arXiv subjects

Michael Schreiber

Publications and source records attributed to Michael Schreiber.

At least 37 records · Page 2Linked to original sources

arXiv2019

RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilities

Individual and team capabilities are challenged every year by rule changes and the increasing performance of the soccer teams at RoboCup Humanoid League. For RoboCup 2019 in the AdultSize class, the number of players (2 vs. 2 games) and the field dimensions were increased, which demanded for team coordination and robust visual perception and localization modules. In this paper, we present the latest developments that lead team NimbRo to win the soccer tournament, drop-in games, technical challenges and the Best Humanoid Award of the RoboCup Humanoid League 2019 in Sydney. These developments include a deep learning vision system, in-walk kicks, step-based push-recovery, and team play strategies.

cs.RO↗

arXiv2019

Integer quantum Hall transition on a tight-binding lattice

Even though the integer quantum Hall transition has been investigated for nearly four decades its critical behavior remains a puzzle. The best theoretical and experimental results for the localization length exponent $ν$ differ significantly from each other, casting doubt on our fundamental understanding. While this discrepancy is often attributed to long-range Coulomb interactions, Gruzberg et al. [Phys. Rev. B 95, 125414 (2017)] recently suggested that the semiclassical Chalker-Coddington model, widely employed in numerical simulations, is incomplete, questioning the established central theoretical results. To shed light on the controversy, we perform a high-accuracy study of the integer quantum Hall transition for a microscopic model of disordered electrons. We find a localization length exponent $ν=2.58(3)$ validating the result of the Chalker-Coddington network.

cond-mat.dis-nn↗

arXiv2018

Electronic transport in metallic carbon nanotubes with mixed defects within the strong localization regime

We study the electron transport in metallic carbon nanotubes (CNTs) with realistic defects of different types. We focus on large CNTs with many defects in the mesoscopic range. In a recent paper we demonstrated that the electronic transport in those defective CNTs is in the regime of strong localization. We verify by quantum transport simulations that the localization length of CNTs with defects of mixed types can be related to the localization lengths of CNTs with identical defects by taking the weighted harmonic average. Secondly, we show how to use this result to estimate the conductance of arbitrary defective CNTs, avoiding time consuming transport calculations.

cond-mat.mes-hall↗

arXiv2018

Improved recursive Green's function formalism for quasi one-dimensional systems with realistic defects

We derive an improved version of the recursive Green's function formalism (RGF), which is a standard tool in the quantum transport theory. We consider the case of disordered quasi one-dimensional materials where the disorder is applied in form of randomly distributed realistic defects, leading to partly periodic Hamiltonian matrices. The algorithm accelerates the common RGF in the recursive decimation scheme, using the iteration steps of the renormalization decimation algorithm. This leads to a smaller effective system, which is treated using the common forward iteration scheme. The computational complexity scales linearly with the number of defects, instead of linearly with the total system length for the conventional approach. We show that the scaling of the calculation time of the Green's function depends on the defect density of a random test system. Furthermore, we discuss the calculation time and the memory requirement of the whole transport formalism applied to defective carbon nanotubes.

physics.comp-ph↗

arXiv2018

Strong localization in defective carbon nanotubes: a recursive Green's function study

We study the transport properties of defective single-walled armchair carbon nanotubes (CNTs) on a mesoscopic length scale. Monovacancies and divancancies are positioned randomly along the CNT. The calculations are based on a fast, linearly scaling recursive Green's function formalism that allows us to treat large systems quantum-mechanically. The electronic structure of the CNT is described by a density-functional-based tight-binding model. We determine the influence of the defects on the transmission function for a given defect density by statistical analysis. We show that the system is in the regime of strong localization (i.e. Anderson localization). In the limit of large disorder the conductance scales exponentially with the number of defects. This allows us to extract the localization length. Furthermore, we study in a systematic and comprehensive way, how the conductance, the conductance distribution, and the localization length depend on defect probability, CNT diameter, and temperature.

cond-mat.mes-hall↗

arXiv2018

Electronic transport through defective semiconducting carbon nanotubes

We investigate the electronic transport properties of semiconducting ($m$,$n$) carbon nanotubes (CNTs) on the mesoscopic length scale with arbitrarily distributed realistic defects. The study is done by performing quantum transport calculations based on recursive Green's function techniques and an underlying density-functional-based tight-binding model for the description of the electronic structure. Zigzag CNTs as well as chiral CNTs of different diameter are considered. Different defects are exemplarily represented by monovacancies and divacancies. We show the energy-dependent transmission and the temperature-dependent conductance as a function of the number of defects. In the limit of many defetcs, the transport is described by strong localization. Corresponding localization lengths are calculated (energy dependent and temperature dependent) and systematically compared for a large number of CNTs. It is shown, that a distinction by $(m-n)\,\mathrm{mod}\,3$ has to be drawn in order to classify CNTs with different bandgaps. Besides this, the localization length for a given defect probability per unit cell depends linearly on the CNT diameter, but not on the CNT chirality. Finally, elastic mean free paths in the diffusive regime are computed for the limit of few defects, yielding qualitatively same statements.

cond-mat.mes-hall↗

arXiv2018

NimbRo Rescue: Solving Disaster-Response Tasks through Mobile Manipulation Robot Momaro

Robots that solve complex tasks in environments too dangerous for humans to enter are desperately needed, e.g. for search and rescue applications. We describe our mobile manipulation robot Momaro, with which we participated successfully in the DARPA Robotics Challenge. It features a unique locomotion design with four legs ending in steerable wheels, which allows it both to drive omnidirectionally and to step over obstacles or climb. Furthermore, we present advanced communication and teleoperation approaches, which include immersive 3D visualization, and 6D tracking of operator head and arm motions. The proposed system is evaluated in the DARPA Robotics Challenge, the DLR SpaceBot Cup Qualification and lab experiments. We also discuss the lessons learned from the competitions.

cs.RO↗

arXiv2018

Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench

The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state-of-the-art in autonomous operation of ground-based and flying robots. In this article, we describe our winning entry to MBZIRC Challenge 2: the mobile manipulation robot Mario. It is capable of autonomously solving a valve manipulation task using a wrench tool detected, grasped, and finally employed to turn a valve stem. Mario's omnidirectional base allows both fast locomotion and precise close approach to the manipulation panel. We describe an efficient detector for medium-sized objects in 3D laser scans and apply it to detect the manipulation panel. An object detection architecture based on deep neural networks is used to find and select the correct tool from grayscale images. Parametrized motion primitives are adapted online to percepts of the tool and valve stem in order to turn the stem. We report in detail on our winning performance at the challenge and discuss lessons learned.

cs.RO↗

arXiv2018

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage system, picking specific items, and packing them into boxes. In this paper, we describe the entry of team NimbRo Picking. Our deep object perception pipeline can be quickly and efficiently adapted to new items using a custom turntable capture system and transfer learning. It produces high-quality item segments, on which grasp poses are found. A planning component coordinates manipulation actions between two robot arms, minimizing execution time. The system has been demonstrated successfully at ARC, where our team reached second places in both the picking task and the final stow-and-pick task. We also evaluate individual components.

cs.RO↗

arXiv2018

Humanoid TeenSize Open Platform NimbRo-OP

In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of readily available larger robots, however, severely affects the number of participants in Teen- and AdultSize and consequently the progress of research that focuses on the challenges arising with robots of larger weight and size. This paper presents the first hardware release of a low cost Humanoid TeenSize open platform for research, the first software release, and the current state of ROS-based software development. The NimbRo-OP robot was designed to be easily manufactured, assembled, repaired, and modified. It is equipped with a wide-angle camera, ample computing power, and enough torque to enable full-body motions, such as dynamic bipedal locomotion, kicking, and getting up.

cs.RO↗

arXiv2018

Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer

Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. When two robots are fighting for the ball, they frequently push each other and balance recovery becomes crucial. In this paper, we report on insights we gained from systematic push experiments performed on a bipedal model and outline an online learning method we used to improve its push-recovery capabilities. In addition, we describe how the localization ambiguity introduced by the uniform goal color was resolved and report on the results of the RoboCup 2013 competition.

cs.RO↗

arXiv2018

The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research

The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lower size ranges of up to 60cm, but larger humanoid robots quickly become less affordable and more difficult to operate, maintain and modify. The igus Humanoid Open Platform is a new and affordable, fully open-source humanoid platform. At 92cm in height, the robot is capable of interacting in an environment meant for humans, and is equipped with enough sensors, actuators and computing power to support researchers in many fields. The structure of the robot is entirely 3D printed, leading to a lightweight and visually appealing design. The main features of the platform are described in this article.

cs.RO↗

arXiv2018

RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors

The trend in the RoboCup Humanoid League rules over the past few years has been towards a more realistic and challenging game environment. Elementary skills such as visual perception and walking, which had become mature enough for exciting gameplay, are now once again core challenges. The field goals are both white, and the walking surface is artificial grass, which constitutes a much more irregular surface than the carpet used before. In this paper, team NimbRo TeenSize, the winner of the TeenSize class of the RoboCup 2016 Humanoid League, presents its robotic platforms, the adaptations that had to be made to them, and the newest developments in visual perception and soccer behaviour.

cs.RO↗

arXiv2018

First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform

The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Numerous humanoid standard platforms exist in the lower size ranges of up to 60cm, but beyond that humanoid robots scale up quickly in weight and price, becoming less affordable and more difficult to operate, maintain and modify. The igus Humanoid Open Platform is an affordable, fully open-source platform for humanoid research. At 92cm, the robot is capable of acting in an environment meant for humans, and is equipped with enough sensors, actuators and computing power to support researchers in many fields. The structure of the robot is entirely 3D printed, leading to a lightweight and visually appealing design. This paper covers the mechanical and electrical aspects of the robot, as well as the main features of the corresponding open-source ROS software. At RoboCup 2016, the platform was awarded the first International HARTING Open Source Prize.

cs.RO↗

arXiv2018

Child-sized 3D Printed igus Humanoid Open Platform

The use of standard platforms in the field of humanoid robotics can accelerate research, and lower the entry barrier for new research groups. While many affordable humanoid standard platforms exist in the lower size ranges of up to 60cm, beyond this the few available standard platforms quickly become significantly more expensive, and difficult to operate and maintain. In this paper, the igus Humanoid Open Platform is presented---a new, affordable, versatile and easily customisable standard platform for humanoid robots in the child-sized range. At 90cm, the robot is large enough to interact with a human-scale environment in a meaningful way, and is equipped with enough torque and computing power to foster research in many possible directions. The structure of the robot is entirely 3D printed, allowing for a lightweight and appealing design. The electrical and mechanical designs of the robot are presented, and the main features of the corresponding open-source ROS software are discussed. The 3D CAD files for all of the robot parts have been released open-source in conjunction with this paper.

cs.RO↗

arXiv2018

Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions

The ongoing evolution of the RoboCup Humanoid League led in 2017 to the introduction of one vs. one soccer games for the AdultSize robots, which motived our team NimbRo to enter this category. In this paper, we present the mechatronic design of our upgraded robot Copedo and the newly developed NimbRo-OP2, which received the RoboCup Design Award. We also describe improved approaches to visual perception of the game situation, including compassless localization on a soccer field with symmetric appearance, and the generation of soccer behaviors. At RoboCup 2017 in Nagoya, our robots played very well, winning the AdultSize soccer tournament with high scores. Our robots also won the technical challenges and we present the developed solutions.

cs.RO↗

arXiv2017

Exploring the Single-Particle Mobility Edge in a One-Dimensional Quasiperiodic Optical Lattice

A single-particle mobility edge (SPME) marks a critical energy separating extended from localized states in a quantum system. In one-dimensional systems with uncorrelated disorder, a SPME cannot exist, since all single-particle states localize for arbitrarily weak disorder strengths. However, if correlations are present in the disorder potential, the localization transition can occur at a finite disorder strength and SPMEs become possible. In this work, we find experimental evidence for the existence of such a SPME in a one-dimensional quasi-periodic optical lattice. Specifically, we find a regime where extended and localized single-particle states coexist, in good agreement with theoretical simulations, which predict a SPME in this regime.

cond-mat.quant-gas↗

arXiv2016

Signatures of Many-Body Localization in a Controlled Open Quantum System

In the presence of disorder, an interacting closed quantum system can undergo many-body localization (MBL) and fail to thermalize. However, over long times even weak couplings to any thermal environment will necessarily thermalize the system and erase all signatures of MBL. This presents a challenge for experimental investigations of MBL, since no realistic system can ever be fully closed. In this work, we experimentally explore the thermalization dynamics of a localized system in the presence of controlled dissipation. Specifically, we find that photon scattering results in a stretched exponential decay of an initial density pattern with a rate that depends linearly on the scattering rate. We find that the resulting susceptibility increases significantly close to the phase transition point. In this regime, which is inaccessible to current numerical studies, we also find a strong dependence on interactions. Our work provides a basis for systematic studies of MBL in open systems and opens a route towards extrapolation of closed system properties from experiments.

cond-mat.quant-gas↗