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Browsing Workshops, Seminars, Symposiums & Conferences by Author "Abeykoon, AMHS"

Browsing Workshops, Seminars, Symposiums & Conferences by Author "Abeykoon, AMHS"

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  • Auscultation based stethoscopic diagnostic device for cardiac murmur identification 
    Prasanga, DK; Abeykoon, AMHS; Prasad, SKLB; Udawatta, L [Conference-Abstract]
    In a healthy heart, there is no any abnormal blood flow takes place inside, in addition to the usual blood circulating pattern. However when the valves or tissues inside the heart are in diseased conditions, this usual ...
  • DC Motor inertia estimation for robust bilateral control 
    Perera, GVAGA; Pillai, MB; Abeykoon, AMHS [Conference-Abstract]
    Identification of system parameters of a small DC motor is a complex and challenging task. This research proposes a disturbance observer (DOB) based novel Change of Inertia Observer (CIOB) to estimate the moment of ...
  • Disturbance observer based current controller for a brushed DC motor 
    Abeykoon, AMHS; Senevirathne, HR [Conference-Abstract]
    Current control is essential for torque control. But available current controllers don’t provide the required facilities for torque control. Often they produce a sluggish response. In this paper we ...
  • Disturbance Observer based Friction Compensator for a DC Motor 
    Chinthaka, MKCD; Punchihewa, RUG; Abeykoon, AMHS [Conference-Abstract]
    Friction is primary disturbance in motion control. Different types of friction cause diminution of original torque in a DC motor, such as static friction, viscous friction etc. By some means if those can be determined ...
  • Disturbance rejection analysis of a disturbance observer based velocity controller 
    Senevirathne, HR; Abeykoon, AMHS; Pillai, MB [Conference-Abstract]
    Motion control usually includes the precise control of position/velocity and acceleration control while accurate acceleration control is not useful in many applications. Traditional position/velocity control is derived ...
  • Frequency response based analysis and designing of bilateral control system 
    Jayasekara, GMASM; Jayasingha, PM; Jayalath, PJ; Gomeda, LHC; Menikdiwela, MP; Pillai, MB; Abeykoon, AMHS [Conference-Abstract]
    Bilateral control is one of the high-tech control technologies available in transmitting haptics information from one point to another point successfully. In past few years, a fair amount of researches has been carried ...
  • Hands Free Interface for Human Computer Interaction 
    Chathuranga, SK; Samarawickrama, KC; Chandima, HML; Chathuranga, KGTD; Abeykoon, AMHS [Conference-Abstract]
    At present, there are no adequate solutions which facilitate the interaction of computers to handicapped people. This research addresses that issue and it provides a comprehensive solution for the problem. The product ...
  • Haptic based walking stick for visually impaired people 
    Menikdiwela, MP; Dharmasena, KMIS; Abeykoon, AMHS [Conference-Full-text]
    This paper proposes a new product concept of an electronic travelling aid with haptic perception for the visually impaired people. The device is much similar to the conventional white cane in appearance and it is fabricated ...
  • Haptic based walking stick for visually impaired people 
    Menikdiwela, MP; Dharmasena, KMIS; Abeykoon, AMHS [Conference-Abstract]
    This paper proposes a new product concept of an electronic travelling aid with haptic perception for the visually impaired people. The device is much similar to the conventional white cane in appearance and it is fabricated ...
  • Keynote paper - real world haptics applied to forceps in robot surgery 
    Sakaino, S; Abeykoon, AMHS; Ohnishi, K [Conference-Abstract]
    This paper presents the technological achievements in realizing the force feedback in surgical robots. No force sensor is used in sensing the force. Disturbance observer and its variant, reaction torque observer is used ...
  • Knowledge on heart patients through stethoscopic cardiac murmur identification for E-Healthcare 
    Udawatta, L; Abeykoon, AMHS; Prasanga, DK; Prasad, SKLB; Perera, WARP; Perera, KLN [Conference-Abstract]
    Cardiac murmurs are the sounds produced by the abnormal passage of the blood flow inside the heart due to the diseased valves or tissues. Identifying the type of the murmur can diagnose the cardiac pathology related to ...
  • Position based static friction estimation for DC motors using dsturbance observer 
    Abeykoon, AMHS; Chinthaka, MKCD [Conference-Abstract]
    Estimation of friction is not considered necessary in motion control systems when the precision is not a major concern. Effects of the frictional components could be ignored for small friction: motor torque ratio DC ...
  • Review on bilateral teleoperation with force, position, power and impedance scaling 
    Perera, GVAGA; Abeykoon, AMHS [Conference-Abstract]
    Scaling is a technique used to transfer the dynamic motion properties of a remote device (slave robot) to the operator (master robot) or vice versa. This is a challenging task in terms of force, position, power, and ...
  • Sensorless contact position estimation of a mobile robot in pushing motion 
    Dayarathna, HAND; Prabuddha, LLG; Ariyawansha, KLDNJ; Chinthaka, MKCD; Abeykoon, AMHS; Branesh, PM [Conference-Abstract]
    Manipulating mobile robots on a pre-defined path is a challenging task when there are unknown objects on its path. Most of the manipulators use gripping methods to move such obstacles. In this research, an object to be ...
  • Short-Term Electricity Demand Forecasting Method for Smart Meters 
    Weranga, KSK; Chandima, DP; Munasinghe, SR; Kumarawadu, SP; Abeykoon, AMHS [Conference-Abstract]
    The short-term electricity demand forecasting has become one of the major research area in power system engineering. By combining the smart metering to the short term demand forecasting techniques, new features can ...
  • Simulation of active vibration suppression using internal motor sensing 
    Abeysiriwardhana, WASP; Abeykoon, AMHS [Conference-Abstract]
    Suppression of unnecessary vibration is an important aspect in control system design. Passive, semi active, and active suspension systems are used in vehicles to suppress vibrations and theoretically active suspension ...
  • Simulation of brake by wire system with dynamic force control 
    Abeysiriwardhana, WASP; Abeykoon, AMHS [Conference-Abstract]
    By wire technology is recently developed to improve the reliability, safety, and performance of vehicular drive technology. Brake system is the most important control system for vehicle safety. By wire technology ...
  • Simulation of enhanced force limiting gripper for bilateral teleoperation 
    Ruwanthika, RMM; Abeykoon, AMHS [Conference-Abstract]
    This paper proposes an enhanced force limiting gripper to avoid object deformation when it is in contact with the slave due to excessive forces imposed by the master operator in bilateral control. The force lock protects ...
  • Simulation of enhanced orthopidic drill for Bone surgery with Haptic Interface 
    Illangarathne, NC; Abeykoon, AMHS [Conference-Abstract]
    Novel robotized and haptic technologies are popular among the bio medical research areas due to its precision in operation. This paper presents haptic implementation to orthopedic surgeries which requires high skilled ...
  • Simulation of mobile robot navigation with sensor fusion on an uneven path 
    Sumanarathna, DMGAIN; Senevirathna, IASR; Sirisena, KLU; Sandamali, HGN; Pillai, MB; Abeykoon, AMHS [Conference-Abstract]
    This paper describes the navigation of a two-wheel drive mobile robot along a predefined path under uneven road conditions where it cannot solely rely on encoders, GPS or an accelerometer individually. There are conditions ...