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Publications

Search Publications by Roger V. Bostelman

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Displaying 1 - 25 of 117

Formalizing Performance Evaluation of Mobile Manipulator Robots using CTML

November 20, 2020
Author(s)
Omar Y. Aboul-Enein, Yaping Jing, Roger 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

Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications

August 11, 2020
Author(s)
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
Author(s)
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

Towards Standard Exoskeleton Test Methods for Load Handling

May 10, 2019
Author(s)
Roger V. Bostelman, YaShian Li-Baboud, Ann M. 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

A-UGV Capabilities - Recommended Guide to Autonomy Levels

February 27, 2019
Author(s)
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

Stochastic Search Methods for Mobile Manipulators

November 30, 2018
Author(s)
Amoako-Frimpong Samuel Yaw, Matthew Messina, Henry Medeiros, Jeremy A. Marvel, Roger V. Bostelman
Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios where both

Calibration of mobile manipulators using 2D positional features

April 24, 2018
Author(s)
Mili Shah, Roger V. Bostelman, Steven Legowik, Tsai H. Hong
Robotic manipulators are increasingly being attached to Automatic Ground Vehicles (AGVs) to aid in the effi-ciency of assembly for manufacturing systems. However, calibrating these mobile manipulators is difficult as the offset between the robotic manipulator

Multi-Robot Assembly Strategies and Metrics

January 26, 2018
Author(s)
Jeremy A. Marvel, Roger V. Bostelman, Joseph A. Falco
We present a survey of multi-robot assembly applications and methods, and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic

Model of Mobile Manipulator Performance Measurement using SysML

November 3, 2017
Author(s)
Roger V. Bostelman, Sebti Foufou, Tsai H. Hong, Mili Shah
Test methods for measuring safety and performance of mobile manipulators have yet to be developed. Therefore, potential mobile manipulator users cannot compare one system to another. Systems Modeling Language (SysML) is a general-purpose modeling language

Modeling Performance Measurement of Mobile Manipulators

August 4, 2017
Author(s)
Roger V. Bostelman, Sebti Foufou, Tsai H. Hong
Mobile manipulators are being marketed around the world as single manufacturer systems (i.e., robot arm and vehicle manufactured by the same organization) and as independent robot arms, from a different manufacturer and integrated with automatic guided

Mobile Manipulator Performance Measurement Data

June 27, 2017
Author(s)
Roger V. Bostelman, YaShian Li-Baboud, Steven Legowik, Tsai H. Hong, Sebti Foufou
The National Institute of Standards and Technology, Intelligent Systems Division has collected data detailing the performance measurement of a mobile manipulator, i.e., an automatic guided vehicle (AGV) with onboard robot arm from two different

Dynamic Metrology and ASTM E57.02 Dynamic Measurement Standard

May 2, 2017
Author(s)
Roger V. Bostelman, Tsai H. Hong, Steven A. Legowik, Mili Shah
Optical tracking systems are used in a wide range of fields. The market for optical tracking systems has dramatically increased over the past several years to $1.2B revenue in 2014. This paper describes the new ASTM E3064 Standard test method procedures

Mobile Manipulator Stability Measurements

April 18, 2017
Author(s)
Roger V. Bostelman, Tsai H. Hong
Mobile manipulators are being marketed for material handling and other tasks. Manufacturers suggest the stability of the vehicle best when the onboard loading tapers the centroid to the center of the wheelbase as the payload height increases. Experiments

Guideline for Automatic Guided Vehicle Calibration

March 2, 2017
Author(s)
Steven Legowik, Roger V. Bostelman, Tsai H. Hong, Elena R. Messina
This report documents the steps followed to calibrate an all-wheel steer Automatic Guided Vehicle (AGV) for optimal performance. Proper calibration of the steering and drive parameters of an AGV are critical for accurate dead-reckoning navigation, and

Sensor Calibration and Registration for Mobile Manipulators

November 17, 2016
Author(s)
Steven Legowik, Roger V. Bostelman, Tsai H. Hong
This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver[1] is used to compute the position of the robot arm relative

Review of Research for Docking Automatic Guided Vehicles and Mobile Robots

October 13, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong
This survey provides a literature review of docking research, an area that has relatively few research articles as compared to generic automatic guided vehicle (AGV) or mobile robot research. Docking refers to the arrival and act of a vehicle stopping at a

Comparison of Registration Methods for Mobile Manipulators

September 16, 2016
Author(s)
Roger V. Bostelman, Roger Eastman, Tsai H. Hong, Omar Y. Aboul-Enein, Steven A. Legowik, Sebti Foufou
Mobile manipulators can be effective, efficient and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece

Dynamic Metrology and ASTM E57.02 Dynamic Measurement Standard

July 29, 2016
Author(s)
Roger V. Bostelman, Tsai Hong Hong, Mili Shah, Steven Legowik
Optical tracking systems are used in a wide range of fields. The market for optical tracking systems has dramatically increased over the past several years to $1.2B revenue in 2014. This paper describes the new ASTM E3064 Standard test method procedures

Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks

July 13, 2016
Author(s)
Roger V. Bostelman, Sebti Foufou, Steven A. Legowik, Tsai Hong Hong
Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performances of mobile manipulators, although at a much higher

Survey of Research for Performance Measurement of Mobile Manipulators

June 30, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong, Jeremy A. Marvel
This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles, as com-pared to other mobile manipulator research areas. The survey begins with a

Recommendations for Autonomous Industrial Vehicle Performance Standards

May 31, 2016
Author(s)
Roger V. Bostelman
A workshop was held at the IEEE International Conference on Robotics and Automation, called: "Autonomous Industrial Vehicles: From the Laboratory to the Factory Floor." Nine research papers were presented followed by a discussion session summarized in this