UKF-based fault detection and isolation algorithm for IMU sensors of Unmanned Underwater Vehicles

Author(s):  
Egidio D'Amato ◽  
Claudio De Capua ◽  
Pasquale Fabio Filianoti ◽  
Luana Gurnari ◽  
Vito Antonio Nardi ◽  
...  
1997 ◽  
Vol 30 (18) ◽  
pp. 599-604
Author(s):  
A. Alessandri ◽  
M. Caccia ◽  
G. Veruggio

2000 ◽  
Vol 33 (11) ◽  
pp. 951-956 ◽  
Author(s):  
A. Alessandri ◽  
G. Bruzzone ◽  
M. Caccia ◽  
P. Coletta ◽  
G. Veruggio

2003 ◽  
Vol 9 (7) ◽  
pp. 735-748 ◽  
Author(s):  
Lingli Ni ◽  
Chris R. Fuller

Unmanned underwater vehicles (UUVs) have been developed for various applications in ocean engineering. When failures occur to UUVs and result in abnormal operations, the only solution is to abort from the mission due to lack of fault tolerance. The purpose of this study is to investigate a method by which UUVs can continue to operate acceptably following failure occurrences. Based on a unique hierarchical fault detection and identification, this paper presents a control reconfiguration scheme with multiple sliding-mode controllers for each of the hypothesized failure modes from a discrete set [θ1, θ2,..., θ n], which depict the failure status of actuators and sensors. The reconfigured control is a probability weighted average of all the elemental control signals. We apply this method to the steering subsystem of the Naval Postgraduate School (NPS) UUV with simulated rudder and/or sensor failures. The results show that both the heading angle and the steering track have been properly compensated.


TAPPI Journal ◽  
2014 ◽  
Vol 13 (1) ◽  
pp. 33-41
Author(s):  
YVON THARRAULT ◽  
MOULOUD AMAZOUZ

Recovery boilers play a key role in chemical pulp mills. Early detection of defects, such as water leaks, in a recovery boiler is critical to the prevention of explosions, which can occur when water reaches the molten smelt bed of the boiler. Early detection is difficult to achieve because of the complexity and the multitude of recovery boiler operating parameters. Multiple faults can occur in multiple components of the boiler simultaneously, and an efficient and robust fault isolation method is needed. In this paper, we present a new fault detection and isolation scheme for multiple faults. The proposed approach is based on principal component analysis (PCA), a popular fault detection technique. For fault detection, the Mahalanobis distance with an exponentially weighted moving average filter to reduce the false alarm rate is used. This filter is used to adapt the sensitivity of the fault detection scheme versus false alarm rate. For fault isolation, the reconstruction-based contribution is used. To avoid a combinatorial excess of faulty scenarios related to multiple faults, an iterative approach is used. This new method was validated using real data from a pulp and paper mill in Canada. The results demonstrate that the proposed method can effectively detect sensor faults and water leakage.


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