Publications (16)0 Total impact
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Article: Performance Evaluation of Intelligent Systems at the National Institute of Standards and Technology (NIST)
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ABSTRACT: The ability to comprehensively evaluate the quantitative and qualitative performance of an intelligent system is critical to accurately predicting how it will perform in various situations. The design of such evaluations is often as much of a research challenge as is the design of the intelligent systems themselves. Over the past decade, the Intelligent Systems Division, a part of the National Institute of Standards and Technology, has been at the forefront of assessing the performance of the various intelligent systems. This article gives a broad overview of some of the evaluation efforts that have been pursued by the Intelligent Systems Division over the past few years, including performance evaluation of emergency response robots, sensor systems on unmanned ground vehicles, speech-to-speech translation systems, and the development of performance metrics for mixed-palletizing through the use of a simulation environment.02/2011; -
Chapter: Intelligent Control of Mobility Systems
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ABSTRACT: The National Institute of Standards and Technology (NIST) Intelligent Control of Mobility Systems (ICMS) Program provides architectures and interface standards, performance test methods and data, and infrastructure technology needed by the U.S. manufacturing industry and government agencies in developing and applying intelligent control technology to mobility systems to reduce cost, improve safety, and save lives. The ICMS Program is made up of several areas including: defense, transportation, and industry projects, among others. Each of these projects provides unique capabilities that foster technology transfer across mobility projects and to outside government, industry and academia for use on a variety of applications. A common theme among these projects is autonomy and the Four Dimensional (3D+time)/Real-time Control System (4D/RCS) standard control architecture for intelligent systems that has been applied to these projects.05/2008: pages 315-362; -
Article: Thomas R. Kramer
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ABSTRACT: This report describes an architecture and software system for automatically performing process planning and control code generation for cutting and inspecting prismatic piece parts. This "Feature-Based Inspection and Control System" (FBICS) consists of seven processes joined by interprocess communication. FBICS starts with a feature-based description of a part. Planners are provided at three hierarchical control levels that consider, in turn: (1) an entire part, (2) work done in a single part fixturing, and (3) work done on a single part feature. FBICS implements the RCS architecture. For data handling, FBICS uses ISO 10303 (STEP) methodology, standards, and tools. FBICS includes a solid modeler and 3D interactive graphics. Control code is written in RS274 for machining and DMIS for inspection.04/2004; -
Article: A Repository Of Sensor Data For Autonomous Driving Research
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ABSTRACT: We describe a project to collect and disseminate sensor data for autonomous mobility research. Our goals are to provide data of known accuracy and precision to researchers and developers to enable algorithms to be developed using realistically difficult sensory data. This enables quantitative comparisons of algorithms by running them on the same data, allows groups that lack equipment to participate in mobility research, and speeds technology transfer by providing industry with metrics for comparing algorithm performance. Data are collected using the NIST High Mobility Multi-purpose Wheeled Vehicle (HMMWV), an instrumented vehicle that can be driven manually or autonomously both on roads and off. The vehicle can mount multiple sensors and provides highly accurate position and orientation information as data are collected. The sensors on the HMMWV include an imaging ladar, a color camera, color stereo, and inertial navigation (INS) and Global Positioning System (GPS). Also available are a highresolution scanning ladar, a line-scan ladar, and a multicamera panoramic sensor. The sensors are characterized by collecting data from calibrated courses containing known objects. For some of the data, ground truth will be collected from site surveys. Access to the data is through a web-based query interface. Additional information stored with the sensor data includes navigation and timing data, sensor to vehicle coordinate transformations for each sensor, and sensor calibration information. Several sets of data have already been collected and the web query interface has been developed. Data collection is an ongoing process, and where appropriate, NIST will work with other groups to collect data for specific applications using third-party sensors.06/2003; -
Article: 4D/RCS: A Reference Model Architecture For Unmanned Vehicle Systems Version 2.0
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ABSTRACT: The 4D/RCS architecture provides a reference model for military unmanned vehicles on how their software components should be identified and organized. It defines ways of interacting to ensure that missions, especially those involving unknown or hostile environments, can be analyzed, decomposed, distributed, planned, and executed intelligently, effectively, efficiently and in coordination. To achieve this, the 4D/RCS reference model provides well defined and highly coordinated sensory processing, world modeling, knowledge management, cost/benefit analysis, behavior generation, and messaging functions, as well as the associated interfaces. The 4D/RCS architecture is based on scientific principles and is consistent with military hierarchical command doctrine.12/2002; -
Article: Evaluating the Performance of a Vehicle Pose Measurement System
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ABSTRACT: A method is presented for evaluating the performance of a vehicle pose measurement system (e.g., GPS, inertial sensors, etc.). The method supports evaluations of the system on a vehicle moving at high speeds. An example is provided to illustrate the method.07/2002; -
Article: Unknown
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ABSTRACT: This is an analysis of standards related to dimensional metrology, with recommendations regarding standards development. The analysis focuses on the degree to which existing and developing standards provide a complete set of non-overlapping specifications for information needed to perform dimensional metrology. The analysis identifies four major software systems and their interfaces. It also identifies 15 dimensional metrology activities, each of which is expected to correspond to a software module. The major systems are made up of sets of modules. Twenty-two application programming interfaces and data formats for dimensional metrology are identified and discussed. The analysis also discusses issues regarding languages in which standards may be written.05/2002; -
Article: A feature-based inspection and machining system.
Computer-Aided Design. 01/2001; 33:653-669. -
Article: An Architecture and Tool forLarge-scale System Control
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ABSTRACT: This paper describes a reference architecture that is applicable to multiple classes of large-scale, complex real-time control systems. An associated tool, Generic Shell, is also described. Generic Shell employs a set of code templates that facilitate system development and integration. A case study is presented. 108/2000; -
Article: The NIST DMIS Interpreter
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ABSTRACT: this paper was provided to Catholic University by the National Institute of Standards and Technology under cooperative agreement Number 70NANB2H121302/1999; -
Article: The NIST DMIS Interpreter Version 2
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ABSTRACT: this paper was provided to Catholic University by the National Institute of Standards and Technology under cooperative agreement Number 70NANB7H0016.12/1998; -
Article: High-level mobility controller for a remotely operated unmanned land vehicle.
Journal of Intelligent and Robotic Systems. 01/1992; 5:63-77. -
Article: Open system architecture for real-time control using an uml-based approach
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ABSTRACT: We describe a generic architecture that is applicable to the engineering of many real-time control problems. We further describe how UML is used to apply the architecture to the problems. -
Article: Performance analysis of unmanned vehicle positioning and obstacle mapping
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ABSTRACT: As unmanned ground vehicles take on more and more intelligent tasks, determination of potential obstacles and accurate estimation of their position become critical for successful navigation and path planning. The performance analysis of obstacle mapping and unmanned vehicle positioning in outdoor environments is the subject of this paper. Recently, the National Institute of Standards and Technology's (NIST) Intelligent Systems Division has been a part of the Defense Advanced Research Project Agency LAGR (Learning Applied to Ground Robots) Program. NIST's objective for the LAGR Project is to insert learning algorithms into the modules that make up the NIST 4D/RCS (Four Dimensional/Real-Time Control System) standard reference model architecture which has been successfully applied to many intelligent systems. We detail world modeling techniques used in the 4D/RCS architecture and then analyze the high precision maps generated by the vehicle world modeling algorithms as compared to ground truth obtained from an independent differential GPS system operable throughout most of the NIST campus. This work has implications, not only for outdoor vehicles but also, for indoor automated guided vehicles where future systems will have more and more onboard intelligence requiring non-contact sensors to provide accurate vehicle and object positioning. -
Article: Performance measurements for evaluating static and dynamic multiple human detection and tracking systems in unstructured environments
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ABSTRACT: The Army Research Laboratory (ARL) Robotics Collaborative Technology Alliance (CTA) conducted an assessment and evaluation of multiple algorithms for real-time detection of pedestrians in Laser Detection and Ranging (LADAR) and video sensor data taken from a moving platform. The algorithms were developed by Robotics CTA members and then assessed in field experiments jointly conducted by the National Institute of Standards and Technology (NIST) and ARL. A robust, accurate and independent pedestrian tracking system was developed to provide ground truth. The ground truth was used to evaluate the CTA member algorithms for uncertainty and error in their results. A real-time display system was used to provide early detection of errors in data collection. -
Article: Biomechanics, biochemistry, and molecular biology of a molluscan scleroprotein elastomer : whelk egg capsules /
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ABSTRACT: Vita. Thesis (Ph. D.)--University of California, San Diego, 2003. Includes bibliographical references.
Top co-authors
Institutions
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2011
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National Institute of Standards and Technology
- Intelligent Systems Division
Gaithersburg, MD, USA
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