RESEARCH INTERESTS TEACHING INTERESTS RESEARCH ...

George Nikolakopoulos PhD - Resume 

George Nikolakopoulos, PhD 

University of Patras 

Electrical & Computer Engineering Department 

Athinagorou 14-16 

Agios Artemios, 

11632 

GREECE 

Office: +30(210)7625065, +30(2610)996450, FAX:+30(2610)991812 

URL: http://anemos.ece.upatras.gr/index.php/people/post-docs/george-nikolakopoulos 

Personal URL: https://sites.google.com/site/nikolakopoulosgeorge/ 

Date of Birth: 9/10/1976 

Place of Birth: Athens, Greece 

Marital Status: Married 

Nationality: Greek 

Analytical Resume 

Personal Information 

On the 7 th of July 2010, I have been elected as a lecturer in the Vacancy of “Applied 

Networked Systems” at the Department of Electrical & Computer Engineering, University of 

Patras, Greece. 

RESEARCH INTERESTS 

Networked Embedded Controlled Systems, Wireless Sensor Networks and Actuators, 

Mechatronics, Cyber Physical Systems, Applied Robotics, Adaptive Control, System 

Identification Multimedia Wireless Sensor Networks, μ-Actuators, CACSD, Marine Control 

Systems 

TEACHING INTERESTS 

Wireless Sensor Networks and Applications, Automatic Control Systems, Mechatronics, 

Measurement Systems, Robotics 

RESEARCH STATEMENT 

My current and future research plans are targeting the above areas: 

a) Ubiquitous control over cyber physical systems and wireless sensor 

networks and actuators for controlling miniaturized UAVs. 

b) Applying advanced embedded control schemes in mechatronic setups 

(UAVs, AUVs, Mobile robots, SMA actuated fingers and Marine Control). 

c) Designing and experimentally applying Model Predictive Control and 

Constrained Finite Time Optimal Control in industrial and remotely 

operated (networked) automotive setups, such as mobile robots, AUVs, 

SMA actuated hand, and MEMs. 

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d) Cooperating control for fleets of mobile, AUVs, UAVs, networked 

controlled robots 

e) Security in Communications and Control, mainly on the area of Secured 

Wireless Sensor Networks for networked Controlled Systems and Secured 

Visual Feedback 

f) Visual feedback control for mobile mechatronic systems, over wireless 

sensor networks. 

As it can be observed from my CV, I have been always in favor of conducting 

research that targets (where possible) real experimental set‐ups and real industrial 

needs. 

Department of Electrical & 

Computer Engineering, 


Greece 

Department of Electrical & 

Computer Engineering, 


Greece 

EDUCATION 

Ph.D. Dissertation 

“Adaptive Control of Varying Systems” 

Diploma 

(Automatic Control Systems) 

G.P.A. : 7.88/10 

ACADEMIC TEACHING EXPERIENCE 

24/01/2006 

2000 

Duration Description 

21/02/2011 – 31/08/2011 Adjunct Lecturer, Department of Electrical & Computer 

Engineering, University of Patras, Greece 

4/11/2009 – 31/7/2010 

08/10/2009 – 31/07/2010 

14/01/2009-31/8/2009 

13/11/2007-22/2/2008 

2/4/2007-31/8/2007 

«Digital Control Systems» 

Assistant Professor, Faculty of Technological Applications, 

Department of Energy Technology, Technological Institute of 

Athens, Greece 

«Automatic Control Systems» 

Adjunct Lecturer, Department of Electrical & Computer 


-Automatic Control Systems I 

-Automatic Control Systems II 



-Automatic Control Systems I 




-Robust Control 



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RESEARCH EXPERIENCE / PARTICIPATION IN 

RESEARCH PROGRAMS 


24/01/2006- Post Doc Researched at the Laboratory of Automation and Robotics, Department of 

current Electrical and Computer Engineering, University of Patras, Greece 

1/03/2007- Researcher at the R&D Division of ZENON S.A. Robotics and Automation 

31/07/2009 (www.zenon.gr) 

7/2/2006 - Researcher at the Bureau of Research and Technology of the Greek Naval Army 

7/2/2007 (GETEN), Athens, Greece 

Graduate Fellow, (Herakleitos Program), founded by the greek Greek Ministry's of 

1/2003 – 

12/2006 Education, EPEAEK II, contract number #2782#, Design and Development of 

Networked Controlled Systems 

Graduate Fellow, (Karatheodoris Program), Research Committee, University of 

1/2001- 

12/2004 Patras, contract number #2782#, Design and Development of Reconfigurable Control 

Schemes 

Researcher in the Industrial Systems Institute (ISI) for the project “Industrial Control” 

01/04/2008- 

30/10/2008 

01/10/2007 – 

31/07/2009 

01/02/2007 – 

31/07/2009 

01/10/2007- 

31/12/2008 

01/06/2007- 

31/12/2008 

01/10/2005- 

01/5/2006 

01/10/2004- 

30/4/2007 

01/11/2005- 

31/10/2006 

01/09/2001- 

01/07/2003 

1/1999 - 

12/2000 

9/2000- 

11/2000 

Project Manager/Researcher at the European Research Project “CommRob” 

(Advanced Behavior and High-Level Multimodal Communication with and among 

Robots), STREP - IST #045441#, http://www.commrob.eu/ 

Project Manager/Researcher at the European Research Project “C@R” 

(Collaboration at Rural), IP-IST #34921#, http://www.c-rural.eu 

Project Manager/Researcher at the European Research Project “SYMBIOSIS-EU” 

(Scientific Synergism of Nano-Bio-Info-Cogni Science for an Integrated System to 

Monitor Meat Quality and Safety During Production, Storage, and Distribution in the 

EU. STREP, http://www.symbiosis-eu.net/ 

Project Manager/Researcher at the Hellenic Research Project “ΔΙΑΝΟΗΜΑ” (Optical 

Analysis and Sign Recognition for Sign Language Modeling and its Applications in 

Robot Teleoperation” , http://dianoema.zenon.gr/ 

Researcher at the European Research program “COMPASS”, contract number 

#G3RD-CT-2002-00809#, Developing of a sea sick measurement system. 

Researcher at the European Research program “RUNES”, (Reconfigurable 

Ubiquitous Networked Controlled Systems) IST-004536 http://www.ist-runes.org/ 

Researcher at the European Research program “HYCON” (Hybrid Control), FP6-IST- 

511368, http://www.ist-hycon.org/ 

Researcher at the European Project “OPTINAV” (Optimal Navigation) Strep FP6- 

IST-29459, 

http://cordis.europa.eu/fetch?CALLER=PROJ_ICT&ACTION=D&CAT=PROJ&RCN=57179 

Researcher in the European Research Program “WINGEM” (Wind Generators), 

Design and development of algorithms for the fuzzy and neural control of a flywheel. 

Researcher at the European Research Program “PSIM” 

Contract Number #60004# 

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WORKING EXPERIENCE 


Director of the Electrical and Electronic Team at the R&D Division 

of ZENON S.A. Robotics and Automation (www.zenon.gr) 

Director of the R&D Division at Glafcos Marine Ltd. 

(www.glafcos-marine.com) 

Software Manager in the R&D Division of Glafcos Marine Ltd. 

(www.glafcos-marine.com) 

1/10/2007-1/7/2008 

01/10/2005-31/01/2008 

01/11/2003-30/09/2005 

I have participated in the writing (full or partial) of the following successful (funded) research 

proposals in the European Union and in the Greek ministry of Research. 

Project Name Institute/Company Budget 

FLEXA R&D ΖΕΝΟΝ S.A 364800€ 

NANOMA R&D ZENON S.A. 650580€ 

SYMBIOSIS-EU R&D ZENON S.A. 378310€ 

PROMOVEO R&D ZENON S.A. 186000€ 

CONFIDENCE R&D ZENON S.A. 272470€ 

ESA - MANET 

Department of Electrical and 

40000€ 

Intercommunication for Robotic 

AppliCations for Lunar 

Exploration (MIRACLE) 

Computer Engineering 


Greece 

PΕΝΕD 2003– «Design and Department of Electrical and 

27350€ 

Development of an Integrated 

Wireless Adaptive Remote 

Control System with emphasis in 

the Optimization of the Provided 

Quality of Services» 

Computer Engineering 


Greece 

Total: 1919510€ 

PROFESSIONAL SOCIETY MEMBERSHIP 

1. Member of the Technical Chamber of Greece, No: 86205 

2. Member of the Institute of Electrical and Electronic Engineers (IEEE) No: 41636776 

3. Member of the IASTED Technical Committee on Control for the years 2006- 

2009 

4. Member of the European Robotics Platform (EUROP) 

5. Member of the European Robotics Research Network (EURON) 

PARTICIPATION IN INTERNATIONAL PROGRAM 

COMMITTEES (IPC) 

1. Member of the International Program Committee (IPC) for the IASTED 

International Conference, Modeling, Identification and Control (MIC 2008), 

Innsbruck, Austria, February 11-13, 2008 




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5. Member of the International Program Committee (IPC) for the 17th 

Mediterranean Conference on Control and Automation (MED’09), 

Thessaloniki, Greece, June 24-26, 2009. 

6. Member of the International Program Committee (IPC) – Sensors and Sensor 

Network Track, for the 6th IEEE Conference on Automation Science and 

Engineering (CASE2010), Toronto, Canada, August 21-24, 2010. 

7. Member of the International Program Committee (IPC) for the 

“Computational Intelligence and Modern Heuristics in Automation Track” at 

the 15th IEEE International Conference on Emerging Technologies and 

Factory Automation (ETFA’2010) at Bilbao, Spain, 13-17 September 2010. 



Innsbruck, Austria, February 14-16, 2011. 

.ASSOCIATE EDITOR 

1. IEEE American Control Conference (ACC’09), St. Louis, Missouri, USA, 

June 10-12, 2009. 

2. IEEE 17 th International Conference of Electronics, Circuits, and Systems, 

ICECS 2010, Athens, Greece, December 12-15, 2010. 

3. IEEE American Control Conference (ACC’10), Baltimore, Maryland, USA, 

June 30 – July 2, 2010. 

4. IEEE International Conference on Emerging Technologies and Factory 

Automation 2010 (ETFA’2010), Bilbao, Spain, 13-17 September 2010. 

5. IEEE Conference on Automation Science and Engineering (CASE’2010), 

Toronto, Canada, August 21-24, 2010 

6. IEEE American Control Conference (ACC’09), St. Louis, Missouri, USA, 

June 10-12, 2009. 

7. 17th Mediterranean Conference on Control and Automation (MED’09), 

Thessaloniki, Greece, June 24-26, 2009. 

Acting as Reviewer in: 

� Journals 

1. Automatica 

OTHER RESEARCH ACTIVITIES 

Page ��/ 33


2. IEEE Transactions on Automatic Control 

3. IEEE Transactions on Control Systems Technology 

4. IEEE Transactions on Mechatronics 

5. IEEE Transactions on Robotics 

6. International Journal of Control 

7. Mediterranean Journal of Computers and Networks 

8. Reviewer for the IEEE Industrial Electronics Society 

9. Journal of Circuits, Systems and Computers, World Sky Net 

10. Mechatronics Journal, Elsevier 

11. Information Sciences, Elsevier 

12. Mechanical Systems and Signal Processing, Elsevier 

13. Journal of the Franklin Institute, Elsevier 

14. Journal of Aerospace Science and Technology, Elsevier 

15. Journal of Aerospace Engineering, Proceedings of the Mechanical 

Engineers 

16. Journal of Intelligent and Robotic Systems 

� Conferences 

17. Control and Decision Conference 2008, CDC2008 

18. European Control Conference 2003, ECC2003 

19. European Control Conference 2007, ECC2007 

20. International Conference on Control & Automation 2006 

21. Modeling Identification and Control(MIC2007) – IASTED 

22. Modeling Identification and Control(MIC2008) – IASTED 

23. Intelligent Systems and Control(ISC2007) – IASTED 

24. Applied Simulation and Modeling (ASM2007) – IASTED 

25. Control and Application (CA2008) – IASTED 

26. International Conference on Industrial Technology (ICIT2008) – IEEE 

27. 32nd Annual Conference of the IEEE Industrial Electronics Society 

(IECON’06) 

28. 33rd Annual Conference of the IEEE Industrial Electronics Society 

(IECON’07) 

29. IEEE Multi-conference on Systems and Control 2007 (MSC2007) 

30. 17th IFAC World Congress 

31. 5th International Conference on Industrial Informatics (INDIN 2007) 

32. 2007 IEEE International Symposium on Industrial Electronics 

(ISIE2007) 

33. IEEE International Conference on Industrial Technology (ICIT’08) 

34. IEEE International Conference on Industrial Technology (ICIT’09) 

35. American Control Conference (ACC’09) 

36. European Control Conference (ECC’09) 

37. Second International Conference on Robot Communication and 

Coordination (ROBOCOMM’09) 


39. Modeling Identification and Control 2009, MIC2009 

40. IEEE Conference on Automation Science and Engineering 2009, 

CASE2009 

41. Mediterranean Conference on Control and Automation (MED’09) 

42. American Control Conference (ACC’10) 

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43. Mediterranean Conference on Control and Automation (MED’10) 


45. IEEE International Conference on Emerging Technologies and Factory 

Automation (ETFA’2010) 

46. IEEE Global Communication Conference Exhibition & Industry Forum 

(GLOBECOM’2010) 

47. IEEE 3 rd International Symposium on Resilient Control Systems 

(ISRCS’2010) 

48. 19 th Mediterranean Conference on Control and Automation, Corfu, 

Greece, 2011 

49. 50 th IEEE Conference on Decision and Control and European Control 

Conference, Orlando, USA, 2011. 

� Session Chair/Co-Chair 

1. Co-Chair of the session “Networked Control Systems II” of the American 

Control Conference 2007 

2. Chair of the Parallel Session 3a – “Robotics and Automation” in the 7 th 

International Conference on Informatics in Control, Automation and Robotics 

– ICINCO 2010, Funchal Madeira, Portugal, 15-18 June, 2010. 

3. Chair of the , Parallel Session “Autonomous Vehicle Control”, in the 

7 th IFAC Symposium on Intelligent Autonomous Vehicles, Lecce, 

Italy, September 6-8, 2010. 

4. Chair of the session “Space and Air Robotics” in the 2 nd Hellenic 

Conference in Robotics, HEROC’11, Patra, Greece, 9-10, December 

20010. 

AWARDS 

1. Ministry of Merchant Marine Award (1998,1999,2000,2001) 

2. Top 5% in graduating class (1998,99,2000) 

3. Technical Chamber of Greece Award (2000) 

4. IST Best paper award, at the ECC 2003 conference, for the paper that best 

promotes the scopes and the aim of the Information Society Technologies, see 

C14 

5. Journal [J1] ranked in the 25 Most Downloaded paper (Rank 1) in the Journal 

Mathematics and Computers in Simulation during January-May 2003 


Mathematics and Computers in Simulation during January-December 2003 

7. Best presentation award at the ICIT’04 conference, for the C22 publication 


Control Engineering Practice, September 2008 

9. 2 nd Position in the 1 st Greek World Robot Olympiad WRO (Category-Universities) 

(http://www.wrohellas.gr/), 1 May 2009, Technopolis, Gazi, Athens, Greece 

. 

ACADEMIC EXPERIENCE 

Page ��/ 33


10/2000 - 2/2001 Teaching Assistant at Automation Control System Laboratory I, ECE 

Dept., University of Patras.* 

3/2001 - 6/2001 Teaching assistant at Automation Control System Laboratory ΙΙ, ECE 

Dept., University of Patras. 

10/2000 - 5/2001 Design and implementation of internet-based educational Laboratory 

(distance Remote Control and Data Acquisition Systems). 



3/2002 - 6/2002 Teaching assistant at Automation Control System Laboratory ΙΙ, ECE 

Dept., University of Patras. 



3/2002 - 6/2003 Teaching Assistant at Automation Control System Laboratory II, ECE 


2001-2002 Graduate Student Council representative to the Division of Systems 

and Control, ECE Dept., University of Patras 

2001-2002 Graduate Student Council representative to the Senate of the 

Department of Electrical and Computer Engineering, University of 

Patras 

2002-2003 Graduate Student Council representative to the Senate of the 

Department of Electrical and Computer Engineering, University of 

Patras 

2002-2003 Graduate Student Council representative to the comity for the PhD 

Candidates Teaching Assistance program, University of Patras 

Page ��/ 33


PUBLICATIONS 

ARTICLES IN JOURNALS 

[J1] G. Nikolakopoulos, A. Tzes, "Reconfigurable Adaptive Control Based on Lattice 

Filtering", Journal of Mathematics and Computers in Simulation, Vol. 60, No. 3-5, pp. 

303-314, 2002. 

[J2] A. Tzes, G. Nikolakopoulos and I. Koutroulis, "Development and Experimental 

Verification of a Mobile Client-Centric Networked Controlled System", In European 

Journal of Control, Vol.11, No. 3, pp. 229-241, 2005. A shorter version (Paper #227) 

appeared in the Proceedings of the 2003 European Control Conference, Cambridge, 

UK, September 1-7, 2003. (Τhis article received the IST-prize award from EU in 

2003). 

[J3] G. Nikolakopoulos, A. Panousopoulou, and A. Tzes, "Experimental Controller Tuning and 

QoS Optimization of a Wireless Transmission Scheme for Real-Time Remote Control 

Applications", In Control Engineering Practice, Vol. 16, No. 3, pp. 333-346, March, 

2008 

[J4] G. Nikolakopoulos, A. Tzes and Y. Koveos, "Application of Adaptive Lattice Filters to 

Internal Model Control", in the International Journal of Adaptive Control and Signal 

Processing, Vol. 22, No. 6, pp 569-589, September 2007. 

[J5] M. Vagia, G. Nikolakopoulos, and A. Tzes, “Intelligent Robust Controller Design for a 

Micro-Actuator”, in the Intelligent and Robotic Systems Journal, Vol. 47, No. 4, pp. 

299-315, Springer, 2005 

[J6] G. Nikolakopoulos, A. Panousopoulou, A. Tzes and J. Lygeros, “Multi-Hoping Induced 

Gain Scheduling for Wireless Networked Controlled Systems“, in the Asian Journal of 

Control, Vol. 9, No. 4, pp 450-457, December 2007. 

[J7] G. Panousopoulou, G. Nikolakopoulos, A. Tzes and J. Lygeros, "Recent Trends on QoS 

for Networked Controlled Systems", in the Mediterranean Journal of Computer 

Networks, Vol.2, No.1, pp.31-40, 2005. 

[J8] G. Nikolakopoulos and A. Tzes "AR Lattice l-step ahead output uncertainty prediction 

scheme with uncertainty intervals", in the Journal of Circuits, Systems and 

Computers, World Scientific, Vol. 17, No. 5, pp. 893-904, 2008. 

[J9] M. Vagia, G. Nikolakopoulos, A. Tzes “Design of a Robust PID--Control Switching 

Scheme for an Electrostatic micro-actuator”, in Control Engineering Practice, Vol. 16, 

Issue 11, pp. 1321-1328, November 2008. 

[J10] D. Kandris, P. Tsioumas, A. Tzes, G. Nikolakopoulos, and D. Vergados, “Power 

Conservation Through Energy Efficient Routing in Wireless Sensor Networks”, 

Published at Sensors Journal, 2009, Vol. 9, pp 7320-7342, doi:10.3390/s90907320. 

[J11] G. Nikolakopoulos and A. Tzes “Application of Adaptive Lattice Filters for Modal 

Parameter Tracking of a Single Flexible Link Carrying a Shifting Payload”, Accepted 

for publication in the Journal of Mechanical Systems and Signal Processing, Elsevier, 

doi:10.1016/j.ymssp.2009.11.007 

[J12] M. Vagia, Y. Koveos, G. Nikolakopoulos, and A. Tzes “Robust PID controller design for 

an electrostatic microactuator with measurement uncertainties”, accepted for 

publication in IET Control Theory and Applications, 2009. 

[J13] G. Nikolakopoulos, D. Kandris and A. Tzes, “Adaptive Compression of Slowly Varying 

Images Transmitted Over Wireless Sensor Networks”, in Sensors Journal, Vol. 10, 

pp. 7170-7191, 2010, doi:10.3390/s100807170. 

Page ��/ 33


[J14] K. Alexis, G. Nikolakopoulos and A. Tzes, “Switching Model Predictive Attitude 

Controller for a Quadrotor Helicopter Subject to Atmospheric Disturbances”, accepted 

pending revision, in the Control Engineering Practice Journal, Elsevier, 2010. 

[J16]G. Nikolakopoulos, P. Stavrou, D. Kandris, A. Tzes and T. Theoharis “A Dual Scheme 

for Compression and Restoration of Sequentially Transmitted Images over Wireless 

Sensor Networks”, submitted in the Journal of Ad-Hoc Networks, Elsevier 2010 

(Pending Revision). 

2011 

ARTICLES IN CONFERENCES 

[C67] G. Andrikopoulos, G. Nikolakopoulos, and S. Manesis, "Development and Control of a 

Hybrid Controlled Vertical Climbing Robot based on Pneumatic Muscle Actuators", 

submitted for publication in the 16 th International Conference on Emerging 

Technologies and Factory Automation ETFA 2011, Toulouse, France.. 

[C66] D. Tsitsipis, G. Nikolakopoulos, A. Tzes and S. Koubias, "A Dual Scheme for Secured 

Multimedia Wireless Sensor Network", accepted for publication in the 19th 

Mediterranean Conference on Control and Automation, June 20-23, Corfu, Greece. 

[C65] K. Alexis, C. Papachristos, G. Nikolakopoulos and A. Tzes, "Model Predictive 

Quadrotor Control Based on Optical Flow and IMU Sensor Data Fusion", accepted for 

publication in the 19th Mediterranean Conference on Control and Automation, June 

20-23, Corfu, Greece. 

[C64] G. Andrikopoulos, G. Nikolakopoulos and S. Manesis, "A survey on Applications of 

Pneumatic Artificial Muscles", accepted for publication in the 19th Mediterranean 

Conference on Control and Automation, June 20-23, Corfu, Greece. 

[C63] K. Alexis, G. Nikolakopoulos and A. Tzes, "Switching Model Predictive Control for a 

Quadrotor Helicopter under Sever Environmental Flight Conditions", accepted for 

publication in the 18th IFAC World Congress, 2011, Milano, Italy. 

[C62] E. Kelasidi, G. Andrikopoulos, G. Nikolakopoulos and S. Manesis, "A Survey on 

Modelling Pneumatic Muscle Actuators", accepted for Publication in the 20th 

Conference on Industrial Electronics, Gdansk, Poland, 2011. 

[C61] K. Alexis, G. Nikolakopoulos and A. Tzes, "Trajectory Tracking Model Predictive 

Control for an Unmanned Quadrotor Helicopter", accepted for Publication in the 20th 


[C60] C. Papachristos, K. Alexis, G. Nikolakopoulos and A. Tzes, "Model Predictive Attitude 

Control of an Unmanned Tilt-Rotor Aircraft", accepted for Publication in the 20th 


2010 

[C59] K. Alexis, G. Nikolakopoulos and A. Tzes, “Experimental Application of a Model 

Predictive Controller for an Autonomous Quadrotor Helicopter”, in the Proceedings of 

the 2 nd Hellenic Robotic Conference (HEROC’2010). 

[C58] C. Papachristos, K. Alexis, G. Nikolakopoulos and A. Tzes, “Modeling and Control of 

an Unmanned Tilt-Rotor air vehicle in a helicopter flying configuration”, in the 

Proceedings of the 2 nd Hellenic Robotic Conference (HEROC’2010). 

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[C57] G. Nikolakopoulos, K. Alexis, I. Arvanitakis and A. Tzes, `A Collaborative 

Unmanned Helicopter Control Strategy for Image Compression and Wireless 

Transmission’ In Proceedings of the 18 th IEEE Mediterranean Conference on 

Control and Automation, pp. 1206-1211, June 23-25, Marrakech, Morocco. 

[C56] K. Alexis, G. Nikolakopoulos, and A. Tzes, `Experimental Model Predictive 

Attitude Tracking Control of a Quadrotor Helicopter subject to Wind–Gusts’ In 

Proceedings of the 18 th IEEE Mediterranean Conference on Control and 

Automation, pp. 1461-1466, June 23-25, Marrakech, Morocco. 

[C55] G. Nikolakopoulos, N. Roussos and K. Alexis, “A Constrained Finite Time Optimal 

Controller for the Diving and Steering Problem of an Autonomous Underwater 

Vehicle”, in Proceedings of the 7th International Conference on Informatics in Control, 

Automation and Robotics, pp. 260-267, 15-18 June, 2010, Funchal, Madeira, 

Portugal. 

[C54] K. Alexis, G. Nikolakopoulos and A. Tzes, “Model Predictive Control for a Miniature 

Coaxial Helicopter”, in Proceedings of the 7th IFAC Symposium on Intelligent 

Autonomous Vehicles, September 6-8, 2010, Lecce, Italy. 

[C53] K. Alexis, G. Nikolakopoulos and A. Tzes, “Model Predictive Attitude Control of an 

Unmanned Quadrotor Helicopter subject to atmospheric disturbances”, in 

Proceedings of the IEEE International Symposium on Industrial Electronics (ISIE’10), 

Bari, Italy, 4-7 July, 2010. 

[C52] K. Alexis, G. Nikolakopoulos and A. Tzes, “Constrained Control of a Quadrotor 

Helicopter for Trajectory Tracking under Wind-Gust Disturbances”, in Proceedings of 

the 15th IEEE Mediterranean Electrotechnical Conference (MELECON’10), pp. 1411- 

1416, Valletta, Malta, 26-28 April 2010. 

[C51] K. Alexis, G. Nikolakopoulos and A. Tzes, “Constrained Optimal Attitude Control of a 

Quadrotor Helicopter subject to Wind-Gusts: Experimental Studies”, in Proceedings of 

the IEEE American Control Conference (ACC’10), No. ThC15.5, pp. 4451-4455, 

Baltimore, Maryland, June 30 – July 2, 2010 

[C50] K. Alexis, G. Nikolakopoulos and A. Tzes, “Design and Experimental Verification of a 

Constrained Finite Time Optimal Control Scheme for the Attitude Control of a 

Quadrotor Helicopter Subject to Wind Gusts”, in Proceedings of the IEEE 

International Conference on Robotics and Automation (ICRA’10), pp.1636-1641, 

Anchorage, Alaska, May 3-8, 2010. 

2009 

[C49] G. Nikolakopoulos and N. Fanakis, “A Reconfigurable Transmission Scheme for 

Lossy Image Transmission”, accepted in the 2 nd International Congress on Image and 

Signal Processing (CISP’09), 17-19 October, Tianjin, China, 2009. 

[C48] P. Stavrou, G. Nikolakopoulos, N. Fanakis, A. Tzes and T. Theoharis, “An Application 

of the Inpainting Algorithm for Recovering Packet Losses from Transmitting 

Sequential Quad Tree Compressed Images Over Wireless Sensor Networks”, in the 

proceedings of the 2 nd IFAC International Conference on Intelligent Control Systems 

and Signal Processing (ICONS’09), September 21-23, Istanbul, Turkey, 2009. 

[C47] L. Dritsas, A. Tzes and G. Nikolakopoulos, “Robust Stability Analysis of Networked 

Systems with Varying Delays” in the proceedings of the European Control 

Conference, Budapest, Hungary, 23-26 August, 2009. 

Page ��/ 33

2008 


[C46] G. Nikolakopoulos, A. Tzes and I. Kovaios “Reconfigurable Internal Model Control 

Based on Adaptive IIR Lattice Filters”, in the Proceeding of 16 th Mediterranean 

Conference on Control and Automation, pp. 1314-1319, Ajaccio, Corsica, France, 

June 25-27, 2008. 

2007. 

[C45] G. Nikolakopoulos and N. Roussos, "Constrained Finite Time Optimal Controller for 

the Depth Plane Motion of an Autonomous Underwater Vehicle", in the proceedings 

of IASTED Modelling, Identification, and Control (MIC 2007) conference, Innsbruck, 

Austria - February 12 – 14, 2007 

[C44] L. Dritsas, G. Nikolakopoulos, and A. Tzes, “Constrained Optimal Control for a 

Special Class of Networked Systems”, In Proceedings of the 2007 American Control 

Conference, pp. 1009-1014, July 11-13, 2007, New York, NY, U.S.A. 

[C43] G. Nikolakopoulos and N. Roussos, "Optimal Depth Controller for an Autonomous 

Underwater Vehicle under constrains and uncertainties“, in the proceedings of the 

European Control Conference (ECC’ 07), Kos, Greece, July 2007. 

[C42] L. Dritsas, G. Nikolakopoulos and A. Tzes, “On the Modeling of Networked 

Controlled Systems”, In Proceedings of the 15th Mediterranean Conference on 

Control & Automation, Session FrM-1, article T09-004, June 27-29, Athens, Greece. 

[C41] K. Hrissagis, G. Nikolakopoulos, P. Karlsson and V. Spais, “The C@R Project: Rural 

Living Labs for the Collaborative Creation of Services – Enhancing Rural 

Development by People Working and Living in Rural Areas”, in the proceedings of the 

Ruralearn International Conference, Chios, Greece, June 24-27, 2007. 

[C40] M. Vagia, George Nikolakopoulos and Anthony Tzes “An $H_infty$--Control Scheme 

for an Electrostatic micro--Actuator with Structured Uncertainty”. in the Proceedings 

of the IEEE Multi Conference on Systems and Control (CCA~2007 andISIC~2007), 

Singapore, Paper MoA04.5 October 2007. 

2006. 

[C39] M. Vagia, Y. Koveos, G. Nikolakopoulos and A. Tzes, “Robust PID Conrtol for a 

Micro-Actuator with Structural Uncertainty”, In Proceedings of the 14th 

Mediterranean Conference on Control and Automation (MED’06), Paper #90, June 

28-30, Ancona, Italy. 

[C38] G. Nikolakopoulos, L. Dritsas, A. Tzes and J. Lygeros, “Adaptive Constrained 

Control of Uncertain ARMA-Systems based on Set-Membership Identification”, In 

Proceedings of the 14th IEEE Mediterranean Conference on Control and Automation 

(MED’06), Paper# 66, June 28-30, Ancona, Italy. 

[C37] A. Panousopoulou, G. Nikolakopoulos, A. Tzes and J. Lygeros, “Experimental 

Evaluation of a Mobile Ad-Hoc Networked (MANET) Controlled System”, In 

Proceedings of the 17th International Symposium on Mathematical Theory of 

Networks and Systems (MTNS’06), Paper FrA09.1-495, pp. 2425-2430, July 24-28, 

2006, Kyoto, Japan. 

[C36] L. Dritsas, A. Tzes and G. Nikolakopoulos, “Constrained Finite Time Control of 

Networked Systems with Uncertain Delays”, In Proceedings of the 14th 

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Mediterranean Conference on Control and Automation (MED’06), Paper #135, June 

28-30, Ancona, Italy. 

[C35] L. Dritsas, G. Nikolakopoulos, and A. Tzes, “Constrained Finite Time Optimal 

Control of a Micro Capacitor”, Paper PD-3751, In Proceedings of IEEE Industrial 

Electronics Conference (IECON’06), November 7-10, Paris, France. 

[C34] L. Dritsas, G. Nikolakopoulos, and A. Tzes, “Constrained Optimal Control over 

Networks with Uncertain Delays”, In Proceedings of the 45th IEEE Conference on 

Decision and Control, Paper FrA11.4/1384, pp. 4993-8, December 13-15, San Diego, 

CA, U.S.A. 

2005. 

[C33] Y. Stergiopoulos, S. Manesis, A. Tzes and G. Nikolakopoulos, “Control via Input 

Shaping of a Penumatic Crane System”, In Proceedings of the 2005 American 

Control Conference, pp. 545-550, Portland, OR, USA, June 2005. 

[C32] G. Nikolakopoulos, and A. Tzes, “l-step Ahead Optimal Robust Controller for 

Uncrtain Auto-Regressive Systems”, In Proceedings of the 13th Mediterranean 

Conference on Control and Automation (2005 ISIC-MED), Paper # 252, pp. 1476- 

1480, June 27-30, Limassol, Cyprus. 

[C31] A. Tzes, G. Nikolakopoulos, and L. Dritsas “Design and Sensitivity Analysis of 

Constrained Finite Time Optimal Controller for a Micro-Actuator”, In Proceedings of 

the 13th Mediterranean Conference on Control and Automation (2005 ISIC-MED), 

Paper # 191, pp.958-963, June 27-30, Limassol, Cyprus. 

[C30] A. Panousopoulou, G. Nikolakopoulos, and A. Tzes, “Recent Trends on QoS for 

Wireless Networked Controlled Systems”, In Proceedings of the 2nd International 

Conference on Cybernetics and Information Technologies, Systems and Applications 

(CITSA 2005), Paper I359RH, July 14-17, Orlando, USA. 

[C29] G. Nikolakopoulos, A. Panousopoulou, A.Tzes and J. Lygeros, “Multi-hopping 

Induced Gain Scheduling for Wireless Networked Controlled Systems”, In 

Proceedings of the 44th IEEE Conference on Decision and Control and the European 

Control Conference 2005, Paper MoA14.3, pp. 470-475, December 13-15, Seville, 

Spain. 

[C28] M. Vagia, G. Nikolakopoulos, and A. Tzes, “Intelligent Robust Controller Design 

for a Micro-Actuator”, In Proceedings of the 44th IEEE Conference on Decision and 

Control and the European Control Conference 2005, Paper MoB15.6, pp. 1191- 

1196, December 13-15, Seville, Spain. 

[C27] G. Nikolakopoulos, A. Panousopoulou and A. Tzes, “MANET-Issues and their 

Effects on Control Applications”, In Proceedings of the 10th IEEE Conference on 

Emerging Technologies and Factory Automation (ETFA 2005), pp. 369-376, Sep. 

2005, Catania, Italy. 

[C26] M. Vagia, G. Nikolakopoulos and A. Tzes, “Intelligent Robust-Swithcing PID 

Controller Design for a Micro-Actuator”, In Proceedings of the 5th International 

Conference on Technology and Automation (IEEE-ICTA’05), pp. 102-107, October 

2005, Thessaloniki, Greece. 

[C25] E. Kolyvas, Y. Koveos, G. Nikolakopoulos and A. Tzes, “Modeling and Robust 

PID-Control of a Shape Memory Alloy Actuated Haptic Finger”, In 

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Proceedings of the 5th International Conference on Technology and Automation 

(IEEE- ICTA’05), pp. 179-184, October 2005, Thessaloniki, Greece. 

[C24] A.Tzes, G. Nikolakopoulos, L.Dritsas and Y.Koveos “Multi-Parametric H∞ Control 

of a Micro Actuator”, In Proceedings of the 16th IFAC World Congress, Paper # 

4455, July 4-8, 2005, Prague, Czech Republic. 

2004. 

[C23] A. Tzes and G. Nikolakopoulos, “LQR-output feedback gain scheduling of mobile 

networked controlled systems”, In Proceedings of the 2004 American Control 

Conference, Paper #FrA17.6, pp. 4325-4329, June 30-July 2, Boston, MA, USA. 

[C22] A. Panousopoulou, G. Nikolakopoulos, and A. Tzes, “Experimental 

Optimization of a Wireless (802.11b) Transmission Scheme for Real-Time Remote 

Control Applications”, In Proceedings of the 12th Mediterannean Conference on 

Control and Automation (MED2004), Paper #1204, June 6-9, Kusadasi, Izmir, 

Turkey. 

[C21] G. Nikolakopoulos and A. Tzes, “An Adaptive Reconfigurable Lattice 

Identification Scheme for IIR Systems”, In Proceedings of the 12th Mediterannean 

Conference on Control and Automation (MED2004), Paper #1199, June 6-9, 

Kusadasi, Izmir, Turkey. 

[C20] G. Nikolakopoulos, A. Tzes and N. Panousopoulou, "Adaptive Gain Scheduling for 

Congested Wi-Fi(802.b) Networked Controlled Systems", in the proceedings of 5th 

IFAC Workshop on Time-Delay Systems, September 8-10, 2004, Katholieke 

University Leuven, Belgium 

[C19] G. Nikolakopoulos, Y.Koveos, and A.Tzes, “Transfer Function Identification of a 

Single Flexible Link via Adaptive Lattice Filters”, In Proceedings of 2004 IEEE 

International Conference on Industrial Technology, Paper #1797, pp. 1468-1473, 

December 8-10, Hammamet, Tunisia. 

[C18] A. Panousopoulou, G. Nikolakopoulos, A. Tzes, “Experimental Controller Tuning and 

QoS Optimization of a Wireless Transmission Scheme for Real-Time Remote 

Control Applications”, In Proceedings of 2004 IEEE International Conference on 

Industrial Technology, Paper #1719, pp. 801-806, December 8-10, Hammamet, 

Tunisia. 

[C17] E. Kolyvas, G. Nikolakopoulos, Y. Koveos, and A. Tzes, “Experimental Design, 

Development and Visual-Servoing of a Shape Memory Alloy Actuated Finger”, In 

Proceedings of 2004 IEEE International Conference on Industrial Technology, 

Paper #1708, pp. 1448-1452, December 8-10, Hammamet, Tunisia. 

[C16] J. Petropoulos, S. Manesis, A.Tzes, and G. Nikolakopoulos, “ Position and Swing 

Control of a Pneumatic Pendulum System”, In Proceedings of 2004 IEEE 

International Conference on Industrial Technology, Paper #662, pp. 1307- 

1312, December 8-10, Hammamet, Tunisia. 

2003. 

[C15] G.Nikolakopoulos and A.Tzes, “Lattice l-step Ahead Output Uncertainty Predictor for 

Auto-Regressive Systems”, Paper #121, In Proceedings of the 11th 

Mediterranean Conference on Control and Automation, MED2003, June 17-20, 

2003, Rhodes, Greece. 

Page ��/ 33


[C14] G.Nikolakopoulos, M.Koundourakis and A.Tzes, “An Integrated System based on 

WEB and/or WAP Framework for Remote Monitoring and Control of Industrial 

Processes”, In Proceedings of the IEEE International Symposium on Virtual 

Environments, Human-Computer Interfaces, and Measurement Systems VECIMS 

2003, Paper # 3017, pp. 201-206, July 27-29, 2003, Lugano, Switzerland. 

[C13] G. Nikolakopoulos, «OPTINAV (Optimum Navigation Decision Support System)”, In 

Proceedings of National Instruments Hellas 2003 Conference, Athens, Greece. 

[C12] Α.Tzes, G.Nikolakopoulos and I.Koutroulis, “Development and Experimental 

verification of a Mobile Client-Centric Networked Controlled System”, Paper #227, 

In Proceedings of the 2003 European Control Conference, Cambridge, UK, 

September 1-7, 2003 (this article received the IST-ECC03 prize award) 

2002. 

[C11] G. N. Nikolakopoulos, A. Tzes, "Adaptive Inverse-Lattice Learning Control", 

In Proceedings of the 15th IFAC World Congress on Automatic Control, Paper #2624, 

Barcelona, Spain, July 2002 

[C10] G. Georgoulas, G. Nikolakopoulos, Y. Koutroulis, A. Tzes & P. Groumpos, "An 

Intelligent Visual Based System for Object Inspection and Welding, relying on Active 

Contour Model-Algorithms", in Proceedings of the 2nd Hellenic Conference on 

Artificial Intelligence, Thessaloniki, Greece, pp. 399-409, 2002 

[C9] G. Nikolakopoulos, M. Koundourakis, A. Tzes and G. Georgoulas, "Use of the 

Simulation Interface Toolkit for the Simulation and Experimentation of Automatic 

Control Systems, In Proceedings of National Instruments Hellas 2003 Conference, 

Athens, Greece. 

[C8] G. Nikolakopoulos, "OPTINAV System Integration within the XML framework”, In 

Proceedings of 3 rd SWAN Workshop, Paris, April 2002. 

2001. 

[C7] G. Nikolakopoulos "Fuzzy Control of an Active Magnetic Bearing", 

Technical Choice (Texniki Eklogiin Greek), Year 2001, July 2001 

[C6] G. N. Nikolakopoulos, R. E. King , "Intelligent Control of a Suspended Flywheel", 

European Workshop on Intelligent Forecasting, Diagnosis and Control, June 24-28, 

2001, Santorini, Greece. 

[C5] G. N. Nikolakopoulos, A. Tzes, "Reconfigurable Adaptive Control Based on Lattice 

Filtering", European Workshop on Intelligent Forecasting, Diagnosis and Control, 

June 24-28, 2001, Santorini, Greece. 

[C4] G. N. Nikolakopoulos, M. Koundourakis, A. Tzes & Y. Koutroulis, "An integrated 

system based on the WEB and/or WAP framework for Remote Control of Industrial 

Processes", In Proceedings of National Instruments Hellas 2001 Conference, Athens, 

Greece. 

Page ��/ 33

2000. 


[C3] G. Nikolakopoulos "Fuzzy Control of an Active Magnetic Bearing", 

3nd National (Greek) Conference of Automation and Robotics 2000. 

[C2] G. Nikolakopoulos, "Fuzzy Control of an Active Magnetic Bearing", 

Power Transmission (Metadosi Isxios in Greek) Sixth Year, December 2000, No 62. 

[C1] G. N. Nikolakopoulos, A. Tzes, "A Web-Based Integrated Framework for Adaptive 

Control of Industrial Processes", In Proceedings of National Instruments Hellas 2000 

Conference, Athens, Greece. 

TUTORIAL & WORKSHOPS 

[P1] K. Alexis, G. Nikolakopoulos and A. Tzes, “Constrained Finite Time Optimal Controllers 

for Helicopters subject to Wind-Gusts Disturbances”, in the 17 th Mediterranean 

Conference on Control and Automation, June 24-26, Thessaloniki, Greece, 2009. 

[P2] E. Kolyvas, G. Nikolakopoulos, A. Panousopoulou, A. Tzes, and J. 

Lygeros, ”Architectures for Networked Automation: Analysis, Design and 

Implementation”, in IEEE International Conference on Robotics and Automation 

(ICRA’06), Orlando, Florida, May 15-19, 2006. 

BOOK CHAPTERS 

[B1] K. Alexis, G. Nikolakopoulos, and A. Tzes, “Coordination of Helicopter UAVs for 

Aerial Forest Fire Surveillance” in K.P. Valavanis, “Intelligent Control Applications to 

Engineering Systems”, pp. 169-193, Springer, 2009. 

[B2] G. Nikolakopoulos, A. Panousopoulou and A. Tzes, “Switched Feedback Control for 

Wireless Networked Systems”, in Fei-Yue Wang and Derong Liu, ‘Networked Control 

Systems: Theory and Applications’, pp. 153-195, 2008, Springer Verlag, ISBN: 978-1- 

84800-214-2 

[B3] A. Tzes & G. Nikolakopoulos, ‘Classical Control Laboratory Manual’, 2002, Published 

by the University of Patras, Publishing office 

[B4] Chapter in the book Robert King, “Συστήματα Μετρήσεων-Virtual measurement 

systems (Εικονικά Συστήματα Μέτρησης)”, Tziolas Publications 

[B5] G. Nikolakopoulos, “Adaptive Control of Varying Systems”, Department of Electrical 

and Computer Engineering, Published by the University of Patras, Publishing Office, 

Greece. 

[B6] K. Andrianesis, A. Tzes, G. Nikolakopoulos and Y. Koveos, “Experimental Study of a 

Shape Memory Alloy Actuation System for a Novel Prosthetic Hand”, published in 

“Shape Memory Alloy”, Psciyo Publications. 

Invited Talks 

[I2] G. Nikolakopoulos, 'Attitude Stabilization of a Quadrotor over Wireless Mesh Networks', 

Intelligent Systems Lab, School of Information Science, Computer and Electrical 

Engineering, Halmstad University, Sweden, 8 Jan, 2011. 

[I1] G. Nikolakopoulos, 'Switched Output Feedback Control for Networked Systems', ETH 

Zurich, Physikstr. 3, ETL K25, 26 Oct, 2006 

Presentations 

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[Τ1] A. Tzes & G. Nikolakopoulos, “Industrial Control”, Western Greece technology Platform 

Conference, Turning Research to Innovation Conference, 17 October, 2008. 

[Τ2] B. Spais, G. Nikolakopoulos, ”Robotics and Industrial Control Systems” Regional 

Innovation Pole of Western Greece Workshop, Conference Center, University of 

Patras, 22-25 September, 2008. 

[Τ3] G. Nikolakopoulos. “Time Delays and Their Effects in Networked Controlled Systems” 

in the DIANOHMA project Workshop, March 7, 2008. 

[Τ4] A. Tzes and G. Nikolakopoulos, «Teaching the Science of Robotics in the 

Secondary Educational System– Experiences from other Educational institutes 

and Adaptation to the Greek Reality», in the workshop Teaching Systems 

Automation in the Technical Chamber of Greece, ΤΕΕ, 19-21 March, 2004. 

[Τ5] A. Tzes. G. Nikolakopoulos, «Modern Technological Systems for Treating 

Patients on Emergency Events», Achaia Surgery Days Workshop, 2003. 

[Τ6] G. Nikolakopoulos & R.E.King, "Fuzzy Thrusters for a Suspended Flywheel", IEEE 

Control Systems Society - GR, workshop on Industrial Automation and Industrial 

computer science, November, 2002, Xalkida, Greece. 

TECHNICAL REPORTS 

[R1] G. Nikolakopoulos & A. Tzes, ‘1 

Page ��/ 33 

st year report in Karatheodorys research project’, 

2002 

[R2] G. Nikolakopoulos & A. Tzes, ‘2 nd year report in Karatheodorys research project’, 

2003 

[R3] G. Nikolakopoulos & A. Tzes, ‘3 nd year report in Karatheodorys research project 

(Final Report)’, 2003 

[R4] Nikolakopoulos & A. Tzes, ‘1 st report in Herakleitos research project’, 2005 

[R5] Nikolakopoulos & A. Tzes, ‘2 nd report in Herakleitos research project’, 2006 

[R6] Anemos Group, ‘European Space Agency (ESA) Progress Report’, March 2005 

[R7] G. Nikolakopoulos & project members, ‘ RUNES D6.1 – Adaptive Resource Allocation 

and Quality of Service’ 

[R8] G. Nikolakopoulos & project members, ‘RUNES D6.2 - Report on QoS in Embedded 

Wireless Networks: A Control Point of View’ 

[R9] G. Nikolakopoulos & project members, ‘RUNES D6.3 – A scalable framework for 

Networked Control Systems’ 

[R10] G. Nikolakopoulos & project members, ‘RUNES D6.4 – Analysis and synthesis 

methods for embedded controllers operating under limited and time-varying 

communication bandwidth and information processing constraints’ 

[R11] G. Nikolakopoulos & project members, ‘HYCON D4d.2.2 Report on definition and 

description of the case studies for control-over-wireless networks’ 

[R12] G. Nikolakopoulos & project members, ‘HYCON D4d.3.1 – First report on hybrid 

modeling and control for the case studies-Constrained Optimal Control over Networks 

with uncertain Delays’ , August 2006 

[R13] Dimitra Damala, George Nikolakopoulos, Gregory Grigoropoulos, ‘WP6 – Motion 

Sickness Model Integration into Ship’s Systems during the Operation of the Vessel’ 

[R14] ΖΕΝΟΝ & project members, ‘C@R D.1.3.1 - Context data capture CCS components 

internal architecture and interfaces design first specification’ 

[R15] ΖΕΝΟΝ & project members, ‘C@R D.1.3.2 – ‘Context data capture CCS components 

first prototype implementations’ 

[R16] ΖΕΝΟΝ & project members, ‘C@R D.2.4.1 – ‘Specification and design of the 

component for accessing atomic IMS services’


[R17] ΖΕΝΟΝ & project members, ‘C@R D.1.1.1 – ‘Technical Requirements of C@R Rural 

scenarios end-users and metric related to CCS components’ 

[R18] ΖΕΝΟΝ & project members, ‘C@R D.1.1.2 – ‘Architecture Requirements of CCS 

components’ 

[R19] ΖΕΝΟΝ & project members, ‘C@R D.1.2.1 – ‘Communication CCS components internal 

architecture and interfaces design first specification’ 

[R20] G. Nikolakopoulos, N. Pratsinis & project members, ‘RLL architecture and design 

document’ 

[R21] G. Nikolakopoulos & project members, ‘C@R D2.4.2 – Security and biometrics protocol 

and components design’ 

[R22] ΖΕΝΟΝ & project members, ‘CommRob T2.1 – User and System Requirements 

specification second baseline’ 

[R23] ΖΕΝΟΝ & project members, ‘CommRob T2.2 – System Architecture Second Baseline’ 

[R24] ΖΕΝΟΝ & project members, ‘CommRob D2.1 – ‘First Version of System, Architectural 

and Subsystem Specification’ 

[R25] ΖΕΝΟΝ & project members, ‘CommRob D3.1– Report on Behaviour and Navigation 

Specification and Architecture’ 

[R26] ΖΕΝΟΝ & project members, ‘CommRob D4.1– Report on Human-Robot Interaction 

Specification’ 

[R27] ΖΕΝΟΝ & project members, ‘CommRob D4.3.1– Basic Functions for 

Detection/Recognition of People’ 

[R28] ΖΕΝΟΝ, & project members, ‘CommRob D6.1– Design Specification’ 

[R29] ΖΕΝΟΝ & project members, ‘∆ΙΑΝΟΗΜΑ Π13 – ΄’Ολοκληρωμένο σύστημα 

νοηματικού τηλεχειρισμού ρομποτικού οχήματος’ 

[R30] ΖΕΝΟΝ & project members, ‘∆ΙΑΝΟΗΜΑ Π14 – Αποτελέσματα Αξιολόγησης πιλοτικής 

εφαρμογής συστήματος νοηματικού ρομποτικού τηλεχειρισμού’ 

[R31] ΖΕΝΟΝ & project members, ‘TRITON – Τελική έκθεση προόδου’ 

[R32] ΖΕΝΟΝ & project members, ‘TRITON Ε.Ε.9 –Συναρμολόγηση & Ποιοτικός Έλεγχος 

του ΤΡΙΤΩΝ Α & του ΤΡΙΤΩΝ Β’ 

[R33] ZENON & project members, ‘CROCELLS – 12 months progress report’ 

[R34] ZENON & project members, ‘CROCELLS – D5.1 Arm/Vehicle Welding Control 

System’ 

[R35] ZENON & project members, ‘CROCELLS – D1.2 Man Machine Interface Software’ 

[R36] ZENON & project members, ‘CHAINTEST – DD2 Control System’, Final 

[R37] ZENON & project members, ‘C@R – D1.1.4, Final Specification and End-User 

requirements of C@R-rural scenarios and metrics related to CCS components 

[R38] ZENON & project members, ‘C@R – D1.1.4, Final Specification and End-User 

requirements of C@R-rural scenarios and metrics related to CCS components 

[R39] ZENON & project members, ‘C@R – D2.4.1, Security and Biometrics Protocol and 

Components Deisgn. 

[R40] ZENON & project members, ‘C@R – D2.4.3, Components for Accessing IMS 

Services, Security and Biometrics for Rural Environment. 

[R41] ZENON & project members, ‘C@R – D4.1.6, Harmonization of Indicator 

Requirements and C@R DSS Specifications. 

PARTICIPATION IN MASTER THESES 

[S1] “Analysis and Design of Networked Controlled System”, John Koutroulis, 2002 

[S2] “Adaptive Intelligent Control of a Sequential Batch Reactor”, George 

Papanastasatos, 2003 

[S3] “Control of an Integrated Pneumatic System Crane-Pendulum”, Ioannis 

Petropoulos, 2003 

[S4] “Implementation of an Optimal Control Scheme, through the IEEE 802.11, Wireless 

Network”, Athanasia Panousopoulou, 2003 

[S5] “Adaptive-Robust Control of Space Varying Systems”, Spilios Theodoulis, 2004 

Page ��/ 33


[S6] “Simulation and Intelligent Robust Control on MEMs”, Marialena Vagia, 2004. 

[S7] “Implementation of the S 2 RP for Wireless Sensor Networks”, Dimitrios Tsitsipis, 

2009. 

[S8] “Modern Control Strategies for Guidance of Marine Vessels”, Emmanouil 

Christinakis, 2010. 

Page ��/ 33


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for modal parameter tracking of a 

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payload 

A reconfigurable transmission scheme 

for lossy image transmission over 

congested wireless sensor networks 

Design of a robust PID-control 

switching scheme for an electrostatic 

micro-actuator 

AR lattice L-step ahead output 

uncertainty prediction scheme with 

uncertainty intervals 

Application of adaptive lattice filters to 

internal model control 

Experimental controller tuning and 

QoS optimization of a wireless 

transmission scheme for real-time 

remote control applications 

Multi-hopping induced gain scheduling 

for wireless networked controlled 

systems 

An Hinf-control scheme for an 

electrostatic micro-actuator with 

structured uncertainty 

On the modeling of networked 

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P., Tzes 

A., Nikolakopoulos G. G., 

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Computers 

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pneumatic crane system 

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Position and swing control of a 

pneumatic pendulum system 

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Nikolakopoulos, I 

Koutroulis 

G Nikolakopoulos, A 

Panousopoulou, A Tzes 

Nikolakopoulos,G, 

Panousopoulou,A. and 

Tzes,A. 

A Panousopoulou, G 

Nikolapoulos, A Tzes 

M Vagia, G 

Nikolakopoulos, A Tzes 

G. Georgoulas, G. 

Nikolakopoulos, Y. 

Koutroulis, A. Tzes & P. 

Groumpos 

A Tzes, G 

Nikolakopoulos, L 

Dritsas, Y Koveos 

L Dritsas, G 


L Dritsas, G 


Development and experimental verification of a 

mobile client-centric networked controlled system 2003 

Multihoping induced gain scheduling for wireless 

networked controlled systems 

Experimental controller tuning and QoS optimization 

of a wireless transmission scheme for real-time remote 

control applications 

Experimental Controller Tuning and QoS 

Optimization of a Wireless Transmission Scheme 

for Real-Time Remote Control Applications 

Intelligent Robust Controller Design for a Microactuator 

An Intelligent Visual-Based System for Object 

Inspection and Welding, Relying on Active 

Contour 

Proc. European Control 

Conference 

nt.ntnu.no*(last updated 

record before the Journal 

has been removed from 

Harzing) 

2005 Asian Journal of Control nt.ntnu.no 

2008 Control Engineering Practice Elsevier 

2004 

2006 

2002 

Multi–parametric H∞ control of a µ–actuator 2005 

Constrained Optimal Control over Networks with 

Uncertain Delays 

Constrained Finite Time Control of Networked 

Systems with Uncertain Delays 

2006 

2006 

Conference on Industrial 

Technology, 2004 

Journal of Intelligent and 

Robotic Systems 

Proceedings of the 2nd 

Hellenic Conference on AI 

Proceedings of the 2005 

IFAC World Congress 

Decision and Control, 2006 

45th IEEE Conference on 

Proceedings of the 14th 

Mediterranean Conference on 

Control 

ieeexplore.ieee.org 

Springer 

- 

- 


doi.ieeecomputersociety.org 

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1 

1 

3 

2 

6 

5 

G Nikolakopoulos, M 

Koundourakis, A Tzes 

Y. Stergiopoulos, S 

Manesis, A Tzes, G 

Nikolakopoulos 

E Kolyvas, Y Koveos, G 


L Dritsas, G 


A Tzes, G 

Nikolakopoulos 

Panousopoulou,A., 

Nikolakopoulos,G, 

Tzes,A. and Lygeros,J. 

L. Dritsas, G. 

Nikolakopoulos and A. 

Tzes 


An Integrated System based on WEB and/or WAP 

Framework for Remote Monitoring and Control of 

Industrial Processes 

Control via input shaping of a pneumatic crane 

system 

Modeling and Robust PID-Control of a Shape 

Memory Alloy Actuated Haptic Finger 

Constrained Optimal Control for a Special class of 

Networked Systems 

LQR-output feedback gain scheduling of mobile 

networked controlled systems 

Experimental evaluation of a mobile ad-hoc 

networked (manet)controlled system 

On the Modeling of Networked Controlled 

Systems 

2003 

2005 

2005 

2007 

2004 

2006 

2007 

Virtual Environments, 

Human-Computer Interfaces, 

and Measurement Systems 

American Control 

Conference, 2005. 

Proceedings of the 2005 

Proceedings of the 

International Conference on 

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Theory of Networks and 

Systems 

Proc. of the 15 th 

Mediterranean Conference on 

Control & Automation 



icta05.teithe.gr 




Page ��/ 33

George Nikoolakopoulos 

PhD P - Resume 

Industtrial 

Exp perience 

I havve 

a strong iindustrial 

experience 

throuugh 

all my ye ears of work in the industtry 

(parallel to t the 

Acaddemia). 

I havee 

deep knowledge 

on whatt 

industry needs 

as also dee ep knowledgee 

of the differences 

betwween 

design prrototypes 

for research r and pprototypes 

for r the industry or future prodducts. 

From all a the 

years 

involved inn 

Industrial pr rojects I am ccomplete 

awa are of the dif fficulties and the processes s that 

shouuld 

follow froom 

transformin ng a researchh 

idea into a valuable v prod duct. Actually I strongly be elieve 

that this transformmation 

process s last most of tthe 

time doub ble or triple tim me compared to the time ne eeded 

for ddeveloping 

thee 

first prototy ype. I have grreat 

respect to o testing proce edures as the hardest the te esting 

proccedures 

are thee 

better the in ndustrial projeect 

becomes. Laboratory L set t-ups are ideall 

but in real world, w 

faultts 

and errors aare 

the commo on ground in new prototypes 

and although 

this is a timme 

consuming g and 

difficult 

process, major efforts s should be pput 

to provid de a reliable and error freee 

product. I have 

expeerience 

in makking 

business s plan and I hhave 

never ma ade research for f the researc rch as I am al lways 

focuused 

in appliedd 

research or real world appplication. 

Am mong the members 

of the Industrial sec ctor I 

havee 

a great abilitty 

to commun nicate, cooperrate 

and make e easy friendsh hips. During mmy 

presence in i the 

induustrial 

sector mmy 

academic characteristiccs 

are remove ed and I am working as aan 

equal mechanic 

tryinng 

to collaborrate 

for the best b results. MMy 

ability to o cooperate, work and coommunicate 

in n the 

induustrial 

sector aare 

proved fro om my past exxperience 

working 

as head d of the electrrical 

and elect tronic 

teamm 

at ZENON SS.A. 

the bigge est robotic commpany 

in Gre eece, and as th he head of thee 

R&D depart tment 

at Glafcos 

Marinee. 

Finally I sh hould point ouut 

that I have selected the work w in the accademia 

and not n in 

the iindustry 

becauuse 

I am admired 

by lecturring 

and cond ducting basic research r in Accademia 

espec cially 

whenn 

this researchh 

is targeting real world appplications 

or r have the ability 

to be a jooin 

output wit th the 

induustry. 

In thhe 

sequel I amm 

presenting so ome exampless 

of industrial systems that I have persona nally developed 

or I 

havee 

the leading rrole 

(project or o technical mmanager) 

in th heir developm ment. I believee 

that these im mages 

are tthe 

best references 

to prove my Industriall 

experience. 

CROOCELLS 

Pro oject 

Page ��/ 

33



The project seekss 

to modernis se and take innto 

the future the technology 

of the maanufacture 

of large 

fixedd 

welded struuctures 

such as a box girder bridges, stor rage tanks, sh hips and otherr 

steel fabrica ations 

whicch 

arise on coonstruction 

site es, in large chhemical 

and foodstuff fo plant ts, on offshoree 

oil platform ms etc, 

bringging 

the worldd 

of fast and flexible f manuffacturing 

to ar reas were construction 

is prresently 

carrie ed out 

by trraditional 

usee 

of manual la abour, scaffoldding 

and cran nes and the in nconvenient ddelivery 

by road 

of 

largee 

factory preffabricated 

com mponents. It wwill 

do this by y creating a transportable 

mmanufacturing 

g cell 

conssisting 

of a tteam 

of a te eam of coopeerating 

climb bing robot work 

tools whhose 

activities 

are 

coorrdinated 

and iintegrated 

thro ough a centraal 

intelligence e. Unlike fact tory based ceells 

the robot work 

toolss 

must be mobbile 

and able to climb overr 

long distanc ces, to great heights 

and ovver 

curved sur rfaces 

and surfaces withh 

ridges or protrusions p suuch 

as nodal joints, provid ding additionaal 

problems to t be 

solveed. 

Each roboot 

will be dedi icated to a diffferent 

task to o optimise ove erall system pperformance, 

hence h 

theree 

will be a surrface 

profiler and navigatorr, 

welder, bolt 

and rivet pla acer, hot weldd 

quality inspe ector, 

and cold weld inspector 

on se eparate platforrms. 

The cell l will be deployed 

throughh 

every stage e of a 

prodduct 

life cycle, 

during const truction wherre 

the system will perform instant weld qquality 

diagno ostics 

and rrepairs, 

in serrvice 

inspectio on and repair, , and final life etime assessm ment. Presentlyy 

large fabrica ations 

on cconstruction 

sites suffer from f long faabrication 

tim mes prescribed d by traditionnal 

methods. The 

propposed 

mobile mmanufacturing 

g cell will greeatly 

reduce these t times with 

economic benefits estim mated 

at 6330 

MEuro peer 

annum in save s time andd 

Labour and d 2000MEuro in equipmennt 

sales taking g EU 

expoort 

markets into 

account. The partnerrship 

involvin ng 4 countrie es brings toggether 

world class 

expeertise 

in informmatics, 

robotic cs welding, stoorage 

tank, br ridge and ship construction. . 

TRRITON 

Project 

The TRITON projject, 

is a Gree ek funded projject 

that aimed d in the design n and manufaacturing 

of mu ultiple 

dual-axis 

solar traacking 

system ms and evaluatte 

the perform mance of nove el proposed soolar 

collectors s. The 

deveelopment 

of the control system has bbeen 

carried on the Lab bView softwaare 

from Nat tional 

Instrruments. 

Page ��/ 

33



I-STONE 

The aim of this Inntegrated 

Proj ject (I-STONNE) 

is the re-e engineering of f the stone prroduction 

chain, 

in 

ordeer 

to consideraably 

increase its efficiencyy 

and productivity, 

minimi ise the amounnt 

of stone wastes w 

dispoosed 

in the eenvironment, 

produce p a new ew generation of multifunc ctional produccts 

based on stone 

wasttes 

and safeguuard 

the quali ity in stone appplication 

and d use. The ult timate target oof 

the project t is to 

transsform 

the rathher 

traditional Stone Sector into a modern n, competitive e and knowleddge-based 

ind dustry 

and ensure a lasting 

technologi ical superioritty 

of EU over r its competito ors. The mainn 

objectives are: 

a) 

the ddevelopment 

oof 

a new generation 

of connsolidating 

ag gents with che emical characcteristics 

similar 

to 

that of the stone, wwhich 

will eff ficiently consoolidate 

the sto one products and a prevent thhem 

from brea aking 

durinng 

their processing, 

b) the e innovative extra thin cu utting disks, a new generat ation of Ultra Fine 

Disppersed 

Diamonnds 

and new heavy metal free metal-di iamond bonds s resistant to high tempera atures 

and mmechanical 

sttresses 

that wi ill lead to the development of innovative e high-speed ddrilling 

and cu utting 

toolss 

to maximise productivity, and b) new mmultifunctiona 

al products fro om stone wasttes 

for constru uction 

appliications 

with energy storage 

and self-cleaaning 

properties. 

CCHAINTEST 

T 

Page ��/ 

33



Floaating 

platformss 

for plant, ma achinery and accommodati ion are being used u increasinngly 

in offsho ore oil 

and gas productioon. 

Semi-submersible 

drillling 

rigs hav ve for some time 

been commmon 

in off fshore 

explooration, 

but nnow 

floating structures s are to be found in 'Tension Leg' L platformss, 

'Spar' platfo forms, 

'Floaating 

Producttion 

Storage and Off-loaading 

vessels s' and support 

structures such as 'Fl lotels' 

(accoommodation) 

and crane ba arges. As oil fields are ope ened up in de eep water at tthe 

margins of o the 

contiinental 

shelf, production platforms 

that are fixed to the t sea bed ar re no longer ffeasible, 

moreover 

floatting 

productioon 

platforms can be moveed 

from one field f to the next, 

allowing smaller, mar rginal 

fieldds 

to be explooited. 

Permanent 

floating pproduction 

pla atforms must be moored too 

the sea bed. 

The 

integgrity 

of the moooring 

system m is critical, beecause 

the con nsequences of f failure could be oil pollutio on on 

a cattastrophic 

scaale. 

The ruptu ure of a well hhead 

off the coast c of Mexi ico in 1985 re released 64 million m 

barreels 

of oil (commpared 

with 200,000 2 barreels 

of oil from m the Exxon Valdez). V Floaating 

structure es are 

desiggned, 

in commmon 

with all offshore o strucctures, 

to surv vive the 15m waves w derivedd 

statistically from 

the '100 

year storrm'. 

However r there is eviddence 

of much h greater frea ak waves, for r example the 26m 

wavee 

which hit thhe 

Draupner platform 

in thee 

N Sea in 199 95. Also, clim mate change suuggests 

that st torms 

will become moree 

frequent in the 

future incrreasing 

the ris sk of damage to t offshore strructures. 

Reco orded 

instaances 

of damaage 

to the mooring 

system of floating of ffshore structu ures already inndicate 

a prob blem. 

Currrent 

cable chaain 

breaks are e as high as oone 

break for every 3 years 

of operationn. 

Breaks ofte en go 

unnooticed, 

increassing 

the prob bability of muultiple 

breaks and total mo ooring systemm 

failure. The ere is 

thereefore 

an urgennt 

need to im mprove the inttegrity 

manag gement of mooring 

systemss. 

One issue is i the 

inspeection 

of chaiin 

links. Regu ulatory visual inspection is currently don ne with the caable 

chain bro ought 

up on 

deck, or, forr 

greater sensi itivity to defeects 

using non-destructive 

te ests (NDT), wwith 

the cable chain 

takenn 

on-shore. Inncreasingly, 

interim i 'swimm-by' 

inspectio ons of the chain 

in-situ aree 

being conducted 

fromm 

Remote Operated 

Vehicl les. The inspeection 

howev ver is unreliab ble, susceptiblle 

to human error, 

becaause 

of the hhundreds 

of metres m of chaain 

involved and a the short t times allowwed 

for inspec ction. 

Induustry 

recognisees 

the need fo or more effecti tive inspection n. The inspect tion system prroposed 

here in i the 

EC pproject 

ChainTest 

will be applicable a to stud-less chai ins in situ, below 

water. It will be autom mated 

and wwill 

be sensitiive 

to fatigue cracks, corrossion 

and bent chains. 

FLEXA 

In thhe 

automotivee 

sector autom mation technollogy 

has been developed fo or a long timee. 

It is the inte ention 

of thhis 

project to uutilise 

the state 

of the art tecchnology 

dev veloped in the automotive arrea 

and to imp prove 

the aspect of flexibility, 

low volume, mullti 

product an nd quality as ssurance aspeects. 

To mee et the 

requuirements 

of fl flexibility, cos st effectivenesss 

and quality y assurance the 

concept of the project will w be 

to: 11) 

Validate meethods 

and te echnologies foor 

virtual man nufacturing su upporting defiinition, 

prepar ration 

Page ��/ 

33



and operation of flexible auto omation cells, , 2) Define an nd verify requ uirements on n quality assurance 

systeems 

that willl 

allow flexib ble automationn 

cells to conform 

to aerospace 

industtry 

regulation ns, 3) 

Integgrate 

data floww 

inside the cell c as well aas 

in and out of the cell by y introducing a Web-based d data 

floww 

system that supports a tr ruly virtual annd 

distributed d working env vironment, 4) ) Deliver tools s that 

suppport 

knowledgge 

engineering g demands in shop floor ac ctivities with experience feeedback 

to product 

innovation 

activitty, 

5) Validat te capability oof 

defined ce ell concept by y building a pphysical 

valid dation 

platfform, 

6) Delivver 

education and safety innstructions 

for 

personnel th hat will operaate 

next gener ration 

flexiible 

automatioon 

cells. The consortium consists of 15 5 partners wit th different reesponsibilities 

s and 

comppetences 

idenntified 

as necessary 

to devvelop 

the requ uired methods 

and technollogy 

to be ab ble to 

validdate 

a next ggeneration 

flexible 

autommation 

cell fo or machining, 

fabrication and assembly 

of 

aerospace 

componnents 

Composting 

Process s (SCADA) 

OZONN 

Reactor (SC CADA) 

Page ��/ 

33



OPTINAV 

OPTTINAV 

has thhree 

sets of ob bjectives relatted 

to the pas st, present and 

future of a ship. For the e past 

OPTTINAV 

will enable 

a recor rd of the stressses 

experienc ced by the sh hip, most impportantly 

corre elated 

withh 

the prevailinng 

sea and we eather state innformation 

at the time, to be b built up. Itt 

will also pro ovide 

valuable 

informattion 

to insurer rs of the ship, , potential pur rchasers and captains c againn, 

who will be enefit 

fromm 

being able too 

understand how the stressses 

in the ship p responded to t actions takeen 

in the past for a 

givenn 

set of ship, sea and weather 

data. For the present OPTINAV O wil ll measure acttual 

stress levels 

in 

the sship 

and comppare 

these with h acceptable ttolerance 

leve els. It will prov vide the captaain 

of the ship p with 

contiinuously 

upddated 

informat tion on the rremaining 

fati igue life of the t ship on th the basis of actual a 

stressses 

incurred dduring 

the cur rrent voyage. FFor 

the future e OPTINAV will w offer innoovations 

in bot th the 

longg 

term and shhort 

term pers spectives of tthe 

voyage. In I the long te erm it will offfer 

the facili ity to 

combbine 

ship, seaa 

state and we eather informmation 

to plan the best avai ilable route. In the short te erm it 

will combine the three sets of data d to providde 

the captain with a clear idea i of the strresses 

that the e ship 

will experience over 

the next few f minutes, half and hou ur, hour, etc. if i he continuees 

with his cu urrent 

courrse 

and speed and help him m to identify alternatives if i the respons se of the ship p is expected to be 

outsiide 

its normall 

tolerances. The T principal activities of OPTINAV O wil ll focus on: 1) ) Creating a sy ystem 

that will anticipaate 

oncoming difficult navvigational 

situ uations either jointly or seeparately, 

for r hull 

struccture, 

ship's eequipment/per 

rformance, paassengers 

and d cargo, based d upon continnuously 

moni itored 

data, , 2) developiing 

reliable methods m of aautomatic 

monitoring, 

pred diction and sshore-based 

expert e 

guiddance, 

3) creatting 

an advan nced yet flexibble 

system of f data logging and processiing, 

4) provid ding a 

meanns 

of continuuous 

review of ship's fattigue 

life wh hich will be used to priorritise 

mainten nance 

requuirements, 

5) eexploring 

new w algorithms for extracting g implicit rela ationships witthin 

databases 

and 

throuugh 

information 

from the lo oad cycle speectra 

to assist in planning of 

inspection aand 

maintenan nce of 

the sship 

and, 6) uusing 

the abov ve data and aalgorithms 

to minimise m cost ts by anticipaating 

major de efects 

and tto 

provide a uuniform 

level of o reliability th throughout a ship's s life. 

Page ��/ 

33



NAUTCARE E 

Thiss 

platform hass 

been designe ed for the maarine 

sector an nd the aims were: w 1) to moonitor, 

analyze 

and 

recorrd 

the actual hull response es in real timee, 

2) to integr rate marine de evices and maapping 

system ms, 3) 

integgrate 

in the ooverall 

functio onality an appproved 

loadin ng software, 4) 4 easily expaandable 

to include 

torsiional 

stresses aand 

draught monitoring m in pport, 

and 5) on nline fatigue inspection i 

YYACHTMAN 

N 

Page ��/ 

33



Advanced 

Managgement 

Suite that t provides iintegrated 

ma anagement for r: a) systems iincluding 

M/E E and 

Auxiiliaries, 

b) yaacht 

load sta atus, tank levvels, 

etc., d) comfort, e) security, s f) hhull 

responses s and 

acceelerations, 

g) nnavigation 

sup pport system, h) integration n of the marin ne devices andd 

mapping sy ystem, 

and kk) 

maneuverinng 

assistance. 

Page ��/ 

33

RESEARCH INTERESTS TEACHING INTERESTS RESEARCH ...

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