A modularization approach for nonlinear model predictive control of distributed fast systems.

Dentler, Jan; Kannan, Somasundar; Mendez, Miguel Angel Olivares; Voos, Holger

doi:10.1109/MED.2016.7535973

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..

Adaptive control of robotic arm with hysteretic joint. (2016)
Conference Proceeding
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..

Model predictive control for spacecraft rendezvous. (2016)
Conference Proceeding
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..

A tracking error control approach for model predictive position control of a quadrotor with time varying reference. (2016)
Conference Proceeding
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..

Control of aerial manipulation vehicle in operational space. (2016)
Conference Proceeding
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..

Lightweight robotic arm actuated by shape memory alloy (SMA) wires. (2016)
Conference Proceeding
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..

A modularization approach for nonlinear model predictive control of distributed fast systems. (2016)
Conference Proceeding
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..

All Outputs (14)