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
- (2017) Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments. IEEE Transactions on robotics. vol. 33 (3).
- (2017) An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin. IFAC-PapersOnLine. vol. 50 (1).
- (2017) Model-based LOS path-following control of planar underwater snake robots. Lecture notes in control and information sciences. vol. 474.
- (2016) Multi-objective optimization for efficient motion of underwater snake robots. Artificial Life and Robotics. vol. 21 (4).
- (2016) Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. IEEE robotics & automation magazine. vol. 23 (1).
- (2016) Planar maneuvering control of underwater snake robots using virtual holonomic constraints. Bioinspiration & Biomimetics. vol. 11:065005 (6).
- (2016) Planar path following of underwater snake robots in the presence of ocean currents. IEEE Robotics and Automation Letters. vol. 1 (1).
- (2016) A control framework for biologically inspired underwater swimming manipulators equipped with thrusters. IFAC-PapersOnLine. vol. 49 (23).
- (2016) Modeling of underwater swimming manipulators. IFAC-PapersOnLine. vol. 49 (23).
- (2015) Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns. Robotics and Biomimetics. vol. 2 (8).
- (2015) Energy efficiency of underwater robots. IFAC-PapersOnLine. vol. 48 (16).
- (2015) Energy efficiency of underwater snake robot locomotion. Mediterranean Conference on Control and Automation.
- (2014) A waypoint guidance strategy for underwater snake robots. Mediterranean Conference on Control and Automation.
- (2014) Modeling of underwater snake robots moving in a vertical plane in 3D. IEEE International Conference on Intelligent Robots and Systems. Proceedings.
- (2014) Integral Line-of-Sight for path following of underwater snake robots. Proceedings of the IEEE Conference on Control Applications.
- (2014) Path following control of planar snake robots using virtual holonomic constraints: theory and experiments. Robotics and Biomimetics. vol. 1 (3).
Part of book/report
- (2019) Modeling of Underwater Snake Robots. Encyclopedia of Robotics.
- (2017) Modeling and Propulsion Methods of Underwater Snake Robots. 1st IEEE Conference on Control Technology and Applications.
- (2017) Set-based path following and obstacle avoidance for underwater snake robots. Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO 2017).
- (2017) Learning an AUV docking maneuver with a convolutional neural network. Proceedings of the IEEE OCEANS 2017.