Military operations are turning to more complex and advanced automation technologies for minimum risk and maximum efficiency. A critical piece to this strategy is unmanned aerial vehicles. Unmanned aerial vehicles require the intelligence to safely maneuver along a path to an intended target and avoiding obstacles such as other aircrafts or enemy threats. This paper presents a unique three-dimensional path planning problem formulation and solution approach using particle swarm optimization. The problem formulation was designed with three objectives: 1) minimize risk owing to enemy threats, 2) minimize fuel consumption incurred by deviating from the original path, and 3) fly over defined reconnaissance targets. The initial design point is defined as the original path of the unmanned aerial vehicles. Using particle swarm optimization, alternate paths are generated using B-spline curves, optimized based on the three defined objectives. The resulting paths can be optimized with a preference toward maximum safety, minimum fuel consumption, or target reconnaissance. This method has been implemented in a virtual environment where the generated alternate paths can be visualized interactively to better facilitate the decision-making process. The problem formulation and solution implementation is described along with the results from several simulated scenarios demonstrating the effectiveness of the method. Nomenclature C total cost function for a path C T , C L , C R threat, fuel, and reconnaissance components cost for a path c 1 , c 2 first and second confidence parameters for PSO K T , K L , K R weighting factors for threat, fuel, and reconnaissance components cost L length of path M number of control points for B-spline curve N number of line segments that define the B-spline curve N(u) bernstein basis function for B-spline curve p • u parametric equation for B-spline curve u set of line segments for B-spline curve V velocity vector for particle swarm optimization (PSO) w inertia weight for particle swarm optimization X i ith design variable in an optimization objective function in PSO x knot vector for B-spline curve Z T , Z R threat zone and reconnaissance zone λ w decay factor for inertia weight for PSO

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Visualizing patient data in a three-dimensional (3D) representation can be an effective surgical planning tool.As medical imaging technologies improve with faster and higher resolution scans, the use of virtual reality for interacting with medical images adds another level of realism to a 3D representation. The software framework presented in this paper is designed to load and display any DICOM/PACS-compatible 3D image data for visualization and interaction in an immersive virtual environment. In "examiner" mode, the surgeon can interact with a 3D virtual model of the patient by using an intuitive set of controls designed to allow slicing, coloring,and windowing of the image to show different tissue densities and enhance important structures. In the simulated"endoscopic camera" mode, the surgeon can see through the point of view of a virtual endoscopic camera to navigate inside the patient. These tools allow the surgeon to perform virtual endoscopy on any suitable structure.The software is highly scalable, as it can be used on a single desktop computer to a cluster of computers in an immersive multiprojection virtual environment. By wearing a pair of stereo glasses, a surgeon becomes immersed within the model itself, thus providing a sense of realism, as if the surgeon is "inside" the patient.

Visualizing patient data in a three-dimensional (3D) representation can be an effective surgical planning tool.As medical imaging technologies improve with faster and higher resolution scans, the use of virtual reality for interacting with medical images adds another level of realism to a 3D representation. The software framework presented in this paper is designed to load and display any DICOM/PACS-compatible 3D image data for visualization and interaction in an immersive virtual environment. In "examiner" mode, the surgeon can interact with a 3D virtual model of the patient by using an intuitive set of controls designed to allow slicing, coloring,and windowing of the image to show different tissue densities and enhance important structures. In the simulated"endoscopic camera" mode, the surgeon can see through the point of view of a virtual endoscopic camera to navigate inside the patient. These tools allow the surgeon to perform virtual endoscopy on any suitable structure.The software is highly scalable, as it can be used on a single desktop computer to a cluster of computers in an immersive multiprojection virtual environment. By wearing a pair of stereo glasses, a surgeon becomes immersed within the model itself, thus providing a sense of realism, as if the surgeon is "inside" the patient.