Nikos Aspragathos

University of Patras

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Trends

Author Order

Document Type

Co-Authors

Vassilis C. Moulianitis

University of Peloponnese

Mark Yim

University of Pennsylvania

G Liu

Toronto Metropolitan University

Giuseppe Carbone

University of Calabria

Todd Murphey

Northwestern University

G. K. Ananthasuresh

Indian Institute of Science Bangalore

Tamás Kalmár‐Nagy

Budapest University of Technology and Economics

Jeff Trinkle

Lehigh University

Michael Kassler

IP Australia

Howie Choset

Carnegie Mellon University

Cooperative Institutions

University of Patras

Slovak University of Technology in Bratislava

University of the Aegean

Robotics Research (United States)

Centre National de la Recherche Scientifique

Universidad de Guadalajara

Istanbul Technical University

Carnegie Mellon University

University of Naples Federico II

Centre for Research and Technology Hellas

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Field

A Method for the Approximation of the Multiple IK Solutions of Regular Manipulators Based on the Uniqueness Domains and Using MLP

Mechanisms and machine science (2015)

Vassilis C. Moulianitis Evgenios M. Kokkinopoulos Nikos Aspragathos

10.1007/978-3-319-22368-1_27

Cite

Citations (3)

A new index based on mechatronics abilities for the conceptual design evaluation

Mechatronics (2017)

Vassilis C. Moulianitis Georgios A. Zachiotis Nikos Aspragathos

Conceptual design

10.1016/j.mechatronics.2017.11.011

Cite

Citations (18)

IT and Mechatronics in Industrial Robotic Workcell Design and Operation

Advances in information quality and management (2014)

Vassilis C. Moulianitis Nikos Aspragathos

Workcell

10.4018/978-1-4666-5888-2.ch652

Cite

Citations (3)

Path planning of a mobile robot using solid modeling techniques on potential fields

Aris I. Synodinos Nikos Aspragathos

This paper presents a systematic approach for structuring potential fields in the free workspace of a mobile robot based on solid modeling concepts. The robot is considered as a solid object with volume and mass inside an artificial potential field which represents the free space. The applied force and torque to the robot is determined in order to find the direction and the magnitude of the translation and the angle of rotation respectively. A search method based on a modified simulated annealing is introduced to determine the path from the initial to the goal configuration where the robot is guided to the global minimum of the potential field avoiding the trap in local minima. Simulated experiments show the efficiency of the proposed approach and the paper concludes with the discussion of the results and hints for future work.

Work space

Maxima and minima

Configuration space

10.1109/mesa.2010.5552011

Cite

Citations (5)

Vehicle scheduling in 2D shop floor environments

Industrial Robot the international journal of robotics research and application (2009)

Elias K. Xidias Andreas C. Nearchou Nikos Aspragathos

Purpose The purpose of this paper is to develop an efficient method for solving a vehicle scheduling problem (VSP) in 2D industrial environments. An autonomous vehicle is requested to serve a set of work centers in the shop floor providing transport and delivery tasks while avoiding collisions with obstacles during its travel. The objective is to find a minimum in length, collision‐free vehicle routing schedule that serves timely as many as possible work centers in the shop floor. Design/methodology/approach First, the vehicle's environment is mapped into a 2D B‐Spline surface embedded in 3D Euclidean space using a robust geometric model. Then, a modified genetic algorithm is applied on the generated surface to search for an optimum legal route schedule that satisfies the requirements of the vehicle's mission. Findings Simulation experiments show that the method is robust enough and can determine in a reasonable computation time a solution to VSP under consideration. Originality/value There is a gap in the literature for methods that face VSP in shop‐floor environments. This paper contributes to filling this gap by implementing a practical method that can be easily programmed and included in a modern service delivery system.

Vehicle Routing Problem

Guidance system

10.1108/01439910910932630

Cite

Citations (17)

Special Issue on Human–Robot Interaction (HRI)

Robotica (2020)

Nikos Aspragathos Vassilis C. Moulianitis Panagiotis Ν. Koustoumpardis

Human–robot interaction (HRI) is one of the most rapidly growing research fields in robotics and promising for the future of robotics technology. Despite the fact that numerous significant research results in HRI have been presented during the last years, there are still challenges in several critical topics of HRI, which could be summarized as: (i) collision and safety, (ii) virtual guides, (iii) cooperative manipulation, (iv) teleoperation and haptic interfaces, and (v) learning by observation or demonstration. In physical HRI research, the complementarity of the human and the robot capabilities is carefully considered for the advancement of their cooperation in a safe manner. New advanced control systems should be developed so the robot will acquire the ability to adapt easily to the human intentions and to the given task. The possible applications requiring co-manipulation are cooperative transportation of bulky and heavy objects, manufacturing processes such as assembly and surgery.

Teleoperation

Human–robot interaction

10.1017/s0263574720000946

Cite

Citations (4)

Type independent hierarchical analysis for the recognition of folded garments’ configuration

Intelligent Service Robotics (2021)

Dimitra Triantafyllou Panagiotis Ν. Koustoumpardis Nikos Aspragathos

10.1007/s11370-021-00365-8

Cite

Citations (3)

Task-Based Optimal Design of Metamorphic Service Manipulators

Journal of Mechanisms and Robotics (2016)

Vassilis C. Moulianitis Aris I. Synodinos Charalampos Valsamos Nikos Aspragathos

In this paper, a method for the optimal design of metamorphic manipulators is presented, using path dexterity indices in diverse service tasks. The Swedish massage service is chosen as an application, due the very dissimilar techniques that can be challenging for fixed anatomy manipulators. These techniques are presented and a mapping to dexterity indices is proposed based on each technique's requirements. A method for the evaluation of metamorphic anatomies over tasks is proposed, and the optimized anatomy of a metamorphic manipulator is determined. Finally, an illustrative example is presented for three tasks, where the advantages of the anatomy optimization are demonstrated.

Manipulator (device)

10.1115/1.4033665

Cite

Citations (13)

Packaging of bio-MEMS: strategies, technologies, and applications

IEEE Transactions on Advanced Packaging (2005)

Thomas Velten H.H. Ruf David A. Barrow Nikos Aspragathos P. Lazarou

Biomicroelectromechanical systems (bio-MEMS) are MEMS which are designed for medical or biological applications. As with other MEMS, bio-MEMS frequently, have to be packaged to provide an interface to the macroscale world of the user. Bio-MEMS can be roughly divided in two groups. Bio-MEMS can be pure technical systems applied in a biological environment or technical systems which integrate biological materials as one functional component of the system. In both cases, the materials which have intimate contact to biological matter have to be biocompatible to avoid unintentional effects on the biological substances, which in case of medical implants, could harm the patient. In the case of biosensors, the use of nonbiocompatible materials could interfere with the biological subcomponents which would affect the sensor's performance. Bio-MEMS containing biological subcomponents require the use of "biocompatible" technologies for assembly and packaging; e.g., high temperatures occurring, for instance, during thermosonic wire bonding and other thermobonding processes would denature the bioaffinity layers on biosensor chips. This means that the use of selected or alternative packaging and assembly methods, or new strategies, is necessary for a wide range of bio-MEMS applications. This paper provides an overview of some of the strategies, technologies, and applications in the field of bio-MEMS packaging. It includes the following: strategies for the partitioning of subsystems within integrated microsystems for (bio)chemical analysis/synthesis; methods for microassembly of bio-MEMS; technologies for bonding of polymer bio-MEMS components; packaging of miniature medical devices; packaging of biosensors for in vitro applications; packaging of micropumps as a bio-MEMS component. The applications discussed are derived from different fields to demonstrate the plethora of bio-MEMS considerations. In commercial production, packaging is possibly the major cost factor of bio-MEMS-based products, and its development requires special attention.

Microsystem

Biocompatible material

Electronic Packaging

10.1109/tadvp.2005.858427

Cite

Citations (97)

ROB volume 31 issue 3 Cover and Front matter

Robotica (2013)

Gregory S. Chirikjian Srinivas Akella G. K. Ananthasuresh Nikos Aspragathos I‐Ming Chen

An abstract is not available for this content so a preview has been provided. As you have access to this content, a full PDF is available via the ‘Save PDF’ action button.

Front cover

Content (measure theory)

10.1017/s0263574713000155

Cite

Citations (0)