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2005


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On the pair-potential modelling of alloy surfaces

Drautz, R., Fähnle, M.

{Surface Science}, 585, pages: 108-112, 2005 (article)

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[BibTex]

2005


[BibTex]


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Crystal field parameters at the (0001) surface of rare-earth metals: an ab initio study

Welsch, F., Fähnle, M., Jensen, P. J.

{Journal of Physics: Condensed Matter}, 17, pages: 2061-2072, 2005 (article)

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[BibTex]

[BibTex]


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Spatially resolved ferromagnetic resonance: Imaging of ferromagnetic eigenmodes

Puzic, A., Van Waeyenberge, B., Chou, K. W., Fischer, P., Stoll, H., Schütz, G., Tyliszczak, T., Rott, K., Brückl, H., Reiss, G., Neudecker, I., Haug, T., Buess, M., Back, C. H.

{Journal of Applied Physics}, 97, 2005 (article)

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DOI [BibTex]

DOI [BibTex]


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Defects distribution of Pr2Fe14B hard magnetic magnet from amorphous to nanostructures characterized by positron annihilation spectroscopy

Wu, Y. C., Sprengel, W., Reimann, K., Reichle, K. J., Goll, D., Würschum, R., Schaefer, H. E.

In PRICM 5. Proceedings of the Fifth Pacific RIM International Conference on Advanced Materials and Processing, 475-479, pages: 2123-2126, Materials Science Forum, Trans Tech, Beijing, China, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Implementing sub-ns time resolution into magnetic X-ray microscopies

Puzic, A., Stoll, H., Fischer, P., Van Waeyenberge, B., Raabe, J., Denbeaux, G., Haug, T., Weiss, D., Schütz, G.

In T115, pages: 1029-1031, Malmö/Lund, Sweden, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Proton magnetic resonance spectra of YH3 and LuH3

Brady, S. K., Conradi, M. S., Majer, G., Barnes, R. G.

{Physical Review B}, 72, 2005 (article)

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[BibTex]

[BibTex]


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Hydrogen storage in spherical nanoporous carbons

Terres, E., Panella, B., Hayashi, T., Kim, Y. A., Endo, M., Dominguez, J. M., Hirscher, M., Terrones, H., Terrones, H.

{Chemical Physics Letters}, 403(4-6):363-366, 2005 (article)

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[BibTex]

[BibTex]


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Faceting and migration of twin grain boundaries in zinc

Straumal, B. B., Rabkin, E., Sursaeva, V. G., Goruakova, A. S.

{Zeitschrift f\"ur Metallkunde}, 96(2):161-166, 2005 (article)

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[BibTex]

[BibTex]


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Arm movement experiments with joint space force fields using an exoskeleton robot

Mistry, M., Mohajerian, P., Schaal, S.

In IEEE Ninth International Conference on Rehabilitation Robotics, pages: 408-413, Chicago, Illinois, June 28-July 1, 2005, clmc (inproceedings)

Abstract
A new experimental platform permits us to study a novel variety of issues of human motor control, particularly full 3-D movements involving the major seven degrees-of-freedom (DOF) of the human arm. We incorporate a seven DOF robot exoskeleton, and can minimize weight and inertia through gravity, Coriolis, and inertia compensation, such that subjects' arm movements are largely unaffected by the manipulandum. Torque perturbations can be individually applied to any or all seven joints of the human arm, thus creating novel dynamic environments, or force fields, for subjects to respond and adapt to. Our first study investigates a joint space force field where the shoulder velocity drives a disturbing force in the elbow joint. Results demonstrate that subjects learn to compensate for the force field within about 100 trials, and from the strong presence of aftereffects when removing the field in some randomized catch trials, that an inverse dynamics, or internal model, of the force field is formed by the nervous system. Interestingly, while post-learning hand trajectories return to baseline, joint space trajectories remained changed in response to the field, indicating that besides learning a model of the force field, the nervous system also chose to exploit the space to minimize the effects of the force field on the realization of the endpoint trajectory plan. Further applications for our apparatus include studies in motor system redundancy resolution and inverse kinematics, as well as rehabilitation.

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link (url) [BibTex]

link (url) [BibTex]


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A unifying framework for the control of robotics systems

Peters, J., Mistry, M., Udwadia, F. E., Cory, R., Nakanishi, J., Schaal, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pages: 1824-1831, Edmonton, Alberta, Canada, Aug. 2-6, 2005, clmc (inproceedings)

Abstract
Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of GaussÕ principle of least constraint. This method al-lows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sar-cos Master Arm robot for some of the the derived controllers.We believe that the suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equa-tions, both with or without external constraints, with over-actuation or under-actuation, as well as open-chain and closed-chain kinematics.

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link (url) [BibTex]

link (url) [BibTex]


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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

Cheung, E., Karagozler, M. E., Park, S., Kim, B., Sitti, M.

In Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on, pages: 551-557, 2005 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Learning to Feel the Physics of a Body

Der, R., Hesse, F., Martius, G.

In Computational Intelligence for Modelling, Control and Automation, CIMCA 2005 , 2, pages: 252-257, Washington, DC, USA, 2005 (inproceedings)

Abstract
Despite the tremendous progress in robotic hardware and in both sensorial and computing efficiencies the performance of contemporary autonomous robots is still far below that of simple animals. This has triggered an intensive search for alternative approaches to the control of robots. The present paper exemplifies a general approach to the self-organization of behavior which has been developed and tested in various examples in recent years. We apply this approach to an underactuated snake like artifact with a complex physical behavior which is not known to the controller. Due to the weak forces available, the controller so to say has to develop a kind of feeling for the body which is seen to emerge from our approach in a natural way with meandering and rotational collective modes being observed in computer simulation experiments.

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[BibTex]

[BibTex]


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Nanostructures with high surface area for hydrogen storage

Hirscher, M., Panella, B.

{Journal of Alloys and Compounds}, 404, pages: 399-401, 2005 (article)

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[BibTex]

[BibTex]


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Timescale settling and nature of electron transport in magnetite - General considerations in view of new magnetic after-effect results on dilutely Ti4+-doped Fe3O4

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

{Journal of Physics: Condensed Matter}, 17(42):6763-6781, 2005 (article)

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[BibTex]

[BibTex]


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Topological k-space refinement of the configurational energy of alloys

Shchyglo, O., Bugaev, V. N., Drautz, R., Udyansky, A., Reichert, H., Dosch, H.

{Physical Review B}, 72(14), 2005 (article)

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[BibTex]

[BibTex]


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Large surface area nanostructures for hydrogen storage

Hirscher, M., Panella, B.

{Annales de Chimie}, 30(5):519-529, 2005 (article)

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[BibTex]

[BibTex]


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Electronic and magnetic properties of ligand-free FePt nanoparticles

Boyen, H., Fauth, K., Stahl, B., Ziemann, P., Kästle, G., Weigl, F., Banhart, F., He\ssler, M., Schütz, G., Gajbhiye, N. S., Ellrich, J., Hahn, H., Büttner, M., Garnier, M. G., Oelhafen, P.

{Advanced Materials}, 17(5):574-578, 2005 (article)

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DOI [BibTex]

DOI [BibTex]


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Identification of extrinsic Mn contributions in Ga1-xMnxAs by field-dependent magnetic circular X-ray dichroism

Rader, O., Fauth, K., Gould, C., Rüster, C., Schott, G. M., Schmidt, G., Brunner, K., Molenkamp, L. W., Schütz, G., Kronast, F., Dürr, H. A., Eberhardt, W., Gudat, W.

{Journal of Electron Spectroscopy and Related Phenomena}, 144(Sp. issue):789-792, 2005 (article)

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DOI [BibTex]

DOI [BibTex]


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Fundamentals of interface phenomena in advanced bulk nanoscale materials

Baretzky, B., Baró, M. D., Grabovetskaya, G. P., Gubicza, J., Ivanov, M. B., Kolobov, Y. R., Langdon, T. G., Lendvai, J., Lipnitskii, A. G., Mazilkin, A. A., Nazarov, A. A., Nogués, J., Ovidko, I. A., Protasova, S. G., Raab, G. I., Révész, Á., Skiba, N. V., Sort, J., Starink, M. J., Straumal, B. B., Suriñach, S., Ungár, T., Zhilyaev, A. P.

{Reviews on Advanced Materials Science}, 9(1):45-108, 2005 (article)

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[BibTex]

[BibTex]


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Formation of nanostructure during high-pressure torsion of Al-Zn, Al-Mg and Al-Zn-Mg alloys

Mazilkin, A. A., Kogtenkova, O. A., Straumal, B. B., Ruslan, Z, Valiev, Z., Baretzky, B.

{Defect and Diffusion Forum}, 237-240, pages: 739-744, 2005 (article)

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[BibTex]

[BibTex]


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Micromagnetic simulation as a bridge between magnetic-force and magnetic-transmission X-ray microscopy

Bolte, M., Eiselt, R., Eimüller, T.

{Journal of Magnetism and Magnetic Materials}, 290, pages: 723-726, 2005 (article)

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[BibTex]

[BibTex]


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Grain-boundary melting phase transition in the Cu-Bi system

Divinski, S., Lohmann, M., Herzig, C., Straumal, B., Baretzky, B., Gust, W.

{Physical Review B}, 71, 2005 (article)

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[BibTex]

[BibTex]

1995


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A kendama learning robot based on a dynamic optimization theory

Miyamoto, H., Gandolfo, F., Gomi, H., Schaal, S., Koike, Y., Osu, R., Nakano, E., Kawato, M.

In Preceedings of the 4th IEEE International Workshop on Robot and Human Communication (RO-MAN’95), pages: 327-332, Tokyo, July 1995, clmc (inproceedings)

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[BibTex]

1995


[BibTex]


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Visual tracking for moving multiple objects: an integration of vision and control

Sitti, M, Bozma, I, Denker, A

In Industrial Electronics, 1995. ISIE’95., Proceedings of the IEEE International Symposium on, 2, pages: 535-540, 1995 (inproceedings)

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[BibTex]

[BibTex]


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Batting a ball: Dynamics of a rhythmic skill

Sternad, D., Schaal, S., Atkeson, C. G.

In Studies in Perception and Action, pages: 119-122, (Editors: Bardy, B.;Bostma, R.;Guiard, Y.), Erlbaum, Hillsdayle, NJ, 1995, clmc (inbook)

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[BibTex]

[BibTex]


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Memory-based neural networks for robot learning

Atkeson, C. G., Schaal, S.

Neurocomputing, 9, pages: 1-27, 1995, clmc (article)

Abstract
This paper explores a memory-based approach to robot learning, using memory-based neural networks to learn models of the task to be performed. Steinbuch and Taylor presented neural network designs to explicitly store training data and do nearest neighbor lookup in the early 1960s. In this paper their nearest neighbor network is augmented with a local model network, which fits a local model to a set of nearest neighbors. This network design is equivalent to a statistical approach known as locally weighted regression, in which a local model is formed to answer each query, using a weighted regression in which nearby points (similar experiences) are weighted more than distant points (less relevant experiences). We illustrate this approach by describing how it has been used to enable a robot to learn a difficult juggling task. Keywords: memory-based, robot learning, locally weighted regression, nearest neighbor, local models.

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link (url) [BibTex]

link (url) [BibTex]


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Accurate Vision-based Manipulation through Contact Reasoning

Kloss, A., Bauza, M., Wu, J., Tenenbaum, J. B., Rodriguez, A., Bohg, J.

In International Conference on Robotics and Automation, May (inproceedings) Submitted

Abstract
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and in only partially observed environments, executing contact-based tasks often suffers from low accuracy. We present an approach that addresses these two challenges for the problem of vision-based manipulation. First, we propose to disentangle contact from motion optimization. Thereby, we improve planning efficiency by focusing computation on promising contact locations. Second, we use a hybrid approach for perception and state estimation that combines neural networks with a physically meaningful state representation. In simulation and real-world experiments on the task of planar pushing, we show that our method is more efficient and achieves a higher manipulation accuracy than previous vision-based approaches.

am

[BibTex]


[BibTex]


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In vivo diabetic wound healing with nanofibrous scaffolds modified with gentamicin and recombinant human epidermal growth factor

Dwivedi, C., Pandey, I., Pandey, H., Patil, S., Mishra, S. B., Pandey, A. C., Zamboni, P., Ramteke, P. W., Singh, A. V.

Journal of Biomedical Materials Research Part A, 106(3):641-651, March (article)

Abstract
Abstract Diabetic wounds are susceptible to microbial infection. The treatment of these wounds requires a higher payload of growth factors. With this in mind, the strategy for this study was to utilize a novel payload comprising of Eudragit RL/RS 100 nanofibers carrying the bacterial inhibitor gentamicin sulfate (GS) in concert with recombinant human epidermal growth factor (rhEGF); an accelerator of wound healing. GS containing Eudragit was electrospun to yield nanofiber scaffolds, which were further modified by covalent immobilization of rhEGF to their surface. This novel fabricated nanoscaffold was characterized using scanning electron microscopy, Fourier transform infrared spectroscopy, and X‐ray diffraction. The thermal behavior of the nanoscaffold was determined using thermogravimetric analysis and differential scanning calorimetry. In the in vitro antibacterial assays, the nanoscaffolds exhibited comparable antibacterial activity to pure gentemicin powder. In vivo work using female C57/BL6 mice, the nanoscaffolds induced faster wound healing activity in dorsal wounds compared to the control. The paradigm in this study presents a robust in vivo model to enhance the applicability of drug delivery systems in wound healing applications. © 2017 Wiley Periodicals, Inc. J Biomed Mater Res Part A: 106A: 641–651, 2018.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Classified Regression for Bayesian Optimization: Robot Learning with Unknown Penalties

Marco, A., Baumann, D., Hennig, P., Trimpe, S.

Submitted to Journal (under review) (article)

Abstract
Learning robot controllers by minimizing a black-box objective cost using Bayesian optimization (BO) can be time-consuming and challenging. It is very often the case that some roll-outs result in failure behaviors, causing premature experiment detention. In such cases, the designer is forced to decide on heuristic cost penalties because the acquired data is often scarce, or not comparable with that of the stable policies. To overcome this, we propose a Bayesian model that captures exactly what we know about the cost of unstable controllers prior to data collection: Nothing, except that it should be a somewhat large number. The resulting Bayesian model, approximated with a Gaussian process, predicts high cost values in regions where failures are likely to occur. In this way, the model guides the BO exploration toward regions of stability. We demonstrate the benefits of the proposed model in several illustrative and statistical synthetic benchmarks, and also in experiments on a real robotic platform. In addition, we propose and experimentally validate a new BO method to account for unknown constraints. Such method is an extension of Max-Value Entropy Search, a recent information-theoretic method, to solve unconstrained global optimization problems.

PDF link (url) [BibTex]


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test jon
(book)

[BibTex]


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test
(article)

[BibTex]

[BibTex]


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Geometric Image Synthesis

Alhaija, H. A., Mustikovela, S. K., Geiger, A., Rother, C.

(conference)

avg

Project Page [BibTex]

Project Page [BibTex]


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textes
(article)

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[BibTex]

[BibTex]


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Robotics Research

Tong, Chi Hay, Furgale, Paul, Barfoot, Timothy D, Guizilini, Vitor, Ramos, Fabio, Chen, Yushan, T\uumová, Jana, Ulusoy, Alphan, Belta, Calin, Tenorth, Moritz, others

(article)

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[BibTex]

[BibTex]