## 4 Incorporation of Proposed Model in Urban Landscape Fumigation Service Robot
### Development of Funigation Robot Based on Design Generation
For fumigation, this robot is equipped with a fumigation spray gun and a 10 L chemical tank capable of delivering 50-micron droplets at a flow rate of 330 mL/min. The top and bottom ends of the spray gun are connected to one end of the linear actuator and the 3D-printed mount top end, allowing tilt motion. The linear actuator's opposite end is attached to the metal shaft bottom end coupled with a stepper motor to facilitate panning motion. This setup enables the spray gun to rotate 360\({}^{\circ}\), fumigating an area up to 4.5 m above the ground and within a range of 2.5 to 6 m from the robot. This combination of adjustable tilt and pan motion ensures comprehensive coverage of the target area. An industrial-grade processor is essential for an autonomous fumigation robot to support computational needs as it manages complex tasks like object detection, multiple-sensor integration, precise spraying, and efficient navigation. The Nuvo-10108 GC-RTX3080 (Voltrium Systems Pte Ltd., Singapore) industrial processor is used in this study for efficient processing and real-time decision-making. Considering a 4 h operational fumigation runtime, due to its nature of precise and efficient fumigation based on mosquito hotspot detection, a 48 V 25 Ah battery is sufficient. Lithium iron phosphate (LiFePO\({}_{4}\)) batteries outperform lithium-ion, lithium polymer, lead-acid, nickel-metal hydride, and nickel-cadmium batteries in terms of weight to energy density, making them ideal for autonomous robot application. The final developed fumigation service robot for urban landscape navigation is presented in Figure 9. This fumigation service robot's design demonstrates the integration of advanced navigation and payload systems, making it a robust tool for targeted mosquito control in urban landscape environments [40; 41]. The study utilized \begin{table}
\begin{tabular}{c c c} \hline \hline
**Parameter** & **Specifications from the Proposed Model** & **Specifications of Developed Robot** \\ \hline Dimensions & 800 mm \(\times\) 600 mm \(\times\) 1200 mm & 692 mm \(\times\) 517 mm \(\times\) 1080 mm \\ \hline Weight & 60 kg & 52 kg \\ \hline Fumigation unit & 10 L & 10 L, precision spray gun \\ \hline CPU processor & Industrial PC & Nuvo-10108 GC-RTX3080 industrial processor \\ \hline Sensors & 3D LiDAR, RGB depth camera & Hesai QT128 3D LiDAR, Intel RealSense D435i, IMU Vectornav VN-100 \\ \hline Battery & 48 V, 30 Ah & 48 V, 25 Ah \\ \hline Type of autonomy & Semi-autonomous with manual override & Semi-autonomous with manual override \\ \hline Drive type & Differential drive & Two BLDC motors, BLHM450 KC-30, differential drive \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Comparison of the design generated via the proposed model and the developed robot. design guidelines from existing lab-developed fumigation robots and a spraying robot dataset to generate design specifications using the MMF-VAE model. Based on the design specification, a new urban fumigation service robot was developed, tested, and validated in real-world conditions, demonstrating effective performance.