用于机器人操作系统（ROS）的预测和健康管理（PHM）工具
Prognostic and Health Management (PHM) tool for Robot Operating System (ROS)
摘要：
如今，自动感知系统越来越多地用于许多系统中，它是维持自治的关键。所有的工程系统，特别是机器人，都不是完美的。在一定的时间内没有故障是完美的系统，这在实践中是不可能的。在所有的工程工作中，我们必须设法预测或尽量减少/防止系统中的故障。系统中的故障通常是未知的，因此通过预测过程来预测这些故障和系统的可靠性。可靠性分析对于提高系统性能、延长系统寿命等具有重要意义。预测和健康管理（PHM）包括可靠性、安全性、预测性故障检测/隔离、高级诊断/故障分析、组件生命周期跟踪、健康报告和信息管理。本研究提出了一个开源的机器人预测和健康管理工具，使用基于模型的方法，即“ROS的预测和健康管理工具”。此工具是一个通用的工具，用于任何类型的机器人（移动机器人，机器人手臂，无人机等）与ROS兼容。该工具的一些功能是管理/监控机器人的健康状况，RUL，任务完成概率（PoTC）等用户能够输入必要的方程和组件信息（危险率，机器人配置等）。PHM工具和其他传感数据，如温度，湿度，压力，负载等，除了这些，一个案例研究进行移动机器人（OTA）使用此工具。
英文摘要：
Nowadays, prognostics-aware systems are increasingly used in many systems and it is critical for sustaining autonomy. All engineering systems, especially robots, are not perfect. Absence of failures in a certain time is the perfect system and it is impossible practically. In all engineering works, we must try to predict or minimize/prevent failures in the system. Failures in the systems are generally unknown, so prediction of these failures and reliability of the system is made by prediction process. Reliability analysis is important for the improving the system performance, extending system lifetime, etc. Prognostic and Health Management (PHM) includes reliability, safety, predictive fault detection / isolation, advanced diagnostics / prognostics, component lifecycle tracking, health reporting and information management, etc. This study proposes an open source robot prognostic and health management tool using model-based methodology namely "Prognostics and Health Management tool for ROS". This tool is a generic tool for using with any kind of robot (mobile robot, robot arm, drone etc.) with compatible with ROS. Some features of this tool are 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 these, a case study is conducted for the mobile robots (OTA) using this tool.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
