Title :
Adding diagnostics to intelligent robot systems
Author :
Chandrababu, Sneha ; Christensen, Henrik I.
Author_Institution :
Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
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.
Keywords :
belief networks; control engineering computing; industrial robots; intelligent robots; object-oriented programming; Bayesian network; industrial robot; intelligent robot; mobile manipulation; nonfunctional robot; object oriented software; plug-n-play; robot diagnosis; robot system; suboptimal performance; system module; Bayesian methods; Decision trees; Diagnostic expert systems; Expert systems; Intelligent networks; Intelligent robots; Knowledge based systems; Object oriented modeling; Printers; USA Councils; Bayesian network; Diagnostics; Intelligent Robotics; Quantitative Modeling; Troubleshooting;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354626
