About: A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework

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An Entity of Type : schema:ScholarlyArticle, within Data Space : wasabi.inria.fr associated with source document(s)

Attributes	Values
type	Academic Article research paper schema:ScholarlyArticle
isDefinedBy	Covid-on-the-Web dataset
has title	A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework
Creator	Yin, Jia Ramalingam, Balakrishnan Félix Gómez, Braulio Rajesh Elara, Mohan Krishnasamy Tamilselvam, Yokhesh Muthugala, J Rayguru, Madan Viraj, M
Source	Medline; PMC
abstract	The role of mobile robots for cleaning and sanitation purposes is increasing worldwide. Disinfection and hygiene are two integral parts of any safe indoor environment, and these factors become more critical in COVID-19-like pandemic situations. Door handles are highly sensitive contact points that are prone to be contamination. Automation of the door-handle cleaning task is not only important for ensuring safety, but also to improve efficiency. This work proposes an AI-enabled framework for automating cleaning tasks through a Human Support Robot (HSR). The overall cleaning process involves mobile base motion, door-handle detection, and control of the HSR manipulator for the completion of the cleaning tasks. The detection part exploits a deep-learning technique to classify the image space, and provides a set of coordinates for the robot. The cooperative control between the spraying and wiping is developed in the Robotic Operating System. The control module uses the information obtained from the detection module to generate a task/operational space for the robot, along with evaluating the desired position to actuate the manipulators. The complete strategy is validated through numerical simulations, and experiments on a Toyota HSR platform.
has issue date	2020-06-23(xsd:dateTime)
bibo:doi	10.3390/s20123543
bibo:pmid	32585864
has license	cc-by
sha1sum (hex)	91e4f95b19edd21440c7d9845bb23eae0375b0b8
schema:url	https://doi.org/10.3390/s20123543
resource representing a document's title	A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework
has PubMed Central identifier	PMC7349910
has PubMed identifier	32585864
schema:publication	Sensors (Basel)
resource representing a document's body	covid:91e4f95b19edd21440c7d9845bb23eae0375b0b8#body_text
is schema:about of	named entity 'validated' named entity 'detection' named entity 'parts' named entity 'SPACE' named entity 'NUMERICAL SIMULATIONS' named entity 'ROBOTS' named entity 'ENABLED' named entity 'COVID-19' named entity 'COOPERATIVE' named entity 'space' named entity 'generate' named entity 'critical' named entity 'platform' named entity 'HSR' named entity 'wiping' named entity 'pooling layer' named entity 'darknet' named entity 'algorithm' named entity 'classify' named entity 'robot' named entity 'safety' named entity 'deep-learning' named entity 'actuate' named entity 'mobile robots' named entity 'robot' named entity 'robot' named entity 'discrete time' named entity 'Arduino Mega' named entity 'Intel Core' named entity 'PWM' named entity 'algorithm' named entity 'YOLO' named entity 'focal length' named entity 'micro-controller' named entity 'mobile robot' named entity 'deep-learning' named entity 'roll, pitch, and yaw' named entity 'Nvidia GeForce GTX 1080' named entity 'Intel' named entity 'door handle' named entity 'discrete-time' named entity 'door handle' named entity 'door handle' named entity 'deep-learning' named entity 'pooling layer' named entity 'YOLO' named entity 'convolution' named entity 'door handle' named entity 'grid cell' named entity 'rule of thumb' named entity 'TCP/IP' named entity 'k-means clustering' named entity 'bounding box' named entity 'convolution' named entity 'bounding box' named entity 'CNN' named entity 'probability' named entity 'pooling layer' named entity 'disinfectant' named entity 'Convolutional layers' named entity 'Image resolution' named entity 'door handle' named entity 'door handle' named entity 'grid cell' named entity 'door handle' named entity 'downsample' named entity 'CNN' named entity 'sensor' named entity 'point cloud' named entity 'differential drive' named entity 'convolutional layer' named entity 'CNN' named entity 'bounding box' named entity 'door handle'

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