Low-Cost UVBot Using SLAM to Mitigate the Spread of Noroviruses in Occupational Spaces
Abstract
:1. Introduction
2. Materials and Methods
2.1. Sanitizing Efficiency Experiment
2.1.1. Cell Culture and Virus Propagation
2.1.2. Virus Titer Quantification
2.1.3. UV Disinfection Experiments
2.1.4. Statistical Analysis
2.2. UVBot Mechanical Design
2.3. UVBot Electrical Design
2.3.1. Sanitization
2.3.2. Autonomous Movement
2.4. Software Development
2.4.1. Function Overview
2.4.2. Wall Following
2.4.3. Simultaneous Localization and Mapping (SLAM)
2.4.4. Localization and Virtual Wall
2.4.5. Reducing Human Exposure to UV Radiation
3. Results
3.1. Virus Inactivation by 254 nm UV Irradiation
3.2. UVBot Work Speed Calculation
3.3. UVBot Prototype and Autonomous Disinfection Demonstration
4. Discussion
5. Future Work
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Appendix A
Item | Quantity | Price Per Unit ($) | Price Per Item Per UV Bot ($) |
---|---|---|---|
Roomba | 1 | 200 | 200 |
Bulb | 2 | 74 | 148 |
Battery | 1 | 109 | 109 |
Raspberry Pi | 1 | 43 | 43 |
LiDAR | 1 | 100 | 100 |
Ballast | 1 | 20.41 | 20.41 |
Extension Cord | 1 | 11 | 11 |
Wire Nuts | 1 | 7 | 7 |
Wire | 1 | 12.98 | 12.98 |
Acrylic Discs | 6 | - | 100 |
Aluminum Hex Standoff (long) | 40 | 3.61 | 144.4 |
Hex Standoff (short) | 6 | 0.62 | 3.72 |
Hex Button Head Screws (shorter) | 1 | 7.11 | 7.11 |
Hex Button Head Screw (shortest) | 1 | 6.98 | 6.98 |
Hex Button head screw (M3 by 18 mm) | 1 | 6.2 | 6.2 |
Hex Nut (M3) | 1 | 0.88 | 0.88 |
Washer (M3) | 1 | 2.55 | 2.55 |
3D Printer Filament | 2 | 18 | 36 |
Final Total | 959 |
Distance (cm) | UV Intensity Close to Power Source (mW/cm2) | UV Intensity at the Center of the Bulb (mW/cm2) | UV Intensity at the Far Side of the Bulb (mW/cm2) |
---|---|---|---|
44 | 0.59 | 0.64 | 0.45 |
40 | 0.64 | 1.13 | 0.53 |
34 | 0.82 | 1.23 | 0.61 |
30 | 1.13 | 1.37 | 0.72 |
24 | 1.3 | 1.47 | 1.07 |
18 | 2.03 | 2.1 | 1.11 |
14 | 2.48 | 2.75 | 1.7 |
12 | 3.3 | 3.3 | 2.01 |
6 | 5.6 | 6.6 | 4.5 |
4 | 7.2 | 7.79 | 7.2 |
References
- Dyal, J.W.; Grant, M.P.; Broadwater, K.; Bjork, A.; Waltenburg, M.A.; Gibbins, J.D.; Hale, C.; Silver, M.; Fischer, M.; Steinberg, J.; et al. COVID-19 among Workers in Meat and Poultry Processing Facilities—19 States, April 2020. MMWR Morb. Mortal. Wkly. Rep. 2020, 69, 887–892. [Google Scholar] [CrossRef] [PubMed]
- Marshall, K.; Vahey, G.M.; McDonald, E.; Tate, J.E.; Herlihy, R.; Midgley, C.M.; Kawasaki, B.; Killerby, M.E.; Alden, N.B.; Staples, J.E. Exposures Before Issuance of Stay-at-Home Orders Among Persons with Laboratory-Confirmed COVID-19—Colorado, March 2020. MMWR Morb. Mortal. Wkly. Rep. 2020, 69, 847–849. [Google Scholar] [CrossRef] [PubMed]
- Johnston, C.P.; Qiu, H.; Ticehurst, J.R.; Dickson, C.; Rosenbaum, P.; Lawson, P.; Stokes, A.B.; Lowenstein, C.J.; Kaminsky, M.; Cosgrove, S.E.; et al. Outbreak management and implications of a nosocomial norovirus outbreak. Clin. Infect. Dis. 2007, 45, 534–540. [Google Scholar] [CrossRef] [PubMed] [Green Version]
- Centers for Disease Control and Prevention CDC. Recurring norovirus outbreaks in a long-term residential treatment facility—Oregon, 2007. MMWR Morb. Mortal. Wkly. Rep. 2009, 58, 694–698. [Google Scholar]
- Seitz, S.R.; Leon, J.S.; Schwab, K.J.; Lyon, G.M.; Dowd, M.; McDaniels, M.; Abdulhafid, G.; Fernandez, M.L.; Lindesmith, L.C.; Baric, R.S.; et al. Norovirus infectivity in humans and persistence in water. Appl. Environ. Microbiol. 2011, 77, 6884–6888. [Google Scholar] [CrossRef] [Green Version]
- Duizer, E.; Bijkerk, P.; Rockx, B.; de Groot, A.; Twisk, F.; Koopmans, M. Inactivation of caliciviruses. Appl. Environ. Microbiol. 2004, 70, 4538–4543. [Google Scholar] [CrossRef] [Green Version]
- Koopmans, M.; Duizer, E. Foodborne viruses: An emerging problem. Int. J. Food Microbiol. 2004, 90, 23–41. [Google Scholar] [CrossRef]
- Estes, M.K.; Prasad, B.V.V.; Atmar, R.L. Noroviruses everywhere: Has something changed? Curr. Opin. Infect. Dis. 2006, 19, 467–474. [Google Scholar] [CrossRef]
- Mead, P.S.; Slutsker, L.; Dietz, V.; McCaig, L.F.; Bresee, J.S.; Shapiro, C.; Griffin, P.M.; Tauxe, R.V. Food-related illness and death in the United States. Emerg. Infect. Dis. 1999, 5, 607–625. [Google Scholar] [CrossRef]
- Fankhauser, R.L.; Monroe, S.S.; Noel, J.S.; Humphrey, C.D.; Bresee, J.S.; Parashar, U.D.; Ando, T.; Glass, R.I. Epidemiologic and molecular trends of “Norwalk-like viruses” associated with outbreaks of gastroenteritis in the United States. J. Infect. Dis. 2002, 186, 1–7. [Google Scholar] [CrossRef] [Green Version]
- Scallan, E.; Griffin, P.M.; Angulo, F.J.; v Tauxe, R.; Hoekstra, R.M. Foodborne illness acquired in the United states-Unspecified agents. Emerg. Infect. Dis. 2011, 17, 7–15. [Google Scholar] [CrossRef] [PubMed]
- Yen, C.; Wikswo, M.E.; Lopman, B.A.; Vinje, J.; Parashar, U.D.; Hall, A.J. Impact of an Emergent Norovirus Variant in 2009 on Norovirus Outbreak Activity in the United States. Clin. Infect. Dis. 2011, 53, 568–571. [Google Scholar] [CrossRef] [PubMed] [Green Version]
- Lopman, B.; Gastañaduy, P.; Park, G.W.; Hall, A.J.; Parashar, U.D.; Vinjé, J. Environmental transmission of norovirus gastroenteritis. Curr. Opin. Virol. 2012, 2, 96–102. [Google Scholar] [CrossRef] [PubMed]
- Araud, E.; DiCaprio, E.; Ma, Y.; Lou, F.; Gao, Y.; Kingsley, D.; Hughes, J.H.; Li, J. Thermal inactivation of enteric viruses and bioaccumulation of enteric foodborne viruses in live oysters (Crassostrea virginica). Appl. Environ. Microbiol. 2016, 82, 2086–2099. [Google Scholar] [CrossRef] [Green Version]
- Hirneisen, K.A.; Kniel, K.E. Comparing human norovirus surrogates: Murine norovirus and tulane virus. J. Food Prot. 2013, 76, 139–143. [Google Scholar] [CrossRef]
- Farkas, T.; Sestak, K.; Wei, C.; Jiang, X. Characterization of a Rhesus Monkey Calicivirus Representing a New Genus of Caliciviridae. J. Virol. 2008, 82, 5408–5416. [Google Scholar] [CrossRef] [Green Version]
- Araud, E.; Fuzawa, M.; Shisler, J.L.; Li, J.; Nguyen, T.H. UV inactivation of rotavirus and tulane virus targets different components of the virions. Appl. Environ. Microbiol. 2020, 86, e02436-19. [Google Scholar] [CrossRef]
- Oh, C.; Sun, P.P.; Araud, E.; Nguyen, T.H. Mechanism and efficacy of virus inactivation by a microplasma UV lamp generating monochromatic UV irradiation at 222 nm. Water Res. 2020, 186, 116386–1163814. [Google Scholar] [CrossRef]
- Zhang, T.; Wang, T.; Mejia-Tickner, B.; Kissel, J.; Xie, X.; Huang, C.H. Inactivation of Bacteria by Peracetic Acid Combined with Ultraviolet Irradiation: Mechanism and Optimization. Environ. Sci. Technol. 2020, 54, 9652–9661. [Google Scholar] [CrossRef]
- Lytle, C.D.; Sagripanti, J.-L. Predicted Inactivation of Viruses of Relevance to Biodefense by Solar Radiation. J. Virol. 2005, 79, 14244–14252. [Google Scholar] [CrossRef] [Green Version]
- Mathew, A.M.; Mun, A.B.; Balakrishnan, A. Ultraviolet Inactivation of Chikungunya Virus. Intervirology 2018, 61, 36–41. [Google Scholar] [CrossRef] [PubMed]
- UVD Robots Infection Prevention. Available online: https://www.uvd-robots.com (accessed on 15 September 2022).
- XENEX Disinfection Service. Available online: https://xenex.com/our-solution/lightstrike/ (accessed on 15 September 2022).
- TMiRob. Available online: http://www.tmirob.com (accessed on 15 September 2022).
- Tru-D SmartUVC. Available online: https://tru-d.com (accessed on 15 September 2022).
- UVCLIGHT UVC Robot. Available online: https://www.uvclight.co.uk/uvc-robot/ (accessed on 15 September 2022).
- Addverb Technology Decimator. Available online: https://addverb.com/product/decimator/ (accessed on 15 September 2022).
- SmartGaurdUV. Available online: https://smartguarduv.com (accessed on 15 September 2022).
- Lavender smart UVC Disinfection robot. Available online: https://www.geekplus.com/product-2/smart-uvc-disinfection-robot (accessed on 15 September 2022).
- Eischeid, A.C.; Linden, K.G. Molecular indications of protein damage in adenoviruses after UV disinfection. Appl. Environ. Microbiol. 2011, 77, 1145–1147. [Google Scholar] [CrossRef] [PubMed] [Green Version]
- Wigginton, K.R.; Menin, L.; Sigstam, T.; Gannon, G.; Cascella, M.; Hamidane, H.B.; Tsybin, Y.O.; Waridel, P.; Kohn, T. UV Radiation Induces Genome-Mediated, Site-Specific Cleavage in Viral Proteins. ChemBioChem 2012, 13, 837–845. [Google Scholar] [CrossRef] [PubMed]
- BreezySLAM. Available online: https://github.com/simondlevy/BreezySLAM (accessed on 15 September 2022).
- Steux, B.; el Hamzaoui, O. tinySLAM: A SLAM algorithm in less than 200 lines C-language program. In Proceedings of the 11th International Conference on Control Automation Robotics & Vision, ICARCV 2010, Singapore, 7–10 December 2010. [Google Scholar] [CrossRef]
- Leone, C.M.; Dharmasena, M.; Tang, C.; Dicaprio, E.; Ma, Y.; Araud, E.; Bolinger, H.; Rupprom, K.; Yeargin, T.; Li, J.; et al. Prevalence of human noroviruses in commercial food establishment bathrooms. J. Food Prot. 2018, 81, 719–728. [Google Scholar] [CrossRef] [PubMed]
- Hofmann, F.M.; Olawumi, E.; Michaelis, M.; Stößel, U.; Hofmann, F. Significance of norovirus in occupational health: A review of published norovirus outbreaks in Central and Northern Europe. Int. Arch. Occup. Environ. Health 2020, 93, 911–923. [Google Scholar] [CrossRef]
- Fuzawa, M.; Araud, E.; Li, J.; Shisler, J.L.; Nguyen, T.H. Free Chlorine Disinfection Mechanisms of Rotaviruses and Human Norovirus Surrogate Tulane Virus Attached to Fresh Produce Surfaces. Environ. Sci. Technol. 2019, 53, 11999–12006. [Google Scholar] [CrossRef] [PubMed]
- Biasin, M.; Bianco, A.; Pareschi, G.; Cavalleri, A.; Cavatorta, C.; Fenizia, C.; Galli, P.; Lessio, L.; Lualdi, M.; Tombetti, E.; et al. UV-C irradiation is highly effective in inactivating SARS-CoV-2 replication. Sci. Rep. 2021, 11, 6260–6266. [Google Scholar] [CrossRef]
- McDevitt, J.J.; Rudnick, S.N.; Radonovich, L.J. Aerosol susceptibility of influenza virus to UV-C light. Appl. Environ. Microbiol. 2012, 78, 1666–1669. [Google Scholar] [CrossRef] [Green Version]
- Zhang, Z.; Li, B.; Li, N.; Sardar, M.F.; Song, T.; Zhu, C.; Lv, X.; Li, H. Effects of UV disinfection on phenotypes and genotypes of antibiotic-resistant bacteria in secondary effluent from a municipal wastewater treatment plant. Water Res. 2019, 15, 546–554. [Google Scholar] [CrossRef]
- Wolnicka-Glubisz, A.; Noonan, F.P. Neonatal susceptibility to UV induced cutaneous malignant melanoma in a mouse model. Photochem. Photobiol. Sci. 2006, 5, 254–260. [Google Scholar] [CrossRef]
- Cheng, Y.; Zhao, P.; Wang, F.; Block, D.J.; Hovakimyan, N. Improving the Robustness of Reinforcement Learning Policies with L1 Adaptive Control. IEEE Robot. Autom. Lett. 2022, 7, 6573–6581. [Google Scholar] [CrossRef]
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. |
© 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Share and Cite
Wang, F.; Nisar, H.J.; Li, Y.; Araud, E.; Nguyen, T.H.; Kesavadas, T. Low-Cost UVBot Using SLAM to Mitigate the Spread of Noroviruses in Occupational Spaces. Sensors 2022, 22, 8926. https://doi.org/10.3390/s22228926
Wang F, Nisar HJ, Li Y, Araud E, Nguyen TH, Kesavadas T. Low-Cost UVBot Using SLAM to Mitigate the Spread of Noroviruses in Occupational Spaces. Sensors. 2022; 22(22):8926. https://doi.org/10.3390/s22228926
Chicago/Turabian StyleWang, Fanxin, Harris Junaid Nisar, Yao Li, Elbashir Araud, Thanh H. Nguyen, and Thenkurussi Kesavadas. 2022. "Low-Cost UVBot Using SLAM to Mitigate the Spread of Noroviruses in Occupational Spaces" Sensors 22, no. 22: 8926. https://doi.org/10.3390/s22228926
APA StyleWang, F., Nisar, H. J., Li, Y., Araud, E., Nguyen, T. H., & Kesavadas, T. (2022). Low-Cost UVBot Using SLAM to Mitigate the Spread of Noroviruses in Occupational Spaces. Sensors, 22(22), 8926. https://doi.org/10.3390/s22228926