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  • 1.
    Alhashimi, Anas
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Project: Line Following Robot2013Övrigt (Övrig (populärvetenskap, debatt, mm))
  • 2.
    Andrikopoulos, Georgios
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Unander-Scharin, Åsa
    Luleå tekniska universitet, Institutionen för konst, kommunikation och lärande, Musik och dans.
    Towards the Development of a Novel Upper-Body Pneumatic Humanoid: Design and Implementation2016Ingår i: 2016 European Control Conference, ECC 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016, s. 395-400, artikel-id 7810317Konferensbidrag (Refereegranskat)
    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.

  • 3.
    Kanellakis, Christoforos
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Mansouri, Sina Sharif
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Fresk, Emil
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Cooperative UAVs as a Tool for Aerial Inspection of Large Scale Aging Infrastructure2018Ingår i: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Piscataway, NJ: IEEE, 2018, s. 5040-5040Konferensbidrag (Refereegranskat)
    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.

  • 4.
    Kanellakis, Christoforos
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Terreran, Matteo
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    On vision enabled aerial manipulation for multirotors2018Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2018Konferensbidrag (Refereegranskat)
    Abstract [en]

    This article presents an integrated vision-based guiding system for aerial manipulation. More specifically, a 4 DoF planar dexterous manipulator, with a stereo camera attached on the end-effector, is endowed to a multirotor aerial platform enabling active manipulation capabilities. The proposed novel approach combines a visual processing scheme for object detection and tracking, as well as a manipulator positioning for allowing the aerial platform to approach the surface of interaction efficiently. In the developed scheme, the object detection is based on correlation filters to track the target robustly, while the depth information, from the stereo camera on board the manipulator, is used to extract the centroid of the manipulated object, compute its relative configuration with respect to the UAV and align the end-effector properly with the grasping point. The effectiveness of the proposed scheme is demonstrated in multiple experimental trials and simulations, highlighting it's applicability towards autonomous aerial manipulation.

    Publikationen är tillgänglig i fulltext från 2020-01-08 13:21
  • 5.
    Mansouri, Sina Sharif
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kanellakis, Christoforos
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Fresk, Emil
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Cooperative coverage path planning for visual inspection2018Ingår i: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 74, s. 118-131Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This article addresses the inspection problem of a complex 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). The main novelty of the proposed scheme stems from the establishment of a theoretical framework capable of providing a path for accomplishing a full coverage of the infrastructure, without any further simplifications (number of considered representation points), by slicing it by horizontal planes to identify branches and assign specific areas to each agent as a solution to an overall optimization problem. Furthermore, the image streams collected during the coverage task are post-processed using Structure from Motion, stereo SLAM and mesh reconstruction algorithms, while the resulting 3D mesh can be used for further visual inspection purposes. The performance of the proposed Collaborative-Coverage Path Planning (C-CPP) has been experimentally evaluated in multiple indoor and realistic outdoor infrastructure inspection experiments and as such it is also contributing significantly towards real life applications for UAVs.

    Publikationen är tillgänglig i fulltext från 2020-05-01 11:28
  • 6.
    Mansouri, Sina Sharif
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kanellakis, Christoforos
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Fresk, Emil
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Cooperative UAVs as a tool for Aerial Inspection of the Aging Infrastructure2017Ingår i: Field and Service Robotics: Results of the 11th International Conference / [ed] Marco Hutter, Roland Siegwart, Cham: Springer, 2017, s. 177-189Konferensbidrag (Refereegranskat)
    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.

  • 7.
    Mansouri, Sina Sharif
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kanellakis, Christoforos
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Georgoulas, Georgios
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Gustafsson, Thomas
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    2D visual area coverage and path planning coupled with camera footprints2018Ingår i: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 75, s. 1-16Artikel i tidskrift (Refereegranskat)
    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.

    Publikationen är tillgänglig i fulltext från 2020-06-01 11:15
  • 8.
    Mansouri, Sina Sharif
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Karvelis, Petros
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kanellakis, Christoforos
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Vision-based MAV Navigation in Underground Mine Using Convolutional Neural Network2019Konferensbidrag (Refereegranskat)
    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.

  • 9.
    Mustafa, Mohammed Obaid
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Gustafsson, Thomas
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    A Fault Detection Scheme Based on Minimum Uncertainty Bounds Violation for Broken Rotor Bars in Induction Motors2016Ingår i: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 48, s. 63-77Artikel i tidskrift (Refereegranskat)
    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.

  • 10.
    Nayl, Thaker
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Gustafsson, Thomas
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nyberg, Rickard
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Design and experimental evaluation of a novel sliding mode controller for an articulated vehicle2018Ingår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 103, s. 213-221Artikel i tidskrift (Refereegranskat)
    Abstract [en]

    This article presents the design and experimental evaluation of a novel sliding mode control scheme, being applied to the case of an articulated vehicle. The proposed sliding mode controller is based on a novel continuous sliding surface, being introduced for reducing the chattering phenomenon, while achieving a better tracking performance and a fast minimization of the corresponding tracking error. The derivation of the sliding mode controller relies on the fully nonlinear kinematic model of the articulated vehicle, while the overall stability of the control scheme is proven based on the Lyapunov's stability condition. The performance of the established control scheme is being experimentally evaluated through multiple path tracking scenarios on a small scale and fully realistic articulated vehicle

  • 11.
    Nyberg, Rickard
    et al.
    Luleå tekniska universitet.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Experimental evaluation of a modied obstacle based potential field algorithm for an off-road mobile robot2014Konferensbidrag (Övrigt vetenskapligt)
  • 12.
    Nyberg, Rickard
    et al.
    Luleå tekniska universitet.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Experimental Evaluation of a Modified Obstacle Based Potential Field Algorithm for an Off-Road Mobile Robot2014Ingår i: 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, s. 626-633Konferensbidrag (Refereegranskat)
    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.

  • 13. Wuthier, David
    et al.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Fresk, Emil
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    A Geometric Pulling Force Controller for Aerial Robotic Workers2017Ingår i: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, nr 1, s. 10287-10292Artikel i tidskrift (Refereegranskat)
    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.

  • 14.
    Wuthier, David
    et al.
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kominiak, Dariusz
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Kanellakis, Christoforos
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Andrikopoulos, Georgios
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    Fumagalli, Matteo
    Aalborg University.
    Schipper, G.
    University of Twente.
    Nikolakopoulos, George
    Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
    On the Design, Modeling and Control of a Novel Compact Aerial Manipulator2016Ingår i: 24th Mediterranean Conference on Control and Automation, MED 2016, Piscataway, NJ: IEEE Communications Society, 2016, s. 665-670, artikel-id 7536029Konferensbidrag (Refereegranskat)
    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.

1 - 14 av 14
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