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Applied Sciences
Volume 16
Issue 2
10.3390/app16020945
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Design and Implementation of a Low-Water-Consumption Robotic System for Cleaning Residential Balcony Glass Walls

by
Maria-Alexandra Mielcioiu
1,
Petruţa Petcu
2,
Dumitru Nedelcu
3,4,5,
Augustin Semenescu
5,6,
Narcisa Valter
2 and
Ana-Maria Nicolau
2,*
1
Doctoral School of Industrial Engineering and Robotics, Doctoral Field—Industrial Engineering, National University of Science and Technology Politehnica Bucharest, 060042 Bucharest, Romania
2
Department of Engineering Graphics and Industrial Design, Faculty of Aerospace Engineering, National University of Science and Technology Politehnica Bucharest, 060042 Bucharest, Romania
3
Department of Machine Manufacturing Technology, Faculty of Machine Manufacturing and Industrial Management, “Gheorghe Asachi” Technical University of Iasi, 700050 Iași, Romania
4
Technical Sciences Academy of Romania, Blvd. Dacia 26, 030167 Bucharest, Romania
5
Academy of Romanian Scientists, Ilfov Street 3, Sector 5, 050044 Bucharest, Romania
6
Faculty of Materials Science and Engineering, National University of Science and Technology Politehnica Bucharest, 313 Independentei Street, 060042 Bucharest, Romania
*
Author to whom correspondence should be addressed.
Appl. Sci. 2026, 16(2), 945; https://doi.org/10.3390/app16020945
Submission received: 26 November 2025 / Revised: 8 January 2026 / Accepted: 14 January 2026 / Published: 16 January 2026
Versions Notes

Featured Application

The robotic system presented in this research provides an automated, resource-efficient solution for the maintenance of residential glass facades and balconies. It is specifically designed for seamless integration into smart home ecosystems, enhancing operational safety and promoting resource circularity in urban environments.

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.
Keywords: smart home; service robotics; sustainable maintenance; resource circularity; closed-loop fluid management; ESP32; mechatronic synthesis; urban residences; optical efficiency smart home; service robotics; sustainable maintenance; resource circularity; closed-loop fluid management; ESP32; mechatronic synthesis; urban residences; optical efficiency

Share and Cite

MDPI and ACS Style

Mielcioiu, M.-A.; Petcu, P.; Nedelcu, D.; Semenescu, A.; Valter, N.; Nicolau, A.-M. Design and Implementation of a Low-Water-Consumption Robotic System for Cleaning Residential Balcony Glass Walls. Appl. Sci. 2026, 16, 945. https://doi.org/10.3390/app16020945

AMA Style

Mielcioiu M-A, Petcu P, Nedelcu D, Semenescu A, Valter N, Nicolau A-M. Design and Implementation of a Low-Water-Consumption Robotic System for Cleaning Residential Balcony Glass Walls. Applied Sciences. 2026; 16(2):945. https://doi.org/10.3390/app16020945

Chicago/Turabian Style

Mielcioiu, Maria-Alexandra, Petruţa Petcu, Dumitru Nedelcu, Augustin Semenescu, Narcisa Valter, and Ana-Maria Nicolau. 2026. "Design and Implementation of a Low-Water-Consumption Robotic System for Cleaning Residential Balcony Glass Walls" Applied Sciences 16, no. 2: 945. https://doi.org/10.3390/app16020945

APA Style

Mielcioiu, M.-A., Petcu, P., Nedelcu, D., Semenescu, A., Valter, N., & Nicolau, A.-M. (2026). Design and Implementation of a Low-Water-Consumption Robotic System for Cleaning Residential Balcony Glass Walls. Applied Sciences, 16(2), 945. https://doi.org/10.3390/app16020945

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