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PART 1: THE FUNDAMENTALS OF DEEP LEARNING 1 What is Deep Learning? 2 Before we start: the mathematical building blocks of neural networks 3 Getting started with neural networks 4 Fundamentals of machine learning PART 2: DEEP LEARNING IN PRACTICE 5 Deep learning for computer vision 6 Deep learning for text and sequences 7 Advanced deep learning best practices 8 Generative deep learning 9 Conclusions ©

1 Introduction 1 1.1 Chapter Focus, 1 1.2 On Kalman Filtering, 1 1.3 On Optimal Estimation Methods, 6 1.4 Common Notation, 28 1.5 Summary, 30 Problems, 31 References, 34 2 Linear Dynamic Systems 37 2.1 Chapter Focus, 37 2.2 Deterministic Dynamic System Models, 42 2.3 Continuous Linear Systems and their Solutions, 47 2.4 Discrete Linear Systems and their Solutions, 59 2.5 Observability of Linear Dynamic System Models, 61 2.6 Summary, 66 Problems, 69 References, 3 Probability and Expectancy 73 3.1 Chapter Focus, 73 3.2 Foundations of Probability Theory, 74 3.3 Expectancy, 79 3.4 Least-Mean-Square Estimate (LMSE), 87 3.5 Transformations of Variates, 93 3.6 The Matrix Trace in Statistics, 102 3.7 Summary, 106 Problems, 107 References, 110 4 Random Processes 111 4.1 Chapter Focus, 111 4.2 Random Variables, Processes, and Sequences, 112 4.3 Statistical Properties, 114 4.4 Linear Random Process Models, 124 4.5 Shaping Filters (SF) and State Augmentation, 131 4.6 Mean and Covariance Propagation, 135 4.7 Relationships Between Model Parameters, 145 4.8 Orthogonality Principle, 153 4.9 Summary, 157 Problems, 159 References, 167 5 Linear Optimal Filters and Predictors 169 5.1 Chapter Focus, 169 5.2 Kalman Filter, 172 5.3 Kalman–Bucy Filter, 197 5.4 Optimal Linear Predictors, 200 5.5 Correlated Noise Sources, 200 5.6 Relationships Between Kalman and Wiener Filters, 201 5.7 Quadratic Loss Functions, 202 5.8 Matrix Riccati Differential Equation, 204 5.9 Matrix Riccati Equation in Discrete Time, 219 5.10 Model Equations for Transformed State Variables, 223 5.11 Sample Applications, 224 5.12 Summary, 228 Problems, 232 References, 235 6 Optimal Smoothers 239 6.1 Chapter Focus, 239 6.2 Fixed-Interval Smoothing, 244 6.3 Fixed-Lag Smoothing, 256 6.4 Fixed-Point Smoothing, 268 7 Implementation Methods 281 7.1 Chapter Focus, 281 7.2 Computer Roundoff, 283 7.3 Effects of Roundoff Errors on Kalman Filters, 288 7.4 Factorization Methods for “Square-Root” Filtering, 294 7.5 “Square-Root” and

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