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HTTP/1.1 200 OKDate: Tue, 17 Sep 2024 05:59:02 GMTServer: ApacheLast-Modified: Sun, 01 May 2005 23:33:09 GMTETag: 2654-3f613ee107740Accept-Ranges: bytesContent-Length: 9812Content-Type: text/htmlVary: Accept-EncodingVia: e3 HTML>HEAD>TITLE>Aaron Gage/TITLE>/HEAD>BODY>TABLE>TR>TD>IMG SRCagage.JPG />/TD>TD> TABLE> TR> TD>Aaron Gage, Ph.D./TD> /TR> TR> TD>IMG SRCemail.png />/TD> /TR> TR> TD>Vitae: A HREFvitae>HTML/A>, A HREFAaronGageCV.pdf>PDF/A> /TR> /TABLE>/TR>/TABLE>H3>Research:/H3>P>My research has focused on sensing and affect (emotions) as they relateto mobile robots. The research falls into the following areas:UL>LI>Multi-robot Task Allocation (MRTA)/LI>LI>Sensor Utility Metrics/LI>LI>Sensor Allocation/LI>LI>Affective Computing/LI>/UL>This page provides links to papers published on my research. The summarieson this page are meant to be informal and brief, so if you want thedetails, feel free to download the papers./P>P>My A HREF#dissertation>dissertation/A> dealt with using the OCC emotionalmodel (after Ortony, Collins, and Clore) as the basis for a multi-robottask allocation solution. The approach was a contract-net protocol basednegotiation where the process of choosing which robot to use for a task wasdistributed among the entire team, and robots would eventually beI>shamed/I> into helping after initially refusing. The practical advantages of this technique (over, say, GerkeysA HREFhttp://www-robotics.usc.edu/~gerkey/research/murdoch.html>MURDOCH/A>)was a statistically significant reduction in thenumber of communications required for large teams. This relates back tosensing because the task for which the robots are being recruited willimpose certain requirements on which robots are eligible. Not only musta robot be chosen, but the I>best/I> robot for the task should be./P>P>My Masters A HREF#thesis>thesis/A>was a little different, dealing with the allocation of finitesensing resources to the behaviors on a mobile robot with incompleteinformation (that is, no knowledge of what will happen in the future, or howlong the current demands on the system will last). The same question arisesin this work: what is the I>best/I> sensor for a particular perceptualtask? How do you objectively measure the utility of a set of sensors to a task?/P>P>Im still working on that part./P>H2>Publications:/H2>A NAMEdissertation/>H3>Ph.D. Dissertation/H3>TABLE>TR>TD>Thesis title:/TD>TD>Multi-Robot Task Allocation Using Affect/TD>/TR>TR>TD>Thesis advisor:/TD>TD>A HREFhttp://www.csee.usf.edu/~murphy>Robin R. Murphy/A>/TD>/TR>TR>TD>Thesis keywords:/TD>TD>mobile robots, artificial intelligence, affective computing/TD>/TR>TR>TD>Link:/TD>TD>A HREFhttp://purl.fcla.edu/fcla/etd/SFE0000465>PDF/A>/TD>/TR>/TABLE>A NAMEthesis/>H3>Masters Thesis/H3>TABLE>TR>TD>Thesis title:/TD>TD>Mobile Robot Sensor Allocation usingMin-Conflict with Happiness/TD>/TR>TR>TD>Thesis advisor:/TD>TD>A HREFhttp://www.csee.usf.edu/~murphy>Robin R. Murphy/A>/TD>/TR>TR>TD>Thesis keywords:/TD>TD>mobile robots, artificial intelligence, sensor allocation,constraint satisfaction, sensor utility/TD>/TR>TR>TD>Link:/TD>TD>A HREFAaronGageThesis.pdf>PDF/A>/TD>/TR>/TABLE>H3>Peer reviewed journals, magazines, and conference proceedings/H3>TABLE BORDER1>TR>TD>B>Authors/B>/TD>TD>B>Title/B>/TD>TD>B>Publication/B>/TD>TD>B>Year/B>/TD>TD>B>Link/B>/TD>/TR>TR> TD>A HREFhttp://www.robothor.com>Long, M./A>,Gage, A.,A HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>,andA HREFhttp://www.csee.usf.edu/~kvalavan>Valavanis, K./A>/TD>TD>Application of the Distributed Field Robot Architecture to aSimulated Demining Task/TD>TD>I>IEEE ICRA/I>/TD>TD>2005/TD>TD> A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2005-1.pdf>PDF/A>/TD>/TR>TR> TD>Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Sensor Scheduling in Mobile RobotsUsing Incomplete Information via Min-Conflict with Happiness/TD>TD>I>IEEE Transactions on Systems, Man and Cybernetics, Part B/I>,vol. 34, number 1, February 2004, pp. 454-467./TD>TD>2004/TD>TD> A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2004-6.pdf>PDF/A>/TD>/TR>TR> TD>Gage, A.,A HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>,Rasmussen, E., and Minten, B./TD>TD>Shadowbowl 2003: Lessons Learned from a Reachback Exercise withRescue Robots/TD>TD>I>IEEE Robotics and Automation Magazine/I>,vol. 11, number 3, September 2004, pp. 62-69./TD>TD>2004/TD>TD> A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2004-9.pdf>PDF/A>/TD>/TR>TR> TD> Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Affective Recruitment ofDistributed Heterogeneous Agents/TD>TD>I>Proceedings of the Nineteenth National Conference on ArtificialIntelligence/I>, San Jose, CA, July 25-29, 2004, pp. 14-19./TD>TD>2004/TD>TD> A HREFpapers/AaronGageAAAI04.pdf>PDF/A>/TD>/TR>TR> TD> Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Principles and Experiencesin using LEGOS to Teach Behavioral Robotics/TD>TD>I>Proceedings of the 33rd Annual ASEE/IEEE Frontiers in EducationConference (FIE 2003)/I>, Boulder, CO, November 5-8, 2003,pp. F4E-23 - F4E-28./TD>TD>2003/TD>TD>A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2003-7.pdf>PDF/A>/TD>/TR>TR>TD>A HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>,A HREFhttp://www.cs.ucf.edu/~lisetti/>Lisetti, C.L./A>,Tardif, R., Irish, L.,and Gage, A./TD>TD>Emotion-based control of cooperating heterogeneousmobile robots/TD>TD> I>IEEE Transactions on Robotics and Automation/I>,vol. 18, number 5, October 2002, pp. 744-757./TD>TD>2002/TD>TD>A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2002-1.pdf>PDF/A>/TD>/TR>TR>TD>Zekri, S., Gage, A.,A HREFhttp://www.eng.usf.edu/~ying/ying.html>Ying, S.J./A>,Sundarrao, S., andA HREFhttp://www.eng.usf.edu/~dubey>Dubey, R.V./A>/TD>TD>Driving evaluation of persons with disabilitiesusing an advanced vehicle interface system/TD>TD>I>Proceedings of the 2002 IEEE/RSJ International Conferenceon Intelligent Robots and Systems/I>, vol. 2, September 30-October 5,2002, pp. 1158-1164./TD>TD>2002/TD>/TR>TR>TD>Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Sensor Allocation forBehavioral Sensor Fusion using Min-Conflict with Happiness/TD>TD>I>Proceedings of the 2000 IEEE/RSJ International Conferenceon Intelligent Robots and Systems (IROS 2000)/I>, vol. 3,October 31-November 5, 2000, pp. 1611-1618./TD>TD>2000/TD>TD>A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2000-8.pdf>PDF/A>/TD>/TR>TR>TD>Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Allocating Sensor Resourcesto Multiple Behaviors/TD>TD>I>Proceedings of the 1999 IEEE/RSJInternational Conference on Intelligent Robots and Systems(IROS 99)/I>, vol. 1, October 17-21, 1999, pp. 247-253./TD>TD>1999/TD>/TR>/TABLE>H2>Related Research/H2>I have worked with a number of interesting people over the past severalyears. Here is what some of them (i.e. the ones with current webpages) are up to. These are listed alphabetically.TABLE BORDER1>TR>TD>B>Name/B>/TD>TD>B>Interests/B>/TD>TR>TD>A HREFhttp://www.csee.usf.edu/~jcarlso1>Jen Carlson/A>/TD>TD>Jen is interested in sensing uncertainty and enabling a robotto detect when its sensors are misbehaving./TD>/TR>TR>TD>A HREFhttp://www.robothor.com>Matt Long/A>/TD>TD>Matt has been working on architecting the Distributed Field RobotArchitecture, which enables the seamless interaction of agents indistributed multi-robot teams./TD>/TR>TR>TD>A HREFhttp://www.asrobotics.com>Mark Micire & Jenn Casper/A>/TD>TD>Jenn and Mark went with Robin Murphy to the World Trade Center disaster,along with Brian Minten, to lend their assistance using robots in the rubble(see A HREFhttp://www.crasar.org>CRASAR/A> for details). Mark and Jennhave since created American Standard Robotics to provide robothardware for rescue workers./TD>/TR>TR>TD>A HREFhttp://www.csee.usf.edu/~murphy>Robin R. Murphy/A>/TD>TD>Robin Murphy was my thesis advisor for both my Masters and Ph.D. degrees.She has accomplished more than I can even keep track of, so if any of mywork is even remotely interesting to you, click the link./TD>TR>TD>A HREFhttp://www.nelsonrobotics.com>Andrew Nelson/A>/TD>TD>Andrew is interested in evolutionary robotics, especially as concernslearning in situated robots and biologically inspired robots. He is alsoan artist, and has produced some very interesting work./TD>/TR>TR>TD>A HREFhttp://www.seemaphore.com/>Seema Patel/A>/TD>TD>Seema has a background in social psychology and is interested in usingrobots for entertainment and education, preferably at the same time./TD>/TR>TR>TD>A HREFhttp://robotics.jpl.nasa.gov/~mpowell/>Mark Powell/A>/TD>TD>Mark and I met while he was pursuing his Ph.D. at USF, and he has sincebeen doing amazing things at JPL with the Mars rovers./TD>/TR>TR>TD>A HREFhttp://www.csee.usf.edu>Kimon Valavanis/A>/TD>TD>Kimon Valavanis was on my doctoral committee and has worked extensivelyon control theory for robotics, with multiple successful autonomous aerialvehicle projects./TD>/TR>/TABLE>H4>Personal pages/H4>Research is not all that I do. Some pages describing my other interestsA HREFpersonal.html>are available/A>./BODY>/HTML>
Port 443
HTTP/1.1 200 OKDate: Tue, 17 Sep 2024 05:59:03 GMTServer: ApacheLast-Modified: Sun, 01 May 2005 23:33:09 GMTETag: 2654-3f613ee107740Accept-Ranges: bytesContent-Length: 9812Content-Type: text/htmlVary: Accept-EncodingVia: e2s HTML>HEAD>TITLE>Aaron Gage/TITLE>/HEAD>BODY>TABLE>TR>TD>IMG SRCagage.JPG />/TD>TD> TABLE> TR> TD>Aaron Gage, Ph.D./TD> /TR> TR> TD>IMG SRCemail.png />/TD> /TR> TR> TD>Vitae: A HREFvitae>HTML/A>, A HREFAaronGageCV.pdf>PDF/A> /TR> /TABLE>/TR>/TABLE>H3>Research:/H3>P>My research has focused on sensing and affect (emotions) as they relateto mobile robots. The research falls into the following areas:UL>LI>Multi-robot Task Allocation (MRTA)/LI>LI>Sensor Utility Metrics/LI>LI>Sensor Allocation/LI>LI>Affective Computing/LI>/UL>This page provides links to papers published on my research. The summarieson this page are meant to be informal and brief, so if you want thedetails, feel free to download the papers./P>P>My A HREF#dissertation>dissertation/A> dealt with using the OCC emotionalmodel (after Ortony, Collins, and Clore) as the basis for a multi-robottask allocation solution. The approach was a contract-net protocol basednegotiation where the process of choosing which robot to use for a task wasdistributed among the entire team, and robots would eventually beI>shamed/I> into helping after initially refusing. The practical advantages of this technique (over, say, GerkeysA HREFhttp://www-robotics.usc.edu/~gerkey/research/murdoch.html>MURDOCH/A>)was a statistically significant reduction in thenumber of communications required for large teams. This relates back tosensing because the task for which the robots are being recruited willimpose certain requirements on which robots are eligible. Not only musta robot be chosen, but the I>best/I> robot for the task should be./P>P>My Masters A HREF#thesis>thesis/A>was a little different, dealing with the allocation of finitesensing resources to the behaviors on a mobile robot with incompleteinformation (that is, no knowledge of what will happen in the future, or howlong the current demands on the system will last). The same question arisesin this work: what is the I>best/I> sensor for a particular perceptualtask? How do you objectively measure the utility of a set of sensors to a task?/P>P>Im still working on that part./P>H2>Publications:/H2>A NAMEdissertation/>H3>Ph.D. Dissertation/H3>TABLE>TR>TD>Thesis title:/TD>TD>Multi-Robot Task Allocation Using Affect/TD>/TR>TR>TD>Thesis advisor:/TD>TD>A HREFhttp://www.csee.usf.edu/~murphy>Robin R. Murphy/A>/TD>/TR>TR>TD>Thesis keywords:/TD>TD>mobile robots, artificial intelligence, affective computing/TD>/TR>TR>TD>Link:/TD>TD>A HREFhttp://purl.fcla.edu/fcla/etd/SFE0000465>PDF/A>/TD>/TR>/TABLE>A NAMEthesis/>H3>Masters Thesis/H3>TABLE>TR>TD>Thesis title:/TD>TD>Mobile Robot Sensor Allocation usingMin-Conflict with Happiness/TD>/TR>TR>TD>Thesis advisor:/TD>TD>A HREFhttp://www.csee.usf.edu/~murphy>Robin R. Murphy/A>/TD>/TR>TR>TD>Thesis keywords:/TD>TD>mobile robots, artificial intelligence, sensor allocation,constraint satisfaction, sensor utility/TD>/TR>TR>TD>Link:/TD>TD>A HREFAaronGageThesis.pdf>PDF/A>/TD>/TR>/TABLE>H3>Peer reviewed journals, magazines, and conference proceedings/H3>TABLE BORDER1>TR>TD>B>Authors/B>/TD>TD>B>Title/B>/TD>TD>B>Publication/B>/TD>TD>B>Year/B>/TD>TD>B>Link/B>/TD>/TR>TR> TD>A HREFhttp://www.robothor.com>Long, M./A>,Gage, A.,A HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>,andA HREFhttp://www.csee.usf.edu/~kvalavan>Valavanis, K./A>/TD>TD>Application of the Distributed Field Robot Architecture to aSimulated Demining Task/TD>TD>I>IEEE ICRA/I>/TD>TD>2005/TD>TD> A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2005-1.pdf>PDF/A>/TD>/TR>TR> TD>Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Sensor Scheduling in Mobile RobotsUsing Incomplete Information via Min-Conflict with Happiness/TD>TD>I>IEEE Transactions on Systems, Man and Cybernetics, Part B/I>,vol. 34, number 1, February 2004, pp. 454-467./TD>TD>2004/TD>TD> A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2004-6.pdf>PDF/A>/TD>/TR>TR> TD>Gage, A.,A HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>,Rasmussen, E., and Minten, B./TD>TD>Shadowbowl 2003: Lessons Learned from a Reachback Exercise withRescue Robots/TD>TD>I>IEEE Robotics and Automation Magazine/I>,vol. 11, number 3, September 2004, pp. 62-69./TD>TD>2004/TD>TD> A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2004-9.pdf>PDF/A>/TD>/TR>TR> TD> Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Affective Recruitment ofDistributed Heterogeneous Agents/TD>TD>I>Proceedings of the Nineteenth National Conference on ArtificialIntelligence/I>, San Jose, CA, July 25-29, 2004, pp. 14-19./TD>TD>2004/TD>TD> A HREFpapers/AaronGageAAAI04.pdf>PDF/A>/TD>/TR>TR> TD> Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Principles and Experiencesin using LEGOS to Teach Behavioral Robotics/TD>TD>I>Proceedings of the 33rd Annual ASEE/IEEE Frontiers in EducationConference (FIE 2003)/I>, Boulder, CO, November 5-8, 2003,pp. F4E-23 - F4E-28./TD>TD>2003/TD>TD>A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2003-7.pdf>PDF/A>/TD>/TR>TR>TD>A HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>,A HREFhttp://www.cs.ucf.edu/~lisetti/>Lisetti, C.L./A>,Tardif, R., Irish, L.,and Gage, A./TD>TD>Emotion-based control of cooperating heterogeneousmobile robots/TD>TD> I>IEEE Transactions on Robotics and Automation/I>,vol. 18, number 5, October 2002, pp. 744-757./TD>TD>2002/TD>TD>A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2002-1.pdf>PDF/A>/TD>/TR>TR>TD>Zekri, S., Gage, A.,A HREFhttp://www.eng.usf.edu/~ying/ying.html>Ying, S.J./A>,Sundarrao, S., andA HREFhttp://www.eng.usf.edu/~dubey>Dubey, R.V./A>/TD>TD>Driving evaluation of persons with disabilitiesusing an advanced vehicle interface system/TD>TD>I>Proceedings of the 2002 IEEE/RSJ International Conferenceon Intelligent Robots and Systems/I>, vol. 2, September 30-October 5,2002, pp. 1158-1164./TD>TD>2002/TD>/TR>TR>TD>Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Sensor Allocation forBehavioral Sensor Fusion using Min-Conflict with Happiness/TD>TD>I>Proceedings of the 2000 IEEE/RSJ International Conferenceon Intelligent Robots and Systems (IROS 2000)/I>, vol. 3,October 31-November 5, 2000, pp. 1611-1618./TD>TD>2000/TD>TD>A HREFhttp://www.crasar.org/research/Publications/CRASAR-TR2000-8.pdf>PDF/A>/TD>/TR>TR>TD>Gage, A., andA HREFhttp://www.csee.usf.edu/~murphy>Murphy, R.R./A>/TD>TD>Allocating Sensor Resourcesto Multiple Behaviors/TD>TD>I>Proceedings of the 1999 IEEE/RSJInternational Conference on Intelligent Robots and Systems(IROS 99)/I>, vol. 1, October 17-21, 1999, pp. 247-253./TD>TD>1999/TD>/TR>/TABLE>H2>Related Research/H2>I have worked with a number of interesting people over the past severalyears. Here is what some of them (i.e. the ones with current webpages) are up to. These are listed alphabetically.TABLE BORDER1>TR>TD>B>Name/B>/TD>TD>B>Interests/B>/TD>TR>TD>A HREFhttp://www.csee.usf.edu/~jcarlso1>Jen Carlson/A>/TD>TD>Jen is interested in sensing uncertainty and enabling a robotto detect when its sensors are misbehaving./TD>/TR>TR>TD>A HREFhttp://www.robothor.com>Matt Long/A>/TD>TD>Matt has been working on architecting the Distributed Field RobotArchitecture, which enables the seamless interaction of agents indistributed multi-robot teams./TD>/TR>TR>TD>A HREFhttp://www.asrobotics.com>Mark Micire & Jenn Casper/A>/TD>TD>Jenn and Mark went with Robin Murphy to the World Trade Center disaster,along with Brian Minten, to lend their assistance using robots in the rubble(see A HREFhttp://www.crasar.org>CRASAR/A> for details). Mark and Jennhave since created American Standard Robotics to provide robothardware for rescue workers./TD>/TR>TR>TD>A HREFhttp://www.csee.usf.edu/~murphy>Robin R. Murphy/A>/TD>TD>Robin Murphy was my thesis advisor for both my Masters and Ph.D. degrees.She has accomplished more than I can even keep track of, so if any of mywork is even remotely interesting to you, click the link./TD>TR>TD>A HREFhttp://www.nelsonrobotics.com>Andrew Nelson/A>/TD>TD>Andrew is interested in evolutionary robotics, especially as concernslearning in situated robots and biologically inspired robots. He is alsoan artist, and has produced some very interesting work./TD>/TR>TR>TD>A HREFhttp://www.seemaphore.com/>Seema Patel/A>/TD>TD>Seema has a background in social psychology and is interested in usingrobots for entertainment and education, preferably at the same time./TD>/TR>TR>TD>A HREFhttp://robotics.jpl.nasa.gov/~mpowell/>Mark Powell/A>/TD>TD>Mark and I met while he was pursuing his Ph.D. at USF, and he has sincebeen doing amazing things at JPL with the Mars rovers./TD>/TR>TR>TD>A HREFhttp://www.csee.usf.edu>Kimon Valavanis/A>/TD>TD>Kimon Valavanis was on my doctoral committee and has worked extensivelyon control theory for robotics, with multiple successful autonomous aerialvehicle projects./TD>/TR>/TABLE>H4>Personal pages/H4>Research is not all that I do. Some pages describing my other interestsA HREFpersonal.html>are available/A>./BODY>/HTML>
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