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Publication Open Access Design and Dynamic Modelling of Knee Exoskeleton for Disabled People through ADAMS-Simulink Co-simulation(SLIIT, Faculty of Engineering, 2022-09-22) Ranaweera, J. P; Perera, MThis paper is written to outline the progress and findings of an undergraduate research project aimed at the designing and modelling of an exoskeleton design of the knee joint for rehabilitation and gait support. It focuses on the rehabilitation potential of the proposed exoskeleton design on patients with Hemiplegia and Monoplegia conditions with the objective of seeking a feasible, simple means of joint actuation to reduce the complexity of the design. Exoskeleton designs are able to provide rehabilitation and improve the overall quality of life of disabled people globally. However, a common issue found almost everywhere is the costly nature of the exoskeletons that are available in the market now as they are exclusive devices, which makes them inaccessible and impractical to the general public, especially in developing countries. Initially, the paper focuses on the review of relevant literature and previous research and evaluating the designs that have been developed as of now. A thorough analysis of the work done by previous researchers and companies was conducted to gather data on the underlying engineering principles and techniques used for the exoskeleton development as well as any limitations or restrictions to the process. Conceptual designing of the possible solutions was developed using the understanding and knowledge gathered during the literature review. The selection of the best solution was based on the analysis of the pros and cons of all the solutions. The chosen design, utilising a 4-bar mechanism, was then modelled using SolidWorks software to provide a clear visualisation of the system. The kinematic and dynamic analysis of the mechanism was evaluated to analyse the possibility of using the proposed exoskeleton design by replicating the model in ADAMS multibody software. The dynamic analysis was conducted by using the co-simulation platform between ADAMS and Simulink to enable the addition and control of feedback loops within the system. The results of the analysis show that the design can achieve the required motions of the human gait cycle, especially during the swing phase of the gait cycle. The analysis of the actuation torques and reaction forces on the human body showed that an acceptable torque range was possible during the swing phase of the gait cycle.Publication Embargo Management of municipal solid waste open dumps immediately after the collapse: An integrated approach from Meethotamulla open dump, Sri Lanka(Elsevier, 2019-07) Jayaweera, M; Gunawardana, B; Gunawardana, M; Karunawardena, A; Premasiri, S; Manatunge, J; Wijeratne, N; Thilakasiri, S; Karunarathne, D; Dias, VMeethotamulla open dump (MOD) of Sri Lanka that has received about 290,000 metric tons of mixed MSW annually collapsed on 14th April 2017 with massive devastation. An integrated approach was attempted to control further collapse with the deployment of drone-assisted and stand-alone instrumentation. The collapsed dump was analyzed for attributes, including contours, heights, wetness, temperature levels, tension cracks, landfill gases, fire, explosion, and asphyxiation hazards with 24-h surveillance after one day of the collapse. The mode of MOD failure was implicated to be deep-seated (rotational) slope failure. A short-term plan, consisting of 12 activities was prepared and successfully implemented. The activities of the short-term plan were carried out at the dumpsite until the water level fluctuations <5 cm, inundation of the toe area receded completely, the horizontal displacement of surface markers <20 mm, lower explosive levels of CH4 and CO less than 5 and 12%, respectively, O2 level improved up to 21%, and temperature variation of the collapsed face <2 C. The short-term plan was halted when the factor of safety for slope failure of the critical face improved from 0.807 to 1.286 ensuring no signs of a subsequent collapse of the MOD. An early warning system was established in the case of an imminent collapse. This integrated approach, to our knowledge, is the first study instituted, and this holistic management effort could be easily replicated to avoid disasters from slope failures of landfills or open dumps that may occur elsewhere.Publication Embargo Management of municipal solid waste open dumps immediately after the collapse: An integrated approach from Meethotamulla open dump, Sri Lanka(Elsevier, 2019-07-15) Jayaweera, M; Gunawardana, B; Gunawardana, M; Karunawardena, A; Dias, V; Thilakasiri, S; Karunarathne, D; Wijeratne, N; Manatunge, J; Dissanayake, J. MMeethotamulla open dump (MOD) of Sri Lanka that has received about 290,000 metric tons of mixed MSW annually collapsed on 14th April 2017 with massive devastation. An integrated approach was attempted to control further collapse with the deployment of drone-assisted and stand-alone instrumentation. The collapsed dump was analyzed for attributes, including contours, heights, wetness, temperature levels, tension cracks, landfill gases, fire, explosion, and asphyxiation hazards with 24-h surveillance after one day of the collapse. The mode of MOD failure was implicated to be deep-seated (rotational) slope failure. A short-term plan, consisting of 12 activities was prepared and successfully implemented. The activities of the short-term plan were carried out at the dumpsite until the water level fluctuations <5 cm, inundation of the toe area receded completely, the horizontal displacement of surface markers <20 mm, lower explosive levels of CH4 and CO less than 5 and 12%, respectively, O2 level improved up to 21%, and temperature variation of the collapsed face <2 °C. The short-term plan was halted when the factor of safety for slope failure of the critical face improved from 0.807 to 1.286 ensuring no signs of a subsequent collapse of the MOD. An early warning system was established in the case of an imminent collapse. This integrated approach, to our knowledge, is the first study instituted, and this holistic management effort could be easily replicated to avoid disasters from slope failures of landfills or open dumps that may occur elsewhere.Publication Embargo Hand Rehabilitation Using Robot-Assisted Physiotherapy(2020 2nd International Conference on Advancements in Computing (ICAC), SLIIT, 2020-12-10) Madhushan, I.H.D.; Charnara, E.B.K.; De Zoysa, A.T.J.; Upeka, G.S.; Abhayasinghe, N.; Abeygunawardhana, P.Robotics technology in the modern world is currently being implemented in medical fields to improve the quality of care and patient outcomes. In the proposed system, the robotics technology is used for physiotherapy. In the existing physiotherapy robot devices, there is no feature that provides exercise for every joint of the fingers and the wrist. Therefore, in this system, we used forward kinematics technologies to address each joint of the fingers and wrist thatcan access by the physiotherapist. We have designed the robot hand using the solid work and implemented 3D model then assembled system was tested again using different scenarios. Most existing robotic systems provide finger and wrist exercises separately, but our system can provide all exercises simultaneously. In here, we can predict the next exercises that are given for the patient and the progress of the rehabilitation of the patient. For the prediction, we developed the models using the FB prophet algorithm. When using this device, the patient's hand exercises are monitored in real-time and the physiotherapist can see the angles of the hand movement while controlling the robot device. To control this robot device, we used a mobile application.Publication Embargo VirtualPT: Virtual Reality based Home Care Physiotherapy Rehabilitation for Elderly(IEEE, 2020-12-10) Heiyanthuduwa, T. A; Amarapala, K. W. N. U; Gunathilaka, K. D. V. B; Ravindu, K. S; Wickramarathne, J; Kasthurirathna, DThis paper describes the development of Personal computer based Virtual Reality home-care Physiotherapy system aimed for rehabilitating full body function in elders. VirtualPT is a true virtual reality platform where the environment is completely replaced by a virtual reality platform based on the mental condition of the person at the time. While doing the home-based prescribed physiotherapy exercises, the key health metrics are continuously monitored and tracked by combining the immersive Virtual Reality with the wearable VirtualPT Sensor kit. Virtual Reality combined with 3D motion capture lets real time movements to be accurately translated onto the virtual reality avatar that can be viewed in a virtual environment to assist physiotherapist to add exercises to the system easily. This ultimate virtual reality Physiotherapy assistant avatar is used to provide guidance to elders at home, to demonstrate and assist elders in adhering to the prescribed exercises. As a significant aspect of social interactions, mirroring of movements has been added to focus on whether the elder is able to accurately follow the movements of avatar. Furthermore, the insightful dashboard offers the elders and physiotherapists an interactive platform through virtual reality capabilities. VirtualPT physiotherapy system is cost effective and makes recovery and more convenient to elders at home while the participatory and immersive nature of Virtual Reality offers a unique realistic quality that is not generally existing in clinical-based physiotherapy. When looking at the broader concept of VirtualPT; continuity of care, integration of services, quality of life and access are equally important criteria which add more value.