Method and apparatus for health assessment of a transport apparatus

A health assessing apparatus for assessing a health of a system including a transport apparatus, the health assessing apparatus comprising:

• a registration system communicably coupled to a transport apparatus controller of the transport apparatus, the registration system being configured to:
• register predetermined operating data embodying at least one dynamic performance variable output by at least one apparatus component of the transport apparatus effecting a predetermined pose command base set of predetermined base commands of the transport apparatus, and
• register predetermined operating data embodying at least one dynamic performance variable output by the at least one apparatus component effecting another predetermined pose command set;
• a resolver communicably coupled to the transport apparatus controller, the resolver being configured to:
• resolve from the at least one apparatus component in situ process commands of the apparatus controller, where in situ process effected by the at least one apparatus component map to the predetermined base commands of the predetermined command base set, and
• define with the mapped in situ process the other predetermined pose command set of the transport apparatus that corresponds to the transport apparatus of the predetermined pose command base set;
• and
• a processor communicably coupled to the registration system, the processor being configured to:
• determine a base value characterized by a probability density function of each of the dynamic performance variable output by the at least one apparatus component for each command of the predetermined pose command base set, and
• determine another value characterized by the probability density function of each of the dynamic performance variable output by the at least one apparatus component effecting the mapped in situ process of the other predetermined pose command set for comparison of the other value with the base value and assessing the health of the transport apparatus based on the comparison.