Institute Homepage
Institute Homepage EN Sign In

Publications

DEPARTMENTS

Emperical Interference

Haptic Intelligence

Modern Magnetic Systems

Perceiving Systems

Physical Intelligence

Robotic Materials

Social Foundations of Computation

Research Groups

Autonomous Vision

Autonomous Learning

Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

Learning and Dynamical Systems

Locomotion in Biorobotic and Somatic Systems

Micro, Nano, and Molecular Systems

Movement Generation and Control

Neural Capture and Synthesis

Physics for Inference and Optimization

Organizational Leadership and Diversity

Probabilistic Learning Group

Topics

Robot Learning

Conference Paper

2022

Autonomous Learning

Robotics

AI

Career

Award

Micro, Nano, and Molecular Systems Article On optical rectification in isotropic media Fischer, P., Albrecht, A. LASER PHYSICS, 12(8):1177-1181, 2002
Coherent nonlinear optical processes at second-order are only electric-dipole allowed in isotropic media that are optically active. Sum-frequency generation in chiral liquids has recently been observed, and difference-frequency and optical rectification have been predicted to exist in isotropic chiral media. Both Rayleigh-Schrodinger perturbation theory and the density matrix approach are used to discuss the quantum-chemical basis of optical rectification in optically active liquids. For pinene we compute the corresponding orientationally averaged hyperpolarizability, and estimate the light-induced dc electric polarization and the consequent voltage across a measuring capacitor it may give rise to near resonance.
BibTeX
Empirical Inference Poster Optimal linear estimation of self-motion - a real-world test of a model of fly tangential neurons Franz, M. SAB 02 Workshop, Robotics as theoretical biology, 7th meeting of the International Society for Simulation of Adaptive Behaviour (SAB), (Editors: Prescott, T.; Webb, B.), 2002
The tangential neurons in the fly brain are sensitive to the typical optic flow patterns generated during self-motion (see example in Fig.1). We examine whether a simplified linear model of these neurons can be used to estimate self-motion from the optic flow. We present a theory for the construction of an optimal linear estimator incorporating prior knowledge both about the distance distribution of the environment, and about the noise and self-motion statistics of the sensor. The optimal estimator is tested on a gantry carrying an omnidirectional vision sensor that can be moved along three translational and one rotational degree of freedom. The experiments indicate that the proposed approach yields accurate results for rotation estimates, independently of the current translation and scene layout. Translation estimates, however, turned out to be sensitive to simultaneous rotation and to the particular distance distribution of the scene. The gantry experiments confirm that the receptive field organization of the tangential neurons allows them, as an ensemble, to extract self-motion from the optic flow.
PDF BibTeX
Theory of Inhomogeneous Condensed Matter Article Reconstruction of complex materials by integral geometric measures Mecke, K. R. Journal of Materials Science \& Technology, 18(2):155-158, 2002 BibTeX
Autonomous Motion Conference Paper Reliable stair climbing in the simple hexapod ’RHex’ Moore, E. Z., Campbell, D., Grimminger, F., Buehler, M. In Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 3:2222-2227 vol.3, May 2002 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Master Thesis Renormierung der Minkowski-Funktionale im morphologischen Modell Breidenbach, B. Universität Stuttgart, Stuttgart, 2002 BibTeX
Autonomous Motion Article Scalable techniques from nonparameteric statistics for real-time robot learning Schaal, S., Atkeson, C. G., Vijayakumar, S. Applied Intelligence, 17(1):49-60, 2002, clmc
Locally weighted learning (LWL) is a class of techniques from nonparametric statistics that provides useful representations and training algorithms for learning about complex phenomena during autonomous adaptive control of robotic systems. This paper introduces several LWL algorithms that have been tested successfully in real-time learning of complex robot tasks. We discuss two major classes of LWL, memory-based LWL and purely incremental LWL that does not need to remember any data explicitly. In contrast to the traditional belief that LWL methods cannot work well in high-dimensional spaces, we provide new algorithms that have been tested on up to 90 dimensional learning problems. The applicability of our LWL algorithms is demonstrated in various robot learning examples, including the learning of devil-sticking, pole-balancing by a humanoid robot arm, and inverse-dynamics learning for a seven and a 30 degree-of-freedom robot. In all these examples, the application of our statistical neural networks techniques allowed either faster or more accurate acquisition of motor control than classical control engineering.
URL BibTeX
Theory of Inhomogeneous Condensed Matter Ph.D. Thesis Selbstdiffusion in Silizium-Germanium-Legierungen Strohm, A. Universität Stuttgart, Stuttgart, 2002 URL BibTeX
Theory of Inhomogeneous Condensed Matter Article Self-consistent rate equation theory of cluster size distribution in aggregation phenomena Family, F., Popescu, M. N., Amar, J. G. Physica A, 306(1-4):129-139, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Self-diffusion of 31Si and 71Ge in relaxed Si0.20Ge0.80 layers Laitinen, P., Strohm, A., Huikari, J., Nieminen, A., Voss, T., Grodon, C., Riihimäki, I., Kummer, M., Äystö, J., Dendooven, P., Räisänen, J., Frank, W. Physical Review Letters, 89(8), 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Self-diffusion of 71Ge and 31Si in Si-Ge alloys Strohm, A., Voss, T., Frank, W., Laitinen, P., Räisänen, J. Zeitschrift f\"ur Metallkunde, 93(7):737-744, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Simulating stochastic geometries: morphology of overlapping grains Brodatzki, U., Mecke, K. Computer Physics Communications, 147(1-2):218-221, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Strong dependence of percolation thresholds on polydispersity Mecke, K. R., Seyfried, A. Europhysics Letters, 58(1):28-34, 2002 BibTeX
Empirical Inference Article Support Vector Machines and Kernel Methods: The New Generation of Learning Machines Cristianini, N., Schölkopf, B. AI Magazine, 23(3):31-41, 2002 BibTeX
Micro, Nano, and Molecular Systems Article The chiral specificity of sum-frequency generation in solutions Fischer, P., Beckwitt, K., Wise, F., Albrecht, A. CHEMICAL PHYSICS LETTERS, 352(5-6):463-468, 2002
Sum-frequency generation in isotropic media is in the electric-dipole approximation the only symmetry allowed for chiral systems. We demonstrate that the sum-frequency intensity from an optically active liquid depends quadratically on the difference in concentration of the two enantiomers. The dominant contribution to the signal is found to be due to the chirality specific electric-dipolar three-wave mixing nonlinearity. Selecting the polarization of all fields allows the chiral electric-dipolar contributions to the bulk sum-frequency signal to be discerned from any achiral magnetic-dipolar and electric-quadrupolar contributions. (C) 2002 Published by Elsevier Science B.V.
DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article The shape of parallel surface: porous media, fluctuating interfaces and complex fluids Mecke, K. R. Physica A-Statistical Mechanics and its Applications, 314(1-4):655-662, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Thermodynamics and phase behavior of the lamellar Zwanzig model Harnau, L., Rowan, D., Hansen, J. P. Journal of Chemical Physics, 117(24):11359-11365, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Book Chapter Vector- und Tensor-Valued Descriptors for Spatial Patterns Beisbart, C., Dahlke, R., Mecke, K., Wagner, H. In Morphology of Condensed Matter, 600:238-260, Lecture Notes in Physics, Springer, Berlin [et al.], 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Wetting and capillary nematization of binary hard-platelet and hard-rod fluids Harnau, L., Dietrich, S. Physical Review E, 66(5):051702, 2002 DOI BibTeX
Modern Magnetic Systems Ph.D. Thesis Ab-initio Berechnung der Spinwellenspektren von Eisen, Kobalt und Nickel Grotheer, O. Universität Stuttgart, Stuttgart, 2002 BibTeX
Modern Magnetic Systems Master Thesis Ab-initio Untersuchung der magnetischen Anregungen von dünnen bcc-Fe(110)-Schichten und der Druckabhängigkeit der magnetischen Anregungen von bcc-Fe Morán, S. Universität Stuttgart, Stuttgart, 2002 BibTeX
Modern Magnetic Systems Master Thesis Ab-initio statistische Mechanik zur Berechnung des Ordnungs-Unordnungs-Überganges in B2-NiAl unter Berücksichtigung des elastischen Verzerrungsfeldes Schultz, I. Universität Stuttgart, Stuttgart, 2002 BibTeX
Modern Magnetic Systems Conference Paper Ab-initio study of the influence of epitaxial strain on magnetoelastic properties Komelj, M., Fähnle, M. In Atomistic Aspects of Epitaxial Growth, 439-447, NATO Science series: Series 2, Mathematics, Physics, and Chemistry, Kluwer Academic Publishers, Dassia, Corfu [Greece], 2002 BibTeX
Modern Magnetic Systems Ph.D. Thesis Analyse der elektronischen Struktur von Metallen und intermetallischen Verbindungen im Rahmen der Dichtefunktionaltheorie Bester, G. Universität Stuttgart, Stuttgart, 2002 URL BibTeX
Modern Magnetic Systems Article Antiparallel ruthenium coupling in doped La1.2Sr1.8Mn2-xRuxO7 Weigand, F., Gold, S., Schmid, A., Geissler, J., Goering, E., Dorr, K., Krabbes, G., Ruck, K. {Applied Physics Letters}, 81(11):2035-2037, 2002 BibTeX
Modern Magnetic Systems Article Atomic defects and diffusion in intermetallic compounds: The impact of the ab initio electron theory Fähnle, M. {Diffusion and Defect Forum}, 203-205:37-46, 2002 BibTeX
Modern Magnetic Systems Article Change from a bulk discontinuous phase transition in V2H to a contiuous transition in a defective near-surface skin layer Trenkler, J., Abe, H., Wochner, P., Haeffner, D., Bail, J., Carstanjen, H. D., Moss, S. {Modelling and Simulation in Materials Science and Engineering}, 8:269-275, 2002 BibTeX
Modern Magnetic Systems Article Chemical processes during solid state reaction of carbon with alkali salts prepared for gravimetric hydrogen storage measurements Skakalova, V., Quintel, A., Choi, Y. M., Roth, S., Becher, M., Hirscher, M. {Chemical Physics Letters}, 365(3-4):333-337, 2002 BibTeX
Modern Magnetic Systems Article Composition dependence of the Zener relaxation in high-purity FeCr single crystals Hirscher, M., Ege, M. {Materials \textquotesingleTransactions JIM}, 43(2):182-185, 2002 BibTeX
Modern Magnetic Systems Article Critical magnetic properties of disordered polycrystalline Cr75Fe25 and Cr70Fe30 alloys Fischer, S. F., Kaul, S. N., Kronmüller, H. {Physical Review B}, 65(6), 2002 BibTeX
Modern Magnetic Systems Article Density-functional study of Fe3Al: LSDA versus GGA Lechermann, F., Welsch, F., Elsässer, C., Ederer, C., Fähnle, M., Sanchez, J. M., Meyer, B. {Physical Review B}, 65(13), 2002 BibTeX
Modern Magnetic Systems Article Determination of the complete set of second-order magnetoelastic coupling constants on epitaxial films Komelj, M., Fähnle, M. {Physical Review B}, 65(21), 2002 BibTeX
Modern Magnetic Systems Article Diffusion of oxygen in CdSe-photo sensor arrays Klement, U., Ernst, F., Baretzky, B., Plitzko, J. M. {Materials Science and Engineering B-Solid State Materials for Advanced Technology}, 94(2-3):123-130, 2002 BibTeX
Modern Magnetic Systems Article Diffusion of oxygen in CdSe-photosensor arrays Klement, U., Ernst, F., Baretzky, B., Plitzko, J. M. {Materials Science and Engineering B}, 94:123-130, 2002 BibTeX
Modern Magnetic Systems Article Direct correlation of Cr 3d orbital polarization and O K-edge X-ray magnetic circular dichroism of epitaxial CrO2 films Goering, E., Bayer, A., Gold, S., Schütz, G., Rabe, M., Rüdiger, U., Güntherodt, G. {Europhysics Letters}, 58(6):906-911, 2002 BibTeX
Modern Magnetic Systems Article Dominant thermal defects in B2-FeAl Bester, G., Meyer, B., Fähnle, M., Fu, C. L. {Materials Science and Engineering A-Structural Materials Properties Microstructure and Processing}, 323(1-2):487-490, 2002 BibTeX
Modern Magnetic Systems Article Electric field distribution at low-angle grain boundaries in high-temperature superconductors Jooss, C., Guth, K., Born, V., Albrecht, J. {Physical Review B}, 65(1), 2002 BibTeX
Modern Magnetic Systems Article Enhancement of the critical current density by silver sheeting of YBCO thin films Kienzle, M., Albrecht, J., Warthmann, R., Kronmüller, H., Leonhardt, S., Joos, C. {Physical Review B}, 66, 2002 BibTeX
Modern Magnetic Systems Article Experimental Study of a Crystal Positron Source Chehab, R., Cizeron, R., Sylvia, C., Baier, V., Beloborodov, K., Bukin, A., Burdin, S., Dimova, T., Drozdetsky, A., Druzhinin, V., Dubrovin, M., Golubev, V., Serednyakov, S., Shary, V., Strakhovenko, V., Artru, X., Chevallier, M., Dauvergne, D., Kirsch, R., Lautesse, P., et al. {Physics Letters B}, 525:41-48, 2002 BibTeX
Modern Magnetic Systems Article Finite element calculations on the single-domain limit of a ferromagnetic cube - a solution to \microMAG Standard Problem No. 3 Hertel, R., Kronmüller, H. {Journal of Magnetism and Magnetic Materials}, 238(2-3):185-199, 2002 BibTeX
Modern Magnetic Systems Article From the bulk to monatomic wires: An ab initio study of magnetism in Co systems with various dimensionality Komelj, M., Ederer, C., Davenport, J. W., Fähnle, M. {Physical Review B}, 66(14), 2002 BibTeX
Modern Magnetic Systems Article From the electronic structure to the macroscopic magnetic behaviour of rare-earth intermetallics: a combination of ab initio electron theory with statistical mechanics and elasticity theory Fähnle, M., Welsch, F. {Physica B}, 321(1-4):198-203, 2002 BibTeX
Modern Magnetic Systems Article High density hexagonal nickel nanowire array Nielsch, K., Wehrspohn, R. B., Barthel, J., Kirschner, J., Fischer, S. F., Kronmüller, H., Schweinbock, T., Weiss, D., Gösele, U. {Journal of Magnetism and Magnetic Materials}, 249(1-2):234-240, 2002 BibTeX
Modern Magnetic Systems Conference Paper Hydrogen Storage in Carbon SWNTs: Atomic or Molecular? Haluska, M., Hirscher, M., Becher, M., Dettlaff-Weglikowska, U., Chen, X., Roth, S. In Structural and Electronic Properties of Molecular Nanostructures, 601-605, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 BibTeX
Modern Magnetic Systems Conference Paper Hydrogen Storage in Nanostructured Carbon Materials at Room Temperature Chen, X., Dettlaff-Weglikowska, U., Haluska, M., Hirscher, M., Becher, M., Roth, S. In Structural and Electronic Properties of Molecular Nanostructures, 597-600, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 BibTeX
Modern Magnetic Systems Article Hydrogen desorption kinetics of nanostructured MgH2 composite materials von Zeppelin, F., Reule, H., Hirscher, M. {Journal of Alloys and Compounds}, 330:723-726, 2002 BibTeX
Modern Magnetic Systems Article Hydrogen in mechanically prepared nanostructured h-BN: a critical comparison with that in nanostructured graphite Wang, P., Orimo, S., Matsushima, T., Fujii, H., Majer, G. {Applied Physics Letters}, 80(2):318-320, 2002 BibTeX
Modern Magnetic Systems Article Hydrogen storage in carbon nanostructures Hirscher, M., Becher, M., Haluska, M., Quintel, A., Skakalova, V., Choi, Y. M., Dettlaff-Weglikowska, U., Roth, S., Stepanek, I., Bernier, P., Leonhardt, A., Fink, J. {Journal of Alloys and Compounds}, 330:654-658, 2002 BibTeX
Modern Magnetic Systems Article Identification of nanocrystal nucleation and growth in Al85Ni5Y8CO2 metallic glass with quenched-in nuclei Wang, J. Q., Zhang, H. W., Gu, X. J., Lu, K., Sommer, F., Mittemeijer, E. J. {Applied Physics Letters}, 80(18):3319-3321, 2002 BibTeX
Modern Magnetic Systems Article Imaging magnetic microstructures with soft x-ray microscopies Fischer, P., Denbeaux, G., Nolting, F., Goll, D., Eimüller, T., Quitmann, C., Schütz, G. {Transactions of the Magnetics Society of Japan}, 2:234-237, 2002 BibTeX
Modern Magnetic Systems Article Influence of the grain boundary phase transitions on the diffusion-related properties Straumal, B., Baretzky, B. {Diffusion and Defect Forum}, 216-217:53-64, 2002 BibTeX