Prof. Hubert J. Roth Profile

Prof. Hubert J. Roth

at Univ Siegen

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Proceedings Article | 22 May 2009 Paper

A novel confocal line scanning sensor

Sirichanok Chanbai, Georg Wiora, Mark Weber, Hubert Roth

Proceedings Volume 7378, 737822 (2009) https://doi.org/10.1117/12.821205

KEYWORDS: Confocal microscopy, Sensors, Charge-coupled devices, Data acquisition, Curium, Prototyping, Objectives, Mirrors, Radium, Light sources

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Optical methods, including confocal microscopes, are widely used for measurements of surface topography. The knowledge of surface morphology and roughness parameters is crucial for many applications, i.e. in industrial and automotive environment, in tribology, wear and functionality prediction. However, confocal microscopy has a limited field of view. A time consuming stitching process is required for extending to long profile lines measurement. Therefore, in this paper we present a novel concept of a Confocal Line Scanning Sensor (CLSS) to cover theoretically infinite profile lengths. The new technique is proposed with no moving parts required for axial scanning, and it has a simpler setup than those of Chromatic Confocal Sensor (CCS). The idea is to produce a stack of focal points on an inclined plane covering a certain axial measurement range. Therefore, by scanning the stack of focal points in lateral direction we can realize a long profile line. By doing that we expect to achieve shorter scanning time, while providing high lateral and axial resolution by using a true confocal principle. A long profile line of a few ten millimeters with a lateral resolution in sub-micrometer range and an axial resolution in tens of nanometers can be expected. Moreover, this concept is easily extensible to an areal measurement. Among other key components, a new design of the pinhole mask has been developed. We design it to produce an inclined focal line with optimum optical parameters. Optimization of the pinhole design fulfills two objectives; minimizing its size by allowing optimal reflected-light intensity, and minimizing crosstalk between nearby pinholes. Further detail of the pinhole design is beyond a scope of this paper. In this paper an overview of the new concept is presented, accompanied by validation of first experimental results.

Proceedings Article | 30 September 2003 Paper

3D vision based on PMD-technology for mobile robots

Hubert Roth, Rudolf Schwarte, Niramon Ruangpayoongsak, Joerg Kuhle, Martin Albrecht, Markus Grothof, Holger Hess

Proceedings Volume 5083, (2003) https://doi.org/10.1117/12.497642

KEYWORDS: Sensors, Robots, Cameras, Distance measurement, Ultrasonics, Fuzzy logic, Modulation, Signal detection, Environmental sensing, Photonic devices

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A series of micro-robots (MERLIN: Mobile Experimental Robots for Locomotion and Intelligent Navigation) has been designed and implemented for a broad spectrum of indoor and outdoor tasks on basis of standardized functional modules like sensors, actuators, communication by radio link. The sensors onboard on the MERLIN robot can be divided into two categories: internal sensors for low-level control and for measuring the state of the robot and external sensors for obstacle detection, modeling of the environment and position estimation and navigation of the robot in a global co-ordinate system. The special emphasis of this paper is to describe the capabilities of MERLIN for obstacle detection, targets detection and for distance measurement. Besides ultrasonic sensors a new camera based on PMD-technology is used. This Photonic Mixer Device (PMD) represents a new electro-optic device that provides a smart interface between the world of incoherent optical signals and the world of their electronic signal processing. This PMD-technology directly enables 3D-imaging by means of the time-of-flight (TOF) principle. It offers an extremely high potential for new solutions in the robotics application field. The PMD-Technology opens up amazing new perspectives for obstacle detection systems, target acquisition as well as mapping of unknown environments.

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