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2015


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Exciting Engineered Passive Dynamics in a Bipedal Robot

Renjewski, D., Spröwitz, A., Peekema, A., Jones, M., Hurst, J.

{IEEE Transactions on Robotics and Automation}, 31(5):1244-1251, IEEE, New York, NY, 2015 (article)

Abstract
A common approach in designing legged robots is to build fully actuated machines and control the machine dynamics entirely in soft- ware, carefully avoiding impacts and expending a lot of energy. However, these machines are outperformed by their human and animal counterparts. Animals achieve their impressive agility, efficiency, and robustness through a close integration of passive dynamics, implemented through mechanical components, and neural control. Robots can benefit from this same integrated approach, but a strong theoretical framework is required to design the passive dynamics of a machine and exploit them for control. For this framework, we use a bipedal spring–mass model, which has been shown to approximate the dynamics of human locomotion. This paper reports the first implementation of spring–mass walking on a bipedal robot. We present the use of template dynamics as a control objective exploiting the engineered passive spring–mass dynamics of the ATRIAS robot. The results highlight the benefits of combining passive dynamics with dynamics-based control and open up a library of spring–mass model-based control strategies for dynamic gait control of robots.

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link (url) DOI Project Page [BibTex]

2015


link (url) DOI Project Page [BibTex]


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Fabrication and X-ray testing of true kinoform lenses with high efficiencies

Keskinbora, K., Sanli, U., Grévent, C., Schütz, G.

{Proceedings of SPIE}, 9592, SPIE, Bellingham, Washington, 2015 (article)

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DOI [BibTex]

DOI [BibTex]


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Time-resolved imaging of pulse-induced magnetization reversal with a microwave assist field

Rao, S., Rhensius, J., Bisig, A., Mawass, M.-A., Weigand, M., Kläui, M., Bhatia, C. S., Yang, H.

{Scientific Reports}, 5, Nature Publishing Group, London, UK, 2015 (article)

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DOI [BibTex]

DOI [BibTex]


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XMCD studies of thin Co films on BaTiO3

Welke, M., Gräfe, J., Govind, R. K., Babu, V. H., Trautmann, M., Schindler, K., Denecke, R.

{Journal of Physics: Condensed Matter}, 27(32), IOP Publishing, Bristol, UK, 2015 (article)

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DOI [BibTex]


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Low temperature X-ray imaging of magnetic flux patterns in high temperature superconductors

Stahl, C., Ruoß, S., Weigand, M., Bechtel, M., Schütz, G., Albrecht, J.

{Journal of Applied Physics}, 117(17), AIP Publishing, New York, NY, 2015 (article)

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Isosteric heat of hydrogen adsorption on MOFs: comparison between adsorption calorimetry, sorption isosteric metod, and analytical models

Kloutse, A. F., Zacharia, R., Cossement, D., Chahine, R., Balderas-Xicohténcatl, R., Oh, H., Streppel, B., Schlichtenmayer, M., Hirscher, M.

{Applied Physics A}, 121(4):1417-1424, Springer-Verlag Heidelberg, Heidelberg, 2015 (article)

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Formation of a quasi-solid structure by intercalated noble gas atoms in pores of CuI-MFU-4l metal-organic framework

Magdysyuk, O. V., Denysenko, D., Weinrauch, I., Volkmer, D., Hirscher, M., Dinnebier, R. E.

{Chemical Communications}, 51(4):714-717, Royal Society of Chemistry, Cambridge, UK, 2015 (article)

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Burst-mode manipulation of magnonic vortex crystals

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

{Physical Review B}, 91(10), American Physical Society, Woodbury, NY, 2015 (article)

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DOI [BibTex]


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Focused ion beam micromachining enables novel optics for X-ray microscopy

Keskinbora, K., Sanli, U., Grévent, C., Hirscher, M., Schütz, G.

{Microscopy and Microanalysis}, 21(Suppl 3):1983-1984, Springer-Verlag New York, New York, NY, 2015 (article)

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Selectable nanopattern arrays for nanolithographic imprint and etch-mask applications

Jeong, H., Mark, A. G., Lee, T., Son, K., Chen, W., Alarcón-Correa, M., Kim, I., Schütz, G., Fischer, P.

{Advanced Science}, 2(2), Wiley-VCH, Weinheim, 2015 (article)

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Grain boundaries as a source of ferromagnetism and increased solubility of Ni in nanograined ZnO

Straumal, B. B., Mazilkin, A. A., Protasova, S. G., Stakhanova, S. V., Straumal, P. B., Bulatov, M. F., Schütz, G., Tietze, T., Goering, E., Baretzky, B.

{Reviews on Advanced Materials Science}, 41, pages: 61-71, 2015 (article)

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Gyrational modes of benzenelike magnetic vortex molecules

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

{Physical Review B}, 92(2), American Physical Society, Woodbury, NY, 2015 (article)

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"Job-Sharing" storage of hydrogen in Ru/Li2O nanocomposites

Fu, L., Tang, K., Oh, H., Kandavel, M., Bräuniger, T., Vinod Chandran, C., Menzel, A., Hirscher, M., Samuelis, D., Maier, J.

{Nano Letters}, 15(6):4170-4175, American Chemical Society, Washington, DC, 2015 (article)

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Overview of the multilayer-Fresnel zone plate and the kinoform lens development at MPI for Intelligent Systems

Sanli, U., Keskinbora, K., Grévent, C., Schütz, G.

{Proceedings of SPIE}, 9510, SPIE, Bellingham, Washington, 2015 (article)

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Transition matrix elements for electron-phonon scattering: Phenomenological theory and ab initio electron theory

Illg, C., Haag, M., Müller, B. Y., Czycholl, G., Fähnle, M.

{Physical Review B}, 92(19), American Physical Society, Woodbury, NY, 2015 (article)

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Phase evolution in single-crystalline LiFePO4 followed by in situ scanning X-ray microscopy of a micrometre-sized battery

Ohmer, N., Fenk, B., Samuelis, D., Chen, C., Maier, J., Weigand, M., Goering, E., Schütz, G.

{Nature Communications}, 6, Nature Publishing Group, London, 2015 (article)

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Nitrogen-rich covalent triazine frameworks as high-performance platforms for selective carbon capture and storage

Hug, S., Stegbauer, L., Oh, H., Hirscher, M., Lotsch, B. V.

{Chemistry of Materials}, 27(23):8001-8010, American Chemical Society, Washington, D.C., 2015 (article)

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Unique high-temperature performance of highly consensed MnBi permanent magnets

Chen, Y., Gregori, G., Leineweber, A., Qu, F., Chen, C., Tietze, T., Kronmüller, H., Schütz, G., Goering, E.

{Scripta Materialia}, 107, pages: 131-135, Pergamon, Tarrytown, NY, 2015 (article)

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Multilayer Fresnel zone plates for X-ray microscopy

Sanli, U. T., Keskinbora, K., Grévent, C., Szeghalmi, A., Knez, M., Schütz, G.

{Microscopy and Microanalysis}, 21(Suppl 3):1987-1988, Springer-Verlag New York, New York, NY, 2015 (article)

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Interfacial dominated ferromagnetism in nanograined ZnO: a \muSR and DFT study

Tietze, T., Audehm, P., Chen, Y., Schütz, G., Straumal, B. B., Protasova, S. G., Mazilkin, A. A., Straumal, P. B., Prokscha, T., Luetkens, H., Salman, Z., Suter, A., Baretzky, B., Fink, K., Wenzel, W., Danilov, D., Goering, E.

{Scientific Reports}, 5, pages: 8871-8876, Nature Publishing Group, London, UK, 2015 (article)

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Preparation of a ferromagnetic barrier in YBa2Cu3O7-delta thinner than the coherence length

Soltan, S., Albrecht, J., Goering, E., Schütz, G., Mustafa, L., Keimer, B., Habermeier, H.

{Journal of Applied Physics}, 118(22), AIP Publishing, New York, NY, 2015 (article)

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Microanalytical methods for in-situ high-resolution analysis of rock varnish at the micrometer to nanometer scale

Macholdt, D. S., Jochum, K. P., Pöhlker, C., Stoll, B., Weis, U., Weber, B., Müller, M., Kapl, M., Buhre, S., Kilcoyne, A. L. D., Weigand, M., Scholz, D., Al-Amri, A. M., Andreae, M. O.

{Chemical Geology}, 411, pages: 57-68, Elsevier, Amsterdam, 2015 (article)

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Chemical composition, microstructure, and hygroscopic properties of aerosol particles at the Zotino Tall Tower Observatory (ZOTTO), Siberia, during a summer campaign

Mikhailov, E. F., Mironov, G. N., Pöhlker, C., Chi, X., Krüger, M., Shiraiwa, M., Förster, J., Pöschl, U., Vlasenko, S. S., Ryshkevich, T. I., Weigand, M., Kilcoyne, A. L. D., Andreae, M.

{Atmospheric Chemistry and Physics}, 15(15):8847-8869, European Geosciences Union, Katlenburg-Lindau, Germany, 2015 (article)

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Orbital reflectometry of PrNiO3/PrAlO3 superlattices

Wu, M., Benckiser, E., Audehm, P., Goering, E., Wochner, P., Christiani, G., Logvenov, G., Habermeier, H., Keimer, B.

{Physical Review B}, 91(19), American Physical Society, Woodbury, NY, 2015 (article)

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Dynamic domain wall chirality rectification by rotating magnetic fields

Bisig, A., Mawass, M., Stärk, M., Moutafis, C., Rhensius, J., Heidler, J., Gliga, S., Weigand, M., Tyliszczak, T., Van Waeyenberge, B., Stoll, H., Schütz, G., Kläui, M.

{Applied Physics Letters}, 106(12), American Institute of Physics, Melville, NY, 2015 (article)

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Imaging spin dynamics on the nanoscale using X-ray microscopy

Stoll, H., Noske, M., Weigand, M., Richter, K., Krüger, B., Reeve, R. M., Hänze, M., Adolff, C. F., Stein, F., Meier, G., Kläui, M., Schütz, G.

{Frontiers in Physics}, 3, Frontiers Media, Lausanne, 2015 (article)

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Magnetic moments induce strong phonon renormalization in FeSi

Krannich, S., Sidis, Y., Lamago, D., Heid, R., Mignot, J., von Löhneysen, H., Ivanov, A., Steffens, P., Keller, T., Wang, L., Goering, E., Weber, F.

{Nature Communications}, 6, Nature Publishing Group, London, 2015 (article)

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Electrical determination of vortex state in submicron magnetic elements

Gangwar, A., Bauer, H. G., Chauleau, J., Noske, M., Weigand, M., Stoll, H., Schütz, G., Back, C. H.

{Physical Review B}, 91(9), American Physical Society, Woodbury, NY, 2015 (article)

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Mechanisms for the symmetric and antisymmetric switching of a magnetic vortex core: Differences and common aspects

Noske, M., Stoll, H., Fähnle, M., Hertel, R., Schütz, G.

{Physical Review B}, 91(1), American Physical Society, Woodbury, NY, 2015 (article)

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High resolution, high efficiency mulitlayer Fresnel zone plates for soft and hard X-rays

Sanli, U., Keskinbora, K., Gregorczyk, K., Leister, J., Teeny, N., Grévent, C., Knez, M., Schütz, G.

{Proceedings of SPIE}, 9592, SPIE, Bellingham, Washington, 2015 (article)

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Macroscopic drift current in the inverse Faraday effect

Hertel, R., Fähnle, M.

{Physical Review B}, 91(2), American Physical Society, Woodbury, NY, 2015 (article)

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Single-step 3D nanofabrication of kinoform optics via gray-scale focused ion beam lithography for efficient X-ray focusing

Keskinbora, K., Grévent, C., Hirscher, M., Weigand, M., Schütz, G.

{Advanced Optical Materials}, 3, pages: 792-800, WILEY-VCH Verlag GmbH Co. KGaA, Weinheim, 2015 (article)

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Band structure engineering of two-dimensional magnonic vortex crystals

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

{Physical Review B}, 91(22), American Physical Society, Woodbury, NY, 2015 (article)

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Towards denoising XMCD movies of fast magnetization dynamics using extended Kalman filter

Kopp, M., Harmeling, S., Schütz, G., Schölkopf, B., Fähnle, M.

{Ultramicroscopy}, 148, pages: 115-122, North-Holland, Amsterdam, 2015 (article)

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Perpendicular magnetisation from in-plane fields in nano-scaled antidot lattices

Gräfe, J., Haering, F., Tietze, T., Audehm, P., Weigand, M., Wiedwald, U., Ziemann, P., Gawronski, P., Schütz, G., Goering, E. J.

{Nanotechnology}, 26(22), IOP Pub., Bristol, UK, 2015 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Theory of ultrafast demagnetization after femtosecond laser pulses

Fähnle, M., Illg, C., Haag, M., Teeny, N.

{Acta Physica Polonica A}, 127(2):170-175, Państwowe Wydawnictwo Naukowe, Warszawa, 2015 (article)

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Non-linear radial spinwave modes in thin magnetic disks

Helsen, M., Gangwar, Ajay, De Clercq, J., Vansteenkiste, A., Weigand, M., Back, C. H., Van Waeyenberge, B.

{Applied Physics Letters}, 106(3), American Institute of Physics, Melville, NY, 2015 (article)

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Hydrogen isotope separation in metal-organic frameworks: Kinetic or chemical affinity quantum-sieving?

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

{Microporous and Mesoporous Materials}, 216, pages: 133-137, Elsevier, Amsterdam, 2015 (article)

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High-resolution dichroic imaging of magnetic flux distributions in superconductors with scanning x-ray microscopy

Ruoß, S., Stahl, C., Weigand, M., Schütz, G., Albrecht, J.

{Applied Physics Letters}, 106, American Institute of Physics, Melville, NY, 2015 (article)

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Preparation and characterisation of epitaxial Pt/Cu/FeMn/Co thin films on (100)-oriented MgO single crystals

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

{Physica Status Solidi A}, 212(10):2114-2123, Wiley-VCH, Weinheim, 2015 (article)

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Probing the magnetic moments of [MnIII6CrIII]3+ single-molecule magnets - A cross comparison of XMCD and spin-resolved electron spectroscopy

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

{Journal of Electron Spectroscopy and Related Phenomena}, 198, pages: 12-19, Elsevier B.V., Amsterdam, 2015 (article)

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2009


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One-dimensional phthalocyanine nanostructures directed by gold templates

Krauss, T. N., Barrena, E., Lohmüller, T., Kelsch, M., Breitling, A., Van Aken, P. A., Spatz, J., Dosch, H.

{Chemistry of Materials}, 21, pages: 5010-5015, 2009 (article)

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2009


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Near-edge X-ray absorption fine-structure microscopy of organic and magnetic materials

Ade, H., Stoll, H.

{Nature Materials}, 8, pages: 281-290, 2009 (article)

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X-ray imaging of the dynamic magnetic vortex core deformation

Vansteenkiste, A., Chou, K. W., Weigand, M., Curcic, M., Sackmann, V., Stoll, H., Tyliszczak, T., Woltersdorf, G., Back, C. H., Schütz, G., Van Waeyenberge, B.

{Nature Physics}, 5, pages: 332-334, 2009 (article)

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Order\textendashdisorder transition and valence state of ytterbium in YbAuxGa2-x(0.26 \textless\textequalsx \textless\textequals1.31)

Gumeniuk, R., Bischoff, E., Burkhardt, U., Prots, Y., Schnelle, W., Vasylechko, L., Schmidt, M., Kuzma, Y., Grin, Y.

{Journal of Solid State Chemistry}, 182(12):3374-3382, 2009 (article)

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Coercivity of ledge-type L10-FePt/Fe nanocomposites with perpendicular magnetization

Goll, D., Breitling, A.

{Applied Physics Letters}, 94, 2009 (article)

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Time-resolved X-ray microscopy of nanoparticle aggregates under oscillatory shear

Auernhammer, G. K., Fauth, K., Ullrich, B., Zhao, J., Weigand, M., Vollmer, D.

{Journal of Synchrotron Radiation}, 16, pages: 307-309, 2009 (article)

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Micromagnetism of advanced hard magnetic materials

Kronmüller, H., Goll, D.

{International Journal of Materials Research}, 100, pages: 640-651, 2009 (article)

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Confinement of MgH2 nanoclusters within nanoporous aerogel scaffold materials

Nielsen, T. K., Manickam, K., Hirscher, M., Besenbacher, F., Jensen, T. R.

{American Chemical Society Nano}, 3(11):3521-3528, 2009 (article)

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Possible definition of atom- and bond-resolved contributions to the magnetocrystalline anisotropy energy

Subkow, S., Fähnle, M.

{Physical Review B}, 80, 2009 (article)

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