Surface Disinfection using Ultraviolet Lightwith a Mobile Manipulation Robot

by   Alan G. Sanchez, et al.

Robots are being increasingly used in the fight against highly-infectious diseases such as Ebola, MERS, and SARS-COV-2. Many of the robots that are being used employ ultraviolet lights mounted on a mobile base to inactivate the pathogens. However, these lights are often mounted in a fixed configuration and do not provide adequate decontamination of horizontal surfaces, which can be a major source of cross-contamination. In the paper, we describe the design, implementation, and testing of an Ultraviolet Germicidal Irradiation (UVGI) system implemented on a mobile manipulation robot. A human supervisor designates a surface for disinfection, the robot autonomously plans and executes an end-effector trajectory to disinfect the surface to the required certainty, and then displays the results for the human supervisor to verify. We also provide some background information on UVGI and describe how we constructed and validated mathematical models of Ultraviolet (UV) radiation propagation and accumulation. Finally, we describe our implementation on a Fetch mobile manipulation platform, and discuss how the practicalities of implementation on a real robot affect our models.



There are no comments yet.


page 2

page 3

page 4

page 5

page 6


Kineverse: A Symbolic Articulation Model Framework for Model-Generic Software for Mobile Manipulation

Human developers want to program robots using abstract instructions, suc...

Towards Optimized Distributed Multi-Robot Printing: An Algorithmic Approach

This paper presents a distributed multi-robot printing method which util...

Leveraging Touch Sensors to Improve Mobile Manipulation

Despite many advances in service robotics, successful and secure object ...

3D printed cable-driven continuum robots with generally routed cables: modeling and experiments

Continuum robots are becoming increasingly popular for applications whic...

The Robot Household Marathon Experiment

In this paper, we present an experiment, designed to investigate and eva...

Guidance, Navigation and Control of Asteroid Mobile Imager and Geologic Observer (AMIGO)

The science and origins of asteroids is deemed high priority in the Plan...

ResQbot: A Mobile Rescue Robot with Immersive Teleperception for Casualty Extraction

In this work, we propose a novel mobile rescue robot equipped with an im...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.