Fault Detection and Fail-Safe Operation with a Multiple-Redundancy Air-Data System

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/83640/1/AIAA-2010-7855-622.pd

Computing system reliability modeling, analysis, and optimization

Ph.DDOCTOR OF PHILOSOPH

Distributed Adaptation Techniques for Connected Vehicles

In this PhD dissertation, we propose distributed adaptation mechanisms for connected vehicles to deal with the connectivity challenges. To understand the system behavior of the solutions for connected vehicles, we first need to characterize the operational environment. Therefore, we devised a large scale fading model for various link types, including point-to-point vehicular communications and multi-hop connected vehicles. We explored two small scale fading models to define the characteristics of multi-hop connected vehicles. Taking our research into multi-hop connected vehicles one step further, we propose selective information relaying to avoid message congestion due to redundant messages received by the relay vehicle. Results show that the proposed mechanism reduces messaging load by up to 75% without sacrificing environmental awareness. Once we define the channel characteristics, we propose a distributed congestion control algorithm to solve the messaging overhead on the channels as the next research interest of this dissertation. We propose a combined transmit power and message rate adaptation for connected vehicles. The proposed algorithm increases the environmental awareness and achieves the application requirements by considering highly dynamic network characteristics. Both power and rate adaptation mechanisms are performed jointly to avoid one result affecting the other negatively. Results prove that the proposed algorithm can increase awareness by 20% while keeping the channel load and interference at almost the same level as well as improve the average message rate by 18%. As the last step of this dissertation, distributed cooperative dynamic spectrum access technique is proposed to solve the channel overhead and the limited resources issues. The adaptive energy detection threshold, which is used to decide whether the channel is busy, is optimized in this work by using a computationally efficient numerical approach. Each vehicle evaluates the available channels by voting on the information received from one-hop neighbors. An interdisciplinary approach referred to as entropy-based weighting is used for defining the neighbor credibility. Once the vehicle accesses the channel, we propose a decision mechanism for channel switching that is inspired by the optimal flower selection process employed by bumblebees foraging. Experimental results show that by using the proposed distributed cooperative spectrum sensing mechanism, spectrum detection error converges to zero

Embedded System Performance Analysis for Implementing a Portable Drowsiness Detection System for Drivers

Drowsiness on the road is a widespread problem with fatal consequences; thus, a multitude of systems and techniques have been proposed. Among existing methods, Ghoddoosian et al. utilized temporal blinking patterns to detect early signs of drowsiness, but their algorithm was tested only on a powerful desktop computer, which is not practical to apply in a moving vehicle setting. In this paper, we propose an efficient platform to run Ghoddosian's algorithm, detail the performance tests we ran to determine this platform, and explain our threshold optimization logic. After considering the Jetson Nano and Beelink (Mini PC), we concluded that the Mini PC is the most efficient and practical to run our embedded system in a vehicle. To determine this, we ran communication speed tests and evaluated total processing times for inference operations. Based on our experiments, the average total processing time to run the drowsiness detection model was 94.27 ms for Jetson Nano and 22.73 ms for the Beelink (Mini PC). Considering the portability and power efficiency of each device, along with the processing time results, the Beelink (Mini PC) was determined to be most suitable. Also, we propose a threshold optimization algorithm, which determines whether the driver is drowsy or alert based on the trade-off between the sensitivity and specificity of the drowsiness detection model. Our study will serve as a crucial next step for drowsiness detection research and its application in vehicles. Through our experiment, we have determinend a favorable platform that can run drowsiness detection algorithms in real-time and can be used as a foundation to further advance drowsiness detection research. In doing so, we have bridged the gap between an existing embedded system and its actual implementation in vehicles to bring drowsiness technology a step closer to prevalent real-life implementation.Comment: 26 pages, 13 figures, 4 table

Maximum risk reduction with a fixed budget in the railway industry

Decision-makers in safety-critical industries such as the railways are frequently faced with the complexity of selecting technological, procedural and operational solutions to minimise staff, passengers and third parties’ safety risks. In reality, the options for maximising risk reduction are limited by time and budget constraints as well as performance objectives. Maximising risk reduction is particularly necessary in the times of economic recession where critical services such as those on the UK rail network are not immune to budget cuts. This dilemma is further complicated by statutory frameworks stipulating ‘suitable and sufficient’ risk assessments and constraints such as ‘as low as reasonably practicable’. These significantly influence risk reduction option selection and influence their effective implementation. This thesis provides extensive research in this area and highlights the limitations of widely applied practices. These practices have limited significance on fundamental engineering principles and become impracticable when a constraint such as a fixed budget is applied – this is the current reality of UK rail network operations and risk management. This thesis identifies three main areas of weaknesses to achieving the desired objectives with current risk reduction methods as: Inaccurate, and unclear problem definition; Option evaluation and selection removed from implementation subsequently resulting in misrepresentation of risks and costs; Use of concepts and methods that are not based on fundamental engineering principles, not verifiable and with resultant sub-optimal solutions. Although not solely intended for a single industrial sector, this thesis focuses on guiding the railway risk decision-maker by providing clear categorisation of measures used on railways for risk reduction. This thesis establishes a novel understanding of risk reduction measures’ application limitations and respective strengths. This is achieved by applying ‘key generic engineering principles’ to measures employed for risk reduction. A comprehensive study of their preventive and protective capability in different configurations is presented. Subsequently, the fundamental understanding of risk reduction measures and their railway applications, the ‘cost-of-failure’ (CoF), ‘risk reduction readiness’ (RRR), ‘design-operationalprocedural-technical’ (DOPT) concepts are developed for rational and cost-effective risk reduction. These concepts are shown to be particularly relevant to cases where blind applications of economic and mathematical theories are misleading and detrimental to engineering risk management. The case for successfully implementing this framework for maximum risk reduction within a fixed budget is further strengthened by applying, for the first time in railway risk reduction applications, the dynamic programming technique based on practical railway examples

Predictive Shutdown Systems for Nuclear Power Plants

This dissertation investigates the use of a Kalman filter (KF) to predict, within the shutdown system (SDS) of a nuclear power plant (NPP), whether a safety parameter measurement will reach a corresponding trip set-point (TSP). The proposed predictive SDS (PSDS) designs aim to initiate shutdown actions at a time which is earlier than conventional shutdown initiation. These early detections are, in turn, expected to improve safety and productivity margins within the NPP. The KF-based point-PSDS design utilizes a linear time-varying (LTV) system model to predict mean safety parameter measurements for comparison against the TSP. The KF considers noise covariances that either have assumed predetermined values, or are estimated online using an adaptive limited memory filter (ALMF). The PSDS is enhanced to consider, by recursive least squares (RLS) estimation, conditions that are uncertain with respect to the assumed system model and noise properties. The result is a KF⁄RLS-based PSDS that compensates for prediction error by RLS-based estimation of deterministic disturbances to the system state and measurement. The PSDS is further enhanced to calculate confidence intervals for the predictions as a function of the propagated error covariance. This enhancement results in interval-PSDS designs that consider confidence in an impending condition by comparing predetermined confidence interval bounds against the TSP. Finally, an optimal-PSDS design is formulated to adapt the effective prediction, e.g. horizon or bias, by limiting and minimizing the probability of missed and false trip occurrences respectively using hypothesis testing methods and optimal alarm theory. In this manner, the optimal-PSDS is made aware of the quality of past predictions. The PSDS designs are compared, through simulation and experiment, against a conventional SDS in terms of response time or time-to-trip for the steam generator level low (SGLL) safety parameter under various conditions of uncertainty, e.g. parameter error or unmeasurable signals. MATLAB-based simulations demonstrate that the PSDS designs are able to reduce time-to-trip. The PSDS designs are then implemented within a Tricon v9 safety-PLC with a scan time that adheres to current nuclear industry regulations. The experimental results reveal that a reduced time-to-trip can be achieved for a real-world system with unknown system-model mismatch

On learning and visualizing lexicographic preference trees

Preferences are very important in research fields such as decision making, recommendersystemsandmarketing. The focus of this thesis is on preferences over combinatorial domains, which are domains of objects configured with categorical attributes. For example, the domain of cars includes car objects that are constructed withvaluesforattributes, such as ‘make’, ‘year’, ‘model’, ‘color’, ‘body type’ and ‘transmission’.Different values can instantiate an attribute. For instance, values for attribute ‘make’canbeHonda, Toyota, Tesla or BMW, and attribute ‘transmission’ can haveautomaticormanual. To this end,thisthesis studiesproblemsonpreference visualization and learning for lexicographic preference trees, graphical preference models that often are compact over complex domains of objects built of categorical attributes. Visualizing preferences is essential to provide users with insights into the process of decision making, while learning preferences from data is practically important, as it is ineffective to elicit preference models directly from users. The results obtained from this thesis are two parts: 1) for preference visualization, aweb- basedsystem is created that visualizes various types of lexicographic preference tree models learned by a greedy learning algorithm; 2) for preference learning, a genetic algorithm is designed and implemented, called GA, that learns a restricted type of lexicographic preference tree, called unconditional importance and unconditional preference tree, or UIUP trees for short. Experiments show that GA achieves higher accuracy compared to the greedy algorithm at the cost of more computational time. Moreover, a Dynamic Programming Algorithm (DPA) was devised and implemented that computes an optimal UIUP tree model in the sense that it satisfies as many examples as possible in the dataset. This novel exact algorithm (DPA), was used to evaluate the quality of models computed by GA, and it was found to reduce the factorial time complexity of the brute force algorithm to exponential. The major contribution to the field of machine learning and data mining in this thesis would be the novel learning algorithm (DPA) which is an exact algorithm. DPA learns and finds the best UIUP tree model in the huge search space which classifies accurately the most number of examples in the training dataset; such model is referred to as the optimal model in this thesis. Finally, using datasets produced from randomly generated UIUP trees, this thesis presents experimental results on the performances (e.g., accuracy and computational time) of GA compared to the existent greedy algorithm and DPA

Autonomous Flight, Fault, and Energy Management of the Flying Fish Solar-Powered Seaplane.

The Flying Fish autonomous unmanned seaplane is designed and built for persistent ocean surveillance. Solar energy harvesting and always-on autonomous control and guidance are required to achieve unattended long-term operation. This thesis describes the Flying Fish avionics and software systems that enable the system to plan, self-initiate, and autonomously execute drift-flight cycles necessary to maintain a designated watch circle subject to environmentally influenced drift. We first present the avionics and flight software architecture developed for the unique challenges of an autonomous energy-harvesting seaplane requiring the system to be: waterproof, robust over a variety of sea states, and lightweight for flight. Seaplane kinematics and dynamics are developed based on conventional aircraft and watercraft and upon empirical flight test data. These models serve as the basis for development of flight control and guidance strategies which take the form of a cyclic multi-mode guidance protocol that smoothly transitions between nested gain-scheduled proportional-derivative feedback control laws tuned for the trim conditions of each flight mode. A fault-tolerant airspeed sensing system is developed in response to elevated failure rates arising from pitot probe water ingestion in the test environment. The fault-tolerance strategy utilizes sensor characteristics and signal energy to combine redundant sensor measurements in a weighted voting strategy, handling repeated failures, sensor recovery, non-homogenous sensors, and periods of complete sensing failure. Finally, a graph-based mission planner combines models of global solar energy, local ocean-currents, and wind with flight-verified/derived aircraft models to provide an energy-aware flight planning tool. An NP-hard asymmetric multi-visit traveling salesman planning problem is posed that integrates vehicle performance and environment models using energy as the primary cost metric. A novel A* search heuristic is presented to improve search efficiency relative to uniform cost search. A series of cases studies are conducted with surface and airborne goals for various times of day and for multi-day scenarios. Energy-optimal solutions are identified except in cases where energy harvesting produces multiple comparable-cost plans via negative-cost cycles. The always-on cyclic guidance/control system, airspeed sensor fault management algorithm, and the nested-TSP heuristic for A* are all critical innovation required to solve the posed research challenges.Ph.D.Aerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/91453/1/eubankrd_1.pd