SAGE：用于海底基础设施自主与自适应巡检的遍历控制
SAGE: Ergodic Control for Autonomous and Adaptive Inspection of Subsea Infrastructure
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中文总结 AI 辅助
针对海底采油树巡检的风险动态变化问题，提出SAGE遍历控制架构，按实时传感器风险分布分配航行器时间，相比固定A*路径更频繁巡检高风险阀门，缩短泄漏未被发现的时间，且无需人工重新规划。
中文摘要 AI 辅助
海底采油树（XTs）是水下用于引导油流的结构，需要持续巡检。但并非每个阀门在同一时间具有相同风险：疑似泄漏的阀门需要比无泄漏记录的阀门更频繁地重新巡检，且随着任务中发现新泄漏，该风险图景会发生变化。为解决此问题，我们提出SAGE（Semantic and Adaptive Generative Ergodicity，语义自适应生成遍历性），这是一种遍历控制架构，其按实时传感器生成的风险分布而非预设路线分配水下航行器的时间。我们研究了含5个阀门的双XT场景，将固定循环A*路径与SAGE对比。两种方法均可调整为在高风险阀门附近花费相似总时间，但仅遍历控制能更频繁地巡检该阀门：仿真中，在遍历控制下，高风险阀门每5.8秒被重新巡检一次，而A*方法下每个阀门均固定每8.1秒巡检一次，无论风险如何，因此泄漏未被发现的时间仅为原来的三分之二。由于跟踪的分布是重新计算而非一次性规划，新检测到的泄漏会在下一个控制周期改变航行器行为，无需显式重新规划步骤，也无需操作人员参与，而固定路径若要做到这一点则需离散重新路由。我们推导了该行为背后的遍历控制律，并报告了5阀门场景的仿真结果。
英文摘要
Subsea Christmas Trees (XTs) are underwater structures that use valves for directing oil flow, needing constant inspection. But not every valve carries the same risk at the same time: a valve with a suspected leak needs to be revisited far more often than one with a clean history, and that risk picture changes during the mission as new leaks are found. To handle this, we present SAGE (Semantic and Adaptive Generative Ergodicity), an ergodic-control architecture that allocates vehicle time in proportion to a live, sensor-derived risk distribution rather than a scripted route. We study a two-XT scenario, with five valves in total, and compare a fixed-loop A* tour against SAGE. Both methods can be tuned to spend similar total time near a high-risk valve, but only ergodic control also checks it more often: in simulation, a dominant-risk valve was revisited every 5.8 s under ergodic control against a fixed 8.1 s for every valve under A*, regardless of risk, so a leak can go unnoticed for barely two-thirds as long. Because the tracked distribution is recomputed rather than planned once, a newly detected leak shifts vehicle behavior on the next control cycle with no explicit re-planning step and no operator in the loop, which a fixed tour cannot do without a discrete re-route. We derive the ergodic control law behind this behavior and report simulation results on the five-valve scenario.
发表机构
- Norwegian Defence Research Establishment (FFI)（挪威国防研究机构）
- School of Engineering & Physical Sciences, Heriot-Watt University（赫瑞瓦特大学工程与物理科学学院）
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