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2007


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Relative Entropy Policy Search

Peters, J.

CLMC Technical Report: TR-CLMC-2007-2, Computational Learning and Motor Control Lab, Los Angeles, CA, 2007, clmc (techreport)

Abstract
This technical report describes a cute idea of how to create new policy search approaches. It directly relates to the Natural Actor-Critic methods but allows the derivation of one shot solutions. Future work may include the application to interesting problems.

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PDF link (url) [BibTex]

2007


PDF link (url) [BibTex]


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The new robotics - towards human-centered machines

Schaal, S.

HFSP Journal Frontiers of Interdisciplinary Research in the Life Sciences, 1(2):115-126, 2007, clmc (article)

Abstract
Research in robotics has moved away from its primary focus on industrial applications. The New Robotics is a vision that has been developed in past years by our own university and many other national and international research instiutions and addresses how increasingly more human-like robots can live among us and take over tasks where our current society has shortcomings. Elder care, physical therapy, child education, search and rescue, and general assistance in daily life situations are some of the examples that will benefit from the New Robotics in the near future. With these goals in mind, research for the New Robotics has to embrace a broad interdisciplinary approach, ranging from traditional mathematical issues of robotics to novel issues in psychology, neuroscience, and ethics. This paper outlines some of the important research problems that will need to be resolved to make the New Robotics a reality.

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link (url) [BibTex]

link (url) [BibTex]


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Hydrogen storage in metal-organic frameworks

Hirscher, M., Panella, B.

{Scripta Materialia}, 56, pages: 809-812, 2007 (article)

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[BibTex]

[BibTex]


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Substrate-induced current anisotropy in YBa2Cu3O7-δthin films

Djupmyr, M., Albrecht, J.

{Physica C}, 460-462, pages: 1190-1191, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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A micellar approach to magnetic ultrahigh-density data-storage media: extending the limits of current colloidal methods

Ethirajan, A., Wiedwald, U., Boyen, H.-G., Kern, B., Han, L., Klimmer, A., Weigl, F., Kästle, G., Ziemann, P., Fauth, K., Cai, J., Behm, J., Romanyuk, A., Oelhafen, P., Walther, P., Biskupek, J., Kaiser, U.

{Advanced Materials}, 19, pages: 406-410, 2007 (article)

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[BibTex]

[BibTex]


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Size dependence in the magnetization reversal of Fe/Gd multilayers on self-assembled arrays of nanospheres

Amaladass, E., Ludescher, B., Schütz, G., Tyliszczak, T., Eimüller, T.

{Applied Physics Letters}, 91, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Ma\ssgeschneiderte Wasserstoffspeicher

Hirscher, M., Panella, B.

{Nachrichten aus der Gdch-Energieinitiative}, (Sonderheft April 2007):12-13, 2007 (article)

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[BibTex]

[BibTex]


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Reconstruction of historical alloys for pipe organs brings true Baroque music back to life.

Baretzky, B., Friesel, M., Straumal, B.

{MRS Bulletin}, 32, pages: 249-255, 2007 (article)

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[BibTex]

[BibTex]


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Analysis of results from X-ray magnetic reflectometry for magnetic multilayer systems

Fähnle, M., Steiauf, D., Martosiswoyo, L., Goering, E., Brück, S., Schütz, G.

{Physical Review B}, 75, 2007 (article)

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[BibTex]

[BibTex]


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Dramatic role of critical current anisotropy on flux avalanches in MgB2 films

Albrecht, J., Matveev, A. T., Strempfer, J., Habermeier, H.-U., Shantsev, D. V., Galperin, Y. M., Johansen, T. H.

{Physical Review Letters}, 98, 2007 (article)

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[BibTex]

[BibTex]


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Transport properties of LCMO/YBCO hybrid structures

Soltan, S., Albrecht, J., Habermeier, H.-U.

{Materials Science and Engineering B}, 144, pages: 15-18, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Cluster expansions in multicomponent systems: precise expansions from noisy databases

Diaz-Ortiz, A., Dosch, H., Drautz, R.

{Journal of Physics: Condensed Matter}, 19, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Unusual propagation of magnetic avalanches in gold covered MgB2

Albrecht, J., Matveev, A. T., Habermeier, H.-U.

{Physica C}, 460-462, pages: 1245-1246, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Lowering of the L10 ordering temperature of FePt nanoparticles by He+ ion irradiation

Wiedwald, U., Klimmer, A., Kern, B., Han, L., Boyen, H.-G., Ziemann, P., Fauth, K.

{Applied Physics Letters}, 90, 2007 (article)

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[BibTex]

[BibTex]


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Magnetic core shell nanoparticles characterized by X-ray absorption and magnetic circular dichroism

Fauth, K.

{Modern Physics Letters B}, 21(18):1179-1187, 2007 (article)

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[BibTex]

[BibTex]


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Magnetic moment of Fe in oxide-free FePt nanoparticles

Dmitrieva, O., Spasova, M., Antoniak, C., Acet, M., Dumpich, G., Kästner, J., Farle, M., Fauth, K., Wiedwald, U., Boyen, H.-G., Ziemann, P.

{Physical Review B}, 76, 2007 (article)

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[BibTex]

[BibTex]


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The effect of bismuth segregation on the faceting of \Sigma3 and \Sigma9 coincidence boundaries in copper bicrystals

Straumal, B. B., Polyakov, S. A., Chang, L.-S., Mittemeijer, E. J.

{International Journal of Materials Research}, 98, pages: 451-456, 2007 (article)

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[BibTex]

[BibTex]


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Hot isostatic pressing of Cu-Bi polycrystals with liquid-like grain boundary layers

Chang, L.-S., Straumal, B., Rabkin, E., Lojkowski, W., Gust, W.

{Acta Materialia}, 55, pages: 335-343, 2007 (article)

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[BibTex]

[BibTex]


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Spatially resolved magnetic response in core shell nanoparticles

Fauth, K., Goering, E., Theil Kuhn, L.

{Modern Physics Letters B}, 21(18):1197-1200, 2007 (article)

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[BibTex]

[BibTex]


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Interfaces in semiconductor/metal radial superlattices

Deneke, C., Sigle, W., Eigenthaler, U., van Aken, P. A., Schütz, G., Schmidt, O. G.

{Applied Physics Letters}, 90, 2007 (article)

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[BibTex]

[BibTex]


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Live cell adhesion assay with attenuated total reflection infrared spectroscopy

Schmidt, M., Wolfram, T., Rumpler, M., Tripp, C. P., Grunze, M.

{Biointerphases}, 2(1):1-5, 2007 (article)

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[BibTex]

[BibTex]


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Unusual Co moment reduction in the NiCoO/Co exchange bias system

Brück, S., Goering, E., Tang, Y. J., Schütz, G., Berkowitz, A. E.

{Journal of Magnetism and Magnetic Materials}, 310, pages: 2316-2318, 2007 (article)

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[BibTex]

[BibTex]


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Ab initio calculations of adiabatic magnon spectra using the atomic-sphere aproximation for the spin direction

Singer, R., Dietermann, F., Steiauf, D., Fähnle, M.

{Physical Review B}, 76, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Low-temperature thermal-desorption mass spectroscopy applied to investigate the hydrogen adsorption on porous materials

Panella, B., Hirscher, M., Ludescher, B.

{Microporous and Mesoporous Materials}, 103, pages: 230-234, 2007 (article)

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[BibTex]


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Dependence of the critical temperature of YBCO thin films on spinpolarized quasiparticle injection

Habermeier, H.-U., Soltan, S., Albrecht, J.

{International Journal of Modern Physics B}, 21(18 \& 19):3303-3306, 2007 (article)

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[BibTex]

[BibTex]


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Copper alloys for the restoration of reed pipes in historic organs

Straumal, B. B., Baretzky, B., Kalnins, J., Aslund, A., Friesel, M.

{Journal of Functional Materials}, 1, pages: 4-10, 2007 (article)

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[BibTex]

[BibTex]


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Inhomogeneous vortex distribution and magnetic coupling in oxide superconductor-ferromagnet hybrids

Albrecht, J., Djupmyr, M., Soltan, S., Habermeier, H.-U., Connolly, M. R., Bending, S. J.

{New Journal of Physics}, 9, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Metal hydride materials for solid hydrogen storage: a review

Sakintuna, B., Lamari-Darkrim, F., Hirscher, M.

{International Journal of Hydrogen Energy}, 32, pages: 1121-1140, 2007 (article)

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[BibTex]

[BibTex]


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Thermal reversal of exchange spring composite media in magnetic fields

Goll, D., Macke, S., Bertram, H. N.

{Applied Physics Letters}, 90, 2007 (article)

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[BibTex]

[BibTex]


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Magnetism of Co-doped ZnO thin films

Gacic, M., Jakob, G., Herbort, C., Adrian, H., Tietze, T., Brück, S., Goering, E.

{Physical Review B}, 75, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Universal temperature scaling of flux line pinning in high-temperature superconducting thin films

Albrecht, J., Djupmyr, M., Brück, S.

{Journal of Physics: Condensed Matter}, 19, 2007 (article)

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[BibTex]

[BibTex]


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Dependence of the critical temperature of YBCO thin films on spin-polarized quasiparticle injection

Habermeier, H.-U., Soltan, S., Albrecht, J.

{Physica C}, 460-462, pages: 32-35, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Interaction of ferromagnetic LCMO layers through a superconducting YBCO spacer

Ravikumar, G., Yashwant, G., Singh, M. R., Gupta, S. K., Bhattacharya, S., Soltan, S., Albrecht, J., Habermeier, H.-U.

{Physica C}, 460-462, pages: 1375-1376, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Vortex dynamics in Permalloy disks with artificial defects: suppression of the gyrotropic mode

Kuepper, K., Bischoff, L., Akhmadaliev, C., Fassbinder, J., Stoll, H., Chou, K., Puzic, A., Fauth, K., Dolgos, D., Schütz, G., Van Waeyenberge, B., Tyliszczak, T., Neudecker, I., Woltersdorf, G., Back, C.

{Appplied Physics Letters}, 90, 2007 (article)

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[BibTex]

[BibTex]


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Vacancy-interstitial annihilation in titanomagnetite by thermal annealing

Walz, F., Brabers, V. A. M., Brabers, J. H. V. J., Kronmüller, H.

{Physica Status Solidi (A)}, 204(10):3514-3525, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Theory of X-ray absorption spectroscopy in solids: mixing of the core states by the aspherical effective potential

Kostoglou, C., Komelj, M., Fähnle, M.

{Physical Review B}, 75, 2007 (article)

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[BibTex]

[BibTex]


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Zinc oxide microcapsules obtained via a bio-inspired approach

Lipowsky, P., Hirscher, M., Hoffmann, R. C., Bill, J., Aldinger, F.

{Nanotechnology}, 18, 2007 (article)

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[BibTex]

[BibTex]


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Grain boundary phase observed in Al-5 at.\textpercent Zn alloy by using HREM

Straumal, B. B., Mazilkin, A. A., Kogtenkova, O. A., Protasova, S. G., Baretzky, B.

{Philosophical Magazine Letters}, 87(6):423-430, 2007 (article)

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[BibTex]

[BibTex]


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Transport current improvements of in situ MgB2 tapes by the addition of carbon nanotubes, silicon carbide or graphite

Kovac, P., Husek, I., Skakalova, V., Meyer, J., Dobrocka, E., Hirscher, M., Roth, S.

{Superconductor Science and Technology}, 20, pages: 105-111, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Learning an Outlier-Robust Kalman Filter

Ting, J., Theodorou, E., Schaal, S.

CLMC Technical Report: TR-CLMC-2007-1, Los Angeles, CA, 2007, clmc (techreport)

Abstract
We introduce a modified Kalman filter that performs robust, real-time outlier detection, without the need for manual parameter tuning by the user. Systems that rely on high quality sensory data (for instance, robotic systems) can be sensitive to data containing outliers. The standard Kalman filter is not robust to outliers, and other variations of the Kalman filter have been proposed to overcome this issue. However, these methods may require manual parameter tuning, use of heuristics or complicated parameter estimation procedures. Our Kalman filter uses a weighted least squares-like approach by introducing weights for each data sample. A data sample with a smaller weight has a weaker contribution when estimating the current time step?s state. Using an incremental variational Expectation-Maximization framework, we learn the weights and system dynamics. We evaluate our Kalman filter algorithm on data from a robotic dog.

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PDF [BibTex]

PDF [BibTex]


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Absorption spectroscopy and XMCD at the Verwey transition of Fe3O4

Goering, E., Lafkioti, M., Gold, S., Schütz, G.

{Journal of Magnetism and Magnetic Materials}, 310, pages: 249-251, 2007 (article)

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[BibTex]

[BibTex]


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Overcoming the Dipolar Disorder in Dense CoFe Nanoparticle Ensembles: Superferromagnetism

Bedanta, S., Eimüller, T., Kleemann, W., Rhensius, J., Stromberg, F., Amaladass, E., Cardoso, S., Freitas, P. P.

{Physical Review Letters}, 98, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Ultrafast nanomagnetic toggle switching of vortex cores

Hertel, R., Gliga, S., Fähnle, M., Schneider, C. M.

{Physical Review Letters}, 98, 2007 (article)

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[BibTex]

[BibTex]


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Element-specific spin and orbital momentum dynamics of Fe/Gd multilayers

Bartelt, A. F., Comin, A., Feng, J., Nasiatka, J. R., Eimüller, T., Ludescher, B., Schütz, G., Padmore, H. A., Young, A. T., Scholl, A.

{Applied Physics Letters}, 90, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Slow relaxation of spin reorientation following ultrafast optical excitation

Eimüller, T., Scholl, A., Ludescher, B., Schütz, G., Thiele, J.

{Applied Physics Letters}, 91, 2007 (article)

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[BibTex]

[BibTex]


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One-pot synthesis of core-shell FeRh nanoparticles

Ciuculescu, D., Amiens, C., Respaud, M., Falqui, A., Lecante, P., Benfield, R. E., Jiang, L., Fauth, K., Chaudret, B.

{Chemistry of Materials}, 19(19):4624-4626, 2007 (article)

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[BibTex]

[BibTex]


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Spin-polarized quasiparticles injection effects in the normal state of YBCO thin films

Soltan, S., Albrecht, J., Habermeier, H.-U.

{Physica C}, 460-462, pages: 1088-1089, 2007 (article)

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DOI [BibTex]

DOI [BibTex]


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Direct observation of the vortex core magnetization and its dynamics

Chou, K. W., Puzic, A., Stoll, H., Dolgos, D., Schütz, G., Van Waeyenberge, B., Vansteenkiste, A., Tyliszczak, T., Woltersdorf, G., Back, C. H.

{Applied Physics Letters}, 90, 2007 (article)

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[BibTex]

[BibTex]