Header logo is


2008


no image
Size dependent motion of nanodroplets on chemical steps

Moosavi, A., Rauscher, M., Dietrich, S.

Journal of Chemical Physics, 129(4), 2008 (article)

icm

link (url) DOI [BibTex]

2008


link (url) DOI [BibTex]


no image
Magnetization and susceptibility of ferrofluids

Szalai, I., Dietrich, S.

Journal of Physics: Condensed Matter, 20(20), 2008 (article)

icm

[BibTex]

[BibTex]


no image
Polymer nanofibers via nozzle-free centrifugal spinning

Weitz, R. T., Harnau, L., Rauschenbach, S., Burghard, M., Kern, K.

Nano Letters, 8, pages: 1187-1191, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Colloids dragged through a polymer solution: experiment, theory, and simulation

Gutsche, C., Kremer, F., Krüger, M., Rauscher, M., Weeber, R., Harting, J.

Journal of Chemical Physics, 129(8), 2008 (article)

icm

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
The non-equilibrium response of the critical Ising model: universal scaling properties and local scale invariance

Corberi, F., Gambassi, A., Lippiello, E., Zannetti, M.

Journal of Statistical Mechanics: Theory and Experiment, 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
The influence of non-locality on fluctuation effects for 3D short-ranged wetting

Parry, A. O., Romero-Enrique, J. M., Bernardino, N. R., Rascon, C.

Journal of Physics: Condensed Matter, 20(50), 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Universal dependence on disorder of 2D randomly diluted and random-bond +/-J Ising models.

Hasenbusch, M., Parisen Toldin, F., Pelissetto, A., Vicari, E.

Physical Review E, 78(1), 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Effect of contact angle hysteresis on the measurement of capillary forces

De Souza, E. J., Gao, L., McCarthy, T. J., Arzt, E., Crosby, A. J.

Langmuir, 24(4):1391-1396, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Learning to control in operational space

Peters, J., Schaal, S.

International Journal of Robotics Research, 27, pages: 197-212, 2008, clmc (article)

Abstract
One of the most general frameworks for phrasing control problems for complex, redundant robots is operational space control. However, while this framework is of essential importance for robotics and well-understood from an analytical point of view, it can be prohibitively hard to achieve accurate control in face of modeling errors, which are inevitable in com- plex robots, e.g., humanoid robots. In this paper, we suggest a learning approach for opertional space control as a direct inverse model learning problem. A first important insight for this paper is that a physically cor- rect solution to the inverse problem with redundant degrees-of-freedom does exist when learning of the inverse map is performed in a suitable piecewise linear way. The second crucial component for our work is based on the insight that many operational space controllers can be understood in terms of a constrained optimal control problem. The cost function as- sociated with this optimal control problem allows us to formulate a learn- ing algorithm that automatically synthesizes a globally consistent desired resolution of redundancy while learning the operational space controller. From the machine learning point of view, this learning problem corre- sponds to a reinforcement learning problem that maximizes an immediate reward. We employ an expectation-maximization policy search algorithm in order to solve this problem. Evaluations on a three degrees of freedom robot arm are used to illustrate the suggested approach. The applica- tion to a physically realistic simulator of the anthropomorphic SARCOS Master arm demonstrates feasibility for complex high degree-of-freedom robots. We also show that the proposed method works in the setting of learning resolved motion rate control on real, physical Mitsubishi PA-10 medical robotics arm.

am ei

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Direct measurement of critical Casimir forces

Hertlein, C., Helden, L., Gambassi, A., Dietrich, S., Bechinger, C.

Nature, 451, pages: 172-175, 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Effective Hamiltonian for fluid membranes in the presence of long-range forces

Dutka, F., Napiorkowski, M., Dietrich, S.

Physical Review E, 78(2), 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Lock and key model system

König, P., Roth, R., Dietrich, S.

Europhysics Letters, 84(06), 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Colloidal interactions at fluid interfaces

Oettel, M., Dietrich, S.

Langmuir, 24(4):1425-1441, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Spinodal dewetting of thin films with large interfacial slip: implications from the dispersion relation

Rauscher, M., Blossey, R., Münch, A., Wagner, B.

Langmuir, 24(21):12290-12294, 2008 (article)

icm

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Multicritical Nishimori point in the phase diagram of the +/-J Ising model on a square lattice

Hasenbusch, M., Parisen Toldin, F., Pelissetto, A., Vicari, E.

Physical Review E, 77(5), 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Stimuli-responsive particles: synthesis and characterization of dumbbell-shaped polyelectrolyte brush particles

Hoffmann, M., Lu, Y. S., Schrinner, M., Ballauff, M., Harnau, L.

Polymeric Materials: Science \& Engineering, 99, pages: 216-217, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Dumbbell-shaped polyelectrolyte brushes studied by depolarized dynamic light scattering

Hoffmann, M., Lu, Y., Schrinner, M., Ballauff, M., Harnau, L.

Journal of Physical Chemistry B, 112, pages: 14843-14850, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Entropic Forces on Bio-Molecules

Hansen-Goos, H.

Universität Stuttgart, Stuttgart, 2008 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


no image
Wetting of geometrically structured substrates

Marinescu, M.

Universität Stuttgart, Stuttgart, Germany, 2008 (mastersthesis)

icm

[BibTex]

[BibTex]


no image
Stability of liquid ridges on chemical micro- and nanostripes

Mechkov, S., Rauscher, M., Dietrich, S.

Physical Review E, 77(6), 2008 (article)

Abstract
{10 pages}

icm

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Motion of nanodroplets near chemical heterogeneities

Moosavi, A., Rauscher, M., Dietrich, S.

Langmuir, 24(3):734-742, 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Fluktuations- und Kapillarkräfte zwischen Kolloiden an fluiden Grenzflächen

Lehle, H.

Universität Stuttgart, Stuttgart, 2008 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


no image
Stability and interactions of nanocolloids at fluid interfaces: effects of capillary waves and line tensions

Lehle, H., Oettel, M.

Journal of Physics: Condensed Matter, 20(40), 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Directed motion of proteins along tethered polyelectrolytes

Henzler, K., Rosenfeldt, S., Wittemann, A., Harnau, L., Finet, S., Narayanan, T., Ballauff, M.

Physical Review Letters, 100, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Ellipsoidal particles at fluid interfaces

Lehle, H., Noruzifar, E., Oettel, M.

European Physical Journal E, 26(1-2):151-160, 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Microscopic calculation of line tensions

Merath, R.-J.

Universität Stuttgart, Stuttgart, 2008 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


no image
Growth of di-indenoperylene single crystals on amino-functionalized SiO2 surfaces

Zhang, X. N., Barrena, E., de Oteyza, D. G., de Souza, E., Dosch, H.

Journal of Applied Physics, 104, 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
Force balance of particles trapped at fluid interfaces

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

The Journal of Chemical Physics, 128(11), 2008 (article)

icm

[BibTex]

[BibTex]


no image
Water and ice in contact with octadecyl-trichlorosilane functionalized surfaces: a high resolution x-ray reflectivity study

Mezger, M., Schöder, S., Reichert, H., Schröder, H., Okasinski, J., Honkimäki, V., Ralston, J., Bilgram, J., Roth, R., Dosch, H.

Journal of Chemical Physics, 128, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Moulding technique demonstrates the contribution of surface geometry to the super-hydrophobic properties of the surface of a water strider

Perez Goodwyn, P., de Souza, E., Fujisaki, K., Gorb, S.

Acta Biomaterialia, 4, pages: 766-770, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Capillary forces between chemically different substrates

De Souza, E. J., Brinkmann, M., Mohrdieck, C., Crosby, A., Arzt, E.

Langmuir, 24, pages: 10161-10168, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Multipole expansion of the electrostatic interaction between charged colloids at interfaces

Dominguez, A., Frydel, D., Oettel, M.

Physical Review E, 77(2), 2008 (article)

icm

[BibTex]

[BibTex]


no image
Lattice model for fluid flow in narrow channels

Dotti, C.

Universität Stuttgart, Stuttgart, 2008 (phdthesis)

icm

[BibTex]

[BibTex]


no image
Critical Casimir forces

Mohry, T. F.

Universität Stuttgart, Stuttgart, 2008 (mastersthesis)

icm

[BibTex]

[BibTex]


no image
Structure and thermodynamics of platelet dispersions

Harnau, L.

Molecular Physics, 106, pages: 1975-2000, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Wetting phenomena in nanofluidics

Rauscher, M., Dietrich, S.

Annual Review of Materials Research, 38, pages: 143-172, 2008 (article)

icm

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Spherocylindrical coacervate core micelles formed by a supramolecular coordination polymer and a diblock copolymer

Yan, Y., Harnau, L., Besseling, N. A. M., de Keizer, A., Ballauff, M., Rosenfeldt, S., Cohen Stuart, A.

Soft Matter, 4, pages: 2207-2212, 2008 (article)

icm

[BibTex]

[BibTex]


no image
The critical wetting saga: how to draw the correct conclusions

Parry, A. O., Rascon, C., Bernardino, N. R., Romero-Enrique, J. M.

Journal of Physics: Condensed Matter, 20(49), 2008 (article)

icm

DOI [BibTex]

DOI [BibTex]


no image
The short-time self-diffusion coefficient of a sphere in a suspension of rigid rods

Guzowski, J., Cichocki, B., Wajnryb, E., Abade, G.C.

The Journal of Chemical Physics, 128(9), 2008 (article)

icm

[BibTex]

[BibTex]


no image
Enhancement of capillary forces by multiple liquid bridges

De Souza, E. J., Brinkmann, M., Mohrdieck, C., Arzt, E.

Langmuir, 24(16):8813-8820, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Bubbles, gating, and anesthetics in ion channels

Roth, R., Gillespie, D., Nonner, W., Eisenberg, R.E.

Biophysical Journal, 94(11):4282-4298, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Generation and application of high power femtosecond pulses in the vibrational fingerprint region

Sugiharto, A. B., Johnson, C. M., De Aguiar, H. B., Alloatti, L., Roke, S.

Applied Physics B, 91, pages: 315-318, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Relaxation phenomena at criticality

Gambassi, A.

European Physical Journal B, 64(3-4):379-386, 2008 (article)

icm

[BibTex]

[BibTex]


no image
Adaptation to a sub-optimal desired trajectory

M. Mistry, E. A. G. L. T. Y. S. S. M. K.

Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008, 2008, clmc (article)

am

PDF [BibTex]

PDF [BibTex]


no image
Operational space control: A theoretical and emprical comparison

Nakanishi, J., Cory, R., Mistry, M., Peters, J., Schaal, S.

International Journal of Robotics Research, 27(6):737-757, 2008, clmc (article)

Abstract
Dexterous manipulation with a highly redundant movement system is one of the hallmarks of hu- man motor skills. From numerous behavioral studies, there is strong evidence that humans employ compliant task space control, i.e., they focus control only on task variables while keeping redundant degrees-of-freedom as compliant as possible. This strategy is robust towards unknown disturbances and simultaneously safe for the operator and the environment. The theory of operational space con- trol in robotics aims to achieve similar performance properties. However, despite various compelling theoretical lines of research, advanced operational space control is hardly found in actual robotics imple- mentations, in particular new kinds of robots like humanoids and service robots, which would strongly profit from compliant dexterous manipulation. To analyze the pros and cons of different approaches to operational space control, this paper focuses on a theoretical and empirical evaluation of different methods that have been suggested in the literature, but also some new variants of operational space controllers. We address formulations at the velocity, acceleration and force levels. First, we formulate all controllers in a common notational framework, including quaternion-based orientation control, and discuss some of their theoretical properties. Second, we present experimental comparisons of these approaches on a seven-degree-of-freedom anthropomorphic robot arm with several benchmark tasks. As an aside, we also introduce a novel parameter estimation algorithm for rigid body dynamics, which ensures physical consistency, as this issue was crucial for our successful robot implementations. Our extensive empirical results demonstrate that one of the simplified acceleration-based approaches can be advantageous in terms of task performance, ease of parameter tuning, and general robustness and compliance in face of inevitable modeling errors.

am

link (url) [BibTex]

link (url) [BibTex]


no image
A library for locally weighted projection regression

Klanke, S., Vijayakumar, S., Schaal, S.

Journal of Machine Learning Research, 9, pages: 623-626, 2008, clmc (article)

Abstract
In this paper we introduce an improved implementation of locally weighted projection regression (LWPR), a supervised learning algorithm that is capable of handling high-dimensional input data. As the key features, our code supports multi-threading, is available for multiple platforms, and provides wrappers for several programming languages.

am

link (url) [BibTex]

link (url) [BibTex]


no image
Optimization strategies in human reinforcement learning

Hoffmann, H., Theodorou, E., Schaal, S.

Advances in Computational Motor Control VII, Symposium at the Society for Neuroscience Meeting, Washington DC, 2008, 2008, clmc (article)

am

PDF [BibTex]

PDF [BibTex]

2001


no image
Polymer depletion interaction between two parallel repulsive walls

Schlesener, F., Hanke, A., Klimpel, R., Dietrich, S.

Physical Review E, 63, 2001 (article)

icm

[BibTex]

2001


[BibTex]


no image
Positron annihilation studies on the migration of deformation induced vacancies in stainless steel AISI 316 L

Holzwarth, U., Barbieri, A., Hansen-Ilzhofer, S., Schaaff, P., Haaks, M.

Applied Physics A-Materials Science \& Processing, 73(4):467-475, 2001 (article)

icm

[BibTex]

[BibTex]