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Environmental niche models utilize associations between environmental variables and known species distributions to define abiotic conditions within which populations can be maintained. Projection of modelled niches into new regions and under scenarios of future climate change enables the geographical distribution of suitable conditions to be predicted. This(More)
BACKGROUND Higher-level relationships within the Lepidoptera, and particularly within the species-rich subclade Ditrysia, are generally not well understood, although recent studies have yielded progress. We present the most comprehensive molecular analysis of lepidopteran phylogeny to date, focusing on relationships among superfamilies. METHODOLOGY(More)
We are studying how " robotic follow-up " can improve future planetary exploration. Robotic follow-up, which we define as augmenting human field work with subsequent robot activity, is a field exploration technique designed to increase human productivity and science return. To better understand the benefits, requirements, limitations and risks associated(More)
— The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable(More)
In Summer 2007, we field-tested a robotic survey system at Haughton Crater (Devon Island, Canada). Two NASA Ames K10 planetary rovers performed systematic surveys of several simulated lunar sites, including a roughly 700m x 700m region called Drill Hill. The rovers carried a 3D scanning lidar for topog-raphic mapping and ground penetrating radar to map(More)
This paper describes an integrated demonstration of ground-based contingent planning, robust execution and autonomous instrument placement for the efficient exploration of a site by a prototype Mars rover. 1.1. Introduction Approaching science targets, such as rocks, and placing instruments against them to take measurements is the raison d'être of a(More)
—Future planetary rover missions, such as the upcoming Mars Science Laboratory, will require rovers to autonomously navigate to science targets specified from up to 10 meters away, and to place instruments against these targets with up to 1 centimeter precision. The current state of the art, demonstrated by the Mars Exploration Rover (MER) mission,(More)
Approaching targets and placing instruments on them is fundamental to planetary exploration. Because of communications, power and operational limitations, it currently takes 3 full sol command cycles to accomplish this on Mars with the MER rovers. To accomplish single cycle instrument placement (SCIP) on multiple targets, we developed and integrated(More)
Modern NASA planetary exploration missions employ complex systems of hardware and software managed by large teams of engineers and scientists in order to study remote environments. The most complex and successful of these recent projects is the Mars Exploration Rover mission. The Computational Sciences Division at NASA Ames Research Center delivered a 3D(More)
While tear-feeding in moths on mammals is widespread, there have been no reports of this behaviour in Madagascar and none on birds. We report that a moth, Hemiceratoides hieroglyphica belonging to the Calpini, a generally fruit-feeding or blood-feeding lineage of noctuids, attacks sleeping birds in Madagascar. This moth is able to intrude its sharply tipped(More)