Control Systems Laboratory

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1 Control Systems Laboratory E. G. Papadopoulos Research Group School of Mechanical Engineering National Technical University of Athens (Update 12/2016)

National Technical University of Athens Academic Info! Founded in 1836! 9 Schools - 19 Postgraduate Programs! 1350 Employees (550 Academic Staff, 140 Scientific Assistants)!

2 National Technical University of Athens Academic Info! Founded in 1836! 9 Schools - 19 Postgraduate Programs! 1350 Employees (550 Academic Staff, 140 Scientific Assistants)! 8500 undergraduate graduate students Research Funding! EU Commission Directorates (2nd among EU Universities, 4th among EU organizations)! State & Private Funding 2

3 School of Mechanical Engineering Academic Info! 42 Faculty members! 1300 diploma students! 400 graduate students! 6 divisions (Mechanical Design & Control) 3

Foreword Dear Reader, After 19 years of heading this Research Group at NTUA s Control Systems Laboratory (CSL), I am proud to present this brief account of our successes and capabilities.

4 Foreword Dear Reader, After 19 years of heading this Research Group at NTUA s Control Systems Laboratory (CSL), I am proud to present this brief account of our successes and capabilities. The CSL has recognized experience in Mechanisms, Robotics and Automation Systems. The Lab was established in 1981 and over the years its central theme has been expanded to cover advanced automation technologies, encapsulating the long prior expertise of its staff in leading academic and industrial institutions of the European Union and the U.S. It is an internationally recognized centre for research and development in robotic technologies, with worldwide international contacts in industry, government and the EU. The efforts of its staff have led to numerous cooperative activities and projects with Greek, EU, Canadian and US partners. The CSL has a successfully demonstrated track record in both academic and industrial research and development, in a number of areas of automation technologies. Current projects and research interests of our team can be found at: Along with its experienced academic staff, the Lab has a large number of research associates at all levels (undergraduate, graduate, PhD candidates, Post-docs, technical personnel), who constitute an great team, producing innovative ideas, concepts and designs. The group follows cost-effective techniques and takes advantage of the ingenuity of its members to fulfill academic grants or industrial contracts on-time and with high standards. Design and construction is done on site, therefore there is full control of the entire development. Our philosophy includes a goal-oriented approach and our portfolio, illustrated in the next pages, demonstrates our capabilities in accomplishing complex tasks reliably. The team has participated successfully in many European and international advanced projects, while hundreds of publications have resulted at refereed international conferences and peer-reviewed high-caliber. We hope that this brief introduction will provide you with useful information on our track record. We will be happy to respond to any questions you may have. Evangelos G. Papadopoulos Professor 4

5 Mini-CV of the Director Evangelos Papadopoulos received a Diploma in Mechanical Engineering (ME) from the National Technical University of Athens, (NTUA), Greece, in 1981, and subsequently a MS and a PhD degree in ME from the Massachusetts Institute of Technology (MIT). In 1991 he was appointed a Lecturer at MIT. Subsequently he joined McGill University, Montreal, Canada as an Assistant Professor. Later he joined the NTUA, where he is currently Professor of Mechanical Engineering. He teaches courses in Robotics, Control Systems, Mechatronics, Electromechanical Systems and Circuits & Systems. Dr. Papadopoulos is an an Associate Fellow of the AIAA, a Senior Member of the IEEE, and a Member of the ASME, the IFToMM, and the Technical Chamber of Greece. He has been elected a member of the Sigma Xi. He serves as an Associate Editor of the Elsevier Mechanism and Machine Theory, of the ASME J. of Dynamic Systems, Measurement and Control, and of the IEEE Robotics and Automation Letters. He has served as an Associate Editor of the IEEE Transactions on Robotics and as a Guest Editor for the IEEE/ASME Transactions on Mechatronics. He has given invited lectures in both academia and industry and serves as a consultant to industry. He conducts research in the areas of robotics including field, underwater and space robotics, microrobotics, legged robots, mechatronics, haptic devices, simulators, design, and applied control, with funding from national, European, Canadian and industrial sources. He is author or co-author of more than 200 technical papers (h-index is 35), the author of two books in Greek and the co-author of a third.! Additional info at: Google scholar: 5

6 Control Systems Lab Facts and Figures at a glance 6

Our Philosophy " Research-oriented, cost-effective, highly motivated, publishable results " Teamwork and effective interaction between members and collaborators "

7 Our Philosophy " Research-oriented, cost-effective, highly motivated, publishable results " Teamwork and effective interaction between members and collaborators " Multidisciplinary approach (ME+EE+CS) " Focus on state-of-the-art modeling, design and control techniques " Vertical design and development of robotics/ mechatronics systems on-site 7

8 Areas of Interest " Robotics, mechatronics, control systems " Space robotics " Microrobots micromechanisms " Mobile robotics " Underwater robotics " Haptic devices medical simulators " Legged robots (1-4-6 legs) " Electrohydraulic Servosystems " Prosthetics - Telerobotics 8

9 Funding and Cooperations Public and private funding include Cooperations include 9

Indicative Projects and Funding Sources - The development of a modular stepping locomotion system for installation on subsea trenching machines used for subsea energy cable

- Biomimetic Legged Robots Operating in Rough Environments BioLegRob (Thales) - Ariadna Study: Space Gaits - Identification and Assessment of Existing Terrestrial Micro-systems

10 Indicative Projects and Funding Sources - The development of a modular stepping locomotion system for installation on subsea trenching machines used for subsea energy cable burial (HexaTerra) - Biomechatronic Epp Upper Limb Prosthesis (Biomechatronics) - Dynamics, Control and Design of Multi-joint, Variable Compliance, Quadruped Robots - (Laelaps) - Biomimetic Legged Robots Operating in Rough Environments BioLegRob (Thales) - Ariadna Study: Space Gaits - Identification and Assessment of Existing Terrestrial Micro-systems and Micro-technologies for Space Robotic (Micro) - Adaptable Wheels for Exploration (AWE) - harmonised System Study on Interfaces and Standardisation of fuel Transfer (ASSIST) 10

11 People On avearge more than 25 people Currently: #4 Post Doctoral Fellows #7 PhD Researchers #15 MSc and Diploma #2 Technicians Group members have experience in various disciplines providing a wide range of expertise Past members follow careers in industry and academia both in Europe and Worldwide 11

12 CSL Facilities 3 lab spaces and an industrial bay space (600 m 2 ) 12

Hardware Equipment (1/2) Vertical production

Major equipment:! Mechanical workshop including:!

VersaLASER laser cutting system,! Proxon lathe,!

13 Hardware Equipment (1/2) Vertical production capabilities for implementing our own designs Major equipment:! Mechanical workshop including:! Haas MiniMill CNC,! VersaLASER laser cutting system,! Proxon lathe,! Optimum BF20 Vario Mill/Drill! uprint SE Plus 3D printer! Electronics and electrical test equipment! Development kits for mcus! Development system for prototype PCBs, incl. LPKF S63 13

14 Hardware Equipment (2/2) Major Lab equipment:! High Definition Cameras! Ultra Speed Low-light FASTEC Camera! PhaseSpace Motion Capture cameras! Digital microscope! PZT amplifier and XYZ micropositioning stage! Laser interferometer! 4 ton granite table 14

15 Software Sample software packages:! Matlab Simulink, Mathematica! MSC Adams, Working Model, Abaqus! Solidworks/ SolidCAM, Pro-engineer! C/C++, C#, Visual Studio! Multisim/ Ultiboard, Labview, Eagle! Tools for embedded systems! Real Time SW: xpc target, QNX, Unix 15

16 Indicative Portfolio of Developed Systems and Research Areas 16

Teleoperation using SARCOS master-slave! Developed:!

17 Electrohydraulic Servosystems! Purpose:! High performance servo tasks! Optimal component selection! Teleoperation using SARCOS master-slave! Developed:! Hydraulic servosystem! Requirements:! Response quality independent of the load! RTOS! System Identification 17

18 Legged Robots (1/2)! Purpose:! Control methods for legged locomotion! Developed:! Monopod robot! Quadruped robots! Treadmill for experimentation! Six-legged underwater robot! Requirements:! High-speed! Rough-terrain! Autonomous (power, computationally)! Low Cost 18

19 Legged Robots (2/2) Quadruped robot Monopod robot 19

20 Space Emulator (1/3)! Purpose:! Emulate zero-g environment for studying on-orbit servicing control methods! Developed:! Two floating autonomous robots! Requirements:! Modularity! Computationally autonomous! Power autonomous! Low Cost 20

21 Space Emulator (2/3) Floating robots on the granite table Details of the developed floating robots 21

22 Space Emulator (3/3) 22

23 Haptic Interface (1/2)! Purpose:! Training in medical operations! Developed:! Medical Training Simulator! Transmission using tendons & capstans! Communication with VR environment! Requirements:! Realistic motion and forces! Transparent transmission! Programmable 23

24 Haptic Interface (2/2) Haptic interface mechanical design Training system 24

Developed:! Two robotic platforms! Laser interferometer! Requirements:!

25 Micromanipulation (1/2)! Purpose:! Low-cost, high resolution micromotion using vibration micromotors! Developed:! Two robotic platforms! Laser interferometer! Requirements:! Autonomous and wireless! Micron positioning accuracy! Maximum velocity 1 mm/s! Visual Servoing! Low Cost 25

26 Micromanipulation (2/2) Cooperating microrobots under the videomicroscope Needles image from visual servoing 26

27 Robotic Fish (1/2)! Purpose:! Biomimetic robotic fish! Developed:! One fish with oscillating fin tail! 5m x 1m x 0.8m water tank! 2 axis carriage! Requirements:! Length 30 cm! Speed 30 cm/s! Low Cost 27

28 Robotic Fish (2/2) Details on the robotic fish Water tank with carriage 28

3D Software Simulator! Control algorithms! Requirements:!

29 ROVs and Floating Platforms! Purpose:! Control methods for floating or submersible systems! Developed:! 3D Software Simulator! Control algorithms! Requirements:! Include hydrodynamic effects! Wave disturbance cancellation! Underactuated/ overactuated system control 29

30 Contact Details 30

31 Contact (1/2)! Location National Technical University of Athens (NTUA), School of Mechanical Engineering, Control Systems Laboratory, Heroon Polytechniou 9, Postal Code: 15780, Zografou, Athens, GREECE 31

32 Contact (2/2)! Telephones! +(30) Prof. Office, Bldg E, Room 313! ! +(30) Fax Laboratories:! +(30) Bldg M, Ground Floor, Room 003a! +(30) Bldg M, Basement, Room 102! +(30) Bldg M, Basement, Room 104! Prof. E. G. Papadopoulos: www! Official site: Youtube Channel: Facebook page: 32

33 Thank you! 33

Vasileios Vasilopoulos

EDUCATION Vasileios Vasilopoulos 3401 Grays Ferry Ave, Bldg. 6176, Philadelphia, Pennsylvania, USA, 19146 +1 (267)-266-8610 vvasilo@seas.upenn.edu v.vasilo@ghostrobotics.io http://www.vassilisvasilopoulos.com