Header logo is


2004


no image
Dynamic modes of nanoparticle motion during nanoprobe-based manipulation

Tafazzoli, A., Sitti, M.

In Nanotechnology, 2004. 4th IEEE Conference on, pages: 35-37, 2004 (inproceedings)

pi

[BibTex]

2004


[BibTex]


no image
Modeling and design of biomimetic adhesives inspired by gecko foot-hairs

Shah, G. J., Sitti, M.

In Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on, pages: 873-878, 2004 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Learning Composite Adaptive Control for a Class of Nonlinear Systems

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

In IEEE International Conference on Robotics and Automation, pages: 2647-2652, New Orleans, LA, USA, April 2004, 2004, clmc (inproceedings)

am

link (url) [BibTex]

link (url) [BibTex]


no image
Investigation of oxide layers in tunnel junctions

Amaladass, E. P.

University of Stuttgart, Stuttgart, 2004 (mastersthesis)

mms

[BibTex]

[BibTex]


no image
Untersuchung der Desorptionskinetik von Metallhydriden in Bezug auf technische Anwendungen

von Zeppelin, F.

Universität Stuttgart, Stuttgart, 2004 (phdthesis)

mms

[BibTex]

[BibTex]


no image
High-speed dynamics of magnetization processes in hard magnetic particles and thin platelets

Goll, D., Kronmüller, H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 465-469, Laboratoire de Cristallographie/Laboratoire Louis Neel, CNRS, Grenoble, 2004 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Nanoscale Materials for Energy Storage
{Materials Science \& Engineering B}, 108, pages: 292, Elsevier, 2004 (misc)

mms

[BibTex]

[BibTex]


no image
Operating system support for interface virtualisation of reconfigurable coprocessors

Vuletic, M., Righetti, L., Pozzi, L., Ienne, P.

In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pages: 748-749, IEEE, Paris, France, 2004 (inproceedings)

Abstract
Reconfigurable systems-on-chip (SoC) consist of large field programmable gate arrays (FPGAs) and standard processors. The reconfigurable logic can be used for application-specific coprocessors to speedup execution of applications. The widespread use is limited by the complexity of interfacing software applications with coprocessors. We present a virtualization layer that lowers the interfacing complexity and improves the portability. The layer shifts the burden of moving data between processor and coprocessor from the programmer to the operating system (OS). A reconfigurable SoC running Linux is used to prove the concept.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Augmented reality user interface for nanomanipulation using atomic force microscopes

Vogl, W., Sitti, M., Ehrenstrasser, M., Zäh, M.

In Proc. of Eurohaptics, pages: 413-416, 2004 (inproceedings)

pi

[BibTex]

[BibTex]


no image
WaalBots for Space applications

Menon, C., Murphy, M., Angrilli, F., Sitti, M.

In 55th IAC Conference, Vancouver, Canada, 2004 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Towards Tractable Parameter-Free Statistical Learning (Phd Thesis)

D’Souza, A

Department of Computer Science, University of Southern California, Los Angeles, 2004, clmc (phdthesis)

am

link (url) [BibTex]

link (url) [BibTex]


no image
Dynamik von Wasserstoff in nanokristallinen Systemen

Stanik, E.

Universität Stuttgart, Stuttgart, 2004 (phdthesis)

mms

[BibTex]

[BibTex]


no image
Inselwachstum auf Festkörperoberflächen unter Ionenbestrahlung

Frank, A.

Universität Stuttgart, Stuttgart, 2004 (phdthesis)

mms

link (url) [BibTex]

link (url) [BibTex]


no image
Flusslinienverankerung in HTSL-Schichten mit kontrollierter Defektstruktur im Nanometerbereich

Leonhardt, S.

Universität Stuttgart, Stuttgart, 2004 (phdthesis)

mms

[BibTex]

[BibTex]


no image
High-speed dynamics of magnetization processes in hard magnetic particles and thin platelets

Goll, D., Kronmüller, H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 465-469, Laboratoire de Cristallographie/Laboratoire Louis Neel, CNRS, Grenoble, 2004 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Modern nanocrystalline/nanostructured hard magnetic materials

Kronmüller, H., Goll, D.

In 272-276, pages: e319-e320, Rome [Italy], 2004 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Modern nanostructured high-temperature permanent magnets

Goll, D., Kronmüller, H., Stadelmaier, H. H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 578-583, Laboratoire de Cristallographie/Laboratoire Louis Néel, CNRS, Grenoble, 2004 (inproceedings)

mms

[BibTex]

[BibTex]


no image
A framework for learning biped locomotion with dynamic movement primitives

Nakanishi, J., Morimoto, J., Endo, G., Cheng, G., Schaal, S., Kawato, M.

In IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids 2004), IEEE, Los Angeles, CA: Nov.10-12, Santa Monica, CA, 2004, clmc (inproceedings)

Abstract
This article summarizes our framework for learning biped locomotion using dynamical movement primitives based on nonlinear oscillators. Our ultimate goal is to establish a design principle of a controller in order to achieve natural human-like locomotion. We suggest dynamical movement primitives as a central pattern generator (CPG) of a biped robot, an approach we have previously proposed for learning and encoding complex human movements. Demonstrated trajectories are learned through movement primitives by locally weighted regression, and the frequency of the learned trajectories is adjusted automatically by a frequency adaptation algorithm based on phase resetting and entrainment of coupled oscillators. Numerical simulations and experimental implementation on a physical robot demonstrate the effectiveness of the proposed locomotion controller. Furthermore, we demonstrate that phase resetting contributes to robustness against external perturbations and environmental changes by numerical simulations and experiments.

am

link (url) [BibTex]

link (url) [BibTex]


no image
Learning Motor Primitives with Reinforcement Learning

Peters, J., Schaal, S.

In Proceedings of the 11th Joint Symposium on Neural Computation, http://resolver.caltech.edu/CaltechJSNC:2004.poster020, 2004, clmc (inproceedings)

Abstract
One of the major challenges in action generation for robotics and in the understanding of human motor control is to learn the "building blocks of move- ment generation," or more precisely, motor primitives. Recently, Ijspeert et al. [1, 2] suggested a novel framework how to use nonlinear dynamical systems as motor primitives. While a lot of progress has been made in teaching these mo- tor primitives using supervised or imitation learning, the self-improvement by interaction of the system with the environment remains a challenging problem. In this poster, we evaluate different reinforcement learning approaches can be used in order to improve the performance of motor primitives. For pursuing this goal, we highlight the difficulties with current reinforcement learning methods, and line out how these lead to a novel algorithm which is based on natural policy gradients [3]. We compare this algorithm to previous reinforcement learning algorithms in the context of dynamic motor primitive learning, and show that it outperforms these by at least an order of magnitude. We demonstrate the efficiency of the resulting reinforcement learning method for creating complex behaviors for automous robotics. The studied behaviors will include both discrete, finite tasks such as baseball swings, as well as complex rhythmic patterns as they occur in biped locomotion

am

[BibTex]

[BibTex]


no image
Dynamic behavior and simulation of nanoparticle sliding during nanoprobe-based positioning

Tafazzoli, A., Sitti, M.

In Proc. ASME International Mechanical Engineering Conference, 19, pages: 32, 2004 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Imaging sub-ns spin dynamics in magnetic nanostructures with magnetic transmission X-ray microscopy

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

In Synchrotron Radiation Instrumentation, 705, pages: 1291-1294, AIP Conference Proceedings, American Institute of Physics, San Francisco, California (USA), 2004 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Modern nanostructured high-temperature permanent magnets

Goll, D., Kronmüller, H., Stadelmaier, H. H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 578-583, Laboratoire de Cristallographie/Laboratoire Louis Néel, CNRS, Grenoble, 2004 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Existence of transient temperature spike induced by SHI: evidence by ion beam analysis

Avasthi, D. K., Ghosh, S., Srivastava, S. K., Assmann, W.

In 219-220, pages: 206-214, Albuquerque, NM [USA], 2004 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Three-dimensional nanoscale manipulation and manufacturing using proximal probes: controlled pulling of polymer micro/nanofibers

Nain, A. S., Amon, C., Sitti, M.

In Mechatronics, 2004. ICM’04. Proceedings of the IEEE International Conference on, pages: 224-230, 2004 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Investigation of the stability of metals on polymers

Amoako, G.

University of Stuttgart, Stuttgart, 2004 (mastersthesis)

mms

[BibTex]

[BibTex]


no image
Flusslinienverankerung in Hochtemperatursupraleitern auf nanostrukturierten Substraten

Brück, S.

Universität Stuttgart, Stuttgart, 2004 (mastersthesis)

mms

[BibTex]

[BibTex]


no image
Ionenstreuung mit Monolagen-Tiefenauflösung

Olliges, S.

Universität Stuttgart, Stuttgart, 2004 (mastersthesis)

mms

[BibTex]

[BibTex]


no image
Micro-and nano-scale robotics

Sitti, M.

In American Control Conference, 2004. Proceedings of the 2004, 1, pages: 1-8, 2004 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Gecko inspired surface climbing robots

Menon, C., Murphy, M., Sitti, M.

In Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on, pages: 431-436, 2004 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Untersuchungen zum Magnetismus von Clustern und Nanopartikeln und zum Einfluss der Wechselwirkung mit ihrer Umgebung

Fauth, Kai

Julius-Maximilians-Universität Würzburg, Würzburg, 2004 (phdthesis)

mms

[BibTex]

[BibTex]


no image
Hard magnetic hollow nanospheres

Goll, D., Berkowitz, A. E., Bertram, H. N.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 704-707, Laboratoire de Cristallographie/Laboratoire Louis Neel, CNRS, Grenoble, 2004 (inproceedings)

mms

[BibTex]

[BibTex]