TRANSFORMING LIBRARIES. THE ROLE OF AUTONOMOUS ROBOTS IN SORTING, INVENTORYING AND BOOK SEARCH

Abstract

This paper presents a comprehensive study on the development of an advanced robot designed for sorting, inventorying, and assisting with book searches in physical libraries. The study involved an iterative design process to optimize key technical specifications, ensuring maximum user satisfaction and technology adoption. Stakeholders in Romania, including librarians, archive administrators, and avid readers, were actively involved to ensure the technology's relevance and impact. Data collected from these stakeholders was analyzed to identify the factors that most significantly affect user acceptance and satisfaction. This study emphasizes the integration of cutting-edge information technology in library management, aiming to enhance operational efficiency and improve the overall quality of library services.

Headnote

Abstract - This paper presents a comprehensive study on the development of an advanced robot designed for sorting, inventorying, and assisting with book searches in physical libraries. The study involved an iterative design process to optimize key technical specifications, ensuring maximum user satisfaction and technology adoption. Stakeholders in Romania, including librarians, archive administrators, and avid readers, were actively involved to ensure the technology's relevance and impact. Data collected from these stakeholders was analyzed to identify the factors that most significantly affect user acceptance and satisfaction. This study emphasizes the integration of cutting-edge information technology in library management, aiming to enhance operational efficiency and improve the overall quality of library services.

Keywords: Library Automation, Autonomous Robots, Book Sorting, Inventory Management, User Satisfaction.

1. Introduction

Libraries play a crucial role in preserving knowledge and providing access to information for millions of people worldwide. In Romania, the national library system serves a significant portion of the population, with 33,264,231 volumes issued and 16.12% of citizens utilizing library services in 2019 [1]. The Romanian library network comprises 6 national libraries, 96 university libraries, 2,207 public libraries, 83 county libraries, 254 municipal and city libraries, 1,883 municipal libraries, 454 specialized libraries, and 6,722 school libraries. This extensive network highlights the importance of efficient library management and the potential impact of technological innovations in this field.

The integration of autonomous robots in library operations represents a promising solution to optimize workflows and enhance service quality. Such robots can take over repetitive and timeconsuming tasks, allowing librarians to focus on more complex activities that require human expertise. This shift in task allocation could lead to improved handling of large customer flows and faster task completion, ultimately enhancing the overall library experience for users.

While similar robotic solutions exist in other industries, their application in libraries presents unique challenges and opportunities. For instance, in the hospitality industry (HoReCa - Hotels, Restaurants, Cafes), robots are used for table delivery and dish unloading [2]. These robots employ advanced navigation systems using Light Detection and Ranging (LIDAR) technology and proximity sensors to navigate crowded spaces safely [3]. Typically, the robots are equipped with touch screens for user interaction, allowing customers to see the menu and summon the robot. Transportation capabilities include multiple trays that can be adjusted to accommodate different types of dishes and simultaneous orders. Dishwashing robots specialize in picking up dishes from tables and transporting them to washing areas [4]. They are usually equipped with robotic arms or adjustable platform systems, which allow efficient collection of plates, glasses and cutlery. Navigation technology similar to that of delivery robots, based on LIDAR and proximity sensors, ensures safe and efficient movement through tables and obstacles. The clearing robots can have separate compartments for different types of dishes, facilitating quick sorting and transportation to the washing area. These robots are also designed to operate autonomously for long periods of time and are equipped with high-capacity batteries and automatic charging functions. There are also multifunctional robots that combine delivery and unloading capabilities. These robots are extremely versatile and can change functions according to the needs of the restaurant Using advanced artificial intelligence technologies, they can recognize the type of task they need to perform and adjust their behavior accordingly [5]. Multifunctional robots are often equipped with modular systems that allow components to be added or replaced to perform various functions [6], [7], from carrying food to collecting dishes. Their ability to adapt to different tasks and operate autonomously makes these robots extremely valuable in optimizing operations in the HoReCa industry.

Another industry benefiting from the research results of robots of this type is logistics. Inventory robots monitor and manage warehouse stock, moving autonomously and using sensors and cameras to scan shelves and update the inventory database in real time. Typically these are equipped with navigation systems whose safety systems are much more complex than those in the HoReCa industry, due to the types of items handled [8].

Also in museums, robot guides are used to provide visitors with interactive and personalized tours. Interaction with visitors is facilitated through touch screens and voice recognition systems, allowing the robots to answer questions and provide detailed information about exhibits [9]. The robots can be programmed to offer tours in multiple languages and tailor content to visitors' interests. Their ability to learn and adapt to user preferences makes the museum experience more engaging and informative.

The application of similar technologies in libraries could revolutionize book sorting, inventorying, and search processes. By leveraging artificial intelligence, machine learning, and advanced robotics, libraries can potentially improve operational efficiency, reduce human error, and provide more personalized services to users. For example, AI algorithms developed for dynamic feature identification [8] and interactive consultancy programs [10] could be adapted for library use, ensuring continuous decision-making processes and real-time responses based on the robot's database.

Moreover, intelligent storage systems, such as those utilizing RFID [11], could be incorporated into the mechatronic system to facilitate efficient sorting operations. Navigation systems similar to those developed for maintaining continuous localization using monocular vision and ultrasonic distance measurements [12] could be adapted for library environments, enabling robots to navigate bookshelves and assist users in locating specific materials.

Previous research has explored the development of algorithms for library inventory management robots [12], demonstrating the potential for automated book localization and inventory processes. However, there remains a need for a comprehensive solution that integrates sorting, inventorying, and book search functionalities into a single autonomous system tailored specifically for library environments.

Recent advancements in technology have opened up new possibilities for library management and inventory systems. Real-time inventory systems, powered by RFID and loT technologies, allow for continuous tracking and updating of library collections [13]. Digital twin technology, which creates virtual representations of physical library spaces and collections, offers unprecedented opportunities for simulation, optimization, and predictive maintenance [14]. Furthermore, artificial intelligence (AI) and machine learning algorithms are being leveraged to enhance various aspects of library operations, from personalized book recommendations to predictive analytics for collection development [15]. These technologies, when integrated with autonomous robots, have the potential to revolutionize library management, offering real-time insights, improved efficiency, and enhanced user experiences.

This study aims to address this gap by developing an advanced autonomous robot designed to transform library operations. By involving key stakeholders, including librarians, archive administrators, and avid readers, we seek to ensure the relevance and impact of the technology. Through an iterative design process and rigorous data analysis, we aim to identify the factors that significantly affect user acceptance and satisfaction, ultimately contributing to the integration of cuttingedge information technology in library management.

The following sections will detail the methodology employed in this study, present the results of our stakeholder surveys, discuss the implications of our findings, and propose a comprehensive design for an autonomous library robot that addresses the identified needs and challenges in modern library management.

2. Literature Review

The integration of autonomous robots in library operations represents a significant advancement in addressing the challenges of modern library management. Traditional manual methods of sorting and inventorying books are time-consuming and prone to human error, especially as library collections continue to grow in size and complexity [16]. Moreover, users often struggle to locate specific books, which can negatively impact their library experience. These challenges underscore the need for an automated solution capable of handling these tasks with greater accuracy and efficiency.

Several existing systems and subsystems can be integrated into a library robot, considering the functions it must fulfill [17], [18] based on decision algorithms (Fig.l). Artificial intelligence algorithms have been developed for the dynamic identification of features characterized by a determined concept contour, based on specific libraries [19]. These algorithms ensure continuous decision-making processes and provide real-time responses based on the robot's database. Additionally, interactive and personalized consultancy programs have been developed, primarily used in customer service departments [10], which could be adapted for library use.

For efficient sorting operations, intelligent storage systems utilizing RFID technology can be incorporated into the mechatronic system, as demonstrated by the "Universal and reusable RFID system and method for use in supply chain and logistics management" patent [20]. This technology could significantly enhance the robot's ability to manage and track library materials accurately.

Navigation systems for library robots can benefit from advancements in other fields. For instance, systems have been developed to indicate the exact direction or location of a target using laser spot technology [11]. Furthermore, robots capable of maintaining continuous localization processes using monocular vision and ultrasonic distance measurements have been created [12]. These systems employ straight line extraction, vanishing point estimation, and ultrasonic pattern detection, dividing the navigable area into regions with different localization options. Such technologies could be adapted to enable library robots to navigate bookshelves and assist users in locating materials efficiently.

Research has also been conducted on developing algorithms specifically for library inventory management robots [16]. These robots are equipped with sensor-driven motors to monitor book arrangements on shelves and use barcode readers to collect and compare book data with preprogrammed information. This system simplifies the monitoring of book stacking and reduces routine manual work for library staff. The ability to identify lost books and transmit location data to librarians via wireless technology (e.g., ZigBee) demonstrates the potential for automated book localization and inventory processes.

While these individual technologies show promise, there remains a need for a comprehensive solution that integrates sorting, inventorying, and book search functionalities into a single autonomous system tailored specifically for library environments. The development of such a system would require the integration of various technologies, including AIdriven decision-making processes, RFID-based tracking, advanced navigation systems, and specialized inventory management algorithms.

Moreover, the successful implementation of autonomous robots in libraries necessitates consideration of user acceptance and interaction. Studies in related fields, such as the use of robots in museums for interactive and personalized tours [9], provide insights into how similar technologies could be adapted to enhance user experiences in libraries.

In conclusion, while significant advancements have been made in robotics and automation technologies applicable to library operations, there is still a gap in the literature regarding fully integrated, autonomous library robots capable of performing multiple tasks. This study aims to address this gap by developing a comprehensive solution that leverages existing technologies and novel approaches to meet the specific needs of modern libraries.

3. Metodology

This study employed a comprehensive approach to determine the technical specifications of an autonomous robot designed to assist with library tasks traditionally performed by librarians. The research methodology centered on direct stakeholder involvement through surveys, utilizing questionnaires as the primary data collection instrument. The study was divided into two parts, with separate questionnaires designed for librarians and students to recognize their distinct perspectives and roles within the library ecosystem.

Librarians were selected as key participants due to their direct influence on the successful implementation, monitoring, and operation of the proposed mechatronic system. Their hands-on experience with repetitive tasks and familiarity with real-world library situations and associated risks made their input invaluable. Despite potential concerns about job security due to technological advancements, a significant number of librarians participated in the study, with 96 completed questionnaires collected.

The librarian questionnaire was meticulously structured to elicit essential information about daily work routines and potential areas for improvement through robotic assistance. Initial questions focused on identifying library characteristics and team composition, including library type, collection size, and staff numbers. Subsequent sections delved into librarians' day-to-day activities, challenges faced, and the current state of collection management technologies.

A substantial portion of the questionnaire was dedicated to inventory processes, exploring frequency, duration, challenges, and existing technological solutions. This section aimed to assess inventory accuracy and identify problems that could potentially be addressed by an autonomous robot. The questionnaire also probed the perceived usefulness of a robot in the library setting, exploring potential impacts, benefits, and specific functionalities that would be most valuable to both librarians and users.

To ensure a holistic understanding of library operations, the questionnaire included questions about non-returned and misplaced books, seeking to quantify these issues and evaluate current recovery measures. This information was crucial for configuring the robot's guidance and advisory functionalities to meet real-world needs and improve overall efficiency and user experience.

The survey encompassed a diverse range of 96 libraries, including national, university, county, municipal, communal, school, and specialized libraries. This broad sample ensured representation across various library types and sizes, with 73.96% of participating libraries holding more than 10,000 volumes. The study captured data on staffing levels, inventory durations, and the frequency of common library issues such as shelf disorganization and missing books.

To assess the current technological landscape in libraries, the questionnaire inquired about existing systems and their functionalities. This information provided insights into the varying levels of technological adoption across different libraries and helped identify areas where an autonomous robot could offer the most significant improvements.

The second part of the study focused on library users, employing a separate questionnaire to gather their perspectives on library services and potential robotic assistance. This user-centric approach aimed to understand reasons for library use, and challenges encountered when accessing services. The questionnaire explored users' overall library experience, the importance of additional support services, and their ability to navigate the library independently.

User preferences regarding interaction with an autonomous robot were thoroughly investigated, including preferred interaction methods and desired functionalities. This information was crucial for designing a robot that would not only meet librarians' operational needs but also enhance the user experience.

Data analysis from both questionnaires provided a comprehensive view of the current library landscape, challenges faced by both staff and users, and the potential impact of introducing an autonomous robot. The results informed the development of technical specifications and functionalities for the proposed robot, ensuring its relevance and effectiveness in addressing real-world library needs.

This methodology, combining perspectives from both library staff and users, allowed for a holistic approach to designing an autonomous library robot. By directly involving stakeholders and gathering detailed data on current practices and challenges, the study aimed to develop a solution that would seamlessly integrate into existing library ecosystems while significantly enhancing operational efficiency and user satisfaction.

4. Results and Discussion

The implementation of an autonomous robot in library settings has shown significant potential for transforming library operations and enhancing user experiences. Our study, which involved 96 libraries of various types and sizes, revealed several key findings that support the development and integration of such technology.

The survey results indicate a clear need for automation in library processes, particularly in inventory management. With 63.54% of libraries reporting inventory durations exceeding one month and 66.67% citing time consumption as a major challenge, the introduction of an autonomous robot could significantly reduce this burden. The robot's ability to perform automatic book inventory, a feature desired by 83.33% of librarians, would address this issue directly.

Shelf disorganization and misplaced books emerged as recurring problems, with 30.21% of libraries facing this issue at least monthly. The robot's capacity to continuously monitor and organize shelves would mitigate this problem, improving overall collection management efficiency - a benefit anticipated by 78.13% of librarians.

The study revealed a varied technological landscape across libraries, with 47.92% using online cataloging systems and only 15.63% having adopted RFID technology. This disparity underscores the need for a flexible robotic solution capable of integrating with diverse existing systems. The high demand (64.58% of librarians) for integration with existing cataloging and inventory management systems further emphasizes this requirement.

Librarians find it useful that an autonomous robot should have key functionalities (Fig. 2): 83.33% of respondents consider it essential to automatically inventory books, 55.21% value answers to frequently asked questions, 54.17% want details about books and events in the library, 47.92% prefer to guide users to sections, and 48.96% consider it important to monitor suspicious activity.

The most frequent questions received from users are related to finding a specific book, with 93.75% of respondents indicating this issue, followed by requests for information about events and activities, encountered in 48.96% of cases, and assistance with using the online catalog, requested by 39.58% of users. Additionally, 56.25% of users request consultation, and 25% inquire about loan account details.

Librarians have suggested several features for the development of an autonomous robot (Fig. 3), including integration with existing cataloging and inventory management systems, mentioned by 64.58% of respondents, and the ability to easily update and adapt the robot's software, also requested by 64.58%. The capability to recognize and manage different types of materials is important for 61.46%, while 68.75% consider a user-friendly interface and support for multiple languages essential. Other suggestions include self-repair and minimal maintenance features, desired by 55.21%, and the robot's ability to adapt to changes in library organization, necessary for 66.67%. Long-term performance improvement through machine learning functionalities is requested by 45.83%, data reporting and analysis functions by 52.08%, and adherence to security and data protection standards is required by 57.29%. The ability to collaborate effectively with human staff is considered important by 61.46% of respondents.

User experience stands to benefit significantly from the implementation of an autonomous robot. With 93.75% of librarians reporting that finding specific books is the most frequent user query, the robot's ability to guide users to desired sections (a feature requested by 75% of users) would greatly enhance service quality. Moreover, 71.67% of users expressed interest in interacting with an autonomous robot, indicating a high level of acceptance for this technology.

The robot's multifunctionality aligns well with user needs. Features such as providing information about available books and events (desired by 65% of users), answering frequently asked questions (63.33%), and offering personalized book recommendations (55%) would address many of the common challenges faced by library visitors. The preference for touchscreen interaction (76.67% of users) suggests that this should be the primary interface for the robot.

Concerns about data security and privacy were evident, with 57.29% of librarians emphasizing the need for adherence to security and data protection standards. This highlights the importance of incorporating robust security measures in the robot's design and operation.

The potential impact on staff roles was a notable finding. While there were initial concerns about job displacement, the results suggest that the robot would primarily augment rather than replace human staff. The high value placed on human assistance (40% of users preferring human staff) indicates that the robot should be designed to complement rather than substitute human interactions.

Regarding the robot's navigation and book location capabilities, the integration of RFID technology, advanced sensors, and Al-driven algorithms would address the challenges of book misplacement and inventory inaccuracies. The ability to update data in real-time, preferred by 64.58% of librarians, would ensure that the library management system remains current and accurate.

The robot's potential to improve the return rate of borrowed books is significant. With 51.04% of libraries reporting occasional issues with unreturned books, the robot's ability to assist with borrowing and returning items (desired by 58.33% of users) could help mitigate this problem.

User feedback on the potential impact of an autonomous robot was largely positive, with 61.67% believing it would improve their library experience. This aligns with librarians' expectations, where 69.8% anticipated a very positive or positive impact on overall user experience.

The development of natural language processing capabilities in the robot would address the need for multilingual support (requested by 68.75% of librarians) and enable more natural interactions with users. This feature, combined with the robot's ability to provide personalized recommendations and guidance, would significantly enhance the user experience and potentially increase library usage.

Additional functionality suggestions (Fig. 4) include personalized book recommendations (58.33%), assistance with borrowing and returning items (53.33%), information about events and activities (43.33%), and material reservation options (56.67%).

In conclusion, the results of this study strongly support the development and implementation of an autonomous robot in library settings. The robot's potential to streamline operations, enhance user experiences, and address common challenges in library management is evident. However, careful consideration must be given to system integration, data security, and the complementary role of the robot alongside human staff to ensure its successful adoption and maximize its benefits in transforming library services.

Thus, 21 specifications contributing to stakeholder satisfaction were determined (Table 1). Based on the data obtained, the pareto principle was applied to determine the key technical specifications(Fig. 5).

The Pareto principle suggests focusing on the technical specifications that account for 80% of the total importance. These specifications are ordered in descending order of relevance and accumulated to determine the cumulative relative frequency. This method helps identify and prioritize the critical aspects that have the greatest impact on the system's performance and efficiency.

5. Conclusions

The key technical specifications identified from the Pareto chart, which reach the approximately 80% threshold, include automatic book inventory, a userfriendly interface with support for multiple languages, and the ability to adapt to changes in library organization. Integration with existing cataloging and inventory management systems is crucial, as well as the ability to easily update and adapt robot software. The robot must recognize and manage different types of materials such as books, magazines, and CDs, and work effectively with human staff. Compliance with security and data protection standards is essential. Additionally, the robot should be able to answer frequently asked questions, provide details about library books and events, and guide users to desired sections. Selfrepair and minimal maintenance facilities, along with reporting and data analysis functions to evaluate performance and usage, and monitoring and reporting of suspicious activity, are also important features.

The implementation of an autonomous robot in libraries should be considered within the broader context of emerging technologies in library management. Real-time inventory systems can significantly enhance the robot's ability to maintain accurate collection information, while digital twin technology could provide a virtual testing ground for optimizing robot pathways and interactions [14]. AIdriven algorithms could further augment the robot's capabilities, enabling more sophisticated book recommendations, predictive maintenance, and adaptive responses to user queries [15]. Future research should explore the integration of these technologies with autonomous robots to create a comprehensive, intelligent library management system. Such a system could not only improve operational efficiency but also provide valuable datadriven insights for strategic decision-making in collection development and user service improvements [21].

Acknowledgements

(I) For the authors belonging to UPB, this research was funded by National University of Science and Technology "Politehnica" Bucharest, grant "GNAC ARUT 2023" contract no. 116/4/12/2023.

(II) For the authors belonging to INCDMTM, this work was supported by the (1) Research Program Nucleu within the National Research Development and Innovation Plan 2022-2027, carried out with the support of MCID, project no. PN 23 43 04 01; (2) CERMISO Center - Project Contract no. 159/2017, Programme POC-A.l-A.l.l.l-F; and (3) Support Center for international CDI projects in the field of Mechatronics and Cyber-MixMechatronics, Contract no. 323/22.09.2020, project co-financed from the European Regional Development Fund through the Competitiveness Operational Program (POC) and the national budget.

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