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Pole Balancing with Apollo

Holger Kaden

Eberhard Karls Universität Tübingen, December 2014 (mastersthesis)

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[BibTex]

[BibTex]


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Finite-size scaling study of shear viscosity anomaly at liquid-liquid criticality

Roy, S., Das, S. K.

The Journal of Chemical Physics, 141(23), December 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Wenn es was zu sagen gibt

(Klaus Tschira Award 2014 in Computer Science)

Trimpe, S.

Bild der Wissenschaft, pages: 20-23, November 2014, (popular science article in German) (article)

am ics

PDF Project Page [BibTex]

PDF Project Page [BibTex]


Probabilistic Progress Bars
Probabilistic Progress Bars

Kiefel, M., Schuler, C., Hennig, P.

In Conference on Pattern Recognition (GCPR), 8753, pages: 331-341, Lecture Notes in Computer Science, (Editors: Jiang, X., Hornegger, J., and Koch, R.), Springer, GCPR, September 2014 (inproceedings)

Abstract
Predicting the time at which the integral over a stochastic process reaches a target level is a value of interest in many applications. Often, such computations have to be made at low cost, in real time. As an intuitive example that captures many features of this problem class, we choose progress bars, a ubiquitous element of computer user interfaces. These predictors are usually based on simple point estimators, with no error modelling. This leads to fluctuating behaviour confusing to the user. It also does not provide a distribution prediction (risk values), which are crucial for many other application areas. We construct and empirically evaluate a fast, constant cost algorithm using a Gauss-Markov process model which provides more information to the user.

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website+code pdf DOI [BibTex]

website+code pdf DOI [BibTex]


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Robotics and Neuroscience

Floreano, Dario, Ijspeert, Auke Jan, Schaal, S.

Current Biology, 24(18):R910-R920, sep 2014 (article)

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[BibTex]

[BibTex]


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Learning Coupling Terms for Obstacle Avoidance

Rai, A.

École polytechnique fédérale de Lausanne, August 2014 (mastersthesis)

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Project Page [BibTex]

Project Page [BibTex]


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Object Tracking in Depth Images Using Sigma Point Kalman Filters

Issac, J.

Karlsruhe Institute of Technology, July 2014 (mastersthesis)

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Project Page [BibTex]

Project Page [BibTex]


Robot Arm Pose Estimation through Pixel-Wise Part Classification
Robot Arm Pose Estimation through Pixel-Wise Part Classification

Bohg, J., Romero, J., Herzog, A., Schaal, S.

In IEEE International Conference on Robotics and Automation (ICRA) 2014, pages: 3143-3150, IEEE International Conference on Robotics and Automation (ICRA), June 2014 (inproceedings)

Abstract
We propose to frame the problem of marker-less robot arm pose estimation as a pixel-wise part classification problem. As input, we use a depth image in which each pixel is classified to be either from a particular robot part or the background. The classifier is a random decision forest trained on a large number of synthetically generated and labeled depth images. From all the training samples ending up at a leaf node, a set of offsets is learned that votes for relative joint positions. Pooling these votes over all foreground pixels and subsequent clustering gives us an estimate of the true joint positions. Due to the intrinsic parallelism of pixel-wise classification, this approach can run in super real-time and is more efficient than previous ICP-like methods. We quantitatively evaluate the accuracy of this approach on synthetic data. We also demonstrate that the method produces accurate joint estimates on real data despite being purely trained on synthetic data.

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video code pdf DOI Project Page [BibTex]

video code pdf DOI Project Page [BibTex]


Nanopropellers and Their Actuation in Complex Viscoelastic Media
Nanopropellers and Their Actuation in Complex Viscoelastic Media

Schamel, D., Mark, A. G., Gibbs, J. G., Miksch, C., Morozov, K. I., Leshansky, A. M., Fischer, P.

ACS Nano, 8(9):8794-8801, June 2014, Featured cover article. (article)

Abstract
Tissue and biological fluids are complex viscoelastic media with a nanoporous macromolecular structure. Here, we demonstrate that helical nanopropellers can be controllably steered through such a biological gel. The screw-propellers have a filament diameter of about 70 nm and are smaller than previously reported nanopropellers as well as any swimming microorganism. We show that the nanoscrews will move through high-viscosity solutions with comparable velocities to that of larger micropropellers, even though they are so small that Brownian forces suppress their actuation in pure water. When actuated in viscoelastic hyaluronan gels, the nanopropellers appear to have a significant advantage, as they are of the same size range as the gel’s mesh size. Whereas larger helices will show very low or negligible propulsion in hyaluronan solutions, the nanoscrews actually display significantly enhanced propulsion velocities that exceed the highest measured speeds in Newtonian fluids. The nanopropellers are not only promising for applications in the extracellular environment but small enough to be taken up by cells.

Featured cover article.

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Video - Helical Micro and Nanopropellers for Applications in Biological Fluidic Environments link (url) DOI [BibTex]


Convertor
Convertor

Fischer, P., Mark, A.

May 2014 (patent)

pf

[BibTex]

[BibTex]


Nonmyopic View Planning for Active Object Classification and Pose Estimation
Nonmyopic View Planning for Active Object Classification and Pose Estimation

Atanasov, N., Sankaran, B., Le Ny, J., Pappas, G., Daniilidis, K.

IEEE Transactions on Robotics, May 2014, clmc (article)

Abstract
One of the central problems in computer vision is the detection of semantically important objects and the estimation of their pose. Most of the work in object detection has been based on single image processing and its performance is limited by occlusions and ambiguity in appearance and geometry. This paper proposes an active approach to object detection by controlling the point of view of a mobile depth camera. When an initial static detection phase identifies an object of interest, several hypotheses are made about its class and orientation. The sensor then plans a sequence of viewpoints, which balances the amount of energy used to move with the chance of identifying the correct hypothesis. We formulate an active M-ary hypothesis testing problem, which includes sensor mobility, and solve it using a point-based approximate POMDP algorithm. The validity of our approach is verified through simulation and real-world experiments with the PR2 robot. The results suggest a significant improvement over static object detection

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Web pdf link (url) [BibTex]

Web pdf link (url) [BibTex]


Probabilistic Solutions to Differential Equations and their Application to Riemannian Statistics
Probabilistic Solutions to Differential Equations and their Application to Riemannian Statistics

Hennig, P., Hauberg, S.

In Proceedings of the 17th International Conference on Artificial Intelligence and Statistics, 33, pages: 347-355, JMLR: Workshop and Conference Proceedings, (Editors: S Kaski and J Corander), Microtome Publishing, Brookline, MA, AISTATS, April 2014 (inproceedings)

Abstract
We study a probabilistic numerical method for the solution of both boundary and initial value problems that returns a joint Gaussian process posterior over the solution. Such methods have concrete value in the statistics on Riemannian manifolds, where non-analytic ordinary differential equations are involved in virtually all computations. The probabilistic formulation permits marginalising the uncertainty of the numerical solution such that statistics are less sensitive to inaccuracies. This leads to new Riemannian algorithms for mean value computations and principal geodesic analysis. Marginalisation also means results can be less precise than point estimates, enabling a noticeable speed-up over the state of the art. Our approach is an argument for a wider point that uncertainty caused by numerical calculations should be tracked throughout the pipeline of machine learning algorithms.

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pdf Youtube Supplements Project page link (url) [BibTex]

pdf Youtube Supplements Project page link (url) [BibTex]


Data-Driven Grasp Synthesis - A Survey
Data-Driven Grasp Synthesis - A Survey

Bohg, J., Morales, A., Asfour, T., Kragic, D.

IEEE Transactions on Robotics, 30, pages: 289 - 309, IEEE, April 2014 (article)

Abstract
We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.

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PDF link (url) DOI Project Page [BibTex]

PDF link (url) DOI Project Page [BibTex]


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Local Gaussian Regression

Meier, F., Hennig, P., Schaal, S.

arXiv preprint, March 2014, clmc (misc)

Abstract
Abstract: Locally weighted regression was created as a nonparametric learning method that is computationally efficient, can learn from very large amounts of data and add data incrementally. An interesting feature of locally weighted regression is that it can work with ...

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Web link (url) [BibTex]

Web link (url) [BibTex]


3D nanofabrication on complex seed shapes using glancing angle deposition
3D nanofabrication on complex seed shapes using glancing angle deposition

Hyeon-Ho, J., Mark, A. G., Gibbs, J. G., Reindl, T., Waizmann, U., Weis, J., Fischer, P.

In 2014 IEEE 27th International Conference on Micro Electro Mechanical Systems (MEMS), pages: 437-440, January 2014 (inproceedings)

Abstract
Three-dimensional (3D) fabrication techniques promise new device architectures and enable the integration of more components, but fabricating 3D nanostructures for device applications remains challenging. Recently, we have performed glancing angle deposition (GLAD) upon a nanoscale hexagonal seed array to create a variety of 3D nanoscale objects including multicomponent rods, helices, and zigzags [1]. Here, in an effort to generalize our technique, we present a step-by-step approach to grow 3D nanostructures on more complex nanoseed shapes and configurations than before. This approach allows us to create 3D nanostructures on nanoseeds regardless of seed sizes and shapes.

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DOI [BibTex]

DOI [BibTex]


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Probabilistic ODE Solvers with Runge-Kutta Means

Schober, M., Duvenaud, D., Hennig, P.

In Advances in Neural Information Processing Systems 27, pages: 739-747, (Editors: Z. Ghahramani, M. Welling, C. Cortes, N.D. Lawrence and K.Q. Weinberger), Curran Associates, Inc., 28th Annual Conference on Neural Information Processing Systems (NIPS), 2014 (inproceedings)

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Web link (url) [BibTex]

Web link (url) [BibTex]


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Active Learning of Linear Embeddings for Gaussian Processes

Garnett, R., Osborne, M., Hennig, P.

In Proceedings of the 30th Conference on Uncertainty in Artificial Intelligence, pages: 230-239, (Editors: NL Zhang and J Tian), AUAI Press , Corvallis, Oregon, UAI2014, 2014, another link: http://arxiv.org/abs/1310.6740 (inproceedings)

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PDF Web [BibTex]

PDF Web [BibTex]


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Probabilistic Shortest Path Tractography in DTI Using Gaussian Process ODE Solvers

Schober, M., Kasenburg, N., Feragen, A., Hennig, P., Hauberg, S.

In Medical Image Computing and Computer-Assisted Intervention – MICCAI 2014, Lecture Notes in Computer Science Vol. 8675, pages: 265-272, (Editors: P. Golland, N. Hata, C. Barillot, J. Hornegger and R. Howe), Springer, Heidelberg, MICCAI, 2014 (inproceedings)

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DOI [BibTex]

DOI [BibTex]


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Sampling for Inference in Probabilistic Models with Fast Bayesian Quadrature

Gunter, T., Osborne, M., Garnett, R., Hennig, P., Roberts, S.

In Advances in Neural Information Processing Systems 27, pages: 2789-2797, (Editors: Z. Ghahramani, M. Welling, C. Cortes, N.D. Lawrence and K.Q. Weinberger), Curran Associates, Inc., 28th Annual Conference on Neural Information Processing Systems (NIPS), 2014 (inproceedings)

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Web link (url) [BibTex]

Web link (url) [BibTex]


Circular polarization interferometry: circularly polarized modes of cholesteric liquid crystals
Circular polarization interferometry: circularly polarized modes of cholesteric liquid crystals

Sanchez-Castillo, A., Eslami, S., Giesselmann, F., Fischer, P.

OPTICS EXPRESS, 22(25):31227-31236, 2014 (article)

Abstract
We describe a novel polarization interferometer which permits the determination of the refractive indices for circularly-polarized light. It is based on a Jamin-Lebedeff interferometer, modified with waveplates, and permits us to experimentally determine the refractive indices n(L) and n(R) of the respectively left- and right-circularly polarized modes in a cholesteric liquid crystal. Whereas optical rotation measurements only determine the circular birefringence, i.e. the difference (n(L) - n(R)), the interferometer also permits the determination of their absolute values. We report refractive indices of a cholesteric liquid crystal in the region of selective (Bragg) reflection as a function of temperature. (C) 2014 Optical Society of America

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DOI [BibTex]

DOI [BibTex]


Self-Propelling Nanomotors in the Presence of Strong Brownian Forces
Self-Propelling Nanomotors in the Presence of Strong Brownian Forces

Lee, T., Alarcon-Correa, M., Miksch, C., Hahn, K., Gibbs, J. G., Fischer, P.

NANO LETTERS, 14(5):2407-2412, 2014 (article)

Abstract
Motility in living systems is due to an array of complex molecular nanomotors that are essential for the function and survival of cells. These protein nanomotors operate not only despite of but also because of stochastic forces. Artificial means of realizing motility rely on local concentration or temperature gradients that are established across a particle, resulting in slip velocities at the particle surface and thus motion of the particle relative to the fluid. However, it remains unclear if these artificial motors can function at the smallest of scales, where Brownian motion dominates and no actively propelled living organisms can be found. Recently, the first reports have appeared suggesting that the swimming mechanisms of artificial structures may also apply to enzymes that are catalytically active. Here we report a scheme to realize artificial Janus nanoparticles (JNPs) with an overall size that is comparable to that of some enzymes similar to 30 nm. Our JNPs can catalyze the decomposition of hydrogen peroxide to water and oxygen and thus actively move by self-electrophoresis. Geometric anisotropy of the Pt-Au Janus nanoparticles permits the simultaneous observation of their translational and rotational motion by dynamic light scattering. While their dynamics is strongly influenced by Brownian rotation, the artificial Janus nanomotors show bursts of linear ballistic motion resulting in enhanced diffusion.

pf

DOI [BibTex]


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A Self-Tuning LQR Approach Demonstrated on an Inverted Pendulum

Trimpe, S., Millane, A., Doessegger, S., D’Andrea, R.

In Proceedings of the 19th IFAC World Congress, Cape Town, South Africa, 2014 (inproceedings)

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PDF Supplementary material DOI [BibTex]

PDF Supplementary material DOI [BibTex]


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Learning objective functions for autonomous motion generation

Kalakrishnan, M.

University of Southern California, University of Southern California, Los Angeles, CA, 2014 (phdthesis)

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Project Page Project Page [BibTex]

Project Page Project Page [BibTex]


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Ultracompact Three-Dimensional Tubular Conductivity Microsensors for Ionic and Biosensing Applications

Martinez-Cisneros, C. S., Sanchez, S., Schmidt, O. G., Xi, W.

Nano Letters, pages: 2219-2224, American Chemical Society, Washington, DC, 2014 (article)

Abstract
We present ultracompact three-dimensional tubular structures integrating Au-based electrodes as impedimetric microsensors for the in-flow determination of mono- and divalent ionic species and HeLa cells. The microsensors show an improved performance of 2 orders of magnitude (limit of detection \textequals 0.1 nM for KCl) compared to conventional planar conductivity detection systems integrated in microfluidic platforms and the capability to detect single HeLa cells in flowing phosphate buffered saline. These highly integrated conductivity tubular sensors thus open new possibilities for lab-in-a-tube devices for bioapplications such as biosensing and bioelectronics.

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DOI [BibTex]

DOI [BibTex]


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Catalytic nanomotors for environmental monitoring and water remediation

Soler, L., Sanchez, S.

Nanoscale, 6(13):7175-7182, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Proton-proton collisions at ultra-relativistic energies in quark-gluon string model

Bravina, L., Bleibel, J., Malinina, L., Nilsson, M. S., Zabrodin, E.

EPJ Web of Conferences, 70, EDP Sciences, Les Ulis, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Hydrodynamic interactions induce anomalous diffusion under partial confinement

Bleibel, J., Dominguez, A., Günther, F., Harting, J., Oettel, M.

Soft Matter, 10(17):2945-2948, Royal Society of Chemistry, Cambridge, UK, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Clay nanotube encapsulation for functional biocomposites

Lvov, Y., Aerov, Artem A., Aerov, A. A., Fakhrullin, R.

Advances in Colloid and Interface Science, 207, pages: 189-198, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Wetting phenomena in electrolyte solutions

Ibagon, I.

Universität Stuttgart, Stuttgart, 2014 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


Shape control in wafer-based aperiodic 3D nanostructures
Shape control in wafer-based aperiodic 3D nanostructures

Hyeon-Ho, J., Mark, A. G., Gibbs, J. G., Reindl, T., Waizmann, U., Weis, J., Fischer, P.

NANOTECHNOLOGY, 25(23), 2014, Cover article. (article)

Abstract
Controlled local fabrication of three-dimensional (3D) nanostructures is important to explore and enhance the function of single nanodevices, but is experimentally challenging. We present a scheme based on e-beam lithography (EBL) written seeds, and glancing angle deposition (GLAD) grown structures to create nanoscale objects with defined shapes but in aperiodic arrangements. By using a continuous sacrificial corral surrounding the features of interest we grow isolated 3D nanostructures that have complex cross-sections and sidewall morphology that are surrounded by zones of clean substrate.

Cover article.

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DOI [BibTex]

DOI [BibTex]


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A Limiting Property of the Matrix Exponential

Trimpe, S., D’Andrea, R.

IEEE Transactions on Automatic Control, 59(4):1105-1110, 2014 (article)

am ics

PDF DOI [BibTex]

PDF DOI [BibTex]


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Learning coupling terms for obstacle avoidance

Rai, A., Meier, F., Ijspeert, A., Schaal, S.

In International Conference on Humanoid Robotics, pages: 512-518, IEEE, 2014, clmc (inproceedings)

Abstract
Autonomous manipulation in dynamic environments is important for robots to perform everyday tasks. For this, a manipulator should be capable of interpreting the environment and planning an appropriate movement. At least, two possible approaches exist for this in literature. Usually, a planning system is used to generate a complex movement plan that satisfies all constraints. Alternatively, a simple plan could be chosen and modified with sensory feedback to accommodate additional constraints by equipping the controller with features that remain dormant most of the time, except when specific situations arise. Dynamic Movement Primitives (DMPs) form a robust and versatile starting point for such a controller that can be modified online using a non-linear term, called the coupling term. This can prove to be a fast and reactive way of obstacle avoidance in a human-like fashion. We propose a method to learn this coupling term from human demonstrations starting with simple features and making it more robust to avoid a larger range of obstacles. We test the ability of our coupling term to model different kinds of obstacle avoidance behaviours in humans and use this learnt coupling term to avoid obstacles in a reactive manner. This line of research aims at pushing the boundary of reactive control strategies to more complex scenarios, such that complex and usually computationally more expensive planning methods can be avoided as much as possible.

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link (url) Project Page [BibTex]

link (url) Project Page [BibTex]


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Control of Self-Propelled Microjets Inside a Microchannel With Time-Varying Flow Rates

Magdanz, V., Sanchez, S., Schmidt, O. G., Khalil, I. S. M., Misra, S.

IEEE Transactions on Robotics and Automation, pages: 49-58, IEEE, New York, NY, 2014 (article)

Abstract
We demonstrate the closed-loop motion control of self-propelled microjets inside a fluidic microchannel. The motion control of the microjets is achieved in hydrogen peroxide solution with time-varying flow rates, under the influence of the controlled magnetic fields and the self-propulsion force. Magnetic dipole mo- ment of the microjets is characterized using the U-turn and the rotating field techniques. The characterized magnetic dipole mo- ment has an average of 1.4 $\times$ 10 \textminus 13 A.m 2 at magnetic field, linear velocity, and boundary frequency of 2 mT, 100 $\mu$ m/s, and 25 rad/s, respectively. We implement a closed-loop control system that is based on the characterized magnetic dipole moment of the mi- crojets. This closed-loop control system positions the microjets by directing the magnetic field lines toward the reference position. Experiments are done using a magnetic system and a fluidic mi- crochannel with a width of 500 $\mu$ m. In the absence of a fluid flow, our control system positions the microjets at an average velocity and within an average region-of-convergence (ROC) of 119 $\mu$ m/s and 390 $\mu$ m, respectively. As a representative case, we observe that our control system positions the microjets at an average velocity and within an average ROC of 90 $\mu$ m/s and 600 $\mu$ m and 120 $\mu$ m/s and 600 $\mu$ m when a flow rate of 2.5 $\mu$ l/min is applied against and along the direction of the microjets, respectively. Furthermore, the average velocity and ROC are determined throughout the flow range (0 to 7.5 $\mu$ l/min) to characterize the motion of the microjets inside the microchannel

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DOI [BibTex]

DOI [BibTex]


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Electrostatic interaction between colloidal particles trapped at an electrolyte interface

Majee, A., Bier, M., Dietrich, S.

The Journal of Chemical Physics, 140(16), American Institute of Physics, Woodbury, N.Y., 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Capillary attraction induced collapse of colloidal monolayers at fluid interfaces

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

Soft Matter, 10(23):4091-4109, Royal Society of Chemistry, Cambridge, UK, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Trapping self-propelled micromotors with microfabricated chevron and heart-shaped chips

Restrepo-Pérez, L., Soler, L., Mart\’\inez-Cisneros, C. S., Sanchez, S., Schmidt, O. G.

Lab on a Chip, 14(9):1515-1518, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Order of wetting transitions in electrolyte solutions

Ibagon, I., Bier, M., Dietrich, S.

The Journal of Chemical Physics, 140(17), American Institute of Physics, Woodbury, N.Y., 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Specific salt effects on thermophoresis of charged colloids

Eslahian, K. A., Majee, A., Maskos, M., Würger, A.

Soft Matter, 10(12):1931-1936, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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H5MD: A structured, efficient, and portable file format for molecular data

De Buyl, P., Colberg, P. H., Höfling, F.

Computer Physics Communications, 185(6):1546-1553, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Emergent Long-Range Couplings in Arrays of Fluid Cells

Abraham, D. B., Maciolek, A., Vasilyev, O.

Physical Review Letters, 113(7), American Physical Society, Woodbury, N.Y., 2014 (article)

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DOI [BibTex]

DOI [BibTex]


Active Microrheology of the Vitreous of the Eye applied to Nanorobot Propulsion
Active Microrheology of the Vitreous of the Eye applied to Nanorobot Propulsion

Qiu, T., Schamel, D., Mark, A. G., Fischer, P.

In 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pages: 3801-3806, IEEE International Conference on Robotics and Automation ICRA, 2014, Best Automation Paper Award – Finalist. (inproceedings)

Abstract
Biomedical applications of micro or nanorobots require active movement through complex biological fluids. These are generally non-Newtonian (viscoelastic) fluids that are characterized by complicated networks of macromolecules that have size-dependent rheological properties. It has been suggested that an untethered microrobot could assist in retinal surgical procedures. To do this it must navigate the vitreous humor, a hydrated double network of collagen fibrils and high molecular-weight, polyanionic hyaluronan macromolecules. Here, we examine the characteristic size that potential robots must have to traverse vitreous relatively unhindered. We have constructed magnetic tweezers that provide a large gradient of up to 320 T/m to pull sub-micron paramagnetic beads through biological fluids. A novel two-step electrical discharge machining (EDM) approach is used to construct the tips of the magnetic tweezers with a resolution of 30 mu m and high aspect ratio of similar to 17:1 that restricts the magnetic field gradient to the plane of observation. We report measurements on porcine vitreous. In agreement with structural data and passive Brownian diffusion studies we find that the unhindered active propulsion through the eye calls for nanorobots with cross-sections of less than 500 nm.

Best Automation Paper Award – Finalist.

pf

[BibTex]

[BibTex]


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Event-Based State Estimation With Variance-Based Triggering

Trimpe, S., D’Andrea, R.

IEEE Transactions on Automatic Control, 59(12):3266-3281, 2014 (article)

am ics

PDF Supplementary material DOI Project Page [BibTex]

PDF Supplementary material DOI Project Page [BibTex]


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Effective interaction between a colloid and a soft interface near criticality

Law, A. D., Harnau, L., Tröndle, M., Dietrich, S.

The Journal of Chemical Physics, 141(13), 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Tubular micro- nanorobots: smart design for bio-related applications

Sanchez, S., Wang, X., Solovev, A. A., Soler, L., Magdanz, V., Schmidt, O. G.

In Small-Scale Robotics, 8336, pages: 16-27, Lecture Notes in Computer Science, Springer, Karlsruhe, 2014 (inproceedings)

Abstract
We designed microrobots in the form of autonomous and remotely guided microtubes. One of the challenges at small scales is the effective conversion of energy into mechanical force to overcome the high viscosity of the fluid at low Reynolds numbers. This can be achieved by integration of catalytic nano-materials and processes to decompose chemical fuels. However, up to now, mostly hydrogen peroxide has been employed as a fuel which renders the potential applications in biomedicine and in vivo experiments. Therefore, other sources of energy to achieve motion at the micro- nanoscale are highly sought-after. Here, we present different types of tubular micro- and nanorobots, alternative approaches to toxic fuels and also, steps towards the use of tubular microrobots as micro- and nanotools

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DOI [BibTex]

DOI [BibTex]


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Photoactive rolled-up TiO2 microtubes: fabrition, characterization and applications

Giuducatti, S., Marz, S. M., Soler, L., Madani, A., Jorgensen, M. R., Sanchez, S., Schmidt, O. G.

Journal of Materials Chemistry C: Materials for Optical and Electronic Devices, pages: 5892-5901, Royal Society of Chemistry, London, UK, 2014 (article)

Abstract
Because of its unique properties, titania (TiO2) represents a promising candidate in a wide variety of research fields. In this paper, some of the properties and potential applications of titania within rolled-up nanotechnology are explored. It is shown how the structural and optical properties of rolled titania microtubes can be controlled by properly tuning the microfabrication parameters. The rolling up of titania films on different sacrificial layers and containing different shapes, achieving a control on the diameter of the fabricated titania microtubes, is presented. In order to obtain the more photoactive crystalline form of titania, one during-fabrication and two post-fabrication methods are demonstrated. Interesting applications in the fields of photocatalysis and photonics are suggested: the use of titania rolled-up microtubes as micromotors and optical microresonators is presented.

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DOI [BibTex]

DOI [BibTex]


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How ions in solution can change the sign of the critical Casimir potential

Pousaneh, F., Ciach, A., Maciolek, A.

Soft Matter, 10(3):470-483, Royal Society of Chemistry, Cambridge, UK, 2014 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir interactions around the consolute point of a binary solvent

Mohry, T. F., Kondrat, S., Maciolek, A., Dietrich, S.

Soft Matter, 10(30):5510-5522, 2014 (article)

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DOI [BibTex]

DOI [BibTex]