Development of an Autonomous and Self Maintenance Machine

为了开发一种自主、自维护的机器，我们提出了一种将人工智能技术融入到机电一体化机器中的新方法。本论文的研究成果概括如下：1.自维修机械模型的建立我们利用定性物理和基于模型的方法，在个人计算机上建立了诊断/维修计划推理机。该推理机成功地从机器的故障征兆中推理出故障和维修方案，具有一定的优点，即可以对未知故障进行推理，通过改变对象模型，可以适用于多种机器。自主自维修机样机的研制将上述推理机与一台机电一体化机械相结合，研制出一台自主自维护机样机。因此，我们澄清了以下几点：(A)原型机在部件劣化的情况下成功地恢复了其功能。(B)机器在其结构发生变化的情况下未能恢复其功能。为了处理这种故障，我们正在研究一种新的设计方法来设计一台自动维修机。自主自维护机械研制方法论的建议我们阐明了自主自维护机械研制的三个关键问题，即传感器的布置、执行器的布置和诊断/维修规划推理机的能力。

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.