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2020


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Vision-based Force Estimation for a da Vinci Instrument Using Deep Neural Networks

Lee, Y., Husin, H. M., Forte, M. P., Lee, S., Kuchenbecker, K. J.

Extended abstract presented as an Emerging Technology ePoster at the Annual Meeting of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES), Cleveland, Ohio, USA, April 2020 (misc) Accepted

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[BibTex]

2020


[BibTex]


Do touch gestures affect how electrovibration feels?
Do touch gestures affect how electrovibration feels?

Vardar, Y., Kuchenbecker, K. J.

Hands-on demonstration (1 page) presented at IEEE Haptics Symposium, March 2020 (misc) Accepted

hi

[BibTex]

[BibTex]


Learning to Predict Perceptual Distributions of Haptic Adjectives
Learning to Predict Perceptual Distributions of Haptic Adjectives

Richardson, B. A., Kuchenbecker, K. J.

Frontiers in Neurorobotics, 13(116):1-16, Febuary 2020 (article)

Abstract
When humans touch an object with their fingertips, they can immediately describe its tactile properties using haptic adjectives, such as hardness and roughness; however, human perception is subjective and noisy, with significant variation across individuals and interactions. Recent research has worked to provide robots with similar haptic intelligence but was focused on identifying binary haptic adjectives, ignoring both attribute intensity and perceptual variability. Combining ordinal haptic adjective labels gathered from human subjects for a set of 60 objects with features automatically extracted from raw multi-modal tactile data collected by a robot repeatedly touching the same objects, we designed a machine-learning method that incorporates partial knowledge of the distribution of object labels into training; then, from a single interaction, it predicts a probability distribution over the set of ordinal labels. In addition to analyzing the collected labels (10 basic haptic adjectives) and demonstrating the quality of our method's predictions, we hold out specific features to determine the influence of individual sensor modalities on the predictive performance for each adjective. Our results demonstrate the feasibility of modeling both the intensity and the variation of haptic perception, two crucial yet previously neglected components of human haptic perception.

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DOI [BibTex]

DOI [BibTex]


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Exercising with Baxter: preliminary support for assistive social-physical human-robot interaction

Fitter, N. T., Mohan, M., Kuchenbecker, K. J., Johnson, M. J.

Journal of NeuroEngineering and Rehabilitation, 17(19), Febuary 2020 (article)

Abstract
Background: The worldwide population of older adults will soon exceed the capacity of assisted living facilities. Accordingly, we aim to understand whether appropriately designed robots could help older adults stay active at home. Methods: Building on related literature as well as guidance from experts in game design, rehabilitation, and physical and occupational therapy, we developed eight human-robot exercise games for the Baxter Research Robot, six of which involve physical human-robot contact. After extensive iteration, these games were tested in an exploratory user study including 20 younger adult and 20 older adult users. Results: Only socially and physically interactive games fell in the highest ranges for pleasantness, enjoyment, engagement, cognitive challenge, and energy level. Our games successfully spanned three different physical, cognitive, and temporal challenge levels. User trust and confidence in Baxter increased significantly between pre- and post-study assessments. Older adults experienced higher exercise, energy, and engagement levels than younger adults, and women rated the robot more highly than men on several survey questions. Conclusions: The results indicate that social-physical exercise with a robot is more pleasant, enjoyable, engaging, cognitively challenging, and energetic than similar interactions that lack physical touch. In addition to this main finding, researchers working in similar areas can build on our design practices, our open-source resources, and the age-group and gender differences that we found.

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DOI [BibTex]

DOI [BibTex]


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Sliding Mode Control with Gaussian Process Regression for Underwater Robots

Lima, G. S., Trimpe, S., Bessa, W. M.

Journal of Intelligent & Robotic Systems, January 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks
Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks

Beuchert, J., Solowjow, F., Raisch, J., Trimpe, S., Seel, T.

IEEE Control Systems Letters, 4(1):103-108, January 2020 (article)

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arXiv PDF DOI Project Page [BibTex]

arXiv PDF DOI Project Page [BibTex]


Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems
Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems

Baumann, D., Mager, F., Zimmerling, M., Trimpe, S.

IEEE Control Systems Letters, 4(1):127-132, January 2020 (article)

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arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


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Effect of the soft layer thickness of magnetization reversal process of exchange-spring nanomagnet patterns

Son, K., Schütz, G., Goering, E.

{Current Applied Physics}, 20(4):477-483, Elsevier B.V., Amsterdam, 2020 (article)

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DOI [BibTex]


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Tuning the magnetic properties of permalloy-based magnetoplasmonic crystals for sensor applications

Murzin, D. V., Belyaev, V. K., Groß, F., Gräfe, J., Rivas, M., Rodionova, V. V.

{Japanese Journal of Applied Physics}, 59(SE), IOP Publishing Ltd, Bristol, England, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Element-resolved study of the evolution of magnetic response in FexN compounds

Chen, Y., Gölden, D., Dirba, I., Huang, M., Gutfleisch, O., Nagel, P., Merz, M., Schuppler, S., Schütz, G., Alff, L., Goering, E.

{Journal of Magnetism and Magnetic Materials}, 498, NH, Elsevier, Amsterdam, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Controlling two-dimensional collective formation and cooperative behavior of magnetic microrobot swarms
Controlling two-dimensional collective formation and cooperative behavior of magnetic microrobot swarms

Dong, X., Sitti, M.

The International Journal of Robotics Research, 2020 (article)

Abstract
Magnetically actuated mobile microrobots can access distant, enclosed, and small spaces, such as inside microfluidic channels and the human body, making them appealing for minimally invasive tasks. Despite their simplicity when scaling down, creating collective microrobots that can work closely and cooperatively, as well as reconfigure their formations for different tasks, would significantly enhance their capabilities such as manipulation of objects. However, a challenge of realizing such cooperative magnetic microrobots is to program and reconfigure their formations and collective motions with under-actuated control signals. This article presents a method of controlling 2D static and time-varying formations among collective self-repelling ferromagnetic microrobots (100 μm to 350 μm in diameter, up to 260 in number) by spatially and temporally programming an external magnetic potential energy distribution at the air–water interface or on solid surfaces. A general design method is introduced to program external magnetic potential energy using ferromagnets. A predictive model of the collective system is also presented to predict the formation and guide the design procedure. With the proposed method, versatile complex static formations are experimentally demonstrated and the programmability and scaling effects of formations are analyzed. We also demonstrate the collective mobility of these magnetic microrobots by controlling them to exhibit bio-inspired collective behaviors such as aggregation, directional motion with arbitrary swarm headings, and rotational swarming motion. Finally, the functions of the produced microrobotic swarm are demonstrated by controlling them to navigate through cluttered environments and complete reconfigurable cooperative manipulation tasks.

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DOI [BibTex]


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The role of temperature and drive current in skyrmion dynamics

Litzius, K., Leliaert, J., Bassirian, P., Rodrigues, D., Kromin, S., Lemesh, I., Zazvorka, J., Lee, K., Mulkers, J., Kerber, N., Heinze, D., Keil, N., Reeve, R. M., Weigand, M., Van Waeyenberge, B., Schütz, G., Everschor-Sitte, K., Beach, G. S. D., Kläui, M.

{Nature Electronics}, 3(1):30-36, Springer Nature, London, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic flux penetration into micron-sized superconductor/ferromagnet bilayers

Simmendinger, J., Weigand, M., Schütz, G., Albrecht, J.

{Superconductor Science and Technology}, 33(2), IOP Pub., Bristol, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Fabrication and temperature-dependent magnetic properties of large-area L10-FePt/Co exchange-spring magnet nanopatterns

Son, K., Schütz, G.

{Physica E: Low-Dimensional Systems And Nanostructures}, 115, North-Holland, Amsterdam, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage
Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage

Haksar, R. N., Trimpe, S., Schwager, M.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

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DOI [BibTex]

DOI [BibTex]


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Thermal nucleation and high-resolution imaging of submicrometer magnetic bubbles in thin thulium iron garnet films with perpendicular anisotropy

Büttner, F., Mawass, M. A., Bauer, J., Rosenberg, E., Caretta, L., Avci, C. O., Gräfe, J., Finizio, S., Vaz, C. A. F., Novakovic, N., Weigand, M., Litzius, K., Förster, J., Träger, N., Groß, F., Suzuki, D., Huang, M., Bartell, J., Kronast, F., Raabe, J., Schütz, G., Ross, C. A., Beach, G. S. D.

{Physical Review Materials}, 4(1), American Physical Society, College Park, MD, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control
Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control

Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

Abstract
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs). The result is a new approach for complex tasks with nonlinear, uncertain, and constrained dynamics as are common in robotics. Specifically, we leverage recent results in MPC research to propose a new robust setpoint tracking MPC algorithm, which achieves reliable and safe tracking of a dynamic setpoint while guaranteeing stability and constraint satisfaction. The presented robust MPC scheme constitutes a one-layer approach that unifies the often separated planning and control layers, by directly computing the control command based on a reference and possibly obstacle positions. As a separate contribution, we show how the computation time of the MPC can be drastically reduced by approximating the MPC law with a NN controller. The NN is trained and validated from offline samples of the MPC, yielding statistical guarantees, and used in lieu thereof at run time. Our experiments on a state-of-the-art robot manipulator are the first to show that both the proposed robust and approximate MPC schemes scale to real-world robotic systems.

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arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]

2009


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Magnetic mobile micro-robots

Pawashe, C., Floyd, S., Sitti, M.

7eme Journees Nationales de la Recherche en Robotique, 2009 (article)

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[BibTex]

2009


[BibTex]


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Gecko-Inspired Directional and Controllable Adhesion

Murphy, M. P., Aksak, B., Sitti, M.

Small, 5(2):170-175, WILEY-VCH Verlag, 2009 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Multiple magnetic microrobot control using electrostatic anchoring

Pawashe, C., Floyd, S., Sitti, M.

Applied Physics Letters, 94(16):164108, AIP, 2009 (article)

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[BibTex]

[BibTex]


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Characterization of bacterial actuation of micro-objects

Behkam, B., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 1022-1027, 2009 (inproceedings)

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[BibTex]

[BibTex]


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Wet self-cleaning of biologically inspired elastomer mushroom shaped microfibrillar adhesives

Kim, S., Cheung, E., Sitti, M.

Langmuir, 25(13):7196-7199, ACS Publications, 2009 (article)

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[BibTex]

[BibTex]


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Compliant footpad design analysis for a bio-inspired quadruped amphibious robot

Park, H. S., Sitti, M.

In Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pages: 645-651, 2009 (inproceedings)

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[BibTex]

[BibTex]


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One-dimensional phthalocyanine nanostructures directed by gold templates

Krauss, T. N., Barrena, E., Lohmüller, T., Kelsch, M., Breitling, A., Van Aken, P. A., Spatz, J., Dosch, H.

{Chemistry of Materials}, 21, pages: 5010-5015, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetische L10-FePt Nanostrukturen für höchste Datenspeicherdichten

Breitling, A.

Universität Stuttgart, Stuttgart, 2009 (phdthesis)

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[BibTex]

[BibTex]


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Near-edge X-ray absorption fine-structure microscopy of organic and magnetic materials

Ade, H., Stoll, H.

{Nature Materials}, 8, pages: 281-290, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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X-ray imaging of the dynamic magnetic vortex core deformation

Vansteenkiste, A., Chou, K. W., Weigand, M., Curcic, M., Sackmann, V., Stoll, H., Tyliszczak, T., Woltersdorf, G., Back, C. H., Schütz, G., Van Waeyenberge, B.

{Nature Physics}, 5, pages: 332-334, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Order\textendashdisorder transition and valence state of ytterbium in YbAuxGa2-x(0.26 \textless\textequalsx \textless\textequals1.31)

Gumeniuk, R., Bischoff, E., Burkhardt, U., Prots, Y., Schnelle, W., Vasylechko, L., Schmidt, M., Kuzma, Y., Grin, Y.

{Journal of Solid State Chemistry}, 182(12):3374-3382, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Coercivity of ledge-type L10-FePt/Fe nanocomposites with perpendicular magnetization

Goll, D., Breitling, A.

{Applied Physics Letters}, 94, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Time-resolved X-ray microscopy of nanoparticle aggregates under oscillatory shear

Auernhammer, G. K., Fauth, K., Ullrich, B., Zhao, J., Weigand, M., Vollmer, D.

{Journal of Synchrotron Radiation}, 16, pages: 307-309, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Micromagnetism of advanced hard magnetic materials

Kronmüller, H., Goll, D.

{International Journal of Materials Research}, 100, pages: 640-651, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Confinement of MgH2 nanoclusters within nanoporous aerogel scaffold materials

Nielsen, T. K., Manickam, K., Hirscher, M., Besenbacher, F., Jensen, T. R.

{American Chemical Society Nano}, 3(11):3521-3528, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Possible definition of atom- and bond-resolved contributions to the magnetocrystalline anisotropy energy

Subkow, S., Fähnle, M.

{Physical Review B}, 80, 2009 (article)

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DOI [BibTex]


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A novel artificial hair receptor based on aligned PVDF micro/nano fibers

Weiting, Liu, Bilsay, Sumer, Cesare, Stefanini, Arianna, Menciassi, Fei, Li, Dajing, Chen, Paolo, Dario, Metin, Sitti, Xin, Fu

In Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on, pages: 49-54, 2009 (inproceedings)

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[BibTex]

[BibTex]


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Robot ceiling climbers harness new tricks

Marks, Paul

New Scientist, 202(2705):18-19, Reed Business Information, 2009 (article)

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[BibTex]

[BibTex]


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Waalbot: Agile climbing with synthetic fibrillar dry adhesives

Murphy, M. P., Sitti, M.

In Robotics and Automation, 2009. ICRA’09. IEEE International Conference on, pages: 1599-1600, 2009 (inproceedings)

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[BibTex]

[BibTex]


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Biologically-Inspired Patterned and Coated Adhesives for Medical Devices

Glass, P, Chung, H, Lee, C, Tworkoski, E, Washburn, NR, Sitti, M

Journal of Medical Devices, 3(2):027537, American Society of Mechanical Engineers, 2009 (article)

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[BibTex]

[BibTex]


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Modeling and experimental characterization of an untethered magnetic micro-robot

Pawashe, C., Floyd, S., Sitti, M.

The International Journal of Robotics Research, 28(8):1077-1094, Sage Publications, 2009 (article)

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[BibTex]

[BibTex]


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Towards automated nanoassembly with the atomic force microscope: A versatile drift compensation procedure

Krohs, F., Onal, C., Sitti, M., Fatikow, S.

Journal of Dynamic Systems, Measurement, and Control, 131(6):061106, American Society of Mechanical Engineers, 2009 (article)

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[BibTex]

[BibTex]


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Ab-initio Elliott-Yafet modeling of ultrafast demagnetization after laser irradiation

Illg, C.

Universität Stuttgart, Stuttgart, 2009 (mastersthesis)

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[BibTex]

[BibTex]


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Element specific investigation of the magnetization profile at the CrO2/RuO2 interface

Zafar, K.

Universität Stuttgart, Stuttgart, 2009 (mastersthesis)

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[BibTex]

[BibTex]


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Complex magnetic phase in submonolayer Fe stripes on Pt(977)

Honolka, J., Lee, T. Y., Kuhnke, K., Repetto, D., Sessi, V., Wahl, P., Buchsbaum, A., Varga, P., Gardonio, S., Carbone, C., Krishnakumar, S. R., Gambardella, P., Komelj, M., Singer, R., Fähnle, M., Fauth, K., Schütz, G., Enders, A., Kern, K.

{Physical Review B}, 79, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Local and nonlocal atomic contributions to unit-cell damping in near-adiabatic collinear magnetization dynamics

Seib, J., Steiauf, D., Fähnle, M.

{Physical Review B}, 79, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Temperature-dependent critical currents in superconducting YBa2Cu3O7-δand ferromagnetic La2/3Ca1/3MnO3 hybrid structures

Djupmyr, M., Soltan, S., Habermeier, H.-U., Albrecht, J.

{Physical Review B}, 80, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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High surface area polyHIPEs with hierarchical pore system

Schwab, M. G., Senkovska, I., Rose, M., Klein, N., Koch, M., Pahnke, J., Jonschker, G., Schmitz, B., Hirscher, M., Kaskel, S.

{Soft Matter}, 5, pages: 1055-1059, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Grain boundary wetting phase transformations in the Zn-Sn and Zn-In systems

Gornakova, A. S., Straumal, B. B., Tsurekawa, S., Chang, L.-S., Nekrasov, A. N.

{Reviews on Advanced Materials Science}, 21(1):18-26, 2009 (article)

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[BibTex]

[BibTex]


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Magnetization study of nanograined pure and Mn-doped ZnO films: formation of a ferromagnetic grain-boundary foam

Straumal, B. B., Mazilkin, A. A., Protasova, S. G., Myatiev, A. A., Straumal, P. B., Schütz, G., van Aken, P. A., Goering, E., Baretzky, B.

{Physical Review B}, 79, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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In situ synthesis and hydrogen storage properties of PdNi alloy nanoparticles in an ordered mesoporous carbon template

Campesi, R., Cuevas, F., Leroy, E., Hirscher, M., Gadiou, R., Vix-Guterl, C., Latroche, M.

{Microporous and Mesoporous Materials}, 117, pages: 511-514, 2009 (article)

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DOI [BibTex]

DOI [BibTex]