Publications | Max Planck Institute for Intelligent Systems

mms Shchyglo, O., Bugaev, V.N., Drautz, R., Udyanskyy, A., Reichert, H., Dosch, H. Topological k-space refinement of the configurational energy of alloys {Physical Review B}, 72, 2006 (article)

[BibTex]

Synthesis of MgB2 films in Mg vapour flow and their characterization

Matveev, A. T., Albrecht, J., Konuma, M., Christiani, G., Krockenberger, Y., Starke, U., Schütz, G., Habermeier, H.

{Superconductor Science and Technology}, 19, pages: 299-305, 2006 (article)

mms

[BibTex]

mms Matveev, A. T., Albrecht, J., Konuma, M., Christiani, G., Krockenberger, Y., Starke, U., Schütz, G., Habermeier, H. Synthesis of MgB2 films in Mg vapour flow and their characterization {Superconductor Science and Technology}, 19, pages: 299-305, 2006 (article)

[BibTex]

Analysis of switching times of inhomogeneous magnetization processes in thin platelets

Goll, D., Schütz, G., Kronmüller, H.

{Physica B: Condensed Matter}, 372(1-2):273-276, 2006 (article)

mms

[BibTex]

mms Goll, D., Schütz, G., Kronmüller, H. Analysis of switching times of inhomogeneous magnetization processes in thin platelets {Physica B: Condensed Matter}, 372(1-2):273-276, 2006 (article)

[BibTex]

The initial oxidation of magnesium: an in situ study with XPS, HERDA and ellipsometry.

Kurth, M., Graat, P. C. J., Carstanjen, H. D., Mittemeijer, E. J.

{Surface and Interface Analysis}, 38, pages: 931-940, 2006 (article)

mms

[BibTex]

mms Kurth, M., Graat, P. C. J., Carstanjen, H. D., Mittemeijer, E. J. The initial oxidation of magnesium: an in situ study with XPS, HERDA and ellipsometry. {Surface and Interface Analysis}, 38, pages: 931-940, 2006 (article)

[BibTex]

Temperature influence of the faceting of \sum3 and \sum9 grain boundaries in Cu

Straumal, B. B., Polyakov, S. A., Mittemeijer, E. J.

{Acta Materialia}, 54, pages: 167-172, 2006 (article)

mms

[BibTex]

mms Straumal, B. B., Polyakov, S. A., Mittemeijer, E. J. Temperature influence of the faceting of \sum3 and \sum9 grain boundaries in Cu {Acta Materialia}, 54, pages: 167-172, 2006 (article)

[BibTex]

Coercivity of 2 : 17 based permanent magnets

Kronmüller, H., Goll, D.

{Journal of the Iron and Steel Research International}, 13(Suppl. 1):39-47, 2006 (article)

mms

[BibTex]

mms Kronmüller, H., Goll, D. Coercivity of 2 : 17 based permanent magnets {Journal of the Iron and Steel Research International}, 13(Suppl. 1):39-47, 2006 (article)

[BibTex]

Hydrogen adsorption in a nickel based coordination polymer with open metal sites in the cylindrical cavities of the desolvated framework

Dietzel, P. D. C., Panella, B., Hirscher, M., Blom, R., Fjellvag, H.

{Chemical Communications}, [2006], pages: 959-961, 2006 (article)

mms

DOI [BibTex]

mms Dietzel, P. D. C., Panella, B., Hirscher, M., Blom, R., Fjellvag, H. Hydrogen adsorption in a nickel based coordination polymer with open metal sites in the cylindrical cavities of the desolvated framework {Chemical Communications}, [2006], pages: 959-961, 2006 (article)

DOI [BibTex]

Magnetic ground states and the role of vortices in ferromagnetic hollow nanospheres

Goll, D., Macke, S., Berkowitz, A., Bertram, H. N.

{Physica B: Condensed Matter}, 372(1-2):282-285, 2006 (article)

mms

[BibTex]

mms Goll, D., Macke, S., Berkowitz, A., Bertram, H. N. Magnetic ground states and the role of vortices in ferromagnetic hollow nanospheres {Physica B: Condensed Matter}, 372(1-2):282-285, 2006 (article)

[BibTex]

Two-dimensional vision-based autonomous microparticle manipulation using a nanoprobe

Pawashe, C., Sitti, M.

Journal of Micromechatronics, 3(3):285-306, Brill, 2006 (article)

[BibTex]

pi Pawashe, C., Sitti, M. Two-dimensional vision-based autonomous microparticle manipulation using a nanoprobe Journal of Micromechatronics, 3(3):285-306, Brill, 2006 (article)

[BibTex]

Engineering Entrainment and Adaptation in Limit Cycle Systems – From biological inspiration to applications in robotics

Buchli, J., Righetti, L., Ijspeert, A.

Biological Cybernetics, 95(6):645-664, December 2006 (article)

Abstract

Periodic behavior is key to life and is observed in multiple instances and at multiple time scales in our metabolism, our natural environment, and our engineered environment. A natural way of modeling or generating periodic behavior is done by using oscillators, i.e., dynamical systems that exhibit limit cycle behavior. While there is extensive literature on methods to analyze such dynamical systems, much less work has been done on methods to synthesize an oscillator to exhibit some specific desired characteristics. The goal of this article is twofold: (1) to provide a framework for characterizing and designing oscillators and (2) to review how classes of well-known oscillators can be understood and related to this framework. The basis of the framework is to characterize oscillators in terms of their fundamental temporal and spatial behavior and in terms of properties that these two behaviors can be designed to exhibit. This focus on fundamental properties is important because it allows us to systematically compare a large variety of oscillators that might at first sight appear very different from each other. We identify several specifications that are useful for design, such as frequency-locking behavior, phase-locking behavior, and specific output signal shape. We also identify two classes of design methods by which these specifications can be met, namely offline methods and online methods. By relating these specifications to our framework and by presenting several examples of how oscillators have been designed in the literature, this article provides a useful methodology and toolbox for designing oscillators for a wide range of purposes. In particular, the focus on synthesis of limit cycle dynamical systems should be useful both for engineering and for computational modeling of physical or biological phenomena.

link (url) DOI [BibTex]

mg Buchli, J., Righetti, L., Ijspeert, A. Engineering Entrainment and Adaptation in Limit Cycle Systems – From biological inspiration to applications in robotics Biological Cybernetics, 95(6):645-664, December 2006 (article)

link (url) DOI [BibTex]

Pulsed-field-gradient NMR study of hydrogen diffusivity in random b.c.c. alloys VyTa1-y

Grinberg, F., Majer, G., Skripov, A. N.

{Journal of Alloys and Compounds}, 425(1-2):24-27, 2006 (article)

mms

[BibTex]

mms Grinberg, F., Majer, G., Skripov, A. N. Pulsed-field-gradient NMR study of hydrogen diffusivity in random b.c.c. alloys VyTa1-y {Journal of Alloys and Compounds}, 425(1-2):24-27, 2006 (article)

[BibTex]

Breathing Fermi surface model for noncollinear magnetization: a generalization of the Gilbert equation

Fähnle, M., Steiauf, D.

{Physical Review B}, 73, 2006 (article)

mms

[BibTex]

mms Fähnle, M., Steiauf, D. Breathing Fermi surface model for noncollinear magnetization: a generalization of the Gilbert equation {Physical Review B}, 73, 2006 (article)

[BibTex]

Reconstruction of brass for tongues and shallots from baroque organs

Baretzky, B., Friesel, M., Petelin, A., Shotanov, A., Straumal, B.

{Defect and Diffusion Forum}, 258-260, pages: 397-402, 2006 (article)

mms

DOI [BibTex]

mms Baretzky, B., Friesel, M., Petelin, A., Shotanov, A., Straumal, B. Reconstruction of brass for tongues and shallots from baroque organs {Defect and Diffusion Forum}, 258-260, pages: 397-402, 2006 (article)

DOI [BibTex]

Softening of nanostructured Al-Zn and Al-Mg alloys after severe plastic deformation

Mazilkin, A.A., Straumal, B.B., Rabkin, E., Baretzky, B., Enders, S., Protasova, S.G., Kogtenkova, O.A., Valiev, R.Z.

{Acta Materialia}, 54, pages: 3933-3939, 2006 (article)

mms

[BibTex]

mms Mazilkin, A.A., Straumal, B.B., Rabkin, E., Baretzky, B., Enders, S., Protasova, S.G., Kogtenkova, O.A., Valiev, R.Z. Softening of nanostructured Al-Zn and Al-Mg alloys after severe plastic deformation {Acta Materialia}, 54, pages: 3933-3939, 2006 (article)

[BibTex]

Comment on "Spin and orbital magnetic moments of Fe3O4

Goering, E., Lafkioti, M., Gold, S.

{Physical Review Letters}, 96(3), 2006 (article)

mms

[BibTex]

mms Goering, E., Lafkioti, M., Gold, S. Comment on "Spin and orbital magnetic moments of Fe3O4 {Physical Review Letters}, 96(3), 2006 (article)

[BibTex]

Effect of magnetic interaction on thermally activated reversal in a magnet with a distribution of energy barriers

Zhang, H. W., Zhang, S., Sun, J. R., Shen, B. G., Goll, D., Kronmüller, H.

{Journal of the Iron and Steel Research International}, 13(Suppl. 1):60-66, 2006 (article)

mms

[BibTex]

mms Zhang, H. W., Zhang, S., Sun, J. R., Shen, B. G., Goll, D., Kronmüller, H. Effect of magnetic interaction on thermally activated reversal in a magnet with a distribution of energy barriers {Journal of the Iron and Steel Research International}, 13(Suppl. 1):60-66, 2006 (article)

[BibTex]

A biomimetic climbing robot based on the gecko

Menon, C., Sitti, M.

Journal of Bionic Engineering, 3(3):115-125, 2006 (article)

[BibTex]

pi Menon, C., Sitti, M. A biomimetic climbing robot based on the gecko Journal of Bionic Engineering, 3(3):115-125, 2006 (article)

[BibTex]

Proximal probes based nanorobotic drawing of polymer micro/nanofibers

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

IEEE transactions on nanotechnology, 5(5):499-510, IEEE, 2006 (article)

[BibTex]

pi Nain, A. S., Amon, C., Sitti, M. Proximal probes based nanorobotic drawing of polymer micro/nanofibers IEEE transactions on nanotechnology, 5(5):499-510, IEEE, 2006 (article)

[BibTex]

Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life

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

Adaptive Behavior, 14(2):105-115, 2006 (article)

Abstract

Dynamical systems offer intriguing possibilities as a substrate for the generation of behavior because of their rich behavioral complexity. However this complexity together with the largely covert relation between the parameters and the behavior of the agent is also the main hindrance in the goal-oriented design of a behavior system. This paper presents a general approach to the self-regulation of dynamical systems so that the design problem is circumvented. We consider the controller (a neural net work) as the mediator for changes in the sensor values over time and define a dynamics for the parameters of the controller by maximizing the dynamical complexity of the sensorimotor loop under the condition that the consequences of the actions taken are still predictable. This very general principle is given a concrete mathematical formulation and is implemented in an extremely robust and versatile algorithm for the parameter dynamics of the controller. We consider two different applications, a mechanical device called the rocking stamper and the ODE simulations of a "snake" with five degrees of freedom. In these and many other examples studied we observed various behavior modes of high dynamical complexity.

DOI [BibTex]

al Der, R., Hesse, F., Martius, G. Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life Adaptive Behavior, 14(2):105-115, 2006 (article)

DOI [BibTex]

Magnetic vortex core reversal by excitation with short bursts of an alternating field

Van Waeyenberge, B., Puzic, A., Stoll, H., Chou, K. W., Tyliszczak, T., Hertel, R., Fähnle, M., Bruckl, H., Rott, K., Reiss, G., Neudecker, I., Weiss, D., Back, C. H., Schütz, G.

{Nature}, 444(7118):461-464, 2006 (article)

mms

[BibTex]

mms Van Waeyenberge, B., Puzic, A., Stoll, H., Chou, K. W., Tyliszczak, T., Hertel, R., Fähnle, M., Bruckl, H., Rott, K., Reiss, G., Neudecker, I., Weiss, D., Back, C. H., Schütz, G. Magnetic vortex core reversal by excitation with short bursts of an alternating field {Nature}, 444(7118):461-464, 2006 (article)

[BibTex]

Structure and magnetism in bcc-based iron-cobalt alloys

Diaz-Ortiz, A., Drautz, R., Fähnle, M., Dosch, H., Sanchez, J. M.

{Physical Review B}, 73, 2006 (article)

mms

[BibTex]

mms Diaz-Ortiz, A., Drautz, R., Fähnle, M., Dosch, H., Sanchez, J. M. Structure and magnetism in bcc-based iron-cobalt alloys {Physical Review B}, 73, 2006 (article)

[BibTex]

Role of nonequilibrium conduction electrons on the magnetization dynamics of ferromagnets in the s-d model

Fähnle, M., Singer, R., Steiauf, D., Antropov, V. P.

{Physical Review B}, 73, 2006 (article)

mms

[BibTex]

mms Fähnle, M., Singer, R., Steiauf, D., Antropov, V. P. Role of nonequilibrium conduction electrons on the magnetization dynamics of ferromagnets in the s-d model {Physical Review B}, 73, 2006 (article)

[BibTex]

Hydrogen adsorption in metal-organic frameworks: Cu-MOFs and Zn-MOFs compared

Panella, B., Hirscher, M., Pütter, H., Müller, U.

{Advanced Functional Materials}, 16, pages: 520-524, 2006 (article)

mms

[BibTex]

mms Panella, B., Hirscher, M., Pütter, H., Müller, U. Hydrogen adsorption in metal-organic frameworks: Cu-MOFs and Zn-MOFs compared {Advanced Functional Materials}, 16, pages: 520-524, 2006 (article)

[BibTex]

Hardness of nanostructured Al-Zn, Al-Mg and Al-Zn-Mg alloys obtained by high-pressure torsion

Mazilkin, A.A., Baretzky, B., Enders, S., Kogtenkova, O.A., Straumal, B.B., Rabkin, E., Valiev, R.Z.

{Defect and Diffusion Forum}, 249, pages: 155-160, 2006 (article)

mms

[BibTex]

mms Mazilkin, A.A., Baretzky, B., Enders, S., Kogtenkova, O.A., Straumal, B.B., Rabkin, E., Valiev, R.Z. Hardness of nanostructured Al-Zn, Al-Mg and Al-Zn-Mg alloys obtained by high-pressure torsion {Defect and Diffusion Forum}, 249, pages: 155-160, 2006 (article)

[BibTex]

1994

Robot juggling: An implementation of memory-based learning

Schaal, S., Atkeson, C. G.

Control Systems Magazine, 14(1):57-71, 1994, clmc (article)

Abstract

This paper explores issues involved in implementing robot learning for a challenging dynamic task, using a case study from robot juggling. We use a memory-based local modeling approach (locally weighted regression) to represent a learned model of the task to be performed. Statistical tests are given to examine the uncertainty of a model, to optimize its prediction quality, and to deal with noisy and corrupted data. We develop an exploration algorithm that explicitly deals with prediction accuracy requirements during exploration. Using all these ingredients in combination with methods from optimal control, our robot achieves fast real-time learning of the task within 40 to 100 trials.

link (url) [BibTex]

1994

am Schaal, S., Atkeson, C. G. Robot juggling: An implementation of memory-based learning Control Systems Magazine, 14(1):57-71, 1994, clmc (article)

link (url) [BibTex]

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.

link (url) DOI [BibTex]

pi Dwivedi, C., Pandey, I., Pandey, H., Patil, S., Mishra, S. B., Pandey, A. C., Zamboni, P., Ramteke, P. W., Singh, A. V. In vivo diabetic wound healing with nanofibrous scaffolds modified with gentamicin and recombinant human epidermal growth factor Journal of Biomedical Materials Research Part A, 106(3):641-651, March (article)

link (url) DOI [BibTex]

The near and far of a pair of magnetic capillary disks

(article)

[BibTex]

The near and far of a pair of magnetic capillary disks (article)

[BibTex]

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]

Marco, A., Baumann, D., Hennig, P., Trimpe, S. Classified Regression for Bayesian Optimization: Robot Learning with Unknown Penalties Submitted to Journal (under review) (article)

PDF link (url) [BibTex]

3D‐Printed Microrobotic Transporters with Recapitulated Stem Cell Niche for Programmable and Active Cell Delivery

(article)

Magnetic microtransporters for stem cell delivery [BibTex]

pi 3D‐Printed Microrobotic Transporters with Recapitulated Stem Cell Niche for Programmable and Active Cell Delivery (article)

Magnetic microtransporters for stem cell delivery [BibTex]

test

(article)

[BibTex]

test (article)

[BibTex]

Modeling Six Degrees of Freedom Rigid-Body Motion of a Thermocapillary Microswimmer

Tabak, A., Amador, G., Sitti, M.

(article)

[BibTex]

pi Tabak, A., Amador, G., Sitti, M. Modeling Six Degrees of Freedom Rigid-Body Motion of a Thermocapillary Microswimmer (article)

[BibTex]

Chemical Nanomotors at the Gram Scale Form a Dense Active Optorheological Medium

(article)

[BibTex]

pf Chemical Nanomotors at the Gram Scale Form a Dense Active Optorheological Medium (article)

[BibTex]

textes

(article)

mms

[BibTex]

mms textes (article)

[BibTex]

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)

[BibTex]

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

[BibTex]