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2013


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Brownian motion of optically trapped ellipsoids

Dibak, Manuel

Universität Stuttgart, Stuttgart, 2013 (mastersthesis)

icm

[BibTex]

2013


[BibTex]


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Being small, being smart

Liu, Na

2013 (mpi_year_book)

Abstract
Metallic nanostructures feature plasmonic resonances which spatially confine light on the nanometer scale. In the ultimate limit of a single nanostructure, the electromagnetic field can be strongly concentrated in a volume of only a few hundred nm3 or less. We utilize such plasmonic focusing for hydrogen detection at the single particle level, which avoids any inhomogeneous broadening and statistical effects that would occur in sensors based on nanoparticle ensembles. This concept paves the road towards the observation of single catalytic processes in nanoreactors.

link (url) [BibTex]

link (url) [BibTex]


Chiral Colloidal Molecules And Observation of The Propeller Effect
Chiral Colloidal Molecules And Observation of The Propeller Effect

Schamel, D., Pfeifer, M., Gibbs, J. G., Miksch, B., Mark, A. G., Fischer, P.

JOURNAL OF THE AMERICAN CHEMICAL SOCIETY, 135(33):12353-12359, 2013 (article)

Abstract
Chiral molecules play an important role in biological and chemical processes, but physical effects due to their symmetry-breaking are generally weak. Several physical chiral separation schemes which could potentially be useful, including the propeller effect, have therefore not yet been demonstrated at the molecular scale. However, it has been proposed that complex nonspherical colloidal particles could act as ``colloidal molecules{''} in mesoscopic model systems to permit the visualization of molecular phenomena that are otherwise difficult to observe. Unfortunately, it is difficult to synthesize such colloids because surface minimization generally favors the growth of symmetric particles. Here we demonstrate the production of large numbers of complex colloids with glancing angle physical vapor deposition. We use chiral colloids to demonstrate the Baranova and Zel'dovich (Baranova, N. B.; Zel'dovich, B. Y. Chem. Phys. Lett. 1978, 57, 435) propeller effect: the separation of a racemic mixture by application of a rotating field that couples to the dipole moment of the enantiomers and screw propels them in opposite directions. The handedness of the colloidal suspensions is monitored with circular differential light scattering. An exact solution for the colloid's propulsion is derived, and comparisons between the colloidal system and the corresponding effect at the molecular scale are made.

pf

Video - Nanospropellers DOI [BibTex]

Video - Nanospropellers DOI [BibTex]


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Maximizing Kepler science return per telemetered pixel: Detailed models of the focal plane in the two-wheel era

Hogg, D. W., Angus, R., Barclay, T., Dawson, R., Fergus, R., Foreman-Mackey, D., Harmeling, S., Hirsch, M., Lang, D., Montet, B. T., Schiminovich, D., Schölkopf, B.

arXiv:1309.0653, 2013 (techreport)

ei

link (url) [BibTex]

link (url) [BibTex]


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Accurate detection of differential RNA processing

Drewe, P., Stegle, O., Hartmann, L., Kahles, A., Bohnert, R., Wachter, A., Borgwardt, K. M., Rätsch, G.

Nucleic Acids Research, 41(10):5189-5198, 2013 (article)

ei

DOI [BibTex]

DOI [BibTex]


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Nonequilibrium Critical Casimir Effect in Binary Fluids

Furukawa, A., Gambassi, A., Dietrich, S., Tanaka, H.

Physical Review Letters, 111(5), American Physical Society, Woodbury, N.Y., 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Many-body effects for critical Casimir forces

Gomes de Mattos, T., Harnau, L., Dietrich, S.

The Journal of Chemical Physics, 138(7), 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Propulsion Mechanism of Catalytic Microjet Engines

Magdanz, V., Fomin, V. M., Soler, L., Sanchez, S., Schmidt, O. G., Hippler, M.

IEEE Transactions on Robotics and Automation, pages: 40-48, IEEE, New York, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Impedance spectroscopy of ions at liquid-liquid interfaces

Bier, M., Reindl, A.

Physical Review E, 88(5), American Physical Society, Melville, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Precursors of order in aggregates of patchy particles

Vasilyev, O., Klumov, B. A., Tkachenko, A. V.

Physical Review E, 88(1), American Physical Society, Melville, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Two-temperature Langevin dynamics in a parabolic potential

Dotsenko, V., Maciolek, Anna, Vasilyev, O., Oshanin, G.

Physical Review E, 87(6), American Physical Society, Melville, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


Indirect absorption spectroscopy using quantum cascade lasers: mid-infrared refractometry and photothermal spectroscopy
Indirect absorption spectroscopy using quantum cascade lasers: mid-infrared refractometry and photothermal spectroscopy

Pfeifer, M., Ruf, A., Fischer, P.

OPTICS EXPRESS, 21(22):25643-25654, 2013 (article)

Abstract
We record vibrational spectra with two indirect schemes that depend on the real part of the index of refraction: mid-infrared refractometry and photothermal spectroscopy. In the former, a quantum cascade laser (QCL) spot is imaged to determine the angles of total internal reflection, which yields the absorption line via a beam profile analysis. In the photothermal measurements, a tunable QCL excites vibrational resonances of a molecular monolayer, which heats the surrounding medium and changes its refractive index. This is observed with a probe laser in the visible. Sub-monolayer sensitivities are demonstrated. (C) 2013 Optical Society of America

pf

DOI [BibTex]


Fusing visual and tactile sensing for 3-D object reconstruction while grasping
Fusing visual and tactile sensing for 3-D object reconstruction while grasping

Ilonen, J., Bohg, J., Kyrki, V.

In IEEE International Conference on Robotics and Automation (ICRA), pages: 3547-3554, 2013 (inproceedings)

Abstract
In this work, we propose to reconstruct a complete 3-D model of an unknown object by fusion of visual and tactile information while the object is grasped. Assuming the object is symmetric, a first hypothesis of its complete 3-D shape is generated from a single view. This initial model is used to plan a grasp on the object which is then executed with a robotic manipulator equipped with tactile sensors. Given the detected contacts between the fingers and the object, the full object model including the symmetry parameters can be refined. This refined model will then allow the planning of more complex manipulation tasks. The main contribution of this work is an optimal estimation approach for the fusion of visual and tactile data applying the constraint of object symmetry. The fusion is formulated as a state estimation problem and solved with an iterative extended Kalman filter. The approach is validated experimentally using both artificial and real data from two different robotic platforms.

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Maximizing Kepler science return per telemetered pixel: Searching the habitable zones of the brightest stars

Montet, B. T., Angus, R., Barclay, T., Dawson, R., Fergus, R., Foreman-Mackey, D., Harmeling, S., Hirsch, M., Hogg, D. W., Lang, D., Schiminovich, D., Schölkopf, B.

arXiv:1309.0654, 2013 (techreport)

ei

link (url) [BibTex]

link (url) [BibTex]


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Detecting regulatory gene–environment interactions with unmeasured environmental factors

Fusi, N., Lippert, C., Borgwardt, K. M., Lawrence, N. D., Stegle, O.

Bioinformatics, 29(11):1382-1389, 2013 (article)

ei

DOI [BibTex]

DOI [BibTex]


A Comparison of Directional Distances for Hand Pose Estimation
A Comparison of Directional Distances for Hand Pose Estimation

Tzionas, D., Gall, J.

In German Conference on Pattern Recognition (GCPR), 8142, pages: 131-141, Lecture Notes in Computer Science, (Editors: Weickert, Joachim and Hein, Matthias and Schiele, Bernt), Springer, 2013 (inproceedings)

Abstract
Benchmarking methods for 3d hand tracking is still an open problem due to the difficulty of acquiring ground truth data. We introduce a new dataset and benchmarking protocol that is insensitive to the accumulative error of other protocols. To this end, we create testing frame pairs of increasing difficulty and measure the pose estimation error separately for each of them. This approach gives new insights and allows to accurately study the performance of each feature or method without employing a full tracking pipeline. Following this protocol, we evaluate various directional distances in the context of silhouette-based 3d hand tracking, expressed as special cases of a generalized Chamfer distance form. An appropriate parameter setup is proposed for each of them, and a comparative study reveals the best performing method in this context.

ps

pdf Supplementary Project Page link (url) DOI Project Page [BibTex]

pdf Supplementary Project Page link (url) DOI Project Page [BibTex]


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Critical Casimir forces between homogeneous and chemically striped surfaces

Parisen Toldin, F., Tröndle, M., Dietrich, S.

Physical Review E, 88, American Physical Society, Melville, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Comparison between theory and simulations for the magnetization and the susceptibility of polydisperse ferrofluids

Szalai, I., Nagy, S., Dietrich, S.

Journal of Physics: Condensed Matter, 25(46), IOP Pub., Bristol, UK, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Thermal activation of catalytic microjets in blood samples using microfluidic chips.

Soler, L., Mart\’\inez-Cisneros, C., Swiersy, A., Sanchez, S., Schmidt, O. G.

Lab on a Chip, 13, pages: 4299-4303, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Phase behavior of colloidal suspensions with critical solvents

Mohry, T. F.

Universität Stuttgart, Stuttgart, 2013 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


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Nematic liquid crystal boojums with handles on colloidal handlebodies

Liu, Q. K., Senyuk, B., Tasinkevych, M., Smalyukh, I. I.

Proceedings of the National Academy of Sciences of the United States of America, 110(23):9231-9236, National Academy of Sciences, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Critical Casimir torques and forces acting on needles in two spatial dimensions

Vasilyev, Oleg, Eisenriegler, E., Dietrich, Siegfried

Physical Review E, 88(1), American Physical Society, Melville, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


Plasmonic nanohelix metamaterials with tailorable giant circular dichroism
Plasmonic nanohelix metamaterials with tailorable giant circular dichroism

Gibbs, J. G., Mark, A. G., Eslami, S., Fischer, P.

APPLIED PHYSICS LETTERS, 103(21), 2013, Featured cover article. (article)

Abstract
Plasmonic nanohelix arrays are shown to interact with electromagnetic fields in ways not typically seen with ordinary matter. Chiral metamaterials (CMMs) with feature sizes small with respect to the wavelength of visible light are a promising route to experimentally achieve such phenomena as negative refraction without the need for simultaneously negative e and mu. Here we not only show that giant circular dichroism in the visible is achievable with hexagonally arranged plasmonic nanohelix arrays, but that we can precisely tune the optical activity via morphology and lattice spacing. The discrete dipole approximation is implemented to support experimental data. (C) 2013 AIP Publishing LLC.

Featured cover article.

pf

DOI [BibTex]

DOI [BibTex]


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Automatic Malaria Diagnosis system

Mehrjou, A., Abbasian, T., Izadi, M.

In First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), pages: 205-211, 2013 (inproceedings)

ei

DOI [BibTex]

DOI [BibTex]


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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]

link (url) DOI [BibTex]


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Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

Ijspeert, A., Nakanishi, J., Pastor, P., Hoffmann, H., Schaal, S.

Neural Computation, (25):328-373, 2013, clmc (article)

Abstract
Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear systems is the focus of investigations, it is of equal importance to create goal-directed behavior (e.g., stable locomotion from a system of coupled oscillators under perceptual guidance). Modeling goal-directed behavior with nonlinear systems is, however, rather difficult due to the parameter sensitivity of these systems, their complex phase transitions in response to subtle parameter changes, and the difficulty of analyzing and predicting their long-term behavior; intuition and time-consuming parameter tuning play a major role. This letter presents and reviews dynamical movement primitives, a line of research for modeling attractor behaviors of autonomous nonlinear dynamical systems with the help of statistical learning techniques. The essence of our approach is to start with a simple dynamical system, such as a set of linear differential equations, and transform those into a weakly nonlinear system with prescribed attractor dynamics by meansof a learnable autonomous forcing term. Both point attractors and limit cycle attractors of almost arbitrary complexity can be generated. We explain the design principle of our approach and evaluate its properties in several example applications in motor control and robotics.

am

link (url) [BibTex]

link (url) [BibTex]


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On the Relations and Differences between Popper Dimension, Exclusion Dimension and VC-Dimension

Seldin, Y., Schölkopf, B.

In Empirical Inference - Festschrift in Honor of Vladimir N. Vapnik, pages: 53-57, 6, (Editors: Schölkopf, B., Luo, Z. and Vovk, V.), Springer, 2013 (inbook)

ei

[BibTex]

[BibTex]


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Modeling and Learning Complex Motor Tasks: A case study on Robot Table Tennis

Mülling, K.

Technical University Darmstadt, Germany, 2013 (phdthesis)

ei

[BibTex]

[BibTex]


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Fragmentation of Slow Wave Sleep after Onset of Complete Locked-In State

Soekadar, S. R., Born, J., Birbaumer, N., Bensch, M., Halder, S., Murguialday, A. R., Gharabaghi, A., Nijboer, F., Schölkopf, B., Martens, S.

Journal of Clinical Sleep Medicine, 9(9):951-953, 2013 (article)

ei

DOI [BibTex]

DOI [BibTex]


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Quantum cryo-sieving for hydrogen isotope separation in microporous frameworks: an experimental study on the correlation between effective quantum sieving and pore size

Oh, H., Park, K. S., Kalidindi, S. B., Fischer, R. A., Hirscher, M.

{Journal of Materials Chemistry A}, 1, pages: 3244-3248, Royal Society of Chemistry, Cambridge, UK, 2013 (article)

mms

DOI [BibTex]

DOI [BibTex]


{Switching modes in easy and hard axis magnetic reversal in a self-assembled antidot array}
Switching modes in easy and hard axis magnetic reversal in a self-assembled antidot array

Haering, F., Wiedwald, U., Nothelfer, S., Koslowski, B., Ziemann, P., Lechner, L., Wallucks, A., Lebecki, K., Nowak, U., Gräfe, J., Goering, E., Schütz, G.

{Nanotechnology}, 24, IOP Pub., Bristol, UK, 2013 (article)

Abstract
We study the reversal mechanisms in a self-assembled, hexagonally ordered Fe antidot array with a period of 200 nm and an antidot diameter of 100 nm which was prepared by polystyrene nanosphere lithography. Direction-dependent information in such a self-assembled sample is obtained by measuring the anisotropic magnetoresistance (AMR) through constrictions processed by focused ion beam milling in nearest neighbor and next nearest neighbor directions. We show that such an originally integral method can be used to investigate the strong in-plane anisotropy introduced by the antidot lattice. The easy and hard axis reversal mechanisms and corresponding AMR signals are modeled by micromagnetic simulations. Additional in-field magnetic force microscopy studies allow the correlation of microscopic switching to features in the integral AMR. We find that the easy axis of magnetization is connected to a distinct periodic magnetic domain pattern, which can be observed during the whole magnetization reversal. While this process is driven by nucleation and propagation of reversed domains, the hard axis reversal is characterized by a (stepwise) rotation of the magnetization via the antidot lattice' easy axes.

mms

DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Critical Casimir forces along the isofields

Zubaszewska, M., Maciolek, A., Drzewinski, A.

Physical Review E, 88(5), American Physical Society, Melville, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Surface states and the Casimir interaction in the Ising model

Abraham, D. B., Maciolek, A.

Europhysics letters, 101(2), Editrice Compositori., Bologna, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Crystallization, structural diversity, and anisotropy effects in 2D arrays of icosahedral viruses

Fukuto, M., Nguyen, Q. L., Vasilyev, O., Mank, N., Washington-Huges, C. L., Kuzmenko, I., Checco, A., Mao, Y., Wang, Q., Yang, L.

Soft Matter, 9(40):9633-9642, Royal Society of Chemistry, Cambridge, UK, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Dynamics of nanodroplets on structured surfaces

Rauscher, M.

In Nanodroplets, 18, pages: 143-167, Lecture Notes in Nanoscale Science and Technology, Springer, New York, 2013 (incollection)

Abstract
Editors:Zhiming M. Wang

icm

DOI [BibTex]

DOI [BibTex]


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Dynamic arrest in model porous media-intermediate scattering functions

Spanner, Markus, Schnyder, Simon K., Höfling, Felix, Voigtmann, Thomas, Franosch, Thomas

Soft Matter, 9(5):1604-1611, Royal Society of Chemistry, Cambridge, UK, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Zweidimensionale Monte-Carlo-Gittersimulationen im muVT- und NpT-Ensemble

Kirn, Kai Ludwig

Universität Stuttgart, Stuttgart, 2013 (mastersthesis)

icm

[BibTex]

[BibTex]


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Linear response relations in fluctuational electrodynamics

Golyk, V. A., Krüger, Matthias, Kardar, M.

Physical Review B, 88(15), American Physical Society, Woodbury, NY, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Intention Inference and Decision Making with Hierarchical Gaussian Process Dynamics Models

Wang, Z.

Technical University Darmstadt, Germany, 2013 (phdthesis)

ei

[BibTex]


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Wetting Phenomena on the Nanometer Scale

Rauscher, M., Dietrich, S., Napiórkowski, M.

In Nanoscale Liquid Interfaces - Wetting, Patterning and Force Microscopy at the Molecular Scale, pages: 83-154, Pan Stanford Publishing Pte. Ltd., Singapore, 2013 (incollection)

icm

DOI [BibTex]

DOI [BibTex]


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Ideal Polyethylene Nanocrystals

Osichov, A., Rabe, C., Vogtt, K., Narayanan, T., Harnau, Ludger, Drechsler, M., Ballauff, M.

Journal of the American Chemical Society, 135(31):11645-11650, American Chemical Society, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Permittivity of an inhomogeneous dipolar lattice fluid

Schütz, Christian

Universität Stuttgart, Stuttgart, 2013 (mastersthesis)

icm

[BibTex]

[BibTex]


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Self-Assembly of Two-Dimensional Colloidal Clusters by Tuning the Hydrophobicity, Composition, and Packing Geometry

Law, A. D., Auriol, M., Smith, D., Horozov, T. S., Buzza, D. M. A.

Physical Review Letters, 110, American Physical Society., Woodbury, N.Y., etc., 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Geometry-Induced Superdiffusion in Driven Crowded Systems

Bénichou, O., Bodrova, A., Chakraborty, D., Illien, P., Law, A. D., Mej\’\ia-Monasterio, C., Oshanin, G., Voituriez, R.

Physical Review Letters, 111(26), American Physical Society, Woodbury, N.Y., 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Overshoots in stress-strain curves: Colloid experiments and schematic mode coupling theory

Amann, Christian P, Siebenbürger, Miriam, Krüger, Matthias, Weysser, Fabian, Ballauff, Matthias, Fuchs, Matthias

Journal of Rheology, 57, pages: 149-175, 2013 (article)

icm

DOI [BibTex]

DOI [BibTex]


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Wetting in electrolyte solutions

Ibagon, Ingrid, Bier, Markus, Dietrich, Siegfried

The Journal of Chemical Physics, 138(21), American Institute of Physics, Woodbury, N.Y., 2013 (article)

icm

DOI [BibTex]

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.

am mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


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Structural learning

Braun, D

Scholarpedia, 8(10):12312, October 2013 (article)

Abstract
Structural learning in motor control refers to a metalearning process whereby an agent extracts (abstract) invariants from its sensorimotor stream when experiencing a range of environments that share similar structure. Such invariants can then be exploited for faster generalization and learning-to-learn when experiencing novel, but related task environments.

ei

DOI [BibTex]

DOI [BibTex]