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2014


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Predicting Motor Learning Performance from Electroencephalographic Data

Meyer, T., Peters, J., Zander, T., Schölkopf, B., Grosse-Wentrup, M.

Journal of NeuroEngineering and Rehabilitation, 11:24, 2014 (article)

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PDF DOI [BibTex]

2014


PDF DOI [BibTex]


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Special issue on autonomous grasping and manipulation

Ben Amor, H., Saxena, A., Hudson, N., Peters, J.

Autonomous Robots, 36(1-2):1-3, 2014 (article)

ei

DOI [BibTex]

DOI [BibTex]


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Evaluation of Positron Emission Tomographic Tracers for Imaging of Papillomavirus-Induced Tumors in Rabbits

Probst, S., Wiehr, S., Mantlik, F., Schmidt, H., Kolb, A., Münch, P., Delcuratolo, M., Stubenrauch, F., Pichler, B., Iftner, T.

Molecular Imaging, 13(1):1536-0121, 2014 (article)

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Web [BibTex]

Web [BibTex]


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Extreme events in gross primary production: a characterization across continents

Zscheischler, J., Reichstein, M., Harmeling, S., Rammig, A., Tomelleri, E., Mahecha, M.

Biogeosciences, 11, pages: 2909-2924, 2014 (article)

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PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Indirect Robot Model Learning for Tracking Control

Bocsi, B., Csató, L., Peters, J.

Advanced Robotics, 28(9):589-599, 2014 (article)

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PDF DOI [BibTex]


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An extended approach for spatiotemporal gapfilling: dealing with large and systematic gaps in geoscientific datasets

v Buttlar, J., Zscheischler, J., Mahecha, M.

Nonlinear Processes in Geophysics, 21(1):203-215, 2014 (article)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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On the Quantification Accuracy, Homogeneity, and Stability of Simultaneous Positron Emission Tomography/Magnetic Resonance Imaging Systems

Schmidt, H., Schwenzer, N., Bezrukov, I., Mantlik, F., Kolb, A., Kupferschläger, J., Pichler, B.

Investigative Radiology, 49(6):373-381, 2014 (article)

ei

Web DOI [BibTex]

Web DOI [BibTex]


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Natural Evolution Strategies

Wierstra, D., Schaul, T., Glasmachers, T., Sun, Y., Peters, J., Schmidhuber, J.

Journal of Machine Learning Research, 15, pages: 949-980, 2014 (article)

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PDF [BibTex]

PDF [BibTex]


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Factors controlling decomposition rates of fine root litter in temperate forests and grasslands

Solly, E., Schöning, I., Boch, S., Kandeler, E., Marhan, S., Michalzik, B., Müller, J., Zscheischler, J., Trumbore, S., Schrumpf, M.

Plant and Soil, 2014 (article)

ei

PDF DOI [BibTex]

PDF DOI [BibTex]


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Causal Discovery with Continuous Additive Noise Models

Peters, J., Mooij, J., Janzing, D., Schölkopf, B.

Journal of Machine Learning Research, 15, pages: 2009-2053, 2014 (article)

ei

PDF Web [BibTex]

PDF Web [BibTex]


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A few extreme events dominate global interannual variability in gross primary production

Zscheischler, J., Mahecha, M., v Buttlar, J., Harmeling, S., Jung, M., Rammig, A., Randerson, J., Schölkopf, B., Seneviratne, S., Tomelleri, E., Zaehle, S., Reichstein, M.

Environmental Research Letters, 9(3):035001, 2014 (article)

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PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Kernel methods in system identification, machine learning and function estimation: A survey

Pillonetto, G., Dinuzzo, F., Chen, T., De Nicolao, G., Ljung, L.

Automatica, 50(3):657-682, 2014 (article)

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Web DOI [BibTex]

Web DOI [BibTex]


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Development of a novel depth of interaction PET detector using highly multiplexed G-APD cross-strip encoding

Kolb, A., Parl, C., Mantlik, F., Liu, C., Lorenz, E., Renker, D., Pichler, B.

Medical Physics, 41(8), 2014 (article)

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Web DOI [BibTex]

Web DOI [BibTex]


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Epidural electrocorticography for monitoring of arousal in locked-in state

Martens, S., Bensch, M., Halder, S., Hill, J., Nijboer, F., Ramos-Murguialday, A., Schölkopf, B., Birbaumer, N., Gharabaghi, A.

Frontiers in Human Neuroscience, 8(861), 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Simultaneous Whole-Body PET/MR Imaging in Comparison to PET/CT in Pediatric Oncology: Initial Results

Schäfer, J. F., Gatidis, S., Schmidt, H., Gückel, B., Bezrukov, I., Pfannenberg, C. A., Reimold, M., M., E., Fuchs, J., Claussen, C. D., Schwenzer, N. F.

Radiology, 273(1):220-231, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Cost-Sensitive Active Learning With Lookahead: Optimizing Field Surveys for Remote Sensing Data Classification

Persello, C., Boularias, A., Dalponte, M., Gobakken, T., Naesset, E., Schölkopf, B.

IEEE Transactions on Geoscience and Remote Sensing, 10(52):6652 - 6664, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Principles of PET/MR Imaging

Disselhorst, J. A., Bezrukov, I., Kolb, A., Parl, C., Pichler, B. J.

Journal of Nuclear Medicine, 55(6, Supplement 2):2S-10S, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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IM3SHAPE: Maximum likelihood galaxy shear measurement code for cosmic gravitational lensing

Zuntz, J., Kacprzak, T., Voigt, L., Hirsch, M., Rowe, B., Bridle, S.

Astrophysics Source Code Library, 1, pages: 09013, 2014 (article)

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link (url) [BibTex]

link (url) [BibTex]


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Efficient nearest neighbors via robust sparse hashing

Cherian, A., Sra, S., Morellas, V., Papanikolopoulos, N.

IEEE Transactions on Image Processing, 23(8):3646-3655, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Sérsic galaxy models in weak lensing shape measurement: model bias, noise bias and their interaction

Kacprzak, T., Bridle, S., Rowe, B., Voigt, L., Zuntz, J., Hirsch, M., MacCrann, N.

Monthly Notices of the Royal Astronomical Society, 441(3):2528-2538, Oxford University Press, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Diminished White Matter Integrity in Patients with Systemic Lupus Erythematosus

Schmidt-Wilcke, T., Cagnoli, P., Wang, P., Schultz, T., Lotz, A., Mccune, W. J., Sundgren, P. C.

NeuroImage: Clinical, 5, pages: 291-297, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Continuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimming

Diller, E., Zhuang, J., Zhan Lum, G., Edwards, M. R., Sitti, M.

Applied Physics Letters, 104(17):174101, AIP, 2014 (article)

Abstract
We have developed a millimeter-scale magnetically driven swimming robot for untethered motion at mid to low Reynolds numbers. The robot is propelled by continuous undulatory deformation, which is enabled by the distributed magnetization profile of a flexible sheet. We demonstrate control of a prototype device and measure deformation and speed as a function of magnetic field strength and frequency. Experimental results are compared with simple magnetoelastic and fluid propulsion models. The presented mechanism provides an efficient remote actuation method at the millimeter scale that may be suitable for further scaling down in size for microrobotics applications in biotechnology and healthcare

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing and Retrieving Untethered Micro-Grippers

Yim, S., Gultepe, E., Gracias, D. H., Sitti, M.

IEEE Trans. on Biomedical Engineering, 61(2):513-521, IEEE, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Investigation of tip current and normal force measured simultaneously during local oxidation of titanium using dual-mode scanning probe microscopy

Ozcan, O., Hu, W., Sitti, M., Bain, J., Ricketts, D.

IET Micro \& Nano Letters, 9(5):332-336, IET, 2014 (article)

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[BibTex]

[BibTex]


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SoftCubes: Stretchable and self-assembling three-dimensional soft modular matter

Yim, S., Sitti, M.

The International Journal of Robotics Research, 33(8):1083-1097, SAGE Publications Sage UK: London, England, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Bio-Hybrid Cell-Based Actuators for Microsystems

Carlsen, Rika Wright, Sitti, Metin

Small, 10(19):3831-3851, 2014 (article)

Abstract
As we move towards the miniaturization of devices to perform tasks at the nano and microscale, it has become increasingly important to develop new methods for actuation, sensing, and control. Over the past decade, bio-hybrid methods have been investigated as a promising new approach to overcome the challenges of scaling down robotic and other functional devices. These methods integrate biological cells with artificial components and therefore, can take advantage of the intrinsic actuation and sensing functionalities of biological cells. Here, the recent advancements in bio-hybrid actuation are reviewed, and the challenges associated with the design, fabrication, and control of bio-hybrid microsystems are discussed. As a case study, focus is put on the development of bacteria-driven microswimmers, which has been investigated as a targeted drug delivery carrier. Finally, a future outlook for the development of these systems is provided. The continued integration of biological and artificial components is envisioned to enable the performance of tasks at a smaller and smaller scale in the future, leading to the parallel and distributed operation of functional systems at the microscale.

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Staying sticky: contact self-cleaning of gecko-inspired adhesives

Mengüç, Y., Röhrig, M., Abusomwan, U., Hölscher, H., Sitti, M.

Journal of The Royal Society Interface, 11(94):20131205, The Royal Society, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Dynamic Trapping and Two-Dimensional Transport of Swimming Microorganisms Using a Rotating Magnetic Micro-Robot

Ye, Z., Sitti, M.

Lab on a Chip, 14(13):2177-2182, Royal Society of Chemistry, 2014 (article)

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Project Page [BibTex]


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STRIDE II: a water strider-inspired miniature robot with circular footpads

Ozcan, O., Wang, H., Taylor, J. D., Sitti, M.

International Journal of Advanced Robotic Systems, 11(6):85, SAGE Publications Sage UK: London, England, 2014 (article)

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[BibTex]

[BibTex]


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Soft Grippers Using Micro-Fibrillar Adhesives for Transfer Printing

Song, S., Sitti, M.

Advanced Materials, 26(28):4901-4906, 2014 (article)

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[BibTex]

[BibTex]


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Information-Theoretic Bounded Rationality and ϵ-Optimality

Braun, DA, Ortega, PA

Entropy, 16(8):4662-4676, August 2014 (article)

Abstract
Bounded rationality concerns the study of decision makers with limited information processing resources. Previously, the free energy difference functional has been suggested to model bounded rational decision making, as it provides a natural trade-off between an energy or utility function that is to be optimized and information processing costs that are measured by entropic search costs. The main question of this article is how the information-theoretic free energy model relates to simple \(\epsilon\)-optimality models of bounded rational decision making, where the decision maker is satisfied with any action in an \(\epsilon\)-neighborhood of the optimal utility. We find that the stochastic policies that optimize the free energy trade-off comply with the notion of \(\epsilon\)-optimality. Moreover, this optimality criterion even holds when the environment is adversarial. We conclude that the study of bounded rationality based on \(\epsilon\)-optimality criteria that abstract away from the particulars of the information processing constraints is compatible with the information-theoretic free energy model of bounded rationality.

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DOI [BibTex]

DOI [BibTex]


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Can DC motors directly drive flapping wings at high frequency and large wing strokes?

Campolo, D., Azhar, M., Lau, G., Sitti, M.

IEEE/ASME Trans. on Mechatronics, 19(1):109-120, 2014 (article)

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[BibTex]

[BibTex]


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Magnetic steering control of multi-cellular bio-hybrid microswimmers

Carlsen, R. W., Edwards, M. R., Zhuang, J., Pacoret, C., Sitti, M.

Lab on a Chip, 14(19):3850-3859, Royal Society of Chemistry, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Analytical modeling and experimental characterization of chemotaxis in serratia marcescens

Zhuang, J., Wei, G., Carlsen, R. W., Edwards, M. R., Marculescu, R., Bogdan, P., Sitti, M.

Physical Review E, 89(5):052704, American Physical Society, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Swimming characterization of Serratia marcescens for bio-hybrid micro-robotics

Edwards, M. R., Carlsen, R. W., Zhuang, J., Sitti, M.

Journal of Micro-Bio Robotics, 9(3):47-60, Springer Berlin Heidelberg, 2014 (article)

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[BibTex]

[BibTex]


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Influence of Magnetic Fields on Magneto-Aerotaxis

Bennet, M., McCarthy, A., Fix, D., Edwards, M. R., Repp, F., Vach, P., Dunlop, J. W., Sitti, M., Buller, G. S., Klumpp, S., others,

PLoS One, 9(7):e101150, Public Library of Science, 2014 (article)

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[BibTex]

[BibTex]


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Occam’s Razor in sensorimotor learning

Genewein, T, Braun, D

Proceedings of the Royal Society of London B, 281(1783):1-7, May 2014 (article)

Abstract
A large number of recent studies suggest that the sensorimotor system uses probabilistic models to predict its environment and makes inferences about unobserved variables in line with Bayesian statistics. One of the important features of Bayesian statistics is Occam's Razor—an inbuilt preference for simpler models when comparing competing models that explain some observed data equally well. Here, we test directly for Occam's Razor in sensorimotor control. We designed a sensorimotor task in which participants had to draw lines through clouds of noisy samples of an unobserved curve generated by one of two possible probabilistic models—a simple model with a large length scale, leading to smooth curves, and a complex model with a short length scale, leading to more wiggly curves. In training trials, participants were informed about the model that generated the stimulus so that they could learn the statistics of each model. In probe trials, participants were then exposed to ambiguous stimuli. In probe trials where the ambiguous stimulus could be fitted equally well by both models, we found that participants showed a clear preference for the simpler model. Moreover, we found that participants’ choice behaviour was quantitatively consistent with Bayesian Occam's Razor. We also show that participants’ drawn trajectories were similar to samples from the Bayesian predictive distribution over trajectories and significantly different from two non-probabilistic heuristics. In two control experiments, we show that the preference of the simpler model cannot be simply explained by a difference in physical effort or by a preference for curve smoothness. Our results suggest that Occam's Razor is a general behavioural principle already present during sensorimotor processing.

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DOI [BibTex]

DOI [BibTex]


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Generalized Thompson sampling for sequential decision-making and causal inference

Ortega, PA, Braun, DA

Complex Adaptive Systems Modeling, 2(2):1-23, March 2014 (article)

Abstract
Purpose Sampling an action according to the probability that the action is believed to be the optimal one is sometimes called Thompson sampling. Methods Although mostly applied to bandit problems, Thompson sampling can also be used to solve sequential adaptive control problems, when the optimal policy is known for each possible environment. The predictive distribution over actions can then be constructed by a Bayesian superposition of the policies weighted by their posterior probability of being optimal. Results Here we discuss two important features of this approach. First, we show in how far such generalized Thompson sampling can be regarded as an optimal strategy under limited information processing capabilities that constrain the sampling complexity of the decision-making process. Second, we show how such Thompson sampling can be extended to solve causal inference problems when interacting with an environment in a sequential fashion. Conclusion In summary, our results suggest that Thompson sampling might not merely be a useful heuristic, but a principled method to address problems of adaptive sequential decision-making and causal inference.

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DOI [BibTex]

DOI [BibTex]


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Liftoff of a Motor-Driven, Flapping-Wing Microaerial Vehicle Capable of Resonance

Hines, L., Campolo, D., Sitti, M.

IEEE Trans. on Robotics, 30(1):220-232, IEEE, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Untethered micro-robotic coding of three-dimensional material composition

Tasoglu, S, Diller, E, Guven, S, Sitti, M, Demirci, U

Nature Communications, 5, pages: DOI-10, Nature Publishing Group, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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The optimal shape of elastomer mushroom-like fibers for high and robust adhesion

Aksak, B., Sahin, K., Sitti, M.

Beilstein journal of nanotechnology, 5(1):630-638, Beilstein-Institut, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Mechanically Switchable Elastomeric Microfibrillar Adhesive Surfaces for Transfer Printing

Sariola, V., Sitti, M.

Advanced Materials Interfaces, 1(4):1300159, 2014 (article)

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[BibTex]

[BibTex]


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MultiMo-Bat: A biologically inspired integrated jumping–gliding robot

Woodward, M. A., Sitti, M.

The International Journal of Robotics Research, 33(12):1511-1529, SAGE Publications Sage UK: London, England, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Assessing randomness and complexity in human motion trajectories through analysis of symbolic sequences

Peng, Z, Genewein, T, Braun, DA

Frontiers in Human Neuroscience, 8(168):1-13, March 2014 (article)

Abstract
Complexity is a hallmark of intelligent behavior consisting both of regular patterns and random variation. To quantitatively assess the complexity and randomness of human motion, we designed a motor task in which we translated subjects' motion trajectories into strings of symbol sequences. In the first part of the experiment participants were asked to perform self-paced movements to create repetitive patterns, copy pre-specified letter sequences, and generate random movements. To investigate whether the degree of randomness can be manipulated, in the second part of the experiment participants were asked to perform unpredictable movements in the context of a pursuit game, where they received feedback from an online Bayesian predictor guessing their next move. We analyzed symbol sequences representing subjects' motion trajectories with five common complexity measures: predictability, compressibility, approximate entropy, Lempel-Ziv complexity, as well as effective measure complexity. We found that subjects’ self-created patterns were the most complex, followed by drawing movements of letters and self-paced random motion. We also found that participants could change the randomness of their behavior depending on context and feedback. Our results suggest that humans can adjust both complexity and regularity in different movement types and contexts and that this can be assessed with information-theoretic measures of the symbolic sequences generated from movement trajectories.

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DOI [BibTex]

DOI [BibTex]


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Rotating Magnetic Miniature Swimming Robots With Multiple Flexible Flagella

Ye, Z., Régnier, S., Sitti, M.

IEEE Trans. on Robotics, 30(1):3-13, 2014 (article)

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[BibTex]

[BibTex]


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Three-Dimensional Programmable Assembly by Untethered Magnetic Robotic Micro-Grippers

Diller, E., Sitti, M.

Advanced Functional Materials, 24, pages: 4397-4404, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Mechanics of Load–Drag–Unload Contact Cleaning of Gecko-Inspired Fibrillar Adhesives

Abusomwan, U. A., Sitti, M.

Langmuir, 30(40):11913-11918, American Chemical Society, 2014 (article)

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Project Page [BibTex]

Project Page [BibTex]

2013


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Correlation of Simultaneously Acquired Diffusion-Weighted Imaging and 2-Deoxy-[18F] fluoro-2-D-glucose Positron Emission Tomography of Pulmonary Lesions in a Dedicated Whole-Body Magnetic Resonance/Positron Emission Tomography System

Schmidt, H., Brendle, C., Schraml, C., Martirosian, P., Bezrukov, I., Hetzel, J., Müller, M., Sauter, A., Claussen, C., Pfannenberg, C., Schwenzer, N.

Investigative Radiology, 48(5):247-255, May 2013 (article)

ei

Web [BibTex]

2013


Web [BibTex]