National Technical University of Athens - School of Mechanical Engineering
 
Control Systems Lab
Evangelos Papadopoulos Research Group

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  Mechanical Engineer - Post-Doctoral Fellow
Location: Building M, Basement, Room -104
Phone: +(30) 210-772-2643
Email:  georek@central.ntua.gr
Networking: https://www.linkedin.com/in/georgiosrekleitis/

 

Georgios Rekleitis works in the area of robotics since 1999 and the area of space robotics since 2003. As part of his Diploma Thesis (University of Patras, Greece, 2001) he developed a Genetic Algorithm to solve the Travelling Salesman Problem for a manipulator end effector. For his M. Eng. Thesis (McGill University, Canada, 2003) he worked on the kinematics and dynamics of parallel mechanisms as well as of wheeled mobile robots and the evaluation of a mechanism incorporating both, as a novel flight simulator. During his PhD Thesis (National Technical University of Athens NTUA, Greece, 2015) he has worked on the study and evaluation of a model of an on-orbit robotic system, that would be used for the active removal of orbital debris, a work that was presented in the CISM_IFToMM ROMANSY ‘06 conference. Moreover, he studied the modeling and control of a system of cooperating free-flying robots for the cooperative manipulation of a passive object in zero-g, as well as the stability and robustness analysis of the resulting control. Part of this work was presented in the IEEE ICRA ’10, IEEE IROS ’11 and IEEE IROS ‘14 conferences and at the IEEE TAES journal. He has also participated in the construction and the upgrades of the 2D Space Robotics Emulator of the Control Systems Lab of the NTUA, which was used as experimental facility for two European Space Agency (ESA) projects (ASSIST 2015-2017 and COMRADE 2017 - 2018), in which he also participated as a leading researcher. He has also participated in several other projects, including a joint project with MIT (2004-2007) on the planning and control of on-orbit servicing space robots, and the HexaTerra project (2014) on the development of a modular stepping locomotion system (hexapod robot) for installation on subsea trenching machines used for subsea energy cable burial.

 

Research Interests
  Modeling and dynamics of robotic systems, with emphasis on space robotics applications, Space Automation & Robotics.

  Control development, Stability and Robustness analysis of space robotic systems. Nonlinear control analysis, with emphasis in Optimal Control (Model Predictive Control), Robust Control (Sliding Mode Control) and Adaptive Control, and robustness characteristics exploitation of said control schemes.

  Cooperative Robotic Manipulation in Space.

  On-off Control, Hydrid Control and Switched Systems, Stability and Boundedness of Switched Control Systems.

  Space Technology.

  Locomotion of Hexapod Robots, Gait and Leg-sequence optimal selection based on robotic stability, including the effect of external forces and disturbances.

  Design and Control of Mechatronic Systems.

Current Work
  Research Area: Space Robotics

 Cooperative Robotic Manipulation of Passive Space Systems

 Hexapod Robots Locomotion, Gait and Leg-sequence optimal selection



Past Work
  Study and evaluation of a Novel Orbital Debris Robotic Handling System, Parallel Mechanisms, Flight Simulation Mechanisms, Mobile Robotics, Genetic Algorithms, Traveling Salesman Problem

Publications

Tomassini, A., Suatoni, M., Avilés, M., Solway, N., Coxhill, I., Paraskevas, I., Rekleitis, G., Papadopoulos, E., Krenn, R., Brito, A., Sabbatinelli, B., Wollenhaupt, B., Vidal, C., Aziz, S., and Visentin, G., “Towards a Standardized Grasping and Refuelling On-orbit Servicing for GEO Spacecraft,” Acta Atronautica, Vol. 134, Pg. 1–10, May 2017.

 Rekleitis, G. Papadopoulos, E, “On-Orbit Cooperating Space Robotic Servicers Handling a Passive Object”, IEEE Transactions on Aerospace and Electronic Systems, Vol. 51, No. 2, pp. 802 - 814, April 2015.

 Mitros, Z., Rekleitis, G., Patsiaouras I., and Papadopoulos, E., “Impedance control design for on-orbit docking using an analytical and experimental approach,” 25th Mediterranean Conference on Control and Automation (MED ‘17), Valletta, Malta, July 3-6, 2017.

 Aggelopoulou, E., Rekleitis, G., and Papadopoulos, E., “Optimal Leg-Sequence Selection for an Underwater Hexapod Robot in the Presence of Slopes and External Forces,” 25th Mediterranean Conference on Control and Automation (MED ‘17), Valletta, Malta, July 3-6, 2017.

 Tomassini, A., Suatoni, M., Avilés, M., Solway, N., Coxhill, I., Paraskevas, I., Rekleitis, G., Papadopoulos, E., Krenn, R., Brito, A., Sabbatinelli, B., Wollenhaupt, B., Vidal, C., Aziz, S., and Visentin, G., “Testing and Cross-Validation of On-Orbit Servicing System for Geo Spacecraft Refuelling,” 14th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA ‘17), Scheltema, Leiden, the Netherlands, 20-22 June, 2017.

 Rekleitis, G. and Papadopoulos, E., “Motion Capabilities of a Passive Object Handled by Free-Floating Robotic Servicers,” 14th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA ‘17), Scheltema, Leiden, the Netherlands, 20-22 June, 2017.

 Medina, Al., Tomassini, A., Suatoni, M., Solway, N., Coxhill, I., Paraskevas, I.S., Rekleitis, G., Papadopoulos, E., Krenn, R., Brito, A., Sabbatinelli, B., Vidal, C., Benoist, O., Pegg, K., Metzger-Fragnol, N., Visentin, G., “Towards a Standardized Grasping and Refuelling On-Orbit Servicing for GEO Spacecraft”, 66th International Astronautical Congress (IAC), Jerusalem, 12-16 October, 2015, Israel.

 Rekleitis, G. and Papadopoulos, E., “On Controller Parametric Sensitivity of Passive Object Handling in Space by Robotic Servicers,” Proc. of the 2014 International Conference on Intelligent Robots and Systems (IROS '14), Chicago, Illinois, Sept. 14–18, 2014, USA.

 Rekleitis, G. and Papadopoulos, E., “A Comparison of the Use of a Single Large vs a Number of Small Robots in On-Orbit Servicing,” 12th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA ‘13), ESA, ESTEC, Noordwijk, The Netherlands, May 15-17, 2013.

 Flessa, Th., Paraskevas, I., Rekleitis, Y., and Papadopoulos, E., “Localization and Fuel Management Techniques for the NTUA Space Servicer Emulator System,” Proc. International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012), 4-6 September 2012, Turin, Italy.

 Rekleitis, G. Papadopoulos, E, “On On-Orbit Passive Object Handling by Cooperating Space Robotic Servicers”, Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September 25-30, 2011, San Francisco, California, USA.

 Papadopoulos, E., Paraskevas, I. S., Rekleitis, G., Flessa, T., “The NTUA Space Robotics Emulator: Design and Experiments”, IROS 2011 Workshop on Space Robotics Simulation, September 26, 2011, San Francisco, California, USA.

 Rekleitis, G., Papadopoulos, E., “Passive Object Manipulation in Space by Free-Flying Orbital Robots”, 2nd Hellenic Conference on Robotics, Patras, Greece, 9-10 December 2010, (in Greek).

 Rekleitis, G. Papadopoulos, E, “Towards Passive Object On-Orbit Manipulation by Cooperating Free-Flying Robots”, Proc. IEEE International Conference on Robotics and Automation (ICRA '10), May 3-8, 2010, Anchorage, Alaska, USA.

 Papadopoulos E., Paraskevas I.S., Flessa T., Nanos K., Rekleitis G. and Kontolatis I., “Development of Simulator and Emulator System for Space Robot”, 1st Hellenic Conference on Robotics, Athens, Greece, 23-24 February 2009, (in Greek).

 Papadopoulos, E. Paraskevas, I. Flessa, T. Kontolatis, I. Rekleitis G. Nanos, K. “The NTUA Space Robot Simulator: Design & Results”, Poster at the 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation "ASTRA 2008", 11 - 13 November, ESA/ESTEC, Noordwijk, The Netherlands, 2008.

 G. Rekleitis, I Tortopidis, I. Paraskevas, D, Psarros, I Kaliakatsos, I. Roditis, E. Papadopoulos, “The NTUA Simulators for Space Robots On Orbit”, Poster at the 1st Hellenic-European Student Space Science and Technology Symposium, 9 – 11 October, Patras, Greece, 2006.

 Rekleitis, G. and Papadopoulos, E., "On Dynamic Analysis and Control of a Novel Orbital Debris Disposer," Proc. 6th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, (ROMANSY ’06), Warsaw, Poland, June 20-24, 2006.

 G. Rekleitis, M. Nahon, S. K. Saha, "Kinematics and Dynamics Analysis of a Three Legged Parallel Mechanism Actuated by AGVs", 2003 CCToMM (Canadian Committee for the Theory of Machines and Mechanisms) Symposium on Mechanisms, Machines, and Mechatronics. Saint-Hubert (Montreal), Quebec, Canada, May 30, 2003.

 G. Rekleitis, N. Aspragathos, "Optimization of the Cycle Time in a Robotic Workcell Using Genetic Algorithms", National Conference On Manufacturing Research, Cardiff, 4-6 September 2001.

 Rekleitis, G., Vartholomeos, P., Davliakos, I., Chatzakos, P., Papadopoulos, E., “Robotic Systems in Manufacturing”, Plant Management Magazine, vol. 195, pp. 70-75, July-September 2006.

 

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