Subsurface

Courses about the fabrication of a Low Cost Subsurface AUV

Introduction

Subsurface is a course about the fabrication of a Low Cost Subsurface AUV. The course is designed to provide hands-on experience in building and programming an autonomous underwater vehicle (AUV) using affordable materials and components.

Objectives

The main objectives of this course are:

  • AUV Design: To understand the principles of AUV design and operation.
  • 3D modeling: To learn how to create 3D models of AUV components using CAD software.
  • Fabrication: To gain practical experience in fabricating AUV with simple numerical tools (3D FDM / SLA printers, CNC mill, …),
  • Programming: To learn how to program the AUV for autonomous navigation and control.
  • Swarm Navigation: To explore swarm navigation capabilities for multiple AUVs working together.
  • Acoustic Communication: To develop low-cost acoustic communication systems for underwater data transmission.

Prerequisites

  • Robotics: Familiarities with robotics concepts, including sensors actuators, and control laws.
  • Programming: Basic understanding of programming concepts (C/C++ and Python)
  • Electronics: Familiarity with electronics and basic circuit components.

Course Structure

The course is structured into several modules, each focusing on different aspects of AUV design and fabrication:

  • Module 0: Introduction to AUVs - [ lesson / slides ]
    • Overview of AUV technology and applications.
    • Basic principles of underwater navigation and communication.
    • Introduction to the components used in AUVs.
  • Module 1: AUV Design and Fabrication
    • Design considerations for low-cost AUVs.
    • Materials and tools required for fabrication.
    • Step-by-step guide to building an AUV prototype.
  • Module 2: Programming and Control
    • Introduction to programming languages used in AUV control.
    • Developing control algorithms for AUV navigation.
    • Implementing sensors and actuators for AUV operation.
  • Module 3: Swarm Navigation
    • Principles of swarm robotics and multi-agent systems.
    • Techniques for coordinating multiple AUVs.
    • Implementing swarm navigation algorithms.
  • Module 4: Acoustic Communication
    • Overview of acoustic communication in underwater environments.
    • Designing low-cost acoustic communication systems.
    • Implementing data transmission protocols for AUVs.
  • Module 5: Testing and Evaluation
    • Testing the AUV prototype in controlled environments.
    • Evaluating the performance of the AUV in various scenarios.
    • Troubleshooting common issues in AUV operation.
  • Module 6: Applications and Future Directions
    • Exploring real-world applications of AUVs.
    • Discussing future trends in AUV technology.
    • Opportunities for further research and development in low-cost AUVs.

Resources

  • Course Materials: Lecture notes, slides, and additional reading materials will be provided.
  • Online Resources: Links to relevant online tutorials, videos, and forums for further learning
  • Community Support: A dedicated forum for students to ask questions, share ideas, and collaborate on projects.
  • Hardware Kits: Information on recommended hardware kits for building the AUV prototype, including sensors, microcontrollers, and communication modules.
  • Software Tools: Recommended software tools for programming and simulating AUV behavior, including IDEs, simulation environments, and libraries for sensor integration.
  • Project Showcase: A platform for students to showcase their AUV projects, share experiences, and receive feedback from peers and instructors.
  • Guest Lectures: Opportunities to attend guest lectures from experts in the field of underwater robotics and AUV technology.

Assessment

  • Project Work: Students will be required to complete a hands-on project where they design, fabricate, and program their own AUV prototype.
  • Quizzes and Assignments: Regular quizzes and assignments to reinforce learning and assess understanding of key concepts.
  • Trials and Evaluation: Students will conduct trials of their AUV prototypes and evaluate their performance based on predefined criteria.
  • Final Presentation: Students will present their AUV projects, demonstrating functionality and discussing challenges faced during the development process.