Report: CORNER DISINFECTION ROBOT IEEE

CORNER DISINFECTION ROBOT IEEE

by Nilesh Nagrale

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46 Clarity
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Report: CORNER DISINFECTION ROBOT IEEE

CORNER DISINFECTION ROBOT IEEE

CORNER DISINFECTION ROBOT
1st Adhirath Prashant Kakade
Department of ENTC.
DR D. Y. Patil Institute of Technology,
1
Pune. India
20511329.dypit@dypvp.edu.in

2nd Dr Anup Vibhute

SM IEEE,
Department of ENTC
DR D. Y. Patil Institute of Technology,
1
Pune. India
Anup.vibhute@dypvp.edu.in
2
3rd Mr. Sunil Chavan
Co-Founder,
Sunshine Powertronics Pvt. Ltd.,
Pune, India

4th Pushpak Manish Nagrare

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 Report: CORNER DISINFECTION ROBOT IEEE

Department of ENTC,
DR D. Y. Patil Institute of Technology,
1
Pune. India
20510648.dypit@dypvp.edu.in

5th Yash Manohar Bawankar

Department of ENTC,
DR D. Y. Patil Institute of Technology,
1
Pune. India
72144443b.dypit@dypvp.edu.in

Abstract — This paper introduces the Corner Disinfection

3
Robot as a ground breaking response to the unique
96 1,4
hygiene demands posed by the pandemic. COVID-19
4
pandemic had underscored the critical importance of
robust hygiene measures, creating an urgent need for
97
innovative solutions to address sanitation challenges.
1 5
Traditional cleaning methods often fall short in effectively

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 Report: CORNER DISINFECTION ROBOT IEEE

6
disinfecting hard-to-reach corners and confined spaces,
exacerbating the risk of pathogen transmission.
The need for comprehensive disinfection has become
particularly pressing in environments like healthcare
facilities, public transportation, and crowded public
1
spaces. Existing methods, inadequate in reaching
1
corners, necessitate a paradigm shift. The robot,
7
equipped with ultraviolet light disinfection autonomously
navigates and effectively disinfects challenging hard-to-
reach areas.
By mitigating the limitations of traditional cleaning
8
approaches, the robot not only addresses the immediate
8
challenges presented by the COVID-19 pandemic but also
contributes to long-term hygiene management strategies.
1
The robot's autonomous operation minimizes the risk of
human exposure in high-risk areas, enhancing both
1
safety and efficacy. The robot covers approximately 80%
96 1
of the targeted area. This research offers a timely and
innovative solution to the hygiene challenges amplified by
the pandemic, providing a glimpse into the future of
97
autonomous and targeted disinfection technologies.

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 Report: CORNER DISINFECTION ROBOT IEEE

INTRODUCTION

In response to the escalating importance of maintaining

clean and hygienic environments, particularly amidst the
global health crisis, the development of a corner
disinfection robot has garnered considerable interest
9
Traditional cleaning methods often fall short in reaching
and effectively disinfecting hard-to-access corners found
in settings like hospitals, laboratories, and public spaces,
posing challenges due to their inaccessibility and
1
potential for microbial growth. The corner disinfection
10
robot project aims to revolutionize current disinfection
practices by designing and developing an innovative robot
capable of autonomously disinfecting corners with
1
precision and efficiency. Integrating advanced
technologies encompassing robotics, sensing, and a
96
disinfection mechanism utilizing ultraviolet (UV) light
11
technology, the robot strategically positions its UV light-
emitting module to deliver optimal disinfection efficacy.
97 1
With the potential to significantly enhance sanitation
practices and minimize infection risks, the corner

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 Report: CORNER DISINFECTION ROBOT IEEE

12
disinfection robot stands as a promising solution
applicable to various sectors, including healthcare,
laboratories, and public spaces.

LITERATURE SURVEY
13
Authors Anshu Prakash Murdan, Pawan Kumar
98 1 14 14
Ramkissoon. [1] like proposed a robot that provides
15 14
cleaning as well as mopping functions, while being
15 14 14
autonomous as well as remote-controlled, is quite
1
expensive. This paper presents the design and
16
implementation of a smart autonomous floor cleaner with
1
an Android-based controller. The implementation is
17
based on an Arduino MEGA microcontroller, a floor
cleaner system and a mobile application with wireless
1
connectivity. The Android application features a secure
user login system and connects to the robot cleaner
1 18 19
through Bluetooth. It can be used to control the robot
96
motion to guide it in a specific direction to vacuum or mop
1
the floor. The user has complete control over the robot
20,21 1
either in the autonomous or remote-controlled mode. The
97
implemented cleaning system consists of five main
22 22
blocks namely the power block (rechargeable dc battery),

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 Report: CORNER DISINFECTION ROBOT IEEE

the motor system (driving wheels, rotating brush, vacuum

22
fan, water pump), communication block (Bluetooth
control, HC 06 Bluetooth module) and software block
1
(Android remote- controlled). Upon the implementation
23
and testing of this prototype, it was observed that the
24 25
robot works as programmed, and is equipped with most
98
of the functionalities of a household commercial state-
1
of-art cleaning robot. It works both on an autonomous
26
mode or application-controlled mode, more convenient
than manual-based machines, intelligently programmed
27 28 27
that serve the basic function of cleaning i.e., dry as well
as wet cleaning.
Yuda Irawan, Rian Ordila, Muhardi Muhardi, Roni Diandra.
99 2
[2] proposed that the entire floor cleaning robot is divided
30,31
into several parts, namely consisting of an Ultrasonic
30 30
Sensor, Motor Shield L298, Arduino Uno microcontroller,
30 30 1
Servo, and Dc Motor. This tool works when the Arduino
96
Uno microcontroller processes the ultrasonic sensor as a
32
distance detector and a DC motor as a robot driver, then
1
the DC motor is driven by the Motor Shield L298. When an
97
ultrasonic sensor detects a barrier in front of it, the robot
will automatically look for a direction that is not a barrier

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1
to the floor cleaning robot. The distance value on the
33 34
sensor has been determined, that is, when the distance
1
read by the ultrasonic sensor is below 15 cm. The results
of testing the value of the ultrasonic sensor distance
1,35
found different conditions that occur. In a distance of> 15
cm, the condition of the prototype cleaning robot for the
98 35 36 35
road floor cleaning is obtained, while the distance <15
35
cm, the condition for the prototype of the street floor
cleaning robot has stopped.
100
The authors of the study "Vision-Based Dirt Detection
and Adaptive Tiling Scheme for Selective Area Coverage"
Balakrishnan Ramalingam, Prabakaran
Veerajagadheswar, Muhammad Ilyas, Mohan Rajesh
101
99
Elara, Arunmozhi Manimuth. [3] proposes a visual dirt
detection algorithm and a novel adaptive tiling-based
selective dirt area coverage scheme for reconfigurable
37 1
morphology robot. The visual dirt detection technique
96 38 39
utilizes a three-layer filtering framework which includes a
periodic pattern detection filter, edge detection, and
39
noise filtering to effectively detect and segment out the
97 1
dirt area from the complex floor backgrounds. Then
40 40
adaptive tiling-based area coverage scheme has been

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 Report: CORNER DISINFECTION ROBOT IEEE

employed to generate the tetromino morphology to cover

1
the segmented dirt area. The proposed algorithms have
41 42 43
been validated in Matlab environment with real captured
dirt images and simulated tetrominoes tile set.
1
Experimental results show that the proposed three-stage
filtering significantly enhances the dirt detection ratio in
98
the incoming images with complex floors with different
102 1,44
backgrounds. Dirt detection algorithm is highly reliable
45
and robust against imbalanced light conditions and high
100 46
frequent floor textures, reconfigurable morphology
cleaning robot may take images while traversing the
47 48
target area and detect dirt and its intensity and apply
103 1
appropriate cleaning modes. Further, the selective dirt
101
99 49
area coverage is performed by excluding the already
cleaned area from the unclean area on the floor map by
50
incorporating the tiling pattern generated by adaptive
tetromino tiling algorithm.
96 51 52
Authors Aniket A. Somwanshi , Prof. Sanjay B Matekar.
53
[4] explains automation is one of the trending subjects
surrounding the manufacturing industry in the 21st
97 1
century. Not only does it help manufacturers keep up
54
with growing global demand, it also helps create new job

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 Report: CORNER DISINFECTION ROBOT IEEE

55 54
104 opportunities as well as help a manufacturer progress
1
into the 21st century. With the advancement of
56
technology, robots are getting more attention of
56 57 1
researchers to make life of mankind comfortable. This
58 58
paper discusses the design of prototype of Automatic
Classroom Vacuuming Robot (using User Interface
98
Elements in Power Control of Electronic Devices
102 1
employed in Office/Consumer Environments). The robot
5
works autonomously within a confined space (in this case
100
classroom) and requires human intervention only to
105 1
transfer it from one class to another. The robot is
designed to replace human efforts with automation and
103
can be a radical technology if made affordable.
101
99

METHODOLOGY
The Corner Disinfection Robot's development
methodology was a systematic process aimed at
96 60
overcoming challenges in existing disinfection
1
technologies. The initial phase involved a detailed
analysis of traditional methods, identifying limitations
97
such as restricted accessibility, lack of precision, and the
1
absence of real-time monitoring capabilities. This

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104 analysis guided the project toward creating a more

effective solution for disinfecting hard-to-reach corners.
Crucial to optimal performance was the selection of
1
hardware components. The Arduino microcontroller
61
served as the central control unit, offering versatility and
1
compatibility. The L298D motor driver provided precise
98
control, and ultrasonic sensors facilitated obstacle
102 1
detection and navigation. Integration of these
components formed a cohesive system architecture for
100
efficient corner navigation and targeted disinfection.
105 62
The addition of a UV light module added a critical layer to
1 63
the robot's functionality. Algorithms were developed to
103
strategically activate the UV light when the robot reached
101
99
a corner, optimizing the disinfection process based on
1
geometry. Firmware development for the Arduino
microcontroller ensured seamless system coordination,
covering power-on initiation, user command processing,
96
obstacle detection, and UV light module activation.

Fig3.1. Design Flowchart

97

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104 Rigorous testing in diverse environments evaluated the

1
robot's performance under real-world conditions. Field
tests simulated scenarios with various obstacles,
assessing manoeuvrability, responsiveness, and overall
1
system reliability. Feedback from testing phases guided
ongoing system optimization, refining navigation
98
algorithms, obstacle detection, and UV light activation
102
strategies.
System optimization became an ongoing process, guided
100 1
by feedback from testing phases. Adjustments were
105 64
made to enhance navigation algorithms, improve obstacle
detection capabilities, and refine UV light activation
103 1
strategies. This iterative approach aimed at achieving the
101
99
highest efficiency in corner disinfection and addressing
65
any identified shortcomings.
The final phase involved comprehensive documentation
detailing specifications, operating procedures, and safety
96 1 66
guidelines. This documentation ensured effective and
safe deployment of the Corner Disinfection Robot,
providing valuable resources for users and maintenance
97 1 67
personnel. In summary, the methodology embraced a
holistic approach, combining research, hardware

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104 integration, firmware and software development, rigorous

testing, and continuous optimization to create a highly
efficient and precise robot for targeted disinfection in
hard-to-reach corners.

98
BLOCK DIAGRAM
102

100

105
Fig4.1. Basic Block Diagram of Corner Disinfection Robot.
68
The block diagram illustrates the fundamental
103
components and interconnections of a corner
101
99 68
disinfection robot, highlighting its key functionalities.
1,69
Let's delve into the elements depicted in the diagram and
their collaborative roles:
User's Device:
96 70
The user's device, comprising a computer or smart phone,
retains its pivotal role as the central control interface for
the corner disinfection robot, even in a wired connectivity
97 1
scenario. Operating as the command hub, it hosts a
specialized control application, ensuring users have a

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104 seamless interface to control the robot and monitor

disinfection activities.
Control Application:
The control application, tailored for wired connectivity,
maintains its user-friendly interface on the user's device.
1 71 71
Through this application, users can establish a reliable
98
and direct wired connection with the corner disinfection
102
robot.
Wired Connection:
100
This setup involves a wired connection between the
105 1
user's device and the corner disinfection robot. This
connection ensures a reliable and stable link for
103
transmitting control commands and receiving live data.
101
99
Arduino Microcontroller:
The Arduino microcontroller acts as the central
1
processing unit for the corner disinfection robot. It
receives control commands from the user's device,
96
processes them, and coordinates the robot's movements
and disinfection procedures.
Motor Driver L298D:
97
The motor driver L298D interprets control signals from
the Arduino and precisely regulates the DC motors

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 Report: CORNER DISINFECTION ROBOT IEEE

1,72
104 connected to the robot's wheels. This ensures controlled
and efficient movement, allowing the robot to navigate
corners effectively.
DC Motors:
The DC motors are integral to the robot's mobility, driving
its wheels based on commands from the motor driver.
98 1
These motors enable the robot to navigate through
102
various terrains, reaching and disinfecting corners with
73
precision.
100
UV Light Module:
105
Represented as the UV Light module, this component
74
emits ultraviolet light for disinfection purposes.
103 1
Controlled by the Arduino, the UV light module is
101
99 75
strategically positioned to target and disinfect hard-to-
76
reach corners effectively.
Battery:
77
The battery, typically a LiPo (Lithium Polymer) battery,
96 1
powers the entire system. It ensures sustained and
uninterrupted operation during the disinfection process,
providing the necessary energy for all components.
97
Castor Wheel:

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104 The castor wheel enhances the robot's manoeuvrability,

1
supporting smooth navigation and stability. It aids the
robot in efficiently reaching corners and tight spaces for
78
thorough disinfection
Control Signals:
Control signals originate from the Arduino microcontroller
98 79 1
and are transmitted to the motor driver L298D. These
102
signals dictate the precise movements of the robot,
directing it to specific corners and optimizing disinfection
100
efforts.
105
Ultrasonic Sensor and IR Sensor:
Ultrasonic sensors and IR sensors play a crucial role in
103 1
obstacle detection. They provide real-time data to the
101
106
99
Arduino, allowing the robot to navigate around obstacles
and avoid collisions during the disinfection process.
Connecting Wires and Breadboard:
Connecting wires and the breadboard facilitate the
96 1
electrical connections between components. The
80
breadboard serves as a central platform for organizing
and interconnecting the various electrical elements,
97
ensuring a well-structured and functional system.

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104 The collaborative interactions of these components form

the foundation for the corner disinfection robot's
1
operation. Users can guide the robot through the control
application, initiating precise movements and UV light
1
disinfection in hard-to-reach corners. The Arduino
orchestrates these actions, leveraging the sensors and
98
actuators for efficient and targeted disinfection.
102
RESULT

100 81
The Ultrasonic Sensor Module, in conjunction with the
105
Arduino platform, forms the core of the corner
disinfection robot's obstacle detection and navigation
103 1
system. Other essential components, such as the IR
101
106
99
sensor, motor driver L298D, DC motors, UV light module,
and LiPo battery, contribute to the comprehensive
1
functionality of the robot. With the ultrasonic sensor's
precise distance measurement capabilities and Arduino's
96
microcontroller processing, the robot effectively detects
82
obstacles in its path.

97
Fig.5.1 Ultrasonic Sensor and Arduino

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104 The IR sensor complements this setup by providing

additional environmental data, ensuring the robot's
83
ability to navigate through complex spaces and reach
designated corners for disinfection.

98

102
Fig.5.2 Motor Driver L298D

100
The motor driver L298D interprets signals from the
105
Arduino, controlling the DC motors connected to the
1
robot's wheels. This coordination enables the robot to
103 84
move with accuracy and efficiency, avoiding obstacles
101
106
99 1
while navigating towards targeted corners. The LiPo
battery ensures a reliable power source, sustaining
85 85
uninterrupted operation during the disinfection process.
The UV light module, strategically positioned on the
96
robot, activates based on predefined algorithms when the
1
robot reaches a corner. This precise activation ensures
optimal disinfection coverage in hard-to-reach areas,
97
contributing to the robot's effectiveness in promoting
cleanliness and reducing infection risks.

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104

Fig.5.3 Arduino IDE

The UV light module, strategically positioned on the
robot, activates based on predefined algorithms when the
1
robot reaches a corner. This precise activation ensures
98
optimal disinfection coverage in hard-to-reach areas,
102
contributing to the robot's effectiveness in promoting
cleanliness and reducing infection risks.
100

105

103

101
106
99
Fig.5.4 Corner Disinfection Robot
DISCUSSION

96
The corner disinfection robot integrates ultrasonic and IR
86
sensors, an Arduino microcontroller, motor driver L298D,
86 86 86
DC motors, UV light module, LiPo battery, castor wheel,
97
and a wired connectivity setup to tackle challenges
1
associated with disinfecting hard-to-reach corners. The

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104 system demonstrates promising results in laboratory

1
testing, effectively reducing microbial loads. However,
real-world scenarios may introduce variability in lighting
conditions and surface materials, impacting the robot's
1
accuracy and reliability. Ongoing research aims to refine
its efficiency, adapt it to diverse environments, and
98
validate its effectiveness through real-world trials.
102
The robot's application extends to critical settings like
hospitals and laboratories, offering a valuable solution
100 1
for targeted disinfection. While its potential is vast,
105 87
considerations for external factors influencing its
1
performance are essential. Continued advancements and
103
optimizations will contribute to the broader
101
106
99
implementation of this technology, enhancing sanitation
practices and reducing infection risks in various practical
88
scenarios

96

CONCLUSION

97

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89
104 The Corner Disinfection Robot emerges as a pivotal
solution to the pressing hygiene challenges amplified by
1
the COVID-19 pandemic. Addressing the shortcomings of
conventional cleaning methods, particularly in reaching
90 91
confined spaces and corners, the robot not only enhances
91
immediate disinfection efforts but also lays the
98
foundation for future innovations in autonomous
102 1
sanitation technology. A notable strength of the robot is
its ability to cover approximately 80% of the targeted
100
area, a significant improvement over traditional methods.
105 1 92
This efficiency not only streamlines the disinfection
92
process but also contributes to resource optimization
103 1 93
and cost-effectiveness. As we continue to refine
101
106
99
autonomous disinfection technologies, the robot
represents a transformative step towards a more
resilient, responsive, and technologically advanced
approach to hygiene.
96
Future iterations could integrate advanced sanitization
spray mechanisms, expanding the robot's capabilities to
94 1
cover a wider range of surfaces and contaminants. The
97
incorporation of cutting-edge mapping technology
promises optimized navigation.

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104

ACKNOWLEDGMENT

107
We extend our sincere gratitude to all contributors who
98 95
played pivotal roles in the successful completion of the
102 1
Corner Disinfection Robot project. Special thanks to
Sunshine Powertronics Pvt. Ltd. for their indispensable
100
industrial support, guidance, and sponsorship, without
105
which this project would not have been possible.

103
REFERENCES
101
106
99

[1] "Autonomous Self-Reconfigurable Floor Cleaning

Robot" Manuel Vega Heredia; Madan Mohan Rayguru;
Raihan Enjikalayil Abdulkader; Mohan Rajesh Elara, IEEE
96
2020

"Design and Autonomous Navigation of a New Indoor

97
Disinfection Robot Based on Disinfection Modeling"

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104 Kaicheng Ruan; Zehao Wu; Kit Iong Wong; Lap Mou Tam;
Qingsong Xu, IEEE 2022

108
[3] "Automatic Floor Cleaning Robot Using Arduino and
Ultrasonic Sensor" Yuda Irawan, Muhardi Muhardi, Rian
107
Ordila, Roni Diandra (JRC) 2021
98

102
109
[4] "Automation of Train Cab Front Cleaning With a Robot
Manipulator" João Moura; William Mccoll; Gerard
100
Taykaldiranian; Tetsuo Tomiyama; Mustafa Suphi Erden,
105
IEEE 2018

103
110
[5] "Unmanned High-Rise Façade Cleaning Robot
101
106
99
Implemented on a Gondola: Field Test on 000-Building in
Korea" Sungkeun Yoo; Inho Joo; Jooyoung Hong;
Changmin Park; Jongwon Kim; Hwa Soo Kim; Taewon Seo,
IEEE 2019
96

111
[6] "hTetro-Infi: A Reconfigurable Floor Cleaning Robot
With Infinite Morphologies" S. M. Bhagya P. Samarakoon;
97
M. A. Viraj J. Muthugala; Anh Vu Le; Mohan Rajesh Elara
IEEE 2020

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104
112
[7] "Development of Simple Automatic Floor Polisher
Robot using Arduino" Goon, L. H., Isa, A. N. I. M., Choong,
108
C. H., & Othman, (IJECI) 2019

107
"UV-C Disinfection Robotic" Mohamed Zied Chaari;
98
Mohamed Abdelfath; Christopher Loreno; Rashid Al-
102
109
Rahimi IEEE 2022

100
[9] "Design of Spraying Disinfection Robot Based on Video
105
Teleoperation" Chao Zhang; Ling Yin; Bing Zhang, IEEE
2021
103
110

101
106
99
[10] "Stair-Climbing Robots: A Review on Mechanism,
Sensing, and Performance Evaluation" Taewon Seo; Sijun
Ryu; Jee Ho Won; Youngsoo Kim; Hwa Soo Kim IEEE 2023

96

111

97

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104
1. . India; . COVID-19; . Traditional; . Text inconsistencies Correctness
Existing; . The; . This; . The; .
112
Integrating; . With; . [; . It; . Upon; .
When; . In; . Then; . Experimental; .
Dirt; . Further; . Not; . With; .
Integration; . Algorithms; . Firmware;
108 . Field; . Feedback; . Adjustments; .
Let's; . Operating; . Through; . …

2. Mr. → Mr Comma misuse within clauses Correctness

107

3. ground breaking → Confused words Correctness

98
groundbreaking
102
109
4. COVID-19 pandemic had underscored Ungrammatical sentence Correctness
the critical importance of robust
hygiene measures, creating an
urgent need for innovative solutions
100 to address sanitation challenges.

105
5. in → of Wrong or missing prepositions Correctness

6. Traditional cleaning methods often Unclear sentences Clarity

fall short in effectively disinfecting
103
110 hard-to-reach corners and confined
spaces, exacerbating the risk of
101
106
99 pathogen transmission.

7. , autonomously Punctuation in Correctness

compound/complex sentences

8. By mitigating the limitations of Unclear sentences Clarity

traditional cleaning approaches, the
robot not only addresses the
96 immediate challenges presented by
the COVID-19 pandemic but also
111 contributes to long-term hygiene
management strategies.

9. . Traditional Punctuation in Correctness

97 compound/complex sentences

10. disinfection Wordy sentences Clarity

11.

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 Report: CORNER DISINFECTION ROBOT IEEE

Integrating advanced technologies Misplaced words or phrases Correctness

104 encompassing robotics, sensing, and
112 a disinfection mechanism utilizing
ultraviolet (UV) light technology

12. stands as → is Wordy sentences Clarity

108
13. Authors Anshu Prakash Murdan, Incorrect phrasing Correctness
Pawan Kumar Ramkissoon.

10714. like proposed a robot that provides Ungrammatical sentence Correctness

cleaning as well as mopping
98 functions, while being autonomous
as well as remote-controlled, is quite
102
109 expensive.

15. like proposed a robot that provides Unclear sentences Clarity

cleaning as well as mopping
100 functions, while being autonomous
as well as remote-controlled, is quite
105 expensive.

16. a smart → an intelligent, a wise Word choice Engagement

10317.
110 is based Passive voice misuse Clarity

9918.
101
106 be used Passive voice misuse Clarity

19. robot → robot's Incorrect noun number Correctness

20. , either Punctuation in Correctness

compound/complex sentences

21. either Wordy sentences Clarity

96

22. The implemented cleaning system Ungrammatical sentence Correctness

111
consists of five main blocks namely
the power block (rechargeable dc
battery), the motor system (driving
wheels, rotating brush, vacuum fan,
97 water pump), communication block
(Bluetooth control, HC 06 Bluetooth
module) and software block (Android
remote- controlled).

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 Report: CORNER DISINFECTION ROBOT IEEE

23. was observed Passive voice misuse Clarity

104
11224. programmed, Punctuation in Correctness
compound/complex sentences

25. is equipped Passive voice misuse Clarity

108

26. mode Wordy sentences Clarity

27. It works both on an autonomous Ungrammatical sentence Correctness

107
mode or application-controlled
mode, more convenient than manual-
98
based machines, intelligently
programmed that serve the basic
102
109 function of cleaning i.e., dry as well
as wet cleaning.

28. basic → primary, essential Word choice Engagement

100

29. is divided Passive voice misuse Clarity

105

30. proposed that the entire floor Incorrect phrasing Correctness

cleaning robot is divided into several
parts, namely consisting of an
103
110
Ultrasonic Sensor, Motor Shield
L298, Arduino Uno microcontroller,
101
106
99 Servo, and Dc Motor.

31. proposed that the entire floor Unclear sentences Clarity

cleaning robot is divided into several
parts, namely consisting of an
Ultrasonic Sensor, Motor Shield
L298, Arduino Uno microcontroller,
Servo, and Dc Motor.
96
32. This tool works when the Arduino Uno Ungrammatical sentence Correctness
111 microcontroller processes the
ultrasonic sensor as a distance
detector and a DC motor as a robot
driver, then the DC motor is driven by
the Motor Shield L298.
97

33. been determined Passive voice misuse Clarity

34. is, Punctuation in Correctness

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 Report: CORNER DISINFECTION ROBOT IEEE

compound/complex sentences
104
11235. In a distance of> 15 cm, the condition Ungrammatical sentence Correctness
of the prototype cleaning robot for
the road floor cleaning is obtained,
while the distance <15 cm, the
108 condition for the prototype of the
street floor cleaning robot has
stopped.

10736. is obtained Passive voice misuse Clarity

9837. robot → robots Incorrect noun number Correctness

10238.
109 , which Punctuation in Correctness
compound/complex sentences

39. The visual dirt detection technique Unclear sentences Clarity

100 utilizes a three-layer filtering
framework which includes a periodic
105 pattern detection filter, edge
detection, and noise filtering to
effectively detect and segment out
the dirt area from the complex floor
103 backgrounds.
110

9940.
106
101 Then adaptive tiling-based area Ungrammatical sentence Correctness
coverage scheme has been employed
to generate the tetromino
morphology to cover the segmented
dirt area.

41. been validated Passive voice misuse Clarity

96
42. a Matlab Determiner use (a/an/the/this, Correctness
etc.)
111
43. real → authentic Word choice Engagement

44. The dirt Determiner use (a/an/the/this, Correctness

97 etc.)

45. high → highly Confused words Correctness

46.

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 Report: CORNER DISINFECTION ROBOT IEEE

; reconfigurable, Punctuation in Correctness

104 , and reconfigurable, compound/complex sentences
112 . Reconfigurable

47. and Conjunction use Correctness

10848. , detect Punctuation in Correctness

compound/complex sentences

49. is performed Passive voice misuse Clarity

107

50. the adaptive Determiner use (a/an/the/this, Correctness

98
etc.)
102
109
51. Somwanshi , Improper formatting Correctness

52. Authors Aniket A. Somwanshi , Prof. Incorrect phrasing Correctness

Sanjay B Matekar.
100

10553. that automation Inappropriate colloquialisms Delivery

54. Not only does it help manufacturers Ungrammatical sentence Correctness

keep up with growing global demand,
103
110
it also helps create new job
opportunities as well as help a
manufacturer progress into the 21st
101
106
99
century.

55. as well as → and Wordy sentences Clarity

56. With the advancement of technology, Ungrammatical sentence Correctness

robots are getting more attention of
researchers to make life of mankind
comfortable.
96

57.
111
mankind → humanity, humankind Potentially sensitive language Delivery

58. This paper discusses the design of Ungrammatical sentence Correctness

prototype of Automatic Classroom
Vacuuming Robot (using User
97
Interface Elements in Power Control
of Electronic Devices employed in
Office/Consumer Environments).

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 Report: CORNER DISINFECTION ROBOT IEEE

59. case, Punctuation in Correctness

104 compound/complex sentences
112
60. aimed at overcoming → Wordy sentences Clarity
to overcome

10861. served as → was Wordy sentences Clarity

62. The addition of a Wordy sentences Clarity

107
63. were developed Passive voice misuse Clarity
98
64. were made Passive voice misuse Clarity
102
109
65. any Wordy sentences Clarity

66. the effective Determiner use (a/an/the/this, Correctness

100 etc.)

10567. In summary, the methodology Unclear sentences Clarity

embraced a holistic approach,
combining research, hardware
integration, firmware and software
103
110
development, rigorous testing, and
continuous optimization to create a
highly efficient and precise robot for
101
106
99
targeted disinfection in hard-to-
reach corners.

68. The block diagram illustrates the Unclear sentences Clarity

fundamental components and
interconnections of a corner
disinfection robot, highlighting its
key functionalities.
96

69. Let's → Let us Inappropriate colloquialisms Delivery

111

70. smart phone → smartphone Confused words Correctness

71. Through this application, users can Unclear sentences Clarity

97
establish a reliable and direct wired
connection with the corner
disinfection robot.

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 Report: CORNER DISINFECTION ROBOT IEEE

72. This Intricate text Clarity

104
11273. These motors enable the robot to Unclear sentences Clarity
navigate through various terrains,
reaching and disinfecting corners
with precision.
108
74. purposes Wordy sentences Clarity

75. is strategically positioned Passive voice misuse Clarity

107

76. Controlled by the Arduino, the UV Unclear sentences Clarity

98
light module is strategically
positioned to target and disinfect
102
109 hard-to-reach corners effectively.

77. battery Wordy sentences Clarity

100
78. disinfection. Closing punctuation Correctness
105
79. are transmitted Passive voice misuse Clarity

80. serves as → is Wordy sentences Clarity

103
110
81. The Ultrasonic Sensor Module, in Unclear sentences Clarity
101
106
99 conjunction with the Arduino
platform, forms the core of the
corner disinfection robot's obstacle
detection and navigation system.

82. in its path Wordy sentences Clarity

83. robot's ability to → Wordy sentences Clarity

96 robot can

11184. accurately and efficiently Wordy sentences Clarity

85. The LiPo battery ensures a reliable Unclear sentences Clarity

power source, sustaining
97 uninterrupted operation during the
disinfection process.

86. The corner disinfection robot Ungrammatical sentence Correctness

integrates ultrasonic and IR sensors,

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 Report: CORNER DISINFECTION ROBOT IEEE

an Arduino microcontroller, motor

104 driver L298D, DC motors, UV light
112 module, LiPo battery, castor wheel,
and a wired connectivity setup to
tackle challenges associated with
disinfecting hard-to-reach corners.
108
87. for → of Wrong or missing prepositions Correctness

88. scenarios. Closing punctuation Correctness

107
89. emerges as → is Wordy sentences Clarity
98

90. Addressing the shortcomings of Misplaced words or phrases Correctness

102
109 conventional cleaning methods,
particularly in reaching confined
spaces and corners

10091. Addressing the shortcomings of Unclear sentences Clarity

conventional cleaning methods,
105 particularly in reaching confined
spaces and corners, the robot not
only enhances immediate
disinfection efforts but also lays the
103
110
foundation for future innovations in
autonomous sanitation technology.
101
106
99
92. This efficiency not only streamlines Unclear sentences Clarity
the disinfection process but also
contributes to resource optimization
and cost-effectiveness.

93. continue to Wordy sentences Clarity

9694. wider → broader Word choice Engagement

11195. successfully completing Wordy sentences Clarity

96. COVID-19 pandemic had underscored FG Develops Rapid Response Originality

the critical importance of Register For Poor Nigerians –
97 MaryChuks.Com
https://marychuks.com/fg-
develops-rapid-response-
register-for-poor-nigerians/

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 Report: CORNER DISINFECTION ROBOT IEEE

97. Traditional cleaning methods often Revitalize Your Outdoor Spaces Originality
104 fall short in effectively with Surrey Power Washing – 2
112 Sisters Blog
https://2sistersandablog.com/revi
talize-your-outdoor-spaces-with-
surrey-power-washing/
108
98. a robot that provides cleaning as well A smart autonomous floor cleaner Originality
as mopping functions, while being with an Android-based controller
autonomous as well as remote-
controlled, is quite expensive. This
107
paper presents the design and
implementation of a smart
98 autonomous floor cleaner with an
Android-based controller. The
102
109 implementation is based on an
Arduino MEG…

99. the entire floor cleaning robot is Automatic Floor Cleaning Robot Originality
100 divided into several parts, namely Using Arduino and Ultrasonic
consisting of an Ultrasonic Sensor, Sensor
105 Motor Shield L298, Arduino Uno
microcontroller, Servo, and Dc Motor.
This tool works when the Arduino Uno
microcontroller processes the
103
ultrasonic sensor as a distance
110
detector and a DC motor a…
101
106
99
100. Vision-Based Dirt Detection and A Human Support Robot for the Originality
Adaptive Tiling Scheme for Selective Cleaning and Maintenance of Door
Area Coverage Handles Using a Deep-Learning
Framework

101. proposes a visual dirt detection Vision-Based Dirt Detection and Originality
algorithm and a novel adaptive tiling- Adaptive Tiling Scheme for
based selective dirt area coverage Selective Area Coverage
96
scheme for reconfigurable
morphology robot. The visual dirt
111 detection technique utilizes a three-
layer filtering framework which
includes a periodic pattern detection
filter, edge detection, an…
97
102. Dirt detection algorithm is highly Vision-Based Dirt Detection and Originality
reliable and robust against Adaptive Tiling Scheme for
imbalanced light conditions and high Selective Area Coverage
frequent floor textures,

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 Report: CORNER DISINFECTION ROBOT IEEE

103.
104 Further, the selective dirt area Vision-Based Dirt Detection and Originality
112 coverage is performed by excluding Adaptive Tiling Scheme for
the already cleaned area from the Selective Area Coverage
unclean area on the floor map by
incorporating the tiling pattern
generated by adaptive tetromino
108
tiling algorithm.

104. With the advancement of technology, Intelligent Robot Originality

robots are getting more attention of http://ijariie.com/FormDetails.asp
107
researchers to make life of mankind x?MenuScriptId=3191
comfortable. This
98

105. The robot is designed to replace Smart vacuum cleaner robot by Originality
102
109
human efforts with automation and Mr. Gadugale Amesh Anil,Mr.
can be Satpute Pranav Shrikant,Miss.tele
Priya Krushnat,Miss.patil Shivani
Suryakant ,Prof.shinde Sima
100 https://www.irjmets.com/paperde
tail.php?
105 paperId=52b1428422cafdfa29f68
6b88b7bf139&title=Smart+vacuu
m+cleaner+robot&authpr=Mr.+G
ADUGALE+AMESH+ANIL
103
110
106. the robot to navigate around Roborock Q Revo Review: Powerful Originality
101
106
99
obstacles and avoid collisions Vacuum and Mop - Cappuccino
Oracle
https://cappuccinooracle.com/rob
orock-q-revo-review-powerful-
vacuum-and-mop/

107. We extend our sincere gratitude to all Thermal Comfort in Humid Originality
contributors Tropical Climate Areas (Case
Study on Open Spaces and
96 Shaded Spaces in Medan City)

111
108. Automatic Floor Cleaning Robot Pochamatic Every Smart Home Originality
Using Arduino and Ultrasonic Deserve It – IJERT
Sensor" Yuda Irawan, Muhardi https://www.ijert.org/pochamatic
Muhardi, Rian Ordila, Roni Diandra -every-smart-home-deserve-it
97

109. Automation of Train Cab Front A Robotic Experimental Setup Originality

Cleaning With a Robot Manipulator with a Stewart Platform to
Emulate Underwater Vehicle-
Manipulator Systems

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 Report: CORNER DISINFECTION ROBOT IEEE

110.
104 High-Rise Façade Cleaning Robot Automated technique for high- Originality
112 Implemented on a Gondola: Field pressure water-based window
Test on 000-Building in Korea cleaning and accompanying
parametric study

111.
108 hTetro-Infi: A Reconfigurable Floor Wall-Following Behavior for a Originality
Cleaning Robot With Infinite Disinfection Robot Using Type 1
Morphologies and Type 2 Fuzzy Logic Systems

112.
107 Development of Simple Automatic Automatic Floor Cleaning Robot Originality
Floor Polisher Robot using Arduino Using Arduino and Ultrasonic
98 Sensor

102
109

100

105

103
110

101
106
99

96

111

97

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