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Physical Intelligence Conference Paper Thorax Design and Wing Control for a Micromechanical Flying Insect Yan, J., Ayadhanula, S., Sitti, M., Wood, R., Fearing, R. In PROCEEDINGS OF THE ANNUAL ALLERTON CONFERENCE ON COMMUNICATION CONTROL AND COMPUTING, 39(2):952-961, 2001 BibTeX
Physical Intelligence Conference Paper Towards flapping wing control for a micromechanical flying insect Yan, J., Wood, R. J., Avadhanula, S., Sitti, M., Fearing, R. S. In Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on, 4:3901-3908, 2001 BibTeX
Autonomous Motion Conference Paper Trajectory formation for imitation with nonlinear dynamical systems Ijspeert, A., Nakanishi, J., Schaal, S. In IEEE International Conference on Intelligent Robots and Systems (IROS 2001), 752-757, Weilea, Hawaii, Oct.29-Nov.3, 2001, clmc
This article explores a new approach to learning by imitation and trajectory formation by representing movements as mixtures of nonlinear differential equations with well-defined attractor dynamics. An observed movement is approximated by finding a best fit of the mixture model to its data by a recursive least squares regression technique. In contrast to non-autonomous movement representations like splines, the resultant movement plan remains an autonomous set of nonlinear differential equations that forms a control policy which is robust to strong external perturbations and that can be modified by additional perceptual variables. This movement policy remains the same for a given target, regardless of the initial conditions, and can easily be re-used for new targets. We evaluate the trajectory formation system (TFS) in the context of a humanoid robot simulation that is part of the Virtual Trainer (VT) project, which aims at supervising rehabilitation exercises in stroke-patients. A typical rehabilitation exercise was collected with a Sarcos Sensuit, a device to record joint angular movement from human subjects, and approximated and reproduced with our imitation techniques. Our results demonstrate that multi-joint human movements can be encoded successfully, and that this system allows robust modifications of the movement policy through external variables.
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Empirical Inference Conference Paper Unsupervised Segmentation and Classification of Mixtures of Markovian Sources Seldin, Y., Bejerano, G., Tishby, N. In The 33rd Symposium on the Interface of Computing Science and Statistics (Interface 2001 - Frontiers in Data Mining and Bioinformatics), 1-15, 33rd Symposium on the Interface of Computing Science and Statistics (Interface 2001 - Frontiers in Data Mining and Bioinformatics), 2001
We describe a novel algorithm for unsupervised segmentation of sequences into alternating Variable Memory Markov sources, first presented in [SBT01]. The algorithm is based on competitive learning between Markov models, when implemented as Prediction Suffix Trees [RST96] using the MDL principle. By applying a model clustering procedure, based on rate distortion theory combined with deterministic annealing, we obtain a hierarchical segmentation of sequences between alternating Markov sources. The method is applied successfully to unsupervised segmentation of multilingual texts into languages where it is able to infer correctly both the number of languages and the language switching points. When applied to protein sequence families (results of the [BSMT01] work), we demonstrate the method‘s ability to identify biologically meaningful sub-sequences within the proteins, which correspond to signatures of important functional sub-units called domains. Our approach to proteins classification (through the obtained signatures) is shown to have both conceptual and practical advantages over the currently used methods.
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Empirical Inference Conference Paper Unsupervised Sequence Segmentation by a Mixture of Switching Variable Memory Markov Sources Seldin, Y., Bejerano, G., Tishby, N. In In the proceeding of the 18th International Conference on Machine Learning (ICML 2001), 513-520, 18th International Conference on Machine Learning (ICML 2001), 2001
We present a novel information theoretic algorithm for unsupervised segmentation of sequences into alternating Variable Memory Markov sources. The algorithm is based on competitive learning between Markov models, when implemented as Prediction Suffix Trees (Ron et al., 1996) using the MDL principle. By applying a model clustering procedure, based on rate distortion theory combined with deterministic annealing, we obtain a hierarchical segmentation of sequences between alternating Markov sources. The algorithm seems to be self regulated and automatically avoids over segmentation. The method is applied successfully to unsupervised segmentation of multilingual texts into languages where it is able to infer correctly both the number of languages and the language switching points. When applied to protein sequence families, we demonstrate the method‘s ability to identify biologically meaningful sub-sequences within the proteins, which correspond to important functional sub-units called domains.
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Physical Intelligence Article Wing transmission for a micromechanical flying insect Yan, J., Avadhanula, S., Birch, J., Dickinson, M., Sitti, M., Su, T., Fearing, R. Journal of Micromechatronics, 1(3):221-237, Brill, 2001 BibTeX
Modern Magnetic Systems Article A full field transmission X-ray microscope as a tool for high-resolution magnetic imaging Denbeaux, G., Fischer, P., Kusinski, G., Le Gros, M., Pearson, A., Attwood, D. {IEEE Transactions on Magnetics}, 37:2764-2766, 2001 BibTeX
Modern Magnetic Systems Conference Paper AMOC studies of positronium in fine MgO powder van Waeyenberge, B., Dauwe, C., Stoll, H. In Positron Annihilation. Proceedings of the 12th International Conference on Positron Annihilation, 363/365:401-403, Materials Science Forum, Trans Tech Publications Ltd., München, 2001 BibTeX
Modern Magnetic Systems Article Ab-initio statistical mechanics for the phase diagram of NiAl including the effect of vacancies Lechermann, F., Fähnle, M. {Physica Status Solidi B-Basic Research}, 224(2):R4-R6, 2001 BibTeX
Modern Magnetic Systems Article Ab-initio statistical mechanics for the phase diagram of NiAl including the effect of vacancies Lechermann, F., Fähnle, M. {Physica Status Solidi (B)}, 224:R4-R6, 2001 BibTeX
Modern Magnetic Systems Conference Paper Atomic defects and electronic structure of B2-FeAl, CoAl and NiAl Fähnle, M., Meyer, B., Bester, G., Majer, J., Börnsen, N. In Proceedings of DIMAT 2000, the Fifth International Conference on Diffusion in Materials, 194/199:279-285, Defect and Diffusion Forum, Scitec Publications Ltd., Paris, France, 2001 BibTeX
Modern Magnetic Systems Article Atomic defects and electronic structure of B2FeAl, CoAl and NiAl Fähnle, M., Meyer, B., Bester, G., Majer, J., Börnsen, N. {Defect and Diffusion Forum}, 194-199:279-285, 2001 BibTeX
Modern Magnetic Systems Article Atomic defects in FeCo: Stabilization of the B2 structure by magnetism Neumayer, M., Fähnle, M. {Physical Review B}, 64(13), 2001 BibTeX
Modern Magnetic Systems Article Carbon nanostructures: an efficient hydrogen storage medium for fuel cells Atkinson, K., Roth, S., Hirscher, M., Grünwald, W. {Fuel Cells Bulletin}, 4(38):9-12, 2001 BibTeX
Modern Magnetic Systems Article Co(NH3)2Cl2 and Co(ND3)2Cl2: Order-Disorder Behaviour of N(H,D)3 and Antiferromagnetic Structure Leineweber, A., Jacobs, H., E\ssmann, P., Allenspach, F., Fauth, F., Fischer, P. {Zeitschrift f\"ur Anorganische und Allgemeine Chemie}, 627:2063-2069, 2001 BibTeX
Modern Magnetic Systems Article Compound formation and abrasion resistance of ion-implanted Ti6Al4V Schmidt, H., Schminke, A., Schmiedgen, M., Baretzky, B. {Acta Materialia}, 49(3):487-495, 2001 BibTeX
Modern Magnetic Systems Article Compound formation and abrasion resistance of ion-implanted Ti6Al4V Schmidt, H., Schminke, A., Schmiedgen, M., Baretzky, B. {Acta Materialia}, 49:487-495, 2001 BibTeX
Modern Magnetic Systems Conference Paper Computational micromagnetism of magnetic structures and magnetization processes in thin plantelets and small particles Kronmüller, H., Hertel, R. In Magnetic Storage Sstems Beyond 2000, 41:345-362, Nato Science Series II: Mathematics, Physics and Chemistry, Kluwer Academic Publishers, Rhodos, Greece, 2001 BibTeX
Modern Magnetic Systems Article Critical magnetic properties of disordered Cr-rich FeCr alloys Fischer, S. F., Kaul, S. N., Kronmüller, H. {Journal of Magnetism and Magnetic Materials}, 226(Sp. Iss. SI):540-541, 2001 BibTeX
Modern Magnetic Systems Article Critical magnetic properties of disordered polycrystalline Fe75Fe25 and Cr70Fe30 alloys Fischer, S. F., Kaul, S. N., Kronmüller, H. {Physical Review B}, 65, 2001 BibTeX
Modern Magnetic Systems Article Diffusion of 23Na and 35K in the eutectic melt Na0.32K0.69 Feinauer, A., Majer, G. {Physical Review B}, 64, 2001 BibTeX
Modern Magnetic Systems Article Diffusion of hydrogen in heterogeneous systems Herrmann, A., Schimmele, L., Mössinger, J., Hirscher, M., Kronmüller, H. {Applied Physics A-Materials Science \& Processing}, 72(2):197-208, 2001 BibTeX
Modern Magnetic Systems Article Effect of Ga substitution on the magnetocrystalline anisotropy of arc-melted Sm2Co17-xGax (x\textequals5,6) compounds Liang, B., Kleinschroth, I., Kronmüller, H. {Journal of Applied Physics}, 89(1):488-491, 2001 BibTeX
Modern Magnetic Systems Article Element-specific imaging of magnetic domains at 25 nm spatial Resolution using soft X-ray microscopy Fischer, P., Eimüller, T., Schütz, G., Denbeaux, G., Pearson, A., Johnson, L., Attwood, D., Tsunashima, S., Kumazawa, M., Takagi, N., Köhler, M., Bayreuther, G. {Review of Scientific Instruments}, 72:2322-2324, 2001 BibTeX
Modern Magnetic Systems Conference Paper Enhancement of the critical current density of YBa2Cu3O7-8-films by substracte irradiation Leonhardt, S., Albrecht, J., Warthmann, R., Kronmüller, H. In High-Tc Superconductors and Related Applications: Materials Science, Fundamental Properties, and Some Future Electronic Applications. Proceedings of the NATO Advanced Study Institute, 86:529-534, NATO Science Series 3. High Technology, Kluwer Academic Publishers, Albena, Bulgaria, 2001 BibTeX
Modern Magnetic Systems Article Faceting of \sum3 and \sum9 grain boundaries in copper Straumal, B. B., Polyakov, S. A., Bischoff, E., Gust, W., Mittemeijer, E. J. {Interface Science}, 9(3-4):287-292, 2001 BibTeX
Modern Magnetic Systems Article Fast ab initio methods for the calculation of adiabatic spin wave spectra in complex systems Grotheer, O., Ederer, C., Fähnle, M. {Physical Review B}, 63(10):100401-100401, 2001 BibTeX
Modern Magnetic Systems Conference Paper First proof of slow trapping of positronium in polymers by an Age-Momentum-Correlation (AMOC) experiment Dauwe, C., Balcaen, N., van Waeyenberge, B., van Petegem, S., Stoll, H. In Positron Annihilation. Proceedings of the 12th International Conference on Positron Annihilation, 363/365:254-256, Materials Science Forum, Trans Tech Publications Ltd., München, 2001 BibTeX
Modern Magnetic Systems Conference Paper Flux-line pinning in low-angle grain boundaries. Albrecht, J., Leonhardt, S., Kronmüller, H. In Proceedings 10th International Workshop on Critical Currents (IWCC 2001), 41-43, Göttingen, Germany, 2001 BibTeX
Modern Magnetic Systems Article Formation and structure of highly over-stoichiometric LaNi5+x (x\textasciitilde1) alloys obtained by manifold non-equilibrium methods Cuevas, F., Latroche, M., Hirscher, M., Percheron-Guegan, A. {Journal of Alloys and Compounds}, 323:4-7, 2001 BibTeX
Modern Magnetic Systems Conference Paper From the electronic structure to the macroscopic behaviour: a multi-scale analysis of plasticity in intermetallic compounds Fähnle, M., Kohlhammer, S., Bester, G. In Influences of Interface and Dislocation Behavior on Microstructure Evolution, 652:Y.4.5.1-Y.4.5.12, Materials Research Society Symposium Proceedings, MRS, Boston, Mass., 2001 BibTeX
Modern Magnetic Systems Conference Paper From the electronic structure to the macroscopiy behavior: A multi-scale analysis of plasticity in intermetallic compounds Fähnle, M., Kohlhammer, S., Bester, G. In Influences of Interface and Dislocation Behavior on Microstructure Evolution, 652:Y4.5.1.-Y4.5.12, Materials Research Society Symposium Proceedings, MRS, Boston, Mass., USA, 2001 BibTeX
Modern Magnetic Systems Article Generation and application of ultra-high-intensity magnetic field gradient pulses for NMR spectroscopy Galvosas, P., Stallmach, F., Seiffert, G., Karger, J., Kaess, U., Majer, G. {Journal of Magnetic Resonance}, 151(2):260-268, 2001 BibTeX
Modern Magnetic Systems Article Grain boundary grooving as an indicator of grain boundary phase transformations Schölhammer, J., Baretzky, B., Gust, W., Mittemeijer, E., Straumal, B. {Interface Science}, 9(1-2):43-53, 2001 BibTeX
Modern Magnetic Systems Article Grain boundary phase transition in the Cu-Bi system Straumal, B. B., Prokofyev, S. I., Chang, L., Sluchanko, N. E., Baretzky, B., Gust, W., Mittemeijer, E. J. {Diffusion and Defect Forum}, 194-199:1343-1348, 2001 BibTeX
Modern Magnetic Systems Article Hardness-depth profile of a carbon-implanted Ti-6Al-4V alloy and its relation to composition and microstructure Kunert, M., Kienzle, O., Baretzky, B., Baker, S. P., Mittemeijer, E. J. {Journal of Materials Research}, 16(8):2321-2335, 2001 BibTeX
Modern Magnetic Systems Article Hardness-depth profiling on nanometer scale Kunert, M., Baretzky, B., Baker, S. P., Mittemeijer, E. J. {Metallurgical and Materials Transactions A-Physical Metallurgy and Materials Science}, 32(5):1201-1209, 2001 BibTeX
Modern Magnetic Systems Article Hexagonally ordered 100 nm period nickel nanowire arrays Nielsch, K., Wehrspohn, R. B., Barthel, J., Kirschner, J., Gösele, U., Fischer, S. F., Kronmüller, H. {Applied Physics Letters}, 79(9):1360-1362, 2001 BibTeX
Modern Magnetic Systems Article Ho-Fe - Garnet soft XMCD measurements below and above the compensation temperature Goering, E., Gold, S., Schütz, G. {Journal of Synchrotron Radiation}, 8:422-424, 2001 DOI BibTeX
Modern Magnetic Systems Article Hydrogen desorption property of mechanically prepared nanostructured graphite Orimo, S., Matsushima, T., Fujii, H., Fukunaga, T., Majer, G. {Journal of Applied Physics}, 90(3):1545-1549, 2001 BibTeX
Modern Magnetic Systems Article Hydrogen in nanostructured vanadium-hydrogen systems Orimo, S., Kimmerle, F., Majer, G. {Physical Review B}, 63(9), 2001 BibTeX
Modern Magnetic Systems Article Hydrogen permeability measurement through Pd, Ni and Fe membranes Yamakawa, K., Ege, M., Ludescher, B., Hirscher, M., Kronmüller, H. {Journal of Alloys and Compounds}, 321(1):17-23, 2001 BibTeX
Modern Magnetic Systems Conference Paper Hydrogen storage in mechanically treated single wall carbon nanotrubes Haluska, M., Hulman, M., Hirscher, M., Becher, M., Roth, S., Stepanek, I., Bernier, P. In Electronic Properties of Molecular Nanostructures: XV International Winterschool/Euroconference, 591:603-608, American Institute of Physics Conference Proceedings, AIP, Kirchberg [Austria], 2001 BibTeX
Modern Magnetic Systems Article Hydrogen storage in sonicated carbon materials Hirscher, M., Becher, M., Haluska, M., Dettlaff-Weglikowska, U., Quintel, A., Duesberg, G. S., Choi, Y. M., Downes, P., Hulman, M., Roth, S., Stepanek, I., Bernier, P. {Applied Physics A-Materials Science \& Processing}, 72(2):129-132, 2001 BibTeX
Modern Magnetic Systems Book Chapter Influence of grain boundary phase transitions on the properties of Cu-Bi polycrystals Straumal, B. B., Sluchanko, N., Gust, W. In Defects and Diffusion in Metals III: An Annual Retrospective III, 188-1:185-194, Defect and Diffusion Forum, 2001 BibTeX
Modern Magnetic Systems Article Influence of nanocrystallization on the evolution of domain patterns and the magnetoimpedance effect in amorphous Fe73.5Cu1Nb3Si13.5B9 ribbons Guo, H. Q., Kronmüller, H., Dragon, T., Cheng, Z. H., Shen, B. G. {Journal of Applied Physics}, 89(1):514-520, 2001 BibTeX
Modern Magnetic Systems Conference Paper Influence of the microstructure on the magnetic properties of giant-magnetostrictive TbDyFe films Hirscher, M., Winzek, B., Fischer, S. F., Kronmüller, H. In Smart Materials. Proceedings of the 1st Caesarium, 23-37, Springer, Bonn, 2001 BibTeX
Modern Magnetic Systems Article Influence of vortex-vortex interaction on critical currents across low-angle grain boundaries in YBa2Cu3O7-δthin films Albrecht, J., Leonhardt, S., Kronmüller, H. {Physical Review B}, 63, 2001 BibTeX
Modern Magnetic Systems Article Influence of vortex-vortex interaction on critical currents across low-angle grain boundaries in YBa2Cu3O7-δthin films Albrecht, J., Leonhardt, S., Kronmüller, H. {Physical Review B}, 63, 2001 BibTeX
Modern Magnetic Systems Article Interpretation of ab initio total energy results in a chemical language: I. Formalism and implementation into a mixed-basis pseudopotential code Bester, G., Fähnle, M. {Journal of Physics-Condensed Matter}, 13(50):11541-11550, 2001 BibTeX