Liam Pedersen

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Key to the autonomous exploration of an unknown area, by a scientific robotic rover is the ability of the vehicle to autonomously recognize objects of interest and generalize about the region. This paper presents a Bayesian framework under which a mobile robot can learn how different classes of objects are distributed over a geographical region, using(More)
Meteorites are the only significant source of material from other planets and asteroids, and therefore are of immense scientific value. Antarctica’s frozen and pristine environment has proven to be the best place on earth to harvest meteorite specimens. The lack of melting and surface erosion keep meteorite falls visible on the ice surface in pristine(More)
role of autonomy for space exploration, with a bias in focus towards describing the relevance of AI technologies. It explores the range of autonomous behavior that is relevant and useful in space exploration and illustrates the range of possible behaviors by presenting four case studies in space-exploration systems, each differing from the others in the(More)
LORAX is a robotic mission to characterize the distribution of microbes in Antarctica’s ice sheets. Robotic platform requirements include navigational autonomy and clean, sustainable power systems to operate unattended for a month without introducing contamination that would affect the results. This paper details the LORAX investigation, the navigational(More)
Terrence Fong∗, Maria Bualat∗, Matt Deans∗, Mark Allan∗, Xavier Bouyssounouse∗, Michael Broxton∗, Laurence Edwards∗, Rick Elphic∗, Lorenzo Flückiger∗, Jeremy Frank∗, Leslie Keely∗, Linda Kobayashi∗, Pascal Lee∗, Susan Y. Lee∗, David Lees∗, Estrellina Pacis†, Eric Park∗, Liam Pedersen∗, Debra Schreckenghost‡, Trey Smith∗, Vinh To∗, and Hans Utz∗ ∗NASA Ames(More)
[Abstract] Single Cycle Instrument Placement (SCIP), the ability to autonomously approach rocks and place contact instruments within 1cm of selected features, has been identified as a high priority for increasing the efficiency and science return for planetary rover surface operations. Because of imprecise localization, it is necessary for a rover to(More)
A single amino acid substitution is sufficient to alter substrate specificity of P450 enzymes. Mouse P450 2a5, for example, has its substrate specificity converted from coumarin 7- to testosterone 15 alpha-hydroxylase activity by the substitution of Phe at position 209 to Leu. Furthermore, placing Asn at this position confers a novel corticosterone 15(More)
0 Abstract: Automation of the search for and classification of Antarctic meteorites offers a unique case for early demonstration of robotics in a scenario analogous to geological exploratory missions to other planets and to the Earth’s extremes. Moreover, the discovery of new meteorite samples is of great value because meteorites are the only significant(More)