Browsing by Author "Rajapaksha, U. U. S"

Now showing 1 - 10 of 10

Open Access
Design, Implementation, and Performance Evaluation of a Web-Based Multiple Robot Control System
(Hindawi, 2022-05-30) Rajapaksha, U. U. S; Jayawardena, C; MacDonald, B. A
Heterogeneous multiple robots are currently being used in smart homes and industries for different purposes. The authors have developed the Web interface to control and interact with multiple robots with autonomous robot registration. The autonomous robot registration engine (RRE) was developed to register all robots with relevant ROS topics. The ROS topic identification algorithm was developed to identify the relevant ROS topics for the publication and the subscription. The Gazebo simulator spawns all robots to interact with a user. The initial experiments were conducted with simple instructions and then changed to manage multiple instructions using a state transition diagram. The number of robots was increased to evaluate the system’s performance by measuring the robots’ start and stop response time. The authors have conducted experiments to work with the semantic interpretation from the user instruction. The mathematical equations for the delay in response time have been derived by considering each experiment’s input given and system characteristics. The Big O representation is used to analyze the running time complexity of algorithms developed. The experiment result indicated that the autonomous robot registration was successful, and the communication performance through the Web decreased gradually with the number of robots registered.
Open Access
Design, Implementation, and Performance Evaluation of a Web-Based Multiple Robot Control System
(Hindawi, 2022-05-30) Rajapaksha, U. U. S; Jayawardena, C; MacDonald, B. A
Heterogeneous multiple robots are currently being used in smart homes and industries for different purposes. The authors have developed the Web interface to control and interact with multiple robots with autonomous robot registration. The autonomous robot registration engine (RRE) was developed to register all robots with relevant ROS topics. The ROS topic identification algorithm was developed to identify the relevant ROS topics for the publication and the subscription. The Gazebo simulator spawns all robots to interact with a user. The initial experiments were conducted with simple instructions and then changed to manage multiple instructions using a state transition diagram. The number of robots was increased to evaluate the system’s performance by measuring the robots’ start and stop response time. The authors have conducted experiments to work with the semantic interpretation from the user instruction. The mathematical equations for the delay in response time have been derived by considering each experiment’s input given and system characteristics. The Big O representation is used to analyze the running time complexity of algorithms developed. The experiment result indicated that the autonomous robot registration was successful, and the communication performance through the Web decreased gradually with the number of robots registered.
Embargo
Group Formation and Communication of Multitasking Multi-Robots for Smart City Cleaning Process
(IEEE, 2022-12-09) Dahanaka, D.M.S.J; Wijesooriya, A.I.E; Wickramasinghage, D.S.S; Bhaggya, G.V.C; Harshanath, S.M.B; Rajapaksha, U. U. S
In this research paper, we focus on how multitasking robots team up to clean a city. In particular, we consider how they build their team, how they position themselves in their positions, how they work with teams, how they face obstacles along the way, and how to move groups out of control in an emergency. We use a leader-follower strategy here, and we are also tasked with selecting a leader for each group. The leader finds the shortest route to avoid the obstacle by considering the obstacle details such as obstacle location, obstacle width, and destination. The leader decides the best way for the team to go. If the leader wants to change the group, it gives the message to the relevant member. In the event of meeting an obstacle, it changes its shape and moves. A Robot Operating System (ROS) framework was created to perform real-time experiments with ROS-capable mobile robotic TURTLEBOTs to evaluate this control strategy. Simulations performed on a mobile robot team demonstrate the effectiveness of the proposed approach.
Embargo
Identifying Objects with Related Angles Using Vision-Based System Integrated with Service Robots
(IEEE, 2022-07-18) Pasindu Lakshan, K. K; Rajapaksha, U. U. S; Jayawardena, C
Manipulation of an object can be done with the collaboration of a human to a robot by properly introducing the object. To do this easily, we can model the object inside the robot’s head and let the robot identify it using some sensors and cameras. But when it comes to the real world, robots should have some mechanism to recognize objects in a perspective frame with angels. In this research authors will present a strategy to identify the unknown objects using a vision-based system and with the perspective angles of the detected object and the system is integrated with service robots. This will go in a way when the robot should be able to identify the objects around the robot in an asynchronous manner with rotational angles and the pitch and roll angles, perspective to the robot standing surface. The research will be based on Artificial intelligence, Machine learning, and Robotics.For the identification process, a few ways can be used. Vision-based identification using color and depth images from an RGB camera, and this research is mainly based on this RGB and depth feature integrated with YoloV5. And there are some other ways to identify objects like using LiDAR laser scanner. However, this learning process, should have a stable object to model and train the object. After the object recognition, by using the proposed methodology robots can calculate and estimate the rotational angles and pitch and roll angles of an object.
Embargo
IoT-Based Solution for Fish Disease Detection and Controlling a Fish Tank Through a Mobile Application
(IEEE, 2024-04-05) Bodaragama, B.D.T; Miyurangana, E.H.A.D.M; Jayakod, Y.T.W.S.L; Vipulasiri, D.M.H.D; Rajapaksha, U. U. S; Krishara, J
This research project seeks to enhance fish tank management and improve the well-being of aquatic life by leveraging modern technological solutions. It focuses on four key areas: monitoring water quality, detecting fish diseases, preventing algae growth, and developing an automatic fish feeder with remote control capabilities. The project’s first goal is to establish a comprehensive water quality monitoring and control system that predicts future water conditions, continuously assesses key parameters, and provides real-time data to users for proactive interventions. Additionally, the research project aims to develop an image-processing-based mobile application for early detection of fish diseases, eliminating the need for manual inspection and improving overall fish health management. The project also involves the creation of a mobile app to predict and prevent algae growth by analyzing factors like lighting, nutrient levels, and water flow, providing personalized recommendations for algae control. Lastly, an automatic fish feeder with remote control capabilities will be designed, allowing fish owners to schedule and adjust feeding times and portion sizes through a mobile app. This innovative approach ensures fish receive consistent and appropriate nutrition even when owners are away from home.
Embargo
Monitoring System for Underage Smart Phone Users
(IEEE, 2022-12-09) Jayawardena, M.A.P; Mahadi Hassan, M.H.F.M; Aflal, M.I.A; Weerathunga, W.A.A.S; Harshanath, S. M. B.; Rajapaksha, U. U. S
In today’s world, it is very common among children to use a smartphone or a handheld digital device such as a tablet to entertain themselves and as a medium of socializing with people easily. The COVID-19 pandemic forced many people to stay in their homes and rely on these digital devices to do their day-to-day work and communication. The latter caused the increase in reliance on digital devices to acquire information about the outside world and as a source of entertainment. This new tendency increased the likelihood of children being exposed to pornography, cyberbullying, cyberstalking, excessive gaming, sexting, and behavioral traits related to narcissism. These habits caused many children to develop psychological and physiological illnesses, which affected them in the short term and, for some, which affected them and their families in the long run, such as suicide. Our research proposes to constantly monitor behavioral patterns such as this, notify the relevant individuals, and prevent the children from being prone to such ill fates. According to the findings, using machine learning and natural language processing, sexting, phonographic words, and cyberbullying can all be recognized with pinpoint accuracy. Also, by using two machine learning models, depression and anxiety are detected with an accuracy of 0.84 and 0.86. To prevent and analyze computer vision syndrome caused by improper face-screen distance. An image processing-based algorithm is used to measure the distance from face to screen, and results are narrowed down to an accuracy of 1 inch.
Embargo
Ontology based Optimized Algorithms to Communicate with a Service Robot using a User Command with Unknown Terms
(IEEE, 2020-12-10) Rajapaksha, U. U. S; Jayawardena, C
In real world applications, seamless integration of heterogeneous robots is very important to complete a task given by high level user instruction with unknown terms to all robotic devices simultaneously. In this research, we have used the technologies in Semantic Web mainly with the use of the ontology to represent the meaning of the unknown terms in the given high level instruction. If a user has given an instruction in domestic environment as “clean My Room 01 while finding my key for the car” to clean different locations with different capabilities and there can be robot who does not the meaning of the “key”. The robot can get the meaning of the unknown term by communicating with the semantic analyzer which is working with the ontology. According to our analysis we have proved that the object represented by the unknown term can be detected more accurately with compared to existing object detection algorithms since our ontology can represents more concepts related to the given object. The results indicate that if number of unknown terms in the command are increased then the time taken to process the command also be increased.
Open Access
An Ontology-Driven Question Answering System For Computer Network Module
(IEEE, 2021-12-02) Rajapaksha, U. U. S; Nowshad, M. I. M
The field of "question and answering" has become a popular area of research in recent years.The main reason for this is that the search through the ”question answering" system is found to be more efficient than the normal search. The Question Answering (QA) Systems can be two types in general such as open-domain QA systems and closed-domain QA systems. Search engines are generally open-domain QA systems that are used to search and retrieve the data we need. However, instead of search engines giving accurate and precise answers to the user queries, they often returned the list of links. Then, the user clicks on each link one by one to get the answer. This method of searching can sometimes not give the precise answers to the user queries, or the user may have to spend more time searching for the answer, and hence the users may experience discomfort. This situation can be avoided by using the semantic concept. The normal web data are machine-readable and can be understood by humans, whereas the semantic web information is machine-readable and understandable. Ontology is the main component of the semantic web and it can be described as the structure of knowledge-representation of a particular domain or subject. It clearly describes concepts, roles, instances, and the relationships between them. The Question Answering (QA) system is one of the popular applications of ontology. Here, the QA system is used to extract the precise answer to the user queries from the data repository. The system can be developed using different techniques like NLP with IR, reasoning with the NLP, web-based QA System, ontology-based QA System, and more. This particular question answering system is developed using the ontology model. This ontology-driven question answering (QA) system provides the facility to the users to find accurate and concise answers for their queries in the Computer Network module of ICT Subject.The same questions that are asked in the ontology-based question answering system can be asked in the web-based system. The reason is that both of these methods are used in this system. This will make it easier for users to understand the difference between the two systems.The performance results of both these systems further strengthen the statement
Embargo
ROS Based Multiple Service Robots Control and Communication with High Level User Instruction with Ontology
(IEEE, 2021-08-11) Rajapaksha, U. U. S; Jayawardena, C; MacDonald, B. A
Human Robot Interaction (HRI) is one of the biggest research field in the Robotics research world. Understanding the semantic meaning of the user instruction is very important to establish the communication between user and robot. When a user instructs to all heterogeneous service Robots with high level instructions who are working at different locations in smart house, all robots need to operate by understanding the semantic of the instruction and complete the task uniformly without considering underline software and hardware implementations. Ontology is used to extract the semantic meaning of the instructions. Each robot is assigned a specific task for specific time period for each day. User can issue commands to all robots at different time slots but the same command can be issued with different sentence by different users. We have used ontology to represents the semantic of the sentence with different commands. We have used three robots (TurtleBot, TiaGo and Husky) for our experiment in Gazebo simulator. Robot Operating System (ROS) is the middleware which is hiding more complex implementation of different functions for different robots and provide the interoperability for heterogeneous robot operations. The ROS nodes and topics can be different for different robots, therefore our implementation can solve this issue by autonomous robot registration algorithm which is working with Robot ontology.
Embargo
Secure Smart Parking Solution Using Image Processing and Machine Learning
(IEEE, 2022-07-18) Balasuriya, A. I. P; Dilitha, A.G. A. D; Perera, P. A. M. M; Jayaweera, D.K. S; Swarnakantha, N. H. P. R. S; Rajapaksha, U. U. S
With the IoT connecting the world, finding parking lots is much easier with smart parking solutions. Some of the parking areas in the world use at least some kind of smart parking solution these days. There are existing and broader solutions when it comes to parking a vehicle. So, in this project, we are mainly focusing on developing these existing solutions a step further. I hear we are mainly focusing on a solution that increases the effectiveness of the management processes in the currently existing solutions and developing a relevant and integrated security solution. The project will include a refined prediction system that can predict the outcomes of some of the main processes that are done inside a parking area so that smart parking management and be done much more smoothly and effectively. Prediction systems are designed on the idea of getting possible security issues, vehicle types on peak hours as an outcome. And even in the aspect of security rather than a separate system, there is an integrated one coming with this project that has improved functionality with regards to a parking area. The main possible security threats that happen in a parking area are being identified by us and implemented separate functionalities on detecting them. Furthermore, the project includes a decision-making system that can deduce and take the decision on slot management in a parking area so it can work effectively and with minimum human interaction.