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Walking Control Based on Step Timing Adaptation
Walking Control Based on Step Timing Adaptation

Khadiv, M., Herzog, A., Moosavian, S. A. A., Righetti, L.

IEEE Transactions on Robotics, March 2020 (article) Accepted

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[BibTex]

[BibTex]


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Sliding Mode Control with Gaussian Process Regression for Underwater Robots

Lima, G. S., Trimpe, S., Bessa, W. M.

Journal of Intelligent & Robotic Systems, January 2020 (article)

ics

DOI [BibTex]

DOI [BibTex]


Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks
Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks

Beuchert, J., Solowjow, F., Raisch, J., Trimpe, S., Seel, T.

IEEE Control Systems Letters, 4(1):103-108, January 2020 (article)

ics

arXiv PDF DOI Project Page [BibTex]

arXiv PDF DOI Project Page [BibTex]


Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems
Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems

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

IEEE Control Systems Letters, 4(1):127-132, January 2020 (article)

ics

arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


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Effect of the soft layer thickness of magnetization reversal process of exchange-spring nanomagnet patterns

Son, K., Schütz, G., Goering, E.

{Current Applied Physics}, 20(4):477-483, Elsevier B.V., Amsterdam, 2020 (article)

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DOI [BibTex]


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Tuning the magnetic properties of permalloy-based magnetoplasmonic crystals for sensor applications

Murzin, D. V., Belyaev, V. K., Groß, F., Gräfe, J., Rivas, M., Rodionova, V. V.

{Japanese Journal of Applied Physics}, 59(SE), IOP Publishing Ltd, Bristol, England, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Creating zero-field skyrmions in exchange-biased multilayers through X-ray illumination

Guang, Y., Bykova, I., Liu, Y., Yu, G., Goering, E., Weigand, M., Gräfe, J., Kim, S. K., Zhang, J., Zhang, H., Yan, Z., Wan, C., Feng, J., Wang, X., Guo, C., Wei, H., Peng, Y., Tserkovnyak, Y., Han, X., Schütz, G.

{Nature Communications}, 11, Nature Publishing Group, London, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Element-resolved study of the evolution of magnetic response in FexN compounds

Chen, Y., Gölden, D., Dirba, I., Huang, M., Gutfleisch, O., Nagel, P., Merz, M., Schuppler, S., Schütz, G., Alff, L., Goering, E.

{Journal of Magnetism and Magnetic Materials}, 498, NH, Elsevier, Amsterdam, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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The role of temperature and drive current in skyrmion dynamics

Litzius, K., Leliaert, J., Bassirian, P., Rodrigues, D., Kromin, S., Lemesh, I., Zazvorka, J., Lee, K., Mulkers, J., Kerber, N., Heinze, D., Keil, N., Reeve, R. M., Weigand, M., Van Waeyenberge, B., Schütz, G., Everschor-Sitte, K., Beach, G. S. D., Kläui, M.

{Nature Electronics}, 3(1):30-36, Springer Nature, London, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic flux penetration into micron-sized superconductor/ferromagnet bilayers

Simmendinger, J., Weigand, M., Schütz, G., Albrecht, J.

{Superconductor Science and Technology}, 33(2), IOP Pub., Bristol, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


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Interaction of hydrogen isotopes with flexible metal-organic frameworks

Bondorf, L.

Universität Stuttgart, Stuttgart, 2020 (mastersthesis)

mms

[BibTex]

[BibTex]


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Fabrication and temperature-dependent magnetic properties of large-area L10-FePt/Co exchange-spring magnet nanopatterns

Son, K., Schütz, G.

{Physica E: Low-Dimensional Systems And Nanostructures}, 115, North-Holland, Amsterdam, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Electronics, Software and Analysis of a Bioinspired Sensorized Quadrupedal Robot
Electronics, Software and Analysis of a Bioinspired Sensorized Quadrupedal Robot

Petereit, R.

Technische Universität München, 2020 (mastersthesis)

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[BibTex]


Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage
Spatial Scheduling of Informative Meetings for Multi-Agent Persistent Coverage

Haksar, R. N., Trimpe, S., Schwager, M.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

ics

DOI [BibTex]

DOI [BibTex]


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How to functionalise metal-organic frameworks to enable guest nanocluster embedment

King, J., Zhang, L., Doszczeczko, S., Sambalova, O., Luo, H., Rohman, F., Phillips, O., Borgschulte, A., Hirscher, M., Addicoat, M., Szilágyi, P. A.

{Journal of Materials Chemistry A}, 8(9):4889-4897, Royal Society of Chemistry, Cambridge, UK, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Trunk pitch oscillations for energy trade-offs in bipedal running birds and robots
Trunk pitch oscillations for energy trade-offs in bipedal running birds and robots

Drama, Ö., Badri-Spröwitz, A.

Bioinspiration & Biomimetics, 2020 (article)

Abstract
Bipedal animals have diverse morphologies and advanced locomotion abilities. Terrestrial birds, in particular, display agile, efficient, and robust running motion, in which they exploit the interplay between the body segment masses and moment of inertias. On the other hand, most legged robots are not able to generate such versatile and energy-efficient motion and often disregard trunk movements as a means to enhance their locomotion capabilities. Recent research investigated how trunk motions affect the gait characteristics of humans, but there is a lack of analysis across different bipedal morphologies. To address this issue, we analyze avian running based on a spring-loaded inverted pendulum model with a pronograde (horizontal) trunk. We use a virtual point based control scheme and modify the alignment of the ground reaction forces to assess how our control strategy influences the trunk pitch oscillations and energetics of the locomotion. We derive three potential key strategies to leverage trunk pitch motions that minimize either the energy fluctuations of the center of mass or the work performed by the hip and leg. We suggest how these strategies could be used in legged robotics.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


Event-triggered Learning
Event-triggered Learning

Solowjow, F., Trimpe, S.

Automatica, 2020 (article) Accepted

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arXiv PDF Project Page [BibTex]


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Thermal nucleation and high-resolution imaging of submicrometer magnetic bubbles in thin thulium iron garnet films with perpendicular anisotropy

Büttner, F., Mawass, M. A., Bauer, J., Rosenberg, E., Caretta, L., Avci, C. O., Gräfe, J., Finizio, S., Vaz, C. A. F., Novakovic, N., Weigand, M., Litzius, K., Förster, J., Träger, N., Groß, F., Suzuki, D., Huang, M., Bartell, J., Kronast, F., Raabe, J., Schütz, G., Ross, C. A., Beach, G. S. D.

{Physical Review Materials}, 4(1), American Physical Society, College Park, MD, 2020 (article)

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DOI [BibTex]

DOI [BibTex]


Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control
Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control

Nubert, J., Koehler, J., Berenz, V., Allgower, F., Trimpe, S.

IEEE Robotics and Automation Letters, 2020 (article) Accepted

Abstract
Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs). The result is a new approach for complex tasks with nonlinear, uncertain, and constrained dynamics as are common in robotics. Specifically, we leverage recent results in MPC research to propose a new robust setpoint tracking MPC algorithm, which achieves reliable and safe tracking of a dynamic setpoint while guaranteeing stability and constraint satisfaction. The presented robust MPC scheme constitutes a one-layer approach that unifies the often separated planning and control layers, by directly computing the control command based on a reference and possibly obstacle positions. As a separate contribution, we show how the computation time of the MPC can be drastically reduced by approximating the MPC law with a NN controller. The NN is trained and validated from offline samples of the MPC, yielding statistical guarantees, and used in lieu thereof at run time. Our experiments on a state-of-the-art robot manipulator are the first to show that both the proposed robust and approximate MPC schemes scale to real-world robotic systems.

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arXiv PDF DOI [BibTex]

arXiv PDF DOI [BibTex]


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Generation and characterization of focused helical x-ray beams

Loetgering, L., Baluktsian, M., Keskinbora, K., Horstmeyer, R., Wilhein, T., Schütz, G., Eikema, K. S. E., Witte, S.

Science Advances, 6(7), American Association for the Advancement of Science, 2020 (article)

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Generation and characterization of focused helical x-ray beams link (url) DOI [BibTex]

Generation and characterization of focused helical x-ray beams link (url) DOI [BibTex]


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Materials for hydrogen-based energy storage - past, recent progress and future outlook

Hirscher, M., Yartys, V. A., Baricco, M., Bellosta von Colbe, J., Blanchard, D., Bowman Jr., R. C., Broom, D. P., Buckley, C. E., Chang, F., Chen, P., Cho, Y. W., Crivello, J., Cuevas, F., David, W. I. F., de Jongh, P. E., Denys, R. V., Dornheim, M., Felderhoff, M., Filinchuk, Y., Froudakis, G. E., Grant, D. M., Gray, E. M., Hauback, B. C., He, T., Humphries, T. D., Jensen, T. R., Kim, S., Kojima, Y., Latroche, M., Li, H., Lotostskyy, M. V., Makepeace, J. W., M\oller, K. T., Naheed, L., Ngene, P., Noréus, D., Nyg\aard, M. M., Orimo, S., Paskevicius, M., Pasquini, L., Ravnsbaek, D. B., Sofianos, M. V., Udovic, T. J., Vegge, T., Walker, G. S., Webb, C. J., Weidenthaler, C., Zlotea, C.

{Journal of Alloys and Compounds}, 827, Elsevier B.V., Lausanne, Switzerland, 2020 (article)

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DOI [BibTex]

DOI [BibTex]

2002


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Chemical processes during solid state reaction of carbon with alkali salts prepared for gravimetric hydrogen storage measurements

Skakalova, V., Quintel, A., Choi, Y. M., Roth, S., Becher, M., Hirscher, M.

{Chemical Physics Letters}, 365(3-4):333-337, 2002 (article)

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[BibTex]

2002


[BibTex]


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Micromagnetic analysis of nucleation-hardened nanocrystalline PrFeB magnets

Kronmüller, H., Goll, D.

{Scripta Materialia}, 47(8):551-556, 2002 (article)

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[BibTex]

[BibTex]


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The Verwey transition in magnetite as studied by means of definite impurity doping

Walz, F., Brabers, J. H. V. J., Brabers, V. A. M.

{Zeitschrift f\"ur Metallkunde}, 93(10):1095-1102, 2002 (article)

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[BibTex]

[BibTex]


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Antiparallel ruthenium coupling in doped La1.2Sr1.8Mn2-xRuxO7

Weigand, F., Gold, S., Schmid, A., Geissler, J., Goering, E., Dorr, K., Krabbes, G., Ruck, K.

{Applied Physics Letters}, 81(11):2035-2037, 2002 (article)

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[BibTex]

[BibTex]


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Micromagnetic theory of the pinning of domain walls at phase boundaries

Kronmüller, H., Goll, D.

{Physica B}, 319(1-4):122-126, 2002 (article)

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[BibTex]

[BibTex]


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Diffusion of oxygen in CdSe-photo sensor arrays

Klement, U., Ernst, F., Baretzky, B., Plitzko, J. M.

{Materials Science and Engineering B-Solid State Materials for Advanced Technology}, 94(2-3):123-130, 2002 (article)

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[BibTex]

[BibTex]


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Magnetic imaging with full-field soft X-ray microscopy

Fischer, P., Eimüller, T., Goll, D., Stoll, H., Puzic, A., Schütz, G., Denbeaux, G.

{Zeitschrift f\"ur Metallkunde}, 93(5):377-382, 2002 (article)

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[BibTex]

[BibTex]


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Magneto-optical studies of current distributions in high-Tc superconductors

Jooss, C., Albrecht, J., Kuhn, H., Leonhardt, S., Kronmüller, H.

{Reports on Progress in Physics}, 65(5):651-788, 2002 (article)

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[BibTex]

[BibTex]


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Dominant thermal defects in B2-FeAl

Bester, G., Meyer, B., Fähnle, M., Fu, C. L.

{Materials Science and Engineering A-Structural Materials Properties Microstructure and Processing}, 323(1-2):487-490, 2002 (article)

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[BibTex]

[BibTex]


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Hydrogen desorption kinetics of nanostructured MgH2 composite materials

von Zeppelin, F., Reule, H., Hirscher, M.

{Journal of Alloys and Compounds}, 330, pages: 723-726, 2002 (article)

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[BibTex]

[BibTex]


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Hydrogen in mechanically prepared nanostructured h-BN: a critical comparison with that in nanostructured graphite

Wang, P., Orimo, S., Matsushima, T., Fujii, H., Majer, G.

{Applied Physics Letters}, 80(2):318-320, 2002 (article)

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[BibTex]

[BibTex]


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Enhancement of the critical current density by silver sheeting of YBCO thin films

Kienzle, M., Albrecht, J., Warthmann, R., Kronmüller, H., Leonhardt, S., Joos, C.

{Physical Review B}, 66, 2002 (article)

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[BibTex]

[BibTex]


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Pt magnetization profile in a Pt/Co bilayer studied by resonant magnetic x-ray reflectometry

Geissler, J., Goering, E., Justen, M., Weigand, F., Schütz, G., Langer, J., Schmitz, D., Maletta, H., Mattheis, R.

{Physical Review B}, 65, 2002 (article)

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DOI [BibTex]

DOI [BibTex]


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Imaging magnetic microstructures with soft x-ray microscopies

Fischer, P., Denbeaux, G., Nolting, F., Goll, D., Eimüller, T., Quitmann, C., Schütz, G.

{Transactions of the Magnetics Society of Japan}, 2, pages: 234-237, 2002 (article)

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[BibTex]

[BibTex]


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Positron age-momentum correlation (AMOC) measurements on organic liquids

Castellaz, P., Siegle, A., Stoll, H.

{Journal of Nuclear and Radiochemical Sciences}, 3, pages: R1-R7, 2002 (article)

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[BibTex]

[BibTex]


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Theory of crystal field states for heavy rare-earth impurities in MgB2

Welsch, F., Kremer, R., Fähnle, M.

{Journal of Physics-Condensed Matter}, 14(43):10273-10279, 2002 (article)

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[BibTex]

[BibTex]


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Micromagnetism and microstructure - tailoring of high- performance permanent magnets

Goll, D.

{Zeitschrift f\"ur Metallkunde}, 93(10):1009-1018, 2002 (article)

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[BibTex]

[BibTex]


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Interplay between chemical and magnetic roughness of Pt in a Pt/Co bilayer investigated with X-ray resonant magnetic reflectometry

Geissler, J., Goering, E., Weigand, F., Schütz, G.

{Zeitschrift f\"ur Metallkunde}, 93(10):946-952, 2002 (article)

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[BibTex]


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Untersuchungen zur Spindynamik in nanostrukturierten ferromagnetischen Schichtsystemen

Puzic, A.

Universität Stuttgart, Stuttgart, 2002 (mastersthesis)

mms

[BibTex]

[BibTex]


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Direct correlation of Cr 3d orbital polarization and O K-edge X-ray magnetic circular dichroism of epitaxial CrO2 films

Goering, E., Bayer, A., Gold, S., Schütz, G., Rabe, M., Rüdiger, U., Güntherodt, G.

{Europhysics Letters}, 58(6):906-911, 2002 (article)

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[BibTex]

[BibTex]


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Surface magnetization reversal of sputtered CrO2

Goering, E., Gold, S., Will, J.

{Zeitschrift f\"ur Metallkunde}, 93(5):372-376, 2002 (article)

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[BibTex]

[BibTex]


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Shear-strain-related nonlinear magnetoelastic properties of epitaxial films

Komelj, M., Fähnle, M.

{Physical Review B}, 65(9), 2002 (article)

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[BibTex]

[BibTex]


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NMR studies of hydrogen diffusion in the hydrogen-stabilized Laves phase compound C15-HfTi2Hx

Eberle, U., Majer, G., Skripov, A. V., Kozhanov, V. N.

{Journal of Physics-Condensed Matter}, 14(2):153-164, 2002 (article)

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[BibTex]

[BibTex]


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The existence of more than one jump process of hydrogen in palladium-silver alloys - an NMR study

Züchner, H., Barlag, H., Majer, G.

{Journal of Alloys and Compounds}, 330-332, pages: 448-453, 2002 (article)

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[BibTex]

[BibTex]


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Electric field distribution at low-angle grain boundaries in high-temperature superconductors

Jooss, C., Guth, K., Born, V., Albrecht, J.

{Physical Review B}, 65(1), 2002 (article)

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[BibTex]

[BibTex]


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Finite element calculations on the single-domain limit of a ferromagnetic cube - a solution to \microMAG Standard Problem No. 3

Hertel, R., Kronmüller, H.

{Journal of Magnetism and Magnetic Materials}, 238(2-3):185-199, 2002 (article)

mms

[BibTex]

[BibTex]