A method of monitoring an environment for contaminants and a contaminant-surveillance system

Abstract

A method of monitoring an environment for contaminants may comprise establishing a spatial reference frame defining locations within the environment, collecting one or more samples within the environment, associating the one or more samples with the location where there were taken within the environment, analyzing the one or more samples to determine whether the one or more samples contain one or more contaminants, determining an origin location of the contaminants, and, generating a graphical representation of a characteristic associated with the one or more samples at the associated location where the sample was collected in the environment. In some embodiments, for example, the graphical representation may indicate the origin location of the contaminant in the environment. In some embodiments, the method includes tracking the transmission of the one or more contaminants and generating a graphical representation indicating the track of transmission.

Description

A METHOD OF MONITORING AN ENVIORNMENT FOR CONTAMINANTS AND A CONTAMINANT-SUREVEILLANCE SYSTEM CONFIGURED TO PERFORMSAID METHODTechnical Field

[0001] The present disclosure is generally directed to monitoring an environment for contaminants and using a contaminant-surveillance system to do so.Background

[0002] Presence of one or more pathogens (e.g., one or more of a virus, bacteria, fungus, archaea, and / or any other zoonotic organism) within an environment can be indicative of an infected individual being or having been present within the environment. Detection of the pathogen(s) within the environment may allow for novel and / or known pathogens to be identified prior to detection of an outbreak. Detection of a pathogen prior to an outbreak may mitigate the social and economic costs associated with the spread of the pathogen through a community. As such, monitoring an environment for one or more pathogens (or bio-surveillance) may mitigate an impact of a pathogen on a community and potentially prevent an outbreak.

[0003] Likewise, presence of one or more non-pathogenic microorganisms (e.g., non- pathogenic virus, bacteria, fungus, archaea and / or other zoonotic organisms) within an environment can be indicative of beneficial or non-beneficial changes in a microbial community. Presence of non-biological contaminants (e.g., elements, compounds, solutions, mixtures, emulsions, alloys, polymers, fibers, etc.) within an environment can indicate a dangerous accident or intentional dispersion of toxic chemicals / elements (e.g., mercury, lead, arsenic, asbestos, etc.) and / or provide context for the presence of pathogenic and / or non-pathogenic microorganisms (e.g., silica powder found alongside a pathogen may suggest a biological weapon, cleaning solution found near active pathogens may suggest the cleaning solution is ineffective, etc.). Thus, monitoring an environment for pathogens, non-pathogenic microorganisms, and / or non-biological contaminants (i.e., contaminant-surveillance) may provide valuable scientific and / or safety information about an environment.Brief Description of the Drawings

[0004] The above-mentioned and other features of this disclosure, and the manner of attaining them, will become more apparent and better understood by reference to the following description of embodiments described herein taken in conjunction with the accompanying drawings, wherein:

[0005] FIG. 1 shows a schematic example of a contaminant-surveillance system, consistent with embodiments of the present disclosure.

[0006] FIG. 2 shows a schematic example of a sample collector, consistent with embodiments of the present disclosure.

[0007] FIG. 3 shows a schematic example of a cartridge, consistent with embodiments of the present disclosure.

[0008] FIG. 4 shows a schematic example of a collection medium applicator cooperating with the cartridge of FIG. 3, consistent with embodiments of the present disclosure.

[0009] FIG. 5 shows a schematic example of a sample storage, consistent with embodiments of the present disclosure.

[0010] FIG. 6 shows a schematic example of the collection medium applicator of FIG. 4 cooperating with the sample storage of FIG. 5, consistent with embodiments of the present disclosure.

[0011] FIG. 7 shows a schematic example of a sample receiver, consistent with embodiments of the present disclosure.

[0012] FIG. 8 shows a schematic example of a transfer section, consistent with embodiments of the present disclosure.

[0013] FIG. 9 shows a schematic example of a supply replenisher, consistent with embodiments of the present disclosure.

[0014] FIG. 10 shows a schematic example of a stationary robot, consistent with embodiments of the present disclosure.

[0015] FIG. 11 shows a perspective view of an example of a mobile robot, consistent with embodiments of the present disclosure.

[0016] FIG. 12 shows a top view of the mobile robot of FIG. 11, consistent with embodiments of the present disclosure.

[0017] FIG. 13 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0018] FIG. 14 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0019] FIG. 15 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0020] FIG. 15A shows a perspective view of a pivoting arm of the mobile robot of FIG. 11, consistent with embodiments of the present disclosure.

[0021] FIG. 16 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0022] FIG. 17 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0023] FIG. 18 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0024] FIG. 19 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0025] FIG. 20 shows another perspective view of the mobile robot of FIG .11, consistent with embodiments of the present disclosure.

[0026] FIG. 21 shows a schematic example of a mobile robot configured to fly, consistent with embodiments of the present disclosure.

[0027] FIG. 21A shows a schematic example of an analysis system, consistent with embodiments of the present disclosure.

[0028] FIG. 22 shows a schematic example of a docking station configured to cooperate with the mobile robot of FIG. 21, consistent with embodiments of the present disclosure.

[0029] FIG. 23A shows a schematic example of the contaminant-surveillance system where the processing unit is in the mobile robot, consistent with embodiments of the present disclosure.

[0030] FIG. 23B shows a schematic example of the contaminant-surveillance system where the processing unit is in the docking station, consistent with embodiments of the present disclosure.

[0031] FIG. 23C shows a schematic example of the contaminant-surveillance system where the processing unit is in a remote component, consistent with the embodiments of the present disclosure.

[0032] FIG. 24 shows a flow chart illustrating an example of a method of monitoring an environment for contaminants, consistent with the embodiments of the present disclosure.

[0033] FIG. 25 shows an example of a graphical representation generated by the method of FIG. 24 where the environment monitored is a hospital, consistent with the embodiments of the present disclosure.

[0034] FIG. 26 shows an example of a graphical representation generated by the method of FIG. 24 where the environment monitored is an airport, consistent with the embodiments of the present disclosure.Detailed Description

[0035] The present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The examples described herein may be capable of other embodiments and of being practiced or being carried out in various ways. Also, it may be appreciated that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting as such may be understood by one of skill in the art. Throughout the present description, like reference characters may indicate like structure throughout the several views, and such structure need not be separately discussed. Furthermore, any particular feature(s) of a particular exemplary embodiment may be equally applied to any other exemplary embodiment(s) of this specification as suitable. In other words, features between the various exemplary embodiments described herein are interchangeable, and not exclusive.

[0036] The present disclosure is generally directed to a collection system, a receiving station, and a system for use in contaminant-surveillance and method of monitoring an environment for contaminants using a contaminant-surveillance system. As used herein, contaminant includes beneficial and non-beneficial biological contaminants (i.e., pathogens and / or non-pathogenic microorganisms) and beneficial and non-beneficial non-biological contaminants (e.g., elements, compounds, solutions, mixtures, emulsions, alloys, polymers, fibers, etc ).

[0037] One example of a contaminant-surveillance system includes a mobile robot for a collection system and a docking station for a receiving station. The mobile robot is configured to traverse a surface (e.g., an indoor surface such a floor or counter top and / or an outdoor surface such as a sidewalk) while collecting one or more samples from the surface. The samples mayinclude a contaminant found on the surface. The samples may include one or more types of biological contaminants such as pathogens (e.g., one or more of a virus, bacteria, fungus, archaea, and / or any other zoonotic organism) and / or non-pathogenic microorganisms. Biological contaminants deposited on a surface, such as a floor, (e.g., as a result of people breathing, speaking, coughing, etc.) may leave DNA or RNA traces that can be detected for several days. Additionally, or alternatively, the samples may include one or more types of non-biological contaminants (e g., elements, compounds, solutions, mixtures, emulsions, alloys, polymers, fibers, etc ).

[0038] The one or more samples may be collected using one or more collection mediums (e.g., one or more swabs, gauze, one or more sponge sticks, pads, and / or any other collection medium) stored within a cartridge disposed within the mobile robot. After collecting the one or more samples, the mobile robot returns to the docking station and deposits the one or more samples in the docking station. The docking station may be configured to analyze the one or more samples for one or more contaminants. Additionally, or alternatively, the mobile robot may be configured to analyze one or more of the collected samples. In this instance, the collected samples may be deposited in the docking station for later disposal and / or for additional analysis (e.g., to confirm the analysis determined on the mobile robot).

[0039] The docking station and / or the mobile robot may be configured to analyze the one or more samples for pathogens, non-pathogenic microorganisms, and / or non-biological contaminants.

[0040] The contaminant-surveillance system disclosed herein may enable early identification of known and / or novel pathogens in advance of an outbreak. In the case of known seasonal pathogens, identification of the specific strains and the prevalence of those strains may assist in development of vaccines for that season. The contaminant-surveillance system disclosed herein may additionally or alternatively enable the detection of non-pathogenic (and / or pathogenic) microorganisms which may allow changes in a microbial community (e.g., resulting from climate change) to be monitored. The contaminant-surveillance system disclosed herein may also enable detection of hazardous non-biological contaminants which may have been unknowingly or intentionally deposited on the surfaces. Detection of non-biological contaminants alongside a biological contaminant may help to identify the biological contaminant’s origin and / or means of transportation onto the surface.

[0041] FIG. 1 shows a schematic example of a contaminant-surveillance system 100. As shown, the contaminant-surveillance system 100 includes a mobile robot 102 and a docking station 104. The mobile robot 102 is configured to travel along a surface 106 (e.g., a floor) of an environment while collecting environmental samples from the surface 106 that potentially contain one or more contaminants. After collecting environmental samples, the mobile robot 102 returns to the docking station 104 and deposits the collected samples in the docking station 104 for analysis. In other words, the docking station 104 may be configured to receive one or more collected environmental samples from the mobile robot 102.

[0042] The analysis may be configured to detect a presence of one or more contaminant within the sample and attempt to identify any detected contaminant. The analysis may be performed by one or more systems of the docking station 104 and / or performed remotely from the docking station 104. In some instances, the analysis may be performed by one or more systems of the mobile robot 102 and the mobile robot 102 may deposit the analyzed samples in the docking station 104 for later disposal and / or for additional analysis (e g., to confirm the analysis determined on the mobile robot 102).

[0043] As shown, the mobile robot 102 includes one or more driven wheels 108 configured to urge the mobile robot 102 over the surface 106, one or more sensors 110 configured to detect one or more conditions of the environment, a sample collection system 112 configured to collect environmental samples, and a controller 114 communicatively coupled to the driven wheels 108, the one or more sensors 110, and the sample collection system 112. The one or more sensors 110 may include obstacle detection sensors (e.g., ultrasonic, infrared, time of flight, stereo camera, monocular camera, and / or any other sensor) configured to detect non-traversable portions of the environment (e.g., walls, furniture, drop-offs, and / or any other obstacle). In some instances, the one or more sensors 110 may include a surface type detection sensor configured to detect a surface type (e.g., vinyl, steel, plastic, concrete, carpet, and / or any other surface type). Behaviors of the mobile robot 102 may be altered and / or selected based, at least in part, on outputs generated by the one or more sensors 110. For example, a sample collection behavior may be based, at least in part, on a detected surface type. In some instances, the one or more sensors 110 may include one or more localization and / or mapping sensors configured to generate data capable of being used in map generation (e.g., one or more localization and / or mapping sensors may include one or more of an obstacle detection sensor, a surface type sensor, a triangulation sensor, and / or any othersensor). A generated map may include indications of obstacles and detected surface types. In some instances, the mobile robot 102 may further include a robot transmitter 115 configured to communicate with the docking station 104 and / or a remote device (e.g., a remote computer, mobile device, and / or any other remote device).

[0044] The sample collection system 112 may include a sample collector 116 and a sample storage 118. The sample collector 116 is configured to cause an environmental sample to be collected from the surface 106. Once collected, the sample collector 116 may deposit the collected sample in the sample storage 118 for storage. The sample storage 118 is configured to preserve the integrity of the collected sample until the collected sample can be analyzed (e.g., until the collected sample can be deposited and analyzed in the docking station 104).

[0045] In some instances, there may be a plurality of mobile robots 102 disposed within an environment. The plurality of mobile robots 102 may be configured to cooperate to collect samples. For example, the plurality of mobile robots 102 may be configured to communicate with each other such that different regions within the environment are covered by each of the mobile robots 102. The plurality of mobile robots 102 may share at least one common docking station 104 and / or may each have at least one dedicated docking station 104 that corresponds to a respective one of the plurality of mobile robots 102.

[0046] The docking station 104 includes one or more charging contacts 119, at least one identifier 120, and a sample receiver 122. The one or more charging contacts 119 are configured to charge one or more batteries of the mobile robot 102 when the mobile robot 102 is engaging (or docked with) the docking station 104. The at least one identifier 120 is configured to identify the docking station 104 to the mobile robot 102. For example, the at least one identifier 120 may include one or more light emitting diodes (LEDs) configured to emit a signal into the environment, wherein the mobile robot 102 is configured to use the signal(s) to locate and dock with the docking station 104.

[0047] The sample receiver 122 may be configured to cooperate with the sample collector 116 when the mobile robot 102 is docked with the docking station 104. For example, the sample collector 116 and the sample receiver 122 may cooperate to transfer collected samples from the sample collector 116 to the sample receiver 122. The sample receiver 122 may, in some instances, include an analysis system 124. The analysis system 124 may be configured to analyze the sample(s) received by the sample receiver 122. The results of the analysis may be transmitted toa remote device (e.g., a remote computer, mobile device, or another remote device) for review by a user using, for example, a dock transmitter 126 within the docking station 104. Additionally, or alternatively, the analysis system 124 may be included in the mobile robot 102. In some instances, sample receiver 122 may include a processing system 125 configured to process the received sample(s) such that the processed sample can be analyzed by an external analysis system (e.g., at an external lab or analysis facility). Additionally, or alternatively, the processing system 125 may be included in the mobile robot 102.

[0048] In some instances, the docking station 104 may further include a supply replenisher 128. The supply replenisher 128 is configured to repl enish / repl ace physical resources that are expended by the mobile robot 102 while collecting environmental samples (e g., one or more of the components used for sample collection).

[0049] FIG. 2 shows a schematic example of a sample collector 200, which may be an example of the sample collector 116 of FIG. 1. As shown, the sample collector 200 includes a collection medium holder 204 having a plurality collection mediums 202 and a collection medium applicator 206. The collection medium applicator 206 is configured to releasably couple to a respective collection medium 202 disposed within the collection medium holder 204. Examples of the collection mediums 202 may include one or more of a swab, a pad (e.g., that is configured to be in sliding contact with the surface 106 while the mobile robot 102 traverses the surface 106), a sponge stick, gauze, and / or any other collection medium.

[0050] Once the respective collection medium 202 is coupled to the collection medium applicator 206, the collection medium applicator 206 urges the collection medium 202 into contact with a surface (e.g., the surface 106). One or more contact sensors 208 (e.g., of the collection medium applicator 206) may be configured to detect when the respective collection medium 202 contacts the surface 106. Additionally, or alternatively, one or more distance sensors 209 may be configured to detect a proximity of the surface 106 and based, at least in part, on the detected proximity of the surface 106 determine a proximity of the respective collection medium 202 relative to the surface 106. The collection medium applicator 206 may be configured to cause the collection medium 202 to maintain contact with the surface 106 for a predetermined time (e.g., while the mobile robot 102 moves across the surface 106). The predetermined time may be based, at least in part, on an estimated minimum contact duration to collect a sample having a sufficient quantity of contaminant for analysis. In some instances, the collection medium applicator 206may be configured to agitate the collection medium 202 along the surface 106. For example, the collection medium applicator 206 may be configured to urge the collection medium 202 along the surface 106 according to a pattern (e.g., a zig-zag pattern, an S pattern, a circular pattern, a U pattern, and / or any other pattern). Additionally, or alternatively, the collection medium applicator 206 may be configured to rotate the collection medium 202 about a longitudinal axis of the collection medium 202. Such a configuration may allow all sides of the collection medium 202 to face the surface 106 such that at least a portion of each side of the collection medium 202 contacts the surface 106.

[0051] After contacting the surface 106 (e.g., for the predetermined time), the collection medium applicator 206 may be configured to urge the collection medium 202 out of engagement with the surface 106. Once the collection medium 202 is out of engagement with the surface 106, the collection medium applicator 206 may position the collection medium 202 such that it can be received within a sample storage (e.g., the sample storage 118). When received within the sample storage 1 18, the collection medium applicator 206 is configured to decouple from the collection medium 202, depositing the collection medium 202 in the sample storage 118. After depositing the collection medium 202 in the sample storage 118, the collection medium applicator 206 may releasably couple to another collection medium 202 disposed within the collection medium holder 204.

[0052] FIG. 3 shows a schematic example of a cartridge 300 configured to hold a plurality of swabs 302, wherein the cartridge 300 may be an example of the collection medium holder 204 and the plurality of swabs 302 may be an example of the plurality of collection mediums 202. The cartridge 300 includes a cartridge body 304 defining a cartridge cavity 306 having a plurality of swab receptacles 308 extending within the cartridge cavity 306. The swab receptacles 308 are configured to receive a corresponding one of the swabs 302. In some instances, open ends of the swab receptacles 308 may be enclosed (e.g., with a pierceable membrane or stopper) such that a sterility of the swabs 302 may be maintained. Each swab 302 includes a collection end 310 and a coupling end 312. The collection end 310 includes a material capable of collecting one or more contaminants thereon when engaged with the surface 106 and the coupling end 312 is configured to releasably couple to a collection medium applicator (e.g., the collection medium applicator 206). In some instances, the collection end 310 corresponding to a first swab 302 may include a first material and the collection end 310 corresponding to a second swab 302 may include a secondmaterial, the second material being different from the first material such that the collection ends 310 of the first and second swabs 302 have a different composition. Having the collection end 310 of at least one swab 302 have a composition different from that of the collection end 310 of at least one other swab 302 may allow the cartridge 300 to include swabs 302 tailored for specific sample collections and / or environments.

[0053] The cartridge 300 may be configured to rotate. Rotation of the cartridge 300 may rotationally position one or more of the swabs 302 at location accessible to the collection medium applicator 206. For example, the cartridge 300 may include a cartridge drive 314 configured to engage with a motor such that, when the motor is actuated, the cartridge 300 may be caused to rotate. In this example, the mobile robot 102 may include a cartridge drive motor configured to engage the cartridge drive 314.

[0054] FIG. 4 shows a schematic example of a collection medium applicator 400, which may be an example of the collection medium applicator 206 of FIG. 2, cooperating with the cartridge 300 of FIG. 3 to releasably couple to a respective one of the swabs 302. As shown, the collection medium applicator 400 may include a swab coupler 402 configured to be releasably coupled to a respective swab 302. For example, the swab coupler 402 may be configured to apply a clamping force to the swab 302 (e.g., a chuck-style clamp or any other type of clamp) when the swab 302 is received within the swab coupler 402.

[0055] In some instances, the swab coupler 402 may be extendible from a main body 403 of the collection medium applicator 400 such that the swab coupler 402 can extend at least partially within the swab receptacle 308 corresponding to a respective swab 302 and releasably couple to the swab 302. Additionally, or alternatively, the cartridge 300 may cooperate with and / or include a swab pusher 404 configured to urge a respective swab 302 from a corresponding swab receptacle 308 and into the swab coupler 402. The swab pusher 404 may, for example, be a mechanical actuator (e.g., including a piston and / or spring) that comes into engagement with a respective swab 302 and urges the swab 302 to slide out of a corresponding swab receptacle 308 and into the swab coupler 402 such that the swab coupler 402 is capable of releasably coupling to the swab 302. Additionally, or alternatively, the swab pusher 404 may use pressurized gas (e.g., air) to urge a respective swab 302 to slide out of a corresponding swab receptacle 308.

[0056] Once the swab coupler 402 releasably couples to a respective swab 302, the collection medium applicator 400 may urge the swab 302 into engagement with the surface 106. Forexample, in response to the swab 302 being releasably coupled to the swab coupler 402, a swab actuator 406 may cause the collection medium applicator 400 to rotate about a swab actuation axis 408, wherein rotation of the collection medium applicator 400 brings the swab 302 into contact with the surface 106. In some instances, the swab actuation axis 408 may extend transverse to the surface 106 at a non-perpendicular angle. Such a configuration may cause a rotation plane of the swab 302 to intersect the surface 106 such that the swab 302 comes into engagement with the surface 106. By way of further example, the swab actuator 406 may urge the collection medium applicator 400 along the swab actuation axis 408 in a direction of the surface 106 until the swab 302 comes into engagement with the surface 106. The swab actuator 406 may include any one or more of pneumatics, hydraulics, motors, and / or any other mechanism capable of moving the collection medium applicator 400.

[0057] In some instances, prior to engaging the surface 106, a transport medium (e.g., a viral transport medium, a fungal transport medium, a bacterial transport medium, a phosphate-buffered saline (PBS) buffer, and / or the like) may be applied to at least a portion of the swab 302 (e.g., applied to at least portion of the collection end 310). For example, one or more spray nozzles 410 fluidly coupled to one or more transport medium storage tanks 412 may apply the transport medium onto at least a portion of the collection end 310 of the swab 302. In some instances, each spray nozzle 410 may correspond to a respective transport medium. The spray nozzle 410 and the transport medium storage tanks 412 may be, for example, included in the sample collector 200. By way of further example, at least a portion of the collection end 310 of the swab 302 may be inserted into the transport medium storage tank 412 prior to engaging the surface 106. In this example, the swab actuator 406 may be configured to lower at least a portion of the collection end 310 of the swab 302 into the transport medium. In examples having a plurality of transport medium storage tanks 412, each having a corresponding transport medium, the swab actuator 406 may be configured to lower at least a portion of the collection end 310 of the swab 302 into the desired transport medium. By way of still further example, each of the swab receptacles 308 of the cartridge 300 may include a transport medium. In this example, at least one swab receptacle 308 may include a transport medium that is different from a transport medium in at least one other swab receptacle 308. In this instance, the collection medium applicator 400 may be configured to determine the transport medium within a respective swab receptacle 308 before the swab 302 is removed therefrom. By way of still further example, a desired transport medium may be appliedto at least a portion of the collection end 310 of a respective swab 302 prior to the swab 302 being deposited in a corresponding swab receptacle 308 of the cartridge 300. In this example, the desired transport medium may be applied to at least a portion of the collection end 310 by a docking station (e.g., the docking station 104 of FIG. 1) prior to, for example, the cartridge 300 being deposited in the mobile robot 102. In some instances, one or more of the swabs 302 may not have a transport medium applied thereto.

[0058] In some instances, the transport medium applied may be selected based, at least in part, on the contaminants sought to be collected. For example, viral transport media may be used for collection of viral pathogens, lysogeny broth (LB) may be used for collection of bacteria, and Sabourand dextrose or malt extract media for fungi. As such, in some instances, the sample collector 200 may include a plurality of transport medium storage tanks 412, each corresponding to a respective transport medium.

[0059] When transport medium is applied to the swab 302, at least a portion of the transport medium may be deposited on the surface 106 (e.g., a result of the engagement between the swab 302 and the surface 106). As such, in some instances, the mobile robot 102 may include a drying and / or cleaning element 130 (e.g., a cloth or an air blast) (see, FIG. 1) positioned behind the swab 302 (relative to a forward direction of movement of the mobile robot 102). The drying and / or cleaning element 130 may dry / collect at least a portion of any residual transport medium on the surface 106 as a result of the swab 302 engaging the surface 106. Additionally, or alternatively, the mobile robot 102 may include a decontamination system 132 (see, FIG. 1) configured to decontaminate the surface 106. For example, the decontamination system 132 may be configured to apply a decontamination substance (e.g., isopropanol, quaternary ammonium compounds, and / or any other decontamination substance) to the surface 106. By way of further example, the decontamination system 132 may include an ultraviolet emission source configured to emit ultraviolet light having a wavelength that is harmful to one or more microorganisms.

[0060] As shown, in some instances, the collection medium applicator 400 may include a contact sensor 414, which may be an example of the contact sensor 208 of FIG. 2. The contact sensor 414 is configured to detect when the swab 302 comes into engagement with the surface 106. For example, when engaging the surface 106, the swab 302 may exert a force on the swab coupler 402 and the contact sensor 414 is configured to detect the exerted force. In some instances, when the contact sensor 414 detects the exerted force, rotation of the swab 302 (e.g., about theswab actuation axis 408) may stop for a predetermined period of time (e.g., maintaining the swab 302 in contact with the surface 106 while the mobile robot 102 traverses the surface 106). As such, movement of the mobile robot 102 across the surface 106 results in the swab 302 sliding over the surface 106, collecting a sample at the collection end 310 of the swab 302. In some instances, the swab 302 may be agitated (e.g., rotated multiple times in two different directions about swab actuation axis 408) while engaging the surface 106 such that, for example, a contact force exerted by the swab 302 on the surface 106 is varied. Additionally, or alternatively, the agitation of the swab 302 may be based, at least in part, on a detected surface type corresponding to the surface 106. For example, the swab 302 may be moved along the surface 106 according to swabbing methodologies known to those having ordinary skill in the art that correspond to a detected surface type. When the swab 302 is agitated along the surface 106, the mobile robot 102 may not be moving along the surface 106 (e.g., the mobile robot 102 may stop at a position on the surface 106 for a predetermined period of time).

[0061] FIG. 5 shows a schematic example of a sample storage 500, which may be an example of the sample storage 118 of FIG. 1. As shown, the sample storage 500 includes a storage body 502 defining a storage cavity 504 configured to receive the swabs 302 after the swabs 302 have engaged the surface 106, wherein one or more of the swabs 302 may include a sample of a contaminant. When received within the storage cavity 504, each swab 302 may be deposited within a respective sample receptacle 506. Each sample receptacle 506 may be configured to receive a single swab 302 such that a plurality of swabs 302 can be received within the storage cavity 504 without cross-contamination occurring between swabs 302. Each sample receptacle 506 may be removably coupled to a portion of the storage body 502 such that each sample receptacle 506 may be removed from the storage cavity 504 (e.g., when the mobile robot 102 docks with the docking station 104).

[0062] In some instances, each sample receptacle 506 may include a unique identifier 600 (e.g., a bar code or radio frequency identification tag), wherein the unique identifier 600 is associated with a location within the environment, the location corresponding to a location where the swab 302 engaged the surface 106. In other words, the unique identifier 600 can be used to identify a location within the environment at which a sample was taken. For example, the mobile robot 102 may include a localization and mapping system configured to identify the samplelocation within a map (e.g., a map generated by the mobile robot 102) and associate the sample location with the corresponding unique identifier 600.

[0063] As shown, each sample receptacle 506 can be configured to removably couple to a stopper 508, wherein the stopper 508 encloses an open end 510 of the sample receptacle 506. The open end 510 of each sample receptacle 506 is opposite a closed end and is configured to receive a corresponding swab 302. Each stopper 508 can sealingly engage with at least a portion of a respective sample receptacle 506. For example, the stopper 508 may form a press-fit with a respective sample receptacle 506 or threadably engage with a respective sample receptacle 506 (e.g., in some instances, the act of threading a respective stopper 508 onto a corresponding sample receptacle 506 may result in the compression of a seal). In some instances, each swab 302 may include a corresponding stopper 508 coupled thereto (e.g., at the coupling end 312 of a respective swab 302). As such, the act of inserting a respective swab 302 in a corresponding sample receptacle 506 may cause the stopper 508 to sealingly engage with the sample receptacle 506. In these instances, when the swabs 302 are within corresponding swab receptacles 308 of the cartridge 300, the stopper 508 may also be configured to sealingly engage with the corresponding swab receptacle 308 and the stopper 508 may be further configured to releasably couple to the swab coupler 402. Such a configuration may maintain the sterility of the swabs 302 while disposed within the cartridge 300. In these instances, the cartridge 300 may also act as the sample storage 500 (e.g., each swab 302 may be returned to a corresponding swab receptacle 308 after use).

[0064] The sample storage 500 may, in some instances, be configured to cooperate with the collection medium applicator 400 such that a respective swab 302 can be transferred from the swab coupler 402 to a corresponding sample receptacle 506. For example, the sample storage 500 may be configured to rotate such that a corresponding sample receptacle 506 aligns with a position of the collection medium applicator 400. In this example, the sample storage 500 may include a storage drive 512 configured to cooperate with a drive motor to cause the sample storage 500 to rotate.

[0065] FIG. 6 shows a schematic example of the collection medium applicator 400 cooperating with the sample storage 500 to deposit a respective swab 302 in a corresponding sample receptacle 506. For example, the collection medium applicator 400 may be configured to move relative to the swab actuator axis 408 (e.g., linearly and / or rotationally) to position the swab coupler 402 in an orientation that aligns a respective swab 302 with a corresponding sample receptacle 506. Inthis example, the swab coupler 402 may be configured to extend from the collection medium applicator 400 and at least partially into the corresponding sample receptacle 506, wherein the swab coupler 402 decouples from the respective swab 302 in response to the swab 302 being received within the sample receptacle 506. In some instances, the collection medium applicator 400 may be configured to couple the stopper 508 to a corresponding sample receptacle 506.

[0066] FIG. 7 shows a schematic example of a sample receiver 700 for a docking station and may be an example of the sample receiver 122 of FIG. 1. As shown, the sample receiver 700 includes a transfer section 702 configured to cooperate with a mobile robot (e.g., the mobile robot 102) to transfer collected samples from the sample storage 118 of the mobile robot 102. In some instances, the sample receiver 700 may further include a sample handler 704. The sample handler 704 may cooperate with the transfer section 702 to prepare individual samples collected from the mobile robot 102 for analysis. For example, when the sample has been collected using the swab 302 and the swab 302 is enclosed within the sample receptacle 506, the sample handler 704 may be configured to remove the swab 302 from the sample receptacle 506. Once removed from the sample receptacle 506, the sample handler 704 may deposit the swab 302 in the analysis system 124 for analysis.

[0067] Where the contaminant-surveillance system is configured to detect pathogens and / or non-pathogenic microorganisms, the analysis system 124 may be configured to perform a quantitative polymerase chain reaction (qPCR) analysis and / or massive parallel sequencing (or next generation sequencing) in order to detect and / or identify any pathogens and / or non- pathogenic microorganisms collected by the swab 302. Additionally, or alternatively, where the contaminant surveillance system is configured to detect non-biological contaminants, the analysis system 124 may be configured to perform mass spectrometry in order to detect and / or identify any non-biological contaminants collected by the swab 302. Where the contaminant surveillance system is configured to detect pathogens, non-pathogenic microorganisms, and / or non-biological contaminants, the contaminant surveillance system may collect one or more samples at a location such that one or more analyses can be performed on each sample based on the type of contaminant(s) the contaminant-surveillance system is configured to identify.

[0068] The results of the analysis may be transmitted to a remote device using the dock transmitter 126. In some instances, the results may be associated with a location in the environment corresponding to a location where the sample was collected. The remote device maybe configured to display the collection location on a map of the environment as discussed in an embodiment below.

[0069] FIG. 8 shows a schematic example of a transfer section 800 of a sample receiver, which may be an example of the transfer section 702 of FIG. 7. As shown, the transfer section 800 includes a transfer actuator 802 and a transfer storage 804. The transfer actuator 802 may be configured to extend from the docking station (e.g., the docking station 104) and in a direction of the mobile robot (e.g., the mobile robot 102). In some instances, the transfer actuator 802 may extend into the mobile robot 102 and extract one or more collected samples. For example, the transfer actuator 802 may couple to and remove one or more sample receptacles 506 from the sample storage 500 of FIG. 5. The extracted samples may be deposited in the transfer storage 804. Additionally, or alternatively, the mobile robot 102 may include a transfer actuator configured to urge one or more collected samples out of the mobile robot 102 and into the docking station 104.

[0070] FIG. 9 shows a schematic example of a supply replenisher 900 for a docking station and may be an example of the supply replenisher 128 of FIG. 1 . As shown, the supply replenisher 900 includes a supply source 902 and a supply distributor 904. The supply source 902 is configured to store one or more of the components used for sample collection. For example, the supply source 902 may include a liquid supply source 906 and a dry supply source 908. The liquid supply source 906 may include one or more tanks, each tank having a corresponding transport medium. The dry supply source 908 may include storage for one or more collection mediums 202 (e.g., one or more swabs 302). The supply distributor 904 may be configured to cooperate with the supply source 902 to transfer one or more components used for sample collection to the mobile robot 102. For example, the supply distributor 904 may include one or more fluid transfer couplings 910 configured to fluidly couple to the mobile robot 102 (e.g., one or more transport medium storage tanks 412) for transferring transport medium to the mobile robot 102. By way of further example, the supply distributor 904 may include one or more dry supply actuators 912 configured to transfer one or more swabs 302 (e.g., stored within a cartridge 300) to the mobile robot 102. In this example, the supply distributor 904 or the transfer section 800 may be configured to remove an expended cartridge 300 from the mobile robot 102 prior to transferring a replacement cartridge 300 having one or more swabs 302.

[0071] FIG. 10 shows a schematic example of sample collector where the sample collector is a stationary robot 1000. The stationary robot 1000 includes a sample collection system 1002. Thesample collection system 1002 may include a sample collector 1004 and a sample storage 1006. The sample collector 1004 is configured to collect an environmental sample from a surface 1008 proximate the stationary robot 1000. Once collected, the sample collector 1004 may deposit the sample in the sample storage 1006. Once deposited in the sample storage 1006, the sample may be stored until it can be analyzed (e.g., locally or remotely). In some instances, the stationary robot 1000 may include an analysis system 1010 configured to analyze a collected sample for a presence of one or more pathogen(s), non-pathogenic microorganisms, and / or non-biological contaminants.

[0072] An example of the analysis system 1010 may be the analysis system 124 of FIG. 1. An example of the sample collector 1004 may be the sample collector 116 of FIG. 1 and an example of the sample storage 1006 may be the sample storage 118 of FIG. 1. As such, the stationary robot 1000 may generally be described as being a stationary version of the mobile robot 102. Accordingly, one or more of the features discussed herein in relation to collecting environmental samples using the mobile robot 102 may also be included in the stationary robot 1000.

[0073] The surface 1008 may be a high touch surface. For example, the surface 1008 may be a hand belt for an escalator or moving walkway. By way of further example, the surface 1008 may be a belt of a treadmill.

[0074] FIG. 11 shows a perspective view of a mobile robot 1100 configured to traverse a floor 1102 and FIG. 12 shows a top view of the mobile robot 1100. The mobile robot 1100 may be an example of the mobile robot 102 of FIG. 1. As shown, the mobile robot 1100 includes a chassis 1104 and a plurality of omnidirectional wheels 1106 rotationally coupled to the chassis 1104. The omnidirectional wheels 1106 are configured to enable the mobile robot 1100 to move in a forward direction, a backward direction, a left direction, a right direction, and / or a combination thereof (e.g., diagonally, rotationally, and / or any other combination). A sample collector 1108 is coupled to the chassis 1104 and is configured collect one or more samples from the floor 1102. The mobile robot 1100 may include one or more sensors 1201 (FIG. 12). For example, the one or more sensors1201 may include odometry sensors (e.g., optical sensors to track movement of the mobile robot 1100 relative to the floor 1102), obstacle sensors, and / or any other type of sensor.

[0075] The sample collector 1108 includes a positioning system 1109 and a swab applicator 1110 configured to releasably couple to a swab 1200 (FIG. 12) that is stored within a swab holder1202 (FIG. 12). As shown in FIG. 12, the swab holder 1202 includes a plurality of separate swab receptacles 1204, each configured to receive a respective swab 1200. The swab receptacles 1204define a closed end 1206 and an open end 1208 opposite the closed end 1206. The open end 1208 is configured to receive a stopper 1210 that is coupled at a non-collection end of the swab 1200. The stopper 1210 may be configured to sealingly engage with a respective swab receptacle 1204. As shown, the open end 1208 may be flared to encourage insertion of the swab 1200 and / or stopper 1210 into the swab receptacle 1204.

[0076] FIG. 13 shows the sample collector 1108 transitioning from a collector stowed position towards a collector retrieval position. FIG. 14 shows the sample collector 1108 in the collector retrieval position. The swab applicator 1110 includes a pivoting arm 1300 that pivots about one or more pivot axes 1301 in response to the sample collector 1108 transitioning between the applicator stowed position and the applicator retrieval position.

[0077] As shown, when sample collector 1108 transitions between the collector stowed position the collector retrieval position, a position of the swab applicator 1110 is adjusted by the positioning system 1109. The positioning system 1109 may adjust a vertical and / or horizontal position of the swab applicator 1110 such that the swab applicator 1 110 can couple to a respective swab 1200 stored within the swab holder 1202.

[0078] For example, the positioning system 1109 can be configured to align the pivoting arm 1300 with a respective swab 1200 disposed within the swab holder 1202. In this example, and as shown, the positioning system 1109 is configured to cause the pivoting arm 1300 to move in a generally vertical direction (e.g., by moving the positioning system 1109 along positioning system vertical guides 1304) and a generally horizontal direction (e.g., by moving the positioning system 1109 along positioning system horizontal guides 1306). The positioning system 1109 may be configured to align the pivoting arm 1300 by, for example, positioning the pivoting arm 1300 in a predetermined aligned location. Additionally, or alternatively, the positioning system 1109 may include one or more sensors (e.g., optical sensors, such as a camera) configured to provide feedback relating to the alignment of the pivoting arm 1300 with the swab holder 1202. Use of one or more sensors to align the pivoting arm 1300 may mitigate a risk of the swab 1200 contacting a respective swab receptacle 1204 during removal and / or insertion.

[0079] FIG. 15 shows the swab holder 1202 transitioning from a holder stowed position towards a holder retrieval position. As shown, the swab holder 1202 moves along holder guides 1500 in response to rotation of a screw 1502 when transitioning between the holder stowed and retrieval positions. When transitioning towards the holder retrieval position, a separation distancebetween the swab applicator 1110 and the swab holder 1202 decreases. When in the holder retrieval position, the swab applicator 1110 is configured to couple to the stopper 1210 of a respective swab 1200. For example, as shown in FIG. 15 A, the pivoting arm 1300 may include a coupler 1550 configured to releasably couple to the stopper 1210.

[0080] As shown in FIG. 15 A, the pivoting arm 1300 includes at least one linear actuator 1552, wherein a first end 1554 of the linear actuator 1552 defines one of the one or more pivot axes 1301 and a second end 1556 of the linear actuator 1552 is coupled to a collar 1558. The collar 1558 is configured to slidably engage the coupler 1550. As shown, the collar 1558 is configured to slide linearly between a coupler first end 1560 and a coupler second end 1562. Movement of the collar 1558 from the coupler first end 1560 towards the coupler second end 1562 causes a size (e.g., a diameter) of a receiving orifice 1564 of the coupler 1550 to decrease. Movement of the collar 1558 from the coupler second end 1562 towards the coupler first end 1562 causes the size of the receiving orifice 1564 to increase. When coupling to the stopper 1210, the stopper 1210 is positioned within the receiving orifice 1564 and the collar 1558 is moved towards the coupler second 1562 such that an inner surface of the coupler 1550 engages the stopper 1210. When releasing the stopper 1210, the collar 1558 is moved towards the coupler first end 1560 (e.g., such that the coupler 1550 comes out of engagement with the stopper 1210).

[0081] As also shown in FIG. 15A, a motor 1566 may be configured to cause the coupler 1550 to rotate within the collar 1558. Rotation of the coupler 1550 within the collar 1558 may enable the coupler 1550 to cooperate with threaded stoppers 1210 (e.g., by enabling the coupler to threadably couple and decouple the stopper 1210 from a respective swab receptacle 1204). Additionally, or alternatively, rotation of the coupler 1550 may cause an adhesive coupling between the stopper 1210 and a respective swab receptacle 1204 to be broken. Rotation of the coupler 1550 may also be used to rotate the swab 1200 when the swab 1200 is engagement with the floor 1102.

[0082] As shown in FIG. 16, when the swab holder 1202 transitions from the holder retrieval position back towards the holder stowed position, the separation distance between the swab applicator 1110 and the swab holder 1202 increases. As a result, the swab 1200 is removed from the swab receptacle 1204 when the swab holder 1202 reaches the holder stowed position.

[0083] As shown in FIG. 17, when the swab 1200 is removed from the swab receptacle 1204, the sample collector 1108 transitions from the collector retrieval position towards a collector useposition. When the sample collector 1108 transitions to the collector use position, the pivoting arm 1300 may pivot such that the swab 1200 extends in a direction of the floor 1102 and in a direction away from the chassis 1104 and the positioning system 1109 may urge the swab applicator 1110 along vertical and / or horizontal guides 1304 and 1306 until the swab 1200 engages the floor 1102.

[0084] As shown in FIG. 18, when the sample collector 1108 is in the collector use position, a collection end 1800 of the swab 1200 engages the floor 1102. While the collection end 1800 of the swab 1200 engages the floor 1102, the mobile robot 1100 may be caused to move about the floor according to a predetermined pattern. The predetermined pattern may be, for example, a rectangular (e.g., square) pattern, a spiral pattern, a circular pattern, and / or any other pattern. For example, the mobile robot 1100 may configured to first move backward then leftward then forward then rightward then backward (e.g., at a reduced, such as half, speed) then leftward and then forward (e.g., at a reduced, such as half, speed). In this example, before changing motional direction, the swab 1200 may be rotated about a longitudinal axis of the swab 1200 such that a different portion of the swab 1200 engages the floor 1102. Changes in speed may be carried out based on rotational data received from a gyroscope. The mobile robot 1100 may move in each direction for a predetermined period of time (e.g., 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 7 seconds, 8 seconds, 9 seconds, 10 seconds, and / or any other predetermined period of time).

[0085] In addition to, or in the alternative to, causing the mobile robot 1100 to move according to a predetermined pattern in order to move swab 1200 along the floor 1102, the positioning system 1109 and / or the pivoting arm 1300 (e.g., the linear actuator 1552 of the pivoting arm 1300) may be configured to move the swab 1200 in a predetermined pattern. Such a configuration may allow the swab 1200 move within a smaller area on the floor 1102.

[0086] In some instances, the omnidirectional wheels 1106 may include and / or be coupled to shock absorbers. The shock absorbers may be configured to mitigate vertical movement of the mobile robot 1100 in response to the omnidirectional wheels 1106 encountering, for example, traversable discontinuities in the floor 1102. Such a configuration may encourage consistent engagement between the swab 1200 and the floor 1102.

[0087] With reference to FIG. 19, after a sample has been collected, the sample collector 1108 transitions back to the collector retrieval position. In response to the sample collector 1108returning to the collector retrieval position, the swab holder 1202 is caused to transition from the holder stowed position towards the holder retrieval position. As the swab holder 1202 approaches the holder retrieval position, the swab 1200 is inserted back into the swab receptacle 1204 from which the swab 1200 was originally retrieved.

[0088] As shown in FIG. 20, when the swab 1200 is fully inserted into the swab receptacle 1204, the stopper 1210 sealingly engages the open end 1208 of the swab receptacle 1204 and the swab applicator 1110 releases the stopper 1210. When the swab applicator 1110 releases the stopper 1210, the swab holder 1202 transitions back to the holder stowed position. In some instances, prior to the swab holder 1202 transitioning back to the holder stowed position, the positioning system 1109 may move the swab applicator 1110 such that swab applicator 1110 is positioned to couple to another stopper 1210 corresponding to another swab 1200 that is disposed within another swab receptacle 1204. In these instances, the mobile robot 1100 may proceed to collect another sample after the swab holder 1202 returns to the holder stowed position. As such, the mobile robot 1 100 can be configured to track the number of swabs 1200 used relative to the number of swab holder receptacles 1204. When the number of swabs 1200 equals the number of swab holder receptacles 1204, the mobile robot 1100 generate an alert to a user and / or obtain new swabs 1200 and / or swab receptacles 1204.

[0089] FIG. 21 shows a schematic example of a mobile robot 2100 configured to fly within an environment, which may allow the mobile robot 2100 to traverse an environment more quickly and / or traverse additional regions within the environment when compared to a ground based mobile robot. As shown, the mobile robot 2100 includes a body 2102 and at least one rotor 2104 configured to generate lift. The lift generated in response to a rotation of the at least one rotor 2104 is sufficient to cause the mobile robot 2100 to become airborne.

[0090] The body 2102 of the mobile robot 2100 may include a sample collection system 2106. The sample collection system 2106 is configured such that air passes into the sample collection system 2106 while the mobile robot 2100 is traversing the environment. As air passes into the sample collection system 2106, the air is incident on (e.g., passes through) one or more collection mediums 2108 of the sample collection system 2106. The one or more collection mediums 2108 are configured to collect one or more pathogens, non-pathogenic microorganisms and / or non- biological particles that are suspended within the air. One example of a collection medium 2108 includes an air filter having a pore size and / or properties (e.g., electrostatic properties) thatencourage collection of one or more pathogens, non-pathogenic microorganisms and / or non- biological particles. In this example, the pore size and / or filter properties may be adjusted to target specific pathogens, non-pathogenic microorganisms and / or non-biological particles. Another example of a collection medium 2108 may be a liquid buffer collection medium configured to collect pathogens, non-pathogenic microorganisms and / or non-biological particles through condensation. In this example, condensation of aerosolized pathogens and / or non-pathogenic microorganisms into liquid may reduce a number of steps between collection and extraction of DNA and / or RNA when compared to collection of pathogens and / or non-pathogenic microorganisms in a solid material.

[0091] As shown, in some instances, the sample collection system 2106 may include an analysis system 2110 configured to analyze at least one of the one or more collection mediums 2108 in order to determine whether contaminant has been captured by the one or more collection mediums 2108. Where the analysis system 2110 is configured to analyze a sample to detect and / or identify a biological contaminant, the analysis system 2110 can be configured to extract one or more of DNA and / or RNA from collected pathogens and / or non-pathogenic microorganisms within a sample such that the collected pathogens and / or non-pathogenic microorganisms can be identified. Extraction of the DNA and / or RNA may be performed by a non-centrifugation system. Additionally, or alternatively, the analysis system 2110 can be configured to analyze the collected sample using mass spectrometry such that non-biological contaminants / particles in the sample can be identified.

[0092] A first example of the analysis system 2110 configured to detect and / or identify pathogens and / or non-pathogenic microorganisms in a sample may be a system that is configured to urge a liquid solution containing the collected sample through a filter membrane to clean the collected sample. The filter membrane is configured to bind with the nucleic acid and allows nondesired cellular components to flow through and be discarded. For example, with reference to FIG. 21A, the liquid solution can be urged through a filter membrane 2150 by urging a piston 2152 along a barrel 2154. In this example, the liquid solution may be disposed within the barrel 2154 such that urging the piston 2152 along the barrel 2154 urges the liquid solution through the filter membrane 2150.

[0093] A second example of the analysis system 2110 configured to detect and / or identify pathogens and / or non-pathogenic microorganisms in a sample may be system configured to usesonication and / or heating to break open the cells of collected pathogens and / or non-pathogenic microorganisms thereby releasing the DNA and / or RNA within the cells. Use of sonication and / or heating may allow the DNA and / or RNA to be extracted without the use of chemicals and / or enzymes.

[0094] A third example of the analysis system 2110 configured to detect and / or identify pathogens and / or non-pathogenic microorganisms in a sample may include sheering the membranes of the pathogens and / or non-pathogenic microorganisms (e.g., using a needle edge). Sheering the membranes releases the DNA and / or RNA for further purification.

[0095] Once the analysis system 2110 configured to detect and / or identify pathogens and / or non-pathogenic microorganisms in a sample extracts the RNA and / or DNA, the analysis system 2110 may analyze the RNA and / or DNA to determine the pathogen(s) and / or non-pathogenic microorganisms collected by the collection medium 2108. The results of the determination may be transmitted to a remote device (e.g., a remote computer) for review by an operator. As such, inclusion of the analysis system 21 10 with the mobile robot 2100 may improve the speed at which pathogens and / or non-pathogenic microorganisms are detected (when compared to analyzing collected samples on an analysis system that is separate from the mobile robot 2100).

[0096] In some instances, a plurality of mobile robots 2100 may be deployed within an environment. In these instances, multiple samples may be collected at different locations and / or heights. Such a configuration may allow for multiple locations to be monitored simultaneously. In some instances, the plurality of mobile robots 2100 may be configured to communicate with each other.

[0097] FIG. 22 shows a schematic example of a docking station 2200 configured to cooperate with the mobile robot 2100. The docking station 2200 may be configured to include similar features as those discussed in relation to the docking station 104 of FIG. 1. The docking station 2200 may include a supply replenisher 2202 and / or one or more charging contacts 2204 to recharge one or more batteries of the mobile robot 2100. The supply replenisher 2202 may configured to replace and / or replenish the one or more collection mediums 2108. In some instances, the docking station 2200 may include a sample receiver 2206 configured to remove the collected samples (e.g., the one or more collection mediums 2108 from the mobile robot 2100). The sample receiver 2206 may include an analysis system 2208 configured to analyze at least one of the one or morecollection mediums 2108 in order to determine whether a contaminant has been captured by the one or more collection mediums 2108.

[0098] The analysis system 2208 may function similarly to the analysis system 2110 of FIG. 21. As such, when the docking station 2200 includes the analysis system 2208 the mobile robot 2100 may not include the analysis system 2110. This may reduce weight and / or reduce energy consumption of the mobile robot 2100.

[0099] An example of a mobile robot, consistent with the present disclosure, may include one or more driven wheels, one or more sensors, and a sample collector. The sample collector may include a collection medium holder, a plurality of collection mediums disposed within the collection medium holder, and a collection medium applicator configured to releasably couple to a respective collection medium disposed within the collection medium holder.

[0100] In some instances, the plurality of collection mediums may include a plurality of swabs. In some instances, the collection medium holder may include a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium. In some instances, the cartridge may be configured to be rotated. In some instances, the collection medium applicator may be configured to urge the respective collection medium into engagement with a surface. In some instances, the collection medium applicator may be configured to agitate the respective collection medium along the surface. In some instances, the one or more sensors may include a surface type sensor configured to detect a surface type and the collection medium applicator agitates the respective collection medium based, at least in part, on the detected surface type. In some instances, the collection medium applicator may further include one or more contact sensors configured to detect engagement of the respective collection medium with the surface. In some instances, the collection medium applicator may be configured to rotate the respective collection medium about an actuation axis. In some instances, the collection medium applicator may be configured to urge the respective collection medium along an actuation axis.

[0101] An example of a contaminant-surveillance system, consistent with the present disclosure, may include a mobile robot and a docking station. The mobile robot may include one or more driven wheels, one or more sensors, and a sample collector. The sample collector may include a collection medium holder, a plurality of collection mediums disposed within the collection medium holder, and a collection medium applicator configured to releasably couple toa respective collection medium disposed within the collection medium holder. The docking station may be configured to receive one or more collected environmental samples.

[0102] In some instances, the plurality of collection mediums may include a plurality of swabs. In some instances, the collection medium holder may include a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium. In some instances, the cartridge may be configured to be rotated. In some instances, the collection medium applicator may be configured to urge the respective collection medium into engagement with a surface. In some instances, the collection medium applicator may be configured to agitate the respective collection medium along the surface. In some instances, the one or more sensors may include a surface type sensor configured to detect a surface type and the collection medium applicator agitates the respective collection medium based, at least in part, on the detected surface type. In some instances, the collection medium applicator may further include one or more contact sensors configured to detect engagement of the respective collection medium with the surface.

[0103] Another example of a robot, consistent with the present disclosure, may include a sample collector. The sample collector may include a collection medium holder, a plurality of collection mediums disposed within the collection medium holder, and a collection medium applicator configured to releasably couple to a respective collection medium disposed within the collection medium holder.

[0104] In some instances, the collection medium holder may include a cartridge having a cartridge body that defines a cartridge cavity, the cartridge cavity including a plurality of collection medium receptacles configured to receive a respective collection medium.

[0105] In some instances, the contaminant-surveillance system may include a processing unit within the mobile robot, the docking station, and / or a remote component. The processing unit may use uses location and analysis data of contaminant samples and, in some embodiments, environmental data, to display a characteristic representative of the one or more samples at the location where the sample was collected in the environment. For example, the processing unit may display an origin location and / or track the transmission of the contaminant within the environment, and / or generate a graphical representation of an environment being monitored.

[0106] The graphical representation generated by the processing unit may be used, for example, by personnel in the environment to protect people and / or assets from harmfulcontaminants, to identify and remediate hazards that cause spread of a contaminant, to identify and remediate contaminant sources, to identify and remediate environmental causes of contaminant spread, etc. A “contaminant” as used herein includes beneficial contaminants. In some embodiments, the graphical representation generated by the processing unit may be used to identify beneficial contaminants, e.g., beneficial microorganisms that live in buildings, and / or track the beneficial contaminants, e g., as part of an effort to alter the built environment microbiome to promote well-being of occupants.

[0107] A system including a processing unit for finding the origin and / or tracking the transmission (i.e. the spread from a place of origin) of a contaminant consistent with the present disclosure may be provided in a variety of configurations. FIG. 23 A, for example, depicts an embodiment of the contaminant-surveillance system 2300 having a mobile robot 2302, a processing unit 2306 within the mobile robot 2302, and one or more known user input and / or output (I / O) devices 2310. In some embodiments, the processing unit 2306 may be included in the controller 114 (FIG 1). FIG. 23B depicts an embodiment of the contaminant-surveillance system 2300 having a mobile robot 2302, a docking station 2304 including a processing unit 2306, and the user I / O devices 2310. In some embodiments the processing unit 2306 in the docking station may be included in the analysis system 124 (FIG 1) and / or 1010 (FIG. 10). FIG. 23C depicts an embodiment of the contaminant-surveillance system 2300 having a mobile robot 2302, a docking station 2304, the user I / O devices 2310 and a remote component 2308. The remote component is physically separate from both the mobile robot 2302 and the docking station 2304 and in electrical communication (i.e., wired and / or wireless connections) with the mobile robot 2302 and / or the docking station 2304. The remote component 2308 may include the processing unit 2306. Though FIGS. 23 A, 23B, and 23C each depict the processing unit 2306 in one of the mobile robot 2302, docking station 2304, or remote component 2308, any combination of the mobile robot 2302, docking station 2304 and / or remote component 2308 may include a processing unit 2306.

[0108] The mobile robot 2302 may include any embodiment of a mobile robot disclosed herein, and the docking station 2304 may be any embodiment of a docking station disclosed herein. The remote component may be a computer, cell phone, tablet and / or other electronic device capable of processing data.

[0109] The user I / O device(s) may be any known device configured to communicate with the processing unit 2306 through a wired or wireless connection to receive and / or transmit data to / from the processing unit 2306. For example, the user I / O device(s) 2310 may include a known keyboard or a display with a graphical user interface (GUI) for instructing the mobile robot 2302, the docking station 2304, the remote component 2308 and / or the processing unit 2306 to perform a method consistent with the present disclosure, analyzing the results of the method, communicating the results of the method to other systems, e.g. alarm or alert systems, etc. The user I / O device(s) 2310 may also or alternatively include a known display, printer, or any other type of electronic device capable of displaying a graphical representation in a method consistent with the present disclosure.

[0110] The processing unit 2306 of the contaminant-surveillance system 2300 may include a processor configured to execute computer program instructions for performing a method of monitoring an environment for contaminants and known input / output interfaces. FIG. 24 is a flow chart illustrating one example embodiment of a method of monitoring an environment for contaminants and known input / output interfaces. The illustrated flow chart may be shown and described as including a particular sequence of steps. The illustrated sequence of steps merely provides an example of how the general functionality described herein can be implemented. The steps do not have to be executed in the order presented unless otherwise indicated. In addition, it is to be understood that other embodiments consistent with the present disclosure may include subcombinations of the illustrated steps and / or additional steps described herein. Thus, claims presented herein may be directed to all or part of the components and / or operations depicted in one or more figures.

[0111] The example method of monitoring an environment for contaminants 2400 illustrated in FIG. 24 includes establishing 2401a spatial reference frame (e.g., Cartesian, GPS, etc.), collecting contaminant data (e.g., sample analysis data from the robot and / or docking station of the contaminant-surveillance system 2300 and / or environmental data from the robot and / or docking station of the contaminant-surveillance system 2300 and / or from one or more external sources) and associating the contaminant data with the locations of the spatial reference frame where the samples were taken 2402. In some embodiments, the method includes using the location and analysis data of the samples and the environmental data to determine an origin location / or track the transmission 2403 of the contaminant within the environment. The methodfurther includes and / or generating a graphical representation 2404 of an environment being monitored, e.g. on the user I / O device(s) 2310, to indicate a characteristic of the sample taken at an associated location in the environment. In some embodiments, for example the graphical representation may indicate an origin location and, in some embodiments, indicate the transmission path of the contaminant in the environment from the origin location.

[0112] The processing unit 2306 may define the spatial reference frame within the environment being monitored such that the samples taken by the contaminant-surveillance system 2300 can be associated by the processing unit 2306 with a location within the environment. The spatial reference frame may be defined using external sensors, sensors on board a robot of the contaminant-surveillance system 2300, imported existing maps of an environment, and / or GPS location data. Where the contaminant-surveillance system 2300 traverses a surface, the spatial reference frame may be a cartesian system having an X-axis and Y-axis, where the X-axis is perpendicular to the Y-axis, and an origin (0,0) at a location within the environment (e.g., the location of the docking station). All locations within the environment may be defined relative to their distance along each axis from the origin.

[0113] In addition, or alternatively, the spatial reference frame may be a GPS spatial reference frame having a longitude and latitude. Where the contaminant-surveillance system 2300 is configured to fly within an environment, the spatial reference frame may be a cartesian system having an X-axis, Y-axis, and Z-axis, where each axis is parallel to one another, and an origin (0,0,0) at a location within the environment (e.g., the location of the docking station). All locations within the environment may be defined relative to their distance along each axis from the origin. In addition, or alternatively, the spatial reference frame may be a GPS spatial reference frame having a longitude, latitude, and altitude. Further, the processing unit 2306 may define more than one spatial reference frame within an environment (e.g., a spatial reference frame for each room or region within an environment).

[0114] The mobile robot may collect one or more samples and the mobile robot and / or docking station may analyze the one or more samples as disclosed herein to produce contaminant data. The processing unit 2306 may collect the contaminant data for each sample and associated the contaminant data with a location for each sample 2402. The processing unit 2306 may then further associate characteristics of the analysis (i.e., the qPCR sequencing analysis and / or mass spectrometry analysis and / or nucleic acid sequencing) performed on the sample with the locationof the sample within the spatial reference frame. The characteristics of the analysis may include the confidence level in the results of the analysis, the quantity, volume, and / or concentration (Ct) of the contaminant in the sample, the identity of the contaminant, the toxicity / dangerousness of the contaminant, and / or the means of transmission of the contaminant.

[0115] The processing unit 2306 may further collect and / or store environmental data (e.g., airflow patterns, building structures and / or features, travel patterns and / or identities of objects, people and / or animals moving within the environment, and / or any other characteristic of the environment which may impact the transmission of a contaminant). The environmental data may be gathered using an external source (e.g., user input, blueprints, drawings, databases, sensors (e.g., ultrasonic, infrared, time of flight, stereo camera, monocular camera, heat, airflow, pressure, and / or any other sensor), and / or any other external source) and / or environmental data sensors on robot 2302, the docking station 2304, the remote unit 2308, and / or distributed in the environment. The environmental data may be associated with the locations within the environment and / or, where environmental data corresponds to a location where a sample was taken.

[0116] In some embodiments, the processing unit 2306 may determine the origin and / or track the transmission of the contaminant within the environment 2403 using the sample locations, contaminant data indicating characteristics of the analysis of a sample taken at a location, and / or environmental data collected in step 2402. For example, the processing unit 2306 may find the origin of a contaminant at a first location based on collected data showing a higher concentration of a contaminant in a sample taken at the first location than in samples collected at locations adjacent to the first location. Additionally, or alternatively, the processing unit 2306 may track the transmission of a contaminant in various locations within a region of interest based on the concentrations of sampled locations within or adjacent to that region, and / or environmental data (i.e., physical barriers, airflow, traffic patterns). With this information, sick individuals in a hospital environment, for example, can be isolated and treated, localized cleaning tailored to a specific contaminant can be initiated, and further transmission of contaminants can be prevented.

[0117] The processing unit 2306 may use artificial intelligence to determine the origin of the contaminant and / or track the transmission of the contaminant within the environment. The processing unit 2306 may use artificial intelligence (Al) through machine learning (ML) techniques such as graphical neural networks (GNNs) and multi-layer perceptron (MLP). Al can be defined as the theory and development of computer systems able to perform tasks that normallyrequire human intelligence, such as speech recognition, visual perception, decision-making, and translation between languages. The term Al is often used to describe systems that mimic cognitive functions of the human mind, such as learning and problem solving.

[0118] Machine learning (ML) is an application of Al that creates systems that have the ability to automatically learn and improve from experience. ML involves the development of computer programs that can access data and learn based on that data. ML algorithms typically build mathematical models based on sample, or training, data in order to make predictions or decisions without being explicitly programmed to do so. The use of training data in ML requires human intervention for feature extraction in creating the training data set. The two main types of ML are Supervised learning and Unsupervised learning. Supervised learning uses labeled datasets that are designed to train or “supervise” algorithms into classifying data or predicting outcomes accurately. Supervised learning is typically used for problems requiring classification or regression analysis. Classification problems use an algorithm to accurately assign test data into specific categories. Regression is a method that uses an algorithm to understand the relationship between dependent and independent variables. Regression models are helpful for predicting numerical values based on different data points.

[0119] Unsupervised learning uses machine learning algorithms to analyze and cluster unlabeled datasets. These algorithms discover hidden patterns or data groupings without the need for human intervention, and their ability to discover similarities and differences in information make unsupervised learning the ideal solution for exploratory data analysis, cross-selling strategies, customer segmentation, and image recognition. Unsupervised learning is typically used for problems requiring clustering, e.g., K-means clustering, or association, which uses different rules to find relationships between variables in a given dataset.

[0120] The processing unit 2306 may generate and cause display on the user I / O devices 2310 a graphical representation of the environment 2303 on the user I / O device (s) e.g. as a graphical user interface (GUI). Additionally, or alternatively, the graphical representation be displayed as an image on the user I / O device(s). The graphical representation may be continuously or periodically updated. Continuously updated refers to where new data is integrated into the graphical representation upon or shortly after the generation of the data. Periodically updated refers to where data is integrated into the graphical representation on a periodic schedule such as every n number of seconds, minutes, hours, days, weeks, etc.

[0121] The graphical representation may be a rendition of the environment being monitored and a characteristic of at least one of the samples at the location in the environment where the sample was taken. For example, where the environment being monitored is a hospital, the graphical representation of the hospital may show room locations / identifiers (e.g., emergency room beds, triage areas, waiting rooms, operating rooms, facilities closets, etc.), hallways, ventilation systems, heating systems, and / or any other structures or features of the environment. By way of another example, where the environment being monitored is an airport, the graphical representation of the airport may show terminal locations and / or flight information associated with a terminal, entrances, exits, bathrooms, restaurants, stores, etc. The graphical representation of the environment may include stagnant and / or transient features. For example, where the environment is a hospital, the room locations may be stagnant features which do not change while the labels identifying which patient resides in each room may be transient based on continuous or periodical updates. By way of another example, where the environment is an airport, the terminal locations may be stagnant features while the flights information (e.g., arrival / destination times and locations, passenger manifests, airline, etc.) may be transient based on continuous or periodic updates.

[0122] The graphical representation of the environment may additionally include one or more indicators. An indicator may indicate an a characteristic of contaminants in the samples using, for example, contaminant data associated with a location (e.g., confidence level in the results of the analysis, the quantity, volume, and / or concentration (Ct) of the contaminant in the sample, the identity of the contaminant, the toxicity / dangerousness of the contaminant, and / or the means of transmission of the contaminant). In some embodiments, the indicator may indicate an origin location and / or track of transmission of the contaminant within the environment using the sample location, the contaminant data and / or environmental data collected in step 2402.

[0123] An indicator may additionally or alternatively be indicative or an environmental condition (e.g., airflow patterns, building structures and / or features, travel patterns and / or identities of objects, people and / or animals moving within the environment, and / or any other characteristic of the environment which may impact the transmission of a contaminant). The one or more indicators may comprise one or more symbols, colors, images, shading and / or patterns. The one or more indicators may identify a specific location in the spatial reference frame and / or a region within spatial reference frame. Additionally, information about the origin found, tracked transmission and / or environmental condition represented by the regional indication may bedisplayed on, adjacent to, and / or embedded in (i.e., shown in a GUI by clicking or hovering a mouse over) the indicator.

[0124] Examples of graphical representations generated by a processing unit 2306 of the contaminant-surveillance system 2300 using the monitoring an environment for contaminants 2300 are depicted in FIGS. 25 & 26. FIG. 25 depicts a graphical representation of hospital floor having patient rooms 2501, bathrooms 2502, operating rooms 2503, administrative desks 2504, waiting rooms 2505, entrances / exits 2506, and / or any other facilities or structures within a hospital. Further, the graphical representation 2500 may include one or more indicators 2507 signifying a location and / or characteristic of a sample taken by the contaminant-surveillance system 2300 in the hospital. In FIG. 25 the indicator 2507 is a triangular caution symbol indicating an origin location of a contaminant.

[0125] FIG. 25 depicts an indicator 2508 as a region of dark shaded grey. The indicator 2508 may, for example, indicate a region within the environment in which the processing unit 2306 has tracked the transmission of contaminants, e.g. using machine learning. The processing unit 2306 may have tracked the transmission of the contaminant in the patient room, for example, because the contaminant was detected within a sample taken in that patient room. The processing unit 2306 may have tracked the transmission of the contaminant just outside the patient room in the hallway, for example, because the characteristics of the sample (e.g., transmissibility, concentration, etc.) and / or environment (e.g., human traffic patterns, airflow, etc.) suggest that contaminants may be transmitted from an origin location at indicator 2507 to this location when the door is opened, an individual travels outside the room, and / or air from within the room escapes out into the portion of the hallway just outside the door.

[0126] Additionally, the graphical representation 2500 depicted in FIG. 25 includes an indicator 2509, depicted as a light shade of grey. The indicator 2509 may indicate pathways through the environment along which the processing unit 2306 has tracked the transmission of the contaminant. Using machine learning, the processing unit 2306 may have tracked the transmission of the contaminant to the region indicated by the indicator 2509, for example, because the movements of a nurse caring for the patient in the room where the contaminant was detected from the patient’s room to one of the administrative desks 2504. The difference in shading between indicator 2508 and indicator 2509 may signify that the tracked transmission in the region ofindicator 2508 and the region of indicator 2509 may differ in some aspect (for example, confidence level, concentration of the contaminant tracked to each region, etc.).

[0127] FIG. 26 depicts an example of a graphical representation 2600 where the environment monitored is an airport. The graphical representation of the airport includes gates 2601, terminal waiting areas 2602, restrooms 2603, and a cafeteria 2604. The graphical representation 2600 further includes three indicators 2606, 2607, 2608 marking locations where a sample was collected and analyze. Indicator 2606 is a triangle caution symbol of a first size, indicator 2607 is a triangle caution symbol of a second size, and indicator 2608 is plurality atom symbols. In FIG. 26, indicator 2606 and 2607 may, for example, represent that the two samples taken at each location were found to contain the same contaminant (same symbol) but a lesser quantity of the contaminant was found at the location marked by indicator 2607 (different sizes of the symbols). In FIG. 26, indicators 2606 and 2607 comprise different symbols than the symbol of indicator 2608 which may, for example, represent that the contaminant found at locations marked by indicators 2606 and 2607 was different from the contaminant found at the location marked by indicator 2608.

[0128] The graphical representation of the airport 2600 also depicts several indicators representing one or more regions within the environment. One indicator 2605 is depicted as a pattern within the cafeteria 2604. Indicator 2605 may, for example, represent that an environmental condition within the cafeteria 2604 (e.g., that the cafeteria is closed and therefore no monitor, the temperature within the cafeteria has reached a certain threshold, etc.). On the other hand, indicators 2609, 2610, 2611, 2612, and 2613 may, for example, represent tracked transmission a contaminant based on the detected contaminants in samples taken at locations marked by indicators 2606, 2607, and 2608.

[0129] Consistent with the present disclosure there is thus provided a method of monitoring an environment for contaminants, including: establishing a spatial reference frame within the environment; collecting one or more samples within the environment using an autonomous contaminant-surveillance system; associating each of the one or more samples with an associated location in the spatial reference frame; analyzing each of the one or more samples to obtain contaminant data associated with each of the one or more samples; and generating a graphical representation of a characteristic associated with at least one of the one or more samples at the associated location where the at least one of the one or more samples was collected in the environment.

[0130] In some embodiments the method further comprises determining an origin location of one or more contaminants in the one or more samples using the associated coordinate locations and the contaminant data associated with each of the one or more samples. The characteristic may indicate the origin location.

[0131] In some embodiments the method further includes determining a track of transmission of the one or more contaminants using the associated locations and the contaminant data associated with each of the one or more samples. Generating the graphical representation may include generating a graphical representation indicating the track of transmission of the one or more contaminants.

[0132] In some embodiments, the method further includes using one or more machine learning techniques to determine the track of transmission. In some embodiments, the determining a track of transmission further uses environmental data associated with the environment.

[0133] In some embodiments, the graphical representation includes one or more indicators selected from a group consisting of a symbol, a color, an image, a shading, and a pattern. The one or more indicators may identifies a region within the environment or at least one of the associated locations.

[0134] Consistent with another aspect of the present disclosure, there is provided a non- transitory machine-readable storage medium that includes instructions that, when executed by a processor, cause the processor to: associate one or more samples collected within an environment with an associated location in a spatial reference frame established for the environment; determine an origin location of one or more contaminants in the one or more samples using the associated locations and contaminant data associated with each of the one or more samples; and generate a graphical representation of a characteristic associated with at least one of the one or more samples at the associated location where the at least one of the one or more samples was collected in the environment. The instructions may cause the processor to perform any aspect of a method consistent with the present disclosure.

[0135] Consistent with another aspect of the disclosure, there is provided a contaminantsurveillance system including: a mobile robot, the mobile robot including: one or more driven wheels; one or more sensors; and a sample collector including: a collection medium holder; a plurality of collection mediums disposed within the collection medium holder; and a collection medium applicator configured to releasably couple to a respective collection medium disposedwithin the collection medium holder; a docking station, the docking station configured to receive one or more collected samples; and a processing unit. The processing unit is configured to associate the one or more collected samples with an associated location in a spatial reference frame associated with an environment where the one or more collected samples are collected, determine an origin location of one or more contaminants in one or more collected samples using the associated locations and contaminant data associated with each of the one or more collected samples; and generate a graphical representation of a characteristic of at least one of the one or more collected samples at the associated location where the at least one or more collected samples was collected in the environment.

[0136] The foregoing description of example embodiments has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed. Many modifications and variations are possible in light of this disclosure. It is intended that the scope of the present disclosure be limited not by this detailed description, but rather by the claims appended hereto.

[0137] Unless otherwise stated, use of the word “substantially” may be construed to include a precise relationship, condition, arrangement, orientation, and / or other characteristic, and deviations thereof as understood by one of ordinary skill in the art, to the extent that such deviations do not materially affect the disclosed methods and systems. The terms “connected” or “coupled” as used herein is a relative term and does not require a direct physical connection, unless otherwise stated.

[0138] Throughout the entirety of the present disclosure, use of the articles “a” and / or “an” and / or “the” to modify a noun may be understood to be used for convenience and to include one, or more than one, of the modified noun, unless otherwise specifically stated. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements.

[0139] Embodiments of the methods described herein may be implemented using a processor and / or other programmable device. To that end, the methods described herein may be implemented on a tangible, non-transitoiy computer readable medium having instructions stored thereon that when executed by one or more processors perform the methods. Thus, for example, the processing unit 2306 may include a processor and storage medium (not shown) to store instructions (in, for example, firmware or software) to perform the operations described herein.The storage medium may include any type of tangible medium, for example, any type of disk including floppy disks, optical disks, compact disk read-only memories (CD-ROMs), compact disk rewritables (CD-RWs), and magneto-optical disks, semiconductor devices such as read-only memories (ROMs), random access memories (RAMs) such as dynamic and static RAMs, erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), flash memories, magnetic or optical cards, or any type of media suitable for storing electronic instructions.

[0140] It will be appreciated that any flow charts, flow diagrams, block diagrams, state transition diagrams, pseudocode, and the like represent various processes which may be substantially represented in computer readable medium and so executed by a processor, whether or not such processor is explicitly shown. Software modules, or simply modules which are implied to be software, may be represented herein as any combination of flowchart elements or other elements indicating performance of process steps and / or textual description. Such modules may be executed by hardware that is expressly or implicitly shown.

[0141] The functions described herein may be provided through the use of dedicated hardware and / or as hardware such as a processor capable of executing software in association with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, e.g., a general purpose computer, by a single shared processor, or by a plurality of individual processors, some of which may be shared. Moreover, explicit use of the term "processor" should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage. Other hardware, conventional and / or custom, may also be included.

[0142] Unless specifically stated otherwise, terms such as "operations," “processing,” “computing,” “calculating,” “determining,” or the like, may refer to the action and / or processes of a processing system, hardwire electronics, or similar electronic computing device or apparatus, that manipulate and / or transform data represented as physical, such as electronic, quantities within, for example, registers and / or memories into other data similarly represented as physical quantities within the registers and / or memories.

[0143] Although the methods and systems have been described relative to a specific embodiment thereof, they are not so limited. Obviously, many modifications and variations may become apparent in light of the above teachings. Many additional changes in the details, materials, and arrangement of parts, herein described and illustrated, may be made by those skilled in the art.

Claims

What is claimed is:

1. A method of monitoring an environment for contaminants, comprising: establishing a spatial reference frame within the environment; collecting one or more samples within the environment using a contaminantsurveillance system; associating each of the one or more samples with an associated location in the spatial reference frame; analyzing at least one of the one or more samples to obtain contaminant data associated with the at least one of the one or more samples.

2. The method of monitoring an environment for contaminants of claim 1, further comprising determining an origin location of one or more contaminants in the one or more samples using the associated locations and the contaminant data associated with each of the one or more samples.

3. The method of monitoring an environment for contaminants of claim 1, further comprising generating a graphical representation of a characteristic associated with at least one of the one or more samples at the associated location where the at least one of the one or more samples was collected in the environment.

4. The method of monitoring an environment for contaminants of claim 1, further comprising determining a track of transmission of the one or more contaminants using the associated locations and the contaminant data associated with each of the one or more samples.

5. The method of monitoring an environment for contaminants of claim 3, further comprising using one or more machine learning techniques to determine the track of transmission.

6. The method of monitoring an environment for contaminants of claim 3, wherein the determining a track of transmission further uses environmental data associated with the environment.

7. The method of monitoring an environment of contaminants of claim 1, wherein the contaminant-surveillance system is an autonomous contaminant-surveillance system.

8. A non-transitory machine-readable storage medium that includes instructions that, when executed by a processor, cause the processor to: associate one or more samples collected within an environment with an associated location in a spatial reference frame established for the environment; and determine an origin location of one or more contaminants in the one or more samples using the associated locations and contaminant data associated with each of the one or more samples.

9. The non-transitory machine-readable storage medium of claim 8, further comprising instructions, that when executed by the processor, cause the processor to: generate a graphical representation of a characteristic associated with at least one of the one or more samples at the associated location where the at least one of the one or more samples was collected in the environment.

9. The non-transitory machine-readable storage medium of claim 8, further comprising instructions that, when executed by the processor, cause the processor to: determine an origin location of one or more contaminants in the one or more samples using the associated locations and the contaminant data associated with each of the one or more samples.

10. The non-transitory machine-readable storage medium of claim 8, further comprising instructions that, when executed by processor, cause the processor to: determine a track of transmission of the one or more contaminants using the associated locations and the contaminant data associated with each of the one or more samples.

11. The non-transitory machine-readable storage medium of claim 10, wherein the track of transmission is determined using one or more machine learning techniques.

12. The non-transitory machine-readable storage medium of claim 10, wherein the track of transmission is determined using environmental data associated with the environment.

13. A contaminant-surveillance system comprising: a sample collector including: a collection medium holder; a plurality of collection mediums disposed within the collection medium holder; and a collection medium applicator configured to releasably be coupled to a respective collection medium disposed within the collection medium holder; a receiving station, the receiving station configured to receive one or more collected samples; and a processing unit, the processing unit being configured to: associate the one or more collected samples with an associated location in a spatial reference frame associated with an environment where the one or more collected samples are collected; determine an origin location of one or more contaminants in one or more collected samples using the associated locations and contaminant data associated with each of the one or more collected samples.

14. The contaminant-surveillance system of claim 13, wherein the sample collector is a mobile robot.

15. The contaminant-surveillance system of claim 14, wherein the receiving station is a docking station for said mobile robot.

16. The contaminant-surveillance system of claim 13, wherein the processor is further configured to generate a graphical representation of a characteristic of at least one of the one or more collected samples at the associated location where the at least one or more collected samples was collected in the environment.

17. The contaminant-surveillance system of claim 13, wherein the processor is further configured to determine an origin location of one or more contaminants in the one or more samples using the associated locations and the contaminant data associated with each of the one or more samples.

18. The contaminant-surveillance system of claim 13, wherein the processor is further configured to determine a track of transmission of the one or more contaminants using the associated locations and the contaminant data associated with each of the one or more collected samples.

19. The contaminant-surveillance system of claim 18, wherein the graphical representation of the environment comprises a graphical representation indicting the track of transmission of the one or more contaminants.

20. The contaminant-surveillance system of claim 18, wherein the track of transmission is determined using environmental data associated with the environment.

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