Browsing by Author "Gopura, R. A. R. C"

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Open Access
Analysis of Risks and Bottlenecks of a Poly Bag Manufacturing Factory -A Case Study
(UNIVERSITY OF MORATUWA, 2008) Gopura, R. A. R. C; Jayawardene, T. S. S
The material prices of poly bags skyrocket to new heights and forecasters see no end to this trend. Also legal restrictions are imposed on some types of polythene products. In this situation, any entrepreneur engaging in the poly bag manufacturing process faces significant challenges. Therefore, a case study of an analysis of risks and bottlenecks of a poly bag manufacturing factory was carried out for the purpose of modeling and simulation of a poly bag manufacturing factory to improve the productivity to face the underlying challenges. This paper presents the analysis methods, and the results of the analysis are also discussed.
Open Access
Analysis, Modeling and Simulation of a Poly-Bag Manufacturing System
(Scientific Research Publishing, 2012-05-24) Gopura, R. A. R. C; Jayawardane, T. S. S
The cost of raw material of poly-bags increases and fluctuates with an unpredictable trend. Further, legal restrictions imposed on some types of polythene products adversely affects for the demand. In this context, entrepreneurs engaging in poly-bag manufacturing face major challenges. With the purview of optimizing the poly-bag manufacturing process, authors attempted to analyze, model and simulate the poly-bag manufacturing process in the light of posed challenges. This paper presents preliminary analysis, modeling and simulation strategies of a poly-bag manufacturing system. In addition, a risk prioritization method is proposed in the preliminary analysis and also a simulation tool is developed.
Embargo
Control methodologies for upper limb exoskeleton robots
(IEEE, 2012-12-16) Gunasekara, J. M. P; Gopura, R. A. R. C; Jayawardena, T. S. S; Lalitharathne, S. W. H. M. T. D
An exoskeleton robot is kind of a man-machine system which mostly uses combination of human intelligence and machine power. These robotic systems are used for different applications such as rehabilitation, human power amplification, motion assistance, virtual reality etc. Successful operation of an exoskeleton robot depends on correct selection of design and control methodologies. This paper reviews control methodologies used in upper limb exoskeleton robots. In the review, the control methods used in the exoskeleton robots are classified into three categories: control system based on human biological signal, nonbiological signal and platform independent control system. Different types of control methods under each category are compared and reviewed.
Embargo
Design and Analysis of An Anthropomorphic Two-DoF Ankle-Foot Orthosis
(IEEE, 2019-04-19) Ranaweera, R. K. P. S; Abayasiri, R. A. M; Gopura, R. A. R. C; Jayawardena, T. S. S; Mann, G. K. I
This paper proposes a two-degrees of freedom passive-dynamic ankle-foot orthosis (AFO). In view of enhancing anatomical conformity, an anthropomorphic design is proposed to minimize mechanical interferences between ankle and orthosis. The biomimetic features such as passive stabilizers and dampeners in the proposed mechanism intrinsically support the ankle and foot to maintain stability and improve shock-absorbing ability. The mobility, ranges of motion, and manipulability measures for the proposed AFO have been investigated using mathematical modeling and simulation approaches. The analysis revealed the effectiveness of the proposed AFO in meeting the complex kinematics of ankle joint compared to the predecessors. Potentially, the proposed AFO can serve as a platform to carry out research and development on robotic orthoses for the lower extremity.
Embargo
Design and Analysis of An Anthropomorphic Two-DoF Ankle-Foot Orthosis
(IEEE, 2019-04-19) Ranaweera, R. K. P. S; Abayasiri, R. A. M; Gopura, R. A. R. C; Jayawardena, T. S. S; Mann, G. K. I
This paper proposes a two-degrees of freedom passive-dynamic ankle-foot orthosis (AFO). In view of enhancing anatomical conformity, an anthropomorphic design is proposed to minimize mechanical interferences between ankle and orthosis. The biomimetic features such as passive stabilizers and dampeners in the proposed mechanism intrinsically support the ankle and foot to maintain stability and improve shock-absorbing ability. The mobility, ranges of motion, and manipulability measures for the proposed AFO have been investigated using mathematical modeling and simulation approaches. The analysis revealed the effectiveness of the proposed AFO in meeting the complex kinematics of ankle joint compared to the predecessors. Potentially, the proposed AFO can serve as a platform to carry out research and development on robotic orthoses for the lower extremity.
Open Access
Development of A Passively Powered Knee Exoskeleton for Squat Lifting
(Atlantis Press, 2018-05-01) Ranaweera, R. K. P. S; Gopura, R. A. R. C; Jayawardena, T. S. S; Mann, G. K
This paper proposes a knee exoskeleton with passive-powering mechanism to provide power assistance to the knee joint during squat lifting of objects from the ground. It is designed to capture and store 20% of the biomechanical energy dissipated at the biological knee joint during decent phase and return the harnessed energy in the ascent phase in a squatting cycle. The effectiveness of the proposed system was verified by evaluating performance of key muscles of knee joint using surface electromyography (sEMG) signals. Statistical data from experiments revealed a reduction of peak root-mean-square averages of sEMG signals of knee extensor muscles by 30 - 40% during squatting.
Embargo
Dexterity measure of upper limb exoskeleton robot with improved redundancy
(IEEE, 2013-12-17) Gunasekara, M. P; Gopura, R. A. R. C; Jayawardena, T. S. S; Mann, G. K. I
Exoskeleton manipulators are used for different applications in robotic field. Human motion is highly complicated and flexible; therefore obtain human like motion from exoskeleton manipulator becomes a challenge to researches in this field. This paper presents an improvement of dexterity measure as a result of adding redundancy to upper limb exoskeleton manipulator. Proposed manipulator has four degree of freedom. This takes the effect of DOF at human elbow and wrist of the upper limb. Dexterity of the manipulator is measured using manipulability index and minimum singular value. All measures are based on Jacobian of the manipulator. This four DOF manipulator is then modified by adding two more degrees of freedom to make total of six. Therefore with respect to task defined in operational space; modified exoskeleton manipulator operates as redundant. Manipulability index and minimum singular value are again determined for six degree of freedom modified exoskeleton manipulator. The effect of redundancy in order to improve the manipulation in upper limb exoskeleton robot is investigated in this study.
Embargo
Recent trends in EMG-Based control methods for assistive robots
(InTech, 2013-05-22) Gopura, R. A. R. C; Bandara, D. S. V; Gunasekara, J. M. P; Jayawardena, T. S. S
Utilization of electrodiagnosis; namely electromyography (EMG), nerve conduction studies, late responses, repetitive nerve stimulation techniques, quantitative EMG and evoked potentials, has long been discussed in many text books as basic principles. However the usage of electroneuromyography is rather new in some aspects when compared with tasks of daily practise. This book, we believe, will cover and enlighten those aspects where electrodiagnosis has begun to play important roles nowadays.
Embargo
Redundant upper limb exoskeleton robot with passive compliance
(IEEE, 2014-12-22) Gunasekara, J. M. P; Gopura, R. A. R. C; Jayawardena, T. S. S
Enhancing physical Human-Robot Interaction (pHRI) is an important design aspect in upper limb exoskeleton robots. The level of manipulation provided by an exoskeleton robot has a significant effect to perform daily tasks. This paper evaluate performance of a 6 degree of freedom (DoF) upper limb exoskeleton robot. The detailed mechanical design of the robot is presented with the novel features included in order to improve the pHRL The exoskeleton robot consists of six DoF and two flexible bellow couplings are used to provide translational DoF at wrist and elbow joints. Moreover, flexible bellow couplings are positioned at specific locations in order to enhance the kinematic redundancy. The benefit of compliance due to the flexible bellow coupling at wrist joint of the robot is verified with reference to manipulability variation of the kinematic model of human lower arm.
Embargo
A study on a poly-bag manufacturing system preliminary analysis and simulation
(IEEE, 2009-12-28) Gopura, R. A. R. C; Jayawardena, T. S. S
The material prices of poly bags increase with high degree of fluctuation and forecasters see no end to this trend. Further, legal restrictions imposed on certain types of polythene products adversely affect the demand. In the light of the above, entrepreneurs of the poly bag manufacturing face many challenges. In this study, an analysis and a simulation of a poly bag manufacturing system were carried out to improve the productivity to face the underlying challenges. This paper presents analysis, modeling and simulation methods of the system. In addition, a risk prioritization method was proposed at the preliminary analysis and also a simulation tool was developed.