Terrain Classification Using Proprioceptive Sensors for the Mars Rovers
Sponsored by: QinetiQ
Presented by: Dr. Danielle Ward, Analytics, Modeling and Simulation Research Engineer at Aptima Inc.
Please RSVP by: February 19, 2015
This talk will give an overview of Dr. Ward's work on Terrain Classification. While NASA had had great success using their visual terrain classification system, it was not perfect, and Spirit ended up stuck in soft soil that had not been correctly classified. Their approach was to have a two staged approach where JPL's visual system was used to give a first pass classification on the terrain. This classification was then used to set up a prior belief over all possible terrains that was used by the real time proprioceptive sensor classification system. The proprioceptive system would then either confirm or re-classify the terrain as the rover drove over it. It was their hope that this two staged approach would help to avoid future 'embedded events' like the one experience by Spirit. This project was done in collaboration with researchers at the Jet Propulsion Laboratory (JPL) in Pasadena, CA during the summer of 2010. She will also discuss the advancements made to this field in the past few years
About the Speaker:
Dr. Danielle Ward is an Analytics, Modeling and Simulation Research Engineer at Aptima, Inc. Her background lies in machine learning, terrain classification, probabilistic modeling, and robotics. Her doctoral work on terrain classification using proprioceptive sensors took her to McMurdo Station in Antarctica. Her research has also taken her to NASA's Jet Propulsion Laboratory (JPL) where she spent a summer testing her terrain classification algorithm on the Mar's rover robotic platform. In more recent years, Dr. Ward has worked with Aptima to use context to help robots better interact with their human counterparts and Brain Computer Interfaces have better control over prosthetic arms. Dr. Ward received her PhD in Engineering Science with a specialization in Control Engineering from Thayer School of Engineering at Dartmouth College. She received her B.S. in Physics from the College of William and Mary. She is currently a member of the Society of Women Engineers (SWE) and the International Society for Terrain-Vehicle Systems (ISTVS). As a part-time job, Dr. Ward also teaches seventh grade Technology and Engineering at Winchester's McCall Middle School first period every morning before going to her full time job at Aptima.
6:00 - 6:30: Registration and Networking
6:30 - 7:00: Dinner
7:00 - 7:15: SWE announcements and a few words from QinetiQ
7:15 - 8:15: Main presentation, with Q&A
8:15 - 8:30: Wrap Up
Dinner will be provided. Vegetarian Option available.
All attendees must register by the RSVP date. Late Registration or attendance will not be permitted. Attendees must supply name, including middle name, employer name (e.g., for government personnel, their jurisdictions and agencies) and title/occupation. All attendees should be ready to present a form of ID. All attendees will be required to sign a photo release form.
Location: QinetiQ North America
358 Second Avenue
Waltham, MA 02451
"Tickets are non-refundable. However, if a request is made at least 72 hours before the scheduled event, the amount paid can be used as credit towards a future event. Please note that this credit expires within 60 days of the request being approved."
QinetiQ North America (QNA)is a wholly owned, independently operated subsidiary of QinetiQ Group PLC, one of the world’s leading defense and security technology companies. Operating in North America, QNA delivers world-class technology, responsive services, and innovative solutions for global markets, focusing on U.S. government and commercial customers. Its engineers, scientists and other professionals deliver high quality products and services that leverage detailed mission knowledge and proven, reliable tools and methodologies to meet the rapidly changing demands of national defense, homeland security and information assurance customers. QNA is headquartered in Waltham, MA. QinetiQ North America is a world leader in robotic technology solutions that save lives in defense, security and first responder environments.
From the South:
Take Route 128N to Exit 26 (Waltham/Weston/US-20). Keep right at the fork on US-20E. At the second light (after the Sunoco station) take a left onto Tavern Rd. Follow that to the next light and take a left onto Main Street. Go over the bridge, and take a Right onto Bear Hill Road, continue 0.8mi. Just before the TD Bank, turn left onto Second Avenue. Go to the end of the road (past the QinetiQ North America Sign), to the single story building on the left (number 358). Enter the door labeled 358 C&D.
From the North:
Take Route 128S to Exit 27B and merge onto Winter St. Follow signs for Second Ave (will loop around the small pond), and turn right onto Second Ave just after Costco. Follow Second Ave for 0.7mi. Turn Right just after TD Bank and go to the end of the road (past the QinetiQ North America Sign), to the single story building on the left (number 358). Enter the door labeled 358 C&D.
To register for this event: