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2020


A Gamified App that Helps People Overcome Self-Limiting Beliefs by Promoting Metacognition
A Gamified App that Helps People Overcome Self-Limiting Beliefs by Promoting Metacognition

Amo, V., Lieder, F.

SIG 8 Meets SIG 16, September 2020 (conference) Accepted

Abstract
Previous research has shown that approaching learning with a growth mindset is key for maintaining motivation and overcoming setbacks. Mindsets are systems of beliefs that people hold to be true. They influence a person's attitudes, thoughts, and emotions when they learn something new or encounter challenges. In clinical psychology, metareasoning (reflecting on one's mental processes) and meta-awareness (recognizing thoughts as mental events instead of equating them to reality) have proven effective for overcoming maladaptive thinking styles. Hence, they are potentially an effective method for overcoming self-limiting beliefs in other domains as well. However, the potential of integrating assisted metacognition into mindset interventions has not been explored yet. Here, we propose that guiding and training people on how to leverage metareasoning and meta-awareness for overcoming self-limiting beliefs can significantly enhance the effectiveness of mindset interventions. To test this hypothesis, we develop a gamified mobile application that guides and trains people to use metacognitive strategies based on Cognitive Restructuring (CR) and Acceptance Commitment Therapy (ACT) techniques. The application helps users to identify and overcome self-limiting beliefs by working with aversive emotions when they are triggered by fixed mindsets in real-life situations. Our app aims to help people sustain their motivation to learn when they face inner obstacles (e.g. anxiety, frustration, and demotivation). We expect the application to be an effective tool for helping people better understand and develop the metacognitive skills of emotion regulation and self-regulation that are needed to overcome self-limiting beliefs and develop growth mindsets.

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A gamified app that helps people overcome self-limiting beliefs by promoting metacognition [BibTex]


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How to navigate everyday distractions: Leveraging optimal feedback to train attention control

Wirzberger, M., Lado, A., Eckerstorfer, L., Oreshnikov, I., Passy, J., Stock, A., Shenhav, A., Lieder, F.

Annual Meeting of the Cognitive Science Society, July 2020 (conference) Accepted

Abstract
To stay focused on their chosen tasks, people have to inhibit distractions. The underlying attention control skills can improve through reinforcement learning, which can be accelerated by giving feedback. We applied the theory of metacognitive reinforcement learning to develop a training app that gives people optimal feedback on their attention control while they are working or studying. In an eight-day field experiment with 99 participants, we investigated the effect of this training on people's productivity, sustained attention, and self-control. Compared to a control condition without feedback, we found that participants receiving optimal feedback learned to focus increasingly better (f = .08, p < .01) and achieved higher productivity scores (f = .19, p < .01) during the training. In addition, they evaluated their productivity more accurately (r = .12, p < .01). However, due to asymmetric attrition problems, these findings need to be taken with a grain of salt.

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How to navigate everyday distractions: Leveraging optimal feedback to train attention control DOI Project Page [BibTex]


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Leveraging Machine Learning to Automatically Derive Robust Planning Strategies from Biased Models of the Environment

Kemtur, A., Jain, Y. R., Mehta, A., Callaway, F., Consul, S., Stojcheski, J., Lieder, F.

CogSci 2020, July 2020, Anirudha Kemtur and Yash Raj Jain contributed equally to this publication. (conference)

Abstract
Teaching clever heuristics is a promising approach to improve decision-making. We can leverage machine learning to discover clever strategies automatically. Current methods require an accurate model of the decision problems people face in real life. But most models are misspecified because of limited information and cognitive biases. To address this problem we develop strategy discovery methods that are robust to model misspecification. Robustness is achieved by model-ing model-misspecification and handling uncertainty about the real-world according to Bayesian inference. We translate our methods into an intelligent tutor that automatically discovers and teaches robust planning strategies. Our robust cognitive tutor significantly improved human decision-making when the model was so biased that conventional cognitive tutors were no longer effective. These findings highlight that our robust strategy discovery methods are a significant step towards leveraging artificial intelligence to improve human decision-making in the real world.

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Project Page [BibTex]

Project Page [BibTex]


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ACTrain: Ein KI-basiertes Aufmerksamkeitstraining für die Wissensarbeit [ACTrain: An AI-based attention training for knowledge work]

Wirzberger, M., Oreshnikov, I., Passy, J., Lado, A., Shenhav, A., Lieder, F.

66th Spring Conference of the German Ergonomics Society, 2020 (conference)

Abstract
Unser digitales Zeitalter lebt von Informationen und stellt unsere begrenzte Verarbeitungskapazität damit täglich auf die Probe. Gerade in der Wissensarbeit haben ständige Ablenkungen erhebliche Leistungseinbußen zur Folge. Unsere intelligente Anwendung ACTrain setzt genau an dieser Stelle an und verwandelt Computertätigkeiten in eine Trainingshalle für den Geist. Feedback auf Basis maschineller Lernverfahren zeigt anschaulich den Wert auf, sich nicht von einer selbst gewählten Aufgabe ablenken zu lassen. Diese metakognitive Einsicht soll zum Durchhalten motivieren und das zugrunde liegende Fertigkeitsniveau der Aufmerksamkeitskontrolle stärken. In laufenden Feldexperimenten untersuchen wir die Frage, ob das Training mit diesem optimalen Feedback die Aufmerksamkeits- und Selbstkontrollfertigkeiten im Vergleich zu einer Kontrollgruppe ohne Feedback verbessern kann.

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link (url) Project Page [BibTex]


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A Real-Robot Dataset for Assessing Transferability of Learned Dynamics Models

Agudelo-España, D., Zadaianchuk, A., Wenk, P., Garg, A., Akpo, J., Grimminger, F., Viereck, J., Naveau, M., Righetti, L., Martius, G., Krause, A., Schölkopf, B., Bauer, S., Wüthrich, M.

IEEE International Conference on Robotics and Automation (ICRA), 2020 (conference) Accepted

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Project Page PDF [BibTex]

Project Page PDF [BibTex]

2017


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Pattern Generation for Walking on Slippery Terrains

Khadiv, M., Moosavian, S. A. A., Herzog, A., Righetti, L.

In 2017 5th International Conference on Robotics and Mechatronics (ICROM), Iran, August 2017 (inproceedings)

Abstract
In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this for- mulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.

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link (url) [BibTex]

2017


link (url) [BibTex]

2013


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AGILITY – Dynamic Full Body Locomotion and Manipulation with Autonomous Legged Robots

Hutter, M., Bloesch, M., Buchli, J., Semini, C., Bazeille, S., Righetti, L., Bohg, J.

In 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-4, IEEE, Linköping, Sweden, 2013 (inproceedings)

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link (url) DOI [BibTex]

2013


link (url) DOI [BibTex]


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Learning Objective Functions for Manipulation

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

In 2013 IEEE International Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
We present an approach to learning objective functions for robotic manipulation based on inverse reinforcement learning. Our path integral inverse reinforcement learning algorithm can deal with high-dimensional continuous state-action spaces, and only requires local optimality of demonstrated trajectories. We use L 1 regularization in order to achieve feature selection, and propose an efficient algorithm to minimize the resulting convex objective function. We demonstrate our approach by applying it to two core problems in robotic manipulation. First, we learn a cost function for redundancy resolution in inverse kinematics. Second, we use our method to learn a cost function over trajectories, which is then used in optimization-based motion planning for grasping and manipulation tasks. Experimental results show that our method outperforms previous algorithms in high-dimensional settings.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Learning Task Error Models for Manipulation

Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G. S., Schaal, S.

In 2013 IEEE Conference on Robotics and Automation, IEEE, Karlsruhe, Germany, 2013 (inproceedings)

Abstract
Precise kinematic forward models are important for robots to successfully perform dexterous grasping and manipulation tasks, especially when visual servoing is rendered infeasible due to occlusions. A lot of research has been conducted to estimate geometric and non-geometric parameters of kinematic chains to minimize reconstruction errors. However, kinematic chains can include non-linearities, e.g. due to cable stretch and motor-side encoders, that result in significantly different errors for different parts of the state space. Previous work either does not consider such non-linearities or proposes to estimate non-geometric parameters of carefully engineered models that are robot specific. We propose a data-driven approach that learns task error models that account for such unmodeled non-linearities. We argue that in the context of grasping and manipulation, it is sufficient to achieve high accuracy in the task relevant state space. We identify this relevant state space using previously executed joint configurations and learn error corrections for those. Therefore, our system is developed to generate subsequent executions that are similar to previous ones. The experiments show that our method successfully captures the non-linearities in the head kinematic chain (due to a counterbalancing spring) and the arm kinematic chains (due to cable stretch) of the considered experimental platform, see Fig. 1. The feasibility of the presented error learning approach has also been evaluated in independent DARPA ARM-S testing contributing to successfully complete 67 out of 72 grasping and manipulation tasks.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2011


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Amorphous grain boundary layers in the ferromagnetic nanograined ZnO films

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

In 520, pages: 1192-1194, Hersonissos, Greece, 2011 (inproceedings)

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DOI [BibTex]

2011


DOI [BibTex]


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Inversed solid-phase grain boundary wetting in the Al-Zn system

Protasova, S. G., Kogtenkova, O. A., Straumal, B. B., Zieba, P., Baretzky, B.

In 46, pages: 4349-4353, Mie, Japan, 2011 (inproceedings)

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DOI [BibTex]

DOI [BibTex]


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Learning Force Control Policies for Compliant Manipulation

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

In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 4639-4644, IEEE, San Francisco, USA, sep 2011 (inproceedings)

Abstract
Developing robots capable of fine manipulation skills is of major importance in order to build truly assistive robots. These robots need to be compliant in their actuation and control in order to operate safely in human environments. Manipulation tasks imply complex contact interactions with the external world, and involve reasoning about the forces and torques to be applied. Planning under contact conditions is usually impractical due to computational complexity, and a lack of precise dynamics models of the environment. We present an approach to acquiring manipulation skills on compliant robots through reinforcement learning. The initial position control policy for manipulation is initialized through kinesthetic demonstration. We augment this policy with a force/torque profile to be controlled in combination with the position trajectories. We use the Policy Improvement with Path Integrals (PI2) algorithm to learn these force/torque profiles by optimizing a cost function that measures task success. We demonstrate our approach on the Barrett WAM robot arm equipped with a 6-DOF force/torque sensor on two different manipulation tasks: opening a door with a lever door handle, and picking up a pen off the table. We show that the learnt force control policies allow successful, robust execution of the tasks.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Control of legged robots with optimal distribution of contact forces

Righetti, L., Buchli, J., Mistry, M., Schaal, S.

In 2011 11th IEEE-RAS International Conference on Humanoid Robots, pages: 318-324, IEEE, Bled, Slovenia, 2011 (inproceedings)

Abstract
The development of agile and safe humanoid robots require controllers that guarantee both high tracking performance and compliance with the environment. More specifically, the control of contact interaction is of crucial importance for robots that will actively interact with their environment. Model-based controllers such as inverse dynamics or operational space control are very appealing as they offer both high tracking performance and compliance. However, while widely used for fully actuated systems such as manipulators, they are not yet standard controllers for legged robots such as humanoids. Indeed such robots are fundamentally different from manipulators as they are underactuated due to their floating-base and subject to switching contact constraints. In this paper we present an inverse dynamics controller for legged robots that use torque redundancy to create an optimal distribution of contact constraints. The resulting controller is able to minimize, given a desired motion, any quadratic cost of the contact constraints at each instant of time. In particular we show how this can be used to minimize tangential forces during locomotion, therefore significantly improving the locomotion of legged robots on difficult terrains. In addition to the theoretical result, we present simulations of a humanoid and a quadruped robot, as well as experiments on a real quadruped robot that demonstrate the advantages of the controller.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Learning Motion Primitive Goals for Robust Manipulation

Stulp, F., Theodorou, E., Kalakrishnan, M., Pastor, P., Righetti, L., Schaal, S.

In IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 325-331, IEEE, San Francisco, USA, sep 2011 (inproceedings)

Abstract
Applying model-free reinforcement learning to manipulation remains challenging for several reasons. First, manipulation involves physical contact, which causes discontinuous cost functions. Second, in manipulation, the end-point of the movement must be chosen carefully, as it represents a grasp which must be adapted to the pose and shape of the object. Finally, there is uncertainty in the object pose, and even the most carefully planned movement may fail if the object is not at the expected position. To address these challenges we 1) present a simplified, computationally more efficient version of our model-free reinforcement learning algorithm PI2; 2) extend PI2 so that it simultaneously learns shape parameters and goal parameters of motion primitives; 3) use shape and goal learning to acquire motion primitives that are robust to object pose uncertainty. We evaluate these contributions on a manipulation platform consisting of a 7-DOF arm with a 4-DOF hand.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Inverse Dynamics Control of Floating-Base Robots with External Constraints: a Unified View

Righetti, L., Buchli, J., Mistry, M., Schaal, S.

In 2011 IEEE International Conference on Robotics and Automation, pages: 1085-1090, IEEE, Shanghai, China, 2011 (inproceedings)

Abstract
Inverse dynamics controllers and operational space controllers have proved to be very efficient for compliant control of fully actuated robots such as fixed base manipulators. However legged robots such as humanoids are inherently different as they are underactuated and subject to switching external contact constraints. Recently several methods have been proposed to create inverse dynamics controllers and operational space controllers for these robots. In an attempt to compare these different approaches, we develop a general framework for inverse dynamics control and show that these methods lead to very similar controllers. We are then able to greatly simplify recent whole-body controllers based on operational space approaches using kinematic projections, bringing them closer to efficient practical implementations. We also generalize these controllers such that they can be optimal under an arbitrary quadratic cost in the commands.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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First measurement of the heat effect of the grain boundary wetting phase transition

Straumal, B. B., Kogtenkova, O. A., Protasova, S. G., Zieba, P., Czeppe, T., Baretzky, B., Valiev, R. Z.

In 46, pages: 4243, Mie, Japan, 2011 (inproceedings)

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DOI [BibTex]

DOI [BibTex]


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Operational Space Control of Constrained and Underactuated Systems

Mistry, M., Righetti, L.

In Proceedings of Robotics: Science and Systems, Los Angeles, CA, USA, June 2011 (inproceedings)

Abstract
The operational space formulation (Khatib, 1987), applied to rigid-body manipulators, describes how to decouple task-space and null-space dynamics, and write control equations that correspond only to forces at the end-effector or, alternatively, only to motion within the null-space. We would like to apply this useful theory to modern humanoids and other legged systems, for manipulation or similar tasks, however these systems present additional challenges due to their underactuated floating bases and contact states that can dynamically change. In recent work, Sentis et al. derived controllers for such systems by implementing a task Jacobian projected into a space consistent with the supporting constraints and underactuation (the so called "support consistent reduced Jacobian"). Here, we take a new approach to derive operational space controllers for constrained underactuated systems, by first considering the operational space dynamics within "projected inverse-dynamics" (Aghili, 2005), and subsequently resolving underactuation through the addition of dynamically consistent control torques. Doing so results in a simplified control solution compared with previous results, and importantly yields several new insights into the underlying problem of operational space control in constrained environments: 1) Underactuated systems, such as humanoid robots, cannot in general completely decouple task and null-space dynamics. However, 2) there may exist an infinite number of control solutions to realize desired task-space dynamics, and 3) these solutions involve the addition of dynamically consistent null-space motion or constraint forces (or combinations of both). In light of these findings, we present several possible control solutions, with varying optimization criteria, and highlight some of their practical consequences.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Online movement adaptation based on previous sensor experiences

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

In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 365-371, IEEE, San Francisco, USA, sep 2011 (inproceedings)

Abstract
Personal robots can only become widespread if they are capable of safely operating among humans. In uncertain and highly dynamic environments such as human households, robots need to be able to instantly adapt their behavior to unforseen events. In this paper, we propose a general framework to achieve very contact-reactive motions for robotic grasping and manipulation. Associating stereotypical movements to particular tasks enables our system to use previous sensor experiences as a predictive model for subsequent task executions. We use dynamical systems, named Dynamic Movement Primitives (DMPs), to learn goal-directed behaviors from demonstration. We exploit their dynamic properties by coupling them with the measured and predicted sensor traces. This feedback loop allows for online adaptation of the movement plan. Our system can create a rich set of possible motions that account for external perturbations and perception uncertainty to generate truly robust behaviors. As an example, we present an application to grasping with the WAM robot arm.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Transmission electron microscopy investigation of boundaries between amorphous "grains" in Ni50Nb20Y30 alloy

Mazilkin, A. A., Abrosimova, G. E., Protasova, S. G., Straumal, B. B., Schütz, G., Dobatkin, S. V., Bakai, A. S.

In 46, pages: 4336-4342, Mie, Japan, 2011 (inproceedings)

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DOI [BibTex]

DOI [BibTex]

2007


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Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Degallier, S., Righetti, L., Ijspeert, A.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2047-2052, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.

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link (url) DOI [BibTex]

2007


link (url) DOI [BibTex]


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Lower body realization of the baby humanoid - ‘iCub’

Tsagarakis, N., Becchi, F., Righetti, L., Ijspeert, A., Caldwell, D.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3616-3622, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]

2004


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Operating system support for interface virtualisation of reconfigurable coprocessors

Vuletic, M., Righetti, L., Pozzi, L., Ienne, P.

In In Proceedings of the Design, Automation and Test in Europe Conference and Exhibition, pages: 748-749, IEEE, Paris, France, 2004 (inproceedings)

Abstract
Reconfigurable systems-on-chip (SoC) consist of large field programmable gate arrays (FPGAs) and standard processors. The reconfigurable logic can be used for application-specific coprocessors to speedup execution of applications. The widespread use is limited by the complexity of interfacing software applications with coprocessors. We present a virtualization layer that lowers the interfacing complexity and improves the portability. The layer shifts the burden of moving data between processor and coprocessor from the programmer to the operating system (OS). A reconfigurable SoC running Linux is used to prove the concept.

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link (url) DOI [BibTex]

2004


link (url) DOI [BibTex]


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High-speed dynamics of magnetization processes in hard magnetic particles and thin platelets

Goll, D., Kronmüller, H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 465-469, Laboratoire de Cristallographie/Laboratoire Louis Neel, CNRS, Grenoble, 2004 (inproceedings)

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[BibTex]

[BibTex]


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High-speed dynamics of magnetization processes in hard magnetic particles and thin platelets

Goll, D., Kronmüller, H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 465-469, Laboratoire de Cristallographie/Laboratoire Louis Neel, CNRS, Grenoble, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Modern nanocrystalline/nanostructured hard magnetic materials

Kronmüller, H., Goll, D.

In 272-276, pages: e319-e320, Rome [Italy], 2004 (inproceedings)

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[BibTex]

[BibTex]


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Modern nanostructured high-temperature permanent magnets

Goll, D., Kronmüller, H., Stadelmaier, H. H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 578-583, Laboratoire de Cristallographie/Laboratoire Louis Néel, CNRS, Grenoble, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Imaging sub-ns spin dynamics in magnetic nanostructures with magnetic transmission X-ray microscopy

Fischer, P., Stoll, H., Puzic, A., Van Waeyenberge, B., Raabe, J., Haug, T., Denbeaux, G., Pearson, A., Höllinger, R., Back, C. H., Weiss, D., Schütz, G.

In Synchrotron Radiation Instrumentation, 705, pages: 1291-1294, AIP Conference Proceedings, American Institute of Physics, San Francisco, California (USA), 2004 (inproceedings)

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[BibTex]

[BibTex]


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Modern nanostructured high-temperature permanent magnets

Goll, D., Kronmüller, H., Stadelmaier, H. H.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 578-583, Laboratoire de Cristallographie/Laboratoire Louis Néel, CNRS, Grenoble, 2004 (inproceedings)

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[BibTex]

[BibTex]


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Existence of transient temperature spike induced by SHI: evidence by ion beam analysis

Avasthi, D. K., Ghosh, S., Srivastava, S. K., Assmann, W.

In 219-220, pages: 206-214, Albuquerque, NM [USA], 2004 (inproceedings)

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[BibTex]

[BibTex]


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Hard magnetic hollow nanospheres

Goll, D., Berkowitz, A. E., Bertram, H. N.

In Proceedings of the 18th International Workshop on Rare-Earth Magnets and their Applications, pages: 704-707, Laboratoire de Cristallographie/Laboratoire Louis Neel, CNRS, Grenoble, 2004 (inproceedings)

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[BibTex]

[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)

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[BibTex]

2003


[BibTex]


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Magnetism and the Microstructure of Ferromagnetic Solids

Kronmüller, H., Fähnle, M.

pages: 432 p., 1st ed., Cambridge University Press, Cambridge, 2003 (book)

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[BibTex]

[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)

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[BibTex]

[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)

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[BibTex]

[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)

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[BibTex]

[BibTex]


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Evolution of Fault-tolerant Self-replicating Structures

Righetti, L., Shokur, S., Capcarre, M.

In Advances in Artificial Life, pages: 278-288, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2003 (inproceedings)

Abstract
Designed and evolved self-replicating structures in cellular automata have been extensively studied in the past as models of Artificial Life. However, CAs, unlike their biological counterpart, are very brittle: any faulty cell usually leads to the complete destruction of any emerging structures, let alone self-replicating structures. A way to design fault-tolerant structures based on error-correcting-code has been presented recently [1], but it required a cumbersome work to be put into practice. In this paper, we get back to the original inspiration for these works, nature, and propose a way to evolve self-replicating structures, faults here being only an idiosyncracy of the environment.

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link (url) DOI [BibTex]

link (url) DOI [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)

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[BibTex]

[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)

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[BibTex]

[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)

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[BibTex]

[BibTex]

2002


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Pressure Isotherms of Hydrogen Adsorption in Carbon Nanostructures

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

In Making Functional Materials with Nanotubes, pages: Z9.11.1-Z9.11.6, Materials Research Society Symposium Proceedings, MRS, Boston [Mass.], 2002 (inproceedings)

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[BibTex]

2002


[BibTex]


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Hydrogen Storage in Carbon SWNTs: Atomic or Molecular?

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

In Structural and Electronic Properties of Molecular Nanostructures, pages: 601-605, AIP Conference Proceedings, AIP, Kirchberg, Tirol [Austria], 2002 (inproceedings)

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[BibTex]

[BibTex]


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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)

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[BibTex]


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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)

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[BibTex]

[BibTex]


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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)

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[BibTex]

[BibTex]

2001


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Computational micromagnetism of magnetic structures and magnetization processes in thin plantelets and small particles

Kronmüller, H., Hertel, R.

In Magnetic Storage Sstems Beyond 2000, 41, pages: 345-362, Nato Science Series II: Mathematics, Physics and Chemistry, Kluwer Academic Publishers, Rhodos, Greece, 2001 (inproceedings)

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2001


[BibTex]


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Hydrogen storage in mechanically treated single wall carbon nanotrubes

Haluska, M., Hulman, M., Hirscher, M., Becher, M., Roth, S., Stepanek, I., Bernier, P.

In Electronic Properties of Molecular Nanostructures: XV International Winterschool/Euroconference, 591, pages: 603-608, American Institute of Physics Conference Proceedings, AIP, Kirchberg [Austria], 2001 (inproceedings)

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[BibTex]

[BibTex]


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Isotopic mass and lattice constant of Si and Ge: X-Ray standing wave measurements

Zegenhagen, J., Kazimirov, A., Cao, L. X., Konuma, M., Sozontov, E., Plachke, D., Carstanjen, H. D., Bilger, G., Haller, E., Kohn, V., Cardona, M.

In Proceedings of the 25th Conference on the Physics of Semiconductors, 87, pages: 125-127, Springer proceedings in physics, Springer, Osaka, Japan, 2001 (inproceedings)

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[BibTex]


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Positron Annihilation Studies on Stable and Undercooled Metal Melts at the Stuttgart Pelletron

Stoll, H., Siegle, A., Major, J.

In Application of Accelerators in Research and Industry, 576, pages: 749-752, AIP Conference Proceedings, Denton, Texas, USA, 2001 (inproceedings)

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[BibTex]


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Submicrometer spatially resolved measurements of mechanical properties and correlation to microstructure and composition

Kunert, M., Baretzky, B., Baker, S. P., Mittemeijer, E. J.

In Fundamentals of Nanoindentation and Nanotribology II, 649, pages: Q3.2.1-Q3.2.6, Materials Research Society Symposium Proceedings, MRS, Boston, MA, USA, 2001 (inproceedings)

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[BibTex]

[BibTex]