188–203. Springer Berlin Heidelberg, 2012. https://doi.org/10.1007/978-3-642-28756-5_14.
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  - Ivanov, R, Anne, M. Pajic, and M. Lee, I. “Attack-Resilient Sensor Fusion for CPS.” edited by M. Fourati, H., 409–24. CRC Press, n.d.
- Conference Papers
  - Elfar, M., T. C. Liang, K. Chakrabarty, and M. Pajic. “Adaptive Droplet Routing for MEDA Biochips via Deep Reinforcement Learning.” In Proceedings of the 2022 Design, Automation and Test in Europe Conference and Exhibition, Date 2022, 640–45, 2022. https://doi.org/10.23919/DATE54114.2022.9774737.
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  - Gao, Q., S. L. Schmidt, K. Kamaravelu, D. A. Turner, W. M. Grill, and M. Pajic. “Offline Policy Evaluation for Learning-based Deep Brain Stimulation Controllers.” In Proceedings 13th Acm/Ieee International Conference on Cyber Physical Systems, Iccps 2022, 80–91, 2022. https://doi.org/10.1109/ICCPS54341.2022.00014.
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  - Asare, P., L. Feng, J. Lamp, M. Pajic, and J. Weimer. “Foreword to the MCPS 2021 Proceedings Message from the Chairs.” In Mcps 2021 Proceedings of the 2021 Medical Cyber Physical Systems and Internet of Medical Things, I, 2021.
  - Elfar, M., T. C. Liang, K. Chakrabarty, and M. Pajic. “Formal Synthesis of Adaptive Droplet Routing for MEDA Biochips.” In Proceedings Design, Automation and Test in Europe, Date, 2021-February:324–29, 2021. https://doi.org/10.23919/DATE51398.2021.9474144.
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  - Chen, Y., A. Li, H. Yang, T. Zhang, Y. Yang, H. Li, S. Banerjee, and M. Pajic. “AI-Powered IoT System at the Edge.” In Proceedings 2021 Ieee 3rd International Conference on Cognitive Machine Intelligence, Cogmi 2021, 242–51, 2021. https://doi.org/10.1109/CogMI52975.2021.00039.
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  - Wang, Y., S. Nalluri, B. Bonakdarpour, and M. Pajic. “Statistical Model Checking for Hyperproperties.” In Proceedings Ieee Computer Security Foundations Symposium, Vol. 2021-June, 2021. https://doi.org/10.1109/CSF51468.2021.00009.
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  - Khazraei, A., and M. Pajic. “Perfect Attackability of Linear Dynamical Systems with Bounded Noise.” In Proceedings of the American Control Conference, 2020-July:749–54, 2020. https://doi.org/10.23919/ACC45564.2020.9147833.
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  - Gao, Q., M. Pajic, and M. M. Zavlanos. “Deep Imitative Reinforcement Learning for Temporal Logic Robot Motion Planning with Noisy Semantic Observations.” In Proceedings Ieee International Conference on Robotics and Automation, 8490–96, 2020. https://doi.org/10.1109/ICRA40945.2020.9197297.
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  - Zarei, M., Y. Wang, and M. Pajic. “Statistical verification of learning-based cyber-physical systems.” In Hscc 2020 Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control ,Part of Cps Iot Week, 2020. https://doi.org/10.1145/3365365.3382209.
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  - Gao, Q., M. Naumann, I. Jovanov, V. Lesi, K. Kamaravelu, W. M. Grill, and M. Pajic. “Model-based design of closed loop deep brain stimulation controller using reinforcement learning.” In Proceedings 2020 Acm/Ieee 11th International Conference on Cyber Physical Systems, Iccps 2020, 108–18, 2020. https://doi.org/10.1109/ICCPS48487.2020.00018.
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  - Wang, Y., and M. Pajic. “Attack-Resilient Supervisory Control with Intermittently Secure Communication.” In Proceedings of the Ieee Conference on Decision and Control, 2019-December:2015–20, 2019. https://doi.org/10.1109/CDC40024.2019.9029366.
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  - Wang, Y., and M. Pajic. “Supervisory Control of Discrete Event Systems in the Presence of Sensor and Actuator Attacks.” In Proceedings of the Ieee Conference on Decision and Control, 2019-December:5350–55, 2019. https://doi.org/10.1109/CDC40024.2019.9029767.
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  - Nedeljkovic, D. M., Z. B. Jakovljevic, Z. D. Miljkovic, and M. Pajic. “Detection of cyber-attacks in electro-pneumatic positioning system with distributed control.” In 27th Telecommunications Forum, Telfor 2019, 2019. https://doi.org/10.1109/TELFOR48224.2019.8971062.
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  - Wang, Y., M. Zarei, B. Bonakdarpour, and M. Pajic. “Statistical verification of hyperproperties for cyber-physical systems.” In Acm Transactions on Embedded Computing Systems, Vol. 18, 2019. https://doi.org/10.1145/3358232.
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  - Lesi, V., Z. Jakovljevic, and M. Pajic. “Synchronization of Distributed Controllers in Cyber-Physical Systems.” In Ieee International Conference on Emerging Technologies and Factory Automation, Etfa, 2019-September:710–17, 2019. https://doi.org/10.1109/ETFA.2019.8869467.
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  - Elfar, M., H. Zhu, M. L. Cummings, and M. Pajic. “Security-aware synthesis of human-UAV protocols.” In Proceedings Ieee International Conference on Robotics and Automation, 2019-May:8011–17, 2019. https://doi.org/10.1109/ICRA.2019.8794385.
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  - Pajic, M., and L. Bushnell. “Message from the general and program committee co-chairs.” In Iccps 2019 Proceedings of the 2019 Acm/Ieee International Conference on Cyber Physical Systems, 2019.
  - Lesi, V., Z. Jakovljevic, and M. Pajic. “Reliable industrial IoT-based distributed automation.” In Iotdi 2019 Proceedings of the 2019 Internet of Things Design and Implementation, 94–105, 2019. https://doi.org/10.1145/3302505.3310072.
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  - Elfar, M., Y. Wang, and M. Pajic. “Security-Aware Synthesis Using Delayed-Action Games.” In Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 11561 LNCS:180–99, 2019. https://doi.org/10.1007/978-3-030-25540-4_10.
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  - Park, J., M. Pajic, O. Sokolsky, and I. Lee. “LCV: A verification tool for linear controller software.” In Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 11427 LNCS:213–25, 2019. https://doi.org/10.1007/978-3-030-17462-0_12.
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  - Jovanov, I., M. Nauman, K. Kumaravelu, V. Lesi, A. Zutshi, W. M. Grill, and M. Pajic. “Learning-Based Control Design for Deep Brain Stimulation.” In Proceedings 9th Acm/Ieee International Conference on Cyber Physical Systems, Iccps 2018, 349–50, 2018. https://doi.org/10.1109/ICCPS.2018.00048.
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  - Jovanov, I., M. Naumann, K. Kumaravelu, W. M. Grill, and M. Pajic. “Platform for Model-Based Design and Testing for Deep Brain Stimulation.” In Proceedings 9th Acm/Ieee International Conference on Cyber Physical Systems, Iccps 2018, 263–74, 2018. https://doi.org/10.1109/ICCPS.2018.00033.
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  - Jovanov, I., and M. Pajic. “Secure State Estimation with Cumulative Message Authentication.” In Proceedings of the Ieee Conference on Decision and Control, 2018-December:2074–79, 2018. https://doi.org/10.1109/CDC.2018.8619250.
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  - Jovanov, I., and M. Pajic. “Sporadic data integrity for secure state estimation.” In 2017 Ieee 56th Annual Conference on Decision and Control, Cdc 2017, 2018-January:163–69, 2018. https://doi.org/10.1109/CDC.2017.8263660.
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  - Bonakdarpour, B., J. V. Deshmukh, and M. Pajic. “Opportunities and challenges in monitoring cyber-physical systems security.” In Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 11247 LNCS:9–18, 2018. https://doi.org/10.1007/978-3-030-03427-6_2.
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  - Zhu, H., M. Elfar, M. Pajic, Z. Wang, and M. L. Cummings. “Human augmentation of UAV cyber-attack detection.” In Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 10916 LNAI:154–67, 2018. https://doi.org/10.1007/978-3-319-91467-1_13.
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  - Elfar, M., Z. Zhong, Z. Li, K. Chakrabarty, and M. Pajic. “Synthesis of error-recovery protocols for micro-electrode-dot-array digital microfluidic biochips.” In Acm Transactions on Embedded Computing Systems, Vol. 16, 2017. https://doi.org/10.1145/3126538.
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  - Lesi, V., I. Jovanov, and M. Pajic. “Security-aware scheduling of embedded control tasks.” In Acm Transactions on Embedded Computing Systems, Vol. 16, 2017. https://doi.org/10.1145/3126518.
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  - Lesi, V., I. Jovanov, and M. Pajic. “Network Scheduling for Secure Cyber-Physical Systems.” In Proceedings Real Time Systems Symposium, 2018-January:45–55, 2017. https://doi.org/10.1109/RTSS.2017.00012.
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  - Elfar, M., H. Zhu, A. Raghunathan, Y. Y. Tay, J. Wubbenhorst, M. L. Cummings, and M. Pajic. “WiP abstract: Platform for security-aware design of human-on-the-loop cyber-physical systems.” In Proceedings 2017 Acm/Ieee 8th International Conference on Cyber Physical Systems, Iccps 2017 (Part of Cps Week), 93, 2017. https://doi.org/10.1145/3055004.3064846.
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  - Fricks, R. W. B., H. H. Tseng, M. Pajic, and K. S. Trivedi. “Transient performance & availability modeling in high volume outpatient clinics.” In Proceedings Annual Reliability and Maintainability Symposium, 2017. https://doi.org/10.1109/RAM.2017.7889777.
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  - Park, J., M. Pajic, O. Sokolsky, and I. Lee. “Automatic verification of finite precision implementations of linear controllers.” In Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 10205 LNCS:153–69, 2017. https://doi.org/10.1007/978-3-662-54577-5_9.
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  - Bogdan, P., M. Pajic, P. P. Pande, and V. Raghunathan. “Making the Internet-of-Things a reality: From smart models, sensing and actuation to energy-efficient architectures.” In 2016 International Conference on Hardware/Software Codesign and System Synthesis, Codes+Isss 2016, 2016. https://doi.org/10.1145/2968456.2973272.
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  - Li, Z., K. Y. T. Lai, P. H. Yu, K. Chakrabarty, M. Pajic, T. Y. Ho, and C. Y. Lee. “Error recovery in a micro-electrode-dot-array digital microfluidic biochip?” In Ieee/Acm International Conference on Computer Aided Design, Digest of Technical Papers, Iccad, Vol. 07-10-November-2016, 2016. https://doi.org/10.1145/2966986.2967035.
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  - Lesi, V., Z. Jakovljevic, and M. Pajic. “Towards Plug-n-Play numerical control for Reconfigurable Manufacturing Systems.” In Ieee International Conference on Emerging Technologies and Factory Automation, Etfa, Vol. 2016-November, 2016. https://doi.org/10.1109/ETFA.2016.7733524.
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  - Ibrahim, M., C. Boswell, K. Chakrabarty, K. Scott, and M. Pajic. “A real-time digital-microfluidic platform for epigenetics.” In Proceedings of the International Conference on Compilers, Architectures and Synthesis for Embedded Systems, Cases 2016, 2016. https://doi.org/10.1145/2968455.2968516.
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  - Ivanov, R., N. Atanasov, J. Weimer, M. Pajic, A. Simpao, M. Rehman, G. Pappas, and I. Lee. “Estimation of Blood Oxygen Content Using Context-Aware Filtering.” In 2016 Acm/Ieee 7th International Conference on Cyber Physical Systems, Iccps 2016 Proceedings, 2016. https://doi.org/10.1109/ICCPS.2016.7479102.
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  - Mangharam, R., H. Abbas, M. Behl, K. Jang, M. Pajic, and Z. Jiang. “Three challenges in cyber-physical systems.” In 2016 8th International Conference on Communication Systems and Networks, Comsnets 2016, 2016. https://doi.org/10.1109/COMSNETS.2016.7440015.
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  - Park, J., M. Pajic, I. Lee, and O. Sokolsky. “Scalable verification of linear controller software.” In Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 9636:662–79, 2016. https://doi.org/10.1007/978-3-662-49674-9_43.
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  - Pajic, M., J. Park, I. Lee, G. J. Pappas, and O. Sokolsky. “Automatic Verification of Linear Controller Software,” 217–26. IEEE, 2015. https://doi.org/10.1109/EMSOFT.2015.7318277.
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  - Ivanov, R, Janine A., Janine A. Atanasov, N, M. Pajic, M. Pappas, G.J., and M. Lee, I. “Robust Estimation Using Context-Aware Filtering,” 2015.
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  - Ivanov, R, E., E. Atanasov, N, M. Pajic, M. Lee, I, and M. Pappas, G J. “Robust Localization Using Context-Aware Filtering,” 2015.
  - Pajic, M., P. Tabuada, I. Lee, and G. J. Pappas. “Attack-resilient state estimation in the presence of noise.” In Proceedings of the Ieee Conference on Decision and Control, 54rd IEEE Conference on Decision and Control,CDC 2015:5827–32, 2015. https://doi.org/10.1109/CDC.2015.7403135.
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  - Faruque, M. A. A., F. Regazzoni, and M. Pajic. “Design methodologies for securing cyber-physical systems.” In Proceedings of the 10th International Conference on Hardware/Software Codesign and System Synthesis (Codes+Isss), edited by G. Nicolescu and A. Gerstlauer, 30–36. IEEE, 2015. https://doi.org/10.1109/CODESISSS.2015.7331365.
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  - Park, J., R. Ivanov, J. Weimer, M. Pajic, and I. Lee. “Sensor attack detection in the presence of transient faults.” In Proceedings of the 6th Acm/Ieee International Conference on Cyber Physical Systems (Iccps), edited by A. M. Bayen and M. S. Branicky, 1–10. ACM, 2015. https://doi.org/10.1145/2735960.2735984.
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  - Weimer, J., N. Bezzo, M. Pajic, O. Sokolsky, and Insup Lee. “Attack-resilient minimum mean-squared error estimation.” In American Control Conference (Acc), 2014, 1114–19, 2014. https://doi.org/10.1109/ACC.2014.6859478.
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  - Gatsis, K., M. Pajic, A. Ribeiro, and G. J. Pappas. “Opportunistic scheduling of control tasks over shared wireless channels.” In Cyber Physical Systems (Iccps), 2014 Acm/Ieee International Conference On, 48–59, 2014. https://doi.org/10.1109/ICCPS.2014.6843710.
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  - Pajic, M., J. Weimer, N. Bezzo, P. Tabuada, O. Sokolsky, Insup Lee, and G. J. Pappas. “Robustness of attack-resilient state estimators.” In Cyber Physical Systems (Iccps), 2014 Acm/Ieee International Conference On, 163–74, 2014. https://doi.org/10.1109/ICCPS.2014.6843720.
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  - Ivanov, R., M. Pajic, and Insup Lee. “Attack-resilient sensor fusion.” In Design, Automation and Test in Europe Conference and Exhibition (Date), 2014, 1–6, 2014. https://doi.org/10.7873/DATE.2014.067.
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  - Ivanov, Radoslav, Miroslav Pajic, and Insup Lee. “Resilient Multidimensional Sensor Fusion Using Measurement History.” In Proceedings of the 3rd International Conference on High Confidence Networked Systems, 1–10. ACM, 2014. https://doi.org/10.1145/2566468.2566475.
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  - Bezzo, Nicola, James Weimer, Miroslav Pajic, Oleg Sokolsky, George J. Pappas, and Insup Lee. “Attack resilient state estimation for autonomous robotic systems.” In Iros, 3692–98. IEEE, 2014.
  - Gatsis, Konstantinos, Miroslav Pajic, Alejandro Ribeiro, and George J. Pappas. “Opportunistic sensor scheduling in wireless control systems.” In Cdc, 3777–82. IEEE, 2014.
  - Miao, Fei, Quanyan Zhu, Miroslav Pajic, and George J. Pappas. “Coding sensor outputs for injection attacks detection.” In Cdc, 5776–81. IEEE, 2014.
  - Gatsis, K., M. Pajic, A. Ribeiro, and G. J. Pappas. “Power-aware communication for wireless sensor-actuator systems.” In Decision and Control (Cdc), 2013 Ieee 52nd Annual Conference On, 4006–11, 2013. https://doi.org/10.1109/CDC.2013.6760502.
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  - Pajic, M., S. Sundaram, and G. J. Pappas. “Stabilizability over deterministic relay networks.” In Decision and Control (Cdc), 2013 Ieee 52nd Annual Conference On, 4018–23, 2013. https://doi.org/10.1109/CDC.2013.6760504.
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  - Pajic, M., N. Bezzo, J. Weimer, O. Sokolsky, N. Michael, G. J. Pappas, P. Tabuada, and I. Lee. “Demo abstract: Synthesis of platform-aware attack-resilient vehicular systems.” In 2013 Acm/Ieee International Conference on Cyber Physical Systems, Iccps 2013, 251, 2013. https://doi.org/10.1109/ICCPS.2013.6604030.
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  - Pajic, Miroslav, Nicola Bezzo, James Weimer, Rajeev Alur, Rahul Mangharam, Nathan Michael, George J. Pappas, et al. “Towards Synthesis of Platform-aware Attack-resilient Control Systems: Extended Abstract.” In Proceedings of the 2nd Acm International Conference on High Confidence Networked Systems, 75–76. ACM, 2013. https://doi.org/10.1145/2461446.2461457.
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  - Miao, Fei, Miroslav Pajic, Rahul Mangharam, and George J. Pappas. “Networked realization of discrete-time controllers.” In Acc, 2996–3001. IEEE, 2013.
  - Miao, Fei, Miroslav Pajic, and George J. Pappas. “Stochastic game approach for replay attack detection.” In Cdc, 1854–59. IEEE, 2013.
  - Sarode, S., S. Radhakrishnan, V. Sampath, Z. Jiang, M. Pajic, and R. Mangharam. “Demo abstract: Model-based testing of implantable cardiac devices.” In Proceedings 2012 Ieee/Acm 3rd International Conference on Cyber Physical Systems, Iccps 2012, 221, 2012. https://doi.org/10.1109/ICCPS.2012.42.
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  - Pajic, M., Zhihao Jiang, Insup Lee, O. Sokolsky, and R. Mangharam. “From Verification to Implementation: A Model Translation Tool and a Pacemaker Case Study.” In Real Time and Embedded Technology and Applications Symposium (Rtas), 2012 Ieee 18th, 173–84, 2012. https://doi.org/10.1109/RTAS.2012.25.
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  - Jiang, Zhihao, Miroslav Pajic, Salar Moarref, Rajeev Alur, and Rahul Mangharam. “Modeling and Verification of a Dual Chamber Implantable Pacemaker.” In Proceedings of the 18th International Conference on Tools and Algorithms for the Construction and Analysis of Systems, 188–203. Springer-Verlag, 2012. https://doi.org/10.1007/978-3-642-28756-5_14.
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  - Pajic, Miroslav, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, and Rahul Mangharam. “Closing the Loop: A Simple Distributed Method for Control over Wireless Networks.” In Proceedings of the 11th International Conference on Information Processing in Sensor Networks, 25–36. ACM, 2012. https://doi.org/10.1145/2185677.2185681.
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  - Pajic, M., S. Sundaram, G. J. Pappas, and R. Mangharam. “Network synthesis for dynamical system stabilization.” In Signals, Systems and Computers (Asilomar), 2011 Conference Record of the Forty Fifth Asilomar Conference On, 821–25, 2011. https://doi.org/10.1109/ACSSC.2011.6190122.
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  - Jiang, Z., M. Pajic, and R. Mangharam. “Demo abstract: Closed-loop testing for implantable cardiac pacemakers.” In Proceedings of the 10th Acm/Ieee International Conference on Information Processing in Sensor Networks, Ipsn’11, 119–20, 2011.
  - Pajic, M., S. Sundaram, M. Aneja, S. Vemuri, R. Mangharam, and G. J. Pappas. “Architecture for a fully distributed Wireless Control Network.” In Proceedings of the 10th Acm/Ieee International Conference on Information Processing in Sensor Networks, Ipsn’11, 117–18, 2011.
  - Jiang, Zhihao, M. Pajic, and R. Mangharam. “Model-Based Closed-Loop Testing of Implantable Pacemakers.” In Cyber Physical Systems (Iccps), 2011 Ieee/Acm International Conference On, 131–40, 2011. https://doi.org/10.1109/ICCPS.2011.28.
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  - Pajic, M., S. Sundaram, G. J. Pappas, and R. Mangharam. “Topological conditions for wireless control networks.” In Proceedings of the Ieee Conference on Decision and Control, 2353–60, 2011. https://doi.org/10.1109/CDC.2011.6161347.
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  - Jiang, Z., M. Pajic, A. Connolly, S. Dixit, and R. Mangharam. “Demo abstract: A platform for implantable medical device validation.” In Proceedings Wireless Health 2010, Wh’10, 208–9, 2010. https://doi.org/10.1145/1921081.1921115.
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  - Pajic, M., S. Sundaram, Jerome Le Ny, G. J. Pappas, and R. Mangharam. “The Wireless Control Network: Synthesis and robustness.” In Decision and Control (Cdc), 2010 49th Ieee Conference On, 7576–81, 2010. https://doi.org/10.1109/CDC.2010.5717159.
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  - Sundaram, S., M. Pajic, C. N. Hadjicostis, R. Mangharam, and G. J. Pappas. “The wireless control network: Monitoring for malicious behavior.” In Decision and Control (Cdc), 2010 49th Ieee Conference On, 5979–84, 2010. https://doi.org/10.1109/CDC.2010.5717166.
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  - Pajic, M., Z. Jiang, A. Connolly, S. Dixit, and R. Mangharam. “A platform for implantable medical device validation.” In Proceedings of the 9th Acm/Ieee International Conference on Information Processing in Sensor Networks, Ipsn ’10, 418–19, 2010. https://doi.org/10.1145/1791212.1791284.
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  - Pajic, M., and R. Mangharam. “Embedded Virtual Machines for Robust Wireless Control and Actuation.” In Real Time and Embedded Technology and Applications Symposium (Rtas), 2010 16th Ieee, 79–88, 2010. https://doi.org/10.1109/RTAS.2010.43.
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  - Arney, David, Miroslav Pajic, Julian M. Goldman, Insup Lee, Rahul Mangharam, and Oleg Sokolsky. “Toward patient safety in closed-loop medical device systems.” In Iccps, edited by Janos Sztipanovits and Raj Rajkumar, 139–48. ACM, 2010.
  - Jiang, Zhihao, Miroslav Pajic, Allison Connolly, Sanjay Dixit, and Rahul Mangharam. “Real-Time Heart Model for Implantable Cardiac Device Validation and Verification.” In Ecrts, 239–48. IEEE Computer Society, 2010. https://doi.org/10.1109/ECRTS.2010.36.
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  - Mangharam, R., M. Pajic, and S. Sastry. “Demo abstract: Embedded virtual machines for wireless industrial automation.” In 2009 International Conference on Information Processing in Sensor Networks, Ipsn 2009, 413–14, 2009.
  - Mangharam, R., and M. Pajic. “Embedded Virtual Machines for Robust Wireless Control Systems.” In Distributed Computing Systems Workshops, 2009. Icdcs Workshops ’09. 29th Ieee International Conference On, 38–43, 2009. https://doi.org/10.1109/ICDCSW.2009.31.
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  - Pajic, M., and R. Mangharam. “Anti-jamming for embedded wireless networks.” In Information Processing in Sensor Networks, 2009. Ipsn 2009. International Conference On, 301–12, 2009.
  - Jorgovanovic, M., M. Pajic, G. Kvascev, and J. Popovic. “FPGA design of arbitrary down-sampler.” In Microelectronics, 2008. Miel 2008. 26th International Conference On, 391–94, 2008. https://doi.org/10.1109/ICMEL.2008.4559303.
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  - Dick, C., F. Harris, M. Pajic, and D. Vuletic. “Real-Time QRD-Based Beamforming on an FPGA Platform.” In Signals, Systems and Computers, 2006. Acssc ’06. Fortieth Asilomar Conference On, 1200–1204, 2006. https://doi.org/10.1109/ACSSC.2006.354945.
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  - Pajic, M., M. Tabuada, P., M. Lee, I., and M. Pappas, G.J. “Attack-Resilient State Estimation in the Presence of Noise,” 527–32, n.d.
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