Publications
A 3D Mapping, Obstacle Avoidance and Acoustic Communication Payload for the AUV SPARUS II
This paper presents the new payload for Turbot, the SPARUS II AUV unit, manufactured by the University of Girona and recently acquired by the Systems, Robotics and Vision Group of the University of the Balearic Islands. The new payload has been entirely designed and...
Study of the Admission Control in the Flexible Time-Triggered and the Audio Video Bridging Communication Protocols
In the last years industry has shown a growing interest in using Ethernet as the protocol for developing distributed embedded systems, even in the automation, avionics and automotive fields. This coincides with a growing interest in the use of multimedia-based...
I-AUV Docking and Panel Intervention at Sea
The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last years. While they are mainly used for routinely survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or...
Implementation and Testing of the Node Replication Scheme of the FT4FTT Architecture
Distributed Embedded Control Systems (DECSs) typically have stringent real-time and dependability requirements. Moreover, nowadays they are starting to be deployed in dynamic environments where they must also be flexible to adapt to the unexpected changes in the...
Improving Maintenance of FT4FTT: Extending it to Monitor and Log its Available Redundancy via Internet
Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing
A First Performance Analysis of the Admission Control in the HaRTES Ethernet Switch
There is a growing interest in developing embedded systems capable of being deployed in dynamic environments that may change in unpredictable manners. When such systems are Distributed Embedded Systems (DESs) they must exhibit flexibility at all levels of their...
First Implementation and Test of Reintegration Mechanisms for Node Replicas in the FT4FTT Architecture
Distributed Embedded Control Systems (DECSs) used for critical applications must usually abide by strict real-time and dependability requirements. Correspondingly, the FT4FTT project proposes a complete fault-tolerant (FT) architecture for RT DECSs. The Flexible...
Submap Bathymetric SLAM using Structured Light in Underwater Environments
An USBL-Aided Multisensor Navigation System for Field AUVs
This paper presents the integration of an Ultra Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) multisensor navigation schema for an Autonomous Underwater Vehicle (AUV). The system consists of a first...
Guest edition of “Vision-Based Sensors in Field Robotics” Special Issue
Towards Automatic Visual Sea Grass Detection in Underwater Areas of Ecological Interest
First direct observation of coseismic slip and seafloor rupture along a submarine normal fault and implications for fault slip history
Properly assessing the extent and magnitude of fault ruptures associated with large earthquakes is critical for understanding fault behavior and associated hazard. Submarine faults can trigger tsunamis, whose characteristics are defined by the geometry of seafloor...
Advances in Automated Ship Structure Inspection
Fast Image Mosaicing using Incremental Bags of Binary Words
On the use of a Hybrid Aerial and Terrestrial Platform for Visual Inspection Applications
A Flying Tool for Sensing Vessel Structures Defects using Image Contrast-based Saliency
A Generic Framework for Defect Detection on Vessel Structures based on Image Saliency
Towards Visual Detection, Mapping and Quantification of Posidonia Oceanica using a Lightweight AUV
Designing fault-diagnosis and reintegration to prevent node redundancy attrition in highly reliable control systems based on FTT-Ethernet
Distributed Embedded Control Systems (DECSs) used for Real-Time (RT) critical applications must satisfy stringent time requirements and attain high reliability. FTT-Ethernet provides nodes of DECSs with real-time communication capabilities, but does not include Fault...