Books chapters:

· Thrishantha Nanayakkara, D. T. Amal Dissanayake, M. M. P. Pradeep Mahipala, and K. A. Gayan Sanjaya , “A Human-Animal-Robot Cooperative System for Anti-Personal Mine Detection”, Humanitarian Demining: Innovative Solutions and the Challenges of Technology, ARS pulishers, http://www.ars-journal.com/hd.htm (in press, 2008)

· Thrishantha Nanayakkara, Lasitha Piyathilaka, and Akila Subasingha "Mechatronics in Landmine Detection and Removal", MECHATRONIC SYSTEMS Devices, Design, Control, Operation, and Monitoring, Edited by Clarence De Silva, CRC Press, Taylor & Francis, Boca Raton, FL Chapter 28, 2007.

• K. Watanabe, Thrishantha Nanayakkara, Kazuo Kiguchi, and Kiyotaka Izumi ``Achieving synergy through acquisition of human skill,'' A New Life-Style in 21 Century Living with Cognitive and Behavioral Intelligent Artificial Liferobot, Edited by Masanori Sugisaka, Springer-Tokyo, Chapter 40, 2005.

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, ``Evolutionary Dynamics Identification of Multi-Link Manipulators Using Runge--Kutta--Gill RBF Networks,'' Soft Computing in Measurement and Information Acquisition, Edited by L. Reznik and V. Kreinovich, Physica-Verlag, pp.208--222, 2003.

Refereed International Journal Papers:

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Evolving a multiobjective obstacle avoidance skill of a seven-link manipulator subject to constraints," International Journal of Systems Science, vol. 35 ,  no. 3, pp. 167 – 177, March 2004.

• Thrishantha Nanayakkara, Kazuo Kiguchi, Tsukasa Murakami, Keigo Watanabe, Kiyotaka Izumi, "Enhancing the Autonomy of Teleoperated Redundant Manipulators Through Fusion of Intelligent Control Modules," International Journal of Robotics and Mechatronics, vol.14, no.3, pp.534-545, June, 2002.

• Kazuo Kiguchi, Thrishantha Nanayakkara, Keigo Watanabe, Toshio Fukuda, "Multi-Dimensional Reinforcement Learning Using a Vector Q-Net - Application to Mobile Robots", International Journal of Control, Automation and Systems, vol.1, no.1, pp.142-148, 2003.

· Gregory Ariff, Opher Donchin, Thrishantha Nanayakkara, and Reza Shadmehr, "A Real-Time State Predictor in Motor Control: Study of Saccadic Eye Movements During Unseen Reaching Movements," Journal of Neuroscience, vol. 22, no. 17, pp. 7721-7729, Sept. 2002.

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Evolutionary Learning of a Fuzzy behavior Based Controller for a Non-Holonomic Mobile Robot in a Class of Dynamic Environments," International Journal of Intelligent and Robotic Systems, vol.32, no.3, pp.255-277, November, 2001.

· Thrishantha Nanayakkara and Reza Shadmehr, “Saccade Adaptation in Response to Altered Arm Dynamics”, Journal of Neurophysiology, 2003, 90:4016-4021

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Fuzzy Self-Adaptive RBF Neural Network Based Control of a Seven-Link Industrial Robot Manipulator," in Journal of Advanced Robotics, vol. 15, no. 1, pp. 17-43, 2001.

Peer reviewed conference proceedings

• Prasanna Sridhar, Thrishantha Nanayakkara, Asad M. Madni, and Mo Jamshidi, “Dynamic Power Management of an Embedded Sensor Network based on Actor-Critic Reinforcement based Learning”, in Procs. of the 3^rd International Conference on Information and Automation for Sustainability (IEEE technical co-sponsor), pp. 76 – 81, Dec. 4 – 8, Melbourne, Australia, 2007.

• Thrishantha Nanayakkara, Lasitha Piyathilaka, Akila Subasingha, and Mo Jamshidi, “Development of Advanced Motor Skills in a Group of Humans through an Elitist Visual Feedback Mechanism”, in Procs. of IEEE International Conference on Systems of Systems Engineering, San Antonio, 2007.

• Thrishantha Nanayakkara, Lanka Udawatta, Anjula De Silva, Madura Jayathilake, Sanjaka Peiris, Asanke Galgomuwa, "High Performance Temperature Controller for Infant Incubators " in Proc. of the International Conference on Information and Automation 2006, Colombo , Sri Lanka pp. 115-120, 2006

• Thrishantha Nanayakkara, Lasitha Piyathilake, and Akila Subasinghe, "A Simplified Statistical Approach to Classify Vegetated Environments for Robotic Navigation in Tropical Minefields", Proc. of the International Conference on Information and Automation (IEEE technical co-sponsor), pp. 337 – 342, Colombo, Sri Lanka, Dec. 15-18, 2005

• Lakmal Silva and Thrishantha Nanayakkara, “Impedance Control of a Robot Manipulator for Demining”, Procs. of the International Conference on Information and Automation (IEEE technical co-sponsor), pp. 282 – 287, Colombo, Sri Lanka, Dec. 15-18, 2005

• M. Bernardine Dias, G. Ayorkor Mills-Tettey, and Thrishantha Nanayakkara, “Robotics, Education, and Sustainable Development”, in Proc. of IEEE International Conference on Robotics and Automation (ICRA2005), pp. 4259 – 4264, Barcelona, Spain, 2005

· V. Kumarathasan and Thrishantha Nanayakkara, “ Intelligent Collaboration Among Robotic Agents for Landmine Detection”, Proc. of the Annual Sessions, Sri Lanka Association for Artificial Intelligence, 2005.

· V Aravinthan, Thrishantha Nanayakkara, I J Dayawansa, “Adaptive Resonance Theory based Neural Network approach for Signal distribution in VLF metal detectors”, in Procs. of the IEE Annual Conference 2004, Sri Lanka Section.

· Ampikathasan Aravinthan and Thrishantha Nanayakkara, “Implementing Behavior Based Control in an Autonomous Mine Detecting Robot (AMDR)”, Engineering Research Unit Symposium 2004, University of Moratuwa.

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Reza Shadmehr, "Intelligent Control of a 7-DOF manipulator based on model primitives", in Proc. of IEEE International Symposium on Intelligent Control (ISIC2002), pp. 538 - 543, 2002, Vancuver, Canada.

· Kazuo Kiguchi, Thrishantha Nanayakkara, Keigo Watanabe, Toshio Fukuda, "Multi-Dimensional Reinforcement Learning Using a Vector Q-Net - Application to Mobile Robots", in Proc. of 2002 FIRA Robot World Congress, pp.405-410, 2002.

· Keigo Watanabe, Kiyotaka Izumi, and Thrishantha Nanayakkara, "Dynamic Identification of a Manipulator by a Runge--Kutta--Gill Neural Network," in Proc. of 15th Fuzzy System Symposium, pp. 791--794, 1999.

· Keigo Watanabe, Thrishantha Nanayakkara, Kazuo Kiguchi, Kiyotaka Izumi, "Fuzzy Behavior-Based Control for a Mobile Robot in a Class of Dynamic Environment," in Proc. of the 10th Intelligent System Symposium, pp. 383--386, Tokyo, 2000.

· Keigo Watanabe, Thrishantha Nanayakkara, Kazuo Kiguchi, Kiyotaka Izumi, "Acquiring an Obstacle Avoidance Skill of a Redundant Manipulator Using Neural Networks," in Proc. of SICE System and Information Division Symposium, pp. 121--126, 2000.

• Thrishantha Nanayakkara, Kazuo Kiguchi, Tsukasa Murakami, Keigo Watanabe, Kiyotaka Izumi, "Skillful Adaptation of a 7-DOF Manipulator to Avoid Moving Obstacles in a Teleoperated Force Control Task," in Proc. of IEEE International Symposium of Industrial Electronics (ISIE-2001), vol. 3, pp. 1982--1987, 2001.

• Kazuo Kiguchi, Tsukasa Murakami, Thrishantha Nanayakkara, D. S. Necsulescu, Keigo Watanabe and Toshio Fukuda, "Temporal Environment Models for Contact Tasks of Teleoperated Manipulator with Time Delay," in Proc. of the 2nd International Symposium on Mixed Reality (ISMR2001), pp. 141--142, 2001.

· Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Achieving Synergy Through Acquisition of Human Skills," in Proc. of Fifth International Symposium on Artificial Life and Robotics, vol. 1, pp. 126--129, 2001.

· T. Murakami, Kazuo Kiguchi, Keigo Watanabe, Kiyotaka Izumi, Thrishantha Nanayakkara, "Development of Intelligent Interface for Teleoperated Manipulator Considering Time Delay," in Proc. of the 10th Intelligent System Symposium, pp. 369--370, 2000.

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Controlling Multi-Link manipulators by Fuzzy Selection of Dynamic Models," in Proc. of IEEE International Conference on Industrial Electronics, Control and Instrumentation, pp. 638--643, 2000.

· Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Evolving Obstacle Avoidance Skill of a Seven-Link Redundant Manipulator Subjected to End-Effector Working Constraints," in Proc. of 6th International Conference on Soft Computing (IIZUKA2000), pp. 684--689, 2000.

· Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Evolutionary Structured RBF Neural Network Based Control of a Seven-Link Redundant Manipulator," in Proc. of the 39th SICE Annual Conference (SICE2000), Int. Session Papers, paper no. 114 A-4, July 26--28, 2000.

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Dynamic Identification of an Industrial Seven-Link Manipulator by Evolving Runge-Kutta-Gill RBF Networks," in Proc. of Fourth International Symposium on Artificial Life and Robotics, vol. 2, 2000, pp. 669-672.

• Thrishantha Nanayakkara, Keigo Watanabe and Kiyotaka Izumi, "Evolving Runge-Kutta-Gill RBF Networks to Estimate the Dynamics of a Multi-Link Manipulator," in Proc. of IEEE International Conference on Systems, Man, and Cybernetics, vol. 2, 1999, pp. 770-775.

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Evolutionary Optimization with Strategic Moves Based on Historical Knowledge," in Proc. of the 1st SOFT Kyushu Branch Annual Conference, 1999, pp. 21-28.

• Thrishantha Nanayakkara, Keigo Watanabe and Kiyotaka Izumi, "Evolving in Dynamic Environments Through Adaptive Chaotic Mutation," in Proc. of Third International Symposium on Artificial Life and Robotics, vol. 2, 1999, pp. 520-523.

• Thrishantha Nanayakkara, Masatoshi Nakamura, Nobuhiro Kyura, "Accurate Contour Control of an Industrial Robot Arm by Employing Modified Taught Data and Synchronous Positioning of Position Output Algorithms", Proc. of SICE Kyushu, 1997, Kagoshima, Japan.

• Thrishantha Nanayakkara, Masatoshi Nakamura, D. P. Nishantha Nanayakkara, Kyoji Furukawa, "Identifying the Burning Process of a Coal Fired Power Plant to Achieve Desired Fly-Ash Compositions", Proc. of IFAC SYSID, 1996, Kitakyushu, Japan.

International workshops

· Thrishantha Nanayakkara, Tharindu Amal Dissanayake, Lasitha Piyathilaka, “Legged Robot – Animal Cooperation to Trace Smell Gradients in Minefields”, 7^th IARP International Workshop on Robotics and Mechanical Assistance in Humanitarian Demining and Similar Risky Environemnts (HUDEM-2008), 2008, pp. 97-102, Cairo, Egypt.

Abstracts and posters

• Gary Sing, Wilsaan Joiner, Thrishantha Nanayakkara, Jordan Brauyanoc, and Maurice Smith, "The evolution of force profiles in a motor adaptation task reveals motor primitives with spindle-like properties that predict the difficulty of learning different types of force-field perturbations", in Advances in Computational Motor Control, San Diego, USA, 2007

· Thrishantha Nanayakkara, Reza Shadmehr, "Adaptive properties of eye-hand coordination", presented in Neuroscience 2002, Orlando, Florida, 2002.

• Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, "Dynamic Control of an Industrial Seven-Link Manipulator by Evolving Runge-Kutta-Gill RBF Networks," in Proc. of Robotics and Mechatronics Conference, (poster session), 1A1-29-038 (CDR), 2000.

The best undergraduate projects I ever supervised at the University of Moratuwa, Sri Lanka

1. C.P. Lloyd, J. M. L. C. Piyathilake, M. M. A. S. Manatunga, and W. D. Masinghe, “Automated Robot for Landmine Detection” Final year thesis, Department of Electrical Engineering, University of Moratuwa, Sri Lanka, 2002
2. Dissanayake D.T.A., Sanjaya K.A.G., Mahipala M.M.P.P., “Development of a Mechanism to Train Mongooses to Detect Explosives” Final year thesis, Department of Mechanical Engineering, University of Moratuwa, Sri Lanka, 2007