Design of a Reconfigurable Wall Disinfection Robot
Autor: | S. M. Bhagya P. Samarakoon, M. A. Viraj J. Muthugala, Mohan Rajesh Elara, Ash Wan Yaw Sang, Chee Gen Moo |
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Rok vydání: | 2021 |
Předmět: |
Fuzzy logic system
2019-20 coronavirus outbreak Coronavirus disease 2019 (COVID-19) Computer science Severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) TP1-1185 Biochemistry Fuzzy logic Article Analytical Chemistry Fuzzy Logic wall following Humans Electrical and Electronic Engineering Instrumentation business.industry SARS-CoV-2 Chemical technology reconfigurable robotics COVID-19 Control engineering Robotics Atomic and Molecular Physics and Optics Disinfection Test case wall cleaning Robot cleaning robotics Artificial intelligence business |
Zdroj: | Sensors (Basel, Switzerland) Sensors, Vol 21, Iss 6096, p 6096 (2021) Sensors Volume 21 Issue 18 |
ISSN: | 1424-8220 |
Popis: | During a viral outbreak, such as COVID-19, autonomously operated robots are in high demand. Robots effectively improve the environmental concerns of contaminated surfaces in public spaces, such as airports, public transport areas and hospitals, that are considered high-risk areas. Indoor spaces walls made up most of the indoor areas in these public spaces and can be easily contaminated. Wall cleaning and disinfection processes are therefore critical for managing and mitigating the spread of viruses. Consequently, wall cleaning robots are preferred to address the demands. A wall cleaning robot needs to maintain a close and consistent distance away from a given wall during cleaning and disinfection processes. In this paper, a reconfigurable wall cleaning robot with autonomous wall following ability is proposed. The robot platform, Wasp, possess inter-reconfigurability, which enables it to be physically reconfigured into a wall-cleaning robot. The wall following ability has been implemented using a Fuzzy Logic System (FLS). The design of the robot and the FLS are presented in the paper. The platform and the FLS are tested and validated in several test cases. The experimental outcomes validate the real-world applicability of the proposed wall following method for a wall cleaning robot. |
Databáze: | OpenAIRE |
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