David Lees

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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)
—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)
By 2020, NASA plans to return to the Moon with a new series of regularly spaced surface missions. Crewed missions will initially be "extended sortie" (e.g., 1-2 weeks). During the first few years of the lunar campaign, humans will be on the Moon less than 10% of the time. During the 90% of time between crew visits, robots could perform tasks under ground(More)
Because secondary transmission masks the connection between sources and outbreaks, estimating the proportion of foodborne norovirus infections is difficult. We studied whether norovirus genotype frequency distributions (genotype profiles) can enhance detection of the sources of foodborne outbreaks. Control measures differ substantially; therefore,(More)
The oceans and coastal seas provide mankind with many benefits including food for around a third of the global population, the air that we breathe and our climate system which enables habitation of much of the planet. However, the converse is that generation of natural events (such as hurricanes, severe storms and tsunamis) can have devastating impacts on(More)
We demonstrated integrated technology for multiple crew and robots to work together in a planetary surface exploration scenario. Highlights include dynamic replanning, " many to many " rover commanding, efficient human-system interaction and workflows, single cycle instrument placement, and data management.