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219 results (View BibTeX file of all listed publications)

2018

Thumb xl screenshot 2018 5 9 swimming back and forth using planar flagellar propulsion at low reynolds numbers khalil 2018 adv ...
Swimming Back and Forth Using Planar Flagellar Propulsion at Low Reynolds Numbers

Khalil, I. S. M., Tabak, A. F., Hamed, Y., Mitwally, M. E., Tawakol, M., Klingner, A., Sitti, M.

Advanced Science, 5(2):1700461, 2018 (article)

Abstract
Abstract Peritrichously flagellated Escherichia coli swim back and forth by wrapping their flagella together in a helical bundle. However, other monotrichous bacteria cannot swim back and forth with a single flagellum and planar wave propagation. Quantifying this observation, a magnetically driven soft two‐tailed microrobot capable of reversing its swimming direction without making a U‐turn trajectory or actively modifying the direction of wave propagation is designed and developed. The microrobot contains magnetic microparticles within the polymer matrix of its head and consists of two collinear, unequal, and opposite ultrathin tails. It is driven and steered using a uniform magnetic field along the direction of motion with a sinusoidally varying orthogonal component. Distinct reversal frequencies that enable selective and independent excitation of the first or the second tail of the microrobot based on their tail length ratio are found. While the first tail provides a propulsive force below one of the reversal frequencies, the second is almost passive, and the net propulsive force achieves flagellated motion along one direction. On the other hand, the second tail achieves flagellated propulsion along the opposite direction above the reversal frequency.

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link (url) DOI [BibTex]

2018

pi Khalil, I. S. M., Tabak, A. F., Hamed, Y., Mitwally, M. E., Tawakol, M., Klingner, A., Sitti, M. Swimming Back and Forth Using Planar Flagellar Propulsion at Low Reynolds Numbers Advanced Science, 5(2):1700461, 2018 (article)

link (url) DOI [BibTex]

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Parallel and functionally segregated processing of task phase and conscious content in the prefrontal cortex

Kapoor, V., Besserve, M., Logothetis, N. K., Panagiotaropoulos, T. I.

Communications Biology, 1(215):1-12, December 2018 (article)

ei

link (url) DOI Project Page [BibTex]

ei Kapoor, V., Besserve, M., Logothetis, N. K., Panagiotaropoulos, T. I. Parallel and functionally segregated processing of task phase and conscious content in the prefrontal cortex Communications Biology, 1(215):1-12, December 2018 (article)

link (url) DOI Project Page [BibTex]

Thumb xl universal custom complex magnetic spring design methodology
Universal Custom Complex Magnetic Spring Design Methodology

Woodward, M. A., Sitti, M.

IEEE Transactions on Magnetics, 54(1):1-13, October 2018 (article)

Abstract
A design methodology is presented for creating custom complex magnetic springs through the design of force-displacement curves. This methodology results in a magnet configuration, which will produce a desired force-displacement relationship. Initially, the problem is formulated and solved as a system of linear equations. Then, given the limited likelihood of a single solution being feasibly manufactured, key parameters of the solution are extracted and varied to create a family of solutions. Finally, these solutions are refined using numerical optimization. Given the properties of magnets, this methodology can create any well-defined function of force versus displacement and is model-independent. To demonstrate this flexibility, a number of example magnetic springs are designed; one of which, designed for use in a jumping-gliding robot's shape memory alloy actuated clutch, is manufactured and experimentally characterized. Due to the scaling of magnetic forces, the displacement region which these magnetic springs are most applicable is that of millimeters and below. However, this region is well situated for miniature robots and smart material actuators, where a tailored magnetic spring, designed to compliment a component, can enhance its performance while adding new functionality. The methodology is also expendable to variable interactions and multi-dimensional magnetic field design.

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DOI [BibTex]

pi Woodward, M. A., Sitti, M. Universal Custom Complex Magnetic Spring Design Methodology IEEE Transactions on Magnetics, 54(1):1-13, October 2018 (article)

DOI [BibTex]

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A Value-Driven Eldercare Robot: Virtual and Physical Instantiations of a Case-Supported Principle-Based Behavior Paradigm

Anderson, M., Anderson, S., Berenz, V.

Proceedings of the IEEE, pages: 1,15, October 2018 (article)

Abstract
In this paper, a case-supported principle-based behavior paradigm is proposed to help ensure ethical behavior of autonomous machines. We argue that ethically significant behavior of autonomous systems should be guided by explicit ethical principles determined through a consensus of ethicists. Such a consensus is likely to emerge in many areas in which autonomous systems are apt to be deployed and for the actions they are liable to undertake. We believe that this is the case since we are more likely to agree on how machines ought to treat us than on how human beings ought to treat one another. Given such a consensus, particular cases of ethical dilemmas where ethicists agree on the ethically relevant features and the right course of action can be used to help discover principles that balance these features when they are in conflict. Such principles not only help ensure ethical behavior of complex and dynamic systems but also can serve as a basis for justification of this behavior. The requirements, methods, implementation, and evaluation components of the paradigm are detailed as well as its instantiation in both a simulated and real robot functioning in the domain of eldercare.

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link (url) DOI [BibTex]

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Control of Musculoskeletal Systems using Learned Dynamics Models

Büchler, D., Calandra, R., Schölkopf, B., Peters, J.

IEEE Robotics and Automation Letters, Robotics and Automation Letters, 3(4):3161-3168, IEEE, 2018 (article)

Abstract
Controlling musculoskeletal systems, especially robots actuated by pneumatic artificial muscles, is a challenging task due to nonlinearities, hysteresis effects, massive actuator de- lay and unobservable dependencies such as temperature. Despite such difficulties, muscular systems offer many beneficial prop- erties to achieve human-comparable performance in uncertain and fast-changing tasks. For example, muscles are backdrivable and provide variable stiffness while offering high forces to reach high accelerations. In addition, the embodied intelligence deriving from the compliance might reduce the control demands for specific tasks. In this paper, we address the problem of how to accurately control musculoskeletal robots. To address this issue, we propose to learn probabilistic forward dynamics models using Gaussian processes and, subsequently, to employ these models for control. However, Gaussian processes dynamics models cannot be set-up for our musculoskeletal robot as for traditional motor- driven robots because of unclear state composition etc. We hence empirically study and discuss in detail how to tune these approaches to complex musculoskeletal robots and their specific challenges. Moreover, we show that our model can be used to accurately control an antagonistic pair of pneumatic artificial muscles for a trajectory tracking task while considering only one- step-ahead predictions of the forward model and incorporating model uncertainty.

ei

RAL18final link (url) DOI Project Page [BibTex]

ei Büchler, D., Calandra, R., Schölkopf, B., Peters, J. Control of Musculoskeletal Systems using Learned Dynamics Models IEEE Robotics and Automation Letters, Robotics and Automation Letters, 3(4):3161-3168, IEEE, 2018 (article)

RAL18final link (url) DOI Project Page [BibTex]

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Playful: Reactive Programming for Orchestrating Robotic Behavior

Berenz, V., Schaal, S.

IEEE Robotics Automation Magazine, 25(3):49-60, September 2018 (article) In press

Abstract
For many service robots, reactivity to changes in their surroundings is a must. However, developing software suitable for dynamic environments is difficult. Existing robotic middleware allows engineers to design behavior graphs by organizing communication between components. But because these graphs are structurally inflexible, they hardly support the development of complex reactive behavior. To address this limitation, we propose Playful, a software platform that applies reactive programming to the specification of robotic behavior.

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playful website playful_IEEE_RAM link (url) DOI [BibTex]

Thumb xl screen shot 2018 09 19 at 09.33.59
ClusterNet: Instance Segmentation in RGB-D Images

Shao, L., Tian, Y., Bohg, J.

arXiv, September 2018, Submitted to ICRA'19 (article) Submitted

Abstract
We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of {\em individual\/} objects in the scene. This level of understanding is fundamental for autonomous robots. It enables safe and robust decision-making under the large uncertainty of the real-world. In our model, we propose to use the first and second order moments of the object occupancy function to represent an object instance. We train an hourglass Deep Neural Network (DNN) where each pixel in the output votes for the 3D position of the corresponding object center and for the object's size and pose. The final instance segmentation is achieved through clustering in the space of moments. The object-centric training loss is defined on the output of the clustering. Our method outperforms the state-of-the-art instance segmentation method on our synthesized dataset. We show that our method generalizes well on real-world data achieving visually better segmentation results.

am

link (url) [BibTex]

am Shao, L., Tian, Y., Bohg, J. ClusterNet: Instance Segmentation in RGB-D Images arXiv, September 2018, Submitted to ICRA'19 (article) Submitted

link (url) [BibTex]

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Leveraging Contact Forces for Learning to Grasp

Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L., Bohg, J.

arXiv, September 2018, Submitted to ICRA'19 (article) Submitted

Abstract
Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it is crucial that it continuously takes sensor feedback into account. While visual feedback is important for inferring a grasp pose and reaching for an object, contact feedback offers valuable information during manipulation and grasp acquisition. In this paper, we use model-free deep reinforcement learning to synthesize control policies that exploit contact sensing to generate robust grasping under uncertainty. We demonstrate our approach on a multi-fingered hand that exhibits more complex finger coordination than the commonly used two- fingered grippers. We conduct extensive experiments in order to assess the performance of the learned policies, with and without contact sensing. While it is possible to learn grasping policies without contact sensing, our results suggest that contact feedback allows for a significant improvement of grasping robustness under object pose uncertainty and for objects with a complex shape.

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video arXiv [BibTex]

am mg Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L., Bohg, J. Leveraging Contact Forces for Learning to Grasp arXiv, September 2018, Submitted to ICRA'19 (article) Submitted

video arXiv [BibTex]

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Programmable collective behavior in dynamically self-assembled mobile microrobotic swarms

B Yigit, , Y Alapan, , Sitti, M.

Advanced Science, July 2018 (article)

Abstract
Collective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Lack of on-board computational and sensing capabilities in current microrobotic systems necessitates use of physical interactions among individual microrobots for local physical communication and cooperation. Here, we show that mobile microrobotic swarms with well-defined collective behavior can be designed by engineering magnetic interactions among individual units. Microrobots, consisting of a linear chain of self-assembled magnetic microparticles, locomote on surfaces in response to a precessing magnetic field. Control over the direction of precessing magnetic field allows engineering attractive and repulsive interactions among microrobots and, thus, collective order with well-defined spatial organization and parallel operation over macroscale distances (~ 1 cm). These microrobotic swarms can be guided through confined spaces, while preserving microrobot morphology and function. These swarms can further achieve directional transport of large cargoes on surfaces and small cargoes in bulk fluids. Described design approach, exploiting physical interactions among individual robots, enables facile and rapid formation of self-organized and reconfigurable microrobotic swarms with programmable collective order.

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link (url) [BibTex]

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3D-Printed Biodegradable Microswimmer for Drug Delivery and Targeted Cell Labeling

Hakan Ceylan, , I. Ceren Yasa, , Oncay Yasa, , Ahmet Fatih Tabak, , Joshua Giltinan, , Sitti, M.

bioRxiv, pages: 379024, July 2018 (article)

Abstract
Miniaturization of interventional medical devices can leverage minimally invasive technologies by enabling operational resolution at cellular length scales with high precision and repeatability. Untethered micron-scale mobile robots can realize this by navigating and performing in hard-to-reach, confined and delicate inner body sites. However, such a complex task requires an integrated design and engineering strategy, where powering, control, environmental sensing, medical functionality and biodegradability need to be considered altogether. The present study reports a hydrogel-based, biodegradable microrobotic swimmer, which is responsive to the changes in its microenvironment for theranostic cargo delivery and release tasks. We design a double-helical magnetic microswimmer of 20 micrometers length, which is 3D-printed with complex geometrical and compositional features. At normal physiological concentrations, matrix metalloproteinase-2 (MMP-2) enzyme can entirely degrade the microswimmer body in 118 h to solubilized non-toxic products. The microswimmer can respond to the pathological concentrations of MMP-2 by swelling and thereby accelerating the release kinetics of the drug payload. Anti-ErbB 2 antibody-tagged magnetic nanoparticles released from the degraded microswimmers serve for targeted labeling of SKBR3 breast cancer cells to realize the potential of medical imaging of local tissue sites following the therapeutic intervention. These results represent a leap forward toward clinical medical microrobots that are capable of sensing, responding to the local pathological information, and performing specific therapeutic and diagnostic tasks as orderly executed operations using their smart composite material architectures.

pi

DOI Project Page [BibTex]

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Real-time Perception meets Reactive Motion Generation

(Best Systems Paper Finalists - Amazon Robotics Best Paper Awards in Manipulation)

Kappler, D., Meier, F., Issac, J., Mainprice, J., Garcia Cifuentes, C., Wüthrich, M., Berenz, V., Schaal, S., Ratliff, N., Bohg, J.

IEEE Robotics and Automation Letters, 3(3):1864-1871, July 2018 (article)

Abstract
We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. Our approach emphasizes the importance of continuous, real-time perception and its tight integration with reactive motion generation methods. We present a fully integrated system where real-time object and robot tracking as well as ambient world modeling provides the necessary input to feedback controllers and continuous motion optimizers. Specifically, they provide attractive and repulsive potentials based on which the controllers and motion optimizer can online compute movement policies at different time intervals. We extensively evaluate the proposed system on a real robotic platform in four scenarios that exhibit either challenging workspace geometry or a dynamic environment. We compare the proposed integrated system with a more traditional sense-plan-act approach that is still widely used. In 333 experiments, we show the robustness and accuracy of the proposed system.

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arxiv video video link (url) DOI Project Page [BibTex]

Thumb xl screen shot 2018 06 29 at 4.24.39 pm
Innate turning preference of leaf-cutting ants in the absence of external orientation cues

Endlein, T., Sitti, M.

Journal of Experimental Biology, The Company of Biologists Ltd, June 2018 (article)

Abstract
Many ants use a combination of cues for orientation but how do ants find their way when all external cues are suppressed? Do they walk in a random way or are their movements spatially oriented? Here we show for the first time that leaf-cutting ants (Acromyrmex lundii) have an innate preference of turning counter-clockwise (left) when external cues are precluded. We demonstrated this by allowing individual ants to run freely on the water surface of a newly-developed treadmill. The surface tension supported medium-sized workers but effectively prevented ants from reaching the wall of the vessel, important to avoid wall-following behaviour (thigmotaxis). Most ants ran for minutes on the spot but also slowly turned counter-clockwise in the absence of visual cues. Reconstructing the effectively walked path revealed a looping pattern which could be interpreted as a search strategy. A similar turning bias was shown for groups of ants in a symmetrical Y-maze where twice as many ants chose the left branch in the absence of optical cues. Wall-following behaviour was tested by inserting a coiled tube before the Y-fork. When ants traversed a left-coiled tube, more ants chose the left box and vice versa. Adding visual cues in form of vertical black strips either outside the treadmill or on one branch of the Y-maze led to oriented walks towards the strips. It is suggested that both, the turning bias and the wall-following are employed as search strategies for an unknown environment which can be overridden by visual cues.

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link (url) DOI [BibTex]

pi Endlein, T., Sitti, M. Innate turning preference of leaf-cutting ants in the absence of external orientation cues Journal of Experimental Biology, The Company of Biologists Ltd, June 2018 (article)

link (url) DOI [BibTex]

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Motility and chemotaxis of bacteria-driven microswimmers fabricated using antigen 43-mediated biotin display

Schauer, O., Mostaghaci, B., Colin, R., Hürtgen, D., Kraus, D., Sitti, M., Sourjik, V.

Scientific Reports, 8(1):9801, Nature Publishing Group, June 2018 (article)

Abstract
Bacteria-driven biohybrid microswimmers (bacteriabots) combine synthetic cargo with motile living bacteria that enable propulsion and steering. Although fabrication and potential use of such bacteriabots have attracted much attention, existing methods of fabrication require an extensive sample preparation that can drastically decrease the viability and motility of bacteria. Moreover, chemotactic behavior of bacteriabots in a liquid medium with chemical gradients has remained largely unclear. To overcome these shortcomings, we designed Escherichia coli to autonomously display biotin on its cell surface via the engineered autotransporter antigen 43 and thus to bind streptavidin-coated cargo. We show that the cargo attachment to these bacteria is greatly enhanced by motility and occurs predominantly at the cell poles, which is greatly beneficial for the fabrication of motile bacteriabots. We further performed a systemic study to understand and optimize the ability of these bacteriabots to follow chemical gradients. We demonstrate that the chemotaxis of bacteriabots is primarily limited by the cargo-dependent reduction of swimming speed and show that the fabrication of bacteriabots using elongated E. coli cells can be used to overcome this limitation.

pi

link (url) DOI [BibTex]

pi Schauer, O., Mostaghaci, B., Colin, R., Hürtgen, D., Kraus, D., Sitti, M., Sourjik, V. Motility and chemotaxis of bacteria-driven microswimmers fabricated using antigen 43-mediated biotin display Scientific Reports, 8(1):9801, Nature Publishing Group, June 2018 (article)

link (url) DOI [BibTex]

Thumb xl 41586 2018 250 fig1 html
Multifunctional ferrofluid-infused surfaces with reconfigurable multiscale topography

Wang, W., Timonen, J. V. I., Carlson, A., Drotlef, D., Zhang, C. T., Kolle, S., Grinthal, A., Wong, T., Hatton, B., Kang, S. H., Kennedy, S., Chi, J., Blough, R. T., Sitti, M., Mahadevan, L., Aizenberg, J.

Nature, June 2018 (article)

Abstract
Developing adaptive materials with geometries that change in response to external stimuli provides fundamental insights into the links between the physical forces involved and the resultant morphologies and creates a foundation for technologically relevant dynamic systems1,2. In particular, reconfigurable surface topography as a means to control interfacial properties 3 has recently been explored using responsive gels 4 , shape-memory polymers 5 , liquid crystals6-8 and hybrid composites9-14, including magnetically active slippery surfaces12-14. However, these designs exhibit a limited range of topographical changes and thus a restricted scope of function. Here we introduce a hierarchical magneto-responsive composite surface, made by infiltrating a ferrofluid into a microstructured matrix (termed ferrofluid-containing liquid-infused porous surfaces, or FLIPS). We demonstrate various topographical reconfigurations at multiple length scales and a broad range of associated emergent behaviours. An applied magnetic-field gradient induces the movement of magnetic nanoparticles suspended in the ferrofluid, which leads to microscale flow of the ferrofluid first above and then within the microstructured surface. This redistribution changes the initially smooth surface of the ferrofluid (which is immobilized by the porous matrix through capillary forces) into various multiscale hierarchical topographies shaped by the size, arrangement and orientation of the confining microstructures in the magnetic field. We analyse the spatial and temporal dynamics of these reconfigurations theoretically and experimentally as a function of the balance between capillary and magnetic pressures15-19 and of the geometric anisotropy of the FLIPS system. Several interesting functions at three different length scales are demonstrated: self-assembly of colloidal particles at the micrometre scale; regulated flow of liquid droplets at the millimetre scale; and switchable adhesion and friction, liquid pumping and removal of biofilms at the centimetre scale. We envision that FLIPS could be used as part of integrated control systems for the manipulation and transport of matter, thermal management, microfluidics and fouling-release materials.

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link (url) DOI [BibTex]

pi Wang, W., Timonen, J. V. I., Carlson, A., Drotlef, D., Zhang, C. T., Kolle, S., Grinthal, A., Wong, T., Hatton, B., Kang, S. H., Kennedy, S., Chi, J., Blough, R. T., Sitti, M., Mahadevan, L., Aizenberg, J. Multifunctional ferrofluid-infused surfaces with reconfigurable multiscale topography Nature, June 2018 (article)

link (url) DOI [BibTex]

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Infinite Factorial Finite State Machine for Blind Multiuser Channel Estimation

Ruiz, F. J. R., Valera, I., Svensson, L., Perez-Cruz, F.

IEEE Transactions on Cognitive Communications and Networking, 4(2):177-191, June 2018 (article)

ei

DOI Project Page [BibTex]

ei Ruiz, F. J. R., Valera, I., Svensson, L., Perez-Cruz, F. Infinite Factorial Finite State Machine for Blind Multiuser Channel Estimation IEEE Transactions on Cognitive Communications and Networking, 4(2):177-191, June 2018 (article)

DOI Project Page [BibTex]

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Self-Sensing Paper Actuators Based on Graphite–Carbon Nanotube Hybrid Films

Amjadi, M., Sitti, M.

Advanced Science, pages: 1800239, May 2018 (article)

Abstract
Abstract Soft actuators have demonstrated potential in a range of applications, including soft robotics, artificial muscles, and biomimetic devices. However, the majority of current soft actuators suffer from the lack of real-time sensory feedback, prohibiting their effective sensing and multitask function. Here, a promising strategy is reported to design bilayer electrothermal actuators capable of simultaneous actuation and sensation (i.e., self-sensing actuators), merely through two input electric terminals. Decoupled electrothermal stimulation and strain sensation is achieved by the optimal combination of graphite microparticles and carbon nanotubes (CNTs) in the form of hybrid films. By finely tuning the charge transport properties of hybrid films, the signal-to-noise ratio (SNR) of self-sensing actuators is remarkably enhanced to over 66. As a result, self-sensing actuators can actively track their displacement and distinguish the touch of soft and hard objects.

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link (url) DOI Project Page [BibTex]

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Assisting Movement Training and Execution With Visual and Haptic Feedback

Ewerton, M., Rother, D., Weimar, J., Kollegger, G., Wiemeyer, J., Peters, J., Maeda, G.

Frontiers in Neurorobotics, 12, May 2018 (article)

ei

DOI Project Page [BibTex]

ei Ewerton, M., Rother, D., Weimar, J., Kollegger, G., Wiemeyer, J., Peters, J., Maeda, G. Assisting Movement Training and Execution With Visual and Haptic Feedback Frontiers in Neurorobotics, 12, May 2018 (article)

DOI Project Page [BibTex]

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Mixture of Attractors: A Novel Movement Primitive Representation for Learning Motor Skills From Demonstrations

Manschitz, S., Gienger, M., Kober, J., Peters, J.

IEEE Robotics and Automation Letters, 3(2):926-933, April 2018 (article)

ei

DOI Project Page [BibTex]

ei Manschitz, S., Gienger, M., Kober, J., Peters, J. Mixture of Attractors: A Novel Movement Primitive Representation for Learning Motor Skills From Demonstrations IEEE Robotics and Automation Letters, 3(2):926-933, April 2018 (article)

DOI Project Page [BibTex]

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Soft erythrocyte-based bacterial microswimmers for cargo delivery

Alapan, Y., Yasa, O., Schauer, O., Giltinan, J., Tabak, A. F., Sourjik, V., Sitti, M.

Science Robotics, 3(17):eaar4423, Science Robotics, April 2018 (article)

Abstract
Bacteria-propelled biohybrid microswimmers have recently shown to be able to actively transport and deliver cargos encapsulated into their synthetic constructs to specific regions locally. However, usage of synthetic materials as cargo carriers can result in inferior performance in load-carrying efficiency, biocompatibility, and biodegradability, impeding clinical translation of biohybrid microswimmers. Here, we report construction and external guidance of bacteria-driven microswimmers using red blood cells (RBCs; erythrocytes) as autologous cargo carriers for active and guided drug delivery. Multifunctional biohybrid microswimmers were fabricated by attachment of RBCs [loaded with anticancer doxorubicin drug molecules and superparamagnetic iron oxide nanoparticles (SPIONs)] to bioengineered motile bacteria, Escherichia coli MG1655, via biotin-avidin-biotin binding complex. Autonomous and on-board propulsion of biohybrid microswimmers was provided by bacteria, and their external magnetic guidance was enabled by SPIONs loaded into the RBCs. Furthermore, bacteria-driven RBC microswimmers displayed preserved deformability and attachment stability even after squeezing in microchannels smaller than their sizes, as in the case of bare RBCs. In addition, an on-demand light-activated hyperthermia termination switch was engineered for RBC microswimmers to control bacteria population after operations. RBCs, as biological and autologous cargo carriers in the biohybrid microswimmers, offer notable advantages in stability, deformability, biocompatibility, and biodegradability over synthetic cargo-carrier materials. The biohybrid microswimmer design presented here transforms RBCs from passive cargo carriers into active and guidable cargo carriers toward targeted drug and other cargo delivery applications in medicine.

pi

link (url) DOI Project Page Project Page [BibTex]

pi Alapan, Y., Yasa, O., Schauer, O., Giltinan, J., Tabak, A. F., Sourjik, V., Sitti, M. Soft erythrocyte-based bacterial microswimmers for cargo delivery Science Robotics, 3(17):eaar4423, Science Robotics, April 2018 (article)

link (url) DOI Project Page Project Page [BibTex]

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Miniature soft robots – road to the clinic

Sitti, M.

Nature Reviews Materials, April 2018 (article)

Abstract
Soft small robots offer the opportunity to non-invasively access human tissue to perform medical operations and deliver drugs; however, challenges in materials design, biocompatibility and function control remain to be overcome for soft robots to reach the clinic.

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link (url) DOI [BibTex]

pi Sitti, M. Miniature soft robots – road to the clinic Nature Reviews Materials, April 2018 (article)

link (url) DOI [BibTex]

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Probabilistic movement primitives under unknown system dynamics

Paraschos, A., Rueckert, E., Peters, J., Neumann, G.

Advanced Robotics, 32(6):297-310, April 2018 (article)

ei

DOI Project Page [BibTex]

ei Paraschos, A., Rueckert, E., Peters, J., Neumann, G. Probabilistic movement primitives under unknown system dynamics Advanced Robotics, 32(6):297-310, April 2018 (article)

DOI Project Page [BibTex]

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Wrinkling Instability and Adhesion of a Highly Bendable Gallium Oxide Nanofilm Encapsulating a Liquid-Gallium Droplet

Yunusa, M., Amador, G. J., Drotlef, D., Sitti, M.

Nano Letters, 18(4):2498-2504, March 2018 (article)

Abstract
The wrinkling and interfacial adhesion mechanics of a gallium-oxide nanofilm encapsulating a liquid-gallium droplet are presented. The native oxide nanofilm provides mechanical stability by preventing the flow of the liquid metal. We show how a crumpled oxide skin a few nanometers thick behaves akin to a highly bendable elastic nanofilm under ambient conditions. Upon compression, a wrinkling instability emerges at the contact interface to relieve the applied stress. As the load is further increased, radial wrinkles evolve, and, eventually, the oxide nanofilm ruptures. The observed wrinkling closely resembles the instability experienced by nanofilms under axisymmetric loading, thus providing further insights into the behaviors of elastic nanofilms. Moreover, the mechanical attributes of the oxide skin enable high surface conformation by exhibiting liquid-like behavior. We measured an adhesion energy of 0.238 ± 0.008 J m–2 between a liquid-gallium droplet and smooth flat glass, which is close to the measurements of thin-sheet nanomaterials such as graphene on silicon dioxide.

pi

link (url) DOI [BibTex]

Thumb xl screenshot 2018 5 9 1803 01048 pdf
Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Ornek, E. P., Araujo, H., Yanik, M. F., Sitti, M.

ArXiv e-prints, March 2018 (article)

Abstract
Reliable and real-time 3D reconstruction and localization functionality is a crucial prerequisite for the navigation of actively controlled capsule endoscopic robots as an emerging, minimally invasive diagnostic and therapeutic technology for use in the gastrointestinal (GI) tract. In this study, we propose a fully dense, non-rigidly deformable, strictly real-time, intraoperative map fusion approach for actively controlled endoscopic capsule robot applications which combines magnetic and vision-based localization, with non-rigid deformations based frame-to-model map fusion. The performance of the proposed method is demonstrated using four different ex-vivo porcine stomach models. Across different trajectories of varying speed and complexity, and four different endoscopic cameras, the root mean square surface reconstruction errors 1.58 to 2.17 cm.

pi

link (url) [BibTex]

pi Turan, M., Almalioglu, Y., Ornek, E. P., Araujo, H., Yanik, M. F., Sitti, M. Magnetic-Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots ArXiv e-prints, March 2018 (article)

link (url) [BibTex]

Thumb xl screenshot 2018 5 9 1803 01047 pdf
Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots

Turan, M., Ornek, E. P., Ibrahimli, N., Giracoglu, C., Almalioglu, Y., Yanik, M. F., Sitti, M.

ArXiv e-prints, March 2018 (article)

Abstract
In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide more intuitive disease detection, targeted drug delivery and biopsy-like operations in the gastrointestinal(GI) tract. In this study, we introduce a fully unsupervised, real-time odometry and depth learner for monocular endoscopic capsule robots. We establish the supervision by warping view sequences and assigning the re-projection minimization to the loss function, which we adopt in multi-view pose estimation and single-view depth estimation network. Detailed quantitative and qualitative analyses of the proposed framework performed on non-rigidly deformable ex-vivo porcine stomach datasets proves the effectiveness of the method in terms of motion estimation and depth recovery.

pi

link (url) [BibTex]

pi Turan, M., Ornek, E. P., Ibrahimli, N., Giracoglu, C., Almalioglu, Y., Yanik, M. F., Sitti, M. Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots ArXiv e-prints, March 2018 (article)

link (url) [BibTex]

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Self‐Folded Hydrogel Tubes for Implantable Muscular Tissue Scaffolds

Vannozzi, L., Yasa, I. C., Ceylan, H., Menciassi, A., Ricotti, L., Sitti, M.

Macromolecular Bioscience, (0), March 2018 (article)

Abstract
Abstract Programming materials with tunable physical and chemical interactions among its components pave the way of generating 3D functional active microsystems with various potential applications in tissue engineering, drug delivery, and soft robotics. Here, the development of a recapitulated fascicle‐like implantable muscle construct by programmed self‐folding of poly(ethylene glycol) diacrylate hydrogels is reported. The system comprises two stacked layers, each with differential swelling degrees, stiffnesses, and thicknesses in 2D, which folds into a 3D tube together. Inside the tubes, muscle cell adhesion and their spatial alignment are controlled. Both skeletal and cardiac muscle cells also exhibit high viability, and cardiac myocytes preserve their contractile function over the course of 7 d. Integration of biological cells with smart, shape‐changing materials could give rise to the development of new cellular constructs for hierarchical tissue assembly, drug testing platforms, and biohybrid actuators that can perform sophisticated tasks.

pi

link (url) DOI [BibTex]

pi Vannozzi, L., Yasa, I. C., Ceylan, H., Menciassi, A., Ricotti, L., Sitti, M. Self‐Folded Hydrogel Tubes for Implantable Muscular Tissue Scaffolds Macromolecular Bioscience, (0), March 2018 (article)

link (url) DOI [BibTex]

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Redox metals homeostasis in multiple sclerosis and amyotrophic lateral sclerosis: a review

Sheykhansari, S., Kozielski, K., Bill, J., Sitti, M., Gemmati, D., Zamboni, P., Singh, A. V.

Cell Death \& Disease, 9(3):348, March 2018 (article)

Abstract
The effect of redox metals such as iron and copper on multiple sclerosis and amyotrophic lateral sclerosis has been intensively studied. However, the origin of these disorders remains uncertain. This review article critically describes the physiology of redox metals that produce oxidative stress, which in turn leads to cascades of immunomodulatory alteration of neurons in multiple sclerosis and amyotrophic lateral sclerosis. Iron and copper overload has been well established in motor neurons of these diseases' lesions. On the other hand, the role of other metals like cadmium participating indirectly in the redox cascade of neurobiological mechanism is less studied. In the second part of this review, we focus on this less conspicuous correlation between cadmium as an inactive-redox metal and multiple sclerosis and amyotrophic lateral sclerosis, providing novel treatment modalities and approaches as future prospects.

pi

link (url) DOI [BibTex]

pi Sheykhansari, S., Kozielski, K., Bill, J., Sitti, M., Gemmati, D., Zamboni, P., Singh, A. V. Redox metals homeostasis in multiple sclerosis and amyotrophic lateral sclerosis: a review Cell Death \& Disease, 9(3):348, March 2018 (article)

link (url) DOI [BibTex]

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Cancer cells biomineralize ionic gold into nanoparticles-microplates via secreting defense proteins with specific gold-binding peptides

Singh, A. V., Jahnke, T., Kishore, V., Park, B., Batuwangala, M., Bill, J., Sitti, M.

Acta Biomaterialia, March 2018 (article)

Abstract
Cancer cells have the capacity to synthesize nanoparticles (NPs). The detailed mechanism of this process is not very well documented. We report the mechanism of biomineralization of aqueous gold chloride into NPs and microplates in the breast-cancer cell line MCF7. Spherical gold NPs are synthesized in these cells in the presence of serum in the culture media by the reduction of HAuCl4. In the absence of serum, the cells exhibit gold microplate formation through seed-mediate growth albeit slower reduction. The structural characteristics of the two types of NPs under different media conditions were confirmed using scanning electron microscopy (SEM); crystallinity and metallic properties were assessed with transmission electron microscopy (TEM) and x-ray photoelectron spectroscopy (XPS). Gold-reducing proteins, related to cell stress initiate the biomineralization of HAuCl4 in cells (under serum free conditions) as confirmed by infrared (IR) spectroscopy. MCF7 cells undergo irreversible replicative senescence when exposed to a high concentration of ionic gold and conversely remain in a dormant reversible quiescent state when exposed to a low gold concentration. The latter cellular state was achievable in the presence of the rho/ROCK inhibitor Y-27632. Proteomic analysis revealed consistent expression of specific proteins under serum and serum-free conditions. A high-throughput proteomic approach to screen gold-reducing proteins and peptide sequences was utilized and validated by quartz crystal microbalance with dissipation (QCM-D). Statement of significance Cancer cells are known to synthesize gold nanoparticles and microstructures, which are promising for bioimaging and other therapeutic applications. However, the detailed mechanism of such biomineralization process is not well understood yet. Herein, we demonstrate that cancer cells exposed to gold ions (grown in serum/serum-free conditions) secrete shock and stress-related proteins with specific gold-binding/reducing polypeptides. Cells undergo reversible senescence and can recover normal physiology when treated with the senescence inhibitor depending on culture condition. The use of mammalian cells as microincubators for synthesis of such particles could have potential influence on their uptake and biocompatibility. This study has important implications for in-situ reduction of ionic gold to anisotropic micro-nanostructures that could be used in-vivo clinical applications and tumor photothermal therapy.

pi

link (url) DOI [BibTex]

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An Algorithmic Perspective on Imitation Learning

Osa, T., Pajarinen, J., Neumann, G., Bagnell, J., Abbeel, P., Peters, J.

Foundations and Trends in Robotics, 7(1-2):1-179, March 2018 (article)

ei

DOI Project Page [BibTex]

ei Osa, T., Pajarinen, J., Neumann, G., Bagnell, J., Abbeel, P., Peters, J. An Algorithmic Perspective on Imitation Learning Foundations and Trends in Robotics, 7(1-2):1-179, March 2018 (article)

DOI Project Page [BibTex]

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Using Probabilistic Movement Primitives in Robotics

Paraschos, A., Daniel, C., Peters, J., Neumann, G.

Autonomous Robots, 42(3):529-551, March 2018 (article)

ei

DOI Project Page [BibTex]

ei Paraschos, A., Daniel, C., Peters, J., Neumann, G. Using Probabilistic Movement Primitives in Robotics Autonomous Robots, 42(3):529-551, March 2018 (article)

DOI Project Page [BibTex]

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A kernel-based approach to learning contact distributions for robot manipulation tasks

Kroemer, O., Leischnig, S., Luettgen, S., Peters, J.

Autonomous Robots, 42(3):581-600, March 2018 (article)

ei

DOI Project Page [BibTex]

ei Kroemer, O., Leischnig, S., Luettgen, S., Peters, J. A kernel-based approach to learning contact distributions for robot manipulation tasks Autonomous Robots, 42(3):581-600, March 2018 (article)

DOI Project Page [BibTex]

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Thermocapillary-driven fluid flow within microchannels

Amador, G. J., Tabak, A. F., Ren, Z., Alapan, Y., Yasa, O., Sitti, M.

ArXiv e-prints, Febuary 2018 (article)

Abstract
Surface tension gradients induce Marangoni flow, which may be exploited for fluid transport. At the micrometer scale, these surface-driven flows can be more significant than those driven by pressure. By introducing fluid-fluid interfaces on the walls of microfluidic channels, we use surface tension gradients to drive bulk fluid flows. The gradients are specifically induced through thermal energy, exploiting the temperature dependence of a fluid-fluid interface to generate thermocapillary flow. In this report, we provide the design concept for a biocompatible, thermocapillary microchannel capable of being powered by solar irradiation. Using temperature gradients on the order of degrees Celsius per centimeter, we achieve fluid velocities on the order of millimeters per second. Following experimental observations, fluid dynamic models, and numerical simulation, we find that the fluid velocity is linearly proportional to the provided temperature gradient, enabling full control of the fluid flow within the microchannels.

pi

link (url) Project Page [BibTex]

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Sparse-then-dense alignment-based 3D map reconstruction method for endoscopic capsule robots

Turan, M., Pilavci, Y. Y., Ganiyusufoglu, I., Araujo, H., Konukoglu, E., Sitti, M.

Machine Vision and Applications, 29(2):345-359, Febuary 2018 (article)

Abstract
Despite significant progress achieved in the last decade to convert passive capsule endoscopes to actively controllable robots, robotic capsule endoscopy still has some challenges. In particular, a fully dense three-dimensional (3D) map reconstruction of the explored organ remains an unsolved problem. Such a dense map would help doctors detect the locations and sizes of the diseased areas more reliably, resulting in more accurate diagnoses. In this study, we propose a comprehensive medical 3D reconstruction method for endoscopic capsule robots, which is built in a modular fashion including preprocessing, keyframe selection, sparse-then-dense alignment-based pose estimation, bundle fusion, and shading-based 3D reconstruction. A detailed quantitative analysis is performed using a non-rigid esophagus gastroduodenoscopy simulator, four different endoscopic cameras, a magnetically activated soft capsule robot, a sub-millimeter precise optical motion tracker, and a fine-scale 3D optical scanner, whereas qualitative ex-vivo experiments are performed on a porcine pig stomach. To the best of our knowledge, this study is the first complete endoscopic 3D map reconstruction approach containing all of the necessary functionalities for a therapeutically relevant 3D map reconstruction.

pi

link (url) DOI [BibTex]

pi Turan, M., Pilavci, Y. Y., Ganiyusufoglu, I., Araujo, H., Konukoglu, E., Sitti, M. Sparse-then-dense alignment-based 3D map reconstruction method for endoscopic capsule robots Machine Vision and Applications, 29(2):345-359, Febuary 2018 (article)

link (url) DOI [BibTex]

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Independent Actuation of Two-Tailed Microrobots

Khalil, I. S. M., Tabak, A. F., Hamed, Y., Tawakol, M., Klingner, A., Gohary, N. E., Mizaikoff, B., Sitti, M.

IEEE Robotics and Automation Letters, 3(3):1703-1710, Febuary 2018 (article)

Abstract
A soft two-tailed microrobot in low Reynolds number fluids does not achieve forward locomotion by identical tails regardless to its wiggling frequency. If the tails are nonidentical, zero forward locomotion is also observed at specific oscillation frequencies (which we refer to as the reversal frequencies), as the propulsive forces imparted to the fluid by each tail are almost equal in magnitude and opposite in direction. We find distinct reversal frequencies for the two-tailed microrobots based on their tail length ratio. At these frequencies, the microrobot achieves negligible net displacement under the influence of a periodic magnetic field. This observation allows us to fabricate groups of microrobots with tail length ratio of 1.24 ± 0.11, 1.48 ± 0.08, and 1.71 ± 0.09. We demonstrate selective actuation of microrobots based on prior characterization of their reversal frequencies. We also implement simultaneous flagellar propulsion of two microrobots and show that they can be controlled to swim along the same direction and opposite to each other using common periodic magnetic fields. In addition, independent motion control of two microrobots is achieved toward two different reference positions with average steady-state error of 110.1 ± 91.8 μm and 146.9 ± 105.9 μm.

pi

link (url) DOI [BibTex]

pi Khalil, I. S. M., Tabak, A. F., Hamed, Y., Tawakol, M., Klingner, A., Gohary, N. E., Mizaikoff, B., Sitti, M. Independent Actuation of Two-Tailed Microrobots IEEE Robotics and Automation Letters, 3(3):1703-1710, Febuary 2018 (article)

link (url) DOI [BibTex]

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Recent Advances in Wearable Transdermal Delivery Systems

Amjadi, M., Sheykhansari, S., Nelson, B. J., Sitti, M.

Advanced Materials, 30(7):1704530, January 2018 (article)

Abstract
Abstract Wearable transdermal delivery systems have recently received tremendous attention due to their noninvasive, convenient, and prolonged administration of pharmacological agents. Here, the material prospects, fabrication processes, and drug‐release mechanisms of these types of therapeutic delivery systems are critically reviewed. The latest progress in the development of multifunctional wearable devices capable of closed‐loop sensation and drug delivery is also discussed. This survey reveals that wearable transdermal delivery has already made an impact in diverse healthcare applications, while several grand challenges remain.

pi

link (url) DOI [BibTex]

pi Amjadi, M., Sheykhansari, S., Nelson, B. J., Sitti, M. Recent Advances in Wearable Transdermal Delivery Systems Advanced Materials, 30(7):1704530, January 2018 (article)

link (url) DOI [BibTex]

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Deep EndoVO: A recurrent convolutional neural network (RCNN) based visual odometry approach for endoscopic capsule robots

Turan, M., Almalioglu, Y., Araujo, H., Konukoglu, E., Sitti, M.

Neurocomputing, 275, pages: 1861 - 1870, January 2018 (article)

Abstract
Ingestible wireless capsule endoscopy is an emerging minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Medical device companies and many research groups have recently made substantial progresses in converting passive capsule endoscopes to active capsule robots, enabling more accurate, precise, and intuitive detection of the location and size of the diseased areas. Since a reliable real time pose estimation functionality is crucial for actively controlled endoscopic capsule robots, in this study, we propose a monocular visual odometry (VO) method for endoscopic capsule robot operations. Our method lies on the application of the deep recurrent convolutional neural networks (RCNNs) for the visual odometry task, where convolutional neural networks (CNNs) and recurrent neural networks (RNNs) are used for the feature extraction and inference of dynamics across the frames, respectively. Detailed analyses and evaluations made on a real pig stomach dataset proves that our system achieves high translational and rotational accuracies for different types of endoscopic capsule robot trajectories.

pi

link (url) DOI [BibTex]

pi Turan, M., Almalioglu, Y., Araujo, H., Konukoglu, E., Sitti, M. Deep EndoVO: A recurrent convolutional neural network (RCNN) based visual odometry approach for endoscopic capsule robots Neurocomputing, 275, pages: 1861 - 1870, January 2018 (article)

link (url) DOI [BibTex]

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Small-scale soft-bodied robot with multimodal locomotion

Hu, W., Lum, G. Z., Mastrangeli, M., Sitti, M.

Nature, 554, pages: 81-85, Nature, January 2018 (article)

Abstract
Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly1, in bioengineering such as single-cell manipulation and biosensing2, and in healthcare3,4,5,6 such as targeted drug delivery4 and minimally invasive surgery3,5. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments7,8,9,10,11,12,13. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts14,15,16. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion17, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

pi

link (url) DOI Project Page [BibTex]

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Light‐Driven Janus Hollow Mesoporous TiO2–Au Microswimmers

Sridhar, V., Park, B., Sitti, M.

Advanced Functional Materials, 28(5):1704902, January 2018 (article)

Abstract
Abstract Light‐driven microswimmers have garnered attention for their potential use in various applications, such as environmental remediation, hydrogen evolution, and targeted drug delivery. Janus hollow mesoporous TiO2/Au (JHP–TiO2–Au) microswimmers with enhanced swimming speeds under low‐intensity ultraviolet (UV) light are presented. The swimmers show enhanced swimming speeds both in presence and absence of H2O2. The microswimmers move due to self‐electrophoresis when UV light is incident on them. There is a threefold increase in speed of JHP–TiO2–Au microswimmers in comparison with Janus solid TiO2/Au (JS–TiO2–Au) microswimmers. This increase in their speed is due to the increase in surface area of the porous swimmers and their hollow structure. These microswimmers are also made steerable by using a thin Co magnetic layer. They can be used in potential environmental applications for active photocatalytic degradation of methylene blue and targeted active drug delivery of an anticancer drug (doxurobicin) in vitro in H2O2 solution. Their increased speed from the presence of a hollow mesoporous structure is beneficial for future potential applications, such as hydrogen evolution, selective heterogeneous photocatalysis, and targeted cargo delivery.

pi

link (url) DOI Project Page [BibTex]

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Mechanical Rubbing of Blood Clots Using Helical Robots Under Ultrasound Guidance

Khalil, I. S. M., Mahdy, D., Sharkawy, A. E., Moustafa, R. R., Tabak, A. F., Mitwally, M. E., Hesham, S., Hamdi, N., Klingner, A., Mohamed, A., Sitti, M.

IEEE Robotics and Automation Letters, 3(2):1112-1119, January 2018 (article)

Abstract
A simple way to mitigate the potential negative sideeffects associated with chemical lysis of a blood clot is to tear its fibrin network via mechanical rubbing using a helical robot. Here, we achieve mechanical rubbing of blood clots under ultrasound guidance and using external magnetic actuation. Position of the helical robot is determined using ultrasound feedback and used to control its motion toward the clot, whereas the volume of the clots is estimated simultaneously using visual feedback. We characterize the shear modulus and ultimate shear strength of the blood clots to predict their removal rate during rubbing. Our in vitro experiments show the ability to move the helical robot controllably toward clots using ultrasound feedback with average and maximum errors of 0.84 ± 0.41 and 2.15 mm, respectively, and achieve removal rate of -0.614 ± 0.303 mm3/min at room temperature (25 °C) and -0.482 ± 0.23 mm3/min at body temperature (37 °C), under the influence of two rotating dipole fields at frequency of 35 Hz. We also validate the effectiveness of mechanical rubbing by measuring the number of red blood cells and platelets past the clot. Our measurements show that rubbing achieves cell count of (46 ± 10.9) × 104 cell/ml, whereas the count in the absence of rubbing is (2 ± 1.41) × 104 cell/ml, after 40 min.

pi

link (url) DOI [BibTex]

pi Khalil, I. S. M., Mahdy, D., Sharkawy, A. E., Moustafa, R. R., Tabak, A. F., Mitwally, M. E., Hesham, S., Hamdi, N., Klingner, A., Mohamed, A., Sitti, M. Mechanical Rubbing of Blood Clots Using Helical Robots Under Ultrasound Guidance IEEE Robotics and Automation Letters, 3(2):1112-1119, January 2018 (article)

link (url) DOI [BibTex]

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Distributed Event-Based State Estimation for Networked Systems: An LMI Approach

Muehlebach, M., Trimpe, S.

IEEE Transactions on Automatic Control, 63(1):269-276, January 2018 (article)

am ics

arXiv (extended version) DOI Project Page [BibTex]

am ics Muehlebach, M., Trimpe, S. Distributed Event-Based State Estimation for Networked Systems: An LMI Approach IEEE Transactions on Automatic Control, 63(1):269-276, January 2018 (article)

arXiv (extended version) DOI Project Page [BibTex]

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Approximate Value Iteration Based on Numerical Quadrature

Vinogradska, J., Bischoff, B., Peters, J.

IEEE Robotics and Automation Letters, 3(2):1330-1337, January 2018 (article)

ei

DOI Project Page [BibTex]

ei Vinogradska, J., Bischoff, B., Peters, J. Approximate Value Iteration Based on Numerical Quadrature IEEE Robotics and Automation Letters, 3(2):1330-1337, January 2018 (article)

DOI Project Page [BibTex]

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Biomimetic Tactile Sensors and Signal Processing with Spike Trains: A Review

Yi, Z., Zhang, Y., Peters, J.

Sensors and Actuators A: Physical, 269, pages: 41-52, January 2018 (article)

ei

DOI Project Page [BibTex]

ei Yi, Z., Zhang, Y., Peters, J. Biomimetic Tactile Sensors and Signal Processing with Spike Trains: A Review Sensors and Actuators A: Physical, 269, pages: 41-52, January 2018 (article)

DOI Project Page [BibTex]

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Die kybernetische Revolution

Schölkopf, B.

15-Mar-2018, Süddeutsche Zeitung, 2018 (misc)

ei

link (url) [BibTex]

ei Schölkopf, B. Die kybernetische Revolution 15-Mar-2018, Süddeutsche Zeitung, 2018 (misc)

link (url) [BibTex]

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Design and Analysis of the NIPS 2016 Review Process

Shah*, N., Tabibian*, B., Muandet, K., Guyon, I., von Luxburg, U.

Journal of Machine Learning Research, 19(49):1-34, 2018, *equal contribution (article)

ei slt

arXiv link (url) Project Page Project Page [BibTex]

ei slt Shah*, N., Tabibian*, B., Muandet, K., Guyon, I., von Luxburg, U. Design and Analysis of the NIPS 2016 Review Process Journal of Machine Learning Research, 19(49):1-34, 2018, *equal contribution (article)

arXiv link (url) Project Page Project Page [BibTex]

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A Flexible Approach for Fair Classification

Zafar, M. B., Valera, I., Gomez Rodriguez, M., Gummadi, K.

Journal of Machine Learning, 2018 (article) Accepted

ei

Project Page [BibTex]

ei Zafar, M. B., Valera, I., Gomez Rodriguez, M., Gummadi, K. A Flexible Approach for Fair Classification Journal of Machine Learning, 2018 (article) Accepted

Project Page [BibTex]

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Does universal controllability of physical systems prohibit thermodynamic cycles?

Janzing, D., Wocjan, P.

Open Systems and Information Dynamics, 25(3):1850016, 2018 (article)

ei

PDF DOI [BibTex]

ei Janzing, D., Wocjan, P. Does universal controllability of physical systems prohibit thermodynamic cycles? Open Systems and Information Dynamics, 25(3):1850016, 2018 (article)

PDF DOI [BibTex]