Many Thanks Julian.

The core advise is
This problem is comming from the Media Managment layer. According to document: 227517.1 Main Index of Common Causes for ORA-19511. You will need to upgrade Tivoli TDP to version 2.2.1. You will want to contact Tivoli for any further questions regarding this issue.
The document 227517.1 is not describing the problem and my TDP version is

Tracing started for:
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Application Client : TDP Oracle AIX
Version : 5.2.0.0
More over most of my databases are running in 8.1.7 without any issues. Finally SYSADMIN confirmed that there are 3 tapes got corrupted. I assume that is making the issue.