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A Mobile Robot Testbed for Prognostics-Enabled Autonomous Decision Making

Metadata Updated: December 7, 2023

The ability to utilize prognostic system health information in operational decision making, especially when fused with information about future operational, environmental, and mission requirements, is becoming desirable for both manned and unmanned aerospace vehicles. A vehicle capable of evaluating its own health state and making (or assisting the crew in making) decisions with respect to its system health evolution over time will be able to go further and accomplish more mission objectives than a vehicle fully dependent on human control. This paper describes the development of a hardware testbed for integration and testing of prognostics-enabled decision making technologies. Although the testbed is based on a planetary rover platform (K11), the algorithms being developed on it are expected to be applicable to a variety of aerospace vehicle types, from unmanned aerial vehicles and deep space probes to manned aircraft and spacecraft. A variety of injectable fault modes is being investigated for electrical, mechanical, and power subsystems of the testbed. A software simulator of the K11 has been developed, for both nominal and off-nominal operating modes, which allows prototyping and validation of algorithms prior to their deployment on hardware. The simulator can also aid in the decision-making process. The testbed is designed to have interfaces that allow reasoning software to be integrated and tested quickly, making it possible to evaluate and compare algorithms of various types and from different sources. Currently, algorithms developed (or being developed) at NASA Ames - a diagnostic system, a prognostic system, a decision-making module, a planner, and an executive - are being used to complete the software architecture and validate design of the testbed.

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Public: This dataset is intended for public access and use. License: No license information was provided. If this work was prepared by an officer or employee of the United States government as part of that person's official duties it is considered a U.S. Government Work.

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Metadata Created Date November 12, 2020
Metadata Updated Date December 7, 2023
Data Update Frequency irregular

Metadata Source

Harvested from NASA Data.json

Additional Metadata

Resource Type Dataset
Metadata Created Date November 12, 2020
Metadata Updated Date December 7, 2023
Publisher Dashlink
Identifier DASHLINK_935
Data First Published 2015-07-31
Data Last Modified 2020-01-29
Public Access Level public
Data Update Frequency irregular
Bureau Code 026:00
Metadata Context
Metadata Catalog ID
Schema Version
Catalog Describedby
Harvest Object Id 8c73a300-35e5-46c7-b9fc-8b63ac92852c
Harvest Source Id 58f92550-7a01-4f00-b1b2-8dc953bd598f
Harvest Source Title NASA Data.json
Homepage URL
Program Code 026:029
Source Datajson Identifier True
Source Hash 2460ae2525ea7424a0da3574bb1660a737d82512f96451e2b03b7b7f1d8be74e
Source Schema Version 1.1

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