Actuator Fault-Detection for Autonomous Underwater Vehicles Using Unsupervised Learning
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Abstract
Many Autonomous Underwater Vehicles (AUV) have high rates of false-alarms because their health management relies on user-generated rules. The false-alarm rate could be substantially smaller if fault-detection were based on actual actuator performance instead of heuristics. We collected
performance data on a critical AUV actuator, a mass-shifter, and from the data developed an unsupervised fault detector. We found that a small number of features were sufficient to detect known and novel faults with a high probability of detection and a low false alarm rate. We also found that npoint false-alarm reduction schemes performed poorly due to correlation during startup.
How to Cite
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autonomous robots, autonomous, Component-based systems, Subsystem Health Monitoring, component-level PHM
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