Editorial pass: tactical, operational, and strategic improvements

Tactical (sentence-level):
- Strengthened weak verbs and passive constructions
- Improved issue-point positioning (old info first, new info in stress position)
- Removed unnecessary hedging phrases
- Fixed active/passive voice for clarity

Operational (paragraph/section):
- Added transition sentences between major subsections
- Strengthened flow between State of the Art and Research Approach
- Added connecting tissue between continuous controller types
- Improved coherence within outcomes section

Strategic (document-level):
- Made 'what's new' explicit with highlighted innovation statement
- Added summary paragraph to State of the Art defining the verification gap
- Strengthened connections between sections for Heilmeier alignment
- Clarified how the three-layer approach unifies existing tools

1-goals-and-outcomes/research_statement_v1.tex

@@ -1,49 +1,47 @@
 % GOAL PARAGRAPH
-The goal of this research is to develop a methodology for creating autonomous
+This research develops a methodology for creating autonomous control systems
-control systems with event-driven control laws that have guarantees of safe and
+with event-driven control laws that guarantee safe and correct behavior.
-correct behavior.
 
 % INTRODUCTORY PARAGRAPH Hook
 Nuclear power relies on extensively trained operators who follow detailed
-written procedures to manage reactor control. Based on these procedures and
+written procedures to manage reactor control. Operators interpret plant
-operators' interpretation of plant conditions, operators make critical decisions
+conditions and make critical decisions about when to switch between control
-about when to switch between control objectives. 
+objectives. 
 % Gap
-But, reliance on human operators has created an economic challenge for
+This reliance on human operators creates an economic challenge for
-next-generation nuclear power plants. Small modular reactors face significantly
+next-generation nuclear power plants. Small modular reactors face per-megawatt
-higher per-megawatt staffing costs than conventional plants. Autonomous control
+staffing costs that significantly exceed those of conventional plants. These
-systems are needed that can safely manage complex operational sequences with the
+economic constraints demand autonomous control systems that safely manage
-same assurance as human-operated systems, but without constant supervision.
+complex operational sequences with the same assurance as human-operated systems,
+but without constant supervision.
 
 % APPROACH PARAGRAPH Solution
-To address this need, we will combine formal methods from computer science with
+We will combine formal methods from computer science with control theory to
-control theory to build hybrid control systems that are correct by construction. 
+build hybrid control systems that are correct by construction. 
 % Rationale
 Hybrid systems use discrete logic to switch between continuous control modes,
-similar to how operators change control strategies. Existing formal methods
+mirroring how operators change control strategies. Existing formal methods
 generate provably correct switching logic but cannot handle continuous dynamics
-during transitions, while traditional control theory verifies continuous
+during transitions. Traditional control theory verifies continuous behavior but
-behavior but lacks tools for proving discrete switching correctness. 
+lacks tools for proving discrete switching correctness. 
 % Hypothesis and Technical Approach
-We will bridge this gap through a three-stage methodology. First, we will
+A three-stage methodology will bridge this gap. First, we translate written
-translate written operating procedures into temporal logic specifications using
+operating procedures into temporal logic specifications using NASA's Formal
-NASA's Formal Requirements Elicitation Tool (FRET), which structures
+Requirements Elicitation Tool (FRET). FRET structures requirements into scope,
-requirements into scope, condition, component, timing, and response elements.
+condition, component, timing, and response elements, enabling realizability
-This structured approach enables realizability checking to identify conflicts
+checking that identifies conflicts and ambiguities before implementation.
-and ambiguities in procedures before implementation. Second, we will synthesize
+Second, we synthesize discrete mode switching logic using reactive synthesis to
-discrete mode switching logic using reactive synthesis
+generate deterministic automata that are provably correct by construction.
-to generate deterministic automata that are provably
+Third, we develop continuous controllers for each discrete mode using standard
-correct by construction. Third, we will develop continuous
+control theory and reachability analysis. We classify continuous modes based on
-controllers for each discrete mode using standard control theory and
+their transition objectives, then employ assume-guarantee contracts and barrier
-reachability analysis. We will classify continuous modes based on their
+certificates to prove that mode transitions occur safely and as the
-transition objectives, and then employ assume-guarantee contracts and barrier
+deterministic automata specify. Local verification of continuous modes becomes
-certificates to prove that mode transitions occur safely and as defined by the
+possible without global trajectory analysis across the entire hybrid system. An
-deterministic automata. This compositional approach enables local verification
+Emerson Ovation control system will demonstrate this methodology. 
-of continuous modes without requiring global trajectory analysis across the
-entire hybrid system. We will demonstrate this on an Emerson Ovation control system. 
 % Pay-off
-This approach will demonstrate autonomous control can be used for complex
+This approach demonstrates that autonomous control can manage complex nuclear
-nuclear power operations while maintaining safety guarantees.
+power operations while maintaining safety guarantees.
 
 % OUTCOMES PARAGRAPHS
 If this research is successful, we will be able to do the following:
@@ -52,31 +50,32 @@ If this research is successful, we will be able to do the following:
   \item \textit{Synthesize written procedures into verified control logic.} 
     % Strategy
     We will develop a methodology for converting written operating procedures
-    into formal specifications. These specifications will be synthesized into
+    into formal specifications. Reactive synthesis tools will then generate
-    discrete control logic using reactive synthesis tools.     
+    discrete control logic from these specifications.
     % Outcome
-    Control engineers will be able to generate mode-switching controllers from
+    Control engineers will generate mode-switching controllers from regulatory
-    regulatory procedures with little formal methods expertise, reducing
+    procedures with minimal formal methods expertise, reducing barriers to
-    barriers to high-assurance control systems.
+    high-assurance control systems.
 
     % OUTCOME 2 Title
   \item \textit{Verify continuous control behavior across mode transitions.}
     % Strategy
-    We will develop methods using reachability analysis to ensure continuous control modes 
+    Reachability analysis will ensure continuous control modes satisfy discrete
-    satisfy discrete transition requirements. 
+    transition requirements. 
     % Outcome
-    Engineers will be able to design continuous controllers using standard
+    Engineers will design continuous controllers using standard practices while
-    practices while ensuring system correctness and proving mode transitions
+    ensuring system correctness, proving that mode transitions occur safely at
-    occur safely at the right times.
+    the right times.
 
     % OUTCOME 3  Title
   \item \textit{Demonstrate autonomous reactor startup control with safety
     guarantees.}
     % Strategy
-    We will implement this methodology on a small modular reactor simulation
+    A small modular reactor simulation using industry-standard control hardware
-    using industry-standard control hardware.     % Outcome
+    will implement this methodology.
-    Control engineers will be able to implement high-assurance autonomous
+    % Outcome
-    controls on industrial platforms they already use, enabling users to
+    Control engineers will implement high-assurance autonomous controls on
-    achieve autonomy without retraining costs or developing new equipment.
+    industrial platforms they already use, enabling autonomy without retraining
+    costs or developing new equipment.
 
 \end{enumerate}

1-goals-and-outcomes/v1.tex

@@ -1,9 +1,8 @@
 \section{Goals and Outcomes}
 
 % GOAL PARAGRAPH
-The goal of this research is to develop a methodology for creating autonomous
+This research develops a methodology for creating autonomous hybrid control
-hybrid control systems with mathematical guarantees of safe and correct
+systems with mathematical guarantees of safe and correct behavior.
-behavior.
 
 % INTRODUCTORY PARAGRAPH Hook
 Nuclear power plants require the highest levels of control system reliability,
@@ -22,26 +21,27 @@ Small modular reactors, in particular, face per-megawatt staffing costs far
 exceeding those of conventional plants and threaten their economic viability.
 
 % Critical Need
-What is needed is a method to create autonomous control systems that safely
+The nuclear industry needs autonomous control systems that safely manage complex
-manage complex operational sequences with the same assurance as human-operated
+operational sequences with the same assurance as human-operated systems, but
-systems, but without constant human supervision.
+without constant human supervision.
 % APPROACH PARAGRAPH Solution
-To address this need, we will combine formal methods with control theory to
+We will combine formal methods with control theory to build hybrid control
-build hybrid control systems that are correct by construction.
+systems that are correct by construction.
 % Rationale
 Hybrid systems use discrete logic to switch between continuous control modes,
-mirroring how operators change control strategies. Existing formal methods can
+mirroring how operators change control strategies. Existing formal methods
-generate provably correct switching logic from written requirements, but they
+generate provably correct switching logic from written requirements but cannot
-cannot handle the continuous dynamics that occur during transitions between
+handle the continuous dynamics that occur during transitions between modes.
-modes. Meanwhile, traditional control theory can verify continuous behavior but
+Traditional control theory verifies continuous behavior but lacks tools for
-lacks tools for proving correctness of discrete switching decisions.
+proving correctness of discrete switching decisions. This gap between discrete
+and continuous verification prevents end-to-end correctness guarantees.
 % Hypothesis
-By synthesizing discrete mode transitions directly from written operating
+Our approach closes this gap by synthesizing discrete mode transitions directly
-procedures and verifying continuous behavior between transitions, we can create
+from written operating procedures and verifying continuous behavior between
-hybrid control systems with end-to-end correctness guarantees. If existing
+transitions. If existing procedures can be formalized into logical
-procedures can be formalized into logical specifications and continuous dynamics
+specifications and continuous dynamics verified against transition requirements,
-verified against transition requirements, then autonomous controllers can be
+then autonomous controllers can be built that are provably free from design
-built that are provably free from design defects.
+defects.
 % Pay-off
 This approach will enable autonomous control in nuclear power plants while
 maintaining the high safety standards required by the industry.
@@ -74,10 +74,10 @@ If this research is successful, we will be able to do the following:
   \item \textbf{Verify continuous control behavior across mode transitions.}
     % Strategy
     We will establish methods for analyzing continuous control modes to ensure
-    they satisfy discrete transition requirements. Using classical control
+    they satisfy discrete transition requirements. Classical control theory for
-    theory for linear systems and reachability analysis for nonlinear dynamics,
+    linear systems and reachability analysis for nonlinear dynamics will verify
-    we will verify that each continuous mode safely reaches its intended
+    that each continuous mode safely reaches its intended transitions.
-    transitions.
+    % Outcome
     Engineers will design continuous controllers using standard practices while
     iterating to ensure broader system correctness, proving that mode
     transitions occur safely and at the correct times.
@@ -99,8 +99,18 @@ If this research is successful, we will be able to do the following:
 \end{enumerate}
 
 % IMPACT PARAGRAPH Innovation
-The innovation in this work is unifying discrete synthesis with continuous
+These three outcomes—procedure translation, continuous verification, and
+hardware demonstration—together establish a complete methodology from regulatory
+documents to deployed systems. 
+
+\textbf{The key innovation} unifies discrete synthesis with continuous
 verification to enable end-to-end correctness guarantees for hybrid systems.
+While formal methods can verify discrete logic and control theory can verify
+continuous dynamics, no existing methodology bridges both with compositional
+guarantees. This work establishes that bridge by treating discrete specifications
+as contracts that continuous controllers must satisfy, enabling verification of
+each layer independently while guaranteeing correct composition.
+
 % Outcome Impact
 If successful, control engineers will create autonomous controllers from
 existing procedures with mathematical proof of correct behavior. High-assurance

2-state-of-the-art/v2.tex

@@ -1,11 +1,11 @@
 \section{State of the Art and Limits of Current Practice}
 
-The principal aim of this research is to create autonomous reactor control
+This research aims to create autonomous reactor control systems that are
-systems that are tractably safe. To understand what is being automated, we must
+tractably safe. Understanding what we automate requires first understanding how
-first understand how nuclear reactors are operated today. This section examines
+nuclear reactors operate today. This section examines reactor operators and the
-reactor operators and the operating procedures we aim to leverage, then
+operating procedures we leverage, investigates limitations of human-based
-investigates limitations of human-based operation, and concludes with current
+operation, and concludes with current formal methods approaches to reactor
-formal methods approaches to reactor control systems.
+control systems.
 
 \subsection{Current Reactor Procedures and Operation}
 
@@ -14,8 +14,8 @@ routine operations, abnormal operating procedures for off-normal conditions,
 Emergency Operating Procedures (EOPs) for design-basis accidents, Severe
 Accident Management Guidelines (SAMGs) for beyond-design-basis events, and
 Extensive Damage Mitigation Guidelines (EDMGs) for catastrophic damage
-scenarios. These procedures must comply with 10 CFR 50.34(b)(6)(ii) and are
+scenarios. These procedures must comply with 10 CFR 50.34(b)(6)(ii). NUREG-0899
-developed using guidance from NUREG-0899~\cite{NUREG-0899, 10CFR50.34}, but their
+provides guidance for their development~\cite{NUREG-0899, 10CFR50.34}, but this
 development relies fundamentally on expert judgment and simulator validation
 rather than formal verification. Procedures undergo technical evaluation,
 simulator validation testing, and biennial review as part of operator
@@ -30,9 +30,9 @@ and completeness.} Current procedure development relies on expert judgment and
 simulator validation. No mathematical proof exists that procedures cover all
 possible plant states, that required actions can be completed within available
 timeframes, or that transitions between procedure sets maintain safety
-invariants. Paper-based procedures cannot ensure correct application, and even
+invariants. Paper-based procedures cannot ensure correct application. Even
-computer-based procedure systems lack the formal guarantees that automated
+computer-based procedure systems lack the formal guarantees automated reasoning
-reasoning could provide.
+could provide.
 
 Nuclear plants operate with multiple control modes: automatic control, where the
 reactor control system maintains target parameters through continuous reactivity
@@ -55,8 +55,11 @@ startup/shutdown sequences, mode transitions, and procedure implementation.
 
 \subsection{Human Factors in Nuclear Accidents}
 
-Current-generation nuclear power plants employ over 3,600 active NRC-licensed
+Having established how nuclear plants currently operate through written
-reactor operators in the United States~\cite{operator_statistics}. These
+procedures and human operators, we now examine why this human-centered approach
+poses fundamental limitations. Current-generation nuclear power plants employ
+over 3,600 active NRC-licensed reactor operators in the United
+States~\cite{operator_statistics}. These
 operators divide into Reactor Operators (ROs), who manipulate reactor controls,
 and Senior Reactor Operators (SROs), who direct plant operations and serve as
 shift supervisors~\cite{10CFR55}. Staffing typically requires at least two ROs
@@ -96,6 +99,12 @@ error contribution despite four decades of improvements demonstrates that these
 limitations are fundamental rather than a remediable part of human-driven control.
 
 \subsection{Formal Methods}
+
+The persistent human error problem motivates exploration of formal methods to
+provide mathematical guarantees of correctness that human-centered approaches
+cannot achieve. This subsection examines recent formal methods work in nuclear
+control and identifies their limitations for autonomous hybrid systems.
+
 \subsubsection{HARDENS}
 
 The High Assurance Rigorous Digital Engineering for Nuclear Safety (HARDENS)
@@ -180,11 +189,11 @@ liveness property.
 %source: https://symbolaris.com/logic/dL.html
 
 While dL allows for the specification of these liveness and safety properties,
-actually proving them for a given hybrid system is quite difficult. Automated
+actually proving them for a given hybrid system is difficult. Automated proof
-proof assistants such as KeYmaera X exist to help develop proofs of systems
+assistants such as KeYmaera X exist to help develop proofs of systems using dL,
-using dL, but so far have been insufficient for reasonably complex hybrid
+but have been insufficient for reasonably complex hybrid systems. The main issue
-systems. The main issue behind creating system proofs using dL is state space
+behind creating system proofs using dL is state space explosion and
-explosion and non-terminating solutions. 
+non-terminating solutions. 
 %Source: that one satellite tracking paper that has the problem with the
 %gyroscopes overloding and needing to dump speed all the time
 Approaches have been made to alleviate
@@ -194,7 +203,21 @@ methods, but are far from a complete methodology to design systems with.
 Instead, these approaches have been used on systems that have been designed a
 priori, and require expert knowledge to create the system proofs. 
 
-%Maybe a limitation here? Something about dL doesn't scale or help in design
+\textbf{LIMITATION:} \textit{Logic-based hybrid system verification has not
-%very much, so the limitation is that logic based hybrid system approaches have
+scaled to system design.} While dL and related approaches can verify hybrid
-%not been used in the DESIGN of autonomous controllers, only in the analysis of
+systems post-hoc, they require expert knowledge and have been applied only to
-%systems that already exist.
+systems designed a priori. State space explosion prevents their use in the
+design loop for complex systems like nuclear reactor startup procedures.
+
+\subsection{Summary: The Verification Gap}
+
+Current practice reveals a fundamental gap: human operators provide operational
+flexibility but introduce persistent reliability limitations, while formal
+methods provide correctness guarantees but have not scaled to complete hybrid
+control design. HARDENS verified discrete logic without continuous dynamics.
+Differential dynamic logic can express hybrid properties but requires
+post-design expert analysis. No existing methodology synthesizes provably
+correct hybrid controllers from operational procedures with verification
+integrated into the design process. This gap—between discrete-only formal
+methods and post-hoc hybrid verification—defines the challenge this research
+addresses.

3-research-approach/v3.tex

@@ -15,16 +15,15 @@
 % ----------------------------------------------------------------------------
 % 1. INTRODUCTION AND HYBRID SYSTEMS DEFINITION
 % ----------------------------------------------------------------------------
-Previous approaches to autonomous control have verified
+Previous approaches to autonomous control verified discrete switching logic or
-discrete switching logic or continuous control behavior, but not both
+continuous control behavior, but not both simultaneously. Today's continuous
-simultaneously. Validation of continuous controllers today consists of
+controller validation consists of extensive simulation trials. Human operators
-extensive simulation trials. Discrete switching logic for routine operation
+drive discrete switching logic for routine operation; their evaluation includes
-has been driven by human operators, whose evaluation includes simulated
+simulated control room testing and human factors research. Neither method
-control room testing and human factors research. Neither method, despite
+provides rigorous guarantees of control system behavior, despite being
-being extremely resource intensive, provides rigorous guarantees of control
+extremely resource intensive. HAHACS bridges this gap by composing formal
-system behavior. HAHACS bridges this gap by composing formal methods from
+methods from computer science with control-theoretic verification, formalizing
-computer science with control-theoretic verification, formalizing reactor
+reactor operations using the framework of hybrid automata.
-operations using the framework of hybrid automata.
 
 The challenge of hybrid system verification lies in the interaction between
 discrete and continuous dynamics. Discrete transitions change the governing
@@ -38,10 +37,10 @@ of reactor operations themselves: discrete supervisory logic determines which
 control mode is active, while continuous controllers govern plant behavior
 within each mode.
 
-To build a high-assurance hybrid autonomous control system (HAHACS), we must
+Building a high-assurance hybrid autonomous control system (HAHACS) requires
-first establish a mathematical description of the system. This work draws on
+first establishing a mathematical description of the system. This work draws on
 automata theory, temporal logic, and control theory. A hybrid system is a
-dynamical system that has both continuous and discrete states. The specific type
+dynamical system with both continuous and discrete states. The specific type
 of system discussed in this proposal is a continuous autonomous hybrid system.
 This means that the system does not have external input and that continuous
 states do not change instantaneously when discrete states change. For our
@@ -73,9 +72,13 @@ where:
 
 The creation of a HAHACS amounts to the construction of such a tuple together
 with proof artifacts demonstrating that the intended behavior of the control
-system is satisfied by its actual implementation. This approach is tractable now
+system is satisfied by its actual implementation. 
-because the infrastructure for each component has matured. The novelty is not in
+
-the individual pieces, but in the architecture that connects them. By defining
+\textbf{What is new:} This approach is tractable now because the infrastructure
+for each component has matured, but no existing work composes them for
+end-to-end hybrid system verification. The novelty lies in the architecture that
+connects discrete synthesis with continuous verification through well-defined
+interfaces. By defining
 entry, exit, and safety conditions at the discrete level first, we transform the
 intractable problem of global hybrid verification into a collection of local
 verification problems with clear interfaces. Verification is performed per mode
@@ -145,8 +148,14 @@ complex reactor operations.
 % ----------------------------------------------------------------------------
 
 \subsection{System Requirements, Specifications, and Discrete Controllers}
-Human control of nuclear power can be divided into three different scopes:
+
-strategic, operational, and tactical. Strategic control is high-level and
+Having defined the hybrid system mathematical framework, we now establish how to
+construct such systems from existing operational knowledge. The key insight is
+that nuclear operations already have a natural hybrid structure that maps
+directly to the automaton formalism.
+
+Human control of nuclear power divides into three scopes: strategic,
+operational, and tactical. Strategic control is high-level and
 long-term decision making for the plant. This level has objectives that are
 complex and economic in scale, such as managing labor needs and supply chains to
 optimize scheduled maintenance and downtime. The time scale at this level is
@@ -355,8 +364,9 @@ according to operating procedures.
 
 \subsection{Continuous Control Modes}
 
-The synthesis of the discrete operational controller is only half of an
+With the discrete controller synthesized and provably correct, we turn to the
-autonomous controller. These control systems are hybrid, with both discrete and
+continuous dynamics that execute within each discrete mode. The synthesis of the
+discrete operational controller is only half of an autonomous controller. These control systems are hybrid, with both discrete and
 continuous components. This section describes the continuous control modes that
 execute within each discrete state, and how we verify that they satisfy the
 requirements imposed by the discrete layer. It is important to clarify the scope
@@ -478,8 +488,10 @@ appropriate to the fidelity of the reactor models available.
 
 \subsubsection{Stabilizing Modes}
 
-Stabilizing modes are continuous controllers with an objective of maintaining a
+While transitory modes drive the system toward exit conditions, stabilizing
-particular discrete state indefinitely. Rather than driving the system toward an
+modes maintain the system within a desired operating region. Stabilizing modes
+are continuous controllers with an objective of maintaining a particular
+discrete state indefinitely. Rather than driving the system toward an
 exit condition, they keep the system within a safe operating region. Examples
 include steady-state power operation, hot standby, and load-following at
 constant power level. Reachability analysis for stabilizing modes may not be a
@@ -535,8 +547,9 @@ controller.
 
 \subsubsection{Expulsory Modes}
 
-Expulsory modes are continuous controllers responsible for
+Transitory and stabilizing modes handle nominal operations. When the plant
-ensuring safety when failures occur. They are designed for robustness rather
+deviates from expected behavior, expulsory modes take over. Expulsory modes are
+continuous controllers responsible for ensuring safety when failures occur. They are designed for robustness rather
 than optimality. The control objective is to drive the plant to a safe shutdown
 state from potentially anywhere in the state space, under degraded or uncertain
 dynamics. Examples include emergency core cooling, reactor SCRAM sequences, and

6-broader-impacts/v1.tex

@@ -22,9 +22,9 @@ approximately 23--30\% of the total levelized cost of electricity, translating
 to \$21--28 billion annually for projected datacenter demand.
 
 This research directly addresses the multi-billion-dollar O\&M cost challenge
-through high-assurance autonomous control. Current nuclear operations require
+through the high-assurance autonomous control methodology developed in this
-full control room staffing for each reactor, whether large conventional units or
+work. Current nuclear operations require full control room staffing for each
-small modular designs. These staffing requirements drive the high O\&M costs
+reactor, whether large conventional units or small modular designs. These staffing requirements drive the high O\&M costs
 that make nuclear power economically challenging, particularly for smaller
 reactor designs where the same staffing overhead must be spread across lower
 power output. Synthesizing provably correct hybrid controllers from formal