UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

Autonomous Detection of the Loss of a Wing for Underwater Gliders

Anderlini, E; Harris, CA; Salavasidis, G; Lorenzo, A; Phillips, AB; Thomas, G; (2020) Autonomous Detection of the Loss of a Wing for Underwater Gliders. In: Proceedings of the 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV). IEEE: St. John's, Canada. Green open access

[img]
Preview
Text
PID6597187.pdf - Accepted version

Download (6MB) | Preview

Abstract

Over the past five years, two of the Slocum underwater gliders operated by the UK National Oceanography Centre have lost a wing mid-mission without the pilot being aware of the problem until the point of vehicle retrieval. In this study, the steady-state data collected by gliders during the two deployments has been analysed to develop a fault detection system. From the data analysis, it is clear that the loss of the wing was a sudden event for both gliders. The main changes to the system dynamics associated with the event are an increase in the positive buoyancy of the glider and the occurrence of a roll angle on the side of the lost wing, with significant difference between dives and climbs. Hence, a simple effective system for the detection of the wing loss has been designed using the roll angle. Since sensors are known to fail and the roll sensor is non-critical to the operation of the glider, a back-up diagnostics system has been developed based on the dynamic model of the vehicle, capturing the change in buoyancy. Both systems are able to correctly detect the loss of the wing and notify pilots, who can re-plan missions to safely recover the vehicle.

Type: Proceedings paper
Title: Autonomous Detection of the Loss of a Wing for Underwater Gliders
Event: 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)
Dates: 30 September 2020 - 02 October 2020
ISBN-13: 978-1-7281-8757-0
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/auv50043.2020.9267895
Publisher version: https://doi.org/10.1109/auv50043.2020.9267895
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: underwater glider, fault detection, fault isolation, system identification, wing loss
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/10116930
Downloads since deposit
20Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item