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A Comparison Between Agile And Traditional Software Development Methodologies.

Authored by: I. Akm, A. Ferworn.

Abstract: Agile and Traditional software development methodologies, both are being used in different projects of software development industry. Agile software development technology is an incremental software d
I. Akm, A. Ferworn.. “A Comparison Between Agile And Traditional Software Development Methodologies.”. Global Journals Organisation. Vol. 20, No. 2 2020.

Blockchain-Based Transparent Disaster Relief Delivery Assurance

Authored by: M. Demir, O. Turetken, A. Ferworn

Abstract: Blockchain technology presents benefits that change the way business partners interact. This new way of establishing democratic trust encourages business owners to think differently. Disaster relief
M. Demir, O. Turetken, A. Ferworn, et al.. “Blockchain-Based Transparent Disaster Relief Delivery Assurance”. IEEE SYSCON. 2020.

Challenges In Serious Game Design And Development: Educators’ Experiences

Authored by: A. Dimitriadou, N. Djafarova, O. Turetken, M. Verkuyl, A. Ferworn

Abstract: Background. Relatively little is known about the role of educators in serious game design and development and their experiences with serious game implementation. We investigate educators’ perceived ch
Tags: Serious Games, Education
A. Dimitriadou, N. Djafarova, O. Turetken, et al.. “Challenges In Serious Game Design And Development: Educators’ Experiences”. Simulation And Gaming.No. 21 2020.

A UAV-based Algorithm To Assist Ground SAR Teams In Finding Lost Persons Living With Dementia

Authored by: D. Hanna, A. Ferworn

Abstract: Unmanned Aerial Vehicles (UAV) are now used in many applications. Our focus in this paper is on their use in public safety, specifically in search and rescue (SAR) operations involving lost persons li
Tags: Uav, Dementia, Search, Rescue, Human, Robot, Probability, Area
D. Hanna, A. Ferworn. “A UAV-based Algorithm To Assist Ground SAR Teams In Finding Lost Persons Living With Dementia”. IEEE Xplore (In Press). 2020.

Multi-Band Multi-Hop WLANs For Disaster Relief And Public Safety Applications

Authored by: A. Ali, F. Hussain, R. Hussain, A. Mehmood, A. Ferworn

Abstract: Calamities like tsunami and flood cause communica-tion outage by damaging the communication infrastructure andpower supply. As an alternate communication facility, multi-hoprelay networks are deployed
A. Ali, F. Hussain, R. Hussain, et al.. “Multi-Band Multi-Hop WLANs For Disaster Relief And Public Safety Applications”. IEEE WCNC. 2020.

Data Analytics To Predict The Survivability Of A Lost Person With Dementia Using R

Authored by: D. Hanna, R. Husein, R. J., A. Ferworn

Abstract: This paper presents the results of analyzing cases of lost persons with dementia recorded in the International Search and Rescue Incident Database (ISRID). Linear regression, logistic regression and c
Tags: Uav, Wandering, Dementia, Search, Rescue, Path, Data, Prediction, Linear, Regression, Logistic, Drone, Classification, Smote, Analysis, Oversampling, Algorithms
D. Hanna, R. Husein, R. J., et al.. “Data Analytics To Predict The Survivability Of A Lost Person With Dementia Using R”. IEEE Xplore., 2019, pp. 160-168.

Automated Generation And Dynamic Rendering Of Web-based Data Collection Systems

Authored by: Z. Zhang, T. Ting, K. Vigneswaren, F. Hussain,, A. Ferworn

Abstract: Development of web based data collection and resource management system is a time consuming, resource demanding process, as it contains multiple layers of back-end and front-end services. And the proc
Z. Zhang, T. Ting, K. Vigneswaren, et al.. “Automated Generation And Dynamic Rendering Of Web-based Data Collection Systems”. IEEE IEMCON. 2019.

Intelligent Service Mesh Framework For API Security And Management

Authored by: F. Hussain, O. Li, B. Noye, S. Sharieh, A. Ferworn

Abstract: With the advancements in enterprise-level business development, the demand for new applications and services is overwhelming.For the development and delivery of such applications and services, enterpr
F. Hussain, O. Li, B. Noye, et al.. “Intelligent Service Mesh Framework For API Security And Management”. IEEE IEMCON. 2019.

Blockchain And IoT For Delivery Assurance On Supply Chain (BIDAS)

Authored by: M. Demir, O. Turetken, A. Ferworn

Abstract: Blockchain technology introduced immutable distributed ledgers to the technology landscape. With the current popularity and success of the blockchain technology, researchers are looking for further im
Tags: Blockchain; Agent Theory; IoT; Big Data; Delivery Framework; Last Mile; Trust; Supply Chain; Computational Public Safety
M. Demir, O. Turetken, A. Ferworn, et al.. “Blockchain And IoT For Delivery Assurance On Supply Chain (BIDAS)”. IEEE Big Data 2019- IoT Big Data And Blockchain (IoTBB’2019). 2019.

Blockchain-Based Transparent Vehicle Insurance Management

Authored by: M. Demir, O. Turetken, A. Ferworn

Abstract: The automotive industry is re-blooming with recent enhances in technology. Electric vehicles and autonomous vehicles are already attracting attention to the industry and providing momentum for adoptio
Tags: Blockchain; Intelligent Vehicles; Insurance; Security; Trust
M. Demir, O. Turetken, A. Ferworn, et al.. “Blockchain-Based Transparent Vehicle Insurance Management”. IEEE International Conference On Software Defined Systems (SDS). 2019.

Security Smells In Smart Contracts

Authored by: M. Demir, M. Alalfi, O. Turetken, A. Ferworn

Abstract: The popularity of blockchain technology encourages organizations to use more blockchain features in mission-critical processes such as trading, access control, and computational public safety. Automa
Tags: Security Smells; Program Analysis; Blockchain; Smart Contracts
M. Demir, M. Alalfi, O. Turetken, et al.. “Security Smells In Smart Contracts”. IEEE International Conference IEEE International Conference On Software Security And Reliability (QRS). 2019.

A Financial Evaluation Framework For Blockchain Implementations

Authored by: M. Demir, O. Turetken, A. Ferworn

Abstract: Blockchain technology is at its hype. Organizations are trying to implement blockchain based solutions. At least, they are thinking of blockchain as a solution platform for some of their business prob
Tags: Blockchain; Financial Evaluation
M. Demir, O. Turetken, A. Ferworn, et al.. “A Financial Evaluation Framework For Blockchain Implementations”. IEEE 10th Annual Information Technology, Electronics And Mobile Communication Conference (IEMCON). 2019.

Physical And Digital Architecture For Collection And Analysis Of Imparted Accelerations On Zip Line Attractions

Authored by: K. David, S. Sicat, N. Holman, M. Glozer, A. Black, A. Ferworn, K. Woodcock

Abstract: The accelerations experienced by riders of Zip Line attractions is an underexplored area of public safety assurance. These amusement devices require complex processes to collect and analyze accelerati
Tags: Zip Line; Acceleration; G-force; Wearable; Data Collection And Processing
K. David, S. Sicat, N. Holman, et al.. “Physical And Digital Architecture For Collection And Analysis Of Imparted Accelerations On Zip Line Attractions”. Journal Of Themed Experience And Attractions Studies. Vol. 1, No. 1Article. 7 2018.

Utility Blockchain For Transparent Disaster Recovery

Authored by: M. Demir, A. Mashatan, O. Turetken, A. Ferworn

Abstract: There are various compelling use cases of blockchain technology in the energy and utility sector. We survey the benefits and challenges of blockchain technology on these use cases. Most of these cases
Tags: Blockchain; Distributed Ledger; Utility; Energy; Disaster Relief; Service Restoration
M. Demir, A. Mashatan, O. Turetken, et al.. “Utility Blockchain For Transparent Disaster Recovery”. 2018 IEEE Electrical Power And Energy Conference (EPEC)., 2018, pp. 1-6.

Wearable Technology For Design And Safety Evaluation Of Rider Acceleration Exposure On Aerial Adventure Attractions

Authored by: S. Sicat, K. Woodcock, A. Ferworn

Abstract: Aerial adventure attractions are intended to produce exhilarating sensations at significant elevation, speed, and acceleration, all while maintaining the safety of the participant. While zipline desig
Tags: Design Evaluation; Wearable Technology; Computational Public Safety; Aerial Adventures; Ziplines; Accelerometers; Requirements; Test Protocol
S. Sicat, K. Woodcock, A. Ferworn, et al.. “Wearable Technology For Design And Safety Evaluation Of Rider Acceleration Exposure On Aerial Adventure Attractions”. Proceedings Of The The XXXth Annual Occupational Ergonomics And Safety Conference. 2018.

Using Unmanned Aerial Vehicles (UAVs) In Locating Wandering Patients With Dementia

Authored by: D. Hanna, A. Ferworn, M. Lukaczyn, A. Abhari, J. Lum

Abstract: This paper presents findings from three experiments involving the use of Unmanned Aerial Vehicles (UAVs) for the purpose of locating a wandering person whose behavior resembles the behavior of a wande
Tags: UAV; Wandering; Dementia; Search; Rescue; Path; Algorithms; Computational Public Safety
D. Hanna, A. Ferworn, M. Lukaczyn, et al.. “Using Unmanned Aerial Vehicles (UAVs) In Locating Wandering Patients With Dementia”. IEEE/ION Position Location And Navigation Symposium. 2018.

VLC Enabled Foglets Assisted Road Asset Reporting

Authored by: F. Hussain, . Hasan, X. Fernando, A. Ferworn

Abstract: The proliferation of smart objects and their connectivity have contributed to the realization of the Internet of Things (IoT) paradigm, offering a plethora of applications and services in many sectors
F. Hussain, . Hasan, X. Fernando, et al.. “VLC Enabled Foglets Assisted Road Asset Reporting”. IEEE VTC. 2017.

Comparing Quantative And Comment-based Ratings For Recommending Open Educational Resources

Authored by: D. Hanna, A. Ferworn, A. Abhari

Abstract: The recent application of recommender systems for educational resources and e-learning has facilitated online and accessible education on social networks. However, there are currently few studies abou
Tags: Open Education Resources; OER; Recommender Systems; Sentiment Analysis
D. Hanna, A. Ferworn, A. Abhari, et al.. “Comparing Quantative And Comment-based Ratings For Recommending Open Educational Resources”. Comparing Quantative And Comment-based Ratings For Recommending Open Educational Resources. 2017.

Police Learning: Examining The Use Of Simulations In Police Training And The Associated Learning Theories

Authored by: D. Hanna, A. Ferworn, A. Abhari

Abstract: In addition to the cost savings, technology such as e-learning, hybrid learning and simulations are tools that are used to equip police force with the competencies and skills needed to protect the pub
Tags: Virtual; Simulation; Police; Learning Theories; Public Safety; Crisis Management
D. Hanna, A. Ferworn, A. Abhari, et al.. “Police Learning: Examining The Use Of Simulations In Police Training And The Associated Learning Theories”. Police Learning: Examining The Use Of Simulations In Police Training And The Associated Learning Theories. 2017.

Integrating Internet Of Things And Blockchain: Use Cases

Authored by: J. Iqbal, F. Hussain, A. Ferworn

Abstract: Blockchain technologies can help in improving the security of IoT applications in healthcare, smart cities, agriculture, energy grids, water management, public safety, supply chain management, educati
J. Iqbal, F. Hussain, A. Ferworn, et al.. “Integrating Internet Of Things And Blockchain: Use Cases”. IEEE Internet Initiative ENewsletter. 2017.

A Multidisciplinary Approach To Learning Human-Robot Interaction (HRI) Through Real-World Problem Solving–The “BUSA Dig”

Authored by: R. Blain, A. Ferworn, J. Li, J. Tran, M. Carter

Abstract: This article examines a cross-disciplinary approach to learning human-robot interaction (HRI) through real-world problem solving. The problem originated from the need of archaeologists at the Universi
Tags: Human-robot Interaction; Teleoperation; HRI Education; Archaeology Robotics
R. Blain, A. Ferworn, J. Li, et al.. “A Multidisciplinary Approach To Learning Human-Robot Interaction (HRI) Through Real-World Problem Solving–The “BUSA Dig””. Journal Of Human-Robot Interaction. Vol. 6, No. 2, 2017, pp. 70-91.

A Rudimentary Approach To Unmanned Aerial Vehicle Guided Improvised Explosive Device Shrapnel Dispersal Simulation

Authored by: C. Chan, A. Ferworn, D. Tran

Abstract: This paper proposes a methodology to compute, model and simulate a Directionally Focused Charge (DFC) explosive, delivered and deployed on an Unmanned Aerial Vehicle (UAV), with simple particle game e
C. Chan, A. Ferworn, D. Tran, et al.. “A Rudimentary Approach To Unmanned Aerial Vehicle Guided Improvised Explosive Device Shrapnel Dispersal Simulation”. Intelligent Networking And Collaborative Systems (INCoS), 2016 International Conference. IEEE. 2017.

Enhancing Autonomous Access Hole Detection

Authored by: B. Waismark, A. Ferworn, J. Tran

Abstract: When buildings collapse, the resulting rubble may trap live victims underneath it, entombing them. Voids beneath the rubble may allow victims to stay alive. However, chances of survival dramatically d
Tags: Urban Search And Rescue; USAR; Disaster; Rubble; Access Hole
B. Waismark, A. Ferworn, J. Tran, et al.. “Enhancing Autonomous Access Hole Detection”. International Humanitarian Technology Conference-(IHTC), 2017 IEEE Canada International. IEEE. 2017.

Towards Determining Relative Densities For Common Unknown Explosives In Improvised Explosive Devices

Authored by: C. Chan, A. Ferworn, L. Chin

Abstract: This paper proposes a methodology to obtain a model for estimating relative densities of unknown substances contained in Improvised Explosive Devices (IEDs) using scanning technology and image process
Tags: Computed Tomography; Density; Explosives Disposal Unit; Improvised Explosive Devices
C. Chan, A. Ferworn, L. Chin, et al.. “Towards Determining Relative Densities For Common Unknown Explosives In Improvised Explosive Devices”. International Humanitarian Technology Conference-(IHTC), 2017 IEEE Canada International. IEEE. 2017.

Distributed Slot Allocation In Capillary Gateways For Internet Of Things Networks

Authored by: F. Hussain, A. Ferworn

Abstract: The applications and usage of the internet is expanding on a daily basis and the Internet of Things (IoT) is fast becoming the new approach for incorporating the internet into our personal, profession
F. Hussain, A. Ferworn. “Distributed Slot Allocation In Capillary Gateways For Internet Of Things Networks”. IEEE VTC. 2016.

Serious Gaming For Improvised Explosive Device Neutralization Training

Authored by: C. Chan, A. Ferworn, M. Young

Abstract: An improvised explosive device (IED) is a “homemade” bomb intended to cause great harm when it explodes. The public safety task of identifying and neutralizing IEDs falls to military and police servic
C. Chan, A. Ferworn, M. Young, et al.. “Serious Gaming For Improvised Explosive Device Neutralization Training”. The 3rd International Conference On Industrial Engineering And Applications (ICIEA 2016), EDP Sciences, MATEC Web Of Conferences. Vol. 68, 2016.

What Is A Hole? Discovering Access Holes In Disaster Rubble With Functional And Photometric Attributes

Authored by: C. Kong, A. Ferworn, E. Coleshill, J. Tran, K. Derpanis

Abstract: The collapse of buildings and other structures in heavily populated areas often result in human victims becoming trapped within the resulting rubble. This rubble is often unstable, difficult to traver
C. Kong, A. Ferworn, E. Coleshill, et al.. “What Is A Hole? Discovering Access Holes In Disaster Rubble With Functional And Photometric Attributes”. Journal Of Field Robotics. Vol. 33, No. 6, 2016, pp. 825-836.

A Hybrid Lossless And Lossy Compression Scheme For Streaming RGB-D Data In Real Time

Authored by: M. Coatsworth, .

Abstract: Mobile and aerial robots used in urban search and rescue (USAR) operations have shown the potential for allowing us to explore, survey and assess collapsed structures effectively at a safe distance. R
Tags: 3D; Video; Streaming; Compression; Point Cloud; USAR; Response Robot
M. Coatsworth, .. “A Hybrid Lossless And Lossy Compression Scheme For Streaming RGB-D Data In Real Time”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2014). 2014.

Interacting With A Virtual Destroyed Environment Constructed From Real Disaster Data

Authored by: A. Ferworn, S. Herman, C. Kong, A. Ufkes, J. Tran

Abstract: A Destroyed Environment (DE) is created by disastrous events in the built environment. DEs typically consist of the structures created from the rubble of collapsed buildings- forming a chaotic, unplan
Tags: USAR; Rubble; Simulation; Physics; Disaster
A. Ferworn, S. Herman, C. Kong, et al.. “Interacting With A Virtual Destroyed Environment Constructed From Real Disaster Data”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2014). 2014.

Toward The Automatic Detection Of Access Holes In Disaster Rubble

Authored by: C. Kong, A. Ferworn, J. Tran, S. Herman, E. Coleshill, K. Derpanis

Abstract: The collapse of buildings and other structures in heavily populated areas often result in multiple human victims becoming trapped within the resulting rubble. This rubble is often unstable, difficult
C. Kong, A. Ferworn, J. Tran, et al.. “Toward The Automatic Detection Of Access Holes In Disaster Rubble”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2013). 2013.

Disaster Scene Reconstruction: Modeling And Simulating Urban Building Collapse Rubble Within A Game Engine

Authored by: A. Ferworn, S. Herman, J. Tran, A. Ufkes, R. Mcdonald

Abstract: Various natural and human-made events can occur in urban settings resulting in buildings collapsing and trapping victims. The task of a structural engineer is to survey the resulting rubble to assess
Tags: USAR; Rubble; Reconstruction; Physics; Disaster
A. Ferworn, S. Herman, J. Tran, et al.. “Disaster Scene Reconstruction: Modeling And Simulating Urban Building Collapse Rubble Within A Game Engine”. Summer Computer Simulation Conference, SCSC 2013 And Work In Progress, WIP 2013, Part Of The 2013 Summer Simulation Multiconference, SummerSim 2013. 2013.

A Markerless Augmented Reality System For Mobile Devices

Authored by: A. Ufkes, M. Fiala

Abstract: Augmented Reality (AR) combines a live view of a real world environment with computer-generated virtual content. An AR system poses unique challenges including requiring a high quality camera pose est
Tags: Augmented Reality; Markerless; Mobile; Real Time; Feature Detectors; ORB; Hybrid Tracking
A. Ufkes, M. Fiala. “A Markerless Augmented Reality System For Mobile Devices”. Computer And Robot Vision (CRV), 2013 International Conference. 2013.

3D Disaster Scene Reconstruction Using A Canine-Mounted RGB-D Sensor

Authored by: J. Tran, A. Ufkes, A. Ferworn, M. Fiala, .

Abstract: A 3D map of the interior of a disaster site that pinpoints the location of trapped victims would greatly aid search and rescue efforts. We propose using a canine-mounted RGB-D sensor, a trained rescue
Tags: 3D Reconstruction; RGB-D Sensor; Canine Augmentation; Urban Search And Rescue
J. Tran, A. Ufkes, A. Ferworn, et al.. “3D Disaster Scene Reconstruction Using A Canine-Mounted RGB-D Sensor”. Computer And Robot Vision (CRV), 2013 International Conference. 2013.

Dog And Snake Marsupial Cooperation For Urban Search And Rescue Deployment

Authored by: A. Ferworn, C. Wright, J. Tran, C. Li, H. Choset

Abstract: One of the many challenges in developing ground response robots for Urban Search and Rescue (USAR) is endowing them with mobility that allows traversal of challenging terrain. In a preliminary study w
Tags: Snake Robots; USAR; Canine Delivery; Marsupial Robotics
A. Ferworn, C. Wright, J. Tran, et al.. “Dog And Snake Marsupial Cooperation For Urban Search And Rescue Deployment”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2012). 2012.

Establishing Network Connectivity Under Rubble Using A Hybrid Wired And Wireless Approach

Authored by: A. Ferworn, J. Tran, A. Ufkes, S. Herman, C. Kong

Abstract: Under rubble communication is a well-known difficult problem. This is due to a number of inherent difficulties including plentiful and diverse physical obstacles that challenge both wired and wireless
Tags: WiFi; Wireless; Wired; Network; Rubble; Canine Delivery; USAR
A. Ferworn, J. Tran, A. Ufkes, et al.. “Establishing Network Connectivity Under Rubble Using A Hybrid Wired And Wireless Approach”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2012). 2012.

Initial Experiments On 3D Modeling Of Complex Disaster Environments Using Unmanned Aerial Vehicles

Authored by: A. Ferworn, J. Tran, A. Ufkes, A. D’Souza

Abstract: The use of unmanned aerial vehicles (UAVs) has the potential to significantly improve the situation awareness of emergency first responders working at urban disaster sites. Having the characteristics
Tags: 3D; Aerial; Rubble; Disaster; UAV; Modeling; Search And Rescue
A. Ferworn, J. Tran, A. Ufkes, et al.. “Initial Experiments On 3D Modeling Of Complex Disaster Environments Using Unmanned Aerial Vehicles”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2011). 2011.

Low-Cost 3D Scene Reconstruction For Response Robots In Real-time

Authored by: J. Tran, A. Ufkes, M. Fiala, A. Ferworn

Abstract: In this paper we discuss several methods for the creation of 3D models that can provide additional information to robot operators in order to improve their situation awareness of the robot being teleo
Tags: Response; Robot; 3D Model; 3D Reconstruction; Real-time
J. Tran, A. Ufkes, M. Fiala, et al.. “Low-Cost 3D Scene Reconstruction For Response Robots In Real-time”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2011). 2011.

DEX – A Design For Canine-Delivered Marsupial Robot

Authored by: M. Gerdzhev, J. Tran, A. Ferworn, D. Ostrom

Abstract: This paper presents the work on Drop and EXplore (DEX), a small rescue robot to be used in Urban Search and Rescue (US&R) operations. Unlike other rescue robots, DEX was designed to be used in tandem
Tags: Marsupial Robot; Robot; Canine; USAR; Rescue; Search; DEX; CARD
M. Gerdzhev, J. Tran, A. Ferworn, et al.. “DEX – A Design For Canine-Delivered Marsupial Robot”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2010). 2010.

Canine Assisted Robot Deployment For Urban Search And Rescue

Authored by: J. Tran, A. Ferworn, M. Gerdzhev

Abstract: In Urban Search and Rescue (USAR) operations the search for survivors must occur before rescue operations can proceed. Two methods that can be used to search in rubble are trained search dogs and spec
Tags: Robot; Canine; Remote; Deployment; Biological Intelligence; USAR
J. Tran, A. Ferworn, M. Gerdzhev, et al.. “Canine Assisted Robot Deployment For Urban Search And Rescue”. IEEE International Workshop On Safety, Security & Rescue Robotics (SSRR-2010). 2010.

Light-weight Protocol Simulation For Binary Data Exchange Over Heterogeneous Networks

Authored by: S. Sharieh, K. Sartipi, A. Ferworn

Abstract: This paper presents a protocol for a near -real-time binary data exchange over Ad-Hoc networks, and heterogeneous networks. The protocol was tested with a softwar
Tags: Ad-Hoc; GSM; PDA; Networks; Wireless; Simulation
S. Sharieh, K. Sartipi, A. Ferworn, et al.. “Light-weight Protocol Simulation For Binary Data Exchange Over Heterogeneous Networks”. Communications And Networking Simulation Symposium (CNS 2010). 2010.

Wireless Mesh Network Performance For Urban Search And Rescue Missions

Authored by: C. Ribeiro, A. Ferworn, M. Denko, J. Tran

Abstract: In this paper we demonstrate that the Canine Pose Estimation (CPE) system can provide a reliable estimate for some poses and when coupled with effective wireless transmission over a mesh network. Pose
Tags: Wireless Mesh Network; WiFi; Transmission Delay; Propagation Delay; Packet Delivery Ratio; Wireless Networks For Computational Public Safety; Canine Pose Estimation; Canine Augmentation Technology; Urban Search And Rescue
C. Ribeiro, A. Ferworn, M. Denko, et al.. “Wireless Mesh Network Performance For Urban Search And Rescue Missions”. International Journal Of Computer Networks & Communications (IJCNC). Vol. 2, No. 2, 2010, pp. 38-45.

Adaptive Engineering Of An Embedded System, Engineered For Use By Search And Rescue Canines

Authored by: C. Ribeiro, F. Mavaddat, A. Ferworn

Abstract: In Urban Search and Rescue (US&R) operations, canine teams are deployed to find live patients, and save lives. US&R may benefit from increased levels of situational awareness, through information made
Tags: Embedded Systems; Adaptive Engineering; Adaptive Design Model; Requirements Engineering; Form Factor; Computational Public Safety; Canine Pose Estimation
C. Ribeiro, F. Mavaddat, A. Ferworn, et al.. “Adaptive Engineering Of An Embedded System, Engineered For Use By Search And Rescue Canines”. Proceedings Of The International Conference On Engineering And Meta-Engineering. 2010.

Computational Public Safety In Emergency Management Communications

Authored by: C. Ribeiro, A. Ferworn

Abstract: Communications are very important in any situation but in emergency management it is imperative that the communications be reliable and responsive to the evolving situation. In emergency management th
Tags: Wireless Mesh Netwroks; Wi-Fi; Bluetooth; Urban Search And Rescue; Emergency Management Computational Public Safety; Canine Pose Estimation
C. Ribeiro, A. Ferworn. “Computational Public Safety In Emergency Management Communications”. 6th International Wireless Communications And Mobile Computing Conference (IWCMC 2010). 2010.

A Scrubbing Technique For The Automatic Detection Of Victims In Urban Search And Rescue Video

Authored by: J. Tran, M. Gerdzhev, A. Ferworn

Abstract: In the discipline of Urban Search and Rescue (US&R), the faster a live human can found the more likely their rescue will be successful with success being measured in lives saved. We have been working
Tags: US&R; Neural Network; Victim Detection; CAT; CRDS; Image Recognition; Scrubbing
J. Tran, M. Gerdzhev, A. Ferworn, et al.. “A Scrubbing Technique For The Automatic Detection Of Victims In Urban Search And Rescue Video”. 6th International Wireless Communications And Mobile Computing Conference (IWCMC 2010). 2010.

Continuing Progress In Augmenting Urban Search And Rescue Dogs

Authored by: J. Tran, M. Gerdzhev, A. Ferworn

Abstract: Canine Augmentation Technology (CAT) is a telepresence system worn by search canines to be used in Urban Search and Rescue (US&R) operations. The intended purpose of CAT is as a tool for search teams
Tags: US&R; Canine; Augmentation; Technology; Telepresence; WiFi; Wearable Computing; Embedded Computing
J. Tran, M. Gerdzhev, A. Ferworn, et al.. “Continuing Progress In Augmenting Urban Search And Rescue Dogs”. 6th International Wireless Communications And Mobile Computing Conference (IWCMC 2010). 2010.

Bark Indication Detection And Release Algorithm For The Automatic Delivery Of Packages By Dogs

Authored by: J. Tran, A. Ferworn

Abstract: The Canine Remote Deployment System (CRDS) is a set of equipment for the delivery of emergency supplies to trapped victims in urban search and rescue (US&R) operations. The system utilizes search cani
Tags: US&R; Canine; Automation; CRDS; Biological Intelligence
J. Tran, A. Ferworn. “Bark Indication Detection And Release Algorithm For The Automatic Delivery Of Packages By Dogs”. 6th International Wireless Communications And Mobile Computing Conference (IWCMC 2010). 2010.

An Assessment Of A Wireless Mesh Network Performance For Urban Search And Rescue Task

Authored by: C. Ribeiro, A. Ferworn, J. Tran

Abstract: In this paper we present a reliable system for predicting the body position, or pose, of Urban Search and Rescue (US&R) dogs. We demonstrate that the Canine Pose Estimation (CPE) system can provide a
Tags: Propagation Delay; Packet Delivery Ratio; Wireless Mesh Network; Wi-Fi; Canine Pose Estimation; Canine Augmentation Technology; Urban Search And Rescue; Accelerometers
C. Ribeiro, A. Ferworn, J. Tran, et al.. “An Assessment Of A Wireless Mesh Network Performance For Urban Search And Rescue Task”. IEEE Toronto International Conference – Science And Technology For Humanity (TIC-STH 2009). 2009.

Canine Pose Estimation – A Computing For Public Safety Solution

Authored by: C. Ribeiro, A. Ferworn, M. Denko, J. Tran

Abstract: In this paper we discuss determining canine pose in the context of common poses observed in Urban Search and Rescue dogs through the use a sensor network made up of accelerometers. We discuss the use
C. Ribeiro, A. Ferworn, M. Denko, et al.. “Canine Pose Estimation – A Computing For Public Safety Solution”. 2009 Canadian Conference On Computer And Robot Vision (CRV 2009)., 2009, pp. 37-44.

Wireless Estimation Of Canine Pose For Search And Rescue

Authored by: C. Ribeiro, A. Ferworn, M. Denko, J. Tran, C. Mawson

Abstract: In this paper we discuss the use of accelerometers and Bluetooth to monitor canine pose in the context of common poses observed in Urban Search and Rescue dogs. We discuss the use of the Canine Pose S
Tags: Canine Augmentation Technology; Urban Search And Rescue; Accelerometers; Bluetooth; WiFi
C. Ribeiro, A. Ferworn, M. Denko, et al.. “Wireless Estimation Of Canine Pose For Search And Rescue”. IEEE International Conference Of Systems Of Systems (SoSE’08). 2008.

Enhancing Canine Disaster Search

Authored by: J. Tran, A. Ferworn, C. Ribeiro, M. Denko

Abstract: This paper describes Canine Augmentation Technology (CAT) for use in urban search and rescue (USAR). CAT is a WiFi enabled sensor array that is worn by a trained canines deployed in urban disasters. T
Tags: CAT; USAR; WiFi; Mesh Network
J. Tran, A. Ferworn, C. Ribeiro, et al.. “Enhancing Canine Disaster Search”. IEEE International Conference Of Systems Of Systems (SoSE’08). 2008.

Wireless Mesh Network Performance For Urban Search And Rescue Missions

Authored by: A. Ferworn, D. Ostrom, K. Barnum, M. Dallaire, D. Harkness, M. Dolderman

Abstract: The Canine Remote Deployment System (CRDS) is a dog-mounted remote delivery system for patients trapped in rubble when human contact is precluded but access by disaster dogs is possible. The system is
Tags: USAR; Canine Search; CAT; CRDS
A. Ferworn, D. Ostrom, K. Barnum, et al.. “Wireless Mesh Network Performance For Urban Search And Rescue Missions”. Journal Of Homeland Security And Emergency Management. Vol. 5, No. 1, 2008, pp. 38-57.

A GSM Mobile System To Monitor Brain Function Using A Near-Infrared Light Sensor

Authored by: S. Sharieh, A. Ferworn, V. Toronov

Abstract: This paper presents a versatile mobile system to monitor oxygenated hemoglobin (HBO) and deoxygenated hemoglobin (HB) concentration changes in brain and tissues. The system uses global system for mobi
Tags: Brain; GSM; Imaging; Near-infrared Spectroscopy; Tissues
S. Sharieh, A. Ferworn, V. Toronov, et al.. “A GSM Mobile System To Monitor Brain Function Using A Near-Infrared Light Sensor”. In Proceedings Of The 21st Canadian Conference On Electrical And Computer Engineering Computer Applications. 2008.

An Ad-hoc Network Based Framework For Monitoring Brain Function

Authored by: S. Sharieh, A. Ferworn, V. Toronov, A. Abhari

Abstract: Ad-hoc networks and mobile devices have become a crucial part of our daily lives. The low cost of wireless devices and free use of ad-hoc networks open an unlimited horizon to create new applications.
Tags: Bluetooth Applications; GSM Applications; Wireless Sensor; Distributed Systems; Mobile Agent; Ad-hoc Networks
S. Sharieh, A. Ferworn, V. Toronov, et al.. “An Ad-hoc Network Based Framework For Monitoring Brain Function”. 11th Communications And Networking Simulation Symposium. 2008.

Image Enhancement Using Frame Extraction Through Time

Authored by: E. Coleshill, A. Ferworn, D. Stacey

Abstract: Image enhancement within machine vision systems has been performed a variety of ways with the end goal of producing a better scene for further processing. The majority of approaches for enhancing an i
Tags: Traffic Monitoring; Vision Systems; Image Processing; Computer Vision
E. Coleshill, A. Ferworn, D. Stacey, et al.. “Image Enhancement Using Frame Extraction Through Time”. CISSE 2007. 2007.

Applying Model-Driven Techniques To Pervasive System Engineering

Authored by: H. Pham, Q. Mahmoud, A. Ferworn, A. Sadeghian

Abstract: This paper provides an overview of model driven software development methodologies and argues that they are well-suited for the purpose of pervasive software development. It also surveys some of the m
H. Pham, Q. Mahmoud, A. Ferworn, et al.. “Applying Model-Driven Techniques To Pervasive System Engineering”. Proc. Of The 29th Intl. Conf. On Software Eng. (ICSE07). 2007.

Traffic Safety Using Frame Extraction Through Time

Authored by: E. Coleshill, A. Ferworn, D. Stacey

Abstract: In today’s world the public understands video surveillance systems as a series of Closed Circuit Television (CCTV) systems. People imagine tens of cameras connected to tens of remote monitors, control
Tags: Traffic Monitoring; Vision Systems; Image Processing; Computer Vision
E. Coleshill, A. Ferworn, D. Stacey, et al.. “Traffic Safety Using Frame Extraction Through Time”. SoSE 2007. 2007.

Rubble Search With Canine Augmentation Technology

Authored by: A. Ferworn, A. Sadeghian, K. Barnum, D. Ostrom, H. Rahnama, I. Woungang

Abstract: We have been working to augment trained search and rescue canines with technological components to allow them to be monitored and controlled from greater distances in rubble caused by a disaster. Such
Tags: Search And Rescue; SAR; USAR; Canine Augmentation Technology
A. Ferworn, A. Sadeghian, K. Barnum, et al.. “Rubble Search With Canine Augmentation Technology”. IEEE SoSE 2007. 2007.

Canine As Robot In Directed Search

Authored by: A. Ferworn, A. Sadeghian, K. Barnum, D. Ostrom, H. Rahnama, I. Woungang

Abstract: One of the goals of rescue robotics has been to allow machines to sense and act where people cannot go. Deployed with various sensors and under the guidance of trained operators these systems have sho
Tags: Canine Augmentation Technology; Directed Search; Rubble Search; USAR
A. Ferworn, A. Sadeghian, K. Barnum, et al.. “Canine As Robot In Directed Search”. IEEE SoSE 2007. 2007.

Applying Model-Driven Development Techniques To The Development Of Search And Rescue Systems

Authored by: H. Pham, A. Ferworn, Q. Mahmoud, A. Sadeghian

Abstract: This paper describes our work of applying modern software engineering methodologies such as Model-Driven Development and Product-Line Engineering to the development and maintenance of technical suppor
Tags: Search And Rescue Software Development; Model-Driven Development; MDD; SAR; USAR
H. Pham, A. Ferworn, Q. Mahmoud, et al.. “Applying Model-Driven Development Techniques To The Development Of Search And Rescue Systems”. IEEE SoSE 2007. 2007.

WiFi Repeater Deployment For Improved Communication In Confined-space Urban Disaster Search

Authored by: A. Ferworn, N. Tran, J. Tran, G. Zarnett, F. Sharifi

Abstract: We examine the use of WiFi repeaters to extend the range of wireless devices employed in confined space search in an Urban Search and Rescue (USAR) environment. Confined spaces are often encountered b
Tags: USAR; WiFi; Repeater; Rescue Robots; Confined Space
A. Ferworn, N. Tran, J. Tran, et al.. “WiFi Repeater Deployment For Improved Communication In Confined-space Urban Disaster Search”. IEEE International Conference Of Systems Of Systems (SoSE’07). 2007.

Obstruction Removal Using Feature Extraction Through Time For Video Conferencing Processing

Authored by: E. Coleshill, D. Stacey, A. Ferworn

Abstract: A major problem with front projection displays used for video conferencing is the potential for undesirable shadows to be cast onto the display screen by presenters. This paper provides a new processi
Tags: Video Conferencing; Shadow Removal; Image Processing
E. Coleshill, D. Stacey, A. Ferworn, et al.. “Obstruction Removal Using Feature Extraction Through Time For Video Conferencing Processing”. CISSE 2006. 2006.

Feature Extraction Through Time

Authored by: E. Coleshill, A. Ferworn, D. Stacey

Abstract: Robots that perform repetitive tasks without human intervention have been used for decades in automated manufacturing. These systems are programmed to perform simple repetitive tasks with little or no
Tags: Robotics; Feature Extraction; Space;
E. Coleshill, A. Ferworn, D. Stacey, et al.. “Feature Extraction Through Time”. 57th International Astronautical Congress, IAC-06-B4.4.03. 2006.

Expedients For Marsupial Operations Of USAR Robots

Authored by: A. Ferworn, G. Hough, R. Manca, B. Antonishek, J. Scholtz, A. Jacoff

Abstract: This paper presents observations and suggestions for urban search and rescue (USAR) robot developers whose products may be involved in ad hoc marsupial operations at ground disaster sites. A marsupial
Tags: Robotics; Search And Rescue; SAR; USAR; Marsupial Operations
A. Ferworn, G. Hough, R. Manca, et al.. “Expedients For Marsupial Operations Of USAR Robots”. IEEE International Workshop On Safety, Security And Rescue Robotics (SSRR06). 2006.

Urban Search And Rescue With Canine Augmentation Technology

Authored by: A. Ferworn, A. Sadeghian, K. Barnum, H. Rahnama, H. Pham, C. Erickson, D. Ostrom, L. Dell’Agnese

Abstract: The agility, sense of smell, hearing and speed of dogs is put to good use by dedicated canine teams involved in Search and Rescue operations. Perhaps the weakest link in the human-dog team is the huma
Tags: Search And Rescue; SAR; USAR; Canine Augmentation Technology
A. Ferworn, A. Sadeghian, K. Barnum, et al.. “Urban Search And Rescue With Canine Augmentation Technology”. 2006 IEEE International Conference Of Systems Of Systems (SoSE’06). 2006.

Pocket PC Beacons: Wi-Fi Based Human Tracking And Following For Mobile Robots

Authored by: A. Arora, A. Ferworn

Abstract: The Network-Centric Applied Research Team (N-CART) is continuing its work on an ambitious project known as the Network-Enabled Powered Wheelchair Adaptor Kit (NEPWAK). It introduces techniques for mod
Tags: Human Following ; Pocket PC; Wheelchair; 802.11x Wi-Fi
A. Arora, A. Ferworn. “Pocket PC Beacons: Wi-Fi Based Human Tracking And Following For Mobile Robots”. ACM Symposium On Applied Computing (SAC2005) Special Track On Handheld Computing. 2005.

Spherical Panoramic Video Creation For Micro-Gravity Applications

Authored by: A. Arora, A. Ferworn

Abstract: Techniques for synthesizing panoramic scenes are widespread. Such a scene can be automatically created from multiple displaced images by aligning and overlapping them using an image registration techn
Tags: Micro-gravity, Video; Camera; Stabilization
A. Arora, A. Ferworn. “Spherical Panoramic Video Creation For Micro-Gravity Applications”. 55th International Astronautical Congress. 2004.

Telebotic Control Of A Powered-Wheelchair Across The WWW — NEPWAK

Authored by: A. Ferworn, W. Lu, A. Arora, W. Shiu, D. Ostrom, J. Pham

Abstract: The Network-Centric Applied Research Team (N-CART) is continuing work on a project known as the Network-Enabled Powered Wheelchair Adaptor Kit (NEPWAK). We have introduced techniques for modifying pow
Tags: Telebot; Wheelchair; Wireless; Distributed System; System Architecture
A. Ferworn, W. Lu, A. Arora, et al.. “Telebotic Control Of A Powered-Wheelchair Across The WWW — NEPWAK”. The 2nd International Conference On Mechatronics And Information Technology (ICMIT). 2003.

Spherical Panoramic Video — The Space Ball

Authored by: E. Coleshill, A. Ferworn

Abstract: Techniques for synthesizing panoramic scenes are widespread. Such a scene can be automatically created from multiple displaced images by aligning and overlapping them using an image registration techn
Tags: Panoramic Video; Image Stitching; Robotics; Omni-Directional Camera; Vision Systems
E. Coleshill, A. Ferworn. “Spherical Panoramic Video — The Space Ball”. The 2003 International Conference On Computational Science And Its Applications, ICCSA 03. 2003.

Low Bandwidth And Control Of A Mobile Robot On A Wireless Personal Digital Assistant

Authored by: A. Ferworn, W. Lu, J. Pham

Abstract: Given the seemingly insatiable desire for low-cost and highly capable mobile computing devices in the form of personal digital assistants (PDAs), and the increasing popularity and deployment of wirele
Tags: Robotics; Low-Bandwidth Video; Control; WWW
A. Ferworn, W. Lu, J. Pham, et al.. “Low Bandwidth And Control Of A Mobile Robot On A Wireless Personal Digital Assistant”. Proc. Of The International Conference For Upcoming Engineers (I-CUE’03). 2003.

The Network-Enabled Powered Wheelchair Adaptor Kit – First Prototype

Authored by: A. Ferworn, A. Arora, D. Ostrom, W. Shi

Abstract: The Network-Centric Applied Research Team (N-CART) is continuing work on a project known as the Network-Enabled Powered Wheelchair Adaptor Kit(NEPWAK). We have introduced techniques for modifying powe
Tags: Wheelchairs; Teleoperation; WWW
A. Ferworn, A. Arora, D. Ostrom, et al.. “The Network-Enabled Powered Wheelchair Adaptor Kit – First Prototype”. Proc. Of The International Conference For Upcoming Engineers (I-CUE’03). 2003.

Optimization For Video And Telebotic Control On Palm OS PDAs

Authored by: A. Ferworn, W. Lu

Abstract: The Network-Centric Applied Research Team (NCART) [1] has been exploring the possibility of extending video, audio and control services through the Internet to various telebotic devices. To allow grea
Tags: Optimization; Simplex; Low-Bandwidth Video; Robotics Control
A. Ferworn, W. Lu. “Optimization For Video And Telebotic Control On Palm OS PDAs”. Proc. Of The International Conference On Internet Computing (IC’02). 2002.

WAX — Next Generation Robot On The Web

Authored by: A. Ferworn, W. Lu, E. Coleshill, W. Shiu

Abstract: The Network-Centric Applied Research Team (N-CART) at Ryerson University has developed an improved WWW-based, wireless robot for telepresence applications. The mobile robot WAX [1] allows teleoperated
Tags: Internet Applications; Tele-Operation; Robotics
A. Ferworn, W. Lu, E. Coleshill, et al.. “WAX — Next Generation Robot On The Web”. Proc. Of Ht International Conference For Upcoming Engineers (I-CUE’02). 2002.

The Internet-Enabled Furnace

Authored by: A. Ferworn, B. Torres, S. Patel, S. Kanellis

Abstract: From Coffee makers to refrigerators academics and manufacturers alike have attempted to jump onto the Internet connectivity bandwagon. Each making compelling arguments that such connectivity is inevit
Tags: Internet Appliance; Furnace; Telecommunications; Monitoring
A. Ferworn, B. Torres, S. Patel, et al.. “The Internet-Enabled Furnace”. Proc. Of The IASTED International Conference For Intelligent Systems And Control (ISC’01). 2001.

Challenges For Mobile Internet Appliances

Authored by: A. Ferworn, E. Coleshill

Abstract: We in the Network-Centric Applied Research Team (NCART) are conducting an on-going study designed to resolve issues associated with the reality of movement and interaction of a Web-enabled mobile tele
Tags: Teleoperation; Robotics; WWW
A. Ferworn, E. Coleshill. “Challenges For Mobile Internet Appliances”. Proc. Of The IASTED International Conference For Robotics And Applications (RA’01). 2001.

Constrained Image Understanding Using Lossy Compressed Images

Authored by: A. Ferworn, W. Shiu, W. Lu

Abstract: The Network-Centric Applied Research Team (N-CART) introduces a distributed model for constrained image recognition using lossy compressed images. The recognition engine resides on a network node apar
Tags: Video Understanding, Mobile Robots, Teleoperation
A. Ferworn, W. Shiu, W. Lu, et al.. “Constrained Image Understanding Using Lossy Compressed Images”. Proc. Of The IASTED International Conference For Robotics And Applications (RA’01). 2001.

Constrained Image Understanding For An Internet Robot Supporting Telepresence

Authored by: A. Ferworn, W. Shiu, K. Plataniotis

Abstract: The Network-Centric Applied Research Team (N-CART) introduces a distributed model for constrained image recognition for a web-enabled video robot supporting aspects of telepresence. The recognition en
Tags: Teleoperation; Robotics; WWW
A. Ferworn, W. Shiu, K. Plataniotis, et al.. “Constrained Image Understanding For An Internet Robot Supporting Telepresence”. Proc. Of The 2001 IEEE Canadian Conference On Electrical And Computer Engineering. 2001.

Auditory WWW Search Tools

Authored by: A. Ferworn, R. Bodner, M. Chignell

Abstract: Early Web applications were overwhelmingly visual. As the Web becomes an essential tool in knowledge work, electronic commerce, and virtual interaction, there is a need for auditory interfaces to Web
Tags: Accessibility; Universal Access; Auditory Interfaces; Search Engines; Visual Disabilities
A. Ferworn, R. Bodner, M. Chignell, et al.. “Auditory WWW Search Tools”. Proc. Of The Sixth International Conference On Auditory Display, Georgia Institute Of Technology. 2000.

Effective Teleoperation Over The World Wide Web

Authored by: A. Ferworn, K. Plataniotis

Abstract: The Network-Centric Applied Research Team (N-CART) team has developed MAX the robot dog, a working prototype of a teleoperated device constructed from readily available components using a control meta
Tags: Teleoperation; Robotics; WWW
A. Ferworn, K. Plataniotis. “Effective Teleoperation Over The World Wide Web”. Proc. Of The IASTED International Conference For Robotics And Applications (RA’99). 1999.

Solenodon: Unstable Hexapod Walking

Authored by: A. Ferworn, K. Plataniotis

Abstract: The Solenodon research robot is a six legged mechanical walking platform designed at Ryerson Polytechnic University’s School of Computer Science. It was our goal to develop a platform that would facil
Tags: Robotics; Control; Stability; Hexapodwalking
A. Ferworn, K. Plataniotis. “Solenodon: Unstable Hexapod Walking”. Proc. Of The 5th International Conf. On Information Systems Analysis And Synthesis. 1999.

Using Reflexes To Speed ANN Learning In An Autonomous Mobile Robot

Authored by: A. Ferworn, K. Plataniotis

Abstract: We introduce a novel control architecture for Autonomous Mobile Robots called the Reflexive Instructor (RI) with Deliberate Apprentice (DA). The architecture employs simple reinforcement signals provi
Tags: Neural Networks; Autonomous Robotics; Control Architecture
A. Ferworn, K. Plataniotis. “Using Reflexes To Speed ANN Learning In An Autonomous Mobile Robot”. Proc. Of The 3rd IMACS/IEEE International Multiconference On: Circuits, Systems, Communications And Computers (CSCC’99). 1999.

MAX: Wireless Teleoperation Via The World Wide Web

Authored by: A. Ferworn, K. Plataniotis

Abstract: The N-CART team has developed a working prototype of a teleoperated device based on a control metaphor derived from the way people control dogs on leashes. MAX the robot dog is wireless, highly mobile
Tags: Teleoperation; Robotics; WWW
A. Ferworn, K. Plataniotis. “MAX: Wireless Teleoperation Via The World Wide Web”. Proc. Of The 1999 IEEE Canadian Conference On Electrical And Computer Engineering. 1999.

MAX: Teleoperated Dog On The Web

Authored by: A. Ferworn, R. Roquel, I. Vecchia

Abstract: The N-CART team has developed and deployed a wireless microcontroller-based robot allowing teleoperated control via a web browser communicating over an IP network. The robot-MAX streams video images c
Tags: Imaging; Control; Teleoperation
A. Ferworn, R. Roquel, I. Vecchia, et al.. “MAX: Teleoperated Dog On The Web”. Proc. Of The 2nd International Workshop On Presence. 1999.

The Reflexive Instructor With Deliberate Apprentice Architecture

Authored by: A. Ferworn, R. Roquel, I. Vecchia

Abstract: A framework allowing a discourse in autonomy applied to autonomous mobile robots is developed based on human autonomy. This framework is extended to mobile robotics and is used to evaluate the level o
Tags: Robotics; Automous; Mobile Robots; AI
A. Ferworn, R. Roquel, I. Vecchia, et al.. “The Reflexive Instructor With Deliberate Apprentice Architecture”. Ph.D Disseration, The Department Of Systems Design Engineering, The University Of Waterloo. 1997.

Inchworm Mobility-Stable, Reliable And Inexpensive

Authored by: A. Ferworn, D. Stacey

Abstract: This paper examines some of the more interesting characteristics of inchworm mobility. Empirical evidence of a working system’s performance is presented which suggests that this form of mobility may b
Tags: Robotics; All-terrain; Inchworm; Mobility
A. Ferworn, D. Stacey. “Inchworm Mobility-Stable, Reliable And Inexpensive”. Proceedings Of The 3rd IASTED International Conference For Robotics And Manufacturing. 1995.

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