As the number of the satellite increase, there is an emergent need to operate satellites with less efforts. The University of Tokyo developed autonomous functions of on-board software for goal-oriented robust operations. They can cope with anomalies by themselves, without relying on ground operations. They have state transition model and can search for the commands continuously to achieve a goal given by the ground operators, even if the satellite status unexpectedly modified by the anomalies. We have implemented them in the 3U cubesat to demonstrate an ‘on-demand’ operation, an operation capturing a target image without ground operations during the first orbit cycle just after the launch. The satellite launched in February and we successfully demonstrated the autonomous functions on-orbit. We will continuously upgrade them for other cubesats and a small synthetic aperture radar satellite. Both of them will be launched during next year.