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2015


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Human Machine Interface for Dexto Eka: - The humanoid robot

Kumra, S., Mohan, M., Gupta, S., Vaswani, H.

In Proceedings of the IEEE International Conference on Robotics, Automation, Control and Embedded Systems (RACE), Chennai, India, Febuary 2015 (inproceedings)

Abstract
This paper illustrates hybrid control system of the humanoid robot, Dexto:Eka: focusing on the dependent or slave mode. Efficiency of any system depends on the fluid operation of its control system. Here, we elucidate the control of 12 DoF robotic arms and an omnidirectional mecanum wheel drive using an exo-frame, and a Graphical User Interface (GUI) and a control column. This paper comprises of algorithms, control mechanisms and overall flow of execution for the regulation of robotic arms, graphical user interface and locomotion.

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DOI [BibTex]

2015


DOI [BibTex]


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Conception and development of Dexto:Eka: The Humanoid Robot - Part IV

Kumra, S., Mohan, M., Vaswani, H., Gupta, S.

In Proceedings of the IEEE International Conference on Robotics, Automation, Control and Embedded Systems (RACE), Febuary 2015 (inproceedings)

Abstract
This paper elucidates the fourth phase of the development of `Dexto:Eka: - The Humanoid Robot'. It lays special emphasis on the conception of the locomotion drive and the development of vision based system that aids navigation and tele-operation. The first three phases terminated with the completion of two robotic arms with six degrees of freedom each, structural development and the creation of a human machine interface that included an exo-frame, a control column and a graphical user interface. This phase also involved the enhancement of the exo-frame to a vision based system using a Kinect camera. The paper also focuses on the reasons behind choosing the locomotion drive and the benefits it has.

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DOI [BibTex]

DOI [BibTex]

2014


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Tubular micro- nanorobots: smart design for bio-related applications

Sanchez, S., Wang, X., Solovev, A. A., Soler, L., Magdanz, V., Schmidt, O. G.

In Small-Scale Robotics, 8336, pages: 16-27, Lecture Notes in Computer Science, Springer, Karlsruhe, 2014 (inproceedings)

Abstract
We designed microrobots in the form of autonomous and remotely guided microtubes. One of the challenges at small scales is the effective conversion of energy into mechanical force to overcome the high viscosity of the fluid at low Reynolds numbers. This can be achieved by integration of catalytic nano-materials and processes to decompose chemical fuels. However, up to now, mostly hydrogen peroxide has been employed as a fuel which renders the potential applications in biomedicine and in vivo experiments. Therefore, other sources of energy to achieve motion at the micro- nanoscale are highly sought-after. Here, we present different types of tubular micro- and nanorobots, alternative approaches to toxic fuels and also, steps towards the use of tubular microrobots as micro- and nanotools

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DOI [BibTex]

2014


DOI [BibTex]


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Cosmology in a petri dish? Simulation of collective dynamics of colloids at fluid interfaces

Bleibel, J.

In EPJ Web of Conferences, 70, EDP Sciences, 2014 (inproceedings)

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DOI [BibTex]


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Trajectory to trajectory fluctuations in first-passage phenomena in bounded domains

Mattos, Thiago G., Mejia-Monasterio, Carlos, Metzler, Ralf, Oshanin, Gleb, Schehr, G.

In First-passage phenomena and their applications, pages: 203-225, World Scientific Publishing, Singapore, 2014 (incollection)

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DOI [BibTex]

DOI [BibTex]

2009


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Critical and multicritical behavior of the +/-J Ising model in two and three dimensions

Hasenbusch, M., Parisen Toldin, F., Pelissetto, A., Vicari, E.

In Journal of Physics: Conference Series, 145, Braunschweig, 2009 (inproceedings)

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DOI [BibTex]

2009


DOI [BibTex]

2007


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Inhomogeneous platelets and rod fluids

Harnau, L., Dietrich, S.

In Soft Matter, Vol. 3, pages: 156-311, Wiley-VCH, Weinheim, 2007 (incollection)

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[BibTex]

2007


[BibTex]


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Single lamella crystals of polyethylene accessible by catalytic emulsion-polymerization

Weber, C. H. M., Chiche, A., Krausch, G., Rosenfeldt, S., Ballauff, M., Goettker-Schnetmann, I., Tong, Q., Mecking, S., Harnau, L.

In Polymeric Materials: Science \& Engineering, 97, pages: 133-134, 2007 (inproceedings)

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[BibTex]

[BibTex]

2002


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Morphology of Condensed Matter - Physics and Geometry of Spatially Complex Systems
600, pages: 439 p., Lecture Notes in Physics, Springer, Berlin [et al.], 2002 (book)

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[BibTex]

2002


[BibTex]


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Nucleons as relativistic three-quark states

Oettel, M.

In Proceedings of the Workshop on Physics at the Japan Hadron Facility (JHF), pages: 203-211, World Scientific, Adelaide, Australia, 2002 (inproceedings)

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[BibTex]

[BibTex]


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Mark Correlations: Relating Physical Properties to Spatial Distributions

Beisbart, C., Kerscher, M., Mecke, K.

In Morphology of Condensed Matter, 600, pages: 358-390, Lecture Notes in Physics, Springer, Berlin [et al.], 2002 (incollection)

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[BibTex]

[BibTex]


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Capture-Numbers and Island Size-Distributions in Irreversible Homoepitaxial Growth: A Rate-Equation Approach

Popescu, M. N., Family, F., Amar, J. G.

In Atomistic Aspects of Epitaxial Growth, pages: 99-110, NATO Science Series: Series 2, Mathematics, Physics, and Chemistry, Kluwer Academic Publishers, Dassia [Korfu, Greece], 2002 (inproceedings)

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[BibTex]

[BibTex]


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Vector- und Tensor-Valued Descriptors for Spatial Patterns

Beisbart, C., Dahlke, R., Mecke, K., Wagner, H.

In Morphology of Condensed Matter, 600, pages: 238-260, Lecture Notes in Physics, Springer, Berlin [et al.], 2002 (incollection)

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[BibTex]

[BibTex]


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Characterizing the Morphology of Disordered Materials

Arns, C. H., Knackstedt, M. A., Mecke, K.

In Morphology of Condensed Matter, 600, pages: 37-74, Lecture Notes in Physics, Springer, Berlin [et al.], 2002 (incollection)

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[BibTex]

[BibTex]


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Non-Gaussian morphology of galaxy-cluster distribution: Minkowski functionals of the REFLEX catalogue

Kerscher, M., Mecke, K., Schücker, P., Reflex Collaboration

In Tracing Cosmic Evolution with Galaxy Clusters. Proceedings of the Sesto-2001 Workshop, 268, pages: 60-62, Astronomical Society Pacific Conference Series, Alto Adige/Südtirol, 2002 (inproceedings)

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[BibTex]

[BibTex]