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We introduce "microdeflectometry", a novel technique for measuring the microtopography of specular surfaces. The primary data is the local slope of the surface under test. Measuring the slope instead of the height implies high information…
Transparent objects are common in daily life. However, depth sensing for transparent objects remains a challenging problem. While learning-based methods can leverage shape priors to improve the sensing quality, the labor-intensive data…
Despite the utility of tactile information, tactile sensors have yet to be widely deployed in industrial robotics settings. Part of the challenge lies in identifying slip and other key events from the tactile data stream. In this paper, we…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
Surface quality is an extremely important issue for wood products in the market. Although quality inspection can be made by a human expert while manufacturing, this operation is prone to errors. One possible solution may be using standard…
Magnetic Particle Imaging (MPI) is a novel and versatile imaging modality developing towards human application. When up-scaling to human size, the sensitivity of the systems naturally drops as the coil sensitivity depends on the bore…
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Tactile perception is an increasingly popular gateway in human-machine interaction, yet universal design guidelines for tactile displays are still lacking, largely due to the absence of methods to measure sensibility across skin areas. In…
We present a novel topography scanning system developed to XLPE cable core monitoring. Modern measurement technology is utilized together with embedded high-performance computing to build a complete and detailed 3D surface map of the…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
Electroplated diamond abrasive tools require nickel coating on a metal surface for abrasive bonding and part functionality. The electroplated nickel-coated abrasive tool is expected to have a high-quality part performance by having a nickel…
Thin-film inspection on large-area substrates in coating manufacture remains a critical parameter to ensure product quality; however, extending the inspection process precisely over a large area presents major challenges, due to the…
This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…
Scanning probe microscopy (SPM) is traditionally based on very sharp tips, where the small size of the apex is critical for resolution. This paradigm is about to shift, since a novel generation of planar probes (color centers in diamond,…
In this paper, we propose an effective and easily deployable approach to detect the presence of stealthy sensor attacks in industrial control systems, where (legacy) control devices critically rely on accurate (and usually non-encrypted)…
The Scanning Tunneling Microscope is a powerful tool for studying the electronic properties at the atomic level, however it's relatively small scanning range and the fact that it can only operate on conducting samples prevents its…
We introduce a new class of vision-based sensor and associated algorithmic processes that combine visual imaging with high-resolution tactile sending, all in a uniform hardware and computational architecture. We demonstrate the sensor's…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…
This paper aims to evaluate mid-infrared (MIR) Optical Coherence Tomography (OCT) systems as a tool to penetrate different materials and detect sub-surface irregularities. This is useful for monitoring production processes, allowing…