Publications | Max Planck Institute for Intelligent Systems

mms Schmiedgen, M., Graat, P. C. J., Baretzky, B., Mittemeijer, E. J. The initial stages of oxidation of γ-TiAl: an X-ray photoelectron study {Thin Solid Films}, 415(1-2):114-122, 2002 (article)

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Morphology and thermal stability of metal contacts on crystalline organic thin films

Dürr, A. C., Schreiber, F., Kelsch, M., Carstanjen, H. D., Dosch, H.

{Advanced Materials}, 14(13-14):961-963, 2002 (article)

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mms Dürr, A. C., Schreiber, F., Kelsch, M., Carstanjen, H. D., Dosch, H. Morphology and thermal stability of metal contacts on crystalline organic thin films {Advanced Materials}, 14(13-14):961-963, 2002 (article)

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Magnetic Imaging of Nanostructured Systems with Transmission X-Ray Microscopy

Eimüller, T.

Bayrische Julius-Maximilians-Universität Würzburg, Würzburg, 2002 (phdthesis)

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mms Eimüller, T. Magnetic Imaging of Nanostructured Systems with Transmission X-Ray Microscopy Bayrische Julius-Maximilians-Universität Würzburg, Würzburg, 2002 (phdthesis)

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Magnetic anisotropy of textured CrO2 thin films investigated by X-ray magnetic circular dichroism

Goering, E., Justen, M., Geissler, J., Rüdiger, U., Rabe, M., Güntherodt, G., Schütz, G.

{Applied Physics A-Materials Science \& Processing}, 74(6):747-753, 2002 (article)

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mms Goering, E., Justen, M., Geissler, J., Rüdiger, U., Rabe, M., Güntherodt, G., Schütz, G. Magnetic anisotropy of textured CrO2 thin films investigated by X-ray magnetic circular dichroism {Applied Physics A-Materials Science \& Processing}, 74(6):747-753, 2002 (article)

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Identification of nanocrystal nucleation and growth in Al85Ni5Y8CO2 metallic glass with quenched-in nuclei

Wang, J. Q., Zhang, H. W., Gu, X. J., Lu, K., Sommer, F., Mittemeijer, E. J.

{Applied Physics Letters}, 80(18):3319-3321, 2002 (article)

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mms Wang, J. Q., Zhang, H. W., Gu, X. J., Lu, K., Sommer, F., Mittemeijer, E. J. Identification of nanocrystal nucleation and growth in Al85Ni5Y8CO2 metallic glass with quenched-in nuclei {Applied Physics Letters}, 80(18):3319-3321, 2002 (article)

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Ab-initio Berechnung der Spinwellenspektren von Eisen, Kobalt und Nickel

Grotheer, O.

Universität Stuttgart, Stuttgart, 2002 (phdthesis)

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mms Grotheer, O. Ab-initio Berechnung der Spinwellenspektren von Eisen, Kobalt und Nickel Universität Stuttgart, Stuttgart, 2002 (phdthesis)

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Master equations for the concentrations of atomic defects in B2 compounds

Meyer, B., Fähnle, M.

{Physica Status Solidi B-Basic Research}, 229(3):1139-1143, 2002 (article)

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mms Meyer, B., Fähnle, M. Master equations for the concentrations of atomic defects in B2 compounds {Physica Status Solidi B-Basic Research}, 229(3):1139-1143, 2002 (article)

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On the electronic structure of the pure and oxygen covered Ru(0001) surface

Bester, G., Fähnle, M.

{Surface Science}, 497(1-3):305-310, 2002 (article)

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mms Bester, G., Fähnle, M. On the electronic structure of the pure and oxygen covered Ru(0001) surface {Surface Science}, 497(1-3):305-310, 2002 (article)

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Atomic defects and diffusion in intermetallic compounds: The impact of the ab initio electron theory

Fähnle, M.

{Diffusion and Defect Forum}, 203-205, pages: 37-46, 2002 (article)

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mms Fähnle, M. Atomic defects and diffusion in intermetallic compounds: The impact of the ab initio electron theory {Diffusion and Defect Forum}, 203-205, pages: 37-46, 2002 (article)

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Switching behavior of single nanowires inside dense nickel nanowire arrays

Nielsch, K., Hertel, R., Wehrspohn, R. B., Barthel, J., Kirschner, J., Gösele, U., Fischer, S. F., Kronmüller, H.

{IEEE Transactions on Magnetics}, 38(5):2571-2573, 2002 (article)

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mms Nielsch, K., Hertel, R., Wehrspohn, R. B., Barthel, J., Kirschner, J., Gösele, U., Fischer, S. F., Kronmüller, H. Switching behavior of single nanowires inside dense nickel nanowire arrays {IEEE Transactions on Magnetics}, 38(5):2571-2573, 2002 (article)

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On the magnetoelastic contribution to the magnetic anisotropy of thin epitaxial Permalloy films: an ab initio study

Komelj, M., Fähnle, M.

{Journal of Magnetism and Magnetic Materials}, 238(2-3):L125-L128, 2002 (article)

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mms Komelj, M., Fähnle, M. On the magnetoelastic contribution to the magnetic anisotropy of thin epitaxial Permalloy films: an ab initio study {Journal of Magnetism and Magnetic Materials}, 238(2-3):L125-L128, 2002 (article)

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Nanostructured graphite-hydrogen systems prepared by mechanical milling method

Orimo, S. I., Matsushima, T., Fujii, H., Fukunaga, T., Majer, G., Zuttel, A., Schlapbach, L.

{Molecular Crystals and Liquid Crystals}, 386, pages: 173-178, 2002 (article)

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mms Orimo, S. I., Matsushima, T., Fujii, H., Fukunaga, T., Majer, G., Zuttel, A., Schlapbach, L. Nanostructured graphite-hydrogen systems prepared by mechanical milling method {Molecular Crystals and Liquid Crystals}, 386, pages: 173-178, 2002 (article)

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Micromagnetic analysis of pinning-hardened nanostructured, nanocrystalline Sm2Co17 based alloys

Kronmüller, H., Goll, D.

{Scripta Materialia}, 47, pages: 545-550, 2002 (article)

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mms Kronmüller, H., Goll, D. Micromagnetic analysis of pinning-hardened nanostructured, nanocrystalline Sm2Co17 based alloys {Scripta Materialia}, 47, pages: 545-550, 2002 (article)

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A micromechanical flying insect thorax

Fearing, R., Avadhanula, S., Campolo, D., Sitti, M., Yan, J., Wood, R.

Neurotechnology for Biomimetic Robots, pages: 469-480, The MIT Press Cambridge, MA, 2002 (article)

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pi Fearing, R., Avadhanula, S., Campolo, D., Sitti, M., Yan, J., Wood, R. A micromechanical flying insect thorax Neurotechnology for Biomimetic Robots, pages: 469-480, The MIT Press Cambridge, MA, 2002 (article)

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Second-order magnetoelastic effects: From the Dirac equation to the magnetic properties of ultrathin epitaxial films for magnetic thin-film applications

Fähnle, M., Komelj, M.

{Zeitschrift f\"ur Metallkunde}, 93(10):970-973, 2002 (article)

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mms Fähnle, M., Komelj, M. Second-order magnetoelastic effects: From the Dirac equation to the magnetic properties of ultrathin epitaxial films for magnetic thin-film applications {Zeitschrift f\"ur Metallkunde}, 93(10):970-973, 2002 (article)

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Study of magnetic domains by magnetic soft x-ray transmission microscopy

Fischer, P., Denbeaux, G., Ono, T., Okuno, T., Eimüller, T., Goll, D., Schütz, G.

{Journal of Physics D-Applied Physics}, 35(19):2391-2397, 2002 (article)

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mms Fischer, P., Denbeaux, G., Ono, T., Okuno, T., Eimüller, T., Goll, D., Schütz, G. Study of magnetic domains by magnetic soft x-ray transmission microscopy {Journal of Physics D-Applied Physics}, 35(19):2391-2397, 2002 (article)

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Ion beam-induced sintering of near-surface layers

Föhl, A., Carstanjen, H. D.

{Surface \& Coatings Technology}, 158, pages: 69-74, 2002 (article)

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mms Föhl, A., Carstanjen, H. D. Ion beam-induced sintering of near-surface layers {Surface \& Coatings Technology}, 158, pages: 69-74, 2002 (article)

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High density hexagonal nickel nanowire array

Nielsch, K., Wehrspohn, R. B., Barthel, J., Kirschner, J., Fischer, S. F., Kronmüller, H., Schweinbock, T., Weiss, D., Gösele, U.

{Journal of Magnetism and Magnetic Materials}, 249(1-2):234-240, 2002 (article)

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mms Nielsch, K., Wehrspohn, R. B., Barthel, J., Kirschner, J., Fischer, S. F., Kronmüller, H., Schweinbock, T., Weiss, D., Gösele, U. High density hexagonal nickel nanowire array {Journal of Magnetism and Magnetic Materials}, 249(1-2):234-240, 2002 (article)

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Kernspinresonanzuntersuchungen zur Diffusion von Wasserstoff in kubischen Lavesphasen

Eberle, U.

Universität Stuttgart, Stuttgart, 2002 (phdthesis)

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mms Eberle, U. Kernspinresonanzuntersuchungen zur Diffusion von Wasserstoff in kubischen Lavesphasen Universität Stuttgart, Stuttgart, 2002 (phdthesis)

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Strong anisotropy of projected 3d moments in epitaxial CrO2 films

Goering, E., Bayer, A., Gold, S., Schütz, G., Rabe, M., Rüdiger, U., Güntherodt, G.

{Physical Review Letters}, 88(20), 2002 (article)

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mms Goering, E., Bayer, A., Gold, S., Schütz, G., Rabe, M., Rüdiger, U., Güntherodt, G. Strong anisotropy of projected 3d moments in epitaxial CrO2 films {Physical Review Letters}, 88(20), 2002 (article)

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Density-functional study of Fe3Al: LSDA versus GGA

Lechermann, F., Welsch, F., Elsässer, C., Ederer, C., Fähnle, M., Sanchez, J. M., Meyer, B.

{Physical Review B}, 65(13), 2002 (article)

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mms Lechermann, F., Welsch, F., Elsässer, C., Ederer, C., Fähnle, M., Sanchez, J. M., Meyer, B. Density-functional study of Fe3Al: LSDA versus GGA {Physical Review B}, 65(13), 2002 (article)

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Critical magnetic properties of disordered polycrystalline Cr75Fe25 and Cr70Fe30 alloys

Fischer, S. F., Kaul, S. N., Kronmüller, H.

{Physical Review B}, 65(6), 2002 (article)

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mms Fischer, S. F., Kaul, S. N., Kronmüller, H. Critical magnetic properties of disordered polycrystalline Cr75Fe25 and Cr70Fe30 alloys {Physical Review B}, 65(6), 2002 (article)

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Magnetic properties of ion-beam sputtered Cr3Fe-alloy films

Fischer, S. F., Kaul, S. N., Kronmüller, H.

{Journal of Magnetism and Magnetic Materials}, 240(1-3):374-376, 2002 (article)

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mms Fischer, S. F., Kaul, S. N., Kronmüller, H. Magnetic properties of ion-beam sputtered Cr3Fe-alloy films {Journal of Magnetism and Magnetic Materials}, 240(1-3):374-376, 2002 (article)

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Model-independent measurements of hydrogen diffusivity in the yttrium dihydrides

Majer, G., Gottwald, J., Peterson, D. T., Barnes, R. G.

{Journal of Alloys and Compounds}, 330-332, pages: 438-442, 2002 (article)

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mms Majer, G., Gottwald, J., Peterson, D. T., Barnes, R. G. Model-independent measurements of hydrogen diffusivity in the yttrium dihydrides {Journal of Alloys and Compounds}, 330-332, pages: 438-442, 2002 (article)

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Strong anisotropy of projected Cr3d moments of epitaxial grown CrO2-films

Goering, E., Bayer, A., Gold, S., Schütz, G.

{Bessy-Highlights}, pages: 26-27, 2002 (article)

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mms Goering, E., Bayer, A., Gold, S., Schütz, G. Strong anisotropy of projected Cr3d moments of epitaxial grown CrO2-films {Bessy-Highlights}, pages: 26-27, 2002 (article)

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Change from a bulk discontinuous phase transition in V2H to a contiuous transition in a defective near-surface skin layer

Trenkler, J., Abe, H., Wochner, P., Haeffner, D., Bail, J., Carstanjen, H. D., Moss, S.

{Modelling and Simulation in Materials Science and Engineering}, 8, pages: 269-275, 2002 (article)

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mms Trenkler, J., Abe, H., Wochner, P., Haeffner, D., Bail, J., Carstanjen, H. D., Moss, S. Change from a bulk discontinuous phase transition in V2H to a contiuous transition in a defective near-surface skin layer {Modelling and Simulation in Materials Science and Engineering}, 8, pages: 269-275, 2002 (article)

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Hydrogen Storage in Nanostructured Carbon Materials at Room Temperature

Chen, X., Dettlaff-Weglikowska, U., Haluska, M., Hirscher, M., Becher, M., Roth, S.

In Structural and Electronic Properties of Molecular Nanostructures, pages: 597-600, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 (inproceedings)

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mms Chen, X., Dettlaff-Weglikowska, U., Haluska, M., Hirscher, M., Becher, M., Roth, S. Hydrogen Storage in Nanostructured Carbon Materials at Room Temperature In Structural and Electronic Properties of Molecular Nanostructures, pages: 597-600, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 (inproceedings)

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Analyse der elektronischen Struktur von Metallen und intermetallischen Verbindungen im Rahmen der Dichtefunktionaltheorie

Bester, G.

Universität Stuttgart, Stuttgart, 2002 (phdthesis)

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mms Bester, G. Analyse der elektronischen Struktur von Metallen und intermetallischen Verbindungen im Rahmen der Dichtefunktionaltheorie Universität Stuttgart, Stuttgart, 2002 (phdthesis)

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Ion Channeling in Quasicrystals

Plachke, D., Carstanjen, H. D.

In Quasicrystals. An Introduction to Structure, Physical Properties and Applications, 55, pages: 280-304, Springer Series in Materials Science, Springer, Berlin [et al.], 2002 (incollection)

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mms Plachke, D., Carstanjen, H. D. Ion Channeling in Quasicrystals In Quasicrystals. An Introduction to Structure, Physical Properties and Applications, 55, pages: 280-304, Springer Series in Materials Science, Springer, Berlin [et al.], 2002 (incollection)

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Movement imitation with nonlinear dynamical systems in humanoid robots

Ijspeert, J. A., Nakanishi, J., Schaal, S.

In International Conference on Robotics and Automation (ICRA2002), Washinton, May 11-15 2002, 2002, clmc (inproceedings)

Abstract

Locally weighted learning (LWL) is a class of statistical learning techniques that provides useful representations and training algorithms for learning about complex phenomena during autonomous adaptive control of robotic systems. This paper introduces several LWL algorithms that have been tested successfully in real-time learning of complex robot tasks. We discuss two major classes of LWL, memory-based LWL and purely incremental LWL that does not need to remember any data explicitly. In contrast to the traditional beliefs that LWL methods cannot work well in high-dimensional spaces, we provide new algorithms that have been tested in up to 50 dimensional learning problems. The applicability of our LWL algorithms is demonstrated in various robot learning examples, including the learning of devil-sticking, pole-balancing of a humanoid robot arm, and inverse-dynamics learning for a seven degree-of-freedom robot.

link (url) [BibTex]

am Ijspeert, J. A., Nakanishi, J., Schaal, S. Movement imitation with nonlinear dynamical systems in humanoid robots In International Conference on Robotics and Automation (ICRA2002), Washinton, May 11-15 2002, 2002, clmc (inproceedings)

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A locally weighted learning composite adaptive controller with structure adaptation

Nakanishi, J., Farrell, J. A., Schaal, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS 2002), Lausanne, Sept.30-Oct.4 2002, 2002, clmc (inproceedings)

Abstract

This paper introduces a provably stable adaptive learning controller which employs nonlinear function approximation with automatic growth of the learning network according to the nonlinearities and the working domain of the control system. The unknown function in the dynamical system is approximated by piecewise linear models using a nonparametric regression technique. Local models are allocated as necessary and their parameters are optimized on-line. Inspired by composite adaptive control methods, the pro-posed learning adaptive control algorithm uses both the tracking error and the estimation error to up-date the parameters. We provide Lyapunov analyses that demonstrate the stability properties of the learning controller. Numerical simulations illustrate rapid convergence of the tracking error and the automatic structure adaptation capability of the function approximator. This paper introduces a provably stable adaptive learning controller which employs nonlinear function approximation with automatic growth of the learning network according to the nonlinearities and the working domain of the control system. The unknown function in the dynamical system is approximated by piecewise linear models using a nonparametric regression technique. Local models are allocated as necessary and their parameters are optimized on-line. Inspired by composite adaptive control methods, the pro-posed learning adaptive control algorithm uses both the tracking error and the estimation error to up-date the parameters. We provide Lyapunov analyses that demonstrate the stability properties of the learning controller. Numerical simulations illustrate rapid convergence of the tracking error and the automatic structure adaptation capability of the function approximator

link (url) [BibTex]

am Nakanishi, J., Farrell, J. A., Schaal, S. A locally weighted learning composite adaptive controller with structure adaptation In IEEE International Conference on Intelligent Robots and Systems (IROS 2002), Lausanne, Sept.30-Oct.4 2002, 2002, clmc (inproceedings)

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Nanomolding based fabrication of synthetic gecko foot-hairs

Sitti, M., Fearing, R. S.

In Nanotechnology, 2002. IEEE-NANO 2002. Proceedings of the 2002 2nd IEEE Conference on, pages: 137-140, 2002 (inproceedings)

Project Page [BibTex]

pi Sitti, M., Fearing, R. S. Nanomolding based fabrication of synthetic gecko foot-hairs In Nanotechnology, 2002. IEEE-NANO 2002. Proceedings of the 2002 2nd IEEE Conference on, pages: 137-140, 2002 (inproceedings)

Project Page [BibTex]

Evidence for van der Waals adhesion in gecko setae

Autumn, K., Sitti, M., Liang, Y. A., Peattie, A. M., Hansen, W. R., Sponberg, S., Kenny, T. W., Fearing, R., Israelachvili, J. N., Full, R. J.

Proceedings of the National Academy of Sciences, 99(19):12252-12256, National Acad Sciences, 2002 (article)

Project Page [BibTex]

pi Autumn, K., Sitti, M., Liang, Y. A., Peattie, A. M., Hansen, W. R., Sponberg, S., Kenny, T. W., Fearing, R., Israelachvili, J. N., Full, R. J. Evidence for van der Waals adhesion in gecko setae Proceedings of the National Academy of Sciences, 99(19):12252-12256, National Acad Sciences, 2002 (article)

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Ab-initio Untersuchung der magnetischen Anregungen von dünnen bcc-Fe(110)-Schichten und der Druckabhängigkeit der magnetischen Anregungen von bcc-Fe

Morán, S.

Universität Stuttgart, Stuttgart, 2002 (mastersthesis)

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mms Morán, S. Ab-initio Untersuchung der magnetischen Anregungen von dünnen bcc-Fe(110)-Schichten und der Druckabhängigkeit der magnetischen Anregungen von bcc-Fe Universität Stuttgart, Stuttgart, 2002 (mastersthesis)

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Vacancies in thermal equilibrium and ferromagnetism near the Curie temperature

Seeger, A., Fähnle, M.

{Zeitschrift f\"ur Metallkunde}, 93(10):1030-1042, 2002 (article)

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mms Seeger, A., Fähnle, M. Vacancies in thermal equilibrium and ferromagnetism near the Curie temperature {Zeitschrift f\"ur Metallkunde}, 93(10):1030-1042, 2002 (article)

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Magnetic imaging with soft X-ray microscopy

Fischer, P., Denbeaux, G., Eimüller, T., Goll, D., Schütz, G.

{IEEE Transactions on Magnetics}, 38(5):2427-2431, 2002 (article)

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mms Fischer, P., Denbeaux, G., Eimüller, T., Goll, D., Schütz, G. Magnetic imaging with soft X-ray microscopy {IEEE Transactions on Magnetics}, 38(5):2427-2431, 2002 (article)

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Theory of induced magnetic moments and x-ray magnetic circular dichroism in Co-Pt multilayers

Ederer, C., Komelj, M., Fähnle, M., Schütz, G.

{Physical Review B}, 66(9), 2002 (article)

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mms Ederer, C., Komelj, M., Fähnle, M., Schütz, G. Theory of induced magnetic moments and x-ray magnetic circular dichroism in Co-Pt multilayers {Physical Review B}, 66(9), 2002 (article)

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From the electronic structure to the macroscopic magnetic behaviour of rare-earth intermetallics: a combination of ab initio electron theory with statistical mechanics and elasticity theory

Fähnle, M., Welsch, F.

{Physica B}, 321(1-4):198-203, 2002 (article)

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mms Fähnle, M., Welsch, F. From the electronic structure to the macroscopic magnetic behaviour of rare-earth intermetallics: a combination of ab initio electron theory with statistical mechanics and elasticity theory {Physica B}, 321(1-4):198-203, 2002 (article)

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Determination of the complete set of second-order magnetoelastic coupling constants on epitaxial films

Komelj, M., Fähnle, M.

{Physical Review B}, 65(21), 2002 (article)

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mms Komelj, M., Fähnle, M. Determination of the complete set of second-order magnetoelastic coupling constants on epitaxial films {Physical Review B}, 65(21), 2002 (article)

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Undulation instabilities in laterally structured magnetic multilayers

Eimüller, T., Scholz, M., Guttmann, P., Köhler, M., Bayreuther, G., Schmahl, G., Fischer, P., Schütz, G.

{Journal of Applied Physics}, 91(10):7334-7336, 2002 (article)

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mms Eimüller, T., Scholz, M., Guttmann, P., Köhler, M., Bayreuther, G., Schmahl, G., Fischer, P., Schütz, G. Undulation instabilities in laterally structured magnetic multilayers {Journal of Applied Physics}, 91(10):7334-7336, 2002 (article)

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Initial oxidation of AlPdMn quasicrystals - A study by high-resolution RBS and ERDA

Plachke, D., Khellaf, A., Carstanjen, H. D.

{Nuclear Instruments \& Methods in Physics Research B}, 190, pages: 646-651, 2002 (article)

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mms Plachke, D., Khellaf, A., Carstanjen, H. D. Initial oxidation of AlPdMn quasicrystals - A study by high-resolution RBS and ERDA {Nuclear Instruments \& Methods in Physics Research B}, 190, pages: 646-651, 2002 (article)

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The Verwey transition - a topical review

Walz, F.

{Journal of Physics-Condensed Matter}, 14(12):R285-R340, 2002 (article)

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mms Walz, F. The Verwey transition - a topical review {Journal of Physics-Condensed Matter}, 14(12):R285-R340, 2002 (article)

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Composition dependence of the Zener relaxation in high-purity FeCr single crystals

Hirscher, M., Ege, M.

{Materials \textquotesingleTransactions JIM}, 43(2):182-185, 2002 (article)

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mms Hirscher, M., Ege, M. Composition dependence of the Zener relaxation in high-purity FeCr single crystals {Materials \textquotesingleTransactions JIM}, 43(2):182-185, 2002 (article)

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Hydrogen storage in carbon nanostructures

Hirscher, M., Becher, M., Haluska, M., Quintel, A., Skakalova, V., Choi, Y. M., Dettlaff-Weglikowska, U., Roth, S., Stepanek, I., Bernier, P., Leonhardt, A., Fink, J.

{Journal of Alloys and Compounds}, 330, pages: 654-658, 2002 (article)

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mms Hirscher, M., Becher, M., Haluska, M., Quintel, A., Skakalova, V., Choi, Y. M., Dettlaff-Weglikowska, U., Roth, S., Stepanek, I., Bernier, P., Leonhardt, A., Fink, J. Hydrogen storage in carbon nanostructures {Journal of Alloys and Compounds}, 330, pages: 654-658, 2002 (article)

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Micromagnetism and the microstructure of the cell walls in Sm2Co17 based permanent magnets

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

In Proceedings of the 17th International Workshop on Rare-Earth Magnets and their Applications, pages: 696-703, Rinton Press, Newark, Delaware, USA, 2002 (inproceedings)

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mms Goll, D., Hadjipanayis, G. C., Kronmüller, H. Micromagnetism and the microstructure of the cell walls in Sm2Co17 based permanent magnets In Proceedings of the 17th International Workshop on Rare-Earth Magnets and their Applications, pages: 696-703, Rinton Press, Newark, Delaware, USA, 2002 (inproceedings)

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