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Modern Magnetic Systems Ph.D. Thesis Kernspinresonanzuntersuchungen zur Diffusion von Wasserstoff in kubischen Lavesphasen Eberle, U. Universität Stuttgart, Stuttgart, 2002 BibTeX
Modern Magnetic Systems Ph.D. Thesis Magnetic Imaging of Nanostructured Systems with Transmission X-Ray Microscopy Eimüller, T. Bayrische Julius-Maximilians-Universität Würzburg, Würzburg, 2002 BibTeX
Modern Magnetic Systems Article Magnetic anisotropy of textured CrO2 thin films investigated by X-ray magnetic circular dichroism Goering, E., Justen, M., Geissler, J., Rüdiger, U., Rabe, M., Güntherodt, G., Schütz, G. {Applied Physics A-Materials Science \& Processing}, 74(6):747-753, 2002 BibTeX
Modern Magnetic Systems Article Magnetic imaging with full-field soft X-ray microscopy Fischer, P., Eimüller, T., Goll, D., Stoll, H., Puzic, A., Schütz, G., Denbeaux, G. {Zeitschrift f\"ur Metallkunde}, 93(5):377-382, 2002 BibTeX
Modern Magnetic Systems Article Magnetic imaging with soft X-ray microscopy Fischer, P., Denbeaux, G., Eimüller, T., Goll, D., Schütz, G. {IEEE Transactions on Magnetics}, 38(5):2427-2431, 2002 BibTeX
Modern Magnetic Systems Article Magnetic properties of ion-beam sputtered Cr3Fe-alloy films Fischer, S. F., Kaul, S. N., Kronmüller, H. {Journal of Magnetism and Magnetic Materials}, 240(1-3):374-376, 2002 BibTeX
Modern Magnetic Systems Article Magneto-optical studies of current distributions in high-Tc superconductors Jooss, C., Albrecht, J., Kuhn, H., Leonhardt, S., Kronmüller, H. {Reports on Progress in Physics}, 65(5):651-788, 2002 BibTeX
Modern Magnetic Systems Article Magneto-optical studies of flux pinning in high-temperature superconductors Jooss, C., Albrecht, J. {Zeitschrift f\"ur Metallkunde}, 93(10):1065-1070, 2002 BibTeX
Modern Magnetic Systems Article Magnetoelasticity of Fe: Possible failure of ab initio electron theory with the local-spin-density approximation and with the generalized-gradient approximation Fähnle, M., Komelj, M., Wu, R. Q., Guo, G. Y. {Physical Review B}, 65(14), 2002 BibTeX
Modern Magnetic Systems Article Master equations for the concentrations of atomic defects in B2 compounds Meyer, B., Fähnle, M. {Physica Status Solidi B-Basic Research}, 229(3):1139-1143, 2002 BibTeX
Modern Magnetic Systems Article Micromagnetic analysis of nucleation-hardened nanocrystalline PrFeB magnets Kronmüller, H., Goll, D. {Scripta Materialia}, 47(8):551-556, 2002 BibTeX
Modern Magnetic Systems Article Micromagnetic analysis of pinning-hardened nanostructured, nanocrystalline Sm2Co17 based alloys Kronmüller, H., Goll, D. {Scripta Materialia}, 47:545-550, 2002 BibTeX
Modern Magnetic Systems Article Micromagnetic investigation of sub-100-nm magnetic domains in atomically stacked Fe(001)/Au(001) multilayers Köhler, M., Zweck, J., Bayreuther, G., Fischer, P., Schütz, G., Denbeaux, G., Attwood, D. {Journal of Magnetism and Magnetic Materials}, 240:79-82, 2002 DOI BibTeX
Modern Magnetic Systems Article Micromagnetic theory of the pinning of domain walls at phase boundaries Kronmüller, H., Goll, D. {Physica B}, 319(1-4):122-126, 2002 BibTeX
Modern Magnetic Systems Article Micromagnetism and microstructure - tailoring of high- performance permanent magnets Goll, D. {Zeitschrift f\"ur Metallkunde}, 93(10):1009-1018, 2002 BibTeX
Modern Magnetic Systems Conference Paper Micromagnetism and the microstructure of the cell walls in Sm2Co17 based permanent magnets Goll, D., Hadjipanayis, G. C., Kronmüller, H. In Proceedings of the 17th International Workshop on Rare-Earth Magnets and their Applications, 696-703, Rinton Press, Newark, Delaware, USA, 2002 BibTeX
Modern Magnetic Systems Article Model-independent measurements of hydrogen diffusivity in the yttrium dihydrides Majer, G., Gottwald, J., Peterson, D. T., Barnes, R. G. {Journal of Alloys and Compounds}, 330-332:438-442, 2002 BibTeX
Modern Magnetic Systems Article Morphology and thermal stability of metal contacts on crystalline organic thin films Dürr, A. C., Schreiber, F., Kelsch, M., Carstanjen, H. D., Dosch, H. {Advanced Materials}, 14(13-14):961-963, 2002 BibTeX
Modern Magnetic Systems Article NMR studies of hydrogen diffusion in the hydrogen-stabilized Laves phase compound C15-HfTi2Hx Eberle, U., Majer, G., Skripov, A. V., Kozhanov, V. N. {Journal of Physics-Condensed Matter}, 14(2):153-164, 2002 BibTeX
Modern Magnetic Systems Article Nanostructured graphite-hydrogen systems prepared by mechanical milling method Orimo, S. I., Matsushima, T., Fujii, H., Fukunaga, T., Majer, G., Zuttel, A., Schlapbach, L. {Molecular Crystals and Liquid Crystals}, 386:173-178, 2002 BibTeX
Modern Magnetic Systems Article On the electronic structure of the pure and oxygen covered Ru(0001) surface Bester, G., Fähnle, M. {Surface Science}, 497(1-3):305-310, 2002 BibTeX
Modern Magnetic Systems Article On the magnetoelastic contribution to the magnetic anisotropy of thin epitaxial Permalloy films: an ab initio study Komelj, M., Fähnle, M. {Journal of Magnetism and Magnetic Materials}, 238(2-3):L125-L128, 2002 BibTeX
Modern Magnetic Systems Miscellaneous Photoelektronenspektroskopie an deponierten Nickelclustern Wiesner, B. Würzburg, 2002 BibTeX
Modern Magnetic Systems Article Positron age-momentum correlation (AMOC) measurements on organic liquids Castellaz, P., Siegle, A., Stoll, H. {Journal of Nuclear and Radiochemical Sciences}, 3:R1-R7, 2002 BibTeX
Modern Magnetic Systems Conference Paper Pressure Isotherms of Hydrogen Adsorption in Carbon Nanostructures Chen, X., Dettlaff-Weglikowska, U., Haluska, M., Hulman, M., Roth, S., Hirscher, M., Becher, M. In Making Functional Materials with Nanotubes, Z9.11.1-Z9.11.6, Materials Research Society Symposium Proceedings, MRS, Boston [Mass.], 2002 BibTeX
Modern Magnetic Systems Article Pt magnetization profile in a Pt/Co bilayer studied by resonant magnetic x-ray reflectometry Geissler, J., Goering, E., Justen, M., Weigand, F., Schütz, G., Langer, J., Schmitz, D., Maletta, H., Mattheis, R. {Physical Review B}, 65, 2002 DOI BibTeX
Modern Magnetic Systems Miscellaneous Rumpfniveau-Photoemissions-Spektroskopie an Platinclustern auf HOPG Schneider, N. Würzburg, 2002 BibTeX
Modern Magnetic Systems Article Second-order magnetoelastic effects: From the Dirac equation to the magnetic properties of ultrathin epitaxial films for magnetic thin-film applications Fähnle, M., Komelj, M. {Zeitschrift f\"ur Metallkunde}, 93(10):970-973, 2002 BibTeX
Modern Magnetic Systems Article Shear-strain-related nonlinear magnetoelastic properties of epitaxial films Komelj, M., Fähnle, M. {Physical Review B}, 65(9), 2002 BibTeX
Modern Magnetic Systems Article Strong anisotropy of projected 3d moments in epitaxial CrO2 films Goering, E., Bayer, A., Gold, S., Schütz, G., Rabe, M., Rüdiger, U., Güntherodt, G. {Physical Review Letters}, 88(20), 2002 BibTeX
Modern Magnetic Systems Article Strong anisotropy of projected Cr3d moments of epitaxial grown CrO2-films Goering, E., Bayer, A., Gold, S., Schütz, G. {Bessy-Highlights}, 26-27, 2002 BibTeX
Modern Magnetic Systems Article Study of magnetic domains by magnetic soft x-ray transmission microscopy Fischer, P., Denbeaux, G., Ono, T., Okuno, T., Eimüller, T., Goll, D., Schütz, G. {Journal of Physics D-Applied Physics}, 35(19):2391-2397, 2002 BibTeX
Modern Magnetic Systems Article Surface magnetization reversal of sputtered CrO2 Goering, E., Gold, S., Will, J. {Zeitschrift f\"ur Metallkunde}, 93(5):372-376, 2002 BibTeX
Modern Magnetic Systems Article Switching behavior of single nanowires inside dense nickel nanowire arrays Nielsch, K., Hertel, R., Wehrspohn, R. B., Barthel, J., Kirschner, J., Gösele, U., Fischer, S. F., Kronmüller, H. {IEEE Transactions on Magnetics}, 38(5):2571-2573, 2002 BibTeX
Modern Magnetic Systems Article The Verwey transition - a topical review Walz, F. {Journal of Physics-Condensed Matter}, 14(12):R285-R340, 2002 BibTeX
Modern Magnetic Systems Article The Verwey transition in magnetite as studied by means of definite impurity doping Walz, F., Brabers, J. H. V. J., Brabers, V. A. M. {Zeitschrift f\"ur Metallkunde}, 93(10):1095-1102, 2002 BibTeX
Modern Magnetic Systems Article The existence of more than one jump process of hydrogen in palladium-silver alloys - an NMR study Züchner, H., Barlag, H., Majer, G. {Journal of Alloys and Compounds}, 330-332:448-453, 2002 BibTeX
Modern Magnetic Systems Article The initial stages of oxidation of γ-TiAl: an X-ray photoelectron study Schmiedgen, M., Graat, P. C. J., Baretzky, B., Mittemeijer, E. J. {Thin Solid Films}, 415(1-2):114-122, 2002 BibTeX
Modern Magnetic Systems Article Theory of crystal field states for heavy rare-earth impurities in MgB2 Welsch, F., Kremer, R., Fähnle, M. {Journal of Physics-Condensed Matter}, 14(43):10273-10279, 2002 BibTeX
Modern Magnetic Systems Article Theory of induced magnetic moments and x-ray magnetic circular dichroism in Co-Pt multilayers Ederer, C., Komelj, M., Fähnle, M., Schütz, G. {Physical Review B}, 66(9), 2002 BibTeX
Modern Magnetic Systems Article Undulation instabilities in laterally structured magnetic multilayers Eimüller, T., Scholz, M., Guttmann, P., Köhler, M., Bayreuther, G., Schmahl, G., Fischer, P., Schütz, G. {Journal of Applied Physics}, 91(10):7334-7336, 2002 BibTeX
Modern Magnetic Systems Master Thesis Untersuchungen zur Spindynamik in nanostrukturierten ferromagnetischen Schichtsystemen Puzic, A. Universität Stuttgart, Stuttgart, 2002 BibTeX
Modern Magnetic Systems Article Vacancies in thermal equilibrium and ferromagnetism near the Curie temperature Seeger, A., Fähnle, M. {Zeitschrift f\"ur Metallkunde}, 93(10):1030-1042, 2002 BibTeX
Empirical Inference Article Regularized principal manifolds Smola, A., Mika, S., Schölkopf, B., Williamson, R. Journal of Machine Learning Research, 1:179-209, June 2001
Many settings of unsupervised learning can be viewed as quantization problems - the minimization of the expected quantization error subject to some restrictions. This allows the use of tools such as regularization from the theory of (supervised) risk minimization for unsupervised learning. This setting turns out to be closely related to principal curves, the generative topographic map, and robust coding. We explore this connection in two ways: (1) we propose an algorithm for finding principal manifolds that can be regularized in a variety of ways; and (2) we derive uniform convergence bounds and hence bounds on the learning rates of the algorithm. In particular, we give bounds on the covering numbers which allows us to obtain nearly optimal learning rates for certain types of regularization operators. Experimental results demonstrate the feasibility of the approach.
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Empirical Inference Thesis Variationsverfahren zur Untersuchung von Grundzustandseigenschaften des Ein-Band Hubbard-Modells Eichhorn, J. Biologische Kybernetik, Technische Universität Dresden, Dresden/Germany, May 2001
Using different modifications of a new variational approach, statical groundstate properties of the one-band Hubbard model such as energy and staggered magnetisation are calculated. By taking into account additional fluctuations, the method ist gradually improved so that a very good description of the energy in one and two dimensions can be achieved. After a detailed discussion of the application in one dimension, extensions for two dimensions are introduced. By use of a modified version of the variational ansatz in particular a description of the quantum phase transition for the magnetisation should be possible.
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Theory of Inhomogeneous Condensed Matter Article Adsorption isotherms of hydrogen: The role of thermal fluctuations Vorberg, J., Herminghaus, S., Mecke, K. Physical Review Letters, 87(19), 2001 BibTeX
Autonomous Motion Article Biomimetic gaze stabilization based on feedback-error learning with nonparametric regression networks Shibata, T., Schaal, S. Neural Networks, 14(2):201-216, 2001, clmc
Oculomotor control in a humanoid robot faces similar problems as biological oculomotor systems, i.e. the stabilization of gaze in face of unknown perturbations of the body, selective attention, stereo vision, and dealing with large information processing delays. Given the nonlinearities of the geometry of binocular vision as well as the possible nonlinearities of the oculomotor plant, it is desirable to accomplish accurate control of these behaviors through learning approaches. This paper develops a learning control system for the phylogenetically oldest behaviors of oculomotor control, the stabilization reflexes of gaze. In a step-wise procedure, we demonstrate how control theoretic reasonable choices of control components result in an oculomotor control system that resembles the known functional anatomy of the primate oculomotor system. The core of the learning system is derived from the biologically inspired principle of feedback-error learning combined with a state-of-the-art non-parametric statistical learning network. With this circuitry, we demonstrate that our humanoid robot is able to acquire high performance visual stabilization reflexes after about 40 s of learning despite significant nonlinearities and processing delays in the system.
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Autonomous Motion Article Biomimetic oculomotor control Shibata, T., Vijayakumar, S., Conradt, J., Schaal, S. Adaptive Behavior, 9(3/4):189-207, 2001, clmc
Oculomotor control in a humanoid robot faces similar problems as biological oculomotor systems, i.e., capturing targets accurately on a very narrow fovea, dealing with large delays in the control system, the stabilization of gaze in face of unknown perturbations of the body, selective attention, and the complexity of stereo vision. In this paper, we suggest control circuits to realize three of the most basic oculomotor behaviors and their integration - the vestibulo-ocular and optokinetic reflex (VOR-OKR) for gaze stabilization, smooth pursuit for tracking moving objects, and saccades for overt visual attention. Each of these behaviors and the mechanism for their integration was derived with inspiration from computational theories as well as behavioral and physiological data in neuroscience. Our implementations on a humanoid robot demonstrate good performance of the oculomotor behaviors, which proves to be a viable strategy to explore novel control mechanisms for humanoid robotics. Conversely, insights gained from our models have been able to directly influence views and provide new directions for computational neuroscience research.
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Autonomous Motion Conference Paper Biomimetic smooth pursuit based on fast learning of the target dynamics Shibata, T., Schaal, S. In IEEE International Conference on Intelligent Robots and Systems (IROS 2001), 2001, clmc
Following a moving target with a narrow-view foveal vision system is one of the essential oculomotor behaviors of humans and humanoids. This oculomotor behavior, called ``Smooth Pursuit'', requires accurate tracking control which cannot be achieved by a simple visual negative feedback controller due to the significant delays in visual information processing. In this paper, we present a biologically inspired and control theoretically sound smooth pursuit controller consisting of two cascaded subsystems. One is an inverse model controller for the oculomotor system, and the other is a learning controller for the dynamics of the visual target. The latter controller learns how to predict the target's motion in head coordinates such that tracking performance can be improved. We investigate our smooth pursuit system in simulations and experiments on a humanoid robot. By using a fast on-line statistical learning network, our humanoid oculomotor system is able to acquire high performance smooth pursuit after about 5 seconds of learning despite significant processing delays in the syste
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Autonomous Motion Article Bouncing a ball: Tuning into dynamic stability Sternad, D., Duarte, M., Katsumata, H., Schaal, S. Journal of Experimental Psychology: Human Perception and Performance, 27(5):1163-1184, 2001, clmc
Rhythmically bouncing a ball with a racket was investigated and modeled with a nonlinear map. Model analyses provided a variable defining a dynamically stable solution that obviates computationally expensive corrections. Three experiments evaluated whether dynamic stability is optimized and what perceptual support is necessary for stable behavior. Two hypotheses were tested: (a) Performance is stable if racket acceleration is negative at impact, and (b) variability is lowest at an impact acceleration between -4 and -1 m/s2. In Experiment 1 participants performed the task, eyes open or closed, bouncing a ball confined to a 1-dimensional trajectory. Experiment 2 eliminated constraints on racket and ball trajectory. Experiment 3 excluded visual or haptic information. Movements were performed with negative racket accelerations in the range of highest stability. Performance with eyes closed was more variable, leaving acceleration unaffected. With haptic information, performance was more stable than with visual information alone.
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