International Research Conference of UWU-2019

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Application of Graph Theory for a Pick and Place Machine
(Uva Wellassa University of Sri Lanka, 2019) Thulashsayini, K.; Ekanayake, R.M.T.C.B.
Automation is the use of control system for handling different process and machineries in an industry to replace human. Pick and place machine are one of the important machines used in Robotic industry. In here Printed Circuit Boards (PCB) are consumed as input. Graph Theory can be used to find the shortest path in PCB to place the components in PCB. PCBs are ubiquitous. So, most electronic manufacturing industries relays on PCB as they serve as backbone of almost every electronic device. Therefore, PCB plays a vital role in many industrial production processes. Some machines don’t choose the optimal route to complete their task. So, this research is mainly based on finding the shortest path way in PCB by using appropriate algorithm. Starting from a random point, the nearest point to the initial position was determined and automatically updated by the selected algorithm. This process was continued until analyzing all points and obtaining a feasible solution in the determination of optimal route. In here three types of algorithm were selected for my studies to find and confirm the shortest path. They are Dijkstra’s algorithm, Genetic algorithm and Floyd’s algorithm. Among these Floyd’s algorithm works slower than other algorithms and Genetic algorithm displays shortest path in a matrix form for a selected PCB design. Dijkstra’s algorithm guarantees to find the shortest path much faster and in easily visible form. The analysis shows that the best route which provide the part of the shortest distance will be from node 36-47-7-34-25-37-32 with 1.34 m. This concluded that the Dijkstra’s algorithm is the best method to find optimal route for PCB in pick and place machine. So, this method is much effective and leads to find the shortest path in Printed Circuit Boards.
Autonomous Human Following Shopping Trolley Integrated with Smart Shopping Android Application for Sri Lankan Supermarkets
(Uva Wellassa University of Sri Lanka, 2019) Jayah, S.P.; Amarasinghe, A.R.P.C.C.J.
Robotics applications have made tremendous advancements in the previous decade and it has evolved to perform certain day-to-day tasks, despite it was generally used for industrial tasks. In developed countries, autonomous robot assistants who interact with people are currently employed in grocery industry scenarios with the intention of aiding consumers to make the shopping process more efficient. This research paper attempts to propose a smart shopping system that can be implemented in Sri Lankan supermarkets. The proposed system consists of three major components. a) a mobile device that is carried by the consumer b) a human following shopping trolley c) an Android application with auto billing generation capability. Previous researches have been carried out to implement a human tracking robot utilizing high end, costly technologies such as Laser Range Finders, Kinect cameras and low-end sensors such as ultrasonic sensors. The proposed human tracking unit utilizes Wi-Fi technology to reduce the cost for sensory devices and follow the trajectory of a consumer with higher accuracy. The trolley navigates inside the supermarket following a target consumer while maintaining a safe distance using ultrasonic sensors. The relative position and orientation of the target consumer are determined by utilizing Received Signal Strength Indicator values of Wi-Fi signals. Ultrasonic sensors are deployed to follow the customer while maintaining a safe distance and avoid collisions with obstacles in the supermarket. The designed Android application enables the consumer to scan the bar code printed on goods, prepare a list consisting of items that he wishes to purchase and calculate the total values of items purchased. This approach drastically reduces the time spent at the billing counter. The mobile platforms were developed using Arduino and Node MCU micro controllers and the Android application was developed using MIT app inventor.
Autonomous Lawn Mower
(Uva Wellassa University of Sri Lanka, 2019) Mark, R.A.D.R.K.; Amarasinghe, A.R.P.C.C.J.
Modern houses include a compound often used as garden with grass which grows and need to be maintained at a short height. Conventional lawn mowing is often a hassle and time consuming in cutting the grass. The task of manual lawn mowing can be replaced by autonomous lawn mower using a robot programmed to perform such task. A robotic lawn mower is designed and installed in this research, So the main research problem is creating an Automatic lawn mower that will allow house owners to maintain their lawn without spending much time and money, with the specialties of autonomous robot can mow the lawn of a given specific area of the garden without any human supervision, easy and simple preparation and the robot must be affordable cost for local market. For the implement part of the research following materials and soft wares used RF receiver and transmitter, Lipo- Polymer battery, Grass cutting blade and motor, Arduino Mega 2560 development board used DC gear motors with encoders and MPU6050 gyroscope was used for localization part and for the programming IDE Arduino 1.8.2 was used.
Design a Modular Mechatronic Systems: Design a Packaging Machine
(Uva Wellassa University of Sri Lanka, 2019) Ariyarathne, Y.S.S.; Amarasinghe, A.R.P.C.C.J.
Concept of modularity is practicing in many fields over decades, such as software engineering, computer science, civil engineering, and electrical engineering. It has been proven that modular architecture has much more advantage than traditional integrated architecture in certain fields. This paper proposes modular design architecture for a mechatronics system in more practical manner. Here we mainly focused on the increasing simplicity of the system, ability to upgrade according to rapidly changing market needs, and reduce the cost in manufacturing and maintaining using modular architecture. The proposed process is a combination of traditional methods such as top down approach, Bottom up approach, sequential approach and mechatronic design quotient. To demonstrate the method, it is applied to design a vertical dispenser packaging machine called the “VD packaging machine” – a multidisciplinary machine use to pack cubic products in a vertical display. There are several types of packaging machines available in modern world, but none of them are useful in this VD-package filling process. So in this paper we are going to examine the VD-package filling process and give a step vise guide about how to design a modular mechatronics system to automate the process. The use of modular concepts in mechatronics system allows simple as well as efficient and therefore low-cost sustainable product, easy to maintain and changeover.
Designing a Fully Automated Pot for Gardeners and a Survey on the Use of the Features to the Consumers
(Uva Wellassa University of Sri Lanka, 2019) Jayawardhana, H.P.N.; Liyanapathirana, B.C.; Anuradha, U.A.D.N.; Kumari, K.W.S.N.
This research introduces a new design for an automatic plant caring system which can be used for planting herbs, vegetables or ornamental plants as per consumers’ choice. At present, people are accustomed to purchasing vegetables and fruits from the market, and it seems that only a few people supply their food from their own garden. Many researches have been carried out parallel to this subject on separate features such as automatic watering, automatic fertilizing, and pest and weed controlling and automatic lighting system. A survey on the difficulties faced by horticulturists and the importance of automatic plant caring systems was done by selecting people chosen at random. The age of the selected group ranged between 10-80 years. Result of the survey was analyzed. Moreover the features included in this design and the priority given by the gardener for the highest price that wishes to purchase such items was evaluated in the survey. Majority of the people have requested the item for a price less than 1000 rupees. By evaluating the survey, most of them concluded that there was no time for gardening to be a major problem. Problems other than that were pests, weeds and climate issues. Most people request automatic water supply, pest and weed control and automatic fertilizer as the features included in the automatic plant caring system. In this research, appropriate design of automatic plant care system was also introduced using software. This system is designed to use drip hydroponic technique where fertilizer is supplied via water by dripping plant roots into a tank. When there is no sunlight, light is automatically supplied using the LED panel. The purpose of this work is to show how someone can easily engage in gardening and use this device to supply fresh vegetables and fruits. Similarly, this pot can also be used as a decorative item by planting ornamental plants.
Efficient Autonomous Guided Vehicle for Transporting Material in Sri Lankan Industry
(Uva Wellassa University of Sri Lanka, 2019) De Silva, J.P.S.C.; Amarasinghe, A.R.P.C.C.J.
Autonomous Guided Vehicles (AGV) are used frequently in production lines for transporting various materials. Most of the times these AGVs are been controlled by Programmable Logic Controllers (PLCs), RobotQ, RaspberryPi and Arduino platforms. In SriLanka, most of the times apparel industry used the small size of AGVs to transport various materials. The intention of the research is to develop an AGV which is rich with path following, low turning radius, self-battery charging, PID controlling in a rough environment for Sri Lankan industry rather than specifying the apparel industry. A PLC has used here to control the overall process of the AGV. There is a special hooking mechanism and push-pull mechanism which are controlled by Programmable Logic Controller (PLC). AGV follows the paths of magnetic tapes which are located on the floor. Starting and stopping positions will be detected by the AGV and the loading and unloading will occur. Loading and unloading mechanism will be done by using a linear actuator. There is a special linear actuator which can be used as a special jack in the AGV. Overall AGV system is run by using a drive unit which consists of two brushless direct current motors (BLDC). An 8-bit magnetic sensor array is used to detect the path of the AGV. Future developments will be added to this AGV with digital image processing and artificial intelligence (AI).
Invention of Table Top Steam Sterilizer
(Uva Wellassa University of Sri Lanka, 2019) Kumara, P.A.M.M.; De Silva, L.M.M.
The sterilization is a process of making something free from harmful bacteria or other living microorganisms which is very important in healthcare industry. This research project was mainly focused on inventing cost effective, automated and efficient horizontal type table top steam sterilizer. The entire research project was launched in a very innovative way. As the initial step, physical structure was designed prioritizing on low cost materials and obeying the international standards. After that, electronic circuit was designed for both direct current (DC) power & alternative AC power to drive software and operate the hardware utilities respectively. The software system was created in Arduino platform. The system consists of two program cycles which are at 121 0C temperature 20 minutes and 134 0C temperature in 15 minutes. The real time temperature and pressure data were displayed in liquid crystal display (LCD) and manual pressure gauge respectively. Various safety precaution methods were included to the machine for both safety of operator and instrument. The unique features of this research project are availability of ultraviolet (UV) sterilization method in addition to steam sterilization method & message alert system that sends real time operation data such as door status, water level status, program cycle termination data and UV sterilization status provided for the operator’s mobile phone. The UV sterilization automatically turns ON when loading and unloading packages from the sterilizer. To check the performances of this machine, few sterilizing cycles were run and it was confirmed that expected outcomes have been fulfilled by this machine. It used to prevent environmental contamination during the period of unloading packages. This program cycles are fully automated and operator only has to push a single button. It will be a very user friendly, cost effective and versatile table top steam sterilizer for healthcare industry.
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.
Smart Power Saving Climate Control System for Tea Nurseries in Sri Lanka
(Uva Wellassa University of Sri Lanka, 2019) Sribavan, B.; Amarasinghe, A.R.P.C.C.J.; Anuruddha, T.A.S.
Tea industry is the one of main foreign exchange source in Sri Lankan economy presently faces many challenges such as newly developed competitors, poor yielding tea varieties, poor resistive cultivars for newly developed bio-attacks possibly due to climatic changes and other phenomena. Tea varieties from different regions of country have different qualities and bio-resistance issues. This project is to mitigate above problems by introducing an affordable climatic chamber for Tea nurseries, to generate artificial climatic condition. Climatic chamber is automated with a system that has the ability to control weather conditions constantly, despite of the fluctuations in external natural weather conditions. The system includes a smart power saving weather control system controlled by Atmel microcontrollers, for greenhouses in tea nurseries. Climate control is achieved by several actuators which are interfaced to the microcontrollers via high voltage contactors connected to relay board. Priority is given to low power consuming actuators to act first for the sensor readings by the programmed logic. If it fails to maintain desired climatic conditions, signals are given to activate power consuming, efficient actuators automatically by the program logic. The microcontrollers, sensors and actuators together maintain the temperature, relative humidity, light intensity, CO2 concentration and soil moisture of greenhouse to the reference ideal value which is a source of input interfaced into the microcontrollers through LCD screen and keypad. A priority order is programmed through logic preventing the impact of change in one factor affecting the other factor. All factors except humidity were controlled successfully, while system consumed more time to maintain humidity as it has high impact over temperature. A reference range of climatic factors instead of a single ideal climatic value as in our system will be more favorable and recommended for power saving.

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