Dr Somasundar Kannan's Outputs (26)

Adaptive path-planning for AUVs in dynamic underwater environments using sonar data. (2024)
Presentation / Conference Contribution
B, B., HASAN, M.J., KANNAN, S. and PRABHU, R. 2024. Adaptive path-planning for AUVs in dynamic underwater environments using sonar data. In Bouma, H., Prabhu, R., Yitzhahy, Y. and Kuijf, H.J. (eds.) Advanced materials, biomaterials, and manufacturing technologies for security and defence II: proceedings of the 2024 SPIE Security + defence, 16-20 September 2024, Edinburgh, UK. Proceedings of SPIE, 13206. Bellingham, WA: SPIE [online], paper 1320616. Available from: https://doi.org/10.1117/12.3031644

This paper presents an innovative approach to path-planning for Autonomous Underwater Vehicles (AUVs) in complex underwater environments, leveraging single-beam sonar data. Recognizing the limitations of traditional sonar systems in providing detaile... Read More about Adaptive path-planning for AUVs in dynamic underwater environments using sonar data..

Evaluating the impact of ranging error in underwater localization using SAR satellite data. (2024)
Presentation / Conference Contribution
MUHAMMAD, A., STEWART, C., FOUGH, N. and KANNAN, S. 2024. Evaluating the impact of ranging error in underwater localization using SAR satellite data. In Proceedings of the 2024 IEEE (Institute of Electrical and Electronics Engineers) International workshop on Metrology for the sea; learning to measure sea health parameters (IEEE MetroSea 2024), 14-16 October 2024, Portorose, Slovenia. Piscataway: IEEE [online], pages 40-45. Available from: https://doi.org/10.1109/MetroSea62823.2024.10765665

The study evaluated the impact of ranging error in underwater localization processes using SAR satellite data within the framework of Underwater Wireless Sensor Networks (UWSN). By integrating a pretrained ArcGIS deep learning model with SAR imagery,... Read More about Evaluating the impact of ranging error in underwater localization using SAR satellite data..

Securing underwater wireless communication with frequency-hopping spread spectrum. (2024)
Presentation / Conference Contribution
RAHMAN, K.U., FOUGH, N., MCDERMOTT, C.D., SUNDAS, R., BAIG, N. and KANNAN, S. 2024. Securing underwater wireless communication with frequency-hopping spread spectrum. In Proceedings of the 2024 IEEE (Institute of Electrical and Electronics Engineers) International workshop on Metrology for the sea; learning to measure sea health parameters (IEEE MetroSea 2024), 14-16 October 2024, Portorose, Slovenia. Piscataway: IEEE [online], pages 266-271. Available from: https://doi.org/10.1109/metrosea62823.2024.10765656

The significance of subsea communication has increased substantially, with growing interest in replacing wired communication with wireless alternatives. However, subsea communication faces several challenges due to the harsh environment, including hi... Read More about Securing underwater wireless communication with frequency-hopping spread spectrum..

Promptable sonar image segmentation for distance measurement using SAM. (2024)
Presentation / Conference Contribution
TOLIE, H.F., REN, J., HASAN, M.J., KANNAN, S. and FOUGH, N. 2024. Promptable sonar image segmentation for distance measurement using SAM. In Proceedings of the 2024 IEEE (Institute of Electrical and Electronics Engineers) International workshop on Metrology for the sea; learning to measure sea health parameters (IEEE MetroSea 2024), 14-16 October 2024, Portorose, Slovenia. Piscataway: IEEE [online], pages 229-233. Available from: https://doi.org/10.1109/metrosea62823.2024.10765703

The subsea environment presents numerous challenges for robotic vision, including non-uniform light attenuation, backscattering, floating particles, and low-light conditions, which significantly degrade underwater images. This degradation impacts rob... Read More about Promptable sonar image segmentation for distance measurement using SAM..

Enhancing gas-pipeline monitoring with graph neural networks: a new approach for acoustic emission analysis under variable pressure conditions. (2024)
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..

Solar-powered ROV: advancing underwater exploration with renewable energy. (2024)
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..

Underwater localization using SAR satellite data. (2024)
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..

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..

Vision based relative position estimation in surgical robotics. (2023)
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..

Detecting and tracking the position of suspicious objects using vision system. (2023)
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..

Tracking and estimation of surgical instrument position and angle in surgical robot using vision system. (2023)
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..

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.

Model predictive control of connected spacecraft formation. (2022)
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..

Adaptive control for a lightweight robotic arm actuated by a shape memory allow wire. (2018)
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..

Implementation and validation of an event-based real-time nonlinear model predictive control framework with ROS interface for single and multi-robot systems. (2017)
Presentation / Conference Contribution
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)
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..

Area exploration with a swarm of UAVs combining deterministic chaotic ant colony mobility with position MPC. (2017)
Presentation / Conference Contribution
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)
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..

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