Application of a modeling approach on a cyber-physical system 'RobAIR'

摘要

This paper proposes a new method of fault diagnosis of cyber-physical systems (CPS). The complexity of these systems in heterogeneous technologies require elaborate diagnostic techniques and maintenance. We illustrate our methodology on a telepresence robot "RobAIR" as an example of CPS. First, we applied a knowledge modeling approach on this case study through the representation of four types of knowledge: functional, structural, topological and behavioral. These representations are achieved using a modeling tool "Papyrus". Secondly, from knowledge representation, three algorithms for detection and fault identification are proposed to remove the ambiguity in functions and components. These algorithms will be explained through the RobAIR example.