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2020


Gripping apparatus and method of producing a gripping apparatus
Gripping apparatus and method of producing a gripping apparatus

Song, S., Sitti, M., Drotlef, D., Majidi, C.

Google Patents, Febuary 2020, US Patent App. 16/610,209 (patent)

Abstract
The present invention relates to a gripping apparatus comprising a membrane; a flexible housing; with said membrane being fixedly connected to a periphery of the housing. The invention further relates to a method of producing a gripping apparatus.

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[BibTex]

2020


[BibTex]


Method of actuating a shape changeable member, shape changeable member and actuating system
Method of actuating a shape changeable member, shape changeable member and actuating system

Hu, W., Lum, G. Z., Mastrangeli, M., Sitti, M.

Google Patents, January 2020, US Patent App. 16/477,593 (patent)

Abstract
The present invention relates to a method of actuating a shape changeable member of actuatable material. The invention further relates to a shape changeable member and to a system comprising such a shape changeable member and a magnetic field apparatus.

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[BibTex]


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TUM Flyers: Vision-Based MAV Navigation for Systematic Inspection of Structures

Usenko, V., Stumberg, L. V., Stückler, J., Cremers, D.

In Bringing Innovative Robotic Technologies from Research Labs to Industrial End-users: The Experience of the European Robotics Challenges, 136, pages: 189-209, Springer International Publishing, 2020 (inbook)

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[BibTex]

[BibTex]


Differentiation of blackbox combinatorial solvers
Differentiation of blackbox combinatorial solvers

Vlastelica, M., Paulus, A., Musil, V., Martius, G., Rolı́nek, M.

In International Conference on Learning Representations, ICLR’20, 2020 (incollection)

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link (url) [BibTex]

link (url) [BibTex]

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]


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Poster Abstract: Toward Fast Closed-loop Control over Multi-hop Low-power Wireless Networks

Mager, F., Baumann, D., Trimpe, S., Zimmerling, M.

Proceedings of the 17th ACM/IEEE Conference on Information Processing in Sensor Networks (IPSN), pages: 158-159, Porto, Portugal, April 2018 (poster)

ics

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Representation of sensory uncertainty in macaque visual cortex

Goris, R., Henaff, O., Meding, K.

Computational and Systems Neuroscience (COSYNE) 2018, March 2018 (poster)

ei

[BibTex]

[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.

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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.

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


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Generalized phase locking analysis of electrophysiology data

Safavi, S., Panagiotaropoulos, T., Kapoor, V., Logothetis, N. K., Besserve, M.

7th AREADNE Conference on Research in Encoding and Decoding of Neural Ensembles, 2018 (poster)

ei

link (url) Project Page [BibTex]

link (url) Project Page [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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Photorealistic Video Super Resolution

Pérez-Pellitero, E., Sajjadi, M. S. M., Hirsch, M., Schölkopf, B.

Workshop and Challenge on Perceptual Image Restoration and Manipulation (PIRM) at the 15th European Conference on Computer Vision (ECCV), 2018 (poster)

ei

[BibTex]

[BibTex]


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Retinal image quality of the human eye across the visual field

Meding, K., Hirsch, M., Wichmann, F. A.

14th Biannual Conference of the German Society for Cognitive Science (KOGWIS 2018), 2018 (poster)

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]

2015


Untethered Magnetic Micromanipulation
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.

pi

DOI Project Page [BibTex]

2015


DOI Project Page [BibTex]


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Diversity of sharp wave-ripples in the CA1 of the macaque hippocampus and their brain wide signatures

Ramirez-Villegas, J. F., Logothetis, N. K., Besserve, M.

45th Annual Meeting of the Society for Neuroscience (Neuroscience 2015), October 2015 (poster)

ei

link (url) [BibTex]

link (url) [BibTex]


Methods of forming dry adhesive structures
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]


Micro-fiber arrays with tip coating and transfer method for preparing same
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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Retrospective rigid motion correction of undersampled MRI data

Loktyushin, A., Babayeva, M., Gallichan, D., Krueger, G., Scheffler, K., Kober, T.

23rd Annual Meeting and Exhibition of the International Society for Magnetic Resonance in Medicine, ISMRM, June 2015 (poster)

ei

[BibTex]

[BibTex]


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Improving Quantitative Susceptibility and R2* Mapping by Applying Retrospective Motion Correction

Feng, X., Loktyushin, A., Deistung, A., Reichenbach, J. R.

23rd Annual Meeting and Exhibition of the International Society for Magnetic Resonance in Medicine, ISMRM, June 2015 (poster)

ei

[BibTex]

[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)

am ics

link (url) [BibTex]

link (url) [BibTex]


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Autonomous Robots

Schaal, S.

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

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[BibTex]

[BibTex]


Dry adhesives and methods for making dry adhesives
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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Increasing the sensitivity of Kepler to Earth-like exoplanets

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

Workshop: 225th American Astronomical Society Meeting 2015 , pages: 105.01D, 2015 (poster)

ei

Web link (url) [BibTex]

Web link (url) [BibTex]


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Calibrating the pixel-level Kepler imaging data with a causal data-driven model

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

Workshop: 225th American Astronomical Society Meeting 2015 , pages: 258.08, 2015 (poster)

ei

Web link (url) [BibTex]

Web link (url) [BibTex]


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Disparity estimation from a generative light field model

Köhler, R., Schölkopf, B., Hirsch, M.

IEEE International Conference on Computer Vision (ICCV 2015), Workshop on Inverse Rendering, 2015, Note: This work has been presented as a poster and is not included in the workshop proceedings. (poster)

ei

[BibTex]

[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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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)

am

[BibTex]

[BibTex]


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Blind Retrospective Motion Correction of MR Images

Loktyushin, A., Nickisch, H., Pohmann, R., Schölkopf, B.

20th Annual Scientific Meeting ISMRM, May 2012 (poster)

Abstract
Patient motion in the scanner is one of the most challenging problems in MRI. We propose a new retrospective motion correction method for which no tracking devices or specialized sequences are required. We seek the motion parameters such that the image gradients in the spatial domain become sparse. We then use these parameters to invert the motion and recover the sharp image. In our experiments we acquired 2D TSE images and 3D FLASH/MPRAGE volumes of the human head. Major quality improvements are possible in the 2D case and substantial improvements in the 3D case.

ei

Web [BibTex]

Web [BibTex]


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Expectation-Maximization methods for solving (PO)MDPs and optimal control problems

Toussaint, M., Storkey, A., Harmeling, S.

In Inference and Learning in Dynamic Models, (Editors: Barber, D., Cemgil, A.T. and Chiappa, S.), Cambridge University Press, Cambridge, UK, January 2012 (inbook) In press

ei

PDF [BibTex]

PDF [BibTex]


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Identifying endogenous rhythmic spatio-temporal patterns in micro-electrode array recordings

Besserve, M., Panagiotaropoulos, T., Crocker, B., Kapoor, V., Tolias, A., Panzeri, S., Logothetis, N.

9th annual Computational and Systems Neuroscience meeting (Cosyne), 2012 (poster)

ei

[BibTex]

[BibTex]


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Reconstruction using Gaussian mixture models

Joubert, P., Habeck, M.

2012 Gordon Research Conference on Three-Dimensional Electron Microscopy (3DEM), 2012 (poster)

ei

Web [BibTex]

Web [BibTex]


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Inferential structure determination from NMR data

Habeck, M.

In Bayesian methods in structural bioinformatics, pages: 287-312, (Editors: Hamelryck, T., Mardia, K. V. and Ferkinghoff-Borg, J.), Springer, New York, 2012 (inbook)

ei

[BibTex]

[BibTex]


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Learning from Distributions via Support Measure Machines

Muandet, K., Fukumizu, K., Dinuzzo, F., Schölkopf, B.

26th Annual Conference on Neural Information Processing Systems (NIPS), 2012 (poster)

ei

PDF [BibTex]

PDF [BibTex]


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Robot Learning

Sigaud, O., Peters, J.

In Encyclopedia of the sciences of learning, (Editors: Seel, N.M.), Springer, Berlin, Germany, 2012 (inbook)

ei

Web [BibTex]

Web [BibTex]


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Juggling Increases Interhemispheric Brain Connectivity: A Visual and Quantitative dMRI Study.

Schultz, T., Gerber, P., Schmidt-Wilcke, T.

Vision, Modeling and Visualization (VMV), 2012 (poster)

ei

[BibTex]

[BibTex]


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Reinforcement Learning in Robotics: A Survey

Kober, J., Peters, J.

In Reinforcement Learning, 12, pages: 579-610, (Editors: Wiering, M. and Otterlo, M.), Springer, Berlin, Germany, 2012 (inbook)

Abstract
As most action generation problems of autonomous robots can be phrased in terms of sequential decision problems, robotics offers a tremendously important and interesting application platform for reinforcement learning. Similarly, the real-world challenges of this domain pose a major real-world check for reinforcement learning. Hence, the interplay between both disciplines can be seen as promising as the one between physics and mathematics. Nevertheless, only a fraction of the scientists working on reinforcement learning are sufficiently tied to robotics to oversee most problems encountered in this context. Thus, we will bring the most important challenges faced by robot reinforcement learning to their attention. To achieve this goal, we will attempt to survey most work that has successfully applied reinforcement learning to behavior generation for real robots. We discuss how the presented successful approaches have been made tractable despite the complexity of the domain and will study how representations or the inclusion of prior knowledge can make a significant difference. As a result, a particular focus of our chapter lies on the choice between model-based and model-free as well as between value function-based and policy search methods. As a result, we obtain a fairly complete survey of robot reinforcement learning which should allow a general reinforcement learning researcher to understand this domain.

ei

Web DOI [BibTex]

Web DOI [BibTex]


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The geometry and statistics of geometric trees

Feragen, A., Lo, P., de Bruijne, M., Nielsen, M., Lauze, F.

T{\"u}bIt day of bioinformatics, June, 2012 (poster)

ei

[BibTex]

[BibTex]


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Therapy monitoring of patients with chronic sclerodermic graft-versus-host-disease using PET/MRI

Sauter, A., Schmidt, H., Mantlik, F., Kolb, A., Federmann, B., Bethge, W., Reimold, M., Pfannenberg, C., Pichler, B., Horger, M.

2012 SNM Annual Meeting, 2012 (poster)

ei

Web [BibTex]

Web [BibTex]


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Centrality of the Mammalian Functional Brain Network

Besserve, M., Bartels, A., Murayama, Y., Logothetis, N.

42nd Annual Meeting of the Society for Neuroscience (Neuroscience), 2012 (poster)

ei

[BibTex]

[BibTex]


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Kernel Mean Embeddings of POMDPs

Nishiyama, Y., Boularias, A., Gretton, A., Fukumizu, K.

21st Machine Learning Summer School , 2012 (poster)

ei

[BibTex]

[BibTex]


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Higher-Order Tensors in Diffusion MRI

Schultz, T., Fuster, A., Ghosh, A., Deriche, R., Florack, L., Lim, L.

In Visualization and Processing of Tensors and Higher Order Descriptors for Multi-Valued Data, (Editors: Westin, C. F., Vilanova, A. and Burgeth, B.), Springer, 2012 (inbook) Accepted

ei

[BibTex]

[BibTex]


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Semi-Supervised Domain Adaptation with Copulas

Lopez-Paz, D., Hernandez-Lobato, J., Schölkopf, B.

Neural Information Processing Systems (NIPS), 2012 (poster)

ei

PDF [BibTex]

PDF [BibTex]