{"id":"https://openalex.org/W3189636049","doi":"https://doi.org/10.3390/s21165281","title":"Falcon: A False Ceiling Inspection Robot","display_name":"Falcon: A False Ceiling Inspection Robot","publication_year":2021,"publication_date":"2021-08-05","ids":{"openalex":"https://openalex.org/W3189636049","doi":"https://doi.org/10.3390/s21165281","mag":"3189636049","pmid":"https://pubmed.ncbi.nlm.nih.gov/34450723"},"language":"en","primary_location":{"id":"doi:10.3390/s21165281","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165281","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5281/pdf?version=1628134377","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/16/5281/pdf?version=1628134377","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042817259","display_name":"M. A. Viraj J. Muthugala","orcid":"https://orcid.org/0000-0002-3598-5570"},"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":true,"raw_author_name":"M. A. Viraj J. Muthugala","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3598-5570","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005289149","display_name":"Koppaka Ganesh Sai Apuroop","orcid":"https://orcid.org/0000-0003-0133-4718"},"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":"Koppaka Ganesh Sai Apuroop","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0133-4718","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011052748","display_name":"Saurav Ghante Anantha Padmanabha","orcid":"https://orcid.org/0000-0002-5931-2223"},"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":"Saurav Ghante Anantha Padmanabha","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5931-2223","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050654727","display_name":"S. M. Bhagya P. Samarakoon","orcid":"https://orcid.org/0000-0002-3458-5006"},"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":"S. M. Bhagya P. Samarakoon","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3458-5006","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041057723","display_name":"Mohan Rajesh Elara","orcid":"https://orcid.org/0000-0001-6504-1530"},"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":"Mohan Rajesh Elara","raw_affiliation_strings":["Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-6504-1530","affiliations":[{"raw_affiliation_string":"Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore","institution_ids":["https://openalex.org/I152815399"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038895380","display_name":"Raymond Yeong Wei Wen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Raymond Yeong Wei Wen","raw_affiliation_strings":["Oceania Robotics, Pte, Ltd., #01-03, 3 Soon Lee Street, Singapore 627606, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oceania Robotics, Pte, Ltd., #01-03, 3 Soon Lee Street, Singapore 627606, Singapore","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5042817259"],"corresponding_institution_ids":["https://openalex.org/I152815399"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.6249,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.63411343,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"21","issue":"16","first_page":"5281","last_page":"5281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9955999851226807,"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"}},"topics":[{"id":"https://openalex.org/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9955999851226807,"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"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"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/ceiling","display_name":"Ceiling (cloud)","score":0.8045669794082642},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7445563673973083},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7129833698272705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5108358860015869},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4547743499279022},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4478503167629242},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.384281724691391},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37103980779647827},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33077937364578247},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.322720468044281},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08371558785438538}],"concepts":[{"id":"https://openalex.org/C2777489069","wikidata":"https://www.wikidata.org/wiki/Q1589822","display_name":"Ceiling (cloud)","level":2,"score":0.8045669794082642},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7445563673973083},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7129833698272705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5108358860015869},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4547743499279022},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4478503167629242},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.384281724691391},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37103980779647827},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33077937364578247},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.322720468044281},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08371558785438538},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D017143","descriptor_name":"Fuzzy Logic","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21165281","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165281","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5281/pdf?version=1628134377","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:34450723","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34450723","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:aed88c115d794e97a84e5d35a1626f94","is_oa":true,"landing_page_url":"https://doaj.org/article/aed88c115d794e97a84e5d35a1626f94","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 16, p 5281 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/16/5281/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21165281","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 21; Issue 16; Pages: 5281","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8399194","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8399194","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21165281","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21165281","pdf_url":"https://www.mdpi.com/1424-8220/21/16/5281/pdf?version=1628134377","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3189636049.pdf","grobid_xml":"https://content.openalex.org/works/W3189636049.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W638914717","https://openalex.org/W2015330753","https://openalex.org/W2040863036","https://openalex.org/W2057694691","https://openalex.org/W2086456025","https://openalex.org/W2109167592","https://openalex.org/W2163719747","https://openalex.org/W2164558688","https://openalex.org/W2327183868","https://openalex.org/W2507241948","https://openalex.org/W2614058254","https://openalex.org/W2735109434","https://openalex.org/W2748454077","https://openalex.org/W2768480885","https://openalex.org/W2771418087","https://openalex.org/W2884355912","https://openalex.org/W2900432149","https://openalex.org/W2959098661","https://openalex.org/W2975025086","https://openalex.org/W2982627193","https://openalex.org/W2995403003","https://openalex.org/W3000113184","https://openalex.org/W3003522421","https://openalex.org/W3003861052","https://openalex.org/W3009385532","https://openalex.org/W3015204527","https://openalex.org/W3017620326","https://openalex.org/W3019040030","https://openalex.org/W3040400506","https://openalex.org/W3048053491","https://openalex.org/W3132317747","https://openalex.org/W3142661453","https://openalex.org/W3169059453","https://openalex.org/W4254357733","https://openalex.org/W6725341104"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W2025208083","https://openalex.org/W2109596994","https://openalex.org/W4323870231"],"abstract_inverted_index":{"Frequent":[0],"inspections":[1,45,79],"are":[2,40],"essential":[3],"for":[4,28,42,62,72,76,146],"false":[5,22,29,43,63,77,114,176,205],"ceilings":[6,30],"to":[7,47,95,107,133,174,197],"maintain":[8],"the":[9,19,86,91,110,118,121,125,128,134,137,161,171,180,183,190,195],"service":[10],"infrastructures,":[11],"such":[12,98,193],"as":[13,99,194],"mechanical,":[14],"electrical,":[15],"and":[16,18,85,101,139,189,201],"plumbing,":[17],"structure":[20],"of":[21,90,112,120,127,136,170,182],"ceilings.":[23],"Human-labor-based":[24],"conventional":[25],"inspection":[26,122],"procedures":[27],"suffer":[31],"many":[32],"shortcomings,":[33],"including":[34],"safety":[35],"concerns.":[36],"Thus,":[37],"robot-aided":[38,60],"solutions":[39,61],"demanded":[41],"ceiling":[44,64,78,115,177],"similar":[46],"other":[48],"building":[49],"maintenance":[50],"services.":[51],"However,":[52],"less":[53],"work":[54],"has":[55],"been":[56],"conducted":[57],"on":[58,155,199],"developing":[59],"inspections.":[65],"This":[66],"paper":[67],"proposes":[68],"a":[69,73,113,147,150,168,175,204],"novel":[70],"design":[71,89,173],"robot":[74,92,129,172],"intended":[75],"named":[80],"Falcon.":[81],"The":[82,104],"compact":[83],"size":[84],"tracked":[87],"wheel":[88],"allow":[93],"it":[94],"traverse":[96,198],"obstacles":[97],"runners":[100,200],"lighting":[102],"fixtures.":[103],"robot's":[105,191],"ability":[106,196],"autonomously":[108],"follow":[109],"perimeter":[111,187],"can":[116],"improve":[117],"productivity":[119],"process":[123],"since":[124],"heading":[126,141],"often":[130],"changes":[131],"due":[132],"nature":[135],"terrain,":[138],"continuous":[140],"correction":[142],"is":[143],"an":[144],"overhead":[145],"teleoperator.":[148],"Therefore,":[149],"Perimeter-Following":[151],"Controller":[152],"(PFC)":[153],"based":[154],"fuzzy":[156],"logic":[157],"was":[158],"integrated":[159],"into":[160],"robot.":[162],"Experimental":[163],"results":[164],"obtained":[165],"by":[166],"deploying":[167],"prototype":[169],"testbed":[178],"confirmed":[179],"effectiveness":[181],"proposed":[184],"PFC":[185],"in":[186,203],"following":[188],"features,":[192],"fixtures":[202],"ceiling.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}
