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2013


Vision meets Robotics: The {KITTI} Dataset
Vision meets Robotics: The KITTI Dataset

Geiger, A., Lenz, P., Stiller, C., Urtasun, R.

International Journal of Robotics Research, 32(11):1231 - 1237 , Sage Publishing, September 2013 (article)

Abstract
We present a novel dataset captured from a VW station wagon for use in mobile robotics and autonomous driving research. In total, we recorded 6 hours of traffic scenarios at 10-100 Hz using a variety of sensor modalities such as high-resolution color and grayscale stereo cameras, a Velodyne 3D laser scanner and a high-precision GPS/IMU inertial navigation system. The scenarios are diverse, capturing real-world traffic situations and range from freeways over rural areas to inner-city scenes with many static and dynamic objects. Our data is calibrated, synchronized and timestamped, and we provide the rectified and raw image sequences. Our dataset also contains object labels in the form of 3D tracklets and we provide online benchmarks for stereo, optical flow, object detection and other tasks. This paper describes our recording platform, the data format and the utilities that we provide.

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pdf DOI [BibTex]

2013


pdf DOI [BibTex]


Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot
Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Spröwitz, A., Tuleu, A., Vespignani, M., Ajallooeian, M., Badri, E., Ijspeert, A. J.

{The International Journal of Robotics Research}, 32(8):932-950, Sage Publications, Inc., Cambridge, MA, 2013 (article)

Abstract
We present the design of a novel compliant quadruped robot, called Cheetah-cub, and a series of locomotion experiments with fast trotting gaits. The robot’s leg configuration is based on a spring-loaded, pantograph mechanism with multiple segments. A dedicated open-loop locomotion controller was derived and implemented. Experiments were run in simulation and in hardware on flat terrain and with a step down, demonstrating the robot’s self-stabilizing properties. The robot reached a running trot with short flight phases with a maximum Froude number of FR = 1.30, or 6.9 body lengths per second. Morphological parameters such as the leg design also played a role. By adding distal in-series elasticity, self- stability and maximum robot speed improved. Our robot has several advantages, especially when compared with larger and stiffer quadruped robot designs. (1) It is, to the best of the authors’ knowledge, the fastest of all quadruped robots below 30 kg (in terms of Froude number and body lengths per second). (2) It shows self-stabilizing behavior over a large range of speeds with open-loop control. (3) It is lightweight, compact, and electrically powered. (4) It is cheap, easy to reproduce, robust, and safe to handle. This makes it an excellent tool for research of multi-segment legs in quadruped robots.

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Youtube1 Youtube2 Youtube3 Youtube4 Youtube5 DOI Project Page [BibTex]

Youtube1 Youtube2 Youtube3 Youtube4 Youtube5 DOI Project Page [BibTex]


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Self-Propelled Micromotors for Cleaning Polluted Watter

Soler, L., Magdanz, V., Fomin, V. M., Sanchez, S., Schmidt, O. G.

ACS Nano, 11, pages: 9611-9620, American Chemical Society, Washington, DC, 2013 (article)

Abstract
We describe the use of catalytically self-propelled microjets (dubbed micromotors) for degrading organic pollutants in water via the Fenton oxidation process. The tubular micromotors are composed of rolled-up functional nanomembranes consisting of Fe/Pt bilayers. The micromotors contain double functionality within their architecture, i.e., the inner Pt for the self-propulsion and the outer Fe for the in situ generation of ferrous ions boosting the remediation of contaminated water.The degradation of organic pollutants takes place in the presence of hydrogen peroxide, which acts as a reagent for the Fenton reaction and as main fuel to propel the micromotors. Factors influencing the efficiency of the Fenton oxidation process, including thickness of the Fe layer, pH, and concentration of hydrogen peroxide, are investigated. The ability of these catalytically self-propelled micromotors to improve intermixing in liquids results in the removal of organic pollutants ca. 12 times faster than when the Fenton oxidation process is carried out without catalytically active micromotors. The enhanced reaction\textendashdiffusion provided by micromotors has been theoretically modeled. The synergy between the internal and external functionalities of the micromotors, without the need of further functionalization, results into an enhanced degradation of nonbiodegradable and dangerous organic pollutants at small-scale environments and holds considerable promise for the remediation of contaminated water.

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DOI [BibTex]

DOI [BibTex]


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Stability of thin liquid films and sessile droplets under confinement

Dörfler, F., Rauscher, M., Dietrich, S.

Physical Review E, 88(1), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Nonequilibrium interfaces in colloidal fluids

Bier, M., Arnold, D.

Physical Review E, 88(6), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Colloidal particles at fluid interfaces: Effective interactions, dynamics and a gravitation\textendashlike instability

Bleibel, J., Dom\’\inguez, A., Oettel, M.

The European Physical Journal Special Topics, 222(11):3071-3087, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Anomalous transport in the crowded world of biological cells

Höfling, Felix, Franosch, Thomas

Reports on Progress in Physics, 76(4), IOP Pub., London, 2013, author: Höfling, Felix (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Flow pattern in the vicinity of self-propelling hot Janus particles

Bickel, T., Majee, A., Würger, A.

Physical Review E, 88(1), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Nonequilibrium Critical Casimir Effect in Binary Fluids

Furukawa, A., Gambassi, A., Dietrich, S., Tanaka, H.

Physical Review Letters, 111(5), American Physical Society, Woodbury, N.Y., 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Many-body effects for critical Casimir forces

Gomes de Mattos, T., Harnau, L., Dietrich, S.

The Journal of Chemical Physics, 138(7), 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Propulsion Mechanism of Catalytic Microjet Engines

Magdanz, V., Fomin, V. M., Soler, L., Sanchez, S., Schmidt, O. G., Hippler, M.

IEEE Transactions on Robotics and Automation, pages: 40-48, IEEE, New York, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Impedance spectroscopy of ions at liquid-liquid interfaces

Bier, M., Reindl, A.

Physical Review E, 88(5), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Precursors of order in aggregates of patchy particles

Vasilyev, O., Klumov, B. A., Tkachenko, A. V.

Physical Review E, 88(1), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Two-temperature Langevin dynamics in a parabolic potential

Dotsenko, V., Maciolek, Anna, Vasilyev, O., Oshanin, G.

Physical Review E, 87(6), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir forces between homogeneous and chemically striped surfaces

Parisen Toldin, F., Tröndle, M., Dietrich, S.

Physical Review E, 88, American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Comparison between theory and simulations for the magnetization and the susceptibility of polydisperse ferrofluids

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

Journal of Physics: Condensed Matter, 25(46), IOP Pub., Bristol, UK, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Thermal activation of catalytic microjets in blood samples using microfluidic chips.

Soler, L., Mart\’\inez-Cisneros, C., Swiersy, A., Sanchez, S., Schmidt, O. G.

Lab on a Chip, 13, pages: 4299-4303, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Nematic liquid crystal boojums with handles on colloidal handlebodies

Liu, Q. K., Senyuk, B., Tasinkevych, M., Smalyukh, I. I.

Proceedings of the National Academy of Sciences of the United States of America, 110(23):9231-9236, National Academy of Sciences, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir torques and forces acting on needles in two spatial dimensions

Vasilyev, Oleg, Eisenriegler, E., Dietrich, Siegfried

Physical Review E, 88(1), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir forces along the isofields

Zubaszewska, M., Maciolek, A., Drzewinski, A.

Physical Review E, 88(5), American Physical Society, Melville, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Surface states and the Casimir interaction in the Ising model

Abraham, D. B., Maciolek, A.

Europhysics letters, 101(2), Editrice Compositori., Bologna, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Crystallization, structural diversity, and anisotropy effects in 2D arrays of icosahedral viruses

Fukuto, M., Nguyen, Q. L., Vasilyev, O., Mank, N., Washington-Huges, C. L., Kuzmenko, I., Checco, A., Mao, Y., Wang, Q., Yang, L.

Soft Matter, 9(40):9633-9642, Royal Society of Chemistry, Cambridge, UK, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Dynamic arrest in model porous media-intermediate scattering functions

Spanner, Markus, Schnyder, Simon K., Höfling, Felix, Voigtmann, Thomas, Franosch, Thomas

Soft Matter, 9(5):1604-1611, Royal Society of Chemistry, Cambridge, UK, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Linear response relations in fluctuational electrodynamics

Golyk, V. A., Krüger, Matthias, Kardar, M.

Physical Review B, 88(15), American Physical Society, Woodbury, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


Horse-Like Walking, Trotting, and Galloping derived from Kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot
Horse-Like Walking, Trotting, and Galloping derived from Kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot

Moro, F., Spröwitz, A., Tuleu, A., Vespignani, M., Tsagakiris, N. G., Ijspeert, A. J., Caldwell, D. G.

Biological Cybernetics, 107(3):309-320, 2013 (article)

Abstract
This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling as follows: results indicate a speed optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots.

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DOI [BibTex]

DOI [BibTex]


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Ideal Polyethylene Nanocrystals

Osichov, A., Rabe, C., Vogtt, K., Narayanan, T., Harnau, Ludger, Drechsler, M., Ballauff, M.

Journal of the American Chemical Society, 135(31):11645-11650, American Chemical Society, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Self-Assembly of Two-Dimensional Colloidal Clusters by Tuning the Hydrophobicity, Composition, and Packing Geometry

Law, A. D., Auriol, M., Smith, D., Horozov, T. S., Buzza, D. M. A.

Physical Review Letters, 110, American Physical Society., Woodbury, N.Y., etc., 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Geometry-Induced Superdiffusion in Driven Crowded Systems

Bénichou, O., Bodrova, A., Chakraborty, D., Illien, P., Law, A. D., Mej\’\ia-Monasterio, C., Oshanin, G., Voituriez, R.

Physical Review Letters, 111(26), American Physical Society, Woodbury, N.Y., 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Overshoots in stress-strain curves: Colloid experiments and schematic mode coupling theory

Amann, Christian P, Siebenbürger, Miriam, Krüger, Matthias, Weysser, Fabian, Ballauff, Matthias, Fuchs, Matthias

Journal of Rheology, 57, pages: 149-175, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Wetting in electrolyte solutions

Ibagon, Ingrid, Bier, Markus, Dietrich, Siegfried

The Journal of Chemical Physics, 138(21), American Institute of Physics, Woodbury, N.Y., 2013 (article)

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DOI [BibTex]

DOI [BibTex]

2011


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Collective dynamics of colloids at fluid interfaces

Bleibel, J., Dominguez, A., Oettel, M., Dietrich, S.

European Physical Journal E, 34(11), 2011 (article)

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DOI [BibTex]

2011


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Anomalous transport of a tracer on percolating clusters

Spanner, M., Höfling, F., Schröder-Turk, G. E., Mecke, K., Franosch, T.

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

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DOI [BibTex]


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Dynamics of colloids in confined geometries

Almenar, L., Rauscher, M.

Journal of Physics: Condensed Matter, 23(18), 2011 (article)

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link (url) DOI [BibTex]


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The structure and melting transition of two-dimensional colloidal alloys

Law, A. D., Horozov, T. S., Buzza, D. M. A.

Soft Matter, 7(19):8923-8931, 2011 (article)

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Second harmonic light scattering from spherical polyelectrolyte brushes

Schürer, B., Hoffmann, M., Wunderlich, S., Harnau, L., Peschel, U., Ballauff, M., Peukert, W.

Journal of Physical Chemistry C, 115, pages: 18302-18309, 2011 (article)

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Solvation forces in Ising films with long-range boundary fields: density-matrix renormalization-group study

Drzewinski, A., Maciolek, A., Barasinski, A.

Molecular Physics, 109(7-10):1133-1141, 2011 (article)

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Pulling and pushing a cargo with a catalytically active carrier

Popescu, M. N., Tasinkevych, M., Dietrich, S.

Europhysics Letters, 95(2), 2011 (article)

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Critical Casimir forces for Ising films with variable boundary fields

Vasilyev, O., Maciolek, A., Dietrich, S.

Physical Review E, 84(4), 2011 (article)

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Study of \pi\pi correlations at LHC and RHIC energies in pp collisions within the quark-gluon string model

Nilsson, M. S., Bravina, L. V., Zabrodin, E. E., Malinina, L. V., Bleibel, J.

Physical Review D, 84(5), 2011 (article)

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Micro-rheology on (polymer-grafted) colloids using optical tweezers

Gutsche, C., Elmahdy, M. M., Kegler, K., Semenov, I., Stangner, T., Otto, O., Ueberschär, O., Keyser, U. F., Krüger, M., Rauscher, M., Weeber, R., Harting, J., Kim, Y. W., Lobaskin, V., Netz, R., Kremer, F.

Journal of Physics: Condensed Matter, 23(18), IOP Publishing, Bristol, 2011 (article)

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Debye-Scherrer rings from block copolymer films with powder-like order

Busch, P., Rauscher, M., Moulin, J.-F., Müller-Buschbaum, P.

Journal of Applied Crystallography, 44(2):370-379, 2011 (article)

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Effective interactions and equilibrium configurations of colloidal particles on a sessile droplet

Guzowski, J., Tasinkevych, M., Dietrich, S.

Soft Matter, 7(9):4189-4197, 2011 (article)

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Capillary interactions in Pickering emulsions

Guzowski, J., Tasinkevych, M., Dietrich, S.

Physical Review E, 84(3), 2011 (article)

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Critical Casimir forces steered by patterned substrates

Gambassi, A., Dietrich, S.

Soft Matter, 7(4):1247-1253, 2011 (article)

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Interaction strength between proteins and polyelectrolyte brushes: A small angle X-ray scattering study

Henzler, K., Haupt, B., Rosenfeldt, S., Harnau, L., Narayanan, T., Ballauff, M.

Physical Chemistry Chemical Physics, 13, pages: 17599-17605, 2011 (article)

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Annealing of single lamella nanoparticles of polyethylene

Rochette, C. N., Rosenfeldt, S., Henzler, K., Polzer, F., Ballauff, M., Tong, Q., Mecking, S., Drechsler, M., Narayanan, T., Harnau, L.

Macromolecules, 44(12):4845-4851, 2011 (article)

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Trapping colloids near chemical stripes via critical Casimir forces

Tröndle, M., Zvyagolskaya, O., Gambassi, A., Vogt, D., Harnau, L., Bechinger, C., Dietrich, S.

Molecular Physics, 109, pages: 1169-1185, 2011 (article)

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Electrostatic interactions in critical solvents

Bier, M., Gambassi, A., Oettel, M., Dietrich, S.

Europhysics Letters, 95, 2011 (article)

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Structural investigation of thin diblock copolymer films using time-of-flight grazing-incidence small-angle neutron scattering

Metwalli, E., Moulin, J.-F., Rauscher, M., Kaune, G., Ruderer, M. A., Van Bürck, U., Haese-Seiller, M., Kampmann, R., Müller-Buschbaum, P.

Journal of Applied Crystallography, 44(1):84-92, 2011 (article)

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Complexation of beta-lactoglobulin fibrils and sulfated polysaccharides

Jones, O. G., Handschin, S., Adamcik, J., Harnau, L., Bolisetty, S., Mezzenga, R.

Biomacromolecules, 12, pages: 3056-3065, 2011 (article)

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