Browsing by Author "Jayawardena, C."

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Adding Commonsense to Robotic Application Using Ontology-Based Model Retraining
(Department of Industrial Management, Faculty of Science, University of Kelaniya Sri Lanka, 2022) Pradeepani, M. K. T.; Jayawardena, C.; Rajapaksha, U. U. S.
In terms of the level of technological capability in the world today, the use of automated robotics is common in various fields. There are large projects going on in many industries that collaborate between robots and other robots, as well as humans and robots. In hospital environments, care for people with medical needs and their needs and used to make appropriate suggestions to their problems. Robots can also be found in certain areas that can respond quickly as an emergency rescue agent. Furthermore, robots, which can be seen in the hotel industry as waiters and as farm assistants in agriculture, have a great tendency to be used as multi-tasking agents in many fields. In each of these areas, robots must co-operate with humans. In that situation, the importance of the exchange of mutual knowledge between robots-robots and between humans-robots comes into the picture. What matters here is not only the quantitative vastness of knowledge but also the ability to understand each other in the same medium. Although the common sense that people need in their day-to-day work is completely obvious to humans, the commonsense knowledge domain needs to be implanted in robots. Whatever concept is defined for adding commonsense to robotics, it should be a consistent concept that can be logically constructed so that it can be understood by a machine. As will be discussed later in the paper, different methods have been used in various related works to add a different kind of domain knowledge to robotics. The objective of this paper is to provide an improved retrained model for robotics in order to give them the ability to act more human-like when performing tasks. By using the proposed model robots are able to answer the incomplete command or inquiries related to a given context. One of the objectives of this work is to use the ontology-based, commonsense-support existing knowledge base as a mechanism to retrain and build a new model.
Developing A User-Friendly Interface from Robotic Applications Development
(Department of Industrial Management, Faculty of Science, University of Kelaniya Sri Lanka, 2022) Fernando, W. A. M.; Jayawardena, C.; Rajapaksha, U. U. S.
In this research, we have developed a web-based Robot Operating System (ROS) learning environment with its own set of tools. Our system is a comprehensive learning environment where students can go through the tutorials using the web interface and use our web-based development environment for writing scripts. Furthermore, students can use the web-based Gazebo simulator to visualize the robots. In addition, our learning environment also has its own set of tools that students can utilize for testing and troubleshooting robots. One of the other benefits of our system is that it is platform independent, and hence it can be accessed from either computer, mobile phone or tablet. Our system also has a dropdown for selecting commands. In this, all the descriptions and syntaxes of the commands are predefined and populated whenever a command is added from the dropdown. In addition, we have developed multiple other features that make this system much easier to use and user-friendly. In order to verify the usability of the system, we have performed a heuristic evaluation, and our findings show that the system complies with nine of the ten heuristics in Nielsen's framework. In addition, our system complies with twelve of the fourteen heuristics in Zhang's framework. We performed a performance evaluation as well. In this, we compared the performance of simulating our web-based system against running the same simulation directly from a Linux-based ROS server using the Gazebo client. The results showed that our system was faster by a small margin.
Sex differences in stroke in a Sri Lankan cohort
(Karger, 2024-12) Ranawaka, U. K.; Mettananda, C. D.; Nugawela, M.; Pathirana, J.; Chandrasiri, J.; Jayawardena, C.; Amarasekara, D.; Hettarachchi, R.; Premawansa, G.; Pathmeswaran, A.
INTRODUCTION Stroke characteristics, subtypes, and risk factors in women may differ from men. Data on sex differences in stroke are scarce in developing countries, especially the South Asian region. We aimed to describe the sex differences in patients with stroke admitted to a tertiary care hospital in Sri Lanka. METHODS Consecutive patients with stroke enrolled in the Ragama Stroke Registry over 3 years (2020–2023) were studied. Sex differences in demographics, presentation delays, clinical characteristics, stroke subtypes, risk factors, stroke severity, and early functional outcomes were compared using χ2 test, independent sample t test and Wilcoxon rank-sum test. Associations of early functional dependence were studied using multiple logistic regression. RESULTS Of 949 patients with stroke, 387 (40.8%) were women, with a median age of 66 (interquartile range [IQR] 57–73) years compared to 63 (IQR 54–70) years in men (p < 0.001). Women had more ischaemic strokes (85.8% vs. 78.6% in men, p = 0.005). Swallowing difficulty (p = 0.039) and bladder involvement (p = 0.001) were more common in women, whereas dysarthria (p = 0.002) and cerebellar signs (p = 0.005) were more common in men. More women had hypertension (74.4% vs. 59.4%, p < 0.001) and diabetes (52.2% vs. 41.6%, p = 0.001), whereas smoking (0.3% vs. 35.1%, p < 0.001), alcohol use (0.3% vs. 55.0%, p < 0.001), and other substance abuse (0.8% vs. 5.2%, p < 0.001) were almost exclusively seen in men. No differences were noted in delays to hospital admission (delay ≥4.5 h: women 45.4% vs. men 41.3%, p = 0.222). There were no sex differences in the rates of CT scanning (women 100% vs. men 99.6%, p = 0.516) or thrombolysis for ischaemic stroke (women 7.8% vs. men 10.2%, p = 0.458), but more men received stroke unit care (women 37.2% vs. men 45.4%, p = 0.012). No differences were noted between sexes in the clinical (Oxfordshire classification, p = 0.671) or aetiological (TOAST criteria, p = 0.364) subtypes of stroke. Stroke severity on admission was similar between sexes (median NIHSS score; women 8.0 vs. men 8.0, p = 0.897). More women had a discharge Barthel index (BI) <60 than men (62.6% vs. 53.5%, p = 0.007), but female sex was not associated with BI <60 on multivariate logistic regression (p = 0.134). There was no difference in in-hospital mortality (women 5.9% vs. men 5.9%, p = 0.963). CONCLUSIONS Women with stroke in this Sri Lankan cohort were older, had different risk factor profiles and clinical stroke characteristics, and had more ischaemic strokes. Female sex was not independently associated with functional disability on discharge or in-hospital mortality.