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NIST Authors in Bold

Displaying 26 - 50 of 312

Runtime Verification of the ARIAC Competition: Can a Robot be Agile and Safe at the Same Time?

November 27, 2020
Angelo Ferrando, Zeid Kootbally, Pavlo Piliptchak, Rafael Cardoso, Craig I. Schlenoff, Michael Fisher
ARIAC (Agile Robotics for Industrial Automation Competition) is a robotic competition which aims to advance robotic agility in industry. Participants in this competition are required to implement a robot control system to overcome agility challenges in a

Formalizing Performance Evaluation of Mobile Manipulator Robots using CTML

November 20, 2020
Omar Aboul-Enein, Yaping Jing, Roger V. Bostelman
Computation Tree Measurement Language (CTML) is a newly developed formal language that offers simultaneous model verification and performance evaluation measures. While the theory behind CTML has been established, the language has yet to be tested on a

Reliable, High-Performance Wireless Systems for Factory Automation

September 18, 2020
Kang B. Lee, Richard Candell, Hans-Peter Bernhard, Dave Cavalcanti, Zhibo Pang, Inaki Val
Wireless has emerged as an enabling technology to improve operational flexibility and efficiency for factory automation. The latest wireless technology, standardization activities, and research issues were explored and discussed through the examination of

Continued Growth of IEEE RAS Standards Efforts

September 10, 2020
Craig I. Schlenoff
This has been a very eventful quarter for standardization efforts within the IEEE Robotics and Automation Society (RAS). Even the virtual nature of the 2020 International Conference on Robotics and Automation (ICRA) could not slow down the momentum of the

Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications

August 11, 2020
Roger V. Bostelman, YaShian Li-Baboud, Soocheol Yoon, Mili Shah, Omar Y. Aboul-Enein
Advanced mobile manipulators offer the manufacturing industry the potential of a highly flexible system to perform precision assembly tasks where the environment and the system are subject to uncertainties. Developing precision performance measurement

Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User

August 4, 2020
Roger V. Bostelman, YaShian Li-Baboud, Karl Van Wyk, Mili Shah
Exoskeletons are now being marketed by several manufacturers and yet there are currently no defined methods to measure the exoskeleton fit to the user. Proper exoskeleton fit to user impacts the safety of the human robot interaction. In this paper, we

Benchmarking Protocols for Evaluating Grasp Strength, Grasp Cycle Time, Finger Strength, and Finger Repeatability of Robot End-effectors

April 1, 2020
Joseph A. Falco, Daniel Hemphill, Kenneth E. Kimble, Elena R. Messina, Adam Norton, Rafael F. Ropelato, Holly A. Yanco
This paper describes a set of metrics and supporting benchmarking protocols for determining the performance characteristics of robot end-effectors. In the short-term, these tools are proving useful as a common ground for assessing and comparing end

Benchmarking Protocols for Evaluating Small Parts Robotic Assembly Systems

April 1, 2020
Kenneth Kimble, Joseph Falco, Elena R. Messina, Karl Van Wyk , Yu Sun, Mizuho Shibata, Wataru Uemura, Yasuyoshi Yokokohji
This paper presents a set of performance metrics, test methods, and associated artifacts to help progress the development and deployment of robotic assembly systems. The designs for three task board artifacts that replicate small part insertions and

Your Mileage May Vary

October 30, 2019
Elena R. Messina
Requiring and rethinking reproducibility will foster faster progress in robotics.

Efficiently Improving and Quantifying Robot Accuracy In Situ

August 20, 2019
Karl Van Wyk, Joseph Falco, Geraldine Cheok
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good mechanical

Reducing Localization Error of Vision-Guided Industrial Robots

June 18, 2019
Marek Franaszek, Geraldine S. Cheok, Jeremy A. Marvel
In many manufacturing applications, such as automated drilling or inspection of large parts, accurate knowledge of both position and orientation is critical. In this paper, a method for reducing robot end-effector position and orientation error is

Towards Standard Exoskeleton Test Methods for Load Handling

May 9, 2019
Roger V. Bostelman, Ya-Shian Li-Baboud, Ann Virts, Soocheol Yoon, Mili Shah
Exoskeletons are now being marketed by several manufacturers and yet there are currently no standard test methods to compare exoskeletons to task. The National Institute of Standards and Technology (NIST) has been a key contributor to the formation of a

ASTM F48 Formation and Standards for Industrial Exoskeletons and Exosuits

March 19, 2019
William G. Billotte, Brian D. Lowe, Donald R. Peterson
Established in the fall of 2017, ASTM F48 is a technical committee that is addressing the need for standards related to wearable devices that augment, enable, assist, or enhance motion, posture, or physical activity – commonly referred to as “exoskeletons”

A-UGV Capabilities - Recommended Guide to Autonomy Levels

February 26, 2019
Roger V. Bostelman, Elena R. Messina
A-UGV has been defined by ASTM Committee F45 as an "Automatic, Automated, or Autonomous vehicle that operates while in contact with the ground without a human operator." However, what do the levels actually mean to manufacturers, users, or especially

Improving Rigid-Body Registration Based on Points Affected by Bias and Noise

December 31, 2018
Marek Franaszek, Geraldine S. Cheok
The task of registering two coordinate frames is frequently accomplished by measuring the same set of points in both frames. Noise and possible bias in the measured locations degrade the quality of registration. It was shown that the performance of

Empowering Robotics in Manufacturing Through Metrology

December 3, 2018
Jeremy A. Marvel, Elena R. Messina
This paper discusses the challenges and opportunities surrounding robotics, as faced by the manufacturing industry. The means by which metrology can address these challenges and opportunities are also discussed. Details are given regarding NIST's Robotic


November 14, 2018
Murat Aksu, John L. Michaloski, Frederick M. Proctor
Measuring the agility performance of the industrial robots as they are performing in unstructured and dynamic environments is a thought-provoking research topic. This paper investigates the development of industrial robotic simulation algorithms for the

Performance Metrics and Test Methods for Robotic Hands (Draft)

October 31, 2018
Joseph A. Falco, Karl Van Wyk, Elena R. Messina
Increasing the flexibility and general-purpose applicability of robots is a longstanding goal. Several avenues of research are addressing these goals, ranging from integration of multiple sensors to allow robots to perceive their surroundings and adapt

Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols and Metrics

October 15, 2018
Jeffrey Mahler, Rob Platt, Alberto Rodriguez, Matei Ciocarlie, Aaron Dollar, Renaud Detry, Maximo Roa, Holly A. Yanco, Adam Norton, Joseph Falco, Karl Van Wyk, Elena R. Messina, Jurgen Leitner, Oliver Brock, Odhner Lael, Andrey Kurenkov, Matthew Matl, Ken Goldberg
Automated grasping has a long history of research that is increasing due to interest from industry. One Grand Challenge for robotics is Universal Picking: the ability to robustly grasp a broad variety of objects in diverse environments for applications

Calibration and Analysis of Tactile Sensors as Slip Detectors

September 13, 2018
Karl Van Wyk, Joseph A. Falco
The existence of tactile afferents sensitive to slip-related mechanical transients in the human hand augments the robustness of grasping through secondary force modulation protocols. Despite this knowledge and the fact that tactile-based slip detection has
Displaying 26 - 50 of 312