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2020


Event-triggered Learning
Event-triggered Learning

Solowjow, F., Trimpe, S.

Automatica, 117, Elsevier, July 2020 (article)

ics

arXiv PDF DOI Project Page [BibTex]

2020


arXiv PDF DOI Project Page [BibTex]


Interface-mediated spontaneous symmetry breaking and mutual communication between drops containing chemically active particles
Interface-mediated spontaneous symmetry breaking and mutual communication between drops containing chemically active particles

Singh, D., Domínguez, A., Choudhury, U., Kottapalli, S., Popescu, M., Dietrich, S., Fischer, P.

Nature Communications, 11(2210), May 2020 (article)

Abstract
Symmetry breaking and the emergence of self-organized patterns is the hallmark of com- plexity. Here, we demonstrate that a sessile drop, containing titania powder particles with negligible self-propulsion, exhibits a transition to collective motion leading to self-organized flow patterns. This phenomenology emerges through a novel mechanism involving the interplay between the chemical activity of the photocatalytic particles, which induces Mar- angoni stresses at the liquid–liquid interface, and the geometrical confinement provided by the drop. The response of the interface to the chemical activity of the particles is the source of a significantly amplified hydrodynamic flow within the drop, which moves the particles. Furthermore, in ensembles of such active drops long-ranged ordering of the flow patterns within the drops is observed. We show that the ordering is dictated by a chemical com- munication between drops, i.e., an alignment of the flow patterns is induced by the gradients of the chemicals emanating from the active particles, rather than by hydrodynamic interactions.

pf icm

link (url) DOI [BibTex]


Data-efficient Auto-tuning with Bayesian Optimization: An Industrial Control Study
Data-efficient Auto-tuning with Bayesian Optimization: An Industrial Control Study

Neumann-Brosig, M., Marco, A., Schwarzmann, D., Trimpe, S.

IEEE Transactions on Control Systems Technology, 28(3):730-740, May 2020 (article)

Abstract
Bayesian optimization is proposed for automatic learning of optimal controller parameters from experimental data. A probabilistic description (a Gaussian process) is used to model the unknown function from controller parameters to a user-defined cost. The probabilistic model is updated with data, which is obtained by testing a set of parameters on the physical system and evaluating the cost. In order to learn fast, the Bayesian optimization algorithm selects the next parameters to evaluate in a systematic way, for example, by maximizing information gain about the optimum. The algorithm thus iteratively finds the globally optimal parameters with only few experiments. Taking throttle valve control as a representative industrial control example, the proposed auto-tuning method is shown to outperform manual calibration: it consistently achieves better performance with a low number of experiments. The proposed auto-tuning framework is flexible and can handle different control structures and objectives.

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arXiv (PDF) DOI Project Page [BibTex]

arXiv (PDF) DOI Project Page [BibTex]


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Sliding Mode Control with Gaussian Process Regression for Underwater Robots

Lima, G. S., Trimpe, S., Bessa, W. M.

Journal of Intelligent & Robotic Systems, January 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks
Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks

Beuchert, J., Solowjow, F., Raisch, J., Trimpe, S., Seel, T.

IEEE Control Systems Letters, 4(1):103-108, January 2020 (article)

ics

arXiv PDF DOI Project Page [BibTex]

arXiv PDF DOI Project Page [BibTex]


Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems
Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems

Baumann, D., Mager, F., Zimmerling, M., Trimpe, S.

IEEE Control Systems Letters, 4(1):127-132, January 2020 (article)

ics

arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


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Axisymmetric spheroidal squirmers and self-diffusiophoretic particles

Pöhnl, R., Popescu, M. N., Uspal, W. E.

Journal of Physics: Condensed Matter, 32(16), IOP Publishing, Bristol, 2020 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Tracer diffusion on a crowded random Manhattan lattice

Mej\’\ia-Monasterio, C., Nechaev, S., Oshanin, G., Vasilyev, O.

New Journal of Physics, 22(3), IOP Publishing, Bristol, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Analytical classical density functionals from an equation learning network

Lin, S., Martius, G., Oettel, M.

The Journal of Chemical Physics, 152(2):021102, 2020, arXiv preprint \url{https://arxiv.org/abs/1910.12752} (article)

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Preprint_PDF DOI [BibTex]

Preprint_PDF DOI [BibTex]


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Wetting transitions on soft substrates

Napiorkowski, M., Schimmele, L., Dietrich, S.

{EPL}, 129(1), EDP Science, Les-Ulis, 2020 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Blessing and Curse: How a Supercapacitor Large Capacitance Causes its Slow Charging

Lian, C., Janssen, M., Liu, H., van Roij, R.

Physical Review Letters, 124(7), American Physical Society, Woodbury, N.Y., 2020 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Interplay of quenching temperature and drift in Brownian dynamics

Khalilian, H., Nejad, M. R., Moghaddam, A. G., Rohwer, C. M.

EPL, 128(6), EDP Science, Les-Ulis, 2020 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Fractal-seaweeds type functionalization of graphene

Amsharov, K., Sharapa, D. I., Vasilyev, O. A., Martin, O., Hauke, F., Görling, A., Soni, H., Hirsch, A.

Carbon, 158, pages: 435-448, Elsevier, Amsterdam, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Effective pair interaction of patchy particles in critical fluids

Farahmand Bafi, N., Nowakowski, P., Dietrich, S.

The Journal of Chemical Physics, 152(11), American Institute of Physics, Woodbury, N.Y., 2020 (article)

icm

DOI [BibTex]

DOI [BibTex]


Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage
Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage

Haksar, R. N., Trimpe, S., Schwager, M.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

ics

DOI [BibTex]

DOI [BibTex]


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Cassie-Wenzel transition of a binary liquid mixture on a nanosculptured surface

Singh, S. L., Schimmele, L., Dietrich, S.

Physical Review E, 101(5), American Physical Society, Melville, NY, 2020 (article)

icm

DOI [BibTex]

DOI [BibTex]


Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control
Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control

Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

Abstract
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs). The result is a new approach for complex tasks with nonlinear, uncertain, and constrained dynamics as are common in robotics. Specifically, we leverage recent results in MPC research to propose a new robust setpoint tracking MPC algorithm, which achieves reliable and safe tracking of a dynamic setpoint while guaranteeing stability and constraint satisfaction. The presented robust MPC scheme constitutes a one-layer approach that unifies the often separated planning and control layers, by directly computing the control command based on a reference and possibly obstacle positions. As a separate contribution, we show how the computation time of the MPC can be drastically reduced by approximating the MPC law with a NN controller. The NN is trained and validated from offline samples of the MPC, yielding statistical guarantees, and used in lieu thereof at run time. Our experiments on a state-of-the-art robot manipulator are the first to show that both the proposed robust and approximate MPC schemes scale to real-world robotic systems.

am ics

arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


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Energy storage in steady states under cyclic local energy input

Zhang, Y., Holyst, R., Maciolek, A.

Physical Review E, 101(1), American Physical Society, Melville, NY, 2020 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Numerical simulations of self-diffusiophoretic colloids at fluid interfaces

Peter, T., Malgaretti, P., Rivas, N., Scagliarini, A., Harting, J., Dietrich, S.

Soft Matter, 16(14):3536-3547, Royal Society of Chemistry, Cambridge, UK, 2020 (article)

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DOI [BibTex]

DOI [BibTex]

2009


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Interplay of complete wetting, critical adsorption, and capillary condensation

Drzewinski, A., Maciolek, A., Barasinski, A., Dietrich, S.

Physical Review E, 79, 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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The critical Casimir effect: universal fluctuation-induced forces at work

Gambassi, A., Hertlein, C., Helden, L., Dietrich, S., Bechinger, C.

Europhysics News, 40(01):18-22, 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Effective interactions of colloids on nematic films

Oettel, M., Dominguez, A., Tasinkevych, M., Dietrich, S.

European Physical Journal E, 28(02):99-111, 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Self-diffusion and cooperative diffusion in semidilute polymer solutions as measured by fluorescence correlation spectroscopy

Zettl, U., Hoffmann, S. T., Koberling, F., Krausch, G., Enderlein, J., Harnau, L., Ballauff, M.

Macromolecules, 42, pages: 9537-9547, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Free-energy function based on an all-atom model for proteins

Yoshidome, T., Oda, K., Harano, Y., Roth, R., Sugita, Y., Ikeguchi, M., Kinoshita, M.

Proteins: Structure, Function, and Bioinformatics, 77(4):950-961, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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On scale-free and poly-scale behaviors of random hierarchical networks

Avetisov, V. A., Chertovitch, A. V., Nechaev, S .K., Vasilyev, O. A.

Journal of Statistical Mechanics: Theory and Experiment, July 2009, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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3D Brownian diffusion of submicron-sized particle clusters

Hoffmann, M., Wagner, C. S., Harnau, L., Wittemann, A.

ACS Nano, 3(10):3326-3334, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Normal and lateral critical Casimir forces between colloids and patterned substrates

Tröndle, M., Kondrat, S., Gambassi, A., Harnau, L., Dietrich, S.

EPL, 88, 2009 (article)

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DOI [BibTex]


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Critical wetting transitions in two-dimensional systems subject to long-ranged boundary fields

Drzewinski, A., Maciolek, A., Barasinski, A., Dietrich, S.

Physical Review E, 79, 2009 (article)

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DOI [BibTex]


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Derivation of a non-local interfacial model for 3D wetting in an external field

Bernardino, N. R., Parry, A. O., Rascon, C., Romero-Enrique, J. M.

Journal of Physics: Condensed Matter, 21(46), 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Coupling of rotational motion with shape fluctuations of core-shell microgels having tunable softness

Bolisetty, S., Hoffmann, M., Lekkala, S., Hellweg, T., Ballauff, M., Harnau, L.

Macromolecules, 42, pages: 1264-1269, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Strong-disorder paramagnetic-ferromagnetic fixed point in the square-lattice +/-J Ising model

Parisen Toldin, F., Pelissetto, A., Vicari, E.

Journal of Statistical Physics, 135(5):1039-1061, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Structure and interaction of flexible dendrimers in concentrated solution

Rosenfeldt, S., Ballauff, M., Lindner, P., Harnau, L.

The Journal of Chemical Physics, 130, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Layering of (BMIM)+-based ionic liquids at a charged sapphire interface

Mezger, M., Schramm, S., Schröder, H., Reichert, H., Deutsch, M., de Souza, E. J., Okasinski, J. S., Ocko, B. M., Honkimäki, V., Dosch, H.

Journal of Chemical Physics, 131, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Nano-droplets on structured substrates

Rauscher, M. A., Dietrich, S.

Soft Matter, 5(16):2997-3001, 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Self-assembly of Janus cylinders into hierarchical superstructures

Walther, A., Drechsler, M., Rosenfeldt, S., Harnau, L., Ballauff, M., Abetz, V., Müller, A. H. E.

Journal of the American Chemical Society, 131, pages: 4720-4728, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Solvent-mediated interactions between nanoparticles at fluid interfaces

Bresme, F., Lehle, H., Oettel, M.

Journal of Chemical Physics, 130(21), 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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From colloids to biophysics: applications of classical density functional theory

Roth, R.

Universität Stuttgart, Stuttgart, 2009 (phdthesis)

icm

[BibTex]

[BibTex]


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Diffusion of a sphere in a dilute solution of polymer coils

Krüger, M., Rauscher, M.

Journal of Chemical Physics, 131(9), 2009 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Dynamics of nanodroplets on topographically structured substrates

Moosavi, A., Rauscher, M., Dietrich, S.

Journal of Physics: Condensed Matter, 21(46), 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Critical Casimir effect in classical binary liquid mixtures

Gambassi, A., Maciolek, A., Hertlein, C., Nellen, U., Helden, L., Bechinger, C., Dietrich, S.

Physical Review E, 80, 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Phase transitions and ordering of confined dipolar fluids

Szalai, I., Dietrich, S.

European Physical Journal E, 28(3):347-359, 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Nonlinear dielectric effect of dipolar fluids

Szalai, I., Nagy, S., Dietrich, S.

Journal of Chemical Physics, 131(15), 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Some physical applications of random hierarchical matrices

Avetisov, V. A., Bikulov, A. K., Vasilyev, O. A., Nechaev, S. K., Chertovich, A. V.

Journal of Experimental and Theoretical Physics, 109(3):485-504, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Interaction of cylindrical polymer brushes in dilute and semi-dilute solution

Bolisetty, S., Rosenfeldt, S., Rochette, C. N., Harnau, L., Lindner, P., Xu, Y., Mueller, A. H. E., Ballauff, M.

Colloid and Polymer Science, 287, pages: 129-138, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Survival of an evasive prey

Oshanin, G., Vasilyev, O., Krapivsky, P. L., Klafter, J.

Proceedings of the National Academy of Sciences of the United States of America, 106(33):13696-13701, 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Stäbchensuspensionen in Kontakt mit geometrisch strukturierten Substraten

Günther, F.

Universität Stuttgart, Stuttgart, 2009 (mastersthesis)

icm

[BibTex]

[BibTex]


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Manipulating cylindrical polyelectrolyte brushes on the nanoscale by counterions: collapse transition to helical structures

Xu, Y., Bolisetty, S., Drechsler, M., Fang, B., Yuan, J., Harnau, L., Ballauff, M., Mueller, A. H. E.

Soft Matter, 5, pages: 379-384, 2009 (article)

icm

link (url) [BibTex]

link (url) [BibTex]


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Confinement effects on diffusiophoretic self-propellers

Popescu, M. N., Dietrich, S., Oshanin, G.

Journal of Chemical Physics, 130(19), 2009 (article)

icm

DOI [BibTex]

DOI [BibTex]