Harsha Abeykoon

Harsha Abeykoon is an Associate Professor in the Mechanical Engineering Department at Embry-Riddle Aeronautical University’s Prescott, Arizona campus. He earned his Ph.D. and M.S. in Integrated Design Engineering from Keio University, Japan, and a B.Sc. in Electrical Engineering from the University of Moratuwa, Sri Lanka.

Prior to joining Embry-Riddle, Dr. Abeykoon held academic positions at the University of Moratuwa, the Asian Institute of Technology in Thailand, and Plymouth State University, NH. His research interests include deep learning applications in haptics, bilateral teleoperation, biomedical robotics and advanced motion control systems. He has contributed to projects such as haptic object reconstruction, rehabilitation robots, and sensorless electric steering systems.​

Dr. Abeykoon has received multiple accolades, including Outstanding Research Performance Awards from the University of Moratuwa and a Best Paper Award at EECon 2021. As a Senior Member of IEEE, he actively participates in international professional activities, and he has held leadership roles in the IEEE New Hampshire Section and the IEEE Robotics and Automation Society.​

Professional Activities – International
• Vice Chair- IEEE New Hampshire Section (elected) 2024
• Secretary -IEEE Robotics and Automation Society (elected) 2024
• IEEE Robotics and Automation Society SPARX program award winner USD 10,000 2024
• Member of the winning proposal team Leader of two work packages – 1 million Euros Capacity
Building in the Field of Higher Education” for the February 2017 Call; Grant: ERASMUS+
“Curriculum Development of Master’s Degree Program in Industrial Engineering for Thailand
Sustainable Smart Industry”
• General chair – ICIAfs conference 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
• Session Chair (Robotics) IEEE-MerCon 2020
• Session Chair (Robotics and Intelligent Systems) IEEE-ICAC 2020
• Publications Chair IEEE-EECon 2021 (editor of the proceedings) 2021
Training Programs Undergone
• Machine learning / deep-learning with Python (self study) online 2021
• Teaching methods for senior lecturers – certificate course, Open University of Sri Lanka 2010
• Workshop on Outreach and Raising Awareness for Planning Nuclear Program Using the
Milestones Approach, Colombo, Sri Lanka 2013
• RCARO/KAERI Regional TrainingWorkshop on Research Reactor Utilization and Radiation
Application Technology, Daejeon, Republic of Korea 2010
Professional Activities – Sri Lanka
• Robotics and Industry 4.0 Workshop -resource person, IEEE Young to Niche Professionals
2025
• 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 UoM 2010-2011
• 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
• Invited IEEE Speaker, Southern New Hampshire University (SNHU) ”Robots in Teleoperation”
2024.
• Keynote speaker at the Research symposium of Uva Wellassa University of Sri Lanka on
“Development of Robot Assisted Surgery”.
• Invited speech on Bilateral tele-operation and related robotic applications (Transmission of
Sense of Touch) at University of Minho, Portugal, September 2018.
• Invited resource speaker on Robotics in Medical Industry at University of Science and Technology
of Southern Philippines, co-hosted by the Institute of Electronic Engineers of Philippines,
August 2018.
• Invited resource person for the “UK-ASEAN Workshop on Cost-effective solutions and assistive
technologies for low-income ageing populations” in Vietnam, August 2018, funded by
British Council and UK Newton Fund.
• Invited speech on Robot Assisted Surgery at Mahidol University, Salaya Campus, Thailand,
February 2016.
• Invited Speech on Robotics in healthcare at Patana International School, Bangkok, Thailand,
October 2017.

• Monbukagakusho scholar (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
• Outstanding research performance award University of Moratuwa 2015
• Outstanding research performance award University of Moratuwa 2016
• Outstanding research performance award University of Moratuwa 2021
• Outstanding research performance award University of Moratuwa 2022
• Outstanding research performance award University of Moratuwa 2023
• Best paper award EECon 2021 (IEEE technically co-sponsored) 2021
• Best paper award EECon 2024 (IEEE technically co-sponsored) 2024

Book Chapters
1. Abeykoon, A.M. Harsha S. and R.M. Maheshi Ruwanthika. ”Remote Gripping for Effective
Bilateral Teleoperation.” Handbook of Research on Human-Computer Interfaces, Developments,
and Applications. IGI Global, 2016. 99-134. Web. 4 Jul. 2016. https:
//doi.org/10.4018/978-1-5225-0435-1.ch005
2. Chapa Sirithunge H.P., Bandara H.M.R.T., Jayasekara A.G.B.P., Chandima D.P., Abeykoon
A.M.H.S. (2019) A Study on Robot-Initiated Interaction: Toward Virtual Social Behavior.
In: Korn O. (eds) Social Robots: Technological, Societal and Ethical Aspects of Human-
Robot Interaction. Human–Computer Interaction Series. Springer, Cham. https://doi.
org/10.1007/978-3-030-17107-0_3
3. A.M. Harsha S. Abeykoon, W.M.T.G. Wijewardhana, Esala H. Senevirathne, K.D.M. Jayawardhana,
Chapter 3 - Vibration suppression of force controllers using disturbance observers,
Editor(s): Hamid Reza Karimi, In Emerging Methodologies and Applications in Modelling,
Vibration Control and Actuation of Large-Scale Systems, Academic Press, 2020, Pages 57-89,
ISBN 9780128211946, https://doi.org/10.1016/B978-0-12-821194-6.00003-2.

Peer Reviewed Publications
1. P. W. Dewapura and A. M. H. S. Abeykoon, ”AI-Driven Haptic Cues for Haptic Object
Reproduction,” in IEEE Access, vol. 13, pp. 65737-65756, 2025, https://doi.org/10.
1109/ACCESS.2025.3555929
2. 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.
https://doi.org/10.1002/rcs.156
3. 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.
4. 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.
5. 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).
6. 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.
7. PAD Harischandra, AMHS Abeykoon “Upper-Limb Tele-Rehabilitation System with Force
Sensorless Dynamic Gravity Compensation” International Journal of Social Robotics, Springer
Netherlands 2019. https://doi.org/10.1007/s12369-019-00522-1
8. Harischandra, P.A.D. Abeykoon, A.M.H.S “Intelligent bimanual rehabilitation robot with
fuzzy logic based adaptive assistance” International Journal of Intelligent Robotics and Applications
Vol3 pp 59-70, Springer Singapore 2019.
9. W.A. Shanaka P. Abeysiriwardhana, A.M. Harsha S. Abeykoon, “Brake by wire control with
pedal feedback and brake boost” Bulletin of Electrical Engineering and Informatics, Vol. 10,
No. 6, December 2021, ISSN: 2302-9285, DOI: 10.11591/eei.v10i6.3186 (accepted and to be
printed).
10. 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, pp.112,117, 7-8 April 2015. https://doi.org/10.1109/MERCon.2015.7112330
11. Abeysiriwardhana, W.A.Shanaka P.; Abeykoon, A.M.Harsha S., ”Simulation of active vibration
suppression using internal motor sensing,” ICIAfS, 2014, pp.1,6, 22-24 Dec. 2014.
https://doi.org/10.1109/ICIAFS.2014.7069562
12. Ruwanthika, R.M.M.; Abeykoon, A.M.Harsha S., ”Simulation of enhanced force limiting
gripper for bilateral teleoperation,” ICIAfS, 2014, pp.1,6, 22-24 Dec. 2014. https://doi.
org/10.1109/ICIAFS.2014.7069571
13. Abeysiriwardhana, W.A.Shanaka P.; Abeykoon, A.M.Harsha S., ”Simulation of brake by
wire system with dynamic force control,” ICIAfS, 2014, pp.1,6, 22-24 Dec. 2014. https:
//doi.org/10.1109/ICIAFS.2014.7069563
14. Perera, G.V.A.G.Asanka; Abeykoon, A.M.Harsha S., ”Review on bilateral teleoperation with
force, position, power and impedance scaling,” ICIAfS, 2014, pp.1,7, 22-24 Dec. 2014. https:
//doi.org/10.1109/ICIAFS.2014.7069636
15. Abeykoon, A.M.Harsha S.; Dinesh Chinthaka, M.K.C., ”Position based static friction estimation
for DC motors using disturbance observer,” ICIAfS, 2014, pp.1,6, 22-24 Dec. 2014.
https://doi.org/10.1109/ICIAFS.2014.7069587
16. Jayaweera, W.G.Nuwan; Jayasekara, A.G.Buddhika P.; Abeykoon, A.M.Harsha S., ”Sound
localization: Human vs. machine,” ICIAfS, 2014, pp.1,6, 22-24 Dec. 2014. https://doi.
org/10.1109/ICIAFS.2014.7069551
17. 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,” ICCPCT, 2014, pp.855,860, 20-21 March 2014. https://doi.
org/10.1109/ICCPCT.2014.7054806
18. 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,” ICCPCT, 2014, pp.388,393, 20-21 March 2014. https:
//doi.org/10.1109/ICCPCT.2014.7054830
19. Illangarathne, N.C.; Abeykoon, A.M.H.S., ”Simulation of enhanced orthopedic drill for bone
surgery with haptic interface,” TENCON, 2014, pp.1,5, 22-25 Oct. 2014. https://doi.
org/10.1109/TENCON.2014.7022442
20. Dinesh Chinthaka, M.K.C.; Punchihewa, R.U.G.; Abeykoon, A.M. Harsha S., ”Disturbance
Observer based friction compensator for a DC motor,” ECTI-CON, 2014, pp.1,6, 14-17 May
2014. https://doi.org/10.1109/ECTICon.2014.6839747
21. Menikdiwela, M.P.; Abeykoon, A.M. Harsha S., ”Vibration suppression of bilateral control
system,” ECTI-CON, 2014, pp.1,6, 14-17 May 2014. https://doi.org/10.1109/ECTICon.
2014.6839822
22. 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,” CCUBE, 2013, pp.1,6, 27-28 Dec. 2013. https://
doi.org/10.1109/CCUBE.2013.6718552
23. Menikdiwela, M.P.; Dharmasena, K.M.I.S.; Abeykoon, A.M.Harsha S., ”Haptic based walking
stick for visually impaired people,” CCUBE, 2013, pp.1,6, 27-28 Dec. 2013. https:
//doi.org/10.1109/CCUBE.2013.6718549
24. 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,” ICCPCT, 2013, pp.344,349, 20-21 March 2013. https:
//doi.org/10.1109/ICCPCT.2013.6529009
25. 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,” ICCPCT, 2013, pp.337,343, 20-21 March 2013. https://doi.org/10.1109/
ICCPCT.2013.6529008
26. Abeykoon, A.M.H.S.; Senevirathne, H.R., ”Disturbance observer based current controller
for a brushed DC motor,” ICIAfS, 2012, pp.47,52, 27-29 Sept. 2012. https://doi.org/10.
1109/ICIAFS.2012.6419881
27. Senevirathne, H.R.; Abeykoon, A.M.H.S.; Pillai, M.B., ”Disturbance rejection analysis of a
disturbance observer based velocity controller,” ICIAfS, 2012, pp.59,64, 27-29 Sept. 2012.
https://doi.org/10.1109/ICIAFS.2012.6419882
28. Wijesooriya, P.N.; Abeykoon, A.M.H.S.; Udawatta, L.; Punchihewa, A.; Nanayakkara, T.,
”Gait pattern analysis of an Asian elephant,” ICIAfS, 2012, pp.221,226, 27-29 Sept. 2012.
https://doi.org/10.1109/ICIAFS.2012.6419908
29. 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,” ICIAfS, 2012, pp.266,272,
27-29 Sept. 2012. https://doi.org/10.1109/ICIAFS.2012.6419915
30. 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,” ICM, 2011, pp.597-602, 13-15 April 2011. https://doi.org/10.1109/ICMECH.
2011.5971186
31. Kasun Prasanga, D.; Abeykoon, A.H.S.; Prasad, S.; Udawatta, L., ”Auscultation based
stethoscopic diagnostic device for cardiac murmur identification,” ICIT, 2011, pp.367-372,
14-16 March 2011. https://doi.org/10.1109/ICIT.2011.5754404
32. 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,” ICIAFs, 2010,
pp.359-364, 17-19 Dec. 2010. https://doi.org/10.1109/ICIAFS.2010.5715687
33. Sakaino, S.; Abeykoon, A.M.H.S.; Ohnishi, K., ”Keynote paper—Real world haptics applied
to forceps in robot surgery,” ICIAFs, 2010, pp.571-574, 17-19 Dec. 2010. https://doi.org/
10.1109/ICIAFS.2010.5715726
34. 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 Ehealthcare,”
ICT and Knowledge Engineering, 2010, pp.58-63, 24-25 Nov. 2010. https:
//doi.org/10.1109/ICTKE.2010.5692915
35. Harsha, A. M.; Abeykoon, S.; Ohnishi, K., ”Tactile sensation improvement of a bilateral
forceps robot with a switching virtual model,” AMC, 2008, pp.526-531, 26-28 March 2008.
https://doi.org/10.1109/AMC.2008.4516122
36. Abeykoon, S.; Ohnishi, K., ”Bilateral Control interacting with a Virtual Model and Environment,”
ICIT, 2006, pp.1320-1325, 15-17 Dec. 2006. https://doi.org/10.1109/ICIT.
2006.372520
37. Harsha, A.M.; Abeykoon, S.; Ohnishi, K., ”Realization of Virtual Slave Model of a Forceps
Robot Using Bilateral Control,” IECON, 2006, pp.4468-4473, 6-10 Nov. 2006. https:
//doi.org/10.1109/IECON.2006.348100
38. Harsha, A. M.; Abeykoon, S.; Ohnishi, K., ”Realization of Virtual Master Manipulator
Using Bilateral Control,” Industrial Informatics, 2006, pp.833-838, 16-18 Aug. 2006. https:
//doi.org/10.1109/INDIN.2006.275670
39. 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, pp.756-760,
10-12 Aug. 2005. https://doi.org/10.1109/INDIN.2005.1560468
40. Harsha, A. M.; Abeykoon, S.; Ohnishi, K., ”Implementation of pedal feeling for Brake By
Wire system using bilateral control,” ISIE, 2008, pp.1347-1352, June 30 - July 2, 2008.
https://doi.org/10.1109/ISIE.2008.4677132
41. Asanka Perera, G.V.A.G.; Pillai, M.B.; Harsha, A.M.; Abeykoon, S., ”DC motor inertia
estimation for robust bilateral control,” ICIAfS, 2014, pp.1-7, 22-24 Dec. 2014. https:
//doi.org/10.1109/ICIAFS.2014.7069637
42. M. Harsha S. Abeykoon, Kouhei Ohnishi: “Estimation of Optimal Slip for Traction Force
Improvement of a Mobile Manipulator,” ICIA, 2005, pp.197-202, Dec. 2005, Colombo – Sri
Lanka. http://www.ent.mrt.ac.lk/iml/ICIA2005/Papers/JP013CRC.pdf
43. Trakanchaiyo, C.; Harsha, A. M.; Abeykoon, S., ”Vibration suppression design for virtual
compliance control in bilateral teleoperation,” ICCRE, 2017, pp.57-62, Bangkok, Thailand.
https://doi.org/10.1109/ICCRE.2017.7935042
44. Ruwanthika, R. M. M.; Harsha, A. M.; Abeykoon, S.; Katsura, S., ”Bilateral control with
compliant force lock for safety enhancement,” ISIE, 2017, pp.1929-1934, Edinburgh, United
Kingdom. https://doi.org/10.1109/ISIE.2017.800154
45. Harischandra, P. A. D.; Abeykoon, A. M. H. S., ”Development of an upper limb masterslave
robot for bimanual rehabilitation,” MERCon, 2017, pp.52-57, Moratuwa. https://
doi.org/10.1109/MERCon.2017.7980455
46. Das, T. K.; Harischandra, P. A. D.; Abeykoon, A. M. H. S., ”Extended Kalman Filter
based fusion of reliable sensors using fuzzy logic,” MERCon, 2017, pp.58-63, Moratuwa.
https://doi.org/10.1109/MERCon.2017.7980456
47. Senadheera, S. D. A. P.; Abeykoon, A. M. H. S., ”Sensorless terrain estimation for a wheeled
mobile robot,” ICIIS, 2017, pp.1-6, Peradeniya, Sri Lanka. https://doi.org/10.1109/
ICIINFS.2017.8300422
48. Harischandra, P. A. D.; Abeykoon, A. M. H. S., ”Simulation of Online Human Arm Inertia
Estimation for Robot-aided Rehabilitation,” MERCon, 2018, pp.31-36, Moratuwa, Sri Lanka.
https://doi.org/10.1109/MERCon.2018.8421998
49. Abeysiriwardhana W.A, S. P.; Ruwanthika R.M, M.; Abeykoon A.M., H. S., ”Vibro-Haptic
White Cane with Enhanced Vibro Sensitivity,” EECon, 2018, pp.156-161, Colombo.
50. S. Paudel, A. M. H. S. Abeykoon and S. D. A. P. Senadeera, ”Sensor-Less Detection of Wheel
Alignment Error for a Wheeled Mobile Robot using the Disturbance Observer,” MERCon,
2020, pp. 572-577. https://doi.org/10.1109/MERCon50084.2020.9185394
51. W. M. T. G. Wijewardhana, E. H. Senevirathne and A. M. H. S. Abeykoon, ”Iterative
Approach for Parameter Estimation in DC Motor Based Motion Systems,” ISIE, 2020, pp.
134-141. https://doi.org/10.1109/ISIE45063.2020.9152500
52. A. M. Harsha S. Abeykoon, A. Paveen Senura Perera, R. K. Sanjeewika Prabodhanie, M. D.
N. V. Matharage and A. P. Abeysinghe, ”A Machine Learning Approach for NILM based on
Superimposed Current Profiles,” MERCon, 2020, pp. 584-589. https://doi.org/10.1109/
MERCon50084.2020.9185203
53. P. W. Dewapura, K. D. M. Jayawardhana, A. M. Harsha S. Abeykoon, ”Object Identification
using Support Vector Regression for Haptic Object Reconstruction,” EECon, 2021, pp. 144-
150. https://doi.org/10.1109/EECon52960.2021.9580959
54. K. Sithamparanathan, S. Rajendran, P. Thavapirakasam, A. M. Harsha S. Abeykoon, ”Pose
Estimation of a Robot Arm from a Single Camera,” EECon, 2021, pp. 131-136. https:
//doi.org/10.1109/EECon52960.2021.9580957
55. E. H. Senevirathne, A. M. Harsha, S. Abeykoon, W. M. Theekshana and G. Wijewardhana,
”Analysis of Torque Sensorless Steer by Wire System Using the Bilateral Tele-Operation Concept,”
EECon, 2021, pp. 137-143. https://doi.org/10.1109/EECon52960.2021.9580870
56. W. M. T. G. Wijewardhana and A. M. H. S. Abeykoon, ”Study of Stability Variations
in Reaction Torque Observer based Force Controllers,” MERCon, 2022, pp. 1-6. https:
//doi.org/10.1109/MERCon55799.2022.9906228
57. 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, 2006.
58. A.M. Harsha S. Abeykoon, Kouhei Ohnishi: “Traction Force Improvement of a Mobile Manipulator,”
Technical Meeting on Industrial Instrumentation and Control, IEE Japan, 2005.
59. U. G. Savini Kashmira, Jayanaka L. Dantanarayana, R. M. Maheshi Ruwanthika, A. M.
Harsha S. Abeykoon ”Haptic Based Surface Texture Classification Using Machine Learning
Techniques,” IEEE ONCON, 2023.
60. S. D. Wickramaratna, A. S. Udage, R. T. Jayasekara, D. A. Kariyapperuma, W. A. Shanaka
P. Abeysiriwardhana and A. M. H. S. Abeykoon, ”Field based navigation for 3D obstacle
avoidance,” MERCon, 2016, pp. 391-396. https://doi.org/10.1109/MERCon.2016.
7480173
61. J. L. Dantanarayana, U. G. Savini Kashmira, P. S. L. Fernando, K. D. M. Jayawardhana,
R. M. Maheshi Ruwanthika, and A. M. H. S. Abeykoon, ”Surface Texture Reproduction and
Amplification for Haptic Perception,” IECON 2023 - 49th Annual Conference of the IEEE
Industrial Electronics Society, Singapore, Singapore, 2023, pp. 1-6. https://doi.org/10.
1109/IECON51785.2023.10311768
62. T. S. Rathnayake, D. K. Prasanga, and A. M. H. S. Abeykoon, ”3D Localization of an
Object Using a Monocular Camera,” IECON 2023 - 49th Annual Conference of the IEEE
Industrial Electronics Society, Singapore, Singapore, 2023, pp. 1-6. https://doi.org/10.
1109/IECON51785.2023.10312377
63. I. Akarawita and A. M. H. S. Abeykoon, ”Automatic Colorization of Greyscale Images Using
Deep Learning Fusion Technique and Accuracy Level Analysis,” 2024 International Conference
on Advanced Robotics and Mechatronics (ICARM), Tokyo, Japan, 2024, pp. 625-630.
https://doi.org/10.1109/ICARM62033.2024.10715939.
64. M. Thennakoon, C. Withanage, U. Karunaratne, D. K. Prasanga and A. M. H. S. Abeykoon,
”Gait Pattern Generation and Analysis of a Hexapod Ant Robot Using Reinforcement Learning,”
IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society,
Chicago, IL, USA, 2024, pp. 1-6, https://doi.org/10.1109/IECON55916.2024.10905795
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