
R. MunasingheUniversity of Moratuwa | UoM · Department of Electronic and Telecommunication Engineering
R. Munasinghe
PhD
Fast inverse dynamics, Non-invasive fetal monitoring, Seismic elephant rumbles, Fruit monitoring, Drone Tech, Agri Tech,
About
66
Publications
78,436
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
647
Citations
Introduction
My engage in teaching and R&D in robotics, control systems, UAVs, IoT, AgriTech, and system automation. I design and deploy drones for various applications. ANd, I direct the business development center and a product accelerator at the University of Moratuwa suporting inventors on IP protection and startups development.
Additional affiliations
Publications
Publications (66)
This chapter presents how to combine the equality constraints with the objective function in the optimization process. How to deal with inequality constraints using KKT conditions is presented next. Then, the implementation of quadratic optimization with equality constraints and boundary limits is demonstrated using the \(\mathtt quadprog\) command...
Optimization aims at finding a unique point, a unique state, or a unique function (a sequence of points or states) that is associated with the minimum cost or maximum benefit with respect to a certain criterion, subject to constraints. Function optimization is largely based on calculus developed by Sir Isaac Newton and Gottfried Wilhelm Leibniz. Th...
The optimal control sequence generated offline does not help realize optimal control in actual systems due to state deviations that are not captured in the state-space model. Such deviations are caused by unmodeled dynamics and noise, leaving only the first few control signals in the optimal control sequence valid and practically useful. In this co...
This chapter presents how to use the calculus of variations to find the optimum function within a group of functions without considering the constraints. A few examples of functional optimization, including the shortest path and the minimum-time path, are presented. The Matlab implementation of functional optimization is also demonstrated. Figure 4...
This chapter presents how optimal control is used in the form of feedback so that optimal control can be implemented on real systems. We consider linear plants and quadratic cost functions and develop the optimal regulator, which is known as the linear quadratic regulator (LQR). The nature of the optimality under LQR is analyzed, and the finite-tim...
Some control systems need to maximize a certain outcome while minimizing the cost. For example, a rocket propulsion system intends to reach the maximum altitude with the least fuel. In such systems, the cost minimization concept in optimal control is changed to outcome maximization, and the particular optimal control design process can be implement...
Modern control systems are mostly implemented in discrete time. Hence, the optimal control process also needs discrete-time implementation. This chapter presents how discrete-time optimal control can be developed for discrete state-space systems with quadratic cost functions. Several worked exercises are presented to show how discrete-time optimal...
This chapter presents the optimal control design for linear, continuous-time systems. The two main formulations of functional optimization—Lagrange–Euler and Pontryagin–Hamiltonian—are presented, and the conditions for optimality in each formulation are derived. The nature of optimality is also explored. The process of introducing end-point conditi...
This chapter presents the necessary and sufficient conditions for an optimum point in a scalar function. The same is then extended to vector functions. The determination of the optimum point in a quadratic function is presented next. This chapter does not consider constraints. A scalar function \(f(x)\in \mathbb {R}\) is shown in Fig. 2.1, where th...
This chapter presents how to introduce constraints into the functional optimization process. Two examples of constrained functional optimization—the catenary problem and the isoperimetric problem—are presented.
By executing vertical take off mode and plane flying mode simultaneously, a drone could take off like a bird, which is more energy efficient.
This research paper presents a novel track based stair-climbing wheelchair design with improved stability and performance. The proposed design has an adaptable arrangement to the staircase especially at the top of the staircase. In the existing wheelchair designs, this particular feature has not been adequately addressed. The proposed design consis...
This paper presents a method for localizing an Un-manned Aerial Vehicle (UAV) using geo-referenced aerial images, in case of GPS failure. When flying in urban environments in low altitudes the inaccurate GPS localization has become a major problem. The proposed method fuses measurements from inertial sensors and visual odometer and perform image re...
This paper presents a method for localizing an Un-manned Aerial Vehicle (UAV) using geo-referenced aerial images, in case of GPS failure. When flying in urban environments in low altitudes the inaccurate GPS localization has become a major problem. The proposed method fuses measurements from inertial sensors and visual odometer and perform image re...
In this paper, a feasibility study for construction and control of a novel design of a Multi-quadrotor unmanned aerial vehicle (UAV) is presented. This novel concept tests four identical Quadrotors assembled in a bigger cross structure. And, it also tests the ability of using the same controller that is used to control a single quadrotor to fly the...
This paper describes the development of a quad-rotor fixed-wing hybrid unmanned aerial vehicle (UAV). By combining the flying qualities of quadrotor UAV and that of fixed-wing UAVs it is possible to achieve superior flying qualities. This way, the vertical takeoff and landing capability of quadrotors and the long endurance of fixed-wing UAVs have b...
In this paper, a feasibility study for construction and control of a novel design of a Multi-quadrotor unmanned aerial vehicle (UAV) is presented. This novel concept tests four identical Quadrotors assembled in a bigger cross structure. And, it also tests the ability of using the same controller that is used to control a single quadrotor to fly the...
Since recently, UAVs (Unmanned Aerial Vehicles) have increasingly been recognized as a reliable, and effective means of aerial surveillance. Deployment of UAVs in disaster management for aerial surveillance and real-time video feed, when land access is cut off, is one of the most prominent applications. The ability of small, lightweight UAVs in aer...
In this paper a transformerless voltage source sine wave inverter is proposed. A previously developed tri-state boost converter is utilized for the stepping up operation. In this topology the dynamic response of the inverter is increased, by avoiding the right hand plane zero in the converter's small-signal control-to-output transfer function when...
A new trajectory planning method for generating bounded and continuous jerk trajectories in joint space has been developed and tested. In manipulator trajectory planning, reduced jerk trajectories are desired for path tracking and vibration suppression. The proposed interpolation algorithm in this research generates a spline, composed with 5th-orde...
This paper describes the synthesis and evaluation of a novel state estimator
for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate
acceleration, attitude and the aero-dynamic propeller drag are encapsulated in
an extended Kalman filter framework for estimating the velocity and the
attitude of the quadrotor. It is demonstrated that ex...
This paper presents modelling, simulation and implementation of a quadrotor Unmanned Ariel Vehicle (UAV) Focus of this work is to gain in-depth understanding of quadrotor dynamics to develop a simulator and a laboratory platform to facilitate future development of control algorithms, automatic navigation systems, and trajectory planning for quadrot...
Tunable laser system requires high resolution and accuracy in position of the wave selective optical element, which can be attained through the use of stepper motor. This paper focuses on the stepper motor controller, with the feedback to improve the accuracy and the microstepping technique to improve the resolution. Sine cosine and trapezoidal cur...
A satellite elephant collar is a device mounted on an elephant's neck to track its position and movements. This information is essential for conservation and management of this highly endangered species. Currently available units are proprietary designs by few manufacturers and no literature can be found about their internal operation. This lack of...
This paper introduces techniques for designing and implementing remotely controllable outdoor robots with the ability to localize itself while traversing in hazardous environments. The robot platform designed is a semi-autonomous tiller modified as required by the application. Localization based on wireless sensor network which has been a research...
The short-term electricity demand forecasting has become one of the major research area in power system engineering. By combining the smart metering to the short-term demand forecasting techniques, new features can be added to save on demand and electricity bill. This paper illustrates the methodology used to forecast electricity demand over short...
This paper outlines the problem of outdoor autonomous robot localization for agricultural operations. Vision based outdoor localization system is developed entirely of off-the-shelf components that can accurately guide a field robot in small agricultural fields. Visual odometry using downward faced camera is proposed as a high resolution relative l...
One of the most challenging problems of field robots is self-localization, which involves incremental update of position while in motion. Though wheel based odometry is cheaper to implement its accuracy degrades when wheels slip. In this paper performance of low-cost visual odometry approach is experimented as a feasibility test for field robot loc...
Position estimation using wheel odometric systems tends to give rather poor performances for an outdoor four-wheel skid steered mobile robot. Therefore autonomous control of these vehicles is extremely challenging in outdoor environments. This paper describes an outdoor localization system based on visual odometry for skid steered vehicle using for...
This paper describes the synthesis and evaluation of a "virtual odometer" for a Quadrotor Micro Aerial Vehicle. Availability of a velocity estimate has the potential to enhance the accuracy of mapping, es-timation and control algorithms used with quadro-tors, increasing the effectiveness of their applica-tions. As a result of the unique dynamic cha...
In this paper we first analyze the effects of least square based parameter estimation for a autoregressive stochastic model of inertial sensor errors. We then proceed to develop the recursive least squares (RLS) estimation of the autoregressive model parameters and also discuss a fast update method for recursive least square estimation to reduce th...
This paper analyzes the performance of an Extended Kalman Filter (EKF) based attitude estimator for a Quad Rotor Unmanned Aerial Vehicle (QRUAV). A non-linear dynamic model of the QRUAV, simulated in Matlab was complemented with an EKF based attitude estimator. The estimator fuses measurements obtained from simulated accelerometers and gyroscopes o...
This paper details the development of a model for a walking tractor also known as power tiller. A complete model for power tiller is developed considering kinematics, dynamics and engine dynamics for autonomous operation. Inputs to the simulation model are left clutch control signal and right clutch control signal. Data from an Inertial Measurement...
This paper presents a real time non linear automatic UAV simulation test-bed and autonomous control implementation with way point navigation. This UAV simulator is an integrated product that combines a vehicle operator station with a synthetic environment to support UAV research, training and operations while providing the operators (Internal Pilot...
The Axial Flux BLDC motors are relatively new, specially at higher power ratings over 10 kW. Therefore the designers face a lot of difficulties in designing and optimizing the motor for a given application. This paper presents a new method to optimize the performance in speed, torque, torque stability, power output, power density and motor dimensio...
Quad Rotor unmanned aerial vehicle (UAV) is an aerial vehicle platform which has drawn much attention in the recent past due to its simple yet unique design. Despite the simplicity in the hardware, the vehicle is inherently unstable, and many control strategies have been proposed to achieve stability and control of the quad rotor platform. This pap...
The determination of the motor and battery specification is one of the major challenges in the electric vehicle designs, specially considering the different kinds of requirements and specifications in different designs. This paper discusses about a method of simulating a vehicle in given terrains and driver models for extracting the torque, power a...
This paper presents a development of a holonomic mobile robot with remote operation capability. Most of the currently available holonomic mobile robots find problems in field applications because they has not been adopted to field environment.To address those problems we have develop a holonomic platform with a capability of carrying 30 kg payload....
In this paper we are presenting a low cost, locally developed customized monitoring and controlling system for a water purification plant. This system can facilitate monitoring and controlling of the entire plant from a single location. Apart from the major functions of monitoring and controlling through a GUI, additional functionalities such as pr...
In this paper, we present a novel strategy to detect the slipping of an object grasped by a human hand. The recognition of slipping of a grasped object early plays a significant role in designing the dexterous robotic hands to ensure a firm grasping. Here, we present a system that uses force sensors embedded in a tight glove to capture force variat...
In this paper EOG signal processing and developing a low cost signal interface for wheelchair with high accuracy and reliability for severely disabled people is presented. Here the signal processing is done on a microcontroller which reduces the cost drastically rather than using a computer. Eye movement is detected by processing EOG signal, and as...
Sonar sensors are widely used in obstacle detection in mobile robotic applications and certain limitations of these sensors usually become the reason for failures in these applications. Therefore, a thorough analysis of the actual behavior of sonar sensors is required. This research studied Devantech SRF05 sonar sensor, which is the most common son...
This paper presents non linear automatic unmanned aerial vehicle (UAV) control simulation with high maneuverability and precise tracking. Major considerations of flight performance and precise tracking have been evaluated with software simulation by aerosonde UAV. The autonomous control system is based on the Aerosonde UAV with control theory previ...
The optimum distribution of treated pipe-borne water is a critical requirement in countries which have a deficit production in comparison with the demand. However, in 3rd world countries, it is not feasible to design the entire water distribution network as a whole, to enable near-optimized delivery, due to economic constraints. The current practic...
Map building and obstacle detection are basic tasks in mobile robot navigation. In this paper we present a probability based solution for map building which utilizes time of flight information from an ultrasonic sensor. In contrast to most of the available map building systems, this uses a single ultrasonic sensor, mounted on a rotating shaft. Disc...
In this paper, a semiautonomous low-cost wheelchair robot to supplement impaired mobility of handicapped or elderly people is presented. The motion of the wheelchair is controlled by the joystick and the sonar sensor in such a manner that the sonar sensor has higher priority than joystick in normal conditions. The wheelchair uses two permanent magn...
This paper describes a baby sitting robot system, which has the capabilities of baby tracking , cry signal processing, map building and obstacle avoidance, path planning, entertain the baby or alarm the guardian if any defined anomalies found and voice interaction. For that purpose, the baby sitting robot system has a capability to track and follow...
A new type of force-position compliant control is proposed, where hyperbolic tangent function is used to dynamically adjust the gain of the position feedback loop so that to control the contact force safely and according to a given pattern. The proposed compliant controller uses a high gain in the position control loop when the robotic device is in...
A data-driven adaptive neurofuzzy controller is presented for the water-level control of U-tube steam generators in nuclear power plants. This neurofuzzy controller is capable of learning the control action principles from the data obtained using other methods of automatic or manual control. There are four inputs in the neurofuzzy system, yet only...
Effective training is essential for human teleoperators to deliver satisfactory performance in actual tasks. Teleoperation is naturally a very difficult task due to the absence of naked-eye vision that cripples the cognitive behavior of the remote operator. Camera vision somehow is not a satisfactory substitution. However, training with naked-eye v...
This paper describes the design and implementation techniques of a generic Internet-based telerobotic system. The purpose is to make available the precious technical information and hands-on experience of the authors for the research community. The paper is based on the telerobotics system that the authors recently implemented between KAIST, Korea...
This paper discusses the safety assurance, capability features, and user-friendliness of Internet-based telerobotics, in the sense that how these features could be incorporated in order to enhance teleoperator performance. A comprehensive set of safety features are incorporated to the interface to screen and accept only the safe commands from the r...
This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers t...
Addresses the trajectory tracking problem of industrial robot manipulators, at the corners of a Cartesian three-dimensional trajectory. The goal is to determine the maximum tangential velocity of the end-effector as it traverses a circular arc at a trajectory corner while avoiding joint acceleration saturation. The proposed method first derives the...
Presents a general solution to the contouring problem of
industrial robot arms, under the constraints of assigned Cartesian
velocity and joint torque/acceleration. The proposed solution is an
off-line trajectory generation algorithm and, therefore, it possesses
significant industrial implications, as no hardware changes are needed
for its implement...
Presents a control algorithm for industrial robot arms. This algorithm is based on off-line trajectory generation with compensation of statics and dynamics. Using the proposed method, the Performer MK-3s industrial robot arm was controlled and improved performance has been realized. The proposed algorithm appears as a feedforward, off-line block in...
This paper addresses the contouring problem of articulated
industrial robot arms, and proposes a practical solution to realize
precise, jerk-free servoing. The proposed solution is an off-line
trajectory construction algorithm that addresses the relevant industrial
constraints and specifications namely, the velocity constraint,
torque/acceleration...
Contour control of a robot arm is an act of the end-effector tip
being moved along a reference Cartesian path, with an assigned velocity.
When torque saturation occurs, and lasts for some time, contour
deteriorations result. In addition, system delay dynamics also causes
contour deteriorations. In this paper, an offline trajectory generation
algori...
This paper presents a methodology for off-line trajectory
generation that guarantees high-speed and precise end-effector
point-to-point (positioning) control of industrial robot arms, within
the bounds of the most relevant constraints. The constraints being
addressed are the saturation of joint torque and the limit of Cartesian
velocity. In the pro...
Contour control of a robot arm is an act of the end-effector being
moved along a reference Cartesian path, with an assigned velocity. While
contouring sharp corners and, at the start and the end of the operation,
a substantial torque demand is originated from the reference input
generator. It causes power amplifier saturation of the servo controlle...