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2018


Nanoscale robotic agents in biological fluids and tissues
Nanoscale robotic agents in biological fluids and tissues

Palagi, S., Walker, D. Q. T., Fischer, P.

In The Encyclopedia of Medical Robotics, 2, pages: 19-42, 2, (Editors: Desai, J. P. and Ferreira, A.), World Scientific, October 2018 (inbook)

Abstract
Nanorobots are untethered structures of sub-micron size that can be controlled in a non-trivial way. Such nanoscale robotic agents are envisioned to revolutionize medicine by enabling minimally invasive diagnostic and therapeutic procedures. To be useful, nanorobots must be operated in complex biological fluids and tissues, which are often difficult to penetrate. In this chapter, we first discuss potential medical applications of motile nanorobots. We briefly present the challenges related to swimming at such small scales and we survey the rheological properties of some biological fluids and tissues. We then review recent experimental results in the development of nanorobots and in particular their design, fabrication, actuation, and propulsion in complex biological fluids and tissues. Recent work shows that their nanoscale dimension is a clear asset for operation in biological tissues, since many biological tissues consist of networks of macromolecules that prevent the passage of larger micron-scale structures, but contain dynamic pores through which nanorobots can move.

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link (url) DOI [BibTex]

2018


link (url) DOI [BibTex]


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Haptics and Haptic Interfaces

Kuchenbecker, K. J.

In Encyclopedia of Robotics, (Editors: Marcelo H. Ang and Oussama Khatib and Bruno Siciliano), Springer, May 2018 (incollection)

Abstract
Haptics is an interdisciplinary field that seeks to both understand and engineer touch-based interaction. Although a wide range of systems and applications are being investigated, haptics researchers often concentrate on perception and manipulation through the human hand. A haptic interface is a mechatronic system that modulates the physical interaction between a human and his or her tangible surroundings. Haptic interfaces typically involve mechanical, electrical, and computational layers that work together to sense user motions or forces, quickly process these inputs with other information, and physically respond by actuating elements of the user’s surroundings, thereby enabling him or her to act on and feel a remote and/or virtual environment.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


Method and device for reversibly attaching a phase changing metal to an object
Method and device for reversibly attaching a phase changing metal to an object

Zhou Ye, G. Z. L. M. S.

US Patent Application US 2018/0021892 A1, January 2018 (patent)

Abstract
A method for reversibly attaching a phase changing metal to an object, the method comprising the steps of: providing a substrate having at least one surface at which the phase changing metal is attached, heating the phase changing metal above a phase changing temperature at which the phase changing metal changes its phase from solid to liquid, bringing the phase changing metal, when the phase changing metal is in the liquid phase or before the phase changing metal is brought into the liquid phase, into contact with the object, permitting the phase changing metal to cool below the phase changing temperature, whereby the phase changing metal becomes solid and the object and the phase changing metal become attached to each other, reheating the phase changing metal above the phase changing temperature to liquefy the phase changing metal, and removing the substrate from the object, with the phase changing metal separating from the object and remaining with the substrate.

pi

US Patent Application Database US Patent Application (PDF) [BibTex]


Method of fabricating a shape-changeable magentic member, method of producing a shape changeable magnetic member and shape changeable magnetic member
Method of fabricating a shape-changeable magentic member, method of producing a shape changeable magnetic member and shape changeable magnetic member

Guo Zhan Lum, Z. Y. M. S.

US Patent Application US 2018/0012693 A1, January 2018 (patent)

Abstract
The present invention relates to a method of fabricating a shape-changeable magnetic member comprising a plurality of segments with each segment being able to be magnetized with a desired magnitude and orientation of magnetization, to a method of producing a shape changeable magnetic member composed of a plurality of segments and to a shape changeable magnetic member.

pi

US Patent Application Database US Patent Application (PDF) [BibTex]


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Maschinelles Lernen: Entwicklung ohne Grenzen?

Schökopf, B.

In Mit Optimismus in die Zukunft schauen. Künstliche Intelligenz - Chancen und Rahmenbedingungen, pages: 26-34, (Editors: Bender, G. and Herbrich, R. and Siebenhaar, K.), B&S Siebenhaar Verlag, 2018 (incollection)

ei

[BibTex]

[BibTex]


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Methods in Psychophysics

Wichmann, F. A., Jäkel, F.

In Stevens’ Handbook of Experimental Psychology and Cognitive Neuroscience, 5 (Methodology), 7, 4th, John Wiley & Sons, Inc., 2018 (inbook)

ei

[BibTex]

[BibTex]


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Transfer Learning for BCIs

Jayaram, V., Fiebig, K., Peters, J., Grosse-Wentrup, M.

In Brain–Computer Interfaces Handbook, pages: 425-442, 22, (Editors: Chang S. Nam, Anton Nijholt and Fabien Lotte), CRC Press, 2018 (incollection)

ei

Project Page [BibTex]

Project Page [BibTex]


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Nanorobots propel through the eye

Zhiguang Wu, J. T. H. J. Q. W. M. S. F. Z. Z. W. M. D. S. S. T. Q. P. F.

Max Planck Society, 2018 (mpi_year_book)

Abstract
Scientists at the Max Planck Institute for Intelligent Systems in Stuttgart developed specially coated nanometer-sized robots that could be moved actively through dense tissue like the vitreous of the eye. So far, the transport of such nano-vehicles has only been demonstrated in model systems or biological fluids, but not in real tissue. Our work constitutes one step further towards nanorobots becoming minimally-invasive tools for precisely delivering medicine to where it is needed.

pf

link (url) [BibTex]

2016


System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment
System and method to magnetically actuate a capsule endoscopic robot for diagnosis and treatment

Sitti, M., Yim, S.

May 2016, US Patent 9,445,711 (patent)

Abstract
Present invention describes a swallowable device with a soft, compliant exterior, whose shape can be changed through the use of magnetic fields, and which can be locomoted in a rolling motion through magnetic control from the exterior of the patient. The present invention could be used for a variety of medical applications inside the GI tract including but not limited to drug delivery, biopsy, heat cauterization, pH sensing, biochemical sensing, micro-surgery, and active imaging.

pi

link (url) [BibTex]


Implications of Action-Oriented Paradigm Shifts in Cognitive Science
Implications of Action-Oriented Paradigm Shifts in Cognitive Science

Dominey, P. F., Prescott, T. J., Bohg, J., Engel, A. K., Gallagher, S., Heed, T., Hoffmann, M., Knoblich, G., Prinz, W., Schwartz, A.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 333-356, 20, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
An action-oriented perspective changes the role of an individual from a passive observer to an actively engaged agent interacting in a closed loop with the world as well as with others. Cognition exists to serve action within a landscape that contains both. This chapter surveys this landscape and addresses the status of the pragmatic turn. Its potential influence on science and the study of cognition are considered (including perception, social cognition, social interaction, sensorimotor entrainment, and language acquisition) and its impact on how neuroscience is studied is also investigated (with the notion that brains do not passively build models, but instead support the guidance of action). A review of its implications in robotics and engineering includes a discussion of the application of enactive control principles to couple action and perception in robotics as well as the conceptualization of system design in a more holistic, less modular manner. Practical applications that can impact the human condition are reviewed (e.g. educational applications, treatment possibilities for developmental and psychopathological disorders, the development of neural prostheses). All of this foreshadows the potential societal implications of the pragmatic turn. The chapter concludes that an action-oriented approach emphasizes a continuum of interaction between technical aspects of cognitive systems and robotics, biology, psychology, the social sciences, and the humanities, where the individual is part of a grounded cultural system.

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The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]

The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science 18th Ernst Strüngmann Forum Bibliography Chapter link (url) [BibTex]


Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment
Learning Action-Perception Cycles in Robotics: A Question of Representations and Embodiment

Bohg, J., Kragic, D.

In The Pragmatic Turn - Toward Action-Oriented Views in Cognitive Science, 18, pages: 309-320, 18, Strüngmann Forum Reports, vol. 18, J. Lupp, series editor, (Editors: Andreas K. Engel and Karl J. Friston and Danica Kragic), The MIT Press, 18th Ernst Strüngmann Forum, May 2016 (incollection) In press

Abstract
Since the 1950s, robotics research has sought to build a general-purpose agent capable of autonomous, open-ended interaction with realistic, unconstrained environments. Cognition is perceived to be at the core of this process, yet understanding has been challenged because cognition is referred to differently within and across research areas, and is not clearly defined. The classic robotics approach is decomposition into functional modules which perform planning, reasoning, and problem-solving or provide input to these mechanisms. Although advancements have been made and numerous success stories reported in specific niches, this systems-engineering approach has not succeeded in building such a cognitive agent. The emergence of an action-oriented paradigm offers a new approach: action and perception are no longer separable into functional modules but must be considered in a complete loop. This chapter reviews work on different mechanisms for action- perception learning and discusses the role of embodiment in the design of the underlying representations and learning. It discusses the evaluation of agents and suggests the development of a new embodied Turing Test. Appropriate scenarios need to be devised in addition to current competitions, so that abilities can be tested over long time periods.

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18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]

18th Ernst Strüngmann Forum The Pragmatic Turn- Toward Action-Oriented Views in Cognitive Science Bibliography Chapter link (url) [BibTex]


Remotely addressable magnetic composite micro-actuators
Remotely addressable magnetic composite micro-actuators

Sitti, M., Diller, E., Miyashita, S.

Febuary 2016, US Patent App. 15/018,008 (patent)

Abstract
The present invention describes methods to fabricate actuators that can be remotely controlled in an addressable manner, and methods to provide remote control such micro-actuators. The actuators are composites of two permanent magnet materials, one of which is has high coercivity, and the other of which switches magnetization direction by applied fields. By switching the second material's magnetization direction, the two magnets either work together or cancel each other, resulting in distinct “on” and “off” behavior of the devices. The device can be switched “on” or “off” remotely using a field pulse of short duration.

pi

[BibTex]

[BibTex]


Remotely addressable magnetic composite micro-actuators
Remotely addressable magnetic composite micro-actuators

Sitti, M., Diller, E., Miyashita, S.

Febuary 2016, US Patent 9,281,112 (patent)

Abstract
The present invention describes methods to fabricate actuators that can be remotely controlled in an addressable manner, and methods to provide remote control such micro-actuators. The actuators are composites of two permanent magnet materials, one of which is has high coercivity, and the other of which switches magnetization direction by applied fields. By switching the second material's magnetization direction, the two magnets either work together or cancel each other, resulting in distinct “on” and “off” behavior of the devices. The device can be switched “on” or “off” remotely using a field pulse of short duration.

pi

link (url) [BibTex]

link (url) [BibTex]


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Annales des Concours 2016 MP Mathématiques, Informatique

Batog, G., Dumont, J., Puyhaubert, V.

In corrigés des problèmes posés aux concours CCP, Centrale/Supélec, Mines/Ponts, X/ENS, 2016 (inbook)

H&K Éditions [BibTex]

H&K Éditions [BibTex]


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Sustainable effects of simulator-based training on ecological driving

Lüderitz, C., Wirzberger, M., Karrer-Gauß, K.

In Advances in Ergonomic Design of Systems, Products and Processes. Proceedings of the Annual Meeting of the GfA 2015, pages: 463-475, Springer, 2016 (inbook)

Abstract
Simulation-based driver training offers a promising way to teach ecological driving behavior under controlled, comparable conditions. In a study with 23 professional drivers, we tested the effectiveness of such training. The driving behavior of a training group in a simulated drive with and without instructions were compared. Ten weeks later, a repetition drive tested the long-term effect training. Driving data revealed reduced fuel consumption by ecological driving in both the guided and repetition drives. Driving time decreased significantly in the training and did not differ from driving time after 10 weeks. Results did not achieve significance for transfer to test drives in real traffic situations. This may be due to the small sample size and biased data as a result of unusual driving behavior. Finally, recent and promising approaches to support drivers in maintaining eco-driving styles beyond training situations are outlined.

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DOI [BibTex]

DOI [BibTex]


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Nonlinear functional causal models for distinguishing cause from effect

Zhang, K., Hyvärinen, A.

In Statistics and Causality: Methods for Applied Empirical Research, pages: 185-201, 8, 1st, (Editors: Wolfgang Wiedermann and Alexander von Eye), John Wiley & Sons, Inc., 2016 (inbook)

ei

[BibTex]

[BibTex]


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A cognitive brain–computer interface for patients with amyotrophic lateral sclerosis

Hohmann, M., Fomina, T., Jayaram, V., Widmann, N., Förster, C., Just, J., Synofzik, M., Schölkopf, B., Schöls, L., Grosse-Wentrup, M.

In Brain-Computer Interfaces: Lab Experiments to Real-World Applications, 228(Supplement C):221-239, 8, Progress in Brain Research, (Editors: Damien Coyle), Elsevier, 2016 (incollection)

ei

DOI Project Page [BibTex]

DOI Project Page [BibTex]


Method for encapsulating a nanostructure, coated nanostructure and use of a coated nanostructure
Method for encapsulating a nanostructure, coated nanostructure and use of a coated nanostructure

Jeong, H. H., Lee, T. C., Fischer, P.

Google Patents, 2016, WO Patent App. PCT/EP2016/056,377 (patent)

Abstract
The present invention relates to a method for encapsulating a nanostructure, the method comprising the steps of: -providing a substrate; -forming a plug composed of plug material at said substrate; -forming a nanostructure (on or) at said plug; -forming a shell composed of at least one shell material on external surfaces of the nanostructure, with the at least one shell material covering said nanostructure and at least some of the plug material,whereby the shell and the plug encapsulate the nanostructure. The invention further relates to a coated nanostructure and to the use of a coated nanostructure.

pf

link (url) [BibTex]


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Locally Weighted Regression for Control

Ting, J., Meier, F., Vijayakumar, S., Schaal, S.

In Encyclopedia of Machine Learning and Data Mining, pages: 1-14, Springer US, Boston, MA, 2016 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Interface-controlled phenomena in nanomaterials

Mittemeijer, Eric J.; Wang, Zumin

2016 (mpi_year_book)

Abstract
Nanosized material systems characteristically exhibit an excessively high internal interface density. A series of previously unknown phenomena in nanomaterials have been disclosed that are fundamentally caused by the presence of interfaces. Thus anomalously large and small lattice parameters in nanocrystalline metals, quantum stress oscillations in growing nanofilms, and extraordinary atomic mobility at ultralow temperatures have been observed and explained. The attained understanding for these new phenomena can lead to new, sophisticated applications of nanomaterials in advanced technologies.

link (url) [BibTex]

link (url) [BibTex]


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Robots learn how to see

Geiger, A.

2016 (mpi_year_book)

Abstract
Autonomous vehicles and intelligent service robots could soon contribute to making our lives more pleasant and secure. However, for autonomous operation such systems first need to learn the perception process itself. This involves measuring distances and motions, detecting objects and interpreting the threedimensional world as a whole. While humans perceive their environment with seemingly little efforts, computers first need to be trained for these tasks. Our research is concerned with developing mathematical models which allow computers to robustly perceive their environment.

link (url) DOI [BibTex]

2010


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Markerless tracking of Dynamic 3D Scans of Faces

Walder, C., Breidt, M., Bülthoff, H., Schölkopf, B., Curio, C.

In Dynamic Faces: Insights from Experiments and Computation, pages: 255-276, (Editors: Curio, C., Bülthoff, H. H. and Giese, M. A.), MIT Press, Cambridge, MA, USA, December 2010 (inbook)

ei

Web [BibTex]

2010


Web [BibTex]


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Policy Gradient Methods

Peters, J., Bagnell, J.

In Encyclopedia of Machine Learning, pages: 774-776, (Editors: Sammut, C. and Webb, G. I.), Springer, Berlin, Germany, December 2010 (inbook)

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Method and device for recovering a digital image from a sequence of observed digital images

Harmeling, S., Hirsch, M., Sra, S., Schölkopf, B.

United States Provisional Patent Application, No 61387025, September 2010 (patent)

ei

[BibTex]

[BibTex]


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Method for feature selection in a support vector machine using feature ranking

Weston, J., Elisseeff, A., Schölkopf, B., Pérez-Cruz, F., Guyon, I.

United States Patent, No 7805388, September 2010 (patent)

ei

[BibTex]

[BibTex]


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Kernels and methods for selecting kernels for use in learning machines

Bartlett, P. L., Elisseeff, A., Schölkopf, B., Chapelle, O.

United States Patent, No 7788193, August 2010 (patent)

ei

[BibTex]

[BibTex]


Magnetic Nanostructured Propellers
Magnetic Nanostructured Propellers

Fischer, P., Ghosh, A.

July 2010 (patent)

pf

[BibTex]

[BibTex]


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Learning Continuous Grasp Affordances by Sensorimotor Exploration

Detry, R., Baseski, E., Popovic, M., Touati, Y., Krüger, N., Kroemer, O., Peters, J., Piater, J.

In From Motor Learning to Interaction Learning in Robots, pages: 451-465, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
We develop means of learning and representing object grasp affordances probabilistically. By grasp affordance, we refer to an entity that is able to assess whether a given relative object-gripper configuration will yield a stable grasp. These affordances are represented with grasp densities, continuous probability density functions defined on the space of 3D positions and orientations. Grasp densities are registered with a visual model of the object they characterize. They are exploited by aligning them to a target object using visual pose estimation. Grasp densities are refined through experience: A robot “plays” with an object by executing grasps drawn randomly for the object’s grasp density. The robot then uses the outcomes of these grasps to build a richer density through an importance sampling mechanism. Initial grasp densities, called hypothesis densities, are bootstrapped from grasps collected using a motion capture system, or from grasps generated from the visual model of the object. Refined densities, called empirical densities, represent affordances that have been confirmed through physical experience. The applicability of our method is demonstrated by producing empirical densities for two object with a real robot and its 3-finger hand. Hypothesis densities are created from visual cues and human demonstration.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Imitation and Reinforcement Learning for Motor Primitives with Perceptual Coupling

Kober, J., Mohler, B., Peters, J.

In From Motor Learning to Interaction Learning in Robots, pages: 209-225, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
Traditional motor primitive approaches deal largely with open-loop policies which can only deal with small perturbations. In this paper, we present a new type of motor primitive policies which serve as closed-loop policies together with an appropriate learning algorithm. Our new motor primitives are an augmented version version of the dynamical system-based motor primitives [Ijspeert et al(2002)Ijspeert, Nakanishi, and Schaal] that incorporates perceptual coupling to external variables. We show that these motor primitives can perform complex tasks such as Ball-in-a-Cup or Kendama task even with large variances in the initial conditions where a skilled human player would be challenged. We initialize the open-loop policies by imitation learning and the perceptual coupling with a handcrafted solution. We first improve the open-loop policies and subsequently the perceptual coupling using a novel reinforcement learning method which is particularly well-suited for dynamical system-based motor primitives.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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From Motor Learning to Interaction Learning in Robots

Sigaud, O., Peters, J.

In From Motor Learning to Interaction Learning in Robots, pages: 1-12, Studies in Computational Intelligence ; 264, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
The number of advanced robot systems has been increasing in recent years yielding a large variety of versatile designs with many degrees of freedom. These robots have the potential of being applicable in uncertain tasks outside wellstructured industrial settings. However, the complexity of both systems and tasks is often beyond the reach of classical robot programming methods. As a result, a more autonomous solution for robot task acquisition is needed where robots adaptively adjust their behaviour to the encountered situations and required tasks. Learning approaches pose one of the most appealing ways to achieve this goal. However, while learning approaches are of high importance for robotics, we cannot simply use off-the-shelf methods from the machine learning community as these usually do not scale into the domains of robotics due to excessive computational cost as well as a lack of scalability. Instead, domain appropriate approaches are needed. In this book, we focus on several core domains of robot learning. For accurate task execution, we need motor learning capabilities. For fast learning of the motor tasks, imitation learning offers the most promising approach. Self improvement requires reinforcement learning approaches that scale into the domain of complex robots. Finally, for efficient interaction of humans with robot systems, we will need a form of interaction learning. This chapter provides a general introduction to these issues and briefly presents the contributions of the subsequent chapters to the corresponding research topics.

ei

Web DOI [BibTex]

Web DOI [BibTex]


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Real-Time Local GP Model Learning

Nguyen-Tuong, D., Seeger, M., Peters, J.

In From Motor Learning to Interaction Learning in Robots, 264, pages: 193-207, Studies in Computational Intelligence, (Editors: Sigaud, O. and Peters, J.), Springer, Berlin, Germany, January 2010 (inbook)

Abstract
For many applications in robotics, accurate dynamics models are essential. However, in some applications, e.g., in model-based tracking control, precise dynamics models cannot be obtained analytically for sufficiently complex robot systems. In such cases, machine learning offers a promising alternative for approximating the robot dynamics using measured data. However, standard regression methods such as Gaussian process regression (GPR) suffer from high computational complexity which prevents their usage for large numbers of samples or online learning to date. In this paper, we propose an approximation to the standard GPR using local Gaussian processes models inspired by [Vijayakumar et al(2005)Vijayakumar, D’Souza, and Schaal, Snelson and Ghahramani(2007)]. Due to reduced computational cost, local Gaussian processes (LGP) can be applied for larger sample-sizes and online learning. Comparisons with other nonparametric regressions, e.g., standard GPR, support vector regression (SVR) and locally weighted proje ction regression (LWPR), show that LGP has high approximation accuracy while being sufficiently fast for real-time online learning.

ei

PDF Web DOI [BibTex]

PDF Web DOI [BibTex]


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Machine Learning Methods for Automatic Image Colorization

Charpiat, G., Bezrukov, I., Hofmann, M., Altun, Y., Schölkopf, B.

In Computational Photography: Methods and Applications, pages: 395-418, Digital Imaging and Computer Vision, (Editors: Lukac, R.), CRC Press, Boca Raton, FL, USA, 2010 (inbook)

Abstract
We aim to color greyscale images automatically, without any manual intervention. The color proposition could then be interactively corrected by user-provided color landmarks if necessary. Automatic colorization is nontrivial since there is usually no one-to-one correspondence between color and local texture. The contribution of our framework is that we deal directly with multimodality and estimate, for each pixel of the image to be colored, the probability distribution of all possible colors, instead of choosing the most probable color at the local level. We also predict the expected variation of color at each pixel, thus defining a non-uniform spatial coherency criterion. We then use graph cuts to maximize the probability of the whole colored image at the global level. We work in the L-a-b color space in order to approximate the human perception of distances between colors, and we use machine learning tools to extract as much information as possible from a dataset of colored examples. The resulting algorithm is fast, designed to be more robust to texture noise, and is above all able to deal with ambiguity, in contrary to previous approaches.

ei

PDF Web [BibTex]

PDF Web [BibTex]


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Approaches Based on Support Vector Machine to Classification of Remote Sensing Data

Bruzzone, L., Persello, C.

In Handbook of Pattern Recognition and Computer Vision, pages: 329-352, (Editors: Chen, C.H.), ICP, London, UK, 2010 (inbook)

Abstract
This chapter presents an extensive and critical review on the use of kernel methods and in particular of support vector machines (SVMs) in the classification of remote-sensing (RS) data. The chapter recalls the mathematical formulation and the main theoretical concepts related to SVMs, and discusses the motivations at the basis of the use of SVMs in remote sensing. A review on the main applications of SVMs in classification of remote sensing is given, presenting a literature survey on the use of SVMs for the analysis of different kinds of RS images. In addition, the most recent methodological developments related to SVM-based classification techniques in RS are illustrated by focusing on semisupervised, domain adaptation, and context sensitive approaches. Finally, the most promising research directions on SVM in RS are identified and discussed.

ei

Web [BibTex]

Web [BibTex]


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Nanofluidics of thin liquid films

Rauscher, M., Dietrich, S.

In Handbook of Nanophysics, Principles and Methods, 1, pages: 11-1-11-23, Handbook of Nanophysics, CRC Press, Boca Raton, 2010 (incollection)

icm

[BibTex]

[BibTex]


Distributed Online Learning of Central Pattern Generators in Modular Robots
Distributed Online Learning of Central Pattern Generators in Modular Robots

Christensen, D. J., Spröwitz, A., Ijspeert, A. J.

In From Animals to Animats 11, 6226, pages: 402-412, Lecture Notes in Computer Science, Springer, Berlin, 2010, author: Doncieux, Stéphan (incollection)

Abstract
In this paper we study distributed online learning of locomotion gaits for modular robots. The learning is based on a stochastic ap- proximation method, SPSA, which optimizes the parameters of coupled oscillators used to generate periodic actuation patterns. The strategy is implemented in a distributed fashion, based on a globally shared reward signal, but otherwise utilizing local communication only. In a physics-based simulation of modular Roombots robots we experiment with online learn- ing of gaits and study the effects of: module failures, different robot morphologies, and rough terrains. The experiments demonstrate fast online learning, typically 5-30 min. for convergence to high performing gaits (≈ 30 cm/sec), despite high numbers of open parameters (45-54). We conclude that the proposed approach is efficient, effective and a promising candidate for online learning on many other robotic platforms.

dlg

DOI [BibTex]

DOI [BibTex]


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Dynamics of nanoscopic capillary waves

Mecke, K., Falk, K., Rauscher, M.

In Nonlinear Dynamics of Nanosystems, pages: 121-142, Wiley-VCH, Berlin, 2010 (incollection)

icm

DOI [BibTex]

DOI [BibTex]


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Nanohandling robot cells

Fatikow, Sergej, Wich, Thomas, Dahmen, Christian, Jasper, Daniel, Stolle, Christian, Eichhorn, Volkmar, Hagemann, Saskia, Weigel-Jech, Michael

In Handbook of Nanophysics: Nanomedicine and Nanorobotics, pages: 1-31, CRC Press, 2010 (incollection)

pi

[BibTex]

[BibTex]


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Locally weighted regression for control

Ting, J., Vijayakumar, S., Schaal, S.

In Encyclopedia of Machine Learning, pages: 613-624, (Editors: Sammut, C.;Webb, G. I.), Springer, 2010, clmc (inbook)

Abstract
This is article addresses two topics: learning control and locally weighted regression.

am

link (url) [BibTex]

link (url) [BibTex]


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Physisorption in porous materials

Hirscher, M., Panella, B.

In Handbook of Hydrogen Storage, pages: 39-62, WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim, 2010 (incollection)

mms

[BibTex]

[BibTex]


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Adsorption technologies

Schmitz, B., Hirscher, M.

In Hydrogen and Fuel Cells, pages: 431-445, WILEY-VCH, Weinheim, 2010 (incollection)

mms

[BibTex]

[BibTex]


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Atomic-Force-Microscopy-Based Nanomanipulation Systems

Onal, C. D., Ozcan, O., Sitti, M.

In Handbook of Nanophysics: Nanomedicine and Nanorobotics, pages: 1-15, CRC Press, 2010 (incollection)

pi

[BibTex]

[BibTex]


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Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots

Martius, G., Herrmann, J. M.

In From Animals to Animats 11, 6226, pages: 50-61, LNCS, Springer, 2010 (incollection)

al

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2007


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Support Vector Machine Learning for Interdependent and Structured Output Spaces

Altun, Y., Hofmann, T., Tsochantaridis, I.

In Predicting Structured Data, pages: 85-104, Advances in neural information processing systems, (Editors: Bakir, G. H. , T. Hofmann, B. Schölkopf, A. J. Smola, B. Taskar, S. V. N. Vishwanathan), MIT Press, Cambridge, MA, USA, September 2007 (inbook)

ei

Web [BibTex]

2007


Web [BibTex]


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Brisk Kernel ICA

Jegelka, S., Gretton, A.

In Large Scale Kernel Machines, pages: 225-250, Neural Information Processing, (Editors: Bottou, L. , O. Chapelle, D. DeCoste, J. Weston), MIT Press, Cambridge, MA, USA, September 2007 (inbook)

Abstract
Recent approaches to independent component analysis have used kernel independence measures to obtain very good performance in ICA, particularly in areas where classical methods experience difficulty (for instance, sources with near-zero kurtosis). In this chapter, we compare two efficient extensions of these methods for large-scale problems: random subsampling of entries in the Gram matrices used in defining the independence measures, and incomplete Cholesky decomposition of these matrices. We derive closed-form, efficiently computable approximations for the gradients of these measures, and compare their performance on ICA using both artificial and music data. We show that kernel ICA can scale up to much larger problems than yet attempted, and that incomplete Cholesky decomposition performs better than random sampling.

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PDF Web [BibTex]


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Training a Support Vector Machine in the Primal

Chapelle, O.

In Large Scale Kernel Machines, pages: 29-50, Neural Information Processing, (Editors: Bottou, L. , O. Chapelle, D. DeCoste, J. Weston), MIT Press, Cambridge, MA, USA, September 2007, This is a slightly updated version of the Neural Computation paper (inbook)

Abstract
Most literature on Support Vector Machines (SVMs) concentrate on the dual optimization problem. In this paper, we would like to point out that the primal problem can also be solved efficiently, both for linear and non-linear SVMs, and that there is no reason to ignore this possibility. On the contrary, from the primal point of view new families of algorithms for large scale SVM training can be investigated.

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PDF Web [BibTex]


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Approximation Methods for Gaussian Process Regression

Quiñonero-Candela, J., Rasmussen, CE., Williams, CKI.

In Large-Scale Kernel Machines, pages: 203-223, Neural Information Processing, (Editors: Bottou, L. , O. Chapelle, D. DeCoste, J. Weston), MIT Press, Cambridge, MA, USA, September 2007 (inbook)

Abstract
A wealth of computationally efficient approximation methods for Gaussian process regression have been recently proposed. We give a unifying overview of sparse approximations, following Quiñonero-Candela and Rasmussen (2005), and a brief review of approximate matrix-vector multiplication methods.

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PDF Web [BibTex]

PDF Web [BibTex]