Automated Inspection System for Large Underground Concrete Pipes Under Operating Conditions. - Norbert Elkmann; Bert Reimann; Erik Schulenburg; Heiko Althoff (FSR, 2005)

Fully Automatic Inspection Systems for Large Underground Concrete Pipes Partially Filled with Wastewater. - Norbert Elkmann; Sven Kutzner; José F. Saenz; Bert Reimann; Falko Schultke; Heiko Althoff (IROS, 2006)

Bionic Tactile Sensor for Near-Range Search, Localisation and Material Classification. - Volker Dürr; André Frank Krause; Matthias Neitzel; Oliver Lange; Bert Reimann (AMS, 2007)

Development of Fully Automatic Inspection Systems for Large Underground Concrete Pipes Partially Filled with Wastewater. - Norbert Elkmann; Heiko Althoff; Sven Kutzner; Thomas Stürze; José F. Saenz; Bert Reimann (ICRA, 2007)