Artificial Intelligence and Robotics Commons^™

Blackboard-Based Electronic Warfare System, Jeremy Straub

Jeremy Straub

With internet-connected, SCADA and cyber-physical systems becoming the next battlefield for crime and warfare, technologies for defending and attacking these systems are growing in prevalence. For entities with significant asset collections that are prospectively vulnerable to this type of an attack, autonomous response, retaliation and attack capabilities are necessary to respond to a growing threat from numerous sectors. This paper presents a command and control technique for cyberwarfare based on the Blackboard Architecture. It discusses the utility of this approach and proposes a distributed command system that can run across multiple nodes of various types.

An Intelligent Attitude Determination And Control System Concept For A Cubesat Class Spacecraft, Jeremy Straub

Jeremy Straub

An attitude determination and control system (ADCS) is used to orient a spacecraft for a wide variety of purposes (e.g., to keep a camera facing Earth or orient the spacecraft for propulsion system use). The proposed intelligent ADCS has several key features: first, it can be used in multiple modes, spanning from passive stabilization of two axes and unconstrained spin on a third to three-axis full active stabilization. It also includes electromagnetic components to ‘dump’ spin from the reaction wheels. Second, the ADCS utilizes an incorporated autonomous control algorithm to characterize the effect of actuation of the system components and, …

Software Design For An Intelligent Attitude Determination And Control System, Matthew Russell, Jeremy Straub

Jeremy Straub

Space exploration and satellite missions often carry equipment that must be accurately pointed towards distant targets, therefore making an effective attitude determination and control system (ADCS) a vital component of almost every spacecraft. However, the effectiveness of the ADCS could decrease drastically if components shift during launch, degrade in efficiency over the course of the mission, or simply fail. Prior work [0] has presented a concept for a adaptive ADCS which can respond to changing spacecraft conditions and environmental factors. This poster presents an implementation for a lazy learning ADCS is presented that uses past maneuver data to construct and …

Improving Satellite Security Through Incremental Anomaly Detection On Large, Static Datasets, Connor Hamlet, Matthew Russell, Jeremy Straub, Scott Kerlin

Jeremy Straub

Anomaly detection is a widely used technique to detect system intrusions. Anomaly detection in Intrusion Detection and Prevent Systems (IDPS) works by establishing a baseline of normal behavior and classifying points that are at a farther distance away as outliers. The result is an “anomaly score”, or how much a point is an outlier. Recent work has been performed which has examined use of anomaly detection in data streams [1]. We propose a new incremental anomaly detection algorithm which is up to 57,000x faster than the non-incremental version while slightly sacrificing the accuracy of results. We conclude that our method …

A Behavior-Reactive Autonomous System To Identify Pokémon Characters, Xu Cao, Bohan Zhang, Jeremy Straub, Eunjin Kim

Jeremy Straub

Pokémon is an entertainment franchise with a large fan base. This project uses well-known Pokémon characters to demonstrate the operations of a question selection system. Presented in the form of a game where the computer attempts to guess the user-selected character, the system attempts to minimize the number of questions required for this purpose by identifying questions that most constrain the decision space. The decision making process is refined based on actual user behavior.

Supervisory Control And Data Acquisition (Scada) Control Optimization, Garrett Johnson, Jeremy Straub, Eunjin Kim

Jeremy Straub

SCADA systems are generally used to monitor and control multiple systems of the same type to allow them to be remotely controlled and monitored. Water plants, for example, could be controlled and monitored by a SCADA system. This project seeks to optimize a SCADA system using Artificial Intelligence. A constraint satisfaction / optimization algorithm is used to maximize performance relative to weighted system goals.

Scheduling Algorithm Development For An Open Source Software And Open Hardware Spacecraft, Calvin Bina, Jeremy Straub, Ronald Marsh

Jeremy Straub

The efficacy of each type of scheduler is assessed rela-tive to the goal of having a time and resource efficient scheduling algorithm. The scheduler must ensure suc-cessful spacecraft operations and maximize the perfor-mance of tasks relative to performance constraints and their respective due dates.

Scada System Security: Accounting For Operator Error And Malicious Intent, Ryan Kilbride, Jeremy Straub, Eunjin Kim

Jeremy Straub

Supervisory control and data acquisition (SCADA) systems are becoming more and more com-monplace in many industries today. Industries are making better use of software and large scale control systems to run efficiently, without the need for large amounts of oversight. Security is a particularly large issue with such systems, however. A human must still be involved to ensure smooth operation in the event of catastrophic system error, or unusual circumstanc-es. Human involvement presents problems: operators could make mistakes, configure the system to operate sub-optimally or take malicious actions. This imple-mentation of SCADA security aims to combat these problems.

Artificial Intelligence Animal Recognition System, Bohan Zhang, Xu Cao, Jeremy Straub, Eunjin Kim

Jeremy Straub

Artificial Intelligence Animal recognition system can be widely used for chil-dren education, zoology database implement. It is known that existing animal classification system can be used to distinguish an animal fairly fast. For example mammals, reptiles, amphibians. Our goal is to implement an AI system which could eliminate the possibility by half or more for which animal the user is thinking by means of asking the player "the best" question for an animal property.

Medical Procedure Expert System, Timothy Whitney, Jeremy Straub, Eunjin Kim

Jeremy Straub

Artificial intelligence is an area of research in computer science that allows for computer systems to make logical decisions based on its environment. This basic ability can be applied to many problems, including detecting abnormalities in a system, such as commands issued by malicious users, or erroneous commands from valid users. The ability to detect such commands is particularly useful in high risk application where such a command could result in harm to people. This research focuses on one such area by applying the decision making power of AI towards a medical use by developing an expert system to detect …

Pattern Recognition And Expert Systems For Microwave Wireless Power Transmission Failure Prevention, Cameron Kerbaugh, Allen Mcdermott, Jeremy Straub, Eunjin Kim

Jeremy Straub

Wireless power transfer (WPT) can be used to deliver space-generated power to ground stations through the use of microwave beams. WPT satellite power delivery systems have two major failure states: misdi-recting a beam and failing to send power to a station. This project has implemented an expert system to perform pattern recognition in an effort to prevent failures by analyzing the system state and predicting potential failures before they happen in support of space-based testing [1] and deployment [2].

Course Outcome Prediction Using An Expert System, Michael Kuehn, Jared Estad, Jeremy Straub, Eunjin Kim

Jeremy Straub

Determining how well a student will perform in a course based on their prior knowledge of the course material and other factors may help determine student placement and the need for remedial instruction. This poster presents work on the creation of an expert system that attempts to predict a student’s performance based on a pre-evaluation test and responses to background preparation questions. This work utilizes data from prior students to train and test the system.

Pattern Recognition For Detecting Failures In Space Solar Power Systems, Allen Mcdermott, Cameron Kerbaugh, Jeremy Straub, Eunjin Kim

Jeremy Straub

This poster covers work relating to the use of expert systems and pattern recognition to attempt to identify, detect and prospectively stop patterns of activity that could potentially lead to failure of a space solar power (SSP) system. A database-based expert system has is presented to identify patterns, which can be used to determine whether a power beam could hit a unintend- ed target and potentially cause a calamity. This has been implemented via a facts-rule network via which supplied and collected facts and a rule set is used to de- termine whether the system is operating correctly (from a …

An Onboard Distributed Multiprocessing System For A Cubesat Spacecraft Created From Gumstix Computer-On-Module Units, Michael Wegerson, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter Small Spacecraft Development Initiative at the University of North Dakota [1] aims to make ac-cess to space for research and educational purposes easier by enabling the creation of low-cost CubeSats. It is creating the Open Prototype for Educational Nanosats (OPEN), a framework for developing a 1-U CubeSat space-craft with a parts cost of less than $5,000 [2]. The designs [3], documentation and computer code from this will be made publically available to enable the development of programs at other institutions.

Considering Scheduling Algorithms For An Open Source Software Spacecraft, Calvin Bina, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter Small Satellite Development Initiative at the University of North Dakota [1] is working make space research and education more accessible world-wide [2], through the design and public release of a complete set of plans, software and other documents (see [3]) for a 1-U CubeSat. This design targets a parts cost of no more than $5,000 [4]. These lowered costs, combined with the efficiencies of the CubeSat form fac-tor [5] and free-to-qualified-developer launch services [6, 7] should facilitate greater access to space for the ed-ucational, research and other communities.

Work Done On The Operating Software For Openorbiter, Dayln Limesand, Timothy Whitney, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter Program aims to develop a tem-plate for a CubeSat spacecraft that can be used world-wide to reduce spacecraft development costs1. Unlike other approaches, which may require $50,000 in upfront hardware costs2 or $250,000 in design expenses2, an OPEN-class spacecraft can be built with a parts budget of under $5,0003. This aims to enable low-cost educa-tional missions and missions in developing regions4.

Detecting Failures In Space Solar Power Systems With Pattern Recognition, Allen Mcdermott, Cameron Kerbaugh, Jeremy Straub

Jeremy Straub

This poster covers work relating to the use of expert systems and pattern recognition to attempt to identify, detect and prospectively stop patterns of activity that could potentially lead to failure of a space solar power (SSP) system. A database-based expert system has is presented to identify patterns, which can be used to determine whether a power beam could hit a unintend-ed target and potentially cause a calamity. This has been implemented via a facts-rule network via which supplied and collected facts and a rule set is used to de-termine whether the system is operating correctly (from a holistic perspective). …

An Expert System For Microwave Wireless Power Transmission Failure Prevention, Cameron Kerbaugh, Allen Mcdermott, Jeremy Straub

Jeremy Straub

Wireless power transfer (WPT) can be used to deliver space-generated power to ground stations through the use of microwave beams. WPT satellite power delivery systems have two major failure states: misdi-recting a beam and failing to send power to a station. This project has implemented an expert system to perform pattern recognition in an effort to prevent failures by analyzing the system state and predicting potential failures before they happen in support of space-based testing [1] and deployment [2].

Scheduling Algorithm Development For An Open Source Software Spacecraft, Calvin Bina, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter project at the University of North Dakota is working to develop a set of designs for a CubeSat class spacecraft as well as a working, modular collection of open source code that can be used by other CubeSat projects as a starting point for development. The availability of these designs and this codebase should foster accelerated development for other CubeSat projects, allowing those projects to focus their effort on their own application area, instead of reinventing the proverbial wheel. One aspect of this is to implement a task scheduler which will run on a Raspberry Pi flight computer …

An Overview Of The Openorbiter Autonomous Operating Software, Dayln Limesand, Timothy Whitney, Jeremy Straub, Ronald Marsh

Jeremy Straub

The OpenOrbiter spacecraft aims to demonstrate the efficacy of the Open Prototype for Educational Nanosats (OPEN) framework. Software is an important part of this framework. This paper discusses the operating software for the spacecraft (which runs on top of the Linux operating system to command spacecraft operations). It presents an overview of this software and then pays particular attention to the aspects of software design that enable onboard autonomy. It also discusses the messaging scheme that is used onboard and the testing and validation plan. Finally, it discusses system extensibility, before concluding.

Swarm Intelligence, A Blackboard Architecture And Local Decision Making For Spacecraft Command, Jeremy Straub

Jeremy Straub

Control of a multi-spacecraft constellation is a topic of significant inquiry, at present. This paper presents and evaluates a command architecture for a multi-spacecraft mission. It combines swarm techniques with a decentralized / local decision making architecture (which uses a set of shared blackboards for coordination) and demonstrates the efficacy of this approach. Under this approach, the Blackboard software architecture is used to facilitate data sharing between craft as part of a resilient hierarchy and the swarm techniques are used to coordinate activity. The paper begins with an overview of prior work on the precursor command technologies and then presents …

Using A Constellation Of Cubesats For In-Space Optical 3d Scanning, Jeremy Straub

Jeremy Straub

The assessment of in-space objects is an area of ongoing research. Characterization of resident space objects (RSOs) can be useful for assessing the operating status of operator-affiliated or non-affiliated space assets, identifying unknown objects or gathering additional details for known objects. Under the proposed approach, a ring-like constellation of CubeSats passes around the target (at a distance) collecting imagery. This imagery is then utilized to create a 3D model of the target. This paper considers several key elements of a constellation to perform this type of imaging, including the constellation design and imaging capabilities required and the astrodynamics relevant to …

Intelligent Water Drops Algorithm For Coordinating Between Cluster Spacecraft In A Communications-Denied Environment, Jeremy Straub

Jeremy Straub

This paper presents a modification of Shah-Hosseini’s Intelligent Water Drops (IWD) technique that can be utilized for collaborative control of multiple spacecraft in environments where communications are limited, intermittent or denied. It presents Shah- Hosseini’s base IWD algorithm as well as refinements thereof, which simplify it, making it more suitable for more computationally constrained environments (such as small spacecraft and UAVs). A framework for testing the proposed approach as well as several implementation impediments are discussed.

The Critical Role Of Cubesat Spacecraft In A Multi-Tier Mission For Mars Exploration, Jeremy Straub

Jeremy Straub

A multi-tier architecture is under development (with similar craft heterogeneity to Fink's work on ‘tier scalable’ missions) which will facilitate autonomous local control of multiple heterogeneous craft. This mission architecture has been developed with a Mars mission in mind and has included CubeSats in a variety of critical mission roles.

Two concepts will be presented: the addition of CubeSats to a larger-scale multi-tier mission, where the CubeSats serve a supporting role and a mission driven by CubeSat orbital capabilities. In the first, CubeSats are utilized to augment the area of spatial coverage that can be obtained and the temporal coverage …

Lexical Based Semantic Orientation Of Online Customer Reviews And Blogs-J-Am Sci 10(8) 143_147--07-June-2014.Pdf, Dr. Muhammad Zubair Asghar

Dr. Muhammad Zubair Asghar

Rapid increase in internet users along with growing power of online review sites and social media hasgiven birth to sentiment analysis or opinion mining, which aims at determining what other people think andcomment. Sentiments or Opinions contain public generated content about products, services, policies and politics.People are usually interested to seek positive and negative opinions containing likes and dislikes, shared by users forfeatures of particular product or service. This paper proposed sentence-level lexical based domain independentsentiment classification method for different types of data such as reviews and blogs. The proposed method is basedon general lexicons i.e. WordNet, SentiWordNet and user …

Of Mills And Machines - Computing Thought Experiments On Consciousness, Aïda Raoult

Aïda Raoult

In this computing-oriented analysis, 5 of the most influential thought experiments on consciousness inspired by the development of A.I. in the 70s-80s are (1) presented as more refined versions of Leibniz’s mill (LM), (2) then reformulated in terms of LM which reveals a divergence in their approach of the mind-body problem; (3) combining this result with computational complexity theory shows the ontological question is less difficult to answer than the causal one. In the end, (4) these considerations participate in the debate over machine consciousness.

Constraint Satisfaction Problem: A Generic Scheduler, Ben Carpenter, Brent Weichel, Jeremy Straub, Eunjin Kim

Jeremy Straub

The task was to create a scheduler that would create a schedule that gets as many of the tasks done as possible while maximizing the total value of the tasks performed. Each task was assigned a value, a priority, and a duration. Each task also had certain times that they could be run, so they couldn’t just be run at any point where they fit. We decided that in order to get a more accurate ordering for the process, we would take the value divided by the duration that way we were less likely to skip over processes that ran …

Dynamic Task Scheduling Problem: Greedy Knapsack Solution, Christian Sandtveit, Darrin Winger, Jeremy Straub, Eunjin Kim

Jeremy Straub

The problem that we worked with was a dynamic scheduling problem. For this problem, we are given a set of tasks to be scheduled in an allotted time slot, so that the total value of the tasks done is maximized. Each task has a duration, value. Each task also has one or more periods in which they can be scheduled. Some tasks can have conflicting time slots that can prevent other tasks from being scheduled. As tasks are assigned time slots it is possible to prevent other tasks from being as-signed a time slot. Looking for ways to minimize the …

Medical Rate Setting: Multi-Curve Approximation And Projection, Darrin Winger, Christian Sandtveit, Jeremy Straub, Eunjin Kim

Jeremy Straub

In order to maximize profit, our approach was to maximize the difference between total revenue and total cost, where total revenue would be larger than total cost. In the problem we are given a series of points, which relates price, cost, profit and quantity. We can calculate the total revenue by multi-plying the price with quantity, and the total cost by multiplying the cost with the quantity. Total profit is calculated by multiplying profit and quantity. We are given 4 initial points, and based on those 4 points we will calculate the point where the profit is currently maximized. Based …

Task Scheduling Problem: Using The Most Constrained Variable Algorithm To Maximize, Jaeden Lovin, Calvin Bina, Jeremy Straub, Eunjin Kim

Jeremy Straub

For this constraint satisfaction problem we needed to schedule a series of tasks to run in a certain order. Each task has a set duration that it must run for and a domain of times during which it can run during. Each task had a value and the goal of the problem was to pick times for the tasks to run in or-der to maximize the total value. We thought of multiple ways to potentially approach this problem, and decided to use some form of the least constraining variable. We would choose the task with the least constraints on other …