Papers by Dimitris Psarros
2007 European Control Conference (ECC), 2007
2010 IEEE Conference on Robotics, Automation and Mechatronics, 2010
ABSTRACT Flexible risers are used for supplying oil from the deep sea to the offshore platforms a... more ABSTRACT Flexible risers are used for supplying oil from the deep sea to the offshore platforms and FPSOs. This paper presents the design and development of an unmanned robotic crawler for operation on subsea flexible risers. The goal is to provide the oil industry a tool for carrying equipment on flexible risers. The robot has been developed to crawl on the external surface of flexible risers. It moves along and around the riser using an inch-worm type motion. Novel under-actuated end effectors have been conceived and developed to hold the robot on the riser, without permanent influence to the flexible riser surface and geometry. In principle, the current design with modification could operate up to 2000m sea depth. In this paper, customization of the robot operation principles to carry and deploy digital radiographic equipment for the volumetric inspection of flexible risers is described in detail. Currently, there exists no equipment that can perform reliable non-destructive inspection of subsea flexible risers. Robot performance has been experimentally validated and these results are presented here for the first time. The resulting crawling performance has been proved to be independent of its environment.
The importance of simulators as testbeds for proposed space robotic systems is unquestionable in ... more 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 appendages. The hardware simulator emulates 2D motion in zero gravity, and consists of a two-manipulator space robot moving on top of a granite table. The NTUA ...
This paper presents the design and development of a semi-autonomous low-cost underwater service r... more This paper presents the design and development of a semi-autonomous low-cost underwater service robot for subsea flexible risers, used for supplying oil from the deep sea to the offshore platforms and floating production, storage and offloading vessels (FPSO). The robot is designed in a modular way allowing flexibility and variety in use. It can provide various types of services according to user needs, such as carrying equipment for inspection and deploying tooling for repair. The robot moves along the riser like an inchworm does, thanks to a simple, yet versatile crawling mechanism. In addition, the robot can rotate around the riser indefinitely by using a similar principle. Novel under-actuated end-effectors have been conceived and developed to firmly hold the robot on the riser during locomotion, rotation or operation, without affecting riser integrity. In principle, the current design could operate up to 2000m sea depth with minor modifications. In this study, the service robot...
IEEE Robotics & Automation Magazine, 2010
ABSTRACT The importance of simulators as testbeds for proposed space robotic systems is unquestio... more ABSTRACT 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 appendages. The hardware simulator emulates 2D motion in zero gravity, and consists of a two-manipulator space robot moving on top of a granite table.
Advances In Mobile Robotics - Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2008
In this paper we present a neural network architecture for learning of robotic grasping tasks. Th... more In this paper we present a neural network architecture for learning of robotic grasping tasks. The neural network model allows acquisition of different neural representations of the grasping task through a successive learning over two stages in a strategy that uses already learned representations for the acquisition of the subsequent knowledge. Systematic computer simulations have been carried out in order to test learning and generalization capabilities of the system. The proposed model can be used as a high level controller for a robotic dexterous hand during learning and execution of grasping tasks.
Abstract-Refereed International Conference Proc. by Dimitris Psarros
1st Hellenic-European Student Space Science and Technology Symposium
The importance of simulators as testbeds for proposed space robotic systems is unquestionable in ... more 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 appendages. The hardware simulator emulates 2D motion in zero gravity, and consists of a two-manipulator space robot moving on top of a granite table. The NTUA simulators are currently at the final stages of their development.
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Papers by Dimitris Psarros
Abstract-Refereed International Conference Proc. by Dimitris Psarros