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2000


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Macro to Nano Tele-Manipulation Towards Nanoelectromec hanical Systems

Sitti, M., Hashimoto, H.

Journal of Robotics and Mechatronics, 12(3):209-217, FUJI TECHNOLOGY PRESS LTD., 2000 (article)

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[BibTex]

2000


[BibTex]


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Untersuchung von Magnetisierungsprozessen in dünnen Nd2Fe14B-Schichten

Melsheimer, A.

Universität Stuttgart, Stuttgart, 2000 (phdthesis)

mms

[BibTex]

[BibTex]


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Influcence of vortex-vortex interaction on critical currents across low-angle grain boundaries in YBa2Cu3O7-δ

Albrecht, J., Leonhardt, S., Kronmüller, H.

{Physical Review B}, 63, 2000 (article)

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[BibTex]

[BibTex]


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Symmetrical Tilt Grain boundaries in body-centred cubic transition metals: An ab-initio local-density-functional study

Ochs, T., Beck, O., Elsässer, C., Meyer, B.

{Philosophical Magazine A}, 80, pages: 351-372, 2000 (article)

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[BibTex]

[BibTex]


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The liquid ferromagnet Co80Pd20 and its critical exponent γ

Bührer, C., Beckmann, M., Fähnle, M., Maier, K.

{Journal of Magnetism and Magnetic Materials}, 212, pages: 211-224, 2000 (article)

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[BibTex]

[BibTex]


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Irreversible magnetization processes in a soft magnetic platelet

Hertel, R., Kronmüller, H.

{Physica B}, 275, pages: 1-4, 2000 (article)

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[BibTex]

[BibTex]


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Micromagnetic and microstructural analysis of the temperature dependence of the coercive field of Sm2(Co, Cu, Fe, Zr)17 permanent magnets

Goll, D., Sigle, W., Hadjipanayis, G. C., Kronmüller, H.

In Proceedings of the 16th International Workshop on Rare-Earth Magnets and Their Applications, pages: 61-70, Kaneko, H.; Homma, M.; Okada, M., 2000 (inproceedings)

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[BibTex]

[BibTex]


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Measurement of the Zener relaxation in high-purity FeCr single crystals

Hirscher, M., Brossmann, U., Henes, R.

{Materials Transactions, JIM}, 41, pages: 82-86, 2000 (article)

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[BibTex]

[BibTex]


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Ab-initio statistical mechanics for alloy phase diagrams and ordering phenomena including the effect of vacancies

Lechermann, F., Fähnle, M.

{Physical Review B}, 63, 2000 (article)

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[BibTex]


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MeV Positron Beams

Stoll, H.

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

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[BibTex]

[BibTex]


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Reactions in TiO2/Ti3Al and TiO2/TiAl bilayers: Application of target-factor analysis in auger electron spectroscopy

van Lier, J., Baretzky, B., Zalar, A., Mittemeijer, E. J.

{Surface and Interface Analysis}, 30, pages: 124-129, 2000 (article)

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[BibTex]

[BibTex]


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Ab-initio treatment of noncollinear spin systems within the atomic-sphere approximation and beyond

Grotheer, O., Ederer, C., Fähnle, M.

{Physical Review B}, 62, pages: 5601-5608, 2000 (article)

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[BibTex]

[BibTex]


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On-line learning for humanoid robot systems

Conradt, J., Tevatia, G., Vijayakumar, S., Schaal, S.

In Proceedings of the Seventeenth International Conference on Machine Learning (ICML 2000), 1, pages: 191-198, Stanford, CA, 2000, clmc (inproceedings)

Abstract
Humanoid robots are high-dimensional movement systems for which analytical system identification and control methods are insufficient due to unknown nonlinearities in the system structure. As a way out, supervised learning methods can be employed to create model-based nonlinear controllers which use functions in the control loop that are estimated by learning algorithms. However, internal models for humanoid systems are rather high-dimensional such that conventional learning algorithms would suffer from slow learning speed, catastrophic interference, and the curse of dimensionality. In this paper we explore a new statistical learning algorithm, locally weighted projection regression (LWPR), for learning internal models in real-time. LWPR is a nonparametric spatially localized learning system that employs the less familiar technique of partial least squares regression to represent functional relationships in a piecewise linear fashion. The algorithm can work successfully in very high dimensional spaces and detect irrelevant and redundant inputs while only requiring a computational complexity that is linear in the number of input dimensions. We demonstrate the application of the algorithm in learning two classical internal models of robot control, the inverse kinematics and the inverse dynamics of an actual seven degree-of-freedom anthropomorphic robot arm. For both examples, LWPR can achieve excellent real-time learning results from less than one hour of actual training data.

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link (url) [BibTex]

link (url) [BibTex]


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Humanoid Robot DB

Kotosaka, S., Shibata, T., Schaal, S.

In Proceedings of the International Conference on Machine Automation (ICMA2000), pages: 21-26, 2000, clmc (inproceedings)

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[BibTex]

[BibTex]


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Wing transmission for a micromechanical flying insect

Fearing, R. S., Chiang, K. H., Dickinson, M. H., Pick, D., Sitti, M., Yan, J.

In Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on, 2, pages: 1509-1516, 2000 (inproceedings)

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[BibTex]

[BibTex]


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Is d-Al-Cu-Co a random tiling?

Zeger, G., Plachke, D., Carstanjen, H. D., Trebin, H. R.

{Materials Science and Engineering A}, 294, pages: 291-294, 2000 (article)

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[BibTex]

[BibTex]


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Nonlinear magnetoelastic coupling coefficients in Fe from an ab-initio calculation

Komelj, M., Fähnle, M.

{Journal of Magnetism and Magnetic Materials}, 220, pages: L 7-L 12, 2000 (article)

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[BibTex]

[BibTex]


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Current densities in low-angle grain boundaries of YBCO

Albrecht, J., Warthmann, R., Leonhardt, S., Kronmüller, H.

{Physica C}, 341-348, pages: 1459-1460, 2000 (article)

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[BibTex]

[BibTex]


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The hydrogen desorption kinetics of Pd-coated LaNi5-type films

Cuevas, F., Hirscher, M.

{Journal of Alloys and Compounds}, 313, pages: 269-275, 2000 (article)

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[BibTex]

[BibTex]


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The structure of the trihydride GdH3

Ellner, M., Reule, H., Mittemeijer, E. J.

{Journal of Alloys and Compounds}, 309, pages: 127-131, 2000 (article)

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[BibTex]

[BibTex]


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Corrosion resistance of the vacuum arc deposited Ti, TiN and TiO2 coatings on large area glass substrates

Vershinin, N., Filonov, K., Straumal, B., Gust, W., Dimitriou, R., Kovalev, A., Camacho, J.

{Surface and Coatings Technology}, 125, pages: 223-228, 2000 (article)

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[BibTex]

[BibTex]


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Is the insulator-metal transition in perovskites associated with the bulk magnetic phase transition?

Baszynski, J., Walz, F., Tolinski, T.

{Sensors and Actuators}, 81, pages: 37-39, 2000 (article)

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[BibTex]

[BibTex]


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Correlated molecular-field theory of amorphous ferromagnets and the Gibbs free energy

Fähnle, M.

{Journal of Magnetism and Magnetic Materials}, 210, pages: L 1-L 4, 2000 (article)

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[BibTex]

[BibTex]


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Pinning mechanism of vortices at antiphase boundaries in YBa2Cu3O7-δ

Jooss, C., Warthmann, R., Kronmüller, H.

{Physical Review B}, 61, pages: 12433-12446, 2000 (article)

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[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)

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[BibTex]


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Spectral distribution of activation energies in YBa2Cu3O7-δthin films

Warthmann, R., Albrecht, J., Kronmüller, H., Joos, C.

{Physical Review B}, 62, pages: 15226-15229, 2000 (article)

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[BibTex]

[BibTex]


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Ab-initio calculation of the formation and migration energies for Monovacancies in Mg

Krimmel, H., Fähnle, M.

{Physical Review B}, 62, pages: 5489-5491, 2000 (article)

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[BibTex]

[BibTex]


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Controlled pushing of nanoparticles: modeling and experiments

Sitti, M., Hashimoto, H.

IEEE/ASME transactions on mechatronics, 5(2):199-211, IEEE, 2000 (article)

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[BibTex]

[BibTex]


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Investigation of strain softening of icosahedral AlPdMn single quasicrystals

Brunner, D., Plachke, D., Carstanjen, H. D.

{Physica Status Solidi (A)}, 177, pages: 203-217, 2000 (article)

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[BibTex]


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Formation and evolution of the transverse anisotropy with nanocrystallization in amorphous Fe73.5CuNb3Si13.5B9 ribbons

Guo, H. Q., Kronmüller, H., Dragon, T., Cheng, Z. H., Shen, B. G.

{Physical Review}, 62, pages: 5760-5764, 2000 (article)

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[BibTex]

[BibTex]


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Deflection of 32.8 TeV/c fully stripped Pb ions by means of a bent Si crystal

Biino, C., Clement, M., Doble, N., Elsener, K., Gatignon, L., Grafström, P., Herr, W., Keppler, P., Major, J., Mikkelsen, U., Taratin, A., Velasco, M.

{Nuclear Instruments and Methods in Physics Research B}, 160, pages: 536-543, 2000 (article)

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[BibTex]

[BibTex]


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Replacing muons by protons: polarized beam NMR

Schüth, J., Eversheim, P.-D., Herzog, P., Maier, K., Majer, G., Meyer, P., Roduner, E.

{Physica B}, 289-290, pages: 672-675, 2000 (article)

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[BibTex]

[BibTex]


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Charge transport mechanisms in single crystalline yttrium iron garnet as resolved by magnetic relaxation

Walz, F., Torres, L., Iñiguez, J., Kronmüller, H.

{Physica Status Solidi (A)}, 180, pages: 507-522, 2000 (article)

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[BibTex]

[BibTex]


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Theory of self-diffusion in alkali metals I. Results for monovacancies in Li, Na, and K

Schott, V., Fähnle, M., Madden, P. A.

{Journal of Physics: Condensed Matter}, 12, pages: 1171-1194, 2000 (article)

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[BibTex]

[BibTex]


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Theory of self-diffusion in alkali metals II. The influence of divacancies in Li

Schott, V., Fähnle, M., Madden, P. A.

{Journal of Physics: Condensed Matter}, 12, pages: 1195-1198, 2000 (article)

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[BibTex]

[BibTex]


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Decay kinetics of nonequilibrium Al-Si solid solutions

Sluchanko, N. E., Glushkov, V. V., Demishev, S. V., Kondrin, M. V., Ischenko, T. V., Gust, W., Brazhkin, V. V., Straumal, B. B., Bruynseraede, Y., Moshchalkov, V. V.

{Physical Review B}, 61, pages: 6019-6027, 2000 (article)

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[BibTex]

[BibTex]


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Vacuum arc deposition of Ti coatings

Straumal, B., Gust, W., Vershinin, N., Dimitriou, R., Rabkin, E.

{Surface and Coatings Technology}, 125, pages: 157-160, 2000 (article)

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[BibTex]

[BibTex]


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Internal friction in Ni-rich B2-NiAl

Brossmann, U., Hirscher, M., Schaible, D., Kronmüller, H.

{Scripta Materialia}, 42, pages: 1193-1197, 2000 (article)

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[BibTex]

[BibTex]


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Spectral distribution of activation energies in YBa2Cu3O7-δthin films

Warthmann, R., Albrecht, J., Kronmüller, H., Joos, C.

{Physical Review B}, 62, pages: 15226-15229, 2000 (article)

mms

[BibTex]

[BibTex]


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Pre-treatment of large area strips with the aid of a high power hall current accelerator

Vershinin, N., Dimitriou, R., Benmalek, M., Straumal, B., Gust, W., Vivas, J., Shulga, J.

{Surface and Coatings Technology}, 125, pages: 35-39, 2000 (article)

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[BibTex]

[BibTex]

1997


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Locally weighted learning

Atkeson, C. G., Moore, A. W., Schaal, S.

Artificial Intelligence Review, 11(1-5):11-73, 1997, clmc (article)

Abstract
This paper surveys locally weighted learning, a form of lazy learning and memory-based learning, and focuses on locally weighted linear regression. The survey discusses distance functions, smoothing parameters, weighting functions, local model structures, regularization of the estimates and bias, assessing predictions, handling noisy data and outliers, improving the quality of predictions by tuning fit parameters, interference between old and new data, implementing locally weighted learning efficiently, and applications of locally weighted learning. A companion paper surveys how locally weighted learning can be used in robot learning and control. Keywords: locally weighted regression, LOESS, LWR, lazy learning, memory-based learning, least commitment learning, distance functions, smoothing parameters, weighting functions, global tuning, local tuning, interference.

am

link (url) [BibTex]

1997


link (url) [BibTex]


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Locally weighted learning for control

Atkeson, C. G., Moore, A. W., Schaal, S.

Artificial Intelligence Review, 11(1-5):75-113, 1997, clmc (article)

Abstract
Lazy learning methods provide useful representations and training algorithms for learning about complex phenomena during autonomous adaptive control of complex systems. This paper surveys ways in which locally weighted learning, a type of lazy learning, has been applied by us to control tasks. We explain various forms that control tasks can take, and how this affects the choice of learning paradigm. The discussion section explores the interesting impact that explicitly remembering all previous experiences has on the problem of learning to control. Keywords: locally weighted regression, LOESS, LWR, lazy learning, memory-based learning, least commitment learning, forward models, inverse models, linear quadratic regulation (LQR), shifting setpoint algorithm, dynamic programming.

am

link (url) [BibTex]

link (url) [BibTex]


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Learning from demonstration

Schaal, S.

In Advances in Neural Information Processing Systems 9, pages: 1040-1046, (Editors: Mozer, M. C.;Jordan, M.;Petsche, T.), MIT Press, Cambridge, MA, 1997, clmc (inproceedings)

Abstract
By now it is widely accepted that learning a task from scratch, i.e., without any prior knowledge, is a daunting undertaking. Humans, however, rarely attempt to learn from scratch. They extract initial biases as well as strategies how to approach a learning problem from instructions and/or demonstrations of other humans. For learning control, this paper investigates how learning from demonstration can be applied in the context of reinforcement learning. We consider priming the Q-function, the value function, the policy, and the model of the task dynamics as possible areas where demonstrations can speed up learning. In general nonlinear learning problems, only model-based reinforcement learning shows significant speed-up after a demonstration, while in the special case of linear quadratic regulator (LQR) problems, all methods profit from the demonstration. In an implementation of pole balancing on a complex anthropomorphic robot arm, we demonstrate that, when facing the complexities of real signal processing, model-based reinforcement learning offers the most robustness for LQR problems. Using the suggested methods, the robot learns pole balancing in just a single trial after a 30 second long demonstration of the human instructor. 

am

link (url) [BibTex]

link (url) [BibTex]


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Robot learning from demonstration

Atkeson, C. G., Schaal, S.

In Machine Learning: Proceedings of the Fourteenth International Conference (ICML ’97), pages: 12-20, (Editors: Fisher Jr., D. H.), Morgan Kaufmann, Nashville, TN, July 8-12, 1997, 1997, clmc (inproceedings)

Abstract
The goal of robot learning from demonstration is to have a robot learn from watching a demonstration of the task to be performed. In our approach to learning from demonstration the robot learns a reward function from the demonstration and a task model from repeated attempts to perform the task. A policy is computed based on the learned reward function and task model. Lessons learned from an implementation on an anthropomorphic robot arm using a pendulum swing up task include 1) simply mimicking demonstrated motions is not adequate to perform this task, 2) a task planner can use a learned model and reward function to compute an appropriate policy, 3) this model-based planning process supports rapid learning, 4) both parametric and nonparametric models can be learned and used, and 5) incorporating a task level direct learning component, which is non-model-based, in addition to the model-based planner, is useful in compensating for structural modeling errors and slow model learning. 

am

link (url) [BibTex]

link (url) [BibTex]


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Local dimensionality reduction for locally weighted learning

Vijayakumar, S., Schaal, S.

In International Conference on Computational Intelligence in Robotics and Automation, pages: 220-225, Monteray, CA, July10-11, 1997, 1997, clmc (inproceedings)

Abstract
Incremental learning of sensorimotor transformations in high dimensional spaces is one of the basic prerequisites for the success of autonomous robot devices as well as biological movement systems. So far, due to sparsity of data in high dimensional spaces, learning in such settings requires a significant amount of prior knowledge about the learning task, usually provided by a human expert. In this paper we suggest a partial revision of the view. Based on empirical studies, it can been observed that, despite being globally high dimensional and sparse, data distributions from physical movement systems are locally low dimensional and dense. Under this assumption, we derive a learning algorithm, Locally Adaptive Subspace Regression, that exploits this property by combining a local dimensionality reduction as a preprocessing step with a nonparametric learning technique, locally weighted regression. The usefulness of the algorithm and the validity of its assumptions are illustrated for a synthetic data set and data of the inverse dynamics of an actual 7 degree-of-freedom anthropomorphic robot arm.

am

link (url) [BibTex]

link (url) [BibTex]


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Learning tasks from a single demonstration

Atkeson, C. G., Schaal, S.

In IEEE International Conference on Robotics and Automation (ICRA97), 2, pages: 1706-1712, Piscataway, NJ: IEEE, Albuquerque, NM, 20-25 April, 1997, clmc (inproceedings)

Abstract
Learning a complex dynamic robot manoeuvre from a single human demonstration is difficult. This paper explores an approach to learning from demonstration based on learning an optimization criterion from the demonstration and a task model from repeated attempts to perform the task, and using the learned criterion and model to compute an appropriate robot movement. A preliminary version of the approach has been implemented on an anthropomorphic robot arm using a pendulum swing up task as an example

am

link (url) [BibTex]

link (url) [BibTex]