{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,31]],"date-time":"2026-07-31T15:48:00Z","timestamp":1785512880366,"version":"3.56.0"},"reference-count":14,"publisher":"Wiley","license":[{"start":{"date-parts":[[2018,7,24]],"date-time":"2018-07-24T00:00:00Z","timestamp":1532390400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"University of Engineering and Technology Lahore","award":["RGAST1702"],"award-info":[{"award-number":["RGAST1702"]}]},{"DOI":"10.13039\/501100007040","name":"Singapore University of Technology and Design","doi-asserted-by":"publisher","award":["RGAST1702"],"award-info":[{"award-number":["RGAST1702"]}],"id":[{"id":"10.13039\/501100007040","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Robotics R&D Program Office","award":["RGAST1702"],"award-info":[{"award-number":["RGAST1702"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Sensors"],"published-print":{"date-parts":[[2018,7,24]]},"abstract":"<jats:p>The mechanical, electrical, and autonomy aspects of designing a novel, modular, and reconfigurable cleaning robot, dubbed as <jats:italic>sTetro<\/jats:italic> (stair Tetro), are presented. The developed robotic platform uses a vertical conveyor mechanism to reconfigure itself and is capable of navigating over flat surfaces as well as staircases, thus significantly extending the automated cleaning capabilities as compared to conventional home cleaning robots. The mechanical design and system architecture are introduced first, followed by a detailed description of system modelling and controller design efforts in <jats:italic>sTetro<\/jats:italic>. An autonomy algorithm is also proposed for self-reconfiguration, locomotion, and autonomous navigation of <jats:italic>sTetro<\/jats:italic> in the controlled environment, for example, in homes\/offices with a flat floor and a straight staircase. A staircase recognition algorithm is presented to distinguish between the surrounding environment and the stairs. The misalignment detection technique of the robot with a front staircase riser is also given, and a feedback from the IMU sensor for misalignment corrective measures is provided. The experiments performed with the <jats:italic>sTetro<\/jats:italic> robot demonstrated the efficacy and validity of the developed system models, control, and autonomy approaches.<\/jats:p>","DOI":"10.1155\/2018\/8190802","type":"journal-article","created":{"date-parts":[[2018,7,24]],"date-time":"2018-07-24T21:21:12Z","timestamp":1532467272000},"page":"1-16","source":"Crossref","is-referenced-by-count":37,"title":["Design of sTetro: A Modular, Reconfigurable, and Autonomous Staircase Cleaning Robot"],"prefix":"10.1155","volume":"2018","author":[{"given":"Muhammad","family":"Ilyas","sequence":"first","affiliation":[{"name":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372"},{"name":"Department of Electrical Engineering, UET Lahore, NWL Campus, Lahore 54890, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shi","family":"Yuyao","sequence":"additional","affiliation":[{"name":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6504-1530","authenticated-orcid":true,"given":"Rajesh Elara","family":"Mohan","sequence":"additional","affiliation":[{"name":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Manojkumar","family":"Devarassu","sequence":"additional","affiliation":[{"name":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Manivannan","family":"Kalimuthu","sequence":"additional","affiliation":[{"name":"Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372"},{"name":"School of Mechanical and Aerospace Engineering (MAE), NTU, Singapore 639798"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008974515925"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2004.834093"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.5772\/60507"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2003.811769"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2004.825197"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-013-0190-2"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1108\/01439910910957110"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2018.03.015"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1115\/1.4032700"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2008.03.002"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.5772\/5670"},{"key":"21","first-page":"14","volume":"9","year":"2005","journal-title":"Newspaper of the Dutch Organization for Theoretical Computer Science"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-21822-4_34"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2016.04.007"}],"container-title":["Journal of Sensors"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2018\/8190802.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2018\/8190802.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2018\/8190802.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2018,7,24]],"date-time":"2018-07-24T21:21:21Z","timestamp":1532467281000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/js\/2018\/8190802\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,7,24]]},"references-count":14,"alternative-id":["8190802","8190802"],"URL":"https:\/\/doi.org\/10.1155\/2018\/8190802","relation":{},"ISSN":["1687-725X","1687-7268"],"issn-type":[{"value":"1687-725X","type":"print"},{"value":"1687-7268","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,7,24]]}}}