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Search Publications by: Jeremy Marvel (Fed)

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Displaying 1 - 25 of 70

Augmented Reality Interface for Robot-Sensor Coordinate Registration

August 4, 2023
Vinh Nguyen, Xiaofeng Liu, Jeremy Marvel
Accurate registration of Cartesian coordinate systems is vital to facilitate advanced metrological solutions of industrial robots in production environments. Conducting coordinate registration between industrial robots and their metrological systems

Evaluation of Data-Driven Models in Human-Robot Load-Sharing

September 30, 2022
Vinh Nguyen, Jeremy Marvel
Human-robot load-sharing is a potential application for human-robot collaborative systems in production environments. However, knowledge of the appropriate data-driven models for this application type is limited due to a lack of physical real-world data

Using Full Pose Measurement for Serial Robot Calibration

April 6, 2022
Marek Franaszek, Jeremy Marvel
To ensure smooth robot operations, parameters of its kinematic model and a registration transformation between robot base and world coordinate frame must be determined. Both tasks require data acquired by external sensors that can measure either 3D

Design and Testing of Wireless Motion Gauges for Two Collaborative Robot Arms

March 11, 2022
Yong Sik Kim, Nicholas G. Dagalakis, Jeremy Marvel, Geraldine Cheok
Most existing robot performance evaluation methods focus on single robotic arms performing independent motion tasks. In this paper, a motion gauge is proposed to evaluate the symmetrical coordinated-motion performance between two robotic arms. For this

Improving Automated Insertion Task in Robotics by Reducing Registration Error

April 2, 2021
Geraldine S. Cheok, Marek Franaszek, Karl Van Wyk, Jeremy Marvel
A peg-in-hole operation is representative of common tasks performed in assembly lines by robots. It requires registration of the coordinate frame where a part resides to the robot frame. Poor registration causes misalignment of the peg and the hole which

Technology Readiness Levels for Randomized Bin Picking, Performance Metrics for Intelligent Systems (PerMIS) 2012 Workshop, Special Session

February 8, 2021
Jeremy Marvel, Roger D. Eastman, Geraldine S. Cheok, Kamel S. Saidi, Tsai H. Hong, Elena R. Messina, Bob Bollinger, Paul Evans, Joyce Guthrie, Eric Hershberger, Carlos Martinez, Karen McNamara, James Wells
The special session on Technology Readiness Levels (TRLs) for Randomized Bin Picking was held during the morning session of the 2012 Performance Metrics for Intelligent Systems (PerMIS) workshop, 21 March, 2012. The stated objective of the special session

Workshop Report: Test Methods and Metrics for Effective HRI in Real-World Human-Robot Teams, ACM/IEEE Human-Robot Interaction Conference, 2020 (Virtual)

February 8, 2021
Shelly Bagchi, Jeremy Marvel, Megan L. Zimmerman, Murat Aksu, Brian Antonishek
This report details the second annual, full-day workshop exploring the metrology necessary for repeatably and independently assessing the performance of robotic systems in real-world human-robot interaction (HRI) scenarios. This workshop continues the

Workshop Report: Test Methods and Metrics for Effective HRI in Collaborative Human-Robot Teams, ACM/IEEE Human-Robot Interaction Conference, 2019

December 28, 2020
Shelly Bagchi, Murat Aksu, Megan L. Zimmerman, Jeremy Marvel, Brian Antonishek
Verified and validated test methods, being necessary to measure the performance of complex systems, are important tools for driving innovation, benchmarking and improving performance, and establishing trust in collaborative human-robot teams. This full-day

Human-Supervised Semi-Autonomous Mobile Manipulators for Safely and Efficiently Executing Machine Tending Tasks

October 16, 2020
Sarah Al-Hussaini, Shantanu Thakar, Hyojeong Kim, Pradeep Rajendran, Brual C. Shah, Alec Kanyuck, Jeremy Marvel, Satyandra K. Gupta
Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator for such

Improving 3D Vision-Robot Registration for Assembly Tasks

April 3, 2020
Marek Franaszek, Geraldine S. Cheok, Karl Van Wyk, Jeremy A. Marvel
Quality registration between the coordinate frames of a perception system and a robot is important for the efficient operation of autonomous systems in vision-guided assembly lines. Rigid-body registration, which is based on the measurement of

Helping Robots Stay on Target

December 2, 2019
Elena R. Messina, Jeremy Marvel
For decades, many manufacturers have counted on robots to tirelessly produce parts of predictable quality. One of the key attributes of robots is their repeatability, which means that their tool tip will return to the same pre-programmed location with a

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

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

Stochastic Search Methods for Mobile Manipulators

November 30, 2018
Amoako-Frimpong Samuel Yaw, Matthew Messina, Henry Medeiros, Jeremy 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

State-of-the-Art in Human-Robot Interaction

June 7, 2018
Jeremy Marvel, Megan Zimmerman, Shelly Bagchi
In this chapter, we will discuss the applications of HRI and HMI in industrial robotics, and will discuss topics such as collaborative robot safety, advances in HMI designs and development paradigms, and the current state of HRI. Throughout the following