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Volume 10
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Article

Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System

by
Xiangbin Wang
,
Yushan Sun
*,
Lei Wan
,
Hongyu Bian
and
Xiangrui Ran
Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
*
Author to whom correspondence should be addressed.
Electronics 2021, 10(1), 22; https://doi.org/10.3390/electronics10010022
Submission received: 12 November 2020 / Revised: 19 December 2020 / Accepted: 22 December 2020 / Published: 25 December 2020
(This article belongs to the Special Issue Autonomous Vehicles Technology)
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Abstract

A water conveyance tunnel is narrow and enclosed with a complex distribution of flow field. The performance of sensors such as Doppler log, magnetic compass, sonar, and depth gauge used by conventional underwater vehicles in the tunnel is greatly affected and can even fail. Aiming at the special operating environment and operational requirements of water conveyance tunnels, this paper designed an architecture suitable for pressurized water conveyance tunnel-detection autonomous underwater vehicles (AUVs). The tunnel-detection AUV (called AUV-T in this paper) with the architecture proposed in this paper could easily and smoothly complete inspection tasks in water conveyance tunnels, and field tests have verified the effectiveness of the architecture. Since an AUV in a water conveyance tunnel cannot go to the surface to rescue itself, in order to ensure its safety we designed the heterogeneous dual-CPU (Central Processing Unit) hot redundancy system based on dual communication lines. The reliability analysis showed that the system can significantly reduce the probability of AUV failure and ensure that the AUV can still be recovered even if it fails in the tunnel.
Keywords: autonomous underwater vehicles; dual CPU hot redundancy; water conveyance tunnel; Markov autonomous underwater vehicles; dual CPU hot redundancy; water conveyance tunnel; Markov

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MDPI and ACS Style

Wang, X.; Sun, Y.; Wan, L.; Bian, H.; Ran, X. Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System. Electronics 2021, 10, 22. https://doi.org/10.3390/electronics10010022

AMA Style

Wang X, Sun Y, Wan L, Bian H, Ran X. Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System. Electronics. 2021; 10(1):22. https://doi.org/10.3390/electronics10010022

Chicago/Turabian Style

Wang, Xiangbin, Yushan Sun, Lei Wan, Hongyu Bian, and Xiangrui Ran. 2021. "Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System" Electronics 10, no. 1: 22. https://doi.org/10.3390/electronics10010022

APA Style

Wang, X., Sun, Y., Wan, L., Bian, H., & Ran, X. (2021). Design and Reliability Analysis of a Tunnel-Detection AUV Based on a Heterogeneous Dual CPU Hot Redundancy System. Electronics, 10(1), 22. https://doi.org/10.3390/electronics10010022

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