Academic Staff Profiles

Dr. Ruwan Gopura

Dept. of Mechanical Engineering,

University of Moratuwa,
Katubedda, Sri Lanka.
10400
+94 112650621 (Direct Line)
+94112650301 Extension: 4501

Teaching and Administrative Work: 

Current Teaching Modules

BSc Engineering Degree Programme

ME3200: Machine Design Project

ME4620: Biomedical Engineering Applications

ME4502: Robotics Technology

 

MEng in Manufacturing Systems Engineering Programme

ME5144Mechatronics and Robotics

ME5145: Artificial Intelligence in Manufacturing

 

Research Activities : 

Completed Postgraduate Work

1. Development of an Upper-limb Power-assist Exoskeleton Robot to Generate Human like Motion - MPhil

2. Development of a Prototype of an Anthropomorphic Trans-humeral Prosthetic Arm for Upper-Arm Amputees - MPhil

3. Agent Based Control and Protection for Inverter Based Micro Grids - MSc (research)

4. Hybrid Approach for Financial Forecasting with Support Vector Machine - MSc (research)

5. A Layout Planing Framework for Food Processing Industry - MEng

Completed Undergraduate Work

1. Development of a 4DOF Lower Limb Exoskeleton Robot 

2. A Robotic Prosthetic for Lower Limb Amputees 

3. Development of a Robotic Hand Prosthesis 

4. Development of a Multi-functional Hand Prosthesis 

5. Development of an Exoskeleton Robot for Shoulder Motions 

6. Development of a Trans-femoral Prosthesis 

7. Development of an EMG Based Control Method for a  Trans-radial Prosthetic Arm 

8. Development of an Upper-Limb Exoskeleton Robot for Rehabilitation 

Ongoing Postgraduate Research

1. Vision Aided Task Planning and Control of a Trans-humeral Robotic Prosthetic Arm- PhD

2. Development and Control of a Lower-Limb Power Assist Exoskeleton Robot- PhD

3. Controlling of a Trans-humeral Prosthetic Arm in Accordance with Human Motion Intention - MPhil

4. Kinematics Model of an Upper-Limb Exoskeleton Robot with Physical Compliance - MSc

 

 

Career : 

Professional Affiliations

AMIESL
SMIEEE
AMSLEMA
Member- Ceylon Automobile Association

Career History

2004 March – 2004 August: Research Assistant, Department of Mechanical Engineering, University of Moratuwa
2004 September- 2006 August: Lecturer (Temporary), Department of Textile and Clothing Technology, University of Moratuwa
2006 September - 2009 September: Doctoral Researcher, Saga University, Japan
2009 October - 2010 March: Post-doctoral Researcher, Saga University, Japan

Honours and Awards : 

IEEE RAS BP travel grant 2017
Chair, IEEE Robotics and Automation Society Sri Lanka Section Chapter (2017/02- to date)
Secretary,  IEEE Robotics and Automation Society Sri Lanka Section Chapter (2013/01- 2017/02)
Secretary,  IEEE Sri Lanka Section  (2015/02- 2016/01)
Award of Excellence, Outstanding Research Performance, University of Moratuwa, 2012, 2013, 2014 and 2015
Best technical paper award from the Manufacturing and Industrial Engineering Symposium (MIES 2016) held at Waters Edge Colombo, Sri Lanka, 22 October 2016.
Rs. 4.2M grant from National Research Council (NRC) for the research project 'Development of Assistive Robotic Limbs' (PI) -2011
Rs. 1.14M grant from SRC, University of Moratuwa for the research 'Controlling of Trans-humeral Prosthetic Arm' (PI)-2012
Rs. 1.76M grant from SRC, University of Moratuwa for the research 'Vision Aided Task planning and Control of Trans-humeral Robotic Prosthetic Arm' (PI)-2013
Rs. 3.55M grant from SRC, University of Moratuwa for the research 'Development and Control of a lower limb power assist exoskeleton robot' (PI)-2014
Rs. 3.7M grant from NRC for the research project 'Development of Active Lower-Limb Prosthetic Device' (CI) - 2015
Biographical profile in Marquis Who's Who in the World 2012 - 29th Edition and 2014 - 31st Edition
Post-doctoral fellowship, Saga University, Japan (2009/10-2010/03)
Japanese government Monbukagakusho scholarship to follow doctoral degree (2006/10-2009/09)
Best student paper award in the track of Technical Advances in Disaster Management, Welfare, and Rehabilitation for Sustainability of International Conference on Information and Automation for Sustainability, (ICIAfS) 2008, Sri Lanka
Travel and registration award to participate IEEE International Conference on Robotics and Automation (ICRA) 2008 from IEEE Robotics and Automation Society (RAS), USA

 

Publications : 

Book Chapters

  1. R. A. R. C. Gopura, D.S.V. Bandara, J. M. P. Gunasekara and T.S. S. Jayawardane, "Recent trends in EMG based control methods for assistive robots" Electrodiagnosis in New Frontiers of Clinical Research, book edited by Hande Turker, ISBN 978-953-51-1118-4, Intech, 2013. [PDF]

  2. R. A. R. C. Gopura and K. Kiguchi,"Application of Surface Electromyographic Signals to Control Exoskeleton Robots," Applications of EMG in Clinical and Sports Medicine, book edited by Catriona Steele, ISBN 978-953-307-798-7, Intech, 2012. [PDF]

Referred Journal Papers

  1. D.S.V. Bandara, R. A. R. C. Gopura and K. Kiguchi, "Development of a Multi-DOF Trans-humeral Robotic Arm Prosthesis," Medical Engineering and Physics, 2017 (Accepted for publication)

  2. W. N. C. Wanniarachchi, R. A. R. C. Gopura, and H. K. G. Punchihewa, "Development of a Layout Model Suitable for the Food Processing Industry" Journal of Industrial Engineering, 2016 [PDF]

  3. R. A. R. C.  Gopura, D. S. V. Bandara, K. Kiguchi, G. K. I. Mann," Developments in hardware systems of active upper-limb exoskeleton robots: A reviewRobotics and Autonomous Systems, vol. 75, Part B, pp. 203-220, 2016 [PDF]

  4. A. L. Kulasekara, K. T. M. U. Hemapala and R. A. R. C. Gopura, "Dual Layered Architecture for Multi Agent Based Islanding and Load Management for Microgrids," Journal of Power and Energy, vol. 3, no. 5, pp. 29-42, 2015. [PDF]

  5. Malin GunasekaraRuwan Gopura and Sanath Jayawardena, "6-REXOS: Upper Limb Exoskeleton Robot with Improved pHRI," International Journal of Advanced Robotics Systems, vol. 12, no. 47, pp. 1-13, 2015. [PDF]

  6. W. N. C. WanniarachchiR. A. R. C.Gopura and H. K. G. Punchihewa, "A Layout Planning Framework for the Food Processing Industry,"Annual Transactions of Institution of Engineers Sri Lanka,  vol. 1, Part B, 2014, pp. 129-137.

  7. A. L. Kulasekera, K. T. M. U. Hemapala and R. A. R. C.Gopura, "Multi Agent based Islanding  and Load Management System for Microgrids" Annual Transactions of Institution of Engineers Sri Lanka, vol. 1, Part B, 2013, pp. 306-312.

  8. R. A. R. C. Gopura, and T. S. S. Jayawardane, "Analysis, Modeling and Simulation of a Poly-Bag Manufacturing System," Engineering (ENG), vol. 4, no. 5, pp.256-265, 2012.[PDF]

  9. R. A. R. C. Gopura, K. Kiguchi and E. Horikawa, "A Study on Human Upper-Limb Muscles Activities during Daily Upper-Limb Motions," International Journal of Bioelectromagnetism (IJBEM), vol.12, no. 2, pp.54-61, 2010.[PDF]

  10. R. A. R. C. Gopura and K. Kiguchi, "Electromyography (EMG)-Signal Based Fuzzy-Neuro Control of a 3 degrees of freedom (3DOF) Exoskeleton Robot for Human Upper-Limb Motion Assist," Journal of National Science Foundation of Sri Lanka (JNSF), vol. 37, no. 4, pp. 241-248, 2009. [PDF]

  11. R. A. R. C. Gopura and K. Kiguchi, "An Exoskeleton Robot for Human Forearm and Wrist Motion Assist- Hardware Design and EMG-Based Controller," International Journal of Advanced Mechanical Design, Systems, and Manufacturing, vol. 2, no. 6, pp. 1067-1083, 2008. [PDF]


Referred International Conferences

  1. R.A.M. Abayasiri, N.M.P. Arachchige, A.T.S. Silva, D.G.K. Madusanka and R.A.R.C. Gopura, "MoBio: A 5 DOF Trans-humeral Robotic Prosthesis," IEEE International Conference on Rehabilitation Robotics (ICORR 2017), London, England, 2017 (Accepted)

  2. R.A.R.C. Gopura, D.S.V. Bandara, N.P.A. Gunasekera, V.H. Hapuarachchi, B.S. Ariyarathna, "A Prosthetic Hand with Self-Adaptive Fingers," International Conference on Control, Automation and Robotics (ICCAR 2017), Nagoya, Japan, 2017. (Best presentation)

  3. T. H. Weerakkody, N. Liyanaarachchi, H.M.C. Herath, R.A.R.C. Gopura, and T.D. Lalitharatne, “Development of an Active Shoulder Prosthesis with Low-Level Control Validation,” IASTED International Conference on Modelling, Identification and Control (MIC 2017), Innsbruck, Austria, 2017. 

  4. H.D.T.G. Samarasinghe, L.L.R. Sampath, H.R.M.M.V.B. Thilakarathna, R.A.R.C. Gopura, T.D. Lalitharathne and Y.W.R. Amarasinghe, “Development of an Automated Microscopic Imaging System for TB Screening,” in Proc. of Electrical Engineering Conference (EECon 2016), Colombo, Sri Lanka, 2016.

  5. D. G. K. Madusanka, R. A. R. C. Gopura, Y. W. R. Amarasinghe and G. K. I. Mann, “Vision Aided Task Planning for Reach-to-grasp Motions of a Transhumeral Prosthesis,” in Proc. of IEEE/SICE International Conference on System Integration (SII 2016), Sapporo, Japan, 2016.

  6. R. Thalagala, D. K. Silva, M. Hasanka, R.K.P.S. Ranaweera and R. A. R. C. Gopura, “A 4 DOF Exoskeleton Robot with a Novel Shoulder Joint Mechanism,” in Proc. of IEEE/SICE International Conference on System Integration (SII 2016), Sapporo, Japan, 2016.

  7.  C.L. Semasinghe, J.L.B. Prassanna, H.M. Kandamby, R.K.P.S. Ranaweera, D.G.K. Madusanka and R.A.R.C. Gopura, “ Transradial Prostheses: Current Status and Future Direction,” in Proc. of Manufacturing & Industrial Engineering Symposium (MIES2016), Colombo, Sri Lanka, 2016. (Best technical paper)

  8. C. J. Perera, I. Naotunna, C. Sadaruwan, R. A. R. C. Gopura and T. D. Lalitharatne," SSVEP Based BMI for a Meal Assistance Robot", in Proc. of IEEE International Conference on Systems man and Cybernetics (SMC 2016), Hungary, 2016.

  9. C.J. Perera, I. Naotunna, C. Sandaruwan, N.J. Kelly-Boxall, R.A.R.C. Gopura, and T.D. Lalitharatne, “Electrooculography Signal Based Control of a Meal Assistance Robot,” in Proc. of IASTED International Conference on Biomedical Engineering (BioMed 2016), Innsbruck, Austria, 2016, pp. 133-139.

  10. I. Naotunna, C. J. Perera, C. Sandaruwan, R. A. R. C. Gopura and T. D. Lalitharatne, “Meal Assistance Robots: A Review on Current Status, Challenges and Future Directions,” in Proc. of IEEE/SICE International Conference on System Integration (SII 2015), Nagoya, Japan, 2015, pp. 211-216.

  11. D.G. K. Madusanka, R.A.R.C. Gopura, Y.W.R. Amarasinghe, and G.K.I. Mann, “A Simulation Environment for Control Algorithms of Transhumeral Prostheses,” in Proc. of International Conference on Emerging Trends in Mechanical Engineering (ICETME 2015), Cochin, India,  September 2015, pp. 190–196

  12. D.G.K. Madusanka, L.N.S. Wijayasingha, R.A.R.C. Gopura, Y.W.R. Amarasinghe and G.K.I. Mann, "A Review on Hybrid Myoelectric Control Systems for Upper Limb Prosthesis," in Proc. of Moratuwa Engineering Research Conference (MERCon 2015), Sri Lanka, April, 2015, pp. 136-141.

  13. J.M.P. Gunasekara, R.A.R.C. Gopura and T.S.S. Jayawardena, "Redundant Upper Limb Exoskeleton Robot with Passive Compliance," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2014), Sri Lanka, December, 2014.

  14. D.G.K. Madusanka, L.N.S. Wijayasingha, K. Sanjeevan, M.A.R. Ahamed, J.C.W. Edirisooriya, and  R.A.R.C. Gopura, " A 3DOF Transtibial Robotic Prosthetic Limb," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2014), Sri Lanka, December, 2014.

  15. W.D.I.G. Dasanayake, R.A.R.C. Gopura, V.P.C. Dassanayake, and G.K.I. Mann, " Estimation of Prosthetic Arm Motions using Stump Arm Kinematics," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2014), Sri Lanka, December, 2014.

  16. D.S.V. BandaraR.A.R.C Gopura, G.Kajanthan, M. Brunthavan and H.I.M.M. Abeynayake, “An Under-actuated Mechanism for a Robotic Finger,” in Proc. of IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems (IEEECyber 2014), China, 2014. pp. 407-412.

  17. D.S.V BandaraR.A.R.C Gopura, K.T.M.U Hemapala and K. Kiguchi, “A multi-DoF Anthropomorphic Transradial Prosthetic Arm,” in Proc. of IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), Brazil, 2014, pp. 1039-1044. 

  18. J. M. P. GunasekaraR. A. R. C. Gopura, T.S. S. Jayawardane and G. K. I. Mann, "Dexterity Measure of Upper Limb Exoskeleton Robot with Improved Redundancy," in Proc. of IEEE International Conference on Industrial and Information Systems (ICIIS 2013)Peradeniya, Sri Lanka, 2013, pp. 548-553.

  19. W. D. I. G. Dasanayake, R. A. R. C. Gopura, V. P. C. Dassanayake and G.K.I. Mann, "Surface EMG Signals based elbow joint Torque Prediction," in Proc. of IEEE International Conference on Industrial and Information Systems (ICIIS 2013), Peradeniya, Sri Lanka, 2013, pp. 110-115.

  20. J. M. P. Gunasekara, R. A. R. C. Gopura, T. S. S. Jayawardana and S.W.H.M.T.D. Lalitharathne, " Control Methodologies for Upper-Limb Exoskeleton Robots," in Proc. of IEEE/SICE International Conference on System Integration (SII 2012), Fukuoka, Japan, 2012, pp. 19-24.

  21. A. L. Kulasekera, K. T. M. U. Hemapala and R. A. R. C.Gopura, "Dual layered multi agent system for load management during islanded operation of a microgrid," in Proc. of Fifth IASTED Asian Conference on Power and Energy Systems (AsiaPES 2012)Phuket, Thailand, 2012, pp. 255-259.

  22. W. D. S. Roshan, R. A. R. C.Gopura, A. G. B. P. Jayasekara, and D. S. V. Bandara "Financial Market Forecasting by Integrating Wavelet Transform and K-means Clustering with Support Vector Machine," in Proc. of International Conference on Artificial Life and Robotics (AROB 2012), Beppu, Japan, 2012, pp. 1017-1020. [PDF]

  23. A. L. Kulasekera, R. A. R. C.Gopura, K. T. M. U. Hemapala, N. Perera, and Achala Pallegedara,"Dual Layered Multi Agent System for Intentional Islanding Operation of Microgrids," in Proc. of International Conference on Artificial Life and Robotics (AROB 2012), Beppu, Japan, 2012, pp. 994-947.

  24. D. S. V. Bandara, R. A. R. C.Gopura, K. T. M. U. Hemapala and K. Kiguchi "Upper Extremity Prosthetics: Current Status, Challenges and Future Directions," in Proc. of International Conference on Artificial Life and Robotics (AROB 2012), Beppu, Japan, 2012, 875-880.

  25. A. L. Kulasekera, R. A. R. C.Gopura, K. T. M. U. Hemapala and N. Perera, "A Review on Multi-Agent Systems in Microgrid Applications," in Proc. of IEEE PES Innovative Smart Grid Technologies Conference (ISGT 2011), India, 2011, pp. 173-177.

  26. R. A. R. C.Gopura, K. Kiguchi and D. S. V. Bandara, "A Brief Review on Upper Extremity Robotic Exoskeleton Systems," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2011), Peradeniya, Sri Lanka, 2011, pp. 346-351.

  27. W. D. S. Roshan, R. A. R. C.Gopura, and A. G. B. P. Jayasekara, "Financial Forecasting Based on Artificial Neural Networks: Promising Directions for Modeling," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2011), Peradeniya, Sri Lanka, 2011. pp. 322-327.

  28. K. Kiguchi, R. A. R. C. Gopura, Y. Li, and Y. Hayashi, "The Effect of Impedance Parameters in 7DOF Upper-Limb Power-Assist Exoskeleton Robot," in Proc. of t he Asian Conference on Mechanism and Machine (IFToMM 2010), Taipei, Taiwan, 2010, Paper ID:250139. [PDF]

  29. R. A. R. C. Gopura and T. S. S. Jayawardene, "A Study on a Poly-Bag Manufacturing System: Preliminary Analysis and Simulation," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2009), Peradeniya, Sri Lanka, 2009. pp. 546 - 551.

  30. R. A. R. C. Gopura, K. Kiguchi and E. Horikawa, “A Study on Human Upper-Limb Muscles Activities during Daily Upper-Limb Motions,” in Proc. of International Symposium on Noninvasive Functional Source Imaging of the Brain and Heart & International Conference on Bioelectromagnetism (NFSI & ICBEM 2009), Rome, Italy, 2009, Paper ID: 02.

  31.  R. A. R. C. Gopura , K. Kiguchi and Y. Li, "SUEFUL-7: A 7DOF Upper-Limb Exoskeleton Robot with Muscle-Model-Oriented EMG-Based Control," in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2009), St. Louis, MO, USA, 2009. pp. 1126-1131.

  32. R. A. R. C. Gopura and K. Kiguchi, "Mechanical Designs of Active Upper-Limb Exoskeleton Robots: State-of-the-Art and Design Difficulties," in Proc. of IEEE International Conference on Rehabilitation Robotics (ICORR 2009), Kyoto, Japan, 2009, pp. 178-187.

  33. R. A. R. C. Gopura and K. Kiguchi, "Development of a 6DOF Exoskeleton Robot for Human Upper-Limb Motion Assist," in Proc. of International Conference on Information and Automation for Sustainability (ICIAfS 2008), Colombo, Sri Lanka, 2008, pp. 13-18. (Best student paper)

  34. R. A. R. C. Gopura and K. Kiguchi, "A Human Forearm and Wrist Motion Assist Exoskeleton Robot with EMG-Based Fuzzy-Neuro Control," in Proc. of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, USA, 2008, pp. 550-555.

  35. R. A. R. C. Gopura and K. Kiguchi, "EMG-Based Control of an Exoskeleton Robot for Human Forearm and Wrist Motion Assist," in Proc. of IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, USA, 2008, pp. 731-736.

  36. R. A. R. C. Gopura and K. Kiguchi, "Development of an Exoskeleton Robot for Human Wrist and Forearm Motion Assist," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2007), Peradeniya, Sri Lanka, 2007, pp. 535-540.

  37. E. A. S. K. Fernando, R. A. R. C. Gopura and J. M. P. Gunasekara, "Cost Effective System for Weft Tension Control and Wastage Disposal in Rapier Loom," in Proc. of 85th Textile Institute World Conference (TIWC 2007), Colombo, Sri Lanka, 2007, Paper ID: 132.

  38. A. Pallegedara, W. S. Amarathunge, R. A. R. C. Gopura and P.D. Jayathileka, "AI Based Approach of Predicting the Credit Limits of Users to Middle Customer based Mobile Communication Services," in Proc. of International Conference on Industrial and Information Systems (ICIIS 2006), Peradeniya, Sri Lanka, 2006, pp. 588-592.

   Abstracts in Local Conferences

   Ruwan Gopura has authored 22 abstracts in local conferences in Japan and Sri Lanka from 2006 to date. 

 


Theses

  1. R. A. R. C. Gopura, "Analysis and Simulation of a Poly-Bag Manufacturing System," Master of Engineering in Manufacturing Systems Engineering, Department of Mechanical Engineering, University of Moratuwa, Sri Lanka, 2008. [PDF]
  2. R. A. R. C. Gopura, "Development and Control of Upper-Limb Exoskeleton Robots," Ph.D. in Robotics and Intelligent Systems, Department of Advanced Systems Control Engineering, Saga University, Japan, 2009. [PDF]

Sri Lankan Patents

  1. R. A. R. C. Gopura, E. A. S. K. Fernando, J. M. P. Gunasekara and K. G. A. H. Amarasena, "Weft Tension Control, Weft Gripping Device for Rapier Loom.
  2. E. A. S. K. Fernando and R. A. R. C. Gopura, "Double Rotor, Non-scaling, Self-Cleaning and Rotational type Heat Exchanger.

See More Details of Publications of Dr. Ruwan Gopura  on Google Scholar

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