Header logo is


2002


no image
Critical magnetic properties of disordered polycrystalline Cr75Fe25 and Cr70Fe30 alloys

Fischer, S. F., Kaul, S. N., Kronmüller, H.

{Physical Review B}, 65(6), 2002 (article)

mms

[BibTex]

2002


[BibTex]


no image
Magnetic properties of ion-beam sputtered Cr3Fe-alloy films

Fischer, S. F., Kaul, S. N., Kronmüller, H.

{Journal of Magnetism and Magnetic Materials}, 240(1-3):374-376, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Model-independent measurements of hydrogen diffusivity in the yttrium dihydrides

Majer, G., Gottwald, J., Peterson, D. T., Barnes, R. G.

{Journal of Alloys and Compounds}, 330-332, pages: 438-442, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Strong anisotropy of projected Cr3d moments of epitaxial grown CrO2-films

Goering, E., Bayer, A., Gold, S., Schütz, G.

{Bessy-Highlights}, pages: 26-27, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Change from a bulk discontinuous phase transition in V2H to a contiuous transition in a defective near-surface skin layer

Trenkler, J., Abe, H., Wochner, P., Haeffner, D., Bail, J., Carstanjen, H. D., Moss, S.

{Modelling and Simulation in Materials Science and Engineering}, 8, pages: 269-275, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Hydrogen Storage in Nanostructured Carbon Materials at Room Temperature

Chen, X., Dettlaff-Weglikowska, U., Haluska, M., Hirscher, M., Becher, M., Roth, S.

In Structural and Electronic Properties of Molecular Nanostructures, pages: 597-600, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Ion Channeling in Quasicrystals

Plachke, D., Carstanjen, H. D.

In Quasicrystals. An Introduction to Structure, Physical Properties and Applications, 55, pages: 280-304, Springer Series in Materials Science, Springer, Berlin [et al.], 2002 (incollection)

mms

[BibTex]

[BibTex]


no image
Movement imitation with nonlinear dynamical systems in humanoid robots

Ijspeert, J. A., Nakanishi, J., Schaal, S.

In International Conference on Robotics and Automation (ICRA2002), Washinton, May 11-15 2002, 2002, clmc (inproceedings)

Abstract
Locally weighted learning (LWL) is a class of statistical learning techniques that provides useful representations and training algorithms for learning about complex phenomena during autonomous adaptive control of robotic systems. This paper introduces several LWL algorithms that have been tested successfully in real-time learning of complex robot tasks. We discuss two major classes of LWL, memory-based LWL and purely incremental LWL that does not need to remember any data explicitly. In contrast to the traditional beliefs that LWL methods cannot work well in high-dimensional spaces, we provide new algorithms that have been tested in up to 50 dimensional learning problems. The applicability of our LWL algorithms is demonstrated in various robot learning examples, including the learning of devil-sticking, pole-balancing of a humanoid robot arm, and inverse-dynamics learning for a seven degree-of-freedom robot.

am

link (url) [BibTex]

link (url) [BibTex]


no image
A locally weighted learning composite adaptive controller with structure adaptation

Nakanishi, J., Farrell, J. A., Schaal, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS 2002), Lausanne, Sept.30-Oct.4 2002, 2002, clmc (inproceedings)

Abstract
This paper introduces a provably stable adaptive learning controller which employs nonlinear function approximation with automatic growth of the learning network according to the nonlinearities and the working domain of the control system. The unknown function in the dynamical system is approximated by piecewise linear models using a nonparametric regression technique. Local models are allocated as necessary and their parameters are optimized on-line. Inspired by composite adaptive control methods, the pro-posed learning adaptive control algorithm uses both the tracking error and the estimation error to up-date the parameters. We provide Lyapunov analyses that demonstrate the stability properties of the learning controller. Numerical simulations illustrate rapid convergence of the tracking error and the automatic structure adaptation capability of the function approximator. This paper introduces a provably stable adaptive learning controller which employs nonlinear function approximation with automatic growth of the learning network according to the nonlinearities and the working domain of the control system. The unknown function in the dynamical system is approximated by piecewise linear models using a nonparametric regression technique. Local models are allocated as necessary and their parameters are optimized on-line. Inspired by composite adaptive control methods, the pro-posed learning adaptive control algorithm uses both the tracking error and the estimation error to up-date the parameters. We provide Lyapunov analyses that demonstrate the stability properties of the learning controller. Numerical simulations illustrate rapid convergence of the tracking error and the automatic structure adaptation capability of the function approximator

am

link (url) [BibTex]

link (url) [BibTex]


no image
Nanomolding based fabrication of synthetic gecko foot-hairs

Sitti, M., Fearing, R. S.

In Nanotechnology, 2002. IEEE-NANO 2002. Proceedings of the 2002 2nd IEEE Conference on, pages: 137-140, 2002 (inproceedings)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Evidence for van der Waals adhesion in gecko setae

Autumn, K., Sitti, M., Liang, Y. A., Peattie, A. M., Hansen, W. R., Sponberg, S., Kenny, T. W., Fearing, R., Israelachvili, J. N., Full, R. J.

Proceedings of the National Academy of Sciences, 99(19):12252-12256, National Acad Sciences, 2002 (article)

pi

Project Page [BibTex]

Project Page [BibTex]


no image
Vacancies in thermal equilibrium and ferromagnetism near the Curie temperature

Seeger, A., Fähnle, M.

{Zeitschrift f\"ur Metallkunde}, 93(10):1030-1042, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Magnetic imaging with soft X-ray microscopy

Fischer, P., Denbeaux, G., Eimüller, T., Goll, D., Schütz, G.

{IEEE Transactions on Magnetics}, 38(5):2427-2431, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Theory of induced magnetic moments and x-ray magnetic circular dichroism in Co-Pt multilayers

Ederer, C., Komelj, M., Fähnle, M., Schütz, G.

{Physical Review B}, 66(9), 2002 (article)

mms

[BibTex]

[BibTex]


no image
Determination of the complete set of second-order magnetoelastic coupling constants on epitaxial films

Komelj, M., Fähnle, M.

{Physical Review B}, 65(21), 2002 (article)

mms

[BibTex]

[BibTex]


no image
Undulation instabilities in laterally structured magnetic multilayers

Eimüller, T., Scholz, M., Guttmann, P., Köhler, M., Bayreuther, G., Schmahl, G., Fischer, P., Schütz, G.

{Journal of Applied Physics}, 91(10):7334-7336, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Initial oxidation of AlPdMn quasicrystals - A study by high-resolution RBS and ERDA

Plachke, D., Khellaf, A., Carstanjen, H. D.

{Nuclear Instruments \& Methods in Physics Research B}, 190, pages: 646-651, 2002 (article)

mms

[BibTex]

[BibTex]


no image
The Verwey transition - a topical review

Walz, F.

{Journal of Physics-Condensed Matter}, 14(12):R285-R340, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Composition dependence of the Zener relaxation in high-purity FeCr single crystals

Hirscher, M., Ege, M.

{Materials \textquotesingleTransactions JIM}, 43(2):182-185, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Hydrogen storage in carbon nanostructures

Hirscher, M., Becher, M., Haluska, M., Quintel, A., Skakalova, V., Choi, Y. M., Dettlaff-Weglikowska, U., Roth, S., Stepanek, I., Bernier, P., Leonhardt, A., Fink, J.

{Journal of Alloys and Compounds}, 330, pages: 654-658, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Micromagnetism and the microstructure of the cell walls in Sm2Co17 based permanent magnets

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

In Proceedings of the 17th International Workshop on Rare-Earth Magnets and their Applications, pages: 696-703, Rinton Press, Newark, Delaware, USA, 2002 (inproceedings)

mms

[BibTex]

[BibTex]


no image
Micromagnetic investigation of sub-100-nm magnetic domains in atomically stacked Fe(001)/Au(001) multilayers

Köhler, M., Zweck, J., Bayreuther, G., Fischer, P., Schütz, G., Denbeaux, G., Attwood, D.

{Journal of Magnetism and Magnetic Materials}, 240, pages: 79-82, 2002 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Experimental Study of a Crystal Positron Source

Chehab, R., Cizeron, R., Sylvia, C., Baier, V., Beloborodov, K., Bukin, A., Burdin, S., Dimova, T., Drozdetsky, A., Druzhinin, V., Dubrovin, M., Golubev, V., Serednyakov, S., Shary, V., Strakhovenko, V., Artru, X., Chevallier, M., Dauvergne, D., Kirsch, R., Lautesse, P., Poizat, J. C., Remillieux, J., Jejcic, A., Keppler, P., Major, J., Gatignon, L., Bochek, G., Kulibaba, V., Maslov, N., Bogdanov, A., Potylitsin, A., Vnukov, I.

{Physics Letters B}, 525, pages: 41-48, 2002 (article)

mms

[BibTex]

[BibTex]


no image
Ab-initio study of the influence of epitaxial strain on magnetoelastic properties

Komelj, M., Fähnle, M.

In Atomistic Aspects of Epitaxial Growth, pages: 439-447, NATO Science series: Series 2, Mathematics, Physics, and Chemistry, Kluwer Academic Publishers, Dassia, Corfu [Greece], 2002 (inproceedings)

mms

[BibTex]

[BibTex]

1999


no image
Engineering Support Vector Machine Kernels That Recognize Translation Initiation Sites in DNA

Zien, A., Rätsch, G., Mika, S., Schölkopf, B., Lemmen, C., Smola, A., Lengauer, T., Müller, K.

In German Conference on Bioinformatics (GCB 1999), October 1999 (inproceedings)

Abstract
In order to extract protein sequences from nucleotide sequences, it is an important step to recognize points from which regions encoding pro­ teins start, the so­called translation initiation sites (TIS). This can be modeled as a classification prob­ lem. We demonstrate the power of support vector machines (SVMs) for this task, and show how to suc­ cessfully incorporate biological prior knowledge by engineering an appropriate kernel function.

ei

Web [BibTex]

1999


Web [BibTex]


no image
Tele-touch feedback of surfaces at the micro/nano scale: Modeling and experiments

Sitti, M., Horighuchi, S., Hashimoto, H.

In Intelligent Robots and Systems, 1999. IROS’99. Proceedings. 1999 IEEE/RSJ International Conference on, 2, pages: 882-888, 1999 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Challenge to micro/nanomanipulation using atomic force microscope

Hashimoto, H., Sitti, M.

In Micromechatronics and Human Science, 1999. MHS’99. Proceedings of 1999 International Symposium on, pages: 35-42, 1999 (inproceedings)

pi

[BibTex]

[BibTex]


no image
< 研究速報>(< 小特集> マイクロマシン)

Sitti, M., 橋本秀紀,

生産研究, 51(8):651-653, 東京大学, 1999 (article)

pi

[BibTex]

[BibTex]


no image
Visualization interface for AFM-based nano-manipulation

Horiguchi, S., Sitti, M., Hashimoto, H.

In Industrial Electronics, 1999. ISIE’99. Proceedings of the IEEE International Symposium on, 1, pages: 310-315, 1999 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Micro/Nano Manipulation Using Atomic Force Microscope.

Sitti, M., Hashimoto, H.

生産研究, 51(8):651-653, 東京大学生産技術研究所, 1999 (article)

pi

[BibTex]

[BibTex]


no image
Is imitation learning the route to humanoid robots?

Schaal, S.

Trends in Cognitive Sciences, 3(6):233-242, 1999, clmc (article)

Abstract
This review will focus on two recent developments in artificial intelligence and neural computation: learning from imitation and the development of humanoid robots. It will be postulated that the study of imitation learning offers a promising route to gain new insights into mechanisms of perceptual motor control that could ultimately lead to the creation of autonomous humanoid robots. This hope is justified because imitation learning channels research efforts towards three important issues: efficient motor learning, the connection between action and perception, and modular motor control in form of movement primitives. In order to make these points, first, a brief review of imitation learning will be given from the view of psychology and neuroscience. In these fields, representations and functional connections between action and perception have been explored that contribute to the understanding of motor acts of other beings. The recent discovery that some areas in the primate brain are active during both movement perception and execution provided a first idea of the possible neural basis of imitation. Secondly, computational approaches to imitation learning will be described, initially from the perspective of traditional AI and robotics, and then with a focus on neural network models and statistical learning research. Parallels and differences between biological and computational approaches to imitation will be highlighted. The review will end with an overview of current projects that actually employ imitation learning for humanoid robots.

am

link (url) [BibTex]

link (url) [BibTex]


no image
Tele-nanorobotics 2-d manipulation of micro/nanoparticles using afm

Sitti, M., Horiguchi, S., Hashimoto, H.

In Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, pages: 786-786, 1999 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Virtual Reality-Based Teleoperation in the Micro/Nano World.

Sitti, M., Hashimoto, H.

生産研究, 51(8):654-656, 東京大学生産技術研究所, 1999 (article)

pi

[BibTex]

[BibTex]


no image
Nonparametric regression for learning nonlinear transformations

Schaal, S.

In Prerational Intelligence in Strategies, High-Level Processes and Collective Behavior, 2, pages: 595-621, (Editors: Ritter, H.;Cruse, H.;Dean, J.), Kluwer Academic Publishers, 1999, clmc (inbook)

Abstract
Information processing in animals and artificial movement systems consists of a series of transformations that map sensory signals to intermediate representations, and finally to motor commands. Given the physical and neuroanatomical differences between individuals and the need for plasticity during development, it is highly likely that such transformations are learned rather than pre-programmed by evolution. Such self-organizing processes, capable of discovering nonlinear dependencies between different groups of signals, are one essential part of prerational intelligence. While neural network algorithms seem to be the natural choice when searching for solutions for learning transformations, this paper will take a more careful look at which types of neural networks are actually suited for the requirements of an autonomous learning system. The approach that we will pursue is guided by recent developments in learning theory that have linked neural network learning to well established statistical theories. In particular, this new statistical understanding has given rise to the development of neural network systems that are directly based on statistical methods. One family of such methods stems from nonparametric regression. This paper will compare nonparametric learning with the more widely used parametric counterparts in a non technical fashion, and investigate how these two families differ in their properties and their applicabilities. We will argue that nonparametric neural networks offer a set of characteristics that make them a very promising candidate for on-line learning in autonomous system.

am

link (url) [BibTex]

link (url) [BibTex]


no image
Segmentation of endpoint trajectories does not imply segmented control

Sternad, D., Schaal, D.

Experimental Brain Research, 124(1):118-136, 1999, clmc (article)

Abstract
While it is generally assumed that complex movements consist of a sequence of simpler units, the quest to define these units of action, or movement primitives, still remains an open question. In this context, two hypotheses of movement segmentation of endpoint trajectories in 3D human drawing movements are re-examined: (1) the stroke-based segmentation hypothesis based on the results that the proportionality coefficient of the 2/3 power law changes discontinuously with each new â??strokeâ?, and (2) the segmentation hypothesis inferred from the observation of piecewise planar endpoint trajectories of 3D drawing movements. In two experiments human subjects performed a set of elliptical and figure-8 patterns of different sizes and orientations using their whole arm in 3D. The kinematic characteristics of the endpoint trajectories and the seven joint angles of the arm were analyzed. While the endpoint trajectories produced similar segmentation features as reported in the literature, analyses of the joint angles show no obvious segmentation but rather continuous oscillatory patterns. By approximating the joint angle data of human subjects with sinusoidal trajectories, and by implementing this model on a 7-degree-of-freedom anthropomorphic robot arm, it is shown that such a continuous movement strategy can produce exactly the same features as observed by the above segmentation hypotheses. The origin of this apparent segmentation of endpoint trajectories is traced back to the nonlinear transformations of the forward kinematics of human arms. The presented results demonstrate that principles of discrete movement generation may not be reconciled with those of rhythmic movement as easily as has been previously suggested, while the generalization of nonlinear pattern generators to arm movements can offer an interesting alternative to approach the question of units of action.

am

link (url) [BibTex]

link (url) [BibTex]


no image
Two-dimensional fine particle positioning using a piezoresistive cantilever as a micro/nano-manipulator

Sitti, M., Hashimoto, H.

In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 4, pages: 2729-2735, 1999 (inproceedings)

pi

[BibTex]

[BibTex]


no image
Teleoperated nano scale object manipulation

Sitti, M., Hashimoto, H.

Recent Advances on Mechatronics, pages: 322-335, Singapore: Springer-Verlag, 1999 (article)

pi

[BibTex]

[BibTex]