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(1 - 7 of 7)
- Title
- COALITION FORMATION IN MULTI-AGENT UAV SYSTEMS.
- Creator
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DeJong, Paul, Boloni, Ladislau, University of Central Florida
- Abstract / Description
-
Coalitions are collections of agents that join together to solve a common problem that either cannot be solved individually or can be solved more efficiently as a group. Each individual agent has capabilities that can benefit the group when working together as a coalition. Typically, individual capabilities are joined together in an additive way when forming a coalition. This work will introduce a new operator that is used when combining capabilities, and suggest that the behavior of the...
Show moreCoalitions are collections of agents that join together to solve a common problem that either cannot be solved individually or can be solved more efficiently as a group. Each individual agent has capabilities that can benefit the group when working together as a coalition. Typically, individual capabilities are joined together in an additive way when forming a coalition. This work will introduce a new operator that is used when combining capabilities, and suggest that the behavior of the operator is contextual, depending on the nature of the capability itself. This work considers six different capabilities of Unmanned Air Vehicles (UAV) and determines the nature of the new operator in the context of each capability as coalitions (squadrons) of UAVs are formed. Coalitions are formed using three different search algorithms, both with and without heuristics: Depth-First, Depth-First Iterative Deepening, and Genetic Algorithm (GA). The effectiveness of each algorithm is evaluated. Multi agent-based UAV simulation software was developed and used to test the ideas presented. In addition to coalition formation, the software aims to address additional multi-agent issues such as agent identity, mutability, and communication as applied to UAV systems, in a realistic simulated environment. Social potential fields provide a means of modeling a clustering attractive force at the same time as a collision-avoiding repulsive force, and are used by the simulation to maintain aircraft position relative to other UAVs.
Show less - Date Issued
- 2005
- Identifier
- CFE0000394, ucf:46332
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0000394
- Title
- EFFECT OF OPERATOR CONTROL CONFIGURATION ON UNMANNED AERIAL SYSTEM TRAINABILITY.
- Creator
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Neumann, John, Kincaid, Peter, University of Central Florida
- Abstract / Description
-
Unmanned aerial systems (UAS) carry no pilot on board, yet they still require live operators to handle critical functions such as mission planning and execution. Humans also interpret the sensor information provided by these platforms. This applies to all classes of unmanned aerial vehicles (UAV's), including the smaller portable systems used for gathering real-time reconnaissance during military operations in urban terrain. The need to quickly and reliably train soldiers to control small...
Show moreUnmanned aerial systems (UAS) carry no pilot on board, yet they still require live operators to handle critical functions such as mission planning and execution. Humans also interpret the sensor information provided by these platforms. This applies to all classes of unmanned aerial vehicles (UAV's), including the smaller portable systems used for gathering real-time reconnaissance during military operations in urban terrain. The need to quickly and reliably train soldiers to control small UAS operations demands that the human-system interface be intuitive and easy to master. In this study, participants completed a series of tests of spatial ability and were then trained (in simulation) to teleoperate a micro-unmanned aerial vehicle equipped with forward and downward fixed cameras. Three aspects of the human-system interface were manipulated to assess the effects on manual control mastery and target detection. One factor was the input device. Participants used either a mouse or a specially programmed game controller (similar to that used with the Sony™ Playstation 2 video game console). A second factor was the nature of the flight control displays as either continuous or discrete (analog v. digital). The third factor involved the presentation of sensor imagery. The display could either provide streaming video from one camera at a time, or present the imagery from both cameras simultaneously in separate windows. The primary dependent variables included: 1) time to complete assigned missions, 2) number of collisions, 3) number of targets detected, and 4) operator workload. In general, operator performance was better with the game controller than with the mouse, but significant improvement in time to complete occurred over repeated trials regardless of the device used. Time to complete missions was significantly faster with the game controller, and operators also detected more targets without any significant differences in workload compared to mouse users. Workload on repeated trials decreased with practice, and spatial ability was a significant covariate of workload. Lower spatial ability associated with higher workload scores. In addition, demographic data including computer usage and video gaming experience were collected and analyzed, and correlated with performance. Higher video gaming experience was also associated with lower workload.
Show less - Date Issued
- 2006
- Identifier
- CFE0001496, ucf:47080
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0001496
- Title
- INVESTIGATING THE MECHANISMS THAT DRIVE IMPLICIT COORDINATION IN TEAMS.
- Creator
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Hoeft, Raegan, Jentsch, Florian, University of Central Florida
- Abstract / Description
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The purpose of this study was to empirically test the oft-noted hypothesis that shared mental models lead to implicit coordination. Specifically, this dissertation investigated the underlying mechanisms of implicit coordination and how different aspects of shared mental models affect the process. The research questions tested in this study were (a)how perceptions of sharedness affect the initiation of implicit coordination, (b) how actual levels of sharedness affect the process of implicit...
Show moreThe purpose of this study was to empirically test the oft-noted hypothesis that shared mental models lead to implicit coordination. Specifically, this dissertation investigated the underlying mechanisms of implicit coordination and how different aspects of shared mental models affect the process. The research questions tested in this study were (a)how perceptions of sharedness affect the initiation of implicit coordination, (b) how actual levels of sharedness affect the process of implicit coordination, and (c) how quality of task mental models affects successful implicit coordination. Sixty same-gender, two-person teams engaged in a complex military reconnaissance planning task in which the team members were required to work together by exchanging information to plan routes for one unmanned aerial vehicle (UAV) and one unmanned ground vehicle (UGV). The results provided partial support for the influence of different facets of shared mental models on the process of implicit coordination. Specifically, individual mental model quality, not perceptions of sharedness or actual mental model sharedness, was the biggest predictor of the initiation of implicit coordination. Additionally, perceptions of sharedness and actual mental model sharedness interacted with one another, such that teams in mismatched conditions (high perceptions of sharedness but low actual sharedness [false consensus], or low perceptions of sharedness and high actual sharedness, [pluralistic ignorance]) tended to increase their communications. The implications and recommendations for future research on implicit coordination and shared mental models are discussed. Additionally, the implications for operators of unmanned vehicles are also discussed.
Show less - Date Issued
- 2006
- Identifier
- CFE0001181, ucf:46857
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0001181
- Title
- Pressure Image Based Attitude Controller for Small Unmanned Aerial Vehicles.
- Creator
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Thompson, Kenneth, Xu, Yunjun, Gou, Jihua, Lin, Kuo-Chi, University of Central Florida
- Abstract / Description
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As technology improves, small unmanned aerial vehicles (SUAV) have been identified for their utility in a variety of applications in which larger unmanned craft may be incapable of accomplishing mission objectives. These aircraft with their small size and long flight durations are ideal for hazardous inspection and long duration surveillance missions. One challenge preventing the widespread adoption of these systems is their instability to abrupt changes in the flow field around them due to...
Show moreAs technology improves, small unmanned aerial vehicles (SUAV) have been identified for their utility in a variety of applications in which larger unmanned craft may be incapable of accomplishing mission objectives. These aircraft with their small size and long flight durations are ideal for hazardous inspection and long duration surveillance missions. One challenge preventing the widespread adoption of these systems is their instability to abrupt changes in the flow field around them due to wind gusts or flow separation.Currently, traditional rigid body based sensors are implemented in their flight control systems, which are sufficient in higher inertia aircraft for accurate control.However, in low inertia SUAV applications during a flow event, often, the inertial sensors are incapable of detecting the event before catastrophic failure.A method of directly measuring the flow information around the SUAV in order to generate control commands will improve the stability of these systems by allowing these systems to directly react to flow events.In contrast, established inertial based control systems can only react to changes in vehicle dynamics caused by flow events.Such a method is developed utilizing a network of pressure and shear sensors embedded in the wing and used to create (")flow images(") which can be easily manipulated to generate control commands.A method of accurately calculating the aerodynamic moment acting on the aircraft based on the flow image is also developed for implementation of flow image-based control in real world systems.
Show less - Date Issued
- 2018
- Identifier
- CFE0007417, ucf:52722
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0007417
- Title
- An SoS Conceptual Model, LVC Simulation Framework, and a Prototypical Implementation of Unmanned System Interventions for Nuclear Power Plant Disaster Preparedness, Response, and Mitigation.
- Creator
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Davis, Matthew, Proctor, Michael, O'Neal, Thomas, Reilly, Charles, Sulfredge, C., Smith, Roger, University of Central Florida
- Abstract / Description
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Nuclear power plant disasters can have severe and far-reaching consequences, thus emergency managers and first responders from utility owners to the DoD must be prepared to respond to and mitigate effects protecting the public and environment from further damage. Rapidly emerging unmanned systems promise significant improvement in response and mitigation of nuclear disasters. Models and simulations (M(&)S) may play a significant role in improving readiness and reducing risks through its use...
Show moreNuclear power plant disasters can have severe and far-reaching consequences, thus emergency managers and first responders from utility owners to the DoD must be prepared to respond to and mitigate effects protecting the public and environment from further damage. Rapidly emerging unmanned systems promise significant improvement in response and mitigation of nuclear disasters. Models and simulations (M(&)S) may play a significant role in improving readiness and reducing risks through its use in planning, analysis, preparation training, and mitigation rehearsal for a wide spectrum of derivate scenarios. Legacy nuclear reactor M(&)S lack interoperability between themselves and avatar or agent-based simulations of emergent unmanned systems. Bridging the gap between past and the evolving future, we propose a conceptual model (CM) using a System of System (SoS) approach, a simulation federation framework capable of supporting concurrent and interoperating live, virtual and constructive simulation (LVC), and demonstrate a prototypical implementation of an unmanned system intervention for nuclear power plant disaster using the constructive simulation component. The SoS CM, LVC simulation framework, and prototypical implementation are generalizable to other preparedness, response, and mitigation scenarios. The SoS CM broadens the current stovepipe reactor-based simulations to a system-of-system perspective. The framework enables distributed interoperating simulations with a network of legacy and emergent avatar and agent simulations. The unmanned system implementation demonstrates feasibility of the SoS CM and LVC framework through replication of selective Fukushima events. Further, the system-of-systems approach advances life cycle stages including concept exploration, system design, engineering, training, and mission rehearsal. Live, virtual, and constructive component subsystems of the CM are described along with an explanation of input/output requirements. Finally, applications to analysis and training, an evaluation of the SoS CM based on recently proposed criteria found in the literature, and suggestions for future research are discussed.
Show less - Date Issued
- 2017
- Identifier
- CFE0006732, ucf:51879
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0006732
- Title
- Instructional Strategies for Scenario-Based Training of Human Behavior Cue Analysis with Robot-Aided Intelligence, Surveillance, Reconnaissance.
- Creator
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Salcedo, Julie, Lackey, Stephanie, Reinerman, Lauren, Barber, Daniel, Kincaid, John, Matthews, Gerald, University of Central Florida
- Abstract / Description
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The U.S. Army desires to improve safety during Intelligence, Surveillance, Reconnaissance (ISR) operations by removing Warfighters from direct line-of-fire by enhancing ISR operational capabilities with unmanned systems, also known as Robot-Aided ISR (RAISR) (DOD, 2013). Additionally, RAISR presents an opportunity to fulfill ISR capability requirements of modern combat environments including: detection of High-Value Individuals (HVI) from safer distances, identification of baseline behavior,...
Show moreThe U.S. Army desires to improve safety during Intelligence, Surveillance, Reconnaissance (ISR) operations by removing Warfighters from direct line-of-fire by enhancing ISR operational capabilities with unmanned systems, also known as Robot-Aided ISR (RAISR) (DOD, 2013). Additionally, RAISR presents an opportunity to fulfill ISR capability requirements of modern combat environments including: detection of High-Value Individuals (HVI) from safer distances, identification of baseline behavior, and interpretation of adversarial intent (U.S. Army, 2008). Along with the demand and projected acquisition of RAISR technology, there is the added need to design training requirements for system operation and task execution instruction. While documentation identifying specific training standards and objectives for ISR tasks utilizing unmanned systems is limited (DOD, 2013), simulation-based training has been identified as a critical training medium for RAISR (U.S. Army, 2008). ISR analysts will primarily conduct RAISR tasks via Indirect Vision Displays (IVD) which transition well into multimodal simulations (Salcedo, Lackey, (&) Maraj, 2014). However, simulation alone may not fulfill the complex training needs of RAISR tasks, therefore, incorporating instructional support may improve the effectiveness of training (Oser, Gualtieri, Cannon-Bowers, (&) Salas, 1999). One method to accomplish this is to utilize a Scenario-Based Training (SBT) framework enhanced with instructional strategies to target specific training objectives.The purpose for the present experiment was to assess the effectiveness of SBT enhanced with selected instructional strategies for a PC-based RAISR training simulation. The specific task type was the identification of HVIs within a group through behavior cue analysis. The instructional strategies assessed in this experiment, Highlighting and Massed Exposure, have shown to improve attentional weighting, visual search, and pattern recognition skills, which are critical for successful behavior cue analysis. Training effectiveness was evaluated by analyzing the impact of the instructional strategies on performance outcomes, including detection accuracy, classification accuracy, and median response time, and perceptions of the level of engagement, immersion, and presence during training exercises. Performance results revealed that the Massed Exposure strategy produced significantly faster response times for one subtle and one familiar target behavior cue. Perception results indicated that Highlighting was the least challenging instructional strategy and the Control offered the preferred level of challenge. The relationships between performance and perception measures revealed that higher levels of engagement, immersion, and presence were associated with better performance in the Control, but this trend did not always hold for Massed Exposure and Highlighting. Furthermore, presence emerged as the primary predictor of performance for select target behavior cues in the Control and Massed Exposure conditions, while immersion and engagement predicted performance of select cues in the Highlighting condition. The findings of the present experiment point to the potential benefit of SBT instructional strategies to improve effectiveness of simulation-based training for behavior cue analysis during RAISR operations. Specifically, the findings suggest that the Massed Exposure strategy has the potential to improve response time when detecting both familiar and novel targets. The results also highlight directions for future research to investigate methods to alter instructional strategy design and delivery in order to improve trainee perceptions of the instruction.
Show less - Date Issued
- 2014
- Identifier
- CFE0005705, ucf:50151
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0005705
- Title
- Visuo-spatial abilities in remote perception: A meta-analysis of empirical work.
- Creator
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Fincannon, Thomas, Jentsch, Florian, Sims, Valerie, Bowers, Clint, Chen, Jessie, University of Central Florida
- Abstract / Description
-
Meta-analysis was used to investigate the relationship between visuo-spatial ability and performance in remote environments. In order to be included, each study needed to examine the relationship between the use of an ego-centric perspective and various dimensions of performance (i.e., identification, localization, navigation, and mission completion time). The moderator analysis investigated relationships involving: (a) visuo-spatial construct with an emphasis on Carroll's (1993)...
Show moreMeta-analysis was used to investigate the relationship between visuo-spatial ability and performance in remote environments. In order to be included, each study needed to examine the relationship between the use of an ego-centric perspective and various dimensions of performance (i.e., identification, localization, navigation, and mission completion time). The moderator analysis investigated relationships involving: (a) visuo-spatial construct with an emphasis on Carroll's (1993) visualization (VZ) factor; (b) performance outcome (i.e., identification, localization, navigation, and mission completion time); (c) autonomy to support mission performance; (d) task type (i.e., navigation vs. reconnaissance); and (e) experimental testbed (i.e., physical vs. virtual environments). The process of searching and screening for published and unpublished analyses identified 81 works of interest that were found to represent 50 unique datasets. 518 effects were extracted from these datasets for analyses.Analyses of aggregated effects (Hunter (&) Schmidt, 2004) found that visuo-spatial abilities were significantly associated with each construct, such that effect sizes ranged from weak (r = .235) to moderately strong (r = .371). For meta-regression (Borenstein, Hedges, Figgins, (&) Rothstein, 2009; Kalaian (&) Raudenbush, 1996; Tabachnick (&) Fidell, 2007), moderation by visuo-spatial construct (i.e., focusing on visualization) was consistently supported for all outcomes. For at least one of the outcomes, support was found for moderation by test, the reliability coefficient of a test, autonomy (i.e. to support identification, localization, and navigation), testbed (i.e., physical vs. virtual environment), intended domain of application, and gender. These findings illustrate that majority of what researchers refer to as (")spatial ability(") actually uses measures that load onto Carroll's (1993) visualization (VZ) factor. The associations between this predictor and all performance outcomes were significant, but the significant variation across moderators highlight important issues for the design of unmanned systems and the external validity of findings across domains. For example, higher levels of autonomy for supporting navigation decreased the association between visualization (VZ) and performance. In contrast, higher levels of autonomy for supporting identification and localization increased the association between visualization (VZ) and performance. Furthermore, moderation by testbed, intended domain of application, and gender challenged the degree to which findings can be expected to generalize across domains and sets of participants.
Show less - Date Issued
- 2013
- Identifier
- CFE0004680, ucf:49858
- Format
- Document (PDF)
- PURL
- http://purl.flvc.org/ucf/fd/CFE0004680
