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Search Publications by: Ann Virts (Fed)

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Displaying 1 - 22 of 22

Design and Implementation of a Closed-Loop Mobile Manipulator Control System

July 28, 2023
Omar Aboul-Enein, Ya-Shian Li-Baboud, Roger Bostelman, Ann Virts
Mobile manipulators, which integrate a robotic manipulator with an automatic--autonomous mobile base, have the potential to augment automation by combining the capability of navigation with complex manipulation to support unstructured and dynamic

Evaluation Methods and Measurement Challenges for Industrial Exoskeletons

June 15, 2023
Ya-Shian Li-Baboud, Ann Virts, Roger Bostelman, Soocheol Yoon, Amaan Rahman, Lucia Rhode, Nishat Ahmed, Mili Shah
In recent years, exoskeleton test methods for industrial exoskeletons have evolved to include simulated laboratory and field environments. Physiological, kinematic and kinetic metrics, as well as subjective surveys are used to evaluate exoskeleton

Towards a Markerless 3D Pose Estimation Tool

April 28, 2023
Amaan Rahman, Mili Shah, Ya-Shian Li-Baboud, Ann Virts
Evaluation of exoskeleton performance benefts from standards to verify proper functionality and safety. Currently, there are limited evaluation methods for exoskeletons. Measurement methods to evaluate human-exoskeleton kinematics include optical tracking


November 3, 2022
Soocheol Yoon, Roger V. Bostelman, Ann Virts
With the advancement of factory logistics into the autonomous era comes the need to validate the safety and performance characteristics of Autonomous-Unmanned Ground Vehicles (A-UGVs) working in these application spaces ASTM Committee F45 has been

Workshop Report: Standards and Performance Metrics for On-Road Autonomous Vehicles

October 27, 2022
Craig I. Schlenoff, Suzanne Lightman, Vinh Nguyen, Prem Rachakonda, Tao Zhang, Omar Aboul-Enein, Nicholas Barbosa, C Cameron Miller, Daniel Sawyer, Ann Virts
On-road autonomous vehicles are expected to significantly influence key aspects of everyday life. However, these complex systems can pose a safety risk in the event of unexpected system performance. Therefore, NIST held the Standards and Performance

Feasibility of using depth cameras for evaluating human - exoskeleton interaction

October 14, 2022
Soocheol Yoon, Ya-Shian Li-Baboud, Ann Virts, Roger V. Bostelman, Milli Shah
With increased use of exoskeletons in a variety of fields such as industry, military, and health care, there is a need for measurement standards to understand the effects of exoskeletons on human motion. Optical tracking systems are the current gold

A Peg-in-Hole Test and Analysis Method for Exoskeleton Evaluation

March 7, 2022
Ann Virts, Roger V. Bostelman, Soocheol Yoon, Ya-Shian Li-Baboud, Mili Shah
Work-place MusculoSkeletal Disorders (WMSD) continue to be the most significant source of industrial work force injuries. Exoskeletons are emerging as personal protective equipment (PPE) for sustained, repetitive, or intensive industrial tasks. This

Experiments to Test the A-UGV Capabilities Standard

December 8, 2021
Soocheol Yoon, Roger V. Bostelman, Ann Virts
Automatic, Automated, or Autonomous - Unmanned Ground Vehicles (A-UGVs), as referred to by ASTM International Committee F45, are industrial vehicles that have capabilities to navigate, dock, avoid obstacles, and interact with other vehicles and systems all

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

Applying Measurement Science to Evaluate Ground, Aerial, and Aquatic Robots

October 12, 2017
Adam S. Jacoff, Rick Candell, Anthony Downs, Hui-Min Huang, Kenneth Kimble, Kamel Saidi, Ann Virts
This paper reports on three measurement science field exercises for evaluating ground, aerial, and aquatic robots. These events, conducted from February to June 2017, were conducted in close co-ordination with the responder community, standards

Advancing the State of Urban Search and Rescue Robotics through the RoboCupRescue Robot League Competition

July 16, 2012
Raymond K. Sheh, Adam S. Jacoff, Ann M. Virts, Tetsuya Kimura, Johannes Pellenz, Soren Schwertfeger, Jackrit Suthakorn
The RoboCupRescue Robot League is an international competition that has grown to be an effective driver for the dissemination of solutions to the challenges posed by Urban Search and Rescue Robotics and accelerated the development of the performance

Using Competitions to Advance the Development of Standard Test Methods for Response Robots

May 17, 2012
Adam S. Jacoff, Raymond Sheh, Ann Virts, Tetsuya Kimura, Johannes Pellenz, Soren Schwertfeger, Jackrit Suthakorn
Competitions are an effective aid to the development and dissemination of standard test methods, especially in rapidly developing, highly varied fields such as Urban Search and Rescue robotics. By exposing the development process to highly developmental

Emergency Response Robot Evaluation Exercise

March 22, 2012
Adam S. Jacoff, Hui-Min Huang, Ann Virts, Anthony Downs, Raymond Sheh
More than 60 robot test methods are being developed by a team lead by the National Institute of Standards and Technology (NIST) with the sponsorship of U.S. Department of Homeland Security (DHS). These test methods are being specified and standardized

Comprehensive Standard Test Suites for the Performance Evaluation of Mobile Robots

January 31, 2011
Adam S. Jacoff, Hui-Min Huang, Elena R. Messina, Ann M. Virts, Anthony J. Downs
Robots must possess certain sets of capabilities to suit critical operations such as emergency responses. In the mobility function, ground robots must be able to handle many types of obstacles and terrain complexities, including traversing and negotiating

Performance Measurements for Evaluating Static and Dynamic Multiple Human Detection and Tracking Systems in Unstructured Environments

June 30, 2010
Bodt Bodt, Richard Camden, Harry A. Scott, Adam S. Jacoff, Tsai H. Hong, Tommy Chang, Richard J. Norcross, Anthony Downs, Ann Virts
The Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance (CTA) conducted an assessment and evaluation of multiple algorithms for real-time detection of pedestrians in Laser Detection and Ranging (LADAR) and video sensor data taken from

Evaluating Speech Translation Systems: Applying SCORE to TRANSTAC Technologies

September 29, 2009
Craig I. Schlenoff, Brian A. Weiss, Michelle P. Steves, Gregory A. Sanders, Frederick M. Proctor, Ann M. Virts
The Spoken Language Communication and Translation System for Tactical Use (TRANSTAC) program is a Defense Advanced Research Projects Agency (DARPA) advanced technology research and development program. The goal of the TRANSTAC program is to demonstrate

Stepfield Pallets: Repeatable Terrain for Evaluating Robot Mobility

December 31, 2008
Adam S. Jacoff, Anthony J. Downs, Ann M. Virts, Elena R. Messina
Stepfield pallets are a fabricated and repeatable terrain for evaluating robot mobility. They were developed to provide emergency responders and robot developers a common mobility challenge that could be easily replicated to capture statistically

Test Methods and Knowledge Representation for Urban Search and Rescue Robots

August 17, 2007
Craig I. Schlenoff, Elena R. Messina, Alan M. Lytle, Brian A. Weiss, Ann M. Virts
In this paper, we described an effort in which NIST is working with FEMA Task Force members to define performance requirements and standard test methods as well as to assess the deployment potential of robots applied to the USAR domain. This process has

Technology Evaluations and Performance Metrics for Soldier-Worn Sensors for ASSIST

January 31, 2007
Brian Weiss, Craig I. Schlenoff, Michael O. Shneier, Ann Virts
The DARPA-funded Advanced Soldier Sensor Information Systems and Technology (ASSIST) project is aimed at developing soldier-worn sensors to increase a soldier s battlefield awareness during humanitarian and combat missions, provide them with data

Overview of the First Advanced Technology Evaluations for ASSIST

January 31, 2006
Craig I. Schlenoff, Brian A. Weiss, Michelle P. Steves, Ann M. Virts, Michael O. Shneier, Michael Linegang
ASSIST (Advanced Soldier Sensor Information Systems Technology) is a DARPA-funded effort whose goal is to exploit soldier-worn sensors to augment the soldier s recall and reporting capability to enhance situation understanding. ASSIST is separated into two