Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M., Bono R., Bruzzone G., Bruzzone G., Spirandelli E., Veruggio G. Experiences on actuator fault detection, diagnosis and accommodation for ROVs. In: UUST 01 - 12th International Symposium on Unmanned Untethered Submersible Technology (Durham, New Hampshire (USA), 27-29 August 2001). Proceedings, pp. 1 - 11. Autonomous Undersea System Institute, 2001.
This paper addresses the problem of low cost actuatorfault detection, diagnosis and accommodation for Remotely Operated Vehicles. The research is based on the analysis of the telemetry of Romeo, the overactuated ROV developed by C.N.R.-I.A.N., operating both in nominal and different failure conditions. Results demonstrate how the monitoring of the servoamplifiers' I/O variables enables the detection and diagnosis of actuator faults for operating ROVs, supporting the pilot in making decisions on the realtime reconfiguration of the propulsion system. The integration of the servo-level FDDA module with a conventional navigation, guidance and control system is discussed. On the basis of experienced time-varying effects of operating failures, suitable models of the damaged actuators and algorithms for the generation of fault symptoms and alarms have been designed, implemented and satisfactorily tested on a large amount of recorded ROV data. The conventional fault accommodation procedure based on the reconfiguration of the vehicle's thrust control matrix has been applied. The capability of Romeo of working in a reduced actuation configuration has been operationally demonstrated executing shallow water benthic missions for scientific users.
Subject ROV applications

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