Underwater Robotics
University of Calabria
Reference Teacher: Salvatore Medaglia
Teacher(s): Salvatore Medaglia
The course aims to provide the fundamentals of modeling and simulation of remote-controlled and autonomous robotic systems in marine and submarine environments. The course also aims to provide knowledge of technologies and instrumentation for seafloor navigation and exploration, localization techniques, and automated data collection systems.
Master’s Degree Course in Robotics and Automation Engineering
Students will learn to analyze an underwater robot, extract the kinematic and dynamic model, and the control system,
identify the necessary sensors for operation and integrate them into the vehicle model,
simulate the real behavior of the robot to test control algorithms and data acquisition systems.
Students will be able to apply the above knowledge to the design of an underwater robot by sizing the propulsion system, sensors, and control electronics,
test the operation of the underwater vehicle in a simulated environment, both in autonomous mode and remote control.
Students will be able to evaluate the operating limits and robustness of an underwater vehicle and determine the quality of its control system and performance.
Students will be able to interact and collaborate in teams with colleagues and external experts; illustrate the technologies used in the development of an underwater vehicle, describe the main components of the control system, navigation algorithms, and mission planning,
Students will be able to independently expand their knowledge of autonomous underwater vehicles, evaluating whether new technologies can be integrated to improve perception and control.
The student must acquire the basic knowledge of underwater robotic systems necessary for modeling and simulation. He/she must also be familiar with the technologies and instrumentation used in the submarine environment and know how to integrate them according to the required application.
Frontal lecture and laboratory activities using simulators, sensors, and actuators.
Oral Examination
The course combines theoretical foundations and laboratory activities using simulators, sensors and actuators to support the modelling, simulation and control of underwater robotic systems. In particular, the lectures introduce the main typologies and characteristics of underwater vehicles and provide an overview of sensors and actuators for underwater robotics. Specific attention is devoted to underwater localization systems, including LBL and USBL, as well as to basic concepts of inertial navigation. The theoretical part also covers the modelling of underwater vehicles and an introduction to simulation environments.
The laboratory sessions focus on control architectures for underwater vehicles and on thruster modelling and characterization. Students work with open-source platforms for underwater vehicle control, such as ArduSub, and gain practical experience with ROV systems, in particular the BlueROV2. Practical exercises include the use of sonar and DVL sensors, experimentation with the BlueROV2 in a real environment, and the use of underwater vehicle simulators.
The expected learning outcomes can contribute to the achievement of the following goals: SDG 14: Life Below Water; SDG 9: Industry, Innovation, and Infrastructure.
To attend the course “Underwater Robotics” at the University of Calabria, you have two options: enroll in the Master’s Degree program or register for the individual course.
More information at the following link: https://www.unical.it/didattica/iscriversi-studiare-laurearsi/iscrizioni-anni-successivi/?lang=en
Foreign students, both EU and non-EU, can find detailed admission requirements and procedures in the “Guidebook for Foreign Students”: https://www.unical.it/didattica/iscriversi-studiare-laurearsi/ammissione-1-anno/guidebook_foreign_students_aa2425/?lang=en
For further information or specific inquiries, you may contact the “Educational Services Area” of the University of Calabria using the contact details and methods provided at the following link: https://www.unical.it/didattica/iscriversi-studiare-laurearsi/contatta-i-servizi-didattici/?lang=en
Overview of underwater vehicle types and characteristics; sensors and actuators for underwater robotics.
Underwater localization systems (LBL, USBL); basic concepts of inertial navigation; modelling of underwater vehicles; introduction to simulation environments.
Control architectures for underwater vehicles; thruster modelling and characterization; open-source platforms for underwater vehicle control (ArduSub).
ROVs in practice (BlueROV2); exercises with sonar and DVL; experimentation in real environment; use of underwater vehicle simulators.
G. Antonelli, “Underwater Robots,” Springer Tracts in Advanced Robotics, 2018, doi: 10.1007/978-3-319-77899-0