## Workshop on Marine Robotics

The organizing committee of the 10th IFAC Conference on Control Applications in Marine Systems (CAMS 2016) will be offering a pre-conference professional workshop on Marine Robotics. The workshop is hosted by Gianluca Antonelli, Thor Inge Fossen, and Asgeir Sørensen. The objectives of the workshop is to bring together PhD students for brainstorming and exchanging very recent research and developments in the field of marine robotics.

This workshop unfolds in three parts:

The lectures on introduction to underwater marine robotics and examples from underwater field trials will give an overview and introduction to underwater technology platforms such as ROVs and AUVs including navigation and typical payload sensors. Examples from various field campaigns regarding marine science in the seas outside Norway as well as in the Arctic waters will be presented. Finally some remarks and considerations about increased autonomy will be given.

The lectures on underwater vehicle kinematics and kinetics start with the geometric description of the motion and introduction of coordinate systems. This includes the mathematical theory of Euler angles (roll, pitch and yaw) and unit quaternions. Necessary kinematic transformations as well as proper definitions of angle-of-attack, sideslip angle, crab angle, heading angle and course angle for marine craft exposed to ocean currents are discussed in detail. Next the forces causing the motion (kinetics) are presented using Newton-Euler’s equations. This includes the rigid-body kinetics formulated in a rotating body-fixed reference frame, hydrostatics of submerged vehicles, hydrodynamic added mass and potential coefficients using a Lagrangian framework, ocean currents and the concept of relative velocity. The nonlinear underwater vehicle equations of motion are represented in matrix-vector form in order to preserve physical properties such as energy and dissipation, which are important when designing motion control systems.

The lectures on underwater intervention consists in a first introductory part to motivate the use of Underwater Vehicle-Manipulator Systems (UVMSs). Basic concepts of modeling are then given with an incremental shape with respect to the kinematic and dynamic of a single rigid-body submerged in a fluid. The talk will then focus on coordinated control of vehicle and manipulator, mainly from the kinematic perspective. Why it is necessary to control simultaneously both and what are the possible approaches. During the talk, examples and videos from current state of the art and running research projects will be provided.

- Introduction to underwater marine robotics and examples from underwater field trials and towards autonomy (Given by Asgeir Sørensen)
- Kinematics and Kinetics of underwater robotic vehicles (Given by Thor Inge Fossen)
- Underwater intervention (Given by Gianluca Antonelli)

The lectures on introduction to underwater marine robotics and examples from underwater field trials will give an overview and introduction to underwater technology platforms such as ROVs and AUVs including navigation and typical payload sensors. Examples from various field campaigns regarding marine science in the seas outside Norway as well as in the Arctic waters will be presented. Finally some remarks and considerations about increased autonomy will be given.

The lectures on underwater vehicle kinematics and kinetics start with the geometric description of the motion and introduction of coordinate systems. This includes the mathematical theory of Euler angles (roll, pitch and yaw) and unit quaternions. Necessary kinematic transformations as well as proper definitions of angle-of-attack, sideslip angle, crab angle, heading angle and course angle for marine craft exposed to ocean currents are discussed in detail. Next the forces causing the motion (kinetics) are presented using Newton-Euler’s equations. This includes the rigid-body kinetics formulated in a rotating body-fixed reference frame, hydrostatics of submerged vehicles, hydrodynamic added mass and potential coefficients using a Lagrangian framework, ocean currents and the concept of relative velocity. The nonlinear underwater vehicle equations of motion are represented in matrix-vector form in order to preserve physical properties such as energy and dissipation, which are important when designing motion control systems.

The lectures on underwater intervention consists in a first introductory part to motivate the use of Underwater Vehicle-Manipulator Systems (UVMSs). Basic concepts of modeling are then given with an incremental shape with respect to the kinematic and dynamic of a single rigid-body submerged in a fluid. The talk will then focus on coordinated control of vehicle and manipulator, mainly from the kinematic perspective. Why it is necessary to control simultaneously both and what are the possible approaches. During the talk, examples and videos from current state of the art and running research projects will be provided.

The registration fee is 150 USD (only people who register for CAMS 2016 can register for the Workshop). The registration page can be found here: https://ifac.papercept.net/registration/index.php.

The slides will be uploaded here (only for registrants) soon.

The slides will be uploaded here (only for registrants) soon.