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Automated Fault Diagnosis for an Autonomous Underwater Vehicle

<22>This paper described the major results of the NERC-funded AFDA project to implement a model-based diagnosis system on an underwater vehicle. It describes novel approaches to automatic generation of diagnosis models, and diagnosing a mixture of software and hardware, and is the first published example of a system-level diagnosis system for an AUV. It is based on four earlier conference/workshop papers which led to an invitation to speak at the Cognitive Information Processing 2010 conference, and have been cited in work from internationally important oceanography research organisations including Bluefin Robotics, the UK’s NOC and the Monterey Bay Aquarium Research Institute.