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Search Publications by: Roger V. Bostelman (Assoc)

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Displaying 1 - 25 of 252

GRID-VIDEO MEASUREMENT METHOD FOR A-UGV'S SMALL OBSTACLE AVOIDANCE PERFORMANCE

November 3, 2022
Author(s)
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

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

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

Experiments to Test the A-UGV Capabilities Standard

December 8, 2021
Author(s)
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

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

INFORMATION MODEL FOR A-UGV PERFORMANCE MEASUREMENT STANDARD

November 19, 2020
Author(s)
Soocheol Yoon, Roger V. Bostelman
Automatic through autonomous - Unmanned Ground Vehicles (A-UGVs) have the potential to be applied over a wide range of manufacturing systems under industry 4.0 paradigm. In order to use A-UGVs efficiently in a manufacturing system, it is necessary to

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