Research Publications

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    PublicationOpen Access
    Conceptual Design of Short Range - Low Altitude Fixed Wing Unmanned Aerial Vehicle For Landmine Detection
    (Sri Lanka Institute of Information Technology, 2023-03-25) Daisan, G
    Over the past five decades, landmines are creating serious problems all over the world. Even though many UAVs are being developed for demining, many of them are not available to the humanitarian activities. Designing a UAV for demining from the air is challenging and there are only a few UAVs employed in landmines search in Sri Lanka. This research designs a fixed-wing UAV with a total mass of 47 kg, with 10 kg dedicated to payload. It can fly with a maximum speed of 30 m/s continuously for 40 minutes. This UAV detect landmines using ground penetrating radar in no wetted areas. Several manual calculations and software such as Microsoft Excel, XFLR 5, X-Foil, CATIA V5, and ANSYS 19 were used to complete the conceptual design.
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    PublicationEmbargo
    Robotic gripper design to handle an arbitrarily shaped object by emulating human finger motion
    (IEEE, 2015-08-24) Welhenge, A. M; Wijesinghe, R. D; Rajakaruna, R. M. T. P
    Controlling a robotic gripper to handle objects in different sizes and shapes in real-time is a complex task. The challenge is to adapt and position the gripper according to a target object. In this work, by considering a three fingered robotic gripper with a finger structure similar to that of human finger, we study the positioning of fingers in a gripper in the two dimensional plane. Using an inverse kinematic model for a pulley based underactuated mechanical finger, we derive a region of reach in the plane of the finger. Simulations demonstrate the limits of reach under different conditions. This can be used to derive the positioning of each finger, as well as in path planning to control the reach of the gripper.