Publications
A First Qualitative Comparison of the Admission Control in FTT-SE, HaRTES and AVB
Ethernet is gaining importance in fields such as automation, avionics and automotive. In these fields novel multimedia-based applications must coexist with traditional control systems, which leads to high diversity in size, intensity and timing requirements of the...
First Implementation and Test of a Node Replication Scheme on top of the Flexible Time-Triggered Replicated Star for Ethernet
Distributed embedded systems typically have real-time and dependability requirements. Moreover, they must also be flexible to changing conditions when they are deployed in dynamic environments. The FT4FTT project aims at providing a switched Ethernet architecture that...
High-Resolution Underwater Mapping Using Side-Scan Sonar
The goal of this study is to generate high-resolution sea floor maps using a Side-Scan Sonar(SSS). This is achieved by explicitly taking into account the SSS operation as follows. First, the raw sensor data is corrected by means of a physics-based SSS model. Second,...
Cluster-Based Loop Closing Detection for Underwater SLAM in Feature-Poor Regions
This paper reports on a novel technique to visually detect loop closings in feature-poor underwater environments in order to increase the accuracy of vision-based localization systems. The main problem of the classical visual Simultaneous Localization and Mapping...
Building High Resolution Maps of Large Subsea Areas Using Side-scan Sonar
The goal of this study is to generate high- resolution seafloor maps using a Side-Scan Sonar (SSS) on board of an Autonomous Underwater Vehicle (AUV). This is achieved by explicitly taking into account the SSS operation as follows. First, the raw SSS data is corrected...
Integración de técnicas ópticas de reconstrucción 3D para mejorar la planificación de agarres en tareas de manipulación arqueológica subacuática
En este artículo se describe una aproximación metodológica para la mejora de la intervención robótica submarina en el contexto de la arqueología subacuática, utilizando para ello diferentes técnicas de reconstrucción 3D mediante métodos ópticos. Este nuevo contexto de...
FT4FTT final prototype demo
This video presents the final prototype of FT4FTT, which is an infrastructure for dependable systems based on Ethernet. The communication subsystem of FT4FTT is built on top of Hard Real-Time Ethernet Switching (HaRTES), a switched-Ethernet implementation of the...
Robust WorldCentric Stereo EKF Localization with Active Loop Closing for AUVs
Visual localization is a crucial task in Autonomous Underwater Vehicles (AUV) and it is usually complicated by the extreme irregularity of the natural aquatic environments, or by unfavorable water conditions. Visual Simultaneous Localization and Mapping (SLAM)...
Optical Sensors and Methods for Underwater 3D Reconstruction
This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has...
Infraestructura d’injecció de fallades per a Ethernet amb funcions específiques per a FTT
En la actualitat Ethernet és l'estàndard de comunicació per a xarxes locals més utilitzat en entorns domèstics i d’oficina, però no ha estat fins els darrers anys que s’ha començat a utilitzar en entorns industrials. Això es deu a que Ethernet no proporciona serveis...
Intervention AUVs: The Next Challenge
While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of: permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the...
A First Step Toward a Possibilistic Swarm Multi-robot Task Allocation
Global Image Signature for Visual Loop-Closure Detection
This work details a new method for loop-closure detection based on using multiple orthogonal projections to generate a global signature for each image of a video sequence. The new multi-projection function permits the detection of images corresponding to the same...
Visual Characterization and Automatic Detection of Posidonia Oceanica for Meadows Mapping using an AUV
Implementació i validació de mecanismes per a l’intercanvi consistent d’informació entre nodes d’un sistema encastat distribuït basat en HaRTES
Avui en dia i de cada vegada més s'està fent palesa la necessitat de poder utilitzar Sistemes Encastats Distribuïts (DES) en aplicacions crítiques que s'executen en entorns dinàmics, on aquests sistemes han de treballar de manera continua, ser flexibles o adaptables i...