FT4FTT-Ethernet: Fault Tolerance mechanisms for adaptive distributed embedded systems based on FTT-Ethernet

Design, evaluation, validation, implementation and verification of a fault-tolerant infrastructure based on FTT-Ethernet that could be used to support the execution of adaptive, yet highly-dependable, distributed control applications.

Multisensory Based Underwater Intervention through Cooperative Marine Robots

The TRITON research project pursues the use of autonomous vehicles in the accomplishment of complex underwater intervention tasks. The project will emphasize the operation of multiple vehicles (an AUV and an I-AUV) cooperating in a coordinate manner during the execution of a mission, as well as in increasing the dexterity of a robotic arm (currently under development in the context of the RAUVI project), that will be installed in the I-AUV.

Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions

A new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology, oceanography and offshore industries.

Marine Inspection Robotic Assistant Systems

Improving marine vessel inspection by introducing autonomous inspection technologies and by automizing the overall inspection process.

CAN-Based Infrastructure for Dependable Systems

Design, evaluation, validation, implementation and verification of a fault-tolerant infrastructure based on CAN that could be used to support the execution of highly-dependable distributed control applications.

Vision for submarine intervention using autonomous vehicles

Design and development of an Underwater Autonomous Robot that can perceive the environment by means of acoustic and optic sensors, and that can autonomously perform simple intervention tasks with its robotic arm.

Robotic visual navigation in general indoor and outdoor environments with obstacle avoidance and a special emphasis in reactive control architectures.

AUV Guide and Positioning for submarine cable inspection

Visual Inspection of underwater installations such as power cables, oil and gas pipes, sewers,etc. by means of an autonomous Undewater Vehicle.

Improving Error Containment and Reliability of Communication Subsystems based on CAN by Means of Adequate Star Topologies

The Systems, Robotics and Vision Group (SRV) of the University of the Balearic Islands (UIB) and the Electronic Systems Lab (LSE-IEETA) of the University of Aveiro (UA) have developed two innovative star topologies that push error containment and fault tolerance of CAN: CANcentrate and ReCANcentrate. Due to the specific characteristics of their hubs, CANcentrate and ReCANcentrate are fully compatible with existing CAN COTS components and are transparent to any application or protocol based on CAN. Both CANcentrate and ReCANcentrate have been the subject of a patent filing.

A distributed Hardware and Firmware Support for Sofware Fault Tolerance

Design, formal verification and implementation of a hardware support for the consistent execution of fault-tolerant software that follows the N-Version Programming approach.

Development of navigation strategies allowing a robot to navigate safely avoiding obstacles in unstructured and dynamic environments. Consequently, a special emphasis is put on architecture reactivity, and, thus, on control architectures requiring minimum amounts of computation and memory storage. Main results of this research are the T 2 navigation strategies and the NemoCAT simulator.

Orthogonal and Fault-Tolerant Clock Synchronization Subsystem for the Controller Area Network Protocol

Localization and map building by means of a mobile robot carrying ultrasonic sensors. Part of the research also focuses on navigation strategies, as they are related to localization and mapping. Main results of this research are the ATHRAIA control architecture and the SEFIROT simulator.

Design of new methods of task allocation for multi-robot systems.

Development of vision algorithms based on the physical laws of image formation. In this way, the image formation process is taken into account and optical effects such as shading, shadows, specularities, inter-reflections, etc. can be discounted/tolerated by the algorithm implementing the vision task. Main results of this research work include an edge detection algorithm (C3E), two segmentation algorithms (IS2R, C3S), a set of methods for estimating the lighting parameters and an algorithm for CCD-based radiometric camera calibration and intensity uncertainty estimation (R2CIU).

Remote Autonomous Underwater Robot

Development of a cheap autonomous underwater robot for testing purposes.

Remote Autonomous Underwater Robot II

Development of an autonomous underwater robot for inspection and maintenance of underwater installations such as power cables, oil and gas pipelines, sewers, etc.