Autonomous dirt detection for cleaning in office environments

Bormann, Richard; Weißhardt, Florian; Arbeiter, Georg; Fischer, Jan

doi:10.1109/icra.2013.6630733

Cited by 21 publications

(29 citation statements)

References 9 publications

(13 reference statements)

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“…Boeing is also exploring a prototype self‐sanitizing lavatory that uses ultraviolet light to kill 99.99% of pathogens (Boeing, ). At the same time, robotic systems for dirt detection and autonomous cleaning of contaminated surfaces (Bormann, Weisshardt, Arbeiter, & Fischer, ) and smart touch‐free hand‐washing systems (Smixin, ) are promising tools on the evolution of cleaning technologies.…”

Section: Discussionmentioning

confidence: 99%

Hand‐Hygiene Mitigation Strategies Against Global Disease Spreading through the Air Transportation Network

et al. 2019

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The risk for a global transmission of flu-type viruses is strengthened by the physical contact between humans and accelerated through individual mobility patterns. The Air Transportation System plays a critical role in such transmissions because it is responsible for fast and long-range human travel, while its building components-the airports-are crowded, confined areas with usually poor hygiene. Centers for Disease Control and Prevention (CDC) and World Health Organization (WHO) consider hand hygiene as the most efficient and cost-effective way to limit disease propagation. Results from clinical studies reveal the effect of hand washing on individual transmissibility of infectious diseases. However, its potential as a mitigation strategy against the global risk for a pandemic has not been fully explored. Here, we use epidemiological modeling and data-driven simulations to elucidate the role of individual engagement with hand hygiene inside airports in conjunction with human travel on the global spread of epidemics. We find that, by increasing travelers engagement with hand hygiene at all airports, a potential pandemic can be inhibited by 24% to 69%. In addition, we identify 10 airports at the core of a cost-optimal deployment of the hand-washing mitigation strategy. Increasing hand-washing rate at only those 10 influential locations, the risk of a pandemic could potentially drop by up to 37%. Our results provide evidence for the effectiveness of hand hygiene in airports on the global spread of infections that could shape the way public-health policy is implemented with respect to the overall objective of mitigating potential population health crises.

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Section: Discussionmentioning

confidence: 99%

Hand‐Hygiene Mitigation Strategies Against Global Disease Spreading through the Air Transportation Network

et al. 2019

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“…Boeing is also exploring a prototype self-sanitizing lavatory that uses ultraviolet light to kill 99.99% of pathogens 48 . At the same time, robotic systems for dirt detection and autonomous cleaning of contaminated surfaces 49 and smart touch-free hand washing systems 50 are promising tools on the evolution of cleaning technologies.…”

Section: Discussionmentioning

confidence: 99%

Hand-hygiene mitigation strategies against global disease spreading through the air transportation network

Nicolaides

Avraam

Cueto‐Felgueroso

et al. 2019

Preprint

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Hand hygiene is considered as an efficient and cost-effective way to limit the spread of diseases and, as such, it is recommended by both the World Health Organization (WHO) and the Centres for Disease Control and Prevention (CDC). While the effect of hand washing on individual transmissibility of a disease has been studied through medical and public-health research, its potential as a mitigation strategy against a global pandemic has not been fully explored yet. In this study, we investigate contagion dynamics through the world air transportation network and analyze the impact of hand-hygiene behavioural changes of airport population against the spread of infectious diseases worldwide. Using a granular dataset of the world air transportation traffic, we build a detailed individual mobility model that controls for the correlated and recurrent nature of human travel and the waiting-time distributions of individuals at different locations. We perform a Monte-Carlo simulation study to assess the impact of different hand-washing mitigation strategies at the early stages of a global epidemic. From the simulation results we find that increasing the hand cleanliness homogeneously at all airports in the world can inhibit the impact of a potential pandemic by 24 to 69%. By quantifying and ranking the contribution of the different airports to the mitigation of an epidemic outbreak, we identify ten key airports at the core of a cost-optimal deployment of the hand-washing strategy: increasing the engagement rate at those locations alone could potentially reduce a world pandemic by 8 to 37%. This research provides evidence of the effectiveness of hand hygiene in airports on the global spread of infectious diseases, and has important implications for the way public-health policymakers may design new effective strategies to enhance hand hygiene in airports through behavioral changes.All rights reserved. No reuse allowed without permission.The copyright holder for this preprint (which was not peer-reviewed) is the author/funder. . https://doi.org/10.1101/530618 doi: bioRxiv preprint continents 5, 6 . The H1N1 flu, which caused around 300,000 deaths worldwide 7 , had a similar timeline. The first confirmed case of H1N1 was reported in Veracruz, Mexico on April 2009, while within few days the infection migrated to the US and Europe, and two months later the World Health Organisation (WHO) and the Centers for Disease Control and Prevention (CDC) declared the disease as a global pandemic.Bacteria, pathogens and viruses are also transmitted easily at airports or during flights, causing infections and bacterial diseases that can expand to global epidemics. The pathogens are transmitted through the air 8 , resulting in the contagion of airborne diseases, or through physical contact between individuals. The transmission is accelerated when a dense population of people is concentrated in a confined area 9 like an airport, with lack of good hygiene and efficient air ventilation. After an outbreak, infections diffuse while infected individ...

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“…Bormann et al (2013) developed an autonomous dirt detection system, but they do not tackle the problem of cleaning. Hess et al (2011) formulate a table cleaning problem as a Markov Decision Process (MDP).…”

Section: Previous Workmentioning

confidence: 99%

Planning robot manipulation to clean planar surfaces

Martínez

Alenyà

Torras

2015

Engineering Applications of Artificial Intelligence

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This paper presents a new approach to plan high-level manipulation actions for cleaning surfaces in household environments, like removing dirt from a table using a rag. Dragging actions can change the distribution of dirt in an unpredictable manner, and thus the planning becomes challenging. We propose to define the problem using explicitly uncertain actions, and then plan the most effective sequence of actions in terms of time. However, some issues have to be tackled to plan efficiently with stochastic actions. States become hard to predict after executing a few actions, so replanning every few actions with newer perceptions gives the best results, and the trade-off between planning time and plan quality is also important. Finally a learner is integrated to provide adaptation to changes, such as different rag grasps, robots, or cleaning surfaces.We demonstrate experimentally, using two different robot platforms, that planning is more advantageous than simple reactive strategies for accomplishing complex tasks, while still providing a similar performance for easy tasks. We also performed experiments where the rag grasp was changed, and thus the behaviour of the dragging actions, showing that the learning capabilities allow the robot to double its performance with a new rag grasp after a few cleaning iterations.

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Autonomous dirt detection for cleaning in office environments

Cited by 21 publications

References 9 publications

Hand‐Hygiene Mitigation Strategies Against Global Disease Spreading through the Air Transportation Network

Hand‐Hygiene Mitigation Strategies Against Global Disease Spreading through the Air Transportation Network

Hand-hygiene mitigation strategies against global disease spreading through the air transportation network

Planning robot manipulation to clean planar surfaces

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