Underwater Image Enhancement Using An Integrated Colour Model.

In underwater situations, clarity of images are degraded by light absorption and scattering. This causes one colour to dominate the image. In order to improve the perception of underwater images, we proposed an approach based on slide stretching

Seguimiento y estimación de trayectorias

Se estudia el problema de seguimiento y estimación de las trayectorias realizadas por un conjunto de entidades en movimiento en un escenario. La entrada al sistema la constituyen imágenes capturadas de la escena de interés. Se analizan las etapas del sistema y los algoritmos que deben aplicarse en cada una de ellas para un caso concreto, donde el movimiento de los objetos es rectilíneo uniforme y éstos no poseen características que permitan identificarlos entre sí. El reconocimiento de las trayectorias realizadas por los objetos se efectúa en función de las posiciones ocupadas por éstos a lo largo de la secuencia de frames buscando minimizar una función que determina la desviación de una trayectoria. Las trayectorias de cada objeto se actualizan con cada nuevo frame que ingresa al sistema. La estimación del recorrido futuro de un objeto se realiza a partir de su recorrido previo modelando el movimiento en cada uno de los ejes de coordenadas mediante una función lineal. Se presentan resultados obtenidos para un modelo de una máquina y una cámara, y se analizan extensiones del mismo para otros modelos, tipos de movimiento y arquitectura de cómputo paralelo.Eje: IV - Workshop de procesamiento distribuido y paraleloRed de Universidades con Carreras en Informática (RedUNCI

An approach to vision-based station keeping for an unmanned underwater vehicle

This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presente

Sliding Mode Control

The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties