David Ray Thompson

David R. Thompson

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I live in Pasadena and work with the Machine Learning and Instrument Autonomy Group at the California Institute of Technology's Jet Propulsion Laboratory. My work involves computer vision, machine learning and their applications to robotic space and planetary exploration. Here are some of my research projects and personal interests. You may also be interested in my CMU webpage and my JPL webpage.

Research Topics

Real Time Data Mining for the Square Kilometre Array

W28, courtesy NRAO/AUI/NSF

New radio astronomy instruments like the Square Kilometre Array (SKA) will generate petabyte data volumes. These investigations would benefit from real time anomaly detection and data mining to identify key features of interest. We're currently investigating adaptive resource allocation strategies and cost-sensitive computing to identify transient radio sources in radio astronomy data. (Image: Supernova remnant W28, courtesy of NRAO/AUI/NSF and Brogan et al.)

Autonomous Remote Exploration

Amboy Crater Basalt, Zoe

Statistical models of the environment can tell explorer robots where to travel, what samples to collect and what data to return to scientists. Much of my work aims to ground autonomous science decisions by remote explorers in formal principles of information theory, active learning and experimental design.

Automatic Hyperspectral Image Analysis for Remote Sensing

HiRise Spatial Point Process Map

I'm working on a JPL project to perform data mining on hyperspectral imagery to automatically draft maps and characterize science phenomena. In older work I've used spatial point processes to generate automatic maps of varying rock distributions in imagery from the Mars HiRise orbiting camera. The statistical models can identify patterns in features' clustering and spread that may not be visible to the naked eye. Image courtesy NASA/JPL.

Stereo, Mapping, and Tracking

Zoe pan tilt unit

We want robots that can track a lot of objects simultaneously, target the interesting ones for analysis, and recognize things they've seen before. This is tough when you're constantly moving around to see features from different perspectives. However, doing it correctly can significantly improve remote sensing analyses.

AEGIS Onboard Target Detection

AEGIS

I've been working on a team at JPL whose software provides automated target detection and response for the Mars Exploration Rovers (project website). Traditionally targets for remote sening (by cameras or spectrometers) are selected manually by operators in advance. This is less feasible for long-distance autonomous drives, where robots may visit terrain that is never seen by scientists. AEGIS allows the rover's flight software to automatically select features of interest and plan targeted observations in an opportunistic fashion. Image courtesy JPL/NASA/Caltech.

Mission Planning for Intelligent Ocean Sensorwebs

Slocum Glider

I've worked on novel path planning strategies for tasking underactuated robot submarines, including "underwater gliders" and passive floats with depth control. Part of the challenge is designing an optimal mission that accounts for strong, dynamic ocean currents and tides. Another hurdle is developing the onboard autonomy to keep the glider safe between communications with shore. Among other projects, I worked to build a path/activity scheduling system as a part of the NSF Ocean Observatory Initiative's Atlantic Sensorweb. Glider image courtesy Rutgers University.

Rock Detection

Rock Detection

Teaching a compter to find rocks in images is a challenging computer vision problem. However, the ability to produce fast statistical summaries of rock scenes would be a big benefit for geologic analysis. It will also be important for future missions to Mars and outer planets in which an autonomous spacecraft can use rock detection to automatically recognize important science targets (Original Mars image NASA/JPL/Caltech). Here is some previous work on the rock detction problem.

Amboy Crater Expedition

Amboy Crater, Geologic Units

Several of our more recent tests involved an expedition to the Amboy Crater lava flow in the Mojave Desert, California. This is a relatively young basaltic lava flow, having grown from several eruption events over the past 50,000 years. We focused on building autonomous geologic surficial maps of the older eastern portion of the flow. The image at right is based on a map from A. W. Hatheway's 1971 U. of Arizona thesis work.

Venus Exploration

VEIL Venus Lander Logo

I worked with the Planetary Science Summer School and the Jet Propulsion Lab TEAMX spacecraft design team to develop a prototype Venus lander.

Our concept focused on a short-term mission to investigate atmosphere/surface interatctions and mineralogy. Venus is a fascinating and little-understood planet. The VEIL project's basic premises were that a) surface exploration will eventually be necessary to understand its evolution, and b) this is possible on a relatively strict budget.

Robots in the Atacama Desert

David in the Atacama

I worked with a CMU project that ran some robot field tests in the driest place on Earth - the Atacama Desert in Northern Chile. There we simulated remote science operations as an analog to a search for life on another planet. During field operations autonomy software automatically identified lichens with the help of a fluorescence imager device.

Other Interests

Tea

The humble leaf about which the world revolves! Lots of tea-heads will wax poetic about the 300-year-old British teamaking tradition. I favor the 2000-year-old Asian tradition: an infinite variety of styles and flavors, each refined to its own art form.

Calorie Restriction

I practice a calorie restriction regimen. The idea is based on a large number of animal studies (from nematode worms up to rats and monkeys) which show that reducing calorie intake while maintaining nutrient levels triggers health-improving metabolic changes and slows the aging process by as much as 30-40%. What about humans? I'll have a better idea in 2050, but the preliminary tests (T3, WBC, lipids, body temperature, etc.) suggest encouraging parallels to the animal studies. These days I consume 1850 calories a day under the supervision of a physician.

20th Century Chamber Music

A relatively new music craze. I'm a big fan of the French Impressionists (Ravel, Debussy) although I've recently investigated some more modern stuff. Bartok's string quartets are my all-time favorite.

Copyright 2011 David Ray Thompson, some images and papers excepted.

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