inControl

Outline00:00 - Intro03:26 - Development: ETH Zürich07:15 - Growth: Minnesota and Wisconsin36:16 - Productivity: Caltech53:28 - Change: ETH Zürich01:37:18 - Continuity: University of Pennsylvania01:45:36 - OutroLinksManfred’s website: https://tinyurl.com/mryp38w3Farewell lecture: https://tinyurl.com/2j5uxsp4Laying the foundations: an advisor’s perspective: https://tinyurl.com/ym5e4437Internal model control. A unifying review and some new results:  https://tinyurl.com/vmm7a4tkInternal model control - PID controller design: https://tinyurl.com/rup3azjmRobust process control: https://tinyurl.com/8uhurkubRobust control of ill-conditioned plants: high-purity distillation: https://tinyurl.com/5xfty34cComputational complexity of \mu calculation: https://tinyurl.com/24yvvcc7Robust constrained model predictive control using linear matrix inequalities: https://tinyurl.com/3pdk55kkControl of systems integrating logic, dynamics, and constraints: https://tinyurl.com/489ekvsnThe explicit linear quadratic regulator for constrained systems: https://tinyurl.com/mr2e3z83Model predictive control: https://tinyurl.com/2s4dafkd Parametric programming: https://tinyurl.com/2u9vj79yEmbotech: https://tinyurl.com/3f99ks65Embedded online optimization for model predictive control at megahertz rates: https://tinyurl.com/59z3vnb9Donoho’s “Bridge from mathematical to digital and back”: https://tinyurl.com/3f9fk73wSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline 00:00 - Intro02:42 - Early life10:24 - WWII, Johns Hopkins, Belleville, Madison 17:17 - Princeton 20:30 - Los Alamos24:12 - Back to Princeton31:01 - RAND + Stanford 42:10 - Dynamic programming46:06 - Project matterhorn51:00 - Back to RAND56:14 - Curse of dimensionality1:02:41 - Divorce and remarriage1:08:29 - Greenglass affair1:14:21 - USC1:18:55 - Center for the Study of Democratic Institutions1:22:55 - Last years1:26:08 - OutroLinksR. Bellman: https://tinyurl.com/ydkmwexyC. M. Bellman: https://tinyurl.com/yfbafetjDynamic programming: https://tinyurl.com/mtsuamprCurse of dimensionality: https://tinyurl.com/383yads8Hamilton-Jacobi-Bellman equation: https://tinyurl.com/muu4ckvsBellman equation: https://tinyurl.com/y8bvzztmGrönwall-Bellman inequality: https://tinyurl.com/mrwdxzd8 S. Lefschetz: https://tinyurl.com/2s39nnzvRAND corporation: https://tinyurl.com/4bfyhp9pEye of the hurricane: https://tinyurl.com/bd6h84kaG. Szegő: https://tinyurl.com/mrthmmvmProject Matterhorn: https://tinyurl.com/5az9c3shD. Greenglass: https://tinyurl.com/p2kfp7czCenter for the Study of Democratic Institutions: https://tinyurl.com/3vkupdtySupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 Intro01:19 Swedish control heritage and early steps05:21 PhD at Lund and relay feedback systems15:40 Berkeley years19:58 Hybrid systems26:46 Networked control systems30:32 Interaction with industry34:40 Wireless control systems40:33 Platooning in freight transport49:27 Future of mobility52:55 Event-based control58:58 Cybersecurity1:05:10 Societal-scale challenges1:12:33 Bode lecture reflections1:15:05 Digital futures1:23:38 Advice for future studentsLinksKalle’s website: https://tinyurl.com/yc34dv2xK. J. Åstrom: https://tinyurl.com/5n9admvkPhD Thesis: https://tinyurl.com/3868a92aRelay feedback: https://tinyurl.com/3w4w9dkuFast switches in relay feedback systems: https://tinyurl.com/5dcvn79fS. Sastry: https://tinyurl.com/3f5e978zHybrid system: https://tinyurl.com/v39up6wkDynamical properties of hybrid automata: https://tinyurl.com/yx73x6baWireless Network Design for Control Systems: https://tinyurl.com/mry5cnanCyber–Physical Control of Road Freight Transport: https://tinyurl.com/yc4yhhwuS. Shladover: https://tinyurl.com/352cfwdmAn introduction to event-triggered and self-triggered control: https://tinyurl.com/37p9w8czDistributed Event-Triggered Control for Multi-Agent Systems: https://tinyurl.com/5ddnjsrzCyber security analysis of state estimators in electric power systems: https://tinyurl.com/2wj74spjA secure control framework for resource-limited adversaries: https://tinyurl.com/37pnehuvControl for societal-scale challenges 2030: https://tinyurl.com/yfd3v296Digital futures: https://tinyurl.com/h3nyb2Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro02:14 - Early steps in control05:36 - L1 control17:09 - Relay feedback systems24:32 - Agile robotic maneuvers29:31 - Abstractions and models41:59 - Causality49:35 - Markets and power grids1:00:20 - Role of network structure1:05:03 - Data, systems, and society1:16:17 - On writing1:22:57 - Cascaded failures in networks1:30:40 - Information design1:34:29 - Data markets1:42:27 - On economics and engineering1:48:18 - Systems thinking for societal problems1:58:24 - Advice to future studentsLinksWebsite: https://dahleh.lids.mit.edu/Data Nation podcast: https://tinyurl.com/2fxwxw2dS. Bhattacharyya: https://tinyurl.com/4z93f6n7Wonham’s geometric control: https://tinyurl.com/mrxxkrv9B. Pearson: https://tinyurl.com/3vaz9yc9L1-optimal control: https://t.ly/NuXp8M. Vidyasagar: https://tinyurl.com/4z3zamh6Relay feedback systems: https://tinyurl.com/47tr23a4J. Tsitsilkis: https://tinyurl.com/yc7jmzm6Maneuver-based motion planning: https://tinyurl.com/bdduu2eaNutonomy: https://tinyurl.com/426s7stvFeedback control with noisy channels: https://tinyurl.com/2yschy2sBode’s integral: https://tinyurl.com/2s47rjmpFundamental limits and molecular fluctuations: https://tinyurl.com/5n8k4maaVolatility of power grids: https://tinyurl.com/2vfpjfy7Bayesian learning in social networks: https://tinyurl.com/3mk9p486D. Acemoglu: https://tinyurl.com/3nphek9hA. Ozdaglar: https://tinyurl.com/yvdnddh9Cascade failures in networks: https://tinyurl.com/u2ckx94vA marketplace for data: https://tinyurl.com/esvbtprbSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro00:49 - Early education and PhD in control10:35 - Non-negative linear algebra & modelling uncertainty principle22:50 - Influence of Willems & the Frisch scheme34:27 - Subspace identification & stochastic behavioural system theory38:39 - Stanford experience with Golub & Kailath53:30 - Return to Leuven: LS-SVMs, quantum information, and beyond1:07:48 - Multilinear algebra and tensor trains1:11:59 - Exact/approximate modelling and angles between systems1:25:34 - Back to the roots1:46:01 - On entrepreneurship: advice to future students1:56:32 - OutroLinksBart’s website: https://www.bartdemoor.be/Bart’s PhD Thesis: https://tinyurl.com/ryfu786hJ. Willems: https://tinyurl.com/26zcrkc6From finite time series to linear system: https://tinyurl.com/4cvzpun6Subspace Identification For Linear Systems: https://tinyurl.com/5n8u228kGrassmann’s identity: https://tinyurl.com/37ey48daL. Ljung: https://tinyurl.com/2p9k74cmG. Golub: https://tinyurl.com/rteww7rbThe restricted singular value decomposition: https://tinyurl.com/3pzhw8p4LS-SVMs: https://tinyurl.com/ykv7uvfvFour qubits can be entangled in nine different ways: https://tinyurl.com/y367kkcpHigh-order SVD: https://tinyurl.com/34u4p7h9Subspace angles between ARMA models: https://tinyurl.com/29cta3rmExact and approximate modeling of linear systems: https://tinyurl.com/ykkbb9k4Back to the roots: https://tinyurl.com/ym6bvs38Resultant: https://tinyurl.com/32un7tbvMultidimensional system: https://tinyurl.com/jswpsr2sMacaulay resultant: https://tinyurl.com/y4skuevwLeast squares realization of LTI models is an eigenvalue problem: https://tinyurl.com/3x9dmjnkSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline01:16 - Intro02:28 - Early steps in Italy and California13:00 - From Riemannian geometry …17:01 - … to geometric control, robotics and locomotion34:54 - Academic environment at Caltech35:06 - From single robots to robotic networks53:51 - Art gallery problem1:01:37 - Networked and cyber-physical systems1:21:47 - Contracting dynamics1:33:07 - Coupled oscillators and power grids1:47:20 - On mathematical sociology1:56:44 - Writing and publishing2:02:14 - About professional service2:08:04 - Advice for future students2:08:04 - OutroLinksFrancesco’s website: https://fbullo.github.io/CSM “People in Control” interview: https://tinyurl.com/cw4s8b4nGeometric Control of Mechanical Systems: https://tinyurl.com/mt59bw2nPD control on the Euclidean group: https://tinyurl.com/5xe9rtc2Coverage control for mobile sensing networks: https://tinyurl.com/ye83duhmVoronoi tassellations: https://tinyurl.com/y7w2tux4 Art gallery problem: https://tinyurl.com/yc8h88c3Dynamic vehicle routing for robotic systems: https://tinyurl.com/5n8c393pDistributed control of robotic networks: https://tinyurl.com/5xe6ztw3Attack detection and identification in cyber-physical systems: https://tinyurl.com/mvm44d24Voltage collapse in complex power grids: https://tinyurl.com/55mfdj28Lectures on network systems: https://tinyurl.com/tbd9dhy2Opinion dynamics and the evolution of social power in influence networks: https://tinyurl.com/2cd5v7taBanach contraction theorem: https://tinyurl.com/2yv4jjy6Contraction theory for dynamical systems: https://tinyurl.com/2r2pxh9pContracting dynamics YouTube series: https://tinyurl.com/3p7nsrypGetting it write: https://tinyurl.com/yhtabw2fHamming - You and your research: Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro01:00 - From Boeing to Planetary Resources08:57 - The origin of control videos17:07 - About teaching style20:52 - The (unnecessary?) math behind controls26:54 - On interdisciplinarity31:35 - How to build knowledge fast48:32 - Resourcium01:00:49 - The map of control theory 01:11:09 - IFAC Cartoons01:15:35 - Fundamentals of control theory book01:24:49 - The role of projects01:34:27 - Future of control education01:43:43 - Advice to future students LinksBrian’s website: https://tinyurl.com/DouglasBrian1Boeing: https://tinyurl.com/DouglasBrian2Planetary resources: https://tinyurl.com/DouglasBrian3Khan Academy: https://tinyurl.com/DouglasBrian4Building Knowledge in an Interdisciplinary World: https://tinyurl.com/DouglasBrian5Why Models Are Essential to Digital Engineering: https://tinyurl.com/DouglasBrian6SysML: https://tinyurl.com/DouglasBrian7What Is Robust Control: https://tinyurl.com/DouglasBrian8Algebraic Riccati equation: https://tinyurl.com/DouglasBrian9Resourcium: https://tinyurl.com/DouglasBrian10Map of control theory: https://tinyurl.com/DouglasBrian11Map of mathematics: https://tinyurl.com/DouglasBrian12Brian’s Cartoons: https://tinyurl.com/DouglasBrian13Fundamentals of control theory: https://engineeringmedia.com/booksxkcd: https://xkcd.com/what if?: https://xkcd.com/what-if/Computational Control: https://www.bsaver.io/teachingargmin: https://www.argmin.net/The Art of the Realizable: Support the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro01:17 - Early Years04:17 - The “Scenic Route” to Control Theory12:44 - Sampled Data Systems22:26 - Linear Parameter Varying (LPV) Identification28:07 - From Distributed Systems and PDEs ...38:59 - ... to Distributed Control of Spatially Invariant Systems49:02 - Taming the Navier-Stokes Equations50:55 - Advice to Future Students1:13:12 - Coherence in Large Scale Systems1:32:28 - On Resistive Losses in Power Systems1:39:00 - Cochlear Instabilities1:50:40 - Stochasticity in Feedback Loops2:00:00 - About Linear and Nonlinear Control2:08:14 - How to Select a Research Problem2:14:21 - Future of Control2:22:06 - OutroLinks- Paper on moment-invariants and object recognition: https://tinyurl.com/26tnks3z- Bassam’s PhD Thesis: https://tinyurl.com/3n2274dv- Identification of linear parametrically varying systems: https://tinyurl.com/mryebhhy- Distributed control of spatially invariant systems: https://tinyurl.com/rzszjch2- Shift Operator: https://tinyurl.com/24fwehet- Heat Equation: https://tinyurl.com/57rc6s7h- Navier-Stokes Equations: https://tinyurl.com/45ktrd2e- The impulse response of the Navier-Stokes equations: https://tinyurl.com/4vaausfn- Non-Normal Matrix: https://tinyurl.com/58z4sph8- Coherence in large-scale networks: https://tinyurl.com/ynm5cbay- The Price of Synchrony: https://tinyurl.com/3svzancw- Tinnitus: https://tinyurl.com/yc5hm549- Cochlear Instabilities: https://tinyurl.com/fjespjbj- Stochasticity in Feedback Loops: https://tinyurl.com/yc6aw9xt- Koopman Operator: https://tinyurl.com/3jeu68p8- Carleman Linearization: https://tinyurl.com/yckzrnfh- Mamba Model: https://tinyurl.com/33h59jwj- Spectral Factorization: https://tSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro01:28 - Platform-based design (PBD) in biology16:42 - Cyberphysical systems,  automotive industry,  hybrid systems27:32 - Contracts in system design34:50 - Chiplets41:48 - About time: the tag signal model52:15 - Neuromorphics59:21 - Innovative ecosystems1:07:35 - Advice to future students1:16:26 - The role of luckLinksBiKi Technologies: https://t.ly/RuaW7R. Murray: https://t.ly/Zy_Up S. Sastry: https://t.ly/qsf44C. Tomlin: https://t.ly/tQ0XZPlatform-based design for energy systems: https://t.ly/RJdpiState charts: https://tinyurl.com/yw69przwContracts for system design: https://tinyurl.com/496e953kFormal methods: https://tinyurl.com/2yftcwswChiplets: https://tinyurl.com/mrxyswua A framework for comparing models of computation: https://tinyurl.com/2awyw3crCategory theory: https://tinyurl.com/3bbfjdv9E. Frazzoli: https://tinyurl.com/mspckmpdA. Censi: https://tinyurl.com/5c87wuyxA mathematical theory of co-design: https://tinyurl.com/ydp6jvp8Prophesee: https://tinyurl.com/mtf9hpfmNeuralink: https://tinyurl.com/bdcww89eOpeneye: https://tinyurl.com/3vh6ydmkEpictetus:  https://tinyurl.com/57ef2rudSeneca: https://tinyurl.com/f7zuyz4dF. Nietzsche: https://tinyurl.com/bd7znm4nJ. P. Sartre: https://tinyurl.com/3b2zt5crSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.

Outline00:00 - Intro02:40 - Classic Studies06:51 - Early Steps in Berkeley between Optimization and Circuits Theory16:04 - Back to Italy... and back to Berkeley26:29 - The SPICE program and the interaction with IBM33:30 - Logic Synthesis, Simulated Annealing, Timberwolf40:57 - The Intel x386, YACR, and ESPRESSO47:01 - The birth of Cadence and Synopsis1:06:01 - Corsi e Ricorsi in EDA1:30:45 - The Shift to Automotive and Platform-Based Design1:39:06 - OutroLinksAlberto’s website: https://tinyurl.com/2w8t8fzaState-space approach in problem-solving optimization: https://tinyurl.com/bdcnmbhpEDA: https://tinyurl.com/3dur7ythSPICE: https://tinyurl.com/yxm56txyLogic Minimization Algorithms for VLSI Synthesis: https://tinyurl.com/49bnw3bySimulated annealing: https://tinyurl.com/mryz45pzTimberwolf: https://tinyurl.com/mvm28wnnIntel 386: https://tinyurl.com/4z7ubb55Cadence: https://tinyurl.com/hydjj92zSynopsis: https://tinyurl.com/463vk8mkDracula: https://tinyurl.com/kcum5v8tCorsi e ricorsi - the EDA story: https://tinyurl.com/mwar9p44G. Vico: https://tinyurl.com/cb4mp7nzFinite state machine: https://tinyurl.com/4ckszk2nSystem-level design: orthogonalization of concerns and platform-based design: https://tinyurl.com/v2t4njt4Quo Vadis, SLD? Reasoning About the Trends and Challenges of System Level Design: https://tinyurl.com/mpmmstunRemembering Richard: https://tinyurl.com/yc6rf7u3W. Shockley: https://tinyurl.com/w3chmuttSupport the showPodcast infoPodcast website: https://www.incontrolpodcast.com/Apple Podcasts: https://tinyurl.com/5n84j85jSpotify: https://tinyurl.com/4rwztj3cRSS: https://tinyurl.com/yc2fcv4yYoutube: https://tinyurl.com/bdbvhsj6Facebook: https://tinyurl.com/3z24yr43Twitter: https://twitter.com/IncontrolPInstagram: https://tinyurl.com/35cu4kr4Acknowledgments and sponsorsThis episode was supported by the National Centre of Competence in Research on «Dependable, ubiquitous automation» and the IFAC Activity fund. The podcast benefits from the help of an incredibly talented and passionate team. Special thanks to L. Seward, E. Cahard, F. Banis, F. Dörfler, J. Lygeros, ETH studio and mirrorlake . Music was composed by A New Element.