Browsing by Author "Kumara, I.D.D."

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    Development of Wearable Haptic Device Using Soft Materials to Deliver Kinesthetic Feedback in Virtual Environments
    (Uva Wellassa University of Sri Lanka, 2020) Kumara, I.D.D.; Premarathne, A.K.C.P.; Kumari, K.W.S.N.
    Fluidic actuation has been using in soft robotics to make grippers and actuators. Only a few of the studies have used fluidic actuation to produce kinesthetic feedback in virtual environments. A haptic device was designed to be used in the field of virtual reality to render kinesthetic sensations such as grip force, weight, and impact forces to the user. It was fabricated using silicone rubber (Ecoflex 00-30) and consists of several soft actuators. All actuators are capable of delivering forces to render the aforementioned kinesthetic sensations through pressurized air. Soft actuators were fabricated using a 3D printed mold which was made by acrylonitrile butadiene styrene. Each actuator can be actuated separately and simultaneously using a compressed air supply to achieve a complete device actuation. Atmel328 microcontroller was used to control the soft actuators with solenoid valves. Miniaturized DC air pump (12 V /-90×103 N m-2 pressure) was used to supply the compressed air. The overall actuation of the device can be controlled by the microcontroller based on the virtual environment feedbacks. The result showed that the haptic device is capable of delivering forces by changing the shapes of soft silicone structures according to applied pressure. The relationship between the delivered force and the applied pressure was linear (r= 0.9975, p-value= 0.4233 and R2= 0.9951). In addition to that proposed haptic device has higher degrees of freedom and low weight compared to heavy mechanical developments. Therefore, soft materialbased developments are effective to deliver kinesthetic feedback in virtual environments as per the findings of the study. Furthermore, higher user compatibility and wearability are additional advantages of the device. Keywords: Haptics, Soft Robotics, Pneumatic
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    Self-Navigated Vehicle for Industrial Applications
    (Uva Wellassa University of Sri Lanka, 2019) Kumara, I.D.D.; Mark, R.A.D.R.K.; Amarasinghe, A.R.P.C.C.J.
    This study presents the innovation of the industrial autonomous navigation system. AVG installation consist of several building components; the vehicle, safety system, battery charging system, communication system, navigation system, traffic management system, job control system and other external components. Each of these systems has provided a specific function. Specially navigation system has provided the ability for the vehicle to identify its position. AGVs have to make decisions on path selection. The sensors installed on its on-board computer possessed all the data to calculate the position and orientation of the AGV. Sensors also capable of detecting magnetic markers made of tape of opposite polarity. Every AGV has a mapping system and a copy of the route map stored in its onboard computer. The route map contains routes, obstacles and pick up and drop up points. The encoders mounted on each wheel of AGV able to measure the steering angle and count the number of wheel revolution. Usually magnetic tape used as a path selection technique in AGVs. Here the position is identified using IMU (Inertial measurement unit) module. In here Euler angels were used to find the direction. Conventionally IMU module produces enormous noise and not enough accurate to use in specific applications. But in this study, the noise of IMU module is decreased and the accuracy is increased by the Kalman filter and the algorithm was built by us. The main purpose of this research is to make a more reliable automated industrial vehicle which can use and install easily. The sticking problems and maintaining difficulties are avoided. This modified AGVs have a high degree of flexibility to transfer material to the destined position. They only recharge when there is a gap in their auto planning and their recharge is a dynamic process. AGV provide an accurate and predictable material delivery, handling loads at different heights, complete routines, flexibility, clear aisles and organized workstations (Grid navigation) and its safe for people and loads.