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2008


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Adaptation to a sub-optimal desired trajectory

M. Mistry, E. A. G. L. T. Y. S. S. M. K.

Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008, 2008, clmc (article)

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PDF [BibTex]

2008


PDF [BibTex]


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Ab-initio Elektronentheorie der magnetischen Anisotropie im System FePt mit der Clusterentwicklungsmethode

Subkow, S.

Universität Stuttgart, Stuttgart, 2008 (mastersthesis)

mms

[BibTex]


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Texture, microstructure and mechanical properties of equiaxed ultrafine-grained Zr fabricated by accumulative roll bonding

Jiang, L., Perez-Prado, M. T., Gruber, P. A., Arzt, E., Ruano, O. A., Kassner, M. E.

{Acta Materialia}, 56(6):1228-1242, 2008 (article)

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[BibTex]

[BibTex]


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Theory of size mismatched alloy systems: many-body Kanzaki forces

Shchyglo, O., Diaz-Ortiz, A., Udyansky, A., Bugaev, V. N., Reichert, H., Dosch, H., Drautz, R.

{Journal of Physics: Condensed Matter}, 20, pages: 1-9, 2008 (article)

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[BibTex]

[BibTex]


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Pinning of domain walls in composite particles

Kronmüller, H., Goll, D.

{Physica B}, 403, pages: 237-241, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Chaotic vortex dynamics and low current phases in the remanent state of MgB2 thin films

Albrecht, J., Audehm, P., Djupmyr, M.

{Superconductor Science and Technology}, 21, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Continuous and discontinuous grain-boundary wetting in ZnxAl1-x

Straumal, B. B., Gornakova, A. S., Kogtenkova, O. A., Protasova, S. G., Sursaeva, V. G., Baretzky, B.

{Physical Review B}, 78, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic circular dichroism in two-photon absorption and depth-resolved magnetic microscopy

Seib, J., Fähnle, M.

{Physical Review B}, 77, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Heat of adsorption for hydrogen in microporous high-surface-area materials

Schmitz, B., Müller, U., Trukhan, N., Schubert, M., Férey, G., Hirscher, M.

{ChemPhysChem}, 9, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Untersuchungen der Desorption von Wasserstoff in metall-organischen Gerüsten

Panella, B., Hönes, K., Müller, U., Trukhan, N., Schubert, M., Pütter, H., Hirscher, M.

{Angewandte Chemie}, 120, pages: 2169-2173, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Influence of domain wall pinning on the dynamic behavior of magnetic vortex structures: Time-resolved scanning x-ray transmission microscopy in NiFe thin film structures

Vansteenkiste, A., De Baerdemaeker, J., Chou, K. W., Stoll, H., Curcic, M., Tyliszczak, T., Woltersdorf, G., Back, C. H., Schütz, G., Van Waeyenberge, B.

{Physical Review B}, 77, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Temperature dependence of mechanical properties in ultrathin Au films with and without passivation

Gruber, P. A., Olliges, S., Arzt, E., Spolenak, R.

{Journal of Materials Research}, 23(9):2406-2419, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Structure, phase composition, and microhardness of carbon steels after high-pressure torsion

Mazilkin, A. A., Straumal, B., Protasova, S. G., Dobatkin, S. V., Baretzky, B.

{Journal of Materials Science}, 43, pages: 3800-3805, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Rolling and spinning friction characterization of fine particles using lateral force microscopy based contact pushing

Sümer, B., Sitti, M.

Journal of Adhesion Science and Technology, 22(5-6):481-506, Taylor & Francis Group, 2008 (article)

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[BibTex]

[BibTex]


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Modeling the soft backing layer thickness effect on adhesion of elastic microfiber arrays

Long, R., Hui, C., Kim, S., Sitti, M.

Journal of Applied Physics, 104(4):044301, AIP, 2008 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Cross-talk compensation in atomic force microscopy

Onal, C. D., Sümer, B., Sitti, M.

Review of scientific instruments, 79(10):103706, AIP, 2008 (article)

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[BibTex]

[BibTex]


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Operational space control: A theoretical and emprical comparison

Nakanishi, J., Cory, R., Mistry, M., Peters, J., Schaal, S.

International Journal of Robotics Research, 27(6):737-757, 2008, clmc (article)

Abstract
Dexterous manipulation with a highly redundant movement system is one of the hallmarks of hu- man motor skills. From numerous behavioral studies, there is strong evidence that humans employ compliant task space control, i.e., they focus control only on task variables while keeping redundant degrees-of-freedom as compliant as possible. This strategy is robust towards unknown disturbances and simultaneously safe for the operator and the environment. The theory of operational space con- trol in robotics aims to achieve similar performance properties. However, despite various compelling theoretical lines of research, advanced operational space control is hardly found in actual robotics imple- mentations, in particular new kinds of robots like humanoids and service robots, which would strongly profit from compliant dexterous manipulation. To analyze the pros and cons of different approaches to operational space control, this paper focuses on a theoretical and empirical evaluation of different methods that have been suggested in the literature, but also some new variants of operational space controllers. We address formulations at the velocity, acceleration and force levels. First, we formulate all controllers in a common notational framework, including quaternion-based orientation control, and discuss some of their theoretical properties. Second, we present experimental comparisons of these approaches on a seven-degree-of-freedom anthropomorphic robot arm with several benchmark tasks. As an aside, we also introduce a novel parameter estimation algorithm for rigid body dynamics, which ensures physical consistency, as this issue was crucial for our successful robot implementations. Our extensive empirical results demonstrate that one of the simplified acceleration-based approaches can be advantageous in terms of task performance, ease of parameter tuning, and general robustness and compliance in face of inevitable modeling errors.

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link (url) [BibTex]

link (url) [BibTex]


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Magnetism of amorphous and highly anisotropic multilayer systems on flat substrates and nanospheres

Amaladass, E. P.

Universität Stuttgart, Stuttgart, 2008 (phdthesis)

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link (url) [BibTex]


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Interfaces in driven Ising models: shear enhances confinement

Smith, T. H. R., Vasilyev, O., Abraham, D. B., Maciolek, A., Schmidt, M.

{Physical Review Letters}, 101(6), 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Bose-Theorie der Dämpfung der Bewegung einer magnetischen Domänenwand

Hähnel, D.

Universität Stuttgart, Stuttgart, 2008 (mastersthesis)

mms

[BibTex]

[BibTex]


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Planar high-Tc superconducting quantum interference device gradiometer for simultaneous measurements of two magnetic field gradients

Steppke, A., Becker, C., Grosse, V., Dörrer, L., Schmidl, F., Seidel, P., Djupmyr, M., Albrecht, J.

{Applied Physics Letters}, 92, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Terminal contact elements of insect attachment devices studied by transmission X-ray microscopy

Eimüller, T., Guttmann, P., Gorb, S. N.

{Journal of Experimental Biology}, 211, pages: 1958-1963, 2008 (article)

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[BibTex]

[BibTex]


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Increase of Co solubility with decreasing grain size in ZnO

Straumal, B. B., Mazilkin, A. A., Protasova, S. G., Myatiev, A. A., Straumal, P. B., Baretzky, B.

{Acta Materialia}, 56, pages: 6246-6256, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Uncompensated moments in the MnPd/Fe exchange bias system

Brück, S., Schütz, G., Goering, E., Ji, X., Krishnan, K. M.

{Physical Review Letters}, 101, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Aqueous deposition of ultraviolet luminescent columnar tin-doped indium hydroxide films

Qiu, Y., Bellina, P., Jeurgens, L. P. H., Leineweber, A., Welzel, U., Gerstel, P., Jiang, L., van Aken, P. A., Bill, J., Aldinger, F.

{Advanced Functional Materials}, 18, pages: 2572-2583, 2008 (article)

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[BibTex]

[BibTex]


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Unified theory of near-adiabatic magnetization dynamics for collinear and noncollinear magnetization

Steiauf, D., Seib, J., Fähnle, M.

{Physical Review B}, 78, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Hardmetals with nanograin reinforced binder: binder fine structure and hardness

Konyashin, I., Ries, B., Lachmann, F., Cooper, R., Mazilkin, A., Straumal, B., Aretz, A., Babaev, V.

{International Journal of Refractory Metals \& Hard Materials}, 26, pages: 583-588, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Adhesion of biologically inspired oil-coated polymer micropillars

Cheung, E., Sitti, M.

Journal of Adhesion Science and Technology, 22(5-6):569-589, Taylor & Francis Group, 2008 (article)

pi

[BibTex]

[BibTex]


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Vision-based feedback strategy for controlled pushing of microparticles

Lynch, N. A., Onal, C. D., Schuster, E., Sitti, M.

Journal of Micro-Nano Mechatronics, 4(1-2):73-83, Springer-Verlag, 2008 (article)

pi

[BibTex]

[BibTex]


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Effect of quantity and configuration of attached bacteria on bacterial propulsion of microbeads

Behkam, B., Sitti, M.

Applied Physics Letters, 93(22):223901, AIP, 2008 (article)

pi

[BibTex]

[BibTex]


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Interfaces in confined Ising models: Kawasaki, Glauber and sheared dynamics

Smith, T. H. R., Vasilyev, O., Abraham, D. B., Maciolek, A., Schmidt, M.

{Journal of Physics: Condensed Matter}, 20(49), 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical fields of an exchange coupled two-layer composite particle

Goll, D., Kronmüller, H.

{Physica B}, 403, pages: 1854-1859, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Coercivity and domain structure of nanograined Fe-C alloys after high-pressure torsion

Protasova, S. G., Straumal, B., Dobatkin, S. V., Goll, D., Schütz, G., Baretzky, B., Mazilkin, A. A., Nebrasov, A. N.

{Journal of Materials Science}, 43, pages: 3775-3781, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Epitaxial growth and properties of (001)-oriented TbBaCo2O6-αfilms

Kasper, N. V., Wochner, P., Vigliante, A., Dosch, H., Jakob, G., Carstanjen, H. D., Kremer, R. K.

{Journal of Applied Physics}, 103, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic properties of exchange-coupled L10-FePt/Fe composite elements

Goll, D., Breitling, A., Macke, S.

{IEEE Transactions on Magnetics}, 44(11):3472-3475, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Colloidal cobalt-doped ZnO nanorods: synthesis, structural, and magnetic properties

Büsgen, T., Hilgendorff, M., Irsen, S., Wilhelm, F., Rogalev, A., Goll, D., Giersig, M.

{Journal of Physical Chemistry C}, 112(7):2412-2417, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Raman studies of hydrogen adsorbed on nanostructured porous materials

Panella, B., Hirscher, M.

{Physical Chemistry Chemical Physics}, 10, pages: 2910-2917, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Thermal evolution and grain boundary phase transformations in severely deformed nanograined Al-Zn alloys

Straumal, B., Valiev, R., Kogtenkova, O., Zieba, P., Czeppe, T., Bielanska, E., Faryna, M.

{Acta Materialia}, 56(20):6123-6131, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Hydrogen storage properties of Pd nanoparticle/carbon template composites

Campesi, R., Cuevas, F., Gadiou, R., Leroy, E., Hirscher, M., Vix-Guterl, C., Latroche, M.

{Carbon}, 46, pages: 206-214, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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Reversible transformation of a grain-boundary facet into a rough-to-rough ridge in zinc

Straumal, B. B., Gornakova, A. S., Sursaeva, V. G.

{Philosophical Magazine Letters}, 88(1):27-36, 2008 (article)

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DOI [BibTex]

DOI [BibTex]


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A library for locally weighted projection regression

Klanke, S., Vijayakumar, S., Schaal, S.

Journal of Machine Learning Research, 9, pages: 623-626, 2008, clmc (article)

Abstract
In this paper we introduce an improved implementation of locally weighted projection regression (LWPR), a supervised learning algorithm that is capable of handling high-dimensional input data. As the key features, our code supports multi-threading, is available for multiple platforms, and provides wrappers for several programming languages.

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link (url) [BibTex]

link (url) [BibTex]


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Preface to the Journal of Micro-Nano Mechatronics

Dario, P., Fukuda, T., Sitti, M.

Journal of Micro-Nano Mechatronics, 4(1-2):1-1, Springer-Verlag, 2008 (article)

pi

[BibTex]

[BibTex]


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A legged anchoring mechanism for capsule endoscopes using micropatterned adhesives

Glass, P., Cheung, E., Sitti, M.

IEEE Transactions on Biomedical Engineering, 55(12):2759-2767, IEEE, 2008 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


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GdFe-Multilagen zur Vergrö\sserung des magnetischen Vortexkerns

Sackmann, V.

Universität Stuttgart, Stuttgart, 2008 (mastersthesis)

mms

[BibTex]

[BibTex]


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Dissipative Magnetisierungsdynamik: Ein Zugang über die ab-initio Elektronentheorie

Steiauf, D.

Universität Stuttgart, Stuttgart, 2008 (phdthesis)

mms

[BibTex]

[BibTex]


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The hole is important! The quest for ferromagnetism in doped ZnO

Tietze, T., Gacic, M., Schütz, G., Jakob, G., Brück, S., Goering, E.

{BESSY Highlights 2007}, pages: 14-15, 2008 (article)

mms

[BibTex]

[BibTex]