PROTOTYPE DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS DISINFECTION ROBOT

• Main Author: Muhammad Ramadhan, Rhesa
• Format: Final Project
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/66395
• Institution: Institut Teknologi Bandung

ABSTRACT PROTOTYPE DESIGN AND IMPLEMENTATION OF AN AUTONOMOUS DISINFECTION ROBOT By RHESA MUHAMMAD RAMADHAN NIM: 13217003 (Bachelor’s Program in Electrical Engineering) At this time, the room disinfection process in hospitals is still done manually by humans. Cleaning staff as manual disinfection agents have the potential to be exposed to hazardous chemicals, Hospital Acquired Infections, and dangerous pathogens from the doffing process of releasing personal protective equipment after the disinfection activity. This condition makes the room disinfection process risky to be done manually. The presence of COVID-19 cases in the world has increased disinfection intensity in hospitals, especially in doctors' practice rooms. This increase in disinfection intensity occurs because of the continuous change of room occupants which could potentially bring the virus into the air column inside the room. Various kinds of doctor's specialties have made the layout of the doctor’s office varies. Therefore, in this final project, a robot has been designed with the ability to disinfect the room air column autonomously, thus helping the cleaning staffs disinfect the air evenly in various doctor's office rooms. As a limitation, the robot can only disinfect room air in 4 types of doctor's practice rooms in a closed condition measuring 4 meters × 4 meters. The autonomous disinfection robot is designed to have 6 different subsystems, namely data processing, interface, spray, power supply, drive, and object detection subsystems. In the data processing subsystem, the distribution of data processing is made to divide the data processing workload amid limited processing resources. The interface subsystem is built to connect the user with the robot system. The spray subsystem is built to disseminate the disinfectant into the air in the form of a mist. The power supply subsystem is built to provide power to the robot's internal electronic components. Printed circuit boards are used to integrate electronic components inside the robot systems. The casing is used as a robot frame, providing support for the robot's functionality to be able to spray disinfectant, and storing electronic or non-electronic components that make up the subsystems. The interface subsystem is implemented using HTML for the front-end and HTTP protocol for the back-end. Access of the interface subsystem for device control purposes is done via the web browser on the smartphone. The spray subsystem is implemented using a TW8001 nozel, a SAKAI MLR PP-25W pump, a switching component in the form of an IRF520-type MOSFET, and is controlled directly by the FPGA from the data processing subsystem. The power supply subsystem is iv implemented by using 15 pieces of 18650 batteries with a nominal voltage of 3.7 V which are arranged in a parallel configuration of 5 batteries, then each battery configured in parallel is arranged in series as many as 3 sets. The power supply subsystem has a feature to access the remaining percentage of battery charge via the interface subsystem with 5% resolution. The integration of electronic components from the entire robotic system is implemented on 4 printed circuit boards, namely the central board, the movement control board, the data processing board for the Reinforcement Learning section, and the power supply board. The casing is implemented in the form of a mixture of acrylic, PETG, and paralon materials. The results of usability testing for the interface subsystem reached 87.77%. The disinfectant mist from the sprayer can reach a height of 54 cm from the base of the nozzle and an angle of 43.60° and can spray 4.15 mL of disinfectant in 1.92 seconds. The reservoir in the spray subsystem can accommodate 534 mL of disinfectant liquid. The power supply subsystem is able to supply power to the robot system up to 30 minutes 4 seconds. The robot’s casing has a size of 121 cm × 40 cm × 40 cm with a circular base shape and has the ability to be water resistant up to a discharge of 109.9 mL/minute. Keywords: autonomous robot, data processing distribution, indoor air disinfection, interface, power supply.