AN INTELLIGENT FRAMEWORK FOR PROACTIVE HEALTH ANALYSIS AND MONITORING OF AUTONOMOUS MOBILE ROBOTS By WALTER JOHN WALTZ A DISSERTATION PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY UNIVERSITY OF FLORIDA 2019 © 2019 Walter John Waltz To my wife and my parents ACKNOWLEDGMENTS Pursuing this Ph.D. has been an incredibly long journey, with many people to be grateful for. First and foremost, I thank my amazing and supportive wife Zeryna Waltz for being my constant companion during the late nights, sacrifices made, and an incredibly helpful sounding board to outlandish ideas. My parents, Walter and Alyson Waltz, I am thankful for their guidance, lifelong support and encouragement, and blind faith when I had none. My research has followed me through my professional career, picking up genius wherever possible. I am unable to thank everyone here that aided me. My friends at the US Army Combat Readiness Center and US Army Aeromedical Research Laboratory at Fort Rucker supported me with their enthusiasm and helped me discover my passion for data sciences and databases. I also thank my friends in the Autonomy Incubator at NASA who provided their expertise, insight, and patience. I will forever appreciate my lab mates in CIMAR who helped me start this endeavor. I would also like to express my gratitude to Dr. Carl Crane who enabled this opportunity and started me down this path. Finally, I thank my committee Dr. John Schueller, Dr. Scott Banks, and Dr. Paul Gader for their encouragement, leadership, and support. 4 TABLE OF CONTENTS page ACKNOWLEDGMENTS .................................................................................................. 4 LIST OF TABLES ............................................................................................................ 8 LIST OF FIGURES .......................................................................................................... 9 LIST OF ABBREVIATIONS ........................................................................................... 13 ABSTRACT ................................................................................................................... 16 CHAPTER 1 INTRODUCTION .................................................................................................... 18 Background ............................................................................................................. 19 History .............................................................................................................. 19 CBM / PHM ................................................................................................ 19 IVHM .......................................................................................................... 19 Project Lifecycle for Health Monitoring ............................................................. 20 Models .............................................................................................................. 22 Diagnostics ....................................................................................................... 22 Prognostics ....................................................................................................... 24 Decision Making ............................................................................................... 25 Problem Statement ................................................................................................. 26 Proposed Health Strategy for Autonomous Mobile Robots ..................................... 27 Focus ...................................................................................................................... 30 Motivation ............................................................................................................... 31 Research Solution .................................................................................................. 32 2 LITERATURE REVIEW .......................................................................................... 49 Robotic Information Systems .................................................................................. 49 Robot Data Management and Abstraction .............................................................. 52 Onboard Database Design and Uses ............................................................... 52 Cloud-Based Collection Methods and Knowledge Extraction ........................... 56 Degradation and Health Monitoring ........................................................................ 61 Data-Driven Diagnostics ................................................................................... 61 Adaptive Control ............................................................................................... 63 RUL .................................................................................................................. 65 Techniques for Continuous Improvement Strategies ........................................ 67 Requirements ......................................................................................................... 69 Database Design .............................................................................................. 69 Robot Assumptions and Criteria ....................................................................... 71 5 3 ROBOTMD ............................................................................................................. 80 Data Structure and Initialization .............................................................................. 80 Dictionary ......................................................................................................... 81 Robot Registration ............................................................................................ 82 Data Warehouse .............................................................................................. 84 Configuration Management ..................................................................................... 85 Events .............................................................................................................. 85 Baselines .......................................................................................................... 86 Data Retrieval and Processing ......................................................................... 86 Health Assessments ......................................................................................... 87 Model file structure ..................................................................................... 87 Parameter estimation guidelines ................................................................ 88 Cross-validation ......................................................................................... 89 Parameters and Degradation Ontology .................................................................. 90 Ontology ........................................................................................................... 91 Workflows ......................................................................................................... 92 4 EXPERIMENTS .................................................................................................... 105 LiZARD Initialization with RobotMD ...................................................................... 105 Workflows ....................................................................................................... 107 Experiment Setup ........................................................................................... 108 Experiment 1: Motor Degradation ......................................................................... 108 System Assessment ....................................................................................... 109 Parameter Assessment .................................................................................. 110 Experiment 1 Conclusion................................................................................ 112 Experiment 2: Simulated Degradation .................................................................. 113 Assessment and Analysis ............................................................................... 113 Experiment 2 Conclusion................................................................................ 114 5 CONCLUSION ...................................................................................................... 174 Summary of Experiments ...................................................................................... 174 Future Work .......................................................................................................... 174 Implementation ............................................................................................... 174 Approach ........................................................................................................ 175 Data Analysis ................................................................................................. 176 Final Remarks ....................................................................................................... 177 APPENDIX A APPLICATION ...................................................................................................... 178 Robot Details ........................................................................................................ 178 Record Events .....................................................................................................