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Author: Zeid Kootbally

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1. An Ontology Based Approach to Action Verification for Agile Manufacturing
Published: 1/10/2014
Authors: Zeid Kootbally, Stephen B. Balakirsky
Abstract: Many of today's robotic work cells are unable to detect when an action failure has occurred. This results in faulty products being sent down the line, and/or downtime for the cell as failures are detected and corrected. This article examines a novel ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=914818

2. A Simulated Sensor-based Approach for Kit Building Applications
Published: 12/20/2013
Authors: Zeid Kootbally, Craig I Schlenoff, Theodore J Weisman, Stephen B. Balakirsky, Thomas Rollin Kramer, Anthony Pietromartire
Abstract: Kit building or kitting is a process in which individually separate but related items are grouped, packaged, and supplied together as one unit (kit). This paper describes advances in developing sensing/control and parts detection technologies enablin ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=914962

3. Performance Assessments of Android-powered Military Applications Operating on Tactical Handheld Devices
Published: 8/1/2013
Authors: Brian A Weiss, Lisa Jean Fronczek, Emile L Morse, Zeid Kootbally, Craig I Schlenoff
Abstract: Transformative Apps (TransApps) is a DARPA-funded program whose goal is to develop a range of militarily-relevant software applications ("apps") to enhance the operational-effectiveness of military personnel on (and off) the battlefield. TransApps is ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=913756

4. Inferring Intention Through State Representations in Cooperative Human-Robot Environments
Published: 6/7/2013
Authors: Craig I Schlenoff, Anthony Pietromartire, Zeid Kootbally, Stephen B. Balakirsky, Thomas Rollin Kramer, Sebti Foufou
Abstract: In this paper, we describe a novel approach for inferring intention during cooperative human-robot activities through the representation and ordering of state information. State relationships are represented by a combination of spatial relationships ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=912328

5. Metrics and Test Methods for Industrial Kit Building
Series: NIST Interagency/Internal Report (NISTIR)
Report Number: 7942
Published: 6/5/2013
Authors: Stephen B. Balakirsky, Thomas Rollin Kramer, Zeid Kootbally, Anthony Pietromartire
Abstract: The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Industrial Robots sub-group is ta ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=912776

6. USARSim/ROS: A Combined Framework for Robotic Control and Simulation
Published: 6/20/2012
Authors: Stephen B. Balakirsky, Zeid Kootbally
Abstract: The Robot Operating System (ROS) has been steadily gaining popularity among robotics researchers as an open source framework for robot control. The Unified System for Automation and Robot Simulation (USARSim) has been used for many years by robotics ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=910918

7. Functional Requirements of a Model for Kitting Plans
Published: 3/22/2012
Authors: Stephen B. Balakirsky, Zeid Kootbally, Thomas Rollin Kramer, Rajmohan Madhavan, Craig I Schlenoff, Michael O Shneier
Abstract: Industrial assembly of manufactured products is often performed by first bringing parts together in a kit and then moving the kit to the assembly area where the parts are used to assemble products. Kitting, the process of building kits, has not yet b ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=910875

8. Fuzzy-Logic-Based Approach for Identifying Objects of Interest in the PRIDE Framework
Published: 8/21/2008
Authors: Zeid Kootbally, Craig I Schlenoff, Rajmohan Madhavan, Sebti Foufou
Abstract: On-road autonomous navigation of autonomous vehicles requires real--time motion planning in the presence of moving objects. Based on sensed data of moving objects in the environment and the situation it finds itself in, an autonomous vehicle has to p ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=824736

9. Performance Evaluation of Cost-Based vs. Fuzzy-Logic-Based Prediction Approaches in PRIDE
Published: 3/20/2008
Authors: Zeid Kootbally, Craig I Schlenoff, Rajmohan Madhavan, Sebti Foufou
Abstract: PRIDE (PRediction In Dynamic Environments) is a hierarchical multi-resolutional framework for moving object prediction. PRIDE incorporates multiple prediction algorithms into a single, unifying framework. To date, we have applied this framework to pr ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=824651

10. A Brief History of PRIDE
Published: 12/28/2007
Authors: Zeid Kootbally, Craig I Schlenoff, Rajmohan Madhavan
Abstract: PRIDE (PRediction In Dynamic Environments) is a framework that provides an autonomous vehicle's planning system with information that it needs to perform path planning in the presence of moving objects. The underlying concept is based upon a mult ...
http://www.nist.gov/manuscript-publication-search.cfm?pub_id=823623



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