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

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Mechanical Engineer, MSc.
PhD Student
  
Location:   M²E² Laboratory
Phone:   +(30) 210-772-2643
Email:   georek@central.ntua.gr
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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 on-going PhD Thesis (National Technical University of Athens NTUA, Greece) 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. His current research interests include, besides the aforementioned analysis of the orbital debris removal system, the modelling 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 conference. He has also participated in the construction and the upgrades of the space emulator of the Control Systems Lab of the NTUA. The design and technology used for the construction of the space emulator has also been presented in several conferences, including ESA’s ASTRA 2008. He has participated in a joint project with MIT (2004-2007) on the planning and control of on-orbit servicing space robots and was also member of the CSL-NTUA team that was one of the six shortlisted YES3 Mission Proposals (2006).

Research Interests
  Space Automation & Robotics, Cooperative Robotic Manipulation in Space, On-off Control Hybrid Control and Switched Systems, Design and Control of Mechatronic Systems, Space Technology

Current Work
  Research Area: Space Robotics
  Cooperative Robotic Manipulation of Passive Space Systems

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
  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. and Papadopoulos, E., “On-Orbit Manipulation of Passive Object by Cooperating Free-Flying Servicers,” Proc. IEEE International Conference on Robotics and Automation (ICRA '10), May 2010, Anchorage, Alaska.
  Papadopoulos E, Paraskevas I.S.., Flessa T., Nanos K., Rekleitis G. and Kontolatis I., “Development of Simulator and Emulator System for Space Robot”, 1st Panhellenic Conference on Robotics, Athens, Greece, 23-24 February 2009, (in Greek).
  Papadopoulos E., Paraskevas I.S., Flessa T., Nanos K., Rekleitis G. and Kontolatis I., “Development of Simulator and Emulator System for Space Robot”, 1st Panhellenic Conference on Robotics, Athens, Greece, 23-24 February 2009, (in Greek).
  Papadopoulos, E., Paraskevas, I., Flessa, T., Nanos, K., Rekleitis G. Kontolatis, I.,“The NTUA Space Robot Simulator: Design & Results,” 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2008), 11 - 14 November 2008, ESA/ESTEC, Noordwijk, The Netherlands.
  Rekleitis, G., Paraskevas, I., Psarros, D., Kaliakatsos, I., Roditis, I., Papadopoulos, E., “The NTUA Simulators for Space Robots on Orbit,” 1st Hellenic-European Student Space Science and Technology Symposium, Patras, Greece, 9-11 October 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), June 20-24 2006, Warsaw, Poland.
  Rekleitis, G. Nahon, M. and Saha S. K. "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.
  Rekleitis, G. Aspragathos, N., "Optimization of the Cycle Time in a Robotic Workcell Using Genetic Algorithms," National Conference On Manufacturing Research, Cardiff, 4-6 September 2001

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