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2023


Hydraulically Amplified Self-healing Electrostatic Actuators
Hydraulically Amplified Self-healing Electrostatic Actuators

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K.

(US Patent 11795979B2), October 2023 (patent)

Abstract
An electro-hydraulic actuator includes a deformable shell defining an enclosed internal cavity and containing a liquid dielectric, first and second electrodes on first and second sides, respectively, of the enclosed internal cavity. An electrostatic force between the first and second electrodes upon application of a voltage to one of the electrodes draws the electrodes towards each other to displace the liquid dielectric within the enclosed internal cavity. The shell includes active and inactive areas such that the electrostatic forces between the first and second electrodes displaces the liquid dielectric within the enclosed internal cavity from the active area of the shell to the inactive area of the shell. The first and second electrodes, the deformable shell, and the liquid dielectric cooperate to form a self-healing capacitor, and the liquid dielectric is configured for automatically filling breaches in the liquid dielectric resulting from dielectric breakdown.

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link (url) [BibTex]

2023


link (url) [BibTex]


High Strain Peano Hydraulically Amplified Self-Healing Electrostatic (HASEL) Transducers
High Strain Peano Hydraulically Amplified Self-Healing Electrostatic (HASEL) Transducers

Keplinger, C. M., Wang, X., Mitchell, S. K.

(US Patent App. 18/138,621), August 2023 (patent)

Abstract
High strain hydraulically amplified self-healing electrostatic transducers having increased maximum theoretical and practical strains are disclosed. In particular, the actuators include electrode configurations having a zipping front created by the attraction of the electrodes that is configured orthogonally to a strain axis along which the actuators. This configuration produces increased strains. In turn, various form factors for the actuator configuration are presented including an artificial circular muscle and a strain amplifying pulley system. Other actuator configurations are contemplated that include independent and opposed electrode pairs to create cyclic activation, hybrid electrode configurations, and use of strain limiting layers for controlled deflection of the actuator.

rm

link (url) [BibTex]


Capacitive Self-Sensing for Electrostatic Transducers with High Voltage Isolation
Capacitive Self-Sensing for Electrostatic Transducers with High Voltage Isolation

Correll, N., Ly, K. D., Kellaris, N. A., Keplinger, C. M.

(US Patent App. 17/928,453), June 2023 (patent)

Abstract
Transducer systems disclosed herein include self-sensing capabilities. In particular, electrostatic transducers include a low voltage electrode and a high voltage electrode. A low voltage sensing unit is coupled with the low voltage electrode of the electrostatic transducer. The low voltage sensing unit is configured to measure a capacitance of the electrostatic transducer, from which displacement of the electrostatic transducer may be calculated. High voltage drive signals received by the high voltage electrode during actuation may be isolated from the low voltage sensing unit. The isolation may be provided by dielectric material of the electrostatic transducer, a voltage suppression component, and/or a voltage suppression module comprising a low impedance ground path. In the event of an electrical failure of the transducer, the low voltage sensing unit may be isolated from high voltages.

rm

link (url) [BibTex]

link (url) [BibTex]


High Strain Peano Hydraulically Amplified Self-healing Electrostatic (HASEL) Transducers
High Strain Peano Hydraulically Amplified Self-healing Electrostatic (HASEL) Transducers

Keplinger, C. M., Wang, X., Mitchell, S. K.

(US Patent 11635094), April 2023 (patent)

Abstract
High strain hydraulically amplified self-healing electrostatic transducers having increased maximum theoretical and practical strains are disclosed. In particular, the actuators include electrode configurations having a zipping front created by the attraction of the electrodes that is configured orthogonally to a strain axis along which the actuators. This configuration produces increased strains. In turn, various form factors for the actuator configuration are presented including an artificial circular muscle and a strain amplifying pulley system. Other actuator configurations are contemplated that include independent and opposed electrode pairs to create cyclic activation, hybrid electrode configurations, and use of strain limiting layers for controlled deflection of the actuator.

rm

link (url) [BibTex]


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Natural Language Processing for Policymaking

Jin, Z., Mihalcea, R.

In Handbook of Computational Social Science for Policy, pages: 141-162, 7, (Editors: Bertoni, E. and Fontana, M. and Gabrielli, L. and Signorelli, S. and Vespe, M.), Springer International Publishing, 2023 (inbook)

ei

DOI [BibTex]

DOI [BibTex]


Synchronizing Machine Learning Algorithms, Realtime Robotic Control and Simulated Environment with o80
Synchronizing Machine Learning Algorithms, Realtime Robotic Control and Simulated Environment with o80

Berenz, V., Widmaier, F., Guist, S., Schölkopf, B., Büchler, D.

Robot Software Architectures Workshop (RSA) 2023, ICRA, 2023 (techreport)

Abstract
Robotic applications require the integration of various modalities, encompassing perception, control of real robots and possibly the control of simulated environments. While the state-of-the-art robotic software solutions such as ROS 2 provide most of the required features, flexible synchronization between algorithms, data streams and control loops can be tedious. o80 is a versatile C++ framework for robotics which provides a shared memory model and a command framework for real-time critical systems. It enables expert users to set up complex robotic systems and generate Python bindings for scientists. o80's unique feature is its flexible synchronization between processes, including the traditional blocking commands and the novel ``bursting mode'', which allows user code to control the execution of the lower process control loop. This makes it particularly useful for setups that mix real and simulated environments.

ei

arxiv poster link (url) [BibTex]


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Microfibers with mushroom-shaped tips for optimal adhesion

Sitti, M., Aksak, B.

2023, US Patent 11,613,674 (patent)

pi

[BibTex]

[BibTex]


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Challenging Common Assumptions in Multi-task Learning

Elich, C., Kirchdorfer, L., Köhler, J. M., Schott, L.

abs/2311.04698, CoRR/arxiv, 2023 (techreport)

ev

paper link (url) [BibTex]

paper link (url) [BibTex]


Magnetic trap system and method of navigating a microscopic device
Magnetic trap system and method of navigating a microscopic device

Son, D., Ugurlu, M., Bluemer, P., Sitti, M.

2023, US Patent App. 17/871,598 (patent)

pi

[BibTex]

2022


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DRY ADHESIVES AND METHODS FOR MAKING DRY ADHESIVES

Metin Sitti, Michael Murphy, Burak Aksak

December 2022, US Patent App. 17/895,334, 2022 (patent)

pi

[BibTex]

2022


[BibTex]


Hydraulically Amplified Self-healing Electrostatic Transducers Harnessing Zipping Mechanism
Hydraulically Amplified Self-healing Electrostatic Transducers Harnessing Zipping Mechanism

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K., Morrissey, T. G.

(US Patent 11486421B2), November 2022 (patent)

Abstract
Hydraulically-amplified, self-healing, electrostatic transducers that harness electrostatic and hydraulic forces to achieve various actuation modes. Electrostatic forces between electrode pairs of the transducers generated upon application of a voltage to the electrode pairs draws the electrodes in each pair towards each other to displace a liquid dielectric contained within an enclosed internal cavity of the transducers to drive actuation in various manners. The electrodes and the liquid dielectric form a self-healing capacitor whereby the liquid dielectric automatically fills breaches in the liquid dielectric resulting from dielectric breakdown. Due to the resting shape of the cavity, a zipping-mechanism allows for selectively actuating the electrodes to a desired extent by controlling the voltage supplied.

rm

link (url) [BibTex]

link (url) [BibTex]


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Life Improvement Science

Lieder, F., Prentice, M.

In Encyclopedia of Quality of Life and Well-Being Research, Springer, November 2022 (inbook)

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[BibTex]

[BibTex]


Hydraulically Amplified Self-Healing Electrostatic (HASEL) Pumps
Hydraulically Amplified Self-Healing Electrostatic (HASEL) Pumps

Mitchell, S. K., Acome, E. L., Keplinger, C. M.

(US Patent App. 17/635,339), October 2022 (patent)

Abstract
A pumping system includes a conduit with an inlet region and an outlet region and a first pump coupled with the conduit between the inlet region and the outlet region. The first pump includes a first actuator chamber configured to house at least a first actuator, a first pump chamber aligned along a longitudinal axis of the conduit, wherein the first pump chamber is in fluid communication with the inlet region and the outlet region, and a first flexible diaphragm separating the first actuator chamber from the first pump chamber. Methods for operating the pumping system are also disclosed.

rm

link (url) [BibTex]

link (url) [BibTex]


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Causality, causal digital twins, and their applications

Schölkopf, B.

Machine Learning for Science: Bridging Data-Driven and Mechanistic Modelling (Dagstuhl Seminar 22382), (Editors: Berens, Philipp and Cranmer, Kyle and Lawrence, Neil D. and von Luxburg, Ulrike and Montgomery, Jessica), September 2022 (talk)

ei

link (url) DOI [BibTex]

link (url) DOI [BibTex]


Hydraulically Amplified Self-healing Electrostatic Actuators
Hydraulically Amplified Self-healing Electrostatic Actuators

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K.

(US Patent 11408452), August 2022 (patent)

Abstract
An electro-hydraulic actuator includes a deformable shell defining an enclosed internal cavity and containing a liquid dielectric, first and second electrodes on first and second sides, respectively, of the enclosed internal cavity. An electrostatic force between the first and second electrodes upon application of a voltage to one of the electrodes draws the electrodes towards each other to displace the liquid dielectric within the enclosed internal cavity. The shell includes active and inactive areas such that the electrostatic forces between the first and second electrodes displaces the liquid dielectric within the enclosed internal cavity from the active area of the shell to the inactive area of the shell. The first and second electrodes, the deformable shell, and the liquid dielectric cooperate to form a self-healing capacitor, and the liquid dielectric is configured for automatically filling breaches in the liquid dielectric resulting from dielectric breakdown.

rm

link (url) [BibTex]

link (url) [BibTex]


Composite Layering of Hydraulically Amplified Self-Healing Electrostatic Transducers
Composite Layering of Hydraulically Amplified Self-Healing Electrostatic Transducers

Keplinger, C. M., Mitchell, S. K., Kellaris, N. A., Rothemund, P.

(US Patent App. 17436455), May 2022 (patent)

Abstract
A hydraulically amplified self-healing electrostatic (HASEL) transducer includes a composite, multi-layered structure. In an example, a HASEL transducer includes a dielectric layer including at least one fluid dielectric layer. The dielectric layer includes a first side and a second side opposing the first side. The HASEL transducer further includes a first electrode disposed at the first side of the dielectric layer, a second electrode disposed at the second side of the dielectric layer, a first outer layer disposed at the first electrode opposite the dielectric layer, and a second outer layer disposed at the second electrode opposite the dielectric layer. The first outer layer and second outer layer exhibit different mechanical and electrical properties from the dielectric layer.

rm

link (url) [BibTex]

link (url) [BibTex]


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Proceedings of the First Conference on Causal Learning and Reasoning (CLeaR 2022)

Schölkopf, B., Uhler, C., Zhang, K.

177, Proceedings of Machine Learning Research, PMLR, April 2022 (proceedings)

ei

link (url) [BibTex]

link (url) [BibTex]


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Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models

Li, H., Stueckler, J.

abs/2204.06651, CoRR/arxiv, 2022 (techreport)

Abstract
In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are unobservable in VIO system, additionally the roll and pitch become also unobservable if there is no rotation. We prove that by integrating a planar motion constraint roll and pitch become observable. We also show that the parameters of the motion model are observable.

ev

link (url) [BibTex]


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Causal Models for Dynamical Systems

Peters, J., Bauer, S., Pfister, N.

In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 671-690, 1, Association for Computing Machinery, 2022 (inbook)

ei

arXiv DOI [BibTex]

arXiv DOI [BibTex]


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Causality for Machine Learning

Schölkopf, B.

In Probabilistic and Causal Inference: The Works of Judea Pearl, pages: 765-804, 1, Association for Computing Machinery, New York, NY, USA, 2022 (inbook)

ei

arXiv DOI [BibTex]

arXiv DOI [BibTex]

2021


Magnetic Micro-/Nanopropellers  for Biomedicine
Magnetic Micro-/Nanopropellers for Biomedicine

Qiu, T., Jeong, M., Goyal, R., Kadiri, V., Sachs, J., Fischer, P.

In Field-Driven Micro and Nanorobots for Biology and Medicine, pages: 389-410, 16, (Editors: Sun, Y. and Wang, X. and Yu, J.), Springer Nature, November 2021 (inbook)

Abstract
In nature, many bacteria swim by rotating their helical flagella. A particularly promising class of artificial micro- and nano-robots mimic this propeller-like propulsion mechanism to move through fluids and tissues for applications in minimally-invasive medicine. Several fundamental challenges have to be overcome in order to build micro-machines that move similar to bacteria for in vivo applications. Here, we review recent advances of magnetically-powered micro-/nano-propellers. Four important aspects of the propellers – the geometrical shape, the fabrication method, the generation of magnetic fields for actuation, and the choice of biocompatible magnetic materials – are highlighted. First, the fundamental requirements are elucidated that arise due to hydrodynamics at low Reynolds (Re) number. We discuss the role that the propellers’ shape and symmetry play in realizing effective propulsion at low Re. Second, the additive nano-fabrication method Glancing Angle Deposition is discussed as a versatile technique to quickly grow large numbers of designer nano-helices. Third, systems to generate rotating magnetic fields via permanent magnets or electromagnetic coils are presented. And finally, the biocompatibility of the magnetic materials is discussed. Iron-platinum is highlighted due to its biocompatibility and its superior magnetic properties, which is promising for targeted delivery, minimally-invasive magnetic nano-devices and biomedical applications.

pf

link (url) DOI [BibTex]

2021


link (url) DOI [BibTex]


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Physically Plausible Tracking & Reconstruction of Dynamic Objects

Strecke, M., Stückler, J.

KIT Science Week Scientific Conference & DGR-Days 2021, October 2021 (talk)

ev

[BibTex]

[BibTex]


Skinned multi-infant linear body model
Skinned multi-infant linear body model

Hesse, N., Pujades, S., Romero, J., Black, M.

(US Patent 11,127,163, 2021), September 2021 (patent)

Abstract
A computer-implemented method for automatically obtaining pose and shape parameters of a human body. The method includes obtaining a sequence of digital 3D images of the body, recorded by at least one depth camera; automatically obtaining pose and shape parameters of the body, based on images of the sequence and a statistical body model; and outputting the pose and shape parameters. The body may be an infant body.

ps

[BibTex]

[BibTex]


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Electriflow: Augmenting Books With Tangible Animation Using Soft Electrohydraulic Actuators

Purnendu, , Novack, S., Acome, E., Alistar, M., Keplinger, C., Gross, M. D., Bruns, C., Leithinger, D.

In ACM SIGGRAPH 2021 Labs, pages: 1-2, Association for Computing Machinery, SIGGRAPH 2021, August 2021 (inbook)

Abstract
We present Electriflow: a method of augmenting books with tangible animation employing soft electrohydraulic actuators. These actuators are compact, silent and fast in operation, and can be fabricated with commodity materials. They generate an immediate hydraulic force upon electrostatic activation without an external fluid supply source, enabling a simple and self-contained design. Electriflow actuators produce an immediate shape transition from flat to folded state which enabled their seamless integration into books. For the Emerging Technologies exhibit, we will demonstrate the prototype of a book augmented with the capability of tangible animation.

rm

Supplemental Material link (url) DOI [BibTex]

Supplemental Material link (url) DOI [BibTex]


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Proceedings of the 1st Workshop on NLP for Positive Impact

Field, A., Prabhumoye, S., Sap, M., Jin, Z., Zhao, J., Brockett, C.

Association for Computational Linguistics, August 2021 (proceedings)

ei

link (url) [BibTex]

link (url) [BibTex]


Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning
Improving Human Decision-Making by Discovering Efficient Strategies for Hierarchical Planning

Heindrich, L., Consul, S., Stojcheski, J., Lieder, F.

Tübingen, Germany, The first edition of Life Improvement Science Conference, June 2021 (talk) Accepted

Abstract
The discovery of decision strategies is an essential part of creating effective cognitive tutors that teach planning and decision-making skills to humans. In the context of bounded rationality, this requires weighing the benefits of different planning operations compared to their computational costs. For small decision problems, it has already been shown that near-optimal decision strategies can be discovered automatically and that the discovered strategies can be taught to humans to increase their performance. Unfortunately, these near-optimal strategy discovery algorithms have not been able to scale well to larger problems due to their computational complexity. In this talk, we will present recent work at the Rationality Enhancement Group to overcome the computational bottleneck of existing strategy discovery algorithms. Our approach makes use of the hierarchical structure of human behavior by decomposing sequential decision problems into two sub-problems: setting a goal and planning how to achieve it. An additional metacontroller component is introduced to switch the current goal when it becomes beneficial. The hierarchical decomposition enables us to discover near-optimal strategies for human planning in larger and more complex tasks than previously possible. We then show in online experiments that teaching the discovered strategies to humans improves their performance in complex sequential decision-making tasks.

re

Project Page [BibTex]

Project Page [BibTex]


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Hydraulically amplified self-healing electrostatic actuators

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K.

(US Patent 10995779), May 2021 (patent)

Abstract
Hydraulically-amplified, self-healing, electrostatic actuators that harness electrostatic and hydraulic forces to achieve various actuation modes. Electrostatic forces between electrode pairs of the actuators generated upon application of a voltage to the electrode pairs draws the electrodes in each pair towards each other to displace a liquid dielectric contained within an enclosed internal cavity of the actuators to drive actuation in various manners. The electrodes and the liquid dielectric form a self-healing capacitor whereby the liquid dielectric automatically fills breaches in the liquid dielectric resulting from dielectric breakdown.

rm

link (url) [BibTex]

link (url) [BibTex]


Toward a Science of Effective Well-Doing
Toward a Science of Effective Well-Doing

Lieder, F., Prentice, M., Corwin-Renner, E.

May 2021 (techreport)

Abstract
Well-doing, broadly construed, encompasses acting and thinking in ways that contribute to humanity’s flourishing in the long run. This often takes the form of setting a prosocial goal and pursuing it over an extended period of time. To set and pursue goals in a way that is extremely beneficial for humanity (effective well-doing), people often have to employ critical thinking and far-sighted, rational decision-making in the service of the greater good. To promote effective well-doing, we need to better understand its determinants and psychological mechanisms, as well as the barriers to effective well-doing and how they can be overcome. In this article, we introduce a taxonomy of different forms of well-doing and introduce a conceptual model of the cognitive mechanisms of effective well-doing. We view effective well-doing as the upper end of a moral continuum whose lower half comprises behaviors that are harmful to humanity (ill-doing), and we argue that the capacity for effective well-doing has to be developed through personal growth (e.g., learning how to pursue goals effectively). Research on these phenomena has so far been scattered across numerous disconnected literatures from multiple disciplines. To bring these communities together, we call for the establishment of a transdisciplinary research field focussed on understanding and promoting effective well-doing and personal growth as well as understanding and reducing ill-doing. We define this research field in terms of its goals and questions. We review what is already known about these questions in different disciplines and argue that laying the scientific foundation for promoting effective well-doing is one of the most valuable contributions that the behavioral sciences can make in the 21st century.

re

Preprint Project Page [BibTex]


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An electric machine with two-phase planar Lorentz coils and a ring-shaped Halbach array for high torque density and high-precision applications

Nguyen, V., Javot, B., Kuchenbecker, K. J.

(EP21170679.1), April 2021 (patent)

Abstract
An electric machine, in particular a motor or a generator, comprising a rotor and a stator, wherein the rotor comprises a planar, ring-shaped rotor base element and the stator comprises a planar ring-shaped stator base element, wherein the rotor base element and the stator base element are aligned along an axial axis (Z) of the electric machine, wherein a plurality of magnet elements are arranged around the circumference of the ring-shaped rotor base element forming a Halbach magnet-ring assembly, wherein the Halbach magnet-ring assembly generates a magnetic field (BR) with axial and azimuthal components, wherein a plurality of coils are arranged around the circumference (C) of the ring-shaped stator base element.

hi

Project Page [BibTex]


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Hydraulically Amplified Self-Healing Electrostatic Transducers Harnessing Zipping Mechanism

Keplinger, C. M., Acome, E. L., Kellaris, N. A., Mitchell, S. K., Morrissey, T. G.

(US Patent 20210003149A1), January 2021 (patent)

Abstract
Hydraulically-amplified, self-healing, electrostatic transducers that harness electrostatic and hydraulic forces to achieve various actuation modes. Electrostatic forces between electrode pairs of the transducers generated upon application of a voltage to the electrode pairs draws the electrodes in each pair towards each other to displace a liquid dielectric contained within an enclosed internal cavity of the transducers to drive actuation in various manners. The electrodes and the liquid dielectric form a self-healing capacitor whereby the liquid dielectric automatically fills breaches in the liquid dielectric resulting from dielectric breakdown. Due to the resting shape of the cavity, a zipping-mechanism allows for selectively actuating the electrodes to a desired extent by controlling the voltage supplied.

rm

link (url) [BibTex]

link (url) [BibTex]


Sensor arrangement for sensing forces and methods for fabricating a sensor arrangement and parts thereof
Sensor arrangement for sensing forces and methods for fabricating a sensor arrangement and parts thereof

Sun, H., Martius, G., Kuchenbecker, K. J.

(PCT/EP2021/050230), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 (patent)

Abstract
The invention relates to a vision-based haptic sensor arrangement for sensing forces, to a method for fabricating a top portion of a sensor arrangement, and to a method for fabricating a sensor arrangement.

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Project Page [BibTex]

Project Page [BibTex]


Method for force inference, method for training a feed-forward neural network, force inference module, and sensor arrangement
Method for force inference, method for training a feed-forward neural network, force inference module, and sensor arrangement

Sun, H., Martius, G., Kuchenbecker, K. J.

(PCT/EP2021/050231), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, January 2021 (patent)

Abstract
The invention relates to a method for force inference of a sensor arrangement for sensing forces, to a method for training a feed-forward neural network, to a force inference module, and to a sensor arrangement.

al hi

Project Page [BibTex]

Project Page [BibTex]


Slippery micropropellers penetrate the vitreous humor
Slippery micropropellers penetrate the vitreous humor

Wu, Z., Qiu, T., Fischer, P.

(US20210170056A1), 2021 (patent)

Abstract
Microparticles actively propel through the vitreous humour and reach the retina in porcine eyes. The slippery micro helical propellers are constructed by the combination of glancing angle deposition technique and the fusion of the slippery liquid layer. The magnetically propulsion in the vitreous humour relies on the matched size of the propeller to the collagen network of the vitreous, and the anti-adhesion coating of the collagen fiber bundles. Clinical optical coherence tomography observed the displacement of the slippery micropropellers through the vitreous to the macular area on the retina. The slippery micropropellers realize the controllable massive movements to the retina in 30 mins, while exerting the travelling distance of above one centimeter. The injection of the slippery micropropellers, the magnetically-powered controllable propulsion in the vitreous, and the optical coherence tomography imaging technique, constitute an intact method for rapid targeted ocular delivery, providing a promising approach towards ophthalmologic applications.

pf

[BibTex]


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Magnetic trap system and method of navigating a microscopic device

Sitti, M., Son, D., Bluemler, P.

2021, EP Prio. Patent App. 21 187 691.7 (patent)

pi

[BibTex]

[BibTex]


Magnetic field generator
Magnetic field generator

Qiu, T., Fischer, P.

(US20210228298A1), 2021 (patent)

Abstract
A magnetic field generator that comprises at least three groups of magnets, the magnetic moment of each magnet being rotatable about a rotation axis, wherein each group comprises at least two magnets, and each group has an orientation in the sense that the rotation axes of the magnetic moments of the magnets of the same group extend in the group's orientation. The orientations of the different groups are linearly independent.

pf

[BibTex]

[BibTex]


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Heat assisted magnetic programming of soft materials

Sitti, M., Alapan, Y., Karacakol, A.

2021, International App. PCT/EP2021/060313 (patent)

pi

[BibTex]

[BibTex]


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Turbulence Modulation and Energy Transfer in Turbulent Channel Flow Coupled with One-Side Porous Media

Chu, X., Wang, W., Müller, J., Schöning, H. V., Liu, Y., Weigand, B.

In High Performance Computing in Science and Engineering’20, pages: 373-386, Springer, 2021 (incollection)

minibot

[BibTex]

[BibTex]


Method for Force Inference of a Sensor Arrangement, Methods for Training Networks, Force Inference Module and Sensor Arrangement
Method for Force Inference of a Sensor Arrangement, Methods for Training Networks, Force Inference Module and Sensor Arrangement

Sun, H., Martius, G., Lee, H., Spiers, A., Fiene, J.

(PCT/EP2020/083261), Max Planck Institute for Intelligent Systems, Max Planck Ring 4, November 2020 (patent)

Abstract
The present invention relates to a method for force inference of a sensor arrangement, to related methods for training of networks, to a force inference module for performing such methods, and to a sensor arrangement for sensing forces. When developing applications such as robots, sensing of forces applied on a robot hand or another part of a robot such as a leg or a manipulation device is crucial in giving robots increased capabilities to move around and/or manipulate objects. Known implementations for sensor arrangements that can be used in robotic applications in order to have feedback with regard to applied forces are quite expensive and do not have sufficient resolution. Sensor arrangements may be used to measure forces. However, known sensor arrangements need a high density of sensors to provide for a high special resolution. It is thus an object of the present invention to provide for a method for force inference of a sensor arrangement and related methods that are different or optimized with regard to the prior art. It is a further object to provide for a force inference module to perform such methods. It is a further object to provide for a sensor arrangement for sensing forces with such a force inference module.

al hi zwe-rob

Project Page [BibTex]

Project Page [BibTex]


Optimal To-Do List Gamification
Optimal To-Do List Gamification

Stojcheski, J., Felso, V., Lieder, F.

ArXiv Preprint, 2020 (techreport)

Abstract
What should I work on first? What can wait until later? Which projects should I prioritize and which tasks are not worth my time? These are challenging questions that many people face every day. People’s intuitive strategy is to prioritize their immediate experience over the long-term consequences. This leads to procrastination and the neglect of important long-term projects in favor of seemingly urgent tasks that are less important. Optimal gamification strives to help people overcome these problems by incentivizing each task by a number of points that communicates how valuable it is in the long-run. Unfortunately, computing the optimal number of points with standard dynamic programming methods quickly becomes intractable as the number of a person’s projects and the number of tasks required by each project increase. Here, we introduce and evaluate a scalable method for identifying which tasks are most important in the long run and incentivizing each task according to its long-term value. Our method makes it possible to create to-do list gamification apps that can handle the size and complexity of people’s to-do lists in the real world.

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link (url) DOI Project Page [BibTex]