Development of a Mobile Robot Test Platform and Methods for Validation of Prognostics-Enabled Decision Making Algorithms

As fault diagnosis and prognosis systems in aerospace applications become more capable, the ability to utilize information supplied by them becomes increasingly important. While certain types of vehicle health data can be effectively processed and acted upon by crew or support personnel, others, due to their complexity or time constraints, require either automated or semi-automated reasoning. Prognostics-enabled Decision Making (PDM) is an emerging research area that aims to integrate prognostic health information and knowledge about the future operating conditions into the process of selecting subsequent actions for the system. The newly developed PDM algorithms require suitable software and hardware platforms for testing under realistic fault scenarios. The paper describes the development of such a platform, based on the K11 planetary rover prototype. A variety of injectable fault modes are being investigated for electrical, mechanical, and power subsystems of the testbed, along with methods for data collection and processing. In addition to the hardware platform, a software simulator with matching capabilities has been developed. The simulator allows for prototyping and initial validation of the algorithms prior to their deployment on the K11. The simulator is also available to the PDM algorithms to assist with the reasoning process. A reference set of diagnostic, prognostic, and decision making algorithms is also described, followed by an overview of the current test scenarios and the results of their execution on the simulator.

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