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Robot Learning applied to Autonomous Underwater Vehicles for intervention tasks

Doctoral thesis “Robot Learning applied to Autonomous Underwater Vehicles for intervention tasks” By Arnau Carrera Viñas Supervised by Marc Carreras, Narcís Palomeras and Petar Kormushev   Abstract The interest in performing underwater tasks using AUVs has been growing over the past few decades. The initial focus was on the exploration of underwater areas, performing survey trajectories harvesting data to build bathymetric maps or photo-mosaics. Later the focus of research switched to performing inspections of underwater structures or elements (e.g., pipelines) which required more complex behaviours and localization methods. Advances in these fields have awakened the interest of the community in…

Case-level detection of mammographic masses

Doctoral thesis “Case-level detection of mammographic masses” By Meritxell Tortajada Giménez Supervised by Jordi Freixenet and Robert Martí   Abstract This thesis is focused on the automatic detection of masses in FFDM images by using case-level information which includes bilateral, temporal and/or ipsilateral information. As a first step, FFDM images are preprocessed to improve image quality before working on the proper detection framework. A novel enhancement method is applied to compensate the thickness reduction in peripheral edges of the breast in FFDM. Following, B-Splines image registration with Affine initialisation is used to obtain bilateral and temporal information that is incorporated…

ViCOROB recull el premi Manel Xifra Boada

El Col·legi d’Enginyers Graduats i Enginyers Tècnics Industrials de Girona i Comexi van atorgar el passat 07/07/2017 el premi Manel Xifra Boada al grup de recerca ViCOROB per la seva trajectòria en recerca i transferència del coneixement. El premi, entregat de la mà del Conseller Santi Vila, representa un reconeixement als resultats de l’equip.   L’estudiant de doctorat del mateix grup, Èric Pairet, graduat en Enginyeria Electrònica Industrial i Automàtica va rebre el Premi Manel Xifra i Boada 2017 en reconeixement al guardó que li va concedir el Patronat de l’Escola Politècnica Superior de la UdG pel millor projecte de…

Klemen Istenic wins Student Poster Award to 60th MTS/IEEE OCEANS Conference

The 60th MTS/IEEE OCEANS Conference took place from the 19th to 22nd of June 2017 in Aberdeen, Scotland. Covering all aspects of ocean science, technology and engineering, the conference provides a nice venue for interaction among engineers, researchers, and marine scientists.   Girona Underwater Vision and Robotics team together participated in all aspects of the conference, with the showcase of the Sparus II AUV in the exhibition hall, presentation on our work on Real-time Fish Detection in the main program as well as with two PhD students (Eduard Vidal and Klemen Istenic selected for the student poster competition.   During…

7th workshop on maritime automation

From May 4th-5th the seventh conference on maritime automation ”AUTOMAR” took place in Castelló de la Plana, where the conference was hosted by the university of Jaume I.   The conference with participants and speakers from Spain, France and Italy, was met by research process and scientific interest. During the two days, the conference was divided  into several main themes, based on challenges and opportunities in underwater robotic that lay on ocean science, technology and industry, allowing the attendees to exchange ideas and issues.   The conference by itself was a nice experience, where I met new and interesting researchers…

MERBOTS/ARCHROV Experiments demonstrate semi-autonomous Grasping Capabilities

During the week of the 27th of March the experiments of the MERBOTS National Research project involving 3 teams form UJI, UIB and UdG have been held in Girona.   The experiments where first performed at the CIRS water tank and then reproduced at Sant Feliu Harbor. The experiments involved two cooperative robots. SPARUS II AUV equipped with a lateral thruster and a forward-looking camera was used as a ‘flying camera’. The robot was teleoperated to achieve a desired view of a target (an amphora) and Visual Servoing techniques were used to keep the robot in place. Then GIRONA 500…

Tools for 3D Point Cloud Registration

Doctoral thesis “Tools for 3D Point Cloud Registration”   By Ferran Roure García Supervised by Dr. Joaquim Salvi Mas and Dr. Yago Diez Donoso   Abstract The interest of digitization of the real world has been growing over the years. Computers help us to make it possible and research in this field has intensified with the emergence of new technologies in the commercial world. Representing our environment in formats that computers can understand is an essential step in the development of this technology. One way to capture our world is using sensors that digitize the objects around us using mathematical…