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2015


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Untethered Magnetic Micromanipulation

Diller, E., Sitti, M.

In Micro-and Nanomanipulation Tools, 13, 10, Wiley-VCH Verlag GmbH & Co. KGaA, November 2015 (inbook)

Abstract
This chapter discusses the methods and state of the art in microscale manipulation in remote environments using untethered microrobotic devices. It focuses on manipulation at the size scale of tens to hundreds of microns, where small size leads to a dominance of microscale physical effects and challenges in fabrication and actuation. To motivate the challenges of operating at this size scale, the chapter includes coverage of the physical forces relevant to microrobot motion and manipulation below the millimeter-size scale. It then introduces the actuation methods commonly used in untethered manipulation schemes, with particular focus on magnetic actuation due to its wide use in the field. The chapter divides these manipulation techniques into two types: contact manipulation, which relies on direct pushing or grasping of objects for motion, and noncontact manipulation, which relies indirectly on induced fluid flow from the microrobot motion to move objects without any direct contact.

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DOI Project Page [BibTex]

2015


DOI Project Page [BibTex]


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Causal Inference for Empirical Time Series Based on the Postulate of Independence of Cause and Mechanism

Besserve, M.

53rd Annual Allerton Conference on Communication, Control, and Computing, September 2015 (talk)

ei

[BibTex]

[BibTex]


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Methods of forming dry adhesive structures

Sitti, M., Murphy, M., Aksak, B.

September 2015, US Patent 9,120,953 (patent)

Abstract
Methods of forming dry adhesives including a method of making a dry adhesive including applying a liquid polymer to the second end of the stem, molding the liquid polymer on the stem in a mold, wherein the mold includes a recess having a cross-sectional area that is less than a cross-sectional area of the second end of the stem, curing the liquid polymer in the mold to form a tip at the second end of the stem, wherein the tip includes a second layer stem; corresponding to the recess in the mold, and removing the tip from the mold after the liquid polymer cures.

pi

[BibTex]

[BibTex]


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Micro-fiber arrays with tip coating and transfer method for preparing same

Sitti, M., Washburn, N. R., Glass, P. S., Chung, H.

July 2015, US Patent 9,079,215 (patent)

Abstract
Present invention describes a patterned and coated micro- and nano-scale fibers elastomeric material for enhanced adhesion in wet or dry environments. A multi-step fabrication process including optical lithography, micromolding, polymer synthesis, dipping, stamping, and photopolymerization is described to produce uniform arrays of micron-scale fibers with mushroom-shaped tips coated with a thin layer of an intrinsically adhesive synthetic polymer, such as lightly crosslinked p(DMA-co-MEA).

pi

[BibTex]

[BibTex]


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Kernel methods in medical imaging

Charpiat, G., Hofmann, M., Schölkopf, B.

In Handbook of Biomedical Imaging, pages: 63-81, 4, (Editors: Paragios, N., Duncan, J. and Ayache, N.), Springer, Berlin, Germany, June 2015 (inbook)

ei

Web link (url) [BibTex]

Web link (url) [BibTex]


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Lernende Roboter

Trimpe, S.

In Jahrbuch der Max-Planck-Gesellschaft, Max Planck Society, May 2015, (popular science article in German) (inbook)

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link (url) [BibTex]

link (url) [BibTex]


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Autonomous Robots

Schaal, S.

In Jahrbuch der Max-Planck-Gesellschaft, May 2015 (incollection)

am

[BibTex]

[BibTex]


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Independence of cause and mechanism in brain networks

Besserve, M.

DALI workshop on Networks: Processes and Causality, April 2015 (talk)

ei

[BibTex]

[BibTex]


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Dry adhesives and methods for making dry adhesives

Sitti, M., Murphy, M., Aksak, B.

March 2015, US Patent App. 14/625,162 (patent)

Abstract
Dry adhesives and methods for forming dry adhesives. A method of forming a dry adhesive structure on a substrate, comprises: forming a template backing layer of energy sensitive material on the substrate; forming a template layer of energy sensitive material on the template backing layer; exposing the template layer to a predetermined pattern of energy; removing a portion of the template layer related to the predetermined pattern of energy, and leaving a template structure formed from energy sensitive material and connected to the substrate via the template backing layer.

pi

[BibTex]

[BibTex]


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Information-Theoretic Implications of Classical and Quantum Causal Structures

Chaves, R., Majenz, C., Luft, L., Maciel, T., Janzing, D., Schölkopf, B., Gross, D.

18th Conference on Quantum Information Processing (QIP), 2015 (talk)

ei

Web link (url) [BibTex]

Web link (url) [BibTex]


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Assessment of brain tissue damage in the Sub-Acute Stroke Region by Multiparametric Imaging using [89-Zr]-Desferal-EPO-PET/MRI

Castaneda, S. G., Katiyar, P., Russo, F., Disselhorst, J. A., Calaminus, C., Poli, S., Maurer, A., Ziemann, U., Pichler, B. J.

World Molecular Imaging Conference, 2015 (talk)

ei

[BibTex]

[BibTex]


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Statistical and Machine Learning Methods for Neuroimaging: Examples, Challenges, and Extensions to Diffusion Imaging Data

O’Donnell, L. J., Schultz, T.

In Visualization and Processing of Higher Order Descriptors for Multi-Valued Data, pages: 299-319, (Editors: Hotz, I. and Schultz, T.), Springer, 2015 (inbook)

ei

[BibTex]

[BibTex]


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Early time point in vivo PET/MR is a promising biomarker for determining efficacy of a novel Db(\alphaEGFR)-scTRAIL fusion protein therapy in a colon cancer model

Divine, M. R., Harant, M., Katiyar, P., Disselhorst, J. A., Bukala, D., Aidone, S., Siegemund, M., Pfizenmaier, K., Kontermann, R., Pichler, B. J.

World Molecular Imaging Conference, 2015 (talk)

ei

[BibTex]

[BibTex]


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Perception of Deformable Objects and Compliant Manipulation for Service Robots

Stueckler, J., Behnke, S.

In Soft Robotics: From Theory to Applications, Springer, 2015 (inbook)

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link (url) [BibTex]

link (url) [BibTex]


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Justifying Information-Geometric Causal Inference

Janzing, D., Steudel, B., Shajarisales, N., Schölkopf, B.

In Measures of Complexity: Festschrift for Alexey Chervonenkis, pages: 253-265, 18, (Editors: Vovk, V., Papadopoulos, H. and Gammerman, A.), Springer, 2015 (inbook)

ei

DOI [BibTex]

DOI [BibTex]


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Tacit Learning for Emergence of Task-Related Behaviour through Signal Accumulation

Berenz, V., Alnajjar, F., Hayashibe, M., Shimoda, S.

In Emergent Trends in Robotics and Intelligent Systems: Where is the Role of Intelligent Technologies in the Next Generation of Robots?, pages: 31-38, Springer International Publishing, Cham, 2015 (inbook)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Annales des Concours 2015 PC Mathématiques, Informatique

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

In corrigés des problèmes posés aux concours CCP, Centrale/Supélec, Mines/Ponts, X/ENS, 2015 (inbook)

H&K Éditions [BibTex]

H&K Éditions [BibTex]


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The search for single exoplanet transits in the Kepler light curves

Foreman-Mackey, D., Hogg, D. W., Schölkopf, B.

IAU General Assembly, 22, pages: 2258352, 2015 (talk)

ei

link (url) [BibTex]

link (url) [BibTex]


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Robot Learning

Peters, J., Lee, D., Kober, J., Nguyen-Tuong, D., Bagnell, J. A., Schaal, S.

In Springer Handbook of Robotics 2nd Edition, pages: 1371-1394, Springer Berlin Heidelberg, Berlin, Heidelberg, 2015 (incollection)

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[BibTex]

[BibTex]

2004


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Discrete vs. Continuous: Two Sides of Machine Learning

Zhou, D.

October 2004 (talk)

Abstract
We consider the problem of transductive inference. In many real-world problems, unlabeled data is far easier to obtain than labeled data. Hence transductive inference is very significant in many practical problems. According to Vapnik's point of view, one should predict the function value only on the given points directly rather than a function defined on the whole space, the latter being a more complicated problem. Inspired by this idea, we develop discrete calculus on finite discrete spaces, and then build discrete regularization. A family of transductive algorithms is naturally derived from this regularization framework. We validate the algorithms on both synthetic and real-world data from text/web categorization to bioinformatics problems. A significant by-product of this work is a powerful way of ranking data based on examples including images, documents, proteins and many other kinds of data. This talk is mainly based on the followiing contribution: (1) D. Zhou and B. Sch{\"o}lkopf: Transductive Inference with Graphs, MPI Technical report, August, 2004; (2) D. Zhou, B. Sch{\"o}lkopf and T. Hofmann. Semi-supervised Learning on Directed Graphs. NIPS 2004; (3) D. Zhou, O. Bousquet, T.N. Lal, J. Weston and B. Sch{\"o}lkopf. Learning with Local and Global Consistency. NIPS 2003.

ei

PDF [BibTex]


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Pattern detection methods and systems and face detection methods and systems

Blake, A., Romdhani, S., Schölkopf, B., Torr, P. H. S.

United States Patent, No 6804391, October 2004 (patent)

ei

[BibTex]

[BibTex]


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Grundlagen von Support Vector Maschinen und Anwendungen in der Bildverarbeitung

Eichhorn, J.

September 2004 (talk)

Abstract
Invited talk at the workshop "Numerical, Statistical and Discrete Methods in Image Processing" at the TU M{\"u}nchen (in GERMAN)

ei

PDF [BibTex]


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The benefit of liquid Helium cooling for Cryo-Electron Tomography: A quantitative comparative study

Schweikert, G., Luecken, U., Pfeifer, G., Baumeister, W., Plitzko, J.

The thirteenth European Microscopy Congress, August 2004 (talk)

ei

[BibTex]

[BibTex]


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Analysis of differential gene expression in healthy and osteoarthritic cartilage and isolated chondrocytes by microarray analysis

Aigner, T., Saas, J., Zien, A., Zimmer, R., Gebhard, P., Knorr, T.

In Volume 1: Cellular and Molecular Tools, pages: 109-128, (Editors: Sabatini, M., P. Pastoureau and F. De Ceuninck), Humana Press, July 2004 (inbook)

Abstract
The regulation of chondrocytes in osteoarthritic cartilage and the expression of specific gene products by these cells during early-onset and late-stage osteoarthritis are not well characterized. With the introduction of cDNA array technology, the measurement of thousands of different genes in one small tissue sample can be carried out. Interpretation of gene expression analyses in articular cartilage is aided by the fact that this tissue contains only one cell type in both normal and diseased conditions. However, care has to be taken not to over- and misinterpret results, and some major challenges must be overcome in order to utilize the potential of this technology properly in the field of osteoarthritis.

ei

Web [BibTex]

Web [BibTex]


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Riemannian Geometry on Graphs and its Application to Ranking and Classification

Zhou, D.

June 2004 (talk)

Abstract
We consider the problem of transductive inference. In many real-world problems, unlabeled data is far easier to obtain than labeled data. Hence transductive inference is very significant in many practical problems. According to Vapnik's point of view, one should predict the function value only on the given points directly rather than a function defined on the whole space, the latter being a more complicated problem. Inspired by this idea, we develop discrete calculus on finite discrete spaces, and then build discrete regularization. A family of transductive algorithms is naturally derived from this regularization framework. We validate the algorithms on both synthetic and real-world data from text/web categorization to bioinformatics problems. A significant by-product of this work is a powerful way of ranking data based on examples including images, documents, proteins and many other kinds of data.

ei

PDF [BibTex]


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Distributed Command Execution

Stark, S., Berlin, M.

In BSD Hacks: 100 industrial-strength tips & tools, pages: 152-152, (Editors: Lavigne, Dru), O’Reilly, Beijing, May 2004 (inbook)

Abstract
Often you want to execute a command not only on one computer, but on several at once. For example, you might want to report the current statistics on a group of managed servers or update all of your web servers at once.

ei

[BibTex]

[BibTex]


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Learning from Labeled and Unlabeled Data: Semi-supervised Learning and Ranking

Zhou, D.

January 2004 (talk)

Abstract
We consider the general problem of learning from labeled and unlabeled data, which is often called semi-supervised learning or transductive inference. A principled approach to semi-supervised learning is to design a classifying function which is sufficiently smooth with respect to the intrinsic structure collectively revealed by known labeled and unlabeled points. We present a simple algorithm to obtain such a smooth solution. Our method yields encouraging experimental results on a number of classification problems and demonstrates effective use of unlabeled data.

ei

PDF [BibTex]


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Introduction to Category Theory

Bousquet, O.

Internal Seminar, January 2004 (talk)

Abstract
A brief introduction to the general idea behind category theory with some basic definitions and examples. A perspective on higher dimensional categories is given.

ei

PDF [BibTex]

PDF [BibTex]


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Local Alignment Kernels for Biological Sequences

Vert, J., Saigo, H., Akutsu, T.

In Kernel Methods in Computational Biology, pages: 131-153, MIT Press, Cambridge, MA,, 2004 (inbook)

ei

Web [BibTex]

Web [BibTex]


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Gaussian Processes in Machine Learning

Rasmussen, CE.

In 3176, pages: 63-71, Lecture Notes in Computer Science, (Editors: Bousquet, O., U. von Luxburg and G. Rätsch), Springer, Heidelberg, 2004, Copyright by Springer (inbook)

Abstract
We give a basic introduction to Gaussian Process regression models. We focus on understanding the role of the stochastic process and how it is used to define a distribution over functions. We present the simple equations for incorporating training data and examine how to learn the hyperparameters using the marginal likelihood. We explain the practical advantages of Gaussian Process and end with conclusions and a look at the current trends in GP work.

ei

PDF PostScript [BibTex]

PDF PostScript [BibTex]


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Protein Classification via Kernel Matrix Completion

Kin, T., Kato, T., Tsuda, K.

In pages: 261-274, (Editors: Schoelkopf, B., K. Tsuda and J.P. Vert), MIT Press, Cambridge, MA; USA, 2004 (inbook)

ei

PDF [BibTex]

PDF [BibTex]


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Introduction to Statistical Learning Theory

Bousquet, O., Boucheron, S., Lugosi, G.

In Lecture Notes in Artificial Intelligence 3176, pages: 169-207, (Editors: Bousquet, O., U. von Luxburg and G. Rätsch), Springer, Heidelberg, Germany, 2004 (inbook)

ei

PDF [BibTex]

PDF [BibTex]


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A Primer on Kernel Methods

Vert, J., Tsuda, K., Schölkopf, B.

In Kernel Methods in Computational Biology, pages: 35-70, (Editors: B Schölkopf and K Tsuda and JP Vert), MIT Press, Cambridge, MA, USA, 2004 (inbook)

ei

PDF [BibTex]

PDF [BibTex]


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Concentration Inequalities

Boucheron, S., Lugosi, G., Bousquet, O.

In Lecture Notes in Artificial Intelligence 3176, pages: 208-240, (Editors: Bousquet, O., U. von Luxburg and G. Rätsch), Springer, Heidelberg, Germany, 2004 (inbook)

ei

PDF [BibTex]

PDF [BibTex]


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Kernels for graphs

Kashima, H., Tsuda, K., Inokuchi, A.

In pages: 155-170, (Editors: Schoelkopf, B., K. Tsuda and J.P. Vert), MIT Press, Cambridge, MA; USA, 2004 (inbook)

ei

PDF [BibTex]

PDF [BibTex]


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A primer on molecular biology

Zien, A.

In pages: 3-34, (Editors: Schoelkopf, B., K. Tsuda and J. P. Vert), MIT Press, Cambridge, MA, USA, 2004 (inbook)

Abstract
Modern molecular biology provides a rich source of challenging machine learning problems. This tutorial chapter aims to provide the necessary biological background knowledge required to communicate with biologists and to understand and properly formalize a number of most interesting problems in this application domain. The largest part of the chapter (its first section) is devoted to the cell as the basic unit of life. Four aspects of cells are reviewed in sequence: (1) the molecules that cells make use of (above all, proteins, RNA, and DNA); (2) the spatial organization of cells (``compartmentalization''); (3) the way cells produce proteins (``protein expression''); and (4) cellular communication and evolution (of cells and organisms). In the second section, an overview is provided of the most frequent measurement technologies, data types, and data sources. Finally, important open problems in the analysis of these data (bioinformatics challenges) are briefly outlined.

ei

PDF PostScript Web [BibTex]

PDF PostScript Web [BibTex]


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Advanced Statistical Learning Theory

Bousquet, O.

Machine Learning Summer School, 2004 (talk)

ei

PDF [BibTex]

PDF [BibTex]


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Development of neural motor prostheses for humans

Donoghue, J., Nurmikko, A., Friehs, G., Black, M.

In Advances in Clinical Neurophysiology, (Editors: Hallett, M. and Phillips, L.H. and Schomer, D.L. and Massey, J.M.), Supplements to Clinical Neurophysiology Vol. 57, 2004 (incollection)

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pdf [BibTex]

pdf [BibTex]


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Computational approaches to motor learning by imitation

Schaal, S., Ijspeert, A., Billard, A.

In The Neuroscience of Social Interaction, (1431):199-218, (Editors: Frith, C. D.;Wolpert, D.), Oxford University Press, Oxford, 2004, clmc (inbook)

Abstract
Movement imitation requires a complex set of mechanisms that map an observed movement of a teacher onto one's own movement apparatus. Relevant problems include movement recognition, pose estimation, pose tracking, body correspondence, coordinate transformation from external to egocentric space, matching of observed against previously learned movement, resolution of redundant degrees-of-freedom that are unconstrained by the observation, suitable movement representations for imitation, modularization of motor control, etc. All of these topics by themselves are active research problems in computational and neurobiological sciences, such that their combination into a complete imitation system remains a daunting undertaking - indeed, one could argue that we need to understand the complete perception-action loop. As a strategy to untangle the complexity of imitation, this paper will examine imitation purely from a computational point of view, i.e. we will review statistical and mathematical approaches that have been suggested for tackling parts of the imitation problem, and discuss their merits, disadvantages and underlying principles. Given the focus on action recognition of other contributions in this special issue, this paper will primarily emphasize the motor side of imitation, assuming that a perceptual system has already identified important features of a demonstrated movement and created their corresponding spatial information. Based on the formalization of motor control in terms of control policies and their associated performance criteria, useful taxonomies of imitation learning can be generated that clarify different approaches and future research directions.

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link (url) [BibTex]

link (url) [BibTex]


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Effect of Grain Boundary Phase Transitions on the Superplasticity in the Al-Zn System

Lopez, G.A., Straumal, B.B., Gust, W., Mittemeijer, E.J.

In Nanomaterials by Severe Plastic Deformation, pages: 642-647, Wiley-VCH Verlag, Weinheim, 2004 (incollection)

mms

[BibTex]

[BibTex]

1993


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Mixture models for optical flow computation

Jepson, A., Black, M.

In Partitioning Data Sets, DIMACS Workshop, pages: 271-286, (Editors: Ingemar Cox, Pierre Hansen, and Bela Julesz), AMS Pub, Providence, RI., April 1993 (incollection)

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pdf [BibTex]

1993


pdf [BibTex]


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Learning passive motor control strategies with genetic algorithms

Schaal, S., Sternad, D.

In 1992 Lectures in complex systems, pages: 913-918, (Editors: Nadel, L.;Stein, D.), Addison-Wesley, Redwood City, CA, 1993, clmc (inbook)

Abstract
This study investigates learning passive motor control strategies. Passive control is understood as control without active error correction; the movement is stabilized by particular properties of the controlling dynamics. We analyze the task of juggling a ball on a racket. An approximation to the optimal solution of the task is derived by means of optimization theory. In order to model the learning process, the problem is coded for a genetic algorithm in representations without sensory or with sensory information. For all representations the genetic algorithm is able to find passive control strategies, but learning speed and the quality of the outcome are significantly different. A comparison with data from human subjects shows that humans seem to apply yet different movement strategies to the ones proposed. For the feedback representation some implications arise for learning from demonstration.

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link (url) [BibTex]

link (url) [BibTex]


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A genetic algorithm for evolution from an ecological perspective

Sternad, D., Schaal, S.

In 1992 Lectures in Complex Systems, pages: 223-231, (Editors: Nadel, L.;Stein, D.), Addison-Wesley, Redwood City, CA, 1993, clmc (inbook)

Abstract
In the population model presented, an evolutionary dynamic is explored which is based on the operator characteristics of genetic algorithms. An essential modification in the genetic algorithms is the inclusion of a constraint in the mixing of the gene pool. The pairing for the crossover is governed by a selection principle based on a complementarity criterion derived from the theoretical tenet of perception-action (P-A) mutuality of ecological psychology. According to Swenson and Turvey [37] P-A mutuality underlies evolution and is an integral part of its thermodynamics. The present simulation tested the contribution of P-A-cycles in evolutionary dynamics. A numerical experiment compares the population's evolution with and without this intentional component. The effect is measured in the difference of the rate of energy dissipation, as well as in three operationalized aspects of complexity. The results support the predicted increase in the rate of energy dissipation, paralleled by an increase in the average heterogeneity of the population. Furthermore, the spatio-temporal evolution of the system is tested for the characteristic power-law relations of a nonlinear system poised in a critical state. The frequency distribution of consecutive increases in population size shows a significantly different exponent in functional relationship.

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[BibTex]

[BibTex]

1992


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Informationssysteme mit CAD (Information systems within CAD)

Schaal, S.

In CAD/CAM Grundlagen, pages: 199-204, (Editors: Milberg, J.), Springer, Buchreihe CIM-TT. Berlin, 1992, clmc (inbook)

am

[BibTex]

1992


[BibTex]