Lakmal D. Seneviratne - Academia.edu (original) (raw)

Papers by Lakmal D. Seneviratne

Research paper thumbnail of On-Line Soil Property Estimation for Autonmous Excavator Vehicles

International Conference on Robotics and Automation, 2003

This paper presents a novel method for estimating soil properties on-line during excavation tasks... more This paper presents a novel method for estimating soil properties on-line during excavation tasks such as ground leveling, digging and sheet pilling. The proposed method computes key soil parameters by measuring the forces acting on the excavator bucket whilst being in contact with the soil and minimizing the error between measured forces and estimated forces produced by a real-time capable

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Research paper thumbnail of Combining touch and vision for the estimation of an object's pose during manipulation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Robot grasping and manipulation relies mainly on two types of sensory data: vision and tactile se... more Robot grasping and manipulation relies mainly on two types of sensory data: vision and tactile sensing. Localisation and recognition of the object is typically done through vision alone, while tactile sensors are commonly used for grasp control. Vision performs reliably in uncluttered environments, but its performance may deteriorate when the object is occluded, which is often the case during a manipulation task, when the object is in-hand and the robot fingers stand between the camera and the object. This paper presents a method to use the robot's sense of touch to refine the knowledge of a manipulated object's pose from an initial estimate provided by vision. The objective is to find a transformation on the object's location that is coherent with the current proprioceptive and tactile sensory data. The method was tested with different object geometries and proposes applications where this method can be used to improve the overall performance of a robotic system. Experimental results show an improvement of around 70% on the estimate of the object's location when compared to using only vision.

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Research paper thumbnail of Fiber optics tactile array probe for tissue palpation during minimally invasive surgery

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

This paper presents a novel fiber optic tactile probe designed for tissue palpation during minima... more This paper presents a novel fiber optic tactile probe designed for tissue palpation during minimally invasive surgery (MIS). The probe consists of 3×4 tactile sensing elements at 2.6mm spacing with a dimension of 12×18×8 mm3 allowing its application via a 25mm surgical port. Each tactile element converts the applied pressure values into a circular image pattern. The image patterns of all the sensing elements are captured by a camera attached at the proximal end of the sensor system. Processing the intensity and the area of these circular patterns allows the computation of the applied pressure across the sensing array. Validation tests show that each sensing element of the tactile probe can measure forces from 0 to 1N with a resolution of 0.05 N. The proposed sensing concept is low cost, lightweight, sterilizable, easy to be miniaturized and compatible for magnetic resonance (MR) environments. Experiments using the developed sensor for tissue abnormality detection were conducted. Results show that the proposed tactile probe can accurately and effectively detect nodules embedded inside soft tissue, demonstrating the promising application of this probe for surgical palpation during MIS.

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Research paper thumbnail of Controllable Rotation Workspace of a Metamorphic Parallel Mechanism With Reconfigurable Universal Joints

Volume 6A: 37th Mechanisms and Robotics Conference, 2013

ABSTRACT This paper introduces a metamorphic parallel mechanism which has three topologies with p... more ABSTRACT This paper introduces a metamorphic parallel mechanism which has three topologies with pure translational, pure rotational and 3T1R degrees of freedom. Mobility change stemming from the reconfigurability of a reconfigurable Hooke (rT) joint is illustrated by change of the limb twist screw systems and the platform constraint screw system. Then the paper focuses on the pure rotational topology of the mechanism of which the rotational center can be altered along the central line perpendicular to the base plane by altering the radial rotational axes in the limbs. Singularity analysis is conducted based on the dependency of constraint forces and actuation forces in a screw based Jacobian matrix. Following these, rotation workspace variation is demonstrated in a 2D projection format using the Tilt-and-Torsion Euler angles based on the actuation limits and joint rotation ranges.

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Research paper thumbnail of Tactile image based contact shape recognition using neural network

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012

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Research paper thumbnail of Reconfiguration and Unified Kinematics Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion

Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 2012

ABSTRACT This paper introduced a new metamorphic parallel mechanism consisting of four reconfigur... more ABSTRACT This paper introduced a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability of the reconfigurable Hooke (rT) joint, the rTPS limb has two phases while in one phase the limb has no constraint to the platform, in the other it constrains the spherical joint center to lie on a plane. This results in the mechanism to have ability of reconfiguration between different topologies with variable mobility. Geometric constraint equations of the platform rotation matrix and translation vector are set up based on the point-plane constraint, which reveals the bifurcated motion property in the topology with mobility 2 and the geometric condition with mobility change in altering to other mechanism topologies. Following this, a unified kinematics limb modeling is proposed considering the difference between the two phases of the reconfigurable rTPS limb. This is further applied for the mechanism modeling and both the inverse and forward kinematics is analytically solved by combining phases of the four limbs covering all the mechanism topologies.

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Research paper thumbnail of Dynamic Analysis and Traversability Prediction of Tracked Vehicles on Soft Terrain

2007 IEEE International Conference on Networking, Sensing and Control, 2007

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Research paper thumbnail of Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators

Journal of Mechanisms and Robotics, 2015

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Research paper thumbnail of Control a contact sensing finger for surface haptic exploration

2014 IEEE International Conference on Robotics and Automation (ICRA), 2014

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Research paper thumbnail of A novel tumor localization method using haptic palpation based on soft tissue probing data

Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2014

Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue pal... more Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. Haptic information could improve the clinical outcomes significantly and help to detect hard inclusions within soft-tissue organs indicating potential abnormalities. However, system instability is often caught by direct force feedback. In this paper, a new approach to intra-operative tumor localization is introduced. A virtual-environment tissue model is created based on the reconstructed surface of a soft-tissue organ using a Kinect depth sensor and the organ’s stiffness distribution acquired during rolling indentation measurements. Palpation applied to this tissue model is haptically fed back to the user. In contrast to previous work, our method avoids the control issues inherent to systems that provide direct force feedback. We demonstrate the feasibility of this method by evaluating the performance of our tumor localization method on a soft tissue phantom containing buried stiff nodules. Results show that participants can identify the embedded tumors; the proposed method performed nearly as well as manual palpation

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Research paper thumbnail of Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue

This paper explores methods that make use of visual cues aimed at generating actual haptic sensat... more This paper explores methods that make use of visual cues aimed at generating actual haptic sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback-based method capable of conveying 3D haptic information and combining visual haptics with force feedback to enhance the user’s haptic experience. We focused on an application related to tumor identification during palpation and evaluated the proposed method in an experimental study where users interacted with a haptic device and graphical interface while exploring a virtual model of soft tissue, which represented stiffness distribution of a silicone phantom tissue with embedded hard inclusions. The performance of hard inclusion detection using force feedback only, pseudo-haptic feedback only, and the combination of the two feedbacks was compared with the direct hand touch. The combination method and direct hand touch had no significant difference in the detection results. Compared with the force feedback alone, our method increased the sensitivity by 5 %, the positive predictive value by 4 %, and decreased detection time by 48.7 %. The proposed methodology has great potential for robot-assisted minimally invasive surgery and in all applications where remote haptic feedback is needed.

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Research paper thumbnail of A novel continuum-style robot with multilayer compliant modules

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

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Research paper thumbnail of On-line energy-based method for soil estimation and classification in autonomous excavation

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

ABSTRACT

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Research paper thumbnail of EXPERIMENTAL STUDY ON TRACK-TERRAIN INTERACTION DYNAMICS IN AN INTEGRATED ENVIRONMENT: TEST RIG

Advances In Mobile Robotics - Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2008

Abstract: An understanding of track-terrain interaction dynamics and vehicle slip is crucial for ... more Abstract: An understanding of track-terrain interaction dynamics and vehicle slip is crucial for skid-steered tracked vehicles traversing over soft terrain. There is a lack of experimental data for validating dynamic, kinematic and control models developed for tracked vehicles ...

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Research paper thumbnail of VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATION

Advances In Mobile Robotics - Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2008

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Research paper thumbnail of A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition

2007 IEEE International Conference on Networking, Sensing and Control, 2007

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Research paper thumbnail of palpation

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Research paper thumbnail of Tissue identification using inverse Finite Element analysis of rolling indentation

2009 IEEE International Conference on Robotics and Automation, 2009

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Research paper thumbnail of A vision based wheel slip estimation technique for mining vehicles

IFAC Workshop on Automation in Mining, Mineral and Metal Industry (2009), 2009

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Research paper thumbnail of Internet based bilateral teleoperation system for quad-rotor flying vehicles

2013 IEEE 20th International Conference on Electronics, Circuits, and Systems (ICECS), 2013

ABSTRACT In this work, we propose haptic-based bilateral tele-operation for quad-rotor vehicles b... more ABSTRACT In this work, we propose haptic-based bilateral tele-operation for quad-rotor vehicles by using Internet communication infrastructure. The idea is to introduce shared autonomy to increase remote operation and manipulation capacity of the vehicle in uncertain flying environments. The design couples ground and remote sites by position and velocity signals of the master haptic and slave quad-rotor vehicle. Force reflection using haptic feedback provides human operator with a certain kinesthetic feeling of the interaction between vehicle and environment increasing the autonomy of the vehicle. The result will be an innovative human machine interface where the force feedback will complement the visual information during tele-operation surveillance tasks, enabling safe maneuvers. The experiments will be performed for indoor operation where this technique will achieve major impact.

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Research paper thumbnail of On-Line Soil Property Estimation for Autonmous Excavator Vehicles

International Conference on Robotics and Automation, 2003

This paper presents a novel method for estimating soil properties on-line during excavation tasks... more This paper presents a novel method for estimating soil properties on-line during excavation tasks such as ground leveling, digging and sheet pilling. The proposed method computes key soil parameters by measuring the forces acting on the excavator bucket whilst being in contact with the soil and minimizing the error between measured forces and estimated forces produced by a real-time capable

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Combining touch and vision for the estimation of an object's pose during manipulation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Robot grasping and manipulation relies mainly on two types of sensory data: vision and tactile se... more Robot grasping and manipulation relies mainly on two types of sensory data: vision and tactile sensing. Localisation and recognition of the object is typically done through vision alone, while tactile sensors are commonly used for grasp control. Vision performs reliably in uncluttered environments, but its performance may deteriorate when the object is occluded, which is often the case during a manipulation task, when the object is in-hand and the robot fingers stand between the camera and the object. This paper presents a method to use the robot's sense of touch to refine the knowledge of a manipulated object's pose from an initial estimate provided by vision. The objective is to find a transformation on the object's location that is coherent with the current proprioceptive and tactile sensory data. The method was tested with different object geometries and proposes applications where this method can be used to improve the overall performance of a robotic system. Experimental results show an improvement of around 70% on the estimate of the object's location when compared to using only vision.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Fiber optics tactile array probe for tissue palpation during minimally invasive surgery

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

This paper presents a novel fiber optic tactile probe designed for tissue palpation during minima... more This paper presents a novel fiber optic tactile probe designed for tissue palpation during minimally invasive surgery (MIS). The probe consists of 3×4 tactile sensing elements at 2.6mm spacing with a dimension of 12×18×8 mm3 allowing its application via a 25mm surgical port. Each tactile element converts the applied pressure values into a circular image pattern. The image patterns of all the sensing elements are captured by a camera attached at the proximal end of the sensor system. Processing the intensity and the area of these circular patterns allows the computation of the applied pressure across the sensing array. Validation tests show that each sensing element of the tactile probe can measure forces from 0 to 1N with a resolution of 0.05 N. The proposed sensing concept is low cost, lightweight, sterilizable, easy to be miniaturized and compatible for magnetic resonance (MR) environments. Experiments using the developed sensor for tissue abnormality detection were conducted. Results show that the proposed tactile probe can accurately and effectively detect nodules embedded inside soft tissue, demonstrating the promising application of this probe for surgical palpation during MIS.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Controllable Rotation Workspace of a Metamorphic Parallel Mechanism With Reconfigurable Universal Joints

Volume 6A: 37th Mechanisms and Robotics Conference, 2013

ABSTRACT This paper introduces a metamorphic parallel mechanism which has three topologies with p... more ABSTRACT This paper introduces a metamorphic parallel mechanism which has three topologies with pure translational, pure rotational and 3T1R degrees of freedom. Mobility change stemming from the reconfigurability of a reconfigurable Hooke (rT) joint is illustrated by change of the limb twist screw systems and the platform constraint screw system. Then the paper focuses on the pure rotational topology of the mechanism of which the rotational center can be altered along the central line perpendicular to the base plane by altering the radial rotational axes in the limbs. Singularity analysis is conducted based on the dependency of constraint forces and actuation forces in a screw based Jacobian matrix. Following these, rotation workspace variation is demonstrated in a 2D projection format using the Tilt-and-Torsion Euler angles based on the actuation limits and joint rotation ranges.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Tactile image based contact shape recognition using neural network

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Reconfiguration and Unified Kinematics Analysis of a Metamorphic Parallel Mechanism With Bifurcated Motion

Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 2012

ABSTRACT This paper introduced a new metamorphic parallel mechanism consisting of four reconfigur... more ABSTRACT This paper introduced a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability of the reconfigurable Hooke (rT) joint, the rTPS limb has two phases while in one phase the limb has no constraint to the platform, in the other it constrains the spherical joint center to lie on a plane. This results in the mechanism to have ability of reconfiguration between different topologies with variable mobility. Geometric constraint equations of the platform rotation matrix and translation vector are set up based on the point-plane constraint, which reveals the bifurcated motion property in the topology with mobility 2 and the geometric condition with mobility change in altering to other mechanism topologies. Following this, a unified kinematics limb modeling is proposed considering the difference between the two phases of the reconfigurable rTPS limb. This is further applied for the mechanism modeling and both the inverse and forward kinematics is analytically solved by combining phases of the four limbs covering all the mechanism topologies.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Dynamic Analysis and Traversability Prediction of Tracked Vehicles on Soft Terrain

2007 IEEE International Conference on Networking, Sensing and Control, 2007

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators

Journal of Mechanisms and Robotics, 2015

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Control a contact sensing finger for surface haptic exploration

2014 IEEE International Conference on Robotics and Automation (ICRA), 2014

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A novel tumor localization method using haptic palpation based on soft tissue probing data

Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2014

Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue pal... more Current surgical tele-manipulators do not provide explicit haptic feedback during soft tissue palpation. Haptic information could improve the clinical outcomes significantly and help to detect hard inclusions within soft-tissue organs indicating potential abnormalities. However, system instability is often caught by direct force feedback. In this paper, a new approach to intra-operative tumor localization is introduced. A virtual-environment tissue model is created based on the reconstructed surface of a soft-tissue organ using a Kinect depth sensor and the organ’s stiffness distribution acquired during rolling indentation measurements. Palpation applied to this tissue model is haptically fed back to the user. In contrast to previous work, our method avoids the control issues inherent to systems that provide direct force feedback. We demonstrate the feasibility of this method by evaluating the performance of our tumor localization method on a soft tissue phantom containing buried stiff nodules. Results show that participants can identify the embedded tumors; the proposed method performed nearly as well as manual palpation

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue

This paper explores methods that make use of visual cues aimed at generating actual haptic sensat... more This paper explores methods that make use of visual cues aimed at generating actual haptic sensation to the user, namely pseudo-haptics. We propose a new pseudo-haptic feedback-based method capable of conveying 3D haptic information and combining visual haptics with force feedback to enhance the user’s haptic experience. We focused on an application related to tumor identification during palpation and evaluated the proposed method in an experimental study where users interacted with a haptic device and graphical interface while exploring a virtual model of soft tissue, which represented stiffness distribution of a silicone phantom tissue with embedded hard inclusions. The performance of hard inclusion detection using force feedback only, pseudo-haptic feedback only, and the combination of the two feedbacks was compared with the direct hand touch. The combination method and direct hand touch had no significant difference in the detection results. Compared with the force feedback alone, our method increased the sensitivity by 5 %, the positive predictive value by 4 %, and decreased detection time by 48.7 %. The proposed methodology has great potential for robot-assisted minimally invasive surgery and in all applications where remote haptic feedback is needed.

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A novel continuum-style robot with multilayer compliant modules

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Bookmarks Related papers MentionsView impact

Research paper thumbnail of On-line energy-based method for soil estimation and classification in autonomous excavation

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007

ABSTRACT

Bookmarks Related papers MentionsView impact

Research paper thumbnail of EXPERIMENTAL STUDY ON TRACK-TERRAIN INTERACTION DYNAMICS IN AN INTEGRATED ENVIRONMENT: TEST RIG

Advances In Mobile Robotics - Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2008

Abstract: An understanding of track-terrain interaction dynamics and vehicle slip is crucial for ... more Abstract: An understanding of track-terrain interaction dynamics and vehicle slip is crucial for skid-steered tracked vehicles traversing over soft terrain. There is a lack of experimental data for validating dynamic, kinematic and control models developed for tracked vehicles ...

Bookmarks Related papers MentionsView impact

Research paper thumbnail of VISUAL ODOMETRY TECHNIQUE USING CIRCULAR MARKER IDENTIFICATION FOR MOTION PARAMETER ESTIMATION

Advances In Mobile Robotics - Proceedings of the Eleventh International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2008

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A novel approach for Self-Localization based on Computer Vision and Artificial Marker Deposition

2007 IEEE International Conference on Networking, Sensing and Control, 2007

Bookmarks Related papers MentionsView impact

Research paper thumbnail of palpation

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Tissue identification using inverse Finite Element analysis of rolling indentation

2009 IEEE International Conference on Robotics and Automation, 2009

Bookmarks Related papers MentionsView impact

Research paper thumbnail of A vision based wheel slip estimation technique for mining vehicles

IFAC Workshop on Automation in Mining, Mineral and Metal Industry (2009), 2009

Bookmarks Related papers MentionsView impact

Research paper thumbnail of Internet based bilateral teleoperation system for quad-rotor flying vehicles

2013 IEEE 20th International Conference on Electronics, Circuits, and Systems (ICECS), 2013

ABSTRACT In this work, we propose haptic-based bilateral tele-operation for quad-rotor vehicles b... more ABSTRACT In this work, we propose haptic-based bilateral tele-operation for quad-rotor vehicles by using Internet communication infrastructure. The idea is to introduce shared autonomy to increase remote operation and manipulation capacity of the vehicle in uncertain flying environments. The design couples ground and remote sites by position and velocity signals of the master haptic and slave quad-rotor vehicle. Force reflection using haptic feedback provides human operator with a certain kinesthetic feeling of the interaction between vehicle and environment increasing the autonomy of the vehicle. The result will be an innovative human machine interface where the force feedback will complement the visual information during tele-operation surveillance tasks, enabling safe maneuvers. The experiments will be performed for indoor operation where this technique will achieve major impact.

Bookmarks Related papers MentionsView impact