MEI-71306 Underwater robotics, 5 cr
Underwater Robotic
Additional information
Suitable for postgraduate studies.
Person responsible
Soheil Zavari
Lessons
| Implementation | Period | Person responsible | Requirements |
| MEI-71306 2019-01 | 1 - 2 |
Jussi Aaltonen Soheil Zavari |
Completing the project work with Matlab simulink / Sim mech Passing the exam |
Learning Outcomes
The application of robotic system is extended to underwater robotic during recent years in fast pace technological development is extended to underwater robotics. This course introduce and describe Underwater Unmanned Vehicle (UUV), Remotely Operated Vehicle (ROV) and Autonomous Underwater Vehicle (AUV). During the course, mechatronic architecture and motion control mechanisms of such vehicles will be studied. Further, Newtonian underwater world for operating AUV would be analyzed, where AUV interact with hydrodynamic forces, propulsion thrust, etc. The above would be the basis for implementing and modeling simulation tasks during the course.
Content
| Content | Core content | Complementary knowledge | Specialist knowledge |
| 1. | Robot mechanical structure | Ballast mechanism and propulsion system | |
| 2. | System control architecture | Mechatronic components: sensor, thrusters, navigation unit, CAN communication | |
| 3. | Simulation and modelling | Analysis of dynamic equation of motion | Matlab simulink and simscape |
| 4. | Operation and testing | Surge, Heave and sway motion | |
| 5. | Modeling propulsion unit | Control theories |
Instructions for students on how to achieve the learning outcomes
Understanding dynamic and applied forces underwater Understanding the mechanronic architecture and most common autonomous underwater robots subsystems Modeling dynamic equation of motion in Simulink Extended application of AUV such as collaborative underwater robots and surface vessels
Assessment scale:
Numerical evaluation scale (0-5)
Partial passing:
Study material
| Type | Name | Author | ISBN | URL | Additional information | Examination material |
| Book | Guidance and Control of Ocean Vehicles | THOR.I.FOSSEN | 978-0-471-94113-2 | No |
Prerequisites
| Course | Mandatory/Advisable | Description |
| MEI-61007 Computer Aided Engineering | Mandatory |
Additional information about prerequisites
`Computer Aided Engineering' course is the require.
The know-how of Matlab simulink and simscape,
Basics of differential equations and Dynamic.
Correspondence of content
| Course | Corresponds course | Description |
| MEI-71306 Underwater Robotic, 5 cr | MEI-71300 Underwater Robotic, 6 cr |