Adding diagnostics to intelligent robot systems

Robot systems are increasing in complexity. Trying to diagnose a robot that is non-functional or exhibiting suboptimal performance can be a major challenge. A framework for plug-n-play addition of diagnostics to modules in an object oriented software framework is presented. The methods for modeling...

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Bibliographic Details
Main Authors: Chandrababu, S., Christensen, H.I.
Format: Conference Proceeding
Language:English
Subjects:
Bayesian methods
Bayesian network
Decision trees
Diagnostic expert systems
Diagnostics
Expert systems
Intelligent networks
Intelligent Robotics
Intelligent robots
Knowledge based systems
Object oriented modeling
Printers
Quantitative Modeling
Troubleshooting
USA Councils
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Description
Summary:Robot systems are increasing in complexity. Trying to diagnose a robot that is non-functional or exhibiting suboptimal performance can be a major challenge. A framework for plug-n-play addition of diagnostics to modules in an object oriented software framework is presented. The methods for modeling of system modules, their transition to a Bayesian model and final implementation are described. The methodology is exemplified for a mobile manipulation system and experimental results are presented.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354626