Outputs (16)

Solar-powered ROV: advancing underwater exploration with renewable energy. (2024)
Conference Proceeding
LAWAL, S.M., VALIZADEH, S., FOUGH, N. and KANNAN, S. 2024 Solar-powered ROV: advancing underwater exploration with renewable energy. In Proceedings of the 6th Global power, energy and communication conference 2024 (GPECOM2024), 4-6 June 2024, Budapest, Hungary. Piscataway: IEEE [online], pages 350-355. Available from: https://doi.org/10.1109/GPECOM61896.2024.10582562

Considering the importance of remotely operated vehicles (ROVs) in conducting inspections, data collection, and exploration beneath the sea surface, this paper proposes a solar-powered ROV solution. Solar power is employed to power the ROV/AUV, with... Read More about Solar-powered ROV: advancing underwater exploration with renewable energy..

Underwater localization using SAR satellite data. (2024)
Conference Proceeding
MUHAMMAD, A., FOUGH, N., KANNAN, S. and ZAHRIBAN HESARI, M. 2024. Underwater localization using SAR satellite data. In: Proceedings of the 2024 IEEE (Institute of Electrical and Electronics Engineers) International workshop on metrology for industry 4.0 and IoT (IEEE MetroInd4.0&IoT 2024), 29-31 May 2024, Florence, Italy. Piscataway: IEEE [online], pages 82-87. Available from: https://doi.org/10.1109/MetroInd4.0IoT61288.2024.10584174

This study delves into the realm of Underwater Wireless Sensor Networks (UWSN) and explores contemporary methods of ocean exploration. It provides an extensive background on UWSN, detailing existing approaches to underwater localization. The study th... Read More about Underwater localization using SAR satellite data..

Vision based relative position estimation in surgical robotics. (2023)
Conference Proceeding
MUTHUKRISHNAN, R., KANNAN, S., PRABHU, R., ZHAO, Y., BHOWMICK, P. and HASAN, M.J. 2023. Vision based relative position estimation in surgical robotics. In Proceedings of the 2023 Network, multimedia and information technology international conference (NMITCON 2023), 1-2 September 2023, Bengaluru, India. Piscataway: IEEE [online], article number 10275973. Available from: https://doi.org/10.1109/NMITCON58196.2023.10275973

Teleoperation-based Robotic-Assisted Minimally In-vasive Surgery (RAMIS) has gained immense popularity in medical field. However, limited physical interaction between the surgeon and patient poses a significant challenge. In RAMIS, the surgeon operat... Read More about Vision based relative position estimation in surgical robotics..

Detecting and tracking the position of suspicious objects using vision system. (2023)
Conference Proceeding
MUTHUKRISHNAN, R., KANNAN, S., PRABHU, R., ZHAO, Y. and BHOWMICK, P. 2023. Detecting and tracking the position of suspicious objects using vision system. In Bouma, H., Dijk, J., Prabhu, R., Stokes, R.J. and Yitzhaky, Y. (eds.) Artificial intelligence for security and defence applications: 2023 proceedings of the SPIE (International Society of Optics and photonics) Security and defence conference, 4-5 September 2023, Amsterdam, Netherlands. Proceedings of the SPIE, 12742. Bellingham, WA: SPIE [online], article ID 127420C. Available from: https://doi.org/10.1117/12.2679801

Vision-based object tracking is crucial for both civil and military applications. A range of hazards to cyber safety, vital infrastructure, and public privacy are posed by the rise of drones, or unmanned aerial vehicles (UAV). As a result, identifyin... Read More about Detecting and tracking the position of suspicious objects using vision system..

Tracking and estimation of surgical instrument position and angle in surgical robot using vision system. (2023)
Conference Proceeding
MUTHUKRISHNAN, R., KANNAN, S., PRABHU, R., ZHAO, Y., BHOWMICK, P. and HASAN, M.J. 2023. Tracking and estimation of surgical instrument position and angle in surgical robot using vision system. In Proceedings of the 2023 Network, multimedia and information technology international conference (NMITCON 2023), 1-2 September 2023, Bengaluru, India. Piscataway: IEEE [online], article number 10275983. Available from: https://doi.org/10.1109/NMITCON58196.2023.10275983

A da Vinci robot endoscopic-camera gives surgeons a magnified 2D view of the operating area, but additional time is required to detect and estimate the location of the surgical-instrument during an operation. The main focus and novelty of this resear... Read More about Tracking and estimation of surgical instrument position and angle in surgical robot using vision system..

Adaptive control for a lightweight robotic arm actuated by a shape memory allow wire. (2018)
Conference Proceeding
QUINTANAR-GUZMÁN, S., KANNAN, S., VOOS, H., DAROUACH, M. and ALMA, M. 2018. Adaptive control for a lightweight robotic arm actuated by a shape memory allow wire. In Borgmann, H. (ed.) Proceedings of the 16th International conference on new actuators 2018 (ACTUATOR 2018), 25-27 June 2018, Bremen, Germany. Berlin: VDE Verlag, pages 388-393. Hosted on IEEE [online]. Available from: https://ieeexplore.ieee.org/document/8470840

This paper presents the design, model and closed-loop control of a single degree-of-freedom (DOF) lightweight robotic arm actuated by a biased Shape Memory Alloy (SMA) wire. The highly non-linear dynamics of SMAs represent a challenge for control tas... Read More about Adaptive control for a lightweight robotic arm actuated by a shape memory allow wire..

Implementation and validation of an event-based real-time nonlinear model predictive control framework with ROS interface for single and multi-robot systems. (2017)
Conference Proceeding
DENTLER, J., KANNAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Implementation and validation of an event-based real-time nonlinear model predictive control framework with ROS interface for single and multi-robot systems. In Proceedings of the 1st IEEE (Institute of Electrical and Electronics Engineers) Conference on control technology and applications 2017 (CCTA 2017), 27-30 August 2017, Kohala Coast, USA. Piscataway: IEEE [online], pages 1000-1007. Available from: https://doi.org/10.1109/CCTA.2017.8062590

This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined with a low-computational load while being on-line... Read More about Implementation and validation of an event-based real-time nonlinear model predictive control framework with ROS interface for single and multi-robot systems..

Cooperative localization of unmanned aerial vehicles in ROS: the atlas node. (2017)
Conference Proceeding
KREMNER, P., DENTLER, J., KANNAN, S. and VOOS, H. 2017. Cooperative localization of unmanned aerial vehicles in ROS: the atlas node. In Proceedings of the 15th IEEE (Institute of Electrical and Electronics Engineers) International conference on industrial informatics 2017 (INDIN 2017), 24-26 July 2017, Emden, Germany. Piscataway: IEEE [online], pages 319-235. Available from: https://doi.org/10.1109/INDIN.2017.8104792

This paper is presenting the implementation and experimental validation of the cooperative robot localization framework "Atlas". For ease of application, Atlas is implemented as a package for the Robot Operating System (ROS). ATLAS is based on dynami... Read More about Cooperative localization of unmanned aerial vehicles in ROS: the atlas node..

Area exploration with a swarm of UAVs combining deterministic chaotic ant colony mobility with position MPC. (2017)
Conference Proceeding
ROSALIE, M., DENTLER, J.E., DANOY, G., BOUVRY, P., KANNAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Area exploration with a swarm of UAVs combining deterministic chaotic ant colony mobility with position MPC. In Proceedings of 2017 International conference on unmanned aircraft systems (ICUAS 2017), 13-16 June 2017, Miami, USA. Piscataway: IEEE [online], pages 1392-1397. Available from: https://doi.org/10.1109/ICUAS.2017.7991418

The recent advances in Unmanned Aerial Vehicles (UAVs) technology permit to develop new usages for them. One of the current challenges is to operate UAVs as an autonomous swarm. In this domain we already proposed a new mobility model using Ant Colony... Read More about Area exploration with a swarm of UAVs combining deterministic chaotic ant colony mobility with position MPC..

Adaptive control of hysteretic robotic arm in operational space. (2016)
Conference Proceeding
KANNAN, S., QUINTANAR-GUZMAN, S., BEZZAOUCHA, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Adaptive control of hysteretic robotic arm in operational space. In Proceedings of the 5th International conference on mechatronics and control engineering 2016 (ICMCE 2016), 14-17 December 2016, Venice, Italy. New York: ACM [online], pages 92-96. Available from: https://doi.org/10.1145/3036932.3036957

The focus of the current article is on Operational Space Control of a single degree of freedom robotic arm with hysteretic joint behaviour due to actuation by a single Shape Memory Alloy (SMA) wire. A Closed Loop Inverse Kinematics Algorithm is used... Read More about Adaptive control of hysteretic robotic arm in operational space..