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

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Open Access
An Autonomous Multiple Robot Registration and Control System: Design Implementation and Performance Evaluation
(2022-11) Rajapaksha, U. U. S. K
ROS is the most prominent middleware used by most researchers in robotic application development. Our research mainly depends on ROS technologies because most researchers currently work with ROS as middleware for many research projects. Controlling the robots through the Web interface is essential. Because in some instances, users may not be able to communicate with the robot directly because of some bad conditions in the environment where the robots are currently placed. Therefore, we have developed a Web interface to control all robots through the Internet. However, the ROS topics, nodes, and message formats used to subscribe and publish can differ from one robot to another when we work with multiple robots in the same environment. Therefore, when a user expresses high-level instructions through a Web interface, all multiple robots must understand instructions uniformly and take necessary actions accordingly without considering each robot’s internal software and hardware implementation. The first contribution of the research is to develop an algorithm to register all robots based on the main components of the ROS technology through the Web interface autonomously. The robot Registration Engine was developed with algorithms to complete the autonomous robot registration task. The second contribution is identifying the relevant ROS topics and nodes for each action when a user command gives through the Web interface. The ROS topic identification algorithm was developed successfully. The third contribution was to evaluate the system performance under different conditions and derive the equations for the delay in response time through the web interface, validating the equations derived. We have conducted several experiments to evaluate our system with delays in response time. The worst-case analysis was completed for all algorithms with Big O notation. Users and researchers can utilize Robot Registration Algorithm and ROS Topic Identification Algorithm to work with multiple robots through the Web interface. We have successfully implemented all algorithms in a simulated environment in Gazebo.
Embargo
Comparison of CPU Scheduling Algorithms: FCFS, SJF, SRTF, Round Robin, Priority Based, and Multilevel Queuing
(IEEE, 2022-11-03) Rajapaksha, U. U. S. K; Pemasinghe, S
In this article, we are discussing various aspects of CPU scheduling. We first introduce the concept of CPU scheduling, different types of schedulers and the typical terminology used in relation to processes. Scheduling criteria, the optimization of which is the ultimate goal of a CPU scheduling algorithm, are also discussed. We then discuss various types of research studies that have been carried out with respect to CPU scheduling algorithms. Different CPU scheduling algorithms are examined with examples to highlight their characteristics. Advantages and disadvantages of each of these algorithms are also explored. The scheduling algorithms discussed are, first come first served, shortest job first, shortest remaining time first, priority based, round robin, multilevel queue, and multilevel feedback queue.
Embargo
Parade in the Virtual Dressing Room
(IEEE, 2018-08) Priyadharsun, S; Lakshigan, S; Baheerathan, S. S; Rajasooriyar, S; Rajapaksha, U. U. S. K; Harshanath, S. M. B
Fashion has always been in the forefront especially with the youngsters. The interest in fashion can vary according to the country, region, culture, age, seasons, climates, places visited, attitude, personal interests etc. Some of them, however, have difficulties finding out about suitable dressing styles for them. Meeting this need is the purpose of this application. On the other hand, social networks are an easy way to interact with the teenagers. In this new age social network site, users create a profile and enter their body measurements to create a virtual model of the particular user. They can also upload their photos to create a complete virtual model which includes face as well. It was necessary to add business value to the application along with the usual entertainment factors. Adding business value to entertainment factors is the main attraction in Fashion Fit to suit a new age of social networking.