Maritime Robotics

Learning Outcomes

Transferable and Generic Skills

Having successfully completed this module you will be able to:

• Conduct independent study and self-evaluation. (Contributing to EAB accreditation LOs: G4)
• Work within a team collaboratively, encouraging peer tutoring and peer learning. (Contributing to EAB accreditation LOs: G4)
• Critically evaluate literature, analyse data and interpret information. (Contributing to EAB accreditation LOs: P4)
• Communicate findings accurately in a range of ways (written and orally). (Contributing to EAB accreditation LOs: G1)

Knowledge and Understanding

Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:

• Summarise typical maritime robotics system architectures and demonstrate (low level) control system design. (Contributing to EAB accreditation LOs: SM1, SM4, SM8, SM9, P9)
• Formulate and model maritime robotic system dynamics, control and operations in realistic environments with sensor uncertainty. (Contributing to EAB accreditation LOs: EA1, D3, D9, D10, P8)
• Design, implement and analyse guidance, navigation and control systems for maritime robotic systems. (Contributing to EAB accreditation LOs: EA2, EA6, EA7, EA6M, D11, P1)
• Explain the use of payloads and their impact on control and localisation requirements. (Contributing to EAB accreditation LOs: EA2)
• Calculate and explain operational requirements, vehicle parameters and performance metrics used to design maritime robotics systems. (Contributing to EAB accreditation LOs: SM1, SM2 SM5)
• Evaluate and use typical maritime robotic system sensors, signal processing and data analysis techniques. (Contributing to EAB accreditation LOs: EA3, P12)
• Identify and describe the types and applications of maritime robotic systems, including the ethics and responsibilities of operation. (Contributing to EAB accreditation LOs: EL8, P6)

Full CEng Programme Level Learning Outcomes

Having successfully completed this module you will be able to:

• Students compare theoretical (simulations) to experimentally collected data using appropriate response metrics (e.g., step responses). The students use this data to refine and improve their robotic guidance, navigation and control systems, which is assessed in the coursework.
• Apply a comprehensive knowledge of mathematics, statistics, natural science, and engineering principles to the solution of maritime robotic problems. This is assessed in the coursework assignments, where the students simulate and then apply Guidance, Navigation and Control (GNC) systems on a physical robot.
• The simulation assignment is comprised of a series of 3 parts, developing robotic control, guidance and navigation systems. This is then realised experimentally.
• The coursework assignment is supported by a formative laboratory where students observe the performance of robotic systems in the tank and a tutorial processing the data. During the coursework assignment the students design their experiments, collect data, and process the data for comparison with their simulations.
• In the coursework, students must find and critically evaluate literature on the control of robotic systems identifying strengths and weaknesses of the methods introduced in the module.
• Coursework for the development of the physical robotic system is a group coursework of 3-5 students
• The course work is a challenge which sets functional milestones e.g., logging data, open and closed loop control, way-point guidance and navigation using data fusion techniques, e.g. Extended Karman Filter (EKF), with some coverage of industry standards and codes of practice.

Subject Specific Practical Skills

Having successfully completed this module you will be able to:

• Design, develop and build, as a team, a demonstrator maritime robotic system for testing and evaluation. (Contributing to EAB accreditation LOs: D8, D11, P3, G1, G4, P12)

SYSTEM TYPES AND APPLICATIONS: An introduction to the types, applications and practical considerations of deploying and operating Maritime Robotic Systems, for example AUVs, ASVs, ROVs, underwater gliders and Argo floats.

SYSTEM DESIGN: Design of maritime robotic systems and calculation of vehicle parameters and performance metrics, for example power, speed, range and cost of transport (COT).

SYSTEM NAVIGATION: Sensors and navigational strategies for maritime robotic systems, for example localisation using dead-reckoning and principles of SLAM and uncertainty/probabilistic approaches.

SYSTEM GUIDANCE: Path planning algorithms and path following strategies, for example artificial potential field methods, Dijkstra’s, A* star algorithms and line of sight guidance strategies.

SYSTEM CONTROL: Modelling and control of maritime robotic systems, for example PID controllers, system architectures, actuator and vehicle dynamics.

• Lectures: A series of lectures on maritime robotic system types and applications, design, control, guidance, navigation and operation, supported by directed self-study, major coursework assignments and the module notes with illustrated case studies.
• Tutorials: A series of tutorials to support the coursework assignments, providing the opportunity for students to discuss their designs and simulation with members of academic staff.
• Laboratories: A series of practical laboratories on autonomous control of a maritime robotic vehicle and using microcontroller and interfacing with hardware e.g. controlling a DC motor, reading and logging/analysing sensor data.

Learning activities include:

• Individual coursework’s with directed reading and independent learning requiring the use of modelling software and academic technical writing.
• Group coursework involving the design, build and test of a small inexpensive maritime robotic system e.g. AUV or ASV, including technical documentation and oral presentation.

Summative

This is how we’ll formally assess what you have learned in this module.

Referral

This is how we’ll assess you if you don’t meet the criteria to pass this module.

Repeat

An internal repeat is where you take all of your modules again, including any you passed. An external repeat is where you only re-take the modules you failed.