Automated Global Feature Analyzer - A Driver for Tier-Scalable Reconnaissance

For the purposes of space flight, reconnaissance field geologists have trained to become astronauts. However, the initial forays to Mars and other planetary bodies have been done by purely robotic craft. Therefore, training and equipping a robotic craft with the sensory and cognitive capabilities of a field geologist to form a science craft is a necessary prerequisite. Numerous steps are necessary in order for a science craft to be able to map, analyze, and characterize a geologic field site, as well as effectively formulate working hypotheses. We report on the continued development of the integrated software system AGFA: automated global feature analyzerreg, originated by Fink at Caltech and his collaborators in 2001. AGFA is an automatic and feature-driven target characterization system that operates in an imaged operational area, such as a geologic field site on a remote planetary surface. AGFA performs automated target identification and detection through segmentation, providing for feature extraction, classification, and prioritization within mapped or imaged operational areas at different length scales and resolutions, depending on the vantage point (e.g., spaceborne, airborne, or ground). AGFA extracts features such as target size, color, albedo, vesicularity, and angularity. Based on the extracted features, AGFA summarizes the mapped operational area numerically and flags targets of "interest", i.e., targets that exhibit sufficient anomaly within the feature space. AGFA enables automated science analysis aboard robotic spacecraft, and, embedded in tier-scalable reconnaissance mission architectures, is a driver of future intelligent and autonomous robotic planetary exploration

Leveraging the Power of Crowds: Automated Test Report Processing for The Maintenance of Mobile Applications

Crowdsourcing is an emerging distributed problem-solving model combining human and machine computation. It collects intelligence and knowledge from a large and diverse workforce to complete complex tasks. In the software engineering domain, crowdsourced techniques have been adopted to facilitate various tasks, such as design, testing, debugging, development, and so on. Specifically, in crowdsourced testing, crowdsourced workers are given testing tasks to perform and submit their feedback in the form of test reports. One of the key advantages of crowdsourced testing is that it is capable of providing engineers software engineers with domain knowledge and feedback from a large number of real users. Based on diverse software and hardware settings of these users, engineers can bugs that are not caught by traditional quality assurance techniques. Such benefits are particularly ideal for mobile application testing, which needs rapid development-and-deployment iterations and support diverse execution environments. However, crowdsourced testing naturally generates an overwhelming number of crowdsourced test reports, and inspecting such a large number of reports becomes a time-consuming yet inevitable task. This dissertation presents a series of techniques, tools and experiments to assist in crowdsourced report processing. These techniques are designed for improving this task in multiple aspects: 1. prioritizing crowdsourced report to assist engineers in finding as many unique bugs as possible, and as quickly as possible; 2. grouping crowdsourced report to assist engineers in identifying the representative ones in a short time; 3. summarizing the duplicate reports to provide engineers with a concise and accurate understanding of a group of reports; In the first step, I present a text-analysis-based technique to prioritize test reports for manual inspection. This technique leverages two key strategies: (1) a diversity strategy to help developers inspect a wide variety of test reports and to avoid duplicates and wasted effort on falsely classified faulty behavior, and (2) a risk-assessment strategy to help developers identify test reports that may be more likely to be fault-revealing based on past observations.Together, these two strategies form our technique to prioritize test reports in crowdsourced testing. Moreover, in the mobile testing domain, test reports often consist of more screenshots and shorter descriptive text, and thus text-analysis-based techniques may be ineffective or inapplicable. The shortage and ambiguity of natural-language text information and the well-defined screenshots of activity views within mobile applications motivate me to propose a novel technique based on using image understanding for multi-objective test-report prioritization. This technique employs the Spatial Pyramid Matching (SPM) technique to measure the similarity of the screenshots, and apply the natural-language processing technique to measure the distance between the text of test reports. Next, I design and implement CTRAS: a novel approach to leveraging duplicates to enrich the content of bug descriptions and improve the efficiency of inspecting these reports. CTRAS is capable of automatically aggregating duplicates based on both textual information and screenshots, and further summarizes the duplicate test reports into a comprehensive and comprehensible report.I validate all of these techniques on industrial data by collaborating with several companies. The results show my techniques can improve both the efficiency and effectiveness of crowdsourced test report processing. Also, I suggest settings for different usage scenarios and discuss future research directions

Viewfinder: final activity report

The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources. The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation. The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein

Technology for the Future: In-Space Technology Experiments Program, part 2

The purpose of the Office of Aeronautics and Space Technology (OAST) In-Space Technology Experiments Program In-STEP 1988 Workshop was to identify and prioritize technologies that are critical for future national space programs and require validation in the space environment, and review current NASA (In-Reach) and industry/ university (Out-Reach) experiments. A prioritized list of the critical technology needs was developed for the following eight disciplines: structures; environmental effects; power systems and thermal management; fluid management and propulsion systems; automation and robotics; sensors and information systems; in-space systems; and humans in space. This is part two of two parts and contains the critical technology presentations for the eight theme elements and a summary listing of critical space technology needs for each theme

Onboard Science Instrument Autonomy for the Detection of Microscopy Biosignatures on the Ocean Worlds Life Surveyor

The quest to find extraterrestrial life is a critical scientific endeavor with civilization-level implications. Icy moons in our solar system are promising targets for exploration because their liquid oceans make them potential habitats for microscopic life. However, the lack of a precise definition of life poses a fundamental challenge to formulating detection strategies. To increase the chances of unambiguous detection, a suite of complementary instruments must sample multiple independent biosignatures (e.g., composition, motility/behavior, and visible structure). Such an instrument suite could generate 10,000x more raw data than is possible to transmit from distant ocean worlds like Enceladus or Europa. To address this bandwidth limitation, Onboard Science Instrument Autonomy (OSIA) is an emerging discipline of flight systems capable of evaluating, summarizing, and prioritizing observational instrument data to maximize science return. We describe two OSIA implementations developed as part of the Ocean Worlds Life Surveyor (OWLS) prototype instrument suite at the Jet Propulsion Laboratory. The first identifies life-like motion in digital holographic microscopy videos, and the second identifies cellular structure and composition via innate and dye-induced fluorescence. Flight-like requirements and computational constraints were used to lower barriers to infusion, similar to those available on the Mars helicopter, "Ingenuity." We evaluated the OSIA's performance using simulated and laboratory data and conducted a live field test at the hypersaline Mono Lake planetary analog site. Our study demonstrates the potential of OSIA for enabling biosignature detection and provides insights and lessons learned for future mission concepts aimed at exploring the outer solar system.Comment: 49 pages, 18 figures, submitted to The Planetary Science Journal on 2023-04-2