International Research Symposium of UWU-2018

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    Transition towards Production Orientation to Market Orientation: A Case Study of Organic farmers' in Kandy District
    (Uva Wellassa University of Sri Lanka, 2018) Abeysekara, A.M.W.W.N.D.B.; Samaraweera, G.O.; Gunaratne, L.H.P.
    Commercialization has been identified as an available strategy for up-scaling the farming, where the success is largely depending upon their degree of market orientation. Though the organic farming is a demanding notion in a green economy, farmers are low profit earners comparatively to the other industries in Sri Lanka. Therefore, this study attempted to investigate the present status of market orientation of organic farmers opposed to production orientation. The study was conducted among purposively selected 40 organic farmers in Kandy district, using a Likert scale structured survey questionnaire. The questionnaire was consisted of number of production and marketing criteria and farmers' decision making in production and marketing was evaluated by the study. A score was assigned from the scale varying from 1 to 5 for both orientations. Further, regression analysis was adopted to identify the significant factors for farmers' business orientation. Findings revealed that 60% of organic farmers were culminated in production orientation without consider on being market oriented. This brings about the need for placing a greater emphasis on inculcating market oriented mind sets among farmers. Moreover, gender (G), civil status (C), land area (L) and income from organic farming (1) were identified as the significant factors influencing their decision of business orientation (MO = 64.588 - 11.635 G - 16.021 C + 5.857 L +8.388 I + 9.45181). The study recommends disseminating knowledge on market availability for organic foods towards farmers; provide adequate guidance and support for organic manure preparation as stimulus to switch the organic farmers towards market orientation. Keywords: Market orientation, Organic farming, Production orientation
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    An Automated Reconfigurable Supporting Structure for Aeronautical Applications
    (Uva Wellassa University of Sri Lanka, 2018) Vitharana, N.; Nishanthan, S.; Kulasekera, A. L.; Jayaweera, N.D.
    Reconfigurable tooling/supporting structures are needed for aircraft manufacturers and Maintenance Repair and Overhaul (MRO) facilities to increase their production rates to meet the growing demand and to switch rapidly and effectively between operations within optimal aircraft variant-mixes while minimizing resource wastage. Dedicated tooling is expensive, difficult to use with different aircraft sizes, require long manufacturing lead time and setup time, skilled workforce and occupy floor space during use. Overcoming these drawbacks, reconfigurable supporting structure should be reusable so that it enhances the operational flexibility, ensures rapid response to production/maintenances-schedule changes and reduces development costs and setup time. Furthermore, having lesser footprint is a value adding attribute for the structure. In this research, a reconfigurable supporting structure is developed for MRO operations. A platform mounted on a scissor, with sections of platforms which extend further provide safe and easy access to the aircraft. It has the flexibility to cater different applications in aircraft manufacturing, assembly and MRO facilities. The whole support structure can provide autonomous/semi-autonomous mobility by being mounted on an automated guide vehicle (AGV). Proposed design can cater to multiple airframe sizes by being able to easily modify height and orientation providing increased reconfigurability. Furthermore, increasing the number of modules in operation ensures the flexibility for different applications ranging from inspection, installation/removal of equipment etc. depending on the type of maintenance. Keywords: Aeronautical, Aircraft maintenance, Automated support structures, Modular, Reconfigurable
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    Automatic Sun Tracking Solar Panel
    (Uva Wellassa University of Sri Lanka, 2018) Anuradha, U.A.D.N.; Chathuranga, K.W.S.
    People are considering to use alternative energy sources due to impending scarcity of nonrenewable resources. From all other resources available, solar energy is the most abundant and it is relatively easy to convert to electric energy. Using solar panels to convert solar energy to electricity is very popular, nevertheless fixed solar panels cannot generate optimum energy due to the east-to-west transition of the sun. To maximize energy, the solar panel must be perpendicular to the sun's rays. If it deviates from this optimum angle, the energy generation efficiency from the panel decreases. The active tracker relies on the detection circuit to detect the light intensity and align the panel as the sun using a motor. This project was designed and implemented for a polar single axis solar panel tracker. It has a fixed vertical axis and an adjustable horizontal motor control axis. The tracker actively tracks the sun and changes its position to maximize energy output. This system solves the problem by arranging solar panels to track the sun. This tracking movement is accomplished by using a servomotor on the solar panel so that the panel always keeps its face perpendicular to the sun to generate maximum energy. This is accomplished by using a programmed Arduino board according to the light sensor (LDR) signal, the servo motor sends a signal to rotate the attached panel as needed. Subsequent, the interface with the sensor, the control of the motor, and the power supply function are performed by the energy generated from the solar panel. This is a far more cost effective solution than purchasing additional solar panels when dealing with large panel arrays. This project develops an automatic tracking system which will keep the solar panels aligned with the sun in order to maximize efficiency, which is capable of enhancing production of power by 20-30%. It has been estimated that the use of a tracking system, over a fixed system, can increase the power by 30-60%. Keywords: Arduino, Solar Energy, Servo motor, LDR
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    Study the Effect of Far infrared-Withering on Black Tea Manufacturing
    (Uva Wellassa University of Sri Lanka, 2018) Piratheepan, N.; Abhiram, G.; Ranawana, S.R.W.M.C.J.K.
    Withering is the foundation step of black tea manufacturing which directly influences the quality and the cup characteristics of the made tea. This stage consumes 49% of the total electricity required for the production process and use of dendro thermal power releases CO2 to the environment causing environmental pollution. Far infrared (FIR) withering may be a good alternative to overcome these problems. Therefore, this study was conducted to identify the essentials for developing a withering trough using Far-infrared as the heating source for black tea production and to analyze its performances. Plucked tea leaves with an initial moisture content of 43±1% were withered using Far-infrared panels, by changing the treatment combination of Farinfrared power (650, 1300 and 1950 W), exposure times (4 hr, 4.15 hr and 4.30 hr) and the leaf weight (400 kg, 425 kg and 450 kg). Temperature and the relative humidity of plenum chamber and withered leaves were measured using DHT11 sensors to maintain the conditions uniformly throughout the study. The samples were dried and Theaflavins (TF) Thearubigins (TR) ratio was measured and organoleptic parameters such as aroma, flavor and colour were tested. It was found that there is a significant interaction effect of Far-infrared power, exposure time and leaf weight on "Theaflavins/Thearubigins" ratio and organoleptic properties (p<0.05). The optimum combination of Far-infrared power, exposure time and leaf weight were 1950 W, 4.30 hours and 400 kg, respectively based on "Theaflavin/Thearubigins "(1 :10), high score for organoleptic properties and low energy consumption. Therefore, it can be concluded that FIR withering has high potential in black tea manufacturing. Further studies are needed to improve the precision of the prototype to develop it as an industrial level withering trough. Keywords: Black tea manufacturing, Far- infrared withering, Sensory evaluation, Theaflavins, Thearubigins
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    Solving Poisson's equation with Dirichlet boundary condition using Henstock-Kurzweil integral
    (Uva Wellassa University of Sri Lanka, 2018) Maldeniya, M.K.A.J.; Ganegoda, N.C.; Boralugoda, S.K.; Kumara, K.K.W.A.S.; de Silva, K.
    The Poisson's equation is an elliptic type second order partial differential equation, which has several applications in theoretical physics, chemistry and engineering. There are a few approaches to solve the Poisson's equation such as the Green's function, Dirichlet's principle, layer potentials, L2 estimates, energy methods, etc. However, in most cases it is difficult to find an analytical solution. HK-integration has more powerful results such as: convergence theorem, Fundamental theorem of calculus with full generality, integration over unbounded region, integral containing parameters, etc. It would be a good idea to find an analytical solution to Poisson's equation with Dirichlet boundary condition for general setting with more advanced integral like Henstock—Kurzweil integral (HK-integral). We use the Green's function to obtain a general representation formula for the solution of the Poisson's equation. For this, Green's function G needs to exist. Moreover, it is difficult to calculate an explicit formula for G. Thus, we need a new technique or method to evaluate. So we use HK.-integration to find G and a representation formula for the solution. HKintegration is very simple to describe as the Riemann integral, which possesses all the advantages of the Lebesgue integral and even more. Moreover, any Riemann or Lebesgue integrable function is HK-integrable. Therefore, the set of all HKintegrable functions is larger than those of the set of other integrals. So, using HKintegral, one can find an analytical solution to the Poisson's equation with Dirichlet boundary condition, where the case Riemann or Lebesgue integration does not work. Keywords: Poisson's equation, Dirichlet boundary condition, Henstock-Kurzweil integral Green's function
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    Portable Charger Powered by Piezo-electric Crystal Vibration
    (Uva Wellassa University of Sri Lanka, 2018) Weerakoon, M. W. M. N.; Amarasinghe, A.R.P.C.C.J.
    With the increment of the world population, world has faced a huge problem in terms of generating the required power necessity. Due to the rapid industrialization, the world is expecting more and more power. In present, numbers of power sources could be seen both non-renewable and renewable. However, due to increasing usage, a lot of energy resources have been exhausted and wasted. Also, there can be identified another huge problem arising when generating power that is environmental pollution. Piezo-electric material can be identified as an alternative eco-friendly method for power generation. Piezo-electric materials have the unique ability to interchange electrical and mechanical energy. Because of this property, piezo- electric plates can be used to absorb the mechanical energy and transform it into electrical energy. Usually, the ambient vibration or pressure will act as the mechanical energy source. A small amount of piezo plates is not capable of generating much energy. Therefore, methods of accumulating and storing of energy generated until sufficient power is captured were developed. The research was carried out by combining several piezo electric plates serially and parallelly with the use of rectifying filters. Small vibration motor was used as the energy source to generate vibrations. It is observed that serial combination of three plates gives sufficient voltage to charge a battery. This stored energy is intended to use. In everyday life, as it can be identified some instances, where small-scale power necessities arise. As examples mobile phone charging, lighting a table lamp, charging rechargeable batteries. As a future development, the device will be tested in real-world applications such as harness energy from human walking and vehicle vibration. Keywords: Power, Piezo-electric plate, Vibration, Energy, Charging
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    Eye Blink Detection by Image Processing to Prevent Vehicle Accidents
    (Uva Wellassa University of Sri Lanka, 2018) Nimanthils, K.S.H.; Amarasiri, H.A.N.B.
    Deaths and injuries due to road traffic accidents are extremely high in Sri Lanka. Detecting the drowsiness of the driver is one of the surest ways of measuring driver's fatigue. Driver's drowsiness is one of the major reasons which leads to these mishaps. This research describes 'Real Time Drowsiness Detection System', which could determine the level of drowsiness of the driver. This system considers both the closing of eyes and opening of the eyes. The eye blink of the driver is detected. If the driver's eye remains closed more than a certain period of time, the driver is said to be drowsy and alarm is sounded. Viola Jones Algorithm and Hough transformation algorithm are used for iris detection. Primary attention is given to faster detection and processing of data. Keywords: Drowsiness, Hough transformation algorithm, Viola Jones algorithm, Eye blink
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    Raw material stored location Identification in the Garment Factory using RFID Technology
    (Uva Wellassa University of Sri Lanka, 2018) Chandrasekara, R.S.M.D.M.; Kumari, K.S.S.N.
    RFID is a technology for automated identification of objects, which different applications were used successfully with two distinct advantages; uniqueness and automation such as animals in farm, containers, humans, etc. In the Apparel Industry, it is difficult to finding the raw materials rolls, which have certain meters in a large pallet. Due to that case, raw material waste is higher than consumer. This process was developed to solve such cases and reduce waste percentage and time management. This research aimed to approach with factors which resulting in efficiencies and labour savings, do away with manual case counting, Reduce negotiations with retailers over missing roll, lower overall inventory levels. As initial process, details of rolls were computerized in database by GUI interface. Entered details of raw material were automatically updated database of MySQL workbench. Tags were attached to the rolls and noted which rolls have which UID No:. Read data was displayed in LCD panel such as UID No., roll No., rolls type or yardage etc. It was given easy as solution of find roll which determined meters. Location of rolls was given by GUI interface with respect to entered details. Readers were attached in precise points to cover areas. Mapping system is useful at the inspection, because it was given what are the available rolls in its certain areas by comparison of the given data and entered data missing rolls can specify. Wired communication was used, because wireless communication is not allowed to access in intern. Angle of sense range was adjusted to 90°, because same details were given more than one RFID reader due to reason of sensing ranges are overlapping. Pallets arranging can be follow as an option of 5S and LEAN to avoiding sensing range overlapping. Inability of using long-range distance RFID readers and its suitable tags better communication was not updated details automatically. Keywords: RFID, GUI-interface, Lean, MySQL-workbench, LCD
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    Pneumatic Rotary Turret Feeder
    (Uva Wellassa University of Sri Lanka, 2018) Nandasiri, R. H. A. G.; Kumari, K. W. S. N.; Watawana, B. J.
    Part orientation, sorting and feeding in highly inflammable chemical manufacturing situations can only use pneumatic powered automated systems instead of electro powered or hot steam powered automation systems, because electric charges and temperature increment can be a cause of ignition. A rotary turret feeder consists of two base mechanisms; having an oriented cylindrical bowl wall with a rotatable turret, which has specific shape cut at the edge. In the fabrication process, turret feeder was mounted within the bowl by an incline about 45 degrees from the horizontal axis. The incline of the feeder was determined, in order to increase the effect of the gravitational force on the caps. As a result of this, unstable caps re-enter to the sorting process. The torque generated by the pneumatic motor, which was mounted to the bowl with the same orientation, enables the rotary movements of the turret directly connected to the bowl. The rotary movement of the turret feeder is influenced for orienting bulk volumes of caps. The feeding turret includes specific shape carvings at its edge, which has inverse orientation geometry, needed as output orientation of the sorting item. Relevant orientation is the only stable orientation on the turret halls. Stable orientations of caps are taken out from the opening of the bowl wall by using an angular barrier. Barrier pushes the caps into the roughly finished angular surface. Due to the frictional force, pushed caps rotate into final desired orientation and slip through a guided fence as the output. As the results, low weighted side of the cap comes down as the output cap orientation and maximum feeding speed is 38 caps per minute. It can be acceptable for highly inflammable chemical manufacturing system's cap sorting situations as a safe, low cost, reliable and easily maintainable device. Keywords: Pneumatic, Rotary oriented, Turret, Cap sorting
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    Development of Specific National Energy Benchmark Model for Sri Lankan Apparel Industries
    (Uva Wellassa University of Sri Lanka, 2018) Anurangi, W.A.J.; Wijesekara, K.B.
    The development of specific national energy benchmark model for apparel industries is a fundamental requirement for efficient assessment and monitoring of energy consumption of the Sri Lankan apparel sector. Thus, this model could be used as a base for the energy labelling and energy star programs, which would be implemented for the apparel sector in the near future. In the context of this study focuses on analysing the energy consumption data of significant number of reference apparel industries have been analysed in order to construct a relationship between the energy consumption and the significant factors, which would affect to the final energy consumption. The total energy consumption of the apparel sector does not only depend on its total production (output) and/or operating hours, but also several other factors such as age of the building or factory, the outside weather conditions, number of floors, occupants' behaviour, general maintenance, etc. The mostly used simple benchmarking method, which is normalized by means of the total production and/or operating hours, is not adequate in the process of effective recognition of the energy efficient apparel industries. Hence, the regression model developed with the above explanatory factors is necessary for identifying the energy performance. The final model developed with the above explanatory factors facilitates to determine whether an apparel industry uses energy more efficiently than other similar industries. And also the model could be used to encourage the poor energy performers in the apparel sector to improve their efficiency. Keywords: Energy benchmark, Energy efficiency, Apparel industry
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    A Controller tor Assistive Devices using Eye Movement and Electroeneephalography
    (Uva Wellassa University of Sri Lanka, 2018) Abienash, T.; Nandana, W.A. Rasika
    Assistive technology is adapted or specially designed technology for improving the functioning of people with disabilities. However, access to assistive technology is limited in Sri Lanka. The high cost of assistive technology development has put them out of reach of most of the disabled Sri Lankans. Therefore, low-cost equipment to read signals from patients with limited abilities will lead this technology development to next level. This research presents the development of a low-cost system which acquires and process brainwaves and eye movements of individuals. These signals are processed for controlling few assistive devices. Further, the research explores methods for using the system in aids with the brain's ability to undergo plastic changes for the recovery of function and to ensure patient's safety. Experiments in this project revealed different ways of brainwave processing and meaningful brainwave output frequencies to identify more emotions and motives of human brain like levels of concentration and drowsiness. The tests were performed on different subjects and revealed many new useful results such as suitable positions to place the electrode, variations in results when the subject gets familiar with the system. Hough transformation based eye tracking system is developed to detect iris position. Initially, it is implemented in MATLAB to detect three iris positions, left, right and center within 4-5 seconds. Later, the system is implemented on Raspberry-Pi using Open CV and Python with less than 3 seconds detection time. Finally, this research concludes that incorporating eye iris movement tracking with brainwave can be used as a novel low-cost approach. This combination allows developing a simple real time assistive device controller. This system can be used as a solution for connecting physically disabled individuals in developing countries to smart assistive devices. Keywords: Brainwaves, Eye movements, Hough transformation, Assistive technology, Electroencephalography
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    An innovative Fixing Solution for holding Complex Shaped Components
    (Uva Wellassa University of Sri Lanka, 2018) Balasuriya, B.M.S.C.B.; Bhanuka, H.W.P.; Sampath, H.R.L.; Kulasekera, A. L.; Jayaweera, N. D.
    Manufacturing industry faces several challenges when fixing complex shaped components, especially in the aerospace industry. The aerospace industry uses various types of dedicated fixturing systems to handle these components, but lacks a universal method of fixing. A complex shaped component does not have any symmetric lines or parallel surfaces, which makes it difficult to fix in manufacturing processes such as machining, finishing and inspection operations. A pin type fixturing system is the dominant and reliable design used in such applications to fix complex shaped components. In pin type fixturing systems, force is applied via a point contact to the workpiece. This can cause structural and/or surface damage to the component. To overcome this, a fixturing system based on jamming of materials with negative pressure is used to improve conventional pin type. A flexible diaphragm filled with januning materials is used to increase the area of contact. By changing the diaphragm properties, it is possible to improve the quality of workpiece fixing. This work studies the effect of the diaphragm properties on fixing quality. Series of experiments were carried out to decide the best suited diaphragm properties in terms of highest holding force with best adaptability to a given complex shape. According to experimental results, increasing the thickness of granular jamming membrane has provided higher fixturing force for complex shaped components. Keywords: Aerospace, Complex shapes, Fixtures, Granular Jamming, Work holding devices.
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    GSM, GPS and Facial Recognition Based Vehicle Security System
    (Uva Wellassa University of Sri Lanka, 2018) Udara, G.G.S.; Liyanapathirana, B.C.; Kumari, K.W.S.N.
    This study is focused on developing an improved version of vehicle security system for a bearable price. In this study GSM, GPS, facial detection and recognition technologies are used to overcome liabilities in the existing vehicle security systems. In the proposed system, the real time image processing user authentication is done by comparing a freshly taken photo of the driver with an existing database. Whenever the driver sits on the seat a hidden camera established inside the vehicle turns on and captures a photo of the driver. Cascade Object Detector and Fisher vector features of MATLAB software is being used for facial detection and recognition. Captured image of the driver is compared with the images in the database of authenticated drivers using the above mentioned features and verify the authentication. The GSM technology build up the communication between the vehicle and the owner and it provides the control of the vehicle to the owner's mobile phone. The GPS technology provides the access to gain the co-ordinates of real time precise location of the vehicle. The system consists of a vehicle lock down system that provides owner the facility to lock down the vehicle using a simple text message. Whenever the owner received the security alert he can reply with the predefined text message to activate the lock down system. The lock down system consists of a relay switch system and a fuel supply control valve. When the lock down system initiate it breaks the fuel supply and electric supply to the vehicle. A microprocessor based control system processes the functions of this security system. This well improved vehicle security system provides efficient security for the vehicle. Keywords: GPS Technology, MATLAB, Facial detection, Detector, GSM Technology
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    Haptic Teleoperated Steering System for Unmanned Ground Vehicles
    (Uva Wellassa University of Sri Lanka, 2018) Wijekoon, D.N.B.; Nandana, W.A.Rasika
    The teleoperation of Unmanned Ground Vehicle places high demands to its steering system. The main objective of this research was to design and introduce a haptic teleoperated steering system. While turning the steering wheel into desired angle, master controller detects the signal and transmit it to slave controller through wireless communication module. Then, it drives the slave motor. If there any disturbance torque on the slave motor, armature current changes proportionally to that torque. The change in armature current was sensed by a current sensor connected to the slave controller. Then, that data transmits to the master controller. After that, master controller regenerates a haptic feedback current signal and sends it to the feedback motor driver. Then, the relationship of master and the slave motor responses was obtained. Whenever the slave side feels any force, the current drawn by the slave motor was increased from its normal value. This current regenerates the proportional torque on the master side. Control scenario was evaluated with control systems applications. By the use of a PID controller allowed more precise control of position and thus, faster achievement of a stable position. The design was simulated in Simulink software and control algorithm was tested for prototype model. The system is settled within 8.4 s for the given angle inputs and disturbances. The system responded to each force acting on the slave end according to a specific program, which was coded and installed on a microcontroller. The results proved the model can generate haptic feedback on the teleoperator. Further development of enhanced performance of the system in wireless network environment is intended. Keywords: Haptic Feedback, Steer By Wire, Teleoperation, Unmanned Ground Vehicle
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    A portable gas sensing Device Based on Imageprocessing
    (Uva Wellassa University of Sri Lanka, 2018) Bamunukula, I.U.; Wanniarachchi, D.D.O.
    There are various kind of gases that evolving from common applications in the industrial, automotive, medical, laboratory and environmental areas. Most of the gases are hard to identify due to the location they release and difficult to capture them. Any gas released is inconvinient to carry them to a laboratory for identification. Currently available laboratory devices that used for gas sensing are expensive due to their advanced technology. Therefore, a cost effective special instrument consists with simple technology is require as a solution. This research will be helpful to fulfil above requirements. The device is especially designed for the industrial and laboratory purposes. At the beginning, system was developed to detect Ammonia gas. Concentration series of 25 ml sample solution were made by adding 1 ml of Nesller (mercury II Chloride 2.5%) with different Ammonia volume. Colour changes of Ammonia gas with Nessler solution were monitored by an image. Images were captured using Y3-Huawei phone camera, which have 480x854 screen resolution with 5 mega pixels. ROB measurement of images were obtained using the MATLAB 2014a Software. UV spectrometer data of the same samples were obtained at same time. RGB Values and UV spectrometer data were analyzed statistically. Minimum detection level of Ammonia gas was found as 0.091 ppm. The average Absorbance with Concentration (mol dm-3 , Ammonia) are statistically significant with absorbance at 0.03 level of significance and percentage of variance is 96.5%. The average Red colour with concentration (mol dm 3, Ammonia) are statistically significant with average red colour 0.012 level of significance and percentage of variance is 91.1%. Green and blue Variance are lower than red. Compared to three colours, red colour was best for the Ammonia gas Analysis. This research can be extended later for other gases, which give colour changes with chemicals such as CO2, SO2 with potassium dichromate (VI), and H25 gas with lead acetate etc. Also, as an extra application this research can be extended for any colour measurement application like tea, paint, and dye colour analysis. Keywords: Image processing, automotive, RGB, pixels, Absorbance
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    Unique Object Following Robot
    (Uva Wellassa University of Sri Lanka, 2018) Juvaraj, K.; Jayawickrema, U.M.N.
    In rapidly moving robotic world, leader following robots have been researched and developed by many researchers worldwide, because it is advantageous. These leaders following robots make a good interaction between a leader and a mobile robot. This interaction was made with the help of several technologies by many researchers. Those techniques are ultrasonic wave transmitting and receiving technology, radio frequency identification technology, Infrared waves transmitting and receiving technology, using stereo camera, KINECT module, laser range finder technology, and image processing technology. In this research image processing technology was used to track and follow a leader uniquely. Through image processing technology, a unique object in the leader's body is tracked and according to the tracking, the leader is followed. The image processing task is processed by camera module and with the Raspberry Pi board, the Raspbian operating system was instralled and open cv program was installed to the raspberry pi board to carry out the image processing part. The Arduino board was serially connected with the Raspberry Pi board. According to the image processing information, the Arduino board is used to control the motors of the robot and through that, the mobile robot is able to follow the leader in a straight line and also to follow the left-right movement of the leader. The Algorithm used was found in the OpenCV library and the language used to program was Python. Low lighting conditions and less processing power affect the accuracy of the robot. The motors should have the power to gain sudden acceleration and to maintain the speed to follow the leader if leader walks fast. Keywords: Raspberry, Object follower, Man follower, RFID, IR
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    Autonomous Guided Vehicle for the local market
    (Uva Wellassa University of Sri Lanka, 2018) Tharaka, H.A.D.; Amarasinghe, A.R.P.C.C.J.
    Autonomous transport vehicle for factory with auto charging dock-using Proportional, Integral and Derivative (PID) controlling falls under the autonomous guided vehicle (AGV). The intention of this research is to develop fully functional AGV with added functions like battery level indication, automatic docking, intelligent steering drive method using (PID), low-cost ect. Furthermore, this project aims to implement the PID algorithm, control the movement of the AGV by proper tuning of the control parameters, an optimized drive system to suit with the rough industrial environment, the affordable price tag for Sri Lankan market and deliver better performance. AGV mainly used magnetic line following method and the vehicle battery is charged automatically in specific charging dock (charging area). A PLC is used control of the AGV and implement PID algorithms for motor speed control, which governs the robot to smoothly travel along the line. Drive system used brushless direct current motors (BLDC) with the embedded gearbox. This BLDC motor and gearbox combination gives more robust operation compare to chain drive system. An 8-bit magnetic sensor used as the main sensor for the navigation. The end product of this research is to build up "mouse" type affordable AGV platform which can use in Sri Lanka Industries. Future developments will be focused to change the magnetic based guidance system to vision based guidance system and an auto charging system. Keywords.- PID, AGV, BLDC, Dock
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    Finite Element Analysis of Tyre-Rim with Different Nave Thicknesses
    (Uva Wellassa University of Sri Lanka, 2018) Fernando, Akila; Darshana, Dimuthu
    The local industries often use manual calculations in the rim design and manufacturing process. The accuracy of these calculations has a significant effect on final products. With the help of modern computational power, the rims can be analysed to a greater depth at an early stage and product quality can be substantially enhanced. This work was initiated to analyse a rim and optimize the nave thickness allowing the rim to withstand higher loads even at lowest material requirements. As the first step, geometries of two rims with different naves (9 mm and 10 mm) were created as 2D surface geometries, in order to get an effective stress distributions. After modelling, material was assigned for different sections. Subsequently, boundary and loading conditions were applied. All displacements and rotations were set between the tire outer surface and a virtual road layer. At the beginning, the road layer was moved to 10 mm towards the tire and all other displacements and rotations were fixed. In the second step, all the displacements and rotations were fixed except the displacement in vertical direction. The virtual road layer causes to generate the pressure between tire and the rim. As a result of that stresses are generated within the tire and the rim components. At the end, stresses generated in four different points were compared with original rim of 10 mm nave and optimized rim of 9 mm nave. The results of the Finite Element Analysis (FEA) show that the maximum stress variation percentage is 15.62% and, the maximum stress generated in the optimized rim lies below the yield strength of the steel. Thus, it is verified that 9 mm nave thickness can replace 10 mm nave thickness. Although this is a single millimetre thickness reduction, it can save cost in large amounts at mass production. Therefore, it can be concluded that use of FEA techniques to optimize the rim nave thickness could bring distinct benefits in the rim manufacturing process. Keywords: Design, FEA, Nave, Rim, Thickness
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    Computerized Motor Spare Parts Identifier
    (Uva Wellassa University of Sri Lanka, 2018) Mark, R.A.D.R.K.; Wickrama, M.L.
    The use of image processing for physical characteristics identifier for auto spare parts selling industry systems was the aim of this research. Furthermore, this research is to develop an identifier of physical properties, which are altered in used spare parts and identify the correct spare part that should be used to replace. In Sri Lankan scenario, a replacement of a spare part is done by hand measurements and selection through manuals. An automated system could reduce time consumed in this process. The images were taken from the USB2.0 HD UVC WebCam and the images were processed using MATLAB R2016a software. Arduino Mega 2560 development board was used to control the hardware. Moreover, the system is programmed to check the availability of the spare parts through the already established data base. MySQL database managing software is used to develop the database manipulation. Presently, the system can identify oil seals. Further a robotic arm and Auto Guided Vehicle to deliver the suitable part to the consumer via the fully automated process is expected to develop. Keywords: Image processing, Spare part identifier, Automated system
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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