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2012


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Wasserstoffspeicherkapazität poröser Materialien in Kryoadsorptionstanks

Schlichtenmayer, M.

Universität Stuttgart, Stuttgart, 2012 (phdthesis)

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link (url) [BibTex]

2012


link (url) [BibTex]


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Vortex dynamics in nonparabolic potentials

Langner, H. H., Kamionka, T., Martens, M., Weigand, M., Adolff, C. F., Merkt, U., Meier, G.

{Physical Review B}, 85(17), 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Micromagnetic simulations on GPU, a case study: Vortex core switcing by high-frequency magnetic fields

Van de Wiele, B, Vansteenkiste, A., Kammerer, M., Van Waeyenberge, B., Dupré, L., De Zutter, D.

{IEEE Transactions on Magnetics}, 48(6):2068-2072, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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On the energetics of transversal and longitudinal fluctuations of atomic magnetic moments

Dietermann, F., Sandratskii, L. M., Fähnle, M.

{Journal of Magnetism and Magnetic Materials}, 324(18):2693-2695, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Gradual softening of Al-Zn alloys during high-pressure torsion

Mazilkin, A. A., Straumal, B. B., Borodachenkova, M. V., Valiev, R. Z., Kogtenkova, O. A., Baretzky, B.

{Materials Letters}, 84, pages: 63-65, North-Holland, Amsterdam, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Direct imaging of phase relation in a pair of coupled vortex oscillators

Vogel, A., Drews, A., Weigand, M., Meier, G.

{AIP Advances}, 2, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive

Ernesti, J., Righetti, L., Do, M., Asfour, T., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 57-64, IEEE, Osaka, Japan, November 2012 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Learning Force Control Policies for Compliant Robotic Manipulation

Kalakrishnan, M., Righetti, L., Pastor, P., Schaal, S.

In ICML’12 Proceedings of the 29th International Coference on International Conference on Machine Learning, pages: 49-50, Edinburgh, Scotland, 2012 (inproceedings)

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[BibTex]

[BibTex]


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Behandlung stark nichtkollinearer Magnetisierungsstrukturen mit der Spin-Cluster-Entwicklung

Dietermann, F.

Universität Stuttgart, Stuttgart, 2012 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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Spin wave mediated magnetic vortex core reversal

Stoll, H.

In 8461, San Diego, California, USA, 2012 (inproceedings)

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DOI [BibTex]

DOI [BibTex]


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The principles of XMCD and its application to L-edges in transition metals

Schütz, G.

In Linear and Chiral Dichroism in the Electron Miroscope, pages: 23-42, Pan Stanford Publishing Pte.Ltd., Singapore, 2012 (incollection)

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[BibTex]

[BibTex]


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Accurate dosimetry in scanning transmission X-ray microscopes via the cross-linking threshold dose of poly(methyl methacrylate)

Leontowich, A. F. G., Hitchcock, A. P., Tyliszczak, T., Weigand, M., Wang, J., Karunakaran, C.

{Journal of Synchrotron Radiation}, 19(6):976-987, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Biogenic potassium salt particles as seeds for secondary organic aerosal in the amazon

Pöhlker, C., Wiedemann, K. T., Sinha, B., Shiraiwa, M., Gunthe, S. S., Smith, M., Su, H., Artaxo, P., Chen, Q., Cheng, Y., Elbert, W., Gilles, M. K., Kilcoyne, A. L. D., Moffet, R. C., Weigand, M., Martin, S. T., Pöschl, U., Andreae, M. O.

{Science}, 337, pages: 1075-1078, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Metal@COFs: Covalent organic frameworks as templates for Pd nanoparticles and hydrogen storage properties of Pd@COF-102 hybrid material

Kalidindi, S. B., Oh, H., Hirscher, M., Esken, D., Wiktor, C., Turner, S., Van Tendeloo, G., Fischer, R. A.

{Chemistry-a European Journal}, 18(35):10848-10856, VCH Verlagsgesellschaft, Weinheim, Germany, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Ion beam lithography for direct patterning of high accuracy large area X-ray elements in gold on membranes

Nadzeyka, A., Peto, L., Bauerdick, S., Mayer, M., Keskinbora, K., Grévent, C., Weigand, M., Hirscher, M., Schütz, G.

{Microelectronic Engineering}, 98, pages: 198-201, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Micro- and nanoscale fluid flow on chemical channels

Dörfler, Fabian, Rauscher, Markus, Koplik, Joel, Harting, Jens, Dietrich, S.

{Soft Matter}, 8(35):9221-9234, 2012 (article)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Spinwelleninduziertes Schalten magnetischer Vortexkerne

Kammerer, M.

Universität Stuttgart, Stuttgart, 2012 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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Novel characterization of the adsorption sites in large pore Metal-Organic Frameworks: Combination of X-ray powder diffraction and thermal desorption spectroscopy

Soleimani Dorcheh, A., Dinnebier, R. E., Kuc, A., Magdysyuk, O., Adams, F., Denysenko, D., Heine, T., Volkmer, D., Donner, W., Hirscher, M.

{Physical Chemistry Chemical Physics}, 14(37):12892-12897, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Tunnel contacts for spin injection into silicon: The Si-Co interface with and without a MgO tunnel barrier - A study by high-resolution Rutherford backscattering

Dash, S. P., Goll, D., Kopold, P., Carstanjen, H. D.

{Advances in Materials Science and Engineering}, 2012, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Fast spin-wave-mediated magnetic vortex core reversal

Kammerer, M., Stoll, H., Noske, M., Sproll, M., Weigand, M., Illg, C., Woltersdorf, G., Fähnle, M., Back, C., Schütz, G.

{Physical Review B}, 86(13), 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Deformation-driven formation of equilibrium phases in the Cu-Ni alloys

Straumal, B. B., Protasova, S. G., Mazilkin, A. A., Rabkin, E., Goll, D., Schütz, G., Baretzky, B., Valiev, R. Z.

{Journal of Materials Science}, 47, pages: 360-367, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Nanosponges for hydrogen storage

Schlichtenmayer, M., Hirscher, M.

{Journal of Materials Chemistry}, 22, pages: 10134-10143, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic and electronic properties of the interface between half metallic Fe3O4 and semiconducting ZnO

Brück, S., Paul, M., Tian, H., Müller, A., Kufer, D., Praetorius, C., Fauth, K., Audehm, P., Goering, E., Verbeeck, J., Van Tendeloo, G., Sing, M., Claessen, R.

{Applied Physics Letters}, 100, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Amorphous interlayers between crystalline grains in ferromagnetic ZnO films

Straumal, B. B., Protasova, S. G., Mazilkin, A. A., Baretzky, B., Myatiev, A. A., Straumal, P. B., Tietze, T., Schütz, G., Goering, E.

{Materials Letters}, 71, pages: 21-24, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Quadratic programming for inverse dynamics with optimal distribution of contact forces

Righetti, L., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 538-543, IEEE, Osaka, Japan, November 2012 (inproceedings)

Abstract
In this contribution we propose an inverse dynamics controller for a humanoid robot that exploits torque redundancy to minimize any combination of linear and quadratic costs in the contact forces and the commands. In addition the controller satisfies linear equality and inequality constraints in the contact forces and the commands such as torque limits, unilateral contacts or friction cones limits. The originality of our approach resides in the formulation of the problem as a quadratic program where we only need to solve for the control commands and where the contact forces are optimized implicitly. Furthermore, we do not need a structured representation of the dynamics of the robot (i.e. an explicit computation of the inertia matrix). It is in contrast with existing methods based on quadratic programs. The controller is then robust to uncertainty in the estimation of the dynamics model and the optimization is fast enough to be implemented in high bandwidth torque control loops that are increasingly available on humanoid platforms. We demonstrate properties of our controller with simulations of a human size humanoid robot.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Die Stabilität des stromtragenden Zustands in MgB2 Schichten mit modifizierter Mikrostruktur

Treiber, S.

Universität Stuttgart, Stuttgart, 2012 (phdthesis)

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[BibTex]

[BibTex]


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Accelerated diffusion and phase transformations in Co-Cu alloys driven by the severe plastic deformation

Straumal, B. B., Mazilkin, A. A., Baretzky, B., Schütz, G., Rabkin, E., Valiev, R. Z.

{Special Issue on Advanced Materials Science in Bulk Nanostructured Metals}, 53(1):63-71, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Unusual flux jumps above 12 K in non-homogeneous MgB2 thin films

Treiber, S., Stahl, C., Schütz, G., Albrecht, J.

{Superconductor Science \& Technology}, 25, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Ferromagnetism of nanostructured zinc oxide films

Straumal, B. B., Mazilkin, A. A., Protasova, S. G., Straumal, P. B., Myatiev, A. A., Schütz, G., Goering, E., Baretzky, B.

{The Physics of Metals and Metallography}, 113(13):1244-1256, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Frequencies and polarization vectors of phonons: Results from force constants which are fitted to experimental data or calculated ab initio

Illg, C., Meyer, B., Fähnle, M.

{Physical Review B}, 86(17), Published by the American Physical Society through the American Institute of Physics, Woodbury, NY, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Grain boundary wetting by a second solid phase in the Zr-Nb alloys

Straumal, B. B., Gornakova, A. S., Kucheev, Y. O., Baretzky, B., Nekrasov, A. N.

{Journal of Materials Engineering and Performance}, 21(5):721-724, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Grain boundary wetting in the NdFeB-based hard magnetic alloys

Straumal, B. B., Kucheev, Y. O., Yatskovskaya, I. L., Mogilnikova, I. V., Schütz, G., Nekrasov, A. N., Baretzky, B.

{Journal of Materials Science}, 47(24):8352-8359, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Towards Associative Skill Memories

Pastor, P., Kalakrishnan, M., Righetti, L., Schaal, S.

In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), pages: 309-315, IEEE, Osaka, Japan, November 2012 (inproceedings)

Abstract
Movement primitives as basis of movement planning and control have become a popular topic in recent years. The key idea of movement primitives is that a rather small set of stereotypical movements should suffice to create a large set of complex manipulation skills. An interesting side effect of stereotypical movement is that it also creates stereotypical sensory events, e.g., in terms of kinesthetic variables, haptic variables, or, if processed appropriately, visual variables. Thus, a movement primitive executed towards a particular object in the environment will associate a large number of sensory variables that are typical for this manipulation skill. These association can be used to increase robustness towards perturbations, and they also allow failure detection and switching towards other behaviors. We call such movement primitives augmented with sensory associations Associative Skill Memories (ASM). This paper addresses how ASMs can be acquired by imitation learning and how they can create robust manipulation skill by determining subsequent ASMs online to achieve a particular manipulation goal. Evaluation for grasping and manipulation with a Barrett WAM/Hand illustrate our approach.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Template-based learning of grasp selection

Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Asfour, T., Schaal, S.

In 2012 IEEE International Conference on Robotics and Automation, pages: 2379-2384, IEEE, Saint Paul, USA, 2012 (inproceedings)

Abstract
The ability to grasp unknown objects is an important skill for personal robots, which has been addressed by many present and past research projects, but still remains an open problem. A crucial aspect of grasping is choosing an appropriate grasp configuration, i.e. the 6d pose of the hand relative to the object and its finger configuration. Finding feasible grasp configurations for novel objects, however, is challenging because of the huge variety in shape and size of these objects. Moreover, possible configurations also depend on the specific kinematics of the robotic arm and hand in use. In this paper, we introduce a new grasp selection algorithm able to find object grasp poses based on previously demonstrated grasps. Assuming that objects with similar shapes can be grasped in a similar way, we associate to each demonstrated grasp a grasp template. The template is a local shape descriptor for a possible grasp pose and is constructed using 3d information from depth sensors. For each new object to grasp, the algorithm then finds the best grasp candidate in the library of templates. The grasp selection is also able to improve over time using the information of previous grasp attempts to adapt the ranking of the templates. We tested the algorithm on two different platforms, the Willow Garage PR2 and the Barrett WAM arm which have very different hands. Our results show that the algorithm is able to find good grasp configurations for a large set of objects from a relatively small set of demonstrations, and does indeed improve its performance over time.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Probabilistic depth image registration incorporating nonvisual information

Wüthrich, M., Pastor, P., Righetti, L., Billard, A., Schaal, S.

In 2012 IEEE International Conference on Robotics and Automation, pages: 3637-3644, IEEE, Saint Paul, USA, 2012 (inproceedings)

Abstract
In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the visual information. Furthermore we do not only consider observations of the object, but we also take space into account which has been observed to not be part of the object. Furthermore we are computing a posterior distribution over the relative alignment and not a point estimate as typically done in for example Iterative Closest Point (ICP). To our knowledge no existing algorithm meets these three conditions and we thus derive a novel registration algorithm in a Bayesian framework. Experimental results suggest that the proposed methods perform favorably in comparison to PCL [1] implementations of feature mapping and ICP, especially if nonvisual information is available.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Hartmagnetische L10-FePt basierte gro\ssflächige Nanomuster mittels Nanoimprint-Lithografie

Bublat, T.

Universität Stuttgart, Stuttgart, 2012 (phdthesis)

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[BibTex]

[BibTex]


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Magnetic proximity effect in YBa2Cu3O7 / La2/3Ca1/3MnO3 and YBa2Cu3O7 / LaMnO3+δsuperlattices

Satapathy, D. K., Uribe-Laverde, M. A., Marozau, I., Malik, V. K., Das, S., Wagner, T., Marcelot, C., Stahn, J., Brück, S., Rühm, A., Macke, S., Tietze, T., Goering, E., Frañó, A., Kim, J., Wu, M., Benckiser, E., Keimer, B., Devishvili, A., Toperverg, B. P., Merz, M., Nagel, P., Schuppler, S., Bernhard, C.

{Physical Review Letters}, 108, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Structural and chemical characterization on the nanoscale

Stierle, A., Carstanjen, H.-D., Hofmann, S.

In Nanoelectronics and Information Technology. Advanced Electronic Materials and Novel Devices, pages: 233-254, Wiley-VCH, Weinheim, 2012 (incollection)

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[BibTex]

[BibTex]


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Noble gases and microporous frameworks; from interaction to application

Soleimani Dorcheh, A., Denysenko, D., Volkmer, D., Donner, W., Hirscher, M.

{Microporous and Mesoporous Materials}, 162, pages: 64-68, Elsevier, Amsterdam, 2012 (article)

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DOI [BibTex]

DOI [BibTex]


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Note: Unique characterization possibilities in the ultra high vacuum scanning transmission x-ray microscope (UHV-STXM) "MAXYMUS" using a rotatable permanent magnetic field up to 0.22 T

Nolle, D., Weigand, M., Audehm, P., Goering, E., Wiesemann, U., Wolter, C., Nolle, E., Schütz, G.

{Review of Scientific Instruments}, 83(4), 2012 (article)

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DOI [BibTex]


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Rutherford Backscattering

Carstanjen, H. D.

In Nanoelectronics and Information Technology. Advanced Electronic Materials and Novel Devices, pages: 250-252, WILEY-VCH Verlag, Weinheim, Germany, 2012 (incollection)

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[BibTex]

[BibTex]


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Microstructure and superconducting properties of MgB2 films prepared by solid state reaction of multilayer precursors of the elements

Kugler, B., Stahl, C., Treiber, S., Soltan, S., Haug, S., Schütz, G., Albrecht, J.

{Thin Solid Films}, 520, pages: 6985-6988, 2012 (article)

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DOI [BibTex]

DOI [BibTex]

2005


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From colloidal Co/CoO core/shell nanoparticles to arrays of metallic nanomagnets: surface modification and magnetic properties

Wiedwald, U., Fauth, K., Hessler, M., Boyen, H. G., Weigl, F., Hilgendorff, M., Giersig, M., Schütz, G., Ziemann, P., Farle, M.

{ChemPhysChem}, 6(12):2522-2526, 2005 (article)

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[BibTex]

2005


[BibTex]


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Competition between order and phase separation in Au-Ni

Reichert, H., Schöps, A., Ramsteiner, I. B., Bugaev, V. N., Shchyglo, O., Udyansky, A., Dosch, H., Asta, M., Drautz, R., Honkimäki, V.

{Physical Review Letters}, 95(23), 2005 (article)

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[BibTex]

[BibTex]


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Influence of faceting-roughening on triple-junction migration in zinc

Straumal, B. B., Sursaeva, V. G., Gomakova, A. S.

{Zeitschrift f\"ur Metallkunde}, 96(10):1147-1151, 2005 (article)

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[BibTex]

[BibTex]


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Damping of spin dynamics in nanostructures: an ab initio study

Steiauf, D., Fähnle, M.

{Physical Review B}, 72, 2005 (article)

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[BibTex]

[BibTex]


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Test of the hypothesis of transient molten state diffusion for swift-heavy-ion induced mixing

Srivastava, S. K.., Avasthi, D. K., Assmann, W., Wang, Z. G., Kucal, H., Jaquet, E., Carstanjen, H. D., Toulemonde, M.

{Physical Review B}, 71, 2005 (article)

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[BibTex]

[BibTex]