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Search Publications by: Ann Virts (Fed)

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Displaying 1 - 25 of 45

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

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

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

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

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

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

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

Applying Measurement Science to Evaluate Ground, Aerial, and Aquatic Robots

October 12, 2017
Author(s)
Adam S. Jacoff, Rick Candell, Anthony Downs, Hui-Min Huang, Kenneth Kimble, Kamel Saidi, Ann Virts
This paper reports on three measurement science field exercises for evaluating ground, aerial, and aquatic robots. These events, conducted from February to June 2017, were conducted in close co-ordination with the responder community, standards

Advancing the State of Urban Search and Rescue Robotics through the RoboCupRescue Robot League Competition

July 16, 2012
Author(s)
Raymond K. Sheh, Adam S. Jacoff, Ann M. Virts, Tetsuya Kimura, Johannes Pellenz, Soren Schwertfeger, Jackrit Suthakorn
The RoboCupRescue Robot League is an international competition that has grown to be an effective driver for the dissemination of solutions to the challenges posed by Urban Search and Rescue Robotics and accelerated the development of the performance