NDLI: Automatic fault detection and execution monitoring for AUV missions

Content Provider	IEEE Xplore Digital Library
Author	Ernits, J. Dearden, R. Pebody, M.
Copyright Year	2010
Description	Author affiliation: Sch. of Comput. Sci., Univ. of Birmingham, Birmingham, UK (Ernits, J.; Dearden, R.) \|\| Nat. Oceanogr. Centre, Univ. of Southampton, Southampton, UK (Pebody, M.)
Abstract	Advanced AUV's, particularly those capable of long duration missions, need increasing amounts of autonomy in order to carry out sophisticated missions without requiring constant support from a ship. One important aspect of this autonomy is fault detection and execution monitoring. In this paper we describe the application of the Livingstone 2 diagnosis system on Autosub 6000 and examine in particular the issue of ensuring the mission is being executed correctly. Most AUV operations require a fast turnaround between retrieving the vehicle and redeploying it, typically constrained only by the time required to charge batteries. In many circumstances missions are planned very quickly so an automatic way to monitor mission execution is required. We describe an approach to automatically generate diagnosis models that correspond to the mission instructions which can then be combined with pre-built models of the physical components of the AUV to improve fault detection and monitor execution. We show that by incorporating this program model we are able to diagnose faults that were previously undiagnosable, and demonstrate that an actual fault that occurred on Autosub 6000 can successfully be detected.
Starting Page	1
Ending Page	10
File Size	702105
Page Count	10
File Format	PDF
ISBN	9781612849805
ISSN	15223167
e-ISBN	9781612849812
DOI	10.1109/AUV.2010.5779660
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Monitoring Lead Logic gates Vehicles Batteries Sensors
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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