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  • 1.
    Banerjee, Avijit
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Satpute, Sumeet
    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.
    Tevetzidis, Ilias
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluska, Jakub
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Bodin, Per
    OHB Sweden AB, Sollentuna, Stockholm, Sweden.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    On the Design, Modeling and Experimental Verification of a Floating Satellite Platform2022In: IEEE Robotics and Automation Letters, E-ISSN 2377-3766, Vol. 7, no 2, p. 1364-1371Article in journal (Refereed)
    Abstract [en]

    In this letter, a floating robotic emulation platform is presented with an autonomous maneuverability for a virtual demonstration of a satellite motion. Such a robotic platform design is characterized by its friction-less, levitating, yet planar motion over a hyper-smooth surface. The design of the robotic platform, integrated with the sensor and actuator units, is briefly described, including the related component specification along with the mathematical model, describing its dynamic motion. Additionally, the article establishes a nonlinear optimal control architecture consisting of a unified model predictive approach for the overall manoeuvre tracking. The efficacy of the proposed modeling and control scheme is demonstrated in multiple experimental studies, where it is depicted that the proposed controller has the potential to address a precise point-to-point manoeuvre with terminal objectives, as well as an excellent path following capability. The proposed design is validated with extensive experimental studies, and it is supported with related results.

  • 2.
    Gasparetto, Tommaso
    et al.
    University of Padova, Italy.
    Banerjee, Avijit
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tevetzidis, Ilias
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluska, Jakub
    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.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Design of Docking Mechanism for Refueling Free-flying 2D Planar Robot2021In: AIRPHARO 2021: The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, IEEE, 2021, article id Tu1A.1Conference paper (Refereed)
    Abstract [en]

    Free-flying robots are considered a valuable and emerging tool to support astronauts in their daily tasks in space facilities. This work presents the design and development of a free-flying robot as well as a self-contained mechanism that allows its docking for storage and tank refuelling. More specifically, this study presents a floating robotic emulation platform for a simulated demonstration of satellite mobility in orbit. Friction-less, levitating, yet flat motion across a hyper-smooth surface characterizes the robotic platform design. Moreover, the docking mechanism has been designed and developed for the free-flying robot to automate the docking and refuelling processes. The mechanism is divided into two main components, one fixed and one placed on the robot, where the major merit of the proposed system is that it addresses both the tank connection subsystem for the refuelling as well as the subsystem for the dock and repel phases. The former is enabled through the use of an actuated coupling support structure between the air tank and the external outlet, while the latter is enabled with the use of an electromagnetic connection support structure. Finally, preliminary hardware developments have been performed for the proposed robotic systems, demonstrating it's usefulness and effectiveness.

  • 3.
    Haluska, Jakub
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Koval, Anton
    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 Unification of Legged and Aerial Robots for Planetary Exploration Missions2022In: Applied Sciences, E-ISSN 2076-3417, Vol. 12, no 8, article id 3983Article in journal (Refereed)
    Abstract [en]

    In this article, we address the task of developing a unified solution that incorporates quadruped and aerial robots for planetary exploration missions. The designing process takes recommendations provided by Boston Dynamics for building custom payloads for the Spot robot, as well as its kinematic constraints. The unification task itself encompasses design of a passive drone landing platform as a hardware link between the Spot robot and the drone, which has active locking and unlocking capabilities required to securely keep the drone on the Spot independently whether it is standing or moving. Thus, in the designed unification solution, the landing platform does not impact the overall robot mobility and has no interference with the robot’s legs. The initial solution design was extensively evaluated in a series of tests at the laboratory, which demonstrated its viability.

  • 4.
    Haluska, Jakub
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Västanälv, Jim
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Papadimitriou, Andreas
    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.
    Soft Pneumatic Actuated Morphing Quadrotor: Design and Development2022In: 2022 30th Mediterranean Conference on Control and Automation (MED), IEEE, 2022, p. 475-480Conference paper (Refereed)
    Abstract [en]

    The majority of the aerial robots scientific literature investigates methods to create fully automated solutions using fixed-frame multi-rotors. However, the ability of the Micro Aerial Vehicles (MAVs) to alter their structure and adapt to various constraints posed by the environment remains unexplored. Aerial robotic platforms that can alter their shape in-flight can increase their potential value and extend the range of applications. It is essential to develop and deploy such platforms which can effectively address the missing elements for exploring previously unreachable locations. This article deals with a novel reconfigurable quadrotor whose arms are based on Soft Pneumatic Actuators (SPA) from a design, analysis, and development point of view. Simulation analysis and experimental results are provided to showcase the potential of such designs that integrate soft actuators with the traditional fixed-frame MAVs designs. © 2022 IEEE.

  • 5.
    Koval, Anton
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Karlsson, Samuel
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Mansouri, Sina Sharif
    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.
    Tevetzidis, Ilias
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluska, Jakub
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Agha-mohammadi, Ali-akbar
    Jet Propulsion Laboratory California Institute of Technology Pasadena, CA, 91109, United States of America.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Dataset collection from a SubT environment2022In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 155, article id 104168Article in journal (Refereed)
    Abstract [en]

    This article presents a dataset collected from the subterranean (SubT) environment with a current state-of-the-art sensors required for autonomous navigation. The dataset includes sensor measurements collected with RGB, RGB-D, event-based and thermal cameras, 2D and 3D lidars, inertial measurement unit (IMU), and ultra wideband (UWB) positioning systems which are mounted on the mobile robot. The overall sensor setup will be referred further in the article as a data collection platform. The dataset contains synchronized raw data measurements from all the sensors in the robot operating system (ROS) message format and video feeds collected with action and 360 cameras. A detailed description of the sensors embedded into the data collection platform and a data collection process are introduced. The collected dataset is aimed for evaluating navigation, localization and mapping algorithms in SubT environments. This article is accompanied with the public release of all collected datasets from the SubT environment. Link: Dataset (C) 2022 The Author(s). Published by Elsevier B.V.

  • 6.
    Koval, Anton
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tevetzidis, Ilias
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluska, Jakub
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    The fundamental hardware modules of an ARW2023In: Aerial Robotic Workers: Design, Modeling, Control, Vision, and Their Applications / [ed] George Nikolakopoulos, Sina Sharif Mansouri, Christoforos Kanellakis, Elsevier, 2023, p. 5-30Chapter in book (Other academic)
    Abstract [en]

    This Chapter will present the basic hardware components of an Aerial Robotic Worker (ARW) that will include the sensory systems for flying, the propulsion systems, the frame structures, the computational units, the vision, and the localization systems. This Chapter will also present the design of the compact aerial manipulator as well as examples of ARW configurations in the form of a survey.

  • 7.
    Krige, Adolf
    et al.
    Luleå University of Technology, Department of Civil, Environmental and Natural Resources Engineering, Chemical Engineering.
    Haluška, Jakub
    Luleå University of Technology, Department of Civil, Environmental and Natural Resources Engineering, Chemical Engineering.
    Rova, Ulrika
    Luleå University of Technology, Department of Civil, Environmental and Natural Resources Engineering, Chemical Engineering.
    Christakopoulos, Paul
    Luleå University of Technology, Department of Civil, Environmental and Natural Resources Engineering, Chemical Engineering.
    Design and implementation of a low cost bio-printer modification, allowing for switching between plastic and gel extrusion2021In: HardwareX, E-ISSN 2468-0672, article id e00186Article in journal (Refereed)
    Abstract [en]

    Due to the high cost of bioprinters they are not feasible for proof of concept experiments or educational purposes. Furthermore, the more affordable DIY methods all disable the plastic printing capability of the original printer. Here we present an affordable bio-printing modification that is easy to install and maintains the original capabilities of the printer. The modification used mostly 3D printed parts and is based on the popular, open-source Prusa i3 3D printer. The modifications are kept as simple as possible and uses standard slicing software, allowing for installation by less experienced builders. By using disposable syringes and easily sterilizable parts, an aseptic bioprinting setup can be achieved, depending on the environment. It also allows for 2 component printing as well as UV curing. The bio-printing and curing capabilities were shown by printing and curing an artificial biofilm of an electro-active bacteria, Geobacter sulfurreducens, onto a carbon-cloth electrode which was used in a microbial fuel cell.

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  • 8.
    Lindqvist, Björn
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluska, Jakub
    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.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    An Adaptive 3D Artificial Potential Field for Fail-safe UAV Navigation2022In: 2022 30th Mediterranean Conference on Control and Automation (MED), IEEE, 2022, p. 362-367Conference paper (Refereed)
    Abstract [en]

    This article presents an obstacle avoidance framework for unmanned aerial vehicles (UAVs), with a focus on providing safe and stable local navigation in critical scenarios. The framework is based on enhanced artificial potential field (APF) concepts, and is paired with a nonlinear model predictive controller (NMPC) for complete local reactive navigation. This paper will consider a series of additions to the classical artificial potential field that addresses UAV-specific challenges, allows for smooth navigation in tightly constrained environments, and ensures safe human-robot interactions. The APF formulation is fundamentally based on using raw LiDAR pointcloud data as input to decouple the safe robot navigation problem from the reliance on any map or obstacle detection software, resulting in a very resilient and fail-safe framework that can be used a san additional safety layer for any 3D-LiDAR equipped UAV in any environment or mission scenario. We evaluate the scheme in both laboratory experiments and field trials, and also placea large emphasis on realistic scenarios for safe human-robot interactions.

  • 9.
    Lindqvist, Björn
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Karlsson, Samuel
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Koval, Anton
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tevetzidis, Ilias
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluska, Jakub
    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.
    Agha-mohammadi, Ali-akbar
    Jet Propulsion Laboratory California Institute of Technology Pasadena, CA, 91109, United States of America.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue2022In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 154, article id 104134Article in journal (Refereed)
    Abstract [en]

    This work presents a field-hardened autonomous multimodal legged-aerial robotic system for subterranean exploration, extending a legged robot to be the carrier of an aerial platform capable of a rapid deployment in search-and-rescue scenarios. The driving force for developing such robotic configurations are the requirements for large-scale and long-term missions, where the payload capacity and long battery life of the legged robot is combined and integrated with the agile motion of the aerial agent. The multimodal robot is structured around the quadruped Boston Dynamics Spot, enhanced with a custom configured autonomy sensor payload as well as a UAV carrier platform, while the aerial agent is a custom built quadcopter. This work presents the novel design and hardware implementation as well as the onboard sensor suites. Moreover it establishes the overall autonomy architecture in a unified supervision approach while respecting each locomotion modality, including guidance, navigation, perception, state estimation, and control capabilities with a focus on rapid deployment and efficient exploration. The robotic system complete architecture is evaluated in real subterranean tunnel areas, in multiple fully autonomous search-and-rescue missions with the goal of identifying and locating objects of interest within the subterranean environment.

  • 10.
    Lindqvist, Björn
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Mansouri, Sina Sharif
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluška, Jakub
    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.
    Reactive Navigation of an Unmanned Aerial Vehicle With Perception-Based Obstacle Avoidance Constraints2022In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 30, no 5, p. 1847-1862Article in journal (Refereed)
    Abstract [en]

    In this article, we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an unmanned aerial vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is based on a nonlinear model predictive controller (NMPC) and utilizes an onboard 2-D LiDAR to detect obstacles and translate online the key geometric information of the environment into parametric constraints for the NMPC that constrain the available position space for the UAV. This article focuses also on the real-world implementation and experimental validation of the proposed reactive navigation scheme, and it is applied in multiple challenging laboratory experiments, where we also conduct comparisons with relevant methods of reactive obstacle avoidance. The solver utilized in the proposed approach is the optimization engine (OpEn) and the proximal averaged Newton for optimal control (PANOC) algorithm, where a penalty method is applied to properly consider obstacles and input constraints during the navigation task. The proposed novel scheme allows for fast solutions while using limited onboard computational power, which is a required feature for the overall closed-loop performance of a UAV and is applied in multiple real-time scenarios. The combination of built-in obstacle avoidance and real-time applicability makes the proposed reactive constrained navigation scheme an elegant framework for UAVs that is able to perform fast nonlinear control, local path planning, and obstacle avoidance, all embedded in the control layer.

  • 11.
    Patel, Akash
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Karlsson, Samuel
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Lindqvist, Björn
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Haluska, Jakub
    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.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Towards Field Deployment of MAVs in Adaptive Exploration of GPS-denied Subterranean Environments2023In: Article in journal (Other academic)
1 - 11 of 11
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