Before revision:  We  analyze the mission status and diagnostics of critical sub-systems within the robot to provide automatic updates to our  run-time reliability ontology , enabling faults to be translated into failure modes for decision making during the mission.
After revision:  We analyze the mission status and diagnostics of critical sub-systems within the robot to provide automatic updates to our run-time reliability ontology . This enables faults to be translated into failure modes for decision making during the mission.