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Search Publications by: Zeid Kootbally (Fed)

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Displaying 1 - 25 of 28

Effects of the Human Presence among Robots in the ARIAC 2023 Industria Automation Competition

July 30, 2024
Author(s)
Leandro Buss Becker, Anthony Downs, Craig I. Schlenoff, Justin Albrecht, Zeid Kootbally, Angelo Ferrando, Rafael Cardoso, Michael Fisher
The ''Agile Robotics for Industrial Automation Competition'' (ARIAC) is an international robotic competition carried out in a simulated factory floor. ARIAC's competitors must perform assembly and kitting tasks by means of controlling four AGVs, one floor

Standards and Performance Metrics for On-Road Automated Vehicles

June 4, 2024
Author(s)
Craig I. Schlenoff, Zeid Kootbally, Prem Rachakonda, Suzanne Lightman, Apostol Vassilev, David A. Wollman, Edward Griffor
On September 5–8, 2023, the National Institute of Standards and Technology (NIST) held the second Standards and Performance Metrics for On‐Road Automated Vehicles Workshop. This four‐day virtual event provided updates on NIST's recent work in automated

Using a BDI Agent to Represent a Human on the Factory Floor of the ARIAC 2023 Industrial Automation Competition

September 15, 2023
Author(s)
Leandro Buss Becker, Anthony Downs, Craig I. Schlenoff, Justin Albrecht, Zeid Kootbally, Angelo Ferrando, Rafael Cordoso, Michael Fisher
The "Agile Robotics for Industrial Automation Competition" (ARIAC) is an international robotic competition carried out in a simulated ROS2/Gazebo factory floor. Competitors control a robot, overcoming a range of agility challenges in this simulated

Agile Industrial Robots

January 24, 2022
Author(s)
Craig I. Schlenoff, William P. Shackleford, Zeid Kootbally, Brian Antonishek, Frederick M. Proctor, Thomas Kramer, William Harrison, Anthony Downs
In this chapter, we explore existing robot agility research efforts, while focusing on key technologies that help to enable agility, such as the ones mentioned in the preceding paragraphs. In particular, we will look at perception, knowledge representation

Assessing Industrial Robot agility through international competitions

August 31, 2021
Author(s)
Anthony Downs, Zeid Kootbally, William Harrison, Pavlo Piliptchak, Brian Antonishek, Murat Aksu, Craig I. Schlenoff
Manufacturing and Industrial Robotics have reached a point where in order to be more useful to small and medium sized manufacturers, the systems must become more agile and able to adapt to changes in the environment. This paper describes the process for

Agility Metrics in the ARIAC Competition

July 10, 2021
Author(s)
Anthony Downs, Zeid Kootbally, Craig I. Schlenoff
A thriving manufacturing sector is the essential heart of a vibrant and balanced economy in the United States(U.S.). Small and medium manufacturers (SMMs) constitute an important sector in the U.S. manufacturing but they are currently facing an increasing

Agile Robotics for Industrial Applications: Editorial

March 24, 2021
Author(s)
Craig I. Schlenoff, Zeid Kootbally, Erez Karpas
Advances in automation have provided for sustained productivity increases and manufacturing growth over the past decade. Sustaining this growth will require automation to become more agile and flexible, enabling the automation of tasks that require a high

An Integrated Set of XML Tools – User Guide

December 16, 2020
Author(s)
Thomas R. Kramer, Zeid Kootbally, Craig Schlenoff
This user guide describes an integrated set of C++ software tools for manipulating XML (eXtensible Markup Language) schemas and XML instance files. The tools are: - xmlSchemaParser - parses and reformats XML schema files, prints type derivation hierarchies

Runtime Verification of the ARIAC Competition: Can a Robot be Agile and Safe at the Same Time?

November 27, 2020
Author(s)
Angelo Ferrando, Zeid Kootbally, Pavlo Piliptchak, Rafael Cardoso, Craig I. Schlenoff, Michael Fisher
ARIAC (Agile Robotics for Industrial Automation Competition) is a robotic competition which aims to advance robotic agility in industry. Participants in this competition are required to implement a robot control system to overcome agility challenges in a

Enabling Robot Agility in Manufacturing Kitting Applications

March 14, 2018
Author(s)
Zeid Kootbally, Craig I. Schlenoff, Brian Antonishek, Frederick M. Proctor, Thomas Kramer, William Harrison, Satyandra K. Gupta
For the most part, robots perform best in highly structured environments, where objects are in well-known, predictable loca-tions. Another way to describe this is that robots are not considered agile. But, in order for them to be useful to small manu

Overview of an Ontology-based Approach for Kit Building Applications

November 8, 2017
Author(s)
Zeid Kootbally, Thomas Kramer, Craig I. Schlenoff, Satyandra K. Gupta
The Agility Performance of Robotic Systems (APRS) project at the National Institute of Standards and Technology (NIST) is using Web Ontology Language (OWL) ontologies for modeling in a robotic kitting workstation. The new technical idea for the APRS

The Canonical Robot Command Language (CRCL)

August 1, 2016
Author(s)
Frederick M. Proctor, Stephen B. Balakirsky, Zeid Kootbally, Thomas R. Kramer, Craig I. Schlenoff, William P. Shackleford
Industrial robots can perform motion with sub-millimeter repeatability when programmed using the teach-and-playback method. While effective, this method requires significant up-front time, tying up the robot and a person during the teaching phase. Off-line

Software Tools for XML to OWL Translation

July 7, 2015
Author(s)
Thomas Kramer, Benjamin H. Marks, Craig I. Schlenoff, Stephen B. Balakirsky, Zeid Kootbally, Anthony Pietromartire
This paper describes a set of closely related C++ software tools for manipulating XML (eXtensible Markup Language) schemas and XML instance files and translating them into OWL (Web Ontology Language) class _les and OWL instance files. They include: (1) an

An Ontology Based Approach to Action Verification for Agile Manufacturing

January 10, 2014
Author(s)
Zeid Kootbally, Stephen B. Balakirsky
Many of today's robotic work cells are unable to detect when an action failure has occurred. This results in faulty products being sent down the line, and/or downtime for the cell as failures are detected and corrected. This article examines a novel

A Simulated Sensor-based Approach for Kit Building Applications

December 20, 2013
Author(s)
Zeid Kootbally, Craig I. Schlenoff, Theodore J. Weisman, Stephen B. Balakirsky, Thomas R. Kramer, Anthony Pietromartire
Kit building or kitting is a process in which individually separate but related items are grouped, packaged, and supplied together as one unit (kit). This paper describes advances in developing sensing/control and parts detection technologies enabling

Inferring Intention Through State Representations in Cooperative Human-Robot Environments

June 7, 2013
Author(s)
Craig I. Schlenoff, Anthony Pietromartire, Zeid Kootbally, Stephen B. Balakirsky, Thomas R. Kramer, Sebti Foufou
In this paper, we describe a novel approach for inferring intention during cooperative human-robot activities through the representation and ordering of state information. State relationships are represented by a combination of spatial relationships in a

Metrics and Test Methods for Industrial Kit Building

June 5, 2013
Author(s)
Stephen B. Balakirsky, Thomas R. Kramer, Zeid Kootbally, Anthony Pietromartire
The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Industrial Robots sub-group is tasked with

An Industrial Robotic Knowledge Representation for Kit Building Applications

October 12, 2012
Author(s)
Stephen B. Balakirsky, Zeid Kootbally, Craig I. Schlenoff, Thomas R. Kramer, Satyandra K. Gupta
The IEEE RAS Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge representation and reasoning in robotics and automation. As part of this working group, the Industrial Robots sub-group is tasked with

USARSim/ROS: A Combined Framework for Robotic Control and Simulation

June 20, 2012
Author(s)
Stephen B. Balakirsky, Zeid Kootbally
The Robot Operating System (ROS) has been steadily gaining popularity among robotics researchers as an open source framework for robot control. The Unified System for Automation and Robot Simulation (USARSim) has been used for many years by robotics

Functional Requirements of a Model for Kitting Plans

March 22, 2012
Author(s)
Stephen B. Balakirsky, Zeid Kootbally, Thomas R. Kramer, Rajmohan Madhavan, Craig I. Schlenoff, Michael O. Shneier
Industrial assembly of manufactured products is often performed by first bringing parts together in a kit and then moving the kit to the assembly area where the parts are used to assemble products. Kitting, the process of building kits, has not yet been

Fuzzy-Logic-Based Approach for Identifying Objects of Interest in the PRIDE Framework

August 21, 2008
Author(s)
Zeid Kootbally, Craig I. Schlenoff, Rajmohan Madhavan, Sebti Foufou
On-road autonomous navigation of autonomous vehicles requires real--time motion planning in the presence of moving objects. Based on sensed data of moving objects in the environment and the situation it finds itself in, an autonomous vehicle has to plan a