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In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot's ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic(More)
A real-time object tracking and collision avoidance method for mobile robot navigation is presented using stereo vision and a laser sensor. Stereo vision is used to identify the target while laser based range measurements are utilized to avoid collision with surrounding objects. The target is tracked by its predetermined or dynamically defined color.(More)
BACKGROUND Decision curve analysis (DCA) has been proposed as an alternative method for evaluation of diagnostic tests, prediction models, and molecular markers. However, DCA is based on expected utility theory, which has been routinely violated by decision makers. Decision-making is governed by intuition (system 1), and analytical, deliberative process(More)
BACKGROUND Dual processing theory of human cognition postulates that reasoning and decision-making can be described as a function of both an intuitive, experiential, affective system (system I) and/or an analytical, deliberative (system II) processing system. To date no formal descriptive model of medical decision-making based on dual processing theory has(More)
This paper presents a novel task allocation methodology based on supervisory control theory applicable to cooperative robot teams. A team of heterogeneous robots with different sensory capabilities is considered. The overall team's mission is decomposed into multiple tasks which are assigned to one or more robots. An evaluation function is utilized to(More)
BACKGROUND According to the threshold model, when faced with a decision under diagnostic uncertainty, physicians should administer treatment if the probability of disease is above a specified threshold and withhold treatment otherwise. The objectives of the present study are to a) evaluate if physicians act according to a threshold model, b) examine which(More)
BACKGROUND Despite the well documented advantages of hospice care, most terminally ill patients do not reap the maximum benefit from hospice services, with the majority of them receiving hospice care either prematurely or delayed. Decision systems to improve the hospice referral process are sorely needed. METHODS We present a novel theoretical framework(More)
Chronic diseases such as diabetes and heart disease are the leading causes of disability and death in the developed world. Technological interventions such as mobile applications have the ability to facilitate and motivate patients in chronic disease management, but these types of interventions present considerable design challenges. The primary objective(More)
This paper presents a Rough Set Theory (RST) based classification model to identify hospice candidates within a group of terminally ill patients. Hospice care considerations are particularly valuable for terminally ill patients since they enable patients and their families to initiate end-of-life discussions and choose the most desired management strategy(More)
A novel, simple and efficient method for vision based range measurements with uncalibrated cameras is presented. Required parameters are the image size, the relative distance between two different image frames of the same scene and the field of view of the camera(s). Range measurements acquired using ultrasonic sensors and a vision system have been used to(More)