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2019


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Automatic Segmentation and Labelling for Robot Table Tennis Time Series

Lutz, P.

Technical University Darmstadt, Germany, August 2019 (thesis)

ei

[BibTex]

2019


[BibTex]


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Prototyping Micro- and Nano-Optics with Focused Ion Beam Lithography

Keskinbora, K.

SL48, pages: 46, SPIE.Spotlight, SPIE Press, Bellingham, WA, 2019 (book)

mms

DOI [BibTex]

DOI [BibTex]

2013


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A Review of Performance Variations in SMR-Based Brain–Computer Interfaces (BCIs)

Grosse-Wentrup, M., Schölkopf, B.

In Brain-Computer Interface Research, pages: 39-51, 4, SpringerBriefs in Electrical and Computer Engineering, (Editors: Guger, C., Allison, B. Z. and Edlinger, G.), Springer, 2013 (inbook)

ei

PDF DOI [BibTex]

2013


PDF DOI [BibTex]


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Semi-supervised learning in causal and anticausal settings

Schölkopf, B., Janzing, D., Peters, J., Sgouritsa, E., Zhang, K., Mooij, J.

In Empirical Inference, pages: 129-141, 13, Festschrift in Honor of Vladimir Vapnik, (Editors: Schölkopf, B., Luo, Z. and Vovk, V.), Springer, 2013 (inbook)

ei

DOI [BibTex]

DOI [BibTex]


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Tractable large-scale optimization in machine learning

Sra, S.

In Tractability: Practical Approaches to Hard Problems, pages: 202-230, 7, (Editors: Bordeaux, L., Hamadi , Y., Kohli, P. and Mateescu, R. ), Cambridge University Press , 2013 (inbook)

ei

[BibTex]

[BibTex]


Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot
Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot

Pouya, S., Eckert, P., Spröwitz, A., Moc̈kel, R., Ijspeert, A. J.

In Biomimetic and Biohybrid Systems, 8064, pages: 434-437, Lecture Notes in Computer Science, Springer, Heidelberg, 2013 (incollection)

Abstract
One of the major deficiencies of current robots in comparison to living beings is the ability to adapt to new conditions either resulting from environmental changes or their own dynamics. In this work we focus on situations where the robot experiences involuntary changes in its body particularly in its limbs’ inertia. Inspired from its biological counterparts we are interested in enabling the robot to adapt its motor control to the new system dynamics. To reach this goal, we propose two different control strategies and compare their performance when handling these modifications. Our results show substantial improvements in adaptivity to body changes when the robot is aware of its new dynamics and can exploit this knowledge in synthesising new motor control.

dlg

DOI [BibTex]

DOI [BibTex]


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NimbRo@Home: Winning Team of the RoboCup@Home Competition 2012

Stueckler, J., Badami, I., Droeschel, D., Gräve, K., Holz, D., McElhone, M., Nieuwenhuisen, M., Schreiber, M., Schwarz, M., Behnke, S.

In RoboCup 2012, Robot Soccer World Cup XVI, pages: 94-105, Springer, 2013 (inbook)

ev

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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On the Relations and Differences between Popper Dimension, Exclusion Dimension and VC-Dimension

Seldin, Y., Schölkopf, B.

In Empirical Inference - Festschrift in Honor of Vladimir N. Vapnik, pages: 53-57, 6, (Editors: Schölkopf, B., Luo, Z. and Vovk, V.), Springer, 2013 (inbook)

ei

[BibTex]

[BibTex]


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Dynamics of nanodroplets on structured surfaces

Rauscher, M.

In Nanodroplets, 18, pages: 143-167, Lecture Notes in Nanoscale Science and Technology, Springer, New York, 2013 (incollection)

Abstract
Editors:Zhiming M. Wang

icm

DOI [BibTex]

DOI [BibTex]


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Wetting Phenomena on the Nanometer Scale

Rauscher, M., Dietrich, S., Napiórkowski, M.

In Nanoscale Liquid Interfaces - Wetting, Patterning and Force Microscopy at the Molecular Scale, pages: 83-154, Pan Stanford Publishing Pte. Ltd., Singapore, 2013 (incollection)

icm

DOI [BibTex]

DOI [BibTex]


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Using Torque Redundancy to Optimize Contact Forces in Legged Robots

Righetti, L., Buchli, J., Mistry, M., Kalakrishnan, M., Schaal, S.

In Redundancy in Robot Manipulators and Multi-Robot Systems, 57, pages: 35-51, Lecture Notes in Electrical Engineering, Springer Berlin Heidelberg, 2013 (incollection)

Abstract
The development of legged robots for complex environments requires controllers that guarantee both high tracking performance and compliance with the environment. More specifically the control of contact interaction with the environment is of crucial importance to ensure stable, robust and safe motions. In the following, we present an inverse dynamics controller that exploits torque redundancy to directly and explicitly minimize any combination of linear and quadratic costs in the contact constraints and in the commands. Such a result is particularly relevant for legged robots as it allows to use torque redundancy to directly optimize contact interactions. For example, given a desired locomotion behavior, it can guarantee the minimization of contact forces to reduce slipping on difficult terrains while ensuring high tracking performance of the desired motion. The proposed controller is very simple and computationally efficient, and most importantly it can greatly improve the performance of legged locomotion on difficult terrains as can be seen in the experimental results.

am mg

link (url) [BibTex]

link (url) [BibTex]


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Behavior as broken symmetry in embodied self-organizing robots

Der, R., Martius, G.

In Advances in Artificial Life, ECAL 2013, pages: 601-608, MIT Press, 2013 (incollection)

al

[BibTex]

[BibTex]


Modeling Shapes with Higher-Order Graphs: Theory and Applications
Modeling Shapes with Higher-Order Graphs: Theory and Applications

Wang, C., Zeng, Y., Samaras, D., Paragios, N.

In Shape Perception in Human and Computer Vision: An Interdisciplinary Perspective, (Editors: Zygmunt Pizlo and Sven Dickinson), Springer, 2013 (incollection)

ps

Publishers site [BibTex]

Publishers site [BibTex]


Class-Specific Hough Forests for Object Detection
Class-Specific Hough Forests for Object Detection

Gall, J., Lempitsky, V.

In Decision Forests for Computer Vision and Medical Image Analysis, pages: 143-157, 11, (Editors: Criminisi, A. and Shotton, J.), Springer, 2013 (incollection)

ps

code Project Page [BibTex]

code Project Page [BibTex]


Image Gradient Based Level Set Methods in 2D and 3D
Image Gradient Based Level Set Methods in 2D and 3D

Xianhua Xie, Si Yong Yeo, Majid Mirmehdi, Igor Sazonov, Perumal Nithiarasu

In Deformation Models: Tracking, Animation and Applications, pages: 101-120, 0, (Editors: Manuel González Hidalgo and Arnau Mir Torres and Javier Varona Gómez), Springer, 2013 (inbook)

Abstract
This chapter presents an image gradient based approach to perform 2D and 3D deformable model segmentation using level set. The 2D method uses an external force field that is based on magnetostatics and hypothesized magnetic interactions between the active contour and object boundaries. The major contribution of the method is that the interaction of its forces can greatly improve the active contour in capturing complex geometries and dealing with difficult initializations, weak edges and broken boundaries. This method is then generalized to 3D by reformulating its external force based on geometrical interactions between the relative geometries of the deformable model and the object boundary characterized by image gradient. The evolution of the deformable model is solved using the level set method so that topological changes are handled automatically. The relative geometrical configurations between the deformable model and the object boundaries contribute to a dynamic vector force field that changes accordingly as the deformable model evolves. The geometrically induced dynamic interaction force has been shown to greatly improve the deformable model performance in acquiring complex geometries and highly concave boundaries, and it gives the deformable model a high invariancy in initialization configurations. The voxel interactions across the whole image domain provide a global view of the object boundary representation, giving the external force a long attraction range. The bidirectionality of the external force field allows the new deformable model to deal with arbitrary cross-boundary initializations, and facilitates the handling of weak edges and broken boundaries.

ps

[BibTex]

[BibTex]

2008


GNU Octave Manual Version 3
GNU Octave Manual Version 3

John W. Eaton, David Bateman, Soren Hauberg

Network Theory Ltd., October 2008 (book)

ps

Publishers site GNU Octave [BibTex]

2008


Publishers site GNU Octave [BibTex]


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New Frontiers in Characterizing Structure and Dynamics by NMR

Nilges, M., Markwick, P., Malliavin, TE., Rieping, W., Habeck, M.

In Computational Structural Biology: Methods and Applications, pages: 655-680, (Editors: Schwede, T. , M. C. Peitsch), World Scientific, New Jersey, NJ, USA, May 2008 (inbook)

Abstract
Nuclear Magnetic Resonance (NMR) spectroscopy has emerged as the method of choice for studying both the structure and the dynamics of biological macromolecule in solution. Despite the maturity of the NMR method for structure determination, its application faces a number of challenges. The method is limited to systems of relatively small molecular mass, data collection times are long, data analysis remains a lengthy procedure, and it is difficult to evaluate the quality of the final structures. The last years have seen significant advances in experimental techniques to overcome or reduce some limitations. The function of bio-macromolecules is determined by both their 3D structure and conformational dynamics. These molecules are inherently flexible systems displaying a broad range of dynamics on time–scales from picoseconds to seconds. NMR is unique in its ability to obtain dynamic information on an atomic scale. The experimental information on structure and dynamics is intricately mixed. It is however difficult to unite both structural and dynamical information into one consistent model, and protocols for the determination of structure and dynamics are performed independently. This chapter deals with the challenges posed by the interpretation of NMR data on structure and dynamics. We will first relate the standard structure calculation methods to Bayesian probability theory. We will then briefly describe the advantages of a fully Bayesian treatment of structure calculation. Then, we will illustrate the advantages of using Bayesian reasoning at least partly in standard structure calculations. The final part will be devoted to interpretation of experimental data on dynamics.

ei

Web [BibTex]

Web [BibTex]


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Machine Learning for Robotics: Learning Methods for Robot Motor Skills

Peters, J.

pages: 107 , (Editors: J Peters), VDM-Verlag, Saarbrücken, Germany, May 2008 (book)

Abstract
Autonomous robots have been a vision of robotics, artificial intelligence, and cognitive sciences. An important step towards this goal is to create robots that can learn to accomplish amultitude of different tasks triggered by environmental context and higher-level instruction. Early approaches to this goal during the heydays of artificial intelligence research in the late 1980s showed that handcrafted approaches do not suffice and that machine learning is needed. However, off the shelf learning techniques often do not scale into real-time or to the high-dimensional domains of manipulator and humanoid robotics. In this book, we investigate the foundations for a general approach to motor skilllearning that employs domain-specific machine learning methods. A theoretically well-founded general approach to representing the required control structures for task representation and executionis presented along with novel learning algorithms that can be applied in this setting. The resulting framework is shown to work well both in simulation and on real robots.

ei

Web [BibTex]

Web [BibTex]


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Measurement-Based Modeling for Haptic Rendering

Okamura, A. M., Kuchenbecker, K. J., Mahvash, M.

In Haptic Rendering: Algorithms and Applications, pages: 443-467, 21, A. K. Peters, May 2008 (incollection)

hi

[BibTex]

[BibTex]


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A Robot System for Biomimetic Navigation: From Snapshots to Metric Embeddings of View Graphs

Franz, MO., Stürzl, W., Reichardt, W., Mallot, HA.

In Robotics and Cognitive Approaches to Spatial Mapping, pages: 297-314, Springer Tracts in Advanced Robotics ; 38, (Editors: Jefferies, M.E. , W.-K. Yeap), Springer, Berlin, Germany, 2008 (inbook)

Abstract
Complex navigation behaviour (way-finding) involves recognizing several places and encoding a spatial relationship between them. Way-finding skills can be classified into a hierarchy according to the complexity of the tasks that can be performed [8]. The most basic form of way-finding is route navigation, followed by topological navigation where several routes are integrated into a graph-like representation. The highest level, survey navigation, is reached when this graph can be embedded into a common reference frame. In this chapter, we present the building blocks for a biomimetic robot navigation system that encompasses all levels of this hierarchy. As a local navigation method, we use scene-based homing. In this scheme, a goal location is characterized either by a panoramic snapshot of the light intensities as seen from the place, or by a record of the distances to the surrounding objects. The goal is found by moving in the direction that minimizes the discrepancy between the recorded intensities or distances and the current sensory input. For learning routes, the robot selects distinct views during exploration that are close enough to be reached by snapshot-based homing. When it encounters already visited places during route learning, it connects the routes and thus forms a topological representation of its environment termed a view graph. The final stage, survey navigation, is achieved by a graph embedding procedure which complements the topologic information of the view graph with odometric position estimates. Calculation of the graph embedding is done with a modified multidimensional scaling algorithm which makes use of distances and angles between nodes.

ei

PDF PDF DOI [BibTex]

PDF PDF DOI [BibTex]


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Dynamic density functional theory (DDFT)

Rauscher, M.

In Encyclopedia of Microfluidics and Nanofluidics, pages: 428-433, Springer, New York, 2008 (incollection)

icm

[BibTex]

[BibTex]


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Hydrogen adsorption (Carbon, Zeolites, Nanocubes)

Hirscher, M., Panella, B.

In Hydrogen as a Future Energy Carrier, pages: 173-188, Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim, 2008 (incollection)

mms

[BibTex]

[BibTex]


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Ma\ssgeschneiderte Speichermaterialien

Hirscher, M.

In Von Brennstoffzellen bis Leuchtdioden (Energie und Chemie - Ein Bündnis für die Zukunft), pages: 31-33, Deutsche Bunsen-Gesellschaft für Physikalische Chemie e.V., Frankfurt am Main, 2008 (incollection)

mms

[BibTex]

[BibTex]


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Adaptive stair-climbing behaviour with a hybrid legged-wheeled robot

Eich, M., Grimminger, F., Kirchner, F.

In Advances In Mobile Robotics, pages: 768-775, World Scientific, August 2008 (incollection)

am

DOI [BibTex]

DOI [BibTex]

2001


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Extracting egomotion from optic flow: limits of accuracy and neural matched filters

Dahmen, H-J., Franz, MO., Krapp, HG.

In pages: 143-168, Springer, Berlin, 2001 (inbook)

ei

[BibTex]

2001


[BibTex]


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Influence of grain boundary phase transitions on the properties of Cu-Bi polycrystals

Straumal, B. B., Sluchanko, N.E., Gust, W.

In Defects and Diffusion in Metals III: An Annual Retrospective III, 188-1, pages: 185-194, Defect and Diffusion Forum, 2001 (incollection)

mms

[BibTex]

[BibTex]

2000


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Robust ensemble learning

Rätsch, G., Schölkopf, B., Smola, A., Mika, S., Onoda, T., Müller, K.

In Advances in Large Margin Classifiers, pages: 207-220, Neural Information Processing Series, (Editors: AJ Smola and PJ Bartlett and B Schölkopf and D. Schuurmans), MIT Press, Cambridge, MA, USA, October 2000 (inbook)

ei

[BibTex]

2000


[BibTex]


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Entropy numbers for convex combinations and MLPs

Smola, A., Elisseeff, A., Schölkopf, B., Williamson, R.

In Advances in Large Margin Classifiers, pages: 369-387, Neural Information Processing Series, (Editors: AJ Smola and PL Bartlett and B Schölkopf and D Schuurmans), MIT Press, Cambridge, MA,, October 2000 (inbook)

ei

[BibTex]

[BibTex]


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Advances in Large Margin Classifiers

Smola, A., Bartlett, P., Schölkopf, B., Schuurmans, D.

pages: 422, Neural Information Processing, MIT Press, Cambridge, MA, USA, October 2000 (book)

Abstract
The concept of large margins is a unifying principle for the analysis of many different approaches to the classification of data from examples, including boosting, mathematical programming, neural networks, and support vector machines. The fact that it is the margin, or confidence level, of a classification--that is, a scale parameter--rather than a raw training error that matters has become a key tool for dealing with classifiers. This book shows how this idea applies to both the theoretical analysis and the design of algorithms. The book provides an overview of recent developments in large margin classifiers, examines connections with other methods (e.g., Bayesian inference), and identifies strengths and weaknesses of the method, as well as directions for future research. Among the contributors are Manfred Opper, Vladimir Vapnik, and Grace Wahba.

ei

Web [BibTex]

Web [BibTex]


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Natural Regularization from Generative Models

Oliver, N., Schölkopf, B., Smola, A.

In Advances in Large Margin Classifiers, pages: 51-60, Neural Information Processing Series, (Editors: AJ Smola and PJ Bartlett and B Schölkopf and D Schuurmans), MIT Press, Cambridge, MA, USA, October 2000 (inbook)

ei

[BibTex]

[BibTex]


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Solving Satisfiability Problems with Genetic Algorithms

Harmeling, S.

In Genetic Algorithms and Genetic Programming at Stanford 2000, pages: 206-213, (Editors: Koza, J. R.), Stanford Bookstore, Stanford, CA, USA, June 2000 (inbook)

Abstract
We show how to solve hard 3-SAT problems using genetic algorithms. Furthermore, we explore other genetic operators that may be useful to tackle 3-SAT problems, and discuss their pros and cons.

ei

PDF [BibTex]

PDF [BibTex]


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Statistical Learning and Kernel Methods

Schölkopf, B.

In CISM Courses and Lectures, International Centre for Mechanical Sciences Vol.431, CISM Courses and Lectures, International Centre for Mechanical Sciences, 431(23):3-24, (Editors: G Della Riccia and H-J Lenz and R Kruse), Springer, Vienna, Data Fusion and Perception, 2000 (inbook)

ei

[BibTex]

[BibTex]


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An Introduction to Kernel-Based Learning Algorithms

Müller, K., Mika, S., Rätsch, G., Tsuda, K., Schölkopf, B.

In Handbook of Neural Network Signal Processing, 4, (Editors: Yu Hen Hu and Jang-Neng Hwang), CRC Press, 2000 (inbook)

ei

[BibTex]

[BibTex]


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Biomimetic gaze stabilization

Shibata, T., Schaal, S.

In Robot learning: an Interdisciplinary approach, pages: 31-52, (Editors: Demiris, J.;Birk, A.), World Scientific, 2000, clmc (inbook)

Abstract
Accurate oculomotor control is one of the essential pre-requisites for successful visuomotor coordination. In this paper, we suggest a biologically inspired control system for learning gaze stabilization with a biomimetic robotic oculomotor system. In a stepwise fashion, we develop a control circuit for the vestibulo-ocular reflex (VOR) and the opto-kinetic response (OKR), and add a nonlinear learning network to allow adaptivity. We discuss the parallels and differences of our system with biological oculomotor control and suggest solutions how to deal with nonlinearities and time delays in the control system. In simulation and actual robot studies, we demonstrate that our system can learn gaze stabilization in real time in only a few seconds with high final accuracy.

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link (url) [BibTex]

link (url) [BibTex]


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Age-momentum correlation (AMOC)

Stoll, H.

In Construction and Use of an Intense Positron Source at new Linac Facilities in Germany, FZR-295, pages: 44-49, Wissenschaftlich-Technische Berichte, 2000 (incollection)

mms

[BibTex]

[BibTex]


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MeV Positron Beams

Stoll, H.

In Positron Beams and Their Applications, pages: 237-257, World Scientific, Singapore, 2000 (incollection)

mms

[BibTex]

[BibTex]


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Critical behaviour of V2H in a defective near-surface skin layer

Trenkler, J., Moss, S. C., Reichert, H., Paniago, R., Gebhardt, U., Carstanjen, H. D., Metzger, T. H., Peisl, J.

In Exploration of Subsurface Phenomena by Particle Scattering, pages: 155-164, International Advanced Studies Institute IASI Press, North East/MD, 2000 (incollection)

mms

[BibTex]

[BibTex]