arXiv subjects

Martin Hoffmann

Publications and source records attributed to Martin Hoffmann.

29 records · Page 2Linked to original sources

arXiv2018

SwarmRob: A Toolkit for Reproducibility and Sharing of Experimental Artifacts in Robotics Research

Due to the complexity of robotics, the reproducibility of results and experiments is one of the fundamental problems in robotics research. While the problem has been identified by the community, the approaches that address the problem appropriately are limited. The toolkit proposed in this paper tries to deal with the problem of reproducibility and sharing of experimental artifacts in robotics research by a holistic approach based on operating-system-level virtualization. The experimental artifacts of an experiment are isolated in "containers" that can be distributed to other researchers. Based on this, this paper presents a novel experimental workflow to describe, execute and distribute experimental software-artifacts to heterogeneous robots dynamically. As a result, the proposed solution supports researchers in executing and reproducing experimental evaluations.

cs.RO↗

arXiv2016

Quantitative description of short-range order and its influence on the electronic structure in Ag-Pd alloys

We investigate the effect of short-range order (SRO) on the electronic structure in alloys from the theoretical point of view using density of states (DOS) data. In particular, the interaction between the atoms at different lattice sites is affected by chemical disorder, which in turn is reflected in the fine structure of the DOS and, hence, in the outcome of spectroscopic measurements. We aim at quantifying the degree of potential SRO with a proper parameter. The theoretical modeling is done with the Korringa-Kohn-Rostoker Green's function method. Therein, the extended multi-sublattice non-local coherent potential approximation is used to include SRO. As a model system, we use the binary solid solution Ag$_c$Pd$_{1-c}$ at three representative concentrations $c=0.25$, $0.5$ and $0.75$. The degree of SRO is varied from local ordering to local segregation through an intermediate completely uncorrelated state. We observe some pronounced features, which change over the whole energy range of the valence bands as a function of SRO in the alloy. These spectral variations should be traceable in modern photoemission experiments.

cond-mat.mtrl-sci↗

arXiv2016

Surface Albedo and Spectral Variability of Ceres

Previous observations suggested that Ceres has active but possibly sporadic water outgassing, and possibly varying spectral characteristics in a time scale of months. We used all available data of Ceres collected in the past three decades from the ground and the Hubble Space Telescope, and the newly acquired images by Dawn Framing Camera to search for spectral and albedo variability on Ceres, in both a global scale and local regions, particularly the bright spots inside Occator crater, over time scales of a few months to decades. Our analysis has placed an upper limit on the possible temporal albedo variation on Ceres. Sporadic water vapor venting, or any possibly ongoing activity on Ceres, is not significant enough to change the albedo or the area of the bright features in Occator crater by >15%, or the global albedo by >3% over various time scales that we searched. Recently reported spectral slope variations can be explained by changing Sun-Ceres-Earth geometry. The active area on Ceres is less than 1 km$^2$, too small to cause global albedo and spectral variations detectable in our data. Impact ejecta due to impacting projectiles of tens of meters in size like those known to cause observable changes to the surface albedo on Asteroid Scheila cannot cause detectable albedo change on Ceres due to its relatively large size and strong gravity. The water vapor activity on Ceres is independent of Ceres' heliocentric distance, rulling out the possibility of comet-like sublimation process as a possible mechanism driving the activity.

astro-ph.EP↗

arXiv2015

Three-dimensional spectral analysis of compositional heterogeneity at Arruntia crater on (4) Vesta using Dawn FC

We introduce an innovative three-dimensional spectral approach (three band parameter space with polyhedrons) that can be used for both qualitative and quantitative analyses improving the characterization of surface heterogeneity of (4) Vesta. It is an advanced and more robust methodology compared to the standard two-dimensional spectral approach (two band parameter space). The Dawn Framing Camera (FC) color data obtained during High Altitude Mapping Orbit (resolution ~ 60 m/pixel) is used. The main focus is on the howardite-eucrite-diogenite (HED) lithologies containing carbonaceous chondritic material, olivine, and impact-melt. The archived spectra of HEDs and their mixtures, from RELAB, HOSERLab and USGS databases as well as our laboratory-measured spectra are used for this study. Three-dimensional convex polyhedrons are defined using computed band parameter values of laboratory spectra. Polyhedrons based on the parameters of Band Tilt (R0.92μm/R0.96μm), Mid Ratio ((R0.75μm/R0.83μm)/(R0.83μm/R0.92μm)) and reflectance at 0.55 μm (R0.55μm) are chosen for the present analysis. An algorithm in IDL programming language is employed to assign FC data points to the respective polyhedrons. The Arruntia region in the northern hemisphere of Vesta is selected for a case study because of its geological and mineralogical importance. We observe that this region is eucrite-dominated howarditic in composition. The extent of olivine-rich exposures within an area of 2.5 crater radii is ~ 12% larger than the previous finding (Thangjam et al., 2014). Lithologies of nearly pure CM2-chondrite, olivine, glass, and diogenite are not found in this region. Our spectral approach can be extended to the entire Vestan surface to study the heterogeneous surface composition and its geology.

astro-ph.EP↗

arXiv2015

Photometric Properties of Ceres from Telescopic Observations using Dawn Framing Camera Color Filters

The dwarf planet Ceres is likely differentiated similar to the terrestrial planets but with a water/ice dominated mantle and an aqueously altered crust. Detailed modeling of Ceres' phase function has never been performed to understand its surface properties. The Dawn spacecraft began orbital science operations at the dwarf planet in April 2015. We observed Ceres with flight spares of the seven Dawn Framing Camera color filters mounted on ground-based telescopes over the course of three years to model its phase function versus wavelength. Our analysis shows that the modeled geometric albedos derived from both the IAU HG model and the Hapke model are consistent with a flat and featureless spectrum of Ceres, although the values are ~10% higher than previous measurements. Our models also suggest a wavelength dependence of Ceres' phase function. The IAU G-parameter and the Hapke single-particle phase function parameter, g, are both consistent with decreasing (shallower) phase slope with increasing wavelength. Such a wavelength dependence of phase function is consistent with reddening of spectral slope with increasing phase angle, or phase-reddening. This phase reddening is consistent with previous spectra of Ceres obtained at various phase angles archived in the literature, and consistent with the fact that the modeled geometric albedo spectrum of Ceres is the bluest of all spectra because it represents the spectrum at 0 degree phase angle. Ground-based FC color filter lightcurve data are consistent with HST albedo maps confirming that Ceres' lightcurve is dominated by albedo and not shape. We detected a positive correlation between 1.1-micron absorption band depth and geometric albedo suggesting brighter areas on Ceres have absorption bands that are deeper.

astro-ph.EP↗

arXiv2015

Magnetic properties of defect-free and oxygen-deficient cubic SrCoO$_{3-δ}$

We investigated theoretically electronic and magnetic properties of the perovskite material SrCoO$_{3-δ}$ with $δ\leq 0.15$ using a projector-augmented plane-wave method and a Green's function method. This material is known from various experiments to be ferromagnetic with a Curie temperature of 260$\,$K to 305$\,$K and a magnetic moment of 1.5${\,μ_\text{B}}$ to 3.0${\,μ_\text{B}}$. Applying the magnetic force theorem as it is formulated within Green's function method, we calculated for SrCoO$_{3-δ}$ the magnetic exchange parameters and estimated the Curie temperature. Including correlation effects by an effective $U$ parameter within the GGA$+U$ approach and verifying this by hybrid functional calculations, we obtained the Curie temperatures in dependence of the oxygen deficiency close to the experimental values.

cond-mat.mtrl-sci↗

arXiv2014

Increased magnetocrystalline anisotropy in epitaxial Fe-Co-C thin films with spontaneous strain

Rare earth free alloys are in focus of permanent magnet research since the accessibility of the elements needed for nowadays conventional magnets is limited. Tetragonally strained iron-cobalt (Fe-Co) has attracted large interest as promising candidate due to theoretical calculations. In experiments, however, the applied strain quickly relaxes with increasing film thickness and hampers stabilization of a strong magnetocrystalline anisotropy. In our study we show that already 2 at% of carbon substantially reduce the lattice relaxation leading to the formation of a spontaneously strained phase with 3 % tetragonal distortion. In these strained (Fe$_{0.4}$Co$_{0.6}$)$_{0.98}$C$_{0.02}$ films, a magnetocrystalline anisotropy above 0.4 MJ/m$^3$ is observed while the large polarization of 2.1 T is maintained. Compared to binary Fe-Co this is a remarkable improvement of the intrinsic magnetic properties. In this paper, we relate our experimental work to theoretical studies of strained Fe-Co-C and find a very good agreement.

cond-mat.mtrl-sci↗

arXiv2014

Olivine-rich exposures at Bellicia and Arruntia craters on (4) Vesta from Dawn FC

We present an analysis of the olivine-rich exposures at Bellicia and Arruntia craters using Dawn Framing Camera (FC) color data. Our results confirm the existence of olivine-rich materials at these localities as described by Ammannito et al. (2013a) using Visual Infrared Spectrometer (VIR) data. Analyzing laboratory spectra of various Howardite-Eucrite-Diogenite meteorites, high-Ca pyroxenes, olivines and olivine-orthopyroxene mixtures, we derive three FC spectral band parameters that are indicators of olivine-rich materials. Combining the three band parameters allows us, for the first time, to reliably identify sites showing modal olivine contents >40%. The olivine-rich exposures at Bellicia and Arruntia are mapped using higher spatial resolution FC data. The exposures are located on the slopes of outer/inner crater walls, on the floor of Arruntia, in the ejecta, as well as in nearby fresh small impact craters. The spatial extent of the exposures ranges from a few hundred meters to few kilometers. The olivine-rich exposures are in accordance with both the magma ocean and the serial magmatism model (e.g., Righter and Drake 1997; Yamaguchi et al. 1997). However, it remains unsolved why the olivine-rich materials are mainly concentrated in the northern hemisphere (~36-42° N, 46-74° E) and are almost absent in the Rheasilvia basin.

astro-ph.EP↗

arXiv2013

Global Photometric Properties of Asteroid (4) Vesta Observed with Dawn Framing Camera

Dawn spacecraft orbited Vesta for more than one year and collected a huge volume of multispectral, high-resolution data in the visible wavelengths with the Framing Camera. We present a detailed disk-integrated and disk-resolved photometric analysis using the Framing Camera images with the Minnaert model and the Hapke model, and report our results about the global photometric properties of Vesta. The photometric properties of Vesta show weak or no dependence on wavelengths, except for the albedo. At 554 nm, the global average geometric albedo of Vesta is 0.38+/-0.04, and the Bond albedo range is 0.20+/-0.02. The bolometric Bond albedo is 0.18+/-0.01. The phase function of Vesta is similar to those of S-type asteroids. Vesta's surface shows a single-peaked albedo distribution with a full-width-half-max ~17% relative to the global average. This width is much smaller than the full range of albedos (from ~0.55x to >2x global average) in localized bright and dark areas of a few tens of km in sizes, and is probably a consequence of significant regolith mixing on the global scale. Rheasilvia basin is about 10% brighter than the global average. The phase reddening of Vesta measured from Dawn Framing Camera images is comparable or slightly stronger than that of Eros as measured by the Near Earth Asteroid Rendezvous mission, but weaker than previous measurements based on ground-based observations of Vesta and laboratory measurements of HED meteorites. The photometric behaviors of Vesta are best described by the Hapke model and the Akimov disk- function, when compared with the Minnaert model, Lommel-Seeliger model, and Lommel- Seeliger-Lambertian model. The traditional approach for photometric correction is validated for Vesta for >99% of its surface where reflectance is within +/-30% of global average.

astro-ph.EP↗

arXiv2010

Thermoresponsive Colloidal Molecules

We fabricated thermoresponsive colloidal molecules of ca. 250 nm size. Electron- and scanning force microscopy reveal the dumbbell-shaped morphology. The temperature dependence of the size and aspect ratio (ca. 1.4 to 1.6) is analyzed by depolarized dynamic light scattering and found to be in good agreement with microscopic evidence.

cond-mat.soft↗

arXiv2009

3D Brownian Diffusion of Submicron-Sized Particle Clusters

We report on the translation and rotation of particle clusters made through the combination of spherical building blocks. These clusters present ideal model systems to study the motion of objects with complex shape. Because they could be separated into fractions of well-defined configurations on a sufficient scale and their overall dimensions were below 300 nm, the translational and rotational diffusion coefficients of particle duplets, triplets and tetrahedrons could be determined by a combination of polarized dynamic light scattering (DLS) and depolarized dynamic light scattering (DDLS). The use of colloidal clusters for DDLS experiments overcomes the limitation of earlier experiments on the diffusion of complex objects near surfaces because the true 3D diffusion can be studied. When the exact geometry of the complex assemblies is known, different hydrodynamic models for calculating the diffusion coefficient for objects with complex shapes could be applied. Because hydrodynamic friction must be restricted to the cluster surface the so-called shell model, in which the surface is represented as a shell of small friction elements, was most suitable to describe the dynamics. A quantitative comparison of the predictions from theoretical modeling with the results obtained by DDLS showed an excellent agreement between experiment and theory.

cond-mat.soft↗