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2017


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Chapter 8 - Micro- and nanorobots in Newtonian and biological viscoelastic fluids

Palagi, S., (Walker) Schamel, D., Qiu, T., Fischer, P.

In Microbiorobotics, pages: 133 - 162, 8, Micro and Nano Technologies, Second edition, Elsevier, Boston, March 2017 (incollection)

Abstract
Swimming microorganisms are a source of inspiration for small scale robots that are intended to operate in fluidic environments including complex biomedical fluids. Nature has devised swimming strategies that are effective at small scales and at low Reynolds number. These include the rotary corkscrew motion that, for instance, propels a flagellated bacterial cell, as well as the asymmetric beat of appendages that sperm cells or ciliated protozoa use to move through fluids. These mechanisms can overcome the reciprocity that governs the hydrodynamics at small scale. The complex molecular structure of biologically important fluids presents an additional challenge for the effective propulsion of microrobots. In this chapter it is shown how physical and chemical approaches are essential in realizing engineered abiotic micro- and nanorobots that can move in biomedically important environments. Interestingly, we also describe a microswimmer that is effective in biological viscoelastic fluids that does not have a natural analogue.

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link (url) DOI [BibTex]

2017


link (url) DOI [BibTex]


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Appealing Avatars from 3D Body Scans: Perceptual Effects of Stylization

Fleming, R., Mohler, B. J., Romero, J., Black, M. J., Breidt, M.

In Computer Vision, Imaging and Computer Graphics Theory and Applications: 11th International Joint Conference, VISIGRAPP 2016, Rome, Italy, February 27 – 29, 2016, Revised Selected Papers, pages: 175-196, Springer International Publishing, 2017 (inbook)

Abstract
Using styles derived from existing popular character designs, we present a novel automatic stylization technique for body shape and colour information based on a statistical 3D model of human bodies. We investigate whether such stylized body shapes result in increased perceived appeal with two different experiments: One focuses on body shape alone, the other investigates the additional role of surface colour and lighting. Our results consistently show that the most appealing avatar is a partially stylized one. Importantly, avatars with high stylization or no stylization at all were rated to have the least appeal. The inclusion of colour information and improvements to render quality had no significant effect on the overall perceived appeal of the avatars, and we observe that the body shape primarily drives the change in appeal ratings. For body scans with colour information, we found that a partially stylized avatar was perceived as most appealing.

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publisher site pdf DOI [BibTex]

publisher site pdf DOI [BibTex]


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Computing with Uncertainty

Hennig, P.

2017 (mpi_year_book)

Abstract
Machine learning requires computer hardware to reliable and efficiently compute estimations for ever more complex and fundamentally incomputable quantities. A research team at MPI for Intelligent Systems in Tübingen develops new algorithms which purposely lower the precision of computations and return an explicit measure of uncertainty over the correct result alongside the estimate. Doing so allows for more flexible management of resources, and increases the reliability of intelligent systems.

link (url) DOI [BibTex]


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Robot Learning

Peters, J., Lee, D., Kober, J., Nguyen-Tuong, D., Bagnell, J., Schaal, S.

In Springer Handbook of Robotics, pages: 357-394, 15, 2nd, (Editors: Siciliano, Bruno and Khatib, Oussama), Springer International Publishing, 2017 (inbook)

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Project Page [BibTex]

Project Page [BibTex]


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Learning to Filter Object Detections

Prokudin, S., Kappler, D., Nowozin, S., Gehler, P.

In Pattern Recognition: 39th German Conference, GCPR 2017, Basel, Switzerland, September 12–15, 2017, Proceedings, pages: 52-62, Springer International Publishing, Cham, 2017 (inbook)

Abstract
Most object detection systems consist of three stages. First, a set of individual hypotheses for object locations is generated using a proposal generating algorithm. Second, a classifier scores every generated hypothesis independently to obtain a multi-class prediction. Finally, all scored hypotheses are filtered via a non-differentiable and decoupled non-maximum suppression (NMS) post-processing step. In this paper, we propose a filtering network (FNet), a method which replaces NMS with a differentiable neural network that allows joint reasoning and re-scoring of the generated set of hypotheses per image. This formulation enables end-to-end training of the full object detection pipeline. First, we demonstrate that FNet, a feed-forward network architecture, is able to mimic NMS decisions, despite the sequential nature of NMS. We further analyze NMS failures and propose a loss formulation that is better aligned with the mean average precision (mAP) evaluation metric. We evaluate FNet on several standard detection datasets. Results surpass standard NMS on highly occluded settings of a synthetic overlapping MNIST dataset and show competitive behavior on PascalVOC2007 and KITTI detection benchmarks.

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Paper link (url) DOI Project Page [BibTex]

Paper link (url) DOI Project Page [BibTex]


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Biomechanics and Locomotion Control in Legged Animals and Legged Robots

Sproewitz, A., Heim, S.

2017 (mpi_year_book)

Abstract
An animal's running gait is dynamic, efficient, elegant, and adaptive. We see locomotion in animals as an orchestrated interplay of the locomotion apparatus, interacting with its environment. The Dynamic Locomotion Group at the Max Planck Institute for Intelligent Systems in Stuttgart develops novel legged robots to decipher aspects of biomechanics and neuromuscular control of legged locomotion in animals, and to understand general principles of locomotion.

link (url) DOI [BibTex]


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Policy Gradient Methods

Peters, J., Bagnell, J.

In Encyclopedia of Machine Learning and Data Mining, pages: 982-985, 2nd, (Editors: Sammut, Claude and Webb, Geoffrey I.), Springer US, 2017 (inbook)

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link (url) Project Page [BibTex]

link (url) Project Page [BibTex]


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Unsupervised clustering of EOG as a viable substitute for optical eye-tracking

Flad, N., Fomina, T., Bülthoff, H. H., Chuang, L. L.

In First Workshop on Eye Tracking and Visualization (ETVIS 2015), pages: 151-167, Mathematics and Visualization, (Editors: Burch, M., Chuang, L., Fisher, B., Schmidt, A., and Weiskopf, D.), Springer, 2017 (inbook)

ei

DOI [BibTex]

DOI [BibTex]


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Statistical Asymmetries Between Cause and Effect

Janzing, D.

In Time in Physics, pages: 129-139, Tutorials, Schools, and Workshops in the Mathematical Sciences, (Editors: Renner, Renato and Stupar, Sandra), Springer International Publishing, Cham, 2017 (inbook)

ei

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Robot Learning

Peters, J., Tedrake, R., Roy, N., Morimoto, J.

In Encyclopedia of Machine Learning and Data Mining, pages: 1106-1109, 2nd, (Editors: Sammut, Claude and Webb, Geoffrey I.), Springer US, 2017 (inbook)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Design of a visualization scheme for functional connectivity data of Human Brain

Bramlage, L.

Hochschule Osnabrück - University of Applied Sciences, 2017 (thesis)

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Bramlage_BSc_2017.pdf [BibTex]


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Decentralized Simultaneous Multi-target Exploration using a Connected Network of Multiple Robots

Nestmeyer, T., Robuffo Giordano, P., Bülthoff, H. H., Franchi, A.

In pages: 989-1011, Autonomous Robots, 2017 (incollection)

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[BibTex]

[BibTex]


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Momentum-Centered Control of Contact Interactions

Righetti, L., Herzog, A.

In Geometric and Numerical Foundations of Movements, 117, pages: 339-359, Springer Tracts in Advanced Robotics, Springer, Cham, 2017 (incollection)

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link (url) [BibTex]

link (url) [BibTex]

2012


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Expectation-Maximization methods for solving (PO)MDPs and optimal control problems

Toussaint, M., Storkey, A., Harmeling, S.

In Inference and Learning in Dynamic Models, (Editors: Barber, D., Cemgil, A.T. and Chiappa, S.), Cambridge University Press, Cambridge, UK, January 2012 (inbook) In press

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PDF [BibTex]

2012


PDF [BibTex]


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Inferential structure determination from NMR data

Habeck, M.

In Bayesian methods in structural bioinformatics, pages: 287-312, (Editors: Hamelryck, T., Mardia, K. V. and Ferkinghoff-Borg, J.), Springer, New York, 2012 (inbook)

ei

[BibTex]

[BibTex]


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Robot Learning

Sigaud, O., Peters, J.

In Encyclopedia of the sciences of learning, (Editors: Seel, N.M.), Springer, Berlin, Germany, 2012 (inbook)

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Web [BibTex]

Web [BibTex]


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Reinforcement Learning in Robotics: A Survey

Kober, J., Peters, J.

In Reinforcement Learning, 12, pages: 579-610, (Editors: Wiering, M. and Otterlo, M.), Springer, Berlin, Germany, 2012 (inbook)

Abstract
As most action generation problems of autonomous robots can be phrased in terms of sequential decision problems, robotics offers a tremendously important and interesting application platform for reinforcement learning. Similarly, the real-world challenges of this domain pose a major real-world check for reinforcement learning. Hence, the interplay between both disciplines can be seen as promising as the one between physics and mathematics. Nevertheless, only a fraction of the scientists working on reinforcement learning are sufficiently tied to robotics to oversee most problems encountered in this context. Thus, we will bring the most important challenges faced by robot reinforcement learning to their attention. To achieve this goal, we will attempt to survey most work that has successfully applied reinforcement learning to behavior generation for real robots. We discuss how the presented successful approaches have been made tractable despite the complexity of the domain and will study how representations or the inclusion of prior knowledge can make a significant difference. As a result, a particular focus of our chapter lies on the choice between model-based and model-free as well as between value function-based and policy search methods. As a result, we obtain a fairly complete survey of robot reinforcement learning which should allow a general reinforcement learning researcher to understand this domain.

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Web DOI [BibTex]

Web DOI [BibTex]


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Higher-Order Tensors in Diffusion MRI

Schultz, T., Fuster, A., Ghosh, A., Deriche, R., Florack, L., Lim, L.

In Visualization and Processing of Tensors and Higher Order Descriptors for Multi-Valued Data, (Editors: Westin, C. F., Vilanova, A. and Burgeth, B.), Springer, 2012 (inbook) Accepted

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[BibTex]

[BibTex]


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Brain-computer interfaces – a novel type of communication

Grosse-Wentrup, M.

2012 (mpi_year_book)

Abstract
Brain-computer interfaces (BCIs) provide a new means of communication that does not rely on volitional muscle control. This may provide the capability to locked-in patients, e.g., those suffering from amyotrophic lateral sclerosis, to maintain interactions with their environment. Besides providing communication capabilities to locked-in patients, BCIs may further prove to have a beneficial impact on stroke rehabilitation. In this article, the state-of-the-art of BCIs is reviewed and current research questions are discussed.

link (url) [BibTex]


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From artificial flagella to medical microbots – the start of a "phantastic voyage"

Fischer, P.

2012 (mpi_year_book)

Abstract
There have been numerous speculations in scientific publications and the popular media about wirelessly controlled microrobots (microbots) navigating the human body. Such micro-agents could revolutionize minimally invasive medical procedures. Using physical vapor deposition we grow billions of micron-sized colloidal screw-propellers on a wafer. These chiral mesoscopic screws can be magnetized and moved through solution under computer control. The screw-propellers resemble artificial flagella and are the only ‘microbots’ to date that can be fully controlled in solution at micron length scales.

link (url) [BibTex]


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Automated Tip-Based 2-D Mechanical Assembly of Micro/Nanoparticles

Onal, C. D., Ozcan, O., Sitti, M.

In Feedback Control of MEMS to Atoms, pages: 69-108, Springer US, 2012 (incollection)

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[BibTex]

[BibTex]


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The principles of XMCD and its application to L-edges in transition metals

Schütz, G.

In Linear and Chiral Dichroism in the Electron Miroscope, pages: 23-42, Pan Stanford Publishing Pte.Ltd., Singapore, 2012 (incollection)

mms

[BibTex]

[BibTex]


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An Introduction to Random Forests for Multi-class Object Detection

Gall, J., Razavi, N., van Gool, L.

In Outdoor and Large-Scale Real-World Scene Analysis, 7474, pages: 243-263, LNCS, (Editors: Dellaert, Frank and Frahm, Jan-Michael and Pollefeys, Marc and Rosenhahn, Bodo and Leal-Taix’e, Laura), Springer, 2012 (incollection)

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code code for Hough forest publisher's site pdf Project Page [BibTex]

code code for Hough forest publisher's site pdf Project Page [BibTex]


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Home 3D body scans from noisy image and range data

Weiss, A., Hirshberg, D., Black, M. J.

In Consumer Depth Cameras for Computer Vision: Research Topics and Applications, pages: 99-118, 6, (Editors: Andrea Fossati and Juergen Gall and Helmut Grabner and Xiaofeng Ren and Kurt Konolige), Springer-Verlag, 2012 (incollection)

ps

Project Page [BibTex]

Project Page [BibTex]


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Structural and chemical characterization on the nanoscale

Stierle, A., Carstanjen, H.-D., Hofmann, S.

In Nanoelectronics and Information Technology. Advanced Electronic Materials and Novel Devices, pages: 233-254, Wiley-VCH, Weinheim, 2012 (incollection)

mms

[BibTex]

[BibTex]


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Rutherford Backscattering

Carstanjen, H. D.

In Nanoelectronics and Information Technology. Advanced Electronic Materials and Novel Devices, pages: 250-252, WILEY-VCH Verlag, Weinheim, Germany, 2012 (incollection)

mms

[BibTex]

[BibTex]

2002


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Learning robot control

Schaal, S.

In The handbook of brain theory and neural networks, 2nd Edition, pages: 983-987, 2, (Editors: Arbib, M. A.), MIT Press, Cambridge, MA, 2002, clmc (inbook)

Abstract
This is a review article on learning control in robots.

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link (url) [BibTex]

2002


link (url) [BibTex]


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Arm and hand movement control

Schaal, S.

In The handbook of brain theory and neural networks, 2nd Edition, pages: 110-113, 2, (Editors: Arbib, M. A.), MIT Press, Cambridge, MA, 2002, clmc (inbook)

Abstract
This is a review article on computational and biological research on arm and hand control.

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link (url) [BibTex]

link (url) [BibTex]


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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]