Autonomous Robots for Space: Trajectory Learning and Adaptation Using Imitation.

This paper adds on to the on-going efforts to provide more autonomy to space robots and introduces the concept of programming by demonstration or imitation learning for trajectory planning of manipulators on free-floating spacecraft. A redundant 7-DoF robotic arm is mounted on small spacecraft dedicated for debris removal, on-orbit servicing and assembly, autonomous and rendezvous docking. The motion of robot (or manipulator) arm induces reaction forces on the spacecraft and hence its attitude changes prompting the Attitude Determination and Control System (ADCS) to take large corrective action. The method introduced here is capable of finding the trajectory that minimizes the attitudinal changes thereby reducing the load on ADCS. One of the critical elements in spacecraft trajectory planning and control is the power consumption. The approach introduced in this work carry out trajectory learning offline by collecting data from demonstrations and encoding it as a probabilistic distribution of trajectories. The learned trajectory distribution can be used for planning in previously unseen situations by conditioning the probabilistic distribution. Hence almost no power is required for computations after deployment. Sampling from a conditioned distribution provides several possible trajectories from the same start to goal state. To determine the trajectory that minimizes attitudinal changes, a cost term is defined and the trajectory which minimizes this cost is considered the optimal one.

Time course of cortical response complexity during extended wakefulness and its differential association with vigilance in young and older individuals.

Characterization of the complexity of electroencephalogram (EEG) responses has provided important insights in cognitive function as well as in the brain bases of consciousness and vigilance. Whether brain response complexity changes during prolonged wakefulness and sleep deprivation -when vigilance level considerably varies- is not fully elucidated yet. In the present study, we repeatedly assessed EEG responses to transcranial magnetic stimulation (TMS) over 34 h of sleep deprivation under constant routine conditions in healthy younger (N = 13; 5 women; 18-30 y) and older (N = 12; 6 women; 50-70 y) individuals, while they were performing a vigilance task. Response complexity was computed both at the global (all scalp sensors) and local (sensors surrounding TMS hotspot) levels using the Lempel-Ziv algorithm. Response complexity was significantly higher in the older compared to the young volunteers over the entire protocol. Global complexity response significantly changed with time spent awake, with an increasing trend from the beginning to the middle of the biological night, followed by a decreasing trend from the middle of the biological night to the following afternoon. An unexpected different link between vigilance performance and brain response complexity was detected across age groups: higher response complexity was associated with lower performance in the older group, particularly in the morning sessions. These findings show that cortical activity complexity changes with vigilance variation, as experienced during sleep deprivation and circadian misalignment, in two age groups, with no evident time course difference across age-groups. Aside from classical linear EEG analyses, computation of Lempel-Ziv complexity provides additional insights on the neurophysiology of the processes associated with vigilance and their modifications throughout ageing.