SRV group
<a href=http://dmi.uib.es/~srv/>SRV group</a>

The Systems, Robotics and Vision (SRV) group is integrated by members of the Mathematics & Computer Science Department of the University of the Balearic Islands. The main objective of the group is the development of scientific and engineering hardware/software solutions for real world problems, mainly focusing on industrial and mobile robotics, and also on dependable real-time control systems. Members of the group are involved in different research lines and those lines are reflected in the name of the group.

Regarding Robotics, the activities of the group in this line are related with Service and Field Robotics. The research performed in this line has led to the design and development of:
land and underwater prototypes for complete mobile robots
novel hybrid reactive/deliberative control architectures for mobile robots focusing on real-time, collaborative and learning capabilities
novel localization and mapping strategies
novel obstacle avoidance strategies
simulation environments for mobile robots specifically oriented to training and testing

Regarding Robot Vision, the activities of the group in this line are related with Image Processing and Understanding algorithms to be used in visually guided mobile robots. The research performed in this line has led to the design and development of:
physics-based algorithms for image segmentation and edge detection
algorithms for geometric and radiometric calibration of vision cameras
application-specific algorithms for real-time guidance of a robot
algorithms for generic visual navigation

Finally, regarding the line Systems, apart from offering solutions to general systems design, some members of the group are working on Dependable and Real-Time Distributed Embedded Systems. More in detail, we have been working on problems related to the use of the Controller Area Network (CAN) protocol in critical applications within the industrial automation and automotive fields. Specific issues that have been addressed are:
the identification of inconsistency scenarios in CAN and the proposal of a modification to CAN in order to eliminate those scenarios, the use of redundant hardware and distributed protocols to solve dependability problems in critical applications. This includes the design of duplicated buses, duplicated CAN controllers and triplicated CAN controllers.
the design of hardware-implemented clock synchronization services for real-time operation of CAN networks.
The SRV group has been the leader of several projects founded by the Spanish Research Council CICYT and has been involved as a partner in some others, all related mostly with underwater robotics (MAR99-1062-C03-03, DPI2001-2311-C03-02, REN2003-07787-C02-01, DPI2005-09001-C03-02, CTM2006-12072). He also holds a close relationship with different national and international research groups relevant in the robotics community (University of Girona, Polytechnical University of Cataluña, University of Zaragoza, University of York, University of Aveiro, Institute for Systems and Robotics - IST, …). The SRV belongs as well to Spanish and European research networks (EURON, AUTOMAR, CEA-IFAC Robotics and Computer vision chapters, IEEE Oceanic Engineering Society Spanish chapter). Furthermore, members of the group particpate in the international programme committee of several international conferences and symposia: IEEE Emerging Technologies on Factory Automation (Intelligent Sensors Track), IFAC Workshop on Guidance and Control of Underwater Vehicles, IFAC Conference on Manoeuvring and Control of Marine Crafts, IAPR Iberian Conference on Pattern Recognition and Image Analisis, IEEE International Conference on Intelligent Robots and Systems, IEEE International Conference on Robotics and Automation.
Finally, the SRV accounts for more than 100 publications ranging from proceedings papers with referees (IROS, ICRA, ICPR, ACIVS, ICIAR, ICIAP, IbPRIA, ETFA, …), to international journals (IJIS, MVA, PRL, IVC, …) and international book chapters.


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