## 5 Discussion  
To provide a safe and sustainable place for people to live, infrastructure health needs to be constantly monitored. As a means of safety, small versatile toy robots are modified for accessing hard-to-reach areas providing visual inspection data through AR to the human user for finding the source of leakage and monitoring damages to the structure, mechanical systems, and architectural details. Mold contamination is a major health and economic issue for homeowners in humid environments. Mold starts in confined humid spaces and is difficult for people to detect at an early stage. Using this platform, the human user was able to find the source of the stain on the ceiling which would prevent mold contamination in early stages. Furthermore, the results show that this technique can be beneficiary in incorporating ML with the microrobots to look for pest infestation and find human's missing tool objects for maintenance or objects obstructing the narrow passages. Advances in technology have opened new opportunities for monitoring and analyzing the health of building structures. With the help of vibration and acoustic sensors, piezoelectric sensors, and robotic applications, it is now possible to monitor the health of a building and identify structural, mechanical, and vermin infestation issues in a timely manner, along with recommended options for mitigation, remediation, and repair. This can help homeowners to take proactive and cost-effective measures to maintain their homes in a safe condition. While the paper addresses various home maintenance problems that homeowners face, collapse prevention is an important aspect to consider. The dynamic interplay between humans and intelligence within built environments, as described by [PERSON] et al. (2018),  
Figure 21: Repair guide example in AR holographic view contained in QR code. Figure 20: (**a**) Comparison of leaky faucet with watertight faucet. (**b**) Faucet used for experiments. (**c**) Comparison of running faucet with watertight faucet. (**d**) Piezoelectric transducer used in experiment. in HBI can play a significant role in ensuring the safety of the built environment. With the continued advance of technologies for sensors, IoT devices, robotics, and artificial intelligence, it is possible to monitor and detect structural issues in buildings, such as foundation damage or leaks, and take preventive measures to avoid any catastrophic damage. The use of intelligent robots and sensors in hazardous environments, as investigated by [PERSON] et al. [17], can also assist in identifying potential risks and hazards in buildings. Therefore, by adopting Home Maintenance 4.0, homeowners can utilize a wide set of hardware and software wireless solutions presented in this paper and collaborate with devices such as AR headsets, personal computers, and phones to help maintain a safe environment for themselves and prevent any disastrous events. The results show the effectiveness of using the QRD in detecting curved walls and elevated CO\({}_{2}\) levels, floor mapping, and providing acoustic changes over time and AR visual inspection in confined low-light conditions. As it is dangerous for humans to be present in hazardous environments, using the techniques and platform tested in this paper can be the first step in verifying the safety of the environment before human physical intervention. Suggested future works could include the autonomy of the QRD in performing routine inspections using the methods provided here to prevent defects in the preliminary stages. The connection of the QRD sensor board to the Grafana Dashboard and InfluxDB database can both be integrated into a 5G network system by enabling the proper settings on the HTC Hub. This allows either or both the Dashboard and the database to be remotely accessible over the internet through their respective cloud-based services [58; 59]. This could facilitate advanced database feeds from multiple clients, all synchronized on UTC standardized time.