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2018


Thumb xl grasping
Leveraging Contact Forces for Learning to Grasp

Merzic, H., Bogdanovic, M., Kappler, D., Righetti, L., Bohg, J.

arXiv, September 2018, Submitted to ICRA'19 (article) Submitted

Abstract
Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object pose or shape. To enable a robot to react appropriately to unforeseen effects, it is crucial that it continuously takes sensor feedback into account. While visual feedback is important for inferring a grasp pose and reaching for an object, contact feedback offers valuable information during manipulation and grasp acquisition. In this paper, we use model-free deep reinforcement learning to synthesize control policies that exploit contact sensing to generate robust grasping under uncertainty. We demonstrate our approach on a multi-fingered hand that exhibits more complex finger coordination than the commonly used two- fingered grippers. We conduct extensive experiments in order to assess the performance of the learned policies, with and without contact sensing. While it is possible to learn grasping policies without contact sensing, our results suggest that contact feedback allows for a significant improvement of grasping robustness under object pose uncertainty and for objects with a complex shape.

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video arXiv [BibTex]

2018


video arXiv [BibTex]


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Robust Physics-based Motion Retargeting with Realistic Body Shapes

Borno, M. A., Righetti, L., Black, M. J., Delp, S. L., Fiume, E., Romero, J.

Computer Graphics Forum, 37, pages: 6:1-12, July 2018 (article)

Abstract
Motion capture is often retargeted to new, and sometimes drastically different, characters. When the characters take on realistic human shapes, however, we become more sensitive to the motion looking right. This means adapting it to be consistent with the physical constraints imposed by different body shapes. We show how to take realistic 3D human shapes, approximate them using a simplified representation, and animate them so that they move realistically using physically-based retargeting. We develop a novel spacetime optimization approach that learns and robustly adapts physical controllers to new bodies and constraints. The approach automatically adapts the motion of the mocap subject to the body shape of a target subject. This motion respects the physical properties of the new body and every body shape results in a different and appropriate movement. This makes it easy to create a varied set of motions from a single mocap sequence by simply varying the characters. In an interactive environment, successful retargeting requires adapting the motion to unexpected external forces. We achieve robustness to such forces using a novel LQR-tree formulation. We show that the simulated motions look appropriate to each character’s anatomy and their actions are robust to perturbations.

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pdf video Project Page Project Page [BibTex]

pdf video Project Page Project Page [BibTex]


Thumb xl screen shot 2018 03 22 at 10.40.47 am
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs

Sproewitz, A., Tuleu, A., Ajallooeian, M., Vespignani, M., Moeckel, R., Eckert, P., D’Haene, M., Degrave, J., Nordmann, A., Schrauwen, B., Steil, J., Ijspeert, A. J.

Frontiers in Robotics and AI, 5(67), June 2018, arXiv: 1803.06259 (article)

Abstract
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is possible without sensory signals to some extend, and tracking becomes robust when feedback control is added (Ajaoolleian 2015). By incorporating mechanical and control blueprints inspired from animals, and by observing the resulting robot locomotion characteristics, we aim to understand the contribution of individual components. Legged robots have a wide mechanical and control design parameter space, and a unique potential as research tools to investigate principles of biomechanics and legged locomotion control. But the hardware and controller design can be a steep initial hurdle for academic research. To facilitate the easy start and development of legged robots, Oncilla-robot's blueprints are available through open-source. [...]

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Transmission x-ray microscopy at low temperatures: Irregular supercurrent flow at small length scales

Simmendinger, J., Ruoss, S., Stahl, C., Weigand, M., Gräfe, J., Schütz, G., Albrecht, J.

{Physical Review B}, 97(13), American Physical Society, Woodbury, NY, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Incorporation of Terbium into a Microalga Leads to Magnetotactic Swimmers

Santomauro, G., Singh, A., Park, B. W., Mohammadrahimi, M., Erkoc, P., Goering, E., Schütz, G., Sitti, M., Bill, J.

Advanced Biosystems, 2(12):1800039, 2018 (article)

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[BibTex]

[BibTex]


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3D nanoprinted plastic kinoform x-ray optics

Sanli, U. T., Ceylan, H., Bykova, I., Weigand, M., Sitti, M., Schütz, G., Keskinbora, K.

{Advanced Materials}, 30(36), Wiley-VCH, Weinheim, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Learning a Structured Neural Network Policy for a Hopping Task.

Viereck, J., Kozolinsky, J., Herzog, A., Righetti, L.

IEEE Robotics and Automation Letters, 3(4):4092-4099, October 2018 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Thick permalloy films for the imaging of spin texture dynamics in perpendicularly magnetized systems

Finizio, S., Wintz, S., Bracher, D., Kirk, E., Semisalova, A. S., Förster, J., Zeissler, K., We\ssels, T., Weigand, M., Lenz, K., Kleibert, A., Raabe, J.

{Physical Review B}, 98(10), American Physical Society, Woodbury, NY, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Dynamic Janus metasurfaces in the visible spectral region

Yu, P., Li, J., Zhang, S., Jin, Z., Schütz, G., Qiu, C., Hirscher, M., Liu, N.

{Nano Letters}, 18(7):4584-4589, American Chemical Society, Washington, DC, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Review of ultrafast demagnetization after femtosecond laser pulses: A complex interaction of light with quantum matter

Fähnle, M., Haag, M., Illg, C., Müller, B. Y., Weng, W., Tsatsoulis, T., Huang, H., Briones Paz, J. Z., Teeny, N., Zhang, L., Kuhn, T.

{American Journal of Modern Physics}, 7(2):68-74, Science Publishing Group, New York, NY, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Direct observation of Zhang-Li torque expansion of magnetic droplet solitons

Chung, S., Tuan Le, Q., Ahlberg, M., Awad, A. A., Weigand, M., Bykova, I., Khymyn, R., Dvornik, M., Mazraati, H., Houshang, A., Jiang, S., Nguyen, T. N. A., Goering, E., Schütz, G., Gräfe, J., \AAkerman, J.

{Physical Review Letters}, 120(21), American Physical Society, Woodbury, N.Y., 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Current-induced skyrmion generation through morphological thermal transitions in chiral ferromagnetic heterostructures

Lemesh, I., Litzius, K., Böttcher, M., Bassirian, P., Kerber, N., Heinze, D., Zázvorka, J., Büttner, F., Caretta, L., Mann, M., Weigand, M., Finizio, S., Raabe, J., Im, M., Stoll, H., Schütz, G., Dupé, B., Kläui, M., Beach, G. S. D.

{Advanced Materials}, 30(49), Wiley-VCH, Weinheim, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Assessment methodology of promising porous materials for near ambient temperature hydrogen storage applications

Minuto, F. D., Balderas-Xicohténcatl, R., Policicchio, A., Hirscher, M., Agostino, R. G.

{International Journal of Hydrogen Energy}, 43(31):14550-14556, Elsevier, Amsterdam, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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3d nanofabrication of high-resolution multilayer Fresnel zone plates

Sanli, U. T., Jiao, C., Baluktsian, M., Grévent, C., Hahn, K., Wang, Y., Srot, V., Richter, G., Bykova, I., Weigand, M., Schütz, G., Keskinbora, K.

{Advanced Science}, 5(9), Wiley-VCH, Weinheim, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Photocatalytic CO2 reduction by Cr-substituted Ba2(In2-xCrx)O5\mbox⋅(H2O)δ(0.04 ≤x ≤0.60)

Yoon, S., Gaul, M., Sharma, S., Son, K., Hagemann, H., Ziegenbalg, D., Schwingenschlogl, U., Widenmeyer, M., Weidenkaff, A.

{Solid State Sciences}, 78, pages: 22-29, Elsevier Masson SAS, Paris, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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The Impact of Robotics and Automation on Working Conditions and Employment [Ethical, Legal, and Societal Issues]

Pham, Q., Madhavan, R., Righetti, L., Smart, W., Chatila, R.

IEEE Robotics and Automation Magazine, 25(2):126-128, June 2018 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Correction of axial position uncertainty and systematic detector errors in ptychographic diffraction imaging

Loetgering, L., Rose, M., Keskinbora, K., Baluktsian, M., Dogan, G., Sanli, U., Bykova, I., Weigand, M., Schütz, G., Wilhein, T.

{Optical Engineering}, 57(8), The Society, Redondo Beach, Calif., 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Thermodynamics, kinetics and selectivity of H2 and D2 on zeolite 5A below 77K

Xiong, R., Balderas-Xicohténcatl, R., Zhang, L., Li, P., Yao, Y., Sang, G., Chen, C., Tang, T., Luo, D., Hirscher, M.

{Microporous and Mesoporous Materials}, 264, pages: 22-27, Elsevier, Amsterdam, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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The role of surface oxides on hydrogen sorption kinetics in titanium thin films

Hadjixenophontos, E., Michalek, L., Roussel, M., Hirscher, M., Schmitz, G.

{Applied Surface Science}, 441, pages: 324-330, Elsevier B.V., Amsterdam, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Volumetric hydrogen storage capacity in metal-organic frameworks

Balderas-Xicohténcatl, R., Schlichtenmayer, M., Hirscher, M.

{Energy Technology}, 6(3):578-582, Wiley-VCH, Weinheim, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Ferromagnetism in nitrogen and fluorine substituted BaTiO3

Yoon, S., Son, K., Ebbinghaus, S. G., Widenmeyer, M., Weidenkaff, A.

{Journal of Alloys and Compounds}, 749, pages: 628-633, Elsevier B.V., Lausanne, Switzerland, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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New concepts for 3d optics in x-ray microscopy

Sanli, U., Ceylan, H., Jiao, C., Baluktsian, M., Grevent, C., Hahn, K., Wang, Y., Srot, V., Richter, G., Bykova, I., Weigand, M., Sitti, M., Schütz, G., Keskinbora, K.

{Microscopy and Microanalysis}, 24(Suppl 2):288-289, Cambridge University Press, New York, NY, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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High volumetric hydrogen storage capacity using interpenetrated metal-organic frameworks

Balderas-Xicohténcatl, R., Schmieder, P., Denysenko, D., Volkmer, D., Hirscher, M.

{Energy Technology}, 6(3):510-512, Wiley-VCH, Weinheim, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Lethal Autonomous Weapon Systems [Ethical, Legal, and Societal Issues]

Righetti, L., Pham, Q., Madhavan, R., Chatila, R.

IEEE Robotics \& Automation Magazine, 25(1):123-126, March 2018 (article)

Abstract
The topic of lethal autonomous weapon systems has recently caught public attention due to extensive news coverage and apocalyptic declarations from famous scientists and technologists. Weapon systems with increasing autonomy are being developed due to fast improvements in machine learning, robotics, and automation in general. These developments raise important and complex security, legal, ethical, societal, and technological issues that are being extensively discussed by scholars, nongovernmental organizations (NGOs), militaries, governments, and the international community. Unfortunately, the robotics community has stayed out of the debate, for the most part, despite being the main provider of autonomous technologies. In this column, we review the main issues raised by the increase of autonomy in weapon systems and the state of the international discussion. We argue that the robotics community has a fundamental role to play in these discussions, for its own sake, to provide the often-missing technical expertise necessary to frame the debate and promote technological development in line with the IEEE Robotics and Automation Society (RAS) objective of advancing technology to benefit humanity.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Spin-wave interference in magnetic vortex stacks

Behncke, C., Adolff, C. F., Lenzing, N., Hänze, M., Schulte, B., Weigand, M., Schütz, G., Meier, G.

{Communications Physics}, 1, Nature Publishing Group, London, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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High-throughput synthesis of modified Fresnel zone plate arrays via ion beam lithography

Keskinbora, K., Sanli, U. T., Baluktsian, M., Grévent, C., Weigand, M., Schütz, G.

{Beilstein Journal of Nanotechnology}, 9, pages: 2049-2056, Beilstein-Institut, Frankfurt am Main, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Deterministic creation and deletion of a single magnetic skyrmion observed by direct time-resolved X-ray microscopy

Woo, S., Song, K. M., Zhang, X., Ezawa, M., Zhou, Y., Liu, X., Weigand, M., Finizio, S., Raabe, J., Park, M.-C., Lee, K.-Y., Choi, J. W., Min, B.-C., Koo, H. C., Chang, J.

{Nature Electronics}, 1(5):288-296, Springer Nature, London, 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic skyrmion as a nonlinear resistive element: A potential building block for reservoir computing

Prychynenko, D., Sitte, M., Litzius, K., Krüger, B., Bourianoff, G., Kläui, M., Sinova, J., Everschor-Sitte, K.

{Physical Review Applied}, 9(1), American Physical Society, College Park, Md. [u.a.], 2018 (article)

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DOI [BibTex]

DOI [BibTex]


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Tunable geometrical frustration in magnoic vortex crystals

Behncke, C., Adolff, C. F., Wintz, S., Hänze, M., Schulte, B., Weigand, M., Finizio, S., Raabe, J., Meier, G.

{Scientific Reports}, 8, Nature Publishing Group, London, UK, 2018 (article)

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DOI [BibTex]

DOI [BibTex]

2013


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Magnetoelastic coupling in epitaxial cobalt ferrite/barium titanate heterostructures

Gräfe, J., Welke, M., Bern, F., Ziese, M., Denecke, R.

Journal of Magnetism and Magnetic Materials, 339, pages: 84-88, 2013 (article)

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DOI [BibTex]

2013


DOI [BibTex]


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Quantum cryo-sieving for hydrogen isotope separation in microporous frameworks: an experimental study on the correlation between effective quantum sieving and pore size

Oh, H., Park, K. S., Kalidindi, S. B., Fischer, R. A., Hirscher, M.

{Journal of Materials Chemistry A}, 1, pages: 3244-3248, Royal Society of Chemistry, Cambridge, UK, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Gold nanocrystals in high-temperature superconducting films: creation of pinning patterns of choice

Katzer, C., Stahl, C., Michalowski, P., Treiber, S., Schmidl, F., Seidel, P., Albrecht, J., Schütz, G.

{New Journal of Physics}, 15(11), Institute of Physics Pub., Bristol, UK, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Theory of scattering of crystal electrons at magnons

Haag, Michael, Illg, C., Fähnle, M.

{Physical Review B}, Published by the American Physical Society through the American Institute of Physics, Woodbury, NYAmerican Institute of Physics, Woodbury, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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The effect of magnetocrystalline anisotropy on the domain structure of patterned Fe2CrSi Heusler alloy thin films

Miyawaki, T., Foerster, M., Finizio, S., Vaz, C. A. F., Mawass, M.-A., Inagaki, K., Fukatani, N., Le Guyader, L., Nolting, F., Ueda, K., Asano, H., Kläui, M.

{Journal of Applied Physcis}, 114(7), American Institute of Physics, New York, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Ion beam lithography for Fresnel zone plates in X-ray microscopy

Keskinbora, K., Grévent, C., Bechtel, M., Weigand, M., Goering, E., Nadzeyka, A., Lloyd, P., Rehbein, S., Schneider, G., Follath, R., Vila-Comamala, J., Yan, H., Schütz, G.

{Optics Express}, 21(10):11747-11756, Optical Society of America, Washington, DC, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Is the angular momentum of a ferromagnetic sample after exposure to a fs laser pulse conserved?

Fähnle, M., Haag, M., Illg, C.

{Journal of Magnetism and Magnetic Materials}, 347, pages: 45-46, North-Holland, Amsterdam, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Grain boundaries as the controlling factor for the ferromagnetic behaviour of Co-doped ZnO

Straumal, B. B., Mazilkin, A. A., Protasova, S. G., Straumal, P. B., Myatiev, A. A., Schütz, G., Goering, E. J., Tietze, T., Baretzky, B.

{Philosophical Magazine}, 93(10-12):1371-1383, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic properties of electrochemically prepared crystalline films of Prussian blue-based molecular magnets Kj CrIIk [CrIII(CN)6] l \mbox⋅ mH2O

Bhatt, P., Yusuf, S. M., Bhatt, R., Schütz, G.

{Journal of Solid State Electrochemistry}, 17, pages: 1285-1293, Springer-Verlag Germany, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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H2/D2 adsorption and desorption studies on carbon molecular sieves with different pore structures

Krkljus, I., Steriotis, T., Charalambopoulou, G., Gotzias, A., Hirscher, M.

{Carbon}, 57, pages: 239-247, Elsevier Science, Amsterdam [u.a.], 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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X-ray magnetic circular dichroism strongly influenced by non-magnetic cover layers

Zafar, K., Audehm, P., Schütz, G., Goering, E., Pathak, M., Chetry, K. B., LeClair, P. R., Gupta, A.

{Journal of Electron Spectroscopy and Related Phenomena}, 191, pages: 1-6, Elsevier, Amsterdam, 2013 (article)

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DOI [BibTex]


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Exchange bias in La0.7Sr0.3MnO3 / SrMnO3 / La0.7Sr0.3MnO3 trilayers

Jungbauer, M., Hühn, S., Michelmann, M., Goering, E., Moshnyaga, V.

{Journal of Applied Physcis}, 113(17), American Institute of Physics, New York, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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General decoupling procedure for expectation values of four-operator products in electron-phonon quantum kinetics

Teeny, N., Fähnle, M.

{Journal of Physics A: Mathematical and Theoretical}, 46(38), IOP Pub., London, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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SPD-induced changes of structure and magnetic properties in the Cu-Co alloys

Straumal, B. B., Protasova, S. G., Mazilkin, A. A., Kogtenkova, O. A., Kurmanaeva, L., Baretzky, B., Schütz, G., Korneva, A., Zieba, P.

{Materials Letters}, 98, pages: 217-221, Elsevier, Amsterdam, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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Ferromagnetic behaviour of Fe-doped ZnO nanograined films

Straumal, B. B., Protasova, S. G., Mazilkin, A. A., Tietze, T., Goering, E., Schütz, G., Straumal, P. B., Baretzky, B.

{Beilstein Journal of Nanotechnology}, 4, pages: 361-369, 2013 (article)

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DOI [BibTex]


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The effect of magnetic anisotropy on the spin configurations of patterned La0.7Sr0.3MnO3 elements

Wohlhüter, P., Rhensius, J., Vaz, C. A. F., Heidler, J., Körner, H. S., Bisig, A., Foerster, M., Méchin, L., Gaucher, F., Locatelli, A., Niño, M. A., El Moussaoui, S., Nolting, F., Goering, E., Heyderman, L. J., Kläui, M.

{Journal of Physics: Condensed Matter}, 25, IOP Pub., Bristol, UK, 2013 (article)

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DOI [BibTex]


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The avalanche process in gold covered MgB2 films

Stahl, C., Treiber, S., Schütz, G., Albrecht, J.

{Superconductor Science and Technology}, 26, IOP Pub., Bristol, 2013 (article)

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DOI [BibTex]

DOI [BibTex]


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MFU-4 - A metal-organic framework for highly effective H2/D2 separation

Teufel, J., Oh, H., Hirscher, M., Wahiduzzaman, M., Zhechkov, L., Kuc, A., Heine, T., Denysenko, D., Volkmer, D.

{Advanced Materials}, 25(4):635-639, Wiley-VCH Verlag, Weinheim, 2013 (article)

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DOI [BibTex]


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Delayed magnetic vortex core reversal

Kammerer, M., Sproll, M., Stoll, H., Noske, M., Weigand, M., Illg, C., Fähnle, M., Schütz, G.

{Applied Physics Letters}, 102, American Institute of Physics, Melville, NY, 2013 (article)

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DOI [BibTex]


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Self-organized state formation in magnonic vortex crystals

Adolff, C. F., Hänze, M., Vogel, A., Weigand, M., Martens, M., Meier, G.

{Physical Review B}, 88(22), American Physical Society, Woodbury, NY, 2013 (article)

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DOI [BibTex]


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Erratum: Generalized Gilbert equation including inertial damping: Derivation from an extended breathing Fermi surface model [Phys. Rev. B 84, 172403 (2011)]

Fähnle, M., Steiauf, D., Illg, C.

{Physical Review B}, 88, American Physical Society, Woodbury, NY, 2013 (article)

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DOI [BibTex]

DOI [BibTex]