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Accepting PhD Students

PhD projects

I am looking for talented and motivated students to work in research projects in the following areas: - Embedded numerical optimisation - Model predictive control of uncertain systems - Learning-based and data-driven control - Massively parallelisable algorithms for large-scale optimisation problems and applications of the above in emerging and future technologies such as - Safe context-aware collaborative robotics - Energy distribution management in microgrids with high penetration of renewables - Autonomous ground and aerial vehicles (co-existence of driverless and conventional vehicles) - Advanced manufacturing

20102020

Research output per year

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Personal profile

Research Interests

Distributed Embedded Intelligence

Development of fast numerical optimisation methods based on operator splitting for nonlinear model predictive control; parallelisable algorithms and Embedded GPU implementations for large-scale optimisation problems such as stochastic and risk-averse optimal control problems; applications of optimisation in signal processing such as recursive compressive sensing and image restoration.

 

Intelligent Uncertain-Aware MPC

Stability theory for uncertain systems with Uncertain Uncertainty (inexact knowledge of the underlying probability distribution) by leveraging results from the fascinating theory of risk measures; development of control schemes for safety-critical systems such as Cobotics.

 

Intelligent cognitive autonomous vehicles and robots

Model predictive control can be a key enabler for autonomous vehicles, robots and cobots. The most challenging questions in this endeavour are (i) MPC formulations, more often than not, lead to nonconvex formulations; how can we derive simple such formulations, which can be solved efficiently online? (ii) in particular, what is the best way to model obstacle avoidance constraints? (iii) how can we solve the associated optimal control problems in real timeaccurately and fast? and (iv) how should we account for the inevitable uncertainty related to the motion of people, other vehicles, road conditions and other factors?

 

Embedded Optimisation for Advanced Manufacturing

Advanced and intelligent manufacturing has been identified by both EPSRC and the European Commission as a key emerging technology. Modern manufracturing systems are fast and complex dynamical systems, which involve networks of interconnected devices, combining continuous and discrete components, evolving across multiple (fast and slow) time scales and under high performance requirements in increasingly uncertain contexts.

Model predictive control (MPC) is a successful control methodology that originated from the process industry, but is increasingly being used for fast and complex industrial dynamical systems. Pertinent problems are often ill-conditioned and must be solved within stringent runtime limits. Parallelisation on GPUs or FPGAs can be exploited to solve such large-scale problems. Quasi-Netwonian and semismooth Netwonian algorithms can play a key role in dealing with ill conditioning.

 

Smart Infrastructure Networks

Model predictive control is nowadays the method of choice for the control of water and power networks. Yet, there remain open questions related to how to deal with the underlying uncertainty. In fact, with the deregulation of energy markets, this uncertainty should only be expected to become a more important factor.

 

Biomedical and Health care applications

Optimal drug administration and model predictive control for fractional-order pharmacokinetics; MPC embedded in wearable or integrated devices such as artificial organs; Machine learning methods for predictive toxicology and drug discovery

Teaching

ELE2024: Circuits and Control

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Research Output

Collision Avoidance for Multiple Micro Aerial Vehicles using Fast Centralized Nonlinear Model Predictive Control

Lindqvist, B., Mansouri, S. S., Sopasakis, P. & Nikolakopoulos, G., 09 May 2020, (Accepted) IFAC World Congress. Berlin, Germany

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Context-aware robotic arm using fast embedded model predictive control

Trimble, S., Naeem, W., McLoone, S. & Sopasakis, P., 06 May 2020, (Accepted) Irish Systems and Signals Conference: Proceedings.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

OpEn: Code Generation for Embedded Nonconvex Optimization

Sopasakis, P., Fresk, E. & Patrinos, P., 01 May 2020, (Accepted) 21st IFAC World Congress: Proceedings. Berlin, Germany

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Subterranean MAV Navigation based on Nonlinear MPC with Collision Avoidance Constraints

Mansouri, S. S., Kanellakis, C., Fresk, E., Lindqvist, B., Kominiak, D., Koval, A., Sopasakis, P. & Nikolakopoulos, G., Jul 2020.

Research output: Contribution to conferencePaper

Active Fault Diagnosis via Reachable Set Separation using Interval Methods

Tsiakkas, M., Sopasakis, P., Boem, F., Panayiotou, C. & Polycarpou, M., 15 Aug 2019, European Control Conference 25/06/2018 → 28/06/2019 Naples, Italy. IEEE , p. 4374-4379 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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    Activities

    • 1 Participation in conference
    • 1 Editorial activity
    • 1 Visiting an external academic institution

    Chongqing University

    Pantelis Sopasakis (Advisor)

    02 Jul 201912 Jul 2019

    Activity: Visiting an external institution typesVisiting an external academic institution

    Journal of Intelligent & Robotic Systems (Journal)

    Pantelis Sopasakis (Peer reviewer)

    01 Jan 2019 → …

    Activity: Publication peer-review and editorial work typesEditorial activity

    5th IFAC International Conference on Intelligent Control and Automation Sciences

    Pantelis Sopasakis (Participant)

    21 Aug 201923 Aug 2019

    Activity: Participating in or organising an event typesParticipation in conference