All Outputs (22)

Tracking and estimation of surgical tool relative-pose and angle based on the vision system for surgical robot. (2024)
Presentation / Conference Contribution
MUTHUKRISHNAN, R., KANNAN, S., ZHAO, Y. and PRABHU, R. 2024. Tracking and estimation of surgical tool relative-pose and angle based on the vision system for sugical robot. Poster presented at the 3rd Medical device manufacturing centre annual conference 2024 (MDMC 2024), 23 May 2024, Glasgow, UK.

This research presents a Virtual Dynamic Tri crossbar and a Virtual Stable Graph (VDT VSG) which simplifies the task of tracing the needle angle and location in 2 D plane. In addition, Virtual Dynamic Line (helps to quantify the displacement between... Read More about Tracking and estimation of surgical tool relative-pose and angle based on the vision system for surgical robot..

Tracking and estimation of surgical tool pose based on the vision system for surgical robot. (2023)
Presentation / Conference Contribution
MUTHUKRISHNAN, R., KANNAN, S., ZHAO, Y. and PRABHU, R. 2023. Tracking and estimation of surgical tool pose based on the vision system for surgical robot. Presented at the 2nd MDMC (Medical device manufacturing centre) annual conference 2023, 31 May 2023, Dundee, UK.

The aim of this research is to customise a surgical robot. This research presents a Virtual Dynamic Tri-crossbar and a Virtual Stable Graph (VDT-VSG) which simplifies the task of tracing the needle angle and location.

Enhancing gas-pipeline monitoring with graph neural networks: a new approach for acoustic emission analysis under variable pressure conditions.
Presentation / Conference Contribution
HASAN, M.J., ARIFEEN, M., SOHAIB, M., ROHAN, A. and KANNAN, S. 2024. Enhancing gas pipeline monitoring with graph neural networks: a new approach for acoustic emission analysis under variable pressure conditions. To be published in Proceedings of the 20th International conference on condition monitoring and asset management 2024 (CM 2024), 18-20 June 2024, Oxford, UK. Northampton: BINDT [online], (accepted). To be made available at: https://doi.org/10.1784/cm2024.4b3

Traditional machine learning (ML) and deep learning (DL)-based acoustic emission (AE) data-driven condition monitoring models face several reliability issues due to factors such as fluid pressure changes, flange vibrations, inconsistent leak lengths,... Read More about Enhancing gas-pipeline monitoring with graph neural networks: a new approach for acoustic emission analysis under variable pressure conditions..

Underwater localization using SAR satellite data.
Presentation / Conference Contribution
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..

Detecting and tracking the position of suspicious objects using vision system.
Presentation / Conference Contribution
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..

Model predictive control of connected spacecraft formation.
Presentation / Conference Contribution
KANNAN, S., BHOWMICK, P. and ALAMDARI, S.A.S. 2022. Model predictive control of connected spacecraft formation. IFAC papers online [online], 55(22): proceedings of the 22nd IFAC (International Federation of Automatic Control) symposium on Automatic control in aerospace 2022 (ACA 2022), 21-25 November 2022, Mumbai, India, pages 322-327. Available from: https://doi.org/10.1016/j.ifacol.2023.03.054

In this contribution the authors discuss the application of Model Predictive Control (MPC) to achieve a connected network formation of spacecrafts. A set of three spacecrafts are used to achieve in-plane formation which are initially in a connected n... Read More about Model predictive control of connected spacecraft formation..

Solar-powered ROV: advancing underwater exploration with renewable energy.
Presentation / Conference Contribution
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..

Tracking and estimation of surgical instrument position and angle in surgical robot using vision system.
Presentation / Conference Contribution
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..

Vision based relative position estimation in surgical robotics.
Presentation / Conference Contribution
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..

A tracking error control approach for model predictive position control of a quadrotor with time varying reference.
Presentation / Conference Contribution
DENTLER, J., KANNAN, S., OLIVARES MENDEZ, M.A., and VOOS, H. 2016. A tracking error control approach for model predictive position control of a quadrotor with time varying reference. In Proceedings of the 2016 IEEE (Institute of Electrical and Electronics Engineers) international conference on Robotics and biomimetrics (ROBIO 2016), 3-7 December 2016, Qingdao, China. Piscataway: IEEE [online], pages 2051-2056. Available from: https://doi.org/10.1109/ROBIO.2016.7866631

In mobile robotic applications, a common problem is the following of a given trajectory with a constant velocity. Using standard model predictive control (MPC) for tracking of time varying trajectories leads to a constant tracking error. This problem... Read More about A tracking error control approach for model predictive position control of a quadrotor with time varying reference..

Model predictive control for spacecraft rendezvous.
Presentation / Conference Contribution
KANNAN, S., SAJADI-ALAMDARI, S.A., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Model predictive control for spacecraft rendezvous. In Proceedings of the 4th International conference on control, mechatronics and automation 2016 (ICCMA 2016), 7-11 December 2016, Barcelona, Spain. New York: ACM [online], pages 121-125. Available from: https://doi.org/10.1145/3029610.3029633

The current paper addresses the problem of Spacecraft Rendezvous using Model Predictive Control (MPC). The Clohessy-Wiltshire-Hill equations are used to model the spacecraft relative motion. Here the rendezvous problem is discussed by trajectory cont... Read More about Model predictive control for spacecraft rendezvous..

Adaptive control of hysteretic robotic arm in operational space.
Presentation / Conference Contribution
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..

Adaptive control of robotic arm with hysteretic joint.
Presentation / Conference Contribution
KANNAN, S., BEZZAOUCHA, S., QUINTANAR-GUZMAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Adaptive control of robotic arm with hysteretic joint. In Proceedings of 4th International conference on control, mechatronics and authormation 2016 (ICCMA 2016), 7-11 December 2016, Barcelona, Spain. New York: ACM [online], pages 46-50. Available from: https://doi.org/10.1145/3029610.3029632

This article addresses the problem of control of robotic arm with a hysteretic joint behaviour. The mechanical design of the one-degree of freedom robotic arm is presented where the joint is actuated by a Shape Memory Alloy (SMA) wire. The SMA wire b... Read More about Adaptive control of robotic arm with hysteretic joint..

A modularization approach for nonlinear model predictive control of distributed fast systems.
Presentation / Conference Contribution
DENTLER, J., KANNAN, S., MENDEZ, M.A.O. and VOOS, H. 2016. A modularization approach for nonlinear model predictive control of distributed fast systems. In Proceedings of 24th Mediterranean conference on control and automation 2016 (MED 2016), 21-24 June 2016, Athens, Greece. Piscataway: IEEE [online], pages 292-297. Available from: https://doi.org/10.1109/MED.2016.7535973

Distributed interconnected systems are omnipresent today. The development of advanced control methods for such systems are still challenging. Herein, the real-time applicability, flexibility, portability and ease of implementation are issues of the e... Read More about A modularization approach for nonlinear model predictive control of distributed fast systems..

Lightweight robotic arm actuated by shape memory alloy (SMA) wires.
Presentation / Conference Contribution
QUINTANAR-GUZMÁN, S., KANNAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Lightweight robotic arm actuated by shape memory alloy (SMA) wires. In Proceedings of the 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016), 30 June - 02 July 2016, Ploiesti, Romania. Piscataway: IEEE [online], pages 1-6. Available from: https://doi.org/10.1109/ECAI.2016.7861065

The current paper discusses the design, modeling and control of a Light weight robotic arm actuated by Shape Memory Alloy (SMA) actuators, usable for applications such as Aerial Manipulator. Compared to servo motor based robotic arm the proposed desi... Read More about Lightweight robotic arm actuated by shape memory alloy (SMA) wires..

Control of aerial manipulation vehicle in operational space.
Presentation / Conference Contribution
KANNAN, S., QUINTANAR-GUZMAN, S., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Control of aerial manipulation vehicle in operational space. In Proceedings of the 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016), 30 June - 02 July 2016, Ploiesti, Romania. Piscataway: IEEE [online], pages 1-5. Available from: https://doi.org/10.1109/ECAI.2016.7861157

Operational Space Control of an Aerial Manipulation Vehicle is discussed here. The Aerial Manipulation Vehicle has a highly coupled dynamics due to the interaction between the Quadrotor and the attached manipulator. The nonlinear coupling introduces... Read More about Control of aerial manipulation vehicle in operational space..

Model predictive control for cooperative control of space robots.
Presentation / Conference Contribution
KANNAN, S., ALAMDARI, S.A.S., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Model predictive control for cooperative control of space robots. AIP conference proceedings [online], 1798: proceedings of the 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016), 4-8 July 2016, La Rochelle, France, article 020068. Available from: https://doi.org/10.1063/1.4972660

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Contro... Read More about Model predictive control for cooperative control of space robots..

Hierarchical control of aerial manipulation vehicle.
Presentation / Conference Contribution
KANNAN, S., BEZZAOUCHA, S., GUZMAN, S.Q., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Hierarchical control of aerial manipulation vehicle. AIP conference proceedings [online], 1798: proceedings of the 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016), 4-8 July 2016, La Rochelle, France, article 020069. Available from: https://doi.org/10.1063/1.4972661

Hierarchical Control of the Aerial Manipulator is treated here. The modelling aspect of the highly coupled Aerial Vehicle which includes Quadrotor and manipulator is discussed. The control design to perform tasks in operational space is addressed alo... Read More about Hierarchical control of aerial manipulation vehicle..

Cooperative localization of unmanned aerial vehicles in ROS: the atlas node.
Presentation / Conference Contribution
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..

Adaptive control for a lightweight robotic arm actuated by a shape memory allow wire.
Presentation / Conference Contribution
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..