Publications
A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures
This paper presents a multi-session monocular Simultaneous Localization and Mapping (SLAM) approach focused on underwater environments. The system is composed of three main blocks: a visual odometer, a loop detector, and an optimizer. Single session loop closings are...
Design and Implementation of a Domotics System based on the Sentilo IoT Platform
Nowadays the automation of a building is implemented in the form of a Distributed Embedded System ( DES ), that is, as a set of nodes interconnected by means of a communication network that cooperate to achieve some objective. In this context the objective is to...
Real-time Hash-based Loop Closure Detection in Underwater Multi-Session Visual SLAM
First exploration of the potential of diverse training and voting for increasing the accuracy of CNNs
Machine learning techniques are attracting a huge amount of interest from both industry and academia. For instance, Convolutional deep Neural Networks (CNNs) have recently enjoyed a notable success in image understanding. The automotive industry is already using image...
Temporal Replication of Messages for Adaptive Systems using a Holistic Approach
Critical Adaptive Distributed Embedded Systems (ADES) must meet high real-time and dependability requirements, while autonomously rearranging themselves to operate in dynamic operational contexts. The DFT4FTT project proposes a self-reconfigurable complete...
Formal Verification of the FTTRS Mechanisms for the Consistent Update of the Traffic Schedule
Critical Adaptive Distributed Embedded Systems (ADESs) are nowadays the focus of many researchers. ADESs are envisioned to dynamically modify their behavior to support changes of their real-time and dependability requirements at runtime as the conditions of the...
Analysing Termination and Consistency in the AVB’s Stream Reservation Protocol
The Audio Video Bridging Task Group (AVB TG) from the IEEE proposed a series of standards to provide Ethernet with soft real-time guarantees. Later on, the group was renamed to Time-Sensitive Networking and its scope was broadened to provide new services to support...
Simulation of the Proactive Transmission of Replicated Frames Mechanism over TSN
The Time-Sensitive Networking (TSN) Task Group (TG) is providing Ethernet with timing guarantees, reconfiguration services and fault tolerance mechanisms. Some of TSN’s targeted applications are real-time critical applications, which must provide a correct service...
Towards a Dynamic Replication of Messages in a Network with Flexible Real-Time Guarantees
Distributed Embedded Systems (DES) typically have real-time and dependability requirements. Moreover, if they have to operate in dynamic operational contexts, they need to be adaptive. That is, they must be able to automatically and autonomously rearrange in response...
First Analysis of the AVB’s Stream Reservation Protocol in the Context of TSN
The Audio Video Bridging Task Group (AVB TG) from the IEEE proposed a series of standards to provide Ethernet with soft real-time guarantees. Later on, the group was renamed to Time-Sensitive Networking and its scope was broadened to provide new services to more...
Towards a Fault-Tolerant Architecture based on Time-Sensitive Networking
The Time Sensitive Networking (TSN) Task Group has been working on describing a set of standards that will provide enhanced capabilities to standard Ethernet. Specifically, they work to provide Ethernet with real-time, reconfiguration and reliability capacities....
First Description of a Self-Reconfigurable Infrastructure for Critical Adaptive Distributed Embedded Systems
Adaptive systems, apart from fulfilling some functional requirements, can modify their behaviour autonomously and dynamically to cope with new operational requirements or conditions. The DFT4FTT project aims at providing a self-reconfigurable infrastructure that can...
First Analysis of the AVB’s Stream Reservation Protocol in the Context of TSN (Technical Report)
The Audio Video Bridging (AVB) Task Group from the IEEE proposed a series of standards to provide Ethernet with soft real-time guarantees. Later on, the group was renamed to Time-Sensitive Networking and its scope was broadened to provide new services to more critical...
Fault Tolerance in Highly-Reliable Ethernet-based Industrial Systems
Many industrial systems have specific requirements derived from the applications they execute. Specifically, the interaction of a Distributed Embedded Control System (DECS) with the real world imposes strict real-time and reliability requirements. For a system to be...
Real-time jellyfish quantification
https://www.youtube.com/watch?v=B4ojij9O258 Video showing the real-time jellyfish detection obtained using the Inception ResNet V2 neural network and the corresponding quantification and monitoring obtained (orange), comparing it to the manual labeling of the video...
Design and control of an Autonomous Surface Vehicle to improve Link Communications
This document presents the design of Xiroi: a modular Autonomous Surface Vehicle (ASV) built to guarantee a stable and continuous Acoustic Communication Link (ACL) between an underwater vehicle and a remote computer, either located on the shore or on a support vessel....
A Fault-Tolerant Ethernet for Hard Real-Time Adaptive Systems
Distributed embedded systems (DESs) that perform critical tasks in unpredictable environments must be reliable, hard real-time, and adaptive. Since a DES comprises nodes that rely on a network, the network must provide adequate support: it must be reliable, convey...
Fast QRS Detection and ECG Compression Based on Signal Structural Analysis
Node Fault Tolerance for Distributed Embedded Systems based on FTT-Ethernet
Jellyfish object detection
https://www.youtube.com/watch?v=7zr7WhQTldA This video illustrates the automatic detection and classification of three different species of jellyfish using in underwater images using a deep learning object detection architecture based on region proposals.