White shark strike on a long-range AUV in Monterey Bay

Stanway, M. Jordan; Kieft, Brian; Hoover, Thomas; Hobson, Brett; Klimov, Denis; Erickson, J.; Raanan, Ben Yair; Ebert, David A.; Bellingham, James

doi:10.1109/oceans-genova.2015.7271726

Cited by 6 publications

(6 citation statements)

References 8 publications

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“…During long-range or long-period missions, marine creatures and biofouling may harm robot sensors and thrusters. 1 Monitoring sensors have been installed to evaluate components vulnerable to faults. 2 For example, damaged propellers impair propulsive efficiency to control vehicle speed.…”

Section: Introductionmentioning

confidence: 99%

Learning and detecting abnormal speed of marine robots

Cho

Zhang

Edwards

2021

International Journal of Advanced Robotic Systems

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This article presents anomaly detection algorithms for marine robots based on their trajectories under the influence of unknown ocean flow. A learning algorithm identifies the flow field and estimates the through-water speed of a marine robot. By comparing the through-water speed with a nominal speed range, the algorithm is able to detect anomalies causing unusual speed changes. The identified ocean flow field is used to eliminate false alarms, where an abnormal trajectory may be caused by unexpected flow. The convergence of the algorithms is justified through the theory of adaptive control. The proposed strategy is robust to speed constraints and inaccurate flow modeling. Experimental results are collected on an indoor testbed formed by the Georgia Tech Miniature Autonomous Blimp and Georgia Tech Wind Measuring Robot, while simulation study is performed for ocean flow field. Data collected in both studies confirm the effectiveness of the algorithms in identifying the through-water speed and the detection of speed anomalies while avoiding false alarms.

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Section: Introductionmentioning

confidence: 99%

Learning and detecting abnormal speed of marine robots

Cho

Zhang

Edwards

2021

International Journal of Advanced Robotic Systems

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“…Actuators, particularly referred to propeller and rudders on torpedo-shaped AUVs, are generally attached to provide propulsion and attitude control forces and torques [ 1 ]. Unanticipated factors inside and outside the AUV hull could cause countless disadvantageous effects, of which some may alter the desired forces and/or torques and result in mission failure [ 2 ].…”

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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“…Biomiméticos [21], [27], [28], [29], [30], [25] Gliders [31], [32], [23], [33], [34], [35], [36], [16], [37], [38] Híbrido ROV-AUV [39], [40], [41], [42], [43], [44], [45], [46] Híbrido ASV-AUV [38], [47] Híbrido Glider-AUV [31]…”

Section: Tipo Referênciasmentioning

confidence: 99%

“…Detecção de fenômenos [48] Exploração e mapeamento [49], [50], [26], [51], [52], [53], [54], [55], [56], [57], [58] Monitoramento ambiental [49], [59], [60], [61], [28], [62], [58], [38] Estudos de planktons [63], [19], [20], [64], [48], [15], [65], [66], [1], [67], [2], [20] Análise de qualidade de água [48], [15], [51], [68], [36], [69], [60], [54], [55], [28], [56] Coleta de amostras de água [15], [69], [70], [19], [20] Tabela 3 -Outras aplicações de AUVs encontradas.…”

Section: Tipos De Missões Referênciasunclassified

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Desenvolvimento de veículos autônomos submarinos para aplicações oceanográficas.

Oliveira¹

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White shark strike on a long-range AUV in Monterey Bay

Cited by 6 publications

References 8 publications

Learning and detecting abnormal speed of marine robots

Learning and detecting abnormal speed of marine robots

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

Desenvolvimento de veículos autônomos submarinos para aplicações oceanográficas.

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