On the Reliability of the Autosub Autonomous Underwater Vehicle

Griffiths, Gwyn; Millard, N.W.; McPhail, S.D.; Stevenson, Peter; Challenor, Peter

doi:10.3723/175605403783101612

Cited by 32 publications

(23 citation statements)

References 10 publications

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“…As ocean monitoring becomes more dependent on undersea gliders it becomes imperative to have a risk informed process for managing the deployment of these vehicles. However, whilst the reliability of propelled autonomous underwater vehicles has been studied in detail [9][10] [11], to this date the only detailed analysis of undersea glider reliability based on independent user data is presented in [12]. In this paper the authors built a risk profile for five undersea gliders based on user data.…”

Section: Introductionmentioning

confidence: 99%

Ocean coverage management process for gliders operations

Brito

Smeed

Griffiths

2013

2013 MTS/IEEE OCEANS - Bergen

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Undersea gliders have the capability of travelling further than conventional propelled autonomous vehicles. Their long endurance enables marine scientists to perform in situ observations in a sustainable way, which thus far has only been possible with moorings and surface vessels. In terms of functionality undersea gliders can meet the desired observation requirement. However, previous reliability analyses have shown that, from the user perspective, the undersea glider mean time between failures is lower than the maximum vehicle endurance. As a result an ocean coverage process for supporting decision making concerning undersea glider deployments is needed in order to ensure that the target ocean coverage is met. This paper proposes a coverage management process tailored to undersea glider operation (CMP-glider). The process guides the undersea glider user through a sequence of steps in which the number of undersea gliders, their mission lengths and number of missions are selected for a given ocean coverage target. We provide a case study showing the application of the proposed process.

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Section: Introductionmentioning

confidence: 99%

Ocean coverage management process for gliders operations

Brito

Smeed

Griffiths

2013

2013 MTS/IEEE OCEANS - Bergen

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“…Experimental feedbacks and mission sequence analysis of unmanned mobile robots in the field have generally demonstrated that there is a huge lack of dependability when physical or logical failures occur [1,2,3,4]. Unfortunately, this limitation is an important bottleneck for the development of a real public- 10 oriented robotics that must efficiently deal with availability, reliability, safety and maintainability aspects.…”

Section: Introductionmentioning

confidence: 99%

Enhancing fault tolerance of autonomous mobile robots

Crestani

Godary-Dejean

Lapierre

2015

Robotics and Autonomous Systems

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Experience demonstrates that autonomous mobile robots running in the field in a dynamic environment often breakdown. Generally, mobile robots are not designed to efficiently manage faulty or unforeseen situations. Even if some research studies exist, there is a lack of a global approach that really integrates dependability and particularly fault tolerance into the mobile robot design. This paper presents an approach that aims to integrate fault tolerance principles into the design of a robot real-time control architecture. A failure mode analysis is firstly conducted to identify and characterize the most relevant faults.Then the fault detection and diagnosis mechanisms are explained. Fault detection is based on dedicated software components scanning faulty behaviors.Diagnosis is based on the residual principle and signature analysis to identify faulty software or hardware components and faulty behaviors. Finally, the recovery mechanism, based on the modality principle, proposes to adapt the robot's control loop according to the context and current operational functions of the robot.This approach has been applied and implemented in the control architecture of a Pioneer-P3DX mobile robot.

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“…The AUTOSUB AUVs of the National Oceanography Centre, Southampton have been analyzed with respect to reliability and risk associated to under ice operation (Griffiths et al, 2003, Griffiths and Brito, 2008). The reliability was derived by expert judgement based on the fault logs of the vehicle.…”

Section: Related Workmentioning

confidence: 99%