Development of an on-line failure mode detection and resolution algorithm for the Phoenix AUV
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1997
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 86
Other titles: NPS-ME-97-001.
Description: It has become apparent that in order for an AUV to be a more reliable self-sufficient system, it must have on-line      failure detection and resolution capability. In support of this the AUV must have reconfigurable systems so as to      be able to take corrective action against resolvable failures. A simulator has been designed using SIMULINK in      order to analyze failure modes associated with the NPS Phoenix AUV steering system. The analyses of these      failure modes have been used to identify possible signals for steering system fault detection. Finally, a rule based      algorithm was developed which can be converted into a format that ultimately could be implemented in a fuzzy      logic set, for later insertion into the Phoenix tactical level software. This methodology will be applied to the      Navy's UUV.
Notes: Thesis advisor, Anthony J. Healey.

"March 1997"

"NPS-ME-97-001"

DTIC Descriptor(s): Computer Programs, Computerized Simulation, Underwater Vehicles, Algorithms, Steering, Robotics, Detection, Navy, Resolution, Failure, Theses, Unmanned, Fuzzy Sets, Tactical Analysis, Autonomous Navigation, Online Systems, Faults, Fuzzy Logic.

DTIC Identifier(s): AUV(Autonomous Underwater Vehicles), ROV(Remotely Operated Vehicles)

Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, March 1997.

Includes bibliographical references (p. 83-84)

Also available online.

FUNDED BY: N0001497AF00002

Mode of access: World Wide Web.

System requirements: Adobe Acrobat reader.

dk/dk cc:9116 10/28/97.