Lakmal Seneviratne

Lakmal Seneviratne
Khalifa University | KU · Department of Mechanical Engineering

About

390
Publications
152,425
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9,060
Citations
Citations since 2016
95 Research Items
5424 Citations
20162017201820192020202120220200400600800
20162017201820192020202120220200400600800
20162017201820192020202120220200400600800
20162017201820192020202120220200400600800
Introduction
Skills and Expertise

Publications

Publications (390)
Article
Equipping soft robotic grippers with sensing and perception capabilities faces significant challenges due to their high compliance and flexibility, limiting their ability to successfully interact with the environment. In this work, we propose a sensorized soft robotic finger with embedded marker pattern that integrates a high-speed neuromorphic eve...
Article
Full-text available
Neuromorphic vision is a bio-inspired technology that has triggered a paradigm shift in the computer vision community and is serving as a key enabler for a wide range of applications. This technology has offered significant advantages, including reduced power consumption, reduced processing needs, and communication speedups. However, neuromorphic c...
Article
Full-text available
This paper presents an aeroelastic analysis of a polymorphing wing capable of active span extension and passive pitch variation. The wing is split into two segments: an inboard segment responsible for span extension/retraction and an outboard segment capable of pitch variation. The two segments are connected through an overlapping spar and a torsio...
Preprint
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This paper presents a theoretical study on the ability of multi-rotor aerial vehicles (MRAVs) with tiltable propellers to achieve and sustain static hovering at different orientations. To analyze the ability of MRAVs with tiltable propellers to achieve static hovering, a novel linear map between the platform's control inputs and applied forces and...
Article
Full-text available
In this paper we present a state estimation scheme for Unmanned Aircrafts (UAs) utilizing dynamics based models and multi-sensor data fusion. Employing the UA dynamics in estimation can substantially enhance the estimator performance, but obtaining accurate dynamics parameters for each UA is computationally costly and complex. To eliminate these is...
Article
Full-text available
Safety holds the prime importance in direct physical human-robot interaction (pHRI) tasks. Robots should have the ability to handle unexpected collisions in unstructured environments. Collision avoidance based on exteroceptive sensors can work in these scenarios. However, it may not be sufficient, especially considering that the relative motion bet...
Article
Full-text available
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving industrial requirements. This paper, for the first time, proposes an event-based robotic grasping framework fo...
Article
Full-text available
Semi-autonomous self driving car technologies are commercially available today, but making them fully autonomous under guaranteed safety is still an open challenge. There are holonomic robot path planning algorithms for generating guaranteed collision-free paths even in very complex but completely known environments. However, it is not feasible to...
Article
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Space exploration has witnessed revolutionary changes upon landing of the Perseverance Rover on the Martian surface and demonstrating the first flight beyond Earth by the Mars helicopter, Ingenuity. During their mission on Mars, Perseverance Rover and Ingenuity collaboratively explore the Martian surface, where Ingenuity scouts terrain information...
Article
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Object segmentation in cluttered environments is a fundamental pre-processing step for many perception-related tasks such as vision-based robotic grasping. Most of the existing object segmentation methods are incapable of precisely segmenting unknown objects, particularly in scenarios exhibiting significant occlusion. In this paper, we propose a no...
Preprint
Full-text available
Neuromorphic vision is a bio-inspired technology that has triggered a paradigm shift in the computer-vision community and is serving as a key-enabler for a multitude of applications. This technology has offered significant advantages including reduced power consumption, reduced processing needs, and communication speed-ups. However, neuromorphic ca...
Article
Full-text available
Fires occurring at the exterior of high-rise buildings can be hard to tackle using current firefighting technology and tactics. Accessing fires at high floors is difficult, and can often result in delays in fire suppression, which in turn may lead to an uncontrollable fire. This paper proposes a semiautomated system of multiple, aerial robots that...
Article
Full-text available
This paper reviews the existing vision-based tactile sensor (VBTS) designs reported in the literature. Although some reviews on VBTSs already exist in the literature. We believe it is necessary to review existing VBTS designs to formulate a guideline for developing such systems considering recent developments in the manufacturing and imaging techno...
Preprint
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving industrial requirements. This paper, for the first time, proposes an event-based robotic grasping framework fo...
Article
Visual object tracking is a fundamental and challenging task in many high-level vision and robotics applications. It is typically formulated as estimating the target appearance model between consecutive frames. Discriminative correlation filters and their variants have achieved promising speed and accuracy for visual tracking in many challenging sc...
Article
Full-text available
Vision-based localization systems, namely visual odometry (VO) and visual inertial odometry (VIO), have attracted great attention recently. They are regarded as critical modules for building fully autonomous systems. The simplicity of visual and inertial state estimators, along with their applicability in resource-constrained platforms motivated ro...
Chapter
In Visual object tracking (VOT), Discriminative correlation filters trackers have achieved promising results for VOT in many complex scenarios. However, because of the unwanted boundary effects and lack of structural constraints, these methods suffer from performance degradation. In the current work, we propose a spatial graph-regularized correlati...
Article
Full-text available
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based cameras sets a limitation on continuous visual feedback due to their low sampling rate, poor performance in low light conditions and redundant data in real-time image processing, especially in the case of high-speed tas...
Preprint
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based cameras sets a limitation on continuous visual feedback due to their low sampling rate, poor performance in low light conditions and redundant data in real-time image processing, especially in the case of high-speed tas...
Article
Full-text available
Variable Stiffness Actuators (VSA) have been proposed as an alternative actuation system for manipulators that are utilized for safe physical Human-Robot Interaction (pHRI). However, in the incidents of collision, the need of a fast response in stiffness tuning would rise to ensure safety. In this paper, we present a novel Discrete Variable Stiffne...
Article
Full-text available
Coverage Path Planning (CPP) is an essential capability for autonomous robots operating in various critical applications such as fire fighting, and inspection. Performing autonomous coverage using a single robot system consumes time and energy. In particular, 3D large structures might contain some complex and occluded areas that shall be scanned ra...
Article
Full-text available
This article investigates some aspects related to the design, modeling, prototyping, and testing of soft–rigid tendon-driven grippers. As a case study, we present the design and development of a two-finger soft gripper and exploit it as an example to demonstrate the application scenario of our mathematical model based on screw theory. A mathematica...
Article
Full-text available
In recent years, robotic sorting is widely used in the industry, which is driven by necessity and opportunity. In this paper, a novel neuromorphic vision-based tactile sensing approach for robotic sorting application is proposed. This approach has low latency and low power consumption when compared to conventional vision-based tactile sensing techn...
Article
Full-text available
Slip detection is essential for robots to make robust grasping and fine manipulation. In this paper, a novel dynamic vision-based finger system for slip detection and suppression is proposed. We also present a baseline and feature based approach to detect object slips under illumination and vibration uncertainty. A threshold method is devised to au...
Conference Paper
Full-text available
Visual Object Tracking (VOT) is an essential task for many computer vision applications. VOT becomes challenging when a target object faces severe occlusion, drastic illumination changes, and scale variation problems. In the literature, Discriminative Correlation Filters (DCFs)-based tracking methods have achieved promising results in terms of accu...
Preprint
Slip detection is essential for robots to make robust grasping and fine manipulation. In this paper, a novel dynamic vision-based finger system for slip detection and suppression is proposed. We also present a baseline and feature based approach to detect object slips under illumination and vibration uncertainty. A threshold method is devised to au...
Article
Full-text available
This paper presents a strategy to autonomously explore unknown indoor environments, focusing on 3D mapping of the environment and performing grid level semantic labeling to identify all available objects. Unlike conventional exploration techniques that utilize geometric heuristics and information gain theory on an occupancy grid map, the work prese...
Article
Advances in soft robotics and material science have enabled rapid progress in soft grippers. The ability to 3D print materials with softer, more elastic materials properties is a recent development and a key enabling technology for the rapid development of soft robots. However, obtaining the desired mechanical properties (e.g., stiffness) of the so...
Article
Full-text available
Urban search and rescue missions require rapid intervention to locate victims and survivors in the affected environments. To facilitate this activity, Unmanned Aerial Vehicles (UAVs) have been recently used to explore the environment and locate possible victims. In this paper, a UAV equipped with multiple complementary sensors is used to detect the...
Conference Paper
Full-text available
Introduction/Background Both CHORUS and EORTC 55971 demonstrated no difference in OS/PFS between PDS OR IDS. However, both trials have been criticised due to low surgical quality. Retrospective reviews have suggested differences in OS/PFS/PFI. Aim To investigate if PDS or IDS, affects the OS, PFS or PSI in a cohort of AOC patients receiving high q...
Conference Paper
Full-text available
Introduction/Background Ultra-radical procedures, including splenectomy, are utilised during cytoreductive surgery in AOC to treat disease that would not be removed with standard procedures, the intention being to increase complete cytoreduction rates. Hypothetically the performance of splenectomy may independently be a marker for worse survival du...
Article
Full-text available
In this paper, a Next Best View (NBV) approach with a profiling stage and a novel utility function for 3D reconstruction using an Unmanned Aerial Vehicle (UAV) is proposed. The proposed approach performs an initial scan in order to build a rough model of the structure that is later used to improve coverage completeness and reduce flight time. Then,...
Preprint
A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in perception and sensory data, and also model inaccuracy. In this paper, we propose a system architecture for risk-...
Patent
Full-text available
This invention introduces a new concept of applying a parallel mechanism in automated fiber placement (AFP) for aerospace part manufacturing. By investigating the system requirements, a 4DOF parallel mechanism consisting of two revolute-prismatic-spherical joints (2RPS) and two universal-prismatic-spherical joints (2UPS) limbs with two rotational (...
Chapter
The most critical process in the inspection is the structure coverage which is a time and resource intensive task. In this paper, Search Space Coverage Path Planning (SSCPP) algorithm for inspecting complex structure using a vehicular system consisting of Unmanned Aerial Vehicle (UAV) is proposed. The proposed algorithm exploits our knowledge of th...
Article
Full-text available
There has been an increasing interest in researching, developing and deploying multi-robot systems. This has been driven mainly by: the maturity of the practical deployment of a single-robot system and its ability to solve some of the most challenging tasks. Coverage path planning (CPP) is one of the active research topics that could benefit greatl...
Article
Achieving precise state estimation is needed for the unmanned aerial vehicle to perform a successful flight with a high degree of stability. Nonetheless, obtaining accurate state estimation is considered challenging due to the inaccuracies associated with the measurements of the onboard commercial-off-the-shelf inertial measurement unit. The immens...
Conference Paper
Full-text available
Losing an hand seizes nearly all principal activities of amputees life. However, with the development in the field of prosthesis, amputees can get back to normal life with use of simple yet functional prosthetic devices. This paper presents the design and prototype of a tendon driven underactuated modular soft prosthetic hand. The actuation system...
Chapter
Background A simulation environment for magnetically-driven, active endoscopic capsules (Abu-Kheil Y, Seneviratne L, Dias J, A simulation environment for active endoscopic capsules. 2017 IEEE 30th international symposium on Computer Based Medical Systems (CBMS), Thessaloniki, pp 714-719, 2017), can perform four main operations: capsule tele- operat...
Article
Full-text available
Fused deposition modelling (FDM) is one of most popular 3D printing techniques of thermoplastic polymers. Nonetheless, the poor mechanical strength of FDM parts restricts the use of this technology in functional parts of many applications such as unmanned aerial vehicles (UAVs) where lightweight, high strength, and stiffness are required. In the pr...
Article
Full-text available
Nowadays, the most adopted model for the design and control of soft robots is the piecewise constant curvature model, with its consolidated benefits and drawbacks. In this work, an alternative model for multisection soft manipulator dynamics is presented based on a discrete Cosserat approach, in which the continuous Cosserat model is discretized by...
Article
Full-text available
In this paper we present the design, development and experimental validation of a novel Binary-Controlled Variable Stiffness Joint (BpVSJ) towards haptic teleoperation and human interaction manipulators applications. The proposed actuator is a proof of concept of a passive revolute joint, where the working principle is based on the recruitment of s...
Article
In this paper, the modeling, design, and characterization of the passive discrete variable stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely controlled variable stiffness. The key motivation behind this design is the need for instantaneous switching between stiffness l...
Conference Paper
In this paper, we introduce a coverage path planning algorithm with adaptive viewpoint sampling to construct accurate 3D models of complex large structures using Unmanned Aerial Vehicle (UAV). The developed algorithm, Adaptive Search Space Coverage Path Planner (ASSCPP), utilizes an existing 3D reference model of the complex structure and the onboa...
Article
Full-text available
In this paper, the modeling, design and characterization of the passive Discrete Variable Stiffness Joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely controlled variable stiffness. The key motivation behind this design is the need for instantaneous switching between stiffness le...
Article
Full-text available
In this study, we present an efficient mathematical representation of soft robotic fingers based on screw theory. Then, we show how the model and its main properties can be exploited in the design phase and we present an application for an under-actuated tendon driven gripper with a modular structure, in which the joint stiffness values are defined...
Article
Full-text available
This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA) aiming to be used for the development of a novel compliant robotic manipulator. BcVSA is the proof of co...
Article
Full-text available
A unified formulation that accounts for the dynamics of a general class of aquatic multi-body, soft-structured robots is presented. The formulation is based on a Cosserat formalism where the description of the ensemble of geometrical entities, such as shells and beams, gives rise to a multi-soft-body system capable of simulating both manipulation a...
Article
Unmanned aerial vehicles (UAVs) have shown promising benefits in many applications. This has been enabled by the emergence of additive manufacturing (AM), which give the designers a large amount of geometrical freedom. In this paper, a novel design process of fused deposition modeling (FDM) combining both topology and infill optimization is introdu...
Article
Full-text available
In this work, we propose artificial and virtual impedance interaction force reflection based shared control strategy for bilateral telemanipulation of MAV. The shared input for the master is designed by combining the velocity of the slave MAV with the scaled position-velocity of the master manipulator. The master input also uses reflected interacti...