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2000


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Electron focusing in metals and semimetals

Heil, J., Böhm, A., Gröger, A., Primke, M., Wyder, P., Keppler, P., Major, J., Bender, H., Schönherr, E., Wendel, H., Wolf, B., Würz, U., Grill, W., Herrenberger, S., Knauth, S., Lenzner, J.

{Physics Reports}, 323, pages: 387-455, 2000 (article)

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2000


[BibTex]


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Analysis of the electronic structure of intermetallic compounds and application to structural defects in B2 phases

Börnsen, N., Meyer, B., Bester, G., Fähnle, M.

{Journal of Alloys and Compounds}, 308, pages: 1-14, 2000 (article)

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[BibTex]

[BibTex]


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Melt-spun precipitation-hardened Sm2(Co,Cu,Fe,Zr)17 magnets with abnormal temperature dependence of coercivity

Goll, D., Kleinschroth, I., Sigle, W., Kronmüller, H.

{Applied Physics Letters}, 76, pages: 1054-1056, 2000 (article)

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[BibTex]

[BibTex]


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Hydrogen-induced phase transition of GdZn1-xMgx compounds

Reule, H., Hirscher, M.

{Journal of Alloys and Compounds}, 298, pages: 1-8, 2000 (article)

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[BibTex]

[BibTex]


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The influence of a finite bandwidth on the Verwey transition in magnetite

Brabers, J. H. V. J., Walz, F., Kronmüller, H.

{Journal of Physics: Condensed Matter}, 12, pages: 5437-5452, 2000 (article)

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[BibTex]

[BibTex]


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Dynamics of a bouncing ball in human performance

Sternad, D., Duarte, M., Katsumata, H., Schaal, S.

Physical Review E, 63(011902):1-8, 2000, clmc (article)

Abstract
On the basis of a modified bouncing-ball model, we investigated whether human movements utilize principles of dynamic stability in their performance of a similar movement task. Stability analyses of the model provided predictions about conditions indicative of a dynamically stable period-one regime. In a series of experiments, human subjects bounced a ball rhythmically on a racket and displayed these conditions supporting that they attuned to and exploited the dynamic stability properties of the task.

am

link (url) [BibTex]

link (url) [BibTex]


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Inverse kinematics for humanoid robots

Tevatia, G., Schaal, S.

In International Conference on Robotics and Automation (ICRA2000), pages: 294-299, San Fransisco, April 24-28, 2000, 2000, clmc (inproceedings)

Abstract
Real-time control of the endeffector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates methods of resolved motion rate control (RMRC) that employ optimization criteria to resolve kinematic redundancies. In particular we focus on two established techniques, the pseudo inverse with explicit optimization and the extended Jacobian method. We prove that the extended Jacobian method includes pseudo-inverse methods as a special solution. In terms of computational complexity, however, pseudo-inverse and extended Jacobian differ significantly in favor of pseudo-inverse methods. Employing numerical estimation techniques, we introduce a computationally efficient version of the extended Jacobian with performance comparable to the original version . Our results are illustrated in simulation studies with a multiple degree-of-freedom robot, and were tested on a 30 degree-of-freedom robot. 

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link (url) [BibTex]

link (url) [BibTex]


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Fast and efficient incremental learning for high-dimensional movement systems

Vijayakumar, S., Schaal, S.

In International Conference on Robotics and Automation (ICRA2000), San Francisco, April 2000, 2000, clmc (inproceedings)

Abstract
We introduce a new algorithm, Locally Weighted Projection Regression (LWPR), for incremental real-time learning of nonlinear functions, as particularly useful for problems of autonomous real-time robot control that re-quires internal models of dynamics, kinematics, or other functions. At its core, LWPR uses locally linear models, spanned by a small number of univariate regressions in selected directions in input space, to achieve piecewise linear function approximation. The most outstanding properties of LWPR are that it i) learns rapidly with second order learning methods based on incremental training, ii) uses statistically sound stochastic cross validation to learn iii) adjusts its local weighting kernels based on only local information to avoid interference problems, iv) has a computational complexity that is linear in the number of inputs, and v) can deal with a large number ofâ??possibly redundant and/or irrelevantâ??inputs, as shown in evaluations with up to 50 dimensional data sets for learning the inverse dynamics of an anthropomorphic robot arm. To our knowledge, this is the first incremental neural network learning method to combine all these properties and that is well suited for complex on-line learning problems in robotics.

am

link (url) [BibTex]

link (url) [BibTex]


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Macro to Nano Tele-Manipulation Towards Nanoelectromec hanical Systems

Sitti, M., Hashimoto, H.

Journal of Robotics and Mechatronics, 12(3):209-217, FUJI TECHNOLOGY PRESS LTD., 2000 (article)

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[BibTex]

[BibTex]


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Untersuchung von Magnetisierungsprozessen in dünnen Nd2Fe14B-Schichten

Melsheimer, A.

Universität Stuttgart, Stuttgart, 2000 (phdthesis)

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[BibTex]

[BibTex]


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Influcence of vortex-vortex interaction on critical currents across low-angle grain boundaries in YBa2Cu3O7-δ

Albrecht, J., Leonhardt, S., Kronmüller, H.

{Physical Review B}, 63, 2000 (article)

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[BibTex]

[BibTex]


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Symmetrical Tilt Grain boundaries in body-centred cubic transition metals: An ab-initio local-density-functional study

Ochs, T., Beck, O., Elsässer, C., Meyer, B.

{Philosophical Magazine A}, 80, pages: 351-372, 2000 (article)

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[BibTex]


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The liquid ferromagnet Co80Pd20 and its critical exponent γ

Bührer, C., Beckmann, M., Fähnle, M., Maier, K.

{Journal of Magnetism and Magnetic Materials}, 212, pages: 211-224, 2000 (article)

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[BibTex]

[BibTex]


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Irreversible magnetization processes in a soft magnetic platelet

Hertel, R., Kronmüller, H.

{Physica B}, 275, pages: 1-4, 2000 (article)

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[BibTex]

[BibTex]


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Micromagnetic and microstructural analysis of the temperature dependence of the coercive field of Sm2(Co, Cu, Fe, Zr)17 permanent magnets

Goll, D., Sigle, W., Hadjipanayis, G. C., Kronmüller, H.

In Proceedings of the 16th International Workshop on Rare-Earth Magnets and Their Applications, pages: 61-70, Kaneko, H.; Homma, M.; Okada, M., 2000 (inproceedings)

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[BibTex]


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Measurement of the Zener relaxation in high-purity FeCr single crystals

Hirscher, M., Brossmann, U., Henes, R.

{Materials Transactions, JIM}, 41, pages: 82-86, 2000 (article)

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[BibTex]


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Ab-initio statistical mechanics for alloy phase diagrams and ordering phenomena including the effect of vacancies

Lechermann, F., Fähnle, M.

{Physical Review B}, 63, 2000 (article)

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MeV Positron Beams

Stoll, H.

In Positron Beams and Their Applications, pages: 237-257, World Scientific, Singapore, 2000 (incollection)

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[BibTex]

[BibTex]


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Reactions in TiO2/Ti3Al and TiO2/TiAl bilayers: Application of target-factor analysis in auger electron spectroscopy

van Lier, J., Baretzky, B., Zalar, A., Mittemeijer, E. J.

{Surface and Interface Analysis}, 30, pages: 124-129, 2000 (article)

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Ab-initio treatment of noncollinear spin systems within the atomic-sphere approximation and beyond

Grotheer, O., Ederer, C., Fähnle, M.

{Physical Review B}, 62, pages: 5601-5608, 2000 (article)

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[BibTex]

[BibTex]


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On-line learning for humanoid robot systems

Conradt, J., Tevatia, G., Vijayakumar, S., Schaal, S.

In Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1, pages: 191-198, Stanford, CA, 2000, clmc (inproceedings)

Abstract
Humanoid robots are high-dimensional movement systems for which analytical system identification and control methods are insufficient due to unknown nonlinearities in the system structure. As a way out, supervised learning methods can be employed to create model-based nonlinear controllers which use functions in the control loop that are estimated by learning algorithms. However, internal models for humanoid systems are rather high-dimensional such that conventional learning algorithms would suffer from slow learning speed, catastrophic interference, and the curse of dimensionality. In this paper we explore a new statistical learning algorithm, locally weighted projection regression (LWPR), for learning internal models in real-time. LWPR is a nonparametric spatially localized learning system that employs the less familiar technique of partial least squares regression to represent functional relationships in a piecewise linear fashion. The algorithm can work successfully in very high dimensional spaces and detect irrelevant and redundant inputs while only requiring a computational complexity that is linear in the number of input dimensions. We demonstrate the application of the algorithm in learning two classical internal models of robot control, the inverse kinematics and the inverse dynamics of an actual seven degree-of-freedom anthropomorphic robot arm. For both examples, LWPR can achieve excellent real-time learning results from less than one hour of actual training data.

am

link (url) [BibTex]

link (url) [BibTex]


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Humanoid Robot DB

Kotosaka, S., Shibata, T., Schaal, S.

In Proceedings of the International Conference on Machine Automation (ICMA2000), pages: 21-26, 2000, clmc (inproceedings)

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[BibTex]

[BibTex]


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Wing transmission for a micromechanical flying insect

Fearing, R. S., Chiang, K. H., Dickinson, M. H., Pick, D., Sitti, M., Yan, J.

In Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on, 2, pages: 1509-1516, 2000 (inproceedings)

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[BibTex]

[BibTex]


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Is d-Al-Cu-Co a random tiling?

Zeger, G., Plachke, D., Carstanjen, H. D., Trebin, H. R.

{Materials Science and Engineering A}, 294, pages: 291-294, 2000 (article)

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[BibTex]


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Nonlinear magnetoelastic coupling coefficients in Fe from an ab-initio calculation

Komelj, M., Fähnle, M.

{Journal of Magnetism and Magnetic Materials}, 220, pages: L 7-L 12, 2000 (article)

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[BibTex]


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Current densities in low-angle grain boundaries of YBCO

Albrecht, J., Warthmann, R., Leonhardt, S., Kronmüller, H.

{Physica C}, 341-348, pages: 1459-1460, 2000 (article)

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[BibTex]


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The hydrogen desorption kinetics of Pd-coated LaNi5-type films

Cuevas, F., Hirscher, M.

{Journal of Alloys and Compounds}, 313, pages: 269-275, 2000 (article)

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[BibTex]


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The structure of the trihydride GdH3

Ellner, M., Reule, H., Mittemeijer, E. J.

{Journal of Alloys and Compounds}, 309, pages: 127-131, 2000 (article)

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[BibTex]

[BibTex]


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Corrosion resistance of the vacuum arc deposited Ti, TiN and TiO2 coatings on large area glass substrates

Vershinin, N., Filonov, K., Straumal, B., Gust, W., Dimitriou, R., Kovalev, A., Camacho, J.

{Surface and Coatings Technology}, 125, pages: 223-228, 2000 (article)

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[BibTex]

[BibTex]


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Is the insulator-metal transition in perovskites associated with the bulk magnetic phase transition?

Baszynski, J., Walz, F., Tolinski, T.

{Sensors and Actuators}, 81, pages: 37-39, 2000 (article)

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[BibTex]

[BibTex]


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Correlated molecular-field theory of amorphous ferromagnets and the Gibbs free energy

Fähnle, M.

{Journal of Magnetism and Magnetic Materials}, 210, pages: L 1-L 4, 2000 (article)

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[BibTex]

[BibTex]


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Pinning mechanism of vortices at antiphase boundaries in YBa2Cu3O7-δ

Jooss, C., Warthmann, R., Kronmüller, H.

{Physical Review B}, 61, pages: 12433-12446, 2000 (article)

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[BibTex]

[BibTex]


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Critical behaviour of V2H in a defective near-surface skin layer

Trenkler, J., Moss, S. C., Reichert, H., Paniago, R., Gebhardt, U., Carstanjen, H. D., Metzger, T. H., Peisl, J.

In Exploration of Subsurface Phenomena by Particle Scattering, pages: 155-164, International Advanced Studies Institute IASI Press, North East/MD, 2000 (incollection)

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[BibTex]


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Spectral distribution of activation energies in YBa2Cu3O7-δthin films

Warthmann, R., Albrecht, J., Kronmüller, H., Joos, C.

{Physical Review B}, 62, pages: 15226-15229, 2000 (article)

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[BibTex]

[BibTex]


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Ab-initio calculation of the formation and migration energies for Monovacancies in Mg

Krimmel, H., Fähnle, M.

{Physical Review B}, 62, pages: 5489-5491, 2000 (article)

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[BibTex]


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Design and use of linear models for image motion analysis

Fleet, D. J., Black, M. J., Yacoob, Y., Jepson, A. D.

Int. J. of Computer Vision, 36(3):171-193, 2000 (article)

Abstract
Linear parameterized models of optical flow, particularly affine models, have become widespread in image motion analysis. The linear model coefficients are straightforward to estimate, and they provide reliable estimates of the optical flow of smooth surfaces. Here we explore the use of parameterized motion models that represent much more varied and complex motions. Our goals are threefold: to construct linear bases for complex motion phenomena; to estimate the coefficients of these linear models; and to recognize or classify image motions from the estimated coefficients. We consider two broad classes of motions: i) generic “motion features” such as motion discontinuities and moving bars; and ii) non-rigid, object-specific, motions such as the motion of human mouths. For motion features we construct a basis of steerable flow fields that approximate the motion features. For object-specific motions we construct basis flow fields from example motions using principal component analysis. In both cases, the model coefficients can be estimated directly from spatiotemporal image derivatives with a robust, multi-resolution scheme. Finally, we show how these model coefficients can be use to detect and recognize specific motions such as occlusion boundaries and facial expressions.

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pdf [BibTex]

pdf [BibTex]


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Controlled pushing of nanoparticles: modeling and experiments

Sitti, M., Hashimoto, H.

IEEE/ASME transactions on mechatronics, 5(2):199-211, IEEE, 2000 (article)

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[BibTex]

[BibTex]


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Investigation of strain softening of icosahedral AlPdMn single quasicrystals

Brunner, D., Plachke, D., Carstanjen, H. D.

{Physica Status Solidi (A)}, 177, pages: 203-217, 2000 (article)

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[BibTex]

[BibTex]


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Formation and evolution of the transverse anisotropy with nanocrystallization in amorphous Fe73.5CuNb3Si13.5B9 ribbons

Guo, H. Q., Kronmüller, H., Dragon, T., Cheng, Z. H., Shen, B. G.

{Physical Review}, 62, pages: 5760-5764, 2000 (article)

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[BibTex]


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Deflection of 32.8 TeV/c fully stripped Pb ions by means of a bent Si crystal

Biino, C., Clement, M., Doble, N., Elsener, K., Gatignon, L., Grafström, P., Herr, W., Keppler, P., Major, J., Mikkelsen, U., Taratin, A., Velasco, M.

{Nuclear Instruments and Methods in Physics Research B}, 160, pages: 536-543, 2000 (article)

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[BibTex]


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Replacing muons by protons: polarized beam NMR

Schüth, J., Eversheim, P.-D., Herzog, P., Maier, K., Majer, G., Meyer, P., Roduner, E.

{Physica B}, 289-290, pages: 672-675, 2000 (article)

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[BibTex]

[BibTex]


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Charge transport mechanisms in single crystalline yttrium iron garnet as resolved by magnetic relaxation

Walz, F., Torres, L., Iñiguez, J., Kronmüller, H.

{Physica Status Solidi (A)}, 180, pages: 507-522, 2000 (article)

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[BibTex]

[BibTex]


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Theory of self-diffusion in alkali metals I. Results for monovacancies in Li, Na, and K

Schott, V., Fähnle, M., Madden, P. A.

{Journal of Physics: Condensed Matter}, 12, pages: 1171-1194, 2000 (article)

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[BibTex]

[BibTex]


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Theory of self-diffusion in alkali metals II. The influence of divacancies in Li

Schott, V., Fähnle, M., Madden, P. A.

{Journal of Physics: Condensed Matter}, 12, pages: 1195-1198, 2000 (article)

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[BibTex]

[BibTex]


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Decay kinetics of nonequilibrium Al-Si solid solutions

Sluchanko, N. E., Glushkov, V. V., Demishev, S. V., Kondrin, M. V., Ischenko, T. V., Gust, W., Brazhkin, V. V., Straumal, B. B., Bruynseraede, Y., Moshchalkov, V. V.

{Physical Review B}, 61, pages: 6019-6027, 2000 (article)

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[BibTex]

[BibTex]


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Vacuum arc deposition of Ti coatings

Straumal, B., Gust, W., Vershinin, N., Dimitriou, R., Rabkin, E.

{Surface and Coatings Technology}, 125, pages: 157-160, 2000 (article)

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[BibTex]

[BibTex]


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Internal friction in Ni-rich B2-NiAl

Brossmann, U., Hirscher, M., Schaible, D., Kronmüller, H.

{Scripta Materialia}, 42, pages: 1193-1197, 2000 (article)

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[BibTex]

[BibTex]