Graduate Thesis Or Dissertation
 

A framework for robotic UV disinfection using a mobile manipulation robot

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https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/02871484z

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  • In the ongoing fight against infectious diseases and harmful pathogens, Ultraviolet Germicidal Irradiation (UVGI) mobile manipulator robots have emerged as a promising solution. However, further advancements are necessary to achieve effective and comprehensive disinfection. Various possible UV light sources, diverse robot designs, and the wide range of environments and objects that require disinfection present significant challenges. This research addresses three critical questions: How can we model UV dose exposure to effectively disinfect various viruses? How can UV measurements and user input improve surface disinfection on real-world robots? How can we leverage embodied AI to help manage complex UVGI systems? To address the first question, we developed a framework that models UV dose accumulation from non-uniform light distributions, demonstrating how the manipulator velocity controller ensures sufficient UV exposure for effective disinfection. We then created a human-guided robotic UV disinfection system that relies on empirical sensor data, bypassing the need for highly accurate UV coverage models. Finally, we integrated a speech-to-text interface and a large language model (LLM) to enable hands-free operation and improve ease of use. This research contributes to developing more capable and user-friendly UVGI robots, enhancing their practical deployment by simplifying UVGI disinfection procedures and improving user interaction through voice commands.
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  • GEM Fellowship Program, National Institute of Health
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