Wenliao Du, Xinlong Yu, Zhen Guo, Hongchao Wang, Ziqiang Pu, Chuan Li
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引用次数: 0
Abstract
Given the demanding and unpredictable operational conditions, autonomous underwater vehicles (AUVs) often encounter different propulsion faults, leading to significant economic losses and mission impairments. To address this challenge, vibratory time-series features can be extracted for the precise propulsion fault diagnosis of AUVs. A squeeze-and-excitation (SE) attention residual network (SEResNet) is therefore put forward to enhance the feature extraction for AUV propulsion fault diagnosis. By leveraging the vibratory time-series data obtained from the AUV, an SE attention mechanism is embedded into a residual network. This integration facilitates the extraction of pertinent vibratory fault features, subsequently utilized for accurate diagnosis of any propulsion faults. The effectiveness of the proposed SEResNet was validated through its application to an actual experimental AUV, with comparison against the state-of-the-arts. The results reveal that the present SEResNet outperforms all other comparison methods in terms of diagnosis performance for AUV propulsion faults.
期刊介绍:
The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments.
The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.