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Physical Intelligence Article Macro to Nano Tele-Manipulation Towards Nanoelectromec hanical Systems Sitti, M., Hashimoto, H. Journal of Robotics and Mechatronics, 12(3):209-217, FUJI TECHNOLOGY PRESS LTD., 2000 BibTeX
Autonomous Motion Conference Paper On-line learning for humanoid robot systems Conradt, J., Tevatia, G., Vijayakumar, S., Schaal, S. In Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1:191-198, Stanford, CA, 2000, clmc
Humanoid robots are high-dimensional movement systems for which analytical system identification and control methods are insufficient due to unknown nonlinearities in the system structure. As a way out, supervised learning methods can be employed to create model-based nonlinear controllers which use functions in the control loop that are estimated by learning algorithms. However, internal models for humanoid systems are rather high-dimensional such that conventional learning algorithms would suffer from slow learning speed, catastrophic interference, and the curse of dimensionality. In this paper we explore a new statistical learning algorithm, locally weighted projection regression (LWPR), for learning internal models in real-time. LWPR is a nonparametric spatially localized learning system that employs the less familiar technique of partial least squares regression to represent functional relationships in a piecewise linear fashion. The algorithm can work successfully in very high dimensional spaces and detect irrelevant and redundant inputs while only requiring a computational complexity that is linear in the number of input dimensions. We demonstrate the application of the algorithm in learning two classical internal models of robot control, the inverse kinematics and the inverse dynamics of an actual seven degree-of-freedom anthropomorphic robot arm. For both examples, LWPR can achieve excellent real-time learning results from less than one hour of actual training data.
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Theory of Inhomogeneous Condensed Matter Article Oxygen-related muon species in crystalline silicon Schefzik, M., Schimmele, L., Seeger, A., Herlach, D., Kormann, O., Major, J., Röck, A. Physica B, 289-290:521-524, 2000 BibTeX
Micro, Nano, and Molecular Systems Article Phenomenological damping in optical response tensors Buckingham, A., Fischer, P. PHYSICAL REVIEW A, 61(3), 2000
Although perturbation theory applied to the optical response of a molecule or material system is only strictly valid far from resonances, it is often applied to ``near-resonance{''} conditions by means of complex energies incorporating damping. Inconsistent signs of the damping in optical response tensors have appeared in the recent literature, as have errors in the treatment of the perturbation by a static held. The ``equal-sign{''} convention used in a recent publication yields an unphysical material response, and Koroteev's intimation that linear electro-optical circular dichroism may exist in an optically active liquid under resonance conditions is also flawed. We show that the isotropic part of the Pockels tensor vanishes.
DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Radio-frequency \muSR investigations on paramagnetic muonium centres in crystalline silicon Kormann, O., Major, J., Reid, I. D., Röck, A., Schefzik, M., Schimmele, L., Seeger, A., Herlach, D. Physica B, 289-290:530-533, 2000 BibTeX
Autonomous Motion Conference Paper Real-time robot learning with locally weighted statistical learning Schaal, S., Atkeson, C. G., Vijayakumar, S. In International Conference on Robotics and Automation (ICRA2000), San Francisco, April 2000, 2000, clmc
Locally weighted learning (LWL) is a class of statistical learning techniques 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 beliefs that LWL methods cannot work well in high-dimensional spaces, we provide new algorithms that have been tested in up to 50 dimensional learning problems. The applicability of our LWL algorithms is demonstrated in various robot learning examples, including the learning of devil-sticking, pole-balancing of a humanoid robot arm, and inverse-dynamics learning for a seven degree-of-freedom robot.
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Theory of Inhomogeneous Condensed Matter Ph.D. Thesis Selbst- und Fremddiffusion in amorphem Si28C36N36 und Si3N4 Matics, S. Universität Stuttgart, Stuttgart, 2000 URL BibTeX
Theory of Inhomogeneous Condensed Matter Article The interaction of positive muons with photogenerated charge carriers in crystalline silicon Scheuermann, R., Major, J., Seeger, A., Schimmele, L., Schmidl, J., Herlach, D. Physica B, 289-290:534-537, 2000 BibTeX
Micro, Nano, and Molecular Systems Article Three-wave mixing in chiral liquids Fischer, P., Wiersma, D., Righini, R., Champagne, B., Buckingham, A. PHYSICAL REVIEW LETTERS, 85(20):4253-4256, 2000
Second-order nonlinear optical frequency conversion in isotropic systems is only dipole allowed for sum- and difference-frequency generation in chiral media. We develop a single-center chiral model of the three-wave mixing (sum:frequency generation) nonlinearity and estimate its magnitude. We also report results from ab initio calculations and from three- and four-wave mixing experiments in support of the theoretical estimates. We show that the second-order susceptibility in chiral liquids is much smaller than previously thought.
DOI BibTeX
Physical Intelligence Article Two-dimensional fine particle positioning under an optical microscope using a piezoresistive cantilever as a manipulator Sitti, M., Hashimoto, H. journal of Micromechatronics, 1(1):25-48, Brill, 2000 BibTeX
Physical Intelligence Conference Paper Wing transmission for a micromechanical flying insect Fearing, R. S., Chiang, K. H., Dickinson, M. H., Pick, D., Sitti, M., Yan, J. In Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on, 2:1509-1516, 2000 BibTeX
Modern Magnetic Systems Article A review of the magnetic relaxation and its application to the study of atomic defects in α-iron and its diuluted alloys Blythe, H. J., Kronmüller, H., Seeger, A., Walz, F. {Physica Status Solidi (A)}, 181:233-345, 2000 BibTeX
Modern Magnetic Systems Master Thesis Ab-initio Berechnung von Spinwellenspektren in verschiedenen intermetallischen Verbindungen - Implementation einer full-spin LMTO-Methode. Ederer, C. Universität Stuttgart, Stuttgart, 2000 BibTeX
Modern Magnetic Systems Article Ab-initio calculation of the formation and migration energies for Monovacancies in Mg Krimmel, H., Fähnle, M. {Physical Review B}, 62:5489-5491, 2000 BibTeX
Modern Magnetic Systems Article Ab-initio statistical mechanics for alloy phase diagrams and ordering phenomena including the effect of vacancies Lechermann, F., Fähnle, M. {Physical Review B}, 63, 2000 BibTeX
Modern Magnetic Systems Article Ab-initio treatment of noncollinear spin systems within the atomic-sphere approximation and beyond Grotheer, O., Ederer, C., Fähnle, M. {Physical Review B}, 62:5601-5608, 2000 BibTeX
Modern Magnetic Systems Book Chapter Age-momentum correlation (AMOC) Stoll, H. In Construction and Use of an Intense Positron Source at new Linac Facilities in Germany, FZR-295:44-49, Wissenschaftlich-Technische Berichte, 2000 BibTeX
Modern Magnetic Systems Article Analysis of the electronic structure of intermetallic compounds and application to structural defects in B2 phases Börnsen, N., Meyer, B., Bester, G., Fähnle, M. {Journal of Alloys and Compounds}, 308:1-14, 2000 BibTeX
Modern Magnetic Systems Article Anisotropic flux pinning in thin YBCO-films by substrate modifications Leonhardt, S., Warthmann, R., Albrecht, J., Jooss, C., Kronmüller, H., Haage, T., Zegenhagen, J., Habermeier, H. {Physica C}, 332:214-218, 2000 BibTeX
Modern Magnetic Systems Article Channeling of high-energy particles in bent crystals - experiments at the CERN SPS Baurichter, A., Biino, C., Clement, M., Doble, N., Elsener, K., Fidecaro, G., Freund, A., Gatignon, L., Grafström, P., Gyr, M., Hage-Ali, M., Herr, W., Keppler, P., Kirsebom, K., Klem, J., Major, J., Medenwaldt, R., Mikkelsen, U., Moller, S. P., Siffert, P., et al. {Nuclear Instruments and Methods in Physics Research B}, 164-165:27-43, 2000 BibTeX
Modern Magnetic Systems Article Charge transport mechanisms in single crystalline yttrium iron garnet as resolved by magnetic relaxation Walz, F., Torres, L., Iñiguez, J., Kronmüller, H. {Physica Status Solidi (A)}, 180:507-522, 2000 BibTeX
Modern Magnetic Systems Article Comment on "Point Defect Behaviour in High Temperature Region in the B 2-Type Intermetallic Compound FeAl" by Kogachi, M., Haraguchi, T. and S.M. Kim Fähnle, M., Meyer, B., Bester, G. {Intermetallics}, 7:1307-1308, 2000 BibTeX
Modern Magnetic Systems Article Computational micromagnetism of magnetic structures and magnetization processes in small particles Kronmüller, H., Hertel, R. {Journal of Magnetism and Magnetic Materials}, 215-216:11-17, 2000 BibTeX
Modern Magnetic Systems Article Correlated molecular-field theory of amorphous ferromagnets and the Gibbs free energy Fähnle, M. {Journal of Magnetism and Magnetic Materials}, 210:L 1-L 4, 2000 BibTeX
Modern Magnetic Systems Article Corrosion behaviour of the protective and decorative TiN coatings on large area steel strips Vershinin, N., Filonov, K., Straumal, B., Gust, W., Wiener, I., Rabkin, E., Kazakevich, A. {Surface and Coatings Technology}, 125:229-232, 2000 BibTeX
Modern Magnetic Systems Article Corrosion resistance of the vacuum arc deposited Ti, TiN and TiO2 coatings on large area glass substrates Vershinin, N., Filonov, K., Straumal, B., Gust, W., Dimitriou, R., Kovalev, A., Camacho, J. {Surface and Coatings Technology}, 125:223-228, 2000 BibTeX
Modern Magnetic Systems Book Chapter Critical behaviour of V2H in a defective near-surface skin layer Trenkler, J., Moss, S. C., Reichert, H., Paniago, R., Gebhardt, U., Carstanjen, H. D., Metzger, T. H., Peisl, J. In Exploration of Subsurface Phenomena by Particle Scattering, 155-164, International Advanced Studies Institute IASI Press, North East/MD, 2000 BibTeX
Modern Magnetic Systems Article Current densities in low-angle grain boundaries of YBCO Albrecht, J., Warthmann, R., Leonhardt, S., Kronmüller, H. {Physica C}, 341-348:1459-1460, 2000 BibTeX
Modern Magnetic Systems Article Decay kinetics of nonequilibrium Al-Si solid solutions Sluchanko, N. E., Glushkov, V. V., Demishev, S. V., Kondrin, M. V., Ischenko, T. V., Gust, W., Brazhkin, V. V., Straumal, B. B., Bruynseraede, Y., Moshchalkov, V. V. {Physical Review B}, 61:6019-6027, 2000 BibTeX
Modern Magnetic Systems Article Deflection of 32.8 TeV/c fully stripped Pb ions by means of a bent Si crystal Biino, C., Clement, M., Doble, N., Elsener, K., Gatignon, L., Grafström, P., Herr, W., Keppler, P., Major, J., Mikkelsen, U., Taratin, A., Velasco, M. {Nuclear Instruments and Methods in Physics Research B}, 160:536-543, 2000 BibTeX
Modern Magnetic Systems Ph.D. Thesis Diffusion von Wasserstoff in Lavesphasen / Diffusion von Wasserstoff in heterogenen Systemen. Herrmann, A. Universität Stuttgart, Stuttgart, 2000 BibTeX
Modern Magnetic Systems Article Electron focusing in metals and semimetals Heil, J., Böhm, A., Gröger, A., Primke, M., Wyder, P., Keppler, P., Major, J., Bender, H., Schönherr, E., Wendel, H., Wolf, B., Würz, U., Grill, W., Herrenberger, S., Knauth, S., Lenzner, J. {Physics Reports}, 323:387-455, 2000 BibTeX
Modern Magnetic Systems Article Evidence for near-grain boundary lattice rotations in an Fe(Si) alloy. Rabkin, E., Semenov, V., Bischoff, E. {Zeitschrift f\"ur Metallkunde}, 91:165-170, 2000 BibTeX
Modern Magnetic Systems Conference Paper Evolution of microstructure and microchemistry in the high-temperature Sm(Co, Fe, Cu, Zr)z magnets Zhang, Y. W., Hadjipanayis, G. C., Goll, D., Kronmüller, H., Chen, C., Nelson, C., Krishnan, K. In Proceedings of the 16th International Workshop on Rare-Earth Magnets and Their Applications, 169-178, Sendai, Japan, 2000 BibTeX
Modern Magnetic Systems Conference Paper Experimental and theoretical study of the Verwey transition in magnetite Brabers, V. A. M., Brabers, J. H. V. J., Walz, F., Kronmüller, H. In Proceedings 8th International Conference on Ferrites, 123-125, Japan Society of Powder and Powder Metallurgy, 2000 BibTeX
Modern Magnetic Systems Article Formation and evolution of the transverse anisotropy with nanocrystallization in amorphous Fe73.5CuNb3Si13.5B9 ribbons Guo, H. Q., Kronmüller, H., Dragon, T., Cheng, Z. H., Shen, B. G. {Physical Review}, 62:5760-5764, 2000 BibTeX
Modern Magnetic Systems Conference Paper Fundamental investigations and industrial applications of magnetostriction Hirscher, M., Fischer, S. F., Reininger, T. In Modern Trends in Magnetostriction Study and Application. Proceedings of the NATO Advanced Study Institute on Modern Trends in Magnetostriction, 5:307-329, NATO Science Series: II: Mathematics, Physics and Chemistry, Kluwer Academic Publishers, Kyiv, Ukraine, 2000 BibTeX
Modern Magnetic Systems Conference Paper High-performance nanocrystalline PrFeB-based bonded permanent magnets Goll, D., Kleinschroth, I., Kronmüller, H. In Proceedings of the 16th International Workshop on Rare-Earth Magnets and Their Applications, 641-650, Japan Institute of Metals, 2000 BibTeX
Modern Magnetic Systems Article High-performance permanent magnets Goll, D., Kronmüller, H. {Naturwissenschaften}, 87:423-438, 2000 BibTeX
Modern Magnetic Systems Article Hydrogen-induced phase transition of GdZn1-xMgx compounds Reule, H., Hirscher, M. {Journal of Alloys and Compounds}, 298:1-8, 2000 BibTeX
Modern Magnetic Systems Article Influcence of vortex-vortex interaction on critical currents across low-angle grain boundaries in YBa2Cu3O7-δ Albrecht, J., Leonhardt, S., Kronmüller, H. {Physical Review B}, 63, 2000 BibTeX
Modern Magnetic Systems Article Influence of substrate irradiation on critical density and microstructure in YBCO thin films Leonhardt, S., Albrecht, J., Warthmann, R., Habermeier, H., Kronmüller, H. {Physica C}, 341-348:1979-1980, 2000 BibTeX
Modern Magnetic Systems Article Interface-structure studies by atomic-resolution electron microscopy, order-disorder phenomena, and atomic diffusion in gas-phase-synthesized nanocrystalline solids Schaefer, H., Reimann, K., Straub, W., Phillipp, F., Tanimoto, H., Brossmann, U., Würschum, R. {Materials Science and Engineering A}, 286:24-33, 2000 BibTeX
Modern Magnetic Systems Article Internal friction in Ni-rich B2-NiAl Brossmann, U., Hirscher, M., Schaible, D., Kronmüller, H. {Scripta Materialia}, 42:1193-1197, 2000 BibTeX
Modern Magnetic Systems Article Investigation of strain softening of icosahedral AlPdMn single quasicrystals Brunner, D., Plachke, D., Carstanjen, H. D. {Physica Status Solidi (A)}, 177:203-217, 2000 BibTeX
Modern Magnetic Systems Article Irreversible magnetization processes in a soft magnetic platelet Hertel, R., Kronmüller, H. {Physica B}, 275:1-4, 2000 BibTeX
Modern Magnetic Systems Article Is d-Al-Cu-Co a random tiling? Zeger, G., Plachke, D., Carstanjen, H. D., Trebin, H. R. {Materials Science and Engineering A}, 294:291-294, 2000 BibTeX
Modern Magnetic Systems Article Is the insulator-metal transition in perovskites associated with the bulk magnetic phase transition? Baszynski, J., Walz, F., Tolinski, T. {Sensors and Actuators}, 81:37-39, 2000 BibTeX
Modern Magnetic Systems Ph.D. Thesis Kernspinresonanzuntersuchungen an nanostrukturiertem Vanadiumhydrid und dem Legierungssystem Nb 0.34Ta0.66H0.044 Kimmerle, F. Universität Stuttgart, Stuttgart, 2000 BibTeX
Modern Magnetic Systems Article Magnetic properties of Sm2Co17-xGax (x \textequals 0-7) compounds Liang, B., Kleinschroth, I., Shen, B. G., Kronmüller, H. {Journal of Applied Physics}, 87:5314-5316, 2000 BibTeX