Knowledge Representation and Reasoning for Fault Identification in a Space Robot Arm

Abstract

' rhe c-onst,rnct,ion of diagnostic systems able to manage tasks like fault det,ection, fault localization or fault identificat.ion in autonomous \pacecraft is currently considered a txg c-hallenge for Artific~al Intell~gence technique:, I11 the present paper we report on thc work done inside a project sponsored 11y AS1 ( the Italian Space Agency) aimed a t h ~ ~ i l d i n g an intelliger~t multi-agent syst e ~ n for the control and superv~sion of thc Sl'IDF:I< Manipulation Systerri with some for111 of int,eract,ion with the human operat.os. I I I part,icular, we will discuss knowledge represe~lt.at,ion and reasoning issues related to t hc cmlst,ruct,ion of a modcl-based diagnost ic c~omponent which has t,o co-operate \vit,ll ot8her modules of the ~ y s t ~ e m . A11 indrpt,h analysis of FMECA docunlent~s has