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 Open Access A QUADCOPTER WITH AUTOMATED TAKE-OFF AND LANDING ON MOBILE ROBOT PLATFORM(SHEFFIELD HALLAM UNIVERSITY ENGINEERING PROGRAM, 2016-12) Sandaruwan, B. A. S; Mithun, S; Rathnayake, R. M. K. M; Liyanage, M. HIn this thesis, a controller is designed for an off the shelf quadcopter to give it the ability to autonomously takeoff, hover at a given altitude, follow and land on a mobile robot platform. This is a small part of a much bigger system which is a quadcopter and a mobile robot combined fully autonomous surveillance system. This system has the ability to navigate and complete a given task without any human interaction. Different types of sensor are used to determine the position of the quadcopter in 3D space. A PID controller is implemented to keep the quadcopter at a given altitude. Different types of sensors and technologies were used to achieve our target. A discrete PID controller will be used to hold the altitude of the quadcopter. Real-time image processing is used to determine the position of the quadcopter relative to the mobile robot platform. An ideal quadcopter simulation and a 3D simulation of the task is done to understand in detail how a quadcopter works and how to controller it the way we desire. Kalman filter is used to produce accurate and precious angular data of the quadcopter. The project is separated into several parts and divided among all the members of the group. The simulation of the complete system and the implementation of the takeoff, altitude holding and landing algorithms for the test system are done by me. Determining the position of the quadcopter using image processing and design and implementation of the Mobile robot platform is done by Rathnayake R.M.K.M. Implementation of Kalman filter to be used with Gyro and accelerometer sensors and the simulation of an ideal quadcopter model in Matlab is done by S. Mithun.Publication Embargo Matlab based automated surface defect detection system for ceremic tiles using image processing(Faculty of Graduate Studies and Research, 2017-01-26) Samarawickrama, Y.C.; Wickramasinghe, C.D.In Ceramic tile industry the quality control process plays a major role to enhance quality standards. Still quality control of ceramic tile industry is done mostly by manually. Manual inspection is labor intensive, costly and less in efficiency. Further, the accuracy of the defect detection is lower due to harsh industrial environment and human errors. To overcome such drawbacks this project proposes an automated inspection system for ceramic tile industry based on image processing techniques. This system can detect color variations and defects such as corner damages, edge damages and middle cracks on the surface of the tile with high accuracy and efficiency. The tiles are compared with a good quality reference tile using image processing concepts using Matlab software. Based on this comparison the tile quality is classified. The system was checked with 110 real ceramic tiles consisting of defected tiles with cracks, corner damages and color variations. The results were outstanding with of 96.36% detection accuracy rate. The processing time for one tile was approximately 2 seconds. This outstanding achievement of results reflects that this automated system can effectively replace manual ceramic tile detection system with better accuracy and efficiency.