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In this paper, we present a strategy for organizing swarms of unmanned vehicles into a formation by utilizing artificial potential fields that were generated from normal and sigmoid functions. These functions construct the surface on which swarm members travel, controlling the overall swarm geometry and the individual member spacing. Nonlinear limiting(More)
In this paper, we present algorithms and display concepts that allow Soldiers to efficiently interact with a robotic swarm that is participating in a representative convoy mission. A critical aspect of swarm control, especially in disrupted or degraded conditions, is Soldier-swarm interaction-the Soldier must be kept cognizant of swarm operations through an(More)
This study investigates data collected from operating an Inuktun robot in an urban search and rescue (USAR) confined space training exercise task at Virginia Beach Training Center. Data was collected from coding approximately one hour of video. The video had no sound so all analysis is based on the video feed. Indicators of communication, gestures, physical(More)
This paper describes the development of a simulator for multiple Un-manned Aerial Vehicles (UAVs) utilizing the commercially available simulator X-Plane and Matlab. Coordinated control of unmanned systems is currently being researched for a wide range of applications, including search and rescue, convoy protection, and building clearing to name a few.(More)
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Abstract—This paper first defines a novel spatial-temporal coverage metric, k-depth coverage, for mobile crowdsensing (MCS) problems. This metric considers both the fraction of subareas covered by(More)
— This paper describes an extension of scripts, which have been used to control sequences of robot behavior, to facilitate human-robot coordination. The script mechanism permits the human to both conduct expected, complementary activities with the robot and to intervene opportunistically taking direct control. Scripts address the six major issues associated(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)
The invasive phenotype of glioblastoma multiforme (GBM) is a hallmark of malignant process, yet the molecular mechanisms that dictate this locally invasive behavior remain poorly understood. Over-expression of PIAS3 effectively changes cell shape and inhibits GBM cell migration. We focused on the molecular target(s) of PIAS3 stimulated sumoylation, which(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)
Intelligence gathering is a critical component of military operations. Unmanned aerial vehicles (UAVs) have become an increasingly useful tool due to their surveillance and reconnaissance capabilities. However, the use of many of these vehicles is limited to outdoor environments because of their size and reliance on Global Positioning Satellites (GPS).(More)