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2014


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Wenn es was zu sagen gibt

(Klaus Tschira Award 2014 in Computer Science)

Trimpe, S.

Bild der Wissenschaft, pages: 20-23, November 2014, (popular science article in German) (article)

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PDF Project Page [BibTex]

2014


PDF Project Page [BibTex]


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Robotics and Neuroscience

Floreano, Dario, Ijspeert, Auke Jan, Schaal, S.

Current Biology, 24(18):R910-R920, sep 2014 (article)

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[BibTex]

[BibTex]


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Nonmyopic View Planning for Active Object Classification and Pose Estimation

Atanasov, N., Sankaran, B., Le Ny, J., Pappas, G., Daniilidis, K.

IEEE Transactions on Robotics, May 2014, clmc (article)

Abstract
One of the central problems in computer vision is the detection of semantically important objects and the estimation of their pose. Most of the work in object detection has been based on single image processing and its performance is limited by occlusions and ambiguity in appearance and geometry. This paper proposes an active approach to object detection by controlling the point of view of a mobile depth camera. When an initial static detection phase identifies an object of interest, several hypotheses are made about its class and orientation. The sensor then plans a sequence of viewpoints, which balances the amount of energy used to move with the chance of identifying the correct hypothesis. We formulate an active M-ary hypothesis testing problem, which includes sensor mobility, and solve it using a point-based approximate POMDP algorithm. The validity of our approach is verified through simulation and real-world experiments with the PR2 robot. The results suggest a significant improvement over static object detection

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Web pdf link (url) [BibTex]

Web pdf link (url) [BibTex]


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Data-Driven Grasp Synthesis - A Survey

Bohg, J., Morales, A., Asfour, T., Kragic, D.

IEEE Transactions on Robotics, 30, pages: 289 - 309, IEEE, April 2014 (article)

Abstract
We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.

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PDF link (url) DOI Project Page [BibTex]

PDF link (url) DOI Project Page [BibTex]


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A Limiting Property of the Matrix Exponential

Trimpe, S., D’Andrea, R.

IEEE Transactions on Automatic Control, 59(4):1105-1110, 2014 (article)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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Event-Based State Estimation With Variance-Based Triggering

Trimpe, S., D’Andrea, R.

IEEE Transactions on Automatic Control, 59(12):3266-3281, 2014 (article)

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PDF Supplementary material DOI Project Page [BibTex]

PDF Supplementary material DOI Project Page [BibTex]


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Perspective: Intelligent Systems: Bits and Bots

Spatz, J. P., Schaal, S.

Nature, (509), 2014, clmc (article)

Abstract
What is intelligence, and can we create it? Animals can perceive, reason, react and learn, but they are just one example of an intelligent system. Intelligent systems could be robots as large as humans, helping with search-and- rescue operations in dangerous places, or smart devices as tiny as a cell, delivering drugs to a target within the body. Even computing systems can be intelligent, by perceiving the world, crawling the web and processing â??big dataâ?? to extract and learn from complex information.Understanding not only how intelligence can be reproduced, but also how to build systems that put these ideas into practice, will be a challenge. Small intelligent systems will require new materials and fabrication methods, as well as com- pact information processors and power sources. And for nano-sized systems, the rules change altogether. The laws of physics operate very differently at tiny scales: for a nanorobot, swimming through water is like struggling through treacle.Researchers at the Max Planck Institute for Intelligent Systems have begun to solve these problems by developing new computational methods, experiment- ing with unique robotic systems and fabricating tiny, artificial propellers, like bacterial flagella, to propel nanocreations through their environment.

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PDF link (url) [BibTex]

PDF link (url) [BibTex]


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Efflorescence upon humidification? X-ray microspectroscopic in situ observation of changes in aerosol microstructure and phase state upon hydration

Pöhlker, C., Saturno, J., Krüger, M. L., Förster, J. D., Weigand, M., Wiedemann, K. T., Bechtel, M., Artaxo, P., Andreae, M. O.

{Geophysical Research Letters}, 41(10):3681-3689, American Geophysical Union, Washington, D.C., 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Investigation of cellular microstructure and enhanced coercivity in sputtered Sm2(CoCuFeZr)17 film

Bhatt, R., Bhatt, P., Schütz, G.

{Journal of Applied Physics}, 115(10), American Institute of Physics, New York, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Detecting magnetic flux distributions in superconductors with polarized x-rays

Stahl, C., Audehm, P., Gräfe, J., Ruoß, S., Weigand, M., Schmidt, M., Treiber, S., Bechtel, M., Goering, E., Schütz, G., Albrecht, J.

{Physical Review B}, 90(10), American Physical Society, Woodbury, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Spatial degradation mapping and component-wise degradation tracking in polymer-fullerene blends

Pedersen, E. B. B., Tromholt, T., Madsen, M. V., Böttiger, A. P. L., Weigand, M., Krebs, F. C., Andreasen, J. W.

{Journal of Materials Chemistry C}, 2(26):5176-5182, Royal Society of Chemistry, Cambridge, UK, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Vortex core reversal due to spin wave interference

Bauer, H. G., Sproll, M., Back, C. H., Woltersdorf, G.

{Physical Review Letters}, 112, American Physical Society, Woodbury, N.Y., 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Understanding the adsorption mechanism of noble gases Kr and Xe in CPO-27-Ni, CPO-27-Mg, and ZIF-8

Magdysyuk, O. V., Adams, F., Liermann, H., Spanopoulos, I., Trikalitis, P. N., Hirscher, M., Morris, R. E., Duncan, M. J., McCormick, L. J., Dinnebier, R. E.

{Physical Chemistry Chemical Physics}, 16(43):23908-23914, Royal Society of Chemistry, Cambridge, England, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Unidirectional sub-100-ps magnetic vortex core reversal

Noske, M., Gangwar, A., Stoll, H., Kammerer, M., Sproll, M., Dieterle, G., Weigand, M., Fähnle, M., Woltersdorf, G., Back, C. H., Schütz, G.

{Physical Review B}, 90(10), American Physical Society, Woodbury, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Domain wall transformations and hopping in La0.7Sr0.3MnO3 nanostructures imaged with high resolution x-ray magnetic microscopy

Finizio, S., Foerster, M., Krüger, B., Vaz, C. A. F., Miyawaki, T., Mawass, M. A., Pena, L., Méchin, L., Hühn, S., Moshnyaga, V., Büttner, F., Bisig, A., Le Guyader, L., El Moussaoui, S., Valencia, S., Kronast, F., Eisebitt, S., Kläui, M.

{Journal of Physics: Condensed Matter}, 26(45), IOP Publishing, Bristol, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Tunable eigenmodes of coupled magnetic vortex oscillators

Hänze, M., Adolff, C. F., Weigand, M., Meier, G.

{Applied Physics Letters}, 104(18), American Institute of Physics, Melville, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Domain wall pinning in ultra-narrow electromigrated break junctions

Reeve, R. M., Loescher, A., Mawass, M.-A., Hoffmann-Vogel, R., Kläui, M.

{Journal of Physics: Condensed Matter}, 26(47), IOP Publishing, Bristol, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Highly effective hydrogen isotope separation in nanoporous metal-organic framworks with open metal sites: Direct measurement and theoretical analysis

Oh, H., Savchenko, I., Mavrandonakis, A., Heine, T., Hirscher, M.

{ACS Nano}, 8(1):761-770, American Chemical Society, Washington, DC, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Stabilization of the dissipation-free current transport in inhomogeneous MgB2 thin films

Treiber, S., Stahl, C., Schütz, G., Soltan, S., Albrecht, J.

{Physica C}, 506, pages: 1-5, North-Holland, Amsterdam, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Thermal conductivity of mechanically joined semiconducting/metal nanomembrane superlattices

Grimm, D., Wilson, R. B., Teshome, B., Gorantla, S., Rümmeli, M. H., Bublat, T., Zallo, E., Li, G., Cahill, D. G., Schmidt, O. G.

{Nano Letters}, 14(5):2387-2393, American Chemical Society, Washington, DC, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Role of the sample boundaries in the problem of dissipative magnetization dynamics

Fähnle, M., Slavin, A., Hertel, R.

{Journal of Magnetism and Magnetic Materials}, 360, pages: 126-130, Elsevier, Amsterdam, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Using magnetic coupling in bilayers of superconducting YBCO and soft-magnetic CoFeB to map supercurrent flow

Stahl, C., Walker, P., Treiber, S., Christiani, G., Schütz, G., Albrecht, J.

{EPL}, 106(2), 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Element-specific depth profile of magnetism and stoichiometry at the La0.67Sr0.33MnO3/BiFeO3 interface

Bertinshaw, J., Brück, S., Lott, D., Fritzsche, H., Khaydukov, Y., Soltwedel, O., Keller, T., Goering, E., Audehm, P., Cortie, D. L., Hutchison, W. D., Ramasse, Q. M., Arredondo, M., Maran, R., Nagarajan, V., Klose, F., Ulrich, C.

{Physical Review B}, 90(4), American Physical Society, Woodbury, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic reflectometry of heterostructures (Topical Review)

Macke, S., Goering, E.

{Journal of Physics: Condensed Matter}, 26(36), IOP Publishing, Bristol, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Optimizing the fabrication of diffractive optical elements using a focused ion beam system

Vijayakumar, A., Eigenthaler, U., Keskinbora, K., Sridharan, G. M., Pramitha, V., Hirscher, M., Spatz, J. P., Bhattacharya, S.

{Proceedings of SPIE}, 9130, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Direct observation of internal vortex domain-wall dynamics

Stein, F.-U., Bocklage, L., Weigand, M., Meier, G.

{Physical Review B}, 89(2), American Physical Society, Woodbury, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Synchronous precessional motion of multiple domain walls in a ferromagnetic nanowire by perpendicular field pulses

Kim, J., Mawass, M., Bisig, A., Krüger, B., Reeve, R. M., Schulz, T., Büttner, F., Yoon, J., You, C., Weigand, M., Stoll, H., Schütz, G., Swagten, H. J. M., Koopmans, B., Eisebitt, S., Kläui, M.

{Nature Communications}, 5, Nature Publishing Group, London, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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An autonomous manipulation system based on force control and optimization

Righetti, L., Kalakrishnan, M., Pastor, P., Binney, J., Kelly, J., Voorhies, R. C., Sukhatme, G. S., Schaal, S.

Autonomous Robots, 36(1-2):11-30, January 2014 (article)

Abstract
In this paper we present an architecture for autonomous manipulation. Our approach is based on the belief that contact interactions during manipulation should be exploited to improve dexterity and that optimizing motion plans is useful to create more robust and repeatable manipulation behaviors. We therefore propose an architecture where state of the art force/torque control and optimization-based motion planning are the core components of the system. We give a detailed description of the modules that constitute the complete system and discuss the challenges inherent to creating such a system. We present experimental results for several grasping and manipulation tasks to demonstrate the performance and robustness of our approach.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Learning of grasp selection based on shape-templates

Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Bohg, J., Asfour, T., Schaal, S.

Autonomous Robots, 36(1-2):51-65, January 2014 (article)

Abstract
The ability to grasp unknown objects still remains an unsolved problem in the robotics community. One of the challenges is to choose an appropriate grasp configuration, i.e., the 6D pose of the hand relative to the object and its finger configuration. In this paper, we introduce an algorithm that is based on the assumption that similarly shaped objects can be grasped in a similar way. It is able to synthesize good grasp poses for unknown objects by finding the best matching object shape templates associated with previously demonstrated grasps. The grasp selection algorithm is able to improve over time by using the information of previous grasp attempts to adapt the ranking of the templates to new situations. We tested our approach on two different platforms, the Willow Garage PR2 and the Barrett WAM robot, which have very different hand kinematics. Furthermore, we compared our algorithm with other grasp planners and demonstrated its superior performance. The results presented in this paper show that the algorithm is able to find good grasp configurations for a large set of unknown objects from a relatively small set of demonstrations, and does improve its performance over time.

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link (url) DOI [BibTex]


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Magnetic field distribution and characteristic fields of the vortex lattice for a clean superconducting niobium sample in an external field applied along a three-fold axis

Yaouanc, A., Maisuradze, A., Nakai, N., Machida, K., Khasanov, R., Amato, A., Biswas, P. K., Baines, C., Herlach, D., Henes, Rolf, Keppler, P., Keller, H.

{Physical Review B}, 89(18), American Physical Society, Woodbury, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Experimental assessment of Physical upper limit for hydrogen storage capacity at 20 K in densified MIL-101 monoliths

Oh, H., Lupu, D., Blanita, G., Hirscher, M.

{RSC Advances}, 4(6):2648-2651, Royal Society of Chemistry, Cambridge, UK, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Strengthening zones in the Co matrix of WC-Co cemented carbides

Konyashin, I., Lachmann, F., Ries, B., Mazilkin, A. A., Straumal, B. B., Kübel, C., Llanes, L., Baretzky, B.

{Scripta Materialia}, 83, pages: 17-20, Pergamon, Tarrytown, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Multilayer Fresnel zone plates for high energy radiation resolve 21 nm features at 1.2 keV

Keskinbora, K., Robisch, A., Mayer, M., Sanli, U., Grévent, C., Wolter, C., Weigand, M., Szeghalmi, A., Knez, M., Salditt, T., Schütz, G.

{Optics Express}, 22(15):18440-18453, Optical Society of America, Washington, DC, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Interplay of linker functionalization and hydrogen adsorption in the metal-organic framework MIL-101

Szilágyi, P. A., Weinrauch, I., Oh, H., Hirscher, M., Juan-Alcaniz, J., Serra-Crespo, P., de Respinis, M., Trzesniewski, B. J., Kapteijn, F., Geerlings, H., Gascon, J., Dam, B., Grzech, A., van de Krol, R.

{The Journal of Physical Chemistry C}, 118(34):19572-19579, American Chemical Society, Washington DC, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Application of magneto-optical Kerr effect to first-order reversal curve measurements

Gräfe, J., Schmidt, M., Audehm, P., Schütz, G., Goering, E.

{Review of Scientific Instruments}, 85, American Institute of Physics, Woodbury, N.Y. [etc.], 2014 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Efficient focusing of 8 keV X-rays with multilayer Fresnel zone plates fabricated by atomic layer deposition and focused ion beam milling. Erratum

Mayer, M., Keskinbora, K., Grévent, C., Szeghalmi, A., Knez, M., Weigand, M., Snigirev, A., Snigireva, I., Schütz, G.

{Journal of Synchrotron Radiation}, 640, pages: 640-640, Published for the International Union of Crystallography by Munksgaard, Copenhagen, Denmark, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Low-amplitude magnetic vortex core reversal by non-linear interaction between azimuthal spin waves and the vortex gyromode

Sproll, M., Noske, M., Bauer, H., Kammerer, M., Gangwar, A., Dieterle, G., Weigand, M., Stoll, H., Woltersdorf, G., Back, C. H., Schütz, G.

{Applied Physics Letters}, 104(1), American Institute of Physics, Melville, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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The local magnetic properties of [MnIII6 CrIII]3+ and [FeIII6 CrIII]3+ single-molecule magnets deposited on surfaces studied by spin-polarized photoemission and XMCD with circularly polarized synchrotron radiation

Heinzmann, U., Helmstedt, A., Dohmeier, N., Müller, N., Gryzia, A., Brechling, A., Hoeke, V., Krickemeyer, E., Glaser, T., Fonin, M., Bouvron, S., Leicht, P., Tietze, T., Goering, E., Kuepper, K.

{Journal of Physics: Conference Series}, 488(13), IOP Publishing, Bristol, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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A fluorene based covalent triazine framework with high CO2 and H2 capture and storage capacities

Hug, S., Mesch, M. B., Oh, H., Popp, N., Hirscher, M., Senker, J., Lotsch, B. V.

{Journal of Materials Chemistry A}, 2(16):5928-5936, Royal Society of Chemistry, Cambridge, UK, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Ab-initio calculations and atomistic calculations on the magnetoelectric effects in metallic nanostructures

Fähnle, M., Subkow, S.

{Physica Status Solidi C}, 11(2):185-191, Wiley-VCH, Weinheim, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Role of electron-magnon scatterings in ultrafast demagnetization

Haag, M., Illg, C., Fähnle, M.

{Physical Review B}, 90(1), American Physical Society, Woodbury, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Element specific monolayer depth profiling

Macke, S., Radi, A., Hamann-Borrero, J. E., Verna, A., Bluschke, M., Brück, S., Goering, E., Sutarto, R., He, F., Cristiani, G., Wu, M., Benckiser, E., Habermeier, H., Logvenov, G., Gauquelin, N., Botton, G. A., Kajdos, A. P., Stemmer, S., Sawatzky, G. A., Haverkort, M. W., Keimer, B., Hinkov, V.

{Advanced Materials}, 26(38):6554-6559, Wiley VCH, Weinheim, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Local modification of the magnetic vortex-core velocity by gallium implantation

Langner, H. H., Vogel, A., Beyersdorff, B., Weigand, M., Frömter, R., Oepen, H. P., Meier, G.

{Journal of Applied Physcis}, (10), American Institute of Physics, New York, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Influence of magnetic fields on spin-mixing in transition metals

Haag, M., Illg, C., Fähnle, M.

{Physical Review B}, 90(13), American Physical Society, Woodbury, NY, 2014 (article)

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DOI [BibTex]

DOI [BibTex]

2011


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

Kalakrishnan, Mrinal, Buchli, Jonas, Pastor, Peter, Mistry, Michael, Schaal, S.

International Journal of Robotics Research, 30(2):236-258, February 2011 (article)

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[BibTex]

2011


[BibTex]


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Bayesian robot system identification with input and output noise

Ting, J., D’Souza, A., Schaal, S.

Neural Networks, 24(1):99-108, 2011, clmc (article)

Abstract
For complex robots such as humanoids, model-based control is highly beneficial for accurate tracking while keeping negative feedback gains low for compliance. However, in such multi degree-of-freedom lightweight systems, conventional identification of rigid body dynamics models using CAD data and actuator models is inaccurate due to unknown nonlinear robot dynamic effects. An alternative method is data-driven parameter estimation, but significant noise in measured and inferred variables affects it adversely. Moreover, standard estimation procedures may give physically inconsistent results due to unmodeled nonlinearities or insufficiently rich data. This paper addresses these problems, proposing a Bayesian system identification technique for linear or piecewise linear systems. Inspired by Factor Analysis regression, we develop a computationally efficient variational Bayesian regression algorithm that is robust to ill-conditioned data, automatically detects relevant features, and identifies input and output noise. We evaluate our approach on rigid body parameter estimation for various robotic systems, achieving an error of up to three times lower than other state-of-the-art machine learning methods

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link (url) [BibTex]

link (url) [BibTex]


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The Oxidation of Fe(111)

Davies, R., Edwards, D., Gräfe, J., Gilbert, L., Davies, P., Hutchings, G., Bowker, M.

Surface Science, 605(17-18):1754-1762, 2011 (article)

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DOI [BibTex]

DOI [BibTex]


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Learning variable impedance control

Buchli, J., Stulp, F., Theodorou, E., Schaal, S.

International Journal of Robotics Research, 2011, clmc (article)

Abstract
One of the hallmarks of the performance, versatility, and robustness of biological motor control is the ability to adapt the impedance of the overall biomechanical system to different task requirements and stochastic disturbances. A transfer of this principle to robotics is desirable, for instance to enable robots to work robustly and safely in everyday human environments. It is, however, not trivial to derive variable impedance controllers for practical high degree-of-freedom (DOF) robotic tasks. In this contribution, we accomplish such variable impedance control with the reinforcement learning (RL) algorithm PISq ({f P}olicy {f I}mprovement with {f P}ath {f I}ntegrals). PISq is a model-free, sampling based learning method derived from first principles of stochastic optimal control. The PISq algorithm requires no tuning of algorithmic parameters besides the exploration noise. The designer can thus fully focus on cost function design to specify the task. From the viewpoint of robotics, a particular useful property of PISq is that it can scale to problems of many DOFs, so that reinforcement learning on real robotic systems becomes feasible. We sketch the PISq algorithm and its theoretical properties, and how it is applied to gain scheduling for variable impedance control. We evaluate our approach by presenting results on several simulated and real robots. We consider tasks involving accurate tracking through via-points, and manipulation tasks requiring physical contact with the environment. In these tasks, the optimal strategy requires both tuning of a reference trajectory emph{and} the impedance of the end-effector. The results show that we can use path integral based reinforcement learning not only for planning but also to derive variable gain feedback controllers in realistic scenarios. Thus, the power of variable impedance control is made available to a wide variety of robotic systems and practical applications.

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link (url) [BibTex]

link (url) [BibTex]


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High-resolution x-ray absorption spectroscopy of BaTiO_3: Experiment and first-principles calculations

Chassé, A., Borek, S., Schindler, K., Trautmann, M., Huth, M., Steudel, F., Makhova, L., Gräfe, J., Denecke, R.

Physical Review B, 84, pages: 195135, 2011 (article)

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DOI [BibTex]

DOI [BibTex]


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Electron theory of fast and ultrafast dissipative magnetization dynamics

Fähnle, M., Illg, C.

{Journal of Physics: Condensed Matter}, 23, 2011 (article)

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DOI [BibTex]

DOI [BibTex]