PhD (Robotics - Mechatronics –Motion Control) 2005-2008

KEIO University, Japan

Research Keywords: Bilateral Control, Brake by wire system, Haptics, Surgical Robotics

M.Sc. (Robotics - Mechatronics –Motion Control) 2003-2005

KEIO University, Japan

Research Keywords: Traction force Improvement of a mobile manipulator

B.Sc. Engineering (Special) HonoursDegree (Electrical Engineering) 1997-2002

University of Moratuwa, Sri Lanka

ACADEMICSenior Lecturer (on Sabbatical leave) 2009 - 2015

Department of Electrical Engineering

University of Moratuwa

Katubedda

Moratuwa 10400

Sri Lanka

EARLY CAREER

• Visiting Instructor, University of Moratuwa, Sri Lanka. 2001-2002

• Electrical Engineer, Maharaja Organization, Colombo, Sri Lanka 2002-2003

• Research Student, Ohnishi Laboratory, Keio University, Japan 2003-2008

ACADEMIC HONOURS AND AWARDS

• Monbukagakusho scholarship award (from the Japanese Govt.) for 5 years.

• Keio Leading Lab (KLL)(From Keio University Japan)research grant for consecutive 3 years.

• Outstanding research performance award University of Moratuwa 2014

Undergraduate Teaching Experience

At University of Moratuwa

• Electrical Properties of materials 2009

• Advanced Circuit Theory 2009

• Circuit Theory 2010

• Electrical Drives and Applications 2009-2012

• Mechatronics and System Automation Applications 2010-2012

• Automation and control Technologies 2013 ~

• Robotics and Mechatronics 2013 ~

At Kothalawala Deference University – Sri Lanka as a visiting Lecturer

• Electrical properties of materials 2010

At South Asian Institute of Technology and Medicine (SAITM) – Affiliated to AIT Thailand – as a visiting Lecturer

• Signals and systems 2012

• Electronics 2011

At Faculty of Information Technology - University of Moratuwaas a visiting Lecturer

• Management Accounting 2011

Postgraduate Teaching Experience

At Asian Institute of Technology – Thailand

• Automation Technology

• Digital and Analog circuit design

• Kinematics and Dynamics of Mechanisms and Robots

At MSc/PG diploma in Industrial Automation conducted by the Dept. of Electrical Engineering – University of Moratuwa

• Robotics and Mechatronics 2009
  

• Robotics Technology 2009-2014

• Automation and control Technologies 2012-2013

• Industrial Controllers and PLC Programming 2014 ~

• Advanced motion control

• Bilateral Tele-operation

• Vibration Suppression

• Virtual haptic feedback

1. A.M. Harsha S. Abeykoon, Kouhei Ohnishi : “Virtual tool for bilaterally controlled forceps robot-for minimally invasive surgery,” Transactions on International Journal of Medical Robotics and Computer Assisted Surgery” , ISSN 1478-5951, VOL 3; No 3, pp. 271-280, 2007

2. A.M. Harsha S. Abeykoon, Kouhei Ohnishi : “Improvement of Tactile Sensation of a Bilateral Forceps Robot by a Switching Virtual Model,” Transactions on Advanced Robotics” , ISSN0169-1864 (Print), 1568-5535 (Online) Vol. 8, pp. 789-806(18), 2008

3. A.M. Harsha S. Abeykoon, M. Branesh Pillai: “RTOS based embedded controller implementation of a bilateral control system,” The Journal of the National Science Foundation, Vol. 3, no. 42, pp 191-202 (12), Sept-2014, ISSN: 1391-4588.

4. M. Branesh Pillai, G.V.A.G. AsankaPerera, M.K.C.D. Chinthaka, and A.M. Harsha S. Abeykoon: “Analysis of a DC Motor Based Velocity Controller Using Disturbance Observer,” Indian Journal of Scientific Research, Vol. 5, no. 1, July -2014, ISSN: 0976-2876 (Print) / 2250-0138 (Online).

5. M. K .C. Dinesh Chinthaka, A. M. Harsha S. Abeykoon: “Friction Compensation of DC Motors for Precise Motion Control Using Disturbance Observer,” ECTI Transactions on Computer And Information Technology, Vol. 9, no. 1, pp 66-74, May-2015, ISSN: 2286-9131.

International Conferences

1. Ruwanthika, R.M.M.; Abeykoon, A.M.Harsha S., "3D environmental force: Position impedance variation for different motion parameters," Moratuwa Engineering Research Conference (MERCon), 2015 , vol., no., pp.112,117, 7-8 April 2015
   doi: 10.1109/MERCon.2015.7112330

2. Abeysiriwardhana, W.A.Shanaka P.; Abeykoon, A.M.Harsha S., "Simulation of active vibration suppression using internal motor sensing," Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on , vol., no., pp.1,6, 22-24 Dec. 2014
   doi: 10.1109/ICIAFS.2014.7069562

3. Ruwanthika, R.M.M.; Abeykoon, A.M.Harsha S., "Simulation of enhanced force limiting gripper for bilateral teleoperation," Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on , vol., no., pp.1,6, 22-24 Dec. 2014
   doi: 10.1109/ICIAFS.2014.7069571

4. Abeysiriwardhana, W.A.Shanaka P.; Abeykoon, A.M.Harsha S., "Simulation of brake by wire system with dynamic force control," Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on , vol., no., pp.1,6, 22-24 Dec. 2014
   doi: 10.1109/ICIAFS.2014.7069563

5. Perera, G.V.A.G.Asanka; Abeykoon, A.M.Harsha S., "Review on bilateral teleoperation with force, position, power and impedance scaling," Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on , vol., no., pp.1,7, 22-24 Dec. 2014
   doi: 10.1109/ICIAFS.2014.7069636

6. Abeykoon, A.M.Harsha S.; Dinesh Chinthaka, M.K.C., "Position based static friction estimation for DC motors using disturbance observer," Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on , vol., no., pp.1,6, 22-24 Dec. 2014
   doi: 10.1109/ICIAFS.2014.7069587

7. Jayaweera, W.G.Nuwan; Jayasekara, A.G.Buddhika P.; Abeykoon, A.M.Harsha S., "Sound localization: Human vs. machine," Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on , vol., no., pp.1,6, 22-24 Dec. 2014 doi: 10.1109/ICIAFS.2014.7069551
   

8. Jayasekara, G.M.A.S.M.; Jayasingha, P.M.; Jayalath, P.J.; Gomeda, L.H.C.; Menikdiwela, M.P.; Pillai, M.B.; Abeykoon, A.M.H.S., "Frequency response based analysis and designing of bilateral control system," Circuit, Power and Computing Technologies (ICCPCT), 2014 International Conference on , vol., no., pp.855,860, 20-21 March 2014
   doi: 10.1109/ICCPCT.2014.7054806

9. Sumanarathna, D.M.G.A.I.N.; Senevirathna, I.A.S.R.; Sirisena, K.L.U.; Sandamali, H.G.N.; Pillai, M.Branesh; Abeykoon, A.M.Harsha S., "Simulation of mobile robot navigation with sensor fusion on an uneven path," Circuit, Power and Computing Technologies (ICCPCT), 2014 International Conference on , vol., no., pp.388,393, 20-21 March 2014

doi: 10.1109/ICCPCT.2014.7054830

10. Illangarathne, N.C.; Abeykoon, A.M.H.S., "Simulation of enhanced orthopidic drill for bone surgery with haptic interface," TENCON 2014 - 2014 IEEE Region 10 Conference , vol., no., pp.1,5, 22-25 Oct. 2014

doi: 10.1109/TENCON.2014.7022442

11. Dinesh Chinthaka, M.K.C.; Punchihewa, R.U.G.; Abeykoon, A.M. Harsha S., "Disturbance Observer based friction compensator for a DC motor," Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2014 11th International Conference on , vol., no., pp.1,6, 14-17 May 2014

doi: 10.1109/ECTICon.2014.6839747

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6839747&isnumber=6839704

12. Menikdiwela, M.P.; Abeykoon, A.M. Harsha S., "Vibration suppression of bilateral control system," Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON), 2014 11th International Conference on , vol., no., pp.1,6, 14-17 May 2014
    doi: 10.1109/ECTICon.2014.6839822
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6839822&isnumber=6839704

13. Abeyrathna, P.A.M.M.B.; Abeysiriwardhana, W.A.S.P.; Amarasinghe, S.W.; Ariyasinghe, W.M.S.L.; Abeykoon, A.M.Harsha S., "Simulation on active vibration suppression using virtual spring-damper combination,"Circuits, Controls and Communications (CCUBE), 2013 International conference on , vol., no., pp.1,6, 27-28 Dec. 2013
    doi: 10.1109/CCUBE.2013.6718552
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6718552&isnumber=6718537

14. Menikdiwela, M.P.; Dharmasena, K.M.I.S.; Abeykoon, A.M.Harsha S., "Haptic based walking stick for visually impaired people," Circuits, Controls and Communications (CCUBE), 2013 International conference on, vol., no., pp.1,6, 27-28 Dec. 2013
    doi: 10.1109/CCUBE.2013.6718549
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6718549&isnumber=6718537

15. Dayarathna, H.A.N.D.; Prabuddha, L.L.G.; Ariyawansha, K.L.D.N.J.; Chinthaka, M.K.C.D.; Abeykoon, A.M.Harsha S.;Branesh Pillai, M., "Sensorless contact position estimation of a mobile robot in pushing motion,"Circuits, Power and Computing Technologies (ICCPCT), 2013 International Conference on , vol., no., pp.344,349, 20-21 March 2013
    doi: 10.1109/ICCPCT.2013.6529009
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6529009&isnumber=6528821

16. Madawala, M.K.; Abeykoon, A.M.Harsha S.; Mihiran, B.G.C.; Mohottige, D.C.; Meththananda, R.G.U.I.; Branesh Pillai, M., "Virtual torsional spring based bilateral control system for soft manipulation," Circuits, Power and Computing Technologies (ICCPCT), 2013 International Conference on , vol., no., pp.337,343, 20-21 March 2013
    doi: 10.1109/ICCPCT.2013.6529008
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6529008&isnumber=6528821

17. Abeykoon, A.M.H.S.; Senevirathne, H.R., "Disturbance observer based current controller for a brushed DC motor," Information and Automation for Sustainability (ICIAfS), 2012 IEEE 6th International Conference on , vol., no., pp.47,52, 27-29 Sept. 2012
    doi: 10.1109/ICIAFS.2012.6419881
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6419881&isnumber=6419879

18. Senevirathne, H.R.; Abeykoon, A.M.H.S.; Pillai, M.B., "Disturbance rejection analysis of a disturbance observer based velocity controller," Information and Automation for Sustainability (ICIAfS), 2012 IEEE 6th International Conference on , vol., no., pp.59,64, 27-29 Sept. 2012
    doi: 10.1109/ICIAFS.2012.6419882
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6419882&isnumber=6419879

19. Wijesooriya, P.N.; Abeykoon, A.M.H.S.; Udawatta, L.; Punchihewa, A.; Nanayakkara, T., "Gait pattern analysis of an Asian elephant," Information and Automation for Sustainability (ICIAfS), 2012 IEEE 6th International Conference on , vol., no., pp.221,226, 27-29 Sept. 2012

doi: 10.1109/ICIAFS.2012.6419908

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6419908&isnumber=6419879

20. Weranga, K.S.K.; Chandima, D.P.; Munasinghe, S.R.; Kumarawadu, S.P.; Harsha S,A.M.Abeykoon, "Short-term electricity demand forecasting method for smart meters," Information and Automation for Sustainability (ICIAfS), 2012 IEEE 6th International Conference on , vol., no., pp.266,272, 27-29 Sept. 2012
    doi: 10.1109/ICIAFS.2012.6419915
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6419915&isnumber=6419879

21. Abeykoon, A.M.H.S.; Udawatta, L.; Dunuweera, M.S.; Gunasekara, R.T.; Fonseka, M.; Gunasekara, S.P.; , "Enhanced position sensing device for mobile robot applications using an optical sensor,"Mechatronics (ICM), 2011 IEEE International Conference on , vol., no., pp.597-602, 13-15 April 2011

doi: 10.1109/ICMECH.2011.5971186

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5971186&isnumber=5971182

22. KasunPrasanga, D.; Abeykoon, A.H.S.; Prasad, S.; Udawatta, L.; , "Auscultation based stethoscopic diagnostic device for cardiac murmur identification," Industrial Technology (ICIT), 2011 IEEE International Conference on , vol., no., pp.367-372, 14-16 March 2011

doi: 10.1109/ICIT.2011.5754404

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5754404&isnumber=5754333

23. Chathuranga, S.K.; Samarawickrama, K.C.; Chandima, H.M.L.; Chathuranga, K.G.T.D.; Abeykoon, A.M.H.S.; , "Hands free interface for Human Computer Interaction," Information and Automation for Sustainability (ICIAFs), 2010 5th International Conference on , vol., no., pp.359-364, 17-19 Dec. 2010

doi: 10.1109/ICIAFS.2010.5715687

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5715687&isnumber=5715624

24. Sakaino, S.; Abeykoon, A.M.H.S.; Ohnishi, K.; , "Keynote paper — Real world haptics applied to forceps in robot surgery," Information and Automation for Sustainability (ICIAFs), 2010 5th International Conference on , vol., no., pp.571-574, 17-19 Dec. 2010

doi: 10.1109/ICIAFS.2010.5715726

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5715726&isnumber=5715624

25. Udawatta, L.; Abeykoon, A.H.S.; Prasanga, D.K.; Prasad, S.; Perera, W.; Perera, K.; , "Knowledge on heart patients through stethoscopic cardiac murmur identification for E-healthcare," Knowledge Engineering, 2010 8th International Conference on ICT and , vol., no., pp.58-63, 24-25 Nov. 2010

doi: 10.1109/ICTKE.2010.5692915

URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5692915&isnumber=5692902

26. Harsha, A. M.; Abeykoon, S.; Ohnishi, K., "Tactile sensation improvement of a bilateral forceps robot with a switching virtual model," Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on , vol., no., pp.526,531, 26-28 March 2008
    doi: 10.1109/AMC.2008.4516122
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4516122&isnumber=4516026

27. Abeykoon, S.; Ohnishi, K., "Bilateral Control interacting with a Virtual Model and Environment," Industrial Technology, 2006. ICIT 2006. IEEE International Conference on , vol., no., pp.1320,1325, 15-17 Dec. 2006
    doi: 10.1109/ICIT.2006.372520
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4237842&isnumber=4237511

28. Harsha, A.M.; Abeykoon, S.; Ohnishi, K., "Realization of Virtual Slave Model of a Forceps Robot Using Bilateral Control," IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on , vol., no., pp.4468,4473, 6-10 Nov. 2006
    doi: 10.1109/IECON.2006.348100
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4153639&isnumber=4152825

29. Harsha, A. M.; Abeykoon, S.; Ohnishi, K., "Realization of Virtual Master Manipulator Using Bilateral Control," Industrial Informatics, 2006 IEEE International Conference on , vol., no., pp.833,838, 16-18 Aug. 2006
    doi: 10.1109/INDIN.2006.275670
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4053497&isnumber=4053336

30. Abeykoon, A. M H S; Ohnishi, K., "Traction force improvement of a two wheel mobile manipulator by changing the centre of gravity," Industrial Informatics, 2005. INDIN '05. 2005 3rd IEEE International Conference on , vol., no., pp.756,760, 10-12 Aug. 2005
    doi: 10.1109/INDIN.2005.1560468
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1560468&isnumber=33134

31. Harsha, A. M.; Abeykoon, S.; Ohnishi, K., "Implementation of pedal feeling for Brake By Wire system using bilateral control," Industrial Electronics, 2008. ISIE 2008. IEEE International Symposium on , vol., no., pp.1347,1352, June 30 2008-July 2 2008
    doi: 10.1109/ISIE.2008.4677132
    URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4677132&isnumber=4676877

32. AsankaPerera, G.V.A.G.; Pillai, M.B.; Harsha, A.M.; Abeykoon, S., "DC motor inertia estimation for robust bilateral control," Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on , vol., no., pp.1,7, 22-24 Dec. 2014
    doi: 10.1109/ICIAFS.2014.7069637
    URL: http://ieeexplore.ieee.org.kras1.lib.keio.ac.jp/stamp/stamp.jsp?tp=&arnumber=7069637&isnumber=7069512

33. M. Harsha S. Abeykoon, KouheiOhnishi : “Estimation of Optimal Slip for Traction Force Improvement of a Mobile Manipulator,” Proceedings of the International Conference on Information and Automation, vol., no., pp.197-202, Dec. 2005, Colombo – Sri Lanka.

www.ent.mrt.ac.lk/iml/ICIA2005/Papers/JP013CRC.pdf‎

Domestic (Japanese) Conferences

34. M. Harsha S. Abeykoon, Kouhei Ohnishi : “Estimation of Optimal Slip for Traction Force Improvement of a Mobile Manipulator,” Technical Meeting on Industrial Instrumentation and Control, IEE Japan, pp.47-52, 2006

35. A.M. Harsha S. Abeykoon, KouheiOhnishi : “Traction Force Improvement of a Mobile Manipulator,” Technical Meeting on Industrial Instrumentation and Control, IEE Japan,pp.121-125, 2005.

Administrative Responsibilities at ait

• Member of Academic Development Review Committee (ADRC) 2016-

Administrative Responsibilities at university of moratuwa

• Research coordinator to the faculty as the department nominee 2009-2011

• Undergraduate Project coordinator 2009-2013

• Department activity coordinator – Quality Innovative Grant (QIG) 2013-

• Laboratory in charge – Robotics and control laboratory 2013-

• Senior Member of of the Institute of Electrical and Electronics Engineer (SMIEEE)

Professional Activities – International

• General chair – ICIAfs conference (www.iciafs.org) 2014

• Organizing chair IEEE-ICIAfS conference 2010

• Robotics and Automation track chair - IEEE-ICIAfS Beijing China 2012

• Reviewer - IEEE-IES Mechatronics transactions

• Reviewer –the International Journal of medical Robotics and Computer Assisted surgery

• Project counterpart IAEA SRL/2008 project 2012-2013

• Executive committee member of the IEEE Sri Lanka section 2010-2011

• Assistant treasurer of the IEEE Sri Lanka section 2011-2012

• Secretary of the IEEE Sri Lanka Section 2013-2014

• Initiator and the University counterpart in University of Moratuwa- Sri Lanka – Keio University Japan - MOU for Academic linkage and collaboration 2010~

• IEEE Region 10 member of the Professional Activities Committee (PAC) 2015-2016

Professional Activities – Sri Lanka

• Examination moderator of Sri Lanka Institute of Advanced Technological Education 2012

• Resource person for short course on Energy saving through efficient systems 2010

• Resource person / coordinator for short course on Microcontrollers and embedded systems 2011

• Resource person -Training program on Equipment upgrading and facility renovations 2010

• Resource person -Training program on Building Partnerships with Employers for Training 2010
  

• Resource person -Training program on Training needs assessment in Industries and communities 2010

• Resource person – Curriculum validation workshop – University of Vocational Technology Sri Lanka 2010

• Resource person- PV workshop – conducted by the IEEE- Sri Lanka section 2013

• Proctor for teams from University of Moratuwa – IEEE-XTREME Programming Competition 2011

• Examiner of Institution of Engineers of Sri Lanka (IESL) control systems examination 2011

• Committee member – Robotics, Advanced Design and Manufacturing of National Science foundation of Sri Lanka 2010

• Panel member of ROBOFEST-2011 by Sri Lanka Institute of Information Technology (SLIIT)

• Member of the judge panel - Future minds Innovator competition 2009

• Steering committee member of Diversification/ Conservation of Transport Energy of Sri Lanka Sustainable Energy authority 2011

• Member of the intellectual Property advisory committee – University of Moratuwa2010-2011

• Member of the University Exhibitions committee – University of Moratuwa 2010-2013

• Liaison Officer – Multidisciplinary Product Incubator committee – Faculty of Engineering -University of Moratuwa 2010

• Member –Higher Degrees committee – Faculty of Engineering University of Moratuwa 2010

• Member – Industry consultative board - South Asian Institute of Medicine (SAITM) 2011

• Reviewer – Technology Grant Applications – National science foundation of Sri Lanka 2011

• Project committee member (Ministry of Higher Education) for “Rehabilitation of Advanced Technological Institute – Kandy” 2013

Public Speeches

Keynote speaker of the Research symposium of UvaWellassa University of Sri Lanka on “Development of Robot Assisted Surgery”.

Invited speaker at Biomedical Engineering Seminar, Faculty of Engineering, Mahidol University Thailand