A Course on Marine Robotic Systems: Theory to Practice 27-31 January, 2015 National Institute of Oceanography, Dona Paula, Goa Opening address by the Director of NIO Full Programme 1. Introduction and motivation. Marine technology: scientific and commercial applications. Elgar de Sa and Scientific and commercial challenges in marine robotics and connections with supporting technology: marine habitat mapping, fish and mammal telemetry, oceanography, deep sea mining, geophysical and geotechnical surveying, inspection of critical infrastructures for offshore wind and wave energy harvesting. Current trends: cooperative autonomous robots and persistent autonomy at sea. From science to engineering: description of a general functional architecture for single and multiple marine robotic systems. 2. A detailed example of the tight symbiosis between marine science and technology: fish and mammal telemetry. State-of-the art and a vision of the future. P. Afonso Behavioural ecology of marine fish and its application to the management and conservation of marine resources Acoustic and satellite telemetry techniques to look at the movements and habitat use of commercial fishes and top-level predators across different habitats (from coastal reefs to seamount ridges) and geographic regions What does the future hold in store for fish and mammal telemetry?
3. Understanding the dynamics of marine vehicles: an introduction to marine vehicle modeling and simulation General equations of motion Kinematics Hydrodynamics and hydrostatics Actuators and sensors Model identification Illustrative vehicle models 4. Examples of Autonomous Marine Vehicles (AMVs) and systems including mechanical designs R. Madhan, A. Mascarenhas,, G. Indiveri MAYA Autonomous Underwater Vehicle (AUV) Autonomous Vertical Profiler (AVP) Seabed resident Profilers (SREP) MEDUSA s Autonomous Surface Vehicle (ASV) MEDUSA D AUV FOLAGA AUV 5. A general overview of core problems in marine robotics: single and multiple vehicle motion planning, navigation, and control. Advanced mathematical tools for dynamical systems analysis and design: an introduction A laymans overview of motion planning, navigation, and control Capturing performance and technical specifications in a rigorous mathematical setting Linear and nonlinear systems Linearization techniques Frequency domain descriptions: transfer functions State space descriptions
6. Control systems I: a fast-paced introduction Linear versus nonlinear control Linear control : frequency domain and time-domain optimal control Basics of non linear control (Lyapunov theory, Input-to-State Stability, Lyapunov-based control systems design) 7. Control systems II: selected topics J. Hauser, G. Indiveri, P. Menon, Trajectory tracking Path following Cooperative Path Following Cooperative Trajectory Tracking Acoustic Network-Enabled Cooperative Cont 8. Navigation systems I: a fast-paced introduction P. Maurya Introduction to Navigation: an historical perspective Problem formulation Introduction to estimation theory: Kalman filtering; complementary filters Application examples: Dead reckoning navigation systems, acoustic-range based navigation 9. Navigation systems II: advanced topics G. Indiveri, P. Maurya, Single Range Localization Observability analysis Filter design and robustness issues Introduction to Geophysical (Terrain and Geomagnetic) based navigation Nonlinear Filters (Monte Carlo techniques, Particle Filters) Application Examples Animal-Inspired Navigation
10. Motion planning and optimization J. Hauser Single and multiple vehicle motion planning: motivation Problem formulation Problem solving using optimal control-related methods The PRONTO optimization tool Application examples 11. Advanced motion-related problems P. Menon and D. Ghose Techniques for boundary mapping and source localization at sea Cyclic pursuit strategies Collision Avoidance 12. Mission programming and control: an Introduction P. Maurya The NIO and IST software tools for mission planning and control Examples of application 13. Going from theory to practice: an introduction to Hardware and Software Architectures. ROS as a unifying software tool for middleware systems implementation A. Govada, P. Maurya and G. Navelkar Computer systems Radio communications Wi-Fi communications Satellite communications Acoustic communications (a general introduction to acoustic communication systems) presentation of J. Alves kindly available from CMRE, Italy Software systems Parallel computing: Applications to marine robotics
14. FIELD TRIP (FULL DAY) Demonstration of autonomous marine vehicle deployment and operation General discussion and feedback from the participants