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Search Publications by: Omar Aboul-Enein (Fed)

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Displaying 1 - 9 of 9

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

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

October 27, 2022
Author(s)
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

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

Formalizing Performance Evaluation of Mobile Manipulator Robots using CTML

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

Comparison of Registration Methods for Mobile Manipulators

September 15, 2016
Author(s)
Roger V. Bostelman, Roger Eastman, Tsai H. Hong, Omar 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