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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)
Th17 cells are a highly pro-inflammatory T-helper cell subset characterised by the expression of IL17. They have been implicated in a variety of allergic and autoimmune conditions. T-regulatory (Treg) cells, a subset of CD4 cells which express Foxp3, CD25, IL10 and TGFβ, can suppress the activity of Th17 cells. In this study, we show that the circulating(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)
The respiration of intact slices and of isolated epithelial cells from rabbit oviducts was compared. The oxygen consumption of the slices was approximately double that of the cells, but glucose was found to be a preferred substrate in each case. Isolated cells exhibited a Crabtree effect in that glucose concentrations greater than 5.55 mmol l-1 inhibited(More)
This paper describes the K9 rover operations at the Jet Propulsion Laboratory (JPL) during a dual-rover field experiment involving the NASA Ames Research Center's K9 rover and JPL's FIDO rover in May of 2000. We will describe the use of various ground tools used for sequence generation and the onboard conditional executive.
Since 2004, NASA has been working to return to the Moon. In contrast to the Apollo missions, two key objectives of the current exploration program are to establish surface infrastructure and an outpost. Achieving these objectives will enable long-duration stays and long-distance exploration of the Moon. To do this, robotic systems will be needed to perform(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)
Simulation and visualization of rover behavior are critical capabilities for scientists and rover operators to construct, test, and validate plans for commanding a remote rover. The VIPER system links these capabilities , using a high-fidelity virtual-reality (VR) environment, a kinematically accurate simulator, and a flexible plan executive to allow users(More)
Stable isotope ratios of H, C, and O are powerful indicators of a wide variety of planetary geophysical processes, and for Mars they reveal the record of loss of its atmosphere and subsequent interactions with its surface such as carbonate formation. We report in situ measurements of the isotopic ratios of D/H and (18)O/(16)O in water and (13)C/(12)C,(More)
This paper introduces an advanced rover localization system suitable for autonomous planetary exploration in the absence of Global Positioning System (GPS) infrastructure. Given an existing terrain map (image and elevation) obtained from satellite imagery and the images provided by the rover stereo camera system, the proposed method determines the best(More)