  Nowadays, prognostics-aware systems are increasingly used in many systems and
it is critical for sustaining autonomy. All engineering systems, especially
robots, are not perfect. Absence of failures in a certain time is the perfect
system and it is impossible practically. In all engineering works, we must try
to predict or minimize/prevent failures in the system. Failures in the systems
are generally unknown, so prediction of these failures and reliability of the
system is made by prediction process. Reliability analysis is important for the
improving the system performance, extending system lifetime, etc. Prognostic
and Health Management (PHM) includes reliability, safety, predictive fault
detection / isolation, advanced diagnostics / prognostics, component lifecycle
tracking, health reporting and information management, etc. This study proposes
an open source robot prognostic and health management tool using model-based
methodology namely "Prognostics and Health Management tool for ROS". This tool
is a generic tool for using with any kind of robot (mobile robot, robot arm,
drone etc.) with compatible with ROS. Some features of this tool are managing /
monitoring robots' health, RUL, probability of task completion (PoTC) etc. User
is able to enter the necessary equations and components information (hazard
rates, robot configuration etc.) to the PHM tool and the other sensory data
like temperature, humidity, pressure, load etc. In addition to these, a case
study is conducted for the mobile robots (OTA) using this tool.
