Background and activities

Eleni Kelasidi received the Diploma (MSc) of Electrical and Computer Engineering and the Ph.D degree in Engineering Cybernetics from the University of Patras, Greece, in 2009 and from Norwegian University of Science and Technology (NTNU), Trondheim, Norway, in 2015, respectively. In 2009-2012, she was a pre-doc researcher in the field of design and control of mobile robot with articulated body at the University of Patras. She participated in the Research Project «Robotic Systems for search and rescue missions» funded by John S. Latsis Public Benefit Foundation and she collaborated with the company IridaLabs at Patras Scientific Park as an external scientific researcher, in the NICE (Nonlinear Innovative Control Design and Evaluation) Project funded by EDA. She is currently a PostDoc Researcher (VISTA Scholar) at the CoE Centre for Autonomous Marine Operations and Systems, Department of Engineering Cybernetics, NTNU.

Her main research interests include modeling, analysis and control of Underwater Snake Robots, Non-Holonomic Robotic Systems, Robotics, Control and Automation Systems, Nonlinear Control, Modeling and Applications of Pneumatic Artificial Muscles.

Vista Scholar in Research Area: Future Development and Operations - Resident Robot Manipulators for Subsea IMR

In this project, we will address swimming robot manipulators, a new type of subsea vehicle which, when fully developed, will significantly improve the quality and reduce the cost of subsea IMR operations. Instead of relying on a carrying device like AUVs and ROVs, the swimming manipulators can perform their own locomotion, in addition to carrying out manipulation/intervention tasks. This will provide a highly flexible robot manipulator arm (hyperredundant) with a dexterity that exceeds the 5-7 degrees of freedom manipulator arms that exist for subsea IMR today. As the length of the manipulator arm will not be bounded by a carrying device, the arm can be made as long and flexible as desired, thus providing a unique dexterity and also a high payload capability along the arm. In addition, the swimming manipulator with its slender and flexible structure will be able to access also the narrow parts of the subsea installation. In order to achieve a resident solution for subsea IMR, efficiency and manoeuvrability, energy autonomy and automatic docking are central features, and this project will develop new results and technology for making swimming manipulators a resident part of the subsea factory.

Scientific, academic and artistic work

A selection of recent journal publications, artistic productions, books, including book and report excerpts. See all publications in the database

Journal publications

Part of book/report

  • Kelasidi, Eleni; Pettersen, Kristin Ytterstad. (2017) Modeling of Underwater Snake Robots. Encyclopedia of Robotics.
  • Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan. (2017) Modeling and Propulsion Methods of Underwater Snake Robots. 1st IEEE Conference on Control Technology and Applications.
  • Kelasidi, Eleni; Kohl, Anna Magdalena; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. (2016) Waypoint guidance control for underwater snake robots exposed to ocean currents. 24th Mediterranean Conference on Control and Automation (MED).
  • Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy. (2016) Locomotion Efficiency of Underwater Snake Robots with Thrusters. International Symposium on Safety, Security and Rescue Robotics.