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Modern Magnetic Systems Conference Paper Ion beam analysis with monolayer depth resolution using the electrostatic spectrometer at the MPI Stuttgart Plachke, D., Blohm, G., Fischer, T., Khellaf, A., Kruse, O., Stoll, H., Carstanjen, H. D. In Proceedings of the 16th International Conference on Applications of Accelerators in Research and Industry, 576:458-462, American Institute of Physics Conference Proceedings, AIP, Denton, Texas, 2001 BibTeX
Modern Magnetic Systems Conference Paper Ionic nitriding of austenitic and ferritic steel with the aid of a high aperture hall current accelerator Straumal, B. B., Vershinin, N. F., Friesel, M., Ishenko, S. A., Gust, W. In Diffusion in Materials DIMAT2000, 194:1457-1462, Defect and Diffusion Forum, Trans Tech, Paris, France, 2001 BibTeX
Modern Magnetic Systems Article Irradiation-induced electron tunnelling and small-polaron hopping in single-crystalline YIG Walz, F., Brabers, J. H. V. J., Torres, L., Kronmüller, H. {Physica Status Solidi B-Basic Research}, 228(3):717-730, 2001 BibTeX
Modern Magnetic Systems Conference Paper Isotopic mass and lattice constant of Si and Ge: X-Ray standing wave measurements Zegenhagen, J., Kazimirov, A., Cao, L. X., Konuma, M., Sozontov, E., Plachke, D., Carstanjen, H. D., Bilger, G., Haller, E., Kohn, V., Cardona, M. In Proceedings of the 25th Conference on the Physics of Semiconductors, 87:125-127, Springer proceedings in physics, Springer, Osaka, Japan, 2001 BibTeX
Modern Magnetic Systems Ph.D. Thesis Kernspinresonanzuntersuchungen zur Diffusion von Wasserstoff in den Di- und Trihydriden der Übergangsmetalle Gottwald, J. Universität Stuttgart, Stuttgart, 2001 BibTeX
Modern Magnetic Systems Ph.D. Thesis Kritische Ströme über Kleinwinkelkorngrenzen in YBCO Albrecht, J. Universität Stuttgart, Stuttgart, 2001 BibTeX
Modern Magnetic Systems Article Magnetic domains in nanostructured media studied with M-TXM Fischer, P., Eimüller, T., Schütz, G., Bayreuther, G., Tsunashima, S., Tagaki, N., Denbeaux, G., Attwood, D. {Journal of Synchrotron Radiation}, 8:325-327, 2001 BibTeX
Modern Magnetic Systems Article Magnetic viscosity and demagnetization behaviour in isotropic nanocrystalline Pr12Fe82B6 ribbons Zhang, H. W., Zhang, S. Y., Shen, B. G., Goll, D., Kronmüller, H. {Chinese Physics}, 10(12):1169-1171, 2001 BibTeX
Modern Magnetic Systems Article Magnetization processes in isotropic and textured Nd2Fe14B- films Melsheimer, A., Kronmüller, H. {Physica B}, 299(3-4):251-259, 2001 BibTeX
Modern Magnetic Systems Article Magnetization reversal of a multilayered FeGd dot array imaged by transmission X-ray microscopy Eimüller, T., Scholz, M., Guttmann, P., Fischer, P., Köhler, M., Bayreuther, G., Schmahl, G., Schütz, G. {Journal of Applied Physics}, 89:7162-7164, 2001 BibTeX
Modern Magnetic Systems Conference Paper Materials analysis with monolayer depth resolution using MeV ion beams Carstanjen, H. D. In {Journal of Materials Processing Technology}, 117, Las Vegas, USA, 2001 BibTeX
Modern Magnetic Systems Conference Paper Measurement of the low-temperature self-diffusivity of lithium by elastic recoil detection analysis Wieland, O., Carstanjen, H. D. In Proceedings of DIMAT 2000, the Fifth International Conference on Diffusion in Materials, 194/199:35-41, Defect and Diffusion Forum, Scitec Publications Ltd., Paris, France, 2001 BibTeX
Modern Magnetic Systems Ph.D. Thesis Mikrostruktur und magnetische Eigenschaften nanokristalliner und nanostrukturierter Hochleistungsdauermagnete Goll, D. Universität Stuttgart, Stuttgart, 2001 BibTeX
Modern Magnetic Systems Conference Paper Nanocrystalline and nanostructured high-performance permanent magnets Goll, D., Hadjipanayis, G. C., Kronmüller, H. In Applications of Ferromagnetic and Optical Materials, Storage and Magnetoelectronics, 674:U2.4.1-U2.4.12, Materials Research Society Symposium Proceedings, MRS, San Francisco, Calif., 2001 BibTeX
Modern Magnetic Systems Article New Sm(Co, Fe, Cu, Zr)(z) magnets with better temperature stability Tang, W., Zhang, Y., Goll, D., Hadjipanayis, G. C., Kronmüller, H. {Journal of Magnetism and Magnetic Materials}, 226(Sp. Iss. SI):1365-1366, 2001 BibTeX
Modern Magnetic Systems Article Non-symmetric influences in the total electron yield X-ray magnetic circular dichroism signal in applied magnetic fields Goering, E., Gold, S., Bayer, A., Schütz, G. {Journal of Synchrotron Radiation}, 8:434-436, 2001 DOI BibTeX
Modern Magnetic Systems Article Nonlinear magnetoelastic effect in ultrathin epitaxial fcc Co (001) films: an ab-initio study Komelj, M., Fähnle, M. {Journal of Magnetism and Magnetic Materials}, 224:L1-L4, 2001 BibTeX
Modern Magnetic Systems Article Nonlinear magnetoelastic effects in ultrathin epitaxial FCC Co(001) films: an ab initio study Komelj, M., Fähnle, M. {Journal of Magnetism and Magnetic Materials}, 224(1):L1-L4, 2001 BibTeX
Modern Magnetic Systems Conference Paper Positron Annihilation Studies on Stable and Undercooled Metal Melts at the Stuttgart Pelletron Stoll, H., Siegle, A., Major, J. In Application of Accelerators in Research and Industry, 576:749-752, AIP Conference Proceedings, Denton, Texas, USA, 2001 BibTeX
Modern Magnetic Systems Article Positron annihilation in stable and supercooled metallic melts Seeger, A., Siegle, A., Stoll, H. {Zeitschrift f\"ur Metallkunde}, 92(7):632-644, 2001 BibTeX
Modern Magnetic Systems Conference Paper Positron-age-momentum correlation Stoll, H., Bandzuch, P., Siegle, A. In Positron Annihilation: Proceedings of the 12th International Conference on Positron Annihilation, 363-365:547-551, Materials Science Forum, Trans Tech Publications Ltd., München, 2001 BibTeX
Modern Magnetic Systems Article Soft X-ray microscopy to 25 nm with applications to biology and magnetic materials Denbeaux, G., Anderson, E., Chao, W., Eimüller, T., Johnson, L., Köhler, M., Larabell, C., Legros, M., Fischer, P., Pearson, A., Schütz, G., Yager, D., Attwood, D. {Nuclear Instruments and Methods in Physics Research A}, 467-468:841-844, 2001 BibTeX
Modern Magnetic Systems Article Spontaneous L12 order at Ni90Al10(110) surfaces: An X-ray and first-principles-calculation study Drautz, R., Reichert, H., Fähnle, M., Dosch, H., Sanchez, J. M. {Physical Review Letters}, 87(23), 2001 BibTeX
Modern Magnetic Systems Article Strain relaxation and internal friction in the range of the glass transition Ege, M., Ulfert, W., Kronmüller, H. {Zeitschrift f\"ur Metallkunde}, 92(7):690-694, 2001 BibTeX
Modern Magnetic Systems Article Structural vacancies in B2 CoAl and NiAl Meyer, B., Bester, G., Fähnle, M. {Scripta Materialia}, 44(10):2485-2488, 2001 BibTeX
Modern Magnetic Systems Article Structural vacancies in B2-CoAl and NiAl Meyer, B., Bester, G., Fähnle, M. {Scripta Materialia}, 44:2485-2488, 2001 BibTeX
Modern Magnetic Systems Article Structure of superconducting [BaCuOx]2/[CaCuO2]n superlattices on SrTiO3(001) investigated by x-ray scattering Aruta, C., Zegenhagen, J., Cowie, B., Balestrino, G., Pasquini, G., Medaglia, P. G., Ricci, F., Luebbert, D., Baumbach, T., Riedo, E., Ortega, L., Kremer, R., Albrecht, J. {Physica Status Solidi (A)}, 183:353-364, 2001 BibTeX
Modern Magnetic Systems Article Study of in-plane magnetic domains with magnetic transmission X-ray microscopy Fischer, P., Eimüller, T., Schütz, G., Köhler, M., Bayreuther, G., Denbeaux, G., Attwood, D. {Journal of Applied Physics}, 89:7159-7161, 2001 BibTeX
Modern Magnetic Systems Conference Paper Submicrometer spatially resolved measurements of mechanical properties and correlation to microstructure and composition Kunert, M., Baretzky, B., Baker, S. P., Mittemeijer, E. J. In Fundamentals of Nanoindentation and Nanotribology II, 649:Q3.2.1-Q3.2.6, Materials Research Society Symposium Proceedings, MRS, Boston, MA, USA, 2001 BibTeX
Modern Magnetic Systems Article The coercivity of the melt-spun Sm-Fe-Ga-C permanent magnets and the effect of additives (Nb, Cu and Zr) Zhang, J. X., Kleinschroth, I., Goll, D., Cuevas, F., Kronmüller, H. {Journal of Physics-Condensed Matter}, 13(46):10487-10496, 2001 BibTeX
Modern Magnetic Systems Conference Paper The six-jump diffusion cycles in B2-compounds Drautz, R., Meyer, B., Fähnle, M. In Proceedings of DIMAT 2000, the Fifth International Conference on Diffusion in Materials, 417-422, Defect and Diffusion Forum, Scitec Publications Ltd., Paris, France, 2001 BibTeX
Modern Magnetic Systems Article The six-jump diffusion cycles in B2-compounds Drautz, R., Meyer, B., Fähnle, M. {Defect and Diffusion Forum}, 194-199:417-422, 2001 BibTeX
Modern Magnetic Systems Article Transmission X-ray microscopy using X-MCD Eimüller, T., Fischer, P., Köhler, M., Scholz, M., Guttmann, P., Denbeaux, G., Glück, S., Bayreuther, G., Schmahl, G., Attwood, D., Schütz, G. {Applied Physics A}, 73:697-701, 2001 BibTeX
Modern Magnetic Systems Article Uniaxial orientational order-disorder transitions in diammine magnesium halides, Mg(ND3)2Cl2 and Mg(ND3)2Br2, investigated by neutron diffraction Leineweber, A., Jacobs, H., Fischer, P., Böttger, G. {Journal of Solid State Chemistry}, 156(2):487-499, 2001 BibTeX
Modern Magnetic Systems Ph.D. Thesis Von der elektronischen Struktur zum makroskopischen Verhalten: Eine Multi-Skalen Analyse der Plastizität Kohlhammer, S. Universität Stuttgart, Stuttgart, 2001 BibTeX
Modern Magnetic Systems Article X-MCD study of mixed valence manganites Sikora, M., Kapusta, C., Zajac, D., Tokarz, W., Attenkofer, K., Fischer, P., Goering, E., Schütz, G. {Journal of Alloys and Compounds}, 328(1-2):100-104, 2001 DOI BibTeX
Modern Magnetic Systems Article X-ray magnetic circular dichroism - a universal tool for magnetic investigations Goering, E., Will, J., Geissler, J., Justen, M., Weigand, F., Schütz, G. {Journal of Alloys and Compounds}, 328:14-19, 2001 DOI BibTeX
Modern Magnetic Systems Article XMCD study of the Ruddlesden-Popper Phase La1.2Nd0.2Sr1.6Mn2O7 Weigand, F., Goering, E., Geissler, J., Justen, M., Dörr, K., Ruck, K., Schütz, G. {Journal of Synchrotron Radiation}, 8:431-433, 2001 DOI BibTeX
Autonomous Motion Conference Paper Reciprocal excitation between biological and robotic research Schaal, S., Sternad, D., Dean, W., Kotoska, S., Osu, R., Kawato, M. In Sensor Fusion and Decentralized Control in Robotic Systems III, Proceedings of SPIE, 4196:30-40, Boston, MA, Nov.5-8, 2000, November 2000, clmc
While biological principles have inspired researchers in computational and engineering research for a long time, there is still rather limited knowledge flow back from computational to biological domains. This paper presents examples of our work where research on anthropomorphic robots lead us to new insights into explaining biological movement phenomena, starting from behavioral studies up to brain imaging studies. Our research over the past years has focused on principles of trajectory formation with nonlinear dynamical systems, on learning internal models for nonlinear control, and on advanced topics like imitation learning. The formal and empirical analyses of the kinematics and dynamics of movements systems and the tasks that they need to perform lead us to suggest principles of motor control that later on we found surprisingly related to human behavior and even brain activity.
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Empirical Inference Book Advances in Large Margin Classifiers Smola, A., Bartlett, P., Schölkopf, B., Schuurmans, D. 422, Neural Information Processing, MIT Press, Cambridge, MA, USA, October 2000
The concept of large margins is a unifying principle for the analysis of many different approaches to the classification of data from examples, including boosting, mathematical programming, neural networks, and support vector machines. The fact that it is the margin, or confidence level, of a classification--that is, a scale parameter--rather than a raw training error that matters has become a key tool for dealing with classifiers. This book shows how this idea applies to both the theoretical analysis and the design of algorithms. The book provides an overview of recent developments in large margin classifiers, examines connections with other methods (e.g., Bayesian inference), and identifies strengths and weaknesses of the method, as well as directions for future research. Among the contributors are Manfred Opper, Vladimir Vapnik, and Grace Wahba.
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Autonomous Motion Conference Paper Nonlinear dynamical systems as movement primitives Schaal, S., Kotosaka, S., Sternad, D. In Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots, CD-Proceedings, Cambridge, MA, September 2000, clmc
This paper explores the idea to create complex human-like movements from movement primitives based on nonlinear attractor dynamics. Each degree-of-freedom of a limb is assumed to have two independent abilities to create movement, one through a discrete dynamic system, and one through a rhythmic system. The discrete system creates point-to-point movements based on internal or external target specifications. The rhythmic system can add an additional oscillatory movement relative to the current position of the discrete system. In the present study, we develop appropriate dynamic systems that can realize the above model, motivate the particular choice of the systems from a biological and engineering point of view, and present simulation results of the performance of such movement primitives. The model was implemented for a drumming task on a humanoid robot
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Autonomous Motion Conference Paper Real Time Learning in Humanoids: A challenge for scalability of Online Algorithms Vijayakumar, S., Schaal, S. In Humanoids2000, First IEEE-RAS International Conference on Humanoid Robots, CD-Proceedings, Cambridge, MA, September 2000, clmc
While recent research in neural networks and statistical learning has focused mostly on learning from finite data sets without stringent constraints on computational efficiency, there is an increasing number of learning problems that require real-time performance from an essentially infinite stream of incrementally arriving data. This paper demonstrates how even high-dimensional learning problems of this kind can successfully be dealt with by techniques from nonparametric regression and locally weighted learning. As an example, we describe the application of one of the most advanced of such algorithms, Locally Weighted Projection Regression (LWPR), to the on-line learning of the inverse dynamics model of an actual seven degree-of-freedom anthropomorphic robot arm. LWPR's linear computational complexity in the number of input dimensions, its inherent mechanisms of local dimensionality reduction, and its sound learning rule based on incremental stochastic leave-one-out cross validation allows -- to our knowledge for the first time -- implementing inverse dynamics learning for such a complex robot with real-time performance. In our sample task, the robot acquires the local inverse dynamics model needed to trace a figure-8 in only 60 seconds of training.
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Autonomous Motion Conference Paper Synchronized robot drumming by neural oscillator Kotosaka, S., Schaal, S. In The International Symposium on Adaptive Motion of Animals and Machines, Montreal, Canada, August 2000, clmc
Sensory-motor integration is one of the key issues in robotics. In this paper, we propose an approach to rhythmic arm movement control that is synchronized with an external signal based on exploiting a simple neural oscillator network. Trajectory generation by the neural oscillator is a biologically inspired method that can allow us to generate a smooth and continuous trajectory. The parameter tuning of the oscillators is used to generate a synchronized movement with wide intervals. We adopted the method for the drumming task as an example task. By using this method, the robot can realize synchronized drumming with wide drumming intervals in real time. The paper also shows the experimental results of drumming by a humanoid robot.
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Autonomous Motion Article A brachiating robot controller Nakanishi, J., Fukuda, T., Koditschek, D. E. IEEE Transactions on Robotics and Automation, 16(2):109-123, 2000, clmc
We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an apeâ??s brachiation, we encode this task as the output of a â??target dynamical system.â? Numerical simulations indicate that the resulting controller solves a number of brachiation problems that we term the â??ladder,â? â??swing-up,â? and â??ropeâ? problems. Preliminary analysis provides some explanation for this success. The proposed controller is implemented on a physical system in our laboratory. The robot achieves behaviors including â??swing locomotionâ? and â??swing upâ? and is capable of continuous locomotion over several rungs of a ladder. We discuss a number of formal questions whose answers will be required to gain a full understanding of the strengths and weaknesses of this approach.
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Theory of Inhomogeneous Condensed Matter Article A vacancy-related muon species in crystalline silicon Schefzik, M., Scheuermann, R., Schimmele, L., Seeger, A., Herlach, D., Kormann, O., Major, J., Röck, A. Physica B, 289-290:511-515, 2000 BibTeX
Micro, Nano, and Molecular Systems Article Ab initio investigation of the sum-frequency hyperpolarizability of small chiral molecules Champagne, B., Fischer, P., Buckingham, A. CHEMICAL PHYSICS LETTERS, 331(1):83-88, 2000
Using a sum-over-states procedure based on configuration interaction singles /6-311++G{*}{*}, we have computed the sum-frequency hyperpolarizability beta (ijk)(-3 omega; 2 omega, omega) Of two small chiral molecules, R-monofluoro-oxirane and R-(+)-propylene oxide. Excitation energies were scaled to fit experimental UV-absorption data and checked with ab initio values from time-dependent density functional theory. The isotropic part of the computed hyperpolarizabilities, beta(-3 omega; 2 omega, omega), is much smaller than that reported previously from sum-frequency generation experiments on aqueous solutions of arabinose. Comparison is made with a single-centre chiral model. (C) 2000 Elsevier Science B.V. All rights reserved.
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Empirical Inference Book Chapter An Introduction to Kernel-Based Learning Algorithms Müller, K., Mika, S., Rätsch, G., Tsuda, K., Schölkopf, B. In Handbook of Neural Network Signal Processing, 4, (Editors: Yu Hen Hu and Jang-Neng Hwang), CRC Press, 2000 (Published) BibTeX
Autonomous Motion Book Chapter Biomimetic gaze stabilization Shibata, T., Schaal, S. In Robot learning: an Interdisciplinary approach, 31-52, (Editors: Demiris, J.;Birk, A.), World Scientific, 2000, clmc
Accurate oculomotor control is one of the essential pre-requisites for successful visuomotor coordination. In this paper, we suggest a biologically inspired control system for learning gaze stabilization with a biomimetic robotic oculomotor system. In a stepwise fashion, we develop a control circuit for the vestibulo-ocular reflex (VOR) and the opto-kinetic response (OKR), and add a nonlinear learning network to allow adaptivity. We discuss the parallels and differences of our system with biological oculomotor control and suggest solutions how to deal with nonlinearities and time delays in the control system. In simulation and actual robot studies, we demonstrate that our system can learn gaze stabilization in real time in only a few seconds with high final accuracy.
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Empirical Inference Conference Paper Choosing nu in support vector regression with different noise models — theory and experiments Chalimourda, A., Schölkopf, B., Smola, A. In International Joint Conference on Neural Networks, Proceedings of the IEEE-INNS-ENNS International Joint Conference on Neural Networks, IJCNN 2000, Neural Computing: New Challenges and Perspectives for the New Millennium, IEEE, International Joint Conference on Neural Networks, 2000 BibTeX
Physical Intelligence Article Controlled pushing of nanoparticles: modeling and experiments Sitti, M., Hashimoto, H. IEEE/ASME transactions on mechatronics, 5(2):199-211, IEEE, 2000 BibTeX