Research Papers - Dept of Information Technology
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Publication Open Access Improved Path Planning for Multi-Robot Systems Using a Hybrid Probabilistic Roadmap and Genetic Algorithm Approach(Department of Agribusiness, Universitas Muhammadiyah Yogyakarta, 2025-03-24) Jathunga, T; Rajapaksha, SThis study focuses on the development and application of an improved Probabilistic Roadmap (PRM) algorithm enhanced with Genetic Algorithms (GA) for multi-robot path planning in dynamic environments. Traditional PRM-based methods often struggle with optimizing path length and minimizing turns, particularly in complex, multi-agent scenarios. To address these limitations, we propose a hybrid PRM-GA approach that incorporates genetic operators to evolve optimal paths for multiple robots in real-time.The research contribution is an enhanced PRM-GA framework that improves efficiency in multi-robot navigation by integrating evolutionary techniques for dynamic obstacle handling and optimized path generation.The research methodology involves testing the algorithm in various environments, including varying robot numbers and environmental complexities, to evaluate its scalability and effectiveness. Our results demonstrate that the PRM-GA algorithm successfully reduces both path lengths and turn counts compared to standard PRM-based methods, ensuring collision-free and smooth paths. The algorithm showed robust performance across different scenarios, effectively handling dynamic obstacles and multi-agent coordination. However, in highly dynamic environments with rapidly changing obstacles and constraints, the algorithm may occasionally produce paths with turn counts and distances similar to or slightly higher than those of simpler approaches due to the need for frequent re-optimization. Future research can explore incorporating additional factors such as energy consumption and time optimization, alongside distance and turns, to further enhance the algorithm's efficiency in real-world applications. Overall, the PRM-GA approach advances the state of the art by offering a more adaptable and scalable solution for multi-robot path planning, with applications in logistics, industrial automation, and autonomous robotics.Publication Embargo Cloud-based Salesman-Bot for Ontology-based Negotiation(IEEE, 2023-04-06) Fernando, A; Rahubedda, T; Jayasinghe, B; Mallikahewa, S; Hettiarachchi, O; Rajapaksha, SWe have proposed a cloud-based ChatBot (Salesman-Bot) approach to handling multiple negotiation scenarios in a supermarket environment. The web application is a simple interface that can be implemented on a single standalone device or interacted with through a mobile phone. The Salesman-Bot responds both via text and speech. By introducing a Salesman-Bot, efficient negotiation, with quick preferences and suggestions can be provided. A new architecture proposed to operate the Salesman-Bot together with Google APIs and libraries such as Natural Language AI, Vision AI, Speech to Text API, Text to Speech API and Machine Learning using TensorFlow. The application also uses the Google Cloud Platform with related services such as Google App Engine. The goal is to make ChatBots more efficient in negotiating in different business scenarios. This paper presents the work carried out with ontology and machine learning in a cloud-based environment to handle multiple negotiation scenarios based on a negotiation hierarchy. It also proposes the opportunities and drawbacks of such a system.Publication Embargo A Smart Waste Disposal System: To Encourage Proper Waste Disposal(IEEE, 2022-12-09) Alwis, D; Munasinghe, P; Rajapaksha, S; Ranawaka, B; Krishara, J; Tissera, WWaste disposal is one of the most important industries in the world. If not maintained properly it would lead to the destruction of the environment. Improper waste disposal is becoming a critical issue in Sri Lanka and the lack of waste segregation, inadequate waste collection methods, the lack of support for waste management from the public are among the root causes of the problem. As a solution we propose an IoT-based solid waste management system that allows garbage bin monitoring, routing of garbage collector trucks, a prediction model and a point rewarding system. As the end result of this research the following prototypes was built; a prototype model of a smart bin with the capabilities of opening and closing by itself and detecting the waste level of the bin, a prototype mobile application for garbage collectors which delivers analysed data on truck position and ensures timeliness, a prototype mobile application for the public which receives the weight and type of solid waste discarded as an input and calculate reward points to encourage the public in proper waste disposal, a prototype web application which delivers statistical data for detailed reports and a prediction model which predicts the amount of waste to be collected in the coming month using machine learning. This is a low-cost IoT-based solution that uses existing resources to handle the massive amounts of garbage collected each day.Publication Embargo SMART DIARY: Autonomous System for Daily Diary Creation and Prioritization of Daily Activities for Improved Well-Being Using Neural Networks and Machine Learning(IEEE, 2022-12-09) Abraar, S.F.M.; Thuduhenage, D.T.; Balasubramaniyam, V.P.; Mohanraj, S.R.; Wimalaratne, G; Rajapaksha, SIn the present world, the IT (Information Technology) industry is so advanced that it has opened many opportunities to communities with numerous roles. Even though the industry is growing day by day and providing more opportunities, it has had serious effects on human well-being. If a person fails to control the demands of work or study, such as tasks with higher complexity, an unmanageable workload, pressure, enduring conflicts within the team, and other physical and emotional demands, it could lead that person to exhaustion, anxiety, and stress. Such factors can affect the health of a person in an extremely negative way. The proposed topic “Smart Diary: Auto generation of diary and Prioritization of Daily Activities for Improved Well-Being” is a solution for people with uncontrolled job demands and busy work schedules. This helps to keep track of day-to-day life activities and review them to make better plans for the future. It also helps the user prioritize their daily tasks and provides suggestions for people who are stressed and showcasing negative emotions based on text analysis.Publication Embargo Autonomous Hydroponic Environment with Live Remote Consulting System for Strawberry Farming(IEEE, 2022-12-09) Samaranayake, S.L; Krishmal, S; Cooray, P.L.R.K; Senatilaka, T; Rajapaksha, S; Nuwanthika, W.SStrawberries are a very popular fruit and are widely consumed all over the world. Due to its nutritional value, its consumption has increased tremendously in recent times. Strawberry, which has such high health and economic value, is grown in only one area in Sri Lanka. This is since the climate in those areas is favorable for strawberries. Using the Internet of Things, image processing, and machine learning, this research proposed a design for a closed environment with automatic monitoring and controlling of environmental factors and nutrition required for strawberry cultivation with the capability of remote live monitoring and analysis of each plant. Also, the proposed system captures the images of each strawberry plant using a camera navigation system and analyses those images using a machine learning algorithm to identify the growing stage. This decision making process was verified using strawberry pictures acquired from a strawberry farm. In addition, current capturing images can use in the next growth cycle to increase accuracy. The proposed system can be easily expanded by increasing the height of the tower and refrigeration power. Through this, strawberry cultivation can be expanded to all parts of Sri Lanka by overcoming climatic and geographical limitations.Publication Embargo Intelligent System to Verify the Effectiveness of Proposed Teacher Transfers Incorporating Human Factors(IEEE, 2022-02-23) Karunanayake, V; Wanniarachchi, J. C; Karunanayake, p; Rajapaksha, SA data center architecture can be determined as the basic structure of a cloud computing data center. However, the expected outcome cannot be obtained even though the tools, technologies, and elements are advanced. It is crucial to select the right architecture as architecture used, which directly affects the operational cost and power consumption of the data center. The SDN, Software Defined Networking, is a novel technology of cloud computing. This SDN is used to separate the control panel and forwarding plane as well, as it enables programmable network components. Therefore, the components of the SDN can easily control and managed. This research aimed to select an SDN-based architecture for a data center. Here, there are two parameters of average throughput and average packet delay on the three existing architectures that are tested using simulation. Then the results are compared with each other. In this research, the accuracy correlations among average packet delay and average throughput are investigated. The Obtained results show that Fat-Tree architecture is the best one among VL2 and hybrid architecture consists with flat tree and VL2 technology in terms of their performances.Publication Embargo Techniques of Enhancing Synchronization Efficiency of Distributed Real Time Operating Systems(IEEE, 2022-02-23) Rajapaksha, S; Alagalla, HDistributed Operating Systems is one of the most modernizing concepts of the world. When it comes to Distributed Networks and Operating Systems, Real-Time Operating systems are highly crucial for the developers to achieve desired Tasks. To make the concept into the working functionality, Synchronization is playing a huge role. Synchronization has experimented with many techniques by researchers. Still, there is a lack of analysis to find the most optimized and most effective technique to achieve the goal of enhancing the accuracy and efficiency of Real-Time Operating Systems (RTOS) by synchronization context. Apart from that research is analytically produces the explanation about existing synchronization platforms in the computing world including backup Synchronization, On-Chip Memory Handling, Location-Based Network Systems Configuration, and Hardware Oriented Synchronization. Especially this research focuses on the problems and challenges of the existing RTOS and Distributed RTOS (DRTOS) Systems. Further, this paper will elaborate on the best-suited solutions and techniques to follow during the development of Distributed Node Network with Multi-Core Processors. It will propose multiple techniques to enhance the efficiency by using various algorithms comprising lock-based, lock-free, semaphore based, Mutex based, and Hardware related high accuracy criteria. Also, this will be highly beneficial for the people who are interested in Internet of Thing-based Distributed Networks to build more supportive and high-performance processing systems using desired featured objectives.Publication Embargo An Improved Round Robin Algorithm for an Efficient CPU Scheduling(IEEE, 2022-02-23) Bandara, A. M. O; Rajapaksha, SThe algorithm policy applied by a CPU, to schedule running processes, has an impact on the efficiency of an operating system (OS). As a result, a superior CPU scheduling algorithm leads to higher OS performance while using limited resources and for shorter periods of time. As a result, several strategies have been suggested and implemented to improve CPU scheduling performance. Any scheduler’s primary responsibility is to assign jobs to the most effective and reliable resource available. It’s also a fact that if jobs and resources aren’t planned properly, the entire operating system’s productivity suffers significantly. The "Round Robin" is deemed an effective and fair approach because of each process is allocated the same amount of time quantum. Nevertheless, the effectiveness of the system is determined by the selected time-quantum. The major goal of this research is to develop the present round-robin algorithm by enhancing the time quantum for candidate processes in real-time in such a way that its impartiality is maintained. There is no loss of property. This paper’s proposed algorithm finds the time left in a process’s last turn, and then Determines whether it is time-based on a certain threshold value, should quantum be expanded or not. An arithmetic simulation has been created to demonstrate that the suggested method is correct. It outperforms the traditional round-robin algorithm. In words of several performing metrics such as average waiting time, context switches and the number of turnaround times, the suggested adjusted version of the round- robin algorithm outperforms the traditional round-robin algorithm, according to the results of the experimental investigation.Publication Embargo ROS Supported Heterogeneous Multiple Robots Registration and Communication with User Instructions(IEEE, 2022-02-23) Rajapaksha, S; Jayawardena, S; MacDonald, B. ADifferent types of heterogeneous multiple service robots are working in the same environment to help humans in many ways in a smart house. These service robots have different capabilities based on the different control and communication systems. The complexity of the programming of the robots is now reduced by using middleware like Robot Operating System (ROS). However, the communication and control of the heterogeneous service robots using very high-level instruction is still tricky because of differences in ROS topics. If a user has issued a high-level instruction to all multiple heterogeneous robots in the same environment, then all robots must complete the given task without considering the software differences in each robot. This research has developed a web-based interface where users can input high-level instruction to all multiple heterogeneous robots running in the same environment. We have used three levels of instructions. Level 01 moves robot forward for the given speed for some distance without obstacles. Level 02 is to move the robot to a specific location without obstacles. Level 03 is to navigate the robot to a goal with some obstacles in the environment. Initially, all robots need to register their software specifications and hardware specification Format (URDF) in the robot registration engine with the help of the ontology. Then all service robots act according to the instruction given by the interpreter. The proposed system was evaluated using a simulated environment with a gazebo using "Turtlebot" and "Tiago" robots. Time complexity analysis of all algorithms was completed using the Big O notation.Publication Embargo Moving Robots in Unknown Environments Using Potential Field Graphs(IEEE, 2022-02-23) Panagoda, M; Lokuliyanage, M; Senarath, A; Nethmini Nisansala, N. K. V. M; Rajapakshe, R. W. A. D. U; Rajapaksha, S; Jayawardena, CThe purpose of this research paper is to introduce a new navigation algorithm for Robot Operating System (ROS) based robots which will allow complete autonomous traversal in any given indoor environment. Turtle bot3 burger bot is the sample robot chosen for this project. This will be equipped with a Light Detection and Ranging (LIDAR) scanner with the default settings, ultrasound, Intel Real Sense camera, etc. Environment information gathered via these sensors will be sent into a remote computer for processing since the raspberry pie micro-controller with the turtle bot burger is not enough to carry out a high computation-intensive task. Once the information is received series of tasks will be carried out by the remote personal computer before executing the newly developed navigation algorithm. The data from the LIDAR scanner help to generate a 2-dimensional(2D) potential field graph. Then it will later be used for path planning by navigation algorithm. Furthermore, the Real sense camera is used for object boundary detection to produce more accurate data for the navigation algorithm. Once all the data proceed, data will return to the robot, where the navigation algorithm will start execution in parallel with a recovery behavior algorithm and scan algorithm. The recovery behavior algorithm is responsible for guiding the robot to face away from an obstacle in an event where the predetermined path is obstructed. Furthermore, it is responsible for maintaining accurate data in the cost map. Subsequently, the scanning algorithm will be used to generate maps.