sTetro-Deep Learning Powered Staircase Cleaning and Maintenance Reconfigurable Robot.

Staircase cleaning is a crucial and time-consuming task for maintenance of multistory apartments and commercial buildings. There are many commercially available autonomous cleaning robots in the market for building maintenance, but few of them are designed for staircase cleaning. A key challenge for automating staircase cleaning robots involves the design of Environmental Perception Systems (EPS), which assist the robot in determining and navigating staircases. This system also recognizes obstacles and debris for safe navigation and efficient cleaning while climbing the staircase. This work proposes an operational framework leveraging the vision based EPS for the modular re-configurable maintenance robot, called sTetro. The proposed system uses an SSD MobileNet real-time object detection model to recognize staircases, obstacles and debris. Furthermore, the model filters out false detection of staircases by fusion of depth information through the use of a MobileNet and SVM. The system uses a contour detection algorithm to localize the first step of the staircase and depth clustering scheme for obstacle and debris localization. The framework has been deployed on the sTetro robot using the Jetson Nano hardware from NVIDIA and tested with multistory staircases. The experimental results show that the entire framework takes an average of 310 ms to run and achieves an accuracy of 94.32% for staircase recognition tasks and 93.81% accuracy for obstacle and debris detection tasks during real operation of the robot.

False Ceiling Deterioration Detection and Mapping Using a Deep Learning Framework and the Teleoperated Reconfigurable 'Falcon' Robot.

Periodic inspection of false ceilings is mandatory to ensure building and human safety. Generally, false ceiling inspection includes identifying structural defects, degradation in Heating, Ventilation, and Air Conditioning (HVAC) systems, electrical wire damage, and pest infestation. Human-assisted false ceiling inspection is a laborious and risky task. This work presents a false ceiling deterioration detection and mapping framework using a deep-neural-network-based object detection algorithm and the teleoperated 'Falcon' robot. The object detection algorithm was trained with our custom false ceiling deterioration image dataset composed of four classes: structural defects (spalling, cracks, pitted surfaces, and water damage), degradation in HVAC systems (corrosion, molding, and pipe damage), electrical damage (frayed wires), and infestation (termites and rodents). The efficiency of the trained CNN algorithm and deterioration mapping was evaluated through various experiments and real-time field trials. The experimental results indicate that the deterioration detection and mapping results were accurate in a real false-ceiling environment and achieved an 89.53% detection accuracy.

Analysis of Moisture Content in Beetroot using Fourier Transform Infrared Spectroscopy and by Principal Component Analysis.

The moisture content of beetroot varies during long-term cold storage. In this work, we propose a strategy to identify the moisture content and age of beetroot using principal component analysis coupled Fourier transform infrared spectroscopy (FTIR). Frequent FTIR measurements were recorded directly from the beetroot sample surface over a period of 34 days for analysing its moisture content employing attenuated total reflectance in the spectral ranges of 2614-4000 and 1465-1853 cm-1 with a spectral resolution of 8 cm-1. In order to estimate the transmittance peak height (T p ) and area under the transmittance curve [Formula: see text] over the spectral ranges of 2614-4000 and 1465-1853 cm-1, Gaussian curve fitting algorithm was performed on FTIR data. Principal component and nonlinear regression analyses were utilized for FTIR data analysis. Score plot over the ranges of 2614-4000 and 1465-1853 cm-1 allowed beetroot quality discrimination. Beetroot quality predictive models were developed by employing biphasic dose response function. Validation experiment results confirmed that the accuracy of the beetroot quality predictive model reached 97.5%. This research work proves that FTIR spectroscopy in combination with principal component analysis and beetroot quality predictive models could serve as an effective tool for discriminating moisture content in fresh, half and completely spoiled stages of beetroot samples and for providing status alerts.