Development of an On-Line Failure Mode Detection and Resolution Algorithm for the Phoenix AUV

It has become apparent that in order for an AUV to be a more reliable self-sufficient system, it must have on-line failure detection and resolution capability. In support of this the AUV must have reconfigurable systems so as to be able to take corrective action against resolvable failures. A simulator has been designed using SIMULINK in order to analyze failure modes associated with the NPS Phoenix AUV steering system. The analyses of these failure modes have been used to identify possible signals for steering system fault detection. Finally, a rule based algorithm was developed which can be converted into a format that ultimately could be implemented in a fuzzy logic set, for later insertion into the Phoenix tactical level software. This methodology will be applied to the Navy's UUV.