Navigation System Fault Diagnosis for Underwater Vehicle

Falkenberg, Thomas; Gregersen, René Tavs; Blanke, Mogens

doi:10.3182/20140824-6-za-1003.00774

Cited by 10 publications

(3 citation statements)

References 21 publications

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“…Their design allows for power supply via an umbilical cable, affording greater flexibility in the number of thrusters utilized compared to other marine platforms and offering the substantial benefit of ease in recovery in the event of a malfunction. Consequently, there has been a vigorous pursuit of research in fault tolerance using remaining thrusters in cases of individual thruster failures [ 23 , 39 , 40 ].…”

Section: Related Work and Backgroundsmentioning

confidence: 99%

Unmanned Surface Vehicle Thruster Fault Diagnosis via Vibration Signal Wavelet Transform and Vision Transformer under Varying Rotational Speed Conditions

Cho,

Park,

Choo

et al. 2024

Sensors

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Among unmanned surface vehicle (USV) components, underwater thrusters are pivotal in their mission execution integrity. Yet, these thrusters directly interact with marine environments, making them perpetually susceptible to malfunctions. To diagnose thruster faults, a non-invasive and cost-effective vibration-based methodology that does not require altering existing systems is employed. However, the vibration data collected within the hull is influenced by propeller-fluid interactions, hull damping, and structural resonant frequencies, resulting in noise and unpredictability. Furthermore, to differentiate faults not only at fixed rotational speeds but also over the entire range of a thruster’s rotational speeds, traditional frequency analysis based on the Fourier transform cannot be utilized. Hence, Continuous Wavelet Transform (CWT), known for attributions encapsulating physical characteristics in both time-frequency domain nuances, was applied to address these complications and transform vibration data into a scalogram. CWT results are diagnosed using a Vision Transformer (ViT) classifier known for its global context awareness in image processing. The effectiveness of this diagnosis approach was verified through experiments using a USV designed for field experiments. Seven cases with different fault types and severity were diagnosed and yielded average accuracy of 0.9855 and 0.9908 at different vibration points, respectively.

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Section: Related Work and Backgroundsmentioning

confidence: 99%

Unmanned Surface Vehicle Thruster Fault Diagnosis via Vibration Signal Wavelet Transform and Vision Transformer under Varying Rotational Speed Conditions

Cho,

Park,

Choo

et al. 2024

Sensors

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show abstract

“…For instance, a switching-mode hidden Markov model was used to describe the faulty system, and a particle filter was adopted to isolate the faults [ 18 ]; the Fossen model was used to describe the ODIN AUV, and a dedicated bank of scalar filters based on the nonlinear geometric approach was built to simultaneously detect and isolate the actuator faults [ 19 ]. Some other research findings adopted the sliding-mode approach [ 20 ], structural analysis [ 21 ], improved Gaussian particle filtering [ 22 ], adaptive-threshold observing [ 23 ], generalized-likelihood-ratio comparison [ 24 ], and Livingstone 2 diagnosis engine [ 25 ]. Performance of the model-based FD is restricted by the model accuracy, which relies on expert knowledge.…”

Section: Introductionmentioning

confidence: 99%

Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles

Liu

Yan

Luo

et al. 2021

Sensors

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To ensure the mission implementation of Autonomous Underwater Vehicles (AUVs), faults occurring on actuators should be detected and located promptly; therefore, reliable control strategies and inputs can be effectively provided. In this paper, faults occurring on the propulsion and attitude control systems of a torpedo-shaped AUV are analyzed and located while fault features may induce confusions for conventional fault localization (FL). Selective features of defined fault parameters are assorted as necessary conditions against different faulty actuators and synthesized in a fault tree subsequently to state the sufficiency towards possible abnormal parts. By matching fault features with those of estimated fault parameters, suspected faulty sections are located. Thereafter, active FL strategies that analyze the related fault parameters after executing purposive actuator control are proposed to provide precise fault location. Moreover, the generality of the proposed methods is analyzed to support extensive implementations. Simulations based on finite element analysis against a torpedo-shaped AUV with actuator faults are carried out to illustrate the effectiveness of the proposed methods.

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“…With special elimination, the given control input equations are reformed to contain only a set of chosen thrusters, and a redundant equation exists in each subset of control input equations corresponding to a destroyed redundant relation, which could produce an error equation. Consistency check can be carried out through checking all these errors from the error equations, 14,15 where the chosen set coincided with 0 error all the time contains all the faulty thrusters, and the corresponding reformed control equations will present these thrusters and fault magnitude.…”

Section: Introductionmentioning

confidence: 99%

Fault isolation of thrusters under redundancy in frame-structure unmanned underwater vehicles

Liu

et al. 2018

International Journal of Advanced Robotic Systems

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This article deals with fault isolation issue for the redundant thrusters of frame-structure unmanned underwater vehicles (UUVs). Consistency check is adopted to accomplish this task while solving the reformed control input equations that are produced after getting rid of some fault-free terms from the given equations. Specially selected column vectors from the given control matrix together with the corresponding hypothetical thrust output faults are taken as the known/unknown elements for these equations. Redundant relations among the thrusters support the vector selection, which are revealed by analyzing the maximally linearly independent vectors of the given control matrix. Simulation with faulty thrusters under redundancy in a frame-structure unmanned underwater vehicle illustrates the effectiveness of the proposed methodologies.

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Navigation System Fault Diagnosis for Underwater Vehicle

Cited by 10 publications

References 21 publications

Unmanned Surface Vehicle Thruster Fault Diagnosis via Vibration Signal Wavelet Transform and Vision Transformer under Varying Rotational Speed Conditions

Unmanned Surface Vehicle Thruster Fault Diagnosis via Vibration Signal Wavelet Transform and Vision Transformer under Varying Rotational Speed Conditions

Active Fault Localization of Actuators on Torpedo-Shaped Autonomous Underwater Vehicles

Fault isolation of thrusters under redundancy in frame-structure unmanned underwater vehicles

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