Intelligent AUV on-board health monitoring software (INDOS)

Two aspects of situation analysis are of special importance in the operation of autonomous underwater vehicles: maintenance of system integrity; and identification of danger situations and appropriate reactions, or more generally early detection of potential failures and provision of intelligent countermeasures. The efforts with regard to fault avoidance are centred on the two functions: system health and mission management. It is mainly in these domains that fault detection, diagnosis and recovery are necessary. Any degradation in the performance of the system has to be detected as soon as possible, otherwise the vehicle controller would operate on the basis of abnormal and non-realistic measurement data. Consequently, software development for AUVs at STN ATLAS is currently focused on intelligent behaviour. In the case of the STN ATLAS AUV development "C-Cat", this complex is handled by the intelligent software INDOS.