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The final assembly of the test rig was completed in January 1999 (see Figure 1). The test rig incorporated a wheel motor typical of those used for hydraulic robots, and allowed wheel motor loading at expected operating conditions. The rig included instrumentation, as shown in Figure 2, for acquisition of key parameters for both unfaulted baseline and inserted fault runs.Checkout of the test rig was accomplished in two phases. In the first phase, only the wheel motor was connected to the hydraulic supply and the driven pump disconnected. With the rig in this configuration, operation of the wheel motor control loop and the monitoring and diagnostic (M&D) data acquisition system was verified. In the second phase, the driven pump was connected to the wheel motor and the operation of the rig under load was confirmed and unfaulted baseline data were acquired.