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2010


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Coupling of Fe and uncompensated Mn moments in exchange-biased Fe/MnPd

Brück, S., Macke, S., Goering, E., Ji, X., Zhan, Q., Krishnan, K. M.

{Physical Review B}, 81(13), 2010 (article)

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DOI [BibTex]

2010


DOI [BibTex]


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Remarks about spillover and hydrogen adsorption - Comments on the contributions of A.V. Talyzin and R.T. Yang

Hirscher, M.

{Microporous and Mesoporous Materials}, 135, pages: 209-210, 2010 (article)

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DOI [BibTex]


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Grain boundary ridges and triple lines

Straumal, B. B., Sursaeva, V. G., Baretzky, B.

{Scripta Materialia}, 62(12):924-927, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Expanding micelle nanolithography to the self-assembly of multicomponent core-shell nanoparticles

Mbenkum, B. N., D\’\iaz-Ortiz, A., Gu, L., van Aken, P. A., Schütz, G.

{Journal of the American Chemical Society}, 132(31):10671-10673, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Learning control in robotics – trajectory-based opitimal control techniques

Schaal, S., Atkeson, C. G.

Robotics and Automation Magazine, 17(2):20-29, 2010, clmc (article)

Abstract
In a not too distant future, robots will be a natural part of daily life in human society, providing assistance in many areas ranging from clinical applications, education and care giving, to normal household environments [1]. It is hard to imagine that all possible tasks can be preprogrammed in such robots. Robots need to be able to learn, either by themselves or with the help of human supervision. Additionally, wear and tear on robots in daily use needs to be automatically compensated for, which requires a form of continuous self-calibration, another form of learning. Finally, robots need to react to stochastic and dynamic environments, i.e., they need to learn how to optimally adapt to uncertainty and unforeseen changes. Robot learning is going to be a key ingredient for the future of autonomous robots. While robot learning covers a rather large field, from learning to perceive, to plan, to make decisions, etc., we will focus this review on topics of learning control, in particular, as it is concerned with learning control in simulated or actual physical robots. In general, learning control refers to the process of acquiring a control strategy for a particular control system and a particular task by trial and error. Learning control is usually distinguished from adaptive control [2] in that the learning system can have rather general optimization objectivesâ??not just, e.g., minimal tracking errorâ??and is permitted to fail during the process of learning, while adaptive control emphasizes fast convergence without failure. Thus, learning control resembles the way that humans and animals acquire new movement strategies, while adaptive control is a special case of learning control that fulfills stringent performance constraints, e.g., as needed in life-critical systems like airplanes. Learning control has been an active topic of research for at least three decades. However, given the lack of working robots that actually use learning components, more work needs to be done before robot learning will make it beyond the laboratory environment. This article will survey some ongoing and past activities in robot learning to assess where the field stands and where it is going. We will largely focus on nonwheeled robots and less on topics of state estimation, as typically explored in wheeled robots [3]â??6], and we emphasize learning in continuous state-action spaces rather than discrete state-action spaces [7], [8]. We will illustrate the different topics of robot learning with examples from our own research with anthropomorphic and humanoid robots.

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link (url) [BibTex]

link (url) [BibTex]


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Learning, planning, and control for quadruped locomotion over challenging terrain

Kalakrishnan, M., Buchli, J., Pastor, P., Mistry, M., Schaal, S.

International Journal of Robotics Research, 30(2):236-258, 2010, clmc (article)

Abstract
We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization, and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal foothold choices from expert demonstration using terrain templates, (2) a body trajectory optimizer based on the Zero- Moment Point (ZMP) stability criterion, and (3) a floating-base inverse dynamics controller that, in conjunction with force control, allows for robust, compliant locomotion over unperceived obstacles. We evaluate the performance of our controller by testing it on the LittleDog quadruped robot, over a wide variety of rough terrains of varying difficulty levels. The terrain that the robot was tested on includes rocks, logs, steps, barriers, and gaps, with obstacle sizes up to the leg length of the robot. We demonstrate the generalization ability of this controller by presenting results from testing performed by an independent external test team on terrain that has never been shown to us.

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link (url) Project Page [BibTex]

link (url) Project Page [BibTex]


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Teleoperated 3-D force feedback from the nanoscale with an atomic force microscope

Onal, C. D., Sitti, M.

IEEE Transactions on nanotechnology, 9(1):46-54, IEEE, 2010 (article)

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[BibTex]

[BibTex]


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Roll and pitch motion analysis of a biologically inspired quadruped water runner robot

Park, H. S., Floyd, S., Sitti, M.

The International Journal of Robotics Research, 29(10):1281-1297, SAGE Publications Sage UK: London, England, 2010 (article)

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[BibTex]

[BibTex]


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Microstructured elastomeric surfaces with reversible adhesion and examples of their use in deterministic assembly by transfer printing

Kim, Seok, Wu, Jian, Carlson, Andrew, Jin, Sung Hun, Kovalsky, Anton, Glass, Paul, Liu, Zhuangjian, Ahmed, Numair, Elgan, Steven L, Chen, Weiqiu, others

Proceedings of the National Academy of Sciences, 107(40):17095-17100, National Acad Sciences, 2010 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Tankbot: A palm-size, tank-like climbing robot using soft elastomer adhesive treads

Unver, O., Sitti, M.

The International Journal of Robotics Research, 29(14):1761-1777, SAGE Publications Sage UK: London, England, 2010 (article)

pi

[BibTex]

[BibTex]


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Entnetzung verspannter Filme

Reindl, A.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

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[BibTex]

[BibTex]


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Advanced ferromagnetic nanostructures

Goll, D.

Universität Stuttgart, Stuttgart, 2010 (phdthesis)

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[BibTex]

[BibTex]


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Wasserstoff in funktionellen Dünnschichtsystemen

Honert, J.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

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[BibTex]

[BibTex]


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Hydrogen spillover measurements of unbridged and bridged metal-organic frameworks - revisited

Campesi, R., Cuevas, F., Latroche, M., Hirscher, M.

{Physical Chemistry Chemical Physics}, 12, pages: 10457-10459, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Relating Gilbert damping and ultrafast laser-induced demagnetization

Fähnle, M., Seib, J., Illg, C.

{Physical Review B}, 82, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Ferromagnetic properties of the Mn-doped nanograined ZnO films

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

{Journal of Applied Physics}, 108, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Ubiquity of ferromagnetic signals in common diamagnetic oxide crystals

Khalid, M., Setzer, A., Ziese, M., Esquinazi, P., Spemann, D., Pöppl, A., Goering, E.

{Physical Review B}, 81(21), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Calculation of the Gilbert damping matrix at low scattering rates in Gd

Seib, J., Fähnle, M.

{Physical Review B}, 82, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Swift heavy ions for controlled modification of soft magnetic properties of Fe0.85N0.15 thin film

Gupta, R., Gupta, A., Bhatt, R., Rüffer, R., Avasthi, D. K.

{Journal of Physics: Condensed Matter}, 22(22), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Note: Aligned deposition and modal characterization of micron and submicron poly (methyl methacyrlate) fiber cantilevers

Nain, A. S., Filiz, S., Burak Ozdoganlar, O., Sitti, M., Amon, C.

Review of Scientific Instruments, 81(1):016102, AIP, 2010 (article)

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[BibTex]

[BibTex]


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Enhanced adhesion of dopamine methacrylamide elastomers via viscoelasticity tuning

Chung, H., Glass, P., Pothen, J. M., Sitti, M., Washburn, N. R.

Biomacromolecules, 12(2):342-347, American Chemical Society, 2010 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Laterally driven interfaces in the three-dimensional Ising lattice gas

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

{Physical Review E}, 82(2), 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Samarium-cobalt 2:17 magnets: identifying Smn+1Co5n-1 phases stabilized by Zr

Stadelmaier, H. H., Kronmüller, H., Goll, D.

{Scripta Materialia}, 63, pages: 843-846, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Planar metamaterial analogue of electromagnetically induced transparancy for plasmonic sensing

Liu, N., Weiss, T., Mesch, M., Langguth, L., Eigenthaler, U., Hirscher, M., Sönnichsen, C., Giessen, H.

{Nano Letters}, 10, pages: 1103-1107, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Explaining the paradoxical diversity of ultrafast last-induced demagnetization

Koopmans, B., Malinowski, G., Dalla Longa, F., Steiauf, D., Fähnle, M., Roth, T., Cinchetti, M., Aeschlimann, M.

{Nature Materials}, 9, pages: 259-265, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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A high heat of adsorption for hydrogen in magnesium formate

Schmitz, B., Krkljus, I., Leung, E., Höffken, H. W., Müller, U., Hirscher, M.

{ChemSusChem}, 3, pages: 758-761, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Force induced destabilization of adhesion complexes at defined integrin spacings on nanostructured surfaces

de Beer, A. G. F., Cavalcanti-Adam, E. A., Majer, G., López-Garc\’\ia, M., Kessler, H., Spatz, J. P.

{Physical Review E}, 81, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Anisotropic damping of the magnetization dynamics in Ni, Co, and Fe

Gilmore, K., Stiles, M. D., Seib, J., Steiauf, D., Fähnle, M.

{Physical Review B}, 81, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Influence of [Mo6Br8F6]2- cluster inclusion within the mesoporous solid MIL-101 on hydrogen storage performance

Dybtsev, D., Serre, C., Schmitz, B., Panella, B., Hirscher, M., Latroche, M., Llewellyn, P. L., Cordier, S., Molard, Y., Haouas, M., Taulelle, F., Férey, G.

{Langmuir}, 26(13):11283-11290, 2010 (article)

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DOI [BibTex]

DOI [BibTex]


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Grain boundary layers in nanocrystalline ferromagnetic zinc oxide

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

{JETP Letters}, 92(6):396-400, 2010 (article)

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DOI [BibTex]

DOI [BibTex]