| 1. |
- Skaramagkas, Vasileios, et al.
(författare)
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A Study on the Essential and Parkinson’s Arm Tremor Classification
- 2021
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Ingår i: Signals. - : Multidisciplinary Digital Publishing Institute (MDPI). - 2624-6120. ; 2:2, s. 201-224
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Tidskriftsartikel (refereegranskat)abstract
- In this article, the challenge of discriminating between essential and Parkinson’s tremor is addressed. Although a variety of methods have been proposed for diagnosing the severity of these highly occurring tremor types, their rapid and effective identification, especially in their early stages, proves particularly difficult and complicated due to their wide range of causes and similarity of symptoms. To this goal, a clinical analysis was performed, where a number of volunteers including essential and Parkinson’s tremor-diagnosed patients underwent a series of pre-defined motion patterns, during which a wearable sensing setup was used to measure their lower arm tremor characteristics from multiple selected points. Extracted features from the acquired accelerometer signals were used to train classification algorithms, including decision trees, discriminant analysis, support vector machine (SVM), K-nearest neighbor (KNN) and ensemble learning algorithms, for providing a comparative study and evaluating the potential of utilizing machine learning to accurately discriminate among different tremor types. Overall, SVM related classifiers proved to be the most successful in terms of classifying between Parkinson’s, essential and no tremor diagnosed with percentages reaching up to 100% for a single accelerometer measurement at the metacarpal area. In general and in motion while holding an object position, Coarse Gaussian SVM classifier reached 82.62% accuracy.
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| 2. |
- Zachiotis, Georgios, et al.
(författare)
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A Survey on the Application Trends of Home Service Robotics
- 2018
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Ingår i: 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO). - : IEEE. ; , s. 1999-2006
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Konferensbidrag (refereegranskat)abstract
- 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.
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| 3. |
- Andreanidis, Christos, et al.
(författare)
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On the Design and Development of a Tabletop Robot for Interaction with Children
- 2023
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Ingår i: 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2023. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 1232-1237
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Konferensbidrag (refereegranskat)abstract
- This article presents a novel emotionally expressive robot platform targeting social engagement with children. This platform was implemented in accordance with UNICEF's policy guidance on artificial intelligence (AI) for children, focusing on factors such as safety, transparency, reliability and explainability. The robot prototype is presented from a design and development perspective, outlining all utilized electromechanical components that enable its 11 degrees-of-freedom and sensing functions. Preliminary evaluation results are provided in terms of dependability and expressiveness of basic emotions, thus demonstrating the robot's potential to facilitate trustworthy and secure interactions with children.
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| 4. |
- Andrikopoulos, Georgios, Dr. 1986-, et al.
(författare)
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Design, Development and Experimental Evaluation of a Vortex Actuation System
- 2018
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Konferensbidrag (refereegranskat)abstract
- 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.
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| 5. |
- Andrikopoulos, Georgios, Dr. 1986-, et al.
(författare)
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Vortex Actuation via Electric Ducted Fans : an Experimental Study
- 2019
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Ingår i: Journal of Intelligent and Robotic Systems. - : Springer. - 0921-0296 .- 1573-0409. ; 95:3-4, s. 955-973
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Tidskriftsartikel (refereegranskat)abstract
- 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.
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| 6. |
- Brusell, Angelica, et al.
(författare)
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Vortex Robot Platform for Autonomous Inspection : Modeling and Simulation
- 2019
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Ingår i: Proceedings. - : IEEE. ; , s. 756-762
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- In this article, the analytical modeling of a Vortex Robotic Platform (VRP) is investigated. Following the design of the Vortex Actuation (VA) unit and VRP presented in authors' previous work, the target goal is focused on providing a modeling methodology to include system dependencies on surfaces of different curvatures and robot orientations. The critical force model for guaranteeing successful adhesion is extracted for each case, while an overview of the maximum payload is also provided. The validity of the proposed methodology is evaluated through comparative simulations.
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| 7. |
- Gray, I., et al.
(författare)
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A novel approach for the autonomous inspection and repair of aircraft composite structures
- 2019
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Ingår i: <em>18<sup>th</sup> European Conference on Composite Materials </em>(ECCM). - : Applied Mechanics Laboratory.
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- The paper presents the results obtained in the first two years of the H2020 CompInnova project which deals with the development of an innovative approach for inspection and repair of damage in aeronautical composites. The development of 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 repair capabilities. PA and IRT are combined in order to detect near-surface and sub-surface damages. Development of a novel thermographic technique termed Pulsed Phase-informed Lock-In Thermography, enables for the first time the rapid and quantitative assessment of damage in the materials. Furthermore, the results are fused using machine learning and image processing techniques for detection and sizing in real time. This will provide the information needed for an automatic laser repair procedure capable of removing precisely ply-by-ply the material. This method allows to have a well-treated surface to apply a repair patch. The three different modules (PA, IRT and laser repair) are integrated on an autonomous robotic platform. The robot is going to be able to attach and move on surfaces of different orientations via the use of a vortex-based actuation system, thus providing the ability to autonomously access, scan and repair the different sections of an aircraft fuselage. © CCM 2020 - 18th European Conference on Composite Materials. All rights reserved.
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| 8. |
- Kostopoulos, V., et al.
(författare)
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Autonomous Inspection and Repair of Aircraft Composite Structures
- 2018
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Ingår i: 18th IFAC Conference on Technology, Culture and International Stability TECIS 2018. - : Elsevier. ; , s. 554-557, s. 554-557
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Konferensbidrag (refereegranskat)abstract
- 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.
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| 9. |
- Papadimitriou, Andreas, et al.
(författare)
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Development and Control of a Differential Wall Climbing Robot based on Vortex Adhesion
- 2019
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Ingår i: 2019 18th European Control Conference (ECC). - : IEEE. ; , s. 1610-1615
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Konferensbidrag (refereegranskat)abstract
- In this article, the development and control of a novel differential drive Vortex Robot (VR) will be presented. Towards the direction of developing a climbing robot for inspection and repair of large infrastructures, a lightweight reliable climbing robot is proposed, being able to carry high payload via an Electric Ducted Fan (EDF) vortex based adhesion actuator. Towards these objectives, the fundamental elements of the overall design will be presented. For the preliminary evaluation of the proposed system, a PID-based control architecture will be analyzed and experimentally evaluated, with the goal of controlling the locomotion properties of the VR, while achieving a constant adhesion regardless the orientation of the robot and the surface's inclination. To further evaluate the robot's efficiency in real-life scenarios, such as the inspection and repair of airplane structures, results acquired via field trials involving a full-scale Boeing 737 will be presented.
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| 10. |
- Papadimitriou, Andreas, et al.
(författare)
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Experimental Evaluation of an Explicit Model Predictive Controller for an Adhesion Vortex Actuated Climbing Robot
- 2020
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Ingår i: 2020 American Control Conference (ACC). - : IEEE. ; , s. 2137-2142
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Konferensbidrag (refereegranskat)abstract
- This article establishes an Explicit Model Predictive Control (EMPC) scheme for controlling the adhesion of a climbing Vortex Robot (VR). The VR utilizes an Electric Ducted Fan (EDF) as the Vortex Actuator (VA), where the dynamics have been identified via an Autoregressive-Moving-Average with eXternal input (ARMAX) identification scheme. An explicit controller via the use of a Constraint Finite Time Optimal Control (CFTOC) approach is designed in an offline manner and implemented for the case of the VR, where the adhesion reference is provided by a static force model. The presented approach results in a lookup table realization that ensures overall system stability in all state transitions, while being able to accurately control the adhesion force for arbitrary setup orientations. The efficacy of the proposed control scheme is demonstrated through experimental results involving a moving test surface under random inclinations and robot orientations.
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