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Search Publications by: Elena Messina (Assoc)

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Displaying 76 - 100 of 149

Autonomy Measures for Robots

November 1, 2004
Author(s)
Hui-Min Huang, Elena R. Messina, R C. Wade, W English, B Novak, James S. Albus
Robots are becoming increasingly autonomous. Yet, there are no commonly accepted terms and measures of just how autonomous a robot is. An ad hoc working group has been formed to address these deficiencies, focusing on the unmanned vehicles domain. This

Achieving intelligent performance in autonomous on-road driving

October 28, 2004
Author(s)
Craig I. Schlenoff, John Evans, Tony Barbera, James S. Albus, Elena R. Messina
This paper describes NIST?s efforts in evaluating what it will take to achieve autonomous human-level driving skills in terms of time and funding. NIST has approached this problem from several perspectives: considering the current stateof- the-art in

Achieving Intelligent Performance in Autonomous On-Road Driving

October 1, 2004
Author(s)
Craig I. Schlenoff, J L. Evans, Anthony J. Barbera, James S. Albus, Elena R. Messina, Stephen B. Balakirsky
This paper describes NIST s efforts in evaluating what it will take to achieve autonomous human-level driving skills in terms of time and funding. NIST has approached this problem from several perspectives: considering the current state-of-the-art in

Experimental Studies of Integrated Cognitive Systems

August 26, 2004
Author(s)
P Langley, Elena R. Messina
In this paper, we examine the issues that arise in the experimental study of integrated cognitive systems. We review the reasons why such artifacts are dicult to evaluate, then consider some dependent measures that can be used to characterize their

Temporal Range Registration for Unmanned Ground and Aerial Vehicles

May 1, 2004
Author(s)
Rajmohan (. Madhavan, Tsai H. Hong, Elena R. Messina
An iterative temporal registration algorithm is presented in this paper1 for registering 3D range images obtained from unmanned ground and aerial vehicles traversing unstructured environments. We are primarily motivated by the development of 3D

Specifying Autonomy Levels for Unmanned Systems: Interim Report

April 16, 2004
Author(s)
Hui-Min Huang, James S. Albus, Elena R. Messina, R C. Wade, W English
The viability of Unmanned Systems as tools is increasingly recognized in many domains. As technology advances, the autonomy on board these systems also advances. In order to evaluate the systems in terms of their levels of autonomy, it is critical to have

Feature-Based Inspection and Control System

March 8, 2004
Author(s)
Thomas Kramer, John A. Horst, Hui-Min Huang, Elena R. Messina, Frederick M. Proctor, Harry A. Scott
This report describes an architecture and software system for automatically performing process planning and control code generation for cutting and inspecting prismatic piece parts. This "Feature-Based Inspection and Control System" (FBICS) consists of

Knowledge Engineering for Real Time Intelligent Control

December 31, 2003
Author(s)
Elena R. Messina, James S. Albus, Craig I. Schlenoff, J L. Evans
The key to real-time intelligent control lies in the knowledge models that the system contains. We argue that there needs to be a more rigorous approach to engineering the knowledge within intelligent controllers. Three main classes of knowledge are

Test Arenas and Performance Metrics for Urban Search and Rescue Robots

October 31, 2003
Author(s)
Adam S. Jacoff, Elena R. Messina, Brian Weiss, S Tadokoro, Y Nakagawa
In this paper, we discuss the development and proliferation of robot test arenas that provide tangible, realistic, and challenging environments for mobile robot researchers interested in urban search and rescue applications and other unstructured

Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot

October 1, 2003
Author(s)
H C. Pusey, A Fattah, S K. Agrawal, Elena R. Messina, Adam S. Jacoff
In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant

Design and Workspace Analysis of a 6-6 Cable-Suspended Parallel Robot

October 1, 2003
Author(s)
JJ Pusey, A Fattah, S K. Agrawal, Elena R. Messina, Adam S. Jacoff
In this paper, we study the design and workspaceof a 6-6 cable-suspended parallel robot. Theworkspace volume is characterized as the set ofpoints where the centroid of the moving platformcan reach with tensions in all suspension cables at a constant

Information-based Intelligent Unmanned Ground Vehicle Navigation

October 1, 2003
Author(s)
Rajmohan (. Madhavan, Elena R. Messina
Abstract?Sensor-centric navigation of Unmanned Ground Vehicles (UGVs) operating in rugged and expansive terrains requires the competency to evaluate the utility of sensor information such that it results in intelligent behavior of the vehicles. In this

Information-Based Intelligent Unmanned Ground Vehicle Navigation

October 1, 2003
Author(s)
Rajmohan Madhavan, Elena R. Messina
Sensor-centric navigation of Unmanned Ground Vehicles (UGVs) operating in rugged and expansive terrains requires the competency to evaluate the utility of sensor information such that it results in intelligent behavior of the vehicles. In this paper, we

Evolution of a Performance Metric for Urban Search and Rescue Robots (2003)

September 30, 2003
Author(s)
Adam S. Jacoff, Brian A. Weiss, Elena R. Messina
This paper discusses the advancement and proliferation of the Reference Test Arenas for Urban Search and Rescue Robots as representative search and rescue environments, which allow objective performance evaluation of mobile robot capabilities. These arenas

Intelligent Systems for Urban Search and Rescue: Challenges and Lessons Learned

September 1, 2003
Author(s)
Adam S. Jacoff, Elena R. Messina, Brian A. Weiss
Urban search and rescue (USAR) is one of the most dangerous and time-critical non-wartime activities. Researchers have been developing hardware and software to enable robots to perform some search and rescue functions so as to minimize the exposure of
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