Design and Implementation of a Low-Water-Consumption Robotic System for Cleaning Residential Balcony Glass Walls
Source abstract
Abstract
Manual window cleaning in high-rise urban buildings is labor-intensive, risky, and resource-inefficient. This study addresses these challenges by investigating a resource-aware mechatronic architecture through the design, development, and experimental validation of a modular Automated Window Cleaning System (AWCS). Unlike conventional open-loop solutions, the AWCS integrates mechanical scrubbing with a closed-loop fluid management system, featuring precise dispensing and vacuum-assisted recovery. The system is governed by a deterministic finite state machine implemented on an ESP32 microcontroller, enabling low-latency IoT connectivity and autonomous operation. Two implementation variants—integrated and retrofit—were validated to ensure structural adaptability. Experimental results across 30 cycles demonstrate a cleaning efficiency of ~2 min/m2, a water consumption of <150 mL/m2 (representing a >95% reduction compared to manual methods), and an optical cleaning efficacy of 96.9% ± 1.4%. Safety protocols were substantiated through a calculated mechanical safety factor of 6.12 for retrofit applications. This research establishes the AWCS as a sustainable, safe, and scalable solution for autonomous building maintenance, contributing to the advancement of resource-circular domestic robotics and smart home automation.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soft Robotics and Applications · Innovations in Concrete and Construction Materials · Power Line Inspection Robots
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Doctoral School of Industrial Engineering and Robotics, Doctoral Field—Industrial Engineering, National University of Science and Technology Politehnica Bucharest, 060042 Bucharest, Romania
Department of Engineering Graphics and Industrial Design, Faculty of Aerospace Engineering, National University of Science and Technology Politehnica Bucharest, 060042 Bucharest, Romania
Department of Machine Manufacturing Technology, Faculty of Machine Manufacturing and Industrial Management, “Gheorghe Asachi” Technical University of Iasi, 700050 Iași, Romania
Technical Sciences Academy of Romania, Blvd. Dacia 26, 030167 Bucharest, Romania
Academy of Romanian Scientists, Ilfov Street 3, Sector 5, 050044 Bucharest, Romania
Faculty of Materials Science and Engineering, National University of Science and Technology Politehnica Bucharest, 313 Independentei Street, 060042 Bucharest, Romania
Funding
Romanian Ministry of Education and National University of Science and Technology Politehnica Bucharest through the PubArt Program
References (30)
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