MEI-71306 Underwater Robotic, 5 cr


Suitable for postgraduate studies.


Soheil Zavari


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.


Sisältö Ydinsisältö Täydentävä tietämys Erityistietämys
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   

Ohjeita opiskelijalle osaamisen tasojen saavuttamiseksi

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


Numerical evaluation scale (0-5)


Completion parts must belong to the same implementation


Tyyppi Nimi Tekijä ISBN URL Lisätiedot Tenttimateriaali
Book   Guidance and Control of Ocean Vehicles   THOR.I.FOSSEN   978-0-471-94113-2       No   


Opintojakso P/S Selite
MEI-61007 Computer Aided Engineering Mandatory    

Tietoa esitietovaatimuksista
`Computer Aided Engineering' course is the require. The know-how of Matlab simulink and simscape, Basics of differential equations and Dynamic.


Opintojakso Vastaa opintojaksoa  Selite 
MEI-71306 Underwater Robotic, 5 cr MEI-71300 Underwater Robotic, 6 cr  

Päivittäjä: Zavari Soheil, 26.03.2019