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Nikolakopoulos, GeorgeORCID iD iconorcid.org/0000-0003-0126-1897
Publications (10 of 132) Show all publications
Kanellakis, C., Mansouri, S. S., Georgoulas, G. & Nikolakopoulos, G. (2019). Towards Autonomous Surveying of Underground Mine using MAVs geogeo. In: : . Paper presented at 27th International Conference on Robotics in Alpe-Adria-Danube Region, Patras, Greece, June 6-8, 2018 (pp. 173-180). Springer, 67
Open this publication in new window or tab >>Towards Autonomous Surveying of Underground Mine using MAVs geogeo
2019 (English)Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Micro Aerial Vehicles (MAVs) are platforms that received great attention during the last decade. Recently, the mining industry has been considering the usage of aerial autonomous platforms in their processes. This article initially investigates potential application scenarios for this technology in mining. Moreover, one of the main tasks refer to surveillance and maintenance of infrastructure assets. Employing these robots for underground surveillance processes of areas like shafts, tunnels or large voids after blasting, requires among others the development of elaborate navigation modules. This paper proposes a method to assist the navigation capabilities of MAVs in challenging mine environments, like tunnels and vertical shafts. The proposed method considers the use of Potential Fields method, tailored to implement a sense-and-avoid system using a minimal ultrasound-based sensory system. Simulation results demonstrate the effectiveness of the proposed strategy.

Place, publisher, year, edition, pages
Springer, 2019
Series
Mechanisms and Machine Science, ISSN 2211-0984
Keywords
MAV, Underground Mines, Navigation
National Category
Engineering and Technology Control Engineering
Research subject
Control Engineering; Control Engineering
Identifiers
urn:nbn:se:ltu:diva-70113 (URN)10.1007/978-3-030-00232-9_18 (DOI)2-s2.0-85054305469 (Scopus ID)
Conference
27th International Conference on Robotics in Alpe-Adria-Danube Region, Patras, Greece, June 6-8, 2018
Available from: 2018-07-12 Created: 2018-07-12 Last updated: 2018-10-16Bibliographically approved
Mansouri, S. S., Kanellakis, C., Georgoulas, G., Kominiak, D., Gustafsson, T. & Nikolakopoulos, G. (2018). 2D visual area coverage and path planning coupled with camera footprints. Control Engineering Practice, 75, 1-16
Open this publication in new window or tab >>2D visual area coverage and path planning coupled with camera footprints
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2018 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 75, p. 1-16Article in journal (Refereed) Published
Abstract [en]

Unmanned Aerial Vehicles (UAVs) equipped with visual sensors are widely used in area coverage missions. Guaranteeing full coverage coupled with camera footprint is one of the most challenging tasks, thus, in the presented novel approach a coverage path planner for the inspection of 2D areas is established, a 3 Degree of Freedom (DoF) camera movement is considered and the shortest path from the taking off to the landing station is generated, while covering the target area. The proposed scheme requires a priori information about the boundaries of the target area and generates the paths in an offline process. The efficacy and the overall performance of the proposed method has been experimentally evaluated in multiple indoor inspection experiments with convex and non convex areas. Furthermore, the image streams collected during the coverage tasks were post-processed using image stitching for obtaining a single overview of the covered scene.

Place, publisher, year, edition, pages
Elsevier, 2018
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-68057 (URN)10.1016/j.conengprac.2018.03.011 (DOI)000433648100001 ()2-s2.0-85044107984 (Scopus ID)
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

Validerad;2018;Nivå 2;2018-03-26 (andbra)

Available from: 2018-03-26 Created: 2018-03-26 Last updated: 2018-08-09Bibliographically approved
Fresk, E. & Nikolakopoulos, G. (2018). A generalized Frame Adaptive MPC for the low-level control of UAVs. In: 2018 European Control Conference (ECC): . Paper presented at European Control Conference, Cyprus, Limasson, 12-15 June, 2018 (pp. 1815-1820). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>A generalized Frame Adaptive MPC for the low-level control of UAVs
2018 (English)In: 2018 European Control Conference (ECC), Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1815-1820Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to establish an adaptiveModel Predictive Control (MPC) scheme for the angular rate and thrust control of a multirotor Unmanned Aerial Vehicle (UAV). The proposed model adaptiveness comes from estimating the movement of the Center of Gravity (CoG) combined withthe thrust constant of the motors, making the system robust to disturbances and fast to adapt to changing parameters, while also taking under consideration the control signal bounds in order to guarantee for no motor stalls, while flying. The linear requirements of the MPC are adhered to by transforming the estimation and control problem into a control signal squared domain, making the system linear. The efficacy of the proposed estimation and control scheme is presented in simulations where worst case scenarios have been considered.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2018
Keywords
UAV; Adaptive Control; System Identification
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-69752 (URN)10.23919/ECC.2018.8550210 (DOI)2-s2.0-85059820331 (Scopus ID)978-3-9524-2698-2 (ISBN)978-1-5386-5303-6 (ISBN)
Conference
European Control Conference, Cyprus, Limasson, 12-15 June, 2018
Projects
AEROWORKS (Grant Agreement No. 644128)SIMS (Grant Agreement No. 730302)
Available from: 2018-06-21 Created: 2018-06-21 Last updated: 2019-03-15Bibliographically approved
Röijezon, U., Prellwitz, M., Innala Ahlmark, D., van Deventer, J., Nikolakopoulos, G. & Hyyppä, K. (2018). A haptic navigation aid for individuals with visual impairments: Indoor and outdoor feasibility evaluations of the LaserNavigator. Journal of Visual Impairment & Blindness
Open this publication in new window or tab >>A haptic navigation aid for individuals with visual impairments: Indoor and outdoor feasibility evaluations of the LaserNavigator
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2018 (English)In: Journal of Visual Impairment & Blindness, ISSN 0145-482X, E-ISSN 1559-1476Article in journal (Refereed) Accepted
Place, publisher, year, edition, pages
AFB Press, 2018
National Category
Physiotherapy Occupational Therapy Other Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering
Research subject
Physiotherapy; Occupational therapy; Industrial Electronics; Control Engineering
Identifiers
urn:nbn:se:ltu:diva-69826 (URN)
Available from: 2018-06-25 Created: 2018-06-25 Last updated: 2018-06-25
Kostopoulos, V., Psarras, S., Loutas, T., Sotiriadis, G., Gray, I., Padiyar, M., . . . Nikolakopoulos, G. (2018). Autonomous Inspection and Repair of Aircraft Composite Structures. In: P. Kopacek; B. Ibrahimov (Ed.), 18th IFAC Conference on Technology, Culture and International Stability TECIS 2018: . Paper presented at 18th International-Federation-of-Automatic-Control (IFAC) Conference on Technology, Culture and International Stability (TECIS), September 13-15, 2018, Baku, AZERBAIJAN. (pp. 554-557). Elsevier, 51
Open this publication in new window or tab >>Autonomous Inspection and Repair of Aircraft Composite Structures
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2018 (English)In: 18th IFAC Conference on Technology, Culture and International Stability TECIS 2018 / [ed] P. Kopacek; B. Ibrahimov, Elsevier, 2018, Vol. 51, p. 554-557Conference paper, Published paper (Refereed)
Abstract [en]

This paper deals with the development of an innovative approach for inspection and repair of damage in aeronautical composites that took place in the first two years of the H2020 Compinnova project which. The aim is a newly designed robotic platform for autonomous inspection using combined infrared thermography (IRT) and phased array (PA) non-destructive investigation for damage detection and characterization, while integrated with laser repaircapabilities. This will affect the increasing societal need for safer aircraft in the lowest possible cost, while new and effective techniques of inspection are needed because of the rapidly expanding use of composites in the aerospace industry.

Place, publisher, year, edition, pages
Elsevier, 2018
Series
IFAC-PapersOnLine, ISSN 2405-8963 ; 30
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-72318 (URN)10.1016/j.ifacol.2018.11.267 (DOI)000451096700105 ()2-s2.0-85057019527 (Scopus ID)
Conference
18th International-Federation-of-Automatic-Control (IFAC) Conference on Technology, Culture and International Stability (TECIS), September 13-15, 2018, Baku, AZERBAIJAN.
Available from: 2018-12-18 Created: 2018-12-18 Last updated: 2018-12-18Bibliographically approved
Kanellakis, C., Mansouri, S. S., Fresk, E., Kominiak, D. & Nikolakopoulos, G. (2018). Cooperative UAVs as a Tool for Aerial Inspection of Large Scale Aging Infrastructure. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Madrid, Spain,1-5 Oct. 2018 (pp. 5040-5040). Piscataway, NJ: IEEE
Open this publication in new window or tab >>Cooperative UAVs as a Tool for Aerial Inspection of Large Scale Aging Infrastructure
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2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Piscataway, NJ: IEEE, 2018, p. 5040-5040Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

This work presents an aerial tool towards the autonomous cooperative coverage and inspection of a large scale 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). In the presented approach the UAVs are relying only on their onboard computer and sensory system, deployed for inspection of the 3D structure. In this application each agent covers a different part of the scene autonomously, while avoiding collisions. The autonomous navigation of each platform on the designed path is enabled by the localization system that fuses Ultra Wideband with inertial measurements through an Error- State Kalman Filter. The visual information collected from the aerial team is collaboratively processed to create the 3D model. The performance of the overall setup has been experimentally evaluated in realistic wind turbine inspection experiments, providing dense 3D reconstruction of the inspected structures.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2018
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Robotics Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-72850 (URN)10.1109/IROS.2018.8593996 (DOI)978-1-5386-8095-7 (ISBN)978-1-5386-8094-0 (ISBN)978-1-5386-8093-3 (ISBN)
Conference
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Madrid, Spain,1-5 Oct. 2018
Funder
EU, Horizon 2020
Note

abstarct + video

Available from: 2019-02-12 Created: 2019-02-12 Last updated: 2019-02-12Bibliographically approved
Andrikopoulos, G. & Nikolakopoulos, G. (2018). Design, Development and Experimental Evaluation of a Vortex Actuation System. In: : . Paper presented at 2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2-4 July 2018, Oulu, Finland. Piscataway, NJ, Article ID 8449151.
Open this publication in new window or tab >>Design, Development and Experimental Evaluation of a Vortex Actuation System
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this article, the potential of utilizing a commercially available Electric Ducted Fan (EDF) as a negative-pressure actuator for adhesion purposes is experimentally tested. To this purpose, a novel EDF-based Vortex Actuation System (VAS) is proposed and presented from a design, development and experimental evaluation perspective. The effect of different EDF design properties and design alterations to the actuation system is analyzed, for providing novel considerations on optimizing the adhesion efficiency of such a system.

Place, publisher, year, edition, pages
Piscataway, NJ: , 2018
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-71016 (URN)10.1109/MESA.2018.8449151 (DOI)2-s2.0-85053913225 (Scopus ID)978-1-5386-4643-4 (ISBN)
Conference
2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2-4 July 2018, Oulu, Finland
Available from: 2018-10-01 Created: 2018-10-01 Last updated: 2019-01-11Bibliographically approved
Andrikopoulos, G. & Nikolakopoulos, G. (2018). HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control. Meccanica (Milano. Print), 53(1-2), 465-480
Open this publication in new window or tab >>HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control
2018 (English)In: Meccanica (Milano. Print), ISSN 0025-6455, E-ISSN 1572-9648, Vol. 53, no 1-2, p. 465-480Article in journal (Refereed) Published
Abstract [en]

In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that mimics the motion characteristics of a human ankle. HURL acts as a feasibility study in the conceptual goal of developing a 10 degree-of-freedom (DoF) lower-limb humanoid for compliance and postural control, while serving as a knowledge basis for its future alternative use in prosthetic robotics. HURL’s design properties are described in detail, while its 2-DoF motion capabilities (dorsiflexion–plantar flexion, eversion–inversion) are experimentally evaluated via an advanced nonlinear PID-based control algorithm.

Place, publisher, year, edition, pages
Springer, 2018
Keywords
pneumatic muscle actuators, robotic leg, humanoid systems, Nonlinear PID control
National Category
Robotics Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-65436 (URN)10.1007/s11012-017-0738-6 (DOI)000424460100029 ()
Projects
BAHRT (Vetenskapsradet - Grant No. 2014-3381)
Funder
Swedish Research Council, 2014-3381
Note

Validerad;2018;Nivå 2;2018-02-09 (rokbeg)

Available from: 2017-08-31 Created: 2017-08-31 Last updated: 2018-03-02Bibliographically approved
Wopereis, H., van de Ridder, L. W., Lankhorst, T. J. W., Klooster, L., Bukai, E., Wuthier, D., . . . Fumagalli, M. (2018). Multimodal Aerial Locomotion: An Approach to Active Tool Handling 10 Author. IEEE robotics & automation magazine, 25(4), 57-65, Article ID 8491265.
Open this publication in new window or tab >>Multimodal Aerial Locomotion: An Approach to Active Tool Handling 10 Author
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2018 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 25, no 4, p. 57-65, article id 8491265Article in journal (Refereed) Published
Abstract [en]

The research focus in aerial robotics is shifting from contactless inspection toward interaction and manipulation, with the number of potential applications rapidly increasing [1]. Eventually, aerial manipulators, i.e., unmanned aerial vehicles (UAVs) equipped with manipulators, will likely take on hazardous maintenance tasks now performed by humans. For this to happen, aerial manipulators must be able to perform all the different operations required in these maintenance routines.

Keywords
Tools, Force, Wheels, Task analysis, Manipulator dynamics, Rotors
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-71269 (URN)10.1109/MRA.2018.2869527 (DOI)000453557700008 ()2-s2.0-85055017901 (Scopus ID)
Note

Validerad;2019;Nivå 2;2019-01-14 (inah)

Available from: 2018-10-18 Created: 2018-10-18 Last updated: 2019-01-14Bibliographically approved
Jafari, H., Pauelsen, M., Röijezon, U., Nyberg, L., Nikolakopoulos, G. & Gustafsson, T. (2018). On Internal Modeling of the Upright Postural Control in Elderly. In: : . Paper presented at 2018 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2018), December 12-15, 2018, Kuala Lumpur, Malaysia..
Open this publication in new window or tab >>On Internal Modeling of the Upright Postural Control in Elderly
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2018 (English)Conference paper, Published paper (Refereed)
National Category
Control Engineering Physiotherapy
Research subject
Control Engineering; Physiotherapy
Identifiers
urn:nbn:se:ltu:diva-72472 (URN)
Conference
2018 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2018), December 12-15, 2018, Kuala Lumpur, Malaysia.
Available from: 2019-01-07 Created: 2019-01-07 Last updated: 2019-01-15
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0003-0126-1897

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