Self Monitoring, Failure-Detection and Decision-Making System to Support E-TrashBot (EEPIS Trash Bin Robot) Operations: Preliminary Report

摘要

This paper proposes a self-monitoring and decision-making system which is applied to E-TrashBot (EEPIS Trash Bin Robot) to support its operations in collecting trashes. To support its task, we equipped it with an ability to monitor its availability status by considering the remaining batteries condition and the level of fullness of its bin. A bayesian approach is used to decide when the robot should always works or stop by considering three status: the level of fullness of the bin, the level of battery voltage used by motors, and the level of battery voltage used by the embedded personal computer (PC). The robot is also equipped with an ability to communicate with the operator over internet of things (IoT) which is specifically developed by us using TelegramBot. It can sends its status when the robot decides to stop due to a certain condition or it is experiencing a failure or it is contacted by the operator. Our preliminary experiments show that each sub-system can work as we expected.