Browsing by Author "Subasinghage, K"

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    PublicationOpen Access
    Electromagnetic Continuously Variable Transmission (EMCVT) System for Precision Torque Control in Human-Centered Robotic Applications
    (Multidisciplinary Digital Publishing Institute (MDPI), 2025-09-08) Madusankha, I; Jayaweera, P. N; Kahatapitiya, N. S; Sampath, P; Weeraratne, A; Subasinghage, K; Liyanage, C; Wijethunge, A; Ravichandran, N. K; Wijesinghe, R. E
    In human-centered robotic applications, safety, efficiency, and adaptability are critical for enabling effective interaction and performance. Incorporating electromagnetic continuously variable transmission (EM-CVT) systems into robotic designs enhances both safety and precise, adaptable motion control. The flexible power transmission offered by CVTs allows robots to operate across diverse environments, supporting various tasks, human interaction, and safe collaboration. This study presents a CVT-based mechanical subsystem developed using two cones and an intermediate belt-driven transmission mechanism, providing efficient power and motion transfer. The control subsystem consists of six strategically positioned electromagnets energized by signals from a microcontroller. This electromagnetic actuation enables rapid and precise adjustments to the transmission ratio, enhancing overall system performance. A linear relationship between slip percentage and gear ratio was observed, indicating that the control system achieves stable and efficient operation, with a measured power consumption of 2.95 W per electromagnet. Future work will focus on validating slip performance under dynamic loading conditions, integrating the system into robotic platforms, and optimizing materials and control strategies to enable broader real-world deployment.
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    PublicationOpen Access
    Vision incorporated MUltichannel Feature Fusion Template Matching (MUFF-TM) and real-time sub-pixel coordinate localization for 2D textile surface in ultrasonic tacking systems
    (Elsevier B.V., 2026-09) Kahandawala, B, S; Nalmi, R; Sodige, B, A.K; Subasinghage, K; Silva, B, N; Wijesinghe, R,E; Woo, S, T
    Temporary stitches are essential in apparel manufacturing as they temporarily secure fabric pieces to prevent misalignment during machine sewing and ensure high-quality results. Manual ultrasonic tacking machines were introduced to enhance the precision of this process; however, the necessity for expert operators remains a major constraint. This work introduces a real-time system for ultrasonic tacking machines that combines vision-guided single-modal MUltichannel Feature Fusion Template Matching (MUFF-TM) to autonomously identify and align tacking points on textiles with sub-pixel spatial accuracy. To overcome the limitations of classic feature-based algorithms on smooth and deformable fabrics, the proposed method utilizes macro-contour extraction and equidistant boundary sampling rather than relying on unstable local textures. Experimental results demonstrate that MUFF-TM achieves a 100% target detection rate with a highly stable Mean Absolute Error (MAE) of under 5 pixels across various dynamic conditions, including changes in orientation, illumination, scale, and non-rigid deformation. By significantly outperforming traditional algorithms (SIFT, SURF, and ORB) in spatial precision, the developed software interface offers a robust, versatile, and scalable solution for advancing automated precision in the apparel industry. Copyright