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A Model-Based Expert System for the Diagnosis of Faults in a Robot System for Cleaning Castings

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Expert Systems and Robotics

Part of the book series: NATO ASI Series ((NATO ASI F,volume 71))

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Abstract

This contribution presents an Expert System which has been developed within a joint project of the University of Karlsruhe and the Nuclear Research Center Karlsruhe.The long term goal of this cooperation is to develop a generic tool for the diagnosis of faults of technical systems. In order to make such a tool generic enough to be easily adaptable to new applications, a deep-reasoning approach has been developed. A prototype of the system has been implemented using the Knowledge Craft (TM) environment The prototype has been tested with industrial robots of UNIMATION, Inc. and is currently being applied to the much more complex COMETOS system for the cleaning of large castings consisting of several robots, end—effectors, sensors and different controllers. Both applications are described.

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Literature

  1. Hammes, D., Hörmann, K.: “Expertensystem zur Diagnose technischer Anlagen und Werkzeuge zu ihrer Entwicklung”. Bericht zum Stand der Forschung, Universität Karlsruhe, 1988.

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  2. Hammes, D., Hörmann, K.: “Entwicklung eines Expertensystems zur Diagnose von Fehlfunktionen an Handhabungssystemen”. Abschlußbericht für das Projekt zwischen der Kernforschungszentrum Karlsruhe GmbH und der Universität Karlsruhe, 1989.

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  3. Hübner, T., Hörmann, K., Cord, T.: “Entwicklung eines Expertensystems zur Diagnose von Fehlfunktionen eines Handhabungssystems zum Putzen großer Gußstücke. Abschlußbericht, Universität Karlsruhe, 1989.

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  4. de Kleer, J., Williams, B. C.: “Diagnosing Multiple Faults”. Artificial Intelligence 32 (1987) 97–130.

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  5. Reiter, R.: “A Theory of Diagnosis from First Principles”. Artificial Intelligence 32 (1987) 57–95.

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Author information

Authors and Affiliations

  1. Institute for Realtime Computer Systems and Robotics, Research Group Prof. Dr.-Ing. U. Rembold, University of Karlsruhe, Postfach 6980, D-7500, Karlsruhe, 1, Germany

    Thomas Hübner & Klaus Hörmann

Authors
  1. Thomas Hübner
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  2. Klaus Hörmann
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, California State University, 1250 Bellflower Boulevard, 90840-5005, Long Beach, CA, USA

    Timothy Jordanides

  2. Department of Mechanical Engineering, California State University, 1250 Bellflower Boulevard, 90840-5005, Long Beach, CA, USA

    Bruce Torby

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© 1991 Springer-Verlag Berlin Heidelberg

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Hübner, T., Hörmann, K. (1991). A Model-Based Expert System for the Diagnosis of Faults in a Robot System for Cleaning Castings. In: Jordanides, T., Torby, B. (eds) Expert Systems and Robotics. NATO ASI Series, vol 71. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-76465-3_35

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  • DOI: https://doi.org/10.1007/978-3-642-76465-3_35

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-76467-7

  • Online ISBN: 978-3-642-76465-3

  • eBook Packages: Springer Book Archive

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