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2005


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Effects of catalysts on the dehydriding of alanates monitored by proton NMR

Majer, G., Stanik, E., Valiente-Banuet, L. E., Grinberg, F., Kircher, O., Fichtner, M.

{Journal of Alloys and Compounds}, 404, pages: 738-742, 2005 (article)

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2005


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Kinetics of carbon precipitation and re-solution in low Si-content silicon iron

Walz, F., Wakisaka, T., Kronmüller, H.

{Physica Status Solidi A}, 202(14):2667-2678, 2005 (article)

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[BibTex]

[BibTex]


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Highly homogeneous MgB2 films prepared by a new post-annealing process

Matveev, A., Albrecht, J., Konuma, M., Stuhlhofer, B., Starke, U., Habermeier, H.-U.

{Superconductor Science and Technology}, 18, pages: 1313-1316, 2005 (article)

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[BibTex]

[BibTex]


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Spin-polarized quasiparticle injection effects in YBCO thin films

Soltan, S., Albrecht, J., Habermeier, H.-U.

{Solid State Communications}, 135, pages: 461-465, 2005 (article)

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[BibTex]

[BibTex]


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Thermodynamic properties from ab-initio calculations: New theoretical developments, and applications to various materials systems

Fähnle, M., Drautz, R., Lechermann, F., Singer, R., Diaz-Ortiz, A., Dosch, H.

{Physica Status Solidi (B)}, 242, pages: 1159-1173, 2005 (article)

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[BibTex]

[BibTex]


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Magnetization reversal behavior of nanogranular CoCrPt alloy thin films studied with magnetic transmission X-ray microscopy

Fischer, P., Im, M., Eimüller, T., Schütz, G., Shin, S.

In 286, pages: 311-314, Boulder, CO, USA, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Nuclear magnetic resonance measurements of the hydrogen dynamics in nanocrystalline graphite

Stanik, E., Majer, G., Orimo, S., Ichikawa, T., Fujii, H.

{Journal of Applied Physics}, 98, 2005 (article)

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[BibTex]

[BibTex]


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Oxygen K-edge shift at the Verwey transition of magnetite

Goering, E., Gold, S., Lafkioti, M., Schütz, G., Brabers, V. A. M.

{Physical Review B}, 72, 2005 (article)

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First-principles investigation of the Ni-Fe-Al system

Lechermann, F., Fähnle, M., Sanchez, J. M.

{Intermetallics}, 13((10)):1096-1109, 2005 (article)

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GdN thin films: Bulk and local electronic and magnetic properties

Leuenberger, F., Parge, A., Felsch, W., Fauth, K., He\ssler, M.

{Physical Review B}, 72(1), 2005 (article)

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Hydrogen permeation through Pd/Fe and Pd/Ni multilayer systems

Yamakawa, K., Ege, M., Hirscher, M., Ludescher, B., Kronmüller, H.

{Journal of Alloys and Compounds}, 393(1-2):5-10, 2005 (article)

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[BibTex]


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Biologically Inspired Miniature Water Strider Robot.

Suhr, S. H., Song, Y. S., Lee, S. J., Sitti, M.

In Robotics: Science and Systems, pages: 319-326, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Polymer micro/nanofiber fabrication using micro/nanopipettes

Nain, A. S., Amon, C., Sitti, M.

In Nanotechnology, 2005. 5th IEEE Conference on, pages: 366-369, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Parametrization of the magnetic energy at the atomic level

Drautz, R., Fähnle, M.

{Physical Review B}, 72, 2005 (article)

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[BibTex]

[BibTex]


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Time-scales of electronic processes in Fe3O4 - An attempt to resolve a recently accentuated controversy

Fähnle, M., Kronmüller, H., Walz, F.

{Physica B}, 369, pages: 177-180, 2005 (article)

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[BibTex]


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Interlayer contraction in MgB2 upon replacement of Mg by Al: Effect of the covalent bond energy

Bester, G., Fähnle, M.

{Physical Review B}, 72, 2005 (article)

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[BibTex]


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First-principles atomistic modeling of ordering phenomena and phase diagrams

Fähnle, M., Drautz, R., Lechermann, F., Singer, R., Diaz-Ortiz, A., Dosch, H.

{TMS Letters}, 2(1):7-8, 2005 (article)

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[BibTex]


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Constrained spin-density functional theory for excited magnetic configurations in an adiabatic approximation

Singer, R., Fähnle, M., Bihlmayer, G.

{Physical Review B}, 71, 2005 (article)

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[BibTex]


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The influence of magnetism on atomic defects and diffusion: model calculations and ab initio electron theory

Fähnle, M., Schimmele, L.

{Defect and Diffusion Forum}, 237-240, pages: 19-29, 2005 (article)

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[BibTex]


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X-ray magnetic circular dichroism sum rule correction for the light transition metals

Goering, E.

{Philosophical Magazine}, 85, pages: 2895-2911, 2005 (article)

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Temperature dependence of the magnetocrystalline anisotropy energy and projected microscopic magnetic moments in epitaxial CrO2 films

Gold, S., Goering, E., König, C., Rüdiger, U., Güntherodt, G., Schütz, G.

{Physical Review B}, 71(22), 2005 (article)

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On the imaging of the flux-line lattice of a type-II superconductor by soft X-ray absorption spectroscopy

Fähnle, M., Albrecht, J., Eimüller, T., Fisher, P., Goering, E., Steiauf, D., Schütz, G.

{Journal of Synchrotron Radiation}, 12, pages: 251-253, 2005 (article)

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[BibTex]


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Grain-boundary melting phase transition in the Cu-Bi system

Divinski, S., Lohmann, M., Herzig, C., Straumal, B., Baretzky, B., Gust, W.

{Physical Review B}, 71, 2005 (article)

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A fast ab initio approach to the simulation of spin dynamics

Fähnle, M., Drautz, R., Singer, R., Steiauf, D., Berkov, D. V.

{Computational Materials Science}, 32, pages: 118-122, 2005 (article)

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Hydrogen adsorption in different carbon nanostructures

Panella, B., Hirscher, M., Roth, S.

{Carbon}, 43, pages: 2209-2214, 2005 (article)

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[BibTex]


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A dynamical systems approach to learning: a frequency-adaptive hopper robot

Buchli, J., Righetti, L., Ijspeert, A.

In Proceedings of the VIIIth European Conference on Artificial Life ECAL 2005, pages: 210-220, Springer Verlag, 2005 (inproceedings)

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[BibTex]


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From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators

Righetti, L., Buchli, J., Ijspeert, A.

In Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines – AMAM 2005, Verlag ISLE, Ilmenau, 2005 (inproceedings)

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[BibTex]

[BibTex]


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A new methodology for robot control design

Peters, J., Mistry, M., Udwadia, F. E., Schaal, S.

In The 5th ASME International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC 2005), Long Beach, CA, Sept. 24-28, 2005, clmc (inproceedings)

Abstract
Gauss principle of least constraint and its generalizations have provided a useful insights for the development of tracking controllers for mechanical systems (Udwadia,2003). Using this concept, we present a novel methodology for the design of a specific class of robot controllers. With our new framework, we demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic framework, and show experimental verifications on a Sarcos Master Arm robot for some of these controllers. We believe that the suggested approach unifies and simplifies the design of optimal nonlinear control laws for robots obeying rigid body dynamics equations, both with or without external constraints, holonomic or nonholonomic constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.

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link (url) [BibTex]

link (url) [BibTex]


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Fusion of biomedical microcapsule endoscope and microsystem technology

Kim, Tae Song, Kim, Byungkyu, Cho, Dongil Dan, Song, Si Young, Dario, P, Sitti, M

In Solid-State Sensors, Actuators and Microsystems, 2005. Digest of Technical Papers. TRANSDUCERS’05. The 13th International Conference on, 1, pages: 9-14, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Atomic force microscope based two-dimensional assembly of micro/nanoparticles

Tafazzoli, A., Pawashe, C., Sitti, M.

In Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing, 2005.(ISATP 2005). The 6th IEEE International Symposium on, pages: 230-235, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Synthesis of the nanocrystalline MgS and its interaction with hydrogen

Goo, N. H., Hirscher, M.

{Journal of Alloys and Compounds}, 404, pages: 503-506, 2005 (article)

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[BibTex]

[BibTex]


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Time-scales of electronic processes in Fe3O4 - An attempt to resolve a recently accentuated controversy

Fähnle, M., Kronmüller, H., Walz, F.

{Physica B}, 369, pages: 177-180, 2005 (article)

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[BibTex]

[BibTex]


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Bending of magnetic avalanches in MgB2 thin films

Albrecht, J., Matveev, A., Djupmyr, M., Schütz, G., Stuhlhofer, B., Habermeier, H.

{Applied Physics Letters}, 87, 2005 (article)

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[BibTex]

[BibTex]


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Magnetic pinning of flux lines in heterostructures of cuprates and manganites

Albrecht, J., Soltan, S., Habermeier, H.-U.

{Physical Review B}, 72, 2005 (article)

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[BibTex]


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On the pair-potential modelling of alloy surfaces

Drautz, R., Fähnle, M.

{Surface Science}, 585, pages: 108-112, 2005 (article)

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[BibTex]

[BibTex]


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Crystal field parameters at the (0001) surface of rare-earth metals: an ab initio study

Welsch, F., Fähnle, M., Jensen, P. J.

{Journal of Physics: Condensed Matter}, 17, pages: 2061-2072, 2005 (article)

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[BibTex]

[BibTex]


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Spatially resolved ferromagnetic resonance: Imaging of ferromagnetic eigenmodes

Puzic, A., Van Waeyenberge, B., Chou, K. W., Fischer, P., Stoll, H., Schütz, G., Tyliszczak, T., Rott, K., Brückl, H., Reiss, G., Neudecker, I., Haug, T., Buess, M., Back, C. H.

{Journal of Applied Physics}, 97, 2005 (article)

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DOI [BibTex]

DOI [BibTex]


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Defects distribution of Pr2Fe14B hard magnetic magnet from amorphous to nanostructures characterized by positron annihilation spectroscopy

Wu, Y. C., Sprengel, W., Reimann, K., Reichle, K. J., Goll, D., Würschum, R., Schaefer, H. E.

In PRICM 5. Proceedings of the Fifth Pacific RIM International Conference on Advanced Materials and Processing, 475-479, pages: 2123-2126, Materials Science Forum, Trans Tech, Beijing, China, 2005 (inproceedings)

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[BibTex]

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Implementing sub-ns time resolution into magnetic X-ray microscopies

Puzic, A., Stoll, H., Fischer, P., Van Waeyenberge, B., Raabe, J., Denbeaux, G., Haug, T., Weiss, D., Schütz, G.

In T115, pages: 1029-1031, Malmö/Lund, Sweden, 2005 (inproceedings)

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[BibTex]

[BibTex]


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Proton magnetic resonance spectra of YH3 and LuH3

Brady, S. K., Conradi, M. S., Majer, G., Barnes, R. G.

{Physical Review B}, 72, 2005 (article)

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[BibTex]

[BibTex]


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Hydrogen storage in spherical nanoporous carbons

Terres, E., Panella, B., Hayashi, T., Kim, Y. A., Endo, M., Dominguez, J. M., Hirscher, M., Terrones, H., Terrones, H.

{Chemical Physics Letters}, 403(4-6):363-366, 2005 (article)

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[BibTex]

[BibTex]


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Faceting and migration of twin grain boundaries in zinc

Straumal, B. B., Rabkin, E., Sursaeva, V. G., Goruakova, A. S.

{Zeitschrift f\"ur Metallkunde}, 96(2):161-166, 2005 (article)

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[BibTex]

[BibTex]


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Arm movement experiments with joint space force fields using an exoskeleton robot

Mistry, M., Mohajerian, P., Schaal, S.

In IEEE Ninth International Conference on Rehabilitation Robotics, pages: 408-413, Chicago, Illinois, June 28-July 1, 2005, clmc (inproceedings)

Abstract
A new experimental platform permits us to study a novel variety of issues of human motor control, particularly full 3-D movements involving the major seven degrees-of-freedom (DOF) of the human arm. We incorporate a seven DOF robot exoskeleton, and can minimize weight and inertia through gravity, Coriolis, and inertia compensation, such that subjects' arm movements are largely unaffected by the manipulandum. Torque perturbations can be individually applied to any or all seven joints of the human arm, thus creating novel dynamic environments, or force fields, for subjects to respond and adapt to. Our first study investigates a joint space force field where the shoulder velocity drives a disturbing force in the elbow joint. Results demonstrate that subjects learn to compensate for the force field within about 100 trials, and from the strong presence of aftereffects when removing the field in some randomized catch trials, that an inverse dynamics, or internal model, of the force field is formed by the nervous system. Interestingly, while post-learning hand trajectories return to baseline, joint space trajectories remained changed in response to the field, indicating that besides learning a model of the force field, the nervous system also chose to exploit the space to minimize the effects of the force field on the realization of the endpoint trajectory plan. Further applications for our apparatus include studies in motor system redundancy resolution and inverse kinematics, as well as rehabilitation.

am

link (url) [BibTex]

link (url) [BibTex]


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A unifying framework for the control of robotics systems

Peters, J., Mistry, M., Udwadia, F. E., Cory, R., Nakanishi, J., Schaal, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS 2005), pages: 1824-1831, Edmonton, Alberta, Canada, Aug. 2-6, 2005, clmc (inproceedings)

Abstract
Recently, [1] suggested to derive tracking controllers for mechanical systems using a generalization of GaussÕ principle of least constraint. This method al-lows us to reformulate control problems as a special class of optimal control. We take this line of reasoning one step further and demonstrate that well-known and also several novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sar-cos Master Arm robot for some of the the derived controllers.We believe that the suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equa-tions, both with or without external constraints, with over-actuation or under-actuation, as well as open-chain and closed-chain kinematics.

am

link (url) [BibTex]

link (url) [BibTex]


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A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

Cheung, E., Karagozler, M. E., Park, S., Kim, B., Sitti, M.

In Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on, pages: 551-557, 2005 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]


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Learning to Feel the Physics of a Body

Der, R., Hesse, F., Martius, G.

In Computational Intelligence for Modelling, Control and Automation, CIMCA 2005 , 2, pages: 252-257, Washington, DC, USA, 2005 (inproceedings)

Abstract
Despite the tremendous progress in robotic hardware and in both sensorial and computing efficiencies the performance of contemporary autonomous robots is still far below that of simple animals. This has triggered an intensive search for alternative approaches to the control of robots. The present paper exemplifies a general approach to the self-organization of behavior which has been developed and tested in various examples in recent years. We apply this approach to an underactuated snake like artifact with a complex physical behavior which is not known to the controller. Due to the weak forces available, the controller so to say has to develop a kind of feeling for the body which is seen to emerge from our approach in a natural way with meandering and rotational collective modes being observed in computer simulation experiments.

al

[BibTex]

[BibTex]


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Nanostructures with high surface area for hydrogen storage

Hirscher, M., Panella, B.

{Journal of Alloys and Compounds}, 404, pages: 399-401, 2005 (article)

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[BibTex]

[BibTex]


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Timescale settling and nature of electron transport in magnetite - General considerations in view of new magnetic after-effect results on dilutely Ti4+-doped Fe3O4

Walz, F., Brabers, V. A. M., Brabers, J. H. V. J., Kronmüller, H.

{Journal of Physics: Condensed Matter}, 17(42):6763-6781, 2005 (article)

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[BibTex]

[BibTex]


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Topological k-space refinement of the configurational energy of alloys

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

{Physical Review B}, 72(14), 2005 (article)

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[BibTex]

[BibTex]


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Large surface area nanostructures for hydrogen storage

Hirscher, M., Panella, B.

{Annales de Chimie}, 30(5):519-529, 2005 (article)

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[BibTex]

[BibTex]