Thruster fault diagnosis and accommodation for open-frame underwater vehicles

Omerdić, Edin; Roberts, G.N.

doi:10.1016/j.conengprac.2003.12.014

Cited by 156 publications

(65 citation statements)

References 26 publications

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“…For the vertically orientated thrusters, either one, two, three or four thrusters can be utilised; one providing control over heave; two providing control over heave and roll; three allowing control over heave, roll and pitch; four allowing improved control over the three DOF with fault accommodation possibilities [134]. The vertical thrusters can be orientated either directly vertical or at an angle of 45° or less from the vertical.…”

Section: Thruster Configurations/architecturesmentioning

confidence: 99%

See 1 more Smart Citation

Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

180

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This paper presents a review of inspection-class Remotely Operated Vehicles (ROVs). The review divides the classification of inspection-class ROVs; categorising the vehicles in order of size and capability. A state of the art technology review is undertaken, discussing various common subsystems of the ROV. Standard and novel ROV shapes and designs are reviewed, with emphasis on buoyancy, frame materials and hydrodynamics. Several power considerations and designs are discussed, accounting for battery fed and mains fed systems. ROV telemetry is split into a discussion on the various transmission hardware systems and the communication protocols that are most widely used in industry and research today. A range of thruster technologies is then introduced with consideration taken of the various thruster architectures available. Finally, the navigation and positioning sensors employed for ROV navigation and control are reviewed. The author has also created a number of comparison tables throughout the review; tables include comparison of wired data transmission technology, comparison of common ROV communication protocols and comparisons of various inertial navigation systems. By the end of the review the reader will have clearer understanding on the fundamentals of inspection-class ROV technologies and can use this as an introduction to further paper investigation.

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Section: Thruster Configurations/architecturesmentioning

confidence: 99%

“…This vectored orientation also gives a higher level of fault tolerance [133]. In a paper by Omerdic et al [134], they describe fault tolerant control of an ROV with the vectored orientation.…”

Section: Thruster Configurations/architecturesmentioning

confidence: 99%

Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

180

View full text Add to dashboard Cite

show abstract

“…Control inputs are exploited to generates a vector of propulsion forces and moments τ that is the input to the dynamics of the robot. The main objective of the control allocation is to ensure that the condition τ d = τ is satisfied for all attainable τ d , Omerdic and Roberts (2004 Fig. 3.…”

Section: Nominal Controller Architecturementioning

confidence: 99%

“…Sarkar et al (2002) used the pseudo-inverse method to obtain fault accommodation, and it was noted that in case the faulty thruster configuration matrix does not contain full rank, the pseudo-inverse method cannot fulfil the reconfiguration goal. Omerdic and Roberts (2004) introduced a fault-tolerant control system using the pseudo-inverse method and to avoid infeasible solutions performed approximations through truncation and scaling to achieve an optimal feasible allocation. The method considered three types of faults: jammed propeller, heavily-jammed propeller and broken propeller.…”

Section: Introductionmentioning

confidence: 99%

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

2015

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The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steffen (2005). The paper investigates properties of a centralised versus a decentralised implementation and assesses the capabilities under communication constraints between the individual robots. In the centralised case, each robot sends information related to its own status to a unique virtual actuator that computes the necessary reconfiguration. In the decentralised case, each robot is equipped with its own virtual actuator that is able to accommodate both local faults and faults within a collaborating unit. The paper discusses how this is done through exploiting structural information (e.g. thruster configuration) for each participant in the cooperation. A test scenario is presented as a case in which an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation.

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“…It is thus desirable to apply fault diagnosis as a first step to accommodating faults. Several different methods have been applied on UUVs for fault detection (see also the early survey [Antonelli, 2006]): observer-based [Alessandri et al, 1999, Ferreira et al, 2011; fuzzy logic [Omerdic and Roberts, 2004]; neural network [Liu et al, 2012] and structural analysis based methods [Blanke, 2005]. Actuator failures were in specific focus in [Corradini et al, 2011],and with an observer based fault tolerant control approach tested in simulation in [Corradini and Orlando, 2014], but vessel-wide navigation system diagnosis has not been reported.…”

Section: Introductionmentioning

confidence: 99%

Navigation System Fault Diagnosis for Underwater Vehicle

Falkenberg

Gregersen

Blanke

2014

IFAC Proceedings Volumes

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This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using different approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude. Numerical simulations and sea trial data show results with very favourable balance between detection and false alarm probabilities. c IFAC 2014.

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Thruster fault diagnosis and accommodation for open-frame underwater vehicles

Cited by 156 publications

References 26 publications

Inspection-Class Remotely Operated Vehicles—A Review

Inspection-Class Remotely Operated Vehicles—A Review

Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

Navigation System Fault Diagnosis for Underwater Vehicle

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