Wall-Following Behavior for a Disinfection Robot Using Type 1 and Type 2 Fuzzy Logic Systems

Muthugala, M. A. Viraj J.; Samarakoon, S. M. Bhagya P.; Rayguru, Madan Mohan; Ramalingam, Balakrishnan; Elara, Mohan Rajesh

doi:10.3390/s20164445

Cited by 20 publications

(9 citation statements)

References 54 publications

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“…In [141] , [142] , the authors proposed a Type 1 and Type 2 Fuzzy Logic-based disinfecting robot with wall following behaviours that can operate in complex and uncertain environments. Disinfection drones have also been deployed by many companies.…”

Section: Robotics and Ai Technologies In Covid-19 Healthcarementioning

confidence: 99%

Robotics and artificial intelligence in healthcare during COVID-19 pandemic: A systematic review

Sarker

Jamal

Ahmed

et al. 2021

Robotics and Autonomous Systems

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The outbreak of the COVID-19 pandemic is unarguably the biggest catastrophe of the 21st century, probably the most significant global crisis after the second world war. The rapid spreading capability of the virus has compelled the world population to maintain strict preventive measures. The outrage of the virus has rampaged through the healthcare sector tremendously. This pandemic created a huge demand for necessary healthcare equipment, medicines along with the requirement for advanced robotics and artificial intelligence-based applications. The intelligent robot systems have great potential to render service in diagnosis, risk assessment, monitoring, telehealthcare, disinfection, and several other operations during this pandemic which has helped reduce the workload of the frontline workers remarkably. The long-awaited vaccine discovery of this deadly virus has also been greatly accelerated with AI-empowered tools. In addition to that, many robotics and Robotics Process Automation platforms have substantially facilitated the distribution of the vaccine in many arrangements pertaining to it. These forefront technologies have also aided in giving comfort to the people dealing with less addressed mental health complicacies. This paper investigates the use of robotics and artificial intelligence-based technologies and their applications in healthcare to fight against the COVID-19 pandemic. A systematic search following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) method is conducted to accumulate such literature, and an extensive review on 147 selected records is performed.

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Section: Robotics and Ai Technologies In Covid-19 Healthcarementioning

confidence: 99%

Robotics and artificial intelligence in healthcare during COVID-19 pandemic: A systematic review

Sarker

Jamal

Ahmed

et al. 2021

Robotics and Autonomous Systems

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“…Fuzzy logic is effective for decision making based on such inaccurate sensor measurements [ 29 , 30 ]; The environment inside a false ceiling is uncertain due to the inclusion of cluttered objects such as cable trunks, air ducts, and runners. Fuzzy logic has been proven to be effective in navigating such uncertain environments [ 31 , 32 ]; Expert knowledge can easily be modeled using fuzzy logic [ 33 , 34 ]. Thus, the knowledge of a robot operator could be utilized for modeling the required decision-making behavior of this scenario.…”

Section: Perimeter-following Controllermentioning

confidence: 99%

“…The environment inside a false ceiling is uncertain due to the inclusion of cluttered objects such as cable trunks, air ducts, and runners. Fuzzy logic has been proven to be effective in navigating such uncertain environments [ 31 , 32 ];…”

Section: Perimeter-following Controllermentioning

confidence: 99%

Falcon: A False Ceiling Inspection Robot

Muthugala

Apuroop

Padmanabha

et al. 2021

Sensors

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Frequent inspections are essential for false ceilings to maintain the service infrastructures, such as mechanical, electrical, and plumbing, and the structure of false ceilings. Human-labor-based conventional inspection procedures for false ceilings suffer many shortcomings, including safety concerns. Thus, robot-aided solutions are demanded for false ceiling inspections similar to other building maintenance services. However, less work has been conducted on developing robot-aided solutions for false ceiling inspections. This paper proposes a novel design for a robot intended for false ceiling inspections named Falcon. The compact size and the tracked wheel design of the robot allow it to traverse obstacles such as runners and lighting fixtures. The robot’s ability to autonomously follow the perimeter of a false ceiling can improve the productivity of the inspection process since the heading of the robot often changes due to the nature of the terrain, and continuous heading correction is an overhead for a teleoperator. Therefore, a Perimeter-Following Controller (PFC) based on fuzzy logic was integrated into the robot. Experimental results obtained by deploying a prototype of the robot design to a false ceiling testbed confirmed the effectiveness of the proposed PFC in perimeter following and the robot’s features, such as the ability to traverse on runners and fixtures in a false ceiling.

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“…Apart from point-to-point navigation methods, wall-following methods for navigating robots within indoor environments have also been developed [ 47 , 48 , 49 , 50 ]. The majority of the work on the development of fuzzy logic systems for mobile robot navigation is limited to tasks, such as point-to-point navigation and wall-following inside indoor environments.…”

Section: Introductionmentioning

confidence: 99%

Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot

Parween

Muthugala

Heredia

et al. 2021

Sensors

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The inspection and maintenance of drains with varying heights necessitates a drain mapping robot with trained labour to maintain community hygiene and prevent the spread of diseases. For adapting to level changes and navigating in the narrow confined environments of drains, we developed a self-configurable hybrid robot, named Tarantula-II. The platform is a quadruped robot with hybrid locomotion and the ability to reconfigure to achieve variable height and width. It has four legs, and each leg is made of linear actuators and modular rolling wheel mechanisms with bi-directional movement. The platform has a fuzzy logic system for collision avoidance of the side wall in the drain environment. During level shifting, the platform achieves stability by using the pitch angle as the feedback from the inertial measuring unit (IMU) mounted on the platform. This feedback helps to adjust the accurate height of the platform. In this paper, we describe the detailed mechanical design and system architecture, kinematic models, control architecture, and stability of the platform. We deployed the platform both in a lab setting and in a real-time drain environment to demonstrate the wall collision avoidance, stability, and level shifting capabilities of the platform.

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Wall-Following Behavior for a Disinfection Robot Using Type 1 and Type 2 Fuzzy Logic Systems

Cited by 20 publications

References 54 publications

Robotics and artificial intelligence in healthcare during COVID-19 pandemic: A systematic review

Robotics and artificial intelligence in healthcare during COVID-19 pandemic: A systematic review

Falcon: A False Ceiling Inspection Robot

Collision Avoidance and Stability Study of a Self-Reconfigurable Drainage Robot

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