Alan G. Sanchez
ABSTRACT
Ultraviolet-C (UV-C) robot irradiation is a promising approach for disinfecting surfaces contaminated by pathogens in healthcare settings. However, limitations exist with current UV disinfection robots, including coverage for complex surface geometries. This research presents a system for human-guided robotic UV disinfection that uses empirical sensor measurements rather than relying on high-accurate models for UV map coverage. Human guidance is integrated into the methodology to enhance disinfection, aiding in addressing complex shaped objects and topologies. Further, a validation test confirmed that our estimation approach reliably underestimates the UV exposure, which is beneficial for ensuring thorough disinfection. Initial pilot studies demonstrated that while autonomous disinfection was effective for simple objects like tabletops, human-guided disinfection, especially with feedback, improved coverage and speed for complex shapes like mugs. Combining human intuition with autonomy shows promise for enhancing robotic disinfection effectiveness.
Supplemental Material
- Moez Guettari, Ines Gharbi, and Samir Hamza. 2021. UVC disinfection robot. Environmental Science and Pollution Research, Vol. 28 (2021), 40394--40399.Google Scholar
Cross Ref
- Intel Corporation. 2023. The Intel RealSense D435. https://www.intelrealsense.com/depth-camera-d435/.Google Scholar
- Irfan Tito Kurniawan and Widyawardana Adiprawita. 2021. A method of ultraviolet-C surface irradiation simulation and evaluation. In 2021 International Symposium on Electronics and Smart Devices (ISESD). IEEE, 1--5.Google ScholarCross Ref
- Joao Marcos Correia Marques, Ramya Ramalingam, Zherong Pan, and Kris Hauser. 2021. Optimized coverage planning for UV surface disinfection. In 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 9731--9737.Google ScholarDigital Library
- Ishaan Mehta, Hao-Ya Hsueh, Sharareh Taghipour, Wenbin Li, and Sajad Saeedi. 2022. UV disinfection robots: a review. Robotics and Autonomous Systems (2022), 104332.Google Scholar
- Nikita Mikhailovskiy, Alexander Sedunin, Stepan Perminov, Ivan Kalinov, and Dzmitry Tsetserukou. 2021. Ultrabot: Autonomous mobile robot for indoor uv-c disinfection with non-trivial shape of disinfection zone. In 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). IEEE, 1--7.Google ScholarDigital Library
- Devin Mills, Delbert A Harnish, Caryn Lawrence, Megan Sandoval-Powers, and Brian K Heimbuch. 2018. Ultraviolet germicidal irradiation of influenza-contaminated N95 filtering facepiece respirators. American journal of infection control, Vol. 46, 7 (2018), e49--e55.Google Scholar
- JA Otter, C Donskey, S Yezli, S Douthwaite, SDea Goldenberg, and DJ Weber. 2016. Transmission of SARS and MERS coronaviruses and influenza virus in healthcare settings: the possible role of dry surface contamination. Journal of Hospital Infection, Vol. 92, 3 (2016), 235--250.Google ScholarCross Ref
- Jonathan A Otter, Saber Yezli, and Gary L French. 2011. The role played by contaminated surfaces in the transmission of nosocomial pathogens. Infection Control & Hospital Epidemiology, Vol. 32, 7 (2011), 687--699.Google ScholarCross Ref
- Jonathan A Otter, Saber Yezli, James AG Salkeld, and Gary L French. 2013. Evidence that contaminated surfaces contribute to the transmission of hospital pathogens and an overview of strategies to address contaminated surfaces in hospital settings. American journal of infection control, Vol. 41, 5 (2013), S6--S11.Google Scholar
- Alyssa Pierson, John W Romanishin, Hunter Hansen, Leonardo Zamora Ya nez, and Daniela Rus. 2021. Designing and deploying a mobile UVC disinfection robot. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 6700--6707.Google ScholarDigital Library
- Thomas Rubaek, Merima Cikotic, and Simon Falden. 2016. Evaluation of the UV-disinfection robot. Blue Ocean Robotics (2016).Google Scholar
- Alan G Sanchez and William D Smart. 2021. A Shared Autonomy Surface Disinfection System Using a Mobile Manipulator Robot. In 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE, 176--183.Google ScholarDigital Library
- Luca Tiseni, Domenico Chiaradi, Massimiliano Gabardi, Massimiliano Solazzi, Daniele Leonardis, and Antonio Frisoli. 2021. UV-C Mobile Robots With Optimized Path Planning. Robotics & Automation Magazine, Vol. 28, 1 (2021), 59--70.Google ScholarCross Ref
- Melonee Wise, Michael Ferguson, Derek King, Eric Diehr, and David Dymesich. 2016. Fetch and freight: Standard platforms for service robot applications. In Workshop on autonomous mobile service robots.Google Scholar
- World Health Organization. 2015. Ebola Situation Report. https://apps.who.int/ebola/current-situation/ebola-situation-report-4-november-2015Google Scholar
- ZebraDevs. 2023. fetch_ros: Fetch Robotics ROS Package. https://github.com/ZebraDevs/fetch_ros.Google Scholar
Index Terms
- More Effective Robotic UV Disinfection of Objects Through Human Guidance
Recommendations
UV Disinfection Robots: A Review
AbstractThe novel coronavirus (COVID-19) pandemic has completely changed our lives and how we interact with the world. The pandemic has brought about a pressing need to have effective disinfection practices that can be incorporated into daily life. They ...
Highlights- The COVID-19 pandemic has prompted renewal in disinfection strategies.
- A comprehensive introduction on UV disinfection and UV robots is presented.
- UV disinfection has shown to offer consistent and efficient disinfection.
- UV ...
Studies on Liposome-encapsulated-chemical Actinometer in UV-disinfection by Low Pressure UV Lamp: Bio-chemical Actinometer in UV-Disinfection
ICBEB '12: Proceedings of the 2012 International Conference on Biomedical Engineering and BiotechnologyA liposome-encapsulated lodide-lodate chemical actinometer has been synthesized to monitor the inactive microorganisms damaged by UV disinfection. Relationship between bio-dosimeter and liposome-encapsulated lodide-lodate chemical actinometer under low ...
Development of Autonomous UVC Disinfectant Robot
Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. AI, Product and ServiceAbstractSurfaces contaminated with SARS-CoV-2 or other such viruses pose a grave threat to the safety of individuals. Mobile robots mounted with ultraviolet (UV) light attachments are ideal for disinfecting hospital rooms, shopping centers and other ...
Comments