Research Publications Authored by SLIIT Staff
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This collection includes all SLIIT staff publications presented at external conferences and published in external journals. The materials are organized by faculty to facilitate easy retrieval.
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Publication Embargo Developing A User-Friendly Interface from Robotic Applications Development(IEEE, 2022-10-04) Fernando, W. A. M.; Jayawardena, C; Rajapaksha, U. U. S.In this research, we have developed a web-based Robot Operating System (ROS) learning environment with its own set of tools. Our system is a comprehensive learning environment where students can go through the tutorials using the web interface and use our web-based development environment for writing scripts. Furthermore, students can use the web-based Gazebo simulator to visualize the robots. In addition, our learning environment also has its own set of tools that students can utilize for testing and troubleshooting robots. One of the other benefits of our system is that it is platform independent, and hence it can be accessed from either computer, mobile phone or tablet. Our system also has a dropdown for selecting commands. In this, all the descriptions and syntaxes of the commands are predefined and populated whenever a command is added from the dropdown. In addition, we have developed multiple other features that make this system much easier to use and user-friendly. In order to verify the usability of the system, we have performed a heuristic evaluation, and our findings show that the system complies with nine of the ten heuristics in Nielsen’s framework. In addition, our system complies with twelve of the fourteen heuristics in Zhang’s framework. We performed a performance evaluation as well. In this, we compared the performance of simulating our web-based system against running the same simulation directly from a Linux-based ROS server using the Gazebo client. The results showed that our system was faster by a small margin.Publication Embargo Development of a homogenous nonlinear spring model characterizing the interfacial adhesion properties of graphene with surface defects(Elsevier, 2016-08-01) Dewapriya, M. A. N; Rajapakse, R. K. N. DIn graphene-based systems, the interface between graphene and other materials creates a mechanically weak region. Therefore, understanding the mechanical behaviour of graphene interfaces is critically important in designing reliable graphene-based systems. On the other hand, defects such as surface impurities are unavoidable during the fabrication of nanoscale systems. We developed a nonlinear spring model to characterize the influence of surface defects on the adhesion properties of graphene interfaces. The model was extensively validated using molecular dynamics simulations for graphene–silicon dioxide interface, and the computed cohesive energy is also in agreement with the recently measured energies. Our results indicate that low concentrations of hydrogen adatoms highly degrade the interfacial strength, whereas vacancies have a negligible effect on the interfacial strength. We also compared the influence of hydrogen adatoms on the properties of several commonly encountered graphene interfaces. In addition, we developed a novel analytical framework to compute the required graphene-substrate interfacial area to withstand an applied force during the indentation test. These findings are useful in designing graphene-based nanoelectromechanical systems and composite materials. More importantly, the developed spring model can be parameterized to investigate the mechanical behaviour of any material interface, which is vitally important in designing reliable nanodevices and nanocomposites.