This article deals with the solution of linear ill-posed equations in Hilbert spaces. Often, one only has a corrupted measurement of the right hand side at hand and the Bakushinskii veto tells us, that we are not able to solve the equation if we do not know the noise level. But in applications it is ad hoc unrealistic to know the error of a measurement. In practice, the error of a measurement may often be estimated through averaging of multiple measurements. We integrated that in our anlaysis and obtained convergence to the true solution, with the only assumption that the measurements are unbiased, independent and identically distributed according to an unknown distribution. Mathematics Subject Classification 65J22 (Numerical solution to inverse problems in abstract spaces) B Tim Jahn

Stochastic gradient descent (SGD) is a promising numerical method for solving large-scale inverse problems. However, its theoretical properties remain largely underexplored in the lens of classical regularization theory. In this note, we study the classical discrepancy principle, one of the most popular a posteriori choice rules, as the stopping criterion for SGD, and prove the finite-iteration termination property and the convergence of the iterate in probability as the noise level tends to zero. The theoretical results are complemented with extensive numerical experiments.

We investigate the sensorimotor loop of simple robots simulated within the LPZRobots environment from the point of view of dynamical systems theory. For a robot with a cylindrical shaped body and an actuator controlled by a single proprioceptual neuron, we find various types of periodic motions in terms of stable limit cycles. These are selforganized in the sense that the dynamics of the actuator kicks in only, for a certain range of parameters, when the barrel is already rolling, stopping otherwise. The stability of the resulting rolling motions terminates generally, as a function of the control parameters, at points where fold bifurcations of limit cycles occur. We find that several branches of motion types exist for the same parameters, in terms of the relative frequencies of the barrel and of the actuator, having each their respective basins of attractions in terms of initial conditions. For low drivings stable limit cycles describing periodic and drifting back-and-forth motions are found additionally. These modes allow to generate symmetry breaking explorative behavior purely by the timing of an otherwise neutral signal with respect to the cyclic back-and-forth motion of the robot.

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