A5064878830- Robotic Path Planning Algorithms
- Robotics and Sensor-Based Localization
- Adaptive Control of Nonlinear Systems
- Distributed Control Multi-Agent Systems
- Advanced Control Systems Optimization
- Fault Detection and Control Systems
- Machine Fault Diagnosis Techniques
- Control and Dynamics of Mobile Robots
- Underwater Vehicles and Communication Systems
- Prosthetics and Rehabilitation Robotics
- 3D Surveying and Cultural Heritage
- UAV Applications and Optimization
- Robotics and Automated Systems
- Stability and Control of Uncertain Systems
- Space Satellite Systems and Control
- Muscle activation and electromyography studies
- Soft Robotics and Applications
- Advanced Vision and Imaging
- Hydraulic and Pneumatic Systems
- Structural Health Monitoring Techniques
- Control Systems and Identification
- Advanced Image and Video Retrieval Techniques
- Modular Robots and Swarm Intelligence
- Astro and Planetary Science
- Spacecraft Dynamics and Control
Luleå University of Technology
2016-2025
University of Patras
2003-2024
Xi'an University of Technology
2022-2024
ORCID
2022
KU Leuven
2017
Athena Research and Innovation Center In Information Communication & Knowledge Technologies
2015
Griffith University
2008-2014
The University of Melbourne
2011-2014
Walter and Eliza Hall Institute of Medical Research
2011-2014
National and Kapodistrian University of Athens
2009
This study addresses the control problem of an unmanned quadrotor in indoor environment where there is lack absolute localisation data. Based on attached inertia measurement unit, a sonar and optic-flow sensor, state vector estimated using sensor fusion algorithms. A novel switching model predictive controller designed order to achieve precise trajectory control, under presence forcible wind gusts. The quadrotor's attitude, altitude horizontal linearised dynamics result set piecewise affine...
During last decade the scientific research on Unmanned Aerial Vehicless (UAVs) increased spectacularly and led to design of multiple types aerial platforms. The major challenge today is development autonomously operating agents capable completing missions independently human interaction. To this extent, visual sensing techniques have been integrated in control pipeline UAVs order enhance their navigation guidance skills. aim article present a comprehensive literature review vision based...
The aim of this article is to present a novel quaternion based control scheme for the attitude problem quadrotor. A hyper complex number rank 4 that can be utilized avoid inherent geometrical singularity when representing rigid body dynamics with Euler angles or complexity having coupled differential equations Direction Cosine Matrix (DCM). In presented approach both quadrotor's model and proposed non-linear Proportional squared (P <sup xmlns:mml="http://www.w3.org/1998/Math/MathML"...
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 synthesized, providing ameliorated compensation PMAs' hysteretic phenomena and advanced robustness through disturbance cancellation. Experimental studies are utilized to prove overall efficiency proposed scheme with regard set-point tracking performance for position a single PMA, torsion angle nonsymmetrical...
The dynamic nature of wireless links and the mobility devices connected to Internet Things (IoT) over fifth-generation (5G) networks (IoT-5G), on one hand, empowers pervasive healthcare applications. On other it allows eavesdroppers illegitimate actors access secret information. Due poor time efficiency high computational complexity conventional cryptographic methods heterogeneous technologies used, is easy compromise authentication lightweight wearable devices. Therefore, intelligent...
The power awareness issue is the primary concern within domain of Wireless Sensor Networks (WSNs). Most dissipation ocurrs during communication, thus routing protocols in WSNs mainly aim at conservation. Moreover, a protocol should be scalable, so that its effectiveness does not degrade as network size increases. In response to these issues, this work describes development an efficient protocol, named SHPER (Scaling Hierarchical Power Efficient Routing).
Abstract In this article a model predictive control ( MPC ) strategy for the trajectory tracking of an unmanned quadrotor is presented. The quadrotor's dynamics are modeled using hybrid systems approach and, specifically, set piecewise affine PWA around different operating points translational and rotational motions. proposed scheme dual consists integral motions, followed by attitude By utilization representations, controller computed larger part flight envelope, which provides more...
This article addresses the control problem of quadrotors in environments where absolute-localization data (GPS, positioning from external cameras) is inadequate. Based on an attached IMU and optical flow sensor quadrotor's translational velocity estimated using Extended Kalman Filter. Subject to measurements, roll, pitch yaw (RPY) angles, angular rates accelerations a switching Model Predictive Controller designed. The quadrotor dynamics linearized at various operating points according RP...
Pan assay interference compounds (PAINS) are readily discovered in any bioassay and can appear to give selective optimisable hits. The most common PAINS be recognised by their structure. However, there that closely resemble not specifically the filters. In addition, highly reactive encoded for filters because they were excluded from high-throughput screening (HTS) library used develop so never present provide indicting data. A compounding complication area is very occasionally a compound may...
In this paper, the modeling and control problem of a pneumatic artificial muscle (PAM) is being considered. The PAM an actuator characterized by decrease in actuating length when pressurized. Its nonlinear nature time-varying parameters cause difficulties their characteristics, as well designing controllers for high-performance positioning systems. A constrained linear piecewise affine system model approximation formulated, scheme composed following synthesized: 1) feedforward term...
Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial for this trend. However, no matter what the are, all batteries have fixed capacity and after some time drain out. In order to extend flying window, prediction that will longer be able support condition is crucial. This fact can cast as standard Remaining Useful Life prognostic problem, similarly encountered fields. article, problem estimation battery, under...
We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro vehicles (MAVs) using non-linear model predictive control (NMPC) we demonstrate its effectiveness with laboratory experiments. The proposed can accommodate obstacles arbitrary, potentially non-convex, geometry. NMPC problem is solved PANOC: fast numerical optimization method which completely matrix-free, not sensitive to ill conditioning, involves only simple algebraic operations suitable embedded NMPC....
Abstract This work establishes COMPRA, a compact and reactive autonomy framework for fast deployment of Micro Aerial Vehicles (MAVs) in subterranean Search-and- Rescue (SAR) missions. A COMPRA-enabled MAV is able to autonomously explore previously unknown areas while specific mission criteria are considered e.g. an object interest identified localized, the remaining useful battery life, overall desired exploration duration. The proposed architecture follows low-complexity algorithmic design...
This work presents a field-hardened autonomous multimodal legged-aerial robotic system for subterranean exploration, extending legged robot to be the carrier of an aerial platform capable rapid deployment in search-and-rescue scenarios. The driving force developing such configurations are requirements large-scale and long-term missions, where payload capacity long battery life is combined integrated with agile motion agent. structured around quadruped Boston Dynamics Spot, enhanced custom...
This paper presents and discusses algorithms, hardware, software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in DARPA Subterranean Challenge. Specifically, it techniques utilized within Tunnel (2019) Urban (2020) competitions, where achieved second first place, respectively. We also discuss CoSTAR’s demonstrations Martian-analog surface subsurface (lava tubes) exploration. The introduces our autonomy solution, referred to as NeBula...
Developing potent molecules that inhibit Bcl-2 family mediated apoptosis affords opportunities to treat cancers via reactivation of the cell death machinery. We describe hit-to-lead development selective Bcl-XL inhibitors originating from a high-throughput screening campaign. Small structural changes hit compound increased binding affinity more than 300-fold (to IC50 < 20 nM). This molecular series exhibits drug-like characteristics, low weights (Mw 450), and unprecedented selectivity for...
A small-molecule natural product, euodenine (1), was identified as an agonist of the human TLR4 receptor. Euodenine isolated from leaves Euodia asteridula (Rutaceae) found in Papua New Guinea and has unusual U-shaped structure. It synthesized along with a series analogues that exhibit potent selective agonism SAR development around cyclobutane ring resulted 10-fold increase potency. The product demonstrated extracellular site action, which requires domain to stimulate NF-κB reporter...
The aim of this article is to present a survey on inspection applications Pneumatic Wall-Climbing Robots (PWCR). In general, PWCR utilizes negative pressure as its adhesion method, through mainly suction cups or thrust-based mechanisms. Their main advantage being their ability climb non-ferromagnetic surfaces, such glass and composite materials, in comparison with climbing robots based magnetic methods. A growing application area the utilization PWCRs for purposes accelerating otherwise time...