The 1990 progress report and future plans

This document describes the progress and plans of the Artificial Intelligence Research Branch (RIA) at ARC in 1990. Activities span a range from basic scientific research to engineering development and to fielded NASA applications, particularly those applications that are enabled by basic research carried out at RIA. Work is conducted in-house and through collaborative partners in academia and industry. Our major focus is on a limited number of research themes with a dual commitment to technical excellence and proven applicability to NASA short, medium, and long-term problems. RIA acts as the Agency's lead organization for research aspects of artificial intelligence, working closely with a second research laboratory at JPL and AI applications groups at all NASA centers

Telescience Testbed Pilot Program

The Telescience Testbed Pilot Program is developing initial recommendations for requirements and design approaches for the information systems of the Space Station era. During this quarter, drafting of the final reports of the various participants was initiated. Several drafts are included in this report as the University technical reports

Technology assessment of advanced automation for space missions

Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology

Human-Machine Collaborative Optimization via Apprenticeship Scheduling

Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years of apprenticeship. A process for manually codifying this domain knowledge within a computational framework is necessary to scale beyond the ``single-expert, single-trainee" apprenticeship model. However, human domain experts often have difficulty describing their decision-making processes, causing the codification of this knowledge to become laborious. We propose a new approach for capturing domain-expert heuristics through a pairwise ranking formulation. Our approach is model-free and does not require enumerating or iterating through a large state space. We empirically demonstrate that this approach accurately learns multifaceted heuristics on a synthetic data set incorporating job-shop scheduling and vehicle routing problems, as well as on two real-world data sets consisting of demonstrations of experts solving a weapon-to-target assignment problem and a hospital resource allocation problem. We also demonstrate that policies learned from human scheduling demonstration via apprenticeship learning can substantially improve the efficiency of a branch-and-bound search for an optimal schedule. We employ this human-machine collaborative optimization technique on a variant of the weapon-to-target assignment problem. We demonstrate that this technique generates solutions substantially superior to those produced by human domain experts at a rate up to 9.5 times faster than an optimization approach and can be applied to optimally solve problems twice as complex as those solved by a human demonstrator.Comment: Portions of this paper were published in the Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI) in 2016 and in the Proceedings of Robotics: Science and Systems (RSS) in 2016. The paper consists of 50 pages with 11 figures and 4 table

NASA space station automation: AI-based technology review

Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures

Fourth Conference on Artificial Intelligence for Space Applications

Proceedings of a conference held in Huntsville, Alabama, on November 15-16, 1988. The Fourth Conference on Artificial Intelligence for Space Applications brings together diverse technical and scientific work in order to help those who employ AI methods in space applications to identify common goals and to address issues of general interest in the AI community. Topics include the following: space applications of expert systems in fault diagnostics, in telemetry monitoring and data collection, in design and systems integration; and in planning and scheduling; knowledge representation, capture, verification, and management; robotics and vision; adaptive learning; and automatic programming

COBE's search for structure in the Big Bang

The launch of Cosmic Background Explorer (COBE) and the definition of Earth Observing System (EOS) are two of the major events at NASA-Goddard. The three experiments contained in COBE (Differential Microwave Radiometer (DMR), Far Infrared Absolute Spectrophotometer (FIRAS), and Diffuse Infrared Background Experiment (DIRBE)) are very important in measuring the big bang. DMR measures the isotropy of the cosmic background (direction of the radiation). FIRAS looks at the spectrum over the whole sky, searching for deviations, and DIRBE operates in the infrared part of the spectrum gathering evidence of the earliest galaxy formation. By special techniques, the radiation coming from the solar system will be distinguished from that of extragalactic origin. Unique graphics will be used to represent the temperature of the emitting material. A cosmic event will be modeled of such importance that it will affect cosmological theory for generations to come. EOS will monitor changes in the Earth's geophysics during a whole solar color cycle

Information system for remote control of the robot manipulator

Ця бакалаврська робота присвячена створенню системи дистанційного керування роботом-маніпулятором за допомогою управління смартфоном. Дипломна робота складається із вступу, чотирьох розділів та висновку. Перший розділ присвячений аналітиці Arduino та її корисності в цьому проекті. Другий розділ стосується вибору різних відповідних технологій для робота-маніпулятора. Третій розділ присвячений проектуванню роботів-маніпуляторів, програмуванню, запуску та налаштуванню маніпулятора. Програмні засоби для розробки та планування системи дистанційного управління: Arduino, C / C ++, інформаційна панель Mqtt для транспортування повідомлень між пристроями.This bachelor’s thesis, is devoted to the creation of a remote-control system for a robot manipulator, through smartphone control. The thesis consists of introduction, four sections and conclusion. The first section is devoted to analytics of Arduino and its usefulness in this project. The second section is about selection of various appropriate technologies for the robot manipulator. The third section concentrates on designing of robot manipulator, programming, launch and configuring the manipulator. Software tools for development and planning of remote-control system: Arduino, C/C++, Mqtt dashboard for transport of messages between devices.INTRODUCTION 7 1. ANALYTICAL PART 8 1.1 Arduino hardware computing platform 8 1.2.1 What is the advantage of Arduino? 9 1.1.3 Hardware part 11 1.2 Arduino Shields – expansion boards for Arduino 12 1.2.1 Why do I need expansion cards? 13 1.2.2 Connecting and programming Arduino Shields 13 1.2.3 Varieties of expansion boards 14 1.3 Mosquitto message broker 18 1.4 CoAP, AMQP, MQTT network exchange protocols 18 2. TECHNOLOGICAL PART 23 2.1 Selection of the servo model 23 2.1.1 The concept of servo and its structure 23 2.1.2 Internal interface of control signals. Servo control 24 Characteristics of servo drives 27 2.1.3 Servo selection 29 2.2 Selecting the layout of the robot manipulator 33 3. DESIGN PART 38 3.1 Robot manipulator on Arduino 38 3.1.1 General description of the project 38 3.1.2 The main nodes for the project are the work of the manipulator 38 3.2 Collecting the layout of the robot manipulator 39 3.3 Manipulator operation algorithm 46 3.4 Data transmission via MQTT protocol 47 3.5 Algorithm of mqtt protocol operation 49 3.6 Launch, configure and send messages via Mosquitto broker on the WINDOWS OPERATING SYSTEM 49 3.11 Description of the client application on the Android operating SYSTEM 51 3.7 ESP8266 microcontroller 53 3.7.1 Technical characteristics of the ESP8266 NodeMCU module: 54 3.7.2 Advantages and disadvantages of the NodeMcu v3 module 55 3.9 Control system programming 57 3.9.1 Description of the Arduino IDE programming environment 57 3.9.2 Development of a hand-manipulator control program 59 4. LIFE SAFETY 66 4.1 Safety rules when working with the manipulator 66 4.2 Workplace requirements 67 4.3 General safety requirements when working with the manipulator 69 GENERAL CONCLUSIONS FOR THE THESIS 71 REFERENCES 7

Information system for remote control of the robot manipulator

Ця бакалаврська робота присвячена створенню системи дистанційного керування роботом-маніпулятором за допомогою управління смартфоном. Дипломна робота складається із вступу, чотирьох розділів та висновку. Перший розділ присвячений аналітиці Arduino та її корисності в цьому проекті. Другий розділ стосується вибору різних відповідних технологій для робота-маніпулятора. Третій розділ присвячений проектуванню роботів-маніпуляторів, програмуванню, запуску та налаштуванню маніпулятора. Програмні засоби для розробки та планування системи дистанційного управління: Arduino, C / C ++, інформаційна панель Mqtt для транспортування повідомлень між пристроями.This bachelor’s thesis, is devoted to the creation of a remote-control system for a robot manipulator, through smartphone control. The thesis consists of introduction, four sections and conclusion. The first section is devoted to analytics of Arduino and its usefulness in this project. The second section is about selection of various appropriate technologies for the robot manipulator. The third section concentrates on designing of robot manipulator, programming, launch and configuring the manipulator. Software tools for development and planning of remote-control system: Arduino, C/C++, Mqtt dashboard for transport of messages between devices.INTRODUCTION 7 1. ANALYTICAL PART 8 1.1 Arduino hardware computing platform 8 1.2.1 What is the advantage of Arduino? 9 1.1.3 Hardware part 11 1.2 Arduino Shields – expansion boards for Arduino 12 1.2.1 Why do I need expansion cards? 13 1.2.2 Connecting and programming Arduino Shields 13 1.2.3 Varieties of expansion boards 14 1.3 Mosquitto message broker 18 1.4 CoAP, AMQP, MQTT network exchange protocols 18 2. TECHNOLOGICAL PART 23 2.1 Selection of the servo model 23 2.1.1 The concept of servo and its structure 23 2.1.2 Internal interface of control signals. Servo control 24 Characteristics of servo drives 27 2.1.3 Servo selection 29 2.2 Selecting the layout of the robot manipulator 33 3. DESIGN PART 38 3.1 Robot manipulator on Arduino 38 3.1.1 General description of the project 38 3.1.2 The main nodes for the project are the work of the manipulator 38 3.2 Collecting the layout of the robot manipulator 39 3.3 Manipulator operation algorithm 46 3.4 Data transmission via MQTT protocol 47 3.5 Algorithm of mqtt protocol operation 49 3.6 Launch, configure and send messages via Mosquitto broker on the WINDOWS OPERATING SYSTEM 49 3.11 Description of the client application on the Android operating SYSTEM 51 3.7 ESP8266 microcontroller 53 3.7.1 Technical characteristics of the ESP8266 NodeMCU module: 54 3.7.2 Advantages and disadvantages of the NodeMcu v3 module 55 3.9 Control system programming 57 3.9.1 Description of the Arduino IDE programming environment 57 3.9.2 Development of a hand-manipulator control program 59 4. LIFE SAFETY 66 4.1 Safety rules when working with the manipulator 66 4.2 Workplace requirements 67 4.3 General safety requirements when working with the manipulator 69 GENERAL CONCLUSIONS FOR THE THESIS 71 REFERENCES 7