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In the past years the Autonomous Underwater Vehicle technology has increased in complexity and expanded its role in the subsea environment. More and more, AUVs are performing critical and key activities. Therefore, Reliability of AUV systems is a topic with crescent relevance in the underwater field. When developing a complex system such as an AUV some issues might appear during the execution of hardware...
In this work, a fault-tolerant control allocation technique is applied to FlatFish, an autonomous underwater inspection vehicle. The technique is based on multi-parametric programming and it's able to handle thruster failures and saturation. Special attention was given to obtain a small solution set, in order to guarantee feasibility for real-time implementation. The experiments consisted in performing...
Nowadays industrial companies need more agile and adaptable production systems to manufacture customized products faster and with a high level of process optimization. This agility in production requires flexible automation systems. One key capability such systems need to exhibit is effective connectivity and interoperability with different vendor-specific software and hardware tools, which often...
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