Information

Research

Currently, I am interested in Underwater Robotics, SLAM, Path Planning and Embedded Systems. In the case of SLAM, I mainly explore the research line of Visual SLAM aided by Inertial Motion Units (IMUs), as well as the design of Inertial Navigation Systems (INS).

At this moment, my main research lines are:

• Path Planning for Autonomous Underwater Gliders: My PhD thesis work, which I expect to finish the presente year 2013, explores the field of Path Planning for Autonomous Underwater Gliders, commonly known as ocean gliders. As a result of this work I have developed several novel techniques, adapted classical path planning algorithms and built software to manage Oceanic Model products. A consequence of all this work are a great number of the conference and journal papers accepted in the last years.
• Visual SLAM: In my Msc. Thesis I implemented the FastSLAM algorithm, which uses a Particle Filter to solve the Simultaneous Localization And Mapping (SLAM) problem. At that time I used a SICK LMS200 laser ranger, but later I have worked in SLAM systems where the measurement sensor are cameras, both monocular or stereo, and even with inertial sensores integrated.
• Inertial Navigation Systems: During my PhD internship at CIRS, I worked on a Visual SLAM systems aided by an Inertial Navigation System (INS), using the Inertial Motion Unit (IMU) Xsens MTi. Currently, I keep doing research on this line actively.
• Robotics, Vision and Underwater and Marine Technology: The systems I have been working on are generally meant to be of application in underwater or marin environments. Indeed, I have recently participated in the development of an Autonomous Underwater Vehicle (AUV) for the underwater robotics competition SAUC-E 2012, in which our team was awarded. Similarly, I have worked with underwater robots during my internship at CIRS and our path planning algorithms for gliders have been used to pilot the Slocum gliders of Teledyne Webb Researh in several missions. Related with the line of Visual SLAM, I have also worked in the development of techniques for Underwater Vision using Firewire cameras.
• Mobile Robot Systems: To some extent, I regularly work with mobile robot systems of diferent kind, no only underwater or marine. Regarding ground mobile platforms, I have worked indeed with the Pioneer P3-DX. During my internship at CIRS I also worked with a robot arm, from Stäubli.
• Embedded Systems: Within the area of hardware and electronics, I have used several embedded systems, to put them onboard in AUVs or underwater tools. In particular, I have assambled a system based on PC104/Plus boards. Also, I have experience with microcontrollers (PIC and AVR), as well as the Arduino framework.

Publications

You can find a list of my publications here, or at the Publications section of our web.

Teaching

I have taught the following subjects in the University of Las Palmas de Gran Canaria with a Venia Docenci:

• Sistemas Empotrados y de Tiempo Real (Degree of Computer Engineer at the Faculty of Computer Engineer), Academic Year 2011/12.

Msc. Thesis, Degree Thesis

I have done the following Degree Thesis for Computer Engineer and Msc. Thesis for the Oficial Master in Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería:

• "Sistema Integrado de Control para un Vehículo Submarino Autónomo". Enrique Fernández Perdomo. Degree Thesis in Computer Engineer, Informatics Faculty, University of Las Palmas de Gran Canaria, October, 2008. (compressed pdf).
• "Test and Evaluation of the FastSLAM Algorithm in a Mobile Robot". Enrique Fernández Perdomo. Msc. Thesis. Oficial Master in Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería. University Institute of Sistemas Inteligencias y Aplicaciones Numéricas en Ingeniería. University of Las Palmas de Gran Canaria, November 2009. (online access).

Internships

As part of my posdegree I have done the following internships:

• Centre d'Investigació en Robòtica Submarina (CIRS). Internship of 6 months (01-feb-2012 to 31-jul-2012), at CIRS, part of ViCOROB (Visió per Computador i Robòtica), UdG (Universitat de Girona).

Also, as additional education, I have participated in the next Schools for posdegree students:

• 2nd Field Training School in Autonomous Underwater Robotics Intervention (I-AUV). Fall School of the FP7 TRIDENT, CIRS, Port de Soller, Mallorca (Spain). 30-sep-2012 to 05-oct-2012.
• 2nd Co3-AUVs Summer School. Summer School of theFP7 Cooperative Cognitive Control for Autonomous Underwater Vehicles(Co3-AUVs), Jacobs University, Bremen (Germany). Organized by Andreas Birk and Max Pfingsthorn. 11-jul-2011 to 17-jul-2011.
• 1st Co3-AUVs Summer School. Summer School of the FP7 Cooperative Cognitive Control for Autonomous Underwater Vehicles(Co3-AUVs), Jacobs University, Bremen (Germany). Organized by Kaustubh Pathak and ndreas Birk. 22-jul-2010 to 26-jul-2010.