Research Faculty (PREP0002689)
Perception Performance of Robotic Systems
Position Description:
The Intelligent Systems Division at NIST is investigating the performance of 3D machine vision systems for various manufacturing applications. The research will focus on conducting experiments and analyzing data in relation to understanding the performance of 3D machine vision systems to support the development of standards for measuring the depth error and depth resolution of these systems, as well as for measuring the performance of systems used for bin picking applications.
The work will entail...
Key responsibilities will include but are not limited to:
- Research whether the distribution of the depth error across a single image at a certain distance is “the same” as the distribution of the depth error across a single image taken from a significantly different distance.
- Research the effects of various factors (part color, part surface properties, bin color, bin depth, ratio of part size to bin size, part distribution in a bin) on bin picking performance (e.g., cycle time, pose uncertainty, etc.).
- Collect data from various 3D imaging systems.
- Program collaborative robot arms for conducting various tasks.
- Use metrology systems (e.g., laser trackers, CMMs, etc.) for establishing reference measurements.
- Use analysis software (e.g., MATLAB, Spatial Analyzer, Polyworks, Excel, etc.) to interpret results and produce visualizations.
- Write reports and contribute to peer-reviewed publications.
Qualifications:
- Not all the qualifications below are required.
- Education: Engineering majors with bachelor’s/master’s degree, or in final or penultimate years of bachelor’s/master’s degree.
- Programming experience in one or more of the following computer languages: C++, Python, Java
- Experience with CAD software such as SolidWorks
- Experience using MATLAB.
- Experience using 3D printers.
- Basic understanding of robot control theory (DH parameters, kinematics, etc.)
- Basic understanding of 3D sensors such as LiDAR or RGBD cameras
- Basic understanding of the Unix/Linux operating systems
- Basic understanding of programming robot forward and inverse kinematics
- Working knowledge of 3D point cloud data processing techniques using Point Cloud
- Library (PCL - http://pointclouds.org), CloudCompare, or other similar tools
Privacy Act Statement
Authority: 15 U.S.C. § 278g-1(e)(1) and (e)(3) and 15 U.S.C. § 272(b) and (c)
Purpose: The National Institute for Standards and Technology (NIST) hosts the Professional Research Experience Program (PREP) which is designed to provide valuable laboratory experience and financial assistance to undergraduates, post-bachelor’s degree holders, graduate students, master’s degree holders, postdocs, and faculty.
PREP is a 5-year cooperative agreement between NIST laboratories and participating PREP Universities to establish a collaborative research relationship between NIST and U.S. institutions of higher education in the following disciplines including (but may not be limited to) biochemistry, biological sciences, chemistry, computer science, engineering, electronics, materials science, mathematics, nanoscale science, neutron science, physical science, physics, and statistics. This collection of information is needed to facilitate administrative functions of the PREP Program.
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