Abstract
COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF
Highlights
The transmission route of COVID-19 in humans mainly originates from person-to-person transmission [1, 2]
The first and third level chassis were made of Acrylic, while the second level chassis was made of PCB installed with the electrical parts
9-1- System Simulation Simulations on this robot system were performed on the Simulink in Matlab software
Summary
The transmission route of COVID-19 in humans mainly originates from person-to-person transmission [1, 2]. Since the number of COVID-19 cases emerged worldwide [7], the Centers for Disease Control and Prevention (CDC) has developed many health procedures and guidelines for health professionals and the public in general [8]. Publics need to minimize physical touch and direct human contact [11]. This new regulation greatly affects healthcare management systems and many other systems in general [12–14]. Physical contact still needs to be limited, health professionals still must be 'present' in many cases. Telepresence becomes essential to minimize direct contact to reduce the transmission rate of the disease while preserving face-to-face, engaging interactions
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