G.K.I. Mann

G.K.I. Mann
Memorial University of Newfoundland · Faculty of Engineering and Applied Science

B.Sc., M.Sc., Ph.D.

About

202
Publications
46,395
Reads
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3,279
Citations
Citations since 2017
59 Research Items
1621 Citations
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2017201820192020202120222023050100150200250300
2017201820192020202120222023050100150200250300
2017201820192020202120222023050100150200250300
Additional affiliations
January 2001 - present
Memorial University of Newfoundland
Position
  • Professor (Full)

Publications

Publications (202)
Article
This paper presents a comprehensive review of state-of-the-art navigation methods available for unmanned aerial vehicles (UAVs) used in parcel delivery. Particularly, the paper focuses on state-of-the-art sensor configurations, multi-sensor data fusion architectures, and their performance when employed for UAV navigation. Additionally, this paper p...
Article
Time of flight based localization requires high accurate synchronization among the nodes in a network. Gradient clock synchronization (GCS) is a class of distributed algorithms capable of providing the demanded accuracy. Global clock rates defined by GCS algorithms are susceptible to drift relative to the individual hardware clock rates. This is du...
Article
This paper presents the design of a two key-frame visual inertial navigation system (2KF-VINS) using combined Lie group SE2(3) extended Kalman filter (EKF) design framework. The conventional 2KF-VINS filter is unobservable for translations along all three axis and rotation about the gravity direction. As a result, the filter suffers from estimation...
Article
This article presents the design of a stability-guaranteed nonlinear model predictive controller for quadrotor-type microaerial vehicles to operate robustly on fast trajectories. The basic controller structure operates without having to use terminal conditions in the optimization problem. As a result, the controller is computationally less demandin...
Article
This study performs a nonlinear observability analysis on radio frequency (RF) range assisted inertial navigation system (INS) for localizing quadrotor micro-aerial vehicles (MAV) in indoor environments. The objective is to use fewer number of RF range nodes as possible to support the efficient scalability of the localization system. The proposed I...
Conference Paper
Full-text available
This work develops a deep learning-based autonomous Landing Zone (LZ) identification module for a Vertical TakeOff and Landing (VTOL) drone using colored Light Detection and Ranging (LiDAR) point cloud data. "ConvPoint", a top-performing neural network (NN) architecture of the Semantic3D.net pointcloud segmentation benchmark leader-board, was chose...
Article
This letter proposes a novel NMPC for multi-rotor aerial vehicles which is designed without stabilizing terminal costs or constraints in its cost function for stabilization. A growth bound sequence is derived from a tailored running cost to ensure the closed-loop stability and provide a measure of the performance of the proposed NMPC scheme. Furthe...
Conference Paper
Full-text available
Details of control and instrumentation for on-grid and off-grid operation of a small induction generator based wind turbine are presented in this paper. A micro-controller based system controller is used to connect/disconnect the wind power generator to the grid, and also to maintain the grid connection. Several real time situations are considered...
Article
Full-text available
Renewable source based micro-generations such as wind and hydro offer the best potential for emission free power in future power systems. This paper investigates the technical issues related to stable and autonomous operation of a micro-grid system consisting of renewable power sources. A small hydro generation unit and a wind farm are the main ren...
Conference Paper
Full-text available
Remote controlling of grid tied inverter for energy storage systems has become more important with the increment of population of grid tied inverters. The main requirement of a remote controlling is to have a reliable communication method within the lowest cost. This paper mainly focuses the available communication methods. This paper presents a co...
Conference Paper
Full-text available
The primary objective of this paper is to develop a communication link for monitoring and controlling a grid connected inverter in a remote location. The paper presents developments that have been carried out to improve the communication link. In the first part of the paper LoRa based communication link has been selected from a pool of Radio Telety...
Conference Paper
Full-text available
Remote control of grid tied converter has become important with an increasing number of grid connected energy storage systems. The main requirement of a remote controlling is to have a reliable wireless communication over a significant distance with a lowest cost. This paper provides an overview of available communication methods and a comparison f...
Conference Paper
Full-text available
This paper presents a novel design for an Internet of things based SCADA system that is being developed for remote monitoring and controlling of an inverter using ESP-12E and UBIdots. ESP-12E is a low power consumption UART-WiFi module, with a very low cost that is designed specifically for IoT based applications. There are many of service provider...
Conference Paper
Full-text available
The primary objective of this paper is to evaluate the reliability of a communication link developed to serve the communication requirement between the server and the remotely located grid tied inverter. A novel approach which combines both static Fault Tree Analysis and Monte Carlo simulation method has been used to achieve the principal objective...
Article
Full-text available
This paper presents the design of an interacting multiple model (IMM) filter for visual-inertial navigation (VIN) of MAVs. VIN of MAVs in practice typically uses a single system model for its state estimator design. However, MAVs can operate in different scenarios such as aggressive flights, hovering flights, and under high external disturbance req...
Conference Paper
Full-text available
This paper presents the design of an Interacting Multiple Model (IMM) filter for improved navigation performance of Micro Aerial Vehicles (MAVs). The paper considers a navigation system that incorporates rotor drag dynamics and proposes a strategy to overcome the sensitivity of the system to external wind disturbances. Two error state Kalman filter...
Article
Full-text available
Unmanned aerial systems (UAS) represent an evolving technology with enormous potential to revolutionize the oil and gas industry by providing a more efficient, fast, safe, and cost-effective way to perform a variety of field activities. Recently, UAS has received considerable attention from the oil and gas industry. The objective of this review art...
Article
Full-text available
The estimation error accumulation in the conventional visual inertial odometry (VIO) generally forbids accurate long-term operations. Some advanced techniques such as global pose graph optimization and loop closure demand relatively high computation and processing time to execute the optimization procedure for the entire trajectory and may not be f...
Article
Full-text available
With the emergence of industry 4.0, the oil and gas (O&G) industry is now considering a range of digital technologies to enhance productivity, efficiency, and safety of their operations while minimizing capital and operating costs, health and environment risks, and variability in the O&G project life cycles. The deployment of emerging technologies...
Article
The low oil price environment is driving the oil and gas industry to become more innovative and deploy smart field technologies, to increase operational and asset efficiency, minimize health, safety and environmental (HSE) risks, improve asset portfolio, reduce capital and operation costs, and maximize capital productivity. The internet of things (...
Article
This paper presents a computationally efficient sensor-fusion algorithm for visual inertial odometry (VIO). The paper utilizes trifocal tensor geometry (TTG) for visual measurement model and a nonlinear deterministic-sampling-based filter known as cubature Kalman filter (CKF) to handle the system nonlinearity. The TTG-based approach is developed to...
Article
Background Transhumeral prostheses are worn by transhumeral amputees to replace the missing upper limb segment between shoulder and elbow. Prostheses should be able to function as a natural limb for the user to gain the full advantage of wearing a prosthesis. When performing reach‐to‐grasp and pointing motions by the upper limb, the hand is capable...
Article
Full-text available
This paper proposes a knee exoskeleton with passive-powering mechanism to provide power assistance to the knee joint during squat lifting of objects from the ground. It is designed to capture and store 20% of the biomechanical energy dissipated at the biological knee joint during decent phase and return the harnessed energy in the ascent phase in a...
Article
We introduce a Distributed Model Predictive Control (DMPC) algorithm, which is based on the novel idea of projecting predicted trajectories on a quantised spatial set to reduce the communication load. The scheme exploits advantages of continuous optimisation methods while only quantised data is broadcasted. Further, we set up a differential communi...
Conference Paper
This paper proposes a passively-powered knee exoskeleton (PPKE) to provide power assistance during squat lifting of objects from the ground. The passive powering mechanism is designed to capture 20% of the waste mechanical energy available at the biological knee joint during decent phase and to release the stored energy in ascending phase in a comp...
Conference Paper
Prostheses worn by amputees whose amputation is between shoulder and elbow fall under trans-humeral pros-theses. The prosthesis should mimic articulations similar to a natural arm. The human palm can be taken on a straight line path when reaching towards an object or pointing at an object. However, such a motion is very challenging to achieve from...
Conference Paper
Full-text available
This paper demonstrates a linear programming based controlling strategy developed for a SCADA system to control a grid-connected inverter which is used to interface a battery energy storage with the grid. To control the inverter a predictive wind speed algorithm is proposed where parameters are being automatically set by the linear programming base...
Conference Paper
Full-text available
In this paper, we introduce a novel approach of reducing the communication load in distributed model predictive control (DMPC) for mobile robots. The key idea is to project the predicted state trajectory onto a grid resulting in an occupancy grid prediction. This approach has the advantage of utilizing continuous optimization methods while only qua...
Conference Paper
The objective of this paper is to develop an advanced Vision-and-Ranging-aided Inertial Navigation System (VRINS), which combines a Vision-aided Inertial Navigation System (VINS) with Moving Horizon Estimation (MHE) based ranging measurement update. The traditional VINS estimate suffers the error accumulation from the camera observation, which make...
Conference Paper
This paper presents the design and analysis of a pose estimator for quadrotor micro aerial vehicles (MAVs). The proposed design uses the dynamic model of the quadrotor with aerodynamic effects and uses the extended Kalman filter (EKF) formulation for state estimation. Range measurements to known locations, inertial measurements and height measureme...
Article
Full-text available
This paper presents the reliability evaluation of a microgrid system considering the intermittency effect of renewable energy sources such as wind in this study. One of the main objectives of constructing a microgrid system is to ensure reliable power supply to loads in the microgrid. In order to achieve this objective, it is essential to evaluate...
Conference Paper
In this paper, we present an advanced real-time Visual Inertial Navigation System (VINS) based on MultiState Constraint Kalman Filter (MSCKF). This filter uses Cubature Kalman Filter (CKF) for nonlinear measurement update and Maximum Likelihood Estimate (MLE) to optimize the estimate, which in turn provides better system accuracy and stability. The...
Article
Full-text available
We present a novel MPC algorithm without terminal constraints and/or costs, for which the prediction horizon is reduced in comparison to standard MPC while asymptotic stability and inherent robustness properties are maintained. To this end, we derive simplified stability conditions and investigate the interplay of open and closed loop control in MP...
Article
This paper proposes a hybrid vision based reachto- grasp task planning method for trans-humeral prostheses exploiting both vision and Electromyography (EMG) signals. The hybrid method mainly consists of 2-1/2D visual servoing module and EMG based module. The visual servoing intends to align the object on to the center of the palm while correcting i...
Conference Paper
Full-text available
In this paper, we propose a multi-step model predictive control (MPC) scheme without stabilizing constraints and/or costs. Within this work, a relaxed Lyapunov inequality is employed to verify asymptotic stability of the MPC closed loop. To this end, prior work is adapted to a trajectory based setting. The approach works for shorter prediction hori...
Conference Paper
Full-text available
This paper considers model predictive path-following control for differentially driven mobile robots and state-space paths. In contrast to previous works, we analyze stability of model predictive path-following control without stabilizing terminal constraints or terminal costs. To this end, we verify cost controllability assumptions and compute bou...
Article
Full-text available
In this paper, we propose a multi-step model predictive control (MPC) scheme without stabilizing constraints and/or costs. Within this work, a relaxed Lyapunov inequality is employed to verify asymptotic stability of the MPC closed loop. To this end, prior work is adapted to a trajectory based setting. The approach works for shorter prediction hori...
Conference Paper
Full-text available
The objective of this paper is to develop a cubature Multi-State Constraint Kalman Filter (MSCKF) for a Visual-Inertial Navigation System (VINS). MSCKF is a tightly-coupled EKF-based filter operating over a sliding window of multiple sequent states. In order to decrease the complexity and the computational cost of the original EKF-based measurement...
Article
Full-text available
In this paper, an optimization based method is used for relative localization and relative trajectory tracking control in Multi-Robot Systems (MRS’s). In this framework, one or more robots are located and commanded to follow time varying trajectories with respect to another (possibly moving) robot reference frame. Such systems are suitable for a co...
Conference Paper
Prosthesis is a device that replaces a missing body part. These devices are used to reinstate the lost functionality due to an amputation. Above elbow amputees are equipped with trans-humeral prostheses. The existing prostheses use biological signals such as electromyography (EMG) in combine with external sensors for the controlling purposes. Visio...
Article
Full-text available
The objective of this paper is to develop a vision-based navigation technique for micro aerial vehicles, quadrotor type, to operate in GPS-denied environment. The navigation method has been developed while using appearance-based Visual-Teach-and-Repeat (VT&R) technique. In a teaching phase, a quadrotor is manually navigated along a desired route to...
Article
Full-text available
This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which mainly includes accelerometers, gyroscopes, and a digital compass. Low cost robotic platforms demand simpler a...
Article
This research study performs an observability analysis of the relative localization problem related to multirobotic systems. The study considers different constraints related to the availability of relative position measurements and platform velocity measurements. Constraints related to these measurement sources arise due to several reasons such as...
Conference Paper
Full-text available
This paper presents a novel design for an Internet of things based SCADA system that is being developed for remote monitoring and controlling of an inverter using ESP-12E and UBIDOTS. ESP-12E is a low power consumption UART-Wi-Fi module, with a very low cost that is designed specifically for IoT based applications. There are many of service provide...
Article
Full-text available
This paper presents a simulation study of an autonomous underwater vehicle (AUV) navigation system operating in a GPS-denied environment. The AUV navigation method makes use of underwater transponder positioning and requires only one transponder. A multirate unscented Kalman filter is used to determine the AUV orientation and position by fusing hig...
Article
Full-text available
This study proposes the use of a split covariance intersection algorithm (Split-CI) for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose information from neighbouring robots, it employs...
Conference Paper
Full-text available
In this paper, model predictive control (MPC) of differential drive robots is considered. Here, we solve the set point stabilization problem without incorporating stabilizing constraints and/or costs in the MPC scheme. In particular, we extend recent results obtained in a discrete time setting to the continuous time domain. To this end, so called s...
Article
Full-text available
The problem of steering a nonholonomic mobile robot to a desired position and orientation is considered. In this paper, a model predictive control (MPC) scheme based on tailored nonquadratic stage cost is proposed to fulfill this control task. We rigorously prove asymptotic stability while neither stabilizing constraints nor costs are used. To this...
Conference Paper
Full-text available
Transhumeral prosthesis is used to cater upper limb amputees who lost their limb above elbow. In order to restore the functionality of upper limb, researchers are working on developing prosthesis and their controllers. This paper presents a simulation environment which can be used to simulate control algorithms of transhumeral prostheses. It consis...
Article
This paper presents a distributed leader-assistive localization approach for a heterogeneous multirobotic system (MRS). The localization algorithm is formulated to estimate the position and orientation (pose) of a group of robots in a given reference coordinate frame (or global coordinate frame). It is assumed that the heterogeneous-MRS has one or...