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Improvement of Localization Algorithm for Indoor and Outdoor Navigation of Autonomous Robots

Journal of Institute of Control, Robotics and systems 2025年第5期31卷 502-509页

作者： Cho, Joonhyuk Kim, Bongsang Moon, Heechang Industrial Convergence Interdepartmental Program Autonomous Vehicle Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical & System Design Engineering Hongik University Korea Republic of

Location estimation for waypoint-based autonomous driving robots primarily relies on SLAM (Simultaneous Localization and Mapping) and GNSS (Global Navigation Satellite system) technologies. GNSS performs well in open areas but struggles with signal issues, while SLAM offers high accuracy in feature-rich environments but faces challenges in open spaces. This study integrates SLAM and GNSS, enabling seamless switching between systems when one encounters difficulties. The combined system ensures consistency by aligning coordinate systems and directional data. Experiments in indoor, forest, and open environments demonstrate that the switching algorithm enables stable autonomous driving in diverse conditions, effectively leveraging the strengths of both systems. © ICROS 2025.

关键词： Global positioning system

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Random Number Generator for Securing Data Exchange in Smart Factory: Recent Trends and Best Practices 3

Random Number Generator for Securing Data Exchange in Smart ...

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3rd International Conference on Computer Technologies, ICCTech 2024

作者： Sama, Andi Meyliana Heryadi, Yaya Sahroni, Taufik Roni Bina Nusantara University Binus Graduate Program - Computer Science Computer Science Department Jakarta11480 Indonesia Bina Nusantara University School of Information System Information System Department Jakarta11480 Indonesia BINUS Graduate Program-Doctor of Computer Science Jakarta Computer Science Department Jakarta11530 Indonesia Bina Nusantara University BINUS Graduate Program - Master of Industrial Engineering Industrial Engineering Department Jakarta11480 Indonesia

ISBN: (纸本)9798350395419

IT/OT convergence in the form of a Cyber-Physical system (CPS) presents an opportunity to apply recent Information Technology (IT) advancements to Operational Technology (OT). The IT/OT convergence introduces cyber security threats for OT. The OT communication protocols, for example, have limited or no security capabilities for securing data exchange beyond basic authentication. The RNG (Random Number Generator) function is crucial in PLC for producing the encryption keys or the initial seed for security algorithms. The software-based PRNG (Pseudo RNG) is the most common approach for RNG in OT, instead of hardware-based RNG. This study provides a systematic literature review of the most recent evidence in digital transformation to secure data exchange in smart factories, within OT, or across OT and IT settings. It does this by looking at the PRNG on PLC and identifying the most recent trends and best practices. The findings include up-to-date data on author countries' distribution, published journals, research trends, industries, and industry types. The findings also address whether data flow is encrypted or shared in plaintext to ensure secure data transfer between IT and legacy OT environments. This paper concludes that while there is known RNG implementation in the actual embedded system in ICS, there is no evidence in the literature for using RNG in ICS networks for PLC implementation to secure data transfer with encryption. © 2024 IEEE.

关键词： Data transfer

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Risk Assessment Model in Healthcare Inventory 50

Risk Assessment Model in Healthcare Inventory

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50th International Conference on Computers and industrial engineering: Sustainable Digital Transformation, CIE 2023

作者： Alsafadi, Sara Alabed, Salma Shamayleh, Abdulrahim Ndiaye, Malick Engineering Management System Graduate program American University of Sharjah Sharjah United Arab Emirates Department of Industrial Engineering American University of Sharjah Sharjah United Arab Emirates

ISBN: (纸本)9781713886952

The aim of the research is to identify, evaluate, and measure the degree of importance of risks associated with healthcare inventory management that may impede the achievement of healthcare inventory objectives. An analytical hierarchy process model (AHP) was proposed to identify and hierarchize healthcare inventory risk factors. Thirteen risk factors were identified from literature review, and the AHP method was applied to rank those factors. The study found that financial risks are more severe than operational risks in healthcare inventory management. The top three risks identified were stock obsolescence, fraud committed by a provider, and insurance company disputes. These risks can have significant negative impacts on healthcare organizations and their ability to provide quality care to patients. Healthcare organizations should be aware of these risks and take steps to mitigate them. Identifying the most serious risks in HC inventory helps decision makers to make more informed data-driven decisions on which interventions are needed and where to invest more to mitigate risks and allocate resources to ensure that their inventory management processes are effective and efficient, thereby improving patient care and outcomes. Additionally, the study helps identify areas where further research is needed. © 2023 Computers and industrial engineering. All rights reserved.

关键词： Risk management

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Agent-Based Modeling for Forest Fire Simulation in Chiang Mai, Thailand 23

Agent-Based Modeling for Forest Fire Simulation in Chiang Ma...

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23rd International Symposium on Communications and Information Technologies, ISCIT 2024

作者： Tappanom, Teerapat Leelawat, Natt Saengtabtim, Kumpol Tang, Jing Risk and Disaster Management Program Graduate School Chulalongkorn University Bangkok Thailand Chulalongkorn University Faculty of Engineering Department of Industrial Engineering Bangkok Thailand Graduate School of System Design and Management Keio University Yokohama Japan Disaster and Risk Management Information Systems Research Unit Chulalongkorn University Bangkok Thailand

ISBN: (纸本)9798350353952

Forest fires have a significant impact on ecosystems and human life, especially in northern Thailand, where Chiang Mai is severely affected. Traditional methods for detecting forest fires have limitations, so there is a need for advanced simulation models. This research uses Agent-Based Modeling (ABM) to develop a forest fire simulation for Chiang Mai. The methodology involves collecting historical data, performing Multiple Regression Analysis, designing the simulation, and testing it. Data from 1998 to 2021, including temperature, relative humidity, wind speed/direction, burn area, and slope, were collected from various sources. Multiple regression analysis identified wind speed as the most significant factor affecting burn area. The forest fire simulation, designed using ZF Wang's spread model and tested with AnyLogic, showed that wind direction and speed are crucial in fire spread. The simulation accurately predicted high-risk areas, helping in proactive planning and response. This study confirms that wind is a critical factor in forest fire spread, providing a valuable tool for fire districts to improve preparedness and management. Future research should focus on refining the model with localized data and integrating real-time detection to improve its accuracy and applicability. © 2024 IEEE.

关键词： Forest ecology

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Preliminary Plan for Data Collection on Stakeholder Information Interdependence in Area-Business Continuity Management: A Case Study of Flood Management in Thai industrial Zones 23

Preliminary Plan for Data Collection on Stakeholder Informat...

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23rd International Symposium on Communications and Information Technologies, ISCIT 2024

作者： Arayachookiat, Penpitcha Saengtabtim, Kumpol Kodaka, Akira Leelawat, Natt Tang, Jing Watanabe, Kenji Risk and Disaster Management Program Graduate School Chulalongkorn University Bangkok Thailand Chulalongkorn University Faculty of Engineering Department of Industrial Engineering Bangkok Thailand Chulalongkorn University Disaster and Risk Management Information Systems Research Unit Bangkok Thailand Graduate School of System Design and Management Keio University Kanagawa Japan International School of Engineering Chulalongkorn University Faculty of Engineering Bangkok Thailand Graduate School of Social Engineering Nagoya Institute of Technology Nagoya Japan

ISBN: (纸本)9798350353952

The 2011 flood in Thailand exposed significant vulnerabilities in industrial areas, highlighting the necessity for enhanced disaster risk management through Area-Business Continuity Management (Area-BCM). This preliminary study focuses on identifying how stakeholders rely on information from each other to improve disaster preparedness and response. The research involves systematically identifying Area-BCM stakeholders and designing interview questions, which are evaluated by experts using the Index of Item-Objective Congruence (IOC) to ensure relevance and clarity. All interview questions surpassed the IOC threshold of 0.5, confirming their effectiveness in capturing information interdependencies. Expert feedback led to refinements in the questions, underscoring the importance of tailored data collection. This initial plan provides a critical foundation for understanding information interdependence and highlights the importance of well-designed data collection methods. The findings have significant implications for developing more resilient disaster management strategies in industrial areas, emphasizing the need for precise and relevant stakeholder communication to enhance Area-BCM effectiveness. © 2024 IEEE.

关键词： Area-Business Continuity Management Flood Index of Item-Objective Congruence Information Interdependence

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Selection of the Most Beneficial Flight Training Venue in the Airline Industry Using the Analytic Hierarchy Process (AHP) 23

Selection of the Most Beneficial Flight Training Venue in th...

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5th International Conference on Management Science and industrial engineering, MSIE 2023

作者： Payumo, Redentor R. Redi, Anak Agung Ngurah Perwira German, Josephine D. Persada, Satria Fadil Nadlifatin, Reny School of Graduate Studies Mapua University Manila Philippines Department of Industrial Engineering Sampoerna University Jakarta Indonesia School of Industrial Engineering and Engineering Management Mapua University Manila Philippines Entrepreneurship Department Bina Nusantara University Binus Business School Undergraduate Program Jakarta Indonesia Department of Information System Institut Teknologi Sepuluh Nopember Surabaya Indonesia

ISBN: (纸本)9798400708381

The airline industry is a highly regulated industry where every aspect of operation requires adherence to regulations and policies mandated by the government. Safety is the core value-offering of fast and reliable air services, and this is achieved in part by the robust training requirement for pilots. Pilot training and qualifications are achieved with the use of full flight simulators. The significant costs involved in the use of the simulator, other additional costs involved, and the need to minimize pilots' time away from flight duties while undergoing training, require an effective selection process to decide on the most beneficial training venue. Not much research has been done on this topic area and the research gap necessitates a study of this nature. The goal is to provide a criteria analysis to support the simulator training venue decision process with the use of analytic hierarchy process (AHP). The analysis resulted to a selection among the alternatives that provide the best training venue for pilot training based on the evaluated criteria. It proved the applicability of the AHP when deciding on available alternatives based on set criteria. This study will contribute to the management of training requirements conducted by airlinetraining organizations and help their heads/managers/decision-makers in utilizing decision-making tools and processes when choosing the best alternative among available training resources. © 2023 ACM.

关键词： Accident prevention

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Random Number Generator for Securing Data Exchange in Smart Factory: Recent Trends and Best Practices

Random Number Generator for Securing Data Exchange in Smart ...

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Computer Technologies (ICCTech), International Conference on

作者： Andi Sama Meyliana Yaya Heryadi Taufik Roni Sahroni Computer Science Department Binus Graduate Program - Computer Science Bina Nusantara University Jakarta Indonesia Information System Department School of Information System Bina Nusantara University Jakarta Indonesia Computer Science Department BINUS Graduate Program-Doctor of Computer Science Jakarta Jakarta Indonesia Industrial Engineering Department BINUS Graduate Program - Master of Industrial Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798350395419

ISBN: (纸本)9798350395426

关键词： Industries systematics Market research Data transfer Control systems Generators Encryption

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Docking Assistance system Between Trailer and Tractor Using UWB Measuring Module

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Journal of Institute of Control, Robotics and systems 2024年第1期30卷 59-65页

作者： Park, Jong Hak Heo, Jeong Woong Moon, Hee Chang Industrial Convergence Interdepartmental Program Autonomous Vehicle･Intelligent Robotics The Graduate School of Hongik University Korea Republic of Mechanical and System Design Engineering Hongik University Korea Republic of

Trailers, which are used to load equipment such as containers and construction materials, are towed by the power of tractors to transport the equipment. The tractor, the towing vehicle, and the trailer, the towed vehicle, are independent systems, and the tractor can combine and separate by replacing the trailer for various purposes. To dock the trailer and tractor, the tractor should be backward with the posture and position of the rear of the tractor in line with the front of the trailer. The tractor driver shall be mounted based on the driver’s cognitive judgment, with a rear-view camera and mirror to determine the matching position of the trailer. We implemented and explored a system that could determine the length of this combination of systems using UWB, a positioning system, rather than driver recognition judgment, and used it to determine the position and posture of the trailer reference tractor using a square geometric approach. © ICROS 2024.

关键词： Light trailers

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How Fast Can a Robotic Drummer Beat Using Dielectric Elastomer Actuators?

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IEEE Robotics and Automation Letters 2024年第3期9卷 2638-2645页

作者： Wakle, Sudhir Lin, Tse-Han Huang, Shu Basu, Sumit Lau, Gih-Keong National Yang Ming Chiao Tung University International College of Semiconductor Technology Hsinchu30010 Taiwan Indian Institute of Technology Kanpur Mechanical Engineering Department Kanpur208016 India National Yang Ming Chiao Tung University Department of Graduate Degree Program of Robotics Hsinchu30010 Taiwan Industrial Technology Research Institute Mechanical and Mechatronics System Research Labs Zhudong 31057 Taiwan National Yang Ming Chiao Tung University Department of Mechanical Engineering International College of Semiconductor Technology Hsinchu30010 Taiwan

Fast drumming presents a speed challenge to many robotic arms. To simultaneously meet the needs for speed, stroke, and force, we proposed and tested a new double-saddle dielectric elastomer actuator (DEA) as the artificial biceps for driving a lightweight robotic drummer. This work finds that fast force induction is instrumental to the fast drumming by a DEA-driven drumstick. While a pure-shear series of DEA under a large pre-stretch and lateral reinforcement can generate a large isotonic stroke, it is not fast in isometric force induction. Instead, this work found a double-saddle DEA, which is a degenerated two-segment pure-shear DEA with a middle laterally buckled beam, managed to induce a faster isometric force at a 0.5 s down time constant when its ultimate actuation tapered due to substantial strain stiffening effect. As such, this double-saddle DEA-driven drummer suffered less from the dynamic stroke decrement than the 8-segment DEA did. A 4.4 g DEA managed to swing freely a 7.8 g drumstick up to nearly 60° at 6 kV and a maximum tip speed of up to 0.45 m/s. The drumming frequency upon 5.5 kV activation was up to 2-2.5 Hz. In comparison, an 8-segment pure-shear DEA-driven drummer failed to reach the drum when pulsed at 2 Hz. Interestingly, a slower stroke excited multiple drumbeats due to secondary bounces. To achieve a faster drumming to match a human drummer, it is foreseen that a harder dielectric elastomer material will help drive a faster soft robot. © 2016 IEEE.

关键词： Dielectric materials

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Pet Owner Characteristics in Telemedicine 2022

Pet Owner Characteristics in Telemedicine

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5th International Conference on Computers in Management and Business, ICCMB 2022

作者： Larasati, Anisa Caesar, Leo Andri Yulius Redi, Anak Agung Ngurah Perwira Nadlifatin, Reny Bahariawan, Sulthan Kurniawan, Adji Candra Department of Business Management BINUS Business School Bina Nusantara University Indonesia Department of Industrial Engineering BINUS Graduate Program Bina Nusantara University Indonesia Department of Information System Institut Teknologi Sepuluh Nopember Indonesia Department of Logistic Engineering Universitas Pertamina Indonesia

ISBN: (纸本)9781450387422

Pandemic situation does not only affect peoples' health behavior, but also their behavior related to their pets' health. This situation raises the importance of having a mobile apps for pets' health. Before promoting these apps, it is important to know the characteristics of those who will use the apps, as well as their willingness to use and pay. This research proposes that those who have pet (vs. does not have pet) are more likely to be promotion-focused and maximizers individuals. The results from this research could be a starter for future studies. Managerial implication for marketers is discussed as well. © 2022 ACM.

关键词： Telemedicine

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