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2010


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Comment on biomimetic ultrathin whitening by capillary-force-induced random clustering of hydrogel micropillar arrays

Bernardino, N. R., Dietrich, S.

ACS Applied Materials \& Interfaces, 2(3):603-604, 2010 (article)

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DOI [BibTex]

2010


DOI [BibTex]


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Wetting of surfaces covered by elastic hairs

Bernardino, N. R., Blickle, V., Dietrich, S.

Langmuir, 26(10):7233-7241, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Phase diagrams of binary mixtures of oppositely charged colloids

Bier, M., van Roij, R., Dijkstra, M.

Journal of Chemical Physics, 133(12), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Narrow-escape times for diffusion in microdomains with a particle-surface affinity: mean-field results

Oshanin, G., Tamm, M., Vasilyev, O.

Journal of Chemical Physics, 132(23), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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The localization transition of the two-dimensional Lorentz model

Bauer, T., Höfling, Felix, Munk, T., Frey, E., Franosch, T.

European Physical Journal - Special Topics, 189(1):103-118, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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DDFT for Brownian particles and hydrodynamics

Rauscher, M.

Journal of Physics: Condensed Matter, 22(36), 2010 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Colloidal particles in liquid crystal films and at interfaces

Tasinkevych, M., Andrienko, D.

Condensed Matter Physics, 13(3), 2010 (article)

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[BibTex]

[BibTex]


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Phase behavior of ionic liquid crystals

Kondrat, S., Bier, M., Harnau, L.

The Journal of Chemical Physics, 132, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Nanoindentation studies on crosslinking and curing effects of PDMS

Deuschle, J. K., de Souza, E. J., Arzt, E., Enders, S.

International Journal of Materials Research, 101(8):1014-1023, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Fundamental measure theory for hard-sphere mixtures: a review

Roth, R.

Journal of Physics: Condensed Matter, 22(6), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Universality of the glassy transitions in the two-dimensional \pmJ Ising model

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

Physical Review E, 82(2), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Phoretic motion of spheroidal particles due to self-generated solute gradients

Popescu, M. N., Dietrich, S., Tasinkevych, M., Ralston, J.

European Physical Journal E, 31(04):351-367, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir forces involving a chemically structured substrate

Parisen Toldin, F., Dietrich, S.

In International Journal of Modern Physics, 25, pages: 355-359, University of Oklahoma, USA, 2010 (inproceedings)

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DOI [BibTex]

DOI [BibTex]


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Vapor pressure of ionic liquids

Bier, M., Dietrich, S.

Molecular Physics, 108(2):211-214, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Colloidal aggregation and critical Casimir forces

Gambassi, A., Dietrich, S.

Physical Review Letters, 105(5), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Localization phenomena in models of ion-conduction glass formers

Horbach, J., Voigtmann, T., Höfling, F., Franosch, T.

European Physical Journal - Special Topics, 189(1):141-145, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Tensorial density functional theory for non-spherical hard-body fluids

Hansen-Goos, H., Mecke, K.

Journal of Physics: Condensed Matter, 22(36), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Thermoresponsive colloidal molecules

Hoffmann, M., Siebenbürger, M., Harnau, L., Hund, M., Hanske, C., Wagner, C. S., Drechsler, M., Ballauff, M.

Soft Matter, 6, pages: 1125-1128, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir forces and adsorption profiles in the presence of a chemically structured substrate

Parisen Toldin, F., Dietrich, S.

Journal of Statistical Mechanics: Theory and Experiment, (Nov.), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Free energy of colloidal particles at the surface of sessile drops

Guzowski, J., Tasinkevych, M., Dietrich, S.

European Physical Journal, 33(3):219-242, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Casimir interactions in Ising strips with boundary fields: exact results

Abraham, D. B., Maciolek, A.

Physical Review Letters, 105(5), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Ballistic deposition patterns beneath a growing Kardar-Parisi-Zhang interface

Khanin, K., Nechaev, S., Oshanin, G., Sobolevski, A., Vasilyev, O.

Physical Review E, 82(6), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Vapour pressure of ionic liquids. Corrigendum

Bier, M., Dietrich, S.

Molecular Physics, 108(10):1413-1413, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Wetting of nanopatterned grooved surfaces

Hofmann, T., Tasinkevych, M., Checco, A., Dobisz, E., Dietrich, S., Ocko, B. M.

Physical Review Letters, 104(10), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir effect for colloids close to chemically patterned substrates

Tröndle, M., Kondrat, S., Gambassi, A., Harnau, L., Dietrich, S.

Journal of Chemical Physics, 133(7), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Dynamics of colloidal particles with capillary interactions

Dominguez, A., Oettel, M., Dietrich, S.

Physical Review E, 82(1), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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A fluorescence correlation spectroscopy study of macromolecular tracer diffusion in polymer solutions

Zettl, U., Ballauff, M., Harnau, L.

Journal of Physics: Condensed Matter, 22, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Anomalous transport resolved in space and time by fluorescence correlation spectroscopy

Höfling, F., Bamberg, K. U., Franosch, T.

Soft Matter, 7(4):1358-1363, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Constrained Accelerations for Controlled Geometric Reduction: Sagittal-Plane Decoupling for Bipedal Locomotion

Gregg, R., Righetti, L., Buchli, J., Schaal, S.

In 2010 10th IEEE-RAS International Conference on Humanoid Robots, pages: 1-7, IEEE, Nashville, USA, 2010 (inproceedings)

Abstract
Energy-shaping control methods have produced strong theoretical results for asymptotically stable 3D bipedal dynamic walking in the literature. In particular, geometric controlled reduction exploits robot symmetries to control momentum conservation laws that decouple the sagittal-plane dynamics, which are easier to stabilize. However, the associated control laws require high-dimensional matrix inverses multiplied with complicated energy-shaping terms, often making these control theories difficult to apply to highly-redundant humanoid robots. This paper presents a first step towards the application of energy-shaping methods on real robots by casting controlled reduction into a framework of constrained accelerations for inverse dynamics control. By representing momentum conservation laws as constraints in acceleration space, we construct a general expression for desired joint accelerations that render the constraint surface invariant. By appropriately choosing an orthogonal projection, we show that the unconstrained (reduced) dynamics are decoupled from the constrained dynamics. Any acceleration-based controller can then be used to stabilize this planar subsystem, including passivity-based methods. The resulting control law is surprisingly simple and represents a practical way to employ control theoretic stability results in robotic platforms. Simulated walking of a 3D compass-gait biped show correspondence between the new and original controllers, and simulated motions of a 16-DOF humanoid demonstrate the applicability of this method.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Inverse dynamics with optimal distribution of ground reaction forces for legged robot

Righetti, L., Buchli, J., Mistry, M., Schaal, S.

In Proceedings of the 13th International Conference on Climbing and Walking Robots (CLAWAR), pages: 580-587, Nagoya, Japan, sep 2010 (inproceedings)

Abstract
Contact interaction with the environment is crucial in the design of locomotion controllers for legged robots, to prevent slipping for example. Therefore, it is of great importance to be able to control the effects of the robots movements on the contact reaction forces. In this contribution, we extend a recent inverse dynamics algorithm for floating base robots to optimize the distribution of contact forces while achieving precise trajectory tracking. The resulting controller is algorithmically simple as compared to other approaches. Numerical simulations show that this result significantly increases the range of possible movements of a humanoid robot as compared to the previous inverse dynamics algorithm. We also present a simplification of the result where no inversion of the inertia matrix is needed which is particularly relevant for practical use on a real robot. Such an algorithm becomes interesting for agile locomotion of robots on difficult terrains where the contacts with the environment are critical, such as walking over rough or slippery terrain.

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DOI [BibTex]

DOI [BibTex]

2004


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Model for spreading of liquid monolayers

Popescu, M. N., Dietrich, S.

Physical Review E, 69, 2004 (article)

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[BibTex]

2004



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Euler-Poincare characteristics of disordered media: an application in effective medium theories

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

In Microscopy and Microanalysis, 10, pages: 714-715, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Calatytic reactions with bulk-mediated excursions: Mixing fails to restore chemical equilibrium

Coppey, M., Benichou, O., Klafter, J., Moreau, M., Oshanin, G.

Physical Review E, 69, 2004 (article)

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[BibTex]

[BibTex]


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Decay of correlation functions in hard-sphere mixtures: Structural crossover

Grodon, C., Dijkstra, M., Evans, R., Roth, R.

Journal of Chemical Physics, 121(16):7869-7882, 2004 (article)

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[BibTex]

[BibTex]


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Comment on "Dynamic behavior of anisotropic nonequilibrium driving lattice gases"

Caracciolo, S., Gambassi, A., Gubinelli, M., Pelissetto, A.

Physical Review Letters, 92, 2004 (article)

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[BibTex]

[BibTex]


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Continuum mesoscale theory inspired by plasticity

Sethna, J. P., Rauscher, M., Bouchaud, J.-P.

Europhysics Letters, 65(5):665-670, 2004 (article)

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[BibTex]

[BibTex]


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Colloidal hard-rod fluids near geometrically structured substrates

Harnau, L., Penna, F., Dietrich, S.

Physical Review E, 70, 2004 (article)

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[BibTex]

[BibTex]


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Grand canonical simulations of hard-disk systems by simulated tempering

Döge, G, Mecke, K., Moller, J, Stoyan, D, Waagepetersen, R

International Journal of Modern Physics C, 15, pages: 129-147, 2004 (article)

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[BibTex]

[BibTex]


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Characterisation of irregular spatial structures by parallel sets and integral geometric measures

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

Colloids and Surfaces A, 24, pages: 351-372, 2004 (article)

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[BibTex]

[BibTex]


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Symplectic integration methods in molecular and spin dynamics simulations

Tsai, S. H., Krech, M., Landau, D. P.

Brazilian Journal of Physics, 34, pages: 384-391, 2004 (article)

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[BibTex]

[BibTex]


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Numerical study of the cosmological velocity field as a function of density

Dominguez, A., Melott, A. L.

Astronomy \& Astrophysics, 419(2):425-437, 2004 (article)

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[BibTex]

[BibTex]


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Morphological thermodynamics of fluids: Shape dependence of free energies

König, P.-M., Roth, R., Mecke, K. R.

Physical Review Letters, 93(16), 2004 (article)

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[BibTex]

[BibTex]


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Bulk and interfacial properties of binary hard-platelet fluids

Bier, M., Harnau, L., Dietrich, S.

Physical Review E, 69, 2004 (article)

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[BibTex]

[BibTex]


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Depletion potential in colloidal mixtures of hard spheres and platelets

Harnau, L., Dietrich, S.

Physical Review E, 69, 2004 (article)

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[BibTex]


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On the definition of a unique effective temperature for non-equilibrium critical systems.

Calabrese, P., Gambassi, A.

Journal of Statistical Mechanics: Theory and Experiment, 2004 (article)

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[BibTex]

[BibTex]