Browsing by Author "Ranasinghe, S."

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    Development of Novel Bricks Using Ceramic Waste
    (Uva Wellassa University of Sri Lanka, 2016) Alahakoon, A.A.D.D.C.B.; Ranasinghe, S.; Pitawala, H.M.J.C.
    The major ceramic waste found in the ceramic industry is called filter cake. This is a semiĀ¬solid material and mainly generated during the processes of tile glazing and shaping. It is estimated that 15 to 30% waste is produced from the total raw materials used. However, there are no popular methods to reuse this waste. Therefore we study and develop novel bricks using above ceramic waste. Different types of proto type brick samples were fabricated using pure filter cake and also mixing shaping waste, kiln roller waste, rice husk, red clay and cement into the filter cake. The mechanical properties of the samples were carried out using Universal Tensile Machine (UTM). The density, water absorption and pH of different samples were also obtained during this study. The results showed that red clay incorporated samples have high mechanical properties and very low water absorption compared to pure filter cake, pure red clay, and other investigated mixtures. However, the density of red clay incorporated filter cake mixture is higher compared to pure filter cake. The chemical composition of the filter cake and red clay was obtained using XRF analysis in order to determine the major elements present in these two materials. Our analysis showed that filter cake consists of SiO, (55.83%), A1,03 (17.41%), and CaO (7.72%) whereas red clay consists of SiO, (60.67%), A1,03 (15.18%), and Fe20, (7.61%) as major compounds. These values clearly indicate both filter cake and red clay have quit similar chemical compositions and can be obtained as homogenous mixtures. Therefore, addition of red clay into ceramic waste and develop novel bricks would be a very good solution compared to using ceramic waste alone, to reuse the ceramic waste in Sri Lankan ceramic industry. Also, high abundance of red clay in Sri Lanka will lower the production cost. Keywords: Ceramic waste, Filter cake, Red clay, Mechanical properties, XRF analysis
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    Vision Based Guiding System for AGV Using Robot Operating Systems
    (Uva Wellassa University of Sri Lanka, 2018) Asanga, P.K S.; Amarasinghe, A.R.P.C.C.J.; Ranasinghe, S.
    An automated guided vehicle or automatic guided vehicle (AGV) is a mobile robot that is most often used in industrial applications to move materials or goods around a manufacturing facility, warehouse or stores. This research is based on making a vision based guiding system for AGV instead of follow markers, wires in the floor or magnets. For this task here used "rviz" and "Gazebo" visualizing interfaces in ROS (Robotic Operating Systems). In this guiding system, the initial map was generated of the working environment manually. Then, in this mapped environment AGV can navigate autonomously avoiding obstacles. To obtains a 3d and 2d map of the navigating environment, AGV used ROS RTAB map (real-time appearance based mapping) packages. Video cloud of the environment was obtained by Xbox Kinect 360. For communicating with Kinect video cloud, ROS freenect-opennii package was used. The AGV model was designed by URDF (unified robot designing format). This model is designed to its real dimensions through URDF. For first map generation, AGV moved manually in the working environment. Manual Navigation of the AGV achieved by ROS keyboard_teleop packages. These navigation commands pass to motors of AGV through Arduino board. For communication between Arduino and ROS, "rosserial" packages were used. This system can identify obstacle through video cloud with a small delay. The laptop was used as ROS working environment and also to monitor and mark the destination point of AGV. It is possible to use wandboard, Raspberry Pi board instead of laptop and HMI (Human Machine Interface) instead of the laptop monitor. AGV can identify its current position through ROS localization packages and use wheel encoders to obtain traveled distance accurately, while navigation to the given destination. Key Words: AGV, ROS (Robotic Operating Systems), RTAB Map