Zeid Kootbally

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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 studying industrial applications of the ontology. One of the first areas of interest for this subgroup(More)
This article presents a newly developed knowledge methodology/model that was designed to support the IEEE Robotics and Automation Society’s Ontologies for Robotics and Automation Working Group. This methodology/model allows for the creation of systems that demonstrate flexibility, agility, and the ability to be rapidly re-tasked. Themethodology/model will(More)
The Robot Operating System (ROS) has been steadily gaining popularity among robotics researchers as an open source framework for robot control. The Uni ed System for Automation and Robot Simulation (USARSim) has been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is(More)
PRIDE (PRediction In Dynamic Environments) is a framework that provides an autonomous vehicle's planning system with information that it needs to perform path planning in the presence of moving objects. The underlying concept is based upon a multi-resolutional, hierarchical approach that incorporates multiple prediction algorithms into a single, unifying(More)
The IEEE Robotics and Automation Society’s (RAS) Ontologies for Robotics and Automation Working Group is dedicated to developing a methodology for knowledge repre­ sentation and reasoning in robotics and automation. As part of this working group, the Industrial Robots sub-group is tasked with studying industrial applications of the knowledge represen­(More)
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 automated in many industries where automation may be feasible. Consequently, the cost of building kits is(More)
We have developed PRIDE (prediction in dynamic environments), a hierarchical multi-resolutional framework for moving object prediction that incorporates multiple prediction algorithms into a single, unifying framework. PRIDE incorporates a long-term (LT) prediction approach based on situation recognition and a short-term (ST) prediction approach based on(More)
In this paper, we present PRIDE (prediction in dynamic environments), a hierarchical multi-resolutional framework for moving object prediction that incorporates multiple prediction algorithms into a single, unifying framework. PRIDE is based upon the 4D/RCS (real-time control system) architecture and provides information to planners at the level of(More)
In this paper, we describe a novel approach for representing state information for the purpose of intention recognition in cooperative human-robot environments. States are represented by a combination of spatial relationships in a Cartesian frame along with cardinal direction information. This approach is applied to a manufacturing kitting operation, where(More)
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 programming can be used to generate robot programs, but the accuracy of this method is poor unless(More)