arXiv subjects

Dhanushka Balasingham

Publications and source records attributed to Dhanushka Balasingham.

3 recordsLinked to original sources

arXiv2026

UltraLight Luma: A Novel Edge-Deployable Perception Network for Crop-Row Segmentation in Agricultural Robotics

Reliable crop-row perception is essential for autonomous agricultural robots, but low-cost deployment is constrained by computation, memory, power, and inference time. This paper addresses crop-row detection and navigation-line extraction using UltraLight Luma, a compact encoder-decoder segmentation network with a progressive learning strategy and only 13.1k trainable parameters. The predicted crop-row masks are processed using a post-processing algorithm to estimate row alignment for downstream visual servoing. UltraLight Luma improves parameter efficiency over U-Net, YOLOv8, and YOLOv26 while maintaining reliable crop-row detection performance. The model required only 25.23 mJ per inference, demonstrating its suitability for resource-constrained agricultural robots.

cs.RO↗

arXiv2025

Enhancing Train Transportation in Sri Lanka: A Smart IOT based Multi-Subsystem Approach using MQTT

This research proposes a system as a solution for the challenges faced by Sri Lanka' s historic railway system, such as scheduling delays, overcrowding, manual ticketing, and management inefficiencies. It proposes a multi-subsystem approach, incorporating GPS tracking, RFID-based e-ticketing, seat reservation, and vision-based people counting. The GPS based real time train tracking system performs accurately within 24 meters, with the MQTT protocol showing twice the speed of the HTTP-based system. All subsystems use the MQTT protocol to enhance efficiency, reliability, and passenger experience. The study's data and methodology demonstrate the effectiveness of these innovations in improving scheduling, passenger flow, and overall system performance, offering promising solutions for modernizing Sri Lanka's railway infrastructure.

cs.NI↗

arXiv2024

SPARROW: Smart Precision Agriculture Robot for Ridding of Weeds

The advancements in precision agriculture are vital to support the increasing demand for global food supply. Precision spot spraying is a major step towards reducing chemical usage for pest and weed control in agriculture. A novel spot spraying algorithm that autonomously detects weeds and performs trajectory planning for the sprayer nozzle has been proposed. Furthermore, this research introduces a vision-based autonomous navigation system that operates through the detected crop row, effectively synchronizing with an autonomous spraying algorithm. This proposed system is characterized by its cost effectiveness that enable the autonomous spraying of herbicides onto detected weeds.

cs.RO↗