Conferences

  1. Koustoumpardis Panagiotis Ν., Smyrnis Sotiris and Aspragathos Nikos Α.. A 3-Finger Robotic Gripper for Grasping Fabrics Based on Cams-Followers Mechanism. In Accepted for presentation in 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD2017). 2017. AbstractIn this paper, a 3-finger gripper is developed for grasping fabrics that are folded or unfolded. Its design is based on the investigation of human fin-gers’ movements in grasping a piece of fabric that is laid on a table and it is conceptualized using the theory of cam-follower design. The concept, the design and the prototype of the gripper are presented, along with the analysis for specifying the characteristics and parameters of the mecha-nism. The proposed gripper has a camshaft with three cams (2-axial and 1-globoidal), guided by only one actuator, for moving the three fingers (2-linear motions and 1-rotational). A prototype of the gripper is implement-ed using 3D printing technique which keeps the total cost and weight very low. The prototype has been tested experimentally under several grasping tasks, where its efficiency is demonstrated. BibTeX

    @inproceedings{Koustoumpardis2016RAAD,
    	abstract = "In this paper, a 3-finger gripper is developed for grasping fabrics that are folded or unfolded. Its design is based on the investigation of human fin-gers’ movements in grasping a piece of fabric that is laid on a table and it is conceptualized using the theory of cam-follower design. The concept, the design and the prototype of the gripper are presented, along with the analysis for specifying the characteristics and parameters of the mecha-nism. The proposed gripper has a camshaft with three cams (2-axial and 1-globoidal), guided by only one actuator, for moving the three fingers (2-linear motions and 1-rotational). A prototype of the gripper is implement-ed using 3D printing technique which keeps the total cost and weight very low. The prototype has been tested experimentally under several grasping tasks, where its efficiency is demonstrated.",
    	address = "Turin, Italy",
    	author = "Panagiotis, Ν., Koustoumpardis and Sotiris, Smyrnis and Nikos, Α., Aspragathos",
    	booktitle = "Accepted for presentation in 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD2017)",
    	title = "A 3-Finger Robotic Gripper for Grasping Fabrics Based on Cams-Followers Mechanism",
    	year = 2017
    }
    
  2. Moulianitis Vassilis, Zachiotis Georgios, Valsamos Charalampos and Aspragathos Nikos. Evaluation of manipulators under CPPS frame. In Accepted for presentation at the 20th IFAC World Congress. 2017. BibTeX

    @inproceedings{Moulianitis2017Ifac,
    	address = "Toulouse",
    	author = "Vassilis, Moulianitis and Georgios, Zachiotis and Charalampos, Valsamos and Nikos, Aspragathos",
    	booktitle = "Accepted for presentation at the 20th IFAC World Congress",
    	title = "Evaluation of manipulators under CPPS frame",
    	year = 2017
    }
    
  3. Moulianitis V. C., Katrantzis E. F., Stravopodis N. A. and Aspragathos N. A.. A comparative study of three manipulator performance measures. In Accepted for presentation at the 26th International Conference on Robotics in Alpe-Adria-Danube Region. 2017. BibTeX

    @inproceedings{Moulianitis2017Raad,
    	address = "Torino",
    	author = "V., C., Moulianitis and E., F., Katrantzis and N., A., Stravopodis and N., A., Aspragathos",
    	booktitle = "Accepted for presentation at the 26th International Conference on Robotics in Alpe-Adria-Danube Region",
    	title = "A comparative study of three manipulator performance measures",
    	year = 2017
    }
    
  4. Alexandros Kouris, Fotios Dimeas and Nikos Aspragathos. Contact Distinction in Human-Robot Cooperation with Admittance Control. In IEEE International Conference on Systems, Man, and Cybernetics. 2016, 1–6. PDF, AbstractThe emerging field of physical human-robot interaction raises the need to distinguish collisions over intended contacts in order to guarantee safe and seamless interaction. In this paper, a novel contact distinction method is proposed that monitors the externally applied forces/torques and is able to distinguish unexpected collisions from intended contacts during cooperative tasks. The method is based on a frequency domain analysis of the externally applied forces using the Fast Fourier Transform. Moreover, a tuning method is proposed to adjust the thresholds for the detection, according to the desired dynamic behavior of the admittance controller. The collision distinction method is evaluated experimentally in a human-robot cooperation task with multiple subjects using a 7DOF LWR manipulator. BibTeX

    @inproceedings{Kouris2016,
    	abstract = "The emerging field of physical human-robot interaction raises the need to distinguish collisions over intended contacts in order to guarantee safe and seamless interaction. In this paper, a novel contact distinction method is proposed that monitors the externally applied forces/torques and is able to distinguish unexpected collisions from intended contacts during cooperative tasks. The method is based on a frequency domain analysis of the externally applied forces using the Fast Fourier Transform. Moreover, a tuning method is proposed to adjust the thresholds for the detection, according to the desired dynamic behavior of the admittance controller. The collision distinction method is evaluated experimentally in a human-robot cooperation task with multiple subjects using a 7DOF LWR manipulator.",
    	address = "Budapest, Hungary",
    	author = "Kouris, Alexandros and Dimeas, Fotios and Aspragathos, Nikos",
    	booktitle = "IEEE International Conference on Systems, Man, and Cybernetics",
    	isbn = 9781509018970,
    	pages = "1--6",
    	title = "{Contact Distinction in Human-Robot Cooperation with Admittance Control}",
    	year = 2016,
    	pdf = "Kouris2016smc.pdf"
    }
    
  5. Stavros Grafakos, Fotios Dimeas and Nikos Aspragathos. Variable Admittance Control in pHRI using EMG-based Arm Muscles Co-Activation. In IEEE International Conference on Systems, Man, and Cybernetics. 2016, 1–6. AbstractIn this paper, the co-activation level of the arm muscles is used as an indication of the end-point stiffness for improving human-robot cooperation. A variable admittance controller is proposed to adjust the virtual damping in real time by measuring the operator's muscle activation by means of surface EMG. An experimental user study is conducted that simulates both high accuracy and fast transition movements, involving human-robot interaction with a 7-DOF LWR serial manipulator. The proposed method is compared to constant admittance and is evaluated in terms of movement accuracy, execution time, and the operator's energy consumption. The results demonstrate that there is a significant reduction of the operator's effort and an improvement of the cooperative motion accuracy. BibTeX

    @inproceedings{Grafakos2016,
    	abstract = "In this paper, the co-activation level of the arm muscles is used as an indication of the end-point stiffness for improving human-robot cooperation. A variable admittance controller is proposed to adjust the virtual damping in real time by measuring the operator's muscle activation by means of surface EMG. An experimental user study is conducted that simulates both high accuracy and fast transition movements, involving human-robot interaction with a 7-DOF LWR serial manipulator. The proposed method is compared to constant admittance and is evaluated in terms of movement accuracy, execution time, and the operator's energy consumption. The results demonstrate that there is a significant reduction of the operator's effort and an improvement of the cooperative motion accuracy.",
    	address = "Budapest, Hungary",
    	author = "Grafakos, Stavros and Dimeas, Fotios and Aspragathos, Nikos",
    	booktitle = "IEEE International Conference on Systems, Man, and Cybernetics",
    	isbn = 9781509018970,
    	pages = "1--6",
    	title = "{Variable Admittance Control in pHRI using EMG-based Arm Muscles Co-Activation}",
    	year = 2016
    }
    
  6. Georgia Kritikou and Nikos Aspragathos. Programmable platform design and its electrodes activation algorithm for microparts motion. In 4M/IWMF2016 Conference. 2016. BibTeX

    @inproceedings{Kritikous2016,
    	address = "Copenhagen, Denmark",
    	author = "Georgia Kritikou and Nikos Aspragathos",
    	booktitle = "4M/IWMF2016 Conference",
    	title = "Programmable platform design and its electrodes activation algorithm for microparts motion",
    	year = 2016
    }
    
  7. Elias Xidias, Nikos Aspragathos, Claudio Paliotta and Kristin Pettersen. Path Planning for Formation Control of Autonomous Vehicles. In RAAD 2016. 2016. PDF BibTeX

    @inproceedings{Xidias2016,
    	address = "Belgrade, Serbia",
    	author = "Elias Xidias and Nikos Aspragathos and Claudio Paliotta and Kristin Pettersen",
    	booktitle = "RAAD 2016",
    	title = "Path Planning for Formation Control of Autonomous Vehicles",
    	year = 2016,
    	pdf = "RAAD_2016_paper_26.pdf"
    }
    
  8. Christos Kapsalas, John Sakellariou, Panagiotis Koustoumpardis and Nikos Aspragathos. On the vibration control of a flexible metallic beam handled by an industrial robot within an ARX - based synthetic environment. In RAAD 2016. 2016. PDF, AbstractThis study addresses the problem of vibration control of a flexible metallic beam which is transferred by an industrial robot. The control is designed in a special Matlab/Simulink synthetic environment that is founded on AutoRegressive with eXogenous (ARX) stochastic modelling of the robot-beam system through exclusively experimental data. Based on this, a simple closed-loop control system consisting of a feedforward typical Proportional-Integral (PI) controller and a feedback that enables the minimization of the induced force at the wrist of the robot is developed for beam vibration control. The data-based modelling of the robot-beam system allows for the precise design of the control system in offline mode, without interrupting normal production conditions, and achieves excellent performance in real time application. BibTeX

    @inproceedings{Kapsalas2016,
    	address = "Belgrade, Serbia",
    	author = "Christos Kapsalas and John Sakellariou and Panagiotis Koustoumpardis and Nikos Aspragathos",
    	booktitle = "RAAD 2016",
    	title = "On the vibration control of a flexible metallic beam handled by an industrial robot within an ARX - based synthetic environment",
    	year = 2016,
    	abstract = "This study addresses the problem of vibration control of a flexible metallic beam which is transferred by an industrial robot. The control is designed in a special Matlab/Simulink synthetic environment that is founded on AutoRegressive with eXogenous (ARX) stochastic modelling of the robot-beam system through exclusively experimental data. Based on this, a simple closed-loop control system consisting of a feedforward typical Proportional-Integral (PI) controller and a feedback that enables the minimization of the induced force at the wrist of the robot is developed for beam vibration control. The data-based modelling of the robot-beam system allows for the precise design of the control system in offline mode, without interrupting normal production conditions, and achieves excellent performance in real time application.",
    	pdf = "RAAD_2016_paper_64.pdf"
    }
    
  9. Charalampos Valsamos, Vassilis Moulianitis and Nikos Aspragathos. Experimental verification of the advantages of a modular open chain metamorphic manipulator. In 47th International Symposium on Robotics (ISR2016). 2016. BibTeX

    @inproceedings{Valsamos2016,
    	address = "Munich",
    	author = "Charalampos Valsamos and Vassilis Moulianitis and Nikos Aspragathos",
    	booktitle = "47th International Symposium on Robotics (ISR2016)",
    	title = "Experimental verification of the advantages of a modular open chain metamorphic manipulator",
    	year = 2016
    }
    
  10. Vassilis C Moulianitis, Dimitrios S Vogiatzief and Nikos A Aspragathos. A constructive method for the approximation of the multiple inverse kinematics solutions of noncuspidal 6 DoF manipulators. In 6th European Conference on Mechanism Science (EUCOMES 2016). 2016. BibTeX

    @inproceedings{Moulianitis2016,
    	address = "Nantes",
    	author = "Vassilis C. Moulianitis and Dimitrios S. Vogiatzief and Nikos A. Aspragathos",
    	booktitle = "6th European Conference on Mechanism Science (EUCOMES 2016)",
    	title = "A constructive method for the approximation of the multiple inverse kinematics solutions of noncuspidal 6 DoF manipulators",
    	year = 2016
    }
    
  11. Fotios Dimeas, Vassilis C Moulianitis, Charalampos Papakonstantinou and Nikos Aspragathos. Manipulator performance constraints in Cartesian admittance control for human-robot cooperation. In 2016 IEEE International Conference on Robotics and Automation (ICRA). May 2016, 3049–3054. URL PDF, AbstractThis paper addresses the problem of providing feedback to the operator about the manipulator’s performance during human-robot physical interaction. A method is proposed that implements virtual constraints in Cartesian admittance control in order to prevent the operator from guiding the ma- nipulator to low-performance configurations. The constraints are forces expressed in the Cartesian frame, which restrict the translation of the end-effector when the operator guides the robot below a certain performance threshold. These forces are calculated online by numerically approximating the gradient of the performance index with respect to the Cartesian frame attached to the end-effector. An experimental evaluation is conducted involving human-robot interaction with a 7-DOF LWR serial manipulator under Cartesian admittance control, using the kinematic manipulability index of the manipulator as the performance measure for singularity avoidance. BibTeX

    @inproceedings{Dimeas2016,
    	address = "Stockholm",
    	author = "Dimeas, Fotios and Moulianitis, Vassilis C and Papakonstantinou, Charalampos and Aspragathos, Nikos",
    	booktitle = "2016 IEEE International Conference on Robotics and Automation (ICRA)",
    	doi = "10.1109/ICRA.2016.7487469",
    	isbn = "978-1-4673-8026-3",
    	month = "may",
    	pages = "3049--3054",
    	publisher = "IEEE",
    	title = "{Manipulator performance constraints in Cartesian admittance control for human-robot cooperation}",
    	url = "http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=7487469",
    	year = 2016,
    	pdf = "Dimeas2016_ICRA_Manipulator_Performance_Constraints.pdf",
    	abstract = "This paper addresses the problem of providing feedback to the operator about the manipulator’s performance during human-robot physical interaction. A method is proposed that implements virtual constraints in Cartesian admittance control in order to prevent the operator from guiding the ma- nipulator to low-performance configurations. The constraints are forces expressed in the Cartesian frame, which restrict the translation of the end-effector when the operator guides the robot below a certain performance threshold. These forces are calculated online by numerically approximating the gradient of the performance index with respect to the Cartesian frame attached to the end-effector. An experimental evaluation is conducted involving human-robot interaction with a 7-DOF LWR serial manipulator under Cartesian admittance control, using the kinematic manipulability index of the manipulator as the performance measure for singularity avoidance."
    }
    
  12. F Dimeas and N Aspragathos. Reinforcement learning of variable admittance control for human-robot co-manipulation. In Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. 2015, 1011-1016. URL PDF, AbstractIn this paper, a variable admittance controller based on reinforcement learning is proposed for human-robot co-manipulation tasks. Setting as the goal of the reinforcement learning algorithm the minimisation of the jerk throughout a point-to-point movement, the proposed controller can learn the appropriate damping for effective cooperation without any prior knowledge of the target position or other task characteristics. The performance of the proposed variable admittance controller is investigated on a co-manipulation task with a number of subjects using a KUKA LWR robot, demonstrating considerable reduction both in the effort required by the operator and in the completion time of the task. BibTeX

    @inproceedings{Dimeas2015iros,
    	author = "F. Dimeas and N. Aspragathos",
    	booktitle = "Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on",
    	title = "Reinforcement learning of variable admittance control for human-robot co-manipulation",
    	year = 2015,
    	pages = "1011-1016",
    	abstract = "In this paper, a variable admittance controller based on reinforcement learning is proposed for human-robot co-manipulation tasks. Setting as the goal of the reinforcement learning algorithm the minimisation of the jerk throughout a point-to-point movement, the proposed controller can learn the appropriate damping for effective cooperation without any prior knowledge of the target position or other task characteristics. The performance of the proposed variable admittance controller is investigated on a co-manipulation task with a number of subjects using a KUKA LWR robot, demonstrating considerable reduction both in the effort required by the operator and in the completion time of the task.",
    	keywords = "human-robot interaction;learning (artificial intelligence);manipulators;KUKA LWR robot;human-robot comanipulation task;point-to-point movement;reinforcement learning;variable admittance control;Admittance;Damping;Force;Learning (artificial intelligence);Manipulators;Training",
    	doi = "10.1109/IROS.2015.7353494",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7353494",
    	month = "Sept",
    	pdf = "Dimeas2015_Reinforcement_Learning.pdf"
    }
    
  13. Fotios Dimeas and Nikos Aspragathos. Learning optimal variable admittance control for rotational motion in human-robot co-manipulation. In 11th IFAC Symposium on Robot Control SYROCO 2015 Salvador, Brazil, 26–28 August 2015. 2015, 124 – 129. URL PDF, AbstractIn this paper the problem of variable admittance control in human-robot cooperation tasks is investigated, considering rotational motion of the robot’s end-effector. A Fuzzy Model Reference Learning algorithm is used to determine online the appropriate virtual damping of the admittance controller with partial state representation of the system. The learning algorithm is trained according to the minimum jerk trajectory model for rotational motion by exploiting the measured angular velocity and the torque applied by the operator. Experiments conducted for a rotational movement of an LWR robot in cooperation with multiple subjects, indicate that the method is able to react to the movement characteristics, by improving low effort cooperation and accurate positioning. BibTeX

    @inproceedings{Dimeas2015syr,
    	author = "Dimeas, Fotios and Aspragathos, Nikos",
    	booktitle = "11th IFAC Symposium on Robot Control SYROCO 2015 Salvador, Brazil, 26–28 August 2015",
    	pdf = "dimeas2015_syroco.pdf",
    	keywords = "fuzzy,human-robot cooperation,model reference learning,rotational motion,variable admittance control",
    	pages = "124 -- 129",
    	abstract = "In this paper the problem of variable admittance control in human-robot cooperation tasks is investigated, considering rotational motion of the robot’s end-effector. A Fuzzy Model Reference Learning algorithm is used to determine online the appropriate virtual damping of the admittance controller with partial state representation of the system. The learning algorithm is trained according to the minimum jerk trajectory model for rotational motion by exploiting the measured angular velocity and the torque applied by the operator. Experiments conducted for a rotational movement of an LWR robot in cooperation with multiple subjects, indicate that the method is able to react to the movement characteristics, by improving low effort cooperation and accurate positioning.",
    	title = "{Learning optimal variable admittance control for rotational motion in human-robot co-manipulation}",
    	url = "http://www.sciencedirect.com/science/article/pii/S2405896315026452",
    	year = 2015
    }
    
  14. Vassilis C Moulianitis, Nikos Aspragathos and Charalampos Valsamos. Suboptimal Anatomy of Metamorphic Manipulators Based on the High Rotational Dexterity. In The 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2015) (Best Paper Award on Application of Metamorphic Mechanisms). 2015. BibTeX

    @inproceedings{Moulianitis2015remar,
    	address = "22-22 July 2015, Beijing, China",
    	author = "Moulianitis, Vassilis C. and Aspragathos, Nikos and Valsamos, Charalampos",
    	booktitle = "The 3rd IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR2015) (Best Paper Award on Application of Metamorphic Mechanisms)",
    	title = "Suboptimal Anatomy of Metamorphic Manipulators Based on the High Rotational Dexterity",
    	year = 2015
    }
    
  15. Vassilis C Moulianitis, Evgenios M Kokkinopoulos and Nikos Aspragathos. A method for the approximation of the multiple IK solutions of regular manipulators based on the uniqueness domains and using MLP. In The 4th IFTOMM International Symposium on Robotics and Mechatronics (ISRM 2015). 2015. BibTeX

    @inproceedings{Moulianitis2015isrm,
    	address = "23-25 Jun 2015, Poitiers, France",
    	author = "Moulianitis, Vassilis C. and Kokkinopoulos, Evgenios M. and Aspragathos, Nikos",
    	booktitle = "The 4th IFTOMM International Symposium on Robotics and Mechatronics (ISRM 2015)",
    	title = "A method for the approximation of the multiple IK solutions of regular manipulators based on the uniqueness domains and using MLP",
    	year = 2015
    }
    
  16. Georgia Kritikou, Panagiotis Lazarou and Nikos Aspragathos. Electrostatic Force for Self-alignment of Microparts and Its Dependence on Geometrical and Electrical Parameters. In 4M Conference. 2015. BibTeX

    @inproceedings{Kritikou15-4M,
    	address = "31st March-2nd April, Milan, Italy",
    	author = "Kritikou, Georgia and Lazarou, Panagiotis and Aspragathos, Nikos",
    	booktitle = "4M Conference",
    	title = "Electrostatic Force for Self-alignment of Microparts and Its Dependence on Geometrical and Electrical Parameters",
    	year = 2015
    }
    
  17. Dimitra Triantafyllou and Nikos Aspragathos. Definition and classification of primitives for the robotic unfolding of a piece of clothing. In KEOD 2014, 6th International Conference on Knowledge Engineering and Ontology Development. 2014. BibTeX

    @inproceedings{Triantafyllou2014a,
    	address = "Rome, Italy 14 - 16 October 2014",
    	author = "Triantafyllou, Dimitra and Aspragathos, Nikos",
    	booktitle = "KEOD 2014, 6th International Conference on Knowledge Engineering and Ontology Development",
    	title = "Definition and classification of primitives for the robotic unfolding of a piece of clothing",
    	year = 2014
    }
    
  18. Elias K Xidias and Nikos Aspragathos. Time Optimal Manipulations with 3D Hyper Redundant Manipulators amidst Narrow Passages. In ROMANSY-2014,XX CISM-IFToMM SYMPOSIUM on Theory and Practice of Robots and Manipulators. 2014. BibTeX

    @inproceedings{Xidias2014r,
    	address = "Moscow, 23-26 June 2014",
    	author = "Xidias, Elias K and Aspragathos, Nikos",
    	booktitle = "ROMANSY-2014,XX CISM-IFToMM SYMPOSIUM on Theory and Practice of Robots and Manipulators",
    	title = "Time Optimal Manipulations with 3D Hyper Redundant Manipulators amidst Narrow Passages",
    	year = 2014
    }
    
  19. Fotios Dimeas and Nikos Aspragathos. Fuzzy Learning Variable Admittance Control for Human-Robot Cooperation. In IEEE International Conference on Intelligent Robots and Systems. 2014, 4770–4775. PDF, AbstractThis paper presents a method for variable admittance control in human-robot cooperation tasks, that combines a human-like decision making process and an adaptation algorithm. A Fuzzy Inference System is designed that relies on the measured velocity and the force applied by the operator to modify on-line the damping of the robot admittance, based on expert knowledge for intuitive cooperation. A Fuzzy Model Reference Learning Controller is used to adapt the Fuzzy Inference System according to the minimum jerk trajectory model. To evaluate the performance of the proposed controller a point-to-point cooperation task is conducted with multiple subjects using a KUKA LWR robot. BibTeX

    @inproceedings{Dimeas2014iros,
    	address = "September 13-18, Chicago, IL, USA",
    	author = "Dimeas, Fotios and Aspragathos, Nikos",
    	booktitle = "IEEE International Conference on Intelligent Robots and Systems",
    	pdf = "dimeas2014_iros.pdf",
    	isbn = 9781479969333,
    	pages = "4770--4775",
    	title = "{Fuzzy Learning Variable Admittance Control for Human-Robot Cooperation}",
    	year = 2014,
    	abstract = "This paper presents a method for variable admittance control in human-robot cooperation tasks, that combines a human-like decision making process and an adaptation algorithm. A Fuzzy Inference System is designed that relies on the measured velocity and the force applied by the operator to modify on-line the damping of the robot admittance, based on expert knowledge for intuitive cooperation. A Fuzzy Model Reference Learning Controller is used to adapt the Fuzzy Inference System according to the minimum jerk trajectory model. To evaluate the performance of the proposed controller a point-to-point cooperation task is conducted with multiple subjects using a KUKA LWR robot."
    }
    
  20. Aris I Synodinos and Nikos A Aspragathos. Collision Planner - A Probabilistic Single Stage Smooth Path Planner for Mobile Robots. In Proceedings of the RAAD 2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (34043). 2014. PDF, AbstractIn this paper a path planning algorithm is proposed for mobile robots. The algorithm utilizes piecewise cubic splines to create a smooth path in the 2D workspace of a mobile robot, while specifying targeted random control points based on the collision detection and penetration characteristics of the candidate paths. The main advantage of the proposed method compared to other probabilistic path planners is that the samples generated are taken only in the free space connecting the start and goal configuration, thus utilizing the geometric characteristics to direct the sampling in proper areas. A wavefront inspired searching algorithm, called collision wave, is used to explore the configuration space, that generates feasible paths that can then be sorted according to a metric. The results show that the directed randomness of the control points reduces the required collision checks and the search space towards high efficiency. BibTeX

    @inproceedings{Synodinos2014raad,
    	address = "September 3-5, Slovakia",
    	author = "Synodinos, Aris I and Aspragathos, Nikos A",
    	booktitle = "Proceedings of the RAAD 2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region",
    	pdf = "synodinos2014_raad.pdf",
    	isbn = 9788022742191,
    	number = 34043,
    	title = "{Collision Planner - A Probabilistic Single Stage Smooth Path Planner for Mobile Robots}",
    	year = 2014,
    	abstract = "In this paper a path planning algorithm is proposed for mobile robots. The algorithm utilizes piecewise cubic splines to create a smooth path in the 2D workspace of a mobile robot, while specifying targeted random control points based on the collision detection and penetration characteristics of the candidate paths. The main advantage of the proposed method compared to other probabilistic path planners is that the samples generated are taken only in the free space connecting the start and goal configuration, thus utilizing the geometric characteristics to direct the sampling in proper areas. A wavefront inspired searching algorithm, called collision wave, is used to explore the configuration space, that generates feasible paths that can then be sorted according to a metric. The results show that the directed randomness of the control points reduces the required collision checks and the search space towards high efficiency."
    }
    
  21. Panagiotis N Koustoumpardis, Kostas X Nastos and Nikos A Aspragathos. Underactuated 3-finger robotic gripper for grasping fabrics.. In Proceedings of the RAAD 2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (34043). 2014. PDF, AbstractIn apparel industries, the handling of fabrics still remains a manual work and its automation is a real challenge. In this paper, a three finger gripper is developed for grasping (pinching and clamping) fabrics under different ways. It is inspired by the human fingers movements in order to grasp a piece of fabric that is laid on a table. The conceptualization, the design and the prototype of the gripper are presented, along with the kinematic and static analysis of its mechanism. The proposed versatile gripper is based on a simple mechanism, where the two of the three fingers (pointer and middle) are underactuated by a tendon. Also, the plan for the sequence and the synchronization of the movements of the fingers is defined according to the grasping task. A prototype of the gripper is produced using 3 D printing technique, which keeps the total cost very low. The prototype has been tested experimentally under several grasping tasks, where its agility is demonstrated. BibTeX

    @inproceedings{Koustoumpardis2014raad,
    	address = "September 3-5, Slovakia",
    	author = "Koustoumpardis, Panagiotis N and Nastos, Kostas X and Aspragathos, Nikos A",
    	booktitle = "Proceedings of the RAAD 2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region",
    	pdf = "koust2014_raad.pdf",
    	isbn = 9788022742191,
    	keywords = "fabric cloth handling,grasping,robotic gripper",
    	number = 34043,
    	title = "{Underactuated 3-finger robotic gripper for grasping fabrics.}",
    	year = 2014,
    	abstract = "In apparel industries, the handling of fabrics still remains a manual work and its automation is a real challenge. In this paper, a three finger gripper is developed for grasping (pinching and clamping) fabrics under different ways. It is inspired by the human fingers movements in order to grasp a piece of fabric that is laid on a table. The conceptualization, the design and the prototype of the gripper are presented, along with the kinematic and static analysis of its mechanism. The proposed versatile gripper is based on a simple mechanism, where the two of the three fingers (pointer and middle) are underactuated by a tendon. Also, the plan for the sequence and the synchronization of the movements of the fingers is defined according to the grasping task. A prototype of the gripper is produced using 3 D printing technique, which keeps the total cost very low. The prototype has been tested experimentally under several grasping tasks, where its agility is demonstrated."
    }
    
  22. Vassilis C Moulianitis, Nikos Aspragathos, Aris I Synodinos and Charalampos Valsamos. Task-based optimal design of serial metamorphic manipulators. In Task Based Optimal Design of Robots Workshop, IEEE International Conference on Robotics and Automation. 2014, 1-4. PDF, AbstractIn this paper the key issues for task based optimal design of metamorphic serial manipulators is presented. The key elements, indices as well methods for solving the optimization problem are presented. Finally, conclusions and future research directions are presented. BibTeX

    @inproceedings{Moulianitis2014icra,
    	address = "Hong Kong",
    	author = "Moulianitis, Vassilis C. and Aspragathos, Nikos and Synodinos, Aris I. and Valsamos, Charalampos",
    	booktitle = "Task Based Optimal Design of Robots Workshop, IEEE International Conference on Robotics and Automation",
    	pdf = "Moulianitis2014icra.pdf",
    	pages = "1-4",
    	title = "{Task-based optimal design of serial metamorphic manipulators}",
    	year = 2014,
    	abstract = "In this paper the key issues for task based optimal design of metamorphic serial manipulators is presented. The key elements, indices as well methods for solving the optimization problem are presented. Finally, conclusions and future research directions are presented."
    }
    
  23. I Papanikolaidi, A Synodinos, V C Moulianitis, N Aspragathos and E K Xidias. Optimal Base placement of the Da Vinci System based on the Manipulability Index. In RAAD 2013. 2013, 262-268. PDF, AbstractDuring the preoperative planning of robotically assisted laparoscopic surgery, one of the most critical issues for the success of the surgery is the trocar port placement (the special tools which are entering the patient’s body) and the placement of the entire robotic system (position and orientation). Suitable placement affects the robot’s dexterity, reachability in the surgical field, manipulability and visibility in the workspace which are necessary for the successful outcome of a laparoscopic surgical procedure. Even today, distinguished and experienced surgeons have difficulty solving such problems because of the high redundancy of the robots. The main aim of this study is to propose an approach for suboptimal base placement of the Da Vinci Surgical System, in order to maximize the performance of the robot in the surgical site. An aggregated dexterity measure in surgical points is formulated based on the robot configuration dependent manipulability index. The ADM is used as the objective function for the determination of the best robot base location in order to obtaine high dexterity performance in the surgical operation area. A genetic algorithm is used to search for the optimal base location. BibTeX

    @inproceedings{Papanikolaidi2013a,
    	author = "I. Papanikolaidi and A. Synodinos and V.C. Moulianitis and N. Aspragathos and E.K. Xidias",
    	booktitle = "RAAD 2013",
    	title = "{Optimal Base placement of the Da Vinci System based on the Manipulability Index}",
    	year = 2013,
    	pages = "262-268",
    	pdf = "The_Da_Vinci_System_final.pdf",
    	abstract = "During the preoperative planning of robotically assisted laparoscopic surgery, one of the most critical issues for the success of the surgery is the trocar port placement (the special tools which are entering the patient’s body) and the placement of the entire robotic system (position and orientation). Suitable placement affects the robot’s dexterity, reachability in the surgical field, manipulability and visibility in the workspace which are necessary for the successful outcome of a laparoscopic surgical procedure. Even today, distinguished and experienced surgeons have difficulty solving such problems because of the high redundancy of the robots. The main aim of this study is to propose an approach for suboptimal base placement of the Da Vinci Surgical System, in order to maximize the performance of the robot in the surgical site. An aggregated dexterity measure in surgical points is formulated based on the robot configuration dependent manipulability index. The ADM is used as the objective function for the determination of the best robot base location in order to obtaine high dexterity performance in the surgical operation area. A genetic algorithm is used to search for the optimal base location."
    }
    
  24. Fotios Dimeas, L D Avendano, Elpida Nasiopoulou and Nikos Aspragathos. Robot Collision Detection based on Fuzzy Identification and Time Series Modeling. In RAAD 2013. 2013, 42-48. PDF, AbstractRobots that share workspace with humans require safety capabilities to identify possible collisions and perform appropriate reactions in order to eliminate the potential injury of a human. For this purpose, an intelligent fuzzy identification method and a time series method are proposed and implemented in this paper. These systems are trained to the robot dynamics with and without collision to be able to detect contacts along the links of the robot. Since the speed of the detection is of critical importance to avoid injuries, attention is paid to recognize a collision as soon as possible. The proposed methods are evaluated in an experimental setup by using a KUKA LWR manipulator and their performance is compared with a model-based approach. BibTeX

    @inproceedings{Dimeas2013a,
    	author = "Dimeas, Fotios and Avendano, L D and Nasiopoulou, Elpida and Aspragathos, Nikos",
    	booktitle = "RAAD 2013",
    	title = "{Robot Collision Detection based on Fuzzy Identification and Time Series Modeling}",
    	year = 2013,
    	pages = "42-48",
    	pdf = "Dimeas_Avendano_Nasiopoulou_Aspragathos_final.pdf",
    	abstract = "Robots that share workspace with humans require safety capabilities to identify possible collisions and perform appropriate reactions in order to eliminate the potential injury of a human. For this purpose, an intelligent fuzzy identification method and a time series method are proposed and implemented in this paper. These systems are trained to the robot dynamics with and without collision to be able to detect contacts along the links of the robot. Since the speed of the detection is of critical importance to avoid injuries, attention is paid to recognize a collision as soon as possible. The proposed methods are evaluated in an experimental setup by using a KUKA LWR manipulator and their performance is compared with a model-based approach."
    }
    
  25. Fotios Dimeas, Dhionis V Sako, Vassilis C Moulianitis and Nikos Aspragathos. Towards designing a robot gripper for efficient strawberry harvesting. In RAAD 2013. 2013, 220-226. PDF, AbstractStrawberry is a very delicate fruit that requires special treatment during harvesting. It this paper, a strawberry gripper is developed for picking by investigating the hand motion of a skilled worker. It is demonstrated that the hand motion for detaching the fruit from the stem has a significant role in the process because it can reduce the required force and consequently the damage to the fruit. Experiments are conducted using a robot arm and force sensors to measure the maximum gripping force and the required detachment force under a variety of detachment ways and gripping materials. By analyzing those results a prototype of a simple and economic gripper is developed that demonstrates an efficiency comparable to the human hand for this task. BibTeX

    @inproceedings{Dimeas2013b,
    	author = "Dimeas, Fotios and Sako, Dhionis V and Moulianitis, Vassilis C and Aspragathos, Nikos",
    	booktitle = "RAAD 2013",
    	title = "{Towards designing a robot gripper for efficient strawberry harvesting}",
    	year = 2013,
    	pages = "220-226",
    	pdf = "Dimeas_Sako_Moulianitis_Aspragathos_final.pdf",
    	abstract = "Strawberry is a very delicate fruit that requires special treatment during harvesting. It this paper, a strawberry gripper is developed for picking by investigating the hand motion of a skilled worker. It is demonstrated that the hand motion for detaching the fruit from the stem has a significant role in the process because it can reduce the required force and consequently the damage to the fruit. Experiments are conducted using a robot arm and force sensors to measure the maximum gripping force and the required detachment force under a variety of detachment ways and gripping materials. By analyzing those results a prototype of a simple and economic gripper is developed that demonstrates an efficiency comparable to the human hand for this task."
    }
    
  26. V Moulianitis, V Syrimpeis, N Aspragathos1, E Panagiotopoulos, M Mpasia and I Fournianakis. Expert system for gait event detection based on the gait cycle of both lower limbs. In 19TH CONGRESS OF THE EUROPEAN SOCIETY OF BIOMECHANICS. 2013. BibTeX

    @inproceedings{msapmf13,
    	author = "V. Moulianitis and V. Syrimpeis and N. Aspragathos1 and E. Panagiotopoulos and M. Mpasia and I. Fournianakis",
    	booktitle = "19TH CONGRESS OF THE EUROPEAN SOCIETY OF BIOMECHANICS",
    	publisher = "Patras",
    	title = "Expert system for gait event detection based on the gait cycle of both lower limbs",
    	year = 2013
    }
    
  27. Elias K Xidias and Nikos A Aspragathos. Continuous Curvature Constrained Shortest Path for a Car-Like Robot Using S-Roadmaps. In 21st IEEE Mediterranean Conference on Control and Automation (MED '13). 2013. BibTeX

    @inproceedings{Xidias2013,
    	address = "Herakleion, Greece",
    	author = "Elias K. Xidias and Nikos A. Aspragathos",
    	booktitle = "21st IEEE Mediterranean Conference on Control and Automation (MED '13)",
    	title = "Continuous Curvature Constrained Shortest Path for a Car-Like Robot Using S-Roadmaps",
    	year = 2013
    }
    
  28. Panagiotis Sotiropoulos, Vasileios Kolonias, Nikolaos Aspragathos and Efthymios Housos. Fast UVMS motion planning in CUDA GPUs. In 21st IEEE Mediterranean Conference on Control and Automation (MED '13). 2013. BibTeX

    @inproceedings{Sotirop2013,
    	address = "Herakleion, Greece",
    	author = "Panagiotis Sotiropoulos and Vasileios Kolonias and Nikolaos Aspragathos and Efthymios Housos",
    	booktitle = "21st IEEE Mediterranean Conference on Control and Automation (MED '13)",
    	publisher = "He",
    	title = "Fast UVMS motion planning in CUDA GPUs",
    	year = 2013
    }
    
  29. Julie Dumora, Franck Geffard, Catherine Bidard Nikos Aspragathos and Philippe Fraisse. Assistance adaptation during Human-Robot haptic joint manipulation task. RSS Workshop on Human Robot Collaboration, 2013. BibTeX

    @article{Dumora2013,
    	author = "Julie Dumora and Franck Geffard and Catherine Bidard Nikos Aspragathos and Philippe Fraisse",
    	journal = "RSS Workshop on Human Robot Collaboration",
    	title = "Assistance adaptation during Human-Robot haptic joint manipulation task",
    	year = 2013
    }
    
  30. Julie Dumora, Franck Geffard, Catherine Bidard, Nikos A Aspragathos and Philippe Fraisse. Robot Assistance Selection for Large Object Manipulation with a Human. In IEEE SMC 2013 Conference. 2013. BibTeX

    @inproceedings{dgumora13a,
    	author = "Julie Dumora and Franck Geffard and Catherine Bidard and Nikos A. Aspragathos and Philippe Fraisse",
    	booktitle = "IEEE SMC 2013 Conference",
    	title = "Robot Assistance Selection for Large Object Manipulation with a Human",
    	year = 2013
    }
    
  31. Fotios Dimeas, Panagiotis Koustoumpardis and Nikos Aspragathos. Control of a Power Assisted Lifting Device. In RAAD 2012. 2012, 277-283. PDF, AbstractIn this paper, two control schemes for a power assisted lifting device are presented. Such a device can be used to hoist a heavy object in cooperation with a human by reducing the operator’s burden. The proposed system includes an admittance controller that establishes the desired dynamic relationship between the applied force to the object and the motion, while an inner control loop regulates the velocity of the object. For the adaptation to a variety of loads, an online adaption controller is implemented based on a neural network with backpropagation training. Alternatively, a gain scheduling PID controller is designed for the inner loop. This controller measures the object weight and tunes the gains with predefined rules. The performance of these two adaptation methods is demonstrated on an experimental setup and the results are illustrated and discussed at the end of this manuscript. BibTeX

    @inproceedings{Dimeas2012,
    	author = "Dimeas, Fotios and Koustoumpardis, Panagiotis and Aspragathos, Nikos",
    	booktitle = "RAAD 2012",
    	pages = "277-283",
    	title = "{Control of a Power Assisted Lifting Device}",
    	year = 2012,
    	pdf = "Dimeas_Koustoumpardis_Aspragathos_final.pdf",
    	abstract = "In this paper, two control schemes for a power assisted lifting device are presented. Such a device can be used to hoist a heavy object in cooperation with a human by reducing the operator’s burden. The proposed system includes an admittance controller that establishes the desired dynamic relationship between the applied force to the object and the motion, while an inner control loop regulates the velocity of the object. For the adaptation to a variety of loads, an online adaption controller is implemented based on a neural network with backpropagation training. Alternatively, a gain scheduling PID controller is designed for the inner loop. This controller measures the object weight and tunes the gains with predefined rules. The performance of these two adaptation methods is demonstrated on an experimental setup and the results are illustrated and discussed at the end of this manuscript."
    }
    
  32. Julie Dumora, Franck Geffard, Nikos A Aspragathos and Philippe Fraisse. Improving co-manipulation of a bulky object with a robot in an a priori unknown task involving rotation and translation. In The 43rd Intl Symp. on Robotics (ISR2012). 2012. BibTeX

    @inproceedings{dumora12,
    	address = "Taipei, Taiwan",
    	author = "Julie Dumora and Franck Geffard and Nikos A. Aspragathos and Philippe Fraisse",
    	booktitle = "The 43rd Intl Symp. on Robotics (ISR2012)",
    	month = "Aug. 29-31",
    	title = "Improving co-manipulation of a bulky object with a robot in an a priori unknown task involving rotation and translation",
    	year = 2012
    }
    
  33. Panos Lazarou, Nikolaos Aspragathos, Johan Dalin and Jürgen Wilde. Programmable platform for micromanipulation with electrostatic forces. In IWMF2012 8th INTERNATIONAL WORKSHOP ON MICROFACTORIES JUNTAMPERE. 2012. BibTeX

    @inproceedings{lazar12,
    	address = "FINLAND",
    	author = "Panos Lazarou and Nikolaos Aspragathos and Johan Dalin and Jürgen Wilde",
    	booktitle = "IWMF2012 8th INTERNATIONAL WORKSHOP ON MICROFACTORIES JUNTAMPERE",
    	title = "Programmable platform for micromanipulation with electrostatic forces",
    	year = 2012
    }
    
  34. Panagiotis Sotiropoulos and Nikolaos Aspragkathos Franck Geffard. High Dexterity Docking of an UUV by Fast Determination of the Area Manipulability Measure of the Arm Using ANN. In SYROCO '12. 2012. BibTeX

    @inproceedings{sotirop12,
    	author = "Panagiotis Sotiropoulos and Nikolaos Aspragkathos Franck Geffard",
    	booktitle = "SYROCO '12",
    	title = "High Dexterity Docking of an UUV by Fast Determination of the Area Manipulability Measure of the Arm Using ANN",
    	year = 2012
    }
    
  35. P N Koustoumpardis and N A Aspragathos. Interactive robot handling of non-rigid materials (fabrics and cloths). In Les Journées Nationales de la Robotique Interactive, Paris. 2011. BibTeX

    @conference{Koustoumpardis2045311486,
    	author = "Koustoumpardis, P.N. and Aspragathos, N.A.",
    	title = "Interactive robot handling of non-rigid materials (fabrics and cloths)",
    	booktitle = "Les Journées Nationales de la Robotique Interactive, Paris",
    	year = 2011,
    	mont = "",
    	affiliation = "Mechanical Engineering and Aeronautics Department, University of Patras Rio Patras, 26504, Greece"
    }
    
  36. V C Moulianitis, V N Syrimpeis, N A Aspragathos and E C Panagiotopoulos. A closed-loop drop-foot correction system with gait event detection from the contralateral lower limb using fuzzy logic. In 10th International Workshop on Biomedical Engineering, BioEng 2011. 2011. URL, AbstractIn the present paper a closed loop fuzzy control scheme for the correction of the drop-foot syndrome is presented. The control scheme is based on EMG signals from the contralateral, unimpaired lower limb and its efficiency is tested by the application of the controller to a simulated bipedal locomotion with one lower limb suffering from the Drop-Foot Syndrome. Two are the major characteristics of the controller: identification of the phase where the stimulation must be provided using EMG signals from the contralateral, unimpaired lower limb and correction of the excitation signal according to the phase using EMG signals from the collateral impaired lower limb. BibTeX

    @conference{Moulianitis2011,
    	author = "Moulianitis, V.C. and Syrimpeis, V.N. and Aspragathos, N.A. and Panagiotopoulos, E.C.",
    	title = "A closed-loop drop-foot correction system with gait event detection from the contralateral lower limb using fuzzy logic",
    	booktitle = "10th International Workshop on Biomedical Engineering, BioEng 2011",
    	year = 2011,
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6079053",
    	affiliation = "Department of Product and Systems Design Engineering, University of the Aegean, 84100 Hellas, Greece; Robotics Group, Mechanical and Aeronautics Engineering Department, University of Patras, 26500 Hellas, Greece; Department of Orthopedics, University Hospital of Patras, 26501 Hellas, Greece",
    	abstract = "In the present paper a closed loop fuzzy control scheme for the correction of the drop-foot syndrome is presented. The control scheme is based on EMG signals from the contralateral, unimpaired lower limb and its efficiency is tested by the application of the controller to a simulated bipedal locomotion with one lower limb suffering from the Drop-Foot Syndrome. Two are the major characteristics of the controller: identification of the phase where the stimulation must be provided using EMG signals from the contralateral, unimpaired lower limb and correction of the excitation signal according to the phase using EMG signals from the collateral impaired lower limb."
    }
    
  37. P N Koustoumpardis and N A Aspragathos. Robotized sewing of fabrics based on a force neural network controller. In L4th International Conference on Intelligent Robotics and Applications, ICIRA 2011. 2011, 486-495. AbstractThe robotized sewing of a wide range of fabrics is presented. A conventional industrial sewing machine in cooperation with a scara robot manipulator is used for producing straight line seams in single pieces of rectangular fabrics. A force controller based on neural networks is implemented in order to control the robot end-effector motion so as to ensure that a desired tensional force is applied to the fabric throughout the process of the sewing. The force controller scheme is designed and closes the loop outside the standard robot control law. All the necessary algorithms are implemented and executed inside the robot's controller board. The 12-specimens of fabrics, which have been used for the robotized sewing experiment, represent a broad range of fabric types and compositions. The seams produced by the robot are compared with seams that are produced by a human operator under the same sewing machine conditions. The results reveal that the seams produced by the robot are comparable with that produced by the human operator and in few cases better. BibTeX

    @conference{Koustoumpardis2011486,
    	author = "Koustoumpardis, P.N. and Aspragathos, N.A.",
    	title = "Robotized sewing of fabrics based on a force neural network controller",
    	booktitle = "L4th International Conference on Intelligent Robotics and Applications, ICIRA 2011",
    	year = 2011,
    	pages = "486-495",
    	affiliation = "Mechanical Engineering and Aeronautics Department, University of Patras Rio Patras, 26504, Greece",
    	abstract = "The robotized sewing of a wide range of fabrics is presented. A conventional industrial sewing machine in cooperation with a scara robot manipulator is used for producing straight line seams in single pieces of rectangular fabrics. A force controller based on neural networks is implemented in order to control the robot end-effector motion so as to ensure that a desired tensional force is applied to the fabric throughout the process of the sewing. The force controller scheme is designed and closes the loop outside the standard robot control law. All the necessary algorithms are implemented and executed inside the robot's controller board. The 12-specimens of fabrics, which have been used for the robotized sewing experiment, represent a broad range of fabric types and compositions. The seams produced by the robot are compared with seams that are produced by a human operator under the same sewing machine conditions. The results reveal that the seams produced by the robot are comparable with that produced by the human operator and in few cases better."
    }
    
  38. D Triantafyllou and N A Aspragathos. A Vision System for the Unfolding of Highly Non-Rigid Objects on a Table by One Manipulator. In 4th International Conference on Intelligent Robotics and Applications, ICIRA 2011. 2011, 509-519. AbstractIn this paper, a systematic approach is presented in order to detect and classify the characteristic features of a folded piece of fabric to be unfolded by a robot. The manipulations can be made by only one manipulator on a working table and with machine vision feedback. The main goal of this method is to detect, evaluate and classify the regions of interest (ROIs) which, in the particular case, are the corners of the fabric lying on the table. BibTeX

    @conference{Triantafyllou2011509,
    	author = "Triantafyllou, D. and Aspragathos, N.A.",
    	title = "A Vision System for the Unfolding of Highly Non-Rigid Objects on a Table by One Manipulator",
    	booktitle = "4th International Conference on Intelligent Robotics and Applications, ICIRA 2011",
    	year = 2011,
    	pages = "509-519",
    	affiliation = "University of Patras, Dept. of Mechanical Engineering and Aeronautics, Robotics Group, Greece",
    	abstract = "In this paper, a systematic approach is presented in order to detect and classify the characteristic features of a folded piece of fabric to be unfolded by a robot. The manipulations can be made by only one manipulator on a working table and with machine vision feedback. The main goal of this method is to detect, evaluate and classify the regions of interest (ROIs) which, in the particular case, are the corners of the fabric lying on the table."
    }
    
  39. D Triantafyllou, P N Koustoumpardis and N A Aspragathos. Model reference fuzzy learning force control for robotized sewing. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011, 1460-1465. URL, AbstractA fuzzy model reference adaptive controller for regulating the fabric's tensional forces applied by a robot during the sewing task is developed. The adaptive fuzzy logic controller closes the loop outside the internal scara robot controller. The robot guides a piece of fabric in a conventional industrial sewing machine while its controller maintains a desired constant tensional force applied to the fabric during the sewing process. In each loop, the proposed controller calculates the appropriate robot end-effector displacement. A force sensor mounted on the wrist of the robot manipulator measures the actual force applied to the fabric, and the formulated force error is used in order to adapt the controllers' parameters. The performance of the controller is investigated experimentally and the results show the effectiveness of the FMRL approach and its wide range of applications. BibTeX

    @conference{Triantafyllou20111460,
    	author = "Triantafyllou, D. and Koustoumpardis, P.N. and Aspragathos, N.A.",
    	title = "Model reference fuzzy learning force control for robotized sewing",
    	booktitle = "2011 19th Mediterranean Conference on Control and Automation, MED 2011",
    	year = 2011,
    	pages = "1460-1465",
    	note = "cited By (since 1996)1",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5983137",
    	affiliation = "Department of Mechanical Engineering and Aeronautics, University of Patras, Greece",
    	abstract = "A fuzzy model reference adaptive controller for regulating the fabric's tensional forces applied by a robot during the sewing task is developed. The adaptive fuzzy logic controller closes the loop outside the internal scara robot controller. The robot guides a piece of fabric in a conventional industrial sewing machine while its controller maintains a desired constant tensional force applied to the fabric during the sewing process. In each loop, the proposed controller calculates the appropriate robot end-effector displacement. A force sensor mounted on the wrist of the robot manipulator measures the actual force applied to the fabric, and the formulated force error is used in order to adapt the controllers' parameters. The performance of the controller is investigated experimentally and the results show the effectiveness of the FMRL approach and its wide range of applications."
    }
    
  40. Aris Synodinos and Nikos Aspragathos. Frame invariance of the dynamic manipulability measure. In Multibody Dynamics 2011 An ECCOMAS Thematic Conference. July 2011. BibTeX

    @inproceedings{synodinosa11,
    	address = "Brussels, Belgium",
    	author = "Aris Synodinos and Nikos Aspragathos",
    	booktitle = "Multibody Dynamics 2011 An ECCOMAS Thematic Conference",
    	month = "July",
    	title = "Frame invariance of the dynamic manipulability measure",
    	year = 2011
    }
    
  41. P Lazarou, N A Aspragathos and E Jung. Micropart Manipulation by Electric Fields and Batch Self-assembly. In 4th Annual Conference, Foundations of Nanoscience (FNANO 07), Self-assembled Architectures and Devices, Snowbird Cliff Lodge, Snowbird, Utah USA. 2010. BibTeX

    @conference{Lazarou200109321,
    	author = "Lazarou, P. and Aspragathos, N.A. and Jung, E.",
    	title = "Micropart Manipulation by Electric Fields and Batch Self-assembly",
    	booktitle = "4th Annual Conference, Foundations of Nanoscience (FNANO 07), Self-assembled Architectures and Devices, Snowbird Cliff Lodge, Snowbird, Utah USA",
    	month = "",
    	year = 2010
    }
    
  42. A Synodinos and N A Aspragathos. Path planning of a mobile robot using solid modeling techniques on potential fields. In Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010. 2010, 549-553. URL, AbstractThis 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. BibTeX

    @conference{Synodinos2010549,
    	author = "Synodinos, A. and Aspragathos, N.A.",
    	title = "Path planning of a mobile robot using solid modeling techniques on potential fields",
    	booktitle = "Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010",
    	year = 2010,
    	pages = "549-553",
    	note = "cited By (since 1996)0",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5552011",
    	affiliation = "Department of Mechanical and Aeronautics Engineering, University of Patras, Greece",
    	abstract = "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."
    }
    
  43. N I Glossas and N A Aspragathos. A cluster based fuzzy controller for grasp and lift fragile objects. In 18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings. 2010, 1139-1144. URL, AbstractIn this paper, an intelligent control architecture based on Fuzzy Logic, for a robotic grasping system capable of lifting and manipulating an uknown and fragile object is presented. A Fuzzy Logic Controller that adjusts the closing velocity of the fingers of a gripper based on clustering is designed. Initially an input-output data set is collected from successful grasp and lifting of a wide range of objects. This input-output data set are used to train the fuzzy controller based on subtractive clustering. The conceptual design of the proposed fuzzy controller is based on the investigation of the neurophysiology of the human fingers in grasping objects without or with minimal knowledge of their characteristics. Particularly for fragile objects the human fingers apply just the required force to hold the object. The proposed fuzzy controller imitates the behaviour of the human control system for grasp and lifting objects but still it is far from reaching this behaviour. Simulated experiments are presented to demostrate the efficiency of the proposed intelligent controller for a wide range of objects weight and texture which are not used in the training of the controller. BibTeX

    @conference{Glossas20101139,
    	author = "Glossas, N.I. and Aspragathos, N.A.",
    	title = "A cluster based fuzzy controller for grasp and lift fragile objects",
    	booktitle = "18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings",
    	year = 2010,
    	pages = "1139-1144",
    	note = "cited By (since 1996)0",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5547640",
    	affiliation = "Mechanical Engineering and Aeronautics Department, University of Patras, 26500 Patras, Greece",
    	abstract = "In this paper, an intelligent control architecture based on Fuzzy Logic, for a robotic grasping system capable of lifting and manipulating an uknown and fragile object is presented. A Fuzzy Logic Controller that adjusts the closing velocity of the fingers of a gripper based on clustering is designed. Initially an input-output data set is collected from successful grasp and lifting of a wide range of objects. This input-output data set are used to train the fuzzy controller based on subtractive clustering. The conceptual design of the proposed fuzzy controller is based on the investigation of the neurophysiology of the human fingers in grasping objects without or with minimal knowledge of their characteristics. Particularly for fragile objects the human fingers apply just the required force to hold the object. The proposed fuzzy controller imitates the behaviour of the human control system for grasp and lifting objects but still it is far from reaching this behaviour. Simulated experiments are presented to demostrate the efficiency of the proposed intelligent controller for a wide range of objects weight and texture which are not used in the training of the controller."
    }
    
  44. Aris Synodinos and Nikos Aspragathos. A fuzzy approximation to the Jacobian condition number. In 6th IPROMS Virtual Conference. 2010. BibTeX

    @inproceedings{synodinos10,
    	author = "Aris Synodinos and Nikos Aspragathos",
    	booktitle = "6th IPROMS Virtual Conference",
    	month = "December 15-26",
    	title = "A fuzzy approximation to the Jacobian condition number",
    	year = 2010
    }
    
  45. P Sotiropoulos, N Aspragathos and F Andritsos. Determination of the optimum docking position of an underwater unmanned vehicle using a genetic algorithm "Best Student Paper Award". In Lecture Notes in Engineering and Computer Science: Proceedings of The World Congress on Engineering and Computer Science 2010. 2010, 340-345. BibTeX

    @inproceedings{sotiroop10,
    	address = "San Francisco, USA",
    	author = "P. Sotiropoulos and N. Aspragathos and F. Andritsos",
    	booktitle = "Lecture Notes in Engineering and Computer Science: Proceedings of The World Congress on Engineering and Computer Science 2010",
    	pages = "340-345",
    	publisher = "WCECS",
    	title = {Determination of the optimum docking position of an underwater unmanned vehicle using a genetic algorithm "Best Student Paper Award"},
    	year = 2010
    }
    
  46. P Lazarou, N A Aspragathos, J Dalin and J Wilde. Simulation of electrostatic self-assembly of micro parts. In International Conferences on Multi-Material Micro Manufacture, 4M/International Conferences on Micro Manufacturing, ICOMM. 2009, 321-324. URL, AbstractSelf-assembly is not widely used in industrial micro-fabrication, although it can simplify processes and lower manufacturing costs. It involves the manipulation and alignment of micro parts onto a substrate without the help of additional machinery and makes it possible to assemble a large number of small devices in parallel. A variety of self-assembly procedures have been introduced, mainly utilizing capillary or electrostatic forces or the gravitation in the micro-scale. A concept for the self-alignment of micro parts on a substrate by means of electrostatic attraction has been previously introduced by the authors [5,6]. The alignment structures on a part and on a substrate are attracted to each other due to electrostatic attraction with this approach. The present publication focuses on the investigation of the kinematics of the moving part during the alignment process through simulations. BibTeX

    @conference{Lazarou2009321,
    	author = "Lazarou, P. and Aspragathos, N.A. and Dalin, J. and Wilde, J.",
    	title = "Simulation of electrostatic self-assembly of micro parts",
    	booktitle = "International Conferences on Multi-Material Micro Manufacture, 4M/International Conferences on Micro Manufacturing, ICOMM",
    	year = 2009,
    	pages = "321-324",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-82755180022&partnerID=40&md5=0c7b7104c3ab7a05582901168c65cbb9",
    	affiliation = "Robotics Group, Department of Mechanical Engineering and Aeronautics, University of Patras, Greece; Assembly and Packaging Technologies, Department of Microsystems Engineering, University of Freiburg, Germany",
    	abstract = "Self-assembly is not widely used in industrial micro-fabrication, although it can simplify processes and lower manufacturing costs. It involves the manipulation and alignment of micro parts onto a substrate without the help of additional machinery and makes it possible to assemble a large number of small devices in parallel. A variety of self-assembly procedures have been introduced, mainly utilizing capillary or electrostatic forces or the gravitation in the micro-scale. A concept for the self-alignment of micro parts on a substrate by means of electrostatic attraction has been previously introduced by the authors [5,6]. The alignment structures on a part and on a substrate are attracted to each other due to electrostatic attraction with this approach. The present publication focuses on the investigation of the kinematics of the moving part during the alignment process through simulations."
    }
    
  47. D D'Addona, R Teti, P N Koustoumpardis and N A Aspragathos. Intelligent evaluation of ultimate strength prediction of composites and fabrics' extensibility. In I*PROMS 2008 Fourth Virtual International Conference on Innovative Production Machines and Systems. 2008. BibTeX

    @inproceedings{Addona08,
    	author = "D. D'Addona and R. Teti and P. N. Koustoumpardis and N. A. Aspragathos",
    	booktitle = "I*PROMS 2008 Fourth Virtual International Conference on Innovative Production Machines and Systems",
    	title = "Intelligent evaluation of ultimate strength prediction of composites and fabrics' extensibility",
    	year = 2008
    }
    
  48. H Valsamos, V Moulianitis and N Aspragathos. A Generalized Method for Solving the Kinematics of 3 D.O.F. Reconfigurable Manipulators. In I*PROMS Virtual Conference. 2009. BibTeX

    @inproceedings{Valsam09,
    	author = "H. Valsamos and V. Moulianitis and N. Aspragathos",
    	booktitle = "I*PROMS Virtual Conference",
    	title = "A Generalized Method for Solving the Kinematics of 3 D.O.F. Reconfigurable Manipulators",
    	year = 2009
    }
    
  49. George I Birbilis and Nikos A Aspragathos. Reactive multi-agent based control of mobile robot chain formations. In IFAC SYROCO '09 Japan. September 2009. BibTeX

    @inproceedings{Birbilis09,
    	author = "George I. Birbilis and Nikos A. Aspragathos",
    	booktitle = "IFAC SYROCO '09 Japan",
    	month = "September",
    	title = "Reactive multi-agent based control of mobile robot chain formations",
    	year = 2009
    }
    
  50. Elias Xidias, Philip Azariadis and Nikos Aspragathos. Time optimum motion planning for a set of car-like robots. In IFAC SYROCO '09 Japan. September 2009. BibTeX

    @inproceedings{Xidias029,
    	author = "Elias Xidias and Philip Azariadis and Nikos Aspragathos",
    	booktitle = "IFAC SYROCO '09 Japan",
    	month = "September",
    	title = "Time optimum motion planning for a set of car-like robots",
    	year = 2009
    }
    
  51. V C Moulianitis, V N Syrimpeis, N A Aspragathos and E C Panagiotopoulos. An Expert System for Supporting the Conceptual Design of Controllers for Lower Limbs Rehabilitation Systems. In MED'09 17th Mediterranean Conference on Control and Automation. June 2009. BibTeX

    @inproceedings{Moulianitisa09,
    	address = "Thessaloniki",
    	author = "V. C. Moulianitis and V. N. Syrimpeis and N. A. Aspragathos and E. C. Panagiotopoulos",
    	booktitle = "MED'09 17th Mediterranean Conference on Control and Automation",
    	month = "June",
    	title = "An Expert System for Supporting the Conceptual Design of Controllers for Lower Limbs Rehabilitation Systems",
    	year = 2009
    }
    
  52. H Valsamos and N Aspragathos. Determination of anatomy and configuration of a reconfigurable manipulator for the optimal manipulability. In Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009. 2009, 505-511. URL, AbstractA procedure for determining the anatomy and configuration of a reconfigurable robot for optimal manipulability at three task points in its workspace is presented. The reconfigurable 6 d.o.f. manipulator is structured using rigid links, active 1 d.o.f. rotational modules and pseudo joints. The reconfiguration of the robot to a new anatomy is achieved via the setting of the pseudo joint variables to the derived value. For the sake of comparing the results regarding the optimal manipulability of a fixed anatomy and a reconfigurable robot for the same task points, the task points are first located in the fixed anatomy manipulator's workspace for optimal manipulability. The anatomy of the reconfigurable manipulator is then determined for the specified point locations. Results for both robot types are compared and discussed. BibTeX

    @conference{Valsamos2009505,
    	author = "Valsamos, H. and Aspragathos, N.",
    	title = "Determination of anatomy and configuration of a reconfigurable manipulator for the optimal manipulability",
    	booktitle = "Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009",
    	year = 2009,
    	pages = "505-511",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-70449098989&partnerID=40&md5=7ec5ec2090e477e542ba68e12b05efc3",
    	affiliation = "Mechanical Engineering and Aeronautics Department, University of Patras, Rio, Achaia, 26500, Greece",
    	abstract = "A procedure for determining the anatomy and configuration of a reconfigurable robot for optimal manipulability at three task points in its workspace is presented. The reconfigurable 6 d.o.f. manipulator is structured using rigid links, active 1 d.o.f. rotational modules and pseudo joints. The reconfiguration of the robot to a new anatomy is achieved via the setting of the pseudo joint variables to the derived value. For the sake of comparing the results regarding the optimal manipulability of a fixed anatomy and a reconfigurable robot for the same task points, the task points are first located in the fixed anatomy manipulator's workspace for optimal manipulability. The anatomy of the reconfigurable manipulator is then determined for the specified point locations. Results for both robot types are compared and discussed."
    }
    
  53. V C Moulianitis, V N Syrimpeis, V Kokkinos, N A Aspragathos and E C Panagiotopoulos. A Closed-Loop Drop-Foot Correction System with Gait Event Detection using Fuzzy Logic. In Mechatronics The 11th Mechatronics Forum Biennial International Conference. 2008. BibTeX

    @inproceedings{Moulianitismskp08,
    	author = "V. C. Moulianitis and V. N. Syrimpeis and V. Kokkinos and N. A. Aspragathos and E. C. Panagiotopoulos",
    	booktitle = "Mechatronics The 11th Mechatronics Forum Biennial International Conference",
    	publisher = "Limerick Ireland",
    	title = "A Closed-Loop Drop-Foot Correction System with Gait Event Detection using Fuzzy Logic",
    	year = 2008
    }
    
  54. Th. P Zacharia and N A Aspragathos. Genetically oriented clustering using variable length chromosomes. In I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems. 2008. BibTeX

    @inproceedings{Zachariaza08,
    	author = "P. Th. Zacharia and N. A. Aspragathos",
    	booktitle = "I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems",
    	month = "July 1-14",
    	title = "Genetically oriented clustering using variable length chromosomes",
    	year = 2008
    }
    
  55. P N Koustoumpardis, N A Aspragathos, D D'Addona and R Teti. Evaluating and Calculating the Properties of Rigid and Non-rigid Materials Via Neural Networks. In 6th CIRP Int Conference. on Intelligent Computation in Manufacturing Engineering - CIRP ICME '08. 2008. BibTeX

    @inproceedings{kadt08,
    	address = "Napoli",
    	author = "P. N. Koustoumpardis and N. A. Aspragathos and D. D'Addona and R. Teti",
    	booktitle = "6th CIRP Int Conference. on Intelligent Computation in Manufacturing Engineering - CIRP ICME '08",
    	month = "23-25 July",
    	title = "Evaluating and Calculating the Properties of Rigid and Non-rigid Materials Via Neural Networks",
    	year = 2008
    }
    
  56. P N Koustoumpardis and N A Aspragathos. Robot-Human Cooperation Holding and Handling a Piece of Fabric. In 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. 2008. BibTeX

    @inproceedings{ka08,
    	address = "Coimbra, Portugal",
    	author = "P. N. Koustoumpardis and N. A. Aspragathos",
    	booktitle = "11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines",
    	month = "8-10 September",
    	publisher = "CLAWAR'2008",
    	title = "Robot-Human Cooperation Holding and Handling a Piece of Fabric",
    	year = 2008
    }
    
  57. Elias K Xidias and Nikos A Aspragathos. Motion Planning Control for Multiple Car-Like Robots Using the Bump-Surface Concept. In European Control Conference 2007 Kos. 2007. BibTeX

    @inproceedings{Xidiasxa07,
    	author = "Elias K. Xidias and Nikos A. Aspragathos",
    	booktitle = "European Control Conference 2007 Kos",
    	month = "July 2-5",
    	publisher = "Greece",
    	title = "Motion Planning Control for Multiple Car-Like Robots Using the Bump-Surface Concept",
    	year = 2007
    }
    
  58. Elias K Xidias, Andreas C Nearchou and Nikos A Aspragathos. Motion Planning in Reconfigurable Manufacturing Environments Using the Bump-Surface Concept. In I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems. 2007. BibTeX

    @inproceedings{xXidiasna07,
    	author = "Elias K. Xidias and Andreas C. Nearchou and Nikos A. Aspragathos",
    	booktitle = "I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems",
    	title = "Motion Planning in Reconfigurable Manufacturing Environments Using the Bump-Surface Concept",
    	year = 2007
    }
    
  59. Th. P Zacharia, E K Xidias and N A Aspragathos. Task scheduling with obstacle avoidance for industrial manipulators operating in 3D environments. In I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems. 2007. BibTeX

    @inproceedings{Zachari07,
    	author = "P. Th. Zacharia and E. K. Xidias and N.A. Aspragathos",
    	booktitle = "I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems",
    	title = "Task scheduling with obstacle avoidance for industrial manipulators operating in 3D environments",
    	year = 2007
    }
    
  60. P Lazarou and N A Aspragathos. Simulation of micropart motion under 2D force fields implemented on a cilia microactuator array. In 4M Conference 2007. 2007. BibTeX

    @inproceedings{laLazarou07,
    	address = "Bulgaria",
    	author = "P. Lazarou and N. A. Aspragathos",
    	booktitle = "4M Conference 2007",
    	month = "October 3-5",
    	publisher = "Borovets",
    	title = "Simulation of micropart motion under 2D force fields implemented on a cilia microactuator array",
    	year = 2007
    }
    
  61. V N Syrimpeis, L L Chiou, V C Moulianitis, N A Aspragathos and E C Panagiotopoulos. On the development of an implantable μ-biomechatronic system for the rehabilitation of lower limb neuro-muscular disabilities. In 4M2007 Conference on Multi-Material Micro Manufacture. 2007. BibTeX

    @inproceedings{scmarimp07,
    	address = "Bulgaria",
    	author = "V. N. Syrimpeis and L. L. Chiou and V. C. Moulianitis and N. A. Aspragathos and E. C Panagiotopoulos",
    	booktitle = "4M2007 Conference on Multi-Material Micro Manufacture",
    	month = "October 3-5",
    	publisher = "Borovets",
    	title = "On the development of an implantable μ-biomechatronic system for the rehabilitation of lower limb neuro-muscular disabilities",
    	year = 2007
    }
    
  62. H Valsamos and N A Aspragathos. Design of a versatile connector for reconfigurable robotic manipulators with articulated anatomies and their kinematic analysis. In I*PROMS '07. 2007. BibTeX

    @inproceedings{valsamip2007,
    	author = "H. Valsamos and N. A. Aspragathos",
    	booktitle = "I*PROMS '07",
    	title = "Design of a versatile connector for reconfigurable robotic manipulators with articulated anatomies and their kinematic analysis",
    	year = 2007
    }
    
  63. P N Koustoumpardis and N A Aspragathos. Neural network force control for robotized handling of fabrics. In ICCAS 2007 - International Conference on Control, Automation and Systems. 2007, 566-571. URL, AbstractA neural network force controller for regulating the fabric's tensional forces applied by a robot in fabric handling tasks is presented. The proposed controller enables the robot to apply a desired constant force to the fabric in a dynamically changing environment (fabric's variable and unknown velocity and length). A force sensor mounted on the wrist of the robot manipulator measures the actual force applied to the fabric, and the formulated force error is used in the backpropagation algorithm which trains the controller. Two real fabric handling examples are presented for testing the effectiveness of the controller, where the robot demonstrates a satisfactory real-time response. The feedforward neural network (FNN) controller is tested and the results are discussed and compared to those obtained using a PID controller under the same conditions. The performance of both controllers is investigated and a computational comparison is carried out. BibTeX

    @conference{Koustoumpardis2007566,
    	author = "Koustoumpardis, P.N. and Aspragathos, N.A.",
    	title = "Neural network force control for robotized handling of fabrics",
    	booktitle = "ICCAS 2007 - International Conference on Control, Automation and Systems",
    	year = 2007,
    	pages = "566-571",
    	note = "cited By (since 1996)2",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4407088",
    	affiliation = "Department of Mechanical Engineering and Aeronautics, University of Patras, Greece",
    	abstract = "A neural network force controller for regulating the fabric's tensional forces applied by a robot in fabric handling tasks is presented. The proposed controller enables the robot to apply a desired constant force to the fabric in a dynamically changing environment (fabric's variable and unknown velocity and length). A force sensor mounted on the wrist of the robot manipulator measures the actual force applied to the fabric, and the formulated force error is used in the backpropagation algorithm which trains the controller. Two real fabric handling examples are presented for testing the effectiveness of the controller, where the robot demonstrates a satisfactory real-time response. The feedforward neural network (FNN) controller is tested and the results are discussed and compared to those obtained using a PID controller under the same conditions. The performance of both controllers is investigated and a computational comparison is carried out."
    }
    
  64. P Lazarou, N Aspragathos and E Jung. Micropart manipulation by electric fields and batch self-assembly. In 4th Conference on Foundations of Nanoscience: Self-Assembled Architectures and Devices, FNANO 2007. 2007, 239-245. URL, AbstractThis paper depicts the concept of micro part manipulation by joint effects of electrowetting, electrical fields and self assembly to achieve a high precision, highly parallel batch assembly of components required to put Microsystems together. The concept of orienting microparts in 3D as well as precision alignment on a temporary precision carrier substrate is described and simulations are performed to identify an optimal configuration of the electrical field. In order to move the microparts, they are included in a liquid droplet of high dielectric constant, allowing for fast movement and easy control. BibTeX

    @conference{Lazarou2007239,
    	author = "Lazarou, P. and Aspragathos, N. and Jung, E.",
    	title = "Micropart manipulation by electric fields and batch self-assembly",
    	booktitle = "4th Conference on Foundations of Nanoscience: Self-Assembled Architectures and Devices, FNANO 2007",
    	year = 2007,
    	pages = "239-245",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-84874670029&partnerID=40&md5=4467ce2cc38c08ca6205f527db490273",
    	affiliation = "Robotics Group, Department of Mechanical Engineering and Aeronautics, University of Patras, Patras, Greece; Chip Interconnection Technologies, Fraunhofer IZM, Berlin, Germany",
    	abstract = "This paper depicts the concept of micro part manipulation by joint effects of electrowetting, electrical fields and self assembly to achieve a high precision, highly parallel batch assembly of components required to put Microsystems together. The concept of orienting microparts in 3D as well as precision alignment on a temporary precision carrier substrate is described and simulations are performed to identify an optimal configuration of the electrical field. In order to move the microparts, they are included in a liquid droplet of high dielectric constant, allowing for fast movement and easy control."
    }
    
  65. G T Zoumponos and N A Aspragathos. Vision aided neuro-fuzzy control for the folding of fabric sheets. In ICCAS 2007 - International Conference on Control, Automation and Systems. 2007, 578-583. URL, AbstractThis paper presents a new manipulator end-effector motion-planning controller, based on fuzzy logic and machine vision, for the folding of fabric sheets. The folding process is analyzed and is divided into three stages, the initial laying, the true folding and the final laying. For each stage, the handling parameters and path domains are identified through experiments. Then, a neuro-fuzzy system is formulated for the off-line motion-planning in each stage and is trained via back-propagation, utilizing the data acquired through experiments. An on-line controller with vision feedback is combined with the neuro-fuzzy to deal with the necessary modifications of the initial path. Two cameras are properly positioned to identify the position of the edges of the fabric, necessary for the vision feedback. The proposed neuro-fuzzy sub-system is then verified for different fabric materials not used for its training. BibTeX

    @conference{Zoumponos2007578,
    	author = "Zoumponos, G.T. and Aspragathos, N.A.",
    	title = "Vision aided neuro-fuzzy control for the folding of fabric sheets",
    	booktitle = "ICCAS 2007 - International Conference on Control, Automation and Systems",
    	year = 2007,
    	pages = "578-583",
    	art_number = 4407090,
    	note = "cited By (since 1996)1",
    	url = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4407090",
    	affiliation = "Department of Mechanical Engineering and Aeronautics, University of Patras, Rion, Greece",
    	abstract = "This paper presents a new manipulator end-effector motion-planning controller, based on fuzzy logic and machine vision, for the folding of fabric sheets. The folding process is analyzed and is divided into three stages, the initial laying, the true folding and the final laying. For each stage, the handling parameters and path domains are identified through experiments. Then, a neuro-fuzzy system is formulated for the off-line motion-planning in each stage and is trained via back-propagation, utilizing the data acquired through experiments. An on-line controller with vision feedback is combined with the neuro-fuzzy to deal with the necessary modifications of the initial path. Two cameras are properly positioned to identify the position of the edges of the fabric, necessary for the vision feedback. The proposed neuro-fuzzy sub-system is then verified for different fabric materials not used for its training."
    }
    
  66. E Xidias, P Zacharia and N Aspragathos. Optimal task scheduling for Coordinate Measuring Machines. In Lamdamap 8th International Conference. 2007. BibTeX

    @inproceedings{xza073454,
    	address = "Cardiff, Wales",
    	author = "E. Xidias and P. Zacharia and N. Aspragathos",
    	booktitle = "Lamdamap 8th International Conference",
    	month = "25-28 June",
    	title = "Optimal task scheduling for Coordinate Measuring Machines",
    	year = 2007
    }
    
  67. L L Chiou, V N Syrimpeis, V C Moulianiti, N A Aspragathos and E C Panagiotopoulos. DESIGN OF A NEURO-FUZZY CONTROLLER FOR THE RESTORATION OF THE DROP-FOOT SYNDROME. In Aνακοίνωση στο 2ο Συνέδριο της Ελληνικής Εταιρείας Εμβιομηχανικής (ΕΛΕΜΒΙΟ). 2007. BibTeX

    @inproceedings{csap07345,
    	address = "Αρχαία Ολυμπία",
    	author = "L. L. Chiou and V. N. Syrimpeis and V. C. Moulianiti and N. A. Aspragathos and E. C. Panagiotopoulos",
    	booktitle = "Aνακοίνωση στο 2ο Συνέδριο της Ελληνικής Εταιρείας Εμβιομηχανικής (ΕΛΕΜΒΙΟ)",
    	title = "DESIGN OF A NEURO-FUZZY CONTROLLER FOR THE RESTORATION OF THE DROP-FOOT SYNDROME",
    	year = 2007
    }
    
  68. V a Moulianitis, K Saridakis, S Papageorgiou, V Syrimpeis, A Dentsoras and N Aspragathos. Application of soft computing techniques in the design of robot grippers. In Proceedings of ICED 2007, the 16th International Conference on Engineering Design DS 42. 2007. URL, AbstractThe present paper presents a system used for performing design by making extended use of soft computing techniques. Throughout the paper the design of robotic grippers for flexible materials is used as a reference design case in both its conceptual and detailed design phases. The system contains three modules. The first module focuses on the conceptual design phase and is used for: a. the generation of a set of feasible solutions (concepts) of grippers for a set of pre-specified requirements which express the handling tasks that the gripper must accomplish and b. for the evaluation of the feasible solutions in order to find the best one according to the designers' experience and some pre-specified criteria. The evaluation process is based on a design index that includes several interacting criteria represented as relationships among fuzzy entities. The concept is then submitted to the second module called Case-DeSC (Case-based Design with Soft Computing). Case-DeSC is dedicated to the development of a detailed parametric design of the gripper concept by utilizing formal design case representation, fuzzy preferences on the design parameters and by searching for optimal solutions by deploying an evolutionary algorithm. The optimal solution passes over to a third module, capable of presenting a 3D visual representation of the parametric gripper concept via Virtual Reality Modelling Language (VRML). The proposed system has been developed in MATLAB. BibTeX

    @conference{Moulianitis2007,
    	author = "Moulianitis, V.a and Saridakis, K. and Papageorgiou, S. and Syrimpeis, V. and Dentsoras, A. and Aspragathos, N.",
    	title = "Application of soft computing techniques in the design of robot grippers",
    	booktitle = "Proceedings of ICED 2007, the 16th International Conference on Engineering Design",
    	year = 2007,
    	volume = "DS 42",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-84862621116&partnerID=40&md5=df6183bfe19b3962ecb8215eb531b57d",
    	affiliation = "University of Patras, Department of Mechanical Engineering and Aeronautics, Patras, 26500, Greece; Dept. of Product and Systems Design Engineering, University of Aegean, Greece",
    	abstract = "The present paper presents a system used for performing design by making extended use of soft computing techniques. Throughout the paper the design of robotic grippers for flexible materials is used as a reference design case in both its conceptual and detailed design phases. The system contains three modules. The first module focuses on the conceptual design phase and is used for: a. the generation of a set of feasible solutions (concepts) of grippers for a set of pre-specified requirements which express the handling tasks that the gripper must accomplish and b. for the evaluation of the feasible solutions in order to find the best one according to the designers' experience and some pre-specified criteria. The evaluation process is based on a design index that includes several interacting criteria represented as relationships among fuzzy entities. The concept is then submitted to the second module called Case-DeSC (Case-based Design with Soft Computing). Case-DeSC is dedicated to the development of a detailed parametric design of the gripper concept by utilizing formal design case representation, fuzzy preferences on the design parameters and by searching for optimal solutions by deploying an evolutionary algorithm. The optimal solution passes over to a third module, capable of presenting a 3D visual representation of the parametric gripper concept via Virtual Reality Modelling Language (VRML). The proposed system has been developed in MATLAB."
    }
    
  69. Elias K Xidias and Nikos A Aspragathos. Force fields with one stable equilibrium for micropart 2D manipulation. In 4M2006 Conference on Multi-Material Micro Manufacture. September 2006. BibTeX

    @inproceedings{xa02346,
    	author = "Elias K. Xidias and Nikos A. Aspragathos",
    	booktitle = "4M2006 Conference on Multi-Material Micro Manufacture",
    	month = "September",
    	title = "Force fields with one stable equilibrium for micropart 2D manipulation",
    	year = 2006
    }
    
  70. Elias K Xidias, Philip N Azariadis and Nikos A Aspragathos. Energy-Minimizing Motion Design for Nonholonomic Robots Amidst Moving Obstacles. In CAD'06. 2006. BibTeX

    @inproceedings{xa42432a,
    	address = "Phucket Island, Thailand",
    	author = "Elias K. Xidias and Philip N. Azariadis and Nikos A. Aspragathos",
    	booktitle = "CAD'06",
    	month = "June 19-23",
    	title = "Energy-Minimizing Motion Design for Nonholonomic Robots Amidst Moving Obstacles",
    	year = 2006
    }
    
  71. Elias K Xidias and Nikos A Aspragathos. Path Planning in Weighted Regions Using the Bump-Surface Concept. In I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems. 2006. BibTeX

    @inproceedings{xa0642423,
    	author = "Elias K. Xidias and Nikos A. Aspragathos",
    	booktitle = "I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems",
    	title = "Path Planning in Weighted Regions Using the Bump-Surface Concept",
    	year = 2006
    }
    
  72. Th. P Zacharia, I G Mariolis, N A Aspragathos and E S Dermatas. Visual servoing controller for robot handling fabrics of curved edges. In I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems. 2006. BibTeX

    @inproceedings{p065452,
    	author = "P. Th. Zacharia and I. G. Mariolis and N.A. Aspragathos and E. S. Dermatas",
    	booktitle = "I*PROMS NoE Virtual International Conference on Intelligent Production Machines and Systems",
    	month = "July 3-14",
    	title = "Visual servoing controller for robot handling fabrics of curved edges",
    	year = 2006
    }
    
  73. P N Koustoumpardis, G T Zoumponos, Th. P Zacharia, I G Mariolis, I Xatzis, G Evangelidis and A Zabetakis. Handling of non-rigid materials with robots (XROMA), application in robotic sewing. In 37th International Symposium on Novelties in Textiles. 2006. BibTeX

    @inproceedings{koust_zoump_zach06,
    	address = "Ljubljana, Slovenia",
    	author = "P.N. Koustoumpardis and G.T. Zoumponos and P. Th. Zacharia and I. G. Mariolis and I. Xatzis and G. Evangelidis and A. Zabetakis",
    	booktitle = "37th International Symposium on Novelties in Textiles",
    	month = "June 15-17",
    	title = "Handling of non-rigid materials with robots (XROMA), application in robotic sewing",
    	year = 2006
    }
    
  74. G I Birbilis and N A Aspragathos. Multi-agent snake-like motion with reactive obstacle avoidance. In I*PROMS 2006 Virtual Conference. 2006. BibTeX

    @inproceedings{ba06234,
    	author = "G. I. Birbilis and N. A. Aspragathos",
    	booktitle = "I*PROMS 2006 Virtual Conference",
    	title = "Multi-agent snake-like motion with reactive obstacle avoidance",
    	year = 2006
    }
    
  75. S G Papageorgiou and N A Aspragathos. Rational Ruled surfaces construction by interpolating dual unit vectors representing lines. In 14th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2006, WSCG'2006 - In Co-operation with EUROGRAPHICS, Full Papers Proceedings. 2006, 141-147. URL, AbstractIn this paper, a new representational model is introduced for the rational family of ruled surfaces in Computer Graphics. The surface parameterization is constructed using the NURBS basis functions and line geometry. The ruled surface is defined by interpolating directly dual unit vectors representing lines, which is a single parametric surface and its shape depends on the control lines. All the advantages of the NURBS basis such as shape control and the local modification property are also applicable and bequeathed to the dual NURBS ruled surface. The problem of drawing the lines defined by dual unit vectors is also resolved. Towards this direction, we propose a simple technique to calculate the surface's striction curve in order to draw the rulings of the surface within the striction curve neighborhood. The on-screen 3D plot of the surface is realized in a pre-defined specific region close to the striction curve. With the proposed technique a natural representation of the ruled surface is derived. The shape of the surface can be intrinsically manipulated via the control lines that possess one more degree of freedom than the control points. Our method can find application not only in CAD but in the areas of NC milling and EDM. BibTeX

    @conference{Papageorgiou2006141,
    	author = "Papageorgiou, S.G. and Aspragathos, N.A.",
    	title = "Rational Ruled surfaces construction by interpolating dual unit vectors representing lines",
    	booktitle = "14th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2006, WSCG'2006 - In Co-operation with EUROGRAPHICS, Full Papers Proceedings",
    	year = 2006,
    	pages = "141-147",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-84861061276&partnerID=40&md5=976a9b30d2e365f91c87b71e9be8f3de",
    	affiliation = "Robotics Group, Department of Mechanical and Aeronautical Engineering, University of Patras, 26500 Patra, Greece",
    	abstract = "In this paper, a new representational model is introduced for the rational family of ruled surfaces in Computer Graphics. The surface parameterization is constructed using the NURBS basis functions and line geometry. The ruled surface is defined by interpolating directly dual unit vectors representing lines, which is a single parametric surface and its shape depends on the control lines. All the advantages of the NURBS basis such as shape control and the local modification property are also applicable and bequeathed to the dual NURBS ruled surface. The problem of drawing the lines defined by dual unit vectors is also resolved. Towards this direction, we propose a simple technique to calculate the surface's striction curve in order to draw the rulings of the surface within the striction curve neighborhood. The on-screen 3D plot of the surface is realized in a pre-defined specific region close to the striction curve. With the proposed technique a natural representation of the ruled surface is derived. The shape of the surface can be intrinsically manipulated via the control lines that possess one more degree of freedom than the control points. Our method can find application not only in CAD but in the areas of NC milling and EDM."
    }
    
  76. V C Moulianitis and N A Aspragathos. Design evaluation with mechatronics index using the discrete choquet integral. In IFAC Proceedings Volumes (IFAC-PapersOnline) 4(PART 1). 2006, 348-353. URL, AbstractIn this paper the mechatronics index for design evaluation is modelled using the discrete Choquet Integral where the interaction among the criteria is taken into account. In use of fuzzy measures the complexity is shown and it is compensated by the richness of them when interactive criteria are modelled. The weighted arithmetic mean and the discrete Choquet Integral are compared for the calculation of the evaluation score in the mechatronics design of grippers for handling fabrics in order to show its effectiveness in the evaluation. BibTeX

    @conference{Moulianitis2006348,
    	author = "Moulianitis, V.C. and Aspragathos, N.A.",
    	title = "Design evaluation with mechatronics index using the discrete choquet integral",
    	booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
    	year = 2006,
    	volume = 4,
    	number = "PART 1",
    	pages = "348-353",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-79961153916&partnerID=40&md5=799b6791226575a4bc1db951d432dd81",
    	affiliation = "University of Patras, Mechanical Engineering and Aeronautics Department, 26500, Patras, Greece",
    	abstract = "In this paper the mechatronics index for design evaluation is modelled using the discrete Choquet Integral where the interaction among the criteria is taken into account. In use of fuzzy measures the complexity is shown and it is compensated by the richness of them when interactive criteria are modelled. The weighted arithmetic mean and the discrete Choquet Integral are compared for the calculation of the evaluation score in the mechatronics design of grippers for handling fabrics in order to show its effectiveness in the evaluation."
    }
    
  77. H Valsamos, Th. Nektarios and N A Aspragathos. Optimal placement of path following robot task using Genetic Algorithms. In IFAC Proceedings Volumes (IFAC-PapersOnline) 8(PART 1). 2006. URL, AbstractOn this paper, the objective is to introduce an optimization algorithm in order to determine the near optimal location of a path following task for a 6 D.O.F. non redundant manipulator, so that its end-effector can follow a given 3D curve and orientation, taking into account the maximization of the robot velocity performance. The optimization is conducted using as an objective function the minimum value of the Manipulator Velocity Ratio (MVR) along the path, producing the largest possible end-effector velocity while maintaining minimum joint speed values. The optimization of the objective function is based on Genetic Algorithms. The minimum of the MVR is determined by a technique which approximates the given path using cubic interpolation for the position and squad interpolation based on quaternions for the orientation. A large number of experiments show the effectiveness of the proposed approach and the most indicative of the results are presented and discussed at the end of the paper. BibTeX

    @conference{Valsamos20406,
    	author = "Valsamos, H. and Nektarios, Th. and Aspragathos, N.A.",
    	title = "Optimal placement of path following robot task using Genetic Algorithms",
    	booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
    	year = 2006,
    	volume = 8,
    	number = "PART 1",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-80051580175&partnerID=40&md5=05d2fbe85af87d8352963ec9bead37cc",
    	affiliation = "Mechanical Engineering Department, University of Patras, Patras, Greece",
    	abstract = "On this paper, the objective is to introduce an optimization algorithm in order to determine the near optimal location of a path following task for a 6 D.O.F. non redundant manipulator, so that its end-effector can follow a given 3D curve and orientation, taking into account the maximization of the robot velocity performance. The optimization is conducted using as an objective function the minimum value of the Manipulator Velocity Ratio (MVR) along the path, producing the largest possible end-effector velocity while maintaining minimum joint speed values. The optimization of the objective function is based on Genetic Algorithms. The minimum of the MVR is determined by a technique which approximates the given path using cubic interpolation for the position and squad interpolation based on quaternions for the orientation. A large number of experiments show the effectiveness of the proposed approach and the most indicative of the results are presented and discussed at the end of the paper."
    }
    
  78. E K Xidias and N A Aspragathos. Motion planning amidst moving obstacles using the Bump-HyperSurface concept. In IFAC Proceedings Volumes (IFAC-PapersOnline) 8(PART 1). 2006. URL, AbstractIn this paper, we introduce a new approach based on the Bump-HyperSurface concept for global trajectory planning of a mobile robot moving in a 2D dynamic environment cluttered with a priori known static and moving obstacles with known trajectories. The proposed method generates a near-time optimal path from a start point to a destination point by performing a search on the Bump-HyperSurface constructed into the configuration-time space. The performance of the proposed method is investigated in simulated 2D environments cluttered with both static and moving obstacles. BibTeX

    @conference{Xidias20046,
    	author = "Xidias, E.K. and Aspragathos, N.A.",
    	title = "Motion planning amidst moving obstacles using the Bump-HyperSurface concept",
    	booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
    	year = 2006,
    	volume = 8,
    	number = "PART 1",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-80051587838&partnerID=40&md5=7b93707761790f3d718237b0dd849592",
    	affiliation = "Mechanical Engineering and Aeronautics Department, University of Patras, 26500 Patras, Greece",
    	abstract = "In this paper, we introduce a new approach based on the Bump-HyperSurface concept for global trajectory planning of a mobile robot moving in a 2D dynamic environment cluttered with a priori known static and moving obstacles with known trajectories. The proposed method generates a near-time optimal path from a start point to a destination point by performing a search on the Bump-HyperSurface constructed into the configuration-time space. The performance of the proposed method is investigated in simulated 2D environments cluttered with both static and moving obstacles."
    }
    
  79. Elias Xidias and Nikos Aspragathos. A stable equilibrium for micropart 2D manipulation using a combination of squeeze fields. In IWMF 2006 5th International Workshop on Microfactories. 2006. BibTeX

    @inproceedings{xa062354,
    	author = "Elias Xidias and Nikos Aspragathos",
    	booktitle = "IWMF 2006 5th International Workshop on Microfactories",
    	month = "25-27 October",
    	title = "A stable equilibrium for micropart 2D manipulation using a combination of squeeze fields",
    	year = 2006
    }
    
  80. H Valsamos and N A Aspragathos. Optimal path following robotic task placement and physical configuration for a reconfigurable robot using genetic algorithms. In Cirp Icme '06 5th Cirp International Seminar On Intelligent Computation In Manufacturing Engineering. 2006, 697-702. BibTeX

    @inproceedings{va062345,
    	author = "H. Valsamos and N. A. Aspragathos",
    	booktitle = "Cirp Icme '06 5th Cirp International Seminar On Intelligent Computation In Manufacturing Engineering",
    	pages = "697-702",
    	title = "Optimal path following robotic task placement and physical configuration for a reconfigurable robot using genetic algorithms",
    	year = 2006
    }
    
  81. Th. P Zacharia, I G Mariolis, N A Aspragathos and E S Dermatas. Polygonal approximation of fabrics with curved edges based on Genetic Algorithms for robot handling towards sewing. In CIRP. 2006, 603-608. BibTeX

    @inproceedings{zmad06,
    	address = "Ischia, Italy",
    	author = "P. Th. Zacharia and I. G. Mariolis and N. A. Aspragathos and E. S. Dermatas",
    	booktitle = "CIRP",
    	month = "25-28 July",
    	pages = "603-608",
    	title = "Polygonal approximation of fabrics with curved edges based on Genetic Algorithms for robot handling towards sewing",
    	year = 2006
    }
    
  82. P Zacharia, G Zoumponos, P Koustoumpardis, A Zampetakis and N Aspragathos. Robot handling of non-rigid materials for the sewing process, accepted for, ,. In ITCDC 2006. 2006. BibTeX

    @inproceedings{zzkza23654,
    	address = "Dubrovnik, Croatia",
    	author = "P. Zacharia and G. Zoumponos and P. Koustoumpardis and A. Zampetakis and N. Aspragathos",
    	booktitle = "ITCDC 2006",
    	month = "8-11 October",
    	title = "Robot handling of non-rigid materials for the sewing process, accepted for, ,",
    	year = 2006
    }
    
  83. S G Papageorgiou and N A Aspragathos. Flank Milling of Ruled Surfaces Based on Line Geometry and Dual NURBS. In CIRP. 2006. BibTeX

    @inproceedings{a06,
    	address = "Ischia, Italy",
    	author = "S. G. Papageorgiou and N. A. Aspragathos",
    	booktitle = "CIRP",
    	month = "25-28 July",
    	title = "Flank Milling of Ruled Surfaces Based on Line Geometry and Dual NURBS",
    	year = 2006
    }
    
  84. V Syrimpeis, V Moulianitis, E Zerikiotis, N A Aspragathos and E C Panagiotopoulos. A DROP-FOOT SYNDROME CORRECTION SYSTEM BASED IN FUZZY LOGIC. In 5th European Symposium on BioMedical. 2006. BibTeX

    @inproceedings{smzap06,
    	author = "V. Syrimpeis and V. Moulianitis and E. Zerikiotis and N. A. Aspragathos and E. C. Panagiotopoulos",
    	booktitle = "5th European Symposium on BioMedical",
    	publisher = "Engineering ESBME",
    	title = "A DROP-FOOT SYNDROME CORRECTION SYSTEM BASED IN FUZZY LOGIC",
    	year = 2006
    }
    
  85. Vasileios N Syrimpeis, Vasileios C Moulianitis, Nikolaos A Aspragathos and Elias C Panagiotopoulos. A STUDY OF HUMAN LOCOMOTION FOR THE DESIGN OF REHABILITATION SYSTEMS BASED ON FUZZY LOGIC. In 1st Joint ESMAC - GCMAS Meeting (JEGM06) Amsterdam. 2006. BibTeX

    @inproceedings{smap06,
    	address = "Netherlands",
    	author = "Syrimpeis, Vasileios N. and Moulianitis, Vasileios C. and Aspragathos, Nikolaos A. and Panagiotopoulos, Elias C.",
    	booktitle = "1st Joint ESMAC - GCMAS Meeting (JEGM06) Amsterdam",
    	publisher = "28-30 September",
    	title = "A STUDY OF HUMAN LOCOMOTION FOR THE DESIGN OF REHABILITATION SYSTEMS BASED ON FUZZY LOGIC",
    	year = 2006
    }
    
  86. P Lazarou, N Aspragathos and E Jung. Micropart Manipulation by Electric Fields and Batch Self-assembly. In IWMF 2006 International Workshop on Microfactories. 2006. BibTeX

    @inproceedings{laj06,
    	address = "Besancon, France",
    	author = "P. Lazarou and N. Aspragathos and E. Jung",
    	booktitle = "IWMF 2006 International Workshop on Microfactories",
    	month = "25-27 October",
    	publisher = "5th",
    	title = "Micropart Manipulation by Electric Fields and Batch Self-assembly",
    	year = 2006
    }
    
  87. N A Aspragathos. Reconfigurable Robots towards the Manufacturing of the Future. In IPROMS 2005 Virtual Conference. 2005. BibTeX

    @inproceedings{a052543,
    	author = "N. A. Aspragathos",
    	booktitle = "IPROMS 2005 Virtual Conference",
    	month = "July 4-15",
    	title = "Reconfigurable Robots towards the Manufacturing of the Future",
    	year = 2005
    }
    
  88. Th. P Zacharia, Aspragathos N A I. G. Mariolis and E S Dermatas. Visual servoing of a robotic manipulator based on fuzzy logic control for handling fabric lying on a table. In IPROMS 2005 Virtual Conference. 2005. BibTeX

    @inproceedings{zid0225435,
    	author = "P. Th. Zacharia and I. G. Mariolis, N. A. Aspragathos and E. S. Dermatas",
    	booktitle = "IPROMS 2005 Virtual Conference",
    	month = "July 4-15",
    	title = "Visual servoing of a robotic manipulator based on fuzzy logic control for handling fabric lying on a table",
    	year = 2005
    }
    
  89. E Xydias and N Aspragathos. Dynamic Motion Planning for Mobile Robots Using the Bump-Surface Concept. In 2nd European Conference on Mobile Robots. 2005. BibTeX

    @inproceedings{xa527231,
    	author = "E. Xydias and N. Aspragathos",
    	booktitle = "2nd European Conference on Mobile Robots",
    	month = "September 7-10",
    	publisher = "Ancona, Italy",
    	title = "Dynamic Motion Planning for Mobile Robots Using the Bump-Surface Concept",
    	year = 2005
    }
    
  90. G T Zoumponos and N A Aspragathos. A fuzzy robot controller for the placement of fabrics on a work table. In IFAC Proceedings Volumes (IFAC-PapersOnline) 16. 2005, 176-181. URL, Abstractin this paper, a fuzzy system for the control of the task of laying a fabric on a table via a robot is introduced. The task of laying is investigated and the parameters affecting the appropriate guiding of the fabric are identified to formulate the rule base for the fuzzy control system, which is tuned experimentally. The fuzzy control system formed is then verified by testing the laying of fabrics with different characteristics than the ones used in the formulation of the rule base. The conclusions drawn bring forward the future research on the advancement of robot intelligence and flexibility. BibTeX

    @conference{Zoumponos2005176,
    	author = "Zoumponos, G.T. and Aspragathos, N.A.",
    	title = "A fuzzy robot controller for the placement of fabrics on a work table",
    	booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
    	year = 2005,
    	volume = 16,
    	pages = "176-181",
    	note = "cited By (since 1996)1",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-77951935335&partnerID=40&md5=0a90627f7e98d15b0869b35fff587c3d",
    	affiliation = "Mechanical and Aeronautics Engineering Department, Robotics Group, University of Patras, 26500 Rion, Greece",
    	abstract = "in this paper, a fuzzy system for the control of the task of laying a fabric on a table via a robot is introduced. The task of laying is investigated and the parameters affecting the appropriate guiding of the fabric are identified to formulate the rule base for the fuzzy control system, which is tuned experimentally. The fuzzy control system formed is then verified by testing the laying of fabrics with different characteristics than the ones used in the formulation of the rule base. The conclusions drawn bring forward the future research on the advancement of robot intelligence and flexibility."
    }
    
  91. P Lazarou and N A Aspragathos. Three dimensional force fields for micropart manipulation. In 4M 2005 Conference. July 2005. BibTeX

    @inproceedings{la05ertw,
    	author = "P. Lazarou and N. A. Aspragathos",
    	booktitle = "4M 2005 Conference",
    	month = "July",
    	publisher = "Karlsruhe",
    	title = "Three dimensional force fields for micropart manipulation",
    	year = 2005
    }
    
  92. K Papaxrisanthou and N A Aspragathos. Fuzzy control in micropart manipulation using programmable force fields. In 4M 2005 Conference. July 2005. BibTeX

    @inproceedings{pa052340,
    	author = "K. Papaxrisanthou and N. A. Aspragathos",
    	booktitle = "4M 2005 Conference",
    	month = "July",
    	publisher = "Karlsruhe",
    	title = "Fuzzy control in micropart manipulation using programmable force fields",
    	year = 2005
    }
    
  93. P.Th. Zacharia and N A Aspragathos. Optimization of industrial manipulators cycle time based on genetic algorithms. In 2nd IEEE International Conference on Industrial Informatics, INDIN'04. 2004, 517-522. URL, AbstractHigh productivity requires that industrial robots should perform complex tasks in the minimum possible cycle time. The problem of determining the optimum route of a manipulator's end effector visiting a number of task points is an extension of the well-known Travelling Salesman Problem (TSP). Adapting TSP to industrial manipulators task scheduling, the measure to be optimized is the time instead of the distance and the travel time between any two points is affected by the choice of the manipulator's configuration. Therefore, the multiple solutions of the Inverse Kinematics Problem should be taken into account. In this paper, a new method is introduced to solve the scheduling problem for a point-to-point manipulator motion and it can be applied to any non-redundant manipulator. This method is based on Genetic Algorithms and an innovative encoding is introduced to take into account the multiple solutions of the Inverse Kinematics. The results show that the method can determine the optimum sequence of a considerable number of task points for a 6-DOF manipulator. BibTeX

    @conference{Zacharia2004517,
    	author = "Zacharia, P.Th. and Aspragathos, N.A.",
    	title = "Optimization of industrial manipulators cycle time based on genetic algorithms",
    	booktitle = "2nd IEEE International Conference on Industrial Informatics, INDIN'04",
    	year = 2004,
    	pages = "517-522",
    	note = "cited By (since 1996)1",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-28444480717&partnerID=40&md5=418d547a69172535fd107d44e850be3e",
    	affiliation = "Mechanical Engineering and Aeronautics Department, Rion, Patras, Greece",
    	abstract = "High productivity requires that industrial robots should perform complex tasks in the minimum possible cycle time. The problem of determining the optimum route of a manipulator's end effector visiting a number of task points is an extension of the well-known Travelling Salesman Problem (TSP). Adapting TSP to industrial manipulators task scheduling, the measure to be optimized is the time instead of the distance and the travel time between any two points is affected by the choice of the manipulator's configuration. Therefore, the multiple solutions of the Inverse Kinematics Problem should be taken into account. In this paper, a new method is introduced to solve the scheduling problem for a point-to-point manipulator motion and it can be applied to any non-redundant manipulator. This method is based on Genetic Algorithms and an innovative encoding is introduced to take into account the multiple solutions of the Inverse Kinematics. The results show that the method can determine the optimum sequence of a considerable number of task points for a 6-DOF manipulator."
    }
    
  94. G I Birbilis and N A Aspragathos. Multi-Agent Manipulator Control and Moving Obstacle Avoidance. In ARK'04. June 2004. BibTeX

    @inproceedings{ba047457,
    	author = "G. I. Birbilis and N. A. Aspragathos",
    	booktitle = "ARK'04",
    	month = "June",
    	publisher = "Sestri LevanteSestri Levante",
    	title = "Multi-Agent Manipulator Control and Moving Obstacle Avoidance",
    	year = 2004
    }
    
  95. P N Koustoumpardis and N A Aspragathos. A Review of Gripping Devices for Fabric Handling. In IMG04. July 2004. BibTeX

    @inproceedings{ka123412rw,
    	address = "Genova",
    	author = "P. N. Koustoumpardis and N. A. Aspragathos",
    	booktitle = "IMG04",
    	month = "July",
    	title = "A Review of Gripping Devices for Fabric Handling",
    	year = 2004
    }
    
  96. A K Bouganis and N Aspragathos. A genetic algorithm for shortest path planning problem combinning potential. In RAAD '04. 2004. BibTeX

    @inproceedings{ba04243,
    	author = "A. K. Bouganis and N. Aspragathos",
    	booktitle = "RAAD '04",
    	month = "2-5 June",
    	publisher = "Brno",
    	title = "A genetic algorithm for shortest path planning problem combinning potential",
    	year = 2004
    }
    
  97. E Xydias and N Aspragathos. Bump-surfaces for path planning in three dimensional configuration. In RAAD 04. 2004. BibTeX

    @inproceedings{xa045345r,
    	author = "E. Xydias and N. Aspragathos",
    	booktitle = "RAAD 04",
    	month = "2-5 June",
    	publisher = "Brno",
    	title = "Bump-surfaces for path planning in three dimensional configuration",
    	year = 2004
    }
    
  98. G Zoumponos and N A Aspragathos. Design of a Robotic Air-Jet Gripper for Destacking Fabrics. In IMG04. 2004. BibTeX

    @inproceedings{za04453,
    	author = "G. Zoumponos and N. A. Aspragathos",
    	booktitle = "IMG04",
    	month = "1-2 July",
    	publisher = "Genova",
    	title = "Design of a Robotic Air-Jet Gripper for Destacking Fabrics",
    	year = 2004
    }
    
  99. N I Glossas and N A Aspragathos. A hierarchical self-tuning fuzzy controller to grasp and lift fragile objects. In Proceedings of the IASTED International Conference on Intelligent Systems and Control. 2003, 282-287. URL, AbstractThis paper presents the development of a fuzzy control algorithm for a robot gripper, which is able to grasp safely fragile and delicate objects. The goal of this approach is to develop grippers, which can grasp an unknown object applying the minimal required force. The introduced control system is a two-level hierarchical fuzzy controller. The lower level part is a fuzzy controller that adjusts the motion of the fingers of the gripper tuning the applied grasping force. The higher part is a fuzzy decision maker based on Case-Based Reasoning (CBR), which modifies the characteristics of the lower level controller when the grasped object is changed. The proposed approach includes two phases: an off-line training phase and an on-line operation phase. In the first phase, a genetic algorithm is used to optimize the membership functions of the fuzzy controller for a variety of grasped objects, and the obtained results are saved in a database. In the second phase, the CBR is used to determine the appropriate characteristics of the fuzzy controller in order to grasp objects of a wide mass and texture range. Simulated experiments are presented to demonstrate the efficiency of the introduced Self Tuning Fuzzy Logic Controller (STFLC) of a robot gripper, while its performance is compared with a simple Fuzzy Controller. BibTeX

    @conference{Glossas20032822,
    	author = "Glossas, N.I. and Aspragathos, N.A.",
    	title = "A hierarchical self-tuning fuzzy controller to grasp and lift fragile objects",
    	booktitle = "Proceedings of the IASTED International Conference on Intelligent Systems and Control",
    	year = 2003,
    	pages = "282-287",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-1542538525&partnerID=40&md5=62dde3dceb4dabb1903fc2719fc1f153",
    	affiliation = "Mechanical Engineering Department, University of Patras, 26500 Patras, Greece",
    	abstract = "This paper presents the development of a fuzzy control algorithm for a robot gripper, which is able to grasp safely fragile and delicate objects. The goal of this approach is to develop grippers, which can grasp an unknown object applying the minimal required force. The introduced control system is a two-level hierarchical fuzzy controller. The lower level part is a fuzzy controller that adjusts the motion of the fingers of the gripper tuning the applied grasping force. The higher part is a fuzzy decision maker based on Case-Based Reasoning (CBR), which modifies the characteristics of the lower level controller when the grasped object is changed. The proposed approach includes two phases: an off-line training phase and an on-line operation phase. In the first phase, a genetic algorithm is used to optimize the membership functions of the fuzzy controller for a variety of grasped objects, and the obtained results are saved in a database. In the second phase, the CBR is used to determine the appropriate characteristics of the fuzzy controller in order to grasp objects of a wide mass and texture range. Simulated experiments are presented to demonstrate the efficiency of the introduced Self Tuning Fuzzy Logic Controller (STFLC) of a robot gripper, while its performance is compared with a simple Fuzzy Controller."
    }
    
  100. P N Politis, V C Moulianitis and N A Aspragathos. Robot control based on coriolis and centrifugal terms fuzzification. In American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC 70. 2002, 1041-1048. URL, AbstractA new method for on-line tuning the gains of a decentralized PD controller with gravity compensation using fuzzy logic is proposed. The design of the controller is based on the fuzzy description of the robot configuration. The fuzzy inference system keeps track and takes decisions based on the robot configuration and joint velocities to adjust the derivative and proportional gains. The rules governing the controller are derived by studying the effects of the Coriolis and centrifugal terms on the robot dynamic behavior. The gravitational terms are computed using a fuzzy inference system for each joint. This FIS is trained with data taken from the simulated robot. The designed fuzzy-PD controller is compared with a centralized PD control law with gravity compensation and it is found that the fuzzy-PD controller is more robust in facing dynamic uncertainties. A two DOF robotic arm is used to demonstrate the performance of the proposed method for designing a robot controller. BibTeX

    @conference{Politis20021041,
    	author = "Politis, P.N. and Moulianitis, V.C. and Aspragathos, N.A.",
    	title = "Robot control based on coriolis and centrifugal terms fuzzification",
    	booktitle = "American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC",
    	year = 2002,
    	volume = 70,
    	pages = "1041-1048",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-0242635872&partnerID=40&md5=03fb62c5bb872cabce32a2379864c9ea",
    	affiliation = "University of Patras, Mechanical Engineering Dept., Robotics Group, 26110, Patras, Greece",
    	abstract = "A new method for on-line tuning the gains of a decentralized PD controller with gravity compensation using fuzzy logic is proposed. The design of the controller is based on the fuzzy description of the robot configuration. The fuzzy inference system keeps track and takes decisions based on the robot configuration and joint velocities to adjust the derivative and proportional gains. The rules governing the controller are derived by studying the effects of the Coriolis and centrifugal terms on the robot dynamic behavior. The gravitational terms are computed using a fuzzy inference system for each joint. This FIS is trained with data taken from the simulated robot. The designed fuzzy-PD controller is compared with a centralized PD control law with gravity compensation and it is found that the fuzzy-PD controller is more robust in facing dynamic uncertainties. A two DOF robotic arm is used to demonstrate the performance of the proposed method for designing a robot controller."
    }
    
  101. V C Moulianitis and N A Aspragathos. Integration of complexity in a mechatronics index. In Mechatronics '02. 2002, 1494-1502. BibTeX

    @inproceedings{ma023422,
    	address = "The Netherlands",
    	author = "V. C. Moulianitis and N. A. Aspragathos",
    	booktitle = "Mechatronics '02",
    	pages = "1494-1502",
    	publisher = "Twente",
    	title = "Integration of complexity in a mechatronics index",
    	year = 2002
    }
    
  102. Ν I Glossas and N A Aspragathos. Grasp and Rotate Fragile Objects using Fuzzy Control and Tactile Sensors. In European Workshop on Service and Humanoid Robots, Servicerob’2001,. 2001. BibTeX

    @inproceedings{glossasasprag014,
    	author = "Ν.I. Glossas and N.A. Aspragathos",
    	booktitle = "European Workshop on Service and Humanoid Robots, Servicerob’2001,",
    	month = "Santorini Island, Greece, June 25 - 27",
    	title = "Grasp and Rotate Fragile Objects using Fuzzy Control and Tactile Sensors",
    	year = 2001
    }
    
  103. G Rekleitis and N Aspragathos. Optimization of the Cycle Time in a Robotic Workcell Using Genetic Algorithms. In NCMR '01. 2001. BibTeX

    @inproceedings{ra015263,
    	author = "G. Rekleitis and N. Aspragathos",
    	booktitle = "NCMR '01",
    	publisher = "Cardiff",
    	title = "Optimization of the Cycle Time in a Robotic Workcell Using Genetic Algorithms",
    	year = 2001
    }
    
  104. P N Koustoumpardis, L N Misopolinos and N A Aspragathos. Intelligent Vision Determination of Material's Wrinkles in Robotized Handling. In HERCMA '01. 2001. BibTeX

    @inproceedings{kma01,
    	author = "P. N. Koustoumpardis and L. N. Misopolinos and N. A. Aspragathos",
    	booktitle = "HERCMA '01",
    	publisher = "Athens",
    	title = "Intelligent Vision Determination of Material's Wrinkles in Robotized Handling",
    	year = 2001
    }
    
  105. V C Moulianitis, N A Aspragathos and A J Dentsoras. An Index for the Mechatronic Design of Systems and Products. In ASME First National Conference on Recent Advances in Mechanical Engineering. 2001. BibTeX

    @inproceedings{mad0124,
    	address = "Patras",
    	author = "V. C. Moulianitis and N. A. Aspragathos and A. J. Dentsoras",
    	booktitle = "ASME First National Conference on Recent Advances in Mechanical Engineering",
    	title = "An Index for the Mechatronic Design of Systems and Products",
    	year = 2001
    }
    
  106. Panagiotis N Koustoumpardis and Nikos A Aspragathos. Neuro-Control of Force applied by a robot in fabric handling tasks. In MED '00 Patras. 2000. BibTeX

    @inproceedings{ka006234,
    	author = "Panagiotis N. Koustoumpardis and Nikos A. Aspragathos",
    	booktitle = "MED '00 Patras",
    	publisher = "Greece",
    	title = "Neuro-Control of Force applied by a robot in fabric handling tasks",
    	year = 2000
    }
    
  107. V C Moulianitis, Z Zoller, P Zentay, N A Aspragathos, G Arz and A Toth. Knowledge-Aided Conceptual Design of Grippers for Handling Polyurethane Foam Parts. In UMTIK' Ankara. 2000. BibTeX

    @inproceedings{mzzaat0042,
    	author = "V. C. Moulianitis and Z. Zoller and P. Zentay and N. A. Aspragathos and G. Arz and A. Toth",
    	booktitle = "UMTIK' Ankara",
    	publisher = "Turkey",
    	title = "Knowledge-Aided Conceptual Design of Grippers for Handling Polyurethane Foam Parts",
    	year = 2000
    }
    
  108. V C Moulianitis, A J Dentsoras and N A Aspragathos. The Euclidean Space Inner Product in a Heuristic Method for Knowledge-Based Conceptual Design of Robot Grippers. In CACD' 99. 1999, 37-48. BibTeX

    @inproceedings{mda992345,
    	address = "UKLancaster, UK",
    	author = "V. C. Moulianitis and A. J. Dentsoras and N. A. Aspragathos",
    	booktitle = "CACD' 99",
    	pages = "37-48",
    	publisher = "Lancaster",
    	title = "The Euclidean Space Inner Product in a Heuristic Method for Knowledge-Based Conceptual Design of Robot Grippers",
    	year = 1999
    }
    
  109. P N Koustoumpardis and N A Aspragathos. Control and Sensor Integration in Designing Grippers for Handling Fabrics. In RAAD'99. June 1999. BibTeX

    @inproceedings{kni95349,
    	author = "P. N. Koustoumpardis and N. A. Aspragathos",
    	booktitle = "RAAD'99",
    	month = "June",
    	title = "Control and Sensor Integration in Designing Grippers for Handling Fabrics",
    	year = 1999
    }
    
  110. V C Moulianitis, A J Dentsoras and N A Aspragathos. Search method in knowledge-based systems using Euclidean space norm - an application to design of robot grippers. In Applications of Artificial Intelligence in Engineering. 1998, 55-58. URL, AbstractA search method for a knowledge-based system is presented. The method uses the theory of Euclidean space with norm. The method works in multiple hypothesis problems as well as in single one problems with slight modifications. It combines qualitative and quantitative representation of solutions in order to make the interaction with the designer compliant. In addition, it is more flexible since the designer can change the limits that define the solutions. The norm that the method uses can be used to formulate a criterion for further selection of the optimal solution of the problem something that doesn't exists in the conventional knowledge-based systems. BibTeX

    @conference{Moulianitis199855,
    	author = "Moulianitis, V.C. and Dentsoras, A.J. and Aspragathos, N.A.",
    	title = "Search method in knowledge-based systems using Euclidean space norm - an application to design of robot grippers",
    	booktitle = "Applications of Artificial Intelligence in Engineering",
    	year = 1998,
    	pages = "55-58",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-0032284094&partnerID=40&md5=85e8bbd5c0056bcd6e01408f33c90667",
    	affiliation = "Univ of Patras, Patras, Greece",
    	abstract = "A search method for a knowledge-based system is presented. The method uses the theory of Euclidean space with norm. The method works in multiple hypothesis problems as well as in single one problems with slight modifications. It combines qualitative and quantitative representation of solutions in order to make the interaction with the designer compliant. In addition, it is more flexible since the designer can change the limits that define the solutions. The norm that the method uses can be used to formulate a criterion for further selection of the optimal solution of the problem something that doesn't exists in the conventional knowledge-based systems."
    }
    
  111. C J Tsaprounis and N A Aspragathos. Adaptive Tracking Error Controller for Rigid-Link Flexible-Joint Robot Manipulators. In Mechatronics '98. September 1998. BibTeX

    @inproceedings{ta98987234,
    	address = "Skovde, Sweden",
    	author = "C. J. Tsaprounis and N. A. Aspragathos",
    	booktitle = "Mechatronics '98",
    	month = "September",
    	title = "Adaptive Tracking Error Controller for Rigid-Link Flexible-Joint Robot Manipulators",
    	year = 1998
    }
    
  112. C J Tsaprounis and N A Aspragathos. Smooth Sliding Mode Control of Robots with Joint Flexibility. In Euricson '98. June 1998. BibTeX

    @inproceedings{ta98,
    	author = "C. J. Tsaprounis and N. A. Aspragathos",
    	booktitle = "Euricson '98",
    	month = "June",
    	publisher = "Athens",
    	title = "Smooth Sliding Mode Control of Robots with Joint Flexibility",
    	year = 1998
    }
    
  113. F D Repoulias, V C Moulianitis and N A Aspragathos. On-Line Parameter Estimation of a Robot Controller using Fuzy Logic. In LSS'98. July 1998. BibTeX

    @inproceedings{rma98ere,
    	author = "F. D. Repoulias and V. C. Moulianitis and N. A. Aspragathos",
    	booktitle = "LSS'98",
    	month = "July",
    	publisher = "Patras",
    	title = "On-Line Parameter Estimation of a Robot Controller using Fuzy Logic",
    	year = 1998
    }
    
  114. V C Moulianitis, C J Tsaprounis and N A Aspragathos. On line gain adjustment of a robot controller using fuzzy logic. In IFAC SYROCO'97. 1997, 385-390. BibTeX

    @inproceedings{mta9467,
    	address = "Nantes, FranceSYROCO'97, Nantes, France",
    	author = "V. C. Moulianitis and C. J. Tsaprounis and N. A. Aspragathos",
    	booktitle = "IFAC SYROCO'97",
    	pages = "385-390",
    	title = "On line gain adjustment of a robot controller using fuzzy logic",
    	year = 1997
    }
    
  115. P N Azariadis and N Aspragathos. Tools for Designing and Engineering the Plane Patterns of Doubled Curved Surfaces. CADEX' 96, 1996. BibTeX

    @article{aa9236,
    	author = "P. N. Azariadis and N. Aspragathos",
    	journal = "CADEX' 96",
    	month = "9-11 September",
    	title = "Tools for Designing and Engineering the Plane Patterns of Doubled Curved Surfaces",
    	year = 1996
    }
    
  116. C J Tsaprounis, P G Nikolakopoulos, C A Papadopoulos and N A Aspragathos. Fuzzy Control of Vibration of Composite Beams filled with ER-Fluids. In Proceedings of COMADEM'96. 1996. BibTeX

    @inproceedings{tnpa946,
    	address = "Sheffield Sheffield Academic Press",
    	author = "C. J. Tsaprounis and P. G. Nikolakopoulos and C. A. Papadopoulos and N. A. Aspragathos",
    	booktitle = "Proceedings of COMADEM'96",
    	publisher = "Academic Press",
    	title = "Fuzzy Control of Vibration of Composite Beams filled with ER-Fluids",
    	year = 1996
    }
    
  117. C J Tsaprounis, A Dentsoras and N A Aspragathos. A Knowledge-Based Approach for the Generation of Assembly Strategies. In Proceedings of EXPERSYS-96. October 1996, 121-126. BibTeX

    @inproceedings{tda92346,
    	address = "Paris",
    	author = "C. J. Tsaprounis and A. Dentsoras and N. A. Aspragathos",
    	booktitle = "Proceedings of EXPERSYS-96",
    	month = "October",
    	pages = "121-126",
    	title = "A Knowledge-Based Approach for the Generation of Assembly Strategies",
    	year = 1996
    }
    
  118. C J Tsaprounis, N A Aspragathos and A Dentsoras. A Decision-Making System for the Initial Stage Implementation of Assembly Strategies. In 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. 1996. BibTeX

    @inproceedings{tad9316,
    	address = "Italy, JulyUdine, Italy, July 1-4",
    	author = "C. J. Tsaprounis and N. A. Aspragathos and A. Dentsoras",
    	booktitle = "11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators",
    	publisher = "Udine",
    	title = "A Decision-Making System for the Initial Stage Implementation of Assembly Strategies",
    	year = 1996
    }
    
  119. N A Aspragathos. Optimal Location of Path Following Tasks in the Workspace of a Manipulator using Genetic Algorithms. In Recent Advances in Robot Kinematics, Kluwer Academic PublishersPortroz, Slovenia, June 22-26. 1996. BibTeX

    @inproceedings{a9236,
    	author = "N. A. Aspragathos",
    	booktitle = "Recent Advances in Robot Kinematics, Kluwer Academic PublishersPortroz, Slovenia, June 22-26",
    	publisher = "Portroz",
    	title = "Optimal Location of Path Following Tasks in the Workspace of a Manipulator using Genetic Algorithms",
    	year = 1996
    }
    
  120. J N Sarris and N A Aspragathos. Development of a simple anthropomorphic robot hand using shape memory alloys. In IEE Colloquium (Digest) (170). 1995, 16/1-16/3. URL, AbstractThe human hand configuration has been investigated and by similarity its principles of operation are implemented in the construction of a simple robot hand, using Shape Memory Alloys for actuating and Fuzzy Logic for control. In this paper a brief description of the hardware of the developed hand will be presented. BibTeX

    @conference{Sarris1995,
    	author = "Sarris, J.N. and Aspragathos, N.A.",
    	title = "Development of a simple anthropomorphic robot hand using shape memory alloys",
    	booktitle = "IEE Colloquium (Digest)",
    	year = 1995,
    	number = 170,
    	pages = "16/1-16/3",
    	note = "cited By (since 1996)1",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-0029517839&partnerID=40&md5=f6665e5462c12d777b947d63f4a27298",
    	affiliation = "Univ of Patras, Patras, Greece",
    	abstract = "The human hand configuration has been investigated and by similarity its principles of operation are implemented in the construction of a simple robot hand, using Shape Memory Alloys for actuating and Fuzzy Logic for control. In this paper a brief description of the hardware of the developed hand will be presented."
    }
    
  121. Ν Α Aspragathos. Computer Aided Design and Grading of Shoe Patterns. In CAGD From Theory to Practice. 1995. BibTeX

    @inproceedings{asprag95123,
    	address = "NTUA Athens",
    	author = "Ν. Α. Aspragathos",
    	booktitle = "CAGD From Theory to Practice",
    	title = "Computer Aided Design and Grading of Shoe Patterns",
    	year = 1995
    }
    
  122. G Mastorakis and N Aspragathos. Approximate geometric transformation of a complex 3D surface into a plane: Application in shoe pattern design. In AMTECH'95. 1995. BibTeX

    @inproceedings{ma950298324,
    	address = "Rousse, Bulgaria",
    	author = "G. Mastorakis and N. Aspragathos",
    	booktitle = "AMTECH'95",
    	publisher = "Rousse",
    	title = "Approximate geometric transformation of a complex 3D surface into a plane: Application in shoe pattern design",
    	year = 1995
    }
    
  123. E Dermatas, A Nearchou and N Aspragathos. Task oriented neural network solution to the inverse kinematics of manipulators. 1994, 583-588. URL, AbstractIn this paper a task oriented neural network solution to the inverse kinematic problem of redundant manipulators is introduced. To obtain an 'optimum' solution to the problem, two criteria have been taken into account in the formulation of the kinematic control problem. These criteria are the maximisation of the manipulability index and minimisation of the joint displacement. A hybrid non-linear neural network based on error-backpropagation algorithm is used to solve the above problem. The efficiency of the proposed solution is measured in a great number of simulated experiments using PUMA-like redundant manipulators and planar three degrees of freedom manipulator. Finally, the efficiency of the proposed neural network method is compared to a genetic algorithm approach. BibTeX

    @conference{Dermatas1994583,
    	author = "Dermatas, E. and Nearchou, A. and Aspragathos, N.",
    	title = "Task oriented neural network solution to the inverse kinematics of manipulators",
    	year = 1994,
    	pages = "583-588",
    	note = "cited By (since 1996)0",
    	url = "https://www.scopus.com/inward/record.url?eid=2-s2.0-0028758076&partnerID=40&md5=15be47759b0f42b6f1610e90f759319a",
    	affiliation = "Univ of Patras, Patras, Greece",
    	abstract = "In this paper a task oriented neural network solution to the inverse kinematic problem of redundant manipulators is introduced. To obtain an 'optimum' solution to the problem, two criteria have been taken into account in the formulation of the kinematic control problem. These criteria are the maximisation of the manipulability index and minimisation of the joint displacement. A hybrid non-linear neural network based on error-backpropagation algorithm is used to solve the above problem. The efficiency of the proposed solution is measured in a great number of simulated experiments using PUMA-like redundant manipulators and planar three degrees of freedom manipulator. Finally, the efficiency of the proposed neural network method is compared to a genetic algorithm approach."
    }
    
  124. A Nearchou and N Aspragathos. A Collision-Detection Scheme based on Convex-Hulls concept for Generating Kinematically Feasible Trajectories. In Ljubljana Ark'94 (ed.). Advances in Robot Kinematics and Computational Geometry. 1994. BibTeX

    @inproceedings{na9564,
    	author = "A. Nearchou and N. Aspragathos",
    	booktitle = "Advances in Robot Kinematics and Computational Geometry",
    	editor = "Ark'94, Ljubljana",
    	publisher = "Academic Publishers",
    	title = "A Collision-Detection Scheme based on Convex-Hulls concept for Generating Kinematically Feasible Trajectories",
    	year = 1994
    }
    
  125. D Mourtzis, J Psirakis and N Aspragathos. Modelling and Simulation of Apparel Manufacturing Systems. In ASI ' 94. BibTeX

    @inproceedings{mpa,
    	author = "D. Mourtzis and J. Psirakis and N. Aspragathos",
    	booktitle = "ASI ' 94",
    	publisher = "Patras",
    	title = "Modelling and Simulation of Apparel Manufacturing Systems"
    }
    
  126. S Tsalidis and N Aspragathos. Study of Joint Dynamic Models used in Computed-Torque Control of Manipulators. In Mediteranean Symposium on New Directions in Control Theory and Applications. June 1993. BibTeX

    @inproceedings{ta93dfg,
    	author = "S. Tsalidis and N. Aspragathos",
    	booktitle = "Mediteranean Symposium on New Directions in Control Theory and Applications",
    	month = "June",
    	publisher = "Crete",
    	title = "Study of Joint Dynamic Models used in Computed-Torque Control of Manipulators",
    	year = 1993
    }
    
  127. E Dermatas, A Nearchou and N Aspragathos. Solving the Inverse Kinematic Problem of a Robot Arm using the Error Back-propagation Algorithm. In Mediteranean Symposium on New Directions in Control Theory and Applications. June 1993. BibTeX

    @inproceedings{dna932r5,
    	author = "E. Dermatas and A. Nearchou and N. Aspragathos",
    	booktitle = "Mediteranean Symposium on New Directions in Control Theory and Applications",
    	month = "June",
    	publisher = "Crete",
    	title = "Solving the Inverse Kinematic Problem of a Robot Arm using the Error Back-propagation Algorithm",
    	year = 1993
    }
    
  128. N A Aspragathos. Cartesian Path Generation by Robots under Maximum Allowed Deviation. In 3nd International Workshop on Advances in Robot Kinematics, Ferrara Italy. 1992. BibTeX

    @inproceedings{a453t,
    	author = "N. A. Aspragathos",
    	booktitle = "3nd International Workshop on Advances in Robot Kinematics, Ferrara Italy",
    	title = "Cartesian Path Generation by Robots under Maximum Allowed Deviation",
    	year = 1992
    }
    
  129. M Heretakis and N A Aspragathos. Motion Planning and Kinematic Control of Planar Redundant Manipulators Moving in Narrow Paths using Heuristic Methods. In 23rd International Symposium on Industrial Robots. October 1992. BibTeX

    @inproceedings{ha92,
    	address = "OctoberBarcelona (Spain),",
    	author = "M. Heretakis and N. A. Aspragathos",
    	booktitle = "23rd International Symposium on Industrial Robots",
    	month = "October",
    	publisher = "Barcelona (Spain)",
    	title = "Motion Planning and Kinematic Control of Planar Redundant Manipulators Moving in Narrow Paths using Heuristic Methods",
    	year = 1992
    }
    
  130. M Anthimopoulou and N Aspragathos. Kinematic Control of Planar Redundant Manipulators Moving between Obstacles. In Advances in Robot Kinematics, With Emphasis on Symbolic Computation. September 1990, 10-12. BibTeX

    @inproceedings{aa90wre,
    	address = "Linz, , Springer-Verlag.2nd International Workshop on Robot Kinematics, Linz, , Springer-Verlag",
    	author = "M. Anthimopoulou and N. Aspragathos",
    	booktitle = "Advances in Robot Kinematics, With Emphasis on Symbolic Computation",
    	month = "September",
    	pages = "10-12",
    	publisher = "2nd International Workshop on Robot Kinematics",
    	title = "Kinematic Control of Planar Redundant Manipulators Moving between Obstacles",
    	year = 1990
    }
    
  131. G Koras and N A Aspragathos. Drawing Curves on Surfaces. In COMPUGRAPHICS'91. September 1991. BibTeX

    @inproceedings{ka91,
    	address = "Portugal",
    	author = "G. Koras and N. A. Aspragathos",
    	booktitle = "COMPUGRAPHICS'91",
    	month = "September",
    	publisher = "Sesimbra",
    	title = "Drawing Curves on Surfaces",
    	year = 1991
    }
    
  132. P F Rizos, N Aspragathos and A D Dimarogonas. Identification of Crack Location and Magnitude in a Cantilever Beam from its Eigenmodes. In 2nd National Conference on Mechanics. July 1989. BibTeX

    @inproceedings{rad89,
    	author = "P. F. Rizos and N. Aspragathos and A. D. Dimarogonas",
    	booktitle = "2nd National Conference on Mechanics",
    	month = "July",
    	publisher = "Athens",
    	title = "Identification of Crack Location and Magnitude in a Cantilever Beam from its Eigenmodes",
    	year = 1989
    }
    
  133. N A Aspragathos, C J Bland and S H Hopkins. Programmed (Controlled) Compliance of a Micromanipulator for Assembly. In 4th National Conference on Production Research. September 1988. BibTeX

    @inproceedings{abh88,
    	author = "N. A. Aspragathos and C. J. Bland and S. H. Hopkins",
    	booktitle = "4th National Conference on Production Research",
    	month = "September",
    	publisher = "Sheffield",
    	title = "Programmed (Controlled) Compliance of a Micromanipulator for Assembly",
    	year = 1988
    }
    
  134. N A Aspragathos, S H Hopkins and C J Bland. Assembly Strategies Based on Continuous Force/Motion Control. In 19th International Symposium on Allied Technology and Automation. October 1988. BibTeX

    @inproceedings{ahb88,
    	author = "N. A. Aspragathos and S. H. Hopkins and C. J. Bland",
    	booktitle = "19th International Symposium on Allied Technology and Automation",
    	month = "October",
    	publisher = "Monte Carlo",
    	title = "Assembly Strategies Based on Continuous Force/Motion Control",
    	year = 1988
    }
    
  135. N A Aspragathos. Algorithm for Continuous Path Control of Manipulators with Obstacles in the Workspace. In Conference on Control Problems of Industrial Robots. 1987. BibTeX

    @inproceedings{aspragas87,
    	address = "Sophia",
    	author = "N. A. Aspragathos",
    	booktitle = "Conference on Control Problems of Industrial Robots",
    	title = "Algorithm for Continuous Path Control of Manipulators with Obstacles in the Workspace",
    	year = 1987
    }
    
  136. J Kapatou and N A Aspragathos. Torsional Torques on Rotor Shafts of Drive-Systems with Induction Motor due to Subsynchronous Resonance. In ICEM '86. September 1986. BibTeX

    @inproceedings{ka86,
    	author = "J. Kapatou and N. A. Aspragathos",
    	booktitle = "ICEM '86",
    	month = "September",
    	publisher = "Munchen",
    	title = "Torsional Torques on Rotor Shafts of Drive-Systems with Induction Motor due to Subsynchronous Resonance",
    	year = 1986
    }
    
  137. N Aspragathos. The Effects of Series Capacitor Transmission Lines Compensation Degree on the Turbine-Generator Rotor Torsional Stress and Fatigue under Large Scale Electrical Transients. In IEEE MELECON 83. 1983. BibTeX

    @inproceedings{a83452,
    	author = "N. Aspragathos",
    	booktitle = "IEEE MELECON 83",
    	publisher = "Athens",
    	title = "The Effects of Series Capacitor Transmission Lines Compensation Degree on the Turbine-Generator Rotor Torsional Stress and Fatigue under Large Scale Electrical Transients",
    	year = 1983
    }
    
  138. N Anifantis, N Aspragathos and A Dimarogonas. Diagnosis of Cracks due to Earthquakes by Vibration Response Analysis. In 3rd International Sympocium of the IMEKO Technical Committee on Technical Diagnostics. 1983. BibTeX

    @inproceedings{aad83,
    	address = "Moscow, October",
    	author = "N. Anifantis and N. Aspragathos and A. Dimarogonas",
    	booktitle = "3rd International Sympocium of the IMEKO Technical Committee on Technical Diagnostics",
    	title = "Diagnosis of Cracks due to Earthquakes by Vibration Response Analysis",
    	year = 1983
    }
    
  139. N Aspragathos and J Hewit. Kinematic Control of a Planar Manipulator with Access Constraints. Conference on Control Problems of Industrial Robots, October 1983. BibTeX

    @article{ah83346,
    	author = "N. Aspragathos and J. Hewit",
    	journal = "Conference on Control Problems of Industrial Robots",
    	month = "October",
    	title = "Kinematic Control of a Planar Manipulator with Access Constraints",
    	year = 1983
    }
    
  140. N A Aspragathos and A D Dimarogonas. High and Low Cycle Fatigue Damage due to Electric Transients. In International Conference on Electrical Machines Athens Conf. ProcAthens Conf. Proc. 1980, 1374-1381. BibTeX

    @inproceedings{ad80345,
    	author = "N. A. Aspragathos and A. D. Dimarogonas",
    	booktitle = "International Conference on Electrical Machines Athens Conf. ProcAthens Conf. Proc",
    	pages = "1374-1381",
    	title = "High and Low Cycle Fatigue Damage due to Electric Transients",
    	year = 1980
    }