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Search Publications by: Ya-Shian Li-Baboud (Fed)

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Displaying 1 - 25 of 75

Continuous Mobile Manipulator Performance Measurement Data

January 18, 2024
Author(s)
Omar Aboul-Enein, Henry Medeiros, Mili Shah, Ya-Shian Li-Baboud, Roger Bostelman, Ann Virts
Mobile manipulators, which are robotic systems integrating an automatic or autonomous mobile base with a manipulator, can potentially enhance automation in many industrial and unstructured environments. Namely, large-scale manufacturing processes, typical

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

July 28, 2023
Author(s)
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
Author(s)
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

Experimental demonstration of local area entanglement distribution between two distant nodes, coexisting with classical synchronization

May 12, 2023
Author(s)
Anouar Rahmouni, Paulina Kuo, Yicheng Shi, Jabir Marakkarakath Vadakkepurayil, Nijil Lal Cheriya Koyyottummal, Ivan Burenkov, Ya-Shian Li-Baboud, Mheni Merzouki, Abdella Battou, Sergey Polyakov, Oliver T. Slattery, Thomas Gerrits
We successfully demonstrated polarization entanglement distribution and classical time synchronization using a high-accuracy precision time protocol between two quantum nodes located 250 meters apart using a single fiber simultaneously carrying both

Sub-200 ps Quantum Network Node Synchronization over a 128 km Link White Rabbit Architecture

May 12, 2023
Author(s)
Wayne McKenzie, Ya-Shian Li-Baboud, Mark Morris, Gerald Baumgartner, Anouar Rahmouni, Paulina Kuo, Oliver T. Slattery, Bruce Crabill, Mheni Merzouki, Abdella Battou, Thomas Gerrits
We show sub-200 ps synchronization between quantum networks nodes that are separated by two 64 km deployed fiber links, providing a 128 km link architecture. The architecture employs one grandmaster and two boundary White Rabbit system clocks and shows

Towards a Markerless 3D Pose Estimation Tool

April 28, 2023
Author(s)
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

Synchronization and Coexistence in Quantum networks

March 27, 2023
Author(s)
Ivan Burenkov, Alexandra Semionova, FNU Hala, Thomas Gerrits, Anouar Rahmouni, DJ Anand, Ya-Shian Li-Baboud, Oliver T. Slattery, Abdella Battou, Sergey Polyakov
We investigate the coexistence of clock synchronization protocols with quantum signals in a common single-mode optical fiber. By measuring optical noise between 1500 nm to 1620 nm we demonstrate a potential for up to 100 quantum DWDM channels coexisting

Feasibility of using depth cameras for evaluating human - exoskeleton interaction

October 14, 2022
Author(s)
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

Design and Application of the Reconfigurable Mobile Manipulator Artifact (RMMA)

August 30, 2022
Author(s)
Roger V. Bostelman, Omar Aboul-Enein, Soocheol Yoon, Ya-Shian Li-Baboud
Robot arms onboard mobile bases, or mobile manipulators, are advancing and measurement of these systems is critical for robust safety and performance. As mobile manipulators flexibly fixture (i.e., do not fasten) to a worktable or object, they require

White Rabbit-assisted quantum network node synchronization with quantum channel coexistence

May 7, 2022
Author(s)
Thomas Gerrits, Ivan Burenkov, Ya-Shian Li-Baboud, Anouar Rahmouni, DJ Anand, FNU Hala, Oliver T. Slattery, Abdella Battou, Sergey Polyakov
We show that the Ethernet-based time transfer protocol 'White Rabbit' can synchronize two distant quantum-networked nodes to within 4 ps, enabling HOM interference at >90 % visibility using 17.6 ps FWHM single-photons coexisting with White Rabbit.

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

March 7, 2022
Author(s)
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

Foundational PNT Profile: Applying the Cyber Security Framework for the Responsible Use of Positioning, Navigation, and Timing (PNT) Services

February 11, 2021
Author(s)
Jim McCarthy, Karen Reczek, Michael Bartock, Ya-Shian Li-Baboud, Suzanne Lightman, Arthur Scholz, Theresa Suloway, Doug Northrip, Joesph Brule
The national and economic security of the United States (US) is dependent upon the reliable functioning of critical infrastructure. Positioning, Navigation and Timing (PNT) services are widely deployed throughout the critical infrastructure. A disruption

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 9, 2019
Author(s)
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

NIST Smart Grid Interoperability Test Tools

February 8, 2019
Author(s)
Dhananjay Anand, Kevin G. Brady, Yuyin Song, Cuong T. Nguyen, Kang B. Lee, Gerald J. FitzPatrick, Allen R. Goldstein, YaShian Li-Baboud
The National Institute of Standards and Technology (NIST), participated in the Universal Communication Architecture International User Group (UCAIug) Interoperability (IOP) Test Event on October 14-19, 2017 in New Orleans, Louisiana. The objective of the

A Calibration of Timing Accuracy in the NIST Cyber-Physical Systems Testbed

December 18, 2018
Author(s)
Marc A. Weiss, YaShian Li-Baboud, Dhananjay Anand, Kevin G. Brady, Paul A. Boynton, Cuong T. Nguyen, Martin J. Burns, Avi M. Gopstein
We propose a general methodology for assessing the time accuracy and uncertainties and report results from a project to calibrate timing in the NIST CPS and Smart Grid Testbeds. We measured clock synchronization accuracy and stability as well as latencies

A Calibration of Timing Accuracy in NIST Cyber-Physical Systems Testbed

October 3, 2018
Author(s)
Marc A. Weiss, Ya-Shian Li-Baboud, Dhananjay Anand, Paul A. Boynton, Kevin Gerard Brady, Martin Burns
We report results from a project to calibrate timing in the NIST CPS and Smart Grid Testbeds. We measured clock synchronization accuracy and stability as well as latencies for potential experiments in the testbeds. We determined calibrations of GPS

Measurement Tools for Substation Equipment: Testing the Interoperability of protocols for Time Transfer and Communication

October 3, 2018
Author(s)
Dhananjay Anand, YaShian Li-Baboud, Kevin G. Brady, Yuyin Song, Kang Lee, Cuong Nguyen, Gerald FitzPatrick, Allen R. Goldstein
A test harness was designed and developed at the National Institute of Standards and Technology (NIST) to study the interoperability of the Precision Timing Protocol-Power Profile (PTP) and other communication standards for substation automation