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Modern Magnetic Systems Article Reconstruction of the Mo(100) surface: a tight-binding study Haas, H., Wang, C. Z., Ho, K. M., Fähnle, M., Elsässer, C. {Surface Science}, 457:L397-L403, 2000 BibTeX
Modern Magnetic Systems Article Replacing muons by protons: polarized beam NMR Schüth, J., Eversheim, P., Herzog, P., Maier, K., Majer, G., Meyer, P., Roduner, E. {Physica B}, 289-290:672-675, 2000 BibTeX
Modern Magnetic Systems Article Spectral distribution of activation energies in YBa2Cu3O7-δthin films Warthmann, R., Albrecht, J., Kronmüller, H., Joos, C. {Physical Review B}, 62:15226-15229, 2000 BibTeX
Modern Magnetic Systems Article Spectral distribution of activation energies in YBa2Cu3O7-δthin films Warthmann, R., Albrecht, J., Kronmüller, H., Joos, C. {Physical Review B}, 62:15226-15229, 2000 BibTeX
Modern Magnetic Systems Article Symmetrical Tilt Grain boundaries in body-centred cubic transition metals: An ab-initio local-density-functional study Ochs, T., Beck, O., Elsässer, C., Meyer, B. {Philosophical Magazine A}, 80:351-372, 2000 BibTeX
Modern Magnetic Systems Article The hydrogen desorption kinetics of Pd-coated LaNi5-type films Cuevas, F., Hirscher, M. {Journal of Alloys and Compounds}, 313:269-275, 2000 BibTeX
Modern Magnetic Systems Article The influence of a finite bandwidth on the Verwey transition in magnetite Brabers, J. H. V. J., Walz, F., Kronmüller, H. {Journal of Physics: Condensed Matter}, 12:5437-5452, 2000 BibTeX
Modern Magnetic Systems Article The liquid ferromagnet Co80Pd20 and its critical exponent γ Bührer, C., Beckmann, M., Fähnle, M., Maier, K. {Journal of Magnetism and Magnetic Materials}, 212:211-224, 2000 BibTeX
Modern Magnetic Systems Article The strain-softening phenomenon of icosahedral Al-Pd-Mn single quasicrystals Brunner, D., Plachke, D., Carstanjen, H. D. {Materials Science and Engineering A}, 294-296:773-776, 2000 BibTeX
Modern Magnetic Systems Article The structure of the trihydride GdH3 Ellner, M., Reule, H., Mittemeijer, E. J. {Journal of Alloys and Compounds}, 309:127-131, 2000 BibTeX
Modern Magnetic Systems Article Theory of self-diffusion in alkali metals I. Results for monovacancies in Li, Na, and K Schott, V., Fähnle, M., Madden, P. A. {Journal of Physics: Condensed Matter}, 12:1171-1194, 2000 BibTeX
Modern Magnetic Systems Article Theory of self-diffusion in alkali metals II. The influence of divacancies in Li Schott, V., Fähnle, M., Madden, P. A. {Journal of Physics: Condensed Matter}, 12:1195-1198, 2000 BibTeX
Modern Magnetic Systems Ph.D. Thesis Untersuchung von Magnetisierungsprozessen in dünnen Nd2Fe14B-Schichten Melsheimer, A. Universität Stuttgart, Stuttgart, 2000 BibTeX
Modern Magnetic Systems Article Vacuum arc deposition of Ti coatings Straumal, B., Gust, W., Vershinin, N., Dimitriou, R., Rabkin, E. {Surface and Coatings Technology}, 125:157-160, 2000 BibTeX
Empirical Inference Conference Paper Engineering Support Vector Machine Kernels That Recognize Translation Initiation Sites in DNA Zien, A., Rätsch, G., Mika, S., Schölkopf, B., Lemmen, C., Smola, A., Lengauer, T., Müller, K. In German Conference on Bioinformatics (GCB 1999), October 1999 (Published)
In order to extract protein sequences from nucleotide sequences, it is an important step to recognize points from which regions encoding pro­ teins start, the so­called translation initiation sites (TIS). This can be modeled as a classification prob­ lem. We demonstrate the power of support vector machines (SVMs) for this task, and show how to suc­ cessfully incorporate biological prior knowledge by engineering an appropriate kernel function.
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Physical Intelligence Article < 研究速報>(< 小特集> マイクロマシン) Sitti, M., 橋本秀紀, 生産研究, 51(8):651-653, 東京大学, 1999 BibTeX
Physical Intelligence Conference Paper Challenge to micro/nanomanipulation using atomic force microscope Hashimoto, H., Sitti, M. In Micromechatronics and Human Science, 1999. MHS’99. Proceedings of 1999 International Symposium on, 35-42, 1999 BibTeX
Autonomous Motion Article Is imitation learning the route to humanoid robots? Schaal, S. Trends in Cognitive Sciences, 3(6):233-242, 1999, clmc
This review will focus on two recent developments in artificial intelligence and neural computation: learning from imitation and the development of humanoid robots. It will be postulated that the study of imitation learning offers a promising route to gain new insights into mechanisms of perceptual motor control that could ultimately lead to the creation of autonomous humanoid robots. This hope is justified because imitation learning channels research efforts towards three important issues: efficient motor learning, the connection between action and perception, and modular motor control in form of movement primitives. In order to make these points, first, a brief review of imitation learning will be given from the view of psychology and neuroscience. In these fields, representations and functional connections between action and perception have been explored that contribute to the understanding of motor acts of other beings. The recent discovery that some areas in the primate brain are active during both movement perception and execution provided a first idea of the possible neural basis of imitation. Secondly, computational approaches to imitation learning will be described, initially from the perspective of traditional AI and robotics, and then with a focus on neural network models and statistical learning research. Parallels and differences between biological and computational approaches to imitation will be highlighted. The review will end with an overview of current projects that actually employ imitation learning for humanoid robots.
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Physical Intelligence Article Micro/Nano Manipulation Using Atomic Force Microscope. Sitti, M., Hashimoto, H. 生産研究, 51(8):651-653, 東京大学生産技術研究所, 1999 BibTeX
Autonomous Motion Book Chapter Nonparametric regression for learning nonlinear transformations Schaal, S. In Prerational Intelligence in Strategies, High-Level Processes and Collective Behavior, 2:595-621, (Editors: Ritter, H.;Cruse, H.;Dean, J.), Kluwer Academic Publishers, 1999, clmc
Information processing in animals and artificial movement systems consists of a series of transformations that map sensory signals to intermediate representations, and finally to motor commands. Given the physical and neuroanatomical differences between individuals and the need for plasticity during development, it is highly likely that such transformations are learned rather than pre-programmed by evolution. Such self-organizing processes, capable of discovering nonlinear dependencies between different groups of signals, are one essential part of prerational intelligence. While neural network algorithms seem to be the natural choice when searching for solutions for learning transformations, this paper will take a more careful look at which types of neural networks are actually suited for the requirements of an autonomous learning system. The approach that we will pursue is guided by recent developments in learning theory that have linked neural network learning to well established statistical theories. In particular, this new statistical understanding has given rise to the development of neural network systems that are directly based on statistical methods. One family of such methods stems from nonparametric regression. This paper will compare nonparametric learning with the more widely used parametric counterparts in a non technical fashion, and investigate how these two families differ in their properties and their applicabilities. We will argue that nonparametric neural networks offer a set of characteristics that make them a very promising candidate for on-line learning in autonomous system.
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Physical Intelligence Conference Paper Pushing micro/nanoscale particles on substrates using Atomic Force Microscope probe towards tribological characterization of particle-substrate interfaces Sitti, M., Hashimoto, H. In STM’99 Conference, 385-386, 1999 BibTeX
Autonomous Motion Article Segmentation of endpoint trajectories does not imply segmented control Sternad, D., Schaal, D. Experimental Brain Research, 124(1):118-136, 1999, clmc
While it is generally assumed that complex movements consist of a sequence of simpler units, the quest to define these units of action, or movement primitives, still remains an open question. In this context, two hypotheses of movement segmentation of endpoint trajectories in 3D human drawing movements are re-examined: (1) the stroke-based segmentation hypothesis based on the results that the proportionality coefficient of the 2/3 power law changes discontinuously with each new â??strokeâ?, and (2) the segmentation hypothesis inferred from the observation of piecewise planar endpoint trajectories of 3D drawing movements. In two experiments human subjects performed a set of elliptical and figure-8 patterns of different sizes and orientations using their whole arm in 3D. The kinematic characteristics of the endpoint trajectories and the seven joint angles of the arm were analyzed. While the endpoint trajectories produced similar segmentation features as reported in the literature, analyses of the joint angles show no obvious segmentation but rather continuous oscillatory patterns. By approximating the joint angle data of human subjects with sinusoidal trajectories, and by implementing this model on a 7-degree-of-freedom anthropomorphic robot arm, it is shown that such a continuous movement strategy can produce exactly the same features as observed by the above segmentation hypotheses. The origin of this apparent segmentation of endpoint trajectories is traced back to the nonlinear transformations of the forward kinematics of human arms. The presented results demonstrate that principles of discrete movement generation may not be reconciled with those of rhythmic movement as easily as has been previously suggested, while the generalization of nonlinear pattern generators to arm movements can offer an interesting alternative to approach the question of units of action.
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Physical Intelligence Conference Paper Tele-nanorobotics 2-d manipulation of micro/nanoparticles using afm Sitti, M., Horiguchi, S., Hashimoto, H. In Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, 786-786, 1999 BibTeX
Physical Intelligence Conference Paper Tele-touch feedback of surfaces at the micro/nano scale: Modeling and experiments Sitti, M., Horighuchi, S., Hashimoto, H. In Intelligent Robots and Systems, 1999. IROS’99. Proceedings. 1999 IEEE/RSJ International Conference on, 2:882-888, 1999 BibTeX
Physical Intelligence Article Teleoperated nano scale object manipulation Sitti, M., Hashimoto, H. Recent Advances on Mechatronics, 322-335, Singapore: Springer-Verlag, 1999 BibTeX
Physical Intelligence Conference Paper Two-dimensional fine particle positioning using a piezoresistive cantilever as a micro/nano-manipulator Sitti, M., Hashimoto, H. In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 4:2729-2735, 1999 BibTeX
Physical Intelligence Article Virtual Reality-Based Teleoperation in the Micro/Nano World. Sitti, M., Hashimoto, H. 生産研究, 51(8):654-656, 東京大学生産技術研究所, 1999 BibTeX
Physical Intelligence Conference Paper Visualization interface for AFM-based nano-manipulation Horiguchi, S., Sitti, M., Hashimoto, H. In Industrial Electronics, 1999. ISIE’99. Proceedings of the IEEE International Symposium on, 1:310-315, 1999 BibTeX
Autonomous Motion Conference Paper Programmable pattern generators Schaal, S., Sternad, D. In 3rd International Conference on Computational Intelligence in Neuroscience, 48-51, Research Triangle Park, NC, Oct. 24-28, October 1998, clmc
This paper explores the idea to create complex human-like arm movements from movement primitives based on nonlinear attractor dynamics. Each degree-of-freedom of an arm 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. Implementation results on a Sarcos Dexterous Arm are discussed.
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Empirical Inference Article SVMs — a practical consequence of learning theory Schölkopf, B. IEEE Intelligent Systems and their Applications, 13(4):18-21, July 1998
My first exposure to Support Vector Machines came this spring when heard Sue Dumais present impressive results on text categorization using this analysis technique. This issue's collection of essays should help familiarize our readers with this interesting new racehorse in the Machine Learning stable. Bernhard Scholkopf, in an introductory overview, points out that a particular advantage of SVMs over other learning algorithms is that it can be analyzed theoretically using concepts from computational learning theory, and at the same time can achieve good performance when applied to real problems. Examples of these real-world applications are provided by Sue Dumais, who describes the aforementioned text-categorization problem, yielding the best results to date on the Reuters collection, and Edgar Osuna, who presents strong results on application to face detection. Our fourth author, John Platt, gives us a practical guide and a new technique for implementing the algorithm efficiently.
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Empirical Inference Conference Paper From regularization operators to support vector kernels Smola, A., Schölkopf, B. In Advances in Neural Information Processing Systems, Advances in Neural Information Processing Systems 10, 343-349, (Editors: M Jordan and M Kearns and S Solla), MIT Press, Cambridge, MA, USA, 11th Annual Conference on Neural Information Processing (NIPS 1997), June 1998 PDF Web BibTeX
Empirical Inference Conference Paper Prior knowledge in support vector kernels Schölkopf, B., Simard, P., Smola, A., Vapnik, V. In Advances in Neural Information Processing Systems, Advances in Neural Information Processing Systems 10, 640-646 , (Editors: M Jordan and M Kearns and S Solla ), MIT Press, Cambridge, MA, USA, Eleventh Annual Conference on Neural Information Processing (NIPS 1997), June 1998 PDF Web BibTeX
Empirical Inference Article Learning view graphs for robot navigation Franz, M., Schölkopf, B., Mallot, H., Bülthoff, H. A. Autonomous Robots, 5(1):111-125, March 1998
We present a purely vision-based scheme for learning a topological representation of an open environment. The system represents selected places by local views of the surrounding scene, and finds traversable paths between them. The set of recorded views and their connections are combined into a graph model of the environment. To navigate between views connected in the graph, we employ a homing strategy inspired by findings of insect ethology. In robot experiments, we demonstrate that complex visual exploration and navigation tasks can thus be performed without using metric information.
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Physical Intelligence Conference Paper 2D micro particle assembly using atomic force microscope Sitti, M., Hirahara, K., Hashimoto, H. In Micromechatronics and Human Science, 1998. MHS’98. Proceedings of the 1998 International Symposium on, 143-148, 1998 BibTeX
Autonomous Motion Conference Paper Biomimetic gaze stabilization based on a study of the vestibulocerebellum Shibata, T., Schaal, S. In European Workshop on Learning Robots, 84-94, Edinburgh, UK, 1998, 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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Autonomous Motion Article Constructive incremental learning from only local information Schaal, S., Atkeson, C. G. Neural Computation, 10(8):2047-2084, 1998, clmc
We introduce a constructive, incremental learning system for regression problems that models data by means of spatially localized linear models. In contrast to other approaches, the size and shape of the receptive field of each locally linear model as well as the parameters of the locally linear model itself are learned independently, i.e., without the need for competition or any other kind of communication. Independent learning is accomplished by incrementally minimizing a weighted local cross validation error. As a result, we obtain a learning system that can allocate resources as needed while dealing with the bias-variance dilemma in a principled way. The spatial localization of the linear models increases robustness towards negative interference. Our learning system can be interpreted as a nonparametric adaptive bandwidth smoother, as a mixture of experts where the experts are trained in isolation, and as a learning system which profits from combining independent expert knowledge on the same problem. This paper illustrates the potential learning capabilities of purely local learning and offers an interesting and powerful approach to learning with receptive fields. 
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Micro, Nano, and Molecular Systems Article Linear electro-optic effect in optically active liquids Buckingham, A., Fischer, P. CHEMICAL PHYSICS LETTERS, 297(3-4):239-246, 1998
A linear effect of an electrostatic field F on the intensity of sum- and difference-frequency generation in a chiral liquid is predicted. It arises in the electric dipole approximation. The effect changes sign with the enantiomer and on reversing the direction of the electrostatic field. The sum-frequency generator chi(alpha beta gamma)((2)) (-omega(3);omega(1),omega(2)), where omega(3) = omega(1) + omega(2), and the electric field-induced sum-frequency generator chi(alpha beta gamma delta)((3))(-omega(3);omega(1),omega(2),0)F-delta interfere and their contributions to the scattering power can be distinguished. Encouraging predictions are given for a typical experimental arrangement. (C) 1998 Elsevier Science B.V. All rights reserved.
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Autonomous Motion Article Local adaptive subspace regression Vijayakumar, S., Schaal, S. Neural Processing Letters, 7(3):139-149, 1998, clmc
Incremental learning of sensorimotor transformations in high dimensional spaces is one of the basic prerequisites for the success of autonomous robot devices as well as biological movement systems. So far, due to sparsity of data in high dimensional spaces, learning in such settings requires a significant amount of prior knowledge about the learning task, usually provided by a human expert. In this paper we suggest a partial revision of the view. Based on empirical studies, we observed that, despite being globally high dimensional and sparse, data distributions from physical movement systems are locally low dimensional and dense. Under this assumption, we derive a learning algorithm, Locally Adaptive Subspace Regression, that exploits this property by combining a dynamically growing local dimensionality reduction technique  as a preprocessing step with a nonparametric learning technique, locally weighted regression, that also learns the region of validity of the regression. The usefulness of the algorithm and the validity of its assumptions are illustrated for a synthetic data set, and for data of the inverse dynamics of human arm movements and an actual 7 degree-of-freedom anthropomorphic robot arm. 
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Autonomous Motion Conference Paper Local dimensionality reduction Schaal, S., Vijayakumar, S., Atkeson, C. G. In Advances in Neural Information Processing Systems 10, 633-639, (Editors: Jordan, M. I.;Kearns, M. J.;Solla, S. A.), MIT Press, Cambridge, MA, 1998, clmc
If globally high dimensional data has locally only low dimensional distributions, it is advantageous to perform a local dimensionality reduction before further processing the data. In this paper we examine several techniques for local dimensionality reduction in the context of locally weighted linear regression. As possible candidates, we derive local versions of factor analysis regression, principle component regression, principle component regression on joint distributions, and partial least squares regression. After outlining the statistical bases of these methods, we perform Monte Carlo simulations to evaluate their robustness with respect to violations of their statistical assumptions. One surprising outcome is that locally weighted partial least squares regression offers the best average results, thus outperforming even factor analysis, the theoretically most appealing of our candidate techniques.
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Physical Intelligence Conference Paper Macro to nano tele-manipulation through nanoelectromechanical systems Sitti, M., Hashimoto, H. In Industrial Electronics Society, 1998. IECON’98. Proceedings of the 24th Annual Conference of the IEEE, 1:98-103, 1998 BibTeX
Micro, Nano, and Molecular Systems Article Monolayers of hexadecyltrimethylammonium p-tosylate at the air-water interface. 1. Sum-frequency spectroscopy Bell, G., Li, Z., Bain, C., Fischer, P., Duffy, D. JOURNAL OF PHYSICAL CHEMISTRY B, 102(47):9461-9472, 1998
Sum-frequency vibrational spectroscopy has been used to determine the structure of monolayers of the cationic surfactant, hexadecyltrimethylammonium p-tosylate (C(16)TA(+)Ts(-)), at the surface of water. Selective deuteration of the cation or the anion allowed the separate detection of sum-frequency spectra of the surfactant and of counterions that are bound to the monolayer. The p-tosylate ions an oriented with their methyl groups pointing away from the aqueous subphase and with the C-2 axis tilted, on average, by 30-40 degrees from the surface normal. The vibrational spectra of C(16)TA(+) indicate that the number of gauche defects in the monolayer does not change dramatically when bromide counterions are replaced by p-tosylate. The ends of the hydrocarbon chains of C16TA+ are, however, tilted much further from the surface normal in the presence of p-tosylate than in the presence of bromide. A quantitative analysis of the sum-frequency spectra requires a knowledge of the molecular hyperpolarizability tensor: the role of ab initio calculations and Raman spectroscopy in determining the components of this tensor is discussed.
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Physical Intelligence Conference Paper Nano tele-manipulation using virtual reality interface Sitti, M., Horiguchi, S., Hashimoto, H. In Industrial Electronics, 1998. Proceedings. ISIE’98. IEEE International Symposium on, 1:171-176, 1998 BibTeX
Autonomous Motion Conference Paper Robust local learning in high dimensional spaces Vijayakumar, S., Schaal, S. In 5th Joint Symposium on Neural Computation, 186-193, Institute for Neural Computation, University of California, San Diego, San Diego, CA, 1998, clmc
Incremental learning of sensorimotor transformations in high dimensional spaces is one of the basic prerequisites for the success of autonomous robot devices as well as biological movement systems. So far, due to sparsity of data in high dimensional spaces, learning in such settings requires a significant amount of prior knowledge about the learning task, usually provided by a human expert. In this paper, we suggest a partial revision of this view. Based on empirical studies, we observed that, despite being globally high dimensional and sparse, data distributions from physical movement systems are locally low dimensional and dense. Under this assumption, we derive a learning algorithm, Locally Adaptive Subspace Regression, that exploits this property by combining a dynamically growing local dimensionality reduction technique as a preprocessing step with a nonparametric learning technique, locally weighted regression, that also learns the region of validity of the regression. The usefulness of the algorithm and the validity of its assumptions are illustrated for a synthetic data set, and for data of the inverse dynamics of human arm movements and an actual 7 degree-of-freedom anthropomorphic robot arm.
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Micro, Nano, and Molecular Systems Article Surface second-order nonlinear optical activity Fischer, P., Buckingham, A. JOURNAL OF THE OPTICAL SOCIETY OF AMERICA B-OPTICAL PHYSICS, 15(12):2951-2957, 1998
Following the recent observation of a large second-harmonic intensity difference from a monolayer of chiral molecules with left and right circularly polarized light, the scattering theory is generalized and extended to predict linear and circular intensity differences for the more Versatile sum-frequency spectroscopy. Estimates indicate that intensity differences should be detectable for a typical experimental arrangement. The second-order nonlinear surface susceptibility tensor is given for different surface point groups in the electric dipole approximation; it is shown that nonlinear optical activity phenomena unambiguously probe molecular chirality only for molecular monolayers that are symmetric about the normal. Other surface symmetries can give rise to intensity differences from monolayers composed of achiral molecules. A water surface is predicted to show Linear and nonlinear optical activity in the presence of an electric field parallel to the surface. (C) 1998 Optical Society of America {[}S0740-3224(98)01311-3] OCIS codes: 190.0190, 190.4350, 240.6490.
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Physical Intelligence Article Tele-nanorobotics using an atomic force microscope as a nanorobot and sensor Sitti, M., Hashimoto, H. Advanced Robotics, 13(4):417-436, Taylor & Francis, 1998 BibTeX
Physical Intelligence Conference Paper Tele-nanorobotics using atomic force microscope Sitti, M., Hashimoto, H. In Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on, 3:1739-1746, 1998 BibTeX
Autonomous Motion Conference Paper Towards biomimetic vision Shibata, T., Schaal, S. In International Conference on Intelligence Robots and Systems, 872-879, Victoria, Canada, 1998, clmc
Oculomotor control is the foundation of most biological visual systems, as well as an important component in the entire perceptual-motor system. We review some of the most basic principles of biological oculomotor systems, and explore their usefulness from both the biological and computational point of view. As an example of biomimetic oculomotor control, we present the state of our implementations and experimental results using the vestibulo-ocular-reflex and opto-kinetic-reflex paradigm
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Micro, Nano, and Molecular Systems Article Ultraviolet resonance Raman study of drug binding in dihydrofolate reductase, gyrase, and catechol O-methyltransferase Couling, V., Fischer, P., Klenerman, D., Huber, W. BIOPHYSICAL JOURNAL, 75(2):1097-1106, 1998
This paper presents a study of the use of ultraviolet resonance Raman (UVRR) spectroscopic methods as a means of elucidating aspects of drug-protein interactions. Some of the RR vibrational bands of the aromatic amino acids tyrosine and tryptophan are sensitive to the microenvironment, and the use of UV excitation radiation allows selective enhancement of the spectral features of the aromatic amino acids, enabling observation specifically of their change in microenvironment upon drug binding. The three drug-protein systems investigated in this study are dihydrofolate reductase with its inhibitor trimethoprim, gyrase with novobiocin, and catechol O-methyltransferase with dinitrocatechol. It is demonstrated that UVRR spectroscopy has adequate sensitivity to be a useful means of detecting drug-protein interactions in those systems for which the electronic absorption of the aromatic amino acids changes because of hydrogen bonding and/or possible dipole-dipole and dipole-polarizability interactions with the ligand.
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Materials Article Influence of Na and H2O on the surface properties of Cu(In,Ga)Se, thin films Heske, C., Richter, G., Chen, Z. H., Fink, R., Umbach, E., Riedl, W., Karg, F. Journal of Applied Physics, 82(5):2411-2420, 1997 DOI BibTeX
Autonomous Motion Conference Paper Learning from demonstration Schaal, S. In Advances in Neural Information Processing Systems 9, 1040-1046, (Editors: Mozer, M. C.;Jordan, M.;Petsche, T.), MIT Press, Cambridge, MA, 1997, clmc
By now it is widely accepted that learning a task from scratch, i.e., without any prior knowledge, is a daunting undertaking. Humans, however, rarely attempt to learn from scratch. They extract initial biases as well as strategies how to approach a learning problem from instructions and/or demonstrations of other humans. For learning control, this paper investigates how learning from demonstration can be applied in the context of reinforcement learning. We consider priming the Q-function, the value function, the policy, and the model of the task dynamics as possible areas where demonstrations can speed up learning. In general nonlinear learning problems, only model-based reinforcement learning shows significant speed-up after a demonstration, while in the special case of linear quadratic regulator (LQR) problems, all methods profit from the demonstration. In an implementation of pole balancing on a complex anthropomorphic robot arm, we demonstrate that, when facing the complexities of real signal processing, model-based reinforcement learning offers the most robustness for LQR problems. Using the suggested methods, the robot learns pole balancing in just a single trial after a 30 second long demonstration of the human instructor. 
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