KICACT 2017

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Indoor Low Cost Multipurpose Autonomous Blimp Robot: Mechanical Implementation.
(Faculty of Computing and Technology, University of Kelaniya, Sri Lanka., 2017) Dias, W.S.H.; Pallewatta, A.P.
Various conventional implementations of popular autonomous flying robots have restricted time of flight, due to their inefficient power consumption. Main reason for this inefficient power consumption is the unavoidable load caused by usage of brushless or DC motors to provide lifting force. This issue can be solved by implementing an airship balloon that uses a gas lighter than air such as Hydrogen or Helium to provide the required lift. But, the use of such gases significantly affect the cost of the flying robots. Considering these practical issues, technical structure implementation of a flying robot, capable of auto navigating in indoor environments was carried out under this project. This project has focused on the structures, materials as well as hardware requirements to ensure both the functionality and the cost efficiency for multi purposes of a blimp robot. Implementation of the blimp robot was done, firstly by conceptually designing it in SolidWorks CAD tool and determining all the relevant materials and chemical requirement. The robot was mathematically modeled to determine its dimensions and propulsion system. Next the hardware circuitry required to control the blimp was implemented and according to the dimension restrictions the designed mechanical parts were 3D Printed and assembled as shown in Figure 1. Importance of such flexible robot causes to make it applicable for multi purposes through modifications such as providing mobile security for an indoor environment, risky environment inspection, RFID tag scanning for malls and High tension power line inspection. Therefore, factors including excess weight support, sustainability for drags and performance were thoroughly ensured in this project.
Four Legged Walking Robot with Smart Gravitational Stabilization
(Faculty of Computing and Technology, University of Kelaniya, Sri Lanka., 2017) Anthony, A.S.; Pallewatta, A.P.
There are many dangerous jobs which could be safely replaced with an adequately designed robot: bomb disposal; construction in high rise buildings; examination of radioactive environments and combat oriented police/military operations. A machine must then achieve a level of dexterity and reliability greater than that of a human worker. One of the most versatile dynamic robots that can be seen today was made by Boston Dynamics: the quadruped robot named Spot Mini is capable of handling objects, climbing stairs and operating in an office, home or outdoor environment (Bostondynamics.com, 2017). One of the main shortcomings of such robots are their size, cost and inherent need for power. Additionally, a dog inspired gait structure is not optimal for climbing. The aim addressed in this study was to design a robot that would be inconspicuous, capable of maneuvering through small environments and be able to climb inclined surfaces with minimum processing power and cost. To this end, the robot was programmed with an insect inspired gait mechanism for maximum surface area while climbing and a novel ability to maintain the center of gravity by leg movements as shown in figure 1A. Table 1 shows a direct comparison of mobility between the finished robot and an average human being. It would either walk or stabilize once instructed via Bluetooth. The newfangled placement of legs ensured bipod gait during locomotion for faster and efficient motion and monopod gait during the stabilization phase for agility. The desired positions were calculated by the use of inverse kinematics and data from the IMU. The finalized robot was able to successfully walk and proceed through various terrain including grass, sand, small stones and miscellaneous household objects such as books, bags, pencils etc. The auto balancing function worked for as steep an angle as 55°.
De-Identification for Privacy Protection in Audio Contents
(Faculty of Computing and Technology, University of Kelaniya, Sri Lanka., 2017) Induruwa, K.G.; Pallewatta, A.P.
Among different forms of audio data or information, the author wishes to limit the scope of this research to privacy protection in voice contents of speakers, because voice generally conveys intelligence such as gender, emotion and it differs from speaker to speaker. De-identification of voice may bring numerous advantages, such as preserving the privacy of speakers during communication, maintaining confidentiality of inquirers who conduct critical investigations and improve the clarity of voice signals used in airport/aviation communication by standardizing the voices of Pilots and Air Traffic Controllers. Though advanced voice encryption methods are available to deteriorate the intelligence of speech, they do not directly address the issues of speaker de-identification. This research project aims at de-identification of voice signals while preserving the intelligence of the speech during communication. Designed GUI for mono LPC spectrums of original and de-identified voice signals In this project, the de-identification process was done at three stages, where the last two processes are irreversible. First, in the frequency normalization stage, pitch of the original signal is changed and slightly de-identified the voice in frequency domain. Then 12 LPC (Linear Predictive Coding) co-efficient values of the subject-person’s original voice signal is subtracted from the 12 coefficient values of the reference sample voice signal. As a result, features are slightly moderated by the second stage. In the third stage the features are destroyed again by shuffling LPC coefficients randomly within three categories. Therefore, this whole process is expected to preserve a higher level of privacy. Based on the test carried out by using 15 samples of male and 15 samples of female voice produced a degree of 10% and 20% de-identification, which could be accepted as a very satisfactory result.

KICACT 2017

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