BOOK CHAPTERS

No	Publication	PDF
1	A.M. Harsha S. Abeykoon, 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. doi:10.4018/978-1-5225-0435-1.ch005	Link
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	Link
3	A.M. Harsha S. Abeykoon, W.M.T.G. Wijewardhana, Esala H. Senevirathne, K.D.M. Jayawardhana(2019) 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,	Link

JOURNALS

No	Publication	PDF
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	Link
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	Link
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.	View
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).	View
5	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.	View
6	PAD Harischandra, A. M. Harsha S. 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-	View
7	PAD Harischandra, A. M. Harsha S. Abeykoon “Intelligent bimanual rehabilitation robot with fuzzy logic based adaptive assistance,” International Journal of Intelligent Robotics and Applications Vol.3 pp 59-70, Springer Singapore 2019.	View
8	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)	View

INTERNATIONAL CONFERENCES

No	Publication	PDF
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
22	Kasun Prasanga, 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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
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	View
32	Asanka Perera, 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	View
33	A. 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.	View
34	C. Trakanchaiyo, A. M. Harsha and S. Abeykoon, "Vibration suppression design for virtual compliance control in bilateral teleoperation," 2017 2nd International Conference on Control and Robotics Engineering (ICCRE), Bangkok, Thailand, 2017, pp. 57-62. doi: 10.1109/ICCRE.2017.7935042	View
35	R. M. M. Ruwanthika, A. M. Harsha, S. Abeykoon and S. Katsura, "Bilateral control with compliant force lock for safety enhancement," 2017 IEEE 26th International Symposium on Industrial Electronics (ISIE), Edinburgh, United Kingdom, 2017, pp. 1929-1934. doi: 10.1109/ISIE.2017.800154	View
36	P. A. D. Harischandra and A. M. H. S. Abeykoon, "Development of an upper limb master-slave robot for bimanual rehabilitation," 2017 Moratuwa Engineering Research Conference (MERCon), Moratuwa, 2017, pp. 52-57. doi: 10.1109/MERCon.2017.7980455	View
37	T. K. Das, P. A. D. Harischandra and A. M. H. S. Abeykoon, "Extended Kalman Filter based fusion of reliable sensors using fuzzy logic," 2017 Moratuwa Engineering Research Conference (MERCon), Moratuwa, 2017, pp. 58-63. doi: 10.1109/MERCon.2017.7980456	View
38	S. D. A. P. Senadheera, A. M. H. S. Abeykoon, "Sensorless terrain estimation for a wheeled mobile robot," 2017 IEEE International Conference on Industrial and Information Systems (ICIIS), Peradeniya, Sri Lanka, 2017, pp. 1-6. doi: 10.1109/ICIINFS.2017.830042	View
39	P. A. Diluka Harischandra, A. M. Harsha S. Abeykoon, "Simulation of Online Human Arm Inertia Estimation for Robot-aided Rehabilitation," 2018 Moratuwa Engineering Research Conference (MERCon), Moratuwa, Sri Lanka, 2018, pp. 31-36. doi:10.1109/MERCon.2018.8421998	View
40	S. P. Abeysiriwardhana W.A, M. Ruwanthika R.M and H. S. Abeykoon A.M., "VibroHaptic White Cane with Enhanced Vibro Sensitivity," 2018 2nd International Conference On Electrical Engineering (EECon), Colombo, 2018, pp. 156-161	View
41	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," 2020 Moratuwa Engineering Research Conference (MERCon), Moratuwa, Sri Lanka, 2020, pp. 572-577, doi: 10.1109/MERCon50084.2020.9185394	View
42	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," 2020 IEEE 29th International Symposium on Industrial Electronics (ISIE), Delft, Netherlands, 2020, pp. 134-141, doi: 10.1109/ISIE45063.2020.9152500.	View
43	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," 2020 Moratuwa Engineering Research Conference (MERCon), Moratuwa, Sri Lanka, 2020, pp. 584-589, doi: 10.1109/MERCon50084.2020.9185203	View
44	P. W. Dewapura, K. D. M. Jayawardhana, A. M. Harsha S. Abeykoon, "Object Identification using Support Vector Regression for Haptic Object Reconstruction," 2021 3rd International Conference on Electrical Engineering (EECon), 2021, pp. 144-150, doi: 10.1109/EECon52960.2021.9580959.	View
45	K. Sithamparanathan, S. Rajendran, P. Thavapirakasam, A. M. Harsha S. Abeykoon, "Pose Estimation of a Robot Arm from a Single Camera," 2021 3rd International Conference on Electrical Engineering (EECon), 2021, pp. 131-136, doi: 10.1109/EECon52960.2021.9580957.	View
46	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," 2021 3rd International Conference on Electrical Engineering (EECon), 2021, pp. 137-143, doi: 10.1109/EECon52960.2021.9580870.	View
47	W. M. T. G. Wijewardhana and A. M. Harsha, S. Abeykoon, "Study of Stability Variations in Reaction Torque Observer based Force Controllers," 2022 Moratuwa Engineering Research Conference (MERCon), 2022, pp. 1-6, doi: 10.1109/MERCon55799.2022.9906228.	View
48	Jayanaka Dantanarayana,U.G.Savini Kashmira, Surath Fernando, K.D. Malith Jayawardhana, R.M. Maheshi Ruwanthika, A. M. Harsha, S. Abeykoon, "Surface Texture Reproduction and Amplification for Haptic Perception,"IECON 2023 – 49th Annual Conference of the IEEE Industrial Electronics Society, Singapore, 2023,	View
49	Thisali Rathnayake, Kasun Prasanga, A. M. Harsha, S. Abeykoon, "Analysis of Torque Sensorless Steer by Wire System Using the Bilateral Tele-Operation Concept,"IECON 2023 – 49th Annual Conference of the IEEE Industrial Electronics Society, Singapore, 2023,	View

Domestic (Japanese) Conferences

1	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
2	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.