Erin Pudenz
University of Iowa
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Publication
Featured researches published by Erin Pudenz.
Journal of Geophysical Research | 2007
Nathalie A. Cabrol; David Wettergreen; Kim Warren-Rhodes; Edmond A. Grin; Jeffrey Edward Moersch; Guillermo Chong Diaz; Charles S. Cockell; Peter Coppin; Cecilia Demergasso; James M. Dohm; Lauren A. Ernst; Gregory W. Fisher; Justin M. Glasgow; Craig Hardgrove; Andrew N. Hock; Dominic Jonak; Lucia Marinangeli; Edwin Minkley; Gian Gabriele Ori; J. L. Piatek; Erin Pudenz; Trey Smith; Kristen Stubbs; Geb W. Thomas; David R. Thompson; Alan S. Waggoner; Michael D. Wagner; S. Weinstein; Michael Bruce Wyatt
[1] The Life in the Atacama project investigated the regional distribution of life and habitats in the Atacama Desert of Chile. We sought to create biogeologic maps through survey traverses across the desert using a rover carrying biologic and geologic instruments. Elements of our science approach were to: Perform ecological transects from the relatively wet coastal range to the arid core of the desert; use converging evidence from science instruments to reach conclusions about microbial abundance; and develop and test exploration strategies adapted to the search of scattered surface and shallow subsurface microbial oases. Understanding the ability of science teams to detect and characterize microbial life signatures remotely using a rover became central to the project. Traverses were accomplished using an autonomous rover in a method that is technologically relevant to Mars exploration. We present an overview of the results of the 2003, 2004, and 2005 field investigations. They include: The confirmed identification of microbial habitats in daylight by detecting fluorescence signals from chlorophyll and dye probes; the characterization of geology by imaging and spectral measurement; the mapping of life along transects; the characterization of environmental conditions; the development of mapping techniques including homogeneous biological scoring and predictive models of habitat location; the development of exploration strategies adapted to the search for life with an autonomous rover capable of up to 10 km of daily traverse; and the autonomous detection of life by the rover as it interprets observations on-the-fly and decides which targets to pursue with further analysis.
systems man and cybernetics | 2008
Justin M. Glasgow; Geb W. Thomas; Erin Pudenz; Nathalie A. Cabrol; David Wettergreen; Peter Coppin
Robotic exploration is an excellent method for obtaining information about sites too dangerous for people to explore. The operators understanding of the environment depends on the rover returning useful information. Robotic mission bandwidth is frequently constrained, limiting the amount of information the rover can return. This paper explores the tradeoff between information and bandwidth based on two years of observations during a robotic astrobiology field study. The developed theory begins by analyzing the search task conducted by robot operators. This analysis leads to an information optimization model. Important parameters in the model include the value associated with detecting a target, the probability of locating a target, and the bandwidth required to collect the information from the environment. Optimizing the information return between regions creates an image and provides the necessary information while reducing bandwidth. Application of the model to the analyzed field study results in an optimized image that requires 48.3% less bandwidth to collect. The model also predicts several data collection patterns that could serve as the basis of data collection templates for improving mission effectiveness. The developed optimization model reduces the bandwidth necessary to collect information, thus aiding missions in collecting more information from the environment.
human-robot interaction | 2006
Erin Pudenz; Geb W. Thomas; Justin M. Glasgow; Peter Coppin; David Wettergreen; Nathalie A. Cabrol
During two weeks of study in September and October of 2004, a science team directed a rover and explored the arid Atacama Desert in Chile. The objective of the mission was to search for life. Over the course of the mission the team gained experience with the rover and the rover became more reliable and autonomous. As a result, the rover/operator system became more effective. Several factors likely contributed to the improvement in science effectiveness including increased experience, more effective search strategies, different science team composition, different science site locations, changes in rover operational capabilities, and changes in the operation interface. However, it is difficult to quantify this effectiveness because science is a largely creative and unstructured task. This study considers techniques that quantify science team performance leading to an understanding of which features of the human-rover system are most effective and which features need further development. Continuous observation of the scientists throughout the mission led to coded transcripts enumerating each scientific statement. This study considers whether six variables correlate with scientific effectiveness. Several of these variables are metrics and ratios related to the daily rover plan, the time spent programming the rover, the number of scientific statements made and the data returned. The results indicate that the scientists created more complex rover plans without increasing the time to create the plans. The total number of scientific statements was approximately equal (2187 versus 2415) for each week. There was a 50% reduction in bytes of returned data between the two weeks resulting in an increase in scientific statements per byte of returned data ratio. Of the original six, the most successful proxies for science effectiveness were the time to program each rover task and the number of scientific statements related to data delivered by the rover. Although both these measures have face validity and were consistent with the results of this experiment, their ultimate empirical utility must be measured further.
systems, man and cybernetics | 2006
Justin M. Glasgow; Geb W. Thomas; Erin Pudenz; Nathalie A. Cabrol; David Wettergreen; Peter Coppin
When searching a remote environment with a robot, the fundamental constraint on the operator is the bandwidth available to the mission. This paper examines how a science team uses a high bandwidth panorama during a two-year astrobiology field test. Bandwidth directly controls the type and amount of information received by the operator. Given the significance of information and bandwidth to mission success, it is important for human robot interaction analyses to consider bandwidth usage during robotic operations. Insight gained from these analyses can help future missions efficiently use their bandwidth to collect the necessary information from the environment. The analysis first shows that the science team preferentially views certain areas of the panorama based on tile elevation but not based on azimuth. This finding led the analysis to look into what tasks the science team completes while using the panorama. In the context of an astrobiology mission, the most important role of the panorama is to determine the robots position on orbital images. The secondary task is to determine the general geologic context of the environment. Based on the viewing patterns and associated tasks the analysis produces a list of targets important to mission success. Future research efforts will focus on methods for collecting the information contained in these targets from the environment at a reduced bandwidth cost.
Journal of Geophysical Research | 2007
J. L. Piatek; Craig Hardgrove; Jeffrey Edward Moersch; Darrell M. Drake; Michael Bruce Wyatt; Michael Rampey; Orion Carlisle; Kim Warren-Rhodes; James M. Dohm; Andrew N. Hock; Nathalie A. Cabrol; David Wettergreen; Edmond A. Grin; Guillermo Chong Diaz; Peter Coppin; S. Weinstein; Charles S. Cockell; Lucia Marinangeli; Gian Gabriele Ori; Trey Smith; Dominic Jonak; Michael D. Wagner; Kristen Stubbs; Geb W. Thomas; Erin Pudenz; Justin M. Glasgow
Journal of Geophysical Research | 2007
Gordon Thomas; I. Ukstins Peate; J. Nakamoto; Erin Pudenz; Justin M. Glasgow; J. Bretthauer; Nathalie A. Cabrol; David Wettergreen; Edmond A. Grin; Peter Coppin; James M. Dohm; J. L. Piatek; Kimberley A. Warren-Rhodes; Andrew N. Hock; S. Weinstein; G. Fisher; G. Chong Diaz; Charles S. Cockell; Lucia Marinangeli; N. Minkley; Jeffrey Edward Moersch; Gian Gabriele Ori; Trey Smith; K. Stubb; Michael D. Wagner; Alan S. Waggoner
Journal of Geophysical Research | 2007
Andrew N. Hock; Nathalie A. Cabrol; James M. Dohm; J. L. Piatek; Kim Warren-Rhodes; S. Weinstein; David Wettergreen; Edmond A. Grin; Jeffrey Edward Moersch; Charles S. Cockell; Peter Coppin; Lauren A. Ernst; Gregory W. Fisher; Craig Hardgrove; Lucia Marinangeli; Edwin Minkley; Gian Gabriele Ori; Alan S. Waggoner; Mike Wyatt; Trey Smith; David R. Thompson; Michael D. Wagner; Dominic Jonak; Kristen Stubbs; Geb W. Thomas; Erin Pudenz; Justin M. Glasgow
robot and human interactive communication | 2005
Justin M. Glasgow; Erin Pudenz; Geb W. Thomas; Peter Coppin; Nathalie A. Cabrol; David Wettergreen
Journal of Geophysical Research | 2007
Nathalie A. Cabrol; David Wettergreen; Kim Warren-Rhodes; Edmond A. Grin; Jeffrey Edward Moersch; Guillermo Chong Diaz; Charles S. Cockell; Peter Coppin; Cecilia Demergasso; James M. Dohm; Lauren A. Ernst; Gregory W. Fisher; Justin M. Glasgow; Craig Hardgrove; Andrew N. Hock; Dominic Jonak; Lucia Marinangeli; Edwin Minkley; Gian Gabriele Ori; J. L. Piatek; Erin Pudenz; Trey Smith; Kristen Stubbs; Geb W. Thomas; David R. Thompson; Alan S. Waggoner; Michael D. Wagner; S. Weinstein; Michael Bruce Wyatt
Journal of Geophysical Research | 2007
J. L. Piatek; Craig Hardgrove; Jeffrey Edward Moersch; Darrell M. Drake; Michael Bruce Wyatt; Michael Rampey; Orion Carlisle; Kim Warren-Rhodes; James M. Dohm; Andrew N. Hock; Nathalie A. Cabrol; David Wettergreen; Edmond A. Grin; Guillermo Chong Diaz; Peter Coppin; S. Weinstein; Charles S. Cockell; Lucia Marinangeli; Gian Gabriele Ori; Trey Smith; Dominic Jonak; Michael D. Wagner; Kristen Stubbs; Geb W. Thomas; Erin Pudenz; Justin M. Glasgow