| Competencias do título |
| Código | Competencias do título |
| Resultados de aprendizaxe | |||
| Resultados de aprendizaxe | Competencias do título | ||
| Capacity for applying mathematical and ICT methods and tools to define, design, operate and maintain advanced marine robotic systems and for understanding and developing the needed algorithms and methods. | BM1 BM2 BM3 BM4 BM5 BM6 BM7 BM10 BM12 |
CM2 CM3 CM4 CM6 CM7 |
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| Understanding the difference between autonomous and non-autonomous operation in robotics, and how it fits into the Artificial Intelligence field | AM4 |
BM3 BM5 BM7 BM12 |
CM4 |
| Acquiring the knowledge about sensors and actuators relevant in marine vehicles to provide them with autonomous capabilities | AM4 |
BM1 BM3 BM5 BM7 BM12 |
CM4 CM6 CM7 |
| Understanding the fundamentals of autonomous robotic control, and how classical techniques are very important to achieve a proper response. Being able to apply these concepts in navigation tasks | AM4 |
BM1 BM2 BM3 BM5 BM7 BM12 |
CM3 CM4 CM6 CM7 |
| Capacity for using a marine vehicle simulator and programming it, including all the previous knowledge about sensors, actuators and autonomous/classical control | AM4 |
BM2 BM3 BM5 BM6 BM7 BM8 BM10 BM12 |
CM3 CM6 CM7 |
| Contidos |
| Temas | Subtemas |
| Topic 1. Introduction to autonomous vehicles | - Artificial Intelligence - Autonomous vehicles - Autonomous marine vehicles - Regulatory issues |
| Topic 2. Sensors and actuators in marine vehicles | - Sensors: -- Sound based (Sonar, DVL, range finders...) -- Vision and laser based (Cameras, LIDAR...) -- Inertial Measurement Units (IMU) -- GNSS and alternative positioning systems - Actuators: -- Thrusters and alternative propulsion methods -- Arms and grippers |
| Topic 3. Autonomous control | - Open loop control - Closed loop control - PID - Intelligent architectures -- Reactive -- Deliberative -- Hybrid |
| Topic 4. Autonomous navigation | - Localization - Mapping - Path planning |
| Topic 5. Programming underwater vehicles | - Gazebo simulation model - Programming framework - Real underwater vehicle |
| Planificación | ||||
| Metodoloxías / probas | Competencias | Horas presenciais | Horas non presenciais / traballo autónomo | Horas totais |
| Prácticas a través de TIC | B3 B6 B8 C3 C6 | 18 | 18 | 36 |
| Sesión maxistral | B2 B4 B6 C4 C6 | 18 | 9 | 27 |
| Traballos tutelados | A4 B3 B4 B5 B6 B7 B8 B9 B11 B13 C2 C3 C7 | 0 | 55 | 55 |
| Saídas de campo | A4 B3 B7 B9 B11 B13 C4 C7 | 4 | 8 | 12 |
| Proba mixta | A4 B4 B5 B6 B11 B13 C2 | 2 | 16 | 18 |
| Atención personalizada | 2 | 0 | 2 | |
| *Os datos que aparecen na táboa de planificación son de carácter orientativo, considerando a heteroxeneidade do alumnado | ||||
| Metodoloxías |
| Metodoloxías | Descrición |
| Prácticas a través de TIC | Practical classes carried out in the ICT lab, with the objective of learning how to program an autonomous marine vehicle (real or simulated) to develop a simple mission. In these classes, the teacher will help students to properly understand the topics |
| Sesión maxistral | Masterclass where teachers explain the theoretical concepts of the topics, and students can ask questions. |
| Traballos tutelados | Autonomous work where students must solve some challenge involving programming an autonomous marine vehicle to solve a task. There can be one of incremental complexity or more than one with independent objectives. In this methodology, students will be organised in groups, so they will have to collaborate to achieve the goal. |
| Saídas de campo | A field trip will be made to the UDC ship model basin to analyse the real conditions of the environment where the ROV operates |
| Proba mixta | Written or oral examination where students will show their understanding of the theoretical concepts of the subject. |
| Atención personalizada |
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| Avaliación | |||
| Metodoloxías | Competencias | Descrición | Cualificación |
| Proba mixta | A4 B4 B5 B6 B11 B13 C2 | Students will have to show their knowledge and understanding of the theoretical concepts of the subject by means of a written or oral activity | 30 |
| Traballos tutelados | A4 B3 B4 B5 B6 B7 B8 B9 B11 B13 C2 C3 C7 | One or more incremental projects will be proposed throughout the course focused on solving realistic problems with autonomous marine problems using real or simulated robots. These tasks will be developed autonomously by the student outside the classroom and must be defended in front of the teachers. | 60 |
| Saídas de campo | A4 B3 B7 B9 B11 B13 C4 C7 | The correct preparation, execution and understanding of the field trip will be assessed by the teachers of the subject. Students must prepare a report which will be evaluated. | 10 |
| Observacións avaliación | |||
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In order to pass this subject, a minimum score of 50 must be obtained by adding all the above methodologies, there being no minimum in any of them. If the student does not pass the subject in the ordinary exam, he/she will have to repeat the necessary activities of the methodology/s that were not passed in the extraordinary exam. General EMJMD Sustainable Ship and Shipping SEAS 4.0 evaluation rules: - Students will have only two oportunities to pass a course. If failing to do so, they may be forced to leave the degree. - No part time or lecture attendance exemption are allowed in this degree. |
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| Fontes de información |
| Bibliografía básica |
Geoff Roberts and Robert Sutton (2006). Advances in unmanned marine vehicles. Institution of Engineering and Technology
Thor I. Fossen (2011). Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons
Dronekit (2015). https://dronekit-python.readthedocs.io/en/latest/.
Robin R. Murphy (2000). Introduction to AI Robotics. A Bradford Book |
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| Bibliografía complementaria |
Joseph, Lentin (2015). Learning robotics using Python : design, simulate, program, and prototype an interactive autonomous mobile robot from scratch with the help of Python, ROS, and Open-CV. Packt Publishing |
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| Recomendacións | ||
| Materias que se recomenda ter cursado previamente | ||
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| Materias que se recomenda cursar simultaneamente | ||
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| Materias que continúan o temario |
| Observacións | |
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To help in achieving a sustainable environment and to get the objective of number 5 action of the "Ferrol Green Campus Action Plan" (Healthy and environmentaly and socially sustainable research and teaching): The assignments to be done in this course: - Will be required in digital format. - Will be delivered using Moodle, with no need to print them. In case it is necessary to print them: - Plastics won´t be used. - Two side printing will be used. - Recycled paper will be used. - Printing drafts will be avoided. A sustainable use of the resources should be done, together with the prevention of negative impacts on the environment. |