Publications
A Mosaicing Approach for Vessel Visual Inspection using a Micro-Aerial Vehicle
Quantitative characterization of the reliability of simplex buses and stars to compare their benefits in fieldbuses
Fieldbuses targeted to highly dependable distributed embedded systems are shifting from bus to star topologies. Surprisingly, despite the efforts into this direction, engineers lack of analyses that quantitatively characterize the system reliability achievable by...
An OMNET++ model to asses node fault-tolerance mechanisms for FTT-Ethernet DESs
Distributed embedded systems (DESs) that operate in dynamic environments require emerging flexibility and adaptivity communication requirements. When those DESs are deployed for critical applications, they must also employ appropriate fault-tolerance (FT) mechanisms...
Towards a Layered Architecture for the Flexible Time-Triggered Replicated Star for Ethernet
Distributed embedded systems (DES) have traditionally been designed assuming that the requirements they need to satisfy are known in advance. If this is not the case, and a DES should operate autonomously without interruption, it needs to be adaptive. For this,...
First Experimental Evaluation of the Consistent Replicated Voting in the Hard Real-Time Ethernet Switching architecture
Distributed Embedded Systems (DESs) typically have dependability and real-time requirements. Moreover, when they are deployed in dynamic environments, they must be flexible enough to adapt to changes in the operation requirements. The Fault Tolerance for Flexible...
Revisiting Image Vignetting Correction by Constrained Minimization of Log-Intensity Entropy
Structured light and stereo vision for underwater 3D reconstruction
Vessel Visual Inspection: A Mosaicing Approach
Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures. Nowadays, robots are becoming more and more important regarding these inspection tasks,...
A Micro-Aerial Vehicle based on Supervised Autonomy for Vessel Visual Inspection
Seagoing vessels have to undergo regular visual inspections in order to detect the typical defective situations affecting metallic structures, such as cracks and corrosion. These inspections are currently performed by ship surveyors manually at a great cost. To make...
Vision-Based Topological Mapping and Localization by means of Local Invariant Features and Map Refinement
We propose an appearance-based approach for topological visual mapping and localization using local invariant features. To optimize running times, matchings between the current image and previously visited places are determined using an index based on a set of...
Vision-Based Topological Mapping and Localization Methods: A Survey
Topological maps model the environment as a graph, where nodes are distinctive places of the environment and edges indicate topological relationships between them. They represent an interesting alternative to the classic metric maps, due to their simplicity and...
Experimental Evaluation of Network Component Crashes and Trigger Message Omissions in the Flexible Time-Triggered Replicated Star for Ethernet
A distributed embedded system (DES) is made up of a set of computing nodes interconnected by a network. If we want the DES to continue to operate even if a subset of its network elements fail, the network must be fault-tolerant. In particular, this requires that the...
Stereo-Vision Graph-SLAM for Robust Navigation of the AUV SPARUS II
Stereo SLAM for Robust Dense 3D Reconstruction of Underwater Environments
6DOF EKF SLAM in Underwater Environments
Side Scan Sonar images based SLAM
L’objectiu d’aquest Treball Final de Màster és determinar la trajectòria seguida per un Vehicle Autònom Submarí i construir un mosaic del fons marí a partir de dades proporcionades per sensors acústics (Side Scan Sonar i Doppler Velocity Log). Les tècniques de...
Intervention AUVs: The Next Challenge
While commercially available AUVs are routinely used in survey missions, a new set of applications exists which clearly demand intervention capabilities. The maintenance of: permanent observatories underwater; submerged oil wells; cabled sensor networks; pipes; and...
Trajectory-Based Visual Localization in Underwater Surveying Missions
We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this...
Inertial Sensor Self-Calibration in a Visually-Aided Navigation Approach for a Micro-AUV
This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo...
Mejora, integración y verificación experimental de los mecanismos de resolución de inconsistencias del proyecto CANbids
El Controller Area Network (CAN) es un protocolo de comunicaciones que inicialmente fue diseñado para aplicaciones de comunicación internas en vehículos, pero que ha sido ampliamente adoptado en muchas otras áreas dentro del campo de los sistemas de control empotrados...