Far-UVC Disinfection with Robotic Mobile Manipulator
2022 International Symposium on Medical Robotics, ISMR 2022
; 2022.
Article
in English
| Scopus | ID: covidwho-1961403
ABSTRACT
The COVID-19 pandemic has demonstrated the need for a more effective and efficient disinfection approach to combat infectious diseases. Ultraviolet germicidal irradiation (UVGI) is a proven mean for disinfection and sterilization and has been integrated into handheld devices and autonomous mobile robots. Existing UVGI robots which are commonly equipped with uncovered lamps that emit intense ultraviolet radiation suffer from inability to be used in human presence, shadowing of objects, and long disinfection time. These robots also have a high operational cost. This paper introduces a cost effective germicidal system that utilizes UVGI to disinfect pathogens, such as viruses, bacteria, and fungi, on high contact surfaces (e.g. doors and tables). This system is composed of a team of 5-DOF mobile manipulators with end-effectors that are equipped with far-UVC excimer lamps. The design of the system is discussed with emphasis on path planning, coverage planning, and scene understanding. Evaluations of the UVGI system using simulations and irradiance models are also included. Please see the project's website for videos and simulations of the robot.1 © 2022 IEEE.
Autonomous Disinfection; Disinfection Robot; UV Disinfection; Cost effectiveness; Disinfection; Lighting; Manipulators; Motion planning; Viruses; Autonomous Mobile Robot; Cost effective; Disinfection approach; Hand held device; Infectious disease; Mobile manipulator; Ultraviolet germicidal irradiations; Robots
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Databases of international organizations
Database:
Scopus
Language:
English
Journal:
2022 International Symposium on Medical Robotics, ISMR 2022
Year:
2022
Document Type:
Article
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