This FTP proposes development of an infrastructure for robot prognostic and health management tool using model-based methodology namely” Prognostics and Health Management tool for ROS”. This tool will be responsible for managing / monitoring robots’ health, RUL, probability of task completion (PoTC) etc. User is able to enter the necessary equations and components information (hazard rates, robot configuration etc.) to the PHM tool and the other sensory data like temperature, humidity, pressure, load etc. In addition to this, a PHM package will be developed for the Mobile Robots using this tool.
In this study, Milestone 1 which is algorithm development is completed successfully. The other milestones which are MS-2 Prognostics and Health Management (PHM) Tool development and MS-3 PHM package for Mobile Robots are under development.
In MS-2, ROS packages and Human-Machine Interfaces (HMI) will be developed for developed algorithms in the first milestone. Besides, ROS topics, required message types will be generated for the nodes. HMI will be developed by using QT and will contain customized interfaces like user robot configuration setup sub-tool, analysis sub-tool, algorithm selection / implementation sub-tool, create formula sub-tool, reliability analysis sub-tool, anomaly detection sub-tool, health monitoring sub-tool etc. Besides, user could generate special interfaces by using RQT and other developed sub-tools. The other ROS packages will be implemented as generic packages for inputs from user, pre-defined configuration or algorithms.
In MS-3 PHM package for Mobile Robots will be developed to show the effectiveness of PHM tool. Mobile robots are selected because we have expertise on this area. PHM package for Mobile robots will contain nodes, launch files, formulas, special robot configuration file, rosbag files for sensory information of mobile robot.
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