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Fins a la data d’avui, el grup VICOROB de la Universitat de Girona ha desenvolupat diversos vehicles autònoms (GARBÍ, URIS i ICTINEU). El projecte que comença aquest any té com objectiu desenvolupar un nou vehicle submarí autònom amb capacitat d’intervenció (I-AUV) gràcies a un braç manipulador. Aquest projecte final de carrera té com objectiu desenvolupar en entorn MATLAB un simulador d’un I-AUV, format per un AUV i un braç manipulador de n graus de llibertat per tal d’avaluar les reaccions dels moviments del braç, amb càrrega i sense, sobre el robot, i viceversa

Throughout this project, the design of an experimental setup for calculating the thermal diffusivity and thermal conductivity of metallic powder is treated. Additionaly, a theoretical model is developed comparing the existing models in literature for understanding the particles interaction and estimating our powder effective thermal conductivity. A transient thermal simulation using the Finite Element Mehtod is performed to validate the designed prototype. The obtained values for the powder thermal diffusivity converge along time, although there is a stationary error that could be calibrated testing powders with known thermal diffusivity. For the studied case, a relative error of 11,3% is shown, which is considerably less than the ±30% relative error obtained by the literature reviewed. Powder effective thermal conductivity was estimated with an average relative error of 14,6% when lateral heat loss is considered, while a disproportionately high value was obtained when lateral heat loss was not computed. This project has been carried out in the Hewlett-Packard Company, at the 3D Printing Laboratory, and consequently, some data will not be available in this document due to confidential reasons.