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In this master's thesis, three systems for an unmanned surface vehicle (USV) are designed, developed, and tested. These systems include a collision avoidance system, a method to create 3D models of underwater structures, and an integration system for a USV and a remotely operated vehicle (ROV). The first system utilizes LiDAR technology along with four RGB cameras to detect the location of objects around the USV. Based on this information, received via an MQTT channel, the USV defines protection zones for each target. If the USV's protection zone intersects with that of a detected object, it enters a collision alert state and calculates an evasive manoeuvre in accordance with COLREGs. The COLREGs (Convention on the International Regulations for Preventing Collisions at Sea) are international rules established by the International Maritime Organization (IMO) to prevent collisions at sea. This system enhances the autonomy of the USV by enabling it to avoid obstacles in its path. The second system facilitates the scanning of submerged structures using an ROV and then reconstructing them into 3D models. Three methods were investigated for this purpose: stereoscopy, structure from motion (SFM), and neural radiance fields (NeRF). Testing various programs and cameras revealed that both SFM and stereoscopy are effective options for creating 3D models of underwater structures. The third system involves the transportation and remote control of an ROV using a USV, leveraging the USV's onboard computer. This system includes a winch and a framework that secures and tows the ROV safely. The entire system is operated remotely using the USV's remote control. These three systems have been developed for a smaller USV, with the goal of future implementation in a larger USV to improve performance. This approach allows the testing and refinement of these systems on a currently robust USV. This work covers a wide range of topics, including data processing, MQTT communication, image proce, Objectius de Desenvolupament Sostenible::9 - Indústria, Innovació i Infraestructura, Objectius de Desenvolupament Sostenible::14 - Vida Submarina

In this Bachelor's Degree Final Project, a mobile application for person identification using a DJI drone and the DJI Mobile SDK and DJI UX SDK software libraries is designed, implemented, and tested. The application tries to "identify" a specific person among those that are "detected" in the image. Our proposal, for this, is that the person who wants to be identified wears a GPS device to merge the information from the "people detector" with the "location" information provided by the GPS. The operation of the application mainly involves monitoring an MQTT server where different devices will upload their position using geodetic coordinates. Then, based on these coordinates, the application will perform a coordinate system transformation to obtain the pixel coordinates where the device is located. With these coordinates, the device's position can be overlaid on the video. Additionally, the application includes other visual functionalities such as a manager for photos and videos taken by the drone, a mini-map to visualize the drone's and surrounding devices' positions, a coordinate converter from screen points to geodetic coordinates, and the ability to write device data and drone position and attitude data to a text file. For the development of the application, various Software Development Kits (SDKs) are used, which provide the necessary resources for application development. Some of the SDKs used include the Android SDK, DJI UX SDK, and DJI Mobile SDK, with the latter two being from DJI. The MQTT protocol is used for message exchange between the drone and the different devices in the field. This protocol is based on centralized data exchange on a server and utilizes a publish-subscribe system. Furthermore, three different devices are used to obtain the user's location through GPS and send it to the MQTT server for the drone to access. One of these devices is created using a Raspberry Pi, another is an Android app, and the last one is based on a board from ArduSimpl, Objectius de Desenvolupament Sostenible::16 - Pau, Justícia i Institucions Sòlides