K.T.M.U. Hemapala

A multi-DoF anthropomorphic transradial prosthetic arm

An anthropomorphic transradial prosthetic arm is proposed in this paper. In order to generate the wrist flexion/extension and ulna/radial deviation, a novel wrist mechanism is proposed based on the parallel prismatic manipulators. It is expected to realize high speed operation, higher positional accuracy and anthropomorphic features using the proposed mechanism. The prosthetic arm consists of an under-actuated hand as the terminal device. The hand mechanism is capable of providing the grasping adaptation. With the intention of verifying the effectiveness of the mechanisms in motion generation, motion simulation and kinematic analysis are carried out.

Development of a multi-DoF transhumeral robotic arm prosthesis

An anthropomorphic transhumeral robotic arm prosthesis is proposed in this study. It is capable of generating fifteen degrees-of-freedom, seven active and eight passive. In order to realize wrist motions, a parallel manipulator-based mechanism is proposed. It simulates the human anatomical structure and generates motions in two axes. The hand-of-arm prosthesis consists of under-actuated fingers with intrinsic actuation. The finger mechanism is capable of generating three degrees of freedom, and it exhibits the capability of adjusting the joint angles passively according to the geometry of the grasping object. Additionally, a parameter to evaluate finger mechanisms is introduced, and it measures the adoptability of a finger mechanism. In order to verify the mechanisms efficacy in terms of motion generation, motion simulation and kinematic analysis were carried out. Results demonstrated that the mechanisms are capable of generating the required motions.

Distributed autonomous control strategies for microgrid test-bed

Energy resource scheduling and Intelligent load controlling through smart grid is a fashion in modern power systems to enhance reliability and efficiency. Microgrid also use smart controlling technologies to sustain grid stability when it is in islanding conditions. The aim of this research is to present a new control strategy that is based on distributed autonomous control strategies and Multi Agent Systems Architectures. This new control algorithm is more robust to gain maximum benefits expected from microgrid. A microgrid testbed is being constructed which is consists of identified energy resources, storages and loads for commercial buildings or large apartments. The New control strategy provides flexibility to connect or disconnect any device in any time without disturbing to the system operation. It behave as a collection of devices those are connected in ad-hoc manner to the microgrid system. A simulation has done to verify the system operation when dynamically changing the assets of the microgrid. MATLAB Simulink libraries are used to develop the power system and Java Agent Development Environment is used to implement control system. This paper presents the simulation results for several case studies by connecting and disconnecting Energy resources and load units.

Design and Development of a Landmines Removal Robot

Humanitarian demining is a calamity of war affecting many third world countries. Mines are cheap weapons, built to sustain horrible injuries that target active people with a knock-on effect upon economic growth. The clearing is time consuming and expensive. Clearing is an engineering duty and the humanitarian goal is a technical challenge. Advanced robotics fulfils this task cleanly and reliably on the condition that upgrades and cost are met, meaning that they lose third-world appropriateness. The challenge is to turn local machines and awareness into effective robotic aids, willingly used by the local people, and to enhance the on-going outcomes. The solution to the demining problem shall be a low cost robotic outfit with resort to nearby available resources and competences (e.g., drawn from the local agricultural machinery and know-how). This paper discusses an ongoing project that aims to develop a low-cost robot with intelligent remote-command abilities, as a cheap productivity upgrading, assembled from standard farming devices, through the shared know-how and commitment of locally involved operators. During the study, the authors have developed a low-cost robot capable of removing mines. The robot consists of modified agricultural components including its mobile carrier and the mine effector.

Design and implementation of an optimized communication method for Remote Meter Reading using Zigbee

This presents a research work which is carried out to optimize the Zigbee based remote meter reading network. There are various technologies available to automate the meter reading. As far as utility providers are concerned, their focus is on a reliable Remote Meter Reading (RMR) system to read the meter at minimum possible cost. The development of a reliable RMR system is highly dependent on telecommunication infrastructure which is costly if GPRS (General Packet Radio Service) is used as a way of communication. This research was done in depth to analyze the cost and function of RMR system. An analysis of communication delay and resource optimization was studied for data concentrator based RMR system. Several simulations were carried out for simulating communication speed, communication path and their optimizations. Based on the GPS location and generated algorithm software was developed for selecting the correct Zigbee power ratings.

A Fuzzy logic based battery SOC level control strategy for smart Micro grid

Recently, traditional energy network is undergoing a distinctive change as distributed generation is introduced to address some challenges such as reliability and energy losses in the transmission network. Renewable energy integration and smallness of this new distributed generation along with the low voltages at the interface create a new class of problems which require innovative approaches in managing and operating the distributed sources. Micro grid may have two states mainly, Grid connected and isolated. It contains local consumers, renewable energy sources and the energy storage devices as it can be considered as hybrid system of AC and DC. The energy storage devices play vital role on Micro grid to make it efficient and reliable so the condition of the storage device namely, “State of Charge - SOC” is prerequisite for its whole operation.

Development of a Multi Agent system for voltage and outage monitoring

An operational analysis of agent based voltage and outage monitoring system for power distribution network would be presented in this paper. Sri Lankan distribution network has been upgraded recently with some of the new technological features such as automatic meter reading, remote breaker operations etc. But most important activities in the distribution system such as fault identifications, voltage monitoring and network reconfiguration are still carried out using the conventional methods. Recently different types of graphical user interfaces (GUIs) are established in the distribution utilities to maintain easy monitoring system and reporting system. The reporting system is comprised with the agent based report generation for power quality measurement indexes. Individual index values of each consumers and the whole area network index can be monitored through this system. Scalability and the flexibility of the monitoring system can be improved with the proposed Multi Agent system. Five major agents namely Database Agent, Meter Agent, Breaker Agent, Area network Agent and Reporting Agent are established in the system. A case study has been done to verify the development with six different data sets. Four different types of voltage failures are identified as high voltage, low voltage, branch failures and individual meter faults. The agent based four scenarios were compared with conventional method. The voltage quality measurements of the end user can be recognized through the proposed monitoring system.

Agent based building automation and control system for moderate scale buildings

Building management system is used to control and monitor electrical and mechanical systems in modern buildings. In the current world there are various solutions for large scale building management and the trend is to integrate all of them together to have more reliable and convenience system. When we come to the point of moderate scale buildings, there are electrical services systems such as CCTV, fire, air conditioning and access control. So, there is an arising need to integrate those systems for a moderate scale. In this paper, a detailed discussion is carried out to how an agent based control system for building management can be designed and implemented to achieve user comfort and energy optimization in moderate buildings.

Controlling of the micro grid test bed with an automated distribution system

This paper presents the introduction of a multi agent based distribution automation system to the increasingly developing microgrid based electrification concept. Fault location, Isolation and Restoration has been the main focus of this smart microgrid which is popular around the world as the next generation power grid. This microgrid test bed contains a few Dispersed generators (DGs), a storage devices and a distribution system based on Multi agent system along with the protection system, advanced smart metering system and reliable communication methodology. This laboratory scale microgrid has been developed as a fully automated operating system in both grid connected and island modes.

Developing of scalable SCADA in view of acquiring multi-protocol smart grid devices

Distribution Automation (DA) can be identified as a method of improving system efficiency and reliability. It enables distribution utilities to monitor and control their distribution assets from a central location called Distribution Control Center (DCC). The Distribution licensees in Sri Lanka reluctant to adopt DA in the system mainly due to the heavy requirement of capital investment and foreign technical expertise. With a careful study, it can be identified that there are considerable number of DA compatible distribution components are existed in their respective networks without proper utilization of features supporting DA since those have been brought into the network without considering DA. This paper discusses on developing a scalable SCADA in view of acquiring multi-protocol smart grid devices to support distribution licensees operate in Sri Lanka to develop an in-house DA solution with local expertise and minimum capital cost. Furthered it discuss on the adopting a cost effective communication media to maintain the minimum operational cost for the DA solution. Western Province North (WPN) of distribution division II of Ceylon Electricity Board (CEB) was considered for the study and outcome of the study has been utilized to develop a DCC in WPN.