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Macroscopic surface shapes, such as bumps and dents, as well as microscopic surface features, like texture, can be identified solely through lateral resistive force cues when a stylus moves across them. This perceptual phenomenon has been…
Surface inspection systems are an important application domain for computer vision, as they are used for defect detection and classification in the manufacturing industry. Existing systems use hand-crafted features which require extensive…
The perception of an object's surface is important for robotic applications enabling robust object manipulation. The level of accuracy in such a representation affects the outcome of the action planning, especially during tasks that require…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…
Optical inspection of 1191 silicon micro-strip sensors was performed using a custom made optical inspection setup, employing a machine-learning based approach for the defect analysis and subsequent quality assurance. Furthermore,…
The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the world's largest single-dish radio telescope. Its large reflecting surface achieves unprecedented sensitivity but is prone to damage, such as dents and holes, caused by…
Advancements in surface haptics technology have given rise to the development of interactive applications displaying tactile content on touch surfaces such as images, signs, diagrams, plots, charts, graphs, maps, networks, and tables. In…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
Tactile sensing is one of the modalities humans rely on heavily to perceive the world. Working with vision, this modality refines local geometry structure, measures deformation at the contact area, and indicates the hand-object contact…
Tactile texture refers to the tangible feel of a surface and visual texture refers to see the shape or contents of the image. In the image processing, the texture can be defined as a function of spatial variation of the brightness intensity…
Finger-tip tactile sensors are increasingly used for robotic sensing to establish stable grasps and to infer object properties. Promising performance has been shown in a number of works for inferring adjectives that describe the object, but…
The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…
Tactile sensing is inherently contact based. To use tactile data, robots need to make contact with the surface of an object. This is inefficient in applications where an agent needs to make a decision between multiple alternatives that…
A well-known approach for identifying defect-prone parts of software in order to focus testing is to use different kinds of product metrics such as size or complexity. Although this approach has been evaluated in many contexts, the question…
More than a thousand 8" silicon sensors will be visually inspected to look for anomalies on their surface during the quality control preceding assembly into the High-Granularity Calorimeter for the CMS experiment at CERN. A deep…
In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the…
Circulatory system abnormalities might be an indicator of diseases or tissue damage. Early detection of vascular abnormalities might have an important role during treatment and also raise the patient's awarenes. Current detection methods…
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned…
Sliding motion between two rough solids under light normal loading involves myriad micro-impacts between antagonist micro-asperities. Those micro-impacts are at the origin of many emerging macroscopic phenomena, including the friction…
This paper presents an approach for understanding the soft tissue behavior in surface contact with a probe scanning the tissue. The application domain is confocal microlaparoscopy, mostly used for imaging the outer surface of the organs in…