Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya...

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Univ logo Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya, Dr. Nikolaos Vitzilaios, Dr. Olga Duran, Dr. Demetrios Venetsanos UKACC PhD Presentation Showcase

Transcript of Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya...

Page 1: Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya ...ukacc.group.shef.ac.uk/wordpress/wp-content/... · Dr. Olga Duran, Dr. Demetrios Venetsanos UKACC PhD Presentation Showcase

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Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya,

Dr. Nikolaos Vitzilaios, Dr. Olga Duran, Dr. Demetrios Venetsanos

UKACC PhD Presentation Showcase

Page 2: Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya ...ukacc.group.shef.ac.uk/wordpress/wp-content/... · Dr. Olga Duran, Dr. Demetrios Venetsanos UKACC PhD Presentation Showcase

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Robotic hands – Grasping and Manipulation

u Objects designed for the human hand u Thumb-palm Functionality

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Methodology: Thumb-palm Kinematics

Page 4: Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya ...ukacc.group.shef.ac.uk/wordpress/wp-content/... · Dr. Olga Duran, Dr. Demetrios Venetsanos UKACC PhD Presentation Showcase

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Human Grasp Data Acquisition

UKACC PhD Presentation Showcase Slide 4

Page 5: Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya ...ukacc.group.shef.ac.uk/wordpress/wp-content/... · Dr. Olga Duran, Dr. Demetrios Venetsanos UKACC PhD Presentation Showcase

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Preliminary Results: Kinematic Manipulability (Syngrasp Matlab toolbox [1])

UKACC PhD Presentation Showcase Slide 5

[1] Malvezzi, Monica, et al. "Syngrasp: A matlab toolbox for underactuated and compliant hands. " Robotics & Automation Magazine, IEEE 22.4 (2015): 52-68.

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Results: Relationships in Joint Pairs

UKACC PhD Presentation Showcase Slide 6

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Conclusion and Future Direction

u Joint angle and torque pair relationships in grasping. u Provides tendon routing guidelines. u Reduced control complexity in robotic thumbs.

u A 3D printed robotic thumb prototype. u Experiments using household objects while refining its

size, weight, and cost.

UKACC PhD Presentation Showcase Slide 7


UKACC International Conference on Control 2012 Cardiff, · PDF fileDynamical Analysis of a Duolever Suspension System ... combined slip using Magic Formulae ... The head angle is the

UKACC International Conference on Control 2012 Cardiff, · PDF fileDynamical Analysis of a Duolever Suspension System ... combined slip using Magic Formulae ... The head angle is the

UKACC International Conference on Control 2012 Cardiff, …€¦ ·  · 2012-08-29Design and Implementation of Real-Time Control System Using RTAI and Matlab/RTW ... ,uCos[7],QNX[8]

UKACC International Conference on Control 2012 Cardiff, …€¦ ·  · 2012-08-29Design and Implementation of Real-Time Control System Using RTAI and Matlab/RTW ... ,uCos[7],QNX[8]

UKACC International Conference on Control 2012 Cardiff, …€¦ ·  · 2012-08-29Supporting Undergraduate Students at Sir Syed University of Engineering & Technology . ... internal

UKACC International Conference on Control 2012 Cardiff, …€¦ ·  · 2012-08-29Supporting Undergraduate Students at Sir Syed University of Engineering & Technology . ... internal

UKACC International Conference on Control 2012 Cardiff, UK ... · valves [1][3]. Simulation based on polytropic and bondgraph modelling are two different methods which can allow analysis

UKACC International Conference on Control 2012 Cardiff, UK ... · valves [1][3]. Simulation based on polytropic and bondgraph modelling are two different methods which can allow analysis

BULLETIN - The Web Console...Ana Roque Ysabelle Roque Year 4 Jessica Truong Year 5 Maria Mathews Katerina Venetsanos Year 6 Olivia Jensen Year 8 Giordana Baggio Emma Barber Siyona

BULLETIN - The Web Console...Ana Roque Ysabelle Roque Year 4 Jessica Truong Year 5 Maria Mathews Katerina Venetsanos Year 6 Olivia Jensen Year 8 Giordana Baggio Emma Barber Siyona

Univ logo Rotor-mounted sensing and actuation for Smart Rotating Machines Samuel Jiménez Prof P. Keogh, Dr N. Sahinkaya, Prof C. Bowen University of Bath.

Univ logo Rotor-mounted sensing and actuation for Smart Rotating Machines Samuel Jiménez Prof P. Keogh, Dr N. Sahinkaya, Prof C. Bowen University of Bath.

Joe A. Roman-Flores Supervisor: Dr. Paolo Rapisarda ...ukacc.group.shef.ac.uk/wordpress/wp-content/... · Univ logo UKACC PhD Presentation Showcase Slide 2 Introduction Ø Identification

Joe A. Roman-Flores Supervisor: Dr. Paolo Rapisarda ...ukacc.group.shef.ac.uk/wordpress/wp-content/... · Univ logo UKACC PhD Presentation Showcase Slide 2 Introduction Ø Identification

UKACC International Conference on Control 2012 Cardiff, UK, 3-5 September 2012 Resource Allocation with Cooperative Path Planning for Multiple UAVsfolk.ntnu.no/skoge/prost/proceedings/ukaccc-2012/UKACC

UKACC International Conference on Control 2012 Cardiff, UK, 3-5 September 2012 Resource Allocation with Cooperative Path Planning for Multiple UAVsfolk.ntnu.no/skoge/prost/proceedings/ukaccc-2012/UKACC

UKACC International Conference on Control 2012 Cardiff, UK, 3-5 … · 2012-08-29 · associations to form a P2P network. Reference [5] shows a method which sends a stream media file

UKACC International Conference on Control 2012 Cardiff, UK, 3-5 … · 2012-08-29 · associations to form a P2P network. Reference [5] shows a method which sends a stream media file

Adaptive Feedforward Control for Uncertain Linear Systemukacc.group.shef.ac.uk/wordpress/wp-content/uploads/... · 2016-07-14 · UKACC PhD Presentation Showcase Slide 6 Plant :𝑊𝑊𝑠𝑠=

Adaptive Feedforward Control for Uncertain Linear Systemukacc.group.shef.ac.uk/wordpress/wp-content/uploads/... · 2016-07-14 · UKACC PhD Presentation Showcase Slide 6 Plant :𝑊𝑊𝑠𝑠=

Inverters with Capacitive Output Impedance (C-inverters)ukacc.group.shef.ac.uk/wordpress/wp-content/... · Univ logo UKACC PhD Presentation Showcase Slide 24 Conclusion and Future

Inverters with Capacitive Output Impedance (C-inverters)ukacc.group.shef.ac.uk/wordpress/wp-content/... · Univ logo UKACC PhD Presentation Showcase Slide 24 Conclusion and Future

Distributed Economic Model Predictive Controlukacc.group.shef.ac.uk/wordpress/wp-content/uploads/... · 2012-10-14 · Univ logo UKACC PhD Presentation Showcase Slide 11 Results and

Distributed Economic Model Predictive Controlukacc.group.shef.ac.uk/wordpress/wp-content/uploads/... · 2012-10-14 · Univ logo UKACC PhD Presentation Showcase Slide 11 Results and

Univ logo Fault Diagnosis for Power Transmission Line using Statistical Methods Yuanjun Guo Prof. Kang Li Queen’s University, Belfast UKACC PhD Presentation.

Univ logo Fault Diagnosis for Power Transmission Line using Statistical Methods Yuanjun Guo Prof. Kang Li Queen’s University, Belfast UKACC PhD Presentation.

UKACC International Conference on Control 2012 … auxiliary power unit currently being used for generating electrical power. For the use on aircraft coupled double-loop-cooling systems

UKACC International Conference on Control 2012 … auxiliary power unit currently being used for generating electrical power. For the use on aircraft coupled double-loop-cooling systems

UKACC International Conference on CONTROL 2000 University ... · 10.00 hrs Session 2C Fault Tolerant Control and Fault Detection 53 Safety critical control strategies for actively

UKACC International Conference on CONTROL 2000 University ... · 10.00 hrs Session 2C Fault Tolerant Control and Fault Detection 53 Safety critical control strategies for actively

International Conference on Hydrogen Safety, Pisa, 8-10 September 2005 1 CFD modeling of large scale LH2 spills in open environment Dr. A.G Venetsanos.

International Conference on Hydrogen Safety, Pisa, 8-10 September 2005 1 CFD modeling of large scale LH2 spills in open environment Dr. A.G Venetsanos.

CFD modeling of large scale LH2 spills in open environment Dr. A.G Venetsanos 1

CFD modeling of large scale LH2 spills in open environment Dr. A.G Venetsanos 1

UKACC International Conference on Control 2012 Cardiff, UK ... · guarantee the inverted pendulum a faster and smoother stabilizing process and with better robustness and less oscillation

UKACC International Conference on Control 2012 Cardiff, UK ... · guarantee the inverted pendulum a faster and smoother stabilizing process and with better robustness and less oscillation

PDF Compressor Free Versiontucaum.ankara.edu.tr/wp-content/uploads/sites/280/2015/08/cadcae1_11.pdf · SAHiNKAYA T///Z///ZÖ/////„, ÇEVRESiNiN o Salarkulu JEOLOJi —Kuruçay —Çaltlcak

PDF Compressor Free Versiontucaum.ankara.edu.tr/wp-content/uploads/sites/280/2015/08/cadcae1_11.pdf · SAHiNKAYA T///Z///ZÖ/////„, ÇEVRESiNiN o Salarkulu JEOLOJi —Kuruçay —Çaltlcak

UKACC International Conference on Control 2012 Cardiff, … · SIMULINK or Mission Planner Embbeded ... There are many examples of autopilot systems developed by research organisations,

UKACC International Conference on Control 2012 Cardiff, … · SIMULINK or Mission Planner Embbeded ... There are many examples of autopilot systems developed by research organisations,