Publications

Organizations

Publications

This page is meant to be a storehouse for publications that reflect activities of interest to AUVAC and its members. If you have publications that should be added to this list please let us know and we will include them.


Tiny Submersible Could Search for Life in Europa's Ocean

June 10, 2013 via - Astrobiology Magazine

One of the first visitors to Jupiter's icy moon of Europa could be a tiny submarine barely larger than two soda cans. The small craft might help strike the right balance between cost and capability for a robotic mission to look for alien life in the ocean beneath Europa's icy crust.

The idea for the incredible shrinking submarine originally came from NASA’s Jet Propulsion Laboratory (JPL) in California and Uppsala University in Sweden. Such a vehicle would help keep mission costs low at a time when launching objects into space can still cost tens of thousands of dollars per kilogram. The mission concept also would have the advantage of only requiring a small borehole drilled through the ice covering Europa's surface.

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Integrated Synoptic Surveys Using an Autonomous Underwater Vehicle and Manned Boats

May 14, 2013 via - US Geological Survey

Traditional surface-water surveys are being combined with autonomous technology to produce integrated surveys of bathymetry, water quality, and velocity in inland lakes and reservoirs. This new technology provides valuable, high-resolution, integrated data that allow a systems-based approach to understanding common environmental problems. This fact sheet presents several example applications of integrated surveys within inland lakes and coastal Lake Michigan and Lake Erie.

 

 

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Automated Fault Diagnosis for an Autonomous Underwater Vehicle

April 30, 2013 via - IEEE OES

Abstract

This paper reports our results in using a discrete fault diagnosis system, Livingstone 2 (L2), on-board an autonomous underwater vehicle (AUV), Autosub 6000. Due to the difficulty of communicating between an AUV and its operators, AUVs can benefit particularly from increased autonomy, of which fault diagnosis is a part. However, they are also restricted in their power consumption. We show that a discrete diagnosis system can detect and identify a number of faults that would threaten the health of an AUV, while also being sufficiently lightweight computationally to be deployed on-board the vehicle. Since AUVs also often have their missions designed just before deployment in response to data from previous missions, a diagnosis system that monitors the software as well as the hardware of the system is also very useful. We show how a software diagnosis model can be built automatically that can be integrated with the hardware model to diagnose the complete system. We show empirically that on Autosub 6000 this allows us to diagnose real vehicle faults that could potentially lead to the loss of the vehicle.

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