| SR | Spherical robot |
| IDU | Internal Drive Unit |
| CoM | Center of Mass |
| CMG | Control Moment Gyroscopes |
| DoF | Degree of Freedom |
| CDoF | Control Degree of Freedom |
| ppm | parts per million |
| IoT | Internet of Things |
| AQI | Air Quality Index |
| ICU | Internal Control Unit |
| SU | Sensors Unit |
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