Imperial College London
Portrait Picture

Professor Thrishantha Nanayakkara

Faculty of Engineering, Dyson School of Design Engineering

Professor in Robotics
 
 
 
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Contact

 

+44 (0)7902 396 681t.nanayakkara Website CV

 
 
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Location

 

RCS 1M07Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Publication Type
Year
to

160 results found

Lalitharatne TD, Teramoto K, Hayashi Y, Nanayakkara T, Kiguchi Ket al., 2013, Evaluation of Fuzzy-Neuro Modifiers for Compensation of the Effects of Muscle Fatigue on EMG-Based Control to be Used in Upper-Limb Power-Assist Exoskeletons, JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING, Vol: 7, Pages: 736-751, ISSN: 1881-3054

Journal article

Pereno V, Shoar K, Bartoli G, Bianchi F, Nanayakkara Tet al., 2013, Stable Walking on Variable Visco-Elastic Terrains using Meta-parameters for Passive State Migration, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 3126-3131, ISSN: 2153-0858

Conference paper

Ranasinghe A, Penders J, Dasgupta P, Althoefer K, Nanayakkara Tet al., 2013, A Two Party Haptic Guidance Controller Via a Hard Rein, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 116-122, ISSN: 2153-0858

Conference paper

Malekzadeh MS, Bruno D, Calinon S, Nanayakkara T, Caldwell DGet al., 2013, Skills Transfer Across Dissimilar Robots by Learning Context-Dependent Rewards, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 1746-1751, ISSN: 2153-0858

Conference paper

Zirjakova J, Althoefer K, Dasgupta P, Nanayakkara Tet al., 2012, PROBING BEHAVIOUR FOR SOFT TISSUE STIFFNESS MEASUREMENT, Publisher: MARY ANN LIEBERT, INC, Pages: A20-A21, ISSN: 0892-7790

Conference paper

Jiang A, Althoefer K, Dasgupta P, Nanayakkara Tet al., 2012, GRANULAR JAMMING FOR MINIMALLY INVASIVE SURGERIES, Publisher: MARY ANN LIEBERT, INC, Pages: A403-A404, ISSN: 0892-7790

Conference paper

Penders J, Jones P, Nanayakkara T, 2012, Exploring haptic interfacing with a mobile robot without visual feedback, Pages: 432-433, ISBN: 9783642325267

Search and rescue scenarios are often complicated by low or no visibility conditions. The lack of visual feedback hampers orientation and causes significant stress for human rescue workers. The Guardians project [1] pioneered a group of autonomous mobile robots assisting a human rescue worker operating within close range. Trials were held with fire fighters of South Yorkshire Fire and Rescue. It became clear that the subjects by no means were prepared to give up their procedural routine and the feel of security they provide: they simply ignored instructions that contradicted their routines. © 2012 Springer-Verlag.

Book chapter

Jiang A, Xynogalas G, Dasgupta P, Althoefer K, Nanayakkara Tet al., 2012, Design of a Variable Stiffness Flexible Manipulator with Composite Granular Jamming and Membrane Coupling, 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 2922-2927, ISSN: 2153-0858

Conference paper

Bianchi F, Bartoli G, Shoar K, Fernandez MRA, Pereno V, Zirjakova J, Jiang A, Nanayakkara Tet al., 2012, Adaptive Internal Impedance Control for Stable Walking on Uncertain Visco-elastic Terrains, 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 2465-2470, ISSN: 2153-0858

Conference paper

Jiang A, Bimbo J, Goulder S, Liu H, Song X, Dasgupta P, Althoefer K, Nanayakkara Tet al., 2012, Adaptive grip control on an uncertain object, 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 1161-1166, ISSN: 2153-0858

Conference paper

Masinghe W, Collier G, Ordys A, Nanayakkara Tet al., 2012, A Novel Approach to Determine the Inverse Kinematics of a Human Upper Limb Model with 9 Degrees of Freedom, 2nd IEEE-EMBS International Conference on Biomedical Engineering and Sciences (IECBES), Publisher: IEEE, ISSN: 2374-3220

Conference paper

Wijesundera I, Halgamuge MN, Nirmalathas T, Nanayakkara Tet al., 2012, A Computationally Efficient Framework for Stochastic Prediction of Flood Propagation, IEEE 6th International Conference on Information and Automation for Sustainability (ICIAFS), Publisher: IEEE, Pages: 25-28, ISSN: 2151-1802

Conference paper

Liu H, Song X, Nanayakkara T, Seneviratne LD, Althoefer Ket al., 2012, A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 1410-1415, ISSN: 1050-4729

Conference paper

Nanayakkara T, Byl K, Liu H, Song X, Villabona Tet al., 2012, Dominant Sources of Variability in Passive Walking, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 1003-1010, ISSN: 1050-4729

Conference paper

Wijesooriya PN, Abeykoon AMHS, Udawatta L, Punchihewa A, Nanayakkara Tet al., 2012, Gait Pattern Analysis of an Asian Elephant, IEEE 6th International Conference on Information and Automation for Sustainability (ICIAFS), Publisher: IEEE, Pages: 221-226, ISSN: 2151-1802

Conference paper

Godage IS, Nanayakkara T, Caldwell DG, 2012, Locomotion with Continuum Limbs, 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 293-298, ISSN: 2153-0858

Conference paper

Jiang A, Ataollahi A, Althoefer K, Dasgupta P, Nanayakkara Tet al., 2012, A VARIABLE STIFFNESS JOINT BY GRANULAR JAMMING, ASME International Design Engineering Technical Conferences/Computers Information in Engineering Conference, Publisher: AMER SOC MECHANICAL ENGINEERS, Pages: 267-+

Conference paper

Nanayakkara T, Halgamuge MN, Sridhar P, Madni AMet al., 2011, Intelligent sensing in dynamic environments using Markov decision process, Sensors, Vol: 11, Pages: 1229-1242, ISSN: 1424-8220

In a network of low-powered wireless sensors, it is essential to capture as many environmental events as possible while still preserving the battery life of the sensor node. This paper focuses on a real-time learning algorithm to extend the lifetime of a sensor node to sense and transmit environmental events. A common method that is generally adopted in ad-hoc sensor networks is to periodically put the sensor nodes to sleep. The purpose of the learning algorithm is to couple the sensor’s sleeping behavior to the natural statistics of the environment hence that it can be in optimal harmony with changes in the environment, the sensors can sleep when steady environment and stay awake when turbulent environment. This paper presents theoretical and experimental validation of a reward based learning algorithm that can be implemented on an embedded sensor. The key contribution of the proposed approach is the design and implementation of a reward function that satisfies a trade-off between the above two mutually contradicting objectives, and a linear critic function to approximate the discounted sum of future rewards in order to perform policy learning.

Journal article

Welihinda SM, Abeyratne MGAP, Udawatta L, Nanayakkara Tet al., 2010, Stable bipedal ramp climbing with torso, Pages: 537-542

This paper presents an analytical technique to study the stability of a bipedal robot with torso in dynamic ramp climbing. Climbing is an indispensable part of locomotion on stochastically rough terrain. Kinematics of stance and swing legs have been derived from first principles. The Zero Moment Point (ZMP) criterion has been analyzed with an extension to controlling torso angle to maintain stability for different ramp angles, step sizes, stepping speeds, mass, length, and angle of torso. We found the sensitivity, upper and lower bounds of the effect of the above parameters on the stable behavior of the ZMP curve during the single support phase of bipedal walking. We also present a broad insight into the range of control strategies available for metastable bipedal walker. Moreover, analytical tools derived from first principles helped us to prove the optimality of some of the characteristic behaviors of bipedal ramp climbing. © 2010 IEEE.

Conference paper

Siriwardena KAP, Fernando LCP, Nanayakkara N, Perera KFG, Kumara ADNT, Nanayakkara Tet al., 2010, Portable acoustic device for detection of coconut palms infested by <i>Rynchophorus ferrugineus</i> (Coleoptera: Curculionidae), CROP PROTECTION, Vol: 29, Pages: 25-29, ISSN: 0261-2194

Journal article

Sing GC, Joiner WM, Nanayakkara T, Brayanov JB, Smith MAet al., 2009, Primitives for Motor Adaptation Reflect Correlated Neural Tuning to Position and Velocity, NEURON, Vol: 64, Pages: 575-589, ISSN: 0896-6273

Journal article

Hewapathirana ND, Uddawatta L, Karunadasa JP, Nanayakkara Tet al., 2009, Analysis on Four Legged Multipurpose Rope Climbing Robot, International Conference on Industrial and Information Systems, Publisher: IEEE, Pages: 505-+

Conference paper

Sridhar P, Nanayakkara T, Madni AM, Jamshidi Met al., 2007, Dynamic power management of an embedded sensor network based on actor-critic reinforcement based learning, Pages: 76-81

Wireless sensor networks (WSNs) have gained tremendous popularity in recent years due to the wide range of applications envisioned - ranging from aerospace and defense to industrial and commercial. Although limited by communication and energy constraints, the low cost, small sensor nodes lend themselves to be deployed in large numbers to form a network with high spatial distribution. The overall effectiveness of the sensor network depends on how well the mutually contradicting objectives of conserving the limited on-board battery power and keeping the sensors awake for stimuli, are managed. In this paper, we have proposed an actor-critic based reinforcement learning mechanism that can be practically implemented on an embedded sensor with limited memory and processing power. Specifically, the contribution of this paper is the development of the value function (or critic/reinforcement function) that is implemented on each sensor node which aids in dynamic power scheduling based on different situations. The effectiveness of the proposed method has been demonstrated with real world experiments. © 2007 IEEE.

Conference paper

Nanayakkara T, Piyathilaka L, Subasinghe A, 2007, Mechatronics in Landmine Detection and Removal, Mechatronic Systems: Devices, Design, Control, Operation and Monitoring, ISBN: 9780849307751

Robots are mechatronic systems. This chapter focuses on robotic applications developed for humanitarian landmine detection. An introduction to some popular available technologies that are used in the field is given. Details of a legged robot developed for landmine detection in a vegetated environment is presented. This laboratory-developed mobile robot is a fully embedded platform with simple sensors such as bumper switches and a sonar sensor. In its operation, a fuzzy neural network generalizes the statistical information of the environment and maps it to robotic behaviors. The algorithm has been implemented using commercially available PIC18F452 microcontrollers. Experiments have been carried out in different settings to cover the diversity of the tropical environment in Sri Lanka. The experimental results show that the robot suits the minefields in a tropical country such as Sri Lanka.

Book chapter

De Silva A, Jayathilake M, Galgomuwa A, Peiris S, Udawatta L, Nanayakkara Tet al., 2007, High performance temperature controller for infant incubators, 2nd International Conference on Information and Automation, Publisher: IEEE, Pages: 115-120

Conference paper

Nanayakkara T, Piyathilaka JMLC, Siriwardana AP, Subasinghe SAAM, Jamshidi Met al., 2007, Orchestration of advanced motor skills in a group of humans through an elitist visual feedback mechanism, IEEE International Conference on System of Systems Engineering, Publisher: IEEE, Pages: 510-+

Conference paper

Sridhar P, Nanayakkara T, Madni AM, Jamshidi Met al., 2007, Dynamic power management of an embedded sensor network based on actor-critic reinforcement based learning, 3rd International Conference on Information and Automation for Sustainability, Publisher: IEEE, Pages: 71-+

Conference paper

Dias MB, Mills-Tettey GA, Nanayakkara T, 2005, Robotics, education, and sustainable development, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 4248-4253, ISSN: 1050-4729

Conference paper

Nanayakkara T, Watanabe K, Kiguchi K, Izumi Ket al., 2004, Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints, INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, Vol: 35, Pages: 167-178, ISSN: 0020-7721

Journal article

Nanayakkara T, Shadmehr R, 2003, Saccade adaptation in response to altered arm dynamics, JOURNAL OF NEUROPHYSIOLOGY, Vol: 90, Pages: 4016-4021, ISSN: 0022-3077

Journal article

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