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Publications (10 of 11) Show all publications
Mansouri, S. S., Karvelis, P., Kanellakis, C., Kominiak, D. & Nikolakopoulos, G. (2019). Vision-based MAV Navigation in Underground Mine Using Convolutional Neural Network. In: : . Paper presented at IEEE Industrial Electronics Society.
Open this publication in new window or tab >>Vision-based MAV Navigation in Underground Mine Using Convolutional Neural Network
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2019 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This article presents a Convolutional Neural Network (CNN) method to enable autonomous navigation of low-cost Micro Aerial Vehicle (MAV) platforms along dark underground mine environments. The proposed CNN component provides on-line heading rate commands for the MAV by utilising the image stream from the on-board camera, thus allowing the platform to follow a collision-free path along the tunnel axis. A novel part of the developed method consists of the generation of the data-set used for training the CNN. More specifically, inspired from single image haze removal algorithms, various image data-sets collected from real tunnel environments have been processed offline to provide an estimation of the depth information of the scene, where ground truth is not available. The calculated depth map is used to extract the open space in the tunnel, expressed through the area centroid and is finally provided in the training of the CNN. The method considers the MAV as a floating object, thus accurate pose estimation is not required. Finally, the capability of the proposed method has been successfully experimentally evaluated in field trials in an underground mine in Sweden.

Keywords
Mining Aerial Robotics, Deep Learning for Navigation, MAV
National Category
Robotics
Identifiers
urn:nbn:se:ltu:diva-75674 (URN)
Conference
IEEE Industrial Electronics Society
Available from: 2019-08-23 Created: 2019-08-23 Last updated: 2019-11-29
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
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)000458872704097 ()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: 2019-03-27Bibliographically approved
Wuthier, D., Kominiak, D., Fresk, E. & Nikolakopoulos, G. (2017). A Geometric Pulling Force Controller for Aerial Robotic Workers. Paper presented at 20th IFAC World Congress, Toulouse, France, 9-14 July 2017. IFAC-PapersOnLine, 50(1), 10287-10292
Open this publication in new window or tab >>A Geometric Pulling Force Controller for Aerial Robotic Workers
2017 (English)In: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, no 1, p. 10287-10292Article in journal (Refereed) Published
Abstract [en]

The aim of this article is to establish a geometric, pulling force control scheme in order to enable the concept of Aerial Robotic Workers (ARWs), where the capabilities of the Unmanned Aerial Vehicles (UAVs) are enhanced by aerial manipulators in order to exert known pulling forces on the environment, with characteristic applications such as levers actuation, debris removal and safety assessments. The proposed novel approach consists of interfacing a cascaded position control scheme with a manipulation framework in such a way that the UAV, together with the manipulator are being controlled in a complete system The validity of the proposed scheme as well as the ability of the UAV to track a desired pulling force is validated through a real-world experiment.

Place, publisher, year, edition, pages
Elsevier, 2017
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-66202 (URN)10.1016/j.ifacol.2017.08.1487 (DOI)000423965100209 ()2-s2.0-85031804519 (Scopus ID)
Conference
20th IFAC World Congress, Toulouse, France, 9-14 July 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

Konferensartikel i tidskrift

Available from: 2017-10-20 Created: 2017-10-20 Last updated: 2018-06-11Bibliographically approved
Mansouri, S. S., Kanellakis, C., Fresk, E., Kominiak, D. & Nikolakopoulos, G. (2017). Cooperative UAVs as a tool for Aerial Inspection of the Aging Infrastructure. In: Marco Hutter, Roland Siegwart (Ed.), Field and Service Robotics: Results of the 11th International Conference. Paper presented at 11th Conference on Field and Service Robotics, FSR 2017, Zürich, 12.-15.9.2017 (pp. 177-189). Cham: Springer
Open this publication in new window or tab >>Cooperative UAVs as a tool for Aerial Inspection of the Aging Infrastructure
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2017 (English)In: Field and Service Robotics: Results of the 11th International Conference / [ed] Marco Hutter, Roland Siegwart, Cham: Springer, 2017, p. 177-189Conference paper, Published paper (Refereed)
Abstract [en]

This article presents an aerial tool towards the autonomous cooperative coverage and inspection of a 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 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 a realistic outdoor infrastructure inspection experiments, providing sparse and dense 3D reconstruction of the inspected structures.

Place, publisher, year, edition, pages
Cham: Springer, 2017
Series
Springer Proceedings in Advanced Robotics, ISSN 2511-1256 ; 5
National Category
Robotics Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-66211 (URN)10.1007/978-3-319-67361-5_12 (DOI)978-3-319-67360-8 (ISBN)978-3-319-67361-5 (ISBN)
Conference
11th Conference on Field and Service Robotics, FSR 2017, Zürich, 12.-15.9.2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Available from: 2017-10-22 Created: 2017-10-22 Last updated: 2018-05-29Bibliographically approved
Mustafa, M. O., Nikolakopoulos, G., Gustafsson, T. & Kominiak, D. (2016). A Fault Detection Scheme Based on Minimum Uncertainty Bounds Violation for Broken Rotor Bars in Induction Motors (ed.). Paper presented at . Control Engineering Practice, 48, 63-77
Open this publication in new window or tab >>A Fault Detection Scheme Based on Minimum Uncertainty Bounds Violation for Broken Rotor Bars in Induction Motors
2016 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 48, p. 63-77Article in journal (Refereed) Published
Abstract [en]

In this article, a novel method for broken bars fault detection in the case of three-phase induction motors and under different payloads will be presented and experimentally evaluated. In the presented approach, the cases of a partially or full broken rotor bars is being also considered, caused by: a) drilling 4mm and 8mm out of the $13$mm thickness of the same rotor bar, and b) fully drilled (13mm) one, two and three broken bars. The proposed fault detection method is based on the Set Membership Identification (SMI) technique and a novel proposed minimum boundary violation fault detection scheme, applied on the identified motor's parameters. The system identification procedure is being carried out on the simplified equivalent model of the induction motor, during the steady-state operation (non-fault case), while at the same time the proposed scheme is able to calculate on-line the corresponding safety bounds for the identified variables, based on a priori knowledge of the measuring corrupting noise (worst case encountered). The efficiency, the robustness and the overall performance of the established fault detection scheme is being extensively evaluated in multiple experimental studies and under various time instances of faults and load conditions.

Keywords
Information technology - Automatic control, Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-11834 (URN)10.1016/j.conengprac.2015.12.008 (DOI)000370906700006 ()2-s2.0-84953383905 (Scopus ID)ada0a4d1-9bf7-4529-851f-9f0defb39235 (Local ID)ada0a4d1-9bf7-4529-851f-9f0defb39235 (Archive number)ada0a4d1-9bf7-4529-851f-9f0defb39235 (OAI)
Note
Validerad; 2016; Nivå 2; 20150115 (mohoba)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved
Wuthier, D., Kominiak, D., Kanellakis, C., Andrikopoulos, G., Fumagalli, M., Schipper, G. & Nikolakopoulos, G. (2016). On the Design, Modeling and Control of a Novel Compact Aerial Manipulator (ed.). In: (Ed.), 24th Mediterranean Conference on Control and Automation, MED 2016: . Paper presented at 24th Mediterranean Conference on Control and Automation, June 21-24, Athens, Greece, 2016 (pp. 665-670). Piscataway, NJ: IEEE Communications Society, Article ID 7536029.
Open this publication in new window or tab >>On the Design, Modeling and Control of a Novel Compact Aerial Manipulator
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2016 (English)In: 24th Mediterranean Conference on Control and Automation, MED 2016, Piscataway, NJ: IEEE Communications Society, 2016, p. 665-670, article id 7536029Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to present a novel fourdegree-of-freedom aerial manipulator allowing a multirotorUnmanned Aerial Vehicle (UAV) to physically interact with theenvironment. The proposed design, named CARMA (CompactAeRial MAnipulator), is characterized by low disturbances onthe UAV flight dynamics, extended workspace (with regard toits retracted configuration) and fast dynamics (compared to theUAV dynamics). The dynamic model is formulated and a controlstructure consisting of an inverse kinematics algorithm and independentjoint position controllers is presented. Furthermore,the design specifications of the prototype are analyzed in detail,while experimental evaluations are conducted for the extractionof the manipulator’s workspace and the evaluation of system’stracking capabilities over pick-and-place trajectories. Finally,it is shown that the selected joint position sensors, combinedwith the derived inverse dynamic algorithm allow to determinethe wrenches exerted at the base, due to swift motions of thearm.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2016
Series
Mediterranean Conference on Control and Automation, E-ISSN 2325-369X
Keywords
Information technology - Automatic control, Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-32790 (URN)10.1109/MED.2016.7536029 (DOI)000391154900111 ()2-s2.0-84986220639 (Scopus ID)7644a07e-7280-4025-abe6-f25abf0a9680 (Local ID)978-1-4673-8345-5 (ISBN)7644a07e-7280-4025-abe6-f25abf0a9680 (Archive number)7644a07e-7280-4025-abe6-f25abf0a9680 (OAI)
Conference
24th Mediterranean Conference on Control and Automation, June 21-24, Athens, Greece, 2016
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-06-11Bibliographically approved
Andrikopoulos, G., Nikolakopoulos, G., Kominiak, D. & Unander-Scharin, Å. (2016). Towards the Development of a Novel Upper-Body Pneumatic Humanoid: Design and Implementation (ed.). In: (Ed.), 2016 European Control Conference, ECC 2016: . Paper presented at 2016 European Control Conference, ECC 2016, Aalborg, Denmark, June 29-July 1, 2016 (pp. 395-400). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), Article ID 7810317.
Open this publication in new window or tab >>Towards the Development of a Novel Upper-Body Pneumatic Humanoid: Design and Implementation
2016 (English)In: 2016 European Control Conference, ECC 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 395-400, article id 7810317Conference paper, Published paper (Refereed)
Abstract [en]

In this article, the conceptual design of a 14 Degree-of-Freedom (DOF) upper-body pneumatic humanoid is presented. The movement capabilities of this novel robotic setup are achieved via Pneumatic Artificial Muscles (PAMs), a form of actuation possessing crucial attributes for the development of biologically-inspired robots. To evaluate the feasibility of the humanoid’s design properties, a 5-DOF robotic arm is developed and experimentally tested, while being studied from the scope of implementing a robotic structure capable of producing smooth and human-like motion responses, while maintaining the inherent compliance provided by the PAM technology.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016
Keywords
Robotics, Information technology - Automatic control, Informationsteknik - Reglerteknik
National Category
Control Engineering Music
Research subject
Control Engineering; Musical Performance
Identifiers
urn:nbn:se:ltu:diva-28632 (URN)10.1109/ECC.2016.7810317 (DOI)000392695300064 ()2-s2.0-85015088100 (Scopus ID)2806b389-8ca5-4483-8ca5-2195ba4c92f1 (Local ID)9781509025916 (ISBN)2806b389-8ca5-4483-8ca5-2195ba4c92f1 (Archive number)2806b389-8ca5-4483-8ca5-2195ba4c92f1 (OAI)
Conference
2016 European Control Conference, ECC 2016, Aalborg, Denmark, June 29-July 1, 2016
Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-02-22Bibliographically approved
Nyberg, R., Kominiak, D. & Nikolakopoulos, G. (2014). Experimental evaluation of a modied obstacle based potential field algorithm for an off-road mobile robot (ed.). In: (Ed.), : . Paper presented at Reglermöte 2014 : 03/06/2014 - 04/06/2014.
Open this publication in new window or tab >>Experimental evaluation of a modied obstacle based potential field algorithm for an off-road mobile robot
2014 (English)Conference paper, Oral presentation only (Other academic)
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-38906 (URN)d75d93d0-595b-4044-8e6d-289b71880f22 (Local ID)d75d93d0-595b-4044-8e6d-289b71880f22 (Archive number)d75d93d0-595b-4044-8e6d-289b71880f22 (OAI)
Conference
Reglermöte 2014 : 03/06/2014 - 04/06/2014
Note

Godkänd; 2014; 20141127 (andbra)

Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-12-18Bibliographically approved
Nyberg, R., Nikolakopoulos, G. & Kominiak, D. (2014). Experimental Evaluation of a Modified Obstacle Based Potential Field Algorithm for an Off-Road Mobile Robot (ed.). In: (Ed.), J. Felipe (Ed.), Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics: ICINCO 2014, Vienna, Austria 1 - 3 September 2014. Paper presented at International Conference on Informatics in Control, Automation and Robotics : 01/09/2014 - 03/09/2014 (pp. 626-633). SciTePress, 1
Open this publication in new window or tab >>Experimental Evaluation of a Modified Obstacle Based Potential Field Algorithm for an Off-Road Mobile Robot
2014 (English)In: Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics: ICINCO 2014, Vienna, Austria 1 - 3 September 2014 / [ed] J. Felipe, SciTePress, 2014, Vol. 1, p. 626-633Conference paper, Published paper (Refereed)
Abstract [en]

This article presents an experimental evaluation of a modified obstacle based artificial potential field algorithm for an off-road mobile robot. The first contribution of the presented approach concerns the transformation of the artificial potential field method for the guidance of the vehicle and obstacle avoidance, in order to make it suitable for utilising a visual feedback. The visual feedback is relying on a depth image, provided by the low cost kinect sensor. The second contribution concerns the proposal of a novel scheme for the identification and perception of obstacles. Based on the proposed methodology, the vehicle is capable of categorising the obstacles based on their height in order to alter the calculated forces, for enabling a cognitive decision regarding their avoidance or the driving over them, by utilising the robot’s off road capabilities. The proposed scheme is highly suggested for off road robots, since in the normal cases, the existence of small rocks, branches, etc. can be accidentally identified as obstacles that could make the robot to avoid them or block its further movement. The performance of the proposed modified potential field algorithm has been experimentally applied and evaluated in multiple robotic exploration scenarios, where from the obtained results the efficiency and the advantages of such a modified scheme have been depicted.

Place, publisher, year, edition, pages
SciTePress, 2014
Keywords
Information technology - Automatic control, Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-27095 (URN)84910102336 (Scopus ID)06a06f5b-e4d7-448a-81d9-50e084d016e1 (Local ID)9789897580406 (ISBN)06a06f5b-e4d7-448a-81d9-50e084d016e1 (Archive number)06a06f5b-e4d7-448a-81d9-50e084d016e1 (OAI)
Conference
International Conference on Informatics in Control, Automation and Robotics : 01/09/2014 - 03/09/2014
Note

Godkänd; 2014; 20140627 (geonik)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-18Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-2001-7171

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