Università Roma Tre

The aim of this course is to provide the student with the fundamental elements of robot mechanics with particular reference to remotely controlled underwater articulated systems operating in the marine environment. For this purpose, a wide range of methodologies will be first provided for the functional design, kinematic, static generalized force and dynamic analysis of mobile marine articulated systems and their implementation with remote control. The first theoretical part will be completed with the dynamic analysis of oscillating articulated systems in the marine environment. Secondly, elements of design and use of Underwater Vehicle-Manipulator System UVMS, Remotely Guided and Autonomous Underwater Robotic Vehicles (ROV and AUV) will be introduced, including classification, types and uses. The student will be able to understand the static and dynamic behavior of UVMS, ROV and AUV, the main on-board systems of UVMS, ROV and AUV. The course will also provide elements on mission profile, design criteria and methods, dedicated manipulators and sensors for submarine vehicles, as well as on guidance, control and autonomous navigation principles, on-board and shore support systems of UVMS, ROV and AUV. The practical part of the course is based on the practical construction of a marine UVMS, ROV or AUV to be used in undergraduate student competitions.