Method and system for real-time diagnostics and fault monitoring in a robotic system

摘要

To determine a cause of a fault in a robotic system, a diagnostic service of the robotic system will receive primary signals from various processes running on the robotic system. The service will access a graph representation of functions as stored in memory, and the service will perform the functions on one or more of the primary signals to yield one or more derived signals. A sink of the robotic system will subscribing to a causal trace that includes a value for a specified one of the derived signals and an identification of each signal from which the specified derived signal was derived. During runtime, the sink will receive updates to the causal trace as the value for the specified derived signal changes. The diagnostic service will use the causal trace to identify a process that caused the fault.