Research Papers - Dept of Computer Systems Engineering

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Now showing 1 - 7 of 7
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    PublicationOpen 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.
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    PublicationEmbargo
    Design of a Low-Frequency Linear Motion Testbed for Electromagnetic Kinetic Energy Harvesters in JumboNet
    (IEEE, 2017-09-14) Wijesundara, M; Gamage, A; Gokulan, Y; Tapparello, C
    Kinetic energy harvesting on animals is an emerging technology that could facilitate real-time monitoring of wild elephants. Real-time monitoring is a proven solution to the Human-Elephant Conflict, a problem that has spread across Asia and Africa. However, when designing electromagnetic harvesters, it is essential to accurately model the voltage produced due to electromagnetic effects. In this paper, we present the design, development and the complete simulation of a simple and low-cost linear motion testbed that estimates the generation of an electromagnetic harvester. We integrated the dynamic non-linear flux linkage across the coil with an analytical model that accurately estimated the motion of the moving magnet. The experimental measurements from the testbed were better than 80% in agreement with the simulation results within the frequency range of 1Hz to 2Hz.
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    PublicationEmbargo
    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.
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    PublicationEmbargo
    Design and fabrication of an automatic tension monitoring and regulation system for needle thread
    (IEEE, 2019-07-03) Randima, L. M. L; Sandaranga, D. M. B. C; Jayawardena, T. S. S; Fernando, E. A. S. K
    A matched needle and bobbin thread tensions is a major requirement of a seam and also to the quality of garment. This paper describes an attempt on the development of an automated needle thread tension regulating system for single needle lock stitch sewing machine. Historically, several experiments have been carried out to measure the thread tensions of both needle thread and bobbin thread of a lock stitch machine. However, no evident in favour of the development of a device to adjust the needle thread tension automatically. Despite a cyclic variation of the needle thread tension, a needle thread regulation system is developed to maintain an average needle tension during the cycle at a predetermined level. The developed system can be installed on an existing single needle lock stitch machine and capable of maintaining the required correct thread tension profile for sewing. The needle thread tension regulation system is a closed loop system and with a load cell as a sensing device and a geared DC motor adjusts the compression of the spring of the thread tensioner. A visual display of thread tension is indicated on a 16X4 LCD display and the required needle thread tension is set by 4x4 keypad. An Arduino board controls the electronic equipment in the system.
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    PublicationEmbargo
    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.
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    PublicationEmbargo
    Design and fabrication of an automatic tension monitoring and regulation system for needle thread
    (IEEE, 2019-07-21) Randima, L. M. L; Sandaranga, D. M. B. C; Jayawardena, T. S. S; Fernando, E. A. S. K
    A matched needle and bobbin thread tensions is a major requirement of a seam and also to the quality of garment. This paper describes an attempt on the development of an automated needle thread tension regulating system for single needle lock stitch sewing machine. Historically, several experiments have been carried out to measure the thread tensions of both needle thread and bobbin thread of a lock stitch machine. However, no evident in favour of the development of a device to adjust the needle thread tension automatically. Despite a cyclic variation of the needle thread tension, a needle thread regulation system is developed to maintain an average needle tension during the cycle at a predetermined level. The developed system can be installed on an existing single needle lock stitch machine and capable of maintaining the required correct thread tension profile for sewing. The needle thread tension regulation system is a closed loop system and with a load cell as a sensing device and a geared DC motor adjusts the compression of the spring of the thread tensioner. A visual display of thread tension is indicated on a 16X4 LCD display and the required needle thread tension is set by 4x4 keypad. An Arduino board controls the electronic equipment in the system.
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    PublicationEmbargo
    Design and implementation of an autonomous indoor surveillance robot based on raspberry pi
    (IEEE, 2019-12-05) Dharmasena, T; Abeygunawardhana, P. K. W
    In recent years robotics has influenced many fields including the security and surveillance domain. Due to convenience and flexibility more and more security robots tend to be deployed in place of humans for routine activities such as area sweeps. While there are many kinds of research have been done regarding this concern, many of the solutions cost more due to their implementation complexity while low-cost implementations are only capable of doing simple activities such as following given local coordinates. This paper describes an autonomous surveillance robot that is being developed while keeping the development costs as low as possible and is capable of performing routine patrols autonomously in indoor environments and detect anomalies around it such as temperature fluctuations, unauthorized personals and report them back to a central computer. This robot can be controlled remotely by security personals to facilitate manual inspections. Due to the development architecture of the robot, more software-based features can be added easily.