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20 results (View BibTeX file of all listed publications)

2018

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Discovering and Teaching Optimal Planning Strategies

Lieder, F., Callaway, F., Krueger, P. M., Das, P., Griffiths, T. L., Gul, S.

In The 14th biannual conference of the German Society for Cognitive Science, GK, September 2018 (inproceedings)

re

Project Page [BibTex]

2018

re Lieder, F., Callaway, F., Krueger, P. M., Das, P., Griffiths, T. L., Gul, S. Discovering and Teaching Optimal Planning Strategies In The 14th biannual conference of the German Society for Cognitive Science, GK, September 2018 (inproceedings)

Project Page [BibTex]

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Discovering Rational Heuristics for Risky Choice

Gul, S., Krueger, P. M., Callaway, F., Griffiths, T. L., Lieder, F.

The 14th biannual conference of the German Society for Cognitive Science, GK, The 14th biannual conference of the German Society for Cognitive Science, GK, September 2018 (conference)

re

Project Page [BibTex]

re Gul, S., Krueger, P. M., Callaway, F., Griffiths, T. L., Lieder, F. Discovering Rational Heuristics for Risky Choice The 14th biannual conference of the German Society for Cognitive Science, GK, The 14th biannual conference of the German Society for Cognitive Science, GK, September 2018 (conference)

Project Page [BibTex]

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Learning to select computations

Callaway, F., Gul, S., Krueger, P., Griffiths, T. L., Lieder, F.

In Uncertainty in Artificial Intelligence: Proceedings of the Thirty-Fourth Conference, 2018 (inproceedings)

re

Project Page [BibTex]

re Callaway, F., Gul, S., Krueger, P., Griffiths, T. L., Lieder, F. Learning to select computations In Uncertainty in Artificial Intelligence: Proceedings of the Thirty-Fourth Conference, 2018 (inproceedings)

Project Page [BibTex]

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Direct observations of sub-100 nm spin wave propagation in magnonic wave-guides

Träger, N., Gruszecki, P., Lisiecki, F., Förster, J., Weigand, M., Kuswik, P., Dubowik, J., Schütz, G., Krawczyk, M., Gräfe, J.

In 2018 IEEE International Magnetics Conference (INTERMAG 2018), IEEE, Singapore, 2018 (inproceedings)

mms

DOI [BibTex]

mms Träger, N., Gruszecki, P., Lisiecki, F., Förster, J., Weigand, M., Kuswik, P., Dubowik, J., Schütz, G., Krawczyk, M., Gräfe, J. Direct observations of sub-100 nm spin wave propagation in magnonic wave-guides In 2018 IEEE International Magnetics Conference (INTERMAG 2018), IEEE, Singapore, 2018 (inproceedings)

DOI [BibTex]

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Interpreting FORC diagrams beyond the Preisach model: an experimental permalloy micro array investigation

Gross, F., Ilse, S., Schütz, G., Gräfe, J., Goering, E.

In 2018 IEEE International Magnetics Conference (INTERMAG 2018), IEEE, Singapore, 2018 (inproceedings)

mms

DOI [BibTex]

mms Gross, F., Ilse, S., Schütz, G., Gräfe, J., Goering, E. Interpreting FORC diagrams beyond the Preisach model: an experimental permalloy micro array investigation In 2018 IEEE International Magnetics Conference (INTERMAG 2018), IEEE, Singapore, 2018 (inproceedings)

DOI [BibTex]

2017

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Synchronicity Trumps Mischief in Rhythmic Human-Robot Social-Physical Interaction

Fitter, N. T., Kuchenbecker, K. J.

In Proceedings of the International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, December 2017 (inproceedings) In press

Abstract
Hand-clapping games and other forms of rhythmic social-physical interaction might help foster human-robot teamwork, but the design of such interactions has scarcely been explored. We leveraged our prior work to enable the Rethink Robotics Baxter Research Robot to competently play one-handed tempo-matching hand-clapping games with a human user. To understand how such a robot’s capabilities and behaviors affect user perception, we created four versions of this interaction: the hand clapping could be initiated by either the robot or the human, and the non-initiating partner could be either cooperative, yielding synchronous motion, or mischievously uncooperative. Twenty adults tested two clapping tempos in each of these four interaction modes in a random order, rating every trial on standardized scales. The study results showed that having the robot initiate the interaction gave it a more dominant perceived personality. Despite previous results on the intrigue of misbehaving robots, we found that moving synchronously with the robot almost always made the interaction more enjoyable, less mentally taxing, less physically demanding, and lower effort for users than asynchronous interactions caused by robot or human mischief. Taken together, our results indicate that cooperative rhythmic social-physical interaction has the potential to strengthen human-robot partnerships.

hi

[BibTex]

2017

hi Fitter, N. T., Kuchenbecker, K. J. Synchronicity Trumps Mischief in Rhythmic Human-Robot Social-Physical Interaction In Proceedings of the International Symposium on Robotics Research (ISRR), Puerto Varas, Chile, December 2017 (inproceedings) In press

[BibTex]

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Stiffness Perception during Pinching and Dissection with Teleoperated Haptic Forceps

Ng, C., Zareinia, K., Sun, Q., Kuchenbecker, K. J.

In Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 456-463, Lisbon, Portugal, August 2017 (inproceedings)

hi

link (url) DOI [BibTex]

hi Ng, C., Zareinia, K., Sun, Q., Kuchenbecker, K. J. Stiffness Perception during Pinching and Dissection with Teleoperated Haptic Forceps In Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN), pages: 456-463, Lisbon, Portugal, August 2017 (inproceedings)

link (url) DOI [BibTex]

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Design of a Parallel Continuum Manipulator for 6-DOF Fingertip Haptic Display

Young, E. M., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 599-604, Munich, Germany, June 2017, Finalist for best poster paper (inproceedings)

Abstract
Despite rapid advancements in the field of fingertip haptics, rendering tactile cues with six degrees of freedom (6 DOF) remains an elusive challenge. In this paper, we investigate the potential of displaying fingertip haptic sensations with a 6-DOF parallel continuum manipulator (PCM) that mounts to the user's index finger and moves a contact platform around the fingertip. Compared to traditional mechanisms composed of rigid links and discrete joints, PCMs have the potential to be strong, dexterous, and compact, but they are also more complicated to design. We define the design space of 6-DOF parallel continuum manipulators and outline a process for refining such a device for fingertip haptic applications. Following extensive simulation, we obtain 12 designs that meet our specifications, construct a manually actuated prototype of one such design, and evaluate the simulation's ability to accurately predict the prototype's motion. Finally, we demonstrate the range of deliverable fingertip tactile cues, including a normal force into the finger and shear forces tangent to the finger at three extreme points on the boundary of the fingertip.

hi

DOI Project Page [BibTex]

hi Young, E. M., Kuchenbecker, K. J. Design of a Parallel Continuum Manipulator for 6-DOF Fingertip Haptic Display In Proceedings of the IEEE World Haptics Conference (WHC), pages: 599-604, Munich, Germany, June 2017, Finalist for best poster paper (inproceedings)

DOI Project Page [BibTex]

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High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable

Hu, S., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 394-399, Munich, Germany, June 2017 (inproceedings)

Abstract
Clever electromechanical design is required to make the force feedback delivered by a kinesthetic haptic interface both strong and safe. This paper explores a onedimensional haptic force display that combines a DC motor and a magnetic particle brake on the same shaft. Rather than a rigid linkage, a spooled cable connects the user to the actuators to enable a large workspace, reduce the moving mass, and eliminate the sticky residual force from the brake. This design combines the high torque/power ratio of the brake and the active output capabilities of the motor to provide a wider range of forces than can be achieved with either actuator alone. A prototype of this device was built, its performance was characterized, and it was used to simulate constant force sources and virtual springs and dampers. Compared to the conventional design of using only a motor, the hybrid device can output higher unidirectional forces at the expense of free space feeling less free.

hi

DOI Project Page [BibTex]

hi Hu, S., Kuchenbecker, K. J. High Magnitude Unidirectional Haptic Force Display Using a Motor/Brake Pair and a Cable In Proceedings of the IEEE World Haptics Conference (WHC), pages: 394-399, Munich, Germany, June 2017 (inproceedings)

DOI Project Page [BibTex]

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A Wrist-Squeezing Force-Feedback System for Robotic Surgery Training

Brown, J. D., Fernandez, J. N., Cohen, S. P., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 107-112, Munich, Germany, June 2017 (inproceedings)

Abstract
Over time, surgical trainees learn to compensate for the lack of haptic feedback in commercial robotic minimally invasive surgical systems. Incorporating touch cues into robotic surgery training could potentially shorten this learning process if the benefits of haptic feedback were sustained after it is removed. In this paper, we develop a wrist-squeezing haptic feedback system and evaluate whether it holds the potential to train novice da Vinci users to reduce the force they exert on a bimanual inanimate training task. Subjects were randomly divided into two groups according to a multiple baseline experimental design. Each of the ten participants moved a ring along a curved wire nine times while the haptic feedback was conditionally withheld, provided, and withheld again. The realtime tactile feedback of applied force magnitude significantly reduced the integral of the force produced by the da Vinci tools on the task materials, and this result remained even when the haptic feedback was removed. Overall, our findings suggest that wrist-squeezing force feedback can play an essential role in helping novice trainees learn to minimize the force they exert with a surgical robot.

hi

DOI [BibTex]

hi Brown, J. D., Fernandez, J. N., Cohen, S. P., Kuchenbecker, K. J. A Wrist-Squeezing Force-Feedback System for Robotic Surgery Training In Proceedings of the IEEE World Haptics Conference (WHC), pages: 107-112, Munich, Germany, June 2017 (inproceedings)

DOI [BibTex]

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Handling Scan-Time Parameters in Haptic Surface Classification

Burka, A., Kuchenbecker, K. J.

In Proceedings of the IEEE World Haptics Conference (WHC), pages: 424-429, Munich, Germany, June 2017 (inproceedings)

hi

DOI Project Page [BibTex]

hi Burka, A., Kuchenbecker, K. J. Handling Scan-Time Parameters in Haptic Surface Classification In Proceedings of the IEEE World Haptics Conference (WHC), pages: 424-429, Munich, Germany, June 2017 (inproceedings)

DOI Project Page [BibTex]

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Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder

Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 439-445, Singapore, May 2017 (inproceedings)

Abstract
The Portable Robotic Optical/Tactile ObservatioN PACKage (PROTONPACK, or Proton for short) is a new handheld visuo-haptic sensing system that records surface interactions. We previously demonstrated system calibration and a classification task using external motion tracking. This paper details improvements in surface classification performance and removal of the dependence on external motion tracking, necessary before embarking on our goal of gathering a vast surface interaction dataset. Two experiments were performed to refine data collection parameters. After adjusting the placement and filtering of the Proton's high-bandwidth accelerometers, we recorded interactions between two differently-sized steel tooling ball end-effectors (diameter 6.35 and 9.525 mm) and five surfaces. Using features based on normal force, tangential force, end-effector speed, and contact vibration, we trained multi-class SVMs to classify the surfaces using 50 ms chunks of data from each end-effector. Classification accuracies of 84.5% and 91.5% respectively were achieved on unseen test data, an improvement over prior results. In parallel, we pursued on-board motion tracking, using the Proton's camera and fiducial markers. Motion tracks from the external and onboard trackers agree within 2 mm and 0.01 rad RMS, and the accuracy decreases only slightly to 87.7% when using onboard tracking for the 9.525 mm end-effector. These experiments indicate that the Proton 2 is ready for portable data collection.

hi

DOI Project Page [BibTex]

hi Burka, A., Rajvanshi, A., Allen, S., Kuchenbecker, K. J. Proton 2: Increasing the Sensitivity and Portability of a Visuo-haptic Surface Interaction Recorder In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 439-445, Singapore, May 2017 (inproceedings)

DOI Project Page [BibTex]

2007

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Electron magnetic linear dichroism (EMLD) and electron magnetic circular dichroism (EMCD) in electron energy-loss spectroscopy

van Aken, P. A., Gu, L., Goll, D., Schütz, G.

In 13, pages: 426-427, Saarbrücken, 2007 (inproceedings)

mms

[BibTex]

2003

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Grain boundary phase transitions in the Al-Mg system and their influence on high-strain rate superplasticity

Straumal, B. B., Lopez, G. A., Mittemeijer, E. J., Gust, W., Zhilyaev, A. P.

In 216-217, pages: 307-312, Moscow, Russia, 2003 (inproceedings)

mms

[BibTex]

2003

mms Straumal, B. B., Lopez, G. A., Mittemeijer, E. J., Gust, W., Zhilyaev, A. P. Grain boundary phase transitions in the Al-Mg system and their influence on high-strain rate superplasticity In 216-217, pages: 307-312, Moscow, Russia, 2003 (inproceedings)

[BibTex]

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Influence of grain boundary phase transitions on the diffusion-related properties

Straumal, B., Baretzky, B.

In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, pages: 53-64, Defect and Diffusion Forum, Scitec Publications Ltd., Moscow, Russia, 2003 (inproceedings)

mms

[BibTex]

mms Straumal, B., Baretzky, B. Influence of grain boundary phase transitions on the diffusion-related properties In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, pages: 53-64, Defect and Diffusion Forum, Scitec Publications Ltd., Moscow, Russia, 2003 (inproceedings)

[BibTex]

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Are carbon nanostructures an efficient hydrogen storage medium?

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

In 356-357, pages: 433-437, Annecy, France, 2003 (inproceedings)

mms

[BibTex]

mms Hirscher, M., Becher, M., Haluska, M., von Zeppelin, F., Chen, X., Dettlaff-Weglikowska, U., Roth, S. Are carbon nanostructures an efficient hydrogen storage medium? In 356-357, pages: 433-437, Annecy, France, 2003 (inproceedings)

[BibTex]

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Grain boundary faceting phase transition and thermal grooving in Cu

Straumal, B. B., Polyakov, S. A., Bischoff, E., Mittemeijer, E. J., Gust, W.

In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, 216/217, pages: 93-100, Diffusion and Defect Data, Pt. A, Defect and Diffusion Forum, Scitec Publ., Moscow, 2003 (inproceedings)

mms

[BibTex]

mms Straumal, B. B., Polyakov, S. A., Bischoff, E., Mittemeijer, E. J., Gust, W. Grain boundary faceting phase transition and thermal grooving in Cu In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, 216/217, pages: 93-100, Diffusion and Defect Data, Pt. A, Defect and Diffusion Forum, Scitec Publ., Moscow, 2003 (inproceedings)

[BibTex]

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Grain boundary faceting phase transition and thermal grooving in Cu

Straumal, B. B., Polyakov, S. A., Bischoff, E., Mittemeijer, E. J., Gust, W.

In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, 216/217, pages: 93-100, Diffusion and Defect Data, Pt. A, Defect and Diffusion Forum, Scitec Publ., Moscow, 2003 (inproceedings)

mms

[BibTex]

mms Straumal, B. B., Polyakov, S. A., Bischoff, E., Mittemeijer, E. J., Gust, W. Grain boundary faceting phase transition and thermal grooving in Cu In Proceedings of the International Conference on Diffusion, Segregation and Stresses in Materials, 216/217, pages: 93-100, Diffusion and Defect Data, Pt. A, Defect and Diffusion Forum, Scitec Publ., Moscow, 2003 (inproceedings)

[BibTex]

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Coercivity mechanism in nanocrystalline and bonded magnets

Goll, D., Kronmüller, H.

In Bonded Magnets. Proceedings of the NATO Advanced Research Workshop on Science and Technology of Bonded Magnets, 118, pages: 115-127, NATO Science Series: Series 2, Mathematics, Physics and Chemistry, Kluwer Acad. Publ., Newark, USA, 2003 (inproceedings)

mms

[BibTex]

mms Goll, D., Kronmüller, H. Coercivity mechanism in nanocrystalline and bonded magnets In Bonded Magnets. Proceedings of the NATO Advanced Research Workshop on Science and Technology of Bonded Magnets, 118, pages: 115-127, NATO Science Series: Series 2, Mathematics, Physics and Chemistry, Kluwer Acad. Publ., Newark, USA, 2003 (inproceedings)

[BibTex]

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Investigation of Electromigration in Copper Interconnects by Noise Measurements

Emelianov, V., Ganesan, G., Puzic, A., Schulz, S., Eizenberg, M., Habermeier, H., Stoll, H.

In Noise as a Tool for Studying Materials, pages: 271-281, Proceedings of SPIE, Santa Fe, New Mexico, 2003 (inproceedings)

mms

[BibTex]

mms Emelianov, V., Ganesan, G., Puzic, A., Schulz, S., Eizenberg, M., Habermeier, H., Stoll, H. Investigation of Electromigration in Copper Interconnects by Noise Measurements In Noise as a Tool for Studying Materials, pages: 271-281, Proceedings of SPIE, Santa Fe, New Mexico, 2003 (inproceedings)

[BibTex]