Technische Universität Darmstadt

About: Technische Universität Darmstadt is a education organization based out in Darmstadt, Germany. It is known for research contribution in the topics: Neutron & Finite element method. The organization has 17316 authors who have published 40619 publications receiving 937916 citations. The organization is also known as: Darmstadt University of Technology & University of Darmstadt.

Probabilistic Movement Primitives

Abstract: Movement Primitives (MP) are a well-established approach for representing modular and re-usable robot movement generators. Many state-of-the-art robot learning successes are based MPs, due to their compact representation of the inherently continuous and high dimensional robot movements. A major goal in robot learning is to combine multiple MPs as building blocks in a modular control architecture to solve complex tasks. To this effect, a MP representation has to allow for blending between motions, adapting to altered task variables, and co-activating multiple MPs in parallel. We present a probabilistic formulation of the MP concept that maintains a distribution over trajectories. Our probabilistic approach allows for the derivation of new operations which are essential for implementing all aforementioned properties in one framework. In order to use such a trajectory distribution for robot movement control, we analytically derive a stochastic feedback controller which reproduces the given trajectory distribution. We evaluate and compare our approach to existing methods on several simulated as well as real robot scenarios.

Diversity and abundance of Crenarchaeota in terrestrial habitats studied by 16S RNA surveys and real time PCR

Abstract: Novel phylogenetic lineages of as yet uncultivated crenarchaeota have been frequently detected in low to moderate-temperature, marine and terrestrial environments. In order to gain a more comprehensive view on the distribution and diversity of Crenarchaeota in moderate habitats, we have studied 18 different terrestrial and freshwater samples by 16S rDNA-based phylogenetic surveys. In seven different soil samples of diverse geographic areas in Europe (forest, grassland, ruderal) and Asia (permafrost, ruderal) as well as in two microbial mats, we have consistently found one particular lineage of crenarchaeota. The diversity of Crenarchaeota in freshwater sediments was considerably higher with respresentative 16S rDNA sequences distributed over four different groups within the moderate crenarchaeota. Systematic analysis of a 16S rDNA universal library from a sandy ecosystem containing 800 clones exclusively revealed the presence of the soil-specific crenarchaeotal cluster. With primers specific for non-thermophilic crenarchaeota we established a rapid method to quantify archaeal 16S rDNA in real time PCR. The relative abundance of crenarchaeotal rDNA was 0.5-3% in the bulk soil sample and only 0.16% in the rhizosphere of the sandy ecosystem. A nearby agricultural setting yielded a relative abundance of 0.17% crenarchaeotal rDNA. In total our data suggest that soil crenarchaeota represent a stable and specific component of the microbiota in terrestrial habitats.

Generation of 5-fs pulses and octave-spanning spectra directly from a Ti:sapphire laser

Abstract: Spectra extending from 600 to 1200 nm have been generated from a Kerr-lens mode-locked Ti:sapphire laser producing 5-fs pulses. Specially designed double-chirped mirror pairs provide broadband controlled dispersion, and a second intracavity focus in a glass plate provides additional spectral broadening. These spectra are to our knowledge the broadest ever generated directly from a laser oscillator.