Change search
Refine search result
1 - 32 of 32
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Rows per page
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sort
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
Select
The maximal number of hits you can export is 250. When you want to export more records please use the Create feeds function.
  • 1.
    Andrikopoulos, George
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control2018In: Meccanica (Milano. Print), ISSN 0025-6455, E-ISSN 1572-9648, Vol. 53, no 1-2, p. 465-480Article in journal (Refereed)
    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.

  • 2.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Arvanitakis, John
    Department of Electrical and Computer Engineering, University of Patras.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    A switched system modeling approach for a pneumatic muscle actuator2012In: 2012 IEEE International Conference on Industrial Technology, ICIT 2012, Piscataway, NJ: IEEE Communications Society, 2012, p. 833-839Conference paper (Refereed)
    Abstract [en]

    The aim of this article is to present a switched system approach for the dynamic modeling of Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last two decades, various modeling approaches have been presented that describe the behavior of PMAs. While most mathematical models are characterized by simplicity and accuracy in describing the attributes of PMAs, they are limited to static performance analysis. Static models are proven to be insufficient for real time control applications, thus creating the need for the development of dynamic PMA models. A collection of experimental and simulation results are being presented that prove the efficiency of the proposed approach.

  • 3.
    Andrikopoulos, Georgios
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Design, development and control of a human-inspired two-arm robot via Pneumatic Artificial Muscles2017In: 2017 25th Mediterranean Conference on Control and Automation, MED 2017, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 241-246, article id 7984125Conference paper (Refereed)
    Abstract [en]

    In this article, the design and implementation of a 10 Degree-of-Freedom (DoF) human-inspired two-arm robot is presented. Multiple Pneumatic Artificial Muscles (PAMs) in antagonistic formations are incorporated for undertaking the two arms' movements, while the design goal is the replication of human-like motion patterns, described by smoothness, inherent compliance and accuracy. To evaluate the feasibility of the proposed concept, the 10-DoF robot is developed and experimentally tested in open and closed-loop control scenarios via the use of a multiple Advanced Nonlinear PID (ANPID) based scheme.

  • 4.
    Andrikopoulos, Georgios
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Design, Development and Experimental Evaluation of a Vortex Actuation System2018Conference 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.

  • 5.
    Andrikopoulos, Georgios
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    On the design, development and motion control of a HUmanoid Robotic Leg via pneumatic artificial muscles2017In: 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Piscataway, NJ, 2017, p. 1637-1642, article id 7866562Conference paper (Refereed)
    Abstract [en]

    In this article, the design and implementation of a HUmanoid Robotic Leg (HURL) is presented. The motion of the HURL is achieved via pneumatic muscle actuators, a pneumatic form of actuation possessing crucial attributes for the implementation of a biomimetic design that mimics the motion characteristics of a human ankle. The HURL's 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

  • 6.
    Andrikopoulos, Georgios
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Vortex Actuation via Electric Ducted Fans: an Experimental Study2019In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 95, no 3-4, p. 955-973Article in journal (Refereed)
    Abstract [en]

    The presented work investigates the potential of utilizing commercially available Electric Ducted Fans (EDFs) as adhesion actuators, while providing a novel insight on the analysis of the adhesion nature related to negative pressure and thrust force generation against a target surface. To this goal, a novel EDF-based Vortex Actuation Setup (VAS) is proposed for monitoring important properties such as adhesion force, pressure distribution, current draw, motor temperature etc. during the VAS’ operation when placed in variable distances from a test surface. In addition, this work is contributing towards the novel evaluation of different design variables and modifications to original EDF structures, with the goal of analyzing their effect on the prototype VAS, while optimizing its adhesion efficiency for its future incorporation in a wall-climbing robot for inspection and repair purposes.

  • 7.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Arvanitakis, Ioannis
    Department of Electrical and Computer Engineering, University of Patras.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Multi-parametric constrained optimal control of a pneumatic artificial muscle2012In: 10th Portuguese Conference in Automatic Control: University of Madeira, July 16-18, 2012, p. 135-140Conference paper (Refereed)
    Abstract [en]

    The Pneumatic Artificial Muscle (PAM) is a highly non-linear form of actuation that is characterized by a decrease in the actuating length when pressurized. Its non-linear nature and time-varying parameters cause difficulties in modelling their characteristics and designing controllers for high-performance positioning systems. In this article, the control problem of a PAM is considered. A constrained linear and PieceWise Affine (PWA) system model approximation is utilized and a controller composed of: a) a feedforward term regulating control input at specific setpoints, and b) a Constrained Finite Time Optimal Controller (CFTOC) handling any deviations from the system’s equilibrium points is synthesized. Simulation studies are used to investigate the efficacy of the suggested controller.

  • 8.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Arvanitakis, Ioannis
    Electrical and Computer Engineering Department, University of Patras.
    Manesis, Stamatis
    Electrical and Computer Engineering Department, University of Patras.
    Switching model predictive control of a pneumatic artificial muscle2013In: International Journal of Control, Automation and Systems, ISSN 1598-6446, E-ISSN 2005-4092, Vol. 11, no 6, p. 1223-1231Article in journal (Refereed)
    Abstract [en]

    In this article, a switching Model Predictive Controller (sMPC) for a Pneumatic Artificial Muscle (PAM) is presented. The control scheme is based on a switching PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM and improve the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system's equilibrium points. Extended simulation studies indicate the overall scheme's efficiency.

  • 9.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Arvanitakis, John
    Electrical and Computer Engineering Department, University of Patras.
    Manesis, Stamatis
    Electrical and Computer Engineering Department, University of Patras.
    Piecewise affine modeling and constrained optimal control for a pneumatic artificial muscle2013In: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 61, no 2, p. 904-916Article in journal (Refereed)
    Abstract [en]

    In this article, the modeling and control problem of a Pneumatic Artificial Muscle (PAM) is being considered. The PAM is an actuator characterized by a decrease in the actuating length when pressurized. Its non-linear nature and time-varying parameters cause difficulties in modeling their characteristics, as well as in designing controllers for high-performance positioning systems. A constrained linear and PieceWise Affine (PWA) system model approximation is formulated and a control scheme composed of: a) a feedforward term regulating control input at specific setpoints, and b) a Constrained Finite Time Optimal Controller (CFTOC) handling any deviations from the system’s equilibrium points is being synthesized. Extended experimental studies are utilized to prove the efficacy of the suggested controller.

  • 10.
    Andrikopoulos, Georgios
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Kominiak, Dariusz
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Unander-Scharin, Åsa
    Luleå University of Technology, Department of Arts, Communication and Education, Music and dance.
    Towards the Development of a Novel Upper-Body Pneumatic Humanoid: Design and Implementation2016In: 2016 European Control Conference, ECC 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 395-400, article id 7810317Conference 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.

  • 11.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    A Survey on applications of pneumatic artificial muscles2011In: 19th Mediterranean Conference on Control and Automation, MED 2011, Piscataway, NJ: IEEE Communications Society, 2011, p. 1439-1446Conference paper (Refereed)
    Abstract [en]

    The aim of this article is to present a survey on applications of Pneumatic Artificial Muscles (PAMs). PAMs are highly non–linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been a significant increase in the industrial and scientific utilization of PAMs due to their advantages such as high strength and small weight, while various types of PAMs with different technical characteristics have been appeared in the relative scientific literature. This article will summarize the key enabling applications in PAMs that are focusing in the following areas: a) Biorobotic, b) Medical, c) Industrial, and d) Aerospace applications

  • 12.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Adaptive internal model control scheme for a pneumatic artificial muscle2013In: European Control Conference (ECC), July 17-19, Zurich, Switzerland 2013, 2013, p. 772-777Conference paper (Refereed)
    Abstract [en]

    The Pneumatic Artificial Muscle (PAM) is a highly non-linear form of actuation that is characterized by a decrease in the actuating length when pressurized. Its nonlinear nature and time-varying parameters cause difficulties in modeling their characteristics and designing controllers for high-performance positioning systems. In this article, the model identification and control problem of a PAM is being considered. The identification of the PAM’s model parameters is being carried out by a Recursive Least Square (RLS) based algorithm, while an Internal Model Control (IMC) structure is being synthesized. Experimental studies are being utilized to prove the overall efficiency of the suggested control scheme, regarding: a) set-point tracking performance through selected positioning scenarios, b) robustness through disturbance cancellation, and c) adaptability through hysteresis shift compensation.

  • 13.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Advanced nonlinear PID-based antagonistic control for pneumatic muscle actuators2014In: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 61, no 12, p. 6926-6937, article id 6786031Article in journal (Refereed)
    Abstract [en]

    In this paper, the positioning control problem of pneumatic muscle actuators (PMAs) is being considered. A two-degree-of-freedom nonlinear proportional-integral-derivative structure is being synthesized, providing ameliorated compensation of the PMAs' nonlinear hysteretic phenomena and advanced robustness through disturbance cancellation. Experimental studies are being utilized to prove the overall efficiency of the proposed control scheme with regard to set-point tracking performance for the position control of a single PMA, torsion angle control of a nonsymmetrical antagonistic PMA setup, and disturbance rejection in both single and antagonistic control scenarios.

  • 14.
    Andrikopoulos, Georgios
    et al.
    University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    University of Patras.
    An experimental study on thermodynamic properties of pneumatic artificial muscles2012In: 2012 20th Mediterranean Conference on Control & Automation: Barcelona, Spain, July 3-6, 2012, Piscataway, NJ: IEEE Communications Society, 2012, p. 1334-1340Conference paper (Refereed)
    Abstract [en]

    In the past fifty years, several attempts have been made to model the characteristics of Pneumatic Artificial Muscles (PAMs). PAM models based on their geometrical properties are the most commonly found ones in the scientific literature. In the process of deriving those models a lot of assumptions and simplifications are made due to the fact that PAM is a highly non-linear form of actuation. The purpose of this study is to propose additional considerations for future model improvements that will augment the overall model accuracy, and will best describe the relationship between force, displacement and non-linear thermal properties of PAM actuators through extensive observation and analysis of its thermodynamic characteristics during long-run operation experiments. In this article multiple experimental results will be presented that prove the relation between the thermodynamic properties of the PAMs, especially in iterative operations, and the accuracy on the muscle's force-prolongation relationship.

  • 15.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Design and Development of an Exoskeletal Wrist Prototype via Pneumatic Artificial Muscles2015In: Meccanica (Milano. Print), ISSN 0025-6455, E-ISSN 1572-9648, Vol. 50, no 11, p. 2709-2730Article in journal (Refereed)
    Abstract [en]

    Full or partial loss of function in the shoulder, elbow or wrist is an increasingly common ailment caused by various medical conditions like stroke, occupational and sport injuries, as well as a number of neurological conditions, which increases the need for the development and improvement of upper limb rehabilitation devices. In this article, the design and implementation of the EXOskeletal WRIST (EXOWRIST) prototype is presented. This novel robotic appliance’s motion is achieved via pneumatic artificial muscles, a pneumatic form of actuation possessing crucial attributes for the development of an exoskeleton that is safe, reliable, portable and low-cost. Furthermore, the EXOWRIST’s properties are presented in detail and compared to the recent wrist exoskeleton technology, while its two degrees-of-freedom movement capabilities (extension-flexion, ulnar-radial deviation) are experimentally evaluated via a PID- based control algorithm. Experimental results involving initial testing of the proposed exoskeleton on a healthy human volunteer for the preliminary evaluation of the EXOWRIST’s attributes are also presented.

  • 16.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Electrical and Computer Engineering Department, University of Patras.
    Development and control of a hybrid controlled vertical climbing robot based on pneumatic muscle actuators2011In: Journal of Control Engineering and Technology (JCET), ISSN 2223-2036, Vol. 1, no 2, p. 53-58Article in journal (Refereed)
    Abstract [en]

    This article presents the development and control of a novel hybrid controlled vertical climbing robot based on Pneumatic Muscle Actuators (PMAs). PMAs are highly non–linear pneumatic actuators where their elongation is proportional to the internal pressure. The vertical sliding of the robot is based on four PMAs and through the combined and sequential contraction–extension of the pneumatic muscles and cylinders, upward and downward movements are executed. For controlling the movement of the robot and to cope with the high non–linearities of the system, a simplified and highly functional hybrid control scheme, based on PID and On/Off control, has been adopted. The efficacy of the proposed scheme is presented through multiple experimental results where it is shown that the utilized controller is able to provide fast (on/off) and accurate (PID) translations to the robot.

  • 17.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Incorporation of Thermal Expansion in Static Force Modeling of Pneumatic Artificial2015In: IEEE Mediterranean Conference on Control and Automation, Torremolinos, Spain, June, 16-19, 2015 / [ed] V. Munoz, Piscataway, NJ: IEEE Communications Society, 2015, p. 414-420, article id 7158784Conference paper (Refereed)
    Abstract [en]

    In this article, the thermal expansion effect is considered as the main cause of the gradual shift in the force- displacement relationship, which describes the operation of Pneumatic Artificial Muscles (PAMs). A modified static force modeling approach is proposed, based on fundamental PAM modeling techniques, while incorporating the geometrical properties that are being affected by the thermal build-up occurring during PAM’s continuous operation. The effects of thermal expansion are documented via experimental studies and the acquired data are utilized for the validation of the proposed modeling method. Further evaluation is performed via comparison of modeling accuracy between the proposed modeling approach and the fundamental static force modeling techniques.

  • 18.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Motion control of a novel robotic wrist exoskeleton via pneumatic muscle actuators2015In: Proceedings of 2015 IEEE 20th International Conference on Emerging Technologies & Factory Automation (ETFA 2015): Luxembourg, 8-11 Sept. 2015, Piscataway, NJ: IEEE Communications Society, 2015, article id 7301464Conference paper (Refereed)
    Abstract [en]

    In this article, the motion control problem of a robotic EXOskeletal WRIST (EXOWRIST) prototype is considered. This novel robotic appliance’s motion is achieved via pneumatic muscle actuators, a pneumatic form of actuation possessing crucial attributes for the development of an exoskeleton that is safe, reliable, portable and low-cost. The EXOWRIST’s properties are presented in detail and compared to the recent wrist exoskeleton technology, while its two degrees- of-freedom movement capabilities (extension-flexion, ulnar- radial deviation) are experimentally evaluated on a healthy human volunteer via an advanced nonlinear PID-based control algorithm.

  • 19.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Non-linear control of pneumatic artificial muscles2013In: 21st IEEE Mediterranean Conference on Control and Automation, June 25-28, Platanias, Chania, Crete, Greece, 2013, 2013, p. 729-734, article id 6608804Conference paper (Refereed)
    Abstract [en]

    In this article, the control problem of Pneumatic Artificial Muscles is being considered. A non-linear PID structure is being synthesized, providing ameliorated compensation of the PAMs’ non-linear hysteretic phenomena and advanced robustness. Experimental studies are being utilized to prove the overall efficiency of the proposed control scheme regarding: a) set-point tracking performance for the position control of a single PAM and torsion angle control of an antagonistic PAM setup, as well as b) disturbance rejection in both single and antagonistic control scenarios.

  • 20.
    Andrikopoulos, Georgios
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras , Electrical and Computer Engineering Department, University of Patras.
    Novel Considerations on Static Force Modeling of Pneumatic Muscle Actuators2016In: IEEE/ASME transactions on mechatronics, ISSN 1083-4435, E-ISSN 1941-014X, Vol. 21, no 6, p. 2647-2659, article id 7501612Article in journal (Refereed)
    Abstract [en]

    In this article, an overview of the most significant static force modeling approaches of Pneumatic Muscle Actuators (PMAs) is presented, while a modified static force modeling approach, which is based on fundamental PMA modeling techniques, is proposed. In addition, the thermal expansion effect is considered as the main cause of the gradual shift in the PMA’s force-displacement relationship and the geometric properties, which are being affected by the thermal build-up occurring during PMA’s continuous operation, are incorporated into the static force models. The effects of thermal expansion are documented via experimental studies and the acquired force-displacement data are utilized for the validation of the proposed modeling method in PMAs of different nominal dimensions and at constant test pressures. Finally, an additional evaluation is performed via the comparison of the accuracy between the proposed model and the existing geometric static modeling approaches.

  • 21.
    Andrikopoulos, Georgios
    et al.
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    Pneumatic artificial muscles: a switching model predictive control approach2013In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 21, no 12, p. 1653-1664Article in journal (Refereed)
    Abstract [en]

    In this article, a switching Model Predictive Controller (sMPC) for a Pneumatic Artificial Muscle (PAM) is presented. The control scheme is based on a switching PieceWise Affine (PWA) system model approximation that is able to capture the high nonlinearities of the PAM, while improving the overall model accuracy, and is composed of: a) a feed-forward term regulating control input at specific reference set-points, and b) a switching Model Predictive Controller handling any deviations from the system’s equilibrium points. Extended experimental studies are being presented that prove the overall scheme’s efficiency.

  • 22.
    Brusell, Angelica
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    A survey on Pneumatic Wall-Climbing Robots for Inspection2016In: 24th Mediterranean Conference on Control and Automation MED: June 21-24, Athens, Greece, 2016, Piscataway. NJ: IEEE Communications Society, 2016, p. 220-225, article id 7535885Conference paper (Refereed)
    Abstract [en]

    The aim of this article is to present a survey on inspection applications of Pneumatic Wall-Climbing Robots (PWCR). In general, a PWCR utilizes negative pressure as its adhesion method, through mainly suction cups or negative pressure thrust-based mechanisms. Their main advantage being their ability to climb non-ferromagnetic surfaces, such as glass and composite materials, in comparison with climbing robots based on magnetic adhesion methods. A growing application area is the utilization of PWCRs for inspection purposes for accelerating the otherwise time consuming procedures of manual inspection, while offering the important advantage of protecting human workers from hazardous and/or unreachable environments. This article will summarize the key enabling inspection applications of PWCRs in the following areas: a) Construction, b) Industrial Infrastructures, as well as c) Aircraft applications.

  • 23.
    Brusell, Angelica
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Novel considerations on the negative pressure adhesion of electric ducted fans: An experimental study2017In: 2017 25th Mediterranean Conference on Control and Automation, MED 2017, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1404-1409, article id 7984315Conference paper (Refereed)
    Abstract [en]

    In this article, the potential of utilizing an Electric Ducted Fan (EDF) as an adhesion actuator is investigated in detail, where an experimental setup is implemented for evaluating the EDF's ability to adhere to a test surface through negative pressure generation. Different design variables and modifications to the original EDF structure are tested, while their impact on the adhesion efficiency is experimentally evaluated. The presented investigation acts as a preliminary study to the goal of incorporating the resulting optimized negative pressure-based actuation method in a wall-climbing robot for inspection of aircraft fuselages

  • 24.
    Carholt, Cristoffer
    et al.
    Luleå University of Technology.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Fresk, Emil
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Design, Modelling and Control of a Single Rotor UAV2016In: 24th Mediterranean Conference on Control and Automation,: June 21-24, Athens, Greece, 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 840-845, article id 7536015Conference paper (Refereed)
    Abstract [en]

    In this article, a novel Vertical Take-Off and Landing (VTOL) Single Rotor Unmanned Aerial Vehicle (SR- UAV) will be presented. The SRUAV’s design properties will be analysed in detail, with respect to technical novelties outlining the merits of such a conceptual approach. The system’s model will be mathematically formulated, while a cascaded P-PI and PID-based control structure will be utilized in extensive simulation trials for the preliminary evaluation of the SR-UAV’s attitude and translational performance.

  • 25.
    Giannakas, Theodoros
    et al.
    University of Patras.
    Andrikopoulos, Georgios
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Department of Electrical and Computer Engineering, University of Patras.
    On Energy Optimization of a Pulp and Paper Refiner based on Model Predictive Control2015Conference paper (Refereed)
    Abstract [en]

    The aim of this article is to investigate and examine the modeling and control problem of the papermaking’s sub-process also known as pulp refining. The existing modeling approaches developed for the pulp and paper refining process are being investigated, while the most important model approximations, extracted from the existing related literature, are being simulated and examined in detail. The main goal of the article is to determine whether the modeling approaches of the pulp and paper refining process can be successfully controlled via a Model Predictive Control (MPC) based structure and at which extend this could lead in a better control scheme and in an overall energy optimization. Extensive simulation trials are being carried out, where the MPC parameters are being fine-tuned through trial-and-error sequences in order for examining the overall performance in controlling the various modeling approaches of the process. In order to further evaluate the efficacy of the proposed control scheme, the MPC related results are being compared to experimental data extracted from a real refining system that utilized a generic industrial controller.

  • 26.
    Kelasidi, Eleni
    et al.
    Electrical and Computer Engineering Department, University of Patras.
    Andrikopoulos, Georgios
    Department of Electrical and Computer Science, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Manesis, Stamatis
    Electrical and Computer Engineering Department, University of Patras.
    A survey on pneumatic muscle actuators modeling2012In: Journal of Energy and Power Engineering, ISSN 1934-8975, E-ISSN 1934-8983, Vol. 6, no 9, p. 1442-1452Article in journal (Refereed)
    Abstract [en]

    The aim of this article is to provide a survey on the most popular modeling approaches for Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have been appeared in the literature. This article will: a) analyse the PMA's operation from a mathematical modeling perspective, b) present their merits and drawbacks of the most common PMAs, and c) establish the fundamental basis for developing industrial applications and conducting research in this field.

  • 27.
    Kostopoulos, V.
    et al.
    Department of Mechanical Engineering & Aeronautics, University of Patras, Patra, Greece.
    Psarras, S.
    Department of Mechanical Engineering & Aeronautics, University of Patras, Patra, Greece.
    Loutas, T.
    Department of Mechanical Engineering & Aeronautics, University of Patras, Patra, Greece.
    Sotiriadis, G.
    Department of Mechanical Engineering & Aeronautics, University of Patras, Patra, Greece.
    Gray, I.
    School of Aerospace, Transportation and Manufacturing, Cranfield University, College Road, Cranfield, United Kingdom.
    Padiyar, M.
    School of Aerospace, Transportation and Manufacturing, Cranfield University, College Road, Cranfield, United Kingdom.
    Petrunin, I.
    School of Aerospace, Transportation and Manufacturing, Cranfield University, College Road, Cranfield, United Kingdom.
    Raposo, J.
    School of Aerospace, Transportation and Manufacturing, Cranfield University, College Road, Cranfield, United Kingdom.
    Fragonara, L.Z.
    School of Aerospace, Transportation and Manufacturing, Cranfield University, College Road, Cranfield, United Kingdom.
    Tzitzilonis, V.
    Exis Innovation Ltd, Wilbury Way, Hitchin, United Kingdom.
    Dassios, K.
    Department of Materials Science and Engineering, University of Ioannina, Ioannina, Greece.
    Exarchos, D.
    Department of Materials Science and Engineering, University of Ioannina, Ioannina, Greece.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Autonomous Inspection and Repair of Aircraft Composite Structures2018In: 18th IFAC Conference on Technology, Culture and International Stability TECIS 2018 / [ed] P. Kopacek; B. Ibrahimov, Elsevier, 2018, Vol. 51, p. 554-557Conference 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.

  • 28.
    Mamikoglu, Umut
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Röijezon, Ulrik
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Pauelsen, Mascha
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Electromyography Based Joint Angle Estimation and Control of a Robotic Leg2016In: 6th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016): June 26-29, Singapore, 2016, Piscataway, NJ: IEEE Communications Society, 2016, p. 182-187, article id 7523619Conference paper (Refereed)
    Abstract [en]

    Musculoskeletal modeling based on Electromyography (EMG) has many applications in physiotherapy and biologically-inspired robotics. In this article, a novel methodology for the modeling of the dynamics of an antagonistic muscle pair that actuates the human ankle joint movements will be established. As it will be presented, the musculoskeletal model is based on a multi input single output (MISO) auto-regressive integrated moving average with exogenous input (ARIMAX) model, which takes the integrated EMG measurements as input and estimates the corresponding joint angles. Based on this methodology, a Pneumatic Artificial Muscle (PAM) robotic leg setup that mimics the flexion/extension movement of human ankle joint is controlled to replicate the human movement. The experimental results demonstrate the performance of EMG based joint angle estimation and control of the robotic leg with the proposed model.

  • 29.
    Nikolakopoulos, George
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    University of Patras.
    Arvanitakis, John
    University of Patras.
    Manesis, Stamatis
    University of Patras.
    Dynamic analysis and cascade movement simulation of a pneumatic muscle actuator2011In: Proceedings of the IASTED International Conference on Modelling, Simulation and Identification, ACTA Press, 2011, p. 407-414Conference paper (Refereed)
    Abstract [en]

    The aim of this article is to present a dynamic analysis and a cascade movement simulation of a Pneumatic Muscle Actuator (PMA). PMAs are highly non–linear pneumatic actuators where their elongation are proportional to the interval pressure. Their non–linear characteristics and the property of the hysteresis are posing several difficulties in simulating these pneumatic actuators and to obtain a comprehension of the PMA’s physical movement. In this article a novel detailed modeling, based on hardware in the loop simulationstudies, capable to describe the dynamic characteristic of the PMA and a detailed simulation environment for studying the cascade movement of PMAs will be presented.

  • 30.
    Small, Elias
    et al.
    Luleå University of Technology.
    Fresk, Emil
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Modelling and Control of a Tilt-Wing Unmanned Aerial Vehicle2016In: 24th Mediterranean Conference on Control and Automation: June 21-24, Athens, Greece, 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 1254-1259, article id 7536050Conference paper (Refereed)
    Abstract [en]

    In this article a Tilt-Wing Unmanned Aerial Ve- hicle (TW-UAV) and the preliminary evaluation of its hovering characteristics in extended simulation studies are presented. In the beginning, an overview of the TW-UAV’s design properties are established, highlighting the novelties of the proposed structure and the overall merits. The TW-UAV’s design and structural properties are mathematically modeled and utilized for the synthesis of a cascaded P-PI and PID based control structure for the regulation of its hovering performance. In addition, extensive simulation trials are performed in order to evaluate the structure’s efficiency in controlling the TW-UAV’s attitude and position under various noise and disturbance scenarios.

  • 31.
    Wuthier, David
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Kominiak, Dariusz
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Kanellakis, Christoforos
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Fumagalli, Matteo
    Aalborg University.
    Schipper, G.
    University of Twente.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    On the Design, Modeling and Control of a Novel Compact Aerial Manipulator2016In: 24th Mediterranean Conference on Control and Automation, MED 2016, Piscataway, NJ: IEEE Communications Society, 2016, p. 665-670, article id 7536029Conference 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.

  • 32.
    Zachiotis, Georgios
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gornez, Randy
    Honda Research Institute of Japan Co. Ltd., Wako, Japan.
    Nakamura, Keisuke
    Honda Research Institute of Japan Co. Ltd., Wako, Japan.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    A Survey on the Application Trends of Home Service Robotics2018In: 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2018, p. 1999-2006Conference paper (Refereed)
    Abstract [en]

    The area of service robots has steadily gained interest over the years as an attempt for deploying robots to tackle problems faced in our everyday lives. In this article, a survey on the application areas of home service robots is presented. A collection of robotic appliances is selected to be introduced based on their application objective of being an active part in a home environment. The dominant application areas of robotic home service are identified and overviewed through the governing dipole of: a) consumer, and b) research. The functional capabilities of each robot are addressed from a design and specification point of view, in order to highlight their key enabling features and justify their inclusion to each application area.

1 - 32 of 32
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf