Abstract: Disclosed herein are systems, methods, and computer program products for operating a robotic system. For example, the methods include by a processor: receiving a plurality of first signals that each comprise data produced by at least two sources of the robotic system and first keys respectively defined by identifiers for the at least two sources; generating second signals derived from the plurality of signals; combining second keys of the second signals to produce a third key; detecting an existence of an operational condition in the robotic system when the third key has a value different than an expected value; and causing a given action to be taken by the robotic system responsive to the existence of the operational condition.

Abstract: Disclosed herein are systems, methods, and computer program products for operating a robotic system. For example, the methods include by a processor: receiving a plurality of first signals that each comprise data produced by at least two sources of the robotic system and first keys respectively defined by identifiers for the at least two sources; generating second signals derived from the plurality of signals; combining second keys of the second signals to produce a third key; detecting an existence of an operational condition in the robotic system when the third key has a value different than an expected value; and causing a given action to be taken by the robotic system responsive to the existence of the operational condition.

Abstract: 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.

Abstract: A robotic system simultaneously monitors multiple processes running on the robotic system in an efficient manner that can help reduce communication and processing resource requirements. A diagnostic service of the robotic system receives primary signals from multiple tasks operating in the robotic system. For each of the primary signals, the service performing a first instance of a function on the primary signal to create a first derived signal for the primary signal. For each of the primary signals that is a keyed signal and associated with a multivalent key, the service will create an additional instance of the function to create an additional derived signal for each additional valence. The service will then using the each instance of the function to create an aggregated signal, and it will use the aggregated signal to simultaneously monitor each of the processes running on the robotic system.

Abstract: A robotic system simultaneously monitors multiple processes running on the robotic system in an efficient manner that can help reduce communication and processing resource requirements. A diagnostic service of the robotic system receives primary signals from multiple tasks operating in the robotic system. For each of the primary signals, the service performing a first instance of a function on the primary signal to create a first derived signal for the primary signal. For each of the primary signals that is a keyed signal and associated with a multivalent key, the service will create an additional instance of the function to create an additional derived signal for each additional valence. The service will then using the each instance of the function to create an aggregated signal, and it will use the aggregated signal to simultaneously monitor each of the processes running on the robotic system.

Abstract: 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.