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2016


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Parallel microcracks-based ultrasensitive and highly stretchable strain sensors

Amjadi, M., Turan, M., Clementson, C. P., Sitti, M.

ACS Applied Materials \& Interfaces, 8(8):5618-5626, American Chemical Society, Febuary 2016 (article)

Abstract
There is an increasing demand for flexible, skin-attachable, and wearable strain sensors due to their various potential applications. However, achieving strain sensors with both high sensitivity and high stretchability is still a grand challenge. Here, we propose highly sensitive and stretchable strain sensors based on the reversible microcrack formation in composite thin films. Controllable parallel microcracks are generated in graphite thin films coated on elastomer films. Sensors made of graphite thin films with short microcracks possess high gauge factors (maximum value of 522.6) and stretchability (ε ≥ 50%), whereas sensors with long microcracks show ultrahigh sensitivity (maximum value of 11 344) with limited stretchability (ε ≤ 50%). We demonstrate the high performance strain sensing of our sensors in both small and large strain sensing applications such as human physiological activity recognition, human body large motion capturing, vibration detection, pressure sensing, and soft robotics.

pi

DOI [BibTex]

2016


DOI [BibTex]


Thumb xl amjadi et al 2016 advanced functional materials
Stretchable, Skin-Mountable, and Wearable Strain Sensors and Their Potential Applications: A Review

Amjadi, M., Kyung, K., Park, I., Sitti, M.

Advanced Functional Materials, 26, pages: 1678-1698, Febuary 2016 (article)

Abstract
There is a growing demand for flexible and soft electronic devices. In particular, stretchable, skin-mountable, and wearable strain sensors are needed for several potential applications including personalized health-monitoring, human motion detection, human-machine interfaces, soft robotics, and so forth. This Feature Article presents recent advancements in the development of flexible and stretchable strain sensors. The article shows that highly stretchable strain sensors are successfully being developed by new mechanisms such as disconnection between overlapped nanomaterials, crack propagation in thin films, and tunneling effect, different from traditional strain sensing mechanisms. Strain sensing performances of recently reported strain sensors are comprehensively studied and discussed, showing that appropriate choice of composite structures as well as suitable interaction between functional nanomaterials and polymers are essential for the high performance strain sensing. Next, simulation results of piezoresistivity of stretchable strain sensors by computational models are reported. Finally, potential applications of flexible strain sensors are described. This survey reveals that flexible, skin-mountable, and wearable strain sensors have potential in diverse applications while several grand challenges have to be still overcome.

pi

DOI [BibTex]

DOI [BibTex]


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Remotely addressable magnetic composite micro-actuators

Sitti, M., Diller, E., Miyashita, S.

Febuary 2016, US Patent App. 15/018,008 (patent)

Abstract
The present invention describes methods to fabricate actuators that can be remotely controlled in an addressable manner, and methods to provide remote control such micro-actuators. The actuators are composites of two permanent magnet materials, one of which is has high coercivity, and the other of which switches magnetization direction by applied fields. By switching the second material's magnetization direction, the two magnets either work together or cancel each other, resulting in distinct “on” and “off” behavior of the devices. The device can be switched “on” or “off” remotely using a field pulse of short duration.

pi

[BibTex]

[BibTex]


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Remotely addressable magnetic composite micro-actuators

Sitti, M., Diller, E., Miyashita, S.

Febuary 2016, US Patent 9,281,112 (patent)

Abstract
The present invention describes methods to fabricate actuators that can be remotely controlled in an addressable manner, and methods to provide remote control such micro-actuators. The actuators are composites of two permanent magnet materials, one of which is has high coercivity, and the other of which switches magnetization direction by applied fields. By switching the second material's magnetization direction, the two magnets either work together or cancel each other, resulting in distinct “on” and “off” behavior of the devices. The device can be switched “on” or “off” remotely using a field pulse of short duration.

pi

link (url) [BibTex]

link (url) [BibTex]


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Appealing female avatars from 3D body scans: Perceptual effects of stylization

Fleming, R., Mohler, B., Romero, J., Black, M. J., Breidt, M.

In 11th Int. Conf. on Computer Graphics Theory and Applications (GRAPP), Febuary 2016 (inproceedings)

Abstract
Advances in 3D scanning technology allow us to create realistic virtual avatars from full body 3D scan data. However, negative reactions to some realistic computer generated humans suggest that this approach might not always provide the most appealing results. Using styles derived from existing popular character designs, we present a novel automatic stylization technique for body shape and colour information based on a statistical 3D model of human bodies. We investigate whether such stylized body shapes result in increased perceived appeal with two different experiments: One focuses on body shape alone, the other investigates the additional role of surface colour and lighting. Our results consistently show that the most appealing avatar is a partially stylized one. Importantly, avatars with high stylization or no stylization at all were rated to have the least appeal. The inclusion of colour information and improvements to render quality had no significant effect on the overall perceived appeal of the avatars, and we observe that the body shape primarily drives the change in appeal ratings. For body scans with colour information, we found that a partially stylized avatar was most effective, increasing average appeal ratings by approximately 34%.

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pdf Project Page [BibTex]

pdf Project Page [BibTex]


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Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J.

IEEE Transactions on Biomedical Engineering, 63(2):278-287, February 2016 (article)

hi

[BibTex]

[BibTex]


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Structure modulated electrostatic deformable mirror for focus and geometry control

Nam, S., Park, S., Yun, S., Park, B., Park, S. K., Kyung, K.

Optics Express, 24(1):55-66, OSA, January 2016 (article)

Abstract
We suggest a way to electrostatically control deformed geometry of an electrostatic deformable mirror (EDM) based on geometric modulation of a basement. The EDM is composed of a metal coated elastomeric membrane (active mirror) and a polymeric basement with electrode (ground). When an electrical voltage is applied across the components, the active mirror deforms toward the stationary basement responding to electrostatic attraction force in an air gap. Since the differentiated gap distance can induce change in electrostatic force distribution between the active mirror and the basement, the EDMs are capable of controlling deformed geometry of the active mirror with different basement structures (concave, flat, and protrusive). The modulation of the deformed geometry leads to significant change in the range of the focal length of the EDMs. Even under dynamic operations, the EDM shows fairly consistent and large deformation enough to change focal length in a wide frequency range (1~175 Hz). The geometric modulation of the active mirror with dynamic focus tunability can allow the EDM to be an active mirror lens for optical zoom devices as well as an optical component controlling field of view.

hi

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Size optimization of a magnetic system for drug delivery with capsule robots

Munoz, F., Alici, G., Li, W., Sitti, M.

IEEE Transactions on Magnetics, 52(5):1-11, IEEE, January 2016 (article)

Abstract
In this paper, we present a methodology for the size optimization of an external magnetic system made of arc-shaped permanent magnets (ASMs). This magnetic system is able to remotely actuate a drug-release module embedded in a prototype of a capsule robot. The optimization of the magnetic system is carried out by using an accurate analytical model that is valid for any arbitrary dimensions of the ASMs. By using this analytical model, we perform parametric studies and conduct a statistical analysis [analysis of variance (ANOVA)] to investigate efficient ways to distribute the volume of the ASMs so that the dimensions and volume of the magnetic system are minimized while optimal flux densities and magnetic torques are obtained to actuate the drug delivery system (DDS). The ANOVA results, at 5% significance level, indicate that changes in the angular width followed by changes in the length of the ASMs have the highest impact on the magnetic linkage. Furthermore, our experimental results, which are in agreement with the analytical results, show that the size optimization of the magnetic system is effective for the actuation of the DDS in capsule robots.

pi

DOI [BibTex]

DOI [BibTex]


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On estimation of functional causal models: General results and application to post-nonlinear causal model

Zhang, K., Wang, Z., Zhang, J., Schölkopf, B.

ACM Transactions on Intelligent Systems and Technologies, 7(2):article no. 13, January 2016 (article)

ei

PDF DOI [BibTex]

PDF DOI [BibTex]


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Magnetic Propulsion of Microswimmers with DNA-Based Flagellar Bundles

Maier, A. M., Weig, C., Oswald, P., Frey, E., Fischer, P., Liedl, T.

Nano Letters, 16(2):906-910, January 2016 (article)

Abstract
We show that DNA-based self-assembly can serve as a general and flexible tool to construct artificial flagella of several micrometers in length and only tens of nanometers in diameter. By attaching the DNA flagella to biocompatible magnetic microparticles, we provide a proof of concept demonstration of hybrid structures that, when rotated in an external magnetic field, propel by means of a flagellar bundle, similar to self-propelling peritrichous bacteria. Our theoretical analysis predicts that flagellar bundles that possess a length-dependent bending stiffness should exhibit a superior swimming speed compared to swimmers with a single appendage. The DNA self-assembly method permits the realization of these improved flagellar bundles in good agreement with our quantitative model. DNA flagella with well-controlled shape could fundamentally increase the functionality of fully biocompatible nanorobots and extend the scope and complexity of active materials.

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DOI [BibTex]

DOI [BibTex]


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Fabular: Regression Formulas As Probabilistic Programming

Borgström, J., Gordon, A. D., Ouyang, L., Russo, C., Ścibior, A., Szymczak, M.

Proceedings of the 43rd Annual ACM SIGPLAN-SIGACT Symposium on Principles of Programming Languages (POPL), pages: 271-283, POPL ’16, ACM, January 2016 (conference)

ei

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Human Pose Estimation from Video and IMUs

Marcard, T. V., Pons-Moll, G., Rosenhahn, B.

Transactions on Pattern Analysis and Machine Intelligence PAMI, 38(8):1533-1547, January 2016 (article)

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data pdf dataset_documentation [BibTex]

data pdf dataset_documentation [BibTex]


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Special Issue on Causal Discovery and Inference

Zhang, K., Li, J., Bareinboim, E., Schölkopf, B., Pearl, J.

ACM Transactions on Intelligent Systems and Technology (TIST), 7(2), January 2016, (Guest Editors) (misc)

ei

[BibTex]

[BibTex]


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Supplemental material for ’Communication Rate Analysis for Event-based State Estimation’

Ebner, S., Trimpe, S.

Max Planck Institute for Intelligent Systems, January 2016 (techreport)

am ics

PDF [BibTex]

PDF [BibTex]


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Gaussian Process-Based Predictive Control for Periodic Error Correction

Klenske, E. D., Zeilinger, M., Schölkopf, B., Hennig, P.

IEEE Transactions on Control Systems Technology , 24(1):110-121, 2016 (article)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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Empirical Inference (2010-2015)
Scientific Advisory Board Report, 2016 (misc)

ei

pdf [BibTex]

pdf [BibTex]


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Pymanopt: A Python Toolbox for Optimization on Manifolds using Automatic Differentiation

Townsend, J., Koep, N., Weichwald, S.

Journal of Machine Learning Research, 17(137):1-5, 2016 (article)

ei

PDF Arxiv Code Project page link (url) [BibTex]


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A Causal, Data-driven Approach to Modeling the Kepler Data

Wang, D., Hogg, D. W., Foreman-Mackey, D., Schölkopf, B.

Publications of the Astronomical Society of the Pacific, 128(967):094503, 2016 (article)

ei

link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Probabilistic Inference for Determining Options in Reinforcement Learning

Daniel, C., van Hoof, H., Peters, J., Neumann, G.

Machine Learning, Special Issue, 104(2):337-357, (Editors: Gärtner, T., Nanni, M., Passerini, A. and Robardet, C.), European Conference on Machine Learning im Machine Learning, Journal Track, 2016, Best Student Paper Award of ECML-PKDD 2016 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Deep Discrete Flow

Güney, F., Geiger, A.

Asian Conference on Computer Vision (ACCV), 2016 (conference) Accepted

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pdf suppmat Project Page [BibTex]

pdf suppmat Project Page [BibTex]


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Weak Supervision for Detecting Object Classes from Activities

Srikantha, A., Gall, J.

Computer Vision and Image Understanding (CVIU), Elsevier, 2016 (article) In press

elsevier preprint link (url) DOI [BibTex]

elsevier preprint link (url) DOI [BibTex]


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Moving-horizon Nonlinear Least Squares-based Multirobot Cooperative Perception

Ahmad, A., Bülthoff, H.

Robotics and Autonomous Systems, 83, pages: 275-286, 2016 (article)

Abstract
In this article we present an online estimator for multirobot cooperative localization and target tracking based on nonlinear least squares minimization. Our method not only makes the rigorous optimization-based approach applicable online but also allows the estimator to be stable and convergent. We do so by employing a moving horizon technique to nonlinear least squares minimization and a novel design of the arrival cost function that ensures stability and convergence of the estimator. Through an extensive set of real robot experiments, we demonstrate the robustness of our method as well as the optimality of the arrival cost function. The experiments include comparisons of our method with i) an extended Kalman filter-based online-estimator and ii) an offline-estimator based on full-trajectory nonlinear least squares.

ps

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Novel Random Forest based framework enables the segmentation of cerebral ischemic regions using multiparametric MRI

Katiyar, P., Castaneda, S., Patzwaldt, K., Russo, F., Poli, S., Ziemann, U., Disselhorst, J. A., Pichler, B. J.

European Molecular Imaging Meeting, 2016 (poster)

ei

link (url) [BibTex]

link (url) [BibTex]


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PGO wave-triggered functional MRI: mapping the networks underlying synaptic consolidation

Logothetis, N. K., Murayama, Y., Ramirez-Villegas, J. F., Besserve, M., Evrard, H.

47th Annual Meeting of the Society for Neuroscience (Neuroscience), 2016 (poster)

ei

[BibTex]

[BibTex]


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Unsupervised Domain Adaptation in the Wild : Dealing with Asymmetric Label Set

Mittal, A., Raj, A., Namboodiri, V. P., Tuytelaars, T.

2016 (misc)

ei

Arxiv [BibTex]

Arxiv [BibTex]


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Designing Human-Robot Exercise Games for Baxter

Fitter, N. T., Hawkes, D. T., Johnson, M. J., Kuchenbecker, K. J.

2016, Late-breaking results report presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (misc)

hi

Project Page [BibTex]

Project Page [BibTex]


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Influence of initial fixation position in scene viewing

Rothkegel, L. O. M., Trukenbrod, H. A., Schütt, H. H., Wichmann, F. A., Engbert, R.

Vision Research, 129, pages: 33-49, 2016 (article)

ei

link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Testing models of peripheral encoding using metamerism in an oddity paradigm

Wallis, T. S. A., Bethge, M., Wichmann, F. A.

Journal of Vision, 16(2), 2016 (article)

ei

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Modeling Confounding by Half-Sibling Regression

Schölkopf, B., Hogg, D., Wang, D., Foreman-Mackey, D., Janzing, D., Simon-Gabriel, C. J., Peters, J.

Proceedings of the National Academy of Science, 113(27):7391-7398, 2016 (article)

ei

Code link (url) DOI Project Page [BibTex]

Code link (url) DOI Project Page [BibTex]


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Dual Control for Approximate Bayesian Reinforcement Learning

Klenske, E. D., Hennig, P.

Journal of Machine Learning Research, 17(127):1-30, 2016 (article)

ei pn

PDF link (url) [BibTex]

PDF link (url) [BibTex]


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A Population Based Gaussian Mixture Model Incorporating 18F-FDG-PET and DW-MRI Quantifies Tumor Tissue Classes

Divine, M. R., Katiyar, P., Kohlhofer, U., Quintanilla-Martinez, L., Disselhorst, J. A., Pichler, B. J.

Journal of Nuclear Medicine, 57(3):473-479, 2016 (article)

ei

DOI [BibTex]

DOI [BibTex]


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Annales des Concours 2016 MP Mathématiques, Informatique

Batog, G., Dumont, J., Puyhaubert, V.

In corrigés des problèmes posés aux concours CCP, Centrale/Supélec, Mines/Ponts, X/ENS, 2016 (inbook)

H&K Éditions [BibTex]

H&K Éditions [BibTex]


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Psychophysical Power Optimization of Friction Modulation for Tactile Interfaces

Sednaoui, T., Vezzoli, E., Gueorguiev, D., Amberg, M., Chappaz, C., Lemaire-Semail, B.

In Haptics: Perception, Devices, Control, and Applications, pages: 354-362, Springer International Publishing, Cham, 2016 (inproceedings)

Abstract
Ultrasonic vibration and electrovibration can modulate the friction between a surface and a sliding finger. The power consumption of these devices is critical to their integration in modern mobile devices such as smartphones. This paper presents a simple control solution to reduce up to 68.8 {\%} this power consumption by taking advantage of the human perception limits.

hi

[BibTex]

[BibTex]


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Phase transitions and optimal algorithms in high-dimensional Gaussian mixture clustering

Lesieur, T., De Bacco, C., Banks, J., Krzakala, F., Moore, C., Zdeborová, L.

In Communication, Control, and Computing (Allerton), 2016 54th Annual Allerton Conference on, pages: 601-608, 2016 (inproceedings)

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Preprint link (url) [BibTex]

Preprint link (url) [BibTex]


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Proactive Human-Robot Collaboration with Interaction Primitives

Maeda, G., Maloo, A., Ewerton, M., Lioutikov, R., Peters, J.

9th International Workshop on Human-Friendly Robotics (HFR), pages: 40-45, 2016 (conference)

link (url) [BibTex]

link (url) [BibTex]


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Sustainable effects of simulator-based training on ecological driving

Lüderitz, C., Wirzberger, M., Karrer-Gauß, K.

In Advances in Ergonomic Design of Systems, Products and Processes. Proceedings of the Annual Meeting of the GfA 2015, pages: 463-475, Springer, 2016 (inbook)

Abstract
Simulation-based driver training offers a promising way to teach ecological driving behavior under controlled, comparable conditions. In a study with 23 professional drivers, we tested the effectiveness of such training. The driving behavior of a training group in a simulated drive with and without instructions were compared. Ten weeks later, a repetition drive tested the long-term effect training. Driving data revealed reduced fuel consumption by ecological driving in both the guided and repetition drives. Driving time decreased significantly in the training and did not differ from driving time after 10 weeks. Results did not achieve significance for transfer to test drives in real traffic situations. This may be due to the small sample size and biased data as a result of unusual driving behavior. Finally, recent and promising approaches to support drivers in maintaining eco-driving styles beyond training situations are outlined.

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DOI [BibTex]

DOI [BibTex]


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Nonlinear functional causal models for distinguishing cause from effect

Zhang, K., Hyvärinen, A.

In Statistics and Causality: Methods for Applied Empirical Research, pages: 185-201, 8, 1st, (Editors: Wolfgang Wiedermann and Alexander von Eye), John Wiley & Sons, Inc., 2016 (inbook)

ei

[BibTex]

[BibTex]


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Effect of Waveform in Haptic Perception of Electrovibration on Touchscreens

Vardar, Y., Güçlü, B., Basdogan, C.

In Haptics: Perception, Devices, Control, and Applications, pages: 190-203, Springer International Publishing, Cham, 2016 (inproceedings)

Abstract
The perceived intensity of electrovibration can be altered by modulating the amplitude, frequency, and waveform of the input voltage signal applied to the conductive layer of a touchscreen. Even though the effect of the first two has been already investigated for sinusoidal signals, we are not aware of any detailed study investigating the effect of the waveform on our haptic perception in the domain of electrovibration. This paper investigates how input voltage waveform affects our haptic perception of electrovibration on touchscreens. We conducted absolute detection experiments using square wave and sinusoidal input signals at seven fundamental frequencies (15, 30, 60, 120, 240, 480 and 1920 Hz). Experimental results depicted the well-known U-shaped tactile sensitivity across frequencies. However, the sensory thresholds were lower for the square wave than the sinusoidal wave at fundamental frequencies less than 60 Hz while they were similar at higher frequencies. Using an equivalent circuit model of a finger-touchscreen system, we show that the sensation difference between the waveforms at low fundamental frequencies can be explained by frequency-dependent electrical properties of human skin and the differential sensitivity of mechanoreceptor channels to individual frequency components in the electrostatic force. As a matter of fact, when the electrostatic force waveforms are analyzed in the frequency domain based on human vibrotactile sensitivity data from the literature [15], the electrovibration stimuli caused by square-wave input signals at all the tested frequencies in this study are found to be detected by the Pacinian psychophysical channel.

hi

vardar_eurohaptics_2016 [BibTex]

vardar_eurohaptics_2016 [BibTex]


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Perceiving Systems (2011-2015)
Scientific Advisory Board Report, 2016 (misc)

ps

pdf [BibTex]

pdf [BibTex]


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Shape estimation of subcutaneous adipose tissue using an articulated statistical shape model

Yeo, S. Y., Romero, J., Loper, M., Machann, J., Black, M.

Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization, 0(0):1-8, 2016 (article)

ps

publisher website preprint pdf link (url) DOI Project Page [BibTex]

publisher website preprint pdf link (url) DOI Project Page [BibTex]


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Ensuring Ethical Behavior from Autonomous Systems

Anderson, M., Anderson, S. L., Berenz, V.

In Artificial Intelligence Applied to Assistive Technologies and Smart Environments, Papers from the 2016 AAAI Workshop, Phoenix, Arizona, USA, February 12, 2016, 2016 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Probabilistic Duality for Parallel Gibbs Sampling without Graph Coloring

Mescheder, L., Nowozin, S., Geiger, A.

Arxiv, 2016 (article)

Abstract
We present a new notion of probabilistic duality for random variables involving mixture distributions. Using this notion, we show how to implement a highly-parallelizable Gibbs sampler for weakly coupled discrete pairwise graphical models with strictly positive factors that requires almost no preprocessing and is easy to implement. Moreover, we show how our method can be combined with blocking to improve mixing. Even though our method leads to inferior mixing times compared to a sequential Gibbs sampler, we argue that our method is still very useful for large dynamic networks, where factors are added and removed on a continuous basis, as it is hard to maintain a graph coloring in this setup. Similarly, our method is useful for parallelizing Gibbs sampling in graphical models that do not allow for graph colorings with a small number of colors such as densely connected graphs.

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pdf [BibTex]


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Analysis of multiparametric MRI using a semi-supervised random forest framework allows the detection of therapy response in ischemic stroke

Castaneda, S., Katiyar, P., Russo, F., Calaminus, C., Disselhorst, J. A., Ziemann, U., Kohlhofer, U., Quintanilla-Martinez, L., Poli, S., Pichler, B. J.

World Molecular Imaging Conference, 2016 (talk)

ei

link (url) [BibTex]

link (url) [BibTex]


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Multi-Person Tracking by Multicuts and Deep Matching

(Winner of the Multi-Object Tracking Challenge ECCV 2016)

Tang, S., Andres, B., Andriluka, M., Schiele, B.

ECCV Workshop on Benchmarking Mutliple Object Tracking, 2016 (conference)

ps

PDF [BibTex]

PDF [BibTex]


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Painfree and accurate Bayesian estimation of psychometric functions for (potentially) overdispersed data

Schütt, H. H., Harmeling, S., Macke, J. H., Wichmann, F. A.

Vision Research, 122, pages: 105-123, 2016 (article)

ei

link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Hydrodynamic simulations of the interaction between giant stars and planets

Staff, J., De Marco, O., Wood, P., Galaviz, P., Passy, J.

Monthly Notices of the Royal Astronomical Society, 458, pages: 832-844, 2016 (article)

DOI [BibTex]

DOI [BibTex]