Paper Info
Title
Design and Map-based Teleoperation of a Robot for Disinfection of COVID-19 in Complex Indoor Environments
Abstract
This paper presents the design and map-based teleoperation of a robot with ultraviolet-C (UVC) lamps that disinfects the COVID-19 virus in complex indoor environments. To disinfect a wide range of surfaces, the robot has an arm with six degrees-of-freedom in addition to a wheeled platform. The wheeled platform attaches tube lamps on each side and underneath in the orientation perpendicular to the moving direction, and the robot arm has a spot UVC lamp at its end-effector. A method for projecting surface dosage using light properties is proposed and validated using the sensor measurements from the robotic system. A technique for creating a disinfection map is presented to prove surface disinfection of the environment in three-dimensional space. The developed robot was tested in an indoor environment with typical structures. Experimental results demonstrate accurate disinfection map creation.
Year
DOI
Venue
2020
10.1109/SSRR50563.2020.9292625
2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Keywords
DocType
ISSN
developed robot,indoor environment,accurate disinfection map creation,complex indoor environments,map-based teleoperation,ultraviolet-C lamps,COVID-19 virus,wheeled platform attaches tube lamps,robot arm,spot UVC lamp,surface dosage,robotic system,surface disinfection
Conference
2374-3247
ISBN
Citations 
PageRank 
978-1-6654-0391-7
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Dean Conte100.34
Spencer Leamy200.34
Tomonari Furukawa301.01