@conference {285, title = {Progressive image compression and transmission with region of interest in underwater robotics}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

The increasing demand for underwater robotic intervention systems around the world in several application domains requires more versatile and inexpensive systems. By using a wireless communication system, supervised semi-autonomous robots have freedom of movement and, at the same time, allows the operator to get camera feedback and supervise the intervention. Moreover, the limited and varying bandwidth of underwater radio frequency (RF) and underwater acoustic modem channels is a major obstacle. This paper proposes the use of progressive (embedded) image compression and region of interest (ROI) for the design of an underwater image sensor to be installed in an Autonomous Underwater Vehicle, specially when there are constraints on the available bandwidth, allowing a more agile data exchange between the vehicle and a human operator supervising the underwater intervention.

}, keywords = {Acoustics, agile data exchange, Autonomous Underwater Vehicle, autonomous underwater vehicles, Bandwidth, camera feedback, Cameras, control system synthesis, data compression, image coding, Image Compression, image sensors, Image Transmission, Low Bandwidth Communications, mobile robots, Modems, progressive image compression, Radio frequency, region of interest, Region of Interest (ROI), remotely operated vehicles, robot vision, Robots, ROI, supervised semiautonomous robots, telerobotics, underwater acoustic communication, underwater acoustic modem channels, underwater image sensor design, underwater radio frequency, underwater RF, underwater robotic intervention systems, Underwater Vehicles for Intervention, Wavelet Transforms, Wireless communication, wireless communication system}, isbn = {978-1-5090-5278-3}, doi = {10.1109/OCEANSE.2017.8084999}, url = {https://doi.org/10.1109/OCEANSE.2017.8084999}, author = {E. M. Rubino and Centelles, Diego and Sales, Jorge and Jos{\'e} Vicente Mart{\'\i} and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and A. J. Alvares} } @conference {179, title = {Primitive shape fitting in point clouds for enabling autonomous underwater grasping}, booktitle = {5TH MARTECH International Workshop On Marine Technology}, year = {2013}, month = {10/2013}, address = {Girona (Spain)}, abstract = {

Autonomous grasping of unknown objects by a
robot is a highly challenging skill that is receiving increasing
attention in the last years, and is still more challenging in
underwater environments, with highly unstructured scenarios,
limited availability of sensors and adverse conditions that affect
the robot perception and control systems. This paper describes
an approach for increase the autonomy of grasping operations
on underwater primitive shaped objects from floating vehicles,
in particular cylinder shaped objects like an amphora. Various
sources of stereo information are used to gather 3D information in
order to obtain a model of the object. Using a RANSAC primitive
shape recognition algorithm the model parameters are obtained
and a set of feasible grasps are computed. Then the user specifies
the best one or it is specified using analytical constraints. This
approach is tested with the UWSim simulator.

}, keywords = {autonomous grasping, point cloud, RANSAC, shape fitting, underwater}, isbn = {978-84-616-5764-3}, author = {Fornas, David and Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J.} } @conference {101, title = {Proposal of a REST-Based Architecture Server to Control a Robot}, booktitle = {Sixth International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing}, year = {2012}, month = {07/2012}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Palermo}, isbn = {978-1-4673-1328-5}, author = {Esteller, Roger and Cervera, Enric and del Pobil, Angel P. and Mar{\'\i}n, Ra{\'u}l} } @conference {134, title = {Proyecto RAUVI: Historia y Resultados}, booktitle = {XXXIII Jornadas de Autom{\'a}tica}, year = {2012}, month = {09/2012}, address = {Vigo, Spain}, isbn = {978-84-8158-583-4}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Garc{\'\i}a, Juan Carlos and Prats, Mario and Sanz, Pedro J. and Ribas, David and Ridao, Pere and Wirth, Stephan and Oliver, Gabriel} } @conference {133, title = {Puesta a punto de sensores t{\'a}ctiles y adaptaci{\'o}n a una mano rob{\'o}tica sumergible}, booktitle = {XXXIII Jornadas de Autom{\'a}tica}, year = {2012}, month = {09/2012}, address = {Vigo, Spain}, isbn = {978-84-8158-583-4}, author = {Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {109, title = {Pattern Recognition Comparative Analysis applied to Fingerprint Indoor Mobile Sensors Localization}, booktitle = {10th IEEE International Conference on computer and Information Technology (CIT 2010)}, year = {2010}, month = {06/2010}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Bradford (UK)}, abstract = {

Location\ Fingerprinting\ methods are an alternative\ to\ accurate\ localization\ of\ mobilesensors\ and actuators inindoor\ environments, which learn a radio map for a given scenario and use this information for recognizing the position of a given node at a particular moment. In fact, when using other conventional methods in complex scenarios that may present irregular geometries and materials,\ fingerprinting\ techniques can be a very good alternative. Moreover, although they need a previous training of a knowledge database for each scenario, once this is done the method runs in a quite stable and accurate manner without needing any sophisticated hardware. In this paper we present a comparation between the CC2431 Texas Instruments Location Engine and two\ patternrecognition\ methods\ appliedtofingerprintinglocalization\ in several\ indoor\ scenarios in our university. Results show that this kind of technique is very interesting for known environments such as warehouses, universities and so on.

}, keywords = {Fingerprint, Location, RSSI, Transmitter, ZigBee}, isbn = {978-0-7695-4108-2}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l} }