Welcome to my personal website!
I am a passionate, self-motivated and ambitious research engineer working on Robotic On-Orbit Servicing and my dream is to work as an engineer for On-Orbit Servicing missions.
Currently, I am a Researcher/PhD Student in the field of Space Robotics and On-Orbit Servicing in the School of Mechanical Engineering in the National Technical University of Athens.
Since March 2019, I am working as a Research Associate Engineer in the NTUA team for the ESA’s project “On-Board System Identification for Uncertainty Modelling & Characterization".
IEEE International Conference on Robotics and Automation (ICRA) 2020
Robotics: Science and Systems (RSS) 2020
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
MY LATEST RESEARCH
A method for identifying the full set of inertial parameters of a space object on orbit is developed, which is applicable at the pre-capture phase. The method’s objective is to reduce the risk during the capture phase, the most critical of a mission. Using data from visual and force sensors, the object’s center of mass, mass and moments of inertia are estimated. No information about accelerations, which contain substantial noise, is required. The proposed method is validated by a numerical simulation in MSC Adams and followed by the experimental identification of a floating passive object, part of the NTUA Space Emulator System. This work was published and presented in i-SAIRAS 2018.
The experimental validation of the parameter estimation method for space manipulator systems on orbit that I developed, was accomplished. Establishing the theoretical background for space missions using computer simulation exclusively is insufficient. The complicated tasks being performed in Active Debris Removal (ADR) and On-Orbit Servicing (OOS) missions demand on-earth planning and validation, leading to the need for laboratory emulation of the environment of space. Hence, the proposed identification method has been used for the experimental estimation of the NTUA’s Space Emulator “Cepheus” full free-floating dynamics and its effectiveness was verified. This work was published and presented in ASTRA 2017.
A novel parameter estimation method is developed which is based on the conservation of the angular momentum of a space manipulator system in the free-floating mode. The estimated parameters render the system full dynamics identified and applicable to model-based control. The algorithm requires only measurements of joint angles and rates, and spacecraft attitude and angular velocity. No information about spacecraft and joint accelerations or joint torques, which include substantial noise, is required. Thus, in contrast to other methods using the equations of motion, this method is insensitive to sensor noise. This work was published and presented in ICRA 2017.
To control a free-floating robotic system with uncertain parameters in On-Orbit Servicing tasks with high accuracy, a fast parameter identification method, previously developed by the authors, is enhanced further and used concurrently with a controller. The method provides accurate parameter estimates, without any prior knowledge of any system dynamic properties. This control scheme compensates for the accumulated angular momentum on the reaction wheels (RWs), which acts as a disturbance to the robotic servicer base. While any controller using parameter information can be used, a transposed Jacobian controller, modified to include RW angular momentum disturbance rejection, is employed here. 3D simulations demonstrate the method’s validity. This work will be published and presented in ICRA 2020.