Publications
Underwater Localization using Probabilistic Sonar Registration and Pose Graph Optimization
This study is focused on a novel approach to perform underwater robot localization using sonar sensors. The approach is divided in three main steps. First, the sonar data is used to build probabilistic point clouds. Second, these point clouds are registered and a pose...
Deep Semantic Segmentation in an AUV for Online Posidonia Oceanica Meadows Identification
Recent studies have shown evidence of a significant decline of the Posidonia oceanica (P.O.) meadows on a global scale. The monitoring and mapping of these meadows are fundamental tools for measuring their status. We present an approach based on a deep neural network...
Towards Multi Session Visual SLAM in Underwater Environments Colonized with Posidonia Oceanica
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, reliability and reconfiguration capacities....
Disseny i implementació d’una xarxa domòtica basada en Ethernet Industrial
Hoy en día la cantidad de sistemas empotrados que rigen la gran mayoría de nuestras actividades es abrumadora. Ya no sólo se encuentran en el ámbito tecnológico e industrial, si no que cada vez más se integran estos dispositivos a las actividades cotidianas de la gran...
Evaluating the Impact of Sewage Discharges on the Marine Environment with a Lightweight AUV
Verification of the Schedule Consistent Update Mechanisms of FTTRS with UPPAAL
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...
An OMNeT++ Simulation Model for the Proactive Transmission of Replicated Frames Mechanism over TSN
In the last years growing interest has been shown in deploying Ethernet in control applications, where the timeliness and the reliability of the systems used are crucial to guarantee correct service and safety in the environment. In this regard, a new IEEE task group...
Towards 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 Study of the Proactive Transmission of Replicated Frames Mechanism over TSN
TSN is a set of technical standards developed by IEEE to provide Ethernet with flexibility, real-time and reliability services. For these reasons, TSN represents an appealing technology for the networks of Cyberphysical Systems. Nevertheless, TSN does not cover some...
Mixing Time and Spatial Redundancy over Time Sensitive Networking
Cyber-Physical Systems (CPSs) usually execute critical applications, which imposed the use of specialised networks due to their high reliability and hard real-time requirements. There is a growing interest in developing CPSs capable of adapting to unpredictable...
Xiroi ASV: a Modular Autonomous Surface Vehicle to Link Communications
This paper 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....
Poster: Workflow for the online automatic process of Posidonia oceanica segmentation
This poster describes the workflow for the online automatic process of Posidonia oceanica segmentation on image sequences grabbed from an Autonomous Underwater Vehicle. This poster won the 1st place award at the IV Setmana de Postgrau poster competition at the...
On the Use of Fuzzy Preorders in Multi-robot Task Allocation Problem
Reconfiguration Strategies for Critical Adaptive Distributed Embedded Systems
This paper describes the architecture and mechanisms proposed in the context of the DFT4FTT project for implementing Adaptive Distributed Embedded Systems (ADESs), that is, distributed systems with real-time, dependability and adaptivity requirements. The focus is on...
ARSEA: A Virtual Reality Subsea Exploration Assistant
Deep Semantic Segmentation for Posidonia Meadows Identification
https://www.youtube.com/watch?v=5WMenVmw0CM This video illustrates the online automatic process of Posidonia segmentation on image sequences grabbed from an Autonomous Underwater Vehicle at the north coast of Mallorca. The neural network has been frozen into an...
Current Research on Dependability Aspects of TSN at UIB
Time Sensitive Networking (TSN) is a set of technical standards that is being developed by IEEE. These standards aims at providing Ethernet with network configuration, real-time and reliability services. Nevertheless, there are some reliability aspects important for...