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A demonstration of robust planning, scheduling, and execution for the Techsat-21 autonomous sciencecraft constellation
The paper talks about the planning, scheduling, and execution framework used in ASC (Autonomous Sciencecraft Constellation).
Multi-level manual and autonomous control superposition for intelligent telerobot
Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.
Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems
One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.
Approach for Uncertainty Propagation and Robust Design in CFD Using Sensitivity Derivatives
This paper presents an implementation of the approximate statistical moment method for uncertainty propagation and robust optimization for a quasi 1-D Euler CFD (computational fluid dynamics) code. Given uncertainties in statistically independent, random, normally distributed input variables, a first- and second-order statistical moment matching procedure is performed to approximate the uncertainty in the CFD output. Efficient calculation of both first- and second-order sensitivity derivatives is required. In order to assess the validity of the approximations, the moments are compared with statistical moments generated through Monte Carlo simulations. The uncertainties in the CFD input variables are also incorporated into a robust optimization procedure. For this optimization, statistical moments involving first-order sensitivity derivatives appear in the objective function and system constraints. Second-order sensitivity derivatives are used in a gradient-based search to successfully execute a robust optimization. The approximate methods used throughout the analyses are found to be valid when considering robustness about input parameter mean values.
Approach for Input Uncertainty Propagation and Robust Design in CFD Using Sensitivity Derivatives
An implementation of the approximate statistical moment method for uncertainty propagation and robust optimization for quasi 3-D Euler CFD code is presented. Given uncertainties in statistically independent, random, normally distributed input variables, first- and second-order statistical moment procedures are performed to approximate the uncertainty in the CFD output. Efficient calculation of both first- and second-order sensitivity derivatives is required. In order to assess the validity of the approximations, these moments are compared with statistical moments generated through Monte Carlo simulations. The uncertainties in the CFD input variables are also incorporated into a robust optimization procedure. For this optimization, statistical moments involving first-order sensitivity derivatives appear in the objective function and system constraints. Second-order sensitivity derivatives are used in a gradient-based search to successfully execute a robust optimization. The approximate methods used throughout the analyses are found to be valid when considering robustness about input parameter mean values.
Quantum Circuit Cutting for Classical Shadows
Classical shadow tomography is a sample-efficient technique for characterizing quantum systems and predicting many of their properties. Circuit cutting is a technique for dividing large quantum circuits into smaller fragments that can be executed more robustly using fewer quantum resources. We introduce a divide-and-conquer circuit cutting method for estimating the expectation values of observables using classical shadows. We derive a general formula for making predictions using the classical shadows of circuit fragments from arbitrarily cut circuits and provide the sample complexity analysis for the case when observables factorize across fragments. Then, we numerically show that our divide-and-conquer method outperforms traditional uncut shadow tomography when estimating high-weight observables that act non-trivially on many qubits and discuss the mechanisms for this advantage.
An important class of intron retention events in human erythroblasts is regulated by cryptic exons proposed to function as splicing decoys
During terminal erythropoiesis, the splicing machinery in differentiating erythroblasts executes a robust intron retention (IR) program that impacts expression of hundreds of genes. We studied IR mechanisms in the SF3B1 splicing factor gene, which expresses ~50% of its transcripts in late erythroblasts as a nuclear isoform that retains intron 4. RNA-seq analysis of nonsense-mediated decay (NMD)-inhibited cells revealed previously undescribed splice junctions, rare or not detected in normal cells, that connect constitutive exons 4 and 5 to highly conserved cryptic cassette exons within the intron. Minigene splicing reporter assays showed that these cassettes promote IR. Genome-wide analysis of splice junction reads demonstrated that cryptic noncoding cassettes are much more common in large (>1 kb) retained introns than they are in small retained introns or in nonretained introns. Functional assays showed that heterologous cassettes can promote retention of intron 4 in the SF3B1 splicing reporter. Although many of these cryptic exons were spliced inefficiently, they exhibited substantial binding of U2AF1 and U2AF2 adjacent to their splice acceptor sites. We propose that these exons function as decoys that engage the intron-terminal splice sites, thereby blocking cross-intron interactions required for excision. Developmental regulation of decoy function underlies a major component of the erythroblast IR program.
TRACER-Tethersonde VOC data
One objective of TRACER-Tethersonde campaign was to deploy a volatile organic compound (VOC) sampler on the Tethered Balloon System (TBS) to create vertical profiles and characterize VOC composition. Volatile organic compounds (VOCs) are highly reactive precursor species that undergo atmospheric processing to form secondary products, including aerosol. VOC emissions are influenced by many factors that include but are not limited to temperature, time of day, local anthropogenic activities, and local vegetation, which result in large spatiotemporal variability. The vertical distribution of volatile species is crucial for understanding gas-phase processing for particle production but challenging to accomplish using currently available sampling devices. The standalone sampler built during the campaign enabled the execution of robust experimental designs, including sample collection using resin tubes at multiple altitudes on subsequent flights. Following field sampling, resin tubes were transported back to Baylor University for chemical analysis using a Markes International thermal desorption unit coupled with a gas chromatograph-tandem mass spectrometer (Thermo Scientific). The target analyte list includes biogenic and anthropogenic VOCs.
Autonomous Science on the EO-1 Mission
In mid-2003, we will fly software to detect science events that will drive autonomous scene selectionon board the New Millennium Earth Observing 1 (EO-1) spacecraft. This software will demonstrate the potential for future space missions to use onboard decision-making to detect science events and respond autonomously to capture short-lived science events and to downlink only the highest value science data.
Mixed-initiative planning for automating mission design and operation
This paper describes the mixed-initiative planning system for MAMM, which dramatically reduced mission-planning costs through automation to just a few scenarios for evaluating mission-design trades.
Robust, Multi-layered Plan Execution and Revision for Operation of a Network of Communication Antennas
This paper describes a hierarchical scheduling, planning, control, and execution monitoring architecture for automating operations of a worldwide network of communications antennas. The purpose of this paper is to describe an architecture for automating the process of capturing spacecraft data.
Validating the Autonomous Science Agent
This paper describes the validation process for the Autonomous Science Agent, a software agent that will fly onboard the EO-1 spacecraft from 2003-2004. This agent will recognize science events, retarget the spacecraft to respond to the science events, and reduce data downlink to only the highest value science data. The autonomous science agent has been designed using a layered architectural approach with specific redundant safeguards to reduce the risk of an agent malfunction to the EO-1 spacecraft. This 'safe' design is also in the process of being thoroughly validated by informal validation methods and extensive testing. This paper describes the analysis used to define agent safety, elements of the design that increase the safety of the agent, and the process being used to validate agent safety prior to the agent software controlling the spacecraft.
NEUROSPF: A Tool For the Symbolic Analysis of Neural Networks
This paper presents NEUROSPF, a tool for the symbolic analysis of neural networks. Given a trained neural network model, the tool extracts the architecture and model parameters and translates them into a Java representation that is amenable for analysis using the Symbolic PathFinder symbolic execution tool. Notably, NEUROSPF encodes specialized peer classes for parsing the model’s parameters, thereby enabling efficient analysis. With NEUROSPF the user has the flexibility to specify either the inputs or the network internal parameters as symbolic, promoting the application of program analysis and testing approaches from software engineering to the field of machine learning. For instance, NEUROSPF can be used for coverage-based testing and test generation, finding adversarial examples and also constraint-based repair of neural networks, thus improving the reliability of neural networks and of the applications that use them.
Results from the ASTERIA CubeSat Extended Mission Experiments
Over the past two years, JPL has used the ASTERIA (Arcsecond Space Telescope Enabling Research In Astrophysics) CubeSat as an in-flight test platform during extended missions. ASTERIA successfully completed its prime mission in early 2018, and continued to operate in low Earth orbit (LEO) for an additional twenty months. This paper describes demonstrations that were performed on the spacecraft and on the ground-based testbed during the extended mission. These demonstrations fall into three categories: Autonomy technology maturation, hardware characterization, and science discovery. Autonomy technology maturation supported three development efforts. The first shifted the spacecraft commanding paradigm from time-based sequences to Task Networks (tasknets), which allow simpler commanding and more robust onboard execution. The second demonstrated onboard orbit determination in Low Earth Orbit (LEO) without GPS. This activity used a fully-independent means of spacecraft orbit determination for Earth orbiters using only passive imaging. The third technology provided in situ hardware health state estimation using a model-based reasoning technique. These three technologies were demonstrated either in flight or on the testbed individually, and then were combined to demonstrate the capability to perform autonomous navigation on board without ground intervention, even in the presence of anomalies. Hardware characterization involved both onboard and ground-based activities. On board, nonstandard attitude control modes were commanded to characterize the spacecraft pointing jitter as a function of target brightness, reaction wheel speed, controller gain, and the number of guide stars. The results provide insights into the contribution of jitter to the ASTERIA photometry and inform the feasibility of future astrophysics small satellite missions for which jitter control is an enabling technology. On the ground, the ASTERIA Operations Team coordinated with Amazon Web Services (AWS) to configure their new ground stations to communicate with ASTERIA to prove out their viability. ASTERIA used AWS ground stations for nominal operations for the last four months of the mission. Finally, ASTERIA continued to perform exoplanet science as the spacecraft was well-suited to execute long-term monitoring of stars such as alpha Centauri to search for small transiting planets. The science team also imaged a number of interesting objects including a comet, an asteroid, cities at night, and the moon, and coordinated with other projects on Targets of Opportunity for follow-up confirmations and co-observations. Throughout the prime and the extended missions, the ASTERIA spacecraft proved to be a mighty platform that “will go into history as an innovative milestone.”[1 - Zurbuchen]