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211 results (View BibTeX file of all listed publications)

2019

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Convolutional neural networks: A magic bullet for gravitational-wave detection?

Gebhard, T., Kilbertus, N., Harry, I., Schölkopf, B.

Physical Review D, 100(6):063015, American Physical Society, September 2019 (article)

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link (url) DOI [BibTex]

2019

ei Gebhard, T., Kilbertus, N., Harry, I., Schölkopf, B. Convolutional neural networks: A magic bullet for gravitational-wave detection? Physical Review D, 100(6):063015, American Physical Society, September 2019 (article)

link (url) DOI [BibTex]

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Data scarcity, robustness and extreme multi-label classification

Babbar, R., Schölkopf, B.

Machine Learning, 108(8):1329-1351, September 2019, Special Issue of the ECML PKDD 2019 Journal Track (article)

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DOI [BibTex]

ei Babbar, R., Schölkopf, B. Data scarcity, robustness and extreme multi-label classification Machine Learning, 108(8):1329-1351, September 2019, Special Issue of the ECML PKDD 2019 Journal Track (article)

DOI [BibTex]

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X-ray Optics Fabrication Using Unorthodox Approaches

Sanli, U., Baluktsian, M., Ceylan, H., Sitti, M., Weigand, M., Schütz, G., Keskinbora, K.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

mms pi Sanli, U., Baluktsian, M., Ceylan, H., Sitti, M., Weigand, M., Schütz, G., Keskinbora, K. X-ray Optics Fabrication Using Unorthodox Approaches Bulletin of the American Physical Society, APS, 2019 (article)

[BibTex]

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A 32-channel multi-coil setup optimized for human brain shimming at 9.4T

Aghaeifar, A., Zhou, J., Heule, R., Tabibian, B., Schölkopf, B., Jia, F., Zaitsev, M., Scheffler, K.

Magnetic Resonance in Medicine, 2019, (Early View) (article)

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DOI [BibTex]

ei Aghaeifar, A., Zhou, J., Heule, R., Tabibian, B., Schölkopf, B., Jia, F., Zaitsev, M., Scheffler, K. A 32-channel multi-coil setup optimized for human brain shimming at 9.4T Magnetic Resonance in Medicine, 2019, (Early View) (article)

DOI [BibTex]

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Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots

Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., Sitti, M.

Annual Review of Control, Robotics, and Autonomous Systems, 2019 (article)

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[BibTex]

pi Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., Sitti, M. Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots Annual Review of Control, Robotics, and Autonomous Systems, 2019 (article)

[BibTex]

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Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots

Woodward, M. A., Sitti, M.

IEEE Transactions on Robotics, 35, 2019 (article)

Abstract
Animals can incorporate large numbers of actuators because of the characteristics of muscles; whereas, robots cannot, as typical motors tend to be large, heavy, and inefficient. However, shape-memory alloys (SMA), materials that contract during heating because of change in their crystal structure, provide another option. SMA, though, is unidirectional and therefore requires an additional force to reset (extend) the actuator, which is typically provided by springs or antagonistic actuation. These strategies, however, tend to limit the actuator's work output and functionality as their force-displacement relationships typically produce increasing resistive force with limited variability. In contrast, magnetic springs-composed of permanent magnets, where the interaction force between magnets mimics a spring force-have much more variable force-displacement relationships and scale well with SMA. However, as of yet, no method for designing magnetic springs for SMA-actuators has been demonstrated. Therefore, in this paper, we present a new methodology to tailor magnetic springs to the characteristics of these actuators, with experimental results both for the device and robot-integrated SMA-actuators. We found magnetic building blocks, based on sets of permanent magnets, which are well-suited to SMAs and have the potential to incorporate features such as holding force, state transitioning, friction minimization, auto-alignment, and self-mounting. We show magnetic springs that vary by more than 3 N in 750 $\mu$m and two SMA-actuated devices that allow the MultiMo-Bat to reach heights of up to 4.5 m without, and 3.6 m with, integrated gliding airfoils. Our results demonstrate the potential of this methodology to add previously impossible functionality to smart material actuators. We anticipate this methodology will inspire broader consideration of the use of magnetic springs in miniature robots and further study of the potential of tailored magnetic springs throughout mechanical systems.

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DOI [BibTex]

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Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy

Son, D., Gilbert, H., Sitti, M.

Soft robotics, Mary Ann Liebert, Inc., publishers 140 Huguenot Street, 3rd Floor New …, 2019 (article)

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[BibTex]

pi Son, D., Gilbert, H., Sitti, M. Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy Soft robotics, Mary Ann Liebert, Inc., publishers 140 Huguenot Street, 3rd Floor New …, 2019 (article)

[BibTex]

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Thrust and Hydrodynamic Efficiency of the Bundled Flagella

Danis, U., Rasooli, R., Chen, C., Dur, O., Sitti, M., Pekkan, K.

Micromachines, 10, 2019 (article)

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[BibTex]

pi Danis, U., Rasooli, R., Chen, C., Dur, O., Sitti, M., Pekkan, K. Thrust and Hydrodynamic Efficiency of the Bundled Flagella Micromachines, 10, 2019 (article)

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Multidimensional Contrast Limited Adaptive Histogram Equalization

Stimper, V., Bauer, S., Ernstorfer, R., Schölkopf, B., Xian, R. P.

IEEE Access, 7, pages: 165437-165447, 2019 (article)

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arXiv link (url) DOI [BibTex]

ei Stimper, V., Bauer, S., Ernstorfer, R., Schölkopf, B., Xian, R. P. Multidimensional Contrast Limited Adaptive Histogram Equalization IEEE Access, 7, pages: 165437-165447, 2019 (article)

arXiv link (url) DOI [BibTex]

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Enhancing Human Learning via Spaced Repetition Optimization

Tabibian, B., Upadhyay, U., De, A., Zarezade, A., Schölkopf, B., Gomez Rodriguez, M.

Proceedings of the National Academy of Sciences, 2019, PNAS published ahead of print January 22, 2019 (article)

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DOI Project Page Project Page [BibTex]

ei Tabibian, B., Upadhyay, U., De, A., Zarezade, A., Schölkopf, B., Gomez Rodriguez, M. Enhancing Human Learning via Spaced Repetition Optimization Proceedings of the National Academy of Sciences, 2019, PNAS published ahead of print January 22, 2019 (article)

DOI Project Page Project Page [BibTex]

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Learning to Control Highly Accelerated Ballistic Movements on Muscular Robots

Büchler, D., Calandra, R., Peters, J.

2019 (article) Submitted

Abstract
High-speed and high-acceleration movements are inherently hard to control. Applying learning to the control of such motions on anthropomorphic robot arms can improve the accuracy of the control but might damage the system. The inherent exploration of learning approaches can lead to instabilities and the robot reaching joint limits at high speeds. Having hardware that enables safe exploration of high-speed and high-acceleration movements is therefore desirable. To address this issue, we propose to use robots actuated by Pneumatic Artificial Muscles (PAMs). In this paper, we present a four degrees of freedom (DoFs) robot arm that reaches high joint angle accelerations of up to 28000 °/s^2 while avoiding dangerous joint limits thanks to the antagonistic actuation and limits on the air pressure ranges. With this robot arm, we are able to tune control parameters using Bayesian optimization directly on the hardware without additional safety considerations. The achieved tracking performance on a fast trajectory exceeds previous results on comparable PAM-driven robots. We also show that our system can be controlled well on slow trajectories with PID controllers due to careful construction considerations such as minimal bending of cables, lightweight kinematics and minimal contact between PAMs and PAMs with the links. Finally, we propose a novel technique to control the the co-contraction of antagonistic muscle pairs. Experimental results illustrate that choosing the optimal co-contraction level is vital to reach better tracking performance. Through the use of PAM-driven robots and learning, we do a small step towards the future development of robots capable of more human-like motions.

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Arxiv Video [BibTex]

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The near and far of a pair of magnetic capillary disks

Koens, L., Wang, W., Sitti, M., Lauga, E.

Soft Matter, 2019 (article)

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[BibTex]

pi Koens, L., Wang, W., Sitti, M., Lauga, E. The near and far of a pair of magnetic capillary disks Soft Matter, 2019 (article)

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Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters

Hu, X., Torati, S. R., Kim, H., Yoon, J., Lim, B., Kim, K., Sitti, M., Kim, C.

Small, Wiley Online Library, 2019 (article)

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[BibTex]

pi Hu, X., Torati, S. R., Kim, H., Yoon, J., Lim, B., Kim, K., Sitti, M., Kim, C. Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters Small, Wiley Online Library, 2019 (article)

[BibTex]

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Multi-functional soft-bodied jellyfish-like swimming

Ren, Z., Hu, W., Dong, X., Sitti, M.

Nature communications, 10, 2019 (article)

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[BibTex]

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Welcome to Progress in Biomedical Engineering

Sitti, M.

Progress in Biomedical Engineering, 1, IOP Publishing, 2019 (article)

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[BibTex]

pi Sitti, M. Welcome to Progress in Biomedical Engineering Progress in Biomedical Engineering, 1, IOP Publishing, 2019 (article)

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Inferring causation from time series with perspectives in Earth system sciences

Runge, J., Bathiany, S., Bollt, E., Camps-Valls, G., Coumou, D., Deyle, E., Glymour, C., Kretschmer, M., Mahecha, M., van Nes, E., Peters, J., Quax, R., Reichstein, M., Scheffer, M. S. B., Spirtes, P., Sugihara, G., Sun, J., Zhang, K., Zscheischler, J.

Nature Communications, 2019 (article) In revision

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[BibTex]

ei Runge, J., Bathiany, S., Bollt, E., Camps-Valls, G., Coumou, D., Deyle, E., Glymour, C., Kretschmer, M., Mahecha, M., van Nes, E., Peters, J., Quax, R., Reichstein, M., Scheffer, M. S. B., Spirtes, P., Sugihara, G., Sun, J., Zhang, K., Zscheischler, J. Inferring causation from time series with perspectives in Earth system sciences Nature Communications, 2019 (article) In revision

[BibTex]

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Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces

Song, S., Drotlef, D., Paik, J., Majidi, C., Sitti, M.

Extreme Mechanics Letters, Elsevier, 2019 (article)

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[BibTex]

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Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus

Singh, V., Kumar, V., Kashyap, S., Singh, A. V., Kishore, V., Sitti, M., Saxena, P. S., Srivastava, A.

ACS Applied Bio Materials, ACS Publications, 2019 (article)

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[BibTex]

pi Singh, V., Kumar, V., Kashyap, S., Singh, A. V., Kishore, V., Sitti, M., Saxena, P. S., Srivastava, A. Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus ACS Applied Bio Materials, ACS Publications, 2019 (article)

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Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design

Singh, A. V., Laux, P., Luch, A., Sudrik, C., Wiehr, S., Wild, A., Santamauro, G., Bill, J., Sitti, M.

Toxicology Mechanisms and Methods, 2019 (article)

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[BibTex]

pi Singh, A. V., Laux, P., Luch, A., Sudrik, C., Wiehr, S., Wild, A., Santamauro, G., Bill, J., Sitti, M. Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design Toxicology Mechanisms and Methods, 2019 (article)

[BibTex]

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Multifunctional and biodegradable self-propelled protein motors

Pena-Francesch, A., Giltinan, J., Sitti, M.

Nature communications, 10, Nature Publishing Group, 2019 (article)

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[BibTex]

pi Pena-Francesch, A., Giltinan, J., Sitti, M. Multifunctional and biodegradable self-propelled protein motors Nature communications, 10, Nature Publishing Group, 2019 (article)

[BibTex]

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Cohesive self-organization of mobile microrobotic swarms

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

arXiv preprint arXiv:1907.05856, 2019 (article)

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[BibTex]

pi Yigit, B., Alapan, Y., Sitti, M. Cohesive self-organization of mobile microrobotic swarms arXiv preprint arXiv:1907.05856, 2019 (article)

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Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

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[BibTex]

pi Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M. Mobile microrobots for active therapeutic delivery Advanced Therapeutics, Wiley Online Library, 2019 (article)

[BibTex]

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Shape-encoded dynamic assembly of mobile micromachines

Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M.

Nature, 18, 2019 (article)

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[BibTex]

pi Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M. Shape-encoded dynamic assembly of mobile micromachines Nature, 18, 2019 (article)

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Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

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[BibTex]

pi Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R. Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules Advanced Optical Materials, 2019 (article)

[BibTex]

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ENGINEERING Bio-inspired robotic collectives

Sitti, M.

Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

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[BibTex]

pi Sitti, M. ENGINEERING Bio-inspired robotic collectives Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

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Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications

Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M.

Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

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[BibTex]

pi Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M. Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

[BibTex]

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Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

pi Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M. Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics Bulletin of the American Physical Society, APS, 2019 (article)

[BibTex]

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Learning to Navigate Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

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[BibTex]

pi Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M. Learning to Navigate Endoscopic Capsule Robots IEEE Robotics and Automation Letters, 4, 2019 (article)

[BibTex]

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Eigendecompositions of Transfer Operators in Reproducing Kernel Hilbert Spaces

Klus, S., Schuster, I., Muandet, K.

Journal of Nonlinear Science, 2019, First Online: 21 August 2019 (article)

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DOI [BibTex]

ei Klus, S., Schuster, I., Muandet, K. Eigendecompositions of Transfer Operators in Reproducing Kernel Hilbert Spaces Journal of Nonlinear Science, 2019, First Online: 21 August 2019 (article)

DOI [BibTex]

2015

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Untethered Magnetic Micromanipulation

Diller, E., Sitti, M.

In Micro-and Nanomanipulation Tools, 13, 10, Wiley-VCH Verlag GmbH & Co. KGaA, November 2015 (inbook)

Abstract
This chapter discusses the methods and state of the art in microscale manipulation in remote environments using untethered microrobotic devices. It focuses on manipulation at the size scale of tens to hundreds of microns, where small size leads to a dominance of microscale physical effects and challenges in fabrication and actuation. To motivate the challenges of operating at this size scale, the chapter includes coverage of the physical forces relevant to microrobot motion and manipulation below the millimeter-size scale. It then introduces the actuation methods commonly used in untethered manipulation schemes, with particular focus on magnetic actuation due to its wide use in the field. The chapter divides these manipulation techniques into two types: contact manipulation, which relies on direct pushing or grasping of objects for motion, and noncontact manipulation, which relies indirectly on induced fluid flow from the microrobot motion to move objects without any direct contact.

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DOI Project Page [BibTex]

2015

pi Diller, E., Sitti, M. Untethered Magnetic Micromanipulation In Micro-and Nanomanipulation Tools, 13, 10, Wiley-VCH Verlag GmbH & Co. KGaA, November 2015 (inbook)

DOI Project Page [BibTex]

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Quantifying changes in climate variability and extremes: Pitfalls and their overcoming

Sippel, S., Zscheischler, J., Heimann, M., Otto, F. E. L., Peters, J., Mahecha, M. D.

Geophysical Research Letters, 42(22):9990-9998, November 2015 (article)

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DOI [BibTex]

ei Sippel, S., Zscheischler, J., Heimann, M., Otto, F. E. L., Peters, J., Mahecha, M. D. Quantifying changes in climate variability and extremes: Pitfalls and their overcoming Geophysical Research Letters, 42(22):9990-9998, November 2015 (article)

DOI [BibTex]

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Diversity of sharp wave-ripple LFP signatures reveals differentiated brain-wide dynamical events

Ramirez-Villegas, J. F., Logothetis, N. K., Besserve, M.

Proceedings of the National Academy of Sciences U.S.A, 112(46):E6379-E6387, November 2015 (article)

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DOI [BibTex]

ei Ramirez-Villegas, J. F., Logothetis, N. K., Besserve, M. Diversity of sharp wave-ripple LFP signatures reveals differentiated brain-wide dynamical events Proceedings of the National Academy of Sciences U.S.A, 112(46):E6379-E6387, November 2015 (article)

DOI [BibTex]

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Noise masking of White’s illusion exposes the weakness of current spatial filtering models of lightness perception

Betz, T., Shapley, R. M., Wichmann, F. A., Maertens, M.

Journal of Vision, 15(14):1-17, October 2015 (article)

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DOI [BibTex]

ei Betz, T., Shapley, R. M., Wichmann, F. A., Maertens, M. Noise masking of White’s illusion exposes the weakness of current spatial filtering models of lightness perception Journal of Vision, 15(14):1-17, October 2015 (article)

DOI [BibTex]

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Shifts of Gamma Phase across Primary Visual Cortical Sites Reflect Dynamic Stimulus-Modulated Information Transfer

Besserve, M., Lowe, S. C., Logothetis, N. K., Schölkopf, B., Panzeri, S.

PLOS Biology, 13(9):e1002257, September 2015 (article)

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DOI [BibTex]

ei Besserve, M., Lowe, S. C., Logothetis, N. K., Schölkopf, B., Panzeri, S. Shifts of Gamma Phase across Primary Visual Cortical Sites Reflect Dynamic Stimulus-Modulated Information Transfer PLOS Biology, 13(9):e1002257, September 2015 (article)

DOI [BibTex]

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Semi-Supervised Interpolation in an Anticausal Learning Scenario

Janzing, D., Schölkopf, B.

Journal of Machine Learning Research, 16, pages: 1923-1948, September 2015 (article)

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link (url) [BibTex]

ei Janzing, D., Schölkopf, B. Semi-Supervised Interpolation in an Anticausal Learning Scenario Journal of Machine Learning Research, 16, pages: 1923-1948, September 2015 (article)

link (url) [BibTex]

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Experimental investigation of optimal adhesion of mushroomlike elastomer microfibrillar adhesives

Marvi, H., Song, S., Sitti, M.

Langmuir, 31(37):10119-10124, American Chemical Society, August 2015 (article)

Abstract
Optimal fiber designs for the maximal pull-off force have been indispensable for increasing the attachment performance of recently introduced gecko-inspired reversible micro/nanofibrillar adhesives. There are several theoretical studies on such optimal designs; however, due to the lack of three-dimensional (3D) fabrication techniques that can fabricate such optimal designs in 3D, there have not been many experimental investigations on this challenge. In this study, we benefitted from recent advances in two-photon lithography techniques to fabricate mushroomlike polyurethane elastomer fibers with different aspect ratios of tip to stalk diameter (β) and tip wedge angles (θ) to investigate the effect of these two parameters on the pull-off force. We found similar trends to those predicted theoretically. We found that β has an impact on the slope of the force-displacement curve while both β and θ play a role in the stress distribution and crack propagation. We found that these effects are coupled and the optimal set of parameters also depends on the fiber material. This is the first experimental verification of such optimal designs proposed for mushroomlike microfibers. This experimental approach could be used to evaluate a wide range of complex microstructured adhesive designs suggested in the literature and optimize them.

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DOI [BibTex]

pi Marvi, H., Song, S., Sitti, M. Experimental investigation of optimal adhesion of mushroomlike elastomer microfibrillar adhesives Langmuir, 31(37):10119-10124, American Chemical Society, August 2015 (article)

DOI [BibTex]