Jacqueline Kory-Westlund

In the summer of 2010, I interned at NASA Langley Research Center in the Langley Aerospace Research Summer Scholars Program.

My lab established an Autonomous Vehicle Lab for testing unmanned aerial vehicles, both indoors and outdoors.

• Overview and abstract
• Articles and other media
• Videos

Overview

I worked in the Laser Remote Sensing Branch of the Engineering Directorate under mentor Garry D. Qualls. There were nine interns besides me - here's the full list, alphabetically:

• Brianna Conrad, Massachusetts Institute of Technology
• Avik Dayal, University of Virginia
• Michael Donnelly, Christopher Newport University
• Jake Forsberg, Boise State University
• Amanda Huff, Western Kentucky University
• Jacqueline Kory, Vassar College
• Leonardo Le, University of Minnesota
• Duncan Miller, University of Michigan
• Stephen Pace, Virginia Tech
• Elizabeth Semelsberger, Christopher Newport University

Our project's abstract

Autonomous Vehicle Laboratory for "Sense and Avoid" Research

As autonomous, unmanned aerial vehicles begin to operate regularly in the National Airspace System, the ability to safely test the coordination and control of multiple vehicles will be an important capability. This team has been working to establish a autonomous vehicle testing facility that will allow complex, multi-vehicle tests to be run both indoors and outdoors. Indoors, a commercial motion capture system is used to track vehicles in a 20'x20'x8' volume with sub-millimeter accuracy. This tracking information is transmitted to navigation controllers, a flight management system, and real-time visual displays. All data packets sent over the network are recorded and the system has the ability to play back any test for further analysis. Outdoors, a differential GPS system replaces the functionality of the motion capture system, allowing the same tests to be conducted as indoors, but on a much larger scale.

Presently, two quadrotor helicopters and one wheeled ground vehicle operate routinely in the volume. The navigation controllers implement Proportional-Integral-Derivative (PID) control algorithms and collision avoidance capabilities for each vehicle. Virtual, moving points in the volume are generated by the flight management system for the vehicles to track and follow. This allows the creation of specific flight paths, allowing the efficient evaluation of navigation control algorithms. Data from actual vehicles, virtual vehicles, and vehicles that are part of hardware in the loop simulations are merged into a common simulation environment using FlightGear, an open source flight simulator. Evaluating the reactions of both air and ground vehicles in a simulated environment reduces time and cost, while allowing the user to log, replay and explore critical events with greater precision. This testing facility will allow NASA researchers and aerospace contractors to address sense and avoid problems associated with autonomous multi-vehicle flight control in a safe and flexible manner.

Articles and other media

In the media

• My lab appeared in the NASA EDGE: Future of Aeronautics episode. Our segment is also on youtube:
• I wrote an article for the Langley Researcher News: An Intern's Story: A Time to Test Flying Robots.
• My labmate Jake and I were featured in the Langley photo of the week!
• Vassar News released a brilliant article: Cognitive science major Jacqueline Kory participates in NASA summer internship program.

On my blog

• NASA LARSS internship introduction
• Advice garnered over the summer
• Reflections on the last day
• My commentary on the Photo of the Week
• On playing volleyball with my lab, trust, and teamwork
• My commentary on my Researcher News article
• On the Aeronautics Student Forum, presentations, preparation, and control
• My commentary on my lab's appearance in a NASA EDGE episode

Videos

Most of the summer was spent developing all the pieces of software and hardware needed to get our autonomous vehicle facility up and running, but by the end, we were flying quadcopters! (Captions are below their corresponding videos.)

Credit for these videos goes to one of my labmates, Jake Forsberg.

Object tracking for human interaction with autonomous quadcopter: Here, the flying quadcopter is changing its yaw and altitude to match the other object in the flight volume (at first, another copter's protective foam frame; later, the entertaining hat we constructed). The cameras you see in the background track the little retro-reflective markers that we place on objects we want to track -- this kind of motion capture systems is often used to acquire human movement for animation in movies and video games. In the camera software, groups of markers can be selected as representing an object so that the object is recognized any time that specific arrangement of markers is seen. Our control software uses the position and orientation data from the camera software and sends commands to the copter via wifi.

Autonomous sense and avoid with AR.Drone quadcopter: The flying copter is attempting to maintain a certain position in the flight volume. When another tracked object gets too close, the copter avoids. We improved our algorithm between the first and second halves of this video. Presently, only objects tracked by the cameras are avoided, since we have yet to put local sensors on the copters (the obstacle avoidance is done using global information from the camera system about all the objects' locations).

Autonomous quadcopter tracking and following a ground vehicle: The flying copter is attempting to maintain a position above the truck. The truck was driven manually by one of my labmates, though eventually, it'll be autonomous, too.

Virtual flight boundaries with the AR.Drone and the Vicon motion capture system: As a safety precaution, we implemented virtual boundaries in our flight volume. Even if the copter is commanded to fly to a point beyond one of the virtual walls, it won't fly past the walls.

Hardware-in-the-loop simulation: Some of my labmates built a hardware-in-the-loop simulation with a truck, and also with a plane. Essentially, a simulated environment emulates sensor and state data for the real vehicle, which responds as if it is in the simulated world.

An awesome NASA summer internship

Summarizing 10 weeks is difficult in any circumstances, but when those weeks are spent as an intern in the Langley Aerospace Research Summer Scholars program, working at a NASA center with a ton of awesome people, it's even more difficult.

But I'll try.

I worked with a systems engineering team to develop and integrate the software and hardware needed for comparable indoor and outdoor tests of autonomous, unmanned multi-vehicle flight control.

In plain English, that means we were developing ways of testing flying robots both inside and outside.

Ten interns, including me, were in the lab on workdays. That was not counting our mentor, Garry D. Qualls, or the slew of friends and colleagues who drop by on a frequent—if irregular—basis. Most are engineers of some variety; the others are pursuing degrees with the word "computer" in the title.

Me, I'm a cognitive scientist.

I hail from Northern California and attend Vassar College in Poughkeepsie, N.Y.

Although my academic focus has been on embodied agents and robotics applications of cognitive science, I've studied with Vassar's multidisciplinary stew of psychologists, biologists, philosophers, anthropologists, and computer scientists.

During my first week at Langley, it quickly became clear to me that my coursework had not prepared me to do all the things my lab's engineers could do. I had not studied mechanics, controls or circuits. I was not a whiz at soldering, nor did I understand the intricacies of aeronautics.

What I could do, however, was be versatile.

I programmed microcontrollers in C and C++, then switched to Java to write code to parse and display real-time data. I evaluated possible ground control station software options, dug through an open source flight simulator and covered the lab's white boards with organizational diagrams. When it was time to develop communication links between more than six different programs, I eagerly helped decipher network protocols and data packets.

I even chased our miniature Parking Lot Exploration Rover across the pavement in 105-degree weather while testing a navigation algorithm.

Most of my time at Langley, no matter what the activity, was spent learning. My lab mates have remarkable skill-sets, and we're all willing to share our expertise.

Our electrical engineers taught me not to fear wires and breadboards. I began to understand the theory behind PID (proportional-integral-derivative) controls with the help of our aerospace engineers, drawing on distant memories of calculus and knowledge of behavior-based robotics algorithms.

In return, I helped lab mates sort through debugging messages and null pointer exceptions, while occasionally spouting interesting facts about brains. I spent some quality time with software. I'm graduating from Vassar in the spring with a minor in computer science in addition to my cognitive science major. This summer's work has solidly demonstrated that knowing the syntax isn't the same as using it in meaningful ways.

But working in Garry Qualls' lab is not just about acquiring technical skills and applying knowledge learned in classrooms.

With so many interns tackling parts of the same project, communication is crucial. We've all had to learn to deal with each other. Our respective idiosyncrasies and backgrounds sometimes make that difficult. More than once, I found that a lab mate was simply looking at a problem from a different point of view than I was—a view that, prior to our disagreement, I hadn't thought to question.

I enjoyed having the opportunity to re-examine my perspective and those previously unrecognized assumptions.

This summer has been fantastic. I got to see my lab transition from conducting chaos to smoothly functioning as a team as we worked together to establish an autonomous vehicle testing facility.

Inside, an infrared camera system tracked the vehicles. Data from this system and from the vehicles was fed to navigation controllers, a flight management system and real-time visual displays. Outside, after we swapped the camera system for a differential GPS system, we could run the exact same tests with the vehicles.

My experience as a LARSS intern has been inspiring. I'm not entirely sure where I'm headed next—graduate school, that enigmatic first job after college, writing the next great sci-fi novel—but it'll have to be fantastic to beat this summer.

—

This article originally appeared on NASA Langley Research Center Researcher News, August 18, 2010

Not your everyday summer job

This summer, I've been working for NASA as an intern in the Langley Aerospace Research Summer Scholars Program. In a one-sentence summary, I'm working with a systems engineering team to develop and integrate the software and hardware needed for both indoor and outdoor tests of autonomous, unmanned multi-vehicle flight control.

But what does that mean, in terms of what I actually do?

It means the past seven weeks have been spent laboring over keyboards, switching between C, C++, Java, and Processing. I've carried my lab's miniature Parking Lot Exploration Rover outside in 105ºF weather to test a navigation algorithm. I've learned about PID controls, GPS sensors, and radio communication. I've evaluated ground control station software, delved into the depths of an open source flight simulator, and discovered how tricky network protocols can be. I've written software for 3D data display programs, data parsers, and communication links. I've learned that when you're one of a team of ten interns, all tackling pieces of the same large project, communication is crucial.

I'm enjoying this internship immensely. Vassar News just released an ego-boosting article about me and my summer, which I suggest you check out.

You’ll be hearing more from me on this subject. Stay tuned.

Faded squares of fabric, strung together in repeating blue-white-red-green-yellow chains, crisscross the branches of bare-limbed trees. The gentle wind makes them flutter. Orange-gold light filters into the grassy meadow, touching a row of canvas tents and the temple house beyond. Tsechen Kunchab Ling: Temple of All-Encompassing Great Compassion. This is the seat of His Holiness the Sakya Trizin in the United States, a Tibetan Buddhist monastery established nine years ago.

I spent the past weekend there. The field work office at my college arranges this retreat every semester. Everyone I've talked to who has previously attended says wonderful things about it; this semester, one of my friends told me she was going: I should join her! I like learning new things, so I signed up. A good decision: I didn't return all chill and zen, as one friend told me his roommate had, but I certainly gained a few new ideas and approaches to mull over, and dipped my hand into a previously unfamiliar piece of the world.

Medicine for one's mind

The first evening, the twenty-something students--most from my college, four from another--gathered in the shrine room, sitting cross-legged on cushions as we listened to Khenpo Kalsang introduce Tibetan Buddhist philosophy. He began by telling us, "Do not take any of what I say on faith. Take it through analysis, if there is some benefit in it for you." Religion, he said, is like a drugstore full of medicine. You do not go to the drugstore and buy everything in it--you just buy what would be beneficial to you now. You believe the other medicine may have just as much value, but in other situations, not this one.

We discussed the foundations: the Three Turnings of the Wheel of Dharma; the four noble truths; karma; defilements; the six perfections. When we talked about the giving, and how one should try to give what one could to other sentient beings (in the form of material items, kind words, protection, and so on), Khenpo Kalsang shared a story of the Buddha, and how the Buddha had given his flesh so that a family of hungry tigers could eat. "So," a fellow student asked, "Giving one's life for another being is the ultimate gift?"

Khenpo Kalsang, he smiled, and shook his head. "Only if you feel no regret," he said. "If you feel regret, it destroys the merit." Until then, preserve your own life, and do not give away anything that would cause you regret. This struck a chord. Self-preservation above all else, unless the right situation arises.

Knowing and understanding

Later, I talked to the resident nun, Ani Kunga, about psychology and cognitive science. She had studied psychology for a while in grad school, but now holds the view that psychologists are going about understanding the mind and understanding the knower and what knowing is the wrong way. "Psychologists," she said, "study the brain and the self externally. Ever since the 1920s, their science has been about observation of behavior, questionnaires, recordings of electrical brain activity. But the mind can only be known by you, the person whose mind it is." She said philosophy and epistemology were doing it right: looking at experiences from the inside.

A big overlap exists between Tibetan Buddhism, psychology and cognitive science. All three examine the distinction between the self and others, between the observer and the observed, between knowing and the knower. I agree with Ani Kunga to some extent--only so much can be known about the mind from external observation. But this doesn't mean that there isn't merit to such studies, nor that nothing of use can be learned in that way.

Tibetan Buddhist philosophy also approaches the mind and the self from the inside. During a second philosophy session, Khenpo Kalsang translated a sutra about a king who received advice from the Buddha. This sutra delved into some questions about the nature of the self, whether the self is a delusion, and how the clinging of self is a defilement. I intend to discuss it in more depth later, so stay tuned.

Compassion training and prayer flags

In the afternoon, a group of us gathered outside for a meditation session with Ani Kunga. Sunshine melted lazily through the tree branches above, a breeze animating the branches' shadows so they danced between our cushions. Compassion and anger were the session's topics. The key message:

"If there's something you can do, why are you unhappy? Just do it. If there's nothing you can do, why are you unhappy?"

Ani Kunga explained several off-session and one on-session technique for dealing with negative emotions (anger, hate, irritation, stress, jealousy, and so on). All the methods built off the idea that you are in control: anger is an emotion, and you can change your emotions. Stay tuned for a more in-depth post on the topic.

Another of the day's activities was making prayer flags. As Ani Kunga explained, "Prayers, wishes, hopes, aspirations--someone, many people, may share those with you. Hanging the prayer flag shares your prayer with everyone else in the world. This may do no good at all, but it may--if everyone hopes and wishes and dreams and aspires, perhaps it will do good. It may not. But if no one shares their prayers, it will certainly do no good. So on the off-chance that it will help, why not?"

Never done

This weekend reminded me that I'm not done learning. If I stay still long enough, if I've achieved a relatively constant level of happiness and satisfaction, I forget that I can and should continue to seek out new ideas and approaches, and incorporate beneficial ones into my life. A person is never "done," and so, I'll continue to observe and discuss and study, trying to pick the directions in which I'll change, and trying to make tomorrow better than today.

Ever onward and ever upward.

Varsity athletics for academic credit?

I recently discussed the varsity athletics for academic credit proposal that was in the works at my college. Well, here's the news:

The proposal passed.

Starting in September, varsity athletes can get half a unit a season for up to four seasons for participating in their sport. The details, of course, are still being hammered out: what to do about freshmen who may drop the sport and walk-ons who may not make the team, whether an academic component (such as writing a paper on the history of the sport) will be required, which semester the credit will be granted for sports that span both semesters, and so on.

It passed, but...

The proposal passed with approximately 2:1 approval. Of the concerns expressed by faculty, the main worry was that students who were getting credit for their sport would choose to skip class or labs in favor of practices and games--or even in favor of some downtime before the practice or game. Such things already happen. Some faculty have complained of student-athletes emailing the day before a class or the day before a big paper was due to say "Sorry, I can't be in class or turn in that paper yet, I have [athletic event] to attend instead." That's just wrong. Being an athlete does not grant a person special privileges. If anything, it holds a person to a higher standard, committing to both academic and athletic excellence.

The faculty are worried about student-athletes abusing their newfound credits, and, well, so am I. As much as I'll argue that many important things can be learned from participation on a sports team (and I have, just see the end of my previous discussion of the varsity athletics proposal), at this time, in this college, academics come first. The best way to allay these worries may simply be to demonstrate, over the next few years, that granting credit doesn't change how student-athletes behave. We can help this effort along by proactively ensuring that student-athletes are committed to both academic and athletic excellence. Give a boost to the general student-athlete reputation, so to speak. Here are two of the things we're doing:

• Our Student-Athlete Advisory Committee drafted a Best Practices document some time back, outlining suggestions for successfully balancing academic and athletic commitments. All teams are being reminded that this document exists for a reason.

• The athletic department is designing an academic excellence program geared towards helping freshman and sophomore student-athletes. Upperclassmen will be advisors and mentors, providing new student-athletes with academic advice as well as advice on how to balance their academics and athletics. Other awesome stuff TBA--the program is still in the brainstorming stage. Hopefully, it'll be rolled out in the fall.

Relevant facts in favor of credit

All of the above is happening whether or not you personally agree that credit should be granted. If you do, great. If you don't (and my previous discussion didn't convince you), I'd like to introduce you to a few interesting and relevant facts that may change how you think about the proposal:

1. In the academic year 1971-72, the number of units required to graduate increased from 32 to 34, due to a decision to grant credit for Physical Education courses. Varsity athletes, under the new rule, will be able to get a max of 2 units from their athletics participation.
2. Varsity athletics are the only area of the college in which student performance is closely overseen by faculty members (in this case, our coaches) but is not awarded credit. Areas that do get credit include drama department shows, voice lessons, and jazz ensemble, to name a few.
3. We don't have a physical education requirement. Most, maybe even all, of our peer institutions do have such a requirement and do allow students to count varsity athletics towards this requirement. Oberlin College has no such requirement, and funnily enough, awards credit for participation in varsity athletics.

Give it a think.