{"id":"https://openalex.org/W3216891696","doi":"https://doi.org/10.1109/ssrr53300.2021.9597678","title":"A Shared Autonomy Surface Disinfection System Using a Mobile Manipulator Robot","display_name":"A Shared Autonomy Surface Disinfection System Using a Mobile Manipulator Robot","publication_year":2021,"publication_date":"2021-10-25","ids":{"openalex":"https://openalex.org/W3216891696","doi":"https://doi.org/10.1109/ssrr53300.2021.9597678","mag":"3216891696"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr53300.2021.9597678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr53300.2021.9597678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5038062400","display_name":"Alan G. Sanchez","orcid":"https://orcid.org/0009-0005-4043-6911"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alan G. Sanchez","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026622322","display_name":"William D. Smart","orcid":"https://orcid.org/0000-0001-6867-5125"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William D. Smart","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5038062400"],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":0.7284,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.73142649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"176","last_page":"183"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10990","display_name":"Infection Control and Ventilation","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10990","display_name":"Infection Control and Ventilation","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6515949964523315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6104917526245117},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.575270414352417},{"id":"https://openalex.org/keywords/ultraviolet","display_name":"Ultraviolet","score":0.5638245344161987},{"id":"https://openalex.org/keywords/ultraviolet-light","display_name":"Ultraviolet light","score":0.5303659439086914},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.484266459941864},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4408634603023529},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3858823776245117},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37846875190734863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30619752407073975},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.230476975440979},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08852341771125793}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6515949964523315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6104917526245117},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.575270414352417},{"id":"https://openalex.org/C2776798109","wikidata":"https://www.wikidata.org/wiki/Q11391","display_name":"Ultraviolet","level":2,"score":0.5638245344161987},{"id":"https://openalex.org/C2987116853","wikidata":"https://www.wikidata.org/wiki/Q11391","display_name":"Ultraviolet light","level":2,"score":0.5303659439086914},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.484266459941864},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4408634603023529},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3858823776245117},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37846875190734863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30619752407073975},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.230476975440979},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08852341771125793},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr53300.2021.9597678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr53300.2021.9597678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4649365319","display_name":null,"funder_award_id":"EB024330","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W569195792","https://openalex.org/W1519143942","https://openalex.org/W1843578997","https://openalex.org/W1901530249","https://openalex.org/W1960398805","https://openalex.org/W2035859174","https://openalex.org/W2088568221","https://openalex.org/W2116946121","https://openalex.org/W2138415759","https://openalex.org/W2169514355","https://openalex.org/W2259221054","https://openalex.org/W2800680347","https://openalex.org/W2897773333","https://openalex.org/W2901136733","https://openalex.org/W2922720375","https://openalex.org/W3005057892","https://openalex.org/W3093047710","https://openalex.org/W3114977466","https://openalex.org/W3122791838","https://openalex.org/W4205667729","https://openalex.org/W6756486208","https://openalex.org/W6784923518"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1973952304","https://openalex.org/W3114279067","https://openalex.org/W2323674590","https://openalex.org/W2158845691","https://openalex.org/W2353938558","https://openalex.org/W2039647797","https://openalex.org/W2297582544","https://openalex.org/W302509316","https://openalex.org/W1996885620"],"abstract_inverted_index":{"Robots":[0],"are":[1,36,46,79],"being":[2],"increasingly":[3],"used":[4],"in":[5,176],"the":[6,31,34,57,60,90,110,124,135,138,144,147,193],"fight":[7],"against":[8],"highly-infectious":[9],"diseases":[10],"such":[11,69],"as":[12,70],"Ebola,":[13,71],"MERS,":[14],"and":[15,43,93,128,141,162,167,174,190],"SARS-CoV-2.":[16],"Many":[17],"of":[18,56,59,95,112,170,195],"these":[19],"robots":[20],"use":[21],"ultraviolet":[22,97,171],"lights":[23,35],"mounted":[24],"on":[25,102,157,184,197],"a":[26,83,103,120,185,198],"mobile":[27,104,187],"base":[28],"to":[29,52,108,133,137,149],"inactivate":[30],"pathogens.":[32],"While":[33],"generally":[37],"effective":[38,48],"at":[39],"irradiating":[40],"open":[41],"spaces":[42],"walls,":[44],"they":[45],"less":[47],"when":[49],"it":[50],"comes":[51],"horizontal":[53,113],"surfaces,":[54,77],"because":[55],"orientation":[58],"light":[61,98],"sources.":[62],"This":[63],"can":[64],"be":[65],"problematic":[66],"for":[67,122,146],"pathogens":[68],"where":[72],"transmission":[73],"via":[74],"contaminated":[75],"work":[76],"which":[78],"often":[80],"horizontal,":[81],"is":[82],"concern.":[84],"In":[85],"this":[86],"paper,":[87],"we":[88,165,180],"describe":[89,163,181],"design,":[91],"implementation,":[92],"testing":[94],"an":[96,130],"disinfection":[99],"system":[100],"implemented":[101],"manipulator":[105],"robot":[106,125,200],"designed":[107],"address":[109],"problem":[111],"surface":[114,121,136],"disinfection.":[115],"A":[116],"human":[117],"supervisor":[118,148],"designates":[119],"disinfection,":[123],"autonomously":[126],"plans":[127],"executes":[129],"end-effector":[131],"trajectory":[132],"disinfect":[134],"required":[139],"certainty,":[140],"then":[142],"displays":[143],"results":[145],"verify.":[150],"We":[151],"also":[152],"provide":[153],"some":[154],"background":[155],"information":[156],"Ultraviolet":[158],"Germicidal":[159],"Irradiation":[160],"(UVGI)":[161],"how":[164,192],"constructed":[166],"validated":[168],"models":[169],"radiation":[172],"propagation":[173],"accumulation":[175],"our":[177,182,202],"system.":[178],"Finally,":[179],"implementation":[183,196],"Fetch":[186],"manipulation":[188],"platform,":[189],"discuss":[191],"practicalities":[194],"real":[199],"affect":[201],"models.":[203]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
