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Spirit
Kinds of Spirit Terms modified by Spirit Selected AbstractsMIGRATION, GLOBALISATION AND THE SPIRIT OF PETER BAUERECONOMIC AFFAIRS, Issue 4 2003Daniel T. Griswold Lord Bauer understood that the human freedom of movement plays a vital role in development. Today, internal and cross-border migration generates hard-currency remittances that raise living standards and capital investment in the country of origin, promotes greater trade and investment ties between destination and origin countries, and raises a country's stock of human and physical capital when migrants return with new skills and investment funds. Immigration can also stimulate political and social reform when migrants return or foreign-born immigrants arrive with new ideas and experiences. Relaxing the pervasive controls on the international movement of people remains a huge piece of unfinished business on the market-driven development agenda. [source] Maximum entropy inference for mixed continuous-discrete variablesINTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS, Issue 4 2010Hermann Singer We represent knowledge by probability distributions of mixed continuous and discrete variables. From the joint distribution of all items, one can compute arbitrary conditional distributions, which may be used for prediction. However, in many cases only some marginal distributions, inverse probabilities, or moments are known. Under these conditions, a principle is needed to determine the full joint distribution of all variables. The principle of maximum entropy (Jaynes, Phys Rev 1957;106:620,630 and 1957;108:171,190; Jaynes, Probability Theory,The Logic of Science, Cambridge, UK: Cambridge University Press, 2003; Haken, Synergetics, Berlin: Springer-Verlag, 1977; Guiasu and Shenitzer, Math Intell 1985;117:83,106) ensures an unbiased estimation of the full multivariate relationships by using only known facts. For the case of discrete variables, the expert shell SPIRIT implements this approach (cf. Rödder, Artif Intell 2000;117:83,106; Rödder and Meyer, in Proceedings of the 12th Conference on Uncertainty in Artificial Intelligence, San Francisco, CA, 2006; Rödder et al., Logical J IGPL 2006;14(3):483,500). In this paper, the approach is generalized to continuous and mixed continuous-discrete distributions and applied to the problem of credit scoring. © 2010 Wiley Periodicals, Inc. [source] THE RECONCILING SPIRIT: THE DOVE WITH COLOUR AND STRENGTHINTERNATIONAL REVIEW OF MISSION, Issue 372 2005Kirsteen Kim The dove is used as a symbol of the Holy Spirit, and also of peace and reconciliation. However, the usual depiction of the dove may not be a good representation of the content of reconciliation, or of the nature and work of the Spirit. This article aims to enhance our vision of the Spirit of reconciliation by examining the apostle Paul's teaching in 2 Corinthians about the ministry of the Spirit and the ministry of reconciliation. The article also considers the deliberations of several international meetings, and brings together a number of reflections on the Spirit from India and Korea. The paper concludes that the heavenly bird is not limited to the dove, nor is the imagery of the Holy Spirit restricted to the dove. The Spirit is not white and delicate but colourful and strong, and it is through these characteristics that the Spirit leads us in the way of Christ in the struggle to live together in reconciled life. [source] AS THE SPIRIT GIVES UTTERANCE: PENTECOST, INTRA-CHRISTIAN ECUMENISM AND THE WIDER OIKOUMENEINTERNATIONAL REVIEW OF MISSION, Issue 366 2003Amos Yong First page of article [source] GROWING UP AMISH: THE TEENAGE YEARS. (The Young Center Books in Anabaptist and Pietistic Studies.) By Richard A. Stevick THE SPIRIT OF GENERATION Y: YOUNG PEOPLE'S SPIRITUALITY IN A CHANGING AUSTRALIA By MichaelMason, Andrew Singleton, and Ruth Webber TEENAGE WITCHES: MAGICAL YOUTH AND THE SEARCH FOR SELF By Helen A. Berger and Douglas EzzyJOURNAL FOR THE SCIENTIFIC STUDY OF RELIGION, Issue 3 2008TIM CLYDESDALE No abstract is available for this article. [source] THE SPIRIT OF DEMOCRACY AND THE RHETORIC OF EXCESSJOURNAL OF RELIGIOUS ETHICS, Issue 1 2007Jeffrey Stout ABSTRACT If militarism violates the ideals of liberty and justice in one way, and rapidly increasing social stratification violates them in another, then American democracy is in crisis. A culture of democratic accountability will survive only if citizens revive the concerns that animated the great reform movements of the past, from abolitionism to civil rights. It is crucial, when reasoning about practical matters, not only to admit how grave one's situation is, but also to resist despair. Therefore, the fate of democracy depends, to some significant degree, on how we choose to describe the crisis. Saying that we have already entered the new dark ages or a post-democratic era may prove to be a self-fulfilling prophecy, because anyone who accepts this message is apt to give up on the hard work of organizing and contestation that is needed to hold political representatives accountable to the people. This paper asks how one might strike the right balance between accuracy and hope in describing the democracy's current troubles. After saying what I mean by democracy and what I think the current threats to it are, I respond to Romand Coles's criticisms of reservations I have expressed before about rhetorical excess in the works of Stanley Hauerwas, Alasdair MacIntyre, and Richard Rorty. This leads to a discussion of several points raised against me by Hauerwas. A digression offers some of my reasons for doubting that John Howard Yoder's biblical scholarship vindicates Hauerwas's version of pacifism. The paper concludes by arguing that Sheldon Wolin's work on the evisceration of democracy, though admirably accurate in its treatment of the dangers posed by empire and capital, abandons the project of democratic accountability too quickly in favor of the romance of the fugitive. [source] Randomized controlled trial of SPIRIT: An effective approach to preparing African-American dialysis patients and families for end of life,RESEARCH IN NURSING & HEALTH, Issue 3 2009Mi-Kyung Song Abstract This randomized controlled trial tested an intervention, Sharing Patients' Illness Representations to Increase Trust (SPIRIT), designed to enhance communication regarding end-of-life care between African Americans with end-stage renal disease (ESRD) and their chosen surrogate decision makers (N,=,58 dyads). We used surveys and semi-structured interviews to determine the feasibility, acceptability, and preliminary effects of SPIRIT on patient and surrogate outcomes at 1 week and 3 months post-intervention. We also evaluated patients' deaths and surrogates' end-of-life decision making to assess surrogates' perceptions of benefits and limitations of the SPIRIT while facing end-of-life decisions. We found that SPIRIT promoted communication between patients and their surrogates and was effective and well received by the participants. © 2009 Wiley Periodicals, Inc. Res Nurs Health 32:260,273, 2009 [source] THE DEMAND FOR BEER, WINE AND SPIRITS: A SURVEY OF THE LITERATUREJOURNAL OF ECONOMIC SURVEYS, Issue 3 2010James Fogarty Abstract The demand for alcohol literature is vast and much conflicting information about the nature of the demand for alcoholic beverages has been published. This paper presents a survey of the literature, and then uses the technique of meta-regression analysis to establish insights into the nature of the demand for beer, wine and spirits. Unlike previous meta-studies of the demand for alcoholic beverages this study adjusts for the precision of each elasticity estimate. The analysis presented suggests reported elasticity estimates will be influenced by such factors as estimation technique, data frequency and time period under consideration. With respect to time, the findings suggest that the demand for alcoholic beverages has become less inelastic since the mid-1950s and that the income elasticity has been falling since the mid-1960s. The analysis also found support for the idea that alcohol as a commodity group is a necessity, and that consumers respond to price discounting with inventory behaviour rather than true substitution behaviour. Little support is found for the idea that the demand for alcoholic beverages varies fundamentally across most countries, although wine may be an exception. [source] APPLICATION OF SENSORY DESCRIPTIVE ANALYSIS TO COMPLETE THE CURRENT OFFICIAL CARD OF THE GALICIAN ORUJO SPIRITSJOURNAL OF SENSORY STUDIES, Issue 3 2009SANDRA CORTÉS ABSTRACT Ten samples of young Galician Orujo spirits from different grape varieties were evaluated using sensory descriptive analysis by a panel of 12 professional Orujo tasters. The aim of this study was to generate attributes to sensorially describe this kind of drinks in order to complete the current official card and permit their differentiation and varietal characterization. In the first session of analysis, the Orujo tasters identified a high number of descriptors, that they were then reduced after the elimination of hedonic terms and inappropriate attributes by using statistical methods. High significant correlations were found between the new descriptive parameters selected and the original terms employed to qualify the Orujo samples. Herbaceous, floral, ensilage and heads for aroma, spicy,caustic and sweet for taste and fruity for aftertaste were the attributes that showed significant differences between the Orujo samples. These terms may qualitatively be considered as typical descriptors of Orujos from Galicia. PRACTICAL APPLICATIONS In the original card employed to qualify Galician Orujo spirits, only hedonic terms are used, all of them with an important subjective influence. The new card, in which descriptive terms generated by the official panel are included, too, permits, besides qualifying of the samples, defining of their profile in the same tasting session. With the new terms, the tasters can justify the total points given to each sample. The final sensory profile obtained for a single Orujo variety will result of a large group of Orujo samples tasted during several sessions. This tool will be very useful for the Regulating Commission to obtain more information about the sensory characteristics of this kind of alcoholic beverage and for the corresponding distillery, in case a sample was rejected, to know which attributes were found as negatives. [source] On Spirit as a Part of NatureCONSTELLATIONS: AN INTERNATIONAL JOURNAL OF CRITICAL AND DEMOCRATIC THEORY, Issue 2 2009Albrecht Wellmer First page of article [source] Wind and Spirit: A Theological AutobiographyDIALOG, Issue 3 2007Nancey Murphy First page of article [source] Discerning the Spirit among Catholic CharismaticsDIALOG, Issue 1 2002Don Gelpi The "Catholic Charismatic Renewal," renamed by the bishops the "Charismatic Renewal of the Church," has a 35 year history in the US and Europe. Debated at Vatican II and analyzed by theologians, the experience of spiritual charisms requires thoughtful discernment, especially if charism is to be properly integrated with sacrament. [source] Perspectivism, Criticism and Freedom of SpiritEUROPEAN JOURNAL OF PHILOSOPHY, Issue 1 2000Bernard Reginster The paper examines the view that Nietzsche's perspectivism about practical judgments, understood as a form of internalism about practical reasons, implies that any legitimate criticism of judgments emanating from a foreign perspective must be in terms that are internal to this perspective. Insofar as it is thought to be motivated by certain general theoretical strictures of perspectivism, this view is incoherent. The paper argues that, on the contrary Nietzsche's recourse to a strategy of internal criticism is motivated by his own particular commitment to preserving the freedom of spirit of his interlocutors. The paper concludes with a discussion of how freedom of spirit is preserved by internal criticism, and how the nature of freedom of spirit affects the particular form such criticism will assume. [source] The Cage of Nature: Modernity's History in JapanHISTORY AND THEORY, Issue 1 2001Julia Adeney Thomas "The Cage of Nature" focuses on the concept of nature as a way to rethink Japanese and European versions of modernity and the historical tropes that distance "East" from "West." This essay begins by comparing Japanese political philosopher Maruyama Masao and his contemporaries, Max Horkheimer and Theodor Adorno. Both sets of authors define modernity as the moment when humanity overcomes nature, but Maruyama longs for this triumph while Horkheimer and Adorno deplore its consequences. Maruyama insists that Japan has failed to attain the freedom promised by modernity because it remains in the thrall of nature defined in three ways: as Japan's deformed past, as the mark of Japan's tragic difference from "the West,"and as Japan's accursed sensuality, shackling it to uncritical bodily pleasures. In short, Maruyama sees Japan as trapped in the cage of nature. My argument is that Maruyama's frustration arises from the trap set by modern historiography, which simultaneously traces the trajectory of modernity from servile Nature to freedom of Spirit and at the same time bases the identity of the non-Western world on its closeness to nature. In other words, nature represents both the past and the East, an impossible dilemma for an Asian nationalist desirous of liberty. By revising our historical narratives to take into account the ways in which Western modernity continued to engage versions of nature, it becomes possible to reposition Japan and "the East" within modernity's history rather than treating them as the Other. [source] The Eternal ,Spirit of the Son': Barth, Florovsky and Torrance on the FilioqueINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 4 2010MATTHEW BAKER This article offers an Orthodox response to Barth's defense of the filioque. Florovsky's theology exemplifies how Orthodoxy addresses the concerns underlying Barth's filioque without resort to the filioque. Entailed in the elaboration of Florovsky's Christocentric pneumatology is a critique of other currents in modern Orthodox theology (Florensky, Lossky). Common emphases are noted between Florovsky and T.F. Torrance regarding the consubstantiality and propriety of the Spirit to the Son and the significance of this doctrine for ecclesial life, suggesting a basis for further ecumenical reintegration. [source] ,Fullness of the Spirit' and ,Fullness of Catholicity' in Ecclesial CommunionINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 3 2009EVAN F. KUEHN In this article I will consider two terms central to post-conciliar ecclesiology, both of which express different aspects of the ,fullness' of the church. The ,fullness of the Spirit' is a biblical concept describing the pouring out of the Spirit at Pentecost and in the historical sacrament of confirmation, while the ,fullness of catholicity' is a more recent term employed in conciliar and post-conciliar discourse to clarify the status of churches and ecclesial communities within the church of Christ. After analyzing the origin and development of each form of fullness, constructive interaction between the two will allow for a critique of post-conciliar ecclesiological and ecumenical statements. [source] Revelation, Scripture and Tradition: Some Comments on John Webster's Conception of ,Holy Scripture'INTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 4 2004Gavin D'Costa I argue that finally Webster's arguments fall short of what he wants to preserve: that in holy scripture we are confronted by God's Word, interpreted through his Spirit. It falls short precisely because the authoritative role of tradition is underplayed. Internal to Webster's argument the conceptual priority of sanctification to inspiration is called into question. I approach this criticism of Webster from a close inspection of his treatment of the Roman Catholic position on the matter. [source] The Dialectic of Divine Love: Pannenberg's Hegelian TrinitarianismINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 3 2004Anselm K. Min Second, I discuss serious reservations about some of the consequences of these innovations, such as the monarchy of the Spirit, the elevation of the divine essence as an entity above the three persons, the failure to explain the specificity and equality of each person, and others. [source] Justification as Declaration and DeificationINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 1 2002Bruce D. Marshall Theological accounts of the way God justifies sinners often struggle to combine forensic or declarative ideas about justification with transformationist ones. Luther seems to have especially steep problems here, not because he fails to think of justification as transformation , indeed deification , but because his forensic claims seem to take back what he says about transformation. Yet in the end Luther shows how forensic and transformationist ideas of even the boldest sort can cohere. At one level the concept of justifying faith as union with Christ extra nos combines the two, but their deeper unity is trinitarian: it lies in the Father's eternal verdict on the work of his incarnate Son, whose death and resurrection win for us the coming of the Spirit. [source] Between the Rock and a Hard Place: In Support of (something like) a Reformed View of the EucharistINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 2 2001Douglas Farrow In this article, Calvin's eucharistic theology is re-read in the light of Aquinas, Augustine, Irenaeus, Luther, Jean-Luc Marion, Graham Ward and Catherine Pickstock. It is found to have great strengths, sucessfully avoiding both static ideas of Christ's presence and individual nominalism, while allowing a prominent place for the Holy Spirit and room for the believer's faith. Calvin took account of the doctrine of the Ascension quite differently from Luther by stressing Christ's bodily absence from this world. The article argues that this dialectic of presence and absence would gain from giving it a temporal dimension, giving more weight to eschatology. [source] ,Justified by the Spirit': Soteriological Reflections on the ResurrectionINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 1 2001D. Lyle Dabney Justification of the Spirit has been too often overlooked in Protestant theology. This article asserts that the recovery of this aspect of New Testament theology offers the possibility of a fuller and more adequate soteriology than has often been the case in western theology. Part I provides a survey of the New Testament's witness to the resurrection and of the soteriological implications for the followers of Jesus. The focus of this survey is the relation of resurrection to justification. Part II develops some implications which follow for a theology of salvation today. The article here suggests a threefold possibility for a soteriology which reclaims the relation of Spirit to resurrection: first, soteriology could speak of the whole of the life, death and resurrection of Christ; second, soteriology could speak of the salvation of the whole of our life and death in resurrection; and third, soteriology could be concerned with the material, social and embodied from the outset. [source] Baptism and the Soteriology of ForgivenessINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 3 2000George Hunsinger This article examines the relation of Christian baptism to the saving work of God in Christ. In critical conversation with the later work of Barth, the article argues that baptism, as visible word, both attests and mediates divine forgiveness. Consequently, baptism with water and baptism with the Holy Spirit are not to be bifurcated from each other. Believer's baptism is the norm, although infant baptism is not excluded. Baptism exemplifies the koinonia of divine and human action without falling into synergism, and without appealing to inappropriate notions of causality. [source] The Hidden and Triune GodINTERNATIONAL JOURNAL OF SYSTEMATIC THEOLOGY, Issue 1 2000Robert W. Jenson Luther rightly perceived that God is hidden in his presence. The challenge systematically is to integrate discourse about God's hiddenness with a serious trinitarianism. The attempts by Gregory Palamas and Karl Barth to do just this are judged inadequate. A constructive proposal begins by recognizing that God's hiddenness is an impenetrability of his moral agency in his history with us as Father, Son and Holy Spirit, rather than a correlate of God's ontological uniqueness or our creaturely epistemic limitations. God's hiddenness must be thought of in terms of the sheer factuality of God the Father, which limits theodicy; the suffering of the Son, and thus the rejection of idolatry; and the freedom of the Spirit. [source] Serving God's Mission Together in Christ's Way: Reflections on the Way to Edinburgh 2010INTERNATIONAL REVIEW OF MISSION, Issue 1 2010Jacques Matthey This paper argues that missio Dei theology must continue to provide the basis for an ecumenical missiology, provided certain problems are revisited, in line with themes of the 2010 Edinburgh study process. Among them is the need for emphasizing the vertical dimension of a transformative spirituality, somehow neglected in earlier ecumenical theologies. Only this will prevent an over-estimation of humanity's capacities. Within a missio Dei theology the specific role of the church is to be reaffirmed: there is no way back behind integration, which remains a cornerstone of an ecumenical approach, provided it keeps a critical distance to dogmatic ecclesiologies that tend to hinder progress towards visible unity. The debate on gospel and culture has to be urgently taken up again, through a positive appreciation of syncretism and the related search for criteria in intercultural hermeneutics. This will lead to articulating pneumatological approaches to mission with Christologies. Indeed, the New Testament texts with the most universal horizon refer to Christ as Word or Wisdom and not to the Holy Spirit. The paper moves on to ask whether then the relevance of the biblical wisdom tradition should not feature more in missiology. It could provide fertile approaches to witness in a religiously plural and ecologically damaged world. Ecumenical mission should in future be shaped by wisdom as much as it has been by prophecy, and keep both traditions in creative tension. [source] Mission Theology of the ChurchINTERNATIONAL REVIEW OF MISSION, Issue 1 2010Kirsteen Kim This article on the mission theology of the church, a personal perspective by the vice-moderator of CWME, draws on documentation produced by the commission and also responds to the Faith and Order document, The Nature and Mission of the Church. It is based on the trinitarian paradigm of mission referred to as missio Dei, which emphasizes the priority of God's sending activity in the world, by the Son and the Spirit, and the contingency of the church and its mission activities upon that. Therefore, it is concerned with the participation of the church in God's mission to and in the world, and from this perspective, has a particular interest with the actual, empirical church rather than the ideal church, recognizing that the church exists in many different forms in particular social, cultural, economic and political contexts. The article argues that the church is "missionary by its very nature". Both theologically and empirically, it is impossible to separate the church from mission. Indeed mission is the very life of the church and the church is missionary by its very nature the Spirit of Christ breathed into the disciples at the same time as he sent them into the world. The mission theology of the church as it has developed in ecumenical discussion over the 20th and early 21st centuries is discussed in terms of the relationship of the church to the three persons of the Trinity: as foretaste of the kingdom of God; as the body of Christ; and as a movement of the Spirit. The article shows that being in mission is to cross the usual boundaries and bring new perspectives from outside to bear, and this is a never-ending, enriching process. [source] THE RECONCILING SPIRIT: THE DOVE WITH COLOUR AND STRENGTHINTERNATIONAL REVIEW OF MISSION, Issue 372 2005Kirsteen Kim The dove is used as a symbol of the Holy Spirit, and also of peace and reconciliation. However, the usual depiction of the dove may not be a good representation of the content of reconciliation, or of the nature and work of the Spirit. This article aims to enhance our vision of the Spirit of reconciliation by examining the apostle Paul's teaching in 2 Corinthians about the ministry of the Spirit and the ministry of reconciliation. The article also considers the deliberations of several international meetings, and brings together a number of reflections on the Spirit from India and Korea. The paper concludes that the heavenly bird is not limited to the dove, nor is the imagery of the Holy Spirit restricted to the dove. The Spirit is not white and delicate but colourful and strong, and it is through these characteristics that the Spirit leads us in the way of Christ in the struggle to live together in reconciled life. [source] RECONCILIATION AS A PNEUMATOLOGICAL MISSION PARADIGM: SOME PRELIMINARY REFLECTIONS BY AN ORTHODOXINTERNATIONAL REVIEW OF MISSION, Issue 372 2005Petros Vassiliadis This article underlines the importance of reconciliation and healing in the life and mission of the church. It develops a new theology of mission that is no longer based on the old Christocentric uni-versalism but on a new trinitarian (i.e. pneumatological) understanding of the witness of the church. This is possible nowadays because of the reinforcement of pneumalology into missiologi-cal reflections, which together with the amazing expansion worldwide of the Pentecostal movement, determines the present day Christian mission. The article it based on the assumption that the Holy Spirit in both the biblical and patristic traditions is first and foremost eschatologically- (Acts 2:17ff) and communion- (2 Cor. 13:13) oriented. Since, however, a pneumatological approach of Christian mission cannot be received in the wider Christian constituency unless it is christologically conditioned, the article makes Christology its starting point. It argues that on the basis of Christ's teaching, life and work, the apostles were, and all Christians thereafter are commissioned to proclaim not a set of given reli-gious convict urns, doctrines and moral commands, but the coming kingdom. The message, therefore, is the good news of a new reality of full-scale reconciliation. From the epistemological point of view, the article builds upon the existence of two types of pneumatology in the history of the church. One type is "historical" and is more familiar in the West. It understands the Holy Spirit as fully dependent upon, and being the agent of Christ in order to fulfil the task of mission. The other type is "eschatological", and id more widespread in the East. It understands the Holy Spirit as the source of Christ, and the church in term more of ,coming together', i.e., as the eschatological synaxis of the people of God in hut Kingdom, than of ,going forth'for mission. Taking thu second type of pneumatology one step further, the article argues that mission in the conventional sense is the outcome and not the source of Christian theology. That is why for the Orthodox what constitutes the essence of the church is not her mission but the Eucharist, the divine Liturgy; the mission is the meta-liturgy, the Liturgy after the Liturgy. Nevertheless, reconciliation being the primary precondition of the Eucharist, it also automatically becomes a source of mission. [source] Methodism: Empire of the Spirit , By David Hempton ,John Wesley: Tercentenary Essays', Edited by Jeremy GregoryJOURNAL FOR EIGHTEENTH-CENTURY STUDIES, Issue 1 2009Michael Snape [source] AFRICA,VIETNAM: Spirit of CooperationAFRICA RESEARCH BULLETIN: ECONOMIC, FINANCIAL AND TECHNICAL SERIES, Issue 8 2010Article first published online: 30 SEP 2010 No abstract is available for this article. [source] Global planning on the Mars Exploration Rovers: Software integration and surface testingJOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 4 2009Joseph Carsten In January 2004, NASA's twin Mars Exploration Rovers (MERs), Spirit and Opportunity, began searching the surface of Mars for evidence of past water activity. To localize and approach scientifically interesting targets, the rovers employ an onboard navigation system. Given the latency in sending commands from Earth to the Martian rovers (and in receiving return data), a high level of navigational autonomy is desirable. Autonomous navigation with hazard avoidance (AutoNav) is currently performed using a local path planner called GESTALT (grid-based estimation of surface traversability applied to local terrain) that incorporates terrain and obstacle information generated from stereo cameras. GESTALT works well at guiding the rovers around narrow and isolated hazards; however, it is susceptible to failure when clusters of closely spaced, nontraversable rocks form extended obstacles. In May 2005, a new technology task was initiated at the Jet Propulsion Laboratory to address this limitation. Specifically, a version of the Field D* global path planner was integrated into MER flight software, enabling simultaneous local and global planning during AutoNav. A revised version of AutoNav was then uploaded to the rovers during the summer of 2006. In this paper we describe how this integration of global planning into the MER flight software was performed and provide results from both the MER surface system test bed rover and five fully autonomous runs by Opportunity on Mars. © 2009 Wiley Periodicals, Inc. [source] | |||||||||||||||||||||||||||||||||||||||||||||||||