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Diagnostic System for Autonomous Robots in Space

A prototype for a diagnostic agent has been developed within the framework of a project supported by ASI (Agenzia Spaziale Italiana) devoted to autonomous space robots applications. The software system has been developed using the SPIDER robotic arm (built by Tecnospazio and ASI) as reference domain and makes use of Artificial Intelligence techniques, in particular model-based reasoning. Currently, the prototype (written in Java) is composed of three main modules:

• a simulator which is able to injects faults in the model and predict observations in order to automatically generate coherent diagnostic problems
• a diagnostic module which computes the diagnoses for the cases generated with the simulator
• a GUI front-end to both the simulator and diagnostic module for user-friendly interaction with the system