PRE2017 3 Groep3

Subject

Window cleaning robots

Objectives

• Literature study of current window cleaning robots and USE aspects regarding window cleaning robots.
• To develop an efficient cleaning algorithm that cleans a window which satisfies certain requirements on cleaning speed, water consumption, energy consumption.

Users

Window washing companies that can use window cleaning robots to improve their services. The considered scenario is that these companies are hired by private individuals to clean the windows of their houses. The faster and cheaper these companies can accomplish this, the more profit they can make. A major help for this purpose would be to develop an algorithm that determines how to clean the windows of a house in the most efficient way possible when the dirt distribution on the windows is taken into account.

The user needs need to be determined in order to develop the model.

State-of-the-art

The list below gives an overview of the summaries of the articles which have been studied. The articles are divided into subcategories.

Window cleaning robot design

• A Gecko Inspired Fluid Driven Climbing Robot
• Development of a High Efficiency and High Reliable Glass Cleaning Robot with a Dirt Detect Sensor
• SkyScraper-I: Tethered Whole Windows Cleaning Robot
• WINDORO : The World’s First Commercialized Window Cleaning Robot for Domestic Use
• SMART WINDORO V1.0: Smart Window Cleaning Robot
• A Small Window-Cleaning Robot for Domestic Use
• Window Cleaning Robot ASME Design Competition
• Sensor Based Motion Planning and Estimation of Highrise Building Façade Maintenance
• Design and stability analysis of a novel wall-climbing robotic platform (ROPE RIDE)
• Climbing cleaning robot for vertical surfaces
• Implementation of glass-curtain-wall cleaning robot driven by double flexible rope

Issues encountered while performing cleaning task

• Inferring the Effects of Wiping Motions based on Haptic Perception
• A wall climbing robot for inspection use
• Experimental comparison of drag-wiper and roller-wiper glass-cleaning robots

Movement over façade

• Design and Kinematic Analysis of Tethered Guiding Vehicle (TGV) for façade window cleaning
• A Path Motion Planning For Humanoid Climbing Robot
• A survey of climbing robots: Locomotion and adhesion

Movement over window

• Calculation of Optimal Magnetic Force for Automatic Control Magnetic Force of the Window Cleaning Robot
• Window cleaning system with water circulation for building façade maintenance robot and its efficiency analysis

Acceptance of robots and engagement with robots

• From a Robotic Vacuum Cleaner to a Robot Companion: Acceptance and Engagement in Domestic Environments

Figures belonging to the summaries will be added later.

Approach

1. Literature study of current window cleaning robots and USE aspects regarding window cleaning robots
2. Analysis of the user and user needs
3. To develop an algorithm that models one side of a house and the separate windows within this side, for which the most efficient cleaning trajectory is developed and where the dirt distribution on the window is taken into account. The numbers for the efficiency, water consumption and energy consumption obtained from this model can then be compared to the predetermined standard based on the performance of current window cleaning systems on the market.

Planning, milestones & deliverables

Week	Goal	Milestones	Deliverables
1	Finish work plan Finish literature study and SotA	Finished literature study and SotA	Work plan Summaries of articles
2	Finish analysis of the user and user needs Start solution map	Knowledge of user needs
3	Finish solution map and pick final solution	Final idea	Possible solutions
4	Start detailing and optimization of final solution, reflect on user needs Start with model	Final concept
5	Finish detailing and optimization of final solution Improve and finish model Start with report	Finished model	Model
6	Finish report	Finished report	Report
7	Buffer time

Task division

Week	What?	Who?
1	Finish work plan Finish literature study and SotA (Everybody searches 5 articles, reads them and summarizes them)	Everybody together Everybody
2	Finish analysis of the user and user needs Start solution map	Jorick, Kylian Ezra, Ibrahim, Lars
3	Finish solution map and pick final solution	Everybody
4	Start detailing and optimization of final solution, reflect on user needs Start with model	Lars, Ibrahim Ezra, Kylian, Jorick
5	Finish detailing and optimization of final solution Improve and finish model Start with report	Lars, Ibrahim Ezra, Kylian Jorick
6	Finish report	Everybody
7	...	...

Coaching Questions

Coaching Questions Group 3

The links below refer to pages with the coaching questions of each week.

• Week 1: Coaching Questions
• Week 2: Coaching Questions

References

[1] Akinfiev,T. Armada,M. & Nabulshi,S. (2009). Climbing cleaning robot for vertical surfaces. Industrial Robot: An International Journal, Vol. 36 Issue: 4 pp.352-357. Retrieved from
[2] Barbut,O. (2008). Window Cleaning Robot ASME Design Competition. Department of Mechanical Engineering Toronto. Retrieved from
[3] Choi,Y. & Jung,K. (2011 November 26). WINDORO: The World's First Commercialized Window CLeaning Robot for Domestic Use. Pohang Institute of Intelligent Robotics Korea. Retrieved from
[4] Chu,B. Jung,K. Han,C. & Hong,D.(2010 August). A Survey of Climbing Robots: Locomotion and Adhesion. Department of Mechanical Engineering South Korea. Retrieved from
[5] Gandhinathan, R. & Ambigai, R. (2016). Design and Kinematic Analysis of Tethered Guiding Vehicle (TGV) for façade window cleaning. Department of Mechanical Engineering India. Retrieved from
[6] Imoaka,N. Roh,S. Yusuke,N. & Hirose,S. (2010 October 22). SkyScraper-I:Tethered Whole Windows Cleaning Robot. Design of Moving Mechanisms and Preliminary Experiments Taiwan. Retrieved from
[7] Jiang,J. Zhang,Y. & Zhang,S. (2014).Implementation of glass-curtain-wall cleaning robot driven by double flexible rope. Industrial Robot: an International Journal, Vol.41 Issue: 5 pp.429-438. Retrieved from
[8] Katsuki,Y. Ikeda,T. & Yamamoto,M. (2011 September 30). Development of a High Efficiency and High reliable Glass Cleaning Robot with a Dirt Detect Sensor. Retrieved from
[9] Lee,J. Choi,Y. & Lee,J. (2013 November 2). Calculation of Optimal Magnetic Force for Automatic Control Magnetic Force of the Window Cleaning Robot. Korea Institute of Robot and Convergence Korea. Retreived from
[10] Lee,S. Kang,M. & Han,C. (2012 December). Sensor Based Motion Planning and Estimation of High-rise Building Façade Maintenance Robot. Department of Mechatronics Engineering South Korea. Retrieved from:
[11] Leidner,D. & Beetz,M. (2016 November 17). Inferring the Effects of Wiping Motions based on Haptic Perception. Retrieved from
[12] Liu,j. Jiang,H. Li,Z. & Hu,H. (2009). A Small Window-Cleaning Robot for Domestic Use. Jiangnan University China. Retrieved from
[13] Liu, j. et al. (2011 May 9). A Gecko Inspired Fluid Driven Climbing Robot. Institute Of Mechatronic Control Engineering Zhejiang University. Retrieved from
[14] Lupetti,M L. Rosa,S. & Ermacora,G. From a Robotic Vacuum Cleaner to a Robot Companion: Acceptance and Engagement in Domestic Environments. Retrieved from
[15] Moon,S M. Shin,C Y. Huh,J. Won,K. & Hong,D. (2015 January). Window Cleaning System with Water Circulation for Building Façade Maintenance Robot and Its Efficiency Analysis. School of Mechanical Engineering South Korea. Retrieved from
[16] Nguyen,D. & Shimada,A. (2013). A Path Motion Planning For Humanoid Climbing Robot. Shibuara Institute of Technology Japan. Retrieved from
[17] Nishi,A. A wall climbing robot for inspection use. Miyazaki University Japan. Retrieved from
[18] Seo,K. Cho,S. Kim,T. Kim,H S. & Kim, J. (2013 August 15). Design and stability analysis of a novel wall-climbing robotic platform (ROPE RIDE). Mechanism and Machine Theory pp.189-208. Retrieved from
[19] Zanele,G N M. (2011 June). Motion Planning Algorithms for Autonomous Robots in Static and Dynamic Environments. University of Johannesburg. Retrieved from
[20] Zhou,Q. & Li,X. (2016). Experimental comparison of drag-wiper and roller-wiper glass-cleaning robots. Industrial Robot: An International Journal, Vol.43 Issue:4, pp409-420. Retrieved from
[] Galceran,E. & Carreras,M.(2013 August 5).A survey on coverage path planning for robotics. University of Girona Spain. Retrieved from: https://www.sciencedirect.com/science/article/pii/S092188901300167X
[] Lui,J. Tanaka,K. Bao,L M. & Yamaura,I.(2005 October 3).Analytic modelling of suction cups used for window-cleaning robots. Department of Functional Machinery and Mechanics Japan. Retrieved from: https://www.sciencedirect.com/science/article/pii/S0042207X05003350
[] Gerstmayr-Hillen,L et al. (2013 January 17). Dense topological maps and partial pose estimation for visual control of autonomous cleaning robot. Computer Engineering Group , Faculty of Technology Germany. Retrieved from: https://www.sciencedirect.com/science/article/pii/S0921889013000043
[] Palleja,T. Transanchez,M. Teixido,M. & Palacin,J. (2009 August 11). Modeling floor-cleaning coverage performance of some domestic mobile robots in a reduced scenario. Department of Computer Science Spain. Retrieved from: https://www.sciencedirect.com/science/article/pii/S0921889009001171
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