Publications
Evolving Visual Odometry for Autonomous Underwater Vehicles
In the last years visual odometers have been improved considerably, but there is still a certain lack of robustness and reliability when used to navigate Autonomous Underwater Vehicles (AUV) in complex underwater scenarios, such as habitats colonized with Posidonia...
An Infrastructure for Enabling Dynamic Fault Tolerance in Highly-Reliable Adaptive Distributed Embedded Systems Based on Switched Ethernet
Distributed Embedded Systems (DESs) carrying out critical tasks must be highly reliable and hard in real-time. Moreover, to operate in dynamic operational contexts in an effective and efficient manner, they must also be adaptive. Adaptivity is particularly interesting...
Work in Progress: A Centralized Configuration Model for TSN-5G Networks
The integration of Time-Sensitive Networks (TSN) with 5G cellular networks requires a defined architecture for network configuration and management. Although 3GPP specifications provide necessary means for the TSN-5G integration, the operation of such converged TSN-5G...
The Effects of Clock Synchronization in TSN Networks with Legacy End-stations
In this paper, we present our ongoing work on proposing solutions to integrate legacy end-stations into Time-Sensitive Network (TSN) communication systems where the legacy end-stations are synchronized via their legacy clock synchronization protocol. To this end, we...
Implementing a First CNC for Scheduling and Configuring TSN Networks
Novel industrial applications are leading to important changes in industrial systems. One of the most important changes is the need for systems that are capable to adapt to changes in the environment or the system itself. Because of their nature many of these...
A Toolchain for Scheduling Legacy Ethernet-Based Traffic into TSN Networks with Spatial and Time Redundancy
Distributed Control Systems (DCSs) for emerging industrial control applications impose new communication requirements that cannot be satisfied by current Industrial Ethernet protocols. As a result, industry is pushing the Time-SensitiveNetworking (TSN) standards as...
Migrating Legacy Ethernet-Based Traffic with Spatial Redundancy to TSN networks
Distributed Control Systems (DCSs) for emerging industrial control applications impose new communication requirements that cannot be satisfied by current Industrial Ethernet protocols. As a result, industry is pushing the Time-Sensitive Networking (TSN) standards as...
HERMES: Heuristic Multi-queue Scheduler for TSN Time-Triggered Traffic with Zero Reception Jitter Capabilities
The Time-Sensitive Networking (TSN) standards provide a toolbox of features to be utilized in various application domains.The core TSN features include deterministic zero-jitter and low-latency data transmission and transmitting traffic with various levels of...
Combining Deep Learning and Robust Estimation for Outlier-Resilient Underwater Visual Graph SLAM
Robust Underwater Visual Graph SLAM using a Siamese Neural Network and Robust Image Matching
This paper proposes a fast method to robustly perform Visual Graph SLAM in underwater environments. Since Graph SLAM is not resilient to wrong loop detections, the key of our proposal is the Visual Loop Detector, which operates in two steps. First, a lightweight...
Reliability Analysis of the Proactive Transmission of Replicated Frames Mechanism over Time-Sensitive Networking
The Time-Sensitive Networking (TSN) Task Group has standardised different mechanisms to provide Ethernet with hard real-time guarantees and reliability in layer 2 of the network architecture. Specifically, TSN proposes using space redundancy to increase the...
Dataset: Reliability Sensitivity Analyses of TSN and PTRF in the presence of temporary faults
We want to show how Time-Sensitive Networking (TSN)-based networks can benefit from using time redundancy to tolerate temporary faults in the links. Specifically, we want to prove that we can increase the reliability of said networks using our Proactive Transmission...
Evaluación de Técnicas de Búsqueda de Configuraciones en Sistemas Empotrados Distribuidos Adaptativos
Un Sistema Empotrado Distribuido Adaptativo (SEDA) es capaz de operar de forma autónoma en contextos operacionales cambiantes. Este tipo de sistema típicamente está constituido por múltiples nodos interconectados en los que se ejecutan tareas que cooperan para...
Time Redundancy Mechanisms for Tolerating Temporary Faults in the Communication Subsystem of Systems based on Time-Sensitive Networking Standards
In the last years several novel industrial applications have emerged, such as Industry 4.0, autonomous driving or intelligent energy distribution. On top of the intrinsic characteristics of traditional industrial applications, i.e. real-time constraints and increased...
Indistinguishability Operators via Yager t-norms and Their Applications to Swarm Multi-Agent Task Allocation
Complete list of authors: Maria-del-Mar Bibiloni-Femenias, José Guerrero, Juan-José Miñana, Oscar Valero
Development of a Centralized Network Controller for Networks based on the Time-Sensitive Networking (TSN) Ethernet Standards
The constant evolution of the Industry 4.0 requires industrial network communications to continuously improve to meet the requirements of the existing industrial operations. Cyber-physical systems enable new ways of production, value creation and real-time...
Path Planning for Underwater Information Gathering Based on Genetic Algorithms and Data Stochastic Models
Complete List of Authors: Matteo Bresciani, Francesco Ruscio, Simone Tani, Giovanni Peralta, Andrea Timperi, Andrea Caiti, and Riccardo Costanzi from Dipartimento di Ingegneria dell’Informazione, Università di Pisa, 56122 Pisa, Italy, Interuniversity Center of...