{"id":"https://openalex.org/W4401413853","doi":"https://doi.org/10.1109/icra57147.2024.10610253","title":"WiBot 1.0: A Modular Reconfigurable Glass Cleaning Robot for High-rise Buildings","display_name":"WiBot 1.0: A Modular Reconfigurable Glass Cleaning Robot for High-rise Buildings","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413853","doi":"https://doi.org/10.1109/icra57147.2024.10610253"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610253","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014194173","display_name":"S. A. Kariyawasam","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":true,"raw_author_name":"S. A. Kariyawasam","raw_affiliation_strings":["University of Moratuwa,Department of Mechanical Engineering,Sri Lanka"],"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Mechanical Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106364709","display_name":"G. H. Sandeepa","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"G. H. Sandeepa","raw_affiliation_strings":["University of Moratuwa,Department of Mechanical Engineering,Sri Lanka"],"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Mechanical Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021701558","display_name":"M. K. A. Pathirana","orcid":null},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"M. K. A. Pathirana","raw_affiliation_strings":["University of Moratuwa,Department of Mechanical Engineering,Sri Lanka"],"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Mechanical Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011618114","display_name":"Y. W. R. Amarasinghe","orcid":"https://orcid.org/0000-0002-4960-4441"},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"Y. W. R. Amarasinghe","raw_affiliation_strings":["University of Moratuwa,Department of Mechanical Engineering,Sri Lanka"],"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Mechanical Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037155118","display_name":"A. G. Buddhika P. Jayasekara","orcid":"https://orcid.org/0000-0003-4678-005X"},"institutions":[{"id":"https://openalex.org/I195740183","display_name":"University of Moratuwa","ror":"https://ror.org/0491f5305","country_code":"LK","type":"education","lineage":["https://openalex.org/I195740183"]}],"countries":["LK"],"is_corresponding":false,"raw_author_name":"A. G. B. P. Jayasekara","raw_affiliation_strings":["University of Moratuwa,Department of Electrical Engineering,Sri Lanka"],"affiliations":[{"raw_affiliation_string":"University of Moratuwa,Department of Electrical Engineering,Sri Lanka","institution_ids":["https://openalex.org/I195740183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077412777","display_name":"H. A. G. C. Premachandra","orcid":"https://orcid.org/0000-0002-8662-4652"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"H. A. G. C. Premachandra","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development Pillar,Singapore"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development Pillar,Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023142347","display_name":"U-Xuan Tan","orcid":"https://orcid.org/0000-0002-5757-1379"},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"U-Xuan Tan","raw_affiliation_strings":["Singapore University of Technology and Design,Engineering Product Development Pillar,Singapore"],"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design,Engineering Product Development Pillar,Singapore","institution_ids":["https://openalex.org/I152815399"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5014194173"],"corresponding_institution_ids":["https://openalex.org/I195740183"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17346743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16759","last_page":"16765"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11006","display_name":"BIM and Construction Integration","score":0.9739000201225281,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7875649333000183},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6731160879135132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5119920372962952},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4578598141670227},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.34059786796569824},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.33616313338279724},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.334184467792511},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2699486017227173},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16794490814208984},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.148931086063385},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10063105821609497}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7875649333000183},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6731160879135132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5119920372962952},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4578598141670227},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.34059786796569824},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.33616313338279724},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.334184467792511},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2699486017227173},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16794490814208984},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.148931086063385},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10063105821609497}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610253","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610253","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2032273790","https://openalex.org/W2050450713","https://openalex.org/W2093392366","https://openalex.org/W2157723668","https://openalex.org/W2161373562","https://openalex.org/W2749944535","https://openalex.org/W2783106047","https://openalex.org/W2884873736","https://openalex.org/W2903104180","https://openalex.org/W2918218835","https://openalex.org/W2919862852","https://openalex.org/W2926357849","https://openalex.org/W3014245524","https://openalex.org/W3133761321","https://openalex.org/W3134244741","https://openalex.org/W3187694664","https://openalex.org/W4294865387","https://openalex.org/W4318475239"],"related_works":["https://openalex.org/W2720417647","https://openalex.org/W4225163935","https://openalex.org/W86933508","https://openalex.org/W2765089336","https://openalex.org/W2663455904","https://openalex.org/W2313074614","https://openalex.org/W2166742878","https://openalex.org/W2130464959","https://openalex.org/W2883992449","https://openalex.org/W1942058526"],"abstract_inverted_index":{"Cleaning":[0],"glass":[1,29,38,81],"surfaces":[2],"is":[3,91],"a":[4,78,92,99,113],"prevailing":[5],"maintenance":[6],"problem":[7],"in":[8,198],"high-rise":[9],"buildings.":[10],"In":[11,48],"the":[12,37,41,139,155,158,178,193],"traditional":[13],"methods":[14,54],"of":[15,157,180],"cleaning":[16,53,82,183,199],"windows,":[17],"hanging":[18],"on":[19,162],"ropes":[20],"poses":[21],"significant":[22],"occupational":[23],"hazards":[24],"to":[25,34,40,60,68,86,137,153],"workers.":[26],"Furthermore,":[27],"most":[28],"facades":[30],"feature":[31],"window":[32,62,165,182],"frames":[33,63,122],"securely":[35],"fasten":[36],"panels":[39],"building":[42],"structure,":[43],"ensuring":[44],"durability":[45],"and":[46,64,72,102,119,132,148,168],"elegance.":[47],"this":[49],"context,":[50],"existing":[51,181],"robotic":[52],"are":[55,123,190],"limited":[56],"by":[57],"their":[58],"capability":[59],"move-over":[61,169],"need":[65],"more":[66],"flexibility":[67],"access":[69],"tight":[70],"corners":[71],"curved":[73],"surfaces.":[74],"This":[75],"paper":[76],"presents":[77],"novel":[79],"reconfigurable":[80,195],"robot":[83,163,196],"called":[84],"\"WiBot\"":[85],"address":[87],"these":[88],"limitations.":[89],"WiBot":[90,144,175],"kinematic":[93],"chain":[94],"comprising":[95],"modular":[96],"linkages":[97],"with":[98,128],"prismatic":[100],"joint":[101,111],"two":[103],"revolute":[104,110],"joints":[105],"at":[106],"each":[107],"end.":[108],"Each":[109],"has":[112],"suction":[114],"unit":[115],"that":[116,174],"enables":[117],"locomotion":[118],"adhesion.":[120],"Window":[121],"detected":[124],"using":[125],"image":[126],"processing":[127],"an":[129],"onboard":[130],"camera,":[131],"design":[133],"optimizations":[134],"were":[135,151],"performed":[136],"improve":[138],"robot\u2019s":[140],"capabilities.":[141],"The":[142,171],"prototype":[143],"1.0":[145],"was":[146],"developed,":[147],"several":[149,186],"experiments":[150],"conducted":[152],"evaluate":[154],"feasibility":[156],"proposed":[159,194],"system":[160],"focusing":[161],"motion,":[164],"frame":[166],"detection":[167],"mechanism.":[170],"results":[172],"show":[173],"can":[176],"overcome":[177],"limitations":[179],"solutions.":[184],"Finally,":[185],"promising":[187],"research":[188],"directions":[189],"mentioned":[191],"involving":[192],"architecture":[197],"operations.":[200]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
