DOCSLIB.ORG

(Title of the Thesis)*

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
(Title of the Thesis)* Design and Analysis of a Robotic Duct Cleaning System by Siamak Ghorbani Faal A thesis Presented to Sharif University of Technology, International Campus, Kish Island in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering (Mechatronics) Supervisor: Prof. Gholamreza Vossoughi Co-supervisor: Dr. Kambiz Ghaemi Osgouie Kish Island, Iran, 2011 © Siamak Ghorbani Faal, 2011 i Sharif University of Technology International Campus, Kish Island This is to certify that the Thesis Prepared, By: Siamak Ghorbani Faal Entitled: Design and Analysis of a Robotic Duct Cleaning System and submitted in partial fulfillment of the requirements for the Degree of Master of Science complies with the regulation of this university and meets the accepted standards with respect to originality and quality. Signed by the final examining committee: Supervisor: Co-Supervisor: External Examiner: Internal Examiner: Session Chair: ii AUTHOR'S DECLARATION I hereby declare that I am the sole author of this thesis. The work described in this thesis has not been previously submitted for a degree in this or any other university, and unless otherwise referenced it. This is a true copy of the thesis, including any required final revisions, as accepted by my examiners. I understand that my thesis may be made electronically available to the public. iii Abstract Design and Analysis of a Robotic Duct Cleaning Siamak Ghorbani Faal, M.Sc. Sharif University of Technology, International Campus, Kish Island, 2011 Supervisor: Prof. Gholamreza Vossoughi Co-supervisor: Dr. Kambiz Ghaemi Osgouie Delivering high quality and clean air into occupied spaces is the main goal of Heating, Ventilation and Air Conditioning (HVAC) systems. HVAC systems draw supply air which usually contains fungi and moisture. Fungi and moisture plus organic materials create a good bed for mold growth. Studies prove that duct cleaning process can definitely reduce the amount of pollutants present in the ducts. Hence, it has positive impact on human lives both regarding psychological and physical points of view. Duct cleaning method‟s application difficulties and ducts‟ unreachable environments motivated duct cleaning firms to employ robots for duct cleaning tasks. Although there are considerable numbers of Duct Cleaning Robots (DCRs) available on the market, they are not dexterous enough to be widely used by the companies requiring this service. The main reason is that they are unable to maneuver in vertical ducts. This thesis focuses on designing a novel DCR which doesn‟t have the limitations of current DCRs. First, a literature review on DCRs is presented in order to find their requirements and limitations. Additionally, a literature review on climbing robots is presented in order to find an appropriate structure serving as a DCR. By considering different duct conditions and DCRs requirements, a conceptual design of a climbing DCR (named as Duct-Sweeper) is proposed. Moreover, an optimization problem is formulated and solved to find the optimal robot geometry. The results of the optimization are used to design a prototype. Finally, different maneuvers and path plantings of the robot are discussed. iv Although the introduced robot is designed to serve as HVAC DCR, small changes to the adhesion system and wheeled locomotion system of the robot can make it suitable for industrial duct systems as well. Key words: Duct cleaning robots, Climbing robots, Conceptual design, Design optimization, Prototype design, Path planning v Acknowledgements This dissertation would not have been possible without the guidance and help of several individuals who contributed their valuable assistance throughout this study. Foremost, I would like to express my sincere appreciation to my supervisor Prof. Gholamreza Vossoughi for his patience, motivation and immense knowledge. His guidance and support helped me throughout this research and the preparation of this thesis. My special thanks also go to my Co-Supervisor Dr. Kambiz Ghaemi Osgouie for his support, motivation and knowledgeable guidance. My sincere thanks also go to my friends in Sharif University of Technology, International Campus-Kish Island: Mozhgan Azimpour Kivi, Kaveh Bidarmaghz and Navid Kermanshahi who always took the time to listen to me and share their knowledge. Last but not the least; I would like to thank my parents, Maghsoud Ghorbani Faal and Nasrin Basharkhah, for their endless support and love they have provided me throughout my life. I would also like to thank them for encouraging and supporting me to pursue my Master‟s study. My brother, Babak Ghorbani Faal, and my sister, Parisa Ghorbani Faal, deserve my wholehearted thanks as well. vi Dedication This thesis is dedicated to my parents who have never failed to give us financial and moral support and for showing me the worth of knowledge. It is also dedicated to all my teachers throughout my life that helped me to pursue my studies. Finally, this thesis is dedicated to all those who never stop believing in the richness of learning. vii Table of Contents Sharif University of Technology ............................................................................................... ii AUTHOR'S DECLARATION ................................................................................................. iii Abstract .................................................................................................................................... iv Acknowledgements .................................................................................................................. vi Dedication ............................................................................................................................... vii Table of Contents ................................................................................................................... viii List of Figures ........................................................................................................................... x List of Tables ........................................................................................................................... xii List of Abbreviations .............................................................................................................. xiii Chapter 1 Introduction ............................................................................................................... 1 1.1 The necessity of duct cleaning ........................................................................................ 1 1.2 Proposed method ............................................................................................................. 3 1.3 Chapter organization ....................................................................................................... 4 Chapter 2 Literature review of current duct cleaning and climbing robots ............................... 5 2.1 Literature review on duct cleaning robots ....................................................................... 5 2.2 Literature review on climbing robots .............................................................................. 9 Chapter 3 Conceptual Design .................................................................................................. 15 3.1 Structure concept of the Duct-Sweeper ......................................................................... 15 3.2 Duct-Sweeper waist mechanism‟s workspace requirements ......................................... 16 3.3 Conceptual design of the waist mechanism ................................................................... 22 3.4 Conceptual design of wheeled locomotion .................................................................... 26 3.5 Conceptual design of adhesion system .......................................................................... 28 3.5.1 Duct construction materials .................................................................................... 28 3.5.2 Adhesion technology suitable for Duct-Sweeper ................................................... 29 3.5.3 Vacuum system design ........................................................................................... 30 3.5.4 Adhesion system leveling mechanism .................................................................... 36 3.6 Summary of Duct-Sweeper‟s conceptual design ........................................................... 37 Chapter 4 Kinematics and static force analysis of Duct-Sweeper ........................................... 39 4.1 Kinematic analysis of Duct-Sweeper ............................................................................ 39 4.1.1 Solving waist‟s kinematics using SSM .................................................................. 39 4.1.2 Mapping PP kinematics to SSM ............................................................................. 41 4.1.3 Forward and inverse kinematics of the waist ......................................................... 43 4.1.4 Velocity analysis .................................................................................................... 47 viii 4.2 Jacobian and static force analysis .................................................................................. 49 4.3 Suction cup force analysis ............................................................................................. 50 Chapter 5 Design optimization and prototype design ............................................................. 55 5.1 Definition of parameters
Load more

Recommended publications
  • Vacuum Cleaner User Manual
    Vacuum Cleaner User Manual EN VCO 42701 AB 01M-8839253200-1717-01 Please read this user manual first! Dear Valued Customer, Thank you for selecting this Beko appliance. We hope that you get the best results from your appliance which has been manufactured with high quality and state-of-the-art technology. Therefore, please read this entire user manual and all other accompanying documents carefully before using the appliance and keep it as a reference for future use. If you handover the appliance to someone else, give the user manual as well. Follow the instructions by paying attention to all the information and warnings in the user manual. Remember that this user manual may also apply to other models. Differences between models are explicitly described in the manual. Meanings of the Symbols Following symbols are used in various sections of this manual: Important information and useful C hints about usage. WARNING: Warnings against A dangerous situations concerning the security of life and property. Protection class for electric shock. This product has been produced in environmentally friendly modern facilities. This product does not contain PCB’s CONTENTS 1 Important safety and environmental instructions 4-5 1.1 General safety . 4 1.2 Compliance with the WEEE Directive and Disposing of the Waste Product. 5 1.3 Compliance with RoHS Directive . 5 1.4 Package information . 5 1.5 Plug Wiring . 6 2 Your vacuum cleaner 7 2.1 Overview . .7 2.2 Technical data. .7 3 Usage 8-10 3.1 Intended use . 8 3.2 Attaching/removing the hose. 8 3.3 Attaching/removing the telescopic tube.
    [Show full text]
  • Vacuum Cleaner User Manual
    Vacuum Cleaner User Manual Model No.: FVC18M13 *Before operating the unit, please read this manual thoroughly and retain it for future reference. 1 CONTENT PAGE SAFETY INSTRUCTION 3 PARTS DESCRIPTION 4 OPERATION INSTRUCTION 5 MAINTENANCE INSTRUCTION 6 TROUBLE SHOOTING 7 SPECIFICATION 7 WARRANTY 8 2 SAFETY INSTRUCTION 1. To avoid electric shock, fire or injury, please read the user manual carefully before using the appliance and keep it for future reference. 2. This appliance is for household use only. Please use suitable power source (220-240V~ 50/60Hz). 3. Never immerse the appliance in water or other liquids. 4. Do not operate the appliance with wet hands. 5. Do not use the appliance under direct sunshine, outdoor or on wet surfaces. 6. Please turn off the appliance when not in use otherwise it may result in danger. 7. Please turn off the appliance and unplug the socket when unattended otherwise it may result in danger. 8. Keep the appliance away from children. 9. The appliance is not intended for used by children or persons with reduced physical, sensory or mental capabilities, or lack of experience and knowledge, unless they have been given supervision or instruction concerning use of the appliance by a person responsible for their safety. 10. Children should be supervised to ensure that they do not play with the appliance. 11. With any indication of malfunction (including power cord), please stop using the appliance immediately to avoid hazard. Take it to the authorized service center for repair. Do not attempt to repair or change any parts by yourself.
    [Show full text]
  • Design and Implementation of Low Cost Vacuum Cleaner
    International Journal of Engineering Technology Science and Research IJETSR www.ijetsr.com ISSN 2394 – 3386 Volume 4, Issue 10 October 2017 Design and Implementation of Low Cost Vacuum Cleaner Sushmita Deb, Sanjay Kumar K, Sushma T.P., Nadashree V.S., Sahana.T SJM Institute of Technology, Chitradurga, Karnataka, India ABSTRACT The goal is to build an electric vacuum cleaner using a 12V battery. We concluded that 12V battery is enough to build an electric vacuum rather than using battery of higher Volts .So that 12V battery works effectively and easily. The machine functions even better by using low volts machines. Materials used to build the vacuum cleaner are:2litre plastic bottle, 12V dc motor, switch, m-seal, one water bottle cap, an empty deodorant can and an empty Otrivin plastic bottle. KEY WORDS: Vacuum cleaner, Plastic bottles, Deodorant cans, Meshes, Flexible pipes INTRODUCTION A vacuum cleaner is a device that uses an air pump to create a partial vacuum to suck up dust and dirt, usually from floors, and from other surfaces such as upholstery and draperies. The dirt is collected by either a dust bag or a cyclone for later disposal. Vacuum cleaners, which are used in homes as well as in industry, exist in a variety of sizes and models small battery-powered hand-held devices, domestic central vacuum cleaner, huge stationary industrial appliances that can handle several hundred litres of dust before being emptied, and self-propelled vacuum trucks for recovery of large spills or removal of contaminated soil. Specialized shop vacuums can be used to suck up both dust and liquids.
    [Show full text]
  • Robotic Vacuum Cleaner Design to Mitigate Slip Errors in Warehouses
    Robotic Vacuum Cleaner Design to Mitigate Slip Errors in Warehouses By Benjamin Fritz Schilling Bachelor of Science in Mechanical Engineering New Mexico Institute of Mining and Technology, New Mexico, 2016 Submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Engineering in Advanced Manufacturing and Design at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY September 2017 © 2017 Benjamin Fritz Schilling. All rights reserved. The author hereby grants to MIT permission to reproduce and to distribute publicly paper and electronic copies of this thesis document in whole or in part in any medium now known or hereafter created. Signature of Author: Department of Mechanical Engineering August 11, 2017 Certified by: Maria Yang Associate Professor of Mechanical Engineering Thesis Supervisor Accepted by: Rohan Abeyaratne Quentin Berg Professor of Mechanics & Chairman, Committee for Graduate Students 1 (This page is intentionally left black) 2 Robotic Vacuum Cleaner Design to Mitigate Slip Errors in Warehouses By Benjamin Fritz Schilling Submitted to the Department of Mechanical Engineering on August 11, 2017 in partial fulfillment of the requirements for the degree of Master of Engineering in Advanced Manufacturing and Design Abstract Warehouses are extremely dusty environments due to the concrete and cardboard dust generated. This is problematic in automated warehouses that use robots to move items from one location to another. If the robot slips, it can collide with other robots or lose track of where it is located. Currently, to reduce the amount of dust on the floor, warehouses use industrial scrubbers that users walk behind or ride. This requires manual labor and a regular scheduled maintenance plan that needs to be followed to mitigate the dust accumulation.
    [Show full text]
  • Central Vacuum Cleaner System
    CENTRAL VACUUM CLEANER SYSTEM TKB Home TKB CONTROL SYSTEM LIMITED(Hong Kong) Add:29-31 Cheung Lee St Chai Wan Hong Kong ISO9001:2008 WENZHOU TKB CONTROL SYSTEM CO., LTD(Manufacturer) COMPLIANT Add: No. 8 Xiqiao Road, Liushi, Yueqing, Zhejiang, China 325604 Tel: (86 577) 61725815 ; 61787335 Fax: (86 577) 62731892 www.tkbhome.com E-mail:[email protected] http://www.tkbhome.com CENTRAL VACUUM CLEANER SYSTEM CENTRAL VACUUM CLEANER SYSTEM TKB CENTRAL VACUUM CLEANER SYSTEM TKB CENTRAL VACUUM CLEANER SYSTEM Bacteria/Microbiology Pet dander The research shows that the air pollution in the house and in Central vacuum system consists of cleaner host, pipe network, the office area is about100 times as the outdoor, the Viruses vacuum port, vacuum components. The host of Vacuum is and bacteria could take the tiny dust indoor as a vector get placed on the room, balcony, garage, equipment rooms inside into our body by breath, skin and mucosal. At present we (or outside) of the building. The host through the network could know almost 65%-75% of infection and allergy is management connect with each room's suction port,When do related to indoor dust... the cleaning work, put the cleaning suction vacuum components into the vacuum suction port, sucked the harmful gasesand Therefore, It is necessary to install a central vacuum system dust indoor into the large capacity trash bags by vacuum in the healthy house, cleaning Pipes. efficient and timely elimination of indoor dust and adsorbed bacteria which on the ash dust. In Europe and the United States, the central vacuum system has 50 years of production history, large-scale use has 30-40 Despite there have many reasons of the high incidence but years of history.
    [Show full text]
  • Indoor Environmental Monitoring System Using a Robot Vacuum Cleaner
    Sensors and Materials, Vol. 32, No. 3 (2020) 1133–1140 1133 MYU Tokyo S & M 2166 Indoor Environmental Monitoring System Using a Robot Vacuum Cleaner Kazutoshi Noda* and Hidenobu Aizawa Environmental Management Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 16-1 Onogawa, Tsukuba, Ibaraki 305-8569, Japan (Received April 24, 2019; accepted January 16, 2020) Keywords: IoT, robot, quartz crystal microbalance, semiconductor gas sensor, environmental measurement, automatic operation We have studied a method of monitoring an indoor environment using an advanced robot vacuum cleaner equipped with a small sensor unit consisting of temperature, humidity, and gas sensors. We conducted a test to detect a vaporized material on the floor in a room. The sensor unit (temperature, humidity, air pressure, quartz crystal microbalance, and semiconductor gas sensors) was used in the test. Measurements were made with the sensor unit placed in the dust box of the vacuum cleaner. To represent a leaked liquid, a given number of water droplets and a sponge soaked with a given volume of ethanol were placed at different locations on the floor, and we investigated the detection characteristics of each sensor when the cleaner passed by the droplets and sponge representing the leaked liquid. In all the detection tests, measurements made with the sensor unit placed in the dust box showed the selective detection of water and ethanol. The most likely reason for the increase in detection output is that a few water droplets on the floor were distributed by the brush and vaporized to inside the robot vacuum cleaner, where they were detected by the sensor unit in the dust box.
    [Show full text]
  • Triple Action Humidifier Model: AW600
    ™ Triple Action Humidifier Model: AW600 Thank you for purchasing this WINIX product •Read and follow all safety rules and instructions before operating this equipment. •Please keep this manual for future reference. Triple Action Humidifierwith Winix HumidiPür™ Triple Action Humidifier simultaneously humidifies HumidiPür™ and cleans the air. Featuring a 3.17 gallon per day humidification Model: AW600 capacity and 3-Stage air purification with PlasmaWave® Technology. ® ® Mist Humidifier PlasmaWave technology removes air HumidiPür™ generates very fine and light mist pollutants resulting in cleaner fresher to enhance consistent humidity level. air. Auto Mode CleanCel® Anti-Bacterial Coating WINIX’s sensor detecs room humidity HumidiPür™ has been treated with CleanCel® level to control fan speed and optimize antibacterial coating to prevent growth of the humidity level. bacteria in the water tank and cleaning discs. Timer Auto Shut-Off The automatic Timer indicator is used Automatically shuts off when the water bucket to maintain efficiency throughout the is Low. lifetime of the product. Sleep Mode Light sensor detects when the room is dark and adjusts the unit to Sleep Mode to reduce power consumption. 1 Table of Contents Safety Instructions Warning 3 Product Information Unit Diagram 11 Control Panel/Display 12 Installation Selecting a Location 13 Set-Up Instructions 14 Operation Modes of Operations 15 Care and Maintenance 19 Troubleshooting FAQ/Solutions 25 Product Specifications 27 2 Safety Instructions Warning PROHIBITED Follow these instructions to avoid any risk of personal injury, property damage, DO NOT DISASSEMBLE electrical shocks or fire hazard. Notice MUST FOLLOW Failure to follow the safety instructions can lead to personal injury or property Ground connection protecting damage.
    [Show full text]
  • Operating Manual
    99315161192-03.indb315161192-03.indb 1 22/26/2013/26/2013 111:02:001:02:00 AAMM CONTENTS SAFETY PRECAUTIONS ......................................En-1 ADJUSTING THE DIRECTION OF FEATURES AND FUNCTIONS .............................En-2 AIR CIRCULATION .............................................En-10 NAME OF PARTS .................................................En-3 10°C HEAT OPERATION ....................................En-10 PREPARATION .....................................................En-5 SWING OPERATION ..........................................En-11 OPERATION ..........................................................En-6 COIL DRY OPERATION ......................................En-11 TIMER OPERATION .............................................En-8 CLEANING AND CARE .......................................En-12 SLEEP TIMER OPERATION .................................En-9 TROUBLESHOOTING ........................................En-14 MANUAL AUTO OPERATION ...............................En-9 OPERATING TIPS ...............................................En-16 SAFETY PRECAUTIONS ● Do not attempt to install this air conditioner by yourself. DANGER! ● This unit contains no user-serviceable parts. Always consult authorized service per- sonnel for repairs. ● When moving, consult authorized service personnel for disconnection and installation of the unit. ● Do not become excessively chilled by staying for lengthy periods in the direct cooling airfl ow. ● Do not insert fi ngers or objects into the outlet port or intake grilles. ● Do not start
    [Show full text]
  • Owner's Guide
    8870 Series OWNER’S GUIDE Guía del Propietario Le Guide du Propriétaire w Eureka Vacuum! our ne ng y radora Eureka! hasi va aspi urc u nue r p de s ateur Eureka! fo pra el aspir ou om nouv k y la c otre an or té v Th s p che Before Returning, Call cia ir a ra avo Eureka Customer Service ¡G i d' erc Antes de enviar de regreso, Ilame al Servico al Cliente de Eureka M Avant de le retourner, appelez le service à la clientèle Eureka HELPLINE LÍNEA DE AYUDA LIGNE D’AIDE 1-800-282-2886 8 a.m. to 7:30 p.m. (CST), Monday - Friday 10 a.m. to 6:30 p.m. (CST), Saturday - Sunday 8 a.m. a 7:30 p.m. (CST), de Lunes a viernes 10 a.m. a 6:30 p.m. (CST), sábado y domingo 8 h à 19 h 30 (CST), lundi au vendredi 10 h à 18 h 30 (CST), samedi et dimanche Promotional code: 8860ser09 Upright Vacuum Cleaner Special Offer – receive 15% off parts and accessories Household Type when ordering online. Promotion excludes vacuums. www.eureka.com Aspiradora vertical Oferta especial – descuente 15% cuando compra partes y tipo doméstico accesorios con el internet. Oferta excluye aspiradoras. Aspirateur vertical Offre spéciale – recevez 15 % de réduction sur les pièces et les accessoires lorsque vous commandez en ligne. La promotion exclut les aspirateurs. de type résidentiel © 2010 Electrolux Home Care Products, Inc. Printed in China PN83150 Where to Find Important Vacuum Cleaner Information Please Retain Record the model, type and serial number below.
    [Show full text]
  • The Modern Way of Cleaning on Board
    Halton ProClean The Modern Way of Cleaning on Board – Why is central vacuum cleaning system so much greener, safer and more efficient on cruise ships www.halton.com/marine The Modern Way of Cleaning on Board is now available! We have gathered all the information in this booklet to tell you more about the benefits of using a central vacuum cleaning system. Why is it so much better than traditional systems? What kind of a process it is to have a central vacuum cleaning system installed on board? What is the payback time? First and foremost, we listen to our customers. We hope you will enjoy this booklet! Table of Contents The benefits of using a central vacuum cleaning (CVC) on board 3 By Sami Piirainen - Director, Halton Marine “Real-life conditions show that CVC is 20-55% faster to use compared to traditional vacuum cleaners. Central vacuum cleaning systems also radically reduce the amount of waste compared to traditional systems.” Read more about the benefits of using CVC on board. Calculation example - CVC vs. traditional systems 6 By Ilmari Kirjalainen - CVC System Specialist, Halton Marine “How is it possible to save hundreds of thousands of dollars by using a central vacuum cleaning system?” See how we calculated the savings and compare the figures to your own potential project. Learnings after 2500 CVC installations 9 By Janne Tulivuori - CVC Sales Manager, Halton Marine “How does a typical project proceed? How long does a project take? What is the main reason that CVC is not already widely used on board ships?” Read more about Janne’s thoughts and learnings.
    [Show full text]
  • Relation Between Function and Form in Vacuum Cleaners Design
    Ștefan RADU RELATION BETWEEN FUNCTION AND FORM IN VACUUM CLEANERS DESIGN Abstract: The paper analyses how robotic vacuum cleaner works, describing their cleaning capabilities and additional features. The paper illustrates advantages of using robotic vacuum cleaners that have intelligent programming and a vacuum cleaning system, the components of a robotic vacuum cleaner. The paper develops aspects concerning to create 2D scale models for the evaluation of specific features of the new components for a prototype robotic vacuum cleaner. Key words: robotic vacuum cleaner, components, characteristic, form, prototype. 1. INTRODUCTION Components of a vacuum cleaner are: an intake port, an exhaust port, an electric motor, a fan, a filter and a The houses from our days are becoming smarter and dust compartment (see Fig. 1). When the motor that is more automated. Home automation is needed because it attached to the fan creates the wanted pressure drop at delivers convenience and it creates more time for people the exhaust port the ambient air is pushed into the by minimizing the effort required to accomplish their vacuum cleaner through the intake port and the particles jobs. Domestic robots industry starts in early 80 and are suctioned into the dust compartment. The filter make its presence felt increasingly in homes and lives of contains holes, which are small enough to stop the people, but it is yet relatively new in market. However, particles, but large enough to let the air go through. The although people were reticent at first, their thinking have dirty air is filtered and flows through the exhaust port. performed in time and robots have started to adapt to the What determines the suction power is the power of the needs of our times.
    [Show full text]
  • Robot Vacuum Cleaner Personality and Behavior
    Int J Soc Robot (2011) 3: 187–195 DOI 10.1007/s12369-010-0084-5 Robot Vacuum Cleaner Personality and Behavior Bram Hendriks · Bernt Meerbeek · Stella Boess · Steffen Pauws · Marieke Sonneveld Accepted: 14 November 2010 / Published online: 23 December 2010 © The Author(s) 2010. This article is published with open access at Springerlink.com Abstract In this paper we report our study on the user ex- 1 Introduction perience of robot vacuum cleaner behavior. How do people want to experience this new type of cleaning appliance? In- 1.1 A New Kind of Presence terviews were conducted to elicit a desired robot vacuum cleaner personality. With this knowledge in mind, behavior Robot vacuum cleaners have been on the market for a few was designed for a future robot vacuum cleaner. A video years now and, to an increasing extent, these products are prototype was used to evaluate how people experienced the taking over our chores. Robot vacuum cleaners are vacuum behavior of this robot vacuum cleaner. The results indicate cleaners that clean floorings autonomously, and are among that people recognized the intended personality in the robot the first service robots that enter our homes. This type of vacuum cleaner is a new kind of presence to get used to. behavior. We recommend using a personality model as a tool It exhibits autonomous behavior and it moves around our for developing robot behavior. homes and affects our daily lives. This is very different from conventional, non-robotic vacuum cleaners. People are no Keywords Robot vacuum cleaner · User experience · longer in full control of what the product is doing, where and Personality · Behavior when.
    [Show full text]