SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

PERFORMANCE METRICS

FOR 

INTELLIGENTSYSTEMS WORKSHOP

National Institute of Standards and Technology, Gaithersburg, Maryland USA

August 21-23, 2006

Co-Located with the

IEEE International 

Workshop on Safety,

Security, and Rescue 

Robotics

National Institute of Standards and Technology (NIST)

This year’s workshop host was founded in 1901 as the first physical science 

research laboratory in the U.S. federal government. It currently is a non-regulatory 

federal agency within the U.S. Commerce Department's Technology Administration. 

NIST's mission is to promote innovation and industrial competitiveness by 

advancing measurement science, standards, and technology in ways that enhance 

economic security and improve our quality of life. 
PERMIS-2006

In the sixth workshop in a series targeted at defining measures and methodologies of evaluating performance

of intelligent systems, we will focus on applications of performance measures to practical problems in 

commercial, industrial, homeland security, and military applications. Topic areas include, but are not limited to:

Defining and measuring aspects of a system:

• The level of autonomy

• Human-robot interaction

• Collaboration

Evaluating components within intelligent system

• Sensing and perception

• Knowledge representation, world models, ontologies

• Planning and control

• Learning and adaption

• Reasoning

Infrastructural support for performance evaluation

• Testbeds and competitions for intercomparisons

• Instrumentation and other measurement tools

• Simulation and modeling support

Technology readiness measures for intelligent systems

Applied performance measures, e.g.,

• Intelligent transportation systems

• Emergency response robots (search and rescue, bomb disposal)

• Homeland security systems

• De-mining robots

• Defense robotics

• Command and Control

• Hazardous environments (e.g., nuclear remediation)

• Industrial and manufacturing systems

• Space robotics

• Assistive devices

SPONSORS

 

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

The dress code for this event is business casual.

Emergency responders should wear their insignias so that researchers and developers may strike up conversations.
PROGRAMCOMMITTEE

Program Chair:

Raj Madhavan (Oak Ridge National Laboratory/NIST, USA)

S. Balakirsky (NIST, USA)

G. Berg-Cross (Engineering, Management and Integration, USA)

S. Carpin (International University Bremen, Germany)

M. Fields (US Army Research Laboratory, USA)

M. Foedisch (NIST, USA)

K. Fregene (Honeywell, USA)

J. Gorman (NIST, USA)

J. Gunderson (Gamma Two, Inc., USA)

Z. Kootbally (NIST, USA)

T. Kramer (NIST, USA)

M. Lewis (University of Pittsburgh, USA)

L. Reeker (NIST, USA)

S. Roumeliotis (University of Minnesota, USA)

C. Schlenoff (NIST, USA)

C. Scrapper (NIST, USA)

M. Shneier (NIST, USA)

Y. Wang (Technical University of Crete, Greece)

B. Weiss (NIST, USA)

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

General Chair:

Elena Messina, NIST Intelligent Systems Division, USA
ABSTRACT

Robotics is gradually maturing as a 

discipline which also implies an increased 

need for comparative R&D. At the same 

time robots are more and more deployed 

to serve as assistants to humans be it for 

search and rescue or as part of normal 

daily chores in the home. To enable 

evaluation of progress in research it is 

essential that rigorous methodologies for 

e v a l u a t i o n a n d p e rf o r m a n c e 

characterization are adopted. Often a 

number of objections are put forward as 

to why such rigorous experimental 

protocols are not well suited for robotics. 

Some of the typical objections will be 

presented and discussed in the 

presentation. To illustrate the value and 

strategy of experimental evaluation two 

example applications will be presented. Both applications are closely tied 

to robots that serve as assistants to people as part of daily operations. 

Experience from prior studies will also clearly illustrate the value of a 

careful design for evaluation and characterization of systems, which 

goes beyond the simple verification of theoretical models. Observations 

and lessons from an extensive set of studies will be summarized.

BIOGRAPHY

Henrik I Christensen is the Kuka Chair of Robotics and a Professor of 

Computing with the College of Computing, Georgia Institute of 

Technology. The appointment is part-time during 2006, which is a 

transition period from the earlier appointment at the Swedish Royal 

Institutute of Technology , which included leadership of the Center for 

Autonomous Systems. He does research on mobile robotics, autonomous 

systems, computer vision, and biologically inspired robot systems. The 

overall emphasis is on a holistic approach to design of systems, 

including mathematically well defined methods for design, analysis and 

implementation of systems. A fundamental idea is that methods should 

be evaluated in realistic settings which involves an interesting scenario 

and a full systems context. He is involved in a large number of national 

and international projects. Dr. Christensen is a co-founder of the 

company Intelligent Machines and serve as a scientific advisor to 

Evolution Robotics. Research cooperation involves research labs and 

companies on three continents. In addition he has been actively involved 

in a number of community efforts in particular as the founding 

coordinator of the EU network of excellence in Robotics - EURON 

(2000-2006). Dr. Christensen is a fellow of the International Foundation of 

Robotics Research and served as an IEEE RAS distinguished lecturer 

(2004-2006). He also serves on the board of trustees of the Swedish 

STINT foundation.

ABSTRACT

In this plenary talk, I will explain about 

our activities on rescue and demining 

robots. As for the robots for rescue 

operation, I will first explain my previous 

efforts on snake-like robots with slender 

and actively bending bodies. I will then 

show several types of snake-like "Soryu" 

robots which consist of three crawlerdriven segments and their connecting 

joints. The Soryu has been adapted with a 

specific driving mechanisms to move 

inside narrow and winding paths among 

debris and is designed to protect against 

dust and water. A newly introduced 

crawler belt made of thin metal with 

rubber knobs will also be explained. I will 

also present a debris-inserting inspection 

camera, we are developing with a snakelike expandable rod mechanism.

In general, I will introduce our development process for these and other 

devices. We believe that the most effective rescue tools will be the ones 

which are widely used in our daily life. Based on this belief, we also paid 

special attention to the development of ordinary-life-embedded rescue 

devices. For example, automobile jack-up devices which can be used for 

rescue operations will be shown. As for the demining robots, I will 

explain about my preliminary efforts to develop walking-demining 

robots, and their tool-detachable foot mechanisms. I will explain about 

our latest activities on a practical demining vehicle named "Gryphon." It 

has a weight balanced arm with metal and ground penetrating radar and 

a 3D camera. It can measure the uneven ground and can drive the 

sensors along the surface of the ground. I will show the result of the 

experiments in several places such as in Croatia.

BIOGRAPHY

Shigeo Hirose was born in Tokyo in 1947. He received the B. E. degree 

with first class honors in Mechanical Engineering from Yokohama National University in 1971, and his M. E. and Dr. E. degrees in Control Engineering from the Tokyo Institute of Technology in 1973 and 1976, respectively. He was Research Associate and Associate Professor of the same 

university, and since 1992 he has been a Professor of Tokyo Institute of 

Technology, Department of Mechanical and Aerospace Engineering. He is 

a Fellow of IEEE, JSME and RSJ. His research interest is in the creative 

design of robotic mechanisms and their control. He has been awarded 

more than 30 academic prizes including the "Medal with Purple Ribbon" 

from the Japanese government (2006), the first Pioneer in Robotics and 

Automation Award (1999), and the Best Conference Paper Award (1995) 

from the IEEE Robotics & Automation Society.

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

PLENARY SPEAKER

PROF. HENRIK 

CHRISTENSEN

Georgia Tech. 

USA

Evaluation of 

Robots for 

Human-Robot

Interaction

Mon. 08:30

PLENARY SPEAKER

PROF. SHIGEO 

HIROSE

Tokyo Institute 

of Technology 

Japan

Rescue and 

De-mining 

Robots

Tue. 08:30
ABSTRACT 

Information provides a quantitative metric 

for describing the value of individual 

systems components in autonomous 

systems tasks such as tracking, mapping 

and navigation, search and exploration; 

tasks in which the objective is information 

gain in some form. An information model 

is an abstraction of system capabilities in 

an anonymous form which allows a priori 

reasoning on the system itself. By 

construction, information measures have 

properties of composability and additivity 

and thus provides a natural means of 

modelling and describing large scale 

systems of systems.

This talk will begin by describing how 

information measures arise naturally in 

autonomous tracking, mapping and navigation, search and exploration 

tasks. It is then demonstrated that the performance of individual sensors 

and platforms can be modelled using these information measures and 

that system-level performance metrics can be computed. These ideas are 

illustrated in a series of tasks involving mixed air and ground 

autonomous systems. These include flight-tests of cooperative UAVs 

engaged in tracking and navigation tasks, mixed UAV, ground vehicles 

and human operatives, engaged in mapping and picture compilation 

operations, and operations involving multi-platform search in 

constrained environments. In each, it is shown how information provides 

both a performance metric and design objective underpinning largescale systems of systems operation.

BIOGRAPHY

Hugh Durrant-Whyte received the B.Sc. in Nuclear Engineering from the 

University of London, U.K., in 1983, and the M.S.E. and Ph.D. degrees, both 

in Systems Engineering, from the University of Pennsylvania, U.S.A., in 

1985 and 1986, respectively. From 1987 to 1995, he was a Senior Lecturer 

in Engineering Science, the University of Oxford, U.K. and a Fellow of Oriel 

College Oxford. From 1995 to 2002 he was Professor of Mechatronic 

Engineering at University of Sydney. In 2002 he was awarded an 

inaugural Australian Research Council (ARC) Federation Fellowship. He 

also now leads the ARC Centre of Excellence in Autonomous Systems. His 

research work focuses on autonomous vehicle navigation and 

decentralised data fusion methods. His work in applications includes 

automation in cargo handling, mining, defence, and marine systems. He 

has published over 300 technical papers and has won numerous awards 

and prizes for his work. He is a Fellow of the Academy of Technical 

Sciences, a Fellow of the IEEE and an IEEE Robotics Society Distinguished 

Lecturer.

ABSTRACT

Mobility can be an important contributor 

to robot intelligence, for gathering 

information, implementing decisions, and 

interacting with the environment. While 

wheeled and tracked robots have a 

relatively easy time moving around, we 

have to invest some intelligence first into 

legged robot design and control in order 

to harvest their potentially much greater 

mobility.

This talk will describe several recent 

legged robots that walk, run, balance, 

climb, carry loads, resist kicks and 

negotiate rough terrain with new levels 

of dynamic mobility, robustness, and 

performance. In the process we will 

encounter interesting issues related to the 

system design, performance metrics, energy efficiency, and the 

experimental evaluation of these systems.

BIOGRAPHY

Martin Buehler received the M.Eng. and Ph.D. degrees in Electrical 

Engineering from Yale University in 1985 and 1990. His doctoral work 

focused on the design, control and analysis of juggling robots and the 

analysis of a hopping robot. After a Postdoc at MIT's leglab on dynamic 

legged locomotion, he joined McGill University, Montreal, in 1991 as an 

NSERC Junior Industrial Research Chair and a Scholar of the Canadian 

Institute for Advanced Research. He founded and headed the Ambulatory 

Robotics Lab, which produced one, four and six legged robots, including 

the ARL Monopods I and II, Scout I and II, CARL, PAW, RHex and AQUA, 

funded by major Canadian government, DARPA and industrial contracts 

and grants. In 2003 he received McGill's William Dawson Scholar Award. 

In the same year he moved on to become Director of Robotics at Boston 

Dynamics, Cambridge, USA. Dr. Buehler served as an Associate Editor of 

the IEEE Transactions on Robotics and Automation from 1998 - 2003, and 

is currently on the editorial boards of the International Journal of 

Robotics Research and the Journal of Field Robotics. He has supervised 

over 30 graduate students at McGill and has published over 100 papers 

on legged robot design and control, dynamic manipulation and motor 

control.d control, dynamic manipulation and motor control.

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

PLENARY SPEAKER

PROF. HUGH 

DURRANT-WHYTE

The University 

of Sydney 

Australia

Maximal 

Information 

Systems

Tue. 14:00

PLENARY SPEAKER

DR. MARTIN 

BUEHLER

Boston 

Dynamics 

USA

Dynamic 

Legged 

Robots

Wed. 08:30 
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

ABSTRACT

In this talk, Dr. Albus will describe how 

research in computer science, control 

theory, and the neurosciences are 

converging towards intelligent systems 

that can mimic human performance in a 

broad range of applications. He will 

discuss current efforts to build machines 

that can perceive the environment, build 

an internal model of the external world, 

and use that model for decision-making, 

reasoning, planning, and real-time 

control of complex machines in 

uncertain, and potentially hostile, 

environments. He will suggest how 

system architectures designed for 

autonomous mobility systems are 

computationally similar in many respects 

to the human brain, and vice versa.

This work is part of a broad NIST program of research and engineering 

of intelligent systems to reduce costs and improve quality in 

manufacturing and construction, and to save lives of civilians on the 

highway and soldiers in combat. The research is conducted in 

collaboration with the Army Research Laboratory, DARPA, the 

Department of Transportation, and the U.S. manufacturing industry.

BIOGRAPHY

Dr. James S. Albus founded and led the Intelligent Systems Division at 

the National Institute of Standards and Technology for 20 years. He is 

currently a Senior NIST Fellow. Over a long and varied career Dr. Albus 

has made a number of scientific contributions. During the 1960's he 

designed electro-optical systems for more than 15 NASA spacecraft. 

During the 1970's, he developed a model of the cerebellum that after 30 

years is still a leading theoretical model used by cerebellar 

neurophysiologists today. Based on that model, he invented the CMAC 

neural net, and co-invented the Real-time Control System (RCS). RCS is 

a reference model architecture for intelligent systems that has been 

used over the past 25 years for a number of systems including the NBS 

Automated Manufacturing Research Facility (AMRF), the NASA 

telerobotic servicer, a DARPA Multiple Autonomous Undersea Vehicle 

project, a nuclear Submarine Operational Automation System, a Post 

Office General Mail facility, a Bureau of Mines automated mining 

system, commercial open architecture machine tool controllers, and 

numerous advanced robotic projects, including the Army Research Lab 

Demo III Experimental Unmanned Ground vehicle. The latest version of 

the RCS architecture has been selected by the Army for the Autonomous 

Navigation Systems to be used on all Future Combat System ground 

vehicles, both manned and unmanned. He is also the inventor of the 

NIST RoboCrane. He is currently working with DARPA and other 

government agencies on a concept for a National Program for 

Understanding the Mind, a.k.a "Decade of the Mind."

Dr. Albus has received numerous awards for his work in control theory 

including the NIST Applied Research Award, the Department of 

Commerce Gold and Silver Medals, the Industrial Research IR-100 

award, the Presidential Rank Meritorious Executive, the Jacob Rabinow 

award, the Japanese Industrial Robot Association R&D Award, and the 

Joseph F. Engelberger Award for robotics technology. In 1998, he was 

named a "Hero of Manufacturing" by Fortune magazine.

Dr. Albus is the author of more than 180 scientific papers, journal 

articles, book chapters, and official government studies on intelligent 

systems and robotics. He has lectured extensively throughout the world 

and authored or co-authored five books:

• Engineering of Mind: An Introduction to the Science of Intelligent 

Systems - Wiley, 2001

• Intelligent Systems: Architecture, Design, and Control - Wiley, 2002

The RCS Handbook: Tools for Real-Time Control Systems Software 

Development - Wiley, 2001

• Brains, Behavior, and Robotics - Byte/McGraw-Hill, 1981

• Peoples' Capitalism: The Economics of the Robot Revolution - New 

World Books, 1976

He is a member of the editorial board of the Wiley Series on Intelligent 

Systems serves on the editorial boards of six journals related to 

intelligent systems and robotics.

Dr. Albus received a B.S. in Physics from Wheaton College (Illinois) in 

1957, a M.S. in Electrical Engineering from Ohio State University in 

1958, and a Ph.D. in Electrical Engineering from University of Maryland 

(College Park) in 1972.

PLENARY SPEAKER

DR. JAMES 

ALBUS

NIST 

USA

Building 

Brains for 

Thinking 

Machines

Wed. Banquet 
FEATURED PRESENTATIONS

Army Initiatives for Autonomous Tactical UGVs: The Last 10 Years WEDNESDAY 14:00

Mr. Charles Shoemaker, Robotic Research LLC, USA (formerly with the Army Research Laboratory)

Winning the DARPA Grand Challenge WEDNESDAY 14:45

Dr. Michael Montemerlo, Stanford University’s Stanley Team, USA

Open Problems of Robot Technologies for Disaster Response THURSDAY 08:30

Prof. Satoshi Tadokoro, Tohoku University and International Rescue Systems, Japan

EMERGENCY RESPONDER PANEL DISCUSSION

Responder Experiences in the Field: Where Can Robots Help? WEDNESDAY 16:00

CHAIR: G. Kemble Bennett, Ph.D., P.E., Vice Chancellor and Dean of Engineering, Texas A&M University, USA

PANEL: US&R responders from several FEMA teams

Due to the breadth and complexity of urban search and rescue (US&R) 

missions, and the diverse and evolving technologies present within 

robotic systems, the definition of performance requirements and 

associated test methods is an ambitious undertaking. Robot developers 

and emergency responders need to reach common understandings of the 

envisioned deployment scenarios, environmental conditions, and specific 

operational capabilities that are both desirable and possible for robots 

applied to US&R missions. Toward that end, NIST organizes events that 

bring emergency responders together with a broad variety of robots and 

the engineers that developed them to work within actual responder training 

facilities. These informal response robot evaluation exercises provide collaborative opportunities to experiment 

and practice, while refining stated requirements and performance objectives for robots intended for search and 

rescue tasks. This panel discussion will focus on responder perceptions regarding robot applicability, near-term 

opportunities for robots, and recent deployments that could have benefited from robotic technologies.

 

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA
RELATED EVENT: RESPONSE ROBOTEXERCISE

MONDAY 16:00 - 18:00 FOR WORKSHOP VISITORS (SATURDAY-MONDAY FOR THOSE INVOLVED)

The third in a series of response robot exercises for FEMA US&R teams will be hosted at the Montgomery County 

Fire Rescue Training Academy in Rockville, Maryland (near NIST). This event will finalize the test methods 

targeted for the initial (Wave 1) set of standards as well as initiate experimentation with onboard payloads for 

chemical and radiological hazard detection. The three robot deployment categories selected by responders to be 

emphasized in Wave 1 are: ground peek robots that are small and throwable, wide-area ground survey robots 

that can traverse non-collapsed structures and provide remote situational awareness down-range, and aerial 

survey or loiter robots which in this case are rotary wing implementations. Robot developers take part in these 

multi-day exercises, which involve practicing operationally relevant US&R scenarios, to refine their 

understanding of responder requirements and deployment constraints. Buses from NIST will be provided so that 

attendees of SSRR and PERMIS can observe the final hours of this exercise.

BOMB SQUADS PRACTICE ROBOT DEPLOYMENTS

WEDNESDAY 17:00 - 18:30

Watch several civilian bomb squads deploy their robots in and around the test methods set up for all the other 

robot demos. See their operational methods and constraints. Discuss their needs.

Montgomery County, MD

Capt. Kevin Frazier

Fairfax County, VA

OFC Tom Eggers

Maryland State Police

Deputy Chief Jack Waldner

Michigan State Police

Lt. Shawn Stallworth

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA
ROBOT DEMONSTRATIONS

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

DEMOS RELATED EVENTS LUNCH DEMOS RECEPTION BOMB SQUADS

Monday afternoon 

there will be a tour of 

the FEMA MD-TF1 

training facility to 

watch urban search 

and rescue robots 

perform test methods 

and operational 

scenarios.

Every day the 

cafeteria will be 

filled with robot 

exhibits and 

performance test

methods to host 

robot demos.

Tuesday evening 

there will be an 

exhibitor’s 

reception in the 

cafeteria for both 

conferences, 

featuring robot 

demonstrations, 

appetizers, and a 

cash bar.

Wednesday 

afternoon there 

will be a realistic 

training event for 

local bomb squads

practicing robot 

deployments in 

and around test 

methods in the 

cafeteria

ROBOTS

PRACTICING 

EXAMPLE ROBOT 

TEST METHODS
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

EXHIBITS, 

POSTERS, 

AND DEMOS

Throughout the workshop, 

all exhibits and posters 

will be set up in the NIST 

cafeteria, along with some 

example robot test methods. Robot demonstrations will take place in and 

around these test methods during: 

•Lunch hours each day

•Exhibitor’s reception 

(Tuesday 17:00 - 18:30)

•Bomb squad robots

(Wednesday 17:00 - 18:30)

•Coffee breaks

See the cafeteria layout 

for more information about 

exhibit booths, example 

robot test methods, and 

where to sit during 

lunches for best viewing.

The booth layout will be 

updated based on final 

registrations and set-up.

Robots and Associated Techologies:

•AirRobot (Germany) 

•Applied Research Associates (USA)

•ARACAR (USA)

•Brno Univ. (Czech Republic)

•CRASAR (USA)

•Foster-Miller (USA)

•Fraunhofer AIS / Univ. of Osnabruck (Germany)

•Global Technical Systems (USA)

•HiBot (Japan)

•Idaho National Engineering Lab (USA)

•International Rescue System (Japan)

•Inuktun (Canada)

•iRobot (USA)

• Mesa Robotics (USA)

•NASA Goddard (USA)

•Non Lethal Solutions (USA)

•OmniTech (USA)

•Remington Technologies (USA)

•Remotec (USA)

•Skeyes Unlimited (USA)

•Telerob (Germany)

•Univ. of Electro-Communications (Japan)

•Univ. of Freiburg (Germany)

•Univ. of Massachusetts - Lowell (USA)

•Univ. of New South Wales (Australia)

•West Virginia High Tech Foundation (USA)

•

Sensors:

•Advanced Scientific Concepts (USA)

•Canesta (USA)

•CSEM (Switzerland)

•Envision Product Design CMOS X-ray (USA)

•Hokuyo (Japan) 

• Multispectral Solutions (USA)

•RIKEN/Univ. of Tokyo (Japan)

•XRF Corporation (USA)
VISUAL ACUITY

DIRECTED PERCEPTION

MANIPULATOR DEXTERITY

CACHE PACKAGING

STEP-FIELD DASH

ZIG-ZAG DASH

CONFINED SPACE DASH

STAIRS, RAMPS, ETC.

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

EXAMPLE

ROBOTTEST

METHODS

The Department of Homeland Security, through the 

Science and Technology 

Directorate Standards 

Program, is developing 

performance standards for 

robots applied to urban 

search and rescue. NIST 

is leading this effort with 

collaboration from subject 

matter experts within 

FEMA US&R Task Forces 

and other response organizations, along with 

robot manufacturers and 

robot researchers intent 

on this application domain. The resulting standard test methods are being developed within the 

Homeland Security Applications Committee of 

ASTM International.

The various ASTM working groups developing 

these standard test methods will be meeting at 

NIST on Monday morning. 

All workshop attendees 

are welcome to participate 

in these meetings and to 

join the ASTM working 

groups.
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

M

O

N

D

A

Y

2

1

August

08:15 Opening Remarks in Green Auditorium

08:30 Plenary Presentation in Green Auditorium:

Evaluation of Robots for Human-Robot Interaction [Henrik Christensen]

09:30 Coffee Break

10:00 ASTM

Working Group:

SENSORS

ASTM

Working Group:

HUMAN-ROBOT 

INTERACTION

11:30 ASTM 

Working Group:

COMMUNICATIONS

ASTM 

Working Group:

MOBILITY

13:00 Lunch in Cafeteria

14:00 Responders and robot developers involved in the response robot exercise at 

the MD-TF1 training academy take bus to site to continue practice robot 

deployments and test methods

16:00 All interested conference attendees take bus (10 min.) to MD-TF1 

training academy to watch response robot exercise:

• Robots practicing operational scenarios

• Robots practicing test methods

• Radiation sensor integrations

18:00 Bus to Hotels

WATCH

RESPONDERS 

DEPLOY ROBOTS 

AT A FIRE RESCUE 

TRAINING 

FACILITY

PROGRAM

WITH COMBINED EVENTS SSRR

All conference attendees are welcome to 

attend these open meetings and join the 

working groups. Responders are expected 

there to guide discussions.

Status of test methods will be 

presented along with images and 

video of robots practicing.
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

M

O

N

D

A

Y

2

1

August

08:15 Opening Remarks in Green Auditorium

08:30 Plenary Presentation in Green Auditorium:

Evaluation of Robots for Human-Robot Interaction [Henrik Christensen]

09:30 Coffee Break

10:00 MON-AM1 Autonomy and Intelligence (Chairs: G. Berg-Cross and J. Gunderson)

• Improving Knowledge for Intelligent Agents: Exploring Parallels in Ontological Analysis and 

Epigenetic Robotics [G. Berg-Cross] (Invited)

• Intellectual Performance Using Dynamical Expert Knowledge in Seismic Environment 

[V. Stefanuk]

• Reification: What is it, and Why Should I Care? 

[J. Gunderson, L. Gunderson]

• Characteristics of the Autonomy Levels for Unmanned Systems (ALFUS) Framework 

[H. Huang]

11:30 MON-AM2 Performance Metrics (Chairs: D. Gage and S. Balakirsky)

• Meaningful Metrics and Evaluation of Embodied, Situated, and Taskable Systems 

[D. Gage] (Invited)

• Fault-Tolerance Based Metrics for Evaluating System Performance in Multi-Robot Teams 

[B. Kannan, L. Parker]

• Image Classification and Retrieval Using Elastic Shape Metrics 

[S. Joshi, A. Srivastava]

• Performance Metrics for Operational Mars Rovers 

[E. Tunstel]

• Traversability Metrics for Urban Search and Rescue Robots on Rough Terrain 

[V. Molino, R. Madhavan, E. Messina, A. Downs, A. Jacoff, S. Balakirsky]

13:00 Lunch in Cafeteria

14:00 MON-PM1 Performance Evaluation (Chairs: M. Lewis and R. Schrag)

• Performance Evaluation of Integrated Vehicle-Based Safety Systems 

[J. Ference, S. Szabo, W. Najm] 

• A Performance Evaluation Laboratory for Threat Detection Technologies 

[R. Schrag]

• USARSim: Providing a Framework for Multi-robot Performance Evaluation 

[S. Balakirsky, C. Scrapper, S. Carpin, M. Lewis]

• Performance Evaluation of a Terrain Traversability Learning Algorithm in the DARPA LAGR Program 

[M. Shneier, W. Shackleford, T. Hong, T. Chang]

• Quantitative Assessments of USARSim Accuracy 

[S. Carpin, T. Stoyanov, Y. Nevatia, M. Lewis, J. Wang]

• Feedback and Weighting Mechanisms for Improved Learning in the Adaptive Simultaneous 

Perturbation Algorithm [J. Spall]

16:00 All interested conference attendees take bus (10 min.) to MD-TF1 

training academy to watch response robot exercise:

• Robots practicing operational scenarios

• Robots practicing test methods

• Radiation sensor integrations

18:00 Bus to Hotels

WATCH

RESPONDERS 

DEPLOY ROBOTS 

AT A FIRE RESCUE 

TRAINING 

FACILITY

PROGRAM PERM WITH COMBINED EVENTS IS
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

T

U

E

S

D

A

Y

2

2

August

08:15 Opening Remarks in Green Auditorium

08:30 Plenary Presentation in Green Auditorium:

Development of Rescue and Demining Robots [Shigeo Hirose]

09:30 Coffee Break

10:00 TUE-AM1 Implementations from the Tokyo Institute of Technology (Chair: Satoshi Tadokoro)

• Improved Driving Mechanism for Connected Crawler Vehicle “Souryu-IV” for In-Rubble Searching 

[M. Arai, Y. Tanaka, S. Hirose, S. Tsukui, H. Kuwahara]

• Development of “Souryu-V” with Mono Tread Crawlers and Elastic-Rods Joint 

[Y. Tanaka, M. Arai, S. Hirose, S. Tsukui]

• Connected Two Units Crawlers for Automatic Multiple Configurations as Search and Rescue Robot 

[K. Tadakuma]

• Development of the Rescue Probe in Tight Space, "Slime Scope II"

[T. Aoki, S. Hirose]

• Development of “FALCON”, A Three Wheeled Personal Vehicle for Uneven Terrain 

[S. Hirose, K. Kuramitsu, Y. Ota, T. Aoki]

11:30 TUE-AM2 Robot Prototypes (Chair: Daniele Nardi)

• The Redback: A Low-Cost Advanced Mobility Robot 

[R. Sheh]

• Robot Prototyping for Rough Terrain Applications and High Mobility with VolksBot RT 

[T. Wisspeintner, A. Bose, P. Plöger]

• SALAMANDER: A Firefighting Robot

[A. Gross]

• AMOEBA-I: An Improved Link-type Shape Shifting Modular Robot for Search and Rescue Operation 

[B. Li, S. Ma, J. Liu, Y. Wang]

• Design & Implementation of a Mobile Robotic Vehicle with a 5 dof Robotic Manipulator 

[J. Iqbal, K. Yousuf, A. N. Malik]

13:00 Lunch and Robot Demonstrations in Cafeteria and Courtyard

14:00 Plenary Presentation in Green Auditorium:

Maximal Information Systems [Hugh Durrant-Whyte]

15:00 Coffee Break

15:30 TUE-PM1 Robot Exercises and Deployment Experiences (Chair: Adam Jacoff)

• DHS/NIST Response Robot Evaluation Exercises 

[E. Messina, A. Jacoff]

• Use of Micro Air Vehicles at Hurricane Katrina 

[R. Murphy, C. Griffin, S. Stover, K. Pratt]

• Field Studies of Safety Security Rescue Technologies through Training and Response Activities 

[R. Murphy, J. Burke, S. Stover]

• RACART: the Robot Assisted Crisis Assessment and Response Team Concept 

[J. Blitch]

17:00 Exhibitors Reception in the Cafeteria and Courtyard

• Robot demonstrations

• Example robot test methods

• Posters

18:30 Bus to Hotels

PROGRAM

WITH COMBINED EVENTS SSRR

APPETIZERS, 

DRINKS, AND 

ROBOT DEMOS
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

August

08:15 Opening Remarks in Green Auditorium

08:30 Plenary Presentation in Green Auditorium:

Development of Rescue and Demining Robots [Shigeo Hirose]

09:30 Coffee Break

10:00 TUE-AM1 DARPA ASSIST Special Session (Chairs: C. Schlenoff and M. Linegang)

• Overview of the First Advanced Technology Evaluations for ASSIST 

[C. Schlenoff, B. Weiss, M. Steves, A. Virts, M. Shneier, M. Linegang]

• A Two-Stage Approach to People and Vehicle Detection With HOG-Based SVM 

[F. Han, Y. Shan, R. Cekander, H. Sawhney, R. Kumar]

• Performance Metrics and Evaluation Issues for Continuous Activity Recognition 

[D. Minnen, T. Westeyn, T. Starner, J. Ward, P. Lukowicz]

• An Improved Stereo-based Visual Odometry System 

[Z. Zhu, T. Oskiper, O. Naroditsky, S. Samarasekera, H. Sawhney, R. Kumar]

• Technology Evaluations and Performance Metrics for Soldier-Worn Sensors for ASSIST 

[B. Weiss, C. Schlenoff, M. Shneier, A. Virts]

• Utility Assessments of Soldier-Worn Sensor Systems for ASSIST

[M. Steves]

• Using an Ontology to Support Evaluation of Soldier-Worn Sensor Systems for ASSIST 

[R. Washington, C. Manteuffel, C. White] 

• Evaluating Intelligent Systems for Complex Socio-technical Problems: Seeking Wicked Methods 

[M. Linegang, J. Freeman] 

13:00 Lunch and Robot Demonstrations in Cafeteria and Courtyard

14:00 Plenary Presentation in Green Auditorium:

Maximal Information Systems [Hugh Durrant-Whyte]

15:00 Coffee Break

15:30 TUE-PM1 Performance Analysis (Chairs: B. Brendle and A. Jones)

• Memetics and Intelligent Systems 

[R. Finkelstein] (Invited)

• An Information-based Cyber Infrastructure to Support Performance Analysis in Complex Systems 

[M-S. Li, A. Deshmukh, A. Jones]

• Three-Dimensional Data Registration Based On Human Perception 

[B. Brendle]

• Performance Analysis of Symbolic Road Recognition for On-road Driving 

[M. Foedisch, C. Schlenoff, R. Madhavan]

• Control of Nonlinear Stochastic Systems 

[V. Aksakalli, D. Ursu] 

17:00 Exhibitors Reception in the Cafeteria and Courtyard

• Robot demonstrations

• Example robot test methods

• Posters

18:30 Bus to Hotels

APPETIZERS, 

DRINKS, AND 

ROBOT DEMOS

PROGRAM PERM WITH COMBINED EVENTS IS

T

U

E

S

D

A

Y

2

2
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

W

E

D

N

E

S

D

A

Y

2

3

August

08:15 Opening Remarks in Green Auditorium

08:30 Plenary Presentation in Green Auditorium:

Developing Dynamic Legged Robots [Martin Buehler]

09:30 Coffee Break

10:00 WED-AM1 Human Robot Interaction (Chair: Fumitoshi Matsuno)

• Camera Placement and Multi-Camera Fusion for Remote Robot Operation

[B. Keyes, R. Casey, H. Yanco, B. Maxwell, Y. Georgiev]

• Analysis of Human-Robot Interaction for Urban Search and Rescue 

[H. Yanco, M. Baker, R. Casey, B. Keyes, P. Thoren, J. Drury, D. Few, C. Nielsen, D. Bruemmer]

• ARGOS – User Interface for Multiple Mobile Robot Teleoperation

[L. Zalud]

• Vibrotactile Feedback for Enhanced Control of Urban Search and Rescue Robots 

[J. Sibert, J. Cooper, C. Covington, A. Stefanovski, D. Thompson, R. Lindeman]

• Comparing Situation Awareness for Two UAV Human Interface Approaches

[J. Drury, J. Richer, N. Rackliffe, M. Goodrich]

11:30 WED-AM2 Localization, Mapping and Planning (Chair: Andreas Birk)

• 3D Laser Scanner for Tele-exploration Robotic Systems 

[K. Pervolz, H. Surmann, S. May]

• 6D SLAM - Mapping Outdoor Environments 

[A. Nuchter, K. Lingemann, J. Hertzberg, H. Surmann]

• Robot Mapping for Rescue Robots 

[N. Adluru, L. Latecki, R. Lakaemper, R. Madhavan]

• Multi-Objective Autonomous Exploration in a Rescue Environment

[D. Calisi, A. Farinelli, L. Iocchi, D. Nardi, F. Pucci]

13:00 Lunch and Robot Demonstrations in Cafeteria and Courtyard

14:00 Featured Presentations in Green Auditorium:

• Army Autonomous Tactical UGVs [Chuck Shoemaker]

• Winning the DARPA Grand Challenge [Mike Montemerlo]

15:30 Coffee Break

16:00 Emergency Responder Panel Discussion in Green Auditorium:

• Chair: G. Kemble Bennett

• US&R Responders from Several FEMA Task Forces

17:00 Local bomb squads deploy their robots in/around cafeteria

• Robots practice training on test methods

• Operator interfaces and personal protective equipment

• Methods of deployment

18:30 Bus to Hotels

19:00 Banquet for all attendees and responders at the Hilton Hotel (Gaithersburg)

• Drinks then Dinner at 20:00

• Building Brains for Thinking Machines [James Albus]

PROGRAM

WITH COMBINED EVENTS SSRR

WATCH

BOMB SQUAD 

ROBOTS DEPLOY 

IN/AROUND TEST

METHODS
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

August

08:15 Opening Remarks in Green Auditorium

08:30 Plenary Presentation in Green Auditorium:

Developing Dynamic Legged Robots [Martin Buehler]

09:30 Coffee Break

10:00 WED-AM1 Autonomous Systems Evaluation: Testbeds & Tools (A. Freedy and D. Sparrow)

• Challenges in Autonomous System Development 

[J. Connelly, W. Hong, R. Mahoney, Jr., D. Sparrow] (Invited)

• Long Term Study of a Portable Field Robot in Urban Terrain 

[C. Lundberg, H. Christensen, R. Reinhold]

• A Standardized Testing-Ground for Artificial Potential-Field based Motion Planning for Robot 

Collectives [L-F. Lee, V. Krovi]

• A Testbed for Heterogeneous Autonomous Collaborative Agents 

[S. Asundi, A. Waldrum, N. Fitz-Coy]

• Endurance Testing for Safety, Security, and Rescue Robots 

[J. Kramer, R. Murphy]

• A Complete Simulation Environment for Measuring and Assessing Human-Robot Team Performance 

[A. Freedy, E. Freedy, J. DeVisser, G. Weltman, M. Kalphat, D. Palmer, N. Coyeman]

• Development of an Evaluation Method for Acceptable Usability 

[B. Stanton, B. Antonishek, J.Scholtz]

• Measuring Up as an Intelligent Robot - On the Use of High-Fidelity Simulations for Human-Robot 

Interaction Research [A. Green, H. Huttenrauch, E. Topp]

• On-orbit Servicing: A Brief Survey 

[A. Tatsch, N. Fitz-Coy, S. Gladun] 

13:00 Lunch and Robot Demonstrations in Cafeteria and Courtyard

14:00 Featured Presentations in Green Auditorium:

• Army Autonomous Tactical UGVs [Chuck Shoemaker]

• Winning the DARPA Grand Challenge [Mike Montemerlo]

15:30 Coffee Break

16:00 Emergency Responder Panel Discussion in Green Auditorium:

• Chair: G. Kemble Bennett

• US&R Responders from Several FEMA Task Forces

17:00 Local bomb squads deploy their robots in/around cafeteria

• Robots practice training on test methods

• Operator interfaces and personal protective equipment

• Methods of deployment

18:30 Bus to Hotels

19:00 Banquet for all attendees and responders at the Hilton Hotel (Gaithersburg)

• Drinks then Dinner at 20:00

• Building Brains for Thinking Machines [James Albus]

WATCH BOMB

SQUAD ROBOTS 

IN/AROUND TEST

METHODS

PROGRAM PERM WITH COMBINED EVENTS IS

W

E

D

N

E

S

D

A

Y

2

3
SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

T

H

U

R

S

D

A

Y

2

4

August

08:15 Opening Remarks in Lecture Room

08:30 Open Problems of RT for Disaster Response: Roadmap in Japan

[Satoshi Tadokoro, Shiro Fujita, Hideo Tanaka]

09:30 Coffee Break and Robot Demonstrations in Cafeteria and Courtyard

10:00 THU-AM1 Robot Behaviors (Chair: Daniele Nardi)

• Visual Odometry for Tracked Vehicles 

[C. Dornhege, A. Kleiner]

• The IUB Rugbot: An Intelligent, Rugged Mobile Robot for Search and Rescue Operations 

[A. Birk, K. Pathak, S. Schwertfeger, W. Chonnaparamutt]

• Autonomous Rescue Operations on the IUB Rugbot 

[A. Birk, S. Markov, I. Delchev, K. Pathak]

• Automatic Step Climbing by Wheeled Robot HANZO with Variable Structure Functionality using 3D 

Range Sensor [N. Shiroma, Y. Fujino, F. Matsuno]

11:30 THU-AM2 Collapse/Rubble Characterization (Chair: Robin Murphy)

• Issues in Debris Field Characterization and USAR Robot Interaction 

[R. Scott, R. Richardson]

• Digital GAREKI Modeling for Exploring Knowledge of Disaster-Collapsed Houses 

[M. Onosato, H. Masuda, H. Takeuchi, K. Ito, F. Tanaka, T. Watasue]

• US&R Data Characterization Sets

[A. Lytle, G. Cheok, K. Saidi, A. Jacoff, E. Messina]

13:00 Lunch and Robot Demonstrations in Cafeteria and Courtyard

14:00 THU-PM1 Potential Robot Swarms and Networks (Chair: Robin Murphy)

• Low Cost Micro Exploration Robots for Search and Rescue in Rough Terrain 

[S. Dubowsky, J. S. Plante, P. Boston]

• Throw-able Search and Rescue Robot with Tetrahedral Shape 

[K. Tadakuma, J. Berengueres]

• Robot-Sensor Networks for Search and Rescue

[J. Reich, E. Sklar]

• Networked Aerial-Ground Robot System with Distributed Task Allocation for Disaster Management 

[I. Maza, A. Viguria, A. Ollero]

• Genetic Algorithm for Combinatorial Search Problems 

[G. Giardini, T. Kalmar-Nagy]

15:30 Coffee Break and Robot Demonstrations in Cafeteria and Courtyard

16:00 THU-PM2 Assorted Sensors (Chair: Fumitoshi Matsuno)

• Development of Image Stabilization System using Camera Posture Information 

[R. Miyauchi, N. Shiroma, F. Matsuno]

• The Use of an Inertial Measurement Unit to assist in Dynamic Stability during Mobile Robot 

Exploration [A. Nagendran, R. Scott, R. Richardson]

• Smart Lift/Shore Agents for Adaptive Shoring of Collapse Structures: A Feasibility Study 

[R. Murphy, T. Vestgaarden, H. Huang, S. Saigal]

• Evaluation of Canesta’s Range Sensor Technology for US&R and Robot Navigation 

[J. Craighead, B. Day, R. Murphy]

17:30 Farewell Demonstrations and a Toast to Next Year!

18:00 Bus to Hotels

PROGRAM

WITH COMBINED EVENTS SSRR
POSTERSSESSIONS

Technical posters will be set up among the exhibit booths at demonstration times and 

lunches. The authors will be available for discussions at those times, and their papers will be 

included in the proceedings.

• Expedients for Marsupial Operations of USAR Robots

[A. Ferworn, G. Hough, R. Manca]

• Using Common Sensation Sensor to Operate Pet Robots at Littered Floor 

[K. Kawamura, T. Takahashi]

• A Haptic Object Probe with Urban Search and Rescue Applications 

[P. Odiase, R. Scott, R. Richardson]

• Vision-based Victim Detection 

[C. Castillo, C. Chang]

• Dynamic Mobile Robots for Emergency Surveillance and Situational Awareness 

[L. Ray, J. Joslin, J. Murphy, J. Barlow, D. Brande, D. Balkcom]

• Game-Theory based Multi-Robot Searching Approach 

[Y. Meng, K. Cao]

• “REAL” Real-Time X-Ray 

[J. Pursley, W. Movalson]

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

SSRR PROGRAM

WITH COMBINED EVENTS
SSRR

AUTHOR INDEX

Adluru, Nagesh ..............................WED-AM2

Aoki, Takeshi ..................TUE-AM1, TUE-AM1

Arai, Masayuki ...............TUE-AM1, TUE-AM1

Baker, Michael ...............................WED-AM1

Balkcom, Devin ................................. POSTER

Barlow, Jon ....................................... POSTER

Brande, Devin ....................................POSTER

Berengueres, Jose ..........................THU-PM1

Birk, Andreas .................THU-AM1, THU-AM1

Blitch, John ..................................... TUE-PM1

Bose, Abheek .................................. TUE-AM2

Boston, Penny .................................THU-PM1

Bruemmer, David ...........................WED-AM1

Burke, Jennifer ............................... TUE-PM1

Calisi, Daniele ................................WED-AM2

Cao, Ke .............................................. POSTER

Casey, Robert ...............WED-AM1, WED-AM1

Castillo, Carlos ..................................POSTER

Chang, Carolina .................................POSTER

Cheok, Geraldine ............................ THU-AM2

Chonnaparamutt, Winai ..................THU-AM1

Cooper, Jeff ....................................WED-AM1

Covington, Christopher ................. WED-AM1

Craighead, Jeff ............................... THU-PM2

Day, Brian ....................................... THU-PM2

Delchev, Ivan .................................. THU-AM1 

Dornhege, Christian ........................THU-AM1

Drury, Jill .....................WED-AM1, WED-AM1

Dubowsky, Steven .......................... THU-PM1

Farinelli, Alessandro ......................WED-AM2

Ferworn, Alexander ...........................POSTER

Few, Douglas ................................. WED-AM1

Fujino, Yusuke ................................ THU-AM1

Georgiev, Yavor ..............................WED-AM1

Giardini, Giovanni ...........................THU-PM1

Goodrich, Michael ......................... WED-AM1

Griffin, Chandler ..............................TUE-PM1

Gross, Ashley .................................. TUE-AM2

Hertzberg, Joachim .......................WED-AM2

Hirose, Shigeo ................TUE-AM1, TUE-AM1 

........................................ TUE-AM1, TUE-AM1

Huang, Hao ......................................THU-PM2

Hough, George .................................. POSTER

Iocchi, Luca ...................................WED-AM2

Iqbal, Javaid ................................... TUE-AM2

Ito, Kouhei ...................................... THU-AM2

Jacoff, Adam ..................TUE-PM1, THU-AM2

Joslin, James ....................................POSTER

Kalmar-Nagy, Tamas ...................... THU-PM1

Keyes, Brenden ........... WED-AM1, WED-AM1

Kleiner, Alexander .......................... THU-AM1

Kuramitsu, Kazutaka ...................... TUE-AM1

Kuwahara, Hiroyuki ........................TUE-AM1

Kawamura, Keisuke ..........................POSTER

Lakaemper, Rolf .............................WED-AM2

Latecki, Longin Jan .......................WED-AM2

Li, Bin .............................................. TUE-AM2

Lindeman, Robert ..........................WED-AM1

Lingemann, Kai ..............................WED-AM2

Liu, Jinguo ...................................... TUE-AM2

Lytle, Alan ....................................... THU-AM2

Ma, Shugen .....................................TUE-AM2

Madhavan, Raj .............................. WED-AM2

Malik, Akhtar Nawaz ...................... TUE-AM2

Manca, Roberto .................................POSTER

Markov, Stefan ............................... THU-AM1

Masuda, Hisanobu ......................... THU-AM2

Matsuno, Fumitoshi....... THU-AM1, THU-PM2

Maxwell, Bruce ..............................WED-AM1

May, Stefan ....................................WED-AM2

Maza, Ivan .......................................THU-PM1

Meng, Yan ..........................................POSTER

Messina, Elena.............. TUE-PM1, THU-AM2

Miyauchi, Ryo .................................THU-PM2

Movalson, William ............................ POSTER

Murphy, John .................................... POSTER

Murphy, Robin ................ TUE-PM1, TUE-PM1 

........................................ THU-PM2, THU-PM2

Nagendran, Arjun ........................... THU-PM2

Nardi, Daniele ................................WED-AM2

Nielsen, Curtis ............................... WED-AM1

Nuchter, Andreas ...........................WED-AM2

Odiase, Pele .......................................POSTER

Ollero, Anibal .................................. THU-PM1

Onosato, Masahiko .........................THU-AM2

Ota, Yusuke ..................................... TUE-AM1

Pathak, Kausthub ...........................THU-AM1

Pervolz, Kai ....................................WED-AM2

Plante, Jean-Sébastien .................. THU-PM1

Plöger, Paul..................................... TUE-AM2

Pratt, Kevin ..................................... TUE-PM1

Pucci, Francesca ........................... WED-AM2

Pursley, John .....................................POSTER

Rackliffe, Nathan ...........................WED-AM1

Ray, Laura ......................................... POSTER

Reich, Joshua .................................THU-PM1

Richardson, Robert THU-AM2, THU-PM2, PST

Richer, Justin .................................WED-AM1

Saidi, Kamel ....................................THU-AM2

Saigal, Sunil ....................................THU-PM2

Schwertfeger, Soeren .....................THU-AM1

Scott, Robin .... THU-AM2, THU-PM2, POSTER

Sheh, Raymond ..............................TUE-AM2

Shiroma, Naoji ...............THU-AM1, THU-PM2

Sibert, John ...................................WED-AM1

Sklar, Elizabeth ...............................THU-PM1

Stefanovski, Aleksandar................WED-AM1

Stover, Sam .................... TUE-PM1, TUE-PM1

Surmann, Hartmut .......WED-AM2, WED-AM2

Tadakuma, Kenjiro .........TUE-AM1, THU-PM1

Takahashi, Tomoichi ......................... POSTER

Takeuchi, Hiroaki ............................THU-AM2

Tanaka, Fumiki ...............................THU-AM2

Tanaka, Yoshinori ...........TUE-AM1, TUE-AM1

Thompson, Darby .......................... WED-AM1

Thoren, Philip ................................ WED-AM1

Tsukui, Shingo ...............TUE-AM1, TUE-AM1

Vestgaarden, Tov ............................ THU-PM2

Viguria, Antidio ............................... THU-PM1

Wang, Yuechao ............................... TUE-AM2

Watasue, Taro .................................THU-AM2

Wisspeintner, Thomas .................... TUE-AM2

Yanco, Holly .................WED-AM1, WED-AM1

Yousuf, Khurram .............................TUE-AM2

Zalud, Ludek ..................................WED-AM1

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA
PERMIS

AUTHOR INDEX

Aksakalli, V. ....................................TUE-PM1

Antonishek B. ..............................WED-AM1 

Asundi, S. ......................................WED-AM1

Balakirsky, S. ............. MON-AM2, MON-PM1

Berg-Cross, G. .............................. MON-AM1

Brendle, B. ......................................TUE-PM1 

Carpin, S. ....................MON-PM1, MON-PM1

Cekander, R. ................................... TUE-AM1

Chang, T. ....................................... MON-PM1

Christensen, H. ..............................WED-AM1

Connelly, J. ....................................WED-AM1 

Coyeman, N. ..................................WED-AM1

Deshmukh, A. .................................TUE-PM1

DeVisser, J. .................................. WED-AM1

Downs, A. .....................................MON-AM2

Ference, J. ................................... MON-PM1

Finkelstein, R. ................................. TUE-PM1

Fitz-Coy, N. ................. WED-AM1, WED-AM1

Foedisch, M. ................................... TUE-PM1 

Freedy, A. ...................................... WED-AM1

Freedy, E. ...................................... WED-AM1 

Freeman, J. .................................... TUE-AM1

Gage, D. ......................................... MON-AM2

Gladun, S. .......................................WED-AM1

Green, A. .........................................WED-AM1

Gunderson, J. ............................... MON-AM1

Gunderson, L. .............................. MON-AM1

Han, F. .............................................TUE-AM1

Hong, T-H. .................................... MON-PM1

Hong, W. ....................................... WED-AM1 

Huang, H. ..................................... MON-AM1

Huttenrauch, H. .............................WED-AM1 

Jacoff, A. ......................................MON-AM2

Jones, A. ........................................TUE-PM1

Joshi, S. ........................................MON-AM2

Kalphat, M. ...................................WED-AM1

Kannan, B. ................................... MON-AM2

Kramer, J. ..................................... WED-AM1 

Krovi, V. ..........................................WED-AM1

Kumar, R. .......................TUE-AM1, TUE-AM1

Lee, L-F. ........................................WED-AM1 

Li, M-S. ........................................... TUE-PM1

Linegang, M. ................ TUE-AM1, TUE-AM1

Lewis, M. ...................MON-PM1, MON-PM1

Lundberg, C. ................................. WED-AM1

Lukowicz , P. ................................... TUE-AM1

Madhavan, R. ..............MON-AM2, TUE-PM1

Mahoney, Jr., R. ............................ WED-AM1

Manteuffel, C. ................................. TUE-AM1

Messina, E. ................................... MON-AM2

Minnen, D. ......................................TUE-AM1

Molino, V. ......................................MON-AM2

Murphy, R. .................................... WED-AM1

Najm, W. ........................................MON-PM1

Naroditsky, O. .................................TUE-AM1 

Nevatia, Y. ..................................... MON-PM1

Oskiper, T. .......................................TUE-AM1

Palmer, D. .................................... WED-AM1

Parker, L. .......................................MON-AM2

Reinhold, R. ..................................WED-AM1

Samarasekara, S. ...........................TUE-AM1

Sawhney, H. ...................TUE-AM1, TUE-AM1

Schlenoff, C..... TUE-AM1,TUE-AM1,TUE-PM1

Scholtz, J. ..................................... WED-AM1 

Schrag, R. ................................... MON-PM1

Scrapper, C. ...................................MON-PM1

Shackleford, W. .............................MON-PM1

Shan, Y. ...........................................TUE-AM1

Shneier, M. .. MON-PM1, TUE-AM1, TUE-AM1

Spall, J. .........................................MON-PM1

Sparrow, D. ...................................WED-AM1

Srivastava, A. ...............................MON-AM2

Stanton, B. ....................................WED-AM1

Starner, T. ....................................... TUE-AM1

Stefanuk, V. ................................. MON-AM1

Steves, M. ......................TUE-AM1, TUE-AM1

Stoyanov, T. ...................................MON-PM1

Szabo, S. ....................................... MON-PM1

Tatsch, A. ...................................... WED-AM1 

Topp, E. ..........................................WED-AM1

Tunstel, E. .................................... MON-AM2

Ursu, D. ........................................... TUE-PM1

Virts, A. ......................... TUE-AM1, TUE-AM1

Waldrum, A. .................................. WED-AM1 

Wang, J. ....................................... MON-PM1

Ward, J. ..........................................TUE-AM1

Washington, R. ...............................TUE-AM1

Weiss, B. ........................TUE-AM1, TUE-AM1

Weltman, G. ...................................WED-AM1

Westeyn, T. ..................................... TUE-AM1

White, C. ......................................... TUE-AM1

Zhu, Z. ............................................ TUE-AM1

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA
ACKNOWLEDGMENTS

These people provided essential support to make this event happen. Their ideas 

and efforts are very much appreciated.

Website and Proceedings

Debbie Russell (Chair)

Local Arrangements

Jeanenne Salvermoser (Chair)

Jennifer Peyton

Catherine Shupe

Exhibits and Test Methods

Brian Weiss (Chair)

Ann Marie Virts 

Anthony Downs

Jeb Smith

Conference and Registration

Kathy Kilmer (Chair)

Teresa Vicente

Patrice Boulanger

Angela Ellis

Finance

Betty Mandel (Chair)

Facilities (Audio/Visual)

Hoyt Cox (Chair)

Dean Smith

SSRR2006 and PERMIS2006 National Institute of Standards and Technology, Gaithersburg, Maryland USA

Thank you 

SSRR 

attendees!

Intelligent Systems Division 

Manufacturing Engineering Laboratory 

National Institute of Standards and Technology

100 Bureau Drive, MS-8230

Gaithersburg, MD 20899 

http://www.isd.mel.nist.gov/

Thank you 

PerMIS 

attendees!