Publications
FT4FTT prototype demo – One star
This video shows a working 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 Flexible...
Modelado mediante Stochastic Activity Networks (SANs) de la Fiabilidad de un Sistema Distribuido en el que los nodos se comunican a través de una red con Topología de Bus Replicado basada en el protocolo Controller Area Network (CAN)
FT4FTT prototype demo
This video shows a working 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 Flexible...
Visual Sensing for Autonomous Underwater Exploration and Intervention Tasks
Underwater activities, such as surveying or interventions, carried out by autonomous robots, can benefit greatly from using a vision system. Optics based systems provide information at a spatial and temporal resolution higher than their acoustic counterparts. At...
Stereo EKF Pose-based SLAM for AUVs
New Reactive and Path-Planning Methods for Mobile Robot Navigation
Navegación Reactiva en Entornos Estrechos e Intrincados
Insights into the internal structure and formation of striated fault surfaces of oceanic detachments from in situ observations (13°20’N and 13°30’N, Mid-Atlantic Ridge)
Oceanic detachment faults (ODs) are known to play a significant role in oceanic crustal accretion along slow-spreading ridges, and many display a poorly understood corrugated fault surface. The ODEMAR cruise (Nov-Dec’14) studied the 13°20’N and 13°30’N ODs along the...
Quantifying Coseismic Normal Fault Rupture at the Seafloor: The 2004 Les Saintes Earthquake (Mw 6.3) Along the Roseau Fault (French Antilles)
Direct observations of coseismic fault displacement and rupture-related features are essential to understand seismic cycles, to quantify seismic hazard, and to constrain rupture dynamics. They are also needed to trace the paleoseismic history of active faults. Such...
Multipurpose Autonomous Underwater Intervention: A System Integration Perspective
Nowadays, autonomous intervention is getting more attention in the underwater robotics community. Few re- search projects on this matter are currently under development. In this context, and after a first successful experience in the RAUVI Spanish project (2009-2011),...
Underwater laser-based structured light system for one-shot 3D reconstruction
A Laser-based Structured Light System (LbSLS) has been designed to perform underwater close-range 3D reconstructions even with high turbidity conditions and outperform conventional systems. The system uses a camera and a 532 nm green laser projector. The optical...
A Probabilistic Approach for Defect Detection based on Saliency Mechanisms
The use of saliency mechanisms for defect detection is discussed in this work. We consider defects on regular surfaces as conspicuous areas that catch the attention of the surveyors. Following this approach, we propose the use of the Bayesian framework SUN, devised to...
Corrosion Detection for Automated Visual Inspection
Detection of Cracks and Corrosion for Automated Vessels Visual Inspection
Despite the efforts on reducing maritime accidents, they still occur and, from time to time, have catastrophic consequences both in personal, environmental and financial terms. Structural failure is the major cause of ships wreckages and, as such, Vessel...
Implementation and Verification of the Slave Elementary Cycle Synchronization Mechanism of the Flexible Time-Triggered Replicated Star for Ethernet
A distributed embedded system that must work in dynamic environments, where the working conditions may change in an unpredictable way, must be flexible. Moreover, if such system must operate continuously it must also be reliable. Therefore, its internal communication...
Lenguaje ensamblador en el siglo XXI: desarrollo de videojuegos como elemento motivador
Este artículo describe el planteamiento adoptado por los autores en el apartado práctico de la asignatura Estructura de Computadores II del segundo curso del Grado en Ingeniería Informática en la Universitat de les Illes Balears, en la que los alumnos deben programar...
SSS-SLAM: An Object Oriented Matlab Framework for Underwater SLAM using Side Scan Sonar
Side Scan Sonars (SSS) are frequently used by Autonomous Underwater Vehicles (AUV) to observe the sea floor. However, automatically processing the information they provide to perform tasks such as Simultaneous Localization and Mapping (SLAM) or mosaicking is difficult...
Intensity Correction of Side-Scan Sonar Images
This paper presents a new method to remove the effects of uneven ensonification in Side-Scan Sonar (SSS) acoustic images, facilitating their use in underwater robotics. A Lambertian model is used for the sonar scattering process, relating the received echo with the...