Teaching GuideTerm Higher Polytechnic University College |
Master Universitario Erasmus Mundus en Sostibilidade e Industria 4.0 aplicada ao Sector Marítimo |
Subjects |
Autonomous Marine Vehicles |
Contents |
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Identifying Data | 2021/22 | |||||||||||||
Subject | Autonomous Marine Vehicles | Code | 730542017 | |||||||||||
Study programme |
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Descriptors | Cycle | Period | Year | Type | Credits | |||||||||
Official Master's Degree | 2nd four-month period |
First | Optional | 6 | ||||||||||
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Topic | Sub-topic |
Topic 1. Introduction to autonomous vehicles | - Artificial Intelligence - Autonomous robots - Autonomous vehicles |
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 |
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