Marine Robotics

Course Description

INTRODUCTION: Motivation; Types of marine vehicles (unmanned, manned, autonomous, underwater (ROVs, AUVs, gliders), surface (USVs)); Applications of unmanned marine vehicles (Biology, archaeology, security); Challenges in marine robotics. ACOUSTIC COMMUNICATION: Physical principles; Acoustic modems; Acoustic scheduling; Challenges in acoustic communications (multipath, delay). SENSORS: GPS, INS, DVL, acoustic positioning systems (LBL, SBL, USBL), SONARS (scanning, multibeam, sidescan). ACTUATORS MATHEMATICAL MODEL OF MARINE VEHICLES CONTROL OF MARINE VEHICLES: Inverse thruster allocation; Low level control GUIDANCE OF MARINE VEHICLES: Heading and depth control; DP; Line following, Distance keeping, Path following NAVIGATION OF MARINE VEHICLES: State estimation (Kalman filter); Sensor fusion; Outlier rejection

Learning Outcomes

  1. define marine systems and their classification
  2. distinguish unmanned underwater vehicles and their application
  3. explain the principles of underwater acoustic communication and principles of operation of acoustic modems
  4. explain the principles of operation of sensors and actuators used in marine vehicles
  5. analyze mathematical models of vessels
  6. design low level controllers for vessels
  7. design guidance controllers for vessels
  8. design navigation systems for vessels

Forms of Teaching

Lectures

Lectures

Seminars and workshops

Seminar

Grading Method

Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Seminar/Project 20 % 50 % 20 % 50 %
Final Exam: Oral 50 %
Exam: Oral 50 %

Week by Week Schedule

  1. INTRODUCTION: motivation; historical overview; vessel types (unmanned, manned, autonomous, underwater (ROV, AUVs, gliders), surface (USVs)); challenges in marine robotics
  2. APPLICATION OF UNMANNED VESSELS: biology, archeology, safety
  3. ACOUSTIC COMMUNICATION: physical principles; acoustic modems; acoustic timing; challenges in acoustic communication (multipath, delay)
  4. SENSORS: GPS, INS, DVL, acoustic positioning systems (LBL, SBL, USBL), SONARs (scanning, multi-beam, sidescan).
  5. MATHEMATICAL VESSEL MODELING: coordinate systems, kinematic and dynamic model
  6. MATHEMATICAL VESSEL MODELING: control allocation, actuator modeling
  7. CONTROL OF MARINE VEHICLES: inverse thruster allocation; low level control
  8. Midterm exam
  9. GUIDANCE OF MARINE VEHICLES: heading and depth control; dynamic positioning
  10. GUIDANCE OF MARINE VEHICLES: line following, distance keeping, trajectory tracking
  11. Seminar
  12. NAVIGATION OF MARINE VEHICLES: state estimation (Kalman filter); sensor fusion; outlier rejection
  13. Seminar
  14. COOPERATIVE CONTROL: target tracking, formation keeping, cooperative tracking
  15. Final exam

Study Programmes

University graduate
Audio Technologies and Electroacoustics (profile)
Free Elective Courses (2. semester)
Communication and Space Technologies (profile)
Free Elective Courses (2. semester)
Computational Modelling in Engineering (profile)
Free Elective Courses (2. semester)
Computer Engineering (profile)
Free Elective Courses (2. semester)
Computer Science (profile)
Free Elective Courses (2. semester)
Control Systems and Robotics (profile)
Elective Courses of the Profile (2. semester)
Data Science (profile)
Free Elective Courses (2. semester)
Electrical Power Engineering (profile)
Free Elective Courses (2. semester)
Electric Machines, Drives and Automation (profile)
Free Elective Courses (2. semester)
Electronic and Computer Engineering (profile)
Free Elective Courses (2. semester)
Electronics (profile)
Free Elective Courses (2. semester)
Information and Communication Engineering (profile)
Free Elective Courses (2. semester)
Network Science (profile)
Free Elective Courses (2. semester)
Software Engineering and Information Systems (profile)
Free Elective Courses (2. semester)

Literature

Thor I. Fossen (2002.), Marine Control Systems,
Thor I. Fossen (2011.), Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons
Nikola Mišković (.), Use of self-oscillations in guidance and control of marine vessels,

For students

General

ID 222677
  Summer semester
5 ECTS
L3 English Level
L1 e-Learning
30 Lectures
4 Laboratory exercises

Grading System

89 Excellent
76 Very Good
63 Good
50 Acceptable