Flight Control in Complex Environments: From Insects to Robots

Bumblebee in a forest

Flying robots are very useful for tasks such as aerial mapping, fast exploration, video footage and monitoring of buildings. However, autonomous missions are usually constrained to high altitude flights above flat surfaces in order to avoid collisions. Traditional methods for collision-free navigation require large resources and limit the payload of robots.

On the other hand, flying insects are able to navigate safely and efficiently using low quality vision as their main sensory input. Ideally, robots could adopt insects strategies, but little is known about the way insects turn visual stimuli into muscular actuation during flight. This precludes a direct implementation of insect flight control into robots and forces roboticists to guess appropriate strategies.

In this thesis, we aim to investigate, develop and implement insect-inspired control strategies in flying robots for goal-oriented navigation in complex environments. We will start by exploring insect sensing and actuation through experiments with bumblebees. Then, we will model the insect’s flight control strategies. This model will be tested in simulation and implemented in a custom designed flying robot. Through experiments in natural environments, we will characterize the efficiency of our model for goal-oriented collision-free navigation.

Publications

Scalable Semidefinite Programming

A. Yurtsever; J. A. Tropp; O. Fercoq; M. Udell; V. Cevher 

2019-12-06

Polarity establishment, asymmetric division and segregation of fate determinants in early C elegans embryos

L. Rose; P. Gönczy 

WormBook

2014-12-31

Cellular hallmarks reveal restricted aerobic metabolism at thermal limits

A. Neves; C. Busso; P. Gönczy 

eLife

2015-05-02

Basal body structure in Trichonympha

P. Guichard; P. Gönczy 

Cilia

2016-03-05

Arithmetic and metric aspects of open de Rham spaces

T. Hausel; M. L. Wong; D. S. Wyss 

ArXiv

2019-12-06

SROBB: Targeted Perceptual Loss for Single Image Super-Resolution

M. S. Rad; B. Bozorgtabar; U-V. Marti; M. Basler; H. Kemal Ekenel et al. 

The IEEE International Conference on Computer Vision (ICCV)

2019

International Conference on Computer Vision 2019 (ICCV 2019), Seoul, Korea,

p. 2710-2719

Mirror symmetry for moduli spaces of Higgs bundles via $p$-adic integration

M. Gröchenig; D. S. Wyss; P. Ziegler 

ArXiv

2017-09-207

Arithmetic and metric aspects of open de Rham spaces

T. Hausel; M. L. Wong; D. Wyss 

ArXiv

2018-07-11

Square Attack: a query-efficient black-box adversarial attack via random search

M. Andriushchenko; F. Croce; N. Flammarion; M. Hein 

arXiv:1912.00049 [cs, stat]

2019-11-29

Provably Robust Boosted Decision Stumps and Trees against Adversarial Attacks

M. Andriushchenko; M. Hein 

arXiv:1906.03526 [cs, stat]

2019-10-30

Provable Robustness of ReLU networks via Maximization of Linear Regions

F. Croce; M. Andriushchenko; M. Hein 

arXiv:1810.07481 [cs, stat]

2019-03-08

Logit Pairing Methods Can Fool Gradient-Based Attacks

M. Mosbach; M. Andriushchenko; T. Trost; M. Hein; D. Klakow 

arXiv:1810.12042 [cs, stat]

2019-03-12

Why ReLU networks yield high-confidence predictions far away from the training data and how to mitigate the problem

M. Hein; M. Andriushchenko; J. Bitterwolf 

arXiv:1812.05720 [cs, stat]

2019-05-07

Formal Guarantees on the Robustness of a Classifier against Adversarial Manipulation

2017

Advances in Neural Information Processing Systems 30.

Geometric stabilisation via $p$-adic integration

M. Gröchenig; D. S. Wyss; P. Ziegler 

ArXiv

2018-10-15

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International Mathematics Research Notices

2016-10-18

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Cell Stress and Chaperones

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Science

2019

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Ville et gestion des données numériques : rôle du maire dans la propriété, l’accessibilité et la valorisation des Datas

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La politique “datas” de la collectivité

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Smart City Tour à Antony, Antony, France, November 28, 2019.

Clusters and Nanocrystals

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Micro-focused MHz pink beam for time-resolved X-ray emission spectroscopy

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Journal of Synchrotron Radiation

2019-10-18

Vol. 26 , num. 6, p. 1956-1966.

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Multispectroscopic Study of Single Xe Clusters Using XFEL Pulses

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Applied Sciences

2019-11-16

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Optimized Sampling Rate for Voltammetry-Based Electrochemical Sensing in Wearable and IoT Applications

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IEEE Sensors Letters

2019-06-01

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Chromatin Fiber Invasion and Nucleosome Displacement by the Rap1 Transcription Factor

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Molecular Cell

2019-11-21

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Implantable electrode and method for manufacturing

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Patent number(s) :

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2018

Organoid tissue engineering

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2018

In-situ cross-linkable hole transporting triazatruxene monomers for optoelectronic devicestr

K. Rakstys; A. Huckaba; M. K. Nazeeruddin 

Patent number(s) :

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2019

Photon detecting 3d imaging sensor device

A. Ronchini Ximenes; P. Padmanabhan; E. Charbon 

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2019

System to deliver adaptive epidural and/or subdural electrical spinal cord stimulation to facilitate and restore locomotion after a neuromotor impairment

G. Courtine; N. Wenger; E. Martin Moraud; S. Micera; M. Bonizzato 

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2018

Multi-spectral image priniting method

A. Scholefield; M. Vetterli; Y. Bellouard; M. Pacholska; G. Baechler et al. 

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2019

Hand exoskeleton device

L. Randazzo; J. Del R. Millán 

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2019

Optoelectronic device comprising guanidinium in the organic-inorganic perovskite

A. Z. D. Jodlowski; C. Roldan Carmona; G. De Miguel Rojas; L. Camacho Delgado; M. K. Nazeeruddin 

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2019

Intrafascicular electrode implant

S. Raspopovic; F. M. Petrini; S. Micera 

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  • EP3522773 (A1)
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2018

Semiconductor device comprising a three-dimensional field plate

E. D. N. Matioli; J. Ma 

Patent number(s) :

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2018

Optimized Design of Silicon Heterojunction Solar Cells for Field Operating Conditions

J. Cattin; O. Dupré; B. Aissa; J. Haschke; C. Ballif et al. 

IEEE Journal of Photovoltaics

2019-11-28

Vol. 9 , num. 6, p. 1541-1547.

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Building Duration / El Portico de los Huespedes

P. Guaita; S. Devabhaktuni; R. Baur; D. Jolly 

2019 ACSA 107th Annual Meeting Abstract Book1BLACK BOX:Articulating Architecture’s Core in the Post-Digital Era2019 ACSA 107th Annual Meeting : Abstract Book

2019

107th Annua2019 Association of Collegiate Schools of Architecture (ACSA) 107th Annual Meeting: Black Box: Articulating Architecture’s Core in the Post-Digital Era, Pittsburgh, PA, March 28-30, 2019.

p. 127-128

Presymplectic convexity and (ir)rational polytopes

T. Ratiu; Nguyen Tien Zung 

Journal of Symplectic Geometry

2019-01-01

Vol. 17 , num. 5, p. 1479-1511.

Weight Loss Directly Influences Intermediate-Term Remission of Diabetes Mellitus After Bariatric Surgery: A Retrospective Case-Control Study

R. de La Harpe; S. Rueger; Z. Kutalik; P. Ballabeni; M. Suter et al. 

Obesity Surgery

2019-11-21

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Magnetization transfer in magnetic resonance fingerprinting

T. Hilbert; D. Xia; K. T. Block; Z. Yu; R. Lattanzi et al. 

Magnetic Resonance In Medicine

2019-11-25

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User Guidance for Efficient Fact Checking

Thanh Tam Nguyen; M. Weidlich; H. Yin; B. Zheng; Quoc Viet Hung Nguyen et al. 

Proceedings Of The Vldb Endowment

2019-04-01

Vol. 12 , num. 8, p. 850-863.

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Mechanoperovskites for Photovoltaic Applications: Preparation, Characterization, and Device Fabrication

D. Prochowicz; M. Saski; P. Yadav; M. Gratzel; J. Lewinski 

Accounts Of Chemical Research

2019-11-01

Vol. 52 , num. 11, p. 3233-3243.

DOI : 10.1021/acs.accounts.9b00454

Mechanochemistry-assisted hydrolysis of softwood over stable sulfonated carbon catalysts in a semi-batch process

D. Scholz; J. Xie; O. Kroecher; F. Vogel 

Rsc Advances

2019-10-17

Vol. 9 , num. 57, p. 33525-33538.

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Product Market Competition and Option Prices

E. Morellec; A. Zhdanov 

Review Of Financial Studies

2019-11-01

Vol. 32 , num. 11, p. 4343-4386.

DOI : 10.1093/rfs/hhz027

MRI T2 Mapping of the Knee Providing Synthetic Morphologic Images: Comparison to Conventional Turbo Spin-Echo MRI

M. Roux; T. Hilbert; M. Hussami; F. Becce; T. Kober et al. 

Radiology

2019-12-01

Vol. 293 , num. 3, p. 620-630.

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Mechanics of Allostery: Contrasting the Induced Fit and Population Shift Scenarios

R. Ravasio; S. M. Flatt; L. Yan; S. Zamuner; C. Brito et al. 

Biophysical Journal

2019-11-19

Vol. 117 , num. 10, p. 1954-1962.

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Can Precursory Moment Release Scale With Earthquake Magnitude? A View From the Laboratory

M. Acosta; F. X. Passelegue; A. Schubnel; R. Madariaga; M. Violay 

Geophysical Research Letters

2019-11-25

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Quantum state manipulation of single atom magnets using the hyperfine interaction

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Physical Review B

2019-11-19

Vol. 100 , num. 18, p. 180405.

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Monitoring Tuberculosis Drug Activity in Live Animals by Using Near-Infrared Fluorescence Imaging

R. Sommer; S. T. Cole 

Antimicrobial Agents And Chemotherapy

2019-12-01

Vol. 63 , num. 12, p. e01280-19.

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Five Management Pillars for Digital Transformation Integrating the Lean Thinking Philosophy

D. Romero; M. Flores; M. Herrera; H. Resendez 

2019 Ieee International Conference On Engineering, Technology And Innovation (Ice/Itmc)

2019-01-01

25th IEEE International Conference on Engineering, Technology and Innovation / 25th ICE/IEEE International Technology Management Conference (ITMC), FRANCE, Jun 17-19, 2019.

Characterization of Wind Turbine Wakes with Nacelle-Mounted Doppler LiDARs and Model Validation in the Presence of Wind Veer

P. Brugger; F. C. Fuertes; M. Vahidzadeh; C. D. Markfort; F. Porte-Agel 

Remote Sensing

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Convection-Diffusion Competition Within Mixed Layers of Stratified Natural Waters

O. S. Steiner; D. Bouffard; A. Wueest 

Geophysical Research Letters

2019-11-20

DOI : 10.1029/2019GL085361

Current Opinions in Brain Imaging Methods and Applications

C. M. Michel; P. Vuilleumier; D. Van De Ville 

Brain Topography

2019-11-22

DOI : 10.1007/s10548-019-00747-3

Semiclassical analysis of the quantum instanton approximation (vol 151, 144111, 2019)

C. L. Vaillant; M. J. Thapa; J. Vanicek; J. O. Richardson 

Journal Of Chemical Physics

2019-11-14

Vol. 151 , num. 18, p. 189902.

DOI : 10.1063/1.5133748

The Modern Project: A Research Hypothesis

P. Vigano 

Urban Planning

2019-01-01

Vol. 4 , num. 3, p. 83-89.

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Electrochemical detection of different p53 conformations by using nanostructured surfaces

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Scientific Reports

2019-11-22

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Diffusion behavior of cerebral metabolites of congenital portal systemic shunt mice assessed noninvasively by diffusion-weighted H-1 magnetic resonance spectroscopy

M. Dehghani; N. Kunz; H. Lei 

Nmr In Biomedicine

2019-11-25

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Designing for impact: a conceptual framework for learning analytics as self-assessment tools

R. Tormey; C. Hardebolle; F. Pinto; P. Jermann 

Assessment & Evaluation In Higher Education

2019-10-26

DOI : 10.1080/02602938.2019.1680952

Moving on: Is Existenzminimum Still Relevant?

B. Marchand 

Urban Planning

2019-01-01

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Biomedical Image Reconstruction: From the Foundations to Deep Neural Networks

M. Unser; M. T. McCann 

Foundations and Trends® in Signal Processing

2019-12-03

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Thomson scattering measurements in the divertor region of the TCV Tokamak plasmas

P. Blanchard; Y. Andrebe; H. Arnichand; R. Agnello; S. Antonioni et al. 

19th International Symposium on Laser-Aided Plasma Diagnostics , Whitefish, Montana, U.S.A., 22–26 September 2019 .

Thomson scattering measurements in the divertor region of the TCV Tokamak plasmas

P. Blanchard; Y. Andrebe; H. Arnichand; R. Agnello; S. Antonioni et al. 

Journal of Instrumentation

2019

19th International Symposium on Laser-Aided Plasma Diagnostics, Whitefish, Montana, U.S.A., 22–26 September 2019.

p. C10038-C10038

DOI : 10.1088/1748-0221/14/10/C10038

Escaping from saddle points on Riemannian manifolds

Y. Sun; N. Flammarion; M. Fazel 

2019

Neurips 2019.

From averaging to acceleration, there is only a step-size

N. Flammarion; F. Bach 

Proceedings of Machine Learning Research

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Contact Resistivity of the p-Type Amorphous Silicon Hole Contact in Silicon Heterojunction Solar Cells

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IEEE Journal of Photovoltaics

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The Dynamic Emission Zone in Sandwich Polymer Light-Emitting Electrochemical Cells

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Advanced Functional Materials

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Functional Extrapolations to Tame Unbound Anions in Density-Functional Theory Calculations

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Journal Of Chemical Theory And Computation

2019-11-01

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Subaquatic slope instabilities: The aftermath of river correction and artificial dumps in Lake Biel (Switzerland)

N. Dubois; L. R. Vinna; M. Rabold; M. Hilbe; F. S. Anselmetti et al. 

Sedimentology

2019-11-22

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From Anomaly Detection to Rumour Detection using Data Streams of Social Platforms

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Proceedings Of The Vldb Endowment

2019-05-01

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Efficient Perovskite Solar Cell Modules with High Stability Enabled by Iodide Diffusion Barriers

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Joule

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Chlorinated ethene plume evolution after source thermal remediation: Determination of degradation rates and mechanisms

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Journal Of Contaminant Hydrology

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The S-matrix bootstrap IV: multiple amplitudes

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Journal Of High Energy Physics

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Getting the Right Twist: Influence of Donor-Acceptor Dihedral Angle on Exciton Kinetics and Singlet-Triplet Gap in Deep Blue Thermally Activated Delayed Fluorescence Emitter

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Journal Of Physical Chemistry C

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Decoding Neural Metabolic Markers From the Carotid Sinus Nerve in a Type 2 Diabetes Model

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Ieee Transactions On Neural Systems And Rehabilitation Engineering

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Tunneling Splittings in Water Clusters from Path Integral Molecular Dynamics

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Journal Of Physical Chemistry Letters

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Gap-Plasmon-Enhanced High-Spatial-Resolution Imaging by Photothermal-Induced Resonance in the Visible Range

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Nano Letters

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Synthesis of Loop Poly(Methyl Methacrylate) Brushes via Chain-End Postpolymerization Modification

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Design and optimization of a high-temperature latent heat storage unit

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Applied Energy

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Disentangling turbulence in the plasma boundary of diverted tokamaks

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61st Annual Meeting of the APS Division of Plasma Physics, Fort Lauderdale, FL, US, October 21-25, 2019 .

Integration of sharp silicon nitride tips into high-speed SU8 cantilevers in a batch fabrication process

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Light Field Synthesis Using Inexpensive Surveillance Camera Systems

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2019 IEEE International Conference on Image Processing (ICIP)

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Analysis of morphological and haemodynamical indexes in abdominal aortic aneurysms as preliminary indicators of intraluminal thrombus deposition

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A proof of equivalence of two force methods for active structural control

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Gen-Oja: A Simple and Efficient Algorithm for Streaming Generalized Eigenvector Computation

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Improved Bounds for Discretization of Langevin Diffusions: Near-Optimal Rates without Convexity

W. Mou; N. Flammarion; M. J. Wainwright; P. L. Bartlett 

arXiv

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Fast Mean Estimation with Sub-Gaussian Rates

Y. Cherapanamjeri; N. Flammarion; P. L. Bartlett 

Proceedings of Machine Learning Research

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Averaging Stochastic Gradient Descent on Riemannian Manifolds

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Stochastic Composite Least-Squares Regression with Convergence Rate O(1/n)

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On the theory of variance reduction for stochastic gradient monte carlo

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Robust Discriminative Clustering with Sparse Regularizers

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Harder, Better, Faster, Stronger Convergence Rates for Least-Squares Regression

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Bernoulli

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Sampling can be faster than optimization

Y-A. Ma; Y. Chen; C. Jin; N. Flammarion; M. I. Jordan 

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Le Lac de Zurich en Ligne – Prévisions hydrodynamiques 3D en temps-réel sur meteolakes.ch. Aqua & Gas – Fachzeitschrift für Gas, Wasser und Abwasser

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Le Monument Continu de Superstudio. Excès du rationalisme et stratégie du refus

R. Gargiani; B. Lampariello 

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Il monumento continuo di superstudio. Eccesso del razionalismo e strategia del rifiuto

R. Gargiani; B. Lampariello 

Genova: SAGEP, 2019.

ISBN : 9788863736533

Identification of Train Wheel Flat Accounting for Measurement and Modeling Uncertainties

W-J. Cao; S. Zhang; N. J. Bertola; I. F. C. Smith; C. G. Koh 

Structural Health Monitoring 2019: Enabling Intelligent Life-cycle Health Management for Industry Internet of Things (IIOT)

2019

Structural Health Monitoring 2019: Enabling Intelligent Life-cycle Health Management for Industry Internet of Things (IIOT), Stanford, California, USA,

DOI : 10.12783/shm2019/32153

Is there a relationship between footstep-impact locations and measured signal characteristics?

S. G. Pai; Y. Reuland; S. Drira; I. F. Smith 

Proceedings of the 1st ACM International Workshop on Device-Free Human Sensing – DFHS’19

2019

1st ACM International Workshop on Device-Free Human Sensing – DFHS’19, New York, NY, USA,

p. 62-65

DOI : 10.1145/3360773.3360888