Daniel J. Pack, Ph.D., P.E.
Department of Electrical and Computer Engineering
One UTSA Circle
University of Texas at San Antonio
San Antonio, Texas 78249
Tel: (210) 458-7076
FAX: (210) 458-5947
E-mail: daniel.pack@utsa.edu
Website: http://ece.utsa.edu/
18315 Point Bluff Dr.
San Antonio, Texas 78258
Tel: 719-641-3052
Degrees:
 Ph.D., Electrical Engineering, Purdue University, West Lafayette, IN, 1995. Major areas of study: Machine
Intelligence, Computer Vision, and Control. Dissertation: “Sensor-Based Control for a Quadruped Walking
Robot”
 M.S., Engineering Science, Harvard University, Cambridge, MA, 1990. Major area of study: Control in
Robotics. Minor area of study: Applied Mathematics
 B.S., Electrical Engineering, Arizona State University, Tempe, AZ, 1988. Major area of study: Control. Minor
area of study: Communication Theory
Registration/Licensure: Professional Engineer (in EE), Colorado, License No. PE-33795
Professional Experience:
 ABET Program Evaluator, May 2015 – present
 Professor of Electrical and Computer Engineering and Mary Clarke Endowed Department Chair, August
2012 – present, Department of Electrical and Computer Engineering, University of Texas at San Antonio,
Texas
 Professor Emeritus of Electrical and Computer Engineering, August 2012 – present, United States Air
Force Academy, Colorado Springs, Colorado
 Founding Director, August 2012 – present, Unmanned Systems Laboratory, University of Texas at San
Antonio, Texas
 Founding Director, January 2009 -- July 2012, Academy Center for Unmanned Aircraft Systems Research
United States Air Force Academy, Colorado Springs, Colorado
 Director, January 2002 – December 2008, Sensor-based Intelligent Robotics Laboratory
United States Air Force Academy, Colorado Springs, Colorado
 Professor, January 2002 – July 2012, Department of Electrical and Computer Engineering
United States Air Force Academy, Colorado Springs, Colorado
 Visiting Scholar, July 2000 -- June 2001, Massachusetts Institute of Technology-Lincoln Laboratory
Lexington, Massachusetts.
 Associate Professor, July 1998 -- December 2001, Department of Electrical and Computer Engineering
United States Air Force Academy, Colorado Springs, Colorado
 Assistant Professor, July 1995 -- June 1998, Department of Electrical and Computer Engineering
United States Air Force Academy, Colorado Springs, Colorado
Honors:
 2012 Meritorious Civilian Service Award, Department of the United States Air Force
 2011 US Air Force Academy, Dean of Faculty Team of the Year Award
 2006 Nominee for the Heiser Teaching Excellence Award
 2005 U.S. Professor of the Year (Colorado) recognized by the Carnegie Foundation for the Advancement of
Teaching and the Council for Advancement and Support of Education (CASE)
 2005 United States Air Force Academy Frank J. Seiler Research Excellence Award
 Tau Beta Pi Outstanding Engineering Professor of the year Award, USAF Academy (2002/2003)
 Nominee for the USAFA Outstanding Senior Educator Award, USAF Academy (1999/2000)
 Outstanding Air Force Academy Educator Award (1997/1998)
 1997 Nominee for Air Force Technology and Science Award
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Civilian Medal for Exemplary Service to the Air Force Academy (1997)
1997 Frank J. Seiler Research Excellence Award (electrical engineering)
Magoon Award for Excellence in Teaching (1994)
Professional Memberships: Electrical and Computer Engineering Department Heads Association (ECEDHA),
IEEE (Senior Member), Eta Kappa Nu (Electrical Engineering honorary), Tau Beta Pi
(Engineering honorary, Advisor), American Society of Engineering Educators (ASEE)
Professional Activities:
Chair, Department of Electrical and Computer Engineering, University of Texas, San Antonio
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Serve over 600 undergraduate students and 250 graduate students enrolled in five different programs: BS in
Electrical Engineering, BS in Computer Engineering, MS in Electrical Engineering, MS in Computer
Engineering, PhD in Electrical Engineering
Implemented a BS/MS integrated ECE program
Developed departmental polices and procedures, strategic plans, and assessment plans
Performed and oversaw tenure/promotion process and annual performance evaluation of faculty and staff
Coordinate activities and work with departmental chairs, Dean, Provost, and President of the universities
regarding development, implementation, and assessment of the vision and associated strategic plans of the
university and the college
Worked with External Advisory Council, industry partners, alumni, faculty, students, and staff in
improving the overall functions of the department
Managed and allocated departmental resources including space, IT, and equipment
Established Associate Chair position within the department
Re-organized the undergraduate teaching by hiring two full time non-tenure track, teaching focused faculty,
increasing the total number of faculty from 24 to 26
Initiated Cloud Computing expertise in the department, hiring three faculty in the area in 2014
Oversaw the research funding growth to over $3M
Initiated Technology Symposium where all engineering capstone projects are showcased to industry
partners, current and future students, potential business partners, faculty, alumni
Established cooperative agreements with 10 universities in France, South Korea, Turkey, and Azerbaijan
Established ECE Learning center where students (engineering honor society student organization members)
tutor other students
Increased undergraduate research and internship opportunities with industry and government partners –
Freescale, National Instruments, NAFA Johnson Space Center
Participated in Top Scholars program to recruit talented undergraduate students
Increased the External Advisory Council members to include academic, government, and industry leaders
Director of Unmanned Systems Laboratory
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Extending GPS Operating Area Project: 2015
Sponsored by Office of Secretary of Defense
The objective of the project is to develop prototype radio receiver to improve the GPS signal receiving
capabilities by 20 folds compared to the results obtained using conventional GPS receiver
Funding Amount: $260k
Acquisition of Cooperative Small Unmanned Aerial Systems for Advancing Man-Machine Interface
Research Project: 2015
Sponsored by Army Research Office
The project support acquiring unmanned aerial systems to support multiple UAV projects
Funding Amount: $446,105
Controlling UAVs using Brain Waves Project: 2014
Sponsored by Office of Secretary of Defense
The goal of the project is to find controlling behaviors of UAVs using human thoughts.
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Funding Amount: $300k
Cooperative UAVs in GPS Denied Environment Project: 2014
Sponsored by DARPA and Air Force Information Directorate
The project seeks to find cooperative UAV solutions to operate normally in GPS denied environments.
Funding Amount:$100k (total $1.8M)
Perseus III Project: 2014
Sponsored by Office of Naval Research
The project’s goal is to find unconventional UAV solution to penetrate secure areas/defend against rogue
UAVs.
Funding Amount: $70k
Control and Guidance of a Missile with Strap-down Sensor using Virtual Field of View Project: 2014
Sponsored by Agency for Defense Development (S. Korea). The project looks for solutions for fast
moving platforms to incorporate virtual sensor views into control and guidance decisions.
Funding Amount: $220k
Cooperative Sensing Project: 2014
Sponsored by Office of Naval Research and Air Force Research Laboratory, Munitions Directorate
The project seeks solutions for cooperative sensing using UAVs in areas without GPS signals.
Funding Amount: $110k
Cooperative Battle Damage Assessment Project (Joint project with the Air Force Academy): 2013
The project’s goal is to autonomously assess battle damage using cooperative UAVs.
Funding Amount: $150k
Optimal Sensor Management Project: 2013
Sponsored by Air Force Research Laboratory, Munitions Directorate
The goal of this project is to find technologies for multiple unmanned aerial vehicles to utilize distributed
sensor resources optimally, as the tem of UAVs conduct a variety of missions.
Funding Amount: $35k
Cooperative Battle Damage Assessment Project: 2013
Sponsored by the Air Force Research Laboratory, Munitions Directorate
The goal of this project is to develop and demonstrate cooperative UAV technologies to operate in a hostile
environment to perform battle damage assessment missions.
Funding Amount: $150k (with USAFA)
Director of US Air Force Academy Center for Unmanned Aircraft Systems Research
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Heterogeneous Unmanned Systems Project: 2012
Sponsored by Rapid Reaction Technology Office, Office of the Secretary of Defense and partnering with
Air Force Research Laboratory, Penn State University, Boeing Corporation, and Navy Submarine Office.
The goal of this project is to develop heterogeneous unmanned systems technologies.
Funding Amount: $320k (Total Project Fund: $1.2 M)
Predictive Time-Associated Geo-location Project: 2012
Sponsored by Joint ISR Innovations Office and partnering with multiple government and industry
organizations. The goal of this project is to accurately predict mobile target locations in a sensor network
with time-delayed communication links.
Funding Amount: $300k
Joint Cooperative Unmanned Systems Initiative Project: 2011
Sponsored by Department of Defense Research and Engineering Office and partnering with United States
Military Academy and United States Naval Academy. The goal of this project is to demonstrate
heterogeneous unmanned systems technologies.
Funding Amount: $700k (Total Project Fund: $1.67M)
Heterogeneous Unmanned Systems Project: 2011
Sponsored by Rapid Reaction Technology Office, Office of the Secretary of Defense and partnering with
Penn State University. The goal of this project is to explore interplay among a group of unmanned aerial
and underwater systems.
Funding Amount: $100k (Total Project Fund: $200k)
Air-Launched Cooperative, Autonomous Small Unmanned Aircraft Systems Project: 2009-2011
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Sponsored by Office of the Secretary of Defense and partnering with United States Special Operations
Command, the goal of this project is to develop air-launched, expandable small unmanned aircraft systems
to perform autonomous intelligence, surveillance, and reconnaissance missions.
Funding Amount: $820k (Total Project Fund: $4.7M)
Air-to-Air Communication Networks for Small Unmanned Aerial Vehicles Project: 2010-2012
Sponsored by the Air Force Research Laboratory, Information Directorate, the objectives of the project are
(1) development of robust air-to-air communication protocols, and (2) flight demonstration of associated
technologies.
Funding Amount: $300k
Wide Area Chemical Sensing using Multiple Unmanned Aerial Vehicles (UAVs) Project:2009 - 2010
Sponsored by Office of the Secretary of Defense and partnering with Massachusetts Institute of
Technology-Lincoln Laboratory, this project seeks to combine chemical plume detection/characterization
capabilities based on airborne laser systems with multiple cooperative UAVs technologies.
Funding Amount: $600k
Cooperative Multiple Unmanned Aerial Vehicles Project: 2006 - 2010
Sponsored by the Rapid Reaction Technology Office under the Office of the Secretary of Defense, the
objectives of this project are to develop and flight demonstrate (1) cooperative control algorithms of
multiple airborne systems, (2) distributive sensor fusion technologies, and (3) robust, redundant
communication networks.
Funding Amount: $1.4M
Cooperative Unmanned Surface Vehicles Project (GRIFFIN): 2008 – 2010
Sponsored by the Naval Surface Warfare Center, the project's goal is to implement cooperative control,
sensing, and control technologies on autonomous surface ships.
Funding Amount: $400k
Airborne Improvised Explosive Devices (IEDs) Using Unmanned Systems Project: 2008 - 2010
Sponsored by the Joint Improvised Explosive Device Defeat Organization, this project's goal is to develop
and implement future air-borne IEDs using unmanned systems.
Funding Amount: $300k
Rendezvous Algorithms of Unmanned Aerial Vehicles Project: 2007 - 2009
Sponsored by the Air Force Research Laboratory, Munitions Directorate, the project is focused to develop
autonomous rendezvous algorithms for UAVs over user defined locations.
Funding Amount: $40k
Director of Sensor-based Intelligent Robotics Laboratory-US Air Force Academy
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Intelligent Sensors for Persistent Tactical Intelligence Surveillance and Reconnaissance Project: 2005 2008
Sponsored by National Security Agency and partnering with Naval Research Laboratory and Air Force
Research Laboratory, the objective of the project is to develop intelligent agent algorithms for cooperative
behaviors of small, expendable UAVs conducting SIGINT operations using onboard sensors.
Funding Amount: $300k (Total Project Fund: $1.5M)
Fund amount for the following projects: over $150k
Cooperative Robot Project: 2005 - 2006
Sponsored by Air Force Office of Scientific Research (AFOSR), cadets developed mobile robot platforms
for test and evaluation of cooperative robot algorithms, communication protocols, and search techniques.
Mobile and Flying Robot Project: 2001 - 2006
Sponsored by the Air Force Office of Scientific Research (AFOSR), cadets developed autonomous mobile
robots (wall following robot and fire-fighting robots) and unmanned flying helicopters. The projects
produced real time robot control and sensor fusion algorithms.
Information Retrieval and Language Understanding Project: 2000 - 2002
Created an information retrieval system based on a natural language query using a clustering method. This
work led to the development of a question/answering system that utilizes natural language processing
techniques, dynamic sliding window techniques, and statistical matching techniques to extract answers to
queries.
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Computer Network Security Project: 2000 - 2001
This work involved developing mechanisms to protect computing and network resources from cyber
attacks. A network-based security system was developed for detecting HTTP tunneling activities.
Automatic Target Recognition Project: 1996 - 1999
A joint project with the Automatic Target Recognition Division, Sensor Directorate, Air Force Research
Labs, Wright-Patterson AFB, OH. A new matching method that finds feature correspondence between an
expected image and an extracted image was developed. Developed a target recognition system using
synthetic aperture radar images for MSTAR program [a multi-million dollar DoD project. Also worked as
a visiting researcher to the division during the summers of 1997 and 1998. In 1999, an appearance-based
object recognition system using a subspace method (eigenvector space) was developed for airplanes.
Walking Robot Research Project: 1995 - 1997
Designed, constructed, and implemented control of a six legged robot with four-degrees-of-freedom legs.
The work produced significant theoretical results extending existing work on both gait control of a multilegged robot and useof perception in determining robot motion.
Genetic Algorithm-based Robot Trajectory Planning System Project: 1995 - 1998
Developed algorithms to generate mobile robot trajectories using both binary and continuous parameters.
Also developed a MATLAB based genetic algorithm learning toolkit.
Invited Speaker
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2015 Naval Air Warfare Center Seminar, June 2015
2015 Planetary Session, Drones for Good International Competition, February 2015
2014 Air Force Office of Scientific Research workshop, January 2014
2013 Naval Surface Warfare Center Unmanned Systems Seminar, November 2013
2012 Department of Defense Unmanned Aircraft Workshop, October 2012
2011 Canadian UAS Conference, 2011 AUVSI UAS Summit Conference
2011 T.H. Person Lecture, University of Wyoming
2011 Agency for Defense Development Lecture Series, Dajeon Korea
2010 Air Force Small Unmanned Aerial Vehicles Small Unmanned Aerial Systems (UAS) Conference
(WPAFB)
The 40th Anniversary of Agency for Defense Development Education Conference (2010)
2010 AUVSI Interoperability for Unmanned Systems Conference
2009 Small UAS Symposium (Johns Hopkins University)
2009 Air Force Unmanned Aerial Vehicles Workshop (U of North Dakota)
2008 Intelligence, Surveillance, and Reconnaissance Symposium (CIA)
School of Electrical and Computer Engineering, Purdue University
Graduate Seminars, Department of Electrical and Computer Engineering, University of Denver
Graduate Seminars, Department of Aeronautical and Mechanical Engineering, Seoul National University,
Seoul, Korea
Graduate Seminars, Department of Electronics, KyungBook National University, Dague, Korea
Graduate Seminars, School of Aeronautical Engineering, Korea Advanced Institute of Science and
Technology
Graduate Seminars, Department of Electrical and Computer Engineering, Department of Computer
Science, University of Wyoming
Research Fellow (1990--1995) - Robot vision Laboratory, Purdue University (Dr. Avi Kak)- Performed a wide
variety of research and development work in robot control, computer vision, and automatic assembly.
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Developed control methods for a four-legged walking robot to plan observation points optimizing the robot
self-localization and a search mission using vision feedback.
Created a control scheme for walking robots to climb up and down staircases.
Designed and built an autonomous quadruped walking robot.
Developed an efficient Straight Line Periodic Monotonically Forward (SLPMF) gait and a free gait using
A* graph search method.
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Team leader for developing a hallway navigational system for a wheeled mobile robot. The work involved
designing a new control architecture that utilizes neural networks and a fuzzy logic controller using a rule
based system.
Developed control software package for a Unimate Puma 700 Series Robot using an object oriented
programming language CLOS (Common List Objet System). The software package consists of a robot
control software, a device server using the DDCMP protocol, and a robot hand gripper control program.
Designed and implemented a pole balancing control algorithm for a two degree-of-freedom inverted
pendulum. The task included design and construction of the system, developing and implementing five
model based and non-model based control schemes using Transputer, and a real time parallel distributed
computer system. Five controllers are a PD controller, a linear quadratic controller with a linear observer, a
nonlinear controller using the differential geometric concepts, a feed-forward neural network controller,
and a fuzzy logic controller.
Team leader for a Nippondenso Inc. project to develop an automatic assembly system.
Designed and constructed interface devices for a force-torque sensor and a robot controller. The task
included building circuits and programming software in an assembly language for a Motorola 68HC11
processor control board.
Developed an autonomous heater core assembly work-cell. The work involved programming robot
manipulation, calibrating coordinate transformation parameters between a robot and a structured light 3-D
imaging system, and programming a part of computer vision software.
Teaching Assistant (1993--1994) School of Electrical and Computer Engineering, Purdue University
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C-Programming Engineering course -- The course is designed to teach students the UNIX operating
system, the C programming language, and the usage of spread sheet Wingz. The task includes giving
lectures, writing and grading test and quiz problems, organizing laboratory work for students, and
counseling students.
Won the 1993 Purdue Magoon Award for excellence in teaching.
Lecturer (1991--1995) - Robot Vision Laboratory-Lecture Series, Purdue University. Presented several lecture
series. Topics includes: motion control method using the screw theory, nonlinear control methods and differential
geometry, neural networks and fuzzy logic controllers (applications in robotics), distributed real-time control,
intelligent control for complex systems, structured control, temporal reasoning, self-organizing neural networks,
quadruped robot gait control, hidden Markov model and automata theory, and multi-fingered grasps.
Research Assistant (1988--1990) -Robotics Laboratory, Harvard University (Drs. James Clark & Roger Brockett)Conducted various robot control projects involving Harvard computer stereo vision system and a six-degree-offreedom American Cimflex manipulator.
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Jointly developed a resolved rate motion control scheme for a robot arm using a matrix of exponential
scheme to express kinematic relationships between two neighboring robot coordinate frames.
Conducted experiments on the Harvard stereo vision system to find limitations on the computer stereo
vision capabilities.
Constructed a robot hand-eye coordination system that uses the stereo vision system to detect a bin in the
robot work cell and to drop an object into the bin using a six-degree-of-freedom robot arm.
Written a device server for a Cannon camera to be interfaced with a host UNIX computer.
Research Assistant (1987) - Arizona State University (Dr. Peter Crouch) - Developed and implemented a computer
program in Lisp to compute all reachable states from an initial state of a dynamic system using the principle of Lee
Bracket.
Programming expertise - C, C++, Lisp, HTML, CLOS*, Fortran, Java, Pascal, CLIPS, OPS5**, Basic, Assembly
language for the Motorola 68HC microcontroller families, knowledge of UNIX and PC operating systems
Media – Over 20 local, regional, national, and international media reporting of research work on cooperative
unmanned aircraft systems and controlling unmanned aerial vehicles, including ABC News, Fox News, London
Times, TV Tokyo, and Texas Public Radio.
Grants
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Office of the Secretary of Defense: funded for the Extending GPS Operating Area project – awarded $260k
in 2015.
Army Research Office: funded for the Acquisition of Cooperative Small Unmanned Aerial Systems for
Advancing Man-Machine Interface Research project – awarded $446,105 in 2015.
Office of the Secretary of Defense: funded for the Controlling UAVs using Brain Waves project – awarded
$300,000 in 2014.
Office of the Secretary of Defense: funded for the Perseus III project – awarded $70,000 in 2014.
Agency for Defense Development: funded for the Guidance and Control of a Missile with Strapdown
Sensor using Virtual Field of View project – awarded $220,000.00 in 2014.
Air Force Research laboratory (AFRL/Munitions Directorate): funded for the Cooperative UAVs Operating
in GPS Denied Area project – awarded $100,000 in 2014.
Air Force Research Laboratory (AFRL/Munitions Directorate) and Office of Naval Research: funded for
the Cooperative Simultaneous Localization and Mapping project – awarded $110,000 in 2014.
Army Research laboratory: co-funded (with three other faculty members) for the Acquisition of High
Resolution Electroencephalogram Systems for Advancing Brain-Machine Interaction Research and
Education project – awarded $408,322.00 in 2014.
Air Force Research Laboratory (AFRL/Munitions Directorate): jointly funded with USAFA for the
Cooperative Battle Damage Assessment project – awarded $150,000 in 2013.
Air Force Research Laboratory (AFRL/Munitions Directorate): funded for the Optimal Sensor
Management project – awarded $35,000 in 2013.
(AFRL/Information and AFRL/Munitions Directorates): funded for the Cooperative Multiple UAVs project
- awarded $150,000.00 in 2012.
Office of Secretary of Defense - Rapid Reaction Technology Office: funded for the Heterogeneous
Cooperative Unmanned Systems project, Phase II - awarded $320,000.00 (total project fund - $1.4 M with
Penn State and Boeing) in 2012.
Air Force Office (A2Q): funded for the Out-of-order Sigma Point Kalman Filter Techniques for Sensor
Fusion project - awarded $200,000.00 in 2012.
Office of Secretary of Defense - Air Force ISR Innovation Office: funded for the Predictive TimeAssociated Geo-location project - awarded $300,000.00 in 2012.
Office of Secretary of Defense - Department of Defense Research and Engineering Office: funded for the
Joint Cooperative Unmanned Systems Initiative project - awarded $ 700,000.00 (total project fund - $ 1.67
M with USMA and USNA) in 2011-2012.
Office of Secretary of Defense - Rapid Reaction Technology Office: funded for the Heterogeneous
Cooperative Unmanned Systems project - awarded $ 100,000.00 (total project fund - $ 200,000.00 with
Penn State University) in 2011.
Office of Secretary of Defense - Rapid Reaction Technology Office: funded for the Air-Launched
Cooperative, Autonomous Small Unmanned Aircraft Systems project - awarded $ 820,000.00 (total project
fund - $ 4.7 M with SOCOM, AFSOC, and AFRL) for 2009-2011.
Air Force Research Laboratory (AFRL/IF): funded for the Air-to-Air Communication Networks for Small
Unmanned Aerial Vehicles project - awarded \$ 300,000.00 for 2010-2012.
Office of Secretary of Defense - Rapid Reaction Technology Office: funded for the Cooperative Multiple
Unmanned Aerial Vehicles II project - awarded $ 500,000.00 for 2009-2010.
Office of Secretary of Defense - Rapid Reaction Technology Office: funded for the Wide Area Sensing:
Airborne Chemicals project - awarded $ 600,000.00 for 2009-2010.
MITRE Corporation: funded to develop emergency unmanned aerial vehicle communication methods awarded $ 25,000.00 in 2010.
Office of Secretary of Defense - Rapid Reaction Technology Office: funded for the Cooperative Multiple
UAVs Technologies project - awarded $ 900,000.00 for 2006-2008.
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Office of Naval Research: funded for the GRIFFIN(Cooperative Surface Vehicles) project - awarded $
400,000.00 for 2008-2009.
Office of Secretary of Defense - Joint IED Defeat Office funded for the IED detection using a
heterogeneous system project - awarded $ 300,000.00 for 2006-2009.
National Security Agency: funded for the Intelligent Sensors for Persistent Tactical ISR project under the
Tactical SIGINT Technology program (total awarded money $ 1.5 M - with NRL and AFRL/SN) awarded $ 300,000.00 for 2005-2008.
Air Force Research Laboratory (AFRL/MN): funded for the Cooperative Control Algorithms for multiple
Unmanned Aerial Systems project - awarded $ 40,000.00 for 2007-2009.
Sandia National Laboratory: funded for the Heterogeneous Sensor Network project - awarded $ 45,000.00
in 2008.
Office of Naval Research: funded for the NEO project, Phase II - awarded $ 20,000.00 in 2008.
Air Force Research Laboratory (AFRL/SN): funded for the Detection and Monitoring of Emergency Sites
using multiple UAVs project - awarded $ 150,000.00 for 2004-2007.
Air Force Office of Scientific Research (AFOSR): continuously received funding (over $ 90,000.00) for
development of automatic target recognition system and multiple robot projects.
Air Force Research Laboratory (AFRL/SN): funded for the automatic target recognition and truth tagging
research - awarded $ 50,000.00 for 1996-1998 and 2003-2005.
Courses Developed or Significantly Modified
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Linear Systems and Control (EE5143) – graduate level ECE core course. The objective of the course is to
teach students principles of linear systems and associated control techniques. The course includes four
mini-labs using MATLAB and a final project.
Estimation Theory (EE5243) – graduate level ECE elective course. The course is designed to teach
students the fundamental principles of estimation, observers, Kalman filter techniques, extended Kalman
filters, and sigma-point Kalman filters. The course includes four labs and a final project.
Microsystems I (EE3463) – junior level ECE core course. In this course, students learn to program
microcontrollers in assembly language, use functional hardware components of a computer, and interface
microcontroller with external devices. The course includes six-laboratory exercises and a final exam.
Microsystems II (EE4583) – senior level ECE elective course. This course is designed for students to learn
to program microcontrollers using C language. The emphasis is on the embedded systems and the role of a
microcontroller in such systems. The course includes four laboratory exercises and a final project.
Introduction to Robotic Systems (ECE 495, ECE387) - junior/senior level ECE elective course. Newly
designed ECE course which covers topics related to robot kinematics, dynamics, control, and vision. The
course includes four labs and a final project.
Computer Architecture (ECE 485) - senior level ECE course. In this course, students learn how to measure
and analyze performance of various computer architectures. The course covers topics such as pipelining,
superscalar machines, memory architectures, and computer networks. The course includes a final research
project.
System Engineering (SE 460) - senior level SE majors course. The course is designed to teach students
unmanned aerial systems (UAS) technologies. Students design, build, and test their UAS and compete at
the annual AUVSI UAS competition.
Senior Design Capstone Course (ECE/CpE 463/464) - senior level ECE capstone design course. The
course teaches students to design, construct, and test large engineering systems, such as a communication
network for unmanned aerial vehicles, multiple cooperative mobile robots, a RF truth tag generation
system, a walking robot, an autonomous helicopter, a flying robot, and a fire-fighting robot.
Independent Study Course (ECE 499) - junior/senior level ECE course. The course is designed for students
to pursue their ECE areas of research interest. Previous research projects include robot leg design, walking
robots, flying robots, nonlinear dynamic control, and fire-fighting robots.
Microcontroller Design (ECE 383) - junior level ECE course. The course is designed to teach students
microcontroller technologies. Students learn the top-down design techniques as well as timing analysis for
complex circuits. Final projects include stand-alone mobile robot systems and video games.
Microcomputer programming (ECE 382) - junior level ECE course. In this course 68HC12 and HCS12
microcontrollers are used to teach students: (1) assembly language programming skills, (2) microcontroller
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sub-systems, and (3) skills to interface embedded computers with external devices. The course topics also
include interrupts and real-time operating systems. To enhance and motivate student learning, I developed
mobile robot labs that are integrated with the course materials. The course holds a mobile robot maze
navigation competition at the end of each semester. The robots have proven to be excellent motivational
learning tools.
Signals and Systems (ECE 333) - junior level ECE course. The course covers system analysis tools in both
time and frequency domains. The topics include Fourier transforms, convolution methods, and state-space
control techniques.
Electrical Circuits and Systems (ECE 332) - junior level ECE course. The course covers the following
topics: RLC circuit responses, frequency selective circuits, Fourier and Laplace transforms, and filter
designs.
Introductory Digital Systems (ECE 281) - sophomore and junior level ECE course. The course covers
digital logic, state machines, and computers. Students learn the Boolean logic, K-maps, SSI, MSI, and
VLSI devices. Students also learn to program FPGAs using VHDLs. A basic assembly language
programming skills are also taught in this class.
Electrical Systems and Circuits (ECE 231) - sophomore level circuit course for electrical, computer, astro,
and aeronautic engineering majors. The circuit theory including Op Amps and DC/AC circuits along with
the basic AM and FM communication theories.
Signals and Systems (ECE 315) - core electrical and computer engineering course for all non-engineering
major cadets. Topics include signals and linear systems, communication systems, digital systems, and
circuit theory.
Service
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Editorial Board Member – International Journal of Advanced Robotic Systems (2012- present)
Program Committee Member – International Symposium for Distributed Autonomous Robotic Systems
(2013 – present)
Steering committee member – Int’l Conf. on Unmanned Aircraft Systems (2010- present)
Director – Unmanned Systems Laboratory, University of Texas at San Antonio (2012- present)
Director - US Air Force Academy Center for Unmanned Aircraft Systems Research (2009 - 2012)
Director - Sensor-based Intelligent Robotics Laboratory (2001 - 2008)
Program chair (Americas) - 2011 Int'l Conf. on Unmanned Aircraft Systems
Editor-at-large –International Journal of Intelligent and Robotics Systems (20114-present)
Associate editor - International Journal of Intelligent and Robotics Systems (2010-2014)
Associate editor - Institute of Electrical and Electronics Engineers (IEEE) Systems Journal (2012-present)
Associate editor - UAV Handbook (2012-2013)
Reviewer for NSF (Engineering Education) proposals
Technical Advisor - US Air Force Academy Center for Unmanned Aircraft Systems Research (2012present)
Program committee members – 2012 Int’l Conf. on control, automation, and systems, 2011 & 2012
ACM/IEEE Int' Conf. on Distributed Smart Cameras, 2010 IFAC Workshop on Networked Robotics, 2009
FIRA RoboWorld Congress, International Conf. on Unmanned Aircraft Systems, International Conf. on
Control, Automation, and Systems, International Robotics Education Forum
Reviewer of major publications - IEEE Transactions on Robotics and Automation, IEEE Transactions on
Signal Processing, ASME Journal of Dynamic Systems, Measurement and Control, Int'l Journal of
Intelligent Automation and Soft Computing (World Automation Congress), IEEE Robotics and Automation
Magazine, IEEE Transactions on Education, Journal of Robotic Systems, Simulation Journal, IEEE Control
Systems Magazine, IEEE International Conference on Robotics and Automation, American Control
Conference, IEEE International Workshop for Intelligent Robotic Systems, IEEE Int'l Conf. on
Networking, Sensing, and Control, Federation of International RoboSoccer Association (FIRA) Congress,
ACM/IEEE Int'l Conf. on Distributed Smart Cameras, IFAC Workshop on Networked Robotics, Swarm
Intelligence, Rocky Mountain Bio-medical Conference, American Society of Engineering Educators
Conference, Frontiers in Education Conference
Conference Session Chairs/Invited Talks/Workshops/Panelist - IEEE Networking, Sensing, and Control
Conference, IEEE Systems, Man, and Cybernetics conference, IEEE Sensor Networks, Ubiquitous, and
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Trustworthy Computing, International Conference on Unmanned Aircraft System, Federation of
International RoboSoccer Association (FIRA) Congress, ACM/IEEE Int'l Conf. on Distributed Smart
Cameras, IFAC Workshop on Networked Robotics, IASTED Image Processing Conference, Colorado
Higher Education Assessment Conference, ASEE Conference, NSF Education
Department chair (2012-present)
UTSA, College of Engineering, Technology Symposium Task Force Lead
UTSA International Advisory Committee (2013 – present)
UTSA, College of Engineering, Executive Council
UTSA, Chairs Council
Department research director (2008 - 2010)
Faculty Forum (organization for senior professors at Academy) executive committee and regular member
(1998 - 2012)
Chair of the electrical engineering curriculum committee (2002 - 2007)
Chair of the computer engineering curriculum committee (2004 - 2007)
Member of the IEEE Licensure and Registration Committee (2004 - 2007)
Member of the computer engineering majors working group – developed computer engineering program at
the Academy (1997 - 2002)
Member of the department's educational outcome assessment team (1997 - 2012)
Served as the engineering division chair for educational outcome assessment group (1996-1997)
Served as the engineering division chair for a number of committees including the 1998 Thomas D. Moore
Cadet Summer Research Project Award committee
Served as the US Air Force Academy representative to the Air Force Scientific Review Board meeting for
the sensor directorate of the Air Force Research Laboratory
Served as a member of McDermit Research award and Seiler Research award committees (1997-2012)
Publications
Books
Steve F. Barrett and Daniel J Pack, Microcontroller Programming and Interfacing Texas Instruments MSP430,
Morgan and Claypool Publishers, New York, 2011.
Daniel Pack and Steven Barrett, Microcontroller Theory and Application: HC12 and S12, 2nd ed., Pearson
Prentice Hall, New York, 2007.
Steve Barrett and Daniel Pack, Amtel AVR Micorcontroller Primer: Programming and Interfacing, MorganClaypool Publishers, New York, 2007.
Steve Barrett and Daniel Pack, Microcontroller Fundamentals for Engineers and Scientists, Morgan-Claypool
Publishers, New York, 2006.
Steve F. Barrett and Daniel J. Pack, Embedded Systems Design and Application with the 68HC12 and HCS12,
Prentice Hall, New York 2005. Published in Chinese, Spanish, French, and Russian.
Daniel J. Pack and Steve F. Barrett, The 68HC12 Microcontroller: Theory and Applications, Prentice Hall, New
York 2002.
Book Chapters
Sun, L., Baek, S., and Pack, D., "Distributed Probabilistic Search and Tracking of Agile Mobile Ground Targets
Using a Network of Unmanned Aerial Vehicles", Human Behavior Understanding in Networked Sensing Theory and Applications of Networks of Sensors, Springer, 2014.
Daniel Pack, Hyukseong Kwon, Josiah Yoder, Payload Design for Small Unmanned Aerial System in the UAV
Handbook, Springer-Verlag, 2013.
Hyukseong Kwon and Daniel Pack, Cooperative Target Localization by Multiple Unmanned Aircraft Systems
Using Sensor Fusion Quality, in the Optimization Letters, Special Issue: Dynamics of Information Systems,
Springer-Verlag, 2011.
Pedro Lima and Daniel Pack, Maximizing Search Coverage Using Future Path Projection for Cooperative
Multiple UAVs with Limited Communication Ranges, invited chapter in Optimization and Cooperative Control
Strategies, Lecture Notes in Control and Information Sciences, Springer Berlin/Heidelberg, vol. 381-1, 2009.
G. Plett, D. Zarzhitsky, and D. Pack, Out-of-order Sigma-point Kalman Filtering for Target Localization using
Cooperating Unmanned Aerial Vehicles, invited chapter in Cooperative Control and Optimization, Lecture
Notes in Control and Information Sciences, Springer-Verlag, 2008.
George York and Daniel Pack, Cooperative Persistent Surveillance Search Algorithms using Multiple
Unmanned Aerial Vehicles, invited chapter in Cooperative Control and Optimization, Lecture Series in Control
and Information Sciences, Kluwer Academic Publishers, Amsterdam 2008.
George W.P York, Daniel J. Pack, and Jens Harder, Comparison of Cooperative Search Algorithms for Mobile
RF Targets using multiple Unmanned Aerial Vehicles, invited chapter in Cooperative Systems: Control and
Optimization, Lecture Notes In Economics and Mathematical Systems, Edited by Don Grundel, Robert
Murphey, Panos Pardalos, Oleg Prokopyev, Springer-Verlag, Berlin, 2007.
Harold D. Gilbert, Jeffrey S. McGuirk and Daniel J. Pack, A Comparative Study of Target Localization Methods
for Large GDOP, invited chapter in Cooperative Systems: Control and Optimization, Lecture Notes In
Economics and Mathematical Systems, Edited by Don Grundel, Robert Murphey, Panos Pardalos, Oleg
Prokopyev, Springer-Verlag, Berlin, 2007.
Steve Barrett and Daniel Pack, Microcontrollers, invited chapter in Handbook of Networked and Embedded
Control Systems, Birkhauser, New York 2005.
Daniel J. Pack and A.C. Kak, An Efficient Forward Gait Control for a Quadruped Walking Robot, invited
chapter in Intelligent Robots and Systems 1994, Elseview Science, Amsterdam 1995.
Papers in Refereed Journals
Lwowski, J., Sun, L., Mexquitic, R., Sharma, R., and Pack, D., "A Reactive Bearing Angle Only Obstacle
Avoidance Technique for Unmanned Ground Vehicles", Journal of Automation and Control Research, Vol 1.
Pp 22-28, October 2014.
H. Kwon, J. Yoder, S. Baek, S. Gruber and D. Pack, “Maximizing Water Surface Target Localization Accuracy
under Sunlight Reflection with an Autonomous Unmanned Aerial Vehicles,” International Journal of
Intelligent Robotic Systems, October 2013.
Mangal Kothari, Rajnikant Sharma, Ian Postlethwaite, Randy Beard, and Daniel Pack, “Cooperative Targetcapturing with Incomplete Target Information,” International Journal of Intelligent Robotic Systems, Vol. 72,
pp. 373-384, February 2013.
Hyukseong Kwon and Daniel Pack, “Cooperative Target Localization by Multiple Unmanned Aircraft Systems
Using sensor Fusion Quality,” Optimization Letters, vol. 6, Issue 8, pp. 1707-1717, December, 2012.
George York and Daniel Pack, “Ground Target Detection Using Cooperative Unmanned Aerial Systems,”
Journal of Intelligent Robotic Systems, vol. 65, Issue 1 (2012), pp. 473-478.
Hyukseong Kwon and Daniel Pack, “A Robust Mobile Target Localization Method for Cooperative Unmanned
Aerial Vehicles Using sensor Fusion Quality,” International Journal of Intelligent Robotic Systems, Vol. 65,
Issue 1 (2012), pp. 479-493.
Steve Barrett and Daniel Pack, “Textbooks 101: A Primer on Writing Your First Book,” IEEE Computer
Society Computing in Science and Engineering Magazine, pp. 2-6, March/April, 2010.
Daniel Pack, Pedro DeLima, Gregory Toussaint, and George York, “Cooperative Control of UAVs for
Localizing Intermittently Emitting Mobile Targets,” IEEE Transactions on System, Man, and Cybernetics, vol.
39, No. 4, pp 959-970, August, 2009.
Daniel J. Pack and Alan R. Klayton, “Education through Robotics at the United States Air Force Academy,”
Special Issue of the International Journal of Intelligent Automation and Soft Computing (World Automation
Congress) on Global Look at Robotics Education, Vol 13, No. 1, pp. 45-56, 2007.
Steve F. Barrett and Daniel J. Pack, “Lions and Tigers and Testing...Oh My!,” in Computers in Education.
2007.
Steven F. Barrett, Daniel J. Pack, Pamela Beavis, Mahbub Sardar, Austin Griffith, Michael Stephens,Julie
Sandberg, Lewis Sircin, George Janack, “Using Robots to Teach Complex Real Time Embedded System
Concepts,” in Computers in Education, 2007.
David J. Ahlgren, Igor M. Verner, Daniel Pack, Steve Richards, “Strategies and Outcomes in Robotics
Education,” Computers in Education Journal, March 2006.
S. F. Barrett, D.J. Pack, C. Straley, L. Sircin, G. Janack, “Real-Time Operating Systems: A Visual Simulator,”
Computers in Education Journal, September 2004.
Daniel Pack, Robert Avanzato, and David Ahlgren, “Fire-Fighting Mobile Robotics and Interdisciplinary
Design - Comparative Perspectives,” IEEE Transactions on Education, Volume 47, No. 3, pp. 369-276, August,
2004.
Barry Mullins and Daniel Pack, “Transition from the 68HC11 to the 68HC12,” Computers in Education
Journal, Vol XIV, No. 1 January-March, pp. 58-64, 2004.
S.F. Barrett, M.J. Wilcox, T.E. Olson, D.J. Pack, and C.H.G. Wright, “Modeling a Parallel L4 Neuron Array of
the Fly (Musca domestica) Vision System with a Sequential Processor,” ISA Biomedical Sciences
Instrumentation, pp. 477-482, vol. 38, April, 2002.
D.J. Pack and S. Stefanov, “Fire-Fighting Robot: the United States Air Force Academy Experience,” Computers
in Education Journal, pp. 10-14, Vol. IX, No. 2, April-June, 1999.
Daniel Pack, Adam Mankowski, and Greg Freeman, “A Fire-Fighting Robot and Its Impact on Educational
Outcomes,” Computers in Education Journal, pp.2-5, Vol. IX, No. 3, July-September, 1999.
Daniel J. Pack and H.S. Kang, “Free Gait Control for a Quadruped Walking Robot,” International Journal of
Laboratory Robotics and Automation, pp. 71-81, vol 11, No. 2, April 1999.
S. F. Barrett, D. J. Pack, G. W. P. York, P. J. Neal, R. D. Fogg, E. Doskocz, S. A. Stefanov, P. C. Neal, C. H. G.
Wright, and A. R. Klayton, “Student-centered Educational Tools for the Digital Systems Curriculum,” ASEE
Computers in Education Journal, pp. 6-11, Vol. IX, No. 1, January-March 1999.
Greg Toussaint, Daniel Pack, and Randy Haupt, “Teaching Genetic Algorithms Using a Graphical Interface,”
International Journal of Computers and Their Application, Vol. 4, No. 2, August 1997.
Daniel J. Pack, Scott Stefanov, George York, and Pam Neal, “Constructing a Wall-Follower Robot for a Senior
Design Project,” Computers in Education Journal, Vol. VII, no. 1, pp. 39-43, January-March 1997.
Daniel J. Pack, “Comparative Study of Motion Control Methods: A Case Study for a Nonlinear System,”
Simulation Journal, pp. 35-49, Vol. 67, No. 1, July 1996.
Papers at Refereed Conferences
Sun, L. and Pack, D., "Mobile Target Tracking Using an Unmanned Aerial Vehicle with a Non-Gimbaled
Video Sensor," AIAA Science and Technology Forum, January 2015.
Farmani, N., Sun, L., and Pack, D., "Optimal UAV Sensor Management and Path Planning for Tracking
Multiple Mobile Targets," the ASME 2014 Dynamic System and Control Conferences, San Antonio, Texas,
USA, October 2014.
Clara Mosquera-Lopez and Daniel Pack, “Comparative Out-of-Sequence Estimation Techniques for MultiSensor target Tracking,” In the Proceedings of the 2014 ASME Dynamic System and Control Conferences, San
Antonio, Texas, USA, October 2014.
Dutta, R., Sun, L., Kothari, M., Sharma, R., and Pack, D., "A Cooperative Formation Control
Strategy Maintaining Connectivity of A Multi-agent System," International Conference on Intelligent Robots
and Systems, Chicago, Illinois, USA, September 2014.
Farmani, N., Sun, L., and Pack, D., "An Optimal Sensor Management Technique for Unmanned Aerial
Vehicles Tracking Multiple Mobile Ground Targets," International Conference on Unmanned Aircraft
Systems, Orlando, FL, USA, May 2014.
Liang Sun, Randal Beard and Daniel Pack, “Trajectory-Tracking Control Law Design for Unmanned Aerial
Vehicles with an Autopilot in the Loop,” In the Proceedings of the 2014 American Control Conference,
Portland, Oregon, June 4 – 6, 2014.
Jonathan Lwowski, Liang Sun, Roberto Mexquitic, Rajnikant Sharma, and Daniel Pack, “A Reactive Bearing
Angle Only Obstacle Avoidance Technique for Unmanned Ground Vehicles,” in Proceedings of the 2014
International Conference of Control, Dynamic Systems, and Robotics, Ottawa, Ontario, Canada, May 15-16,
2014
Stanely Baek, Hyukseong Kwon, and Daniel Pack, “Optimal Path Planning of a Target Following Fixed-Wing
UAV using Decision Sequences Process,” in Proceedings of the 2013 IEEE/RSJ International Conference on
Intelligent Robotic Systems, Tokyo, Japan, November, 2013
H. Kwon, J. Yoder, S. Baek, S. Gruber, and D. Pack, "Maximizing water surface target localization accuracy
under sunlight reflection with an autonomous unmanned aerial vehicle," Journal of Intelligent & Robotic
Systems, pp. 1-17, October 2013.
Rajnikant Sharma and Daniel Pack, “Multi Target Geo-localization using a Fixed Wing Unmanned Aerial
Vehicle,” in Proceedings of the 2013 AIAA Guidance, Navigation and Control Conference, Boston, August 1922, 2013.
Hyukseong Kwon, Josiah Yoder, Stanley Baek, Scott Gruber, and Daniel Pack, “Detecting Multiple Surface
Targets using a Water Surface Model,” in Proceedings of the AIAA Infotech@Aerospace Conference, Boston,
Massachusettes, August, 2013.
H. Kwon, J. Yoder, S. Baek, S. Gruber, and D. Pack, "Multiple target detection on water surfaces using
background modeling while removing sunlight reflection and land area surface area," 2013 AIAA
Infotech@Aerospace conference, Boston, MA, August 2013.
Hyukseong Kwon and Daniel Pack, “Maneuvering UAVs to Avoid Sun Light Reflection Spots,” in Proceedings
of the 2013 International Conference on Unmanned Aircraft Systems, Atlanta, Georgia, June, 2013.
Hyukseong Kwon, Josiah Yoder, Stanley Baek, Scott Gruber, and Daniel Pack, “Maximizing Target Detection
under Sunlight Reflection on Water Surfaces with an Autonomous Unmanned Aerial Vehicles,” in Proceedings
of the 2013 International Conference on Unmanned Aircraft Systems, Atlanta, Georgia, June, 2013.
Rajnikant Sharma Josiah Yoder, Hyukseong Kwon and Daniel Pack, “Vision Based Mobile Target Geolocation and Target Discrimination using Bayes Detection Theory,” in Proceedings of the 2012 International
Symposium on Distributed Autonomous Robotic Systems, Baltimore, Maryland, Nov 8-11, 2012.
Josiah Yoder, Hyukseong Kwon, Rajnikant Sharma, and Daniel Pack, “Monitoring Intent to Enter with a Small
UAV,” in Proceedings of the 12th International Conference on Control, Automation and Systems, Jeju Island,
Korea, Oct 17-21, 2012.
Hyukseong Kwon, Rajnikant Sharma, and Daniel Pack, “Robust Mobile Ground Target Localization Using
Ground Image Feature Based UAV Attitude Compensation Techniques,” in Proceedings of the 12th
International Conference on Control, Automation and Systems, Jeju Island, Korea, Oct 17-21, 2012.
Hyukseong Kwon and Daniel Pack, “Robust Tracking of Nonlinear Target Motion Using Out-of-Order Sigma
Point Kalman Filters,” in Proceedings of the 2012 AIAA Infotech@Aerospace Conference, Garden Grove,
California, June 19-21, 2012.
Rajnikant Sharma, Daniel Pack, Randal Beard, and Clark Taylor, “Bearing-only Cooperative Geo-Localization
using Miniature Air Vehicles,” in Proceedings of the 2012 American Control Conference, Montreal, Canada,
June 27-29, 2012.
Kyuseo Han, Chad Aeschliman, Johnny Park, Avinash Kak, Hyukseong Kwon and Daniel Pack, “UAV Vision:
Feature Based Accurate Ground Target Localization Through Propagated Initializations and Interframe
Homographies,” in Proceedings of the 2012 IEEE International Conference on Robotics and Automation
(ICRA) Conference, St. Paul, Minnesota, May 14-18, 2012.
George York and Daniel Pack, “Multi-Disciplinary Capstone Design Project: An Unmanned Aircraft System
(UAS) for Vehicle Tracking,” in Proceedings of the 2011 American Society for Engineering Educators (ASEE)
Annual Conference, Vancouver, Canada, June 2011.
Chad Hager, Dimitri Zarzhitsky, Hyukseong Kwon, and Daniel Pack, “A Cooperative Autonomous System for
Heterogeneous Aerial and Ground Systems,” in Proceedings of the 2011 AIAA IInfotech@aerospace
conference, St Louis, Missouri, March 29-31, 2011.
Chad Hager, Dimitri Zarzhitsky, Hyukseong Kwon, and Daniel Pack, “Cooperative Target Localization Using
Heterogeneous Unmanned Ground and Aerial Vehicles,” in Proceedings of the 2010 IEEE International
Conference on Intelligent Robotic Systems, Taipei, Taiwan, October 18-21, 2010.
D. Pack, D. Zarzhitsky, H. Kwon, and C. Hager, “Collaboration among Multiple Unmanned Aircraft Systems to
Search, Detect, and Locate Ground Targets,” in Proceedings of the International Unmanned Vehicle Workshop,
Istanbul, Turkey, June 10-12, 2010.
S.F. Barrett, D.J. Pack, “Textbooks 101: A primer on writing your first textbook,” Education Column,
Computing in Science and Engineering, Feb/Mar 2010 (adapted and updated from an ASEE CoED paper
authored by Barrett and Pack from 2002).
Daniel Pack. Glen Dudevoir, Pedro DeLima, and Scott Gruber, “Negotiating between Communication and
Cooperation for Multiple Unmanned Aerial Systems,” in Proceedings of the 2009 International Conference for
Military Communication, Boston, Massachusetts, October 18-21, 2009.
Pedro DeLima, Dimitri Zarzhitsky, and Daniel Pack, “Toward Developing a Cooperative Sensor Network for
Unmanned Aerial Vehicles,” in Proceedings of the 2009 IEEE International Conference on Intelligent Robotic
Systems (IROS), St Louis, Missouri, October, 2009.
Dimitri Zarzhitsky, Pedro DeLima, and Daniel Pack, “Localizing Stationary Targets with Cooperative
Unmanned Aerial Vehicles,” in Proceedings of the International Federation of Automatic Control (IFAC)
Workshop on Networked Robotics, Golden, Colorado, October 6-8, 2009.
Pedro DeLima, Dimitri Zarzhitsky, and Daniel Pack, “Decentralized Comparative Control of Autonomous
Surface Vehicles,” in Proceedings of the 9th International Conference on Cooperative Control and
Optimization, Gainsville, FL, January 2009.
Pedro DeLima and Daniel Pack, “Toward Developing an Optimal Cooperative Search Algorithm for Multiple
Unmanned Aerial Vehicles,” in Proceedings of the 2008 International Conference on Cooperative Systems and
Technologies, San Diego, California, April 2008.
Pedro DeLima and Daniel Pack, “Maximizing Search Coverage using Future Path Projection for Cooperative
Multiple UAVs with Limited Communication Ranges,” in 8th International Conference on Cooperative
Control and Optimization, Gainesville, Florida, January 2008.
Dimitri Zarzhitsky, Daniel Pack, Marc Schlegal, and Andreas Decker, “Event-Driven Software Framework for
Cooperative Localization of Mobile Targets with Multiple Unmanned Aerial Vehicles,” in 8th International
Conference on Cooperative Control and Optimization, Gainesville, Florida, January 2008.
Youngrock Yoon, Scott Gruber, Lucas Krakow, and Daniel Pack, “Autonomous Target Detection and
Localization using Cooperative Unmanned Aerial Vehicles,” in 8th International Conference on Cooperative
Control and Optimization, Gainesville, Florida, January 2008.
Gregory Toussaint, Pedro De Lima, and Daniel Pack, “Localizing RF Targets with Cooperative Unmanned
Aerial Vehicles,” in Proceedings of the 2007 American Control Conference, pp. 5928-5933, New York, New
York, July 2007.
Austin Griffith, Steven Barret, and Daniel Pack, “VERILOG HDL Controlled Robot for Teaching Complex
Systems Design,” in Proceedings of the 2007 American Society of Engineering Education Conference,
Honolulu, Hawaii, June 2007.
G. Plett, P. de Lima, and D. Pack, `”Target Localization using Multiple UAVs with Sensor Fusion via Sigmapoint Kalman Filtering,” in Proceedings of the 2007 AIAA Infotech@Aerospace Conference on Collaboration
in UAV Systems, Sonoma, CA, May 2007.
Youngrock Yoon, Pedro Lima, and Daniel Pack, “Heterogeneous and Decentralized Unmanned Agent
Framework for Efficient Detection of IED and EFP Associated Activities,” in Proceedings of 2007 Joint
Electronics Warfare Conference (JEWC), Las Vegas, Nevada, May 2007.
George Vilches, Annie Wu, John Scirotino, Daniel Pack, and Jeffrey Ridder, “Classifying and Evolving MultiAgent Behaviors from Animal Packs in Search and Tracking Problems,” in Proceedings of SPIE Conference on
Collaboration in UAV Systems, Orlando, Florida, April 2007.
Pedro Lima, Daniel Pack, and John Scirotino, “Optimizing a Search Strategy for Multiple Mobile Agents,” in
Proceedings of SPIE Conference on Collaboration in UAV Systems, Orlando, Florida, April 2007.
G. Plett, D. Zarzhitsky, and D. Pack, “Out-of-order Sigma-point Kalman Filtering for Target Localization using
Cooperating Unmanned Aerial Vehicles,” in Proceedings of 7th International Conference on Cooperative
Control and Optimization, Gainesville, Florida, January 2007.
Daniel J. Pack and Alan R. Klayton, “Education through Robotics at the United States Air Force Academy,”
World Automation Congress, in Proceedings of 11th International Symposium on Robotics and Applications
(ISORA 2006), Budapest, Hungary, July 2006.
Pedro DeLima, George York, and Daniel Pack, “Localization of Ground Targets Using a Flying Sensor
Network,” in Proceedings of the 2006 IEEE International Conference on Sensor Networks, Ubiquitous, and
Trustworthy Computing, pp. 194-199, Taichung, Taiwan, June 2006.
S.F. Barrett and D.J. Pack, “Lions and Tigers and Testing... Oh, My!,” in Proceedings of the 2006 American
Society for Engineering Educators (ASEE) Conference, Chicago, IL, June 2006.
James Wicker, Erlind Royer, George York, and Daniel Pack, “A Multi-Disciplinary Senior Design Project
Using Cooperative Unmanned Aerial Vehicles,” in Proceedings of the 2006 American Society for Engineering
Educators (ASEE) Conference, Chicago, IL, June 2006.
Kevin Morris, Barry Mullins, Daniel Pack, and Rusty Baldwin, “Impact of Limited Communications on a
Cooperative Search Algorithm for Multiple UAVs,” in Proceedings of the 2006 IEEE International Conference
on Networking, Sensing, and Control, Ft Lauradeal, FL, April 2006 - Best Paper Award.
D. Pack, G. York, and R. Fierro, “Information-Based Cooperative Control for Multiple Unmanned Aerial
Vehicles,” in Proceedings of the IEEE International Conference on Networking, Sensing, and Control, Florida,
April, 2006.
Daniel J. Pack, Ricky E. Sward, Stephen Cooper, and George York, “Searching, Detecting, Monitoring and
Tracking Emergency Sites using Multiple Unmanned Aerial Vehicles,” In Proceedings of the 2005 AIAA
Infotech@Aerospace Conference on Collaboration in UAV Systems, Washington, D.C., September 2005.
Ricky E. Sward, Clink Sparkman, and Daniel Pack, “Challenges in Developing UAV software,” in Proceedings
of the 2005 AIAA Infotech@Aerospace Conference on Collaboration in UAV Systems, Washington, D.C.,
September 2005.
Tyler W. Gilbert, Barry E. Mullins, and Daniel J. Pack, “Designing and Implementing an Embedded
Microcontroller System: Tetris Game,” in Proceedings of the 2005 ASEE Annual Conference, Portland, Oregon,
June 2005.
Tyler Gilbert, Tom Kubler, Adam Palmer, Harold Gilbert, Erlind Royer, George York, and Daniel Pack,
“Multi-Disciplinary Senior Design Project: A Case Study on a Multiple Mobile Robots Project,” in
Proceedings of the 2005 ASEE Annual Conference, Portland, Oregon, June 2005.
Steven F. Barrett, Daniel J. Pack, Pamela Beavis, Mahbub Sardar, Austin Griffith, Michael Stephens, Julie
Sandberg, Lewis Sircin, George Janack, “Using Robots to Teach Complex Real Time Embedded System
Concepts,” in Proceedings of the 2005 ASEE Annual Conference, Portland, Oregon, June 2005.
Daniel J. Pack and George W.P. York, “Developing a Control Architecture for Multiple Unmanned Aerial
Vehicles to Search and Localize RF Time-Varying Mobile Targets: Part I,” in Proceedings of the 2005 IEEE
International Conference on Robotics and Automation, pp. 3965-3970, Barcelona, Spain, April, 2005.
Daniel J. Pack and George W.P. York, “An Extended Time Horizon Technique for Cooperative Unmanned
Aerial Vehicles to Locate Mobile RF Targets,” in Proceedings of the 2005 International Conference on
Cooperative Systems and Technologies, St. Louis, Missouri, April, 2005.
Cameron Wright, Steve Barrett, and Daniel Pack, “Using Parallel Evolutionary Development for a BiologicallyInspired Computer Vision System for Mobile Robots,” in Proceedings of the 42nd Rocky Mountain
Bioengineering Society conference, Copper Mountain, April 2005.
Daniel Pack, George York, and Gregory Toussaint, “Localizing Mobile RF Targets using Multiple Unmanned
Aerial Vehicles with Heterogeneous Sensing Capabilities,” in Proceedings of the IEEE International
Conference on Networking, Sensing, and Control, pp. 632-637, Tucson, Arizona, March, 2005.
George York and Daniel Pack, “Comparative Study on Time-Varying Target Localization Methods using
Multiple Unmanned Aerial Vehicles: Kalman Estimation and Triangulation Techniques,” in Proceedings of the
IEEE International Conference on Networking, Sensing, and Control, pp. 305-310, Tucson, Arizona, March,
2005.
T. Schei, C. Wright, and D. Pack, “Approach to reduce the computational image processing requirements for a
computer vision system using sensor preprocessing and the hoteling transform,” in Proceedings of SPIE's
Electronic Imaging 2005 Conference, Sacramento, California, January, 2005.
George W.P. York and Daniel J. Pack, “Minimal Formation Based Unmanned Aerial Vehicle Search Method to
Detect RF Mobile Targets,” in Proceedings of the 2nd Annual Swarming Conference: Network Enabled C4ISR,
Washington, D.C., June 2004.
Steve Barrett, Daniel Pack, and Charles Straley, “Real Time Operating Systems: A Visual Simulator,” in
Proceedings of 2004 ASEE Annual Conference, Salt Lake City, Utah, June 2004.
David J. Ahlgren, Igor M. Verner, Daniel Pack, Steve Richards, “Effective Practices in Robotics Education,” in
Proceedings of the 2004 ASEE Annual Conference, Salt Lake City, Utah, June 2004.
Kenneth Soda and Daniel Pack, “Simple Hardware Implementation of Neural Networks for Instruction in
Analog Electronics,” in Proceedings of the 2004 ASEE Annual Conference, Salt Lake City, Utah, June 2004.
Cameron Wright, Steve Barrett, Daniel Pack, Mike Wilcox, “Computational Image Processing for a Computer
Vision System using Biomimetic Sensors and Eigenspace Object Models,” in Proceedings of SPIE's Electronic
Imaging 2004 Conference.
Cameron Wright, Steve Barrett, Daniel Pack, Mike Wilcox, “Signal Processing for a Biologically-Inspired
Vision System using Biomimetic Sensors and Eigenspace Object Models,” in Proceedings of Asilomar
Conference on Signals, Systems, and Computers, Pacific Grove, California, November 2003.
Daniel Pack and Barry Mullins, “Toward Finding an Universal Search Algorithm for Swarm Robots,” in
Proceedings 2003 IEEE/RJS Conference on Intelligent Robotic Systems (IROS), pp. 1945-1950, Las Vegas,
Nevada, October 2003.
Daniel Pack and Barry Mullins, “A Portable Microcontroller-based HTTP Tunneling Activity Detection
System,” in Proceedings of the IEEE 2003 International Conference on System, Man, Cybernetics, Washington
D.C., October 2003.
Daniel Pack and Cameron Wright, “Comparative Study on Subspace-based Target Recognition Systems,” in
Proceedings of the 7th International IASTED Conference on Computers, Graphics, and Imaging, Honolulu,
Hawaii, August 2003.
David Bossert, Erlind Royer, Thomas Rathbun, Thomas Schorsch, Al White, Jim Patrey, and Daniel Pack,
“Teaching Unmanned Aerial Vehicle (UAV) Concepts at the Undergraduate Level: One Approach,” in
Proceedings of 2003 AAIA Atmospheric Flight Mechanics Conference, San Francisco, California, August 2003.
Daniel J. Pack and Barry E. Mullins, “Computational Complexity on Pose Updates for Swarm Robots,” in
Proceedings of Seventh Multi-Conference on Systemics, Cybernetics, and Informatic, Orlando, Florida, July
2003.
Joel Perlin, Daniel Pack, Barry Mullins, and Richard Speakman, “Senior Capstone Experience: Flying Robot,”
in Proceedings of the 2003 ASEE Annual Conference, Nashville, Tennessee, June 2003.
D.J. Pack and C.G.H Wright, “Object Recognition of Occluded Targets Using a Subspace Graph Search
Method,” in Proceedings of the Sixth Multi-Conference on Systemics, Cybernetics, and Informatic, Orlando,
Florida, July 2002.
Daniel J. Pack, William Strelein, Seth Webster, and Robert Cunningham, “Detecting HTTP Tunneling
Activities,” in Proceedings of the 3rd Annual Information Assurance Workshop, West Point, New York, June
2002.
Steven Barrett and Daniel Pack, “Textbooks 101 -- A Primer on Writing Your First Book,” in Proceedings of
the 2002 ASEE Annual Conference, Montreal, Canada, June 2002.
Barry Mullins and Daniel Pack, “Transition from the 68HC11 to the 68HC12,” in Proceedings of the 2002
ASEE Annual Conference, Montreal, Canada, June 2002.
S.F. Barrett, M.J. Wilcox, T.E. Olson, D.J. Pack, and C.H.G. Wright, “Modeling a Parallel L4 Neuron Array of
the Fly (Musca domestica) Vision System with a Sequential Processor,” in Proceedings of the 2002 Rocky
Mountain Biomedical Society Conference, Copper Mountain, CO, April 2002.
Peter Henstock, Daniel Pack and Clifford Weinstein, “Toward An Improved Concept-Based Information
Retrieval System,” in Proceedings of the 24th Annual International Conference on Research and Development
in Information Retrieval, New Orleans, Louisiana, September 2001.
Daniel Pack and Clifford Weinstein, “The Use of Dynamic Segment Scoring for Language-Independent
Question Answering,” in Proceedings of the 2001 Human Language Technology Conference, San Diego,
California, March 2001.
Daniel Pack, “Fast Object Recognition System Using Appearances,” in Proceedings of the 2000 IEEE
International Conference on Systems, Man, and Cybernetics, pp. 2781-2788, Nashville, Tennessee, October
2000.
Daniel Pack, Robert Avanzato, and David Ahlgren, “Fire-Fighting Mobile Robotics and Interdisciplinary
Design-Comparative Perspectives,” in Proceedings of the 1999 American Society for Engineering Educators
Conference, Charlotte, North Carolina, June 1999.
Daniel Pack, “Assessing Educational Outcomes for an Engineering Course: A Case Study,” in Proceedings of
the 1998 Colorado Higher Education Assessment Conference, Golden, Colorado, April 1998.
D.J. Pack, L.A. Tamburino, and K. Kurtz, “An Optimal Matching Method using Accumulated Evidence,” in
Proceedings of the 1998 International Symposium on Optical Science, Engineering, and Instrumentation,
Orlando, FL, April 1998.
S.F. Barrett, D.J. Pack, C.G. Wright, S.A. Stefanov, P.C. Neal, and A.R. Klayton, “Innovative, StudentCentered Educational Tools for the Computer Engineering Curriculum,” in Proceedings of the 1998 American
Society for Engineering Educators Conference, Seattle, Washington, June, 1998.
S.F. Barrett, D.J. Pack, G.W.P. York, P.J. Neal, R.D. Fogg, E. Doskocz, S.A. Stefanov, P.C. Neal, C.H.G.
Wright, and A.R. Klayton, “Student-centered Educational Tools for the Digital Systems Curriculum,” in
Proceedings of the 1998 ASEE Annual Conference and Exposition, Seattle, WA, June 1998.
D.J. Pack, A.R. Klayton, A.L. Clark, and J.P. Trudeau, “Incorporating Mobile Robots in an EE Microcomputer
Programming Course,” in Proceedings of the 1998 American Society for Engineering Educators Conference,
Seattle, Washington, June 1998.
D.J. Pack, L.B. Neal, L.A. Tamburino, and M. Marnadi, “Object Recognition using a Dynamic Relaxation
method,” in Proceedings of the 1997 IEEE Industrial Electronics Society International Conference, vol. 1 pp.
269 - 274, New Orleans, Louisiana, November 1997.
Greg Toussaint, Daniel Pack, and Randy Haupt, “A MATLAB Graphical User Interface for Binary and
Continuous Parameter Genetic Algorithms,” in Proceedings of the Third Joint Conference on Information
Sciences (JCIS), 1997.
B. Formwalt, M. Hayes, and D. Pittner, and D. Pack, “Undergraduate Research: How can it be made effective?”
in Proceedings of the 1997 American Society for Engineering Educators Conference, Milwaukee, Wisconsin,
June 1997.
Daniel J. Pack, Greg Toussaint, and Randy Haupt, “Optimal Robot Trajectory Planning using Genetic
Algorithms,” in Proceedings of the 1996 International Symposium on Optical Science, Engineering, and
Instrumentation, Denver, CO, August 1996.
Daniel J. Pack, “Perception-Based Control for a Quadruped Walking Robot,” in Proceedings of the 1996 IEEE
International Conference on Robotics and Automation, pp. 2994-3001, Minneapolis, MN, April 1996.
Daniel J. Pack Scott Stefanov, George York, and Pam Neal, “Constructing a Wall-Follower Robot for a Senior
Design Project,” in Proceedings of the 1996 American Society for Engineering Educators Conference,
Washington D.C., June 1996.
Greg Toussaint, Daniel J. Pack, and Randy Haupt, “Teaching Genetic Algorithms using a Graphical Interface,”
in Proceedings of the 1996 American Society for Engineering Educators Conference, Washington D.C., June
1996.
J. Pan, D.J. Pack, A. Kosaka, and A.C. Kak, “FUZZY-NAV: A Vision-Based Robot Navigation Architecture
using Fuzzy Inference for Uncertainty-Reasoning,” in Proceedings of the 1995 IEEE International Congress on
Neural Networks, Washington, D.C., July 1995.
Daniel J. Pack and HoSeok Kang, “An Omnidirectional Gait Control using a Graph Search Method for a
Quadruped Walking Robot,” in Proceedings of the 1995 IEEE Robotics and Automation Conference, Nagoya,
Japan, April 1995.
Daniel J. Pack and A.C. Kak, “A Simplified Walking Gait for a Quadruped Walking Robot,” in Proceedings of
the 1994 International Conference on Intelligent Robotic Systems (IROS), pp. 1011-1018, Munich, Germany,
September 1994.
Daniel J. Pack, Min Meng, and A.C. Kak, “Comparative Study of Motion Control Methods for a Nonlinear
System,” in Proceedings of the 19th International Conference of the IEEE Industrial Electronics Society, pp.
1413-1418, Maui, Hawaii, November 1993.
Frank C. Park and Daniel J. Pack, “Motion Control Using the Product-of-Exponentials Kinematic Equations,”
in Proceedings of the 1991 IEEE International Conference on Robotics and Automation, pp. 2204-2209,
Sacramento, California, April 1991.
Technical Reports
D. Pack, D. Fabian, N. Seward, B. Horban, and W. Kitch, Chapter 6, United States Air Force Academy
Educational Outcomes Assessment Working Group, Phase 2: Final Report, April 1997.
Daniel J. Pack, “Sensor-Based Planning and Control for a Quadruped Walking Robot,” Ph.D. Thesis, School of
Electrical and Computer Engineering, Purdue University, West Lafayette, IN, 1995.
Daniel J. Pack, Min Meng, and A.C. Kak, “Comparative Study of Motion Control Methods for a Nonlinear
System,” Technical Report TR-EE 92-41, Robot vision Laboratory, School of Electrical and Computer
Engineering, Purdue University, West Lafayette, IN, 1992.
A. Kak, S. Blask, M. Carroll, R. Cromwell, L. Grewe, K. Groom, H. Kang, I. Kimura, Z. Li, M. Meng, M.
Mizoguchi, D. Pack, and C.P. Tung, “Computational Aspects of Sensory Intelligence for Robots,” In Annual
Research Summary, School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN,
July 1991 - June 1992.
K. Smith, M. Carroll, J. Fox, and D. Pack, “Robot Motion Control using Allegro Common Lisp,” Memo 1-92
robomov, Robot Vision Laboratory, School of Electrical and Computer Engineering, Purdue University, West
Lafayette, IN, 1992.
Daniel J. Pack, “Useful Strategies for Finding Grasp Coordinate Frames,” Memo 4-92 grasping, Robot Vision
Laboratory, School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, 1991.
Bob Cromwell and Daniel Pack, “RVL Computing Resources,” Memo 7-94 rvl-computers, Robot Vision
Laboratory, School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN, 1992.
Frank C. Park and Daniel J. Pack, “Motion Control Using the Product-of-Exponentials Kinematic Equations,”
Technical Report, no. 90-5, Harvard Robotics Laboratory, Harvard University, Cambridge, Massachusetts,
February 1990.
Research Interests - Sensor-Based Intelligent Control: Cooperative unmanned aerial systems, sensor-based
intelligent control, robotics, pattern recognition, embedded systems, computer security, and engineering education