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2006


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Analysis of switching times of inhomogeneous magnetization processes in thin platelets

Goll, D., Schütz, G., Kronmüller, H.

{Physica B: Condensed Matter}, 372(1-2):273-276, 2006 (article)

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[BibTex]

2006


[BibTex]


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The initial oxidation of magnesium: an in situ study with XPS, HERDA and ellipsometry.

Kurth, M., Graat, P. C. J., Carstanjen, H. D., Mittemeijer, E. J.

{Surface and Interface Analysis}, 38, pages: 931-940, 2006 (article)

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[BibTex]

[BibTex]


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Temperature influence of the faceting of \sum3 and \sum9 grain boundaries in Cu

Straumal, B. B., Polyakov, S. A., Mittemeijer, E. J.

{Acta Materialia}, 54, pages: 167-172, 2006 (article)

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[BibTex]

[BibTex]


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Coercivity of 2 : 17 based permanent magnets

Kronmüller, H., Goll, D.

{Journal of the Iron and Steel Research International}, 13(Suppl. 1):39-47, 2006 (article)

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[BibTex]

[BibTex]


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Hydrogen adsorption in a nickel based coordination polymer with open metal sites in the cylindrical cavities of the desolvated framework

Dietzel, P. D. C., Panella, B., Hirscher, M., Blom, R., Fjellvag, H.

{Chemical Communications}, [2006], pages: 959-961, 2006 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic ground states and the role of vortices in ferromagnetic hollow nanospheres

Goll, D., Macke, S., Berkowitz, A., Bertram, H. N.

{Physica B: Condensed Matter}, 372(1-2):282-285, 2006 (article)

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[BibTex]

[BibTex]


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Movement generation using dynamical systems : a humanoid robot performing a drumming task

Degallier, S., Santos, C. P., Righetti, L., Ijspeert, A.

In 2006 6th IEEE-RAS International Conference on Humanoid Robots, pages: 512-517, IEEE, Genova, Italy, 2006 (inproceedings)

Abstract
The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical systems for generating trajectories online and in real time. Our goal is to make use of attractor properties of dynamical systems in order to provide robustness against small perturbations and to enable online modulation of the trajectories. The system is demonstrated on a humanoid robot performing a drumming task.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Soft microcontact printing with force control using microrobotic assembly based templates

Tafazzoli, A., Sitti, M.

In Advanced Motion Control, 2006. 9th IEEE International Workshop on, pages: 500-505, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Modeling of the supporting legs for designing biomimetic water strider robots

Song, Y. S., Suhr, S. H., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 2303-2310, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Two-dimensional vision-based autonomous microparticle manipulation using a nanoprobe

Pawashe, C., Sitti, M.

Journal of Micromechatronics, 3(3):285-306, Brill, 2006 (article)

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[BibTex]

[BibTex]


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A novel water running robot inspired by basilisk lizards

Floyd, S., Keegan, T., Palmisano, J., Sitti, M.

In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages: 5430-5436, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Engineering Entrainment and Adaptation in Limit Cycle Systems – From biological inspiration to applications in robotics

Buchli, J., Righetti, L., Ijspeert, A.

Biological Cybernetics, 95(6):645-664, December 2006 (article)

Abstract
Periodic behavior is key to life and is observed in multiple instances and at multiple time scales in our metabolism, our natural environment, and our engineered environment. A natural way of modeling or generating periodic behavior is done by using oscillators, i.e., dynamical systems that exhibit limit cycle behavior. While there is extensive literature on methods to analyze such dynamical systems, much less work has been done on methods to synthesize an oscillator to exhibit some specific desired characteristics. The goal of this article is twofold: (1) to provide a framework for characterizing and designing oscillators and (2) to review how classes of well-known oscillators can be understood and related to this framework. The basis of the framework is to characterize oscillators in terms of their fundamental temporal and spatial behavior and in terms of properties that these two behaviors can be designed to exhibit. This focus on fundamental properties is important because it allows us to systematically compare a large variety of oscillators that might at first sight appear very different from each other. We identify several specifications that are useful for design, such as frequency-locking behavior, phase-locking behavior, and specific output signal shape. We also identify two classes of design methods by which these specifications can be met, namely offline methods and online methods. By relating these specifications to our framework and by presenting several examples of how oscillators have been designed in the literature, this article provides a useful methodology and toolbox for designing oscillators for a wide range of purposes. In particular, the focus on synthesis of limit cycle dynamical systems should be useful both for engineering and for computational modeling of physical or biological phenomena.

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link (url) DOI [BibTex]


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Pulsed-field-gradient NMR study of hydrogen diffusivity in random b.c.c. alloys VyTa1-y

Grinberg, F., Majer, G., Skripov, A. N.

{Journal of Alloys and Compounds}, 425(1-2):24-27, 2006 (article)

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[BibTex]

[BibTex]


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Hydrogen storage by physisorption on porous materials

Panella, B.

Universität Stuttgart, Stuttgart, 2006 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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Breathing Fermi surface model for noncollinear magnetization: a generalization of the Gilbert equation

Fähnle, M., Steiauf, D.

{Physical Review B}, 73, 2006 (article)

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[BibTex]


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Reconstruction of brass for tongues and shallots from baroque organs

Baretzky, B., Friesel, M., Petelin, A., Shotanov, A., Straumal, B.

{Defect and Diffusion Forum}, 258-260, pages: 397-402, 2006 (article)

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DOI [BibTex]

DOI [BibTex]


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Softening of nanostructured Al-Zn and Al-Mg alloys after severe plastic deformation

Mazilkin, A.A., Straumal, B.B., Rabkin, E., Baretzky, B., Enders, S., Protasova, S.G., Kogtenkova, O.A., Valiev, R.Z.

{Acta Materialia}, 54, pages: 3933-3939, 2006 (article)

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[BibTex]

[BibTex]


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Theory of magnetic x-ray reflectometry on the Co2Pt7 multilayer system

Martosiswoyo, L.

Universität Stuttgart, Stuttgart, 2006 (mastersthesis)

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[BibTex]

[BibTex]


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Comment on "Spin and orbital magnetic moments of Fe3O4

Goering, E., Lafkioti, M., Gold, S.

{Physical Review Letters}, 96(3), 2006 (article)

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[BibTex]

[BibTex]


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Residual stress analysis in reed pipe brass tongues of historic organs

Manescu, A., Giuliani, A., Fiori, F., Baretzky, B.

In Residual Stresses VII. 7th Europen Conference on Residual Stresses (ECRS7), pages: 969-974, Trans Tech, Berlin [Germany], 2006 (inproceedings)

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[BibTex]

[BibTex]


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Effect of magnetic interaction on thermally activated reversal in a magnet with a distribution of energy barriers

Zhang, H. W., Zhang, S., Sun, J. R., Shen, B. G., Goll, D., Kronmüller, H.

{Journal of the Iron and Steel Research International}, 13(Suppl. 1):60-66, 2006 (article)

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[BibTex]

[BibTex]


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Design methodologies for central pattern generators: an application to crawling humanoids

Righetti, L., Ijspeert, A.

In Proceedings of Robotics: Science and Systems, Philadelphia, USA, August 2006 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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A biomimetic climbing robot based on the gecko

Menon, C., Sitti, M.

Journal of Bionic Engineering, 3(3):115-125, 2006 (article)

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[BibTex]

[BibTex]


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Force-controlled microcontact printing using microassembled particle templates

Tafazzoli, A., Pawashe, C., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 263-268, 2006 (inproceedings)

pi

[BibTex]

[BibTex]


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Proximal probes based nanorobotic drawing of polymer micro/nanofibers

Nain, A. S., Amon, C., Sitti, M.

IEEE transactions on nanotechnology, 5(5):499-510, IEEE, 2006 (article)

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[BibTex]

[BibTex]


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Waalbot: An agile small-scale wall climbing robot utilizing pressure sensitive adhesives

Murphy, M. P., Tso, W., Tanzini, M., Sitti, M.

In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages: 3411-3416, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Rocking Stamper and Jumping Snake from a Dynamical System Approach to Artificial Life

Der, R., Hesse, F., Martius, G.

Adaptive Behavior, 14(2):105-115, 2006 (article)

Abstract
Dynamical systems offer intriguing possibilities as a substrate for the generation of behavior because of their rich behavioral complexity. However this complexity together with the largely covert relation between the parameters and the behavior of the agent is also the main hindrance in the goal-oriented design of a behavior system. This paper presents a general approach to the self-regulation of dynamical systems so that the design problem is circumvented. We consider the controller (a neural net work) as the mediator for changes in the sensor values over time and define a dynamics for the parameters of the controller by maximizing the dynamical complexity of the sensorimotor loop under the condition that the consequences of the actions taken are still predictable. This very general principle is given a concrete mathematical formulation and is implemented in an extremely robust and versatile algorithm for the parameter dynamics of the controller. We consider two different applications, a mechanical device called the rocking stamper and the ODE simulations of a "snake" with five degrees of freedom. In these and many other examples studied we observed various behavior modes of high dynamical complexity.

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DOI [BibTex]

DOI [BibTex]


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Programmable central pattern generators: an application to biped locomotion control

Righetti, L., Ijspeert, A.

In Proceedings of the IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pages: 1585-1590, IEEE, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Magnetic vortex core reversal by excitation with short bursts of an alternating field

Van Waeyenberge, B., Puzic, A., Stoll, H., Chou, K. W., Tyliszczak, T., Hertel, R., Fähnle, M., Bruckl, H., Rott, K., Reiss, G., Neudecker, I., Weiss, D., Back, C. H., Schütz, G.

{Nature}, 444(7118):461-464, 2006 (article)

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[BibTex]

[BibTex]


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Structure and magnetism in bcc-based iron-cobalt alloys

Diaz-Ortiz, A., Drautz, R., Fähnle, M., Dosch, H., Sanchez, J. M.

{Physical Review B}, 73, 2006 (article)

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[BibTex]

[BibTex]


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Role of nonequilibrium conduction electrons on the magnetization dynamics of ferromagnets in the s-d model

Fähnle, M., Singer, R., Steiauf, D., Antropov, V. P.

{Physical Review B}, 73, 2006 (article)

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[BibTex]

[BibTex]


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Hydrogen adsorption in metal-organic frameworks: Cu-MOFs and Zn-MOFs compared

Panella, B., Hirscher, M., Pütter, H., Müller, U.

{Advanced Functional Materials}, 16, pages: 520-524, 2006 (article)

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[BibTex]

[BibTex]


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Hardness of nanostructured Al-Zn, Al-Mg and Al-Zn-Mg alloys obtained by high-pressure torsion

Mazilkin, A.A., Baretzky, B., Enders, S., Kogtenkova, O.A., Straumal, B.B., Rabkin, E., Valiev, R.Z.

{Defect and Diffusion Forum}, 249, pages: 155-160, 2006 (article)

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[BibTex]

[BibTex]


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Magnetischer zirkularer Röntgendichroismus an Übergangsmetalloxiden

Lafkioti, M.

Universität Stuttgart, Stuttgart, 2006 (mastersthesis)

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[BibTex]

[BibTex]


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High-pressure influence on the kinetics of grain boundary segregation in the Cu-Bi system

Chang, L.-S., Straumal, B., Rabkin, E., Lojkowski, W., Gust, W.

In 258-260, pages: 390-396, Aveiro (Portugal), 2006 (inproceedings)

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[BibTex]

[BibTex]


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Contributions to the theory of x-ray magnetic dichroism

Dörfler, F.

Universität Stuttgart, Stuttgart, 2006 (mastersthesis)

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[BibTex]

[BibTex]

1995


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A kendama learning robot based on a dynamic optimization theory

Miyamoto, H., Gandolfo, F., Gomi, H., Schaal, S., Koike, Y., Osu, R., Nakano, E., Kawato, M.

In Preceedings of the 4th IEEE International Workshop on Robot and Human Communication (RO-MAN’95), pages: 327-332, Tokyo, July 1995, clmc (inproceedings)

am

[BibTex]

1995


[BibTex]


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Visual tracking for moving multiple objects: an integration of vision and control

Sitti, M, Bozma, I, Denker, A

In Industrial Electronics, 1995. ISIE’95., Proceedings of the IEEE International Symposium on, 2, pages: 535-540, 1995 (inproceedings)

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[BibTex]

[BibTex]


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Batting a ball: Dynamics of a rhythmic skill

Sternad, D., Schaal, S., Atkeson, C. G.

In Studies in Perception and Action, pages: 119-122, (Editors: Bardy, B.;Bostma, R.;Guiard, Y.), Erlbaum, Hillsdayle, NJ, 1995, clmc (inbook)

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[BibTex]

[BibTex]


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Memory-based neural networks for robot learning

Atkeson, C. G., Schaal, S.

Neurocomputing, 9, pages: 1-27, 1995, clmc (article)

Abstract
This paper explores a memory-based approach to robot learning, using memory-based neural networks to learn models of the task to be performed. Steinbuch and Taylor presented neural network designs to explicitly store training data and do nearest neighbor lookup in the early 1960s. In this paper their nearest neighbor network is augmented with a local model network, which fits a local model to a set of nearest neighbors. This network design is equivalent to a statistical approach known as locally weighted regression, in which a local model is formed to answer each query, using a weighted regression in which nearby points (similar experiences) are weighted more than distant points (less relevant experiences). We illustrate this approach by describing how it has been used to enable a robot to learn a difficult juggling task. Keywords: memory-based, robot learning, locally weighted regression, nearest neighbor, local models.

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link (url) [BibTex]

link (url) [BibTex]