This master thesis presents, suggests, and discusses a novel approach to enhance the mission dependability of Autonomous Underwater Vehicles (AUVs) through Adaptive Dynamic Redundancy (ADR). The AUVs demand improved dependability not only because they operate in harsh and unpredictable waters, but also because mission failures occur, leading to mission aborts and potential loss of valuable data and equipment. The ADR was carefully implemented for AUV thrusters using curated methods. The ADR stands out as it maintains high dependability while utilizing less power consumption, basing this on necessity, needs, environmental data and conditions, thruster health, and mission criticality. By leveraging a switching feature between Dual Modular Redundancy (DMR) and 1-out-of-3 redundancy, ADR aims to minimize the risk of failures while optimizing the power consumption and reducing wear and tear on the thrusters both for their operational and futuristic state. Through the comparative analysis, the ADR has demonstrated its capability to enhance dependability by improving reliability, safety, and operational efficiency of AUVs compared to other standardized redundancy concepts. The findings suggest that ADR not only prevents failures more effectively than TMR and DMR, but also significantly extends the mission’s lifespan and increases overall mission success rates.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:mdh-67628 |
| Date | January 2024 |
| Creators | Barhaido, Matteus |
| Publisher | Mälardalens universitet, Akademin för innovation, design och teknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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