Header logo is


2016


no image
Surface defect free growth of a spin dimer TlCuCl3 compound crystals and investigations on its optical and magnetic properties

Ryu, G., Son, K.

{Journal of Solid State Chemistry}, 237, pages: 358-363, Academic Press, Orlando, Fla., 2016 (article)

mms

DOI [BibTex]

2016


DOI [BibTex]


no image
Physical and mathematical justification of the numerical Brillouin zone integration of the Boltzmann rate equation by Gaussian smearing

Illg, C., Haag, M., Teeny, N., Wirth, J., Fähnle, M.

{Journal of Theoretical and Applied Physics}, 10(1):1-6, Springer, Berlin, Heidelberg, Tehran, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
On the Effects of Measurement Uncertainty in Optimal Control of Contact Interactions

Ponton, B., Schaal, S., Righetti, L.

In The 12th International Workshop on the Algorithmic Foundations of Robotics WAFR, Berkeley, USA, 2016 (inproceedings)

Abstract
Stochastic Optimal Control (SOC) typically considers noise only in the process model, i.e. unknown disturbances. However, in many robotic applications involving interaction with the environment, such as locomotion and manipulation, uncertainty also comes from lack of precise knowledge of the world, which is not an actual disturbance. We analyze the effects of also considering noise in the measurement model, by devel- oping a SOC algorithm based on risk-sensitive control, that includes the dynamics of an observer in such a way that the control law explicitly de- pends on the current measurement uncertainty. In simulation results on a simple 2D manipulator, we have observed that measurement uncertainty leads to low impedance behaviors, a result in contrast with the effects of process noise that creates stiff behaviors. This suggests that taking into account measurement uncertainty could be a potentially very interesting way to approach problems involving uncertain contact interactions.

am mg

link (url) [BibTex]

link (url) [BibTex]


no image
A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation

Ponton, B., Herzog, A., Schaal, S., Righetti, L.

In 2016 IEEE-RAS 16th International Conference on Humanoid Robots Humanoids, pages: 842-849, IEEE, Cancun, Mexico, 2016 (inproceedings)

Abstract
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages. However, to tackle more challenging tasks and scenarios such as locomotion on uneven terrain, a more expressive model is required. In this paper, we are interested in contact interaction-centered motion optimization based on the momentum dynamics model. This model is non-linear and non-convex; however, we find a relaxation of the problem that allows us to formulate it as a single convex quadratically-constrained quadratic program (QCQP) that can be very efficiently optimized and is useful for multi-contact planning. This convex model is then coupled to the optimization of end-effector contact locations using a mixed integer program, which can also be efficiently solved. This becomes relevant e.g. to recover from external pushes, where a predefined stepping plan is likely to fail and an online adaptation of the contact location is needed. The performance of our algorithm is demonstrated in several multi-contact scenarios for a humanoid robot.

am mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Helium und Hydrogen Isotope Adsorption and Separation in Metal-Organic Frameworks

Zaiser, Ingrid

Universität Stuttgart, Stuttgart (und Cuvillier Verlag, Göttingen), 2016 (phdthesis)

mms

[BibTex]

[BibTex]


no image
Pinned orbital moments - A new contribution to magnetic anisotropy

Audehm, P., Schmidt, M., Brück, S., Tietze, T., Gräfe, J., Macke, S., Schütz, G., Goering, E.

{Scientific Reports}, 6, Nature Publishing Group, London, UK, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Comparative study of ALD SiO2 thin films for optical applications

Pfeiffer, K., Shestaeva, S., Bingel, A., Munzert, P., Ghazaryan, L., van Helvoirt, C., Kessels, W. M. M., Sanli, U. T., Grévent, C., Schütz, G., Putkonen, M., Buchanan, I., Jensen, L., Ristau, D., Tünnermann, A., Szeghalmi, A.

{Optical materials express}, 6(2):660-670, OSA, Washington, DC, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Combined first-order reversal curve and x-ray microscopy investigation of magnetization reversal mechanisms in hexagonal antidot lattices

Gräfe, J., Weigand, M., Stahl, C., Träger, N., Kopp, M., Schütz, G., Goering, E. J., Haering, F., Ziemann, P., Wiedwald, U.

{Physical Review B}, 93(1), American Physical Society, Woodbury, NY, 2016 (article)

mms

DOI Project Page Project Page [BibTex]

DOI Project Page Project Page [BibTex]


no image
Switching probabilities of magnetic vortex core reversal studied by table top magneto optic Kerr microscopy

Dieterle, G., Gangwar, A., Gräfe, J., Noske, M., Förster, J., Woltersdorf, G., Stoll, H., Back, C. H., Schütz, G.

{Applied Physics Letters}, 108(2), American Institute of Physics, Melville, NY, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Ultrafast demagnetization after femtosecond laser pulses: Transfer of angular momentum from the electronic system to magnetoelastic spin-phonon modes

Tsatsoulis, T., Illg, C., Haag, M., Müller, B. Y., Zhang, L., Fähnle, M.

{Physical Review B}, 93(13), American Physical Society, Woodbury, NY, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Developments in the Ni-Nb-Zr amorphous alloy membranes

Sarker, S., Chandra, D., Hirscher, M., Dolan, M., Isheim, D., Wermer, J., Viano, D., Baricco, M., Udovic, T. J., Grant, D., Palumbo, O., Paolone, A., Cantelli, R.

{Applied Physics A}, 122(3), Springer-Verlag Heidelberg, Heidelberg, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Resistance to the transport of H2 through the external surface of as-made and modified silicalite-1 (MFI)

Kalantzopoulos, G. N., Policicchio, A., Maccallini, E., Krkljus, I., Ciuchi, F., Hirscher, M., Agostino, R. G., Golemme, G.

{Microporous and Mesoporous Materials}, 220, pages: 290-297, Elsevier, Amsterdam, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]


no image
Observation of pseudopartial grain boundary wetting in the NdFeB-based alloy

Straumal, B. B., Mazilkin, A. A., Protasova, S. G., Schütz, G., Straumal, A. B., Baretzky, B.

{Journal of Materials Engineering and Performance}, 25(8):3303-3309, 2016 (article)

mms

DOI [BibTex]

DOI [BibTex]