Kurt Schwehr

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The Autonomy and Robotics Area (ARA) at NASA Ames Research Center has investigated the use of various types of Virtual Reality-based operator interfaces to remotely control complex robotic mechanisms. In this paper, we describe the major accomplishments and technology applications of the ARA in this area, and highlight the advantages and issues related to(More)
Morphological features observed in both swath bathymetry and seismic reflection data are not unique, which introduces uncertainty as to their origin. The origin of features observed in the Humboldt Slide has generated much controversy because the same features have been interpreted as a submarine failure deposit versus current-controlled sediment waves. It(More)
Autonomous planetary rovers operating in vast unknown environments must operate efficiently because of size, power and computing limitations. Recently, we have developed a rover capable of efficient obstacle avoidance and path planning. The rover uses binocular stereo vision to sense potentially cluttered outdoor environments. Navigation is performed by a(More)
In 2006, we used the U.S. Coast Guard's Automatic Identification System (AIS) to describe patterns of large commercial ship traffic within a U.S. National Marine Sanctuary located off the coast of Massachusetts. We found that 541 large commercial vessels transited the greater sanctuary 3413 times during the year. Cargo ships, tankers, and tug/tows(More)
In an ongoing series of field experiments, the Ames Marsokhod rover is deployed to remote locations and operated by scientists in simulated planetary explorations. These experiments provide insight both for scientists preparing for real planetary surface exploration and for robotics researchers. In this paper we will provide an overview of our work with the(More)
The Mars Pathfinder mission used a unique capability to rapidly generate and interactively display three-dimensional (3-D) photorealistic virtual reality (VR) models of the Martian surface. An interactive terrain visualization system creates and renders digital terrain models produced from stereo images taken by the Imager for Mars Pathfinder (IMP) camera.(More)
* K. Schwehr would like to thank NOAA for funding this research (Grant NA0NOS4001153). Abstract-National and international trade via shipping is already significant, and expected to continue increasing rapidly over the next decade. Both more ships and larger ships will contribute to this trade, including ships from countries with less rigorous shipping(More)
Many workers have explored anisotropy of magnetic susceptibility (AMS) of sediments as an indicator of deformation. Several studies have used deflection of the eigenvector associated with the minimum in susceptibility, V3, as a criterion for deformation. We examine the AMS record of a well-exposed slump and find that although demonstrable deformation can(More)
[1] In clay-rich sediment, microstructures and macrostructures influence how sediments deform when under stress. When lithology is fairly constant, anisotropy of magnetic susceptibility (AMS) can be a simple technique for measuring the relative consolidation state of sediment, which reflects the sediment burial history. AMS can reveal areas of high water(More)
The current rate of Mars exploration data acquisition demands that geoscientists and computer scientists coordinate central storage, processing and visualization strategies to anticipate future technological advancements. We investigate how existing 3-D visualization tools can be used to study a part of the Mars orbiter and lander data (about 4 terabytes of(More)