Development of an Autonomous and Self Maintenance Machine

点击翻译按钮获取中文摘要

In order to develop an autonomous and self maintenance machine, we proposed a new methodology which incorporates artificial intelligence techniques to mechatronic machines. The results of our research are summarized as follows:1. Development of Models of Machines for Self MaintenanceWe constructed a diagnosis/repair planning reasoner on a personal computer by employing qualitative physics and model based approach. This reasoner succeeded to reason out faults and repair plans from symptoms in the machine and has some advantages; viz., it can reason about unknown faults, it can be applied to many kinds of machines by changing its object model.2. Development of a Prototype Autonomous and Self Maintenance MachineBy combining the above-mentioned reasoner with a mechatronic machine, we developed a prototype autonomous and self maintenance machine. As a result, we clarified the following points:(a) The prototype machine succeeded to recover its functionality against deterioration of parts.(b) The machine failed to recover its functionality against changes of its structure. In order to deal with this kind of fault, we are studying a new methodology for designing a self maintenance machine.3. Proposal of Methodology for Developing an Autonomous and Self Maintenance MachineWe clarified three key points for developing an autonomous and self maintenance machine; viz., arrangement of sensors, arrangement of actuators, and ability of the diagnosis/repair planning reasoner.