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Search Publications by: Roger V. Bostelman (Assoc)

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Displaying 26 - 50 of 126

Sensor Calibration and Registration for Mobile Manipulators

November 16, 2016
Author(s)
Steven Legowik, Roger V. Bostelman, Tsai H. Hong
This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver[1] is used to compute the position of the robot arm relative

Review of Research for Docking Automatic Guided Vehicles and Mobile Robots

October 13, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong
This survey provides a literature review of docking research, an area that has relatively few research articles as compared to generic automatic guided vehicle (AGV) or mobile robot research. Docking refers to the arrival and act of a vehicle stopping at a

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

Dynamic Metrology and ASTM E57.02 Dynamic Measurement Standard

July 28, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong, Mili Shah, Steven Legowik
Optical tracking systems are used in a wide range of fields. The market for optical tracking systems has dramatically increased over the past several years to $1.2B revenue in 2014. This paper describes the new ASTM E3064 Standard test method procedures

Mobile Manipulator Performance Measurement Towards Manufacturing Assembly Tasks

July 12, 2016
Author(s)
Roger V. Bostelman, Sebti Foufou, Steven A. Legowik, Tsai H. Hong
Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performances of mobile manipulators, although at a much higher

Survey of Research for Performance Measurement of Mobile Manipulators

June 30, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong, Jeremy A. Marvel
This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles, as com-pared to other mobile manipulator research areas. The survey begins with a

Recommendations for Autonomous Industrial Vehicle Performance Standards

May 31, 2016
Author(s)
Roger V. Bostelman
A workshop was held at the IEEE International Conference on Robotics and Automation, called: "Autonomous Industrial Vehicles: From the Laboratory to the Factory Floor." Nine research papers were presented followed by a discussion session summarized in this

Test Methods for the Evaluation of Manufacturing Mobile Manipulator Safety

April 20, 2016
Author(s)
Jeremy A. Marvel, Roger V. Bostelman
A test methodology for evaluating the safety of mobile manipulators (robot arms mounted on mobile bases) is presented. This methodology addresses the safety concerns relevant to modern, agile manufacturing practices in which mobile manipulators are

Intelligence Level Performance Standards Research for Autonomous Vehicles

October 1, 2015
Author(s)
Roger V. Bostelman, Tsai H. Hong, Elena R. Messina
U.S. and European safety standards have evolved to protect workers near Automated Guided Vehicles (AGV's). However, only recently performance standards have begun development for AGV's and mobile robots. Lessons can be learned for developing such a

Automated Guided Vehicle Bumper Test Method Development

June 2, 2015
Author(s)
Richard J. Norcross, Roger V. Bostelman, Joseph A. Falco
The National Institute of Standards and Technology (NIST) is developing test methods for contact bumpers used on Automated Guided Vehicles (AGVs) as basis for safety standards. This paper describes proposed test methods, force measurements for contact

Navigation Performance Evaluation for Automated Guided Vehicles

May 12, 2015
Author(s)
Roger V. Bostelman, Tsai Hong Hong, Geraldine S. Cheok
Automatic guided vehicles (AGVs), an industrial form of mobile robot, typically navigate using a central computer commanding AGV movement on predefined paths. Although, how well they follow these paths is less defined in research articles and their

Literature Review of Mobile Robots for Manufacturing

May 6, 2015
Author(s)
Michael O. Shneier, Roger V. Bostelman
Mobile robots are devices that can move autonomously to accomplish their goals. This paper provides a review of such robots, mainly oriented towards manufacturing applications. It describes the kinds of mobile robots that are used and what criteria are

Performance Measurement of Mobile Manipulators

April 24, 2015
Author(s)
Roger V. Bostelman, Tsai Hong Hong, Jeremy A. Marvel
This paper describes a concept for measuring the reproducible performance of mobile manipulators to be used for assembly or other similar tasks. An AGV with an onboard robot arm was programmed to repeatedly move to and stop at a novel, reconfigurable

A Cross-Domain Survey of Metrics for Modeling and Evaluating Collisions

November 28, 2014
Author(s)
Jeremy A. Marvel, Roger V. Bostelman
This paper provides a brief assessment of the metrics for measuring probability, degree, and severity of collisions as applied to autonomous and intelligent systems. Though not exhaustive, this survey evaluates the state-of-the-art of collision metrics

Obstacle Detection and Avoidance from an Automated Guided Vehicle

September 18, 2014
Author(s)
Roger V. Bostelman, William P. Shackleford, Geraldine S. Cheok
Current automated guided vehicle (AGV) technology typically provides material handling flow along single or dual opposing-flow lanes in manufacturing and distribution facilities. An AGV stops for most any obstacle that may be in its path which then stops

New AGV Capabilities are Safety Driven

September 3, 2014
Author(s)
Roger V. Bostelman, William P. Shackleford
Current automated guided vehicle (AGV) technology typically provides material handling flow along single or dual opposing-flow lanes in manufacturing and distribution facilities. An AGV stops for most any obstacle that may be in its path which then stops

Performance Metrics for Evaluating Object and Human Detection and Tracking Systems

July 30, 2014
Author(s)
Afzal A. Godil, Roger Bostelman, William P. Shackleford, Tsai H. Hong, Michael O. Shneier
In this report, we provide an overview of various performance evaluation metrics for object detection and tracking for robot safety applications in smart manufacturing. We present four different types of performance evaluation metrics based on detection

Safety and Performance Standard Developments for Automated Guided Vehicles

July 23, 2014
Author(s)
Roger V. Bostelman, Tsai H. Hong, Roger D. Eastman
The American National Standards Institute/Industrial Truck Standards Development Foundation (ANSI/ITSDF) B56.5 Safety Standard committee for automated guided vehicles (AGVs) has been considering several changes to improve the standard. Of interest to the

Control Fusion for Safe Multi-robot Coordination

May 9, 2014
Author(s)
Roger V. Bostelman, Jeremy A. Marvel
Future smart manufacturing systems will include more complex coordination of mobile manipulators (e.g., robot arms mounted on mobile bases). The National Institute of Standards and Technology, Performance of Collaborative Robot Systems Project has been

Methods for improving visibility measurement standards of powered industrial vehicles

February 28, 2014
Author(s)
Roger V. Bostelman, Jochen Teizer, Soumitry J. Ray, Mike Agronin, Dominic Albanese
Poor visibility of powered industrial vehicles, such as forklifts, used in industry is often the cause of accidents that include pedestrians. Current standards allow up to 20% non-visible regions for forklifts where measurement of these regions is