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52. Autonomous Rovers for Mars Exploration

Author

Anderson, Corin, Bresina, John, Golden, Keith, Smith, David E, Smith, Trey, Washington, Richard, and Koga, Dennis

Subjects
Lunar And Planetary Science And Exploration
Abstract

Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.

Published
1999

59. Planetary Lake Lander: Using Technology Relevant to Titan's Exploration to Investigate the Impact of Deglaciation on Past and Present Planetary Lakes

Author

Cabrol, Nathalie, Grin, Edmund, Haberle, Chris, Moersch, Jeff, Jacobsen, Robert, Sommaruga, Ruben, Fleming, Erich, Detweiler, Angela, Echeverria, Alex, Blanco, Yolanda, Rivas, Luis, Pedersen, Liam, Smith, Trey, Wettergreen, David, Demergasso, Cecilia, Parro, Victor, Fong, Terrence W., and Bebout, Lee

Subjects
FOS: Computer and information sciences, 80101 Adaptive Agents and Intelligent Robotics
Abstract

The Planetary Lake Lander project (PLL) is deploying and remotely operating a lake lander to gain operational experience that will help us better understand the technology and payload necessary, possible system constraints, and to develop solutions to overcome design issues for future lake lander missions. PLL’s scientific mission in Chile is focused on the study of deglaciation. Disrupted environmental, physical, chemical, and biological cycles challenge us to identify newly emerging natural patterns and to find the most productive methods to interrogate them rapidly. In many ways, the rapidity of Earth’s deglaciation confronts us with the same operational scenario as a planetary mission faced with only limited time to understand the environment and achieve its objectives. The priority for all time-, bandwidth- and often power-constrained planetary operations is to return the most informative data [1-2]. To maximize return, such missions would greatly benefit from intelligent, adaptive systems that can rapidly establish environmental baseline, track changes as they happen, adapt their data collection rate to monitor them, and prioritize data return. Such systems would be applicable to a vast array of planetary missions by improving the ability of any robots to make decisions on their own between command cycles.

Published
2012
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62. Long-Distance Autonomous Survey and Mapping in the Robotic Investigation of Life in the Atacama Desert

Author

Wettergreen, David, Wagner, Michael, Jonak, Dominic, Baskaran, Vijayakumar, Deans, Matthew, Heys, Stuart, Pane, David, Smith, Trey, Teza, James, Thompson, David R., Tompkins, Paul, and Williams, Chris

Subjects
FOS: Computer and information sciences, 80101 Adaptive Agents and Intelligent Robotics
Abstract

To study life in the Mars-like Atacama Desert of Chile we have created a robot, Zoë, and conducted three seasons of technical and scientific experiments. We describe Zoë’s exploration algorithms and architecture and assess a total of six months of long distance survey traverses. To date Zoë has navigated autonomously over 250 km. Its average distance per autonomous traverse is 672 m with 75 traverses over one kilometer in a single command cycle. Zoë’s payload includes instruments to rapidly measure biologic and geologic properties of the environment. By registering these measurements to estimated position scientists are able to correlate biologic, geologic and environmental factors and better understand life and its habitats in the most arid desert on Earth.

Published
2008
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67. Field Testing of Utility Robots for Lunar Surface Operations

Author

Fong, Terrence, primary, Bualat, Maria, additional, Deans, Matthew, additional, Allan, Mark, additional, Bouyssounouse, Xavier, additional, Broxton, Michael, additional, Edwards, Laurence, additional, Elphic, Rick, additional, Fluckiger, Lorenzo, additional, Frank, Jeremy, additional, Keely, Leslie, additional, Kobayashi, Linda, additional, Lee, Pascal, additional, Lee, Susan, additional, Lees, David, additional, Park, Eric, additional, Pedersen, Liam, additional, Smith, Trey, additional, To, Vinh, additional, Utz, Hans, additional, Pacis, Estrellina, additional, and Schreckenghost, Debra, additional

Published
2008
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69. Life in the Atacama: A scoring system for habitability and the robotic exploration for life

Author

Hock, Andrew N., primary, Cabrol, Nathalie A., additional, Dohm, James M., additional, Piatek, Jennifer, additional, Warren-Rhodes, Kim, additional, Weinstein, Shmuel, additional, Wettergreen, David S., additional, Grin, Edmond A., additional, Moersch, Jeffrey, additional, Cockell, Charles S., additional, Coppin, Peter, additional, Ernst, Lauren, additional, Fisher, Gregory, additional, Hardgrove, Craig, additional, Marinangeli, Lucia, additional, Minkley, Edwin, additional, Ori, Gian Gabriele, additional, Waggoner, Alan, additional, Wyatt, Mike, additional, Smith, Trey, additional, Thompson, David, additional, Wagner, Michael, additional, Jonak, Dominic, additional, Stubbs, Kristen, additional, Thomas, Geb, additional, Pudenz, Erin, additional, and Glasgow, Justin, additional

Published
2007
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71. Surface and subsurface composition of the Life in the Atacama field sites from rover data and orbital image analysis

Author

Piatek, Jennifer L., primary, Hardgrove, Craig, additional, Moersch, Jeffrey E., additional, Drake, Darrell M., additional, Wyatt, Michael B., additional, Rampey, Michael, additional, Carlisle, Orion, additional, Warren-Rhodes, Kim, additional, Dohm, James M., additional, Hock, Andrew N., additional, Cabrol, Nathalie A., additional, Wettergreen, David S., additional, Grin, Edmond A., additional, Diaz, Guillermo Chong, additional, Coppin, Peter, additional, Weinstein, Shmuel, additional, Cockell, Charles S., additional, Marinangeli, Lucia, additional, Ori, Gian Gabriele, additional, Smith, Trey, additional, Jonak, Dominic, additional, Wagner, Michael, additional, Stubbs, Kristen, additional, Thomas, Geb, additional, Pudenz, Erin, additional, and Glasgow, Justin, additional

Published
2007
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72. Life in the Atacama: Searching for life with rovers (science overview)

Author

Cabrol, Nathalie A., primary, Wettergreen, David, additional, Warren‐Rhodes, Kim, additional, Grin, Edmond A., additional, Moersch, Jeffrey, additional, Diaz, Guillermo Chong, additional, Cockell, Charles S., additional, Coppin, Peter, additional, Demergasso, Cecilia, additional, Dohm, James M., additional, Ernst, Lauren, additional, Fisher, Gregory, additional, Glasgow, Justin, additional, Hardgrove, Craig, additional, Hock, Andrew N., additional, Jonak, Dominic, additional, Marinangeli, Lucia, additional, Minkley, Edwin, additional, Ori, Gian Gabriele, additional, Piatek, Jennifer, additional, Pudenz, Erin, additional, Smith, Trey, additional, Stubbs, Kristen, additional, Thomas, Geb, additional, Thompson, David, additional, Waggoner, Alan, additional, Wagner, Michael, additional, Weinstein, Shmuel, additional, and Wyatt, Michael, additional

Published
2007
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73. Planetary LakeLander-A Robotic Sentinel to Monitor Remote Lakes.

Author

Pedersen, Liam, Smith, Trey, Lee, Susan Y., and Cabrol, Nathalie

Subjects
ROBOTICS equipment, DATA visualization, ANALYTIC mappings, GLACIAL melting
Abstract

This field report describes the design and operations of the Planetary LakeLander (PLL) probe and its ground data systems. LakeLander's primary mission is to characterize the physical, chemical, and biological processes occurring in a high-altitude lake, and how they are being impacted by rapid deglaciation. LakeLander's secondary purpose is to test operation concepts for future exploration of Titan's lakes. The LakeLander probe is a permanently anchored buoy that measures both surface meteorology and water quality parameters in the top 40 m of the water column. The concept of operations calls for the probe to continue collecting and downlinking data through the Andean winter, when the lake is inaccessible; this drives the power system design and forces a strong focus on system reliability, analogous to a space mission. The PLL ground data system provides the central archive of downlinked data. They are structured around a unified data-sharing web site that includes tools for mapping, data visualization, documentation, and numerical analysis. The web site provides a hub for engaging the science team and enables interdisciplinary collaboration. This report concludes with lessons learned during field deployment and several months of remote operations on the lake. Among the conclusions: (1) the choice to use an off-the-shelf profiling system has proven wise; (2) effective maintenance of a long-lived remote system requires extensive measurement, logging, and display of as many system variables as possible; and (3) the visualization sandbox component of the data-sharing web site has made numerical analysis of probe data much easier and more accessible to the entire interdisciplinary science team. [ABSTRACT FROM AUTHOR]

Published
2015
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74. First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly.

Author

Thoma, M., Morari, M., Rus, Daniela, Simmons, Reid, Singh, Sanjiv, Hershberger, David, Ramos, Josue, and Smith, Trey

Abstract

While many multi-robot systems rely on fortuitous cooperation between agents, some tasks, such as the assembly of large structures, require tighter coordination. We present a general software architecture for coordinating heterogeneous robots that allows for both autonomy of the individual agents as well as explicit coordination. This paper presents recent results with three robots with very different configurations. Working as a team, these robots are able to perform a high-precision docking task that none could achieve individually. [ABSTRACT FROM AUTHOR]

Published
2001
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75. THE PAWN.

Author

Smith, Trey

Subjects
LITERARY excerpts
Abstract

An excerpt from the book "Thieves," by Trey Smith is presented.

Published
2011

76. FEEDBACK.

Author

Smith, Trey, Jezek, John, Sikes, Alan L., Sadler, Kathleen (Pat), and Schmit, Jen

Subjects
LETTERS to the editor, WRITING, COMMUNITY development, FUNDRAISING
Abstract

Several letters to the editor are presented in response to previous articles including "The Secrets Hidden in Your Handwriting," by Michelle Dresbold in the February 2007 issue, the renovation and improvement along Butler Street, Pennsylvania and "What Big Hearts They Have: The National Association of the Wolves Raises Funds for Kids Who Need Scholarships" in the January 2007 issue.

Published
2007

77. HIDDEN GEMS.

Author

SMITH, TREY

Subjects
COFFEE, ICE cream, ices, etc.
Abstract

The article talks about the shops and offbeat places in Cobb County that includes the Read Shop in Vinings, Rev Coffee serving perfectly roasted coffee, East Palisades trail for kayaking and The Ice Kitchen serving rolled ice cream and specialty coffee.

Published
2019

78. MUST-DO SUMMER BUCKET LIST.

Author

SMITH, TREY

Subjects
PADDLEBOARDING, SIX Flags Over Georgia (Ga.)
Abstract

The article talks about the essential summertime experiences in Cobb County that includes playing at the Smith-Gilbert Gardens, paddle-board in Lake Acworth, thrill ride at Six Flags Over Georgia and food hall at the Marietta Square.

Published
2019

79. Cronobacter sakazakii Infections in Two Infants Linked to Powdered Infant Formula and Breast Pump Equipment - United States, 2021 and 2022.

Author

Haston JC, Miko S, Cope JR, McKeel H, Walters C, Joseph LA, Griswold T, Katz LS, Andújar AA, Tourdot L, Rounds J, Vagnone P, Medus C, Harris J, Geist R, Neises D, Wiggington A, Smith T, Im MS, Wheeler C, Smith P, Carleton HA, and Lee CC

Subjects
Female, Infant, Humans, Infant Formula, Enterobacteriaceae, Milk, Human, Powders, Cronobacter sakazakii genetics, Enterobacteriaceae Infections diagnosis
Abstract

Cronobacter sakazakii, a species of gram-negative bacteria belonging to the Enterobacteriaceae family, is known to cause severe and often fatal meningitis and sepsis in young infants. C. sakazakii is ubiquitous in the environment, and most reported infant cases have been attributed to contaminated powdered infant formula (powdered formula) or breast milk that was expressed using contaminated breast pump equipment (1-3). Previous investigations of cases and outbreaks have identified C. sakazakii in opened powdered formula, breast pump parts, environmental surfaces in the home, and, rarely, in unopened powdered formula and formula manufacturing facilities (2,4-6). This report describes two infants with C. sakazakii meningitis reported to CDC in September 2021 and February 2022. CDC used whole genome sequencing (WGS) analysis to link one case to contaminated opened powdered formula from the patient's home and the other to contaminated breast pump equipment. These cases highlight the importance of expanding awareness about C. sakazakii infections in infants, safe preparation and storage of powdered formula, proper cleaning and sanitizing of breast pump equipment, and using WGS as a tool for C. sakazakii investigations., Competing Interests: All authors have completed and submitted the International Committee of Medical Journal Editors form for disclosure of potential conflicts of interest. No potential conflicts of interest were disclosed.

Published
2023
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