A Design Methodology for Self-Maintenance Machines

Abstract

This paper proposes a design methodology for self-maintenance machines. The self-maintenance machine is a machine that can maintain its functions for a while, even though faults happen. In order to achieve capabilities for diagnosing and repair planning, a model based approach that employs qualitative physics is proposed. Regarding repair execution, two types of repair strategies are proposed; viz., control type and functional redundancy type which is a strategy to add redundancy to a machine from a viewpoint of function. A prototype of the self-maintenance machine is developed. Because this machine uses the control type of repair strategy, it succeeded to maintain its functions as far as its structure does not change. A promising candidate for dealing with faults that involve structural changes is the functional redundancy type of repair.