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Iosif S. Paraskevas

Iosif S. Paraskevas
Freelancer

Mechanical Engineer, Ph.D.

About

32
Publications
8,337
Reads
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131
Citations
Introduction
Specialization: Robotics and Automation, Mechatronics, Space Robotics, Product Design and Project Management. Education: - Diploma in Mechanical Engineering (ME), NTUA, 2005 - M.Sc. in Automation Systems, NTUA, 2007 - Ph.D in ME, NTUA, 2015. See the full description in my website: http://isparas.wix.com/iosifsparaskevas
Additional affiliations
August 2016 - present
June 2016 - September 2017
Corallia Clusters Initiative
Position
  • Consultant
October 2015 - May 2016
National Technical University of Athens
Position
  • Research Associate
Education
July 2008 - October 2015
National Technical University of Athens
Field of study
  • Control Systems/ Robotics/ Space Robotics
September 2005 - September 2007
National Technical University of Athens
Field of study
  • Robotics & Automation
September 1999 - September 2005
National Technical University of Athens
Field of study
  • Robotics, Energy Systems

Publications

Publications (32)
Article
Full-text available
During capture of a free-flying object, a robotic servicer can be subject to impacts, which may separate it from the object or damage crucial subsystems. However, the reactions can be minimized using the Centre of Percussion (CoP) concept. Following a brief introduction of the two- and three-dimensional cases, the performance of a robot under impac...
Conference Paper
Full-text available
Legged locomotion is a rapidly advancing area in robotics, yet still a large number of open questions exist. This work focuses on the foot-terrain interaction and its effect on the motion of a one-legged system. This interaction is usually tackled by disregarding some of the effects of ground deformation like permanent deformation and compaction. I...
Conference Paper
Full-text available
One of the most demanding tasks for a robotic servicer is capturing a target. During this task, the mechanical systems can be subject to large forces for short duration (impacts). In space servicers, these impacts may render the capturing of a target impossible without the use of undesirable fuel-consuming maneuvers. This paper presents an approach...
Chapter
Full-text available
Space is an exciting but fundamentally unfriendly environment for humans. Space robotic systems (robots in orbit, planetary rovers or even satellites) are of great importance to space exploration and perform tasks hazardous or impossible for humans. Using micro and nano technologies in space robotic systems results either in miniaturized systems in...
Conference Paper
Full-text available
To validate on-orbit servicing strategies, extensive simulations and terrestrial emulation of robotic systems are necessary. The NTUA has developed a Space Robot Emulator to emulate the operation of free-flying robotic servicers, as already presented in previous works. Until recently, the emulator consisted of one robot with two manipulators, capab...
Conference Paper
Full-text available
To enhance current robotic OOS capabilities, autonomous operations must be considered, that will rely on advanced controllers. The design and adaptation of such controllers requires reliable system identification methods and algorithms, especially regarding the system inertial parameters and flexibilities. The main objective of the OBSIdian project...
Article
Full-text available
One of the most intriguing research challenges in legged locomotion is robot performance on compliant terrains. The foot-terrain interaction is usually tackled by disregarding some of the effects of ground deformation, like permanent deformation and compaction; however this approach restricts their application to stiff environments. In this work, t...
Conference Paper
Full-text available
The paper summarizes the participation of the 6 FabSpaces to the population estimation (remote) pilot task at ImageCLEF 2017 Lab. FabSpace 2.0 is an open-innovation network for geodata-driven innovation that aims at improving universities contribution to the socioeconomic and environmental performance of societies. In the framework of the ImageCLEF...
Conference Paper
The goal of FabSpace 2.0 project is to transform Universities to Open Innovation Centers for their corresponding region and improve their societal contribution to the socio- economic and environmental performance. For this purpose, the project provides to students, researchers, as well as to citizens or even companies, with a framework and a digita...
Conference Paper
Full-text available
In this paper, the development of an Orbital Robotics educational prototype platform is presented, consisting of a hardware-developed physical system and an accompanying set of curriculum-based lessons (IB Physics curriculum) that target upper secondary students (16–18 years old target group). The platform was the outcome of a joint project between...
Article
Full-text available
Exploitation of space must benefit from the latest advances in robotics. On-orbit servicing is a clear candidate for the application of autonomous rendezvous and docking mechanisms. However, during the last three decades most of the trials took place combining extravehicular activities (EVAs) with telemanipulated robotic arms. The European Space Ag...
Chapter
In this paper, the development of an Orbital Robotics edu- cational prototype platform is presented, consisting of a hardware- developed physical system and an accompanying set of curriculum-based lessons (IB Physics curriculum) that target upper secondary students (16–18 years old target group). The platform was the outcome of a joint project betw...
Chapter
Full-text available
Development and prototyping of robotic systems requires the involvement of many people and many hours of design, development and cooperation; significant time and effort overhead is required for evaluating conceptual ideas in design, control and technology, and for bringing them fast into reality for testing. Based on the important advances of the...
Conference Paper
Full-text available
On-orbit servicing missions will rely on space robots; however their complexity requires prior careful studies. Among these, robotic docking is especially challenging. In this work, the robotic impact docking between two space systems is considered. The impedance properties required to design an impedance controller are studied. These properties in...
Conference Paper
Full-text available
Exploitation of space must benefit from the latest advances in robotics. On-orbit servicing is a clear candidate for the application of autonomous rendez-vous and docking mechanisms. However, during the last three decades most of the trials took place combining EVAs with telemanipulated robotic arms. The European Space Agency (ESA) considers that g...
Conference Paper
Full-text available
As part of its Education Programme, the European Space Agency (ESA) is taking several steps towards the devel- opment of Educational activities and platforms that use Space Robotics as a mean to support and reinforce STEM (Science, Technology, Engineering and Mathematics) school education in Europe. In this paper the on-going development of an Orbi...
Conference Paper
Full-text available
Recent successes of missions such as the MSL and the Rosetta have increased the interest in the robotic exploration of other planets and asteroids. Although most of these missions envisage the use of rovers, legged robots have shown the potential to outperform wheeled vehicles on rough terrains in terms of speed and energy efficiency. In this paper...
Conference Paper
Full-text available
Space debris removal and mitigation using space robots are complex missions, which require extensive analysis prior to launch. An important aspect during such a mission is the capturing task; any unsuccessful attempt may create more problems than solve. In this paper, the modelling of the impact docking between two multibody systems is studied. The...
Conference Paper
Full-text available
Terrain compliance is a critical parameter for the performance of legged locomotion. In this work, a single actuator monopod robot hopping on a rough compliant terrain is considered. Based on our controller for flat compliant terrains, this paper introduces the necessary modifications, which allow the robot to tackle the disturbance of small inclin...
Conference Paper
Full-text available
Leg compliance, gravity and ground have a significant impact on the performance and gait characteristics of a quadruped robot. This paper presents results obtained using a planar lumped parameter model of a quadruped robot and an extensive research scheme to determine optimum design parameters for a quadruped moving in different gravity environment...
Conference Paper
Full-text available
On-Orbit Servicing plays a key role in the exploitation of space. To study related issues, the NTUA has developed a Space Robot Emulator for free-flying robotic servicers. In this emulator, the fusion of data from an overhead camera and on-board optical sensors is particularly challenging. This becomes more complex due to the large time delay induc...
Conference Paper
Full-text available
The development of space robotic systems presents design challenges and their commissioning requires thorough studies and experiments. A planar space emulator has been developed to emulate the operation of free-flying robotic servicers and consists of two robotic systems that hover over a flat granite table. They have been designed to be lightweigh...
Conference Paper
Full-text available
Systematic miniaturization of Automation & Robotics (A&R) systems can result in more robust, less power- intensive and less expensive systems with increased re- dundancy and enriched functionality. Due to the large and diverse markets, terrestrial micro/ nano technolo- gies (MNTs) are characterized by high performance, low development cost, reliabi...
Conference Paper
Full-text available
The importance of space robots in satellite servicing, in EVA assistance, in removing orbital debris and in space exploration is growing, driven by space commercialization and exploration efforts. A successful deployment of such robots requires analytical and experimental task validation. With this aim, we present the main characteristics of the so...
Conference Paper
Full-text available
The importance of space robots in satellite servicing, in EVA assistance, in removing orbital debris and in space exploration is growing driven by space commercialization and exploration efforts. A successful deployment of such robots requires analytical and experimental task validation. With this aim, we present the main characteristics of the sof...
Conference Paper
Full-text available
The importance of simulators as testbeds for proposed space robotic systems is unquestionable in our days. In this paper, the NTUA approach on both software and hardware space robots simulators, is presented. The software simulator is fully parameterized in order to be capable to simulate any system that consists of a base and a number of serial ap...
Conference Paper
Full-text available
The necessity of robot manipulators in space is a one-way reality. The aim of this research work is to produce guidelines for grasping objects on orbit with the use of a space manipulator, such that manipulator reaction forces are minimized and therefore minimum disturbance forces are transmitted to its base. Impact reaction forces appear during th...

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Projects

Projects (3)
Project
On-Orbit Servicing (OOS) missions such as satellite servicing and refueling, construction of large assemblies, and space debris removal and mitigation will be of critical importance in the near future. The use of space robotic systems in such missions is a viable approach and attracts increased interest; however prior careful studies are needed.
Project
Project
The open-innovation network for geodata-driven innovation – by leveraging Space data in particular - in Universities 2.0.