Publications
I-AUV Docking and intervention in a subsea panel
While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities: the maintenance of permanent underwater structures as well as the recovery of...
Using FTT-Ethernet for the coordinated dispatching of tasks and messages for node replication
The Flexible Time Triggered (FTT) paradigm provides online flexible scheduling for distributed embedded systems but it does not present adequate fault tolerance mechanisms so as to reach a very high reliability. Adding the adequate fault tolerance mechanisms to...
Appropriate consistent replicated voting for increased reliability in a node replication scheme over FTT
In the context of critical applications there is an increasing interest in having Distributed Embedded Systems (DESs) that are able to operate in dynamic environments, while at the same time reaching a high reliability. The Flexible Time-Triggered communication...
Towards Extending the OMNeT++ INET Framework for Simulating Fault Injection in Ethernet-Based Flexible Time-Triggered Systems
Traditional distributed embedded systems are configured using static environment information and thus do not support dynamic behavior of the system. The necessary flexibility in the system may be provided by the Flexible Time-Triggered (FTT) communication paradigm....
A Model for Quantifying the Reliability of Highly-Reliable Distributed Systems based on Fieldbus Replicated Buses
Despite the efforts devoted to increase the dependability of highly-reliable distributed fieldbus systems by means of simplex stars and replicated stars/buses, literature lacks of appropriate analyses that quantify the system reliability these topologies yield. In...
Towards an Experimental Assessment of the Slave Elementary Cycle Synchronization in the Flexible Time-Triggered Replicated Star for Ethernet
The communication subsystem of distributed embedded systems (DES) that must operate continuously and satisfy unpredictable requirement changes must be reliable and flexible. Recently the Flexible Time-Triggered Replicated Star for Ethernet (FTTRS) has been proposed as...
Towards a reliability analysis of the design space for the communication subsystem of FT4FTT
Fault Tolerance for Flexible Time-Triggered Ethernet-based systems (FT4FTT) is a project to devise an architecture for distributed embedded systems that provides both flexibility to changing real-time requirements and high reliability through fault tolerance. One of...
Achieving Elementary Cycle Synchronization between Masters in the Flexible Time-Triggered Replicated Star for Ethernet
For a distributed embedded system (DES) to operate continuously in a dynamic environment, it must be flexible and highly reliable. This applies in particular to its communication subsystem. The Flexible Time-Triggered Replicated Star for Ethernet (FTTRS) aims at...
On the Use of Binary Feature Descriptors for Loop Closure Detection
We propose an appearance-based loop closure detection algorithm based on binary features and a Bag-of-Words scheme. Unlike other approaches that build the visual dictionary offline, we introduce an indexing method for binary features, which, in combination with an...
State-of-the-Art in Vision-Based Topological Mapping and Localization Methods
Topological maps model the environment as a graph, where nodes are distinctive places of the environment and edges indicate the relationships between them. They present an interesting alternative to the classic metric maps, due to their simplicity and storage needs,...
Indexing Invariant Features for Topological Mapping and Localization
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...
LSH for Loop Closing Detection in Underwater Visual SLAM
Effectiveness in loop closing detection is crucial to increase accuracy in SLAM (Simultaneous Localization and Mapping) for mobile robots. The most representative approaches to visual loop closing detection are based on feature matching or BOW (Bag of Words), being...
A Robot Application for Marine Vessel Inspection
Seagoing vessels have to undergo regular inspections, which are currently performed manually by ship surveyors. The main cost factor in a ship inspection is to provide access to the different areas of the ship, since the surveyor has to be close to the inspected...
Reducing the computational cost of underwater visual SLAM using dynamic adjustment of overlap detection
One-shot underwater 3D reconstruction
A one-shot sensor for underwater 3D reconstruction is presented and tested underwater in a water tank. The system is composed of a RGB CCD camera and a 532 nm green laser with a Diffractive Optical Element attached to it. The laser projects a pattern of parallel lines...
A Proposal for Managing the Redundancy Provided by the Flexible Time-Triggered Replicated Star for Ethernet
A Proposal for Master Replica Control in the Flexible Time-Triggered Replicated Star for Ethernet
Stereo Graph-SLAM for Autonomous Underwater Vehicles
The increasing use of Autonomous Underwater Vehicles (AUV) in industrial or scientific applications makes the vehicle localization one of the challenging questions to consider for the mission success. Graph-SLAM has emerged as a promising approach in land vehicles,...
Vessel Inspection: A Micro-Aerial Vehicle-based Approach
Vessel maintenance entails periodic visual inspections of the internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures, such as coating breakdown, corrosion, cracks, etc. The main goal of project MINOAS...