Curriculum Vitae. Diogu Hennedige Sanjeeva Maithripala, Ph. D.

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1 Curriculum Vitae Diogu Hennedige Sanjeeva Maithripala, Ph. D. Dept. of Mechanical Engineering, Faculty of Engineering, Univ. of Peradeniya, Peradeniya, KY Sri Lanka. TP: Mobile: Education BSc. Eng., University of Peradeniya, MPhil.,University of Peradeniya, MSc., Texas Tech University, Ph.D.,Texas Tech University, Current Position Senior Lecturer, Dept. of Mechanical Engineering, University of Peradeniya, Sri Lanka. Google Scholar Profile h-index: 14 i10-index: 18

2 Research Interests Geometric Methods in Mechanics and Control with applications to UAVs. Decentralized control of multi-agent systems. Reinforcement learning and Machine vision. Short term prediction of Wind and Wave energy. Professional Experience Visiting Professor: Systems & Controls Lab, IIT Bombay, India, 10/ /2017 Short term research scholar: Nanotech Center / Dept. of Mechanical Engineering, Texas Tech University, 07/ /2010, 06/ /2009, 05/ /2007 Senior Lecturer: Dept. of Mechanical and Manufacturing Engineering, Faculty of Engineering, University of Ruhuna, 06/ /2009 Post doctoral research associate: Dept. of Mechanical Engineering, Texas Tech University. 01/ /2006 Teaching Experience 07/2006 todate Rigid Body Mechanics, Dynamics, Control Systems, Mechanics of Machines and Mechanisms, Complex Analysis and Vector Spaces, Mathematical Modelling, Thermodynamics and Fluid Mechanics, Airconditioning and Refrigeration, and Numerical Methods for Engineers. Awards National Research Council Presidential award for research publications in the year National Research Council Merit award for research publications in the year National Research Council Presidential award for research publications in the year National Research Council Presidential award for research publications in the year 2009.

3 Short term research scholarship at Texas Tech University from 01/06/2011 to 30/08/2010. The grant supported research on control of nano-scale thermal transport. This is part of a three year continuing research collaboration. Short term research scholarship at Texas Tech University from 01/07/2009 to 30/09/2009. The grant supported research on control of nano-scale thermal transport. This is part of a three year continuing research collaboration. Short term research scholarship at Texas Tech University from 01/06/2009 to 31/08/2009. The grant supported research on control of nano-scale thermal transport. This is part of a three year continuing research collaboration. Short term research scholarship at Texas Tech University from 05/05/2007 to 07/07/2007. The grant supported research on control of nano-scale thermal transport. This is part of a three year continuing research collaboration. One of the five finalists for the best student paper award at the 2004 American Control Conference in Boston, MA. Paper title: D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, An Intrinsic Observer for a Class of Simple Mechanical Systems on Lie Groups, Spring 2002 Best professor award given by the Pi Tau Zigma society of the Texas Tech University, USA. Central Power and Light scholarship, Dept. of Mechanical Engineering, Texas Tech University, Fall Second best research paper award, Unversity of Peradeniya annual research sessions, 1997.

4 Publications Refereed Journal Articles 1. A. Nayak, R. N. Banavara, and D. H. S. Maithripala, Almost-global tracking for a rigid body with internal rotors, European Journal of Control, Available online 28 February T. W. U. Madhushani, D. H. S. Maithripala, J. V. Wijayakulasooriya, and Jordan M. Berg, Semi-globally Exponential Trajectory Tracking for a Class of Spherical Robots, Automatica, 85, , D. H. S. Maithripala and Jordan M. Berg, An intrinsic PID controller for mechanical systems on Lie groups, Automatica, vol 54, Jordan M. Berg, D. H. S. Maithripala, Qing Hui, Wassim M. Haddad. Thermodynamics-Based Control of Network Systems, ASME journal of Dynamical Systems Measurement and Control, vol 135, No. 5, , May 21, D. H. A. Maithripala, D. H. S. Maithripala, and S. Jayasuriya, Unifying Geometric Approach to Dynamically Feasible, Real-time Formation Control, ASME journal of Dynamical Systems Measurement and Control, vol 133, No. 2, , March N. Stojanovic, D. H. S. Maithripala, J. M. Berg, and M. Holtz, Thermal conductivity in metallic nanostructures at high temperature: Electrons, phonons, and the Wiedemann-Franz law, Physical Review B, vol. 82, , N. Stojanovic, J. M. Berg, D. H. S. Maithripala, and M. Holtz, A Microelectrothermal Bridge Circuit with Associated Algorithm for Direct Measurement of Thermal Conductivity. IEEE/ASME journal of Microelectromechanical Systems, vol. 19, No. 2, pp , N. Stojanovic, J. M. Berg, D. H. S. Maithripala, and M. Holtz, Direct measurement of thermal conductivity of aluminum nanowires, Applied Physics Letters, vol. 95, , Nenad Stojanovic,, D. H. S. Maithripala, Jordan M. Berg, Mark Holtz Direct Study of the Thermal Conductivity in Aluminum Nanowires, MRS Proceedings, Volume 1221, I. P. M. Wickramasinghe, D. H. S. Maithripala, B. D. Kawade, J. M. Berg, and W. P. Dayawansa, Passivity-Based Control of a 1-DOF Electrostatic MEMS Model with a Parasitic Capacitance, IEEE transactions on Control Systems Technology, Vol. 17, No. 1, pp , January D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, Almost- Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups, Trans. of the IEEE journal on Automatic Control, 51(1), pp , Jan

5 12. D. H. S. Maithripala, B. D. Kawade, J. M. Berg, and W. P. Dayawansa, A General Modeling and Control Framework for Electrostatically-Actuated Mechanical Systems, International Journal of Robust and Nonlinear Control, Special Issue on Control at the Nanoscale, Vol. 15, pp , published online 15 September D. H. S. Maithripala, W. P. Dayawansa and Jordan M. Berg, Intrinsic Observer-Based Stabilization For Simple Mechanical Systems on Lie Groups, SIAM Journal on Optimization and Control, Vol 44, No 5, pp , published online 22 November D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, Control of an Electrostatic MEMS Using Static and Dynamic Output Feedback, ASME Journal of Dynamical Systems Measurement and Control, Vol 127, pp , D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, Loss of Structurally Stable Regulation Implies Loss of Stability, Trans. of the IEEE journal on Automatic Control, 48(3), ppg , S. Ekwaro-Osire, D. H. S. Maithripala and J. M. Berg, A Series Expansion Approach to Interpreting the Spectra of the Timoshenko Beam, Journal of Sound and Vibration, 240(4), ppg , D. H. S. Maithripala and K. S. Walgama, Tunable AWC s for PID Controllers, The Journal of the Institute of Engineers Sri Lanka, April Edited Book Chapters 1. R. Palamakumbura, D. H. S. Maithripala, J. M berg, and M. Holtz. Feedback Stabilization of Solitons and Phonons using the Controlled Lax Form, W. P. Dayawansa memorial Volume on Emergent Problems in Nonlinear Systems and Control, Lecture Notes in Control and Information Sciences, vol 393/2009, pp , Springer-Verlag, eds. Ghosh, Bijoy; Martin, Clyde F.; Zhou, Yishao, D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, A Coordinate- Free Approach to Tracking for Simple Mechanical Systems On Lie Groups, Lecture Notes in Control and Information Sciences, pp , Springer- Verlag, eds. W. P. Dayawansa, A. Lindquist, Y. Zhou, Refereed Conference Proceedings 1. W. M. L. T. Weerakoon, T. W. U. Madhushani, D. H. S. Maithripala, and Jordan M. Berg, Feedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model, To appear in the Proceedings of the American Control Conference, Milwaukee Wisconsin, USA, June 27-29, T. W. U. Madhushani, D. H. S. Maithripala, and Jordan M. Berg, Feedback Regularization and Geometric PID Control for Trajectory Tracking of Coupled Mechanical Systems: Hoop Robots on an Inclined Plane, Proceedings of the American Control Conference, Seattle WA, USA, June 24-26, 2017.

6 3. W. M. L. T. Weerakoon, D. H. S. Maithripala, and J. M. Berg, Feedback regularization based PD controller for a planar three-link biped robot, 2017 IEEE 12th International Conference on Industrial and Information Systems (ICIIS), Kandy Sri Lanka, Dec I. D. Basnayake, T. W. U. Madhushani, and D. H. S. Maithripala, Intrinsic PID controller for a segway type mobile robot, 2017 IEEE 12th International Conference on Industrial and Information Systems (ICIIS), Kandy Sri Lanka, Dec K. B. Tennakoon, T. W. U. Madhushani, D. H. S. Maithripala, and J. V. Wijayakulasooriya, Multi-armed bandit based approach for performance enhancement of window intensity test(wit) detector, 2017 IEEE 12th International Conference on Industrial and Information Systems (ICIIS), Kandy Sri Lanka, Dec T. W. U. Madhushani, D. H. S. Maithripala, and T. W. U. Madhushani, WIT: Window Intensity Test Detector and Descriptor, 2016 IEEE 11th International Conference on Industrial and Information Systems (ICIIS), Rorkee India, Dec J. A. A. S. Somasiri, K. G. B. Gamagedara, D. H. S. Maithripala, Implementation of an Almost Globally Stable Intrinsic Nonlinear PID Controller for Attitude Stabilization of a Quadrotor, 2015 IEEE 10th International Conference on Industrial and Information Systems (ICIIS), Kandy Sri Lanka, 17 Dec - 20 Dec Sanka Liyanage A.L.M., Berg J.M., Ren B., Maithripala D.H.S., Intrinsic UDE control of mechanical systems on SO(3), 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp , Busan Korea, 7-11 July D. H. S. Maithripala, J. M. Berg, An intrinsic robust pid controller on lie groups, Proceedings of the 53rd IEEE Conference on Decision and Control, Los Angeles, CA, Dec , D. H. S. Maithripala, J. M. Berg, Geometric pid control for almost-global stabilization of a quadrotor with parameter error and constant disturbances Proceedings of the Dynamic Systems and Control Conference, San Antonio, TX, Oct D. H. S. Maithripala and Jordan M. Berg, Robust Tracking Control for Underactuated Autonomous Vehicles Using Feedback Linearization, Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, JULY 8-11, BESANĆON, FRANCE, D. H. S. Maithripala, Jordan M. Berg, D. H. A. Maithripala, and S. Jayasuriya, A Geometric Virtual Structure Approach to Decentralized Formation Control, Proceedings of the American Control Conference, Portland, USA, June 4-6, R. Palamakumbura, D. H. S. Maithripala, and C. F. Martin, Minimum Jerk Trajectory Generation for Mobile Robots, Proceedings of the IEEE,

7 Eighth International Conference on Industrial and Information Systems, Dec , Peradeniya, Sri Lanka, D. H. S. Maithripala, Jordan M. Berg, D. H. A. Maithripala, and S. Jayasuriya, Control of Rigid Formations Subject to Nonholonomic Dynamics Constraints and Velocity Bounds, Proceedings of the IEEE, Eighth International Conference on Industrial and Information Systems Dec , Peradeniya, Sri Lanka, Jordan M. Berg, D. H. S. Maithripala, Qing Hui, Wassim M. Haddad. Thermodynamics-Based Network Systems Control by Thermal Analogy, Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii, Dec , Nenad Stojanovic, Jordan M. Berg, D. H. S. Maithripala, Mark Holtz, Microelectrothermal Bridge Circuit for Thermal Conductivity Measurement of Metallic and Semiconducting Nanowires, Proceedings of the ASME 3rd Annual Dynamic Systems and Control Conference, Boston, MA, Sept Nenad Stojanovic, Jordan M. Berg, Mark Holtz, D. H. S. Maithripala Least-Squares Parameter Estimation Algorithm for a Microelectrothermal Bridge Circuit, Proceedings of the American Control Conference, Baltimore, MD, June 30-July 2, D. H. A. Maithripala, D. H. S. Maithripala, and S. Jayasuriya, Unifying Geometric Approach to Real-time Formation Control, Proceedings of the American Control Conference, Seattle, Washington June 11-13, D. H. S. Maithripala, B. D. Kawade, I. P. M. Wickramasinghe, J. M. Berg, and W. P. Dayawansa, Equilibrium Structure of a 1-DOF Electrostatic MEMS Model with Parasitics, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Seattle, Washington, Nov Jordan M. Berg, D. H. S. Maithripala, B. D. Kawade, and W. P. Dayawansa, Passivity-Based Control of Electrostatic MEMS in the Presence of Parasitics, Proceedings of the Conference on Decision and Control, December 13-15, 2006, San Diego, California. 21. D. H. S. Maithripala, B. D. Kawade, I. P. M. Wickramasinghe, J. M. Berg, and W. P. Dayawansa, A Passivity-Based Controller for an Electrostatic MEMS Model in the Presence of Parasitics, Proceedings of the IEEE International Conference on Information and Automation, August, 2007, Peradeniya, Sri Lanka. 22. R. Palamakumbura, D. H. S. Maithripala, M. Holtz, J. M. Berg, and W. P. Dayawansa, Induced Thermal Transport in the Toda Lattice Using Localized Passive Control, Proceedings of the IEEE International Conference on Information and Automation, August 15-18, 2006, Peradeniya, Sri Lanka.

8 23. R. Palamakumbura, D. H. S. Maithripala, W. P. Dayawansa, and H. Inaba, Stabilization of Travelling Pulses in Actuator Arrays, Proceedings of the IEEE International Conference on Information and Automation, December 15-18, 2005, Colombo, Sri Lanka. 24. Jordan M. Berg, D. H. S. Maithripala, B. D. Kawade, and W. P. Dayawansa, Integrated Modeling and Control of Electrostatic MEMS, Part I: Modeling, Proceedings of the IEEE International Conference on Information and Automation, December 15-18, 2005, Colombo, Sri Lanka. 25. D. H. S. Maithripala, B. D. Kawade, Jordan M. Berg and W. P. Dayawansa, Integrated Modeling and Control of Electrostatic MEMS, Part II: Control, Proceedings of the IEEE International Conference on Information and Automation, December 15-18, 2005, Colombo, Sri Lanka. 26. D. H. S. Maithripala, B. D. Kawade, Jordan M. Berg and W. P. Dayawansa, A General Geometric Framework for Control of Electrostatically-actuated MEMS and NEMS, Proc. of the ASME International Mechanical Engineering Congress and Exposition, Orlando, FL, D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, State and Configuration Feedback for Almost Global Tracking of Simple Mechanical Systems on a General Class of Lie Groups, Proceedings of the American Control Conference, Portland, Oregon, R. Palamakumbura, D. H. S. Maithripala, W. P. Dayawansa, and H. Inaba, Control of Travelling Pulses in MEMS arrays: Numerical Evidence of Practical Asymptotic Stabilization, Proceedings of the American Control Conference, Portland, Oregon, B. D. Kawade, Jordan M. Berg, D. H. S. Maithripala, and W. P. Dayawansa, Advanced Finite Element Simulation of Control Laws for Electrostatic MEMS, VII International conference on micro electro mechanical systems, El-Paso, Texas, September 21-22, 2005,. 30. R. C. Anderson, B. D. Kawade, K. Ragulan, D. H. S. Maithripala, Jordan M. Berg, R. O. Gale and W. P. Dayawansa, Integrated Charge and Position Sensing for Feedback Control of Electrostatic MEMS, Proceedings of the SPIE conference on Smart Structures and Materials 2005: Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems, San Diego, 6-10 March D. H. S. Maithripala Jordan M. Berg and W. P. Dayawansa, An Intrinsic Observer for a Class of Simple Mechanical Systems on Lie Groups, Proc. of the American Control Conference, Boston, MA, pp , D. H. S. Maithripala Jordan M. Berg and W. P. Dayawansa, Nonlinear Dynamic Output Feedback Stabilization of Electrostatically Actuated MEMS. Proc. of the Conference on Decision and Control, Maui, Hawaii, pp , D. H. S. Maithripala, R. O. Gale,, M. W. Holtz, Jordan M. Berg and W. P. Dayawansa, Nano-precision Control of Micromirrors using Output Feedback. Proc. of the Conference on Decision and Control, Maui, Hawaii, pp , 2003.

9 34. D. H. S. Maithripala Jordan M. Berg and W. P. Dayawansa, A Virtual Velocity Sensor for Improved Transient Performance of Electrostatically- Actuated MEMS, Proc. of the ASME International Mechanical Engineering Congress and Exposition, Washington, DC, D. H. S. Maithripala Jordan M. Berg and W. P. Dayawansa, A Port Controlled Hamiltonian Approach to Stabilization of an Electrostatic Actuator, Proc. of the ASME International Mechanical Engineering Congress and Exposition, Washington, DC, D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, Capacitive Stabilization of an Electrostatic Actuator: An Output Feedback Viewpoint, Proc. of the American Control Conference, Denver, CO, D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, Loss of Structurally Stable Regulation Implies Loss of Stability, Proc. of the American Control Conference, Anchorage, AK, D. H. S. Maithripala, Jordan M. Berg and W. P. Dayawansa, Parameter Space submanifolds Limiting Structurally Stable Regulation, Proc. of the American Control Conference, Anchorage, AK, Other International Abstracts 1. Nenad Stojanovic, Jordan M. Berg, D. H. S. Maithripala, and Mark Holtz, Thermal Conductivity of Metallic Nanowires near Room Temperature, Bulletin of the American Physical Society, APS March Meeting 2011, Vol. 56, No. 1, Dallas, TX, March Workshop Presentations Research: What? Why? and the Scientific Method, Workshop on EN- GINEERS You Can Do Research? LEARN HOW, IESL Auditorium Colombo, Sri Lanka, 16th Aug., The need for an Innovative research culture, Workshop on Research and Development and Innovation: Promoting Collaboration, Technology Transfer and Commercialization for National Development, National Engineering Research and Development (NERD) Center of Sri Lanka, 16th Aug, Peradeniya, Industry and university research collaboration, Workshop on Research Development and Innovation, University of Vocational Technology, 22nd March, Peradeniya, Sri Lanka, Industry and university research collaboration, Workshop on Research Development and Innovation?, Faculty of Engineering, University of Jaffna, Sri Lanka, 15th May, Mechanics, Modeling and Simulation of Robotic Behavior, Workshop on Industrial Mobile Robots, 6th International Conference on Industrial and Information Systems, 16th Aug, Peradeniya, Sri Lanka, 2011.

10 Modeling and Control of Electrostatically-Actuated Microsystems: A Passivity Based Approach, Workshop on Micro Electro Mechanical Systems, 4th International Conference on Industrial and Information Systems, 28th Dec, Peradeniya, Sri Lanka, Heat Transport at the Nanoscale, Workshop on Nanoscience and Nanotechnology: Some possibilities for research in Sri-Lanka, organized by the PGIS, 23rd Dec 2009 at the PGIS Auditorium, Peradeniya, Kandy, Sri Lanka. An Overview of Nanoscale Thermal Transport, Workshop on Exploring Opportunities in Nanoscience and Nanotechnology, jointly organized by the PGIS and the IESL, from the 2nd June to the 6th June 2008 at the Hotel Topaz, Kandy, Sri Lanka. Why Nanotechnology? and How? Techno 2007 Symposium on Nanotechnology for sustainable development, jointly organized by the IESL and the NSF, on the 16th of October 2007 at the BMICH, Colombo, Sri Lanka. Professional Activities Joint coordinator of the workshop on Nanoscience and Nanotechnology: Some possibilities for research in Sri-Lanka, organized by the PGIS, 23rd Dec 2009 at the PGIS Auditorium, Peradeniya, Kandy. Joint Editor of the Proceedings of the conference on Advances in continuum mechanics, materials science, nanoscience and nanotechnology: Dedicated to Professor M.P. Ranaweera, September, Joint coordinator of the five day workshop on Exploring Opportunities in Nanoscience and Nanotechnology, jointly organized by the PGIS and the IESL, from the 2nd June to the 6th June 2008 at the Hotel Topaz, Kandy. Technical session organizer of the Techno 2007 Symposium on Nanotechnology for sustainable development, jointly organized by the IESL and the NSF, on the 16th of October 2007 at the BMICH. Faculty Representative to the senate, University of Peradeniya, 2017 to date Department Representative to the Faculty Academic Development and Planning Committee, Faculty of Engineering, University of Peradeniya, 2017 to date Member of the Board of Studies for Faculty of Graduate Studies, University of Jaffna, 2015 to date Student Counsellor, Faculty of Engineering, University of Peradeniya, Student Counsellor, Faculty of Engineering, University of Peradeniya,

11 Secretary, Engineering Faculty Teachers Union, University of Peradeniya, to 2009, Student Counsellor, Faculty of Engineering, University of Ruhuna. 2006/2007 Senior Treasurer ESU, Faculty of Engineering, University of Ruhuna. 2007/2008 Senior Treasurer Mechanical and Manufacturing Engineering Society, Faculty of Engineering, University of Ruhuna. Version September 27, 2018