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2017


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On the Design of LQR Kernels for Efficient Controller Learning

Marco, A., Hennig, P., Schaal, S., Trimpe, S.

Proceedings of the 56th IEEE Annual Conference on Decision and Control (CDC), pages: 5193-5200, IEEE, IEEE Conference on Decision and Control, December 2017 (conference)

Abstract
Finding optimal feedback controllers for nonlinear dynamic systems from data is hard. Recently, Bayesian optimization (BO) has been proposed as a powerful framework for direct controller tuning from experimental trials. For selecting the next query point and finding the global optimum, BO relies on a probabilistic description of the latent objective function, typically a Gaussian process (GP). As is shown herein, GPs with a common kernel choice can, however, lead to poor learning outcomes on standard quadratic control problems. For a first-order system, we construct two kernels that specifically leverage the structure of the well-known Linear Quadratic Regulator (LQR), yet retain the flexibility of Bayesian nonparametric learning. Simulations of uncertain linear and nonlinear systems demonstrate that the LQR kernels yield superior learning performance.

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arXiv PDF On the Design of LQR Kernels for Efficient Controller Learning - CDC presentation DOI Project Page [BibTex]

2017


arXiv PDF On the Design of LQR Kernels for Efficient Controller Learning - CDC presentation DOI Project Page [BibTex]


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Optimizing Long-term Predictions for Model-based Policy Search

Doerr, A., Daniel, C., Nguyen-Tuong, D., Marco, A., Schaal, S., Toussaint, M., Trimpe, S.

Proceedings of 1st Annual Conference on Robot Learning (CoRL), 78, pages: 227-238, (Editors: Sergey Levine and Vincent Vanhoucke and Ken Goldberg), 1st Annual Conference on Robot Learning, November 2017 (conference)

Abstract
We propose a novel long-term optimization criterion to improve the robustness of model-based reinforcement learning in real-world scenarios. Learning a dynamics model to derive a solution promises much greater data-efficiency and reusability compared to model-free alternatives. In practice, however, modelbased RL suffers from various imperfections such as noisy input and output data, delays and unmeasured (latent) states. To achieve higher resilience against such effects, we propose to optimize a generative long-term prediction model directly with respect to the likelihood of observed trajectories as opposed to the common approach of optimizing a dynamics model for one-step-ahead predictions. We evaluate the proposed method on several artificial and real-world benchmark problems and compare it to PILCO, a model-based RL framework, in experiments on a manipulation robot. The results show that the proposed method is competitive compared to state-of-the-art model learning methods. In contrast to these more involved models, our model can directly be employed for policy search and outperforms a baseline method in the robot experiment.

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PDF Project Page [BibTex]

PDF Project Page [BibTex]


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From Monocular SLAM to Autonomous Drone Exploration

von Stumberg, L., Usenko, V., Engel, J., Stueckler, J., Cremers, D.

In European Conference on Mobile Robots (ECMR), September 2017 (inproceedings)

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[BibTex]

[BibTex]


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Event-based State Estimation: An Emulation-based Approach

Trimpe, S.

IET Control Theory & Applications, 11(11):1684-1693, July 2017 (article)

Abstract
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor agents observe a dynamic process and sporadically transmit their measurements to estimator agents over a shared bus network. Local event-triggering protocols ensure that data is transmitted only when necessary to meet a desired estimation accuracy. The event-based design is shown to emulate the performance of a centralised state observer design up to guaranteed bounds, but with reduced communication. The stability results for state estimation are extended to the distributed control system that results when the local estimates are used for feedback control. Results from numerical simulations and hardware experiments illustrate the effectiveness of the proposed approach in reducing network communication.

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arXiv Supplementary material PDF DOI Project Page [BibTex]

arXiv Supplementary material PDF DOI Project Page [BibTex]


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Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers

Doerr, A., Nguyen-Tuong, D., Marco, A., Schaal, S., Trimpe, S.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 5295-5301, IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 (inproceedings)

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PDF arXiv DOI Project Page [BibTex]

PDF arXiv DOI Project Page [BibTex]


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Virtual vs. Real: Trading Off Simulations and Physical Experiments in Reinforcement Learning with Bayesian Optimization

Marco, A., Berkenkamp, F., Hennig, P., Schoellig, A. P., Krause, A., Schaal, S., Trimpe, S.

In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages: 1557-1563, IEEE, Piscataway, NJ, USA, IEEE International Conference on Robotics and Automation (ICRA), May 2017 (inproceedings)

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PDF arXiv ICRA 2017 Spotlight presentation Virtual vs. Real - Video explanation DOI Project Page [BibTex]

PDF arXiv ICRA 2017 Spotlight presentation Virtual vs. Real - Video explanation DOI Project Page [BibTex]


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Functionalised metal-organic frameworks: a novel approach to stabilising single metal atoms

Szilágyi, P. Á., Rogers, D. M., Zaiser, I., Callini, E., Turner, S., Borgschulte, A., Züttel, A., Geerlings, H., Hirscher, M., Dam, B.

{Journal of Materials Chemistry A}, 5(30):15559-15566, Royal Society of Chemistry, Cambridge, UK, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Exploiting diffusion barrier and chemical affinity of metal-organic frameworks for efficient hydrogen isotope separation

Kim, J. Y., Balderas-Xicohténcatl, R., Zhang, L., Kang, S. G., Hirscher, M., Oh, H., Moon, H. R.

{Journal of the American Chemical Society}, 139(42):15135-15141, American Chemical Society, Washington, DC, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Facile fabrication of mesoporous silica micro-jets with multi-functionalities

Vilela, D., Hortelao, A. C., Balderas-Xicohténcatl, R., Hirscher, M., Hahn, K., Ma, X., Sánchez, S.

{Nanoscale}, 9(37):13990-13997, Royal Society of Chemistry, Cambridge, UK, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras

Ma, L., Stueckler, J., Kerl, C., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017 (inproceedings)

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[BibTex]

[BibTex]


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Accurate depth and normal maps from occlusion-aware focal stack symmetry

Strecke, M., Alperovich, A., Goldluecke, B.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Selective hydrogen isotope separation via breathing transition in MIL-53(Al)

Kim, J. Y., Zhang, L., Balderas-Xicohténcatl, R., Park, J., Hirscher, M., Moon, H. R., Oh, H.

{Journal of the American Chemical Society}, 139(49):17743-17746, American Chemical Society, Washington, DC, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Efficient synthesis for large-scale production and characterization for hydrogen storage of ligand exchanged MOF-74/174/184-M (M\textequalsMg2+, Ni2+)

Oh, H., Maurer, S., Balderas-Xicohténcatl, R., Arnold, L., Magdysyuk, O. V., Schütz, G., Müller, U., Hirscher, M.

{International Journal of Hydrogen Energy}, 42(2):1027-1035, Elsevier, Amsterdam, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Semi-Supervised Deep Learning for Monocular Depth Map Prediction

Kuznietsov, Y., Stueckler, J., Leibe, B.

In IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), 2017 (inproceedings)

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[BibTex]

[BibTex]


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Shadow and Specularity Priors for Intrinsic Light Field Decomposition

Alperovich, A., Johannsen, O., Strecke, M., Goldluecke, B.

In Energy Minimization Methods in Computer Vision and Pattern Recognition (EMMCVPR), 2017 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Keyframe-Based Visual-Inertial Online SLAM with Relocalization

Kasyanov, A., Engelmann, F., Stueckler, J., Leibe, B.

In IEEE/RSJ Int. Conference on Intelligent Robots and Systems, IROS, 2017 (inproceedings)

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[BibTex]

[BibTex]


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Understanding FORC using synthetic micro-structured systems with variable coupling- and coercivefield distributions

Groß, Felix

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]


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Corrosion-protected hybrid nanoparticles

Jeong, H., Alarcón-Correa, M., Mark, A. G., Son, K., Lee, T., Fischer, P.

{Advanced Science}, 4(12), Wiley-VCH, Weinheim, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Investigation of the Dzyaloshinskii-Moriya interaction and room temperature skyrmions in W/CoFeB/MgO thin films and microwires

Jaiswal, S., Litzius, K., Lemesh, I., Büttner, F., Finizio, S., Raabe, J., Weigand, M., Lee, K., Langer, J., Ocker, B., Jakob, G., Beach, G. S. D., Kläui, M.

{Applied Physics Letters}, 111(2), American Institute of Physics, Melville, NY, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Ultrafast demagnetization after femtosecond laser pulses: Transfer of angular momentum from the electronic system to magnetoelastic spin-phonon modes

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

{Journal of Superconductivity and Novel Magnetism}, 30(5):1381-1387, Springer Science + Business Media B.V., New York, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetic behavior of single chain magnets in metal organic frameworks CPO-27-Co

Son, K., Goering, E., Hirscher, M., Oh, H.

{Journal of Nanoscience and Nanotechnology}, 17(10):7541-7546, American Scientific Publishers, Stevenson Ranch, Calif., 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Switching by domain-wall automotion in asymmetric ferromagnetic rings

Mawass, M., Richter, K., Bisig, A., Reeve, R. M., Krüger, B., Weigand, M., Stoll, H., Krone, A., Kronast, F., Schütz, G., Kläui, M.

{Physical Review Applied}, 7(4), American Physical Society, College Park, Md. [u.a.], 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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SAMP: Shape and Motion Priors for 4D Vehicle Reconstruction

Engelmann, F., Stueckler, J., Leibe, B.

In IEEE Winter Conference on Applications of Computer Vision, WACV, 2017 (inproceedings)

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[BibTex]

[BibTex]


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A neutral atom moving in an external magnetic field does not feel a Lorentz force

Fähnle, M.

{American Journal of Modern Physics}, 6(6):153-155, Science Publishing Group, New York, NY, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Adsorption von Wasserstoffmolekülen in nanoporösen Gerüststrukturen

Kotzur, Nadine

Universität Stuttgart, Stuttgart, 2017 (mastersthesis)

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[BibTex]

[BibTex]


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Temperature-dependent first-order reversal curve measurements on unusually hard magnetic low-temperature phase of MnBi

Muralidhar, S., Gräfe, J., Chen, Y., Etter, M., Gregori, G., Ener, S., Sawatzki, S., Hono, K., Gutfleisch, O., Kronmüller, H., Schütz, G., Goering, E. J.

{Physical Review B}, 95(2), American Physical Society, Woodbury, NY, 2017 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Smooth and rapid microwave synthesis of MIL-53(Fe) including superparamagnetic \textlessgamma\textgreater-Fe2O3 nanoparticles

Wengert, S., Albrecht, J., Ruoß, S., Stahl, C., Schütz, G., Schäfer, R.

{Journal of Magnetism and Magnetic Materials}, 444, pages: 168-172, NH, Elsevier, Amsterdam, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Characterization and differentiation of rock varnish types from different environments by microanalytical techniques

Macholdt, D. S., Jochum, K. P., Pöhlker, C., Arangio, A., Förster, J., Stoll, B., Weis, U., Weber, B., Müller, M., Kappl, M., Shiraiwa, M., Kilcoyne, A. L. D., Weigand, M., Scholz, D., Haug, G. H., Al-Amri, A., Andreae, M. O.

{Chemical Geology}, 459, pages: 91-118, Elsevier, Amsterdam, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Skyrmion Hall effect revealed by direct time-resolved X-ray microscopy

Litzius, K., Lemesh, I., Krüger, B., Bassirian, P., Caretta, L., Richter, K., Büttner, F., Sato, K., Tretiakov, O. A., Förster, J., Reeve, R. M., Weigand, M., Bykova, I., Stoll, H., Schütz, G., Beach, G. S. D., Kläui, M.

{Nature Physics}, 13(2):170-175, Nature Pub. Group, London, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Comment on magnonic black holes

Fähnle, M., Schütz, G.

{Journal of Magnetism and Magnetic Materials}, 444, pages: 146-146, NH, Elsevier, Amsterdam, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Cr-Substitution in Ba2In2O5 \mbox⋅ (H2O)x (x \textequals 0.16, 0.74)

Yoon, S., Son, K., Hagemann, H., Widenmeyer, M., Weidenkaff, A.

{Solid State Sciences}, 73, pages: 1-6, Elsevier Masson SAS, Paris, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Comment on half-integer quantum numbers for the total angular momentum of photons in light beams with finite lateral extensions

Fähnle, M.

{American Journal of Modern Physics}, 6(5):88-90, Science Publishing Group, New York, NY, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Advanced magneto-optical Kerr effect measurements of superconductors at low temperatures

Stahl, C., Gräfe, J., Ruoß, S., Zahn, P., Bayer, J., Simmendinger, J., Schütz, G., Albrecht, J.

{AIP Advances}, 7(10), 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Unifying ultrafast demagnetization and intrinsic Gilbert damping in Co/Ni bilayers with electronic relaxation near the Fermi surface

Zhang, W., He, W., Zhang, X.-Q., Cheng, Z.-H., Teng, J., Fähnle, M.

{Physical Review B}, 96(22), American Physical Society, Woodbury, NY, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Influence of the skin barrier on the penetration of topically-applied dexamethasone probed by soft X-ray spectromicroscopy

Yamamoto, K., Klossek, A., Flesch, R., Rancan, F., Weigand, M., Bykova, I., Bechtel, M., Ahlberg, S., Vogt, A., Blume-Peytavi, U., Schrade, P., Bachmann, S., Hedtrich, S., Schäfer-Korting, M., Rühl, E.

{European Journal of Pharmaceutics and Biopharmaceutics}, 118, pages: 30-37, Elsevier, Amsterdam, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Capture of heavy hydrogen isotopes in a metal-organic framework with active Cu(I) sites

Weinrauch, I., Savchenko, I., Denysenko, D., Souliou, S. M., Kim, H., Le Tacon, M., Daemen, L. L., Cheng, Y., Mavrandonakis, A., Ramirez-Cuesta, A. J., Volkmer, D., Schütz, G., Hirscher, M., Heine, T.

{Nature Communications}, 8, Nature Publishing Group, London, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Multiscale simulations of topological transformations in magnetic-skyrmion spin structures

De Lucia, A., Litzius, K., Krüger, B., Tretiakov, O. A., Kläui, M.

{Physical Review B}, 96(2), American Physical Society, Woodbury, NY, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Unexpectedly marginal effect of electronic correlations on ultrafast demagnetization after femtosecond laser-pulse excitation

Weng, W., Huang, Haonan, Briones Paz, J. Z., Teeny, N., Müller, B. Y., Haag, M., Kuhn, T., Fähnle, M.

{Physical Review B}, 95(22), American Physical Society, Woodbury, NY, 2017 (article)

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DOI [BibTex]

DOI [BibTex]


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Black manganese-rich crusts on a Gothic cathedral

Macholdt, D. S., Herrmann, S., Jochum, K. P., Kilcoyne, A. L. D., Laubscher, T., Pfisterer, H. K., Pöhlker, C., Schwager, B., Weber, B., Weigand, M., Domke, K. F., Andreae, M. O.

{Atmospheric Environment}, 171, pages: 205-220, Elsevier, Amsterdam [u.a.], 2017 (article)

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DOI [BibTex]

DOI [BibTex]

2009


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A Limiting Property of the Matrix Exponential with Application to Multi-loop Control

Trimpe, S., D’Andrea, R.

In Proceedings of the Joint 48th IEEE Conference on Decision (CDC) and Control and 28th Chinese Control Conference, 2009 (inproceedings)

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PDF DOI [BibTex]

2009


PDF DOI [BibTex]


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Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks

Stueckler, J., Behnke, S.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 506-513, December 2009 (inproceedings)

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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One-dimensional phthalocyanine nanostructures directed by gold templates

Krauss, T. N., Barrena, E., Lohmüller, T., Kelsch, M., Breitling, A., Van Aken, P. A., Spatz, J., Dosch, H.

{Chemistry of Materials}, 21, pages: 5010-5015, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Magnetische L10-FePt Nanostrukturen für höchste Datenspeicherdichten

Breitling, A.

Universität Stuttgart, Stuttgart, 2009 (phdthesis)

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[BibTex]

[BibTex]


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Near-edge X-ray absorption fine-structure microscopy of organic and magnetic materials

Ade, H., Stoll, H.

{Nature Materials}, 8, pages: 281-290, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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X-ray imaging of the dynamic magnetic vortex core deformation

Vansteenkiste, A., Chou, K. W., Weigand, M., Curcic, M., Sackmann, V., Stoll, H., Tyliszczak, T., Woltersdorf, G., Back, C. H., Schütz, G., Van Waeyenberge, B.

{Nature Physics}, 5, pages: 332-334, 2009 (article)

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DOI [BibTex]

DOI [BibTex]


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Order\textendashdisorder transition and valence state of ytterbium in YbAuxGa2-x(0.26 \textless\textequalsx \textless\textequals1.31)

Gumeniuk, R., Bischoff, E., Burkhardt, U., Prots, Y., Schnelle, W., Vasylechko, L., Schmidt, M., Kuzma, Y., Grin, Y.

{Journal of Solid State Chemistry}, 182(12):3374-3382, 2009 (article)

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DOI [BibTex]

DOI [BibTex]