Energy-aware fault-mitigation architecture for underwater vehicles

Energy awareness and fault tolerance are important aspects for extending the autonomy levels of today’s autonomous vehicles. With the aim of preparing the way for persistent autonomous operations of underwater vehicles this work focusses its efforts on investigating the effects of actuator failures,...

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Published in	Autonomous robots Vol. 41; no. 5; pp. 1083 - 1105
Main Authors	De Carolis, Valerio, Maurelli, Francesco, Brown, Keith E., Lane, David M.
Format	Journal Article
Language	English
Published	New York Springer US 01.06.2017 Springer Nature B.V
Subjects	Actuators Architecture Artificial Intelligence Autonomous underwater vehicles Autonomy Computer Imaging Control Energy management Engineering Fault detection Fault tolerance Inspection Level (quantity) Mechatronics Parameters Pattern Recognition and Graphics Performance degradation Representations Robotics Robotics and Automation Subsystems Vehicles Vision Fault tolerance Energy awareness Autonomous underwater vehicle Knowledge representation Automatic fault-mitigation
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Abstract	Energy awareness and fault tolerance are important aspects for extending the autonomy levels of today’s autonomous vehicles. With the aim of preparing the way for persistent autonomous operations of underwater vehicles this work focusses its efforts on investigating the effects of actuator failures, on an autonomous underwater vehicle (AUV) capable of long-term inspection missions. This paper introduces an energy-aware architecture that by observing the use of the on-board resources is capable of detecting faults and monitors the performance of the thruster subsystem in modern AUVs. The effect is an increased autonomy level in presence of unexpected events like performance degradations or sudden failures. Moreover an important contribution of this work is to process the great volume of information, collected at the lower sensor levels, into operational parameters that can be treated by higher level modules. These parameters form part of an abstract representation of concepts and capabilities that are available at a given time during the mission’s execution. Once this representation has been updated it is made available to the planning and execution components that can adapt the mission’s behaviour using the most recent knowledge about the vehicle’s state. To validate the proposed approach we evaluate our system on a real platform, Nessie VIII AUV, in both in real sea conditions and in a controlled test tank.
AbstractList	Energy awareness and fault tolerance are important aspects for extending the autonomy levels of today’s autonomous vehicles. With the aim of preparing the way for persistent autonomous operations of underwater vehicles this work focusses its efforts on investigating the effects of actuator failures, on an autonomous underwater vehicle (AUV) capable of long-term inspection missions. This paper introduces an energy-aware architecture that by observing the use of the on-board resources is capable of detecting faults and monitors the performance of the thruster subsystem in modern AUVs. The effect is an increased autonomy level in presence of unexpected events like performance degradations or sudden failures. Moreover an important contribution of this work is to process the great volume of information, collected at the lower sensor levels, into operational parameters that can be treated by higher level modules. These parameters form part of an abstract representation of concepts and capabilities that are available at a given time during the mission’s execution. Once this representation has been updated it is made available to the planning and execution components that can adapt the mission’s behaviour using the most recent knowledge about the vehicle’s state. To validate the proposed approach we evaluate our system on a real platform, Nessie VIII AUV, in both in real sea conditions and in a controlled test tank.
Author	Maurelli, Francesco Lane, David M. De Carolis, Valerio Brown, Keith E.
Author_xml	– sequence: 1 givenname: Valerio surname: De Carolis fullname: De Carolis, Valerio email: valerio.decarolis@ieee.org organization: Ocean Systems Laboratory, Heriot-Watt University – sequence: 2 givenname: Francesco surname: Maurelli fullname: Maurelli, Francesco organization: Ocean Systems Laboratory, Heriot-Watt University – sequence: 3 givenname: Keith E. surname: Brown fullname: Brown, Keith E. organization: Ocean Systems Laboratory, Heriot-Watt University – sequence: 4 givenname: David M. surname: Lane fullname: Lane, David M. organization: Ocean Systems Laboratory, Heriot-Watt University
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CitedBy_id	crossref_primary_10_1016_j_energy_2022_124996 crossref_primary_10_1016_j_apor_2021_102597 crossref_primary_10_3390_s21020476 crossref_primary_10_1007_s00773_022_00891_9 crossref_primary_10_3390_app10062048 crossref_primary_10_1016_j_oceaneng_2021_110290 crossref_primary_10_3390_robotics9010007 crossref_primary_10_1016_j_oceaneng_2023_115471
Cites_doi	10.1109/AUV.2012.6380746 10.1109/ICRA.2014.6907822 10.1109/ICRA.2014.6907823 10.1016/j.arcontrol.2004.12.002 10.3182/20120410-3-PT-4028.00061 10.1109/TKDE.2010.46 10.1109/48.972089 10.1109/OCEANS-TAIPEI.2014.6964490 10.1109/ROBOT.2004.1302424 10.1016/j.conengprac.2003.12.014 10.1142/6164 10.1109/IROS.2013.6696913 10.1109/48.468252 10.1162/089976605774320557 10.1109/AERO.2004.1368190 10.1299/jsmeicam.2010.5.107 10.1016/S0967-0661(98)00169-5 10.1016/j.automatica.2014.05.007 10.1109/ICRA.2014.6907825 10.1109/48.972114 10.1109/WCICA.2012.6358371 10.1109/ROBOT.2009.5152425 10.1109/ICRA.2014.6907821 10.1109/ICCA.2011.6137995 10.1109/ADPRL.2014.7010621 10.1016/j.eswa.2007.11.009 10.1109/TCST.2010.2060199 10.23919/ECC.2013.6669541 10.1109/ROBOT.2001.933116 10.1109/JOE.2012.2227540 10.1109/ROBOT.2005.1570115 10.1109/TRA.2002.999650 10.1109/ROBOT.1998.677229 10.1109/TCST.2003.821952
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Copyright	Springer Science+Business Media New York 2016 Autonomous Robots is a copyright of Springer, (2016). All Rights Reserved.
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Keywords	Fault tolerance Energy awareness Autonomous underwater vehicle Knowledge representation Automatic fault-mitigation
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Snippet	Energy awareness and fault tolerance are important aspects for extending the autonomy levels of today’s autonomous vehicles. With the aim of preparing the way...
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SubjectTerms	Actuators Architecture Artificial Intelligence Autonomous underwater vehicles Autonomy Computer Imaging Control Energy management Engineering Fault detection Fault tolerance Inspection Level (quantity) Mechatronics Parameters Pattern Recognition and Graphics Performance degradation Representations Robotics Robotics and Automation Subsystems Vehicles Vision
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Title	Energy-aware fault-mitigation architecture for underwater vehicles
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