Recent thoughts

Note:

At present, I write here infrequently. You can find my current, regular blogging over at The Deliberate Owl.

wood bridge with rope railing stretched over a green ravine

Learning is awesome

My favorite part of just living is how much I learn. Here are some pieces of advice you might find useful, some cool skills I've acquired (maybe you'll be inspired), and a couple other things, too:

Because lists are awesome, too...

  • A GPS is only helpful in localizing large vehicles, particularly when you're trying to use the GPS to direct navigation. When your vehicle is smaller than the error margin of plus or minus two meters (e.g., an RC car), it doesn't work so well! (This from last summer, at NASA Langley.)
  • Pens with lights attached are a fantastic invention. I got a combo flashlight-pen at GHC last year. It writes. It lights up. This pen lives next to the pad of sticky notes by my bed. Now all my middle-of-the-night ideas are legible!
  • If you're working on a big important project, always work on it, every day. Could be a thesis. Could be a novel, or a software project. Even on the days when you really don't want to work on it and you're entirely unmotivated, work on it anyway. Do a tiny little bit, then do a tiny little bit more, and maybe you'll convince yourself that you are in the mood to work on it after all. If not, at least you did a little bit, right?
  • Just how cool people think NASA is. Specifically, how cool people think it is when they find out I interned there, twice. I continue to be surprised. Quite seriously. Are my standards for what counts as super awesome too high? Do I just expect everyone else to be similarly awesome, making my accomplishments average on the scale of awesomeness? Maybe I do ... everyone has the capacity for brilliance. Maybe not everyone fulfills that capacity, but I think you're suppose to take this as your cue to go be brilliant.
  • I earned my Amateur Radio Technician's license. I am now qualified to talk on the HAM radio bands! I know more than I used to about electronics, antennae, and radio frequencies. I'm still working on learning Morse Code.
  • Philosophy of mind. I know a decent amount on the subject from my cognitive science background, but there's always more to learn! A friend and I have delved into some fun readings: Aristotle's conception of matter and form, Aquinas on the immateriality of mind, Lawrence Shapiro on embodiment and reductionism, and many more. I'm re-reading Shapiro's The Mind Incarnate, which I initially read in my second cognitive science class ever, some three and a half years ago.
  • How to successfully relocate to a new city in a new state. Yeah, I did that. It involved a lot of talking to people, a lot of driving, and a lot of paperwork and standing in lines.
  • Just how flexible my sleep schedule can be. I used to be a stickler for getting my full eight hours every single night of the week. I realized over the summer that I can function just fine on a weird schedule of eight hours, then three hours, then seven hours, then maybe five, followed by nine or ten hours to catch up... I'll write more on this sometime. Carol Worthman wrote a particularly relevant chapter on sleep for Evolutionary Medicine and Health that I plan to outline for you.
  • The rudiments of tae kwon do. According to the instructors at the Goddard Tae Kwon Do club, I have a decent roundhouse kick. I'd like to learn more -- I'm still very much the beginner white belt.

And a whole slew of technology-related items:

  • Octave, essentially an open-source Matlab.
  • R, a statistical computing language and environment.
  • The rudiments of time series analysis
  • ROS, an open-source platform for robotics work
  • Mobile Robotics Programming Toolkit (MRPT) libraries
  • PCL, the point cloud library and useful for feature detection in point clouds
  • Simultaneous localization and mapping (SLAM) algorithms, as well as other common mapping and path planning algorithms.
  • How to use subversion.
  • Random little things about Ubuntu, including the "alt-f9" shortcut to minimize the current window
  • How to use the Tobii T60 eye tracker.
  • And so much more ...

I wonder if I can double this list by this time next year..?


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four people standing around a pair of boxy robots

Summer at NASA

In 2011, the summer after I graduated college, I headed to Greenbelt, Maryland to work with an international team of engineers and computer scientists at NASA Goddard Space Flight Center. The catch: we were all students! Over forty interns from at least four countries participated in Mike Comberiate's Engineering Boot Camp.

two men crouching over a boxy robot

Overview

The boot camp included several different projects. The most famous was GROVER, the Greenland Rover, a large autonomous vehicle that's now driving across the Greenland ice sheets mapping and exploring.

The main project I worked on was called LARGE: LIDAR-Assisted Robotic Group Exploration. A small fleet of robots -- a mothership and some workerbots -- used 3D LIDAR data to explore novel areas. My software team developed object recognition, mapping, path planning, and other software autonomously control the workerbots between infrequent contacts with human monitors. We wrote control programs using ROS.

artificial color 3D LIDAR image of an area

Later in the summer, we presented demonstrations of our work at both NASA Wallops Flight Facility and at NASA Goddard Space Flight Center.

The LARGE team

  • Mentors: NASA Mike, Jaime Cervantes, Cornelia Fermuller, Marco Figueiredo, Pat Stakem

  • Software team: Felipe Farias, Bruno Fernades, Thomaz Gaio, Jacqueline Kory, Christopher Lin, Austin Myers, Richard Pang, Robert Taylor, Gabriel Trisca

  • Hardware team: Andrew Gravunder, David Rochell, Gustavo Salazar, Matias Soto, Gabriel Sffair

  • Others involved: Mike Huang, William Martin, Randy Westlund

a group of men standing around a robot

Project description

The goal of the LARGE project is to assemble a networked team of autonomous robots to be used for three-dimensional terrain mapping, high-resolution imaging, and sample collection in unexplored territories. The software we develop in this proof-of-concept project will be transportable from our test vehicles to actual flight vehicles, which could be sent anywhere from toxic waste dumps or disaster zones on Earth to asteroids, moons, and planetary surfaces beyond.

artificial color 3D point cloud image

The robot fleet consists of a single motherbot and a set of workerbots. The motherbot is capable of recognizing the location and orientation of each workerbot, allowing her to designate target destinations for any worker and track their progress. Presently, localization and recognition is performed via the detection of spheres mounted in a unique configuration atop each robot. Each worker can independently plot a safe path through the terrain to the goal assigned by the motherbot. Communication between robots is interdependent and redundant, with messages sent over a local network. If communication between workers and the motherbot is lost, the workers will be able to establish a new motherbot and continue the mission. The failure of any single robot or device will not prevent the mission from being completed.

The robots use LIDAR sensors to take images of the terrain, stitching successive images together to create global maps. These maps can then be used for navigation. Eventually, several of the workers will carry other imaging sensors, such as cameras for stereo vision or a Microsoft Kinect, to complement the LIDAR and enable the corroboration of data across sensory modalities.

Articles and other media

In the media:

three metal boxy robots with treads

On my blog:

Videos

I spent the summer writing code, learning ROS, and dealing with our LIDAR images. Other people took videos! (Captions, links to videos, & credits are below the corresponding videos.) More may be available on Geeked on Goddard or from nasagogblog's youtube channel.


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My summer lab at NASA GSFC included a high school media team, who continuously had the rest of us on film. They compiled a great documentary describing the two main projects going on in the lab -- the Greenland ROVER and Lidar-Assisted Robotic Group Exploration:

Engineering Boot Camp Documentary 2011

There are some other videos up now, too -- click over to the GSFC robotics youtube channel; there are more than I'm linking here:

GROVER on the beach: The Greenland ROVER during a test run on the beach, during our trip to Wallops.

LIDAR image test: Watch a 360-degree image from the LIDAR sensor on one of my team's robots as it's formed.

I encourage you to take a look!

EDIT

Looks like these videos are no longer up. Whoever was hosting them has taken them down. Alas.

You can find others videos and articles about the summer here!


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the entrance arch under the library to Vassar's campus with a banner hung welcoming the newest class: of 2011

Gender, scientists, and reductionism: Why Vassar is special

This fall, for the first time in four years, I'm not returning to Vassar. What better time to muse on the college's specialness?

Over the summer, a couple divisions became more apparent to me than they had been previously:

  1. Gender in technology fields - I worked in a lab at NASA Goddard of fifty-some interns/apprentices with a large number of mentors who dropped in on a regular basis. I was the only female on my project; I generally worked in a room with fifteen guys. Only one of the mentors I knew was female, and she was a professor from a collaborating university, not from NASA.

    I should emphasize that the difference I'm focusing on here is not in treatment but in sheer numbers. Why is it that fewer women end up in technology fields? The fact that so many prominent organizations focus on promoting women in technology -- including WIT, the Women in Technology project, NCWIT, and of course the Grace Hopper Celebration, which I attended last year -- suggests there's a problem. It's at the point where it doesn't even feel weird to be the only female in the room. Is there something wrong with that?

  2. Science vs engineering - I mentioned this recently. There is a clear division between those who have been trained as scientists and those trained as engineers. Yes, each have their own goals and purposes, but why isn't there more crossover?

  3. Reductionism vs dualism - As elaborated in one of the first essays I wrote here, I'm not a dualist. A prominent place to find dualisms is in many of the world's fine religions. Some of the conversations I had with people this summer have accentuated just how different that point of view is from my own.

The fact that I noticed these differences now -- not during a previous summer or semester -- highlights just how special a place Vassar is, and how different being at an undergraduate liberal arts college is from being in the rest of the world.

My closest friends at Vassar were also non-dualists; Vassar's mix of genders is unique enough to begin with that the ratio in technology-related majors continues to be unique; Vassar lacks an engineering department and is generally full of scientists.

The rest of the world has different ratios of people and mixes of beliefs. I'm finding it fascinating to explore.


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