Institute Homepage
Institute Homepage DE 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

Autonomous Motion Book Chapter Arm and hand movement control Schaal, S. In The handbook of brain theory and neural networks, 2nd Edition, 110-113, 2, (Editors: Arbib, M. A.), MIT Press, Cambridge, MA, 2002, clmc
This is a review article on computational and biological research on arm and hand control.
URL BibTeX
Theory of Inhomogeneous Condensed Matter Conference Paper Capture-Numbers and Island Size-Distributions in Irreversible Homoepitaxial Growth: A Rate-Equation Approach Popescu, M. N., Family, F., Amar, J. G. In Atomistic Aspects of Epitaxial Growth, 99-110, NATO Science Series: Series 2, Mathematics, Physics, and Chemistry, Kluwer Academic Publishers, Dassia [Korfu, Greece], 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Book Chapter Characterizing the Morphology of Disordered Materials Arns, C. H., Knackstedt, M. A., Mecke, K. In Morphology of Condensed Matter, 600:37-74, Lecture Notes in Physics, Springer, Berlin [et al.], 2002 BibTeX
Micro, Nano, and Molecular Systems Article Chirality-specific nonlinear spectroscopies in isotropic media Fischer, P., Albrecht, A. BULLETIN OF THE CHEMICAL SOCIETY OF JAPAN, 75(5):1119-1124, 2002, 10th International Conference on Time-Resolved Vibrational Spectroscopy (TRVS 2001), OKAZZAKI, JAPAN, MAY 21-25, 2001
Sum or difference frequency generation (SFG or DFG) in isotropic media is in the electric-dipole approximation only symmetry allowed for optically active systems. The hyperpolarizability giving rise to these three-wave mixing processes features only one isotropic component. It factorizes into two terms, an energy (denominator) factor and a triple product of transition moments. These forbid degenerate SFG, i.e., second harmonic generation, as well as the existence of the linear electrooptic effect (Pockels effect) in isotropic media. This second order response also has no static limit, which leads to particularly strong resonance phenomena that are qualitatively different from those usually seen in the ubiquitous even-wave mixing spectroscopies. In particular, the participation of two (not the usual one) excited states is essential to achieve dramatic resonance enhancement, We report our first efforts to see such resonantly enhanced chirality specific SFG.
DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Cluster-Computing and Computational Science mit der Wuppertaler Alpha-Linux-Cluster-Engine ALiCE Arndt, H., Arnold, G., Eicker, N., Fliegner, D., Frommer, A., Hentschke, R., Isalia, F., Kabrede, H., Krech, M., Lippert, T. H., Neff, H., Orth, B., Schilling, K., Schroers, W., Tichy, W. Praxis der Informationsverarbeitung und Kommunikation, 25(1):21-38, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Colloid aggregation induced by oppositely charged polyions Harnau, L., Hansen, J. P. Journal of Chemical Physics, 116(20):9051-9057, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Conformal map modeling of the pinning transition in Laplacian growth Hentschel, H. G. E., Popescu, M. N., Family, F. Physical Review E, 65(3), 2002 BibTeX
Empirical Inference Article Contrast discrimination with pulse-trains in pink noise Henning, G., Bird, C., Wichmann, F. Journal of the Optical Society of America A, 19(7):1259-1266, 2002
Detection performance was measured with sinusoidal and pulse-train gratings. Although the 2.09-c/deg pulse-train, or line gratings, contained at least 8 harmonics all at equal contrast, they were no more detectable than their most detectable component. The addition of broadband pink noise designed to equalize the detectability of the components of the pulse train made the pulse train about a factor of four more detectable than any of its components. However, in contrast-discrimination experiments, with a pedestal or masking grating of the same form and phase as the signal and 15% contrast, the noise did not affect the discrimination performance of the pulse train relative to that obtained with its sinusoidal components. We discuss the implications of these observations for models of early vision in particular the implications for possible sources of internal noise.
PDF BibTeX
Empirical Inference Article Contrast discrimination with sinusoidal gratings of different spatial frequency Bird, C., Henning, G., Wichmann, F. Journal of the Optical Society of America A, 19(7):1267-1273, 2002
The detectability of contrast increments was measured as a function of the contrast of a masking or “pedestal” grating at a number of different spatial frequencies ranging from 2 to 16 cycles per degree of visual angle. The pedestal grating always had the same orientation, spatial frequency and phase as the signal. The shape of the contrast increment threshold versus pedestal contrast (TvC) functions depend of the performance level used to define the “threshold,” but when both axes are normalized by the contrast corresponding to 75% correct detection at each frequency, the (TvC) functions at a given performance level are identical. Confidence intervals on the slope of the rising part of the TvC functions are so wide that it is not possible with our data to reject Weber’s Law.
PDF BibTeX
Theory of Inhomogeneous Condensed Matter Article Crossover between strong- and weak-field critical adsorption and the determination of the universal exponent η⊥ Nickel, B., Schlesener, F., Donner, W., Detlefs, C., Dosch, H. Journal of Chemical Physics, 117(2):902-908, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Ph.D. Thesis Diffusion in amorphen Vorstufen von Si-(B-)C-N-Keramiken und verwandten Materialien Voss, L. T. Universität Stuttgart, Stuttgart, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Dynamic surface critical behavior of isotropic Heisenberg ferromagnets: boundary conditions, renormalized field theory, and computer simulation results Diehl, H. W., Krech, M., Karl, H. Physical Review B, 66, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Effective forces in colloidal mixtures: From depletion attraction to accumulation repulsion Louis, A. A., Allahyarov, E., Löwen, H., Roth, R. Physical Review E, 65(6), 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Entropic torque Roth, R., van Roij, R., Andrienko, D., Mecke, K. R., Dietrich, S. Physical Review Letters, 89(8):088301, 2002 DOI BibTeX
Physical Intelligence Article Evidence for van der Waals adhesion in gecko setae Autumn, K., Sitti, M., Liang, Y. A., Peattie, A. M., Hansen, W. R., Sponberg, S., Kenny, T. W., Fearing, R., Israelachvili, J. N., Full, R. J. Proceedings of the National Academy of Sciences, 99(19):12252-12256, National Acad Sciences, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Fluids of platelike particles near a hard wall Harnau, L., Dietrich, S. Physical Review E, 65(2):021505, 2002 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Fundamental measure theory for hard-sphere mixtures revisited: the White Bear version Roth, R., Evans, R., Lang, A., Kahl, G. Journal of Physics-Condensed Matter, 14(46):12063-12078, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Geometrically-controlled twist transitions in nematic cells Patricio, P., Telo da Gama, M. M., Dietrich, S. Physical Review Letters, 88(24):245502, 2002 DOI BibTeX
Theory of Inhomogeneous Condensed Matter Article Grenzflächenstrukturen von Fluiden Dietrich, S. Physik Journal, 1(7/8):57-61, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Kinetics of submonolayer epitaxial growth Amar, J. G., Family, F., Popescu, M. N. Computer Physics Communications, 146(1):1-8, 2002 BibTeX
Autonomous Motion Conference Paper Learning rhythmic movements by demonstration using nonlinear oscillators Ijspeert, J. A., Nakanishi, J., Schaal, S. In IEEE International Conference on Intelligent Robots and Systems (IROS 2002), 958-963, Piscataway, NJ: IEEE, Lausanne, Sept.30-Oct.4 2002, 2002, 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.
URL BibTeX
Autonomous Motion Book Chapter Learning robot control Schaal, S. In The handbook of brain theory and neural networks, 2nd Edition, 983-987, 2, (Editors: Arbib, M. A.), MIT Press, Cambridge, MA, 2002, clmc
This is a review article on learning control in robots.
URL BibTeX
Empirical Inference Conference Paper Luminance Artifacts on CRT Displays Wichmann, F. In IEEE Visualization, 571-574, (Editors: Moorhead, R.; Gross, M.; Joy, K. I.), IEEE Visualization, 2002
Most visualization panels today are still built around cathode-ray tubes (CRTs), certainly on personal desktops at work and at home. Whilst capable of producing pleasing images for common applications ranging from email writing to TV and DVD presentation, it is as well to note that there are a number of nonlinear transformations between input (voltage) and output (luminance) which distort the digital and/or analogue images send to a CRT. Some of them are input-independent and hence easy to fix, e.g. gamma correction, but others, such as pixel interactions, depend on the content of the input stimulus and are thus harder to compensate for. CRT-induced image distortions cause problems not only in basic vision research but also for applications where image fidelity is critical, most notably in medicine (digitization of X-ray images for diagnostic purposes) and in forms of online commerce, such as the online sale of images, where the image must be reproduced on some output device which will not have the same transfer function as the customer's CRT. I will present measurements from a number of CRTs and illustrate how some of their shortcomings may be problematic for the aforementioned applications.
BibTeX
Theory of Inhomogeneous Condensed Matter Book Chapter Mark Correlations: Relating Physical Properties to Spatial Distributions Beisbart, C., Kerscher, M., Mecke, K. In Morphology of Condensed Matter, 600:358-390, Lecture Notes in Physics, Springer, Berlin [et al.], 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Microscopic theory of solvent-mediated long-range forces: Influence of wetting Archer, A. J., Evans, R., Roth, R. Europhysics Letters, 59(4):526-532, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Book Morphology of Condensed Matter - Physics and Geometry of Spatially Complex Systems 600:439 p., Lecture Notes in Physics, Springer, Berlin [et al.], 2002 BibTeX
Autonomous Motion Conference Paper Movement imitation with nonlinear dynamical systems in humanoid robots Ijspeert, J. A., Nakanishi, J., Schaal, S. In International Conference on Robotics and Automation (ICRA2002), Washinton, May 11-15 2002, 2002, 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.
URL BibTeX
Physical Intelligence Conference Paper Nanomolding based fabrication of synthetic gecko foot-hairs Sitti, M., Fearing, R. S. In Nanotechnology, 2002. IEEE-NANO 2002. Proceedings of the 2002 2nd IEEE Conference on, 137-140, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Conference Paper Non-Gaussian morphology of galaxy-cluster distribution: Minkowski functionals of the REFLEX catalogue Kerscher, M., Mecke, K., Schücker, P., Collaboration, R. In Tracing Cosmic Evolution with Galaxy Clusters. Proceedings of the Sesto-2001 Workshop, 268:60-62, Astronomical Society Pacific Conference Series, Alto Adige/Südtirol, 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Article Nucleon mass and pion loops: Renormalization Oettel, M., Thomas, A. W. Physical Review C, 66(6), 2002 BibTeX
Theory of Inhomogeneous Condensed Matter Conference Paper Nucleons as relativistic three-quark states Oettel, M. In Proceedings of the Workshop on Physics at the Japan Hadron Facility (JHF), 203-211, World Scientific, Adelaide, Australia, 2002 BibTeX
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