Agile Systems Research Articles

Towards High-Precision Quadrotor Trajectory Following Capabilities: Modelling, Parameter Estimation, and LQR Control

Abstract Quadrotor unmanned aerial vehicles (UAVs) are small, agile four-rotor systems suitable for various applications, from surveillance to disaster support missions. Hence, achieving high-precision trajectory tracking is crucial for their successful deployment. This research focuses on modelling, parameter identification, and Linear Quadratic Regulator (LQR) control design for quadrotors, aiming to enhance their trajectory following capabilities. The quadrotor dynamics are a sixth degree-of-freedom (6DOF) equation of motion derived from Newton’s second law, encompassing moment of inertia, centre of gravity, weight, and thrust of propeller parameters. Experimental measurements are conducted to accurately determine these parameters, ensuring a realistic representation of the quadrotor system. Subsequently, a linearized model is constructed to provide a suitable plant for control system development. The LQR control design is intended to improve the trajectory tracking performance. This control strategy is validated through simulation and practical experiments, demonstrating its effectiveness in achieving high-precision trajectory following capabilites. The proposed approach demonstrates that LQR control effectively guides the quadrotor to resemble a predefined trajectory, experiencing only 3 % overshoot observed during the initial phase of flight.

Sequential Detection under Correlated Observations using Recursive Method

Sequential analysis has been used in many cases when the decision is supposed to be taken quickly such as for signal detection in statistical signal processing, namely sequential detector. For identical error probabilities, a sequential detector needs a smaller average sample number (ASN) than its counterpart of a fixed sample number quadrature detector based on Neyman-Pearson criteria. The optimum sequential detector was derived based on the assumption that the observations are uncorrelated (independent). However, in realistic scenario, such as in radar, the assumption is commonly violated. Using a sequential detector under correlated observations is sub-optimal and it poses a problem. It demands a high computational complexity, since it needs to recalculate the inverse and the determinant of the signal covariance matrix for each new sample taken. This paper presents a technique for reducing the computational complexity, which involves using recursive matrix inverse to subsequently calculate conditional probability density functions (pdf). This eliminates the need to recalculate the inverse and determinant, leading to a more reasonable solution in real-world scenario. We evaluate the performance of the proposed (recursive) sequential detector by using Monte-Carlo simulations and we use the conventional and non-recursive sequential detectors for comparisons. The results show that the recursive sequential detector has equal probabilities of false alarm and miss-detection with the conventional sequential detector and performs better than the non-recursive sequential detector. In terms of ASN, it maintains comparable results to the two conventional detectors. The recursive approach has reduced the computational complexity for matrix multiplication to   from  and it also has rendered the calculation of matrix determinant to be unnecessary. Therefore, by having better probabilities of error and reduced computational complexities under correlated observations, the proposed recursive sequential detector may become a viable alternative to obtain a more agile detection system as required in future applications, such as in radar and cognitive radio.

A Proposed Costing System for Agile Just-In-Time Supply Chains with Back-Flush and throughput Accounting

According to the new advances in the form of new firms, including JIT and Agile, further advances in technologies, computer programs, and the systems of official accounting all become necessary to be modified. Also, the considerations of kaizen costing systems, in addition to the new movements towards the concern of the customer, should come first as a result of the new movements towards the customer profit analysis. In a JIT supply chain, suppliers are responsible for informing their cus-tomers of their products. Within the context of the current research, it was suggested to use the sys-tems of Back-flush costing as well as throughput accounting systems to simplify the application of just-in time systems and agile systems to satisfy the requirements of achieving the policy of continu-ous improvement. Furthermore, the continuous debate between the different parties of the game supposed here will be realized and considered. The integration of competitors into various aspects of the supply chain has been made possible by the emergence of intelligent supply chains. Additionally, the rapid advancements in the industrial and technological landscape have placed a significant bur-den on the movement of goods and information, requiring efficient and cost-effective solutions to meet time-sensitive requirements and customer demands. It is even more promising to consider the potential for surpassing competitors in terms of achievements and capabilities. The continuous advancements in artificial intelligence have further emphasized the need for progress in both production quality and cost optimization. The rapid progress in both the just-in-time/agile and resilient systems has led to additional requirements for the implemented accounting system and the selected level of automated accounting system. Extensive analysis of various arguments within the scope of the present study has been conducted, promoting the adoption of a more reality-sensitive model for the application.

Analyzing Subnational Immunization Coverage to Catch up and Reach the Unreached in Seven High-Priority Countries in the Eastern Mediterranean Region, 2019-2021.

Yearly national immunization coverage reporting does not measure performance at the subnational level throughout the year and conceals inequalities within countries. We analyzed subnational immunization coverage from seven high-priority countries in our region. We analyzed subnational, monthly immunization data from seven high-priority countries. Five were Gavi eligible (i.e., Afghanistan, Pakistan, Somalia, Syria, and Yemen); these are countries that according to their low income are eligible for support from the Global Alliance on Vaccine and Immunization, while Iraq and Jordan were included because of a recent decrease in immunization coverage and contribution to the regional number of under and unimmunized children. DTP3 coverage, which is considered as the main indicator for the routine immunization coverage as the essential component of the immunization program performance, varied monthly in 2019-2021 before reaching pre-pandemic coverage in the last two months of 2021. Somalia and Yemen had a net gain in DTP3 coverage at the end of 2021, as improvement in 2021 exceeded the regression in 2020. In Pakistan and Iraq, DTP3 improvement in 2021 equaled the 2020 regression. In Afghanistan, Syria and Jordan, the regression in DTP3 coverage continued in 2020 and 2021. The number of districts with at least 6000 zero-dose children improved moderately in Afghanistan and substantially in Somalia throughout the follow-up period. In Pakistan, the geographical distribution differed between 2020 and 2021.Of the three countries with the highest number of zero-dose children, DTP1 coverage reached 109% in Q4 of 2020 after a sharp drop to 69% in Q2 of 2020. However, in Pakistan, the number of zero-dose children decreased to 1/10 of its burden in Q4 of 2021. In Afghanistan, the number of zero-dose children more than a doubled. Among the even countries, adaptation of immunization service to the pandemic varied, depending on the agility of the health system and the performance of the components of the expanded program on immunization. We recommended monitoring administrative monthly immunization coverage data at the subnational level to detect low-performing districts, plan catchup, identify bottlenecks towards reaching unvaccinated children and customize strategies to improve the coverage in districts with zero-dose children throughout the year and monitor progress.

Digital twin enhanced agile design of ship pipeline systems

The shipbuilding industry plays a pivotal role in national strategic security and economic development, and one critical challenge is the pipeline layout design problem. It predominantly relies on designers’ subjective experience, and it is marked by a lack of efficient knowledge sharing and the absence of smart pipe routing algorithms. This paper proposes an agile design system, which integrates ship pipeline design knowledge management, semi-automatic design that involves frequent interaction with human designers, and automatic rule checking. The framework is refined by digital twin concepts, facilitating close collaboration between physical and digital systems. The paradigm shift holds the potential to substantially enhance the efficiency of ship pipeline layout design, while concurrently reducing the reliance on manual labor.

Stability Study of New Power System Based On Multi-Intelligent Body Collaboration

Developing, implementing, and maintaining a multi-intelligent body collaboration system necessitates significant investments in finances, time, and expertise. While multi-intelligent body collaboration has the potential to enhance power system stability significantly, it also comes with challenges related to interoperability, security, system complexity, and resource allocation. Resource allocation and training costs can be substantial. Addressing these challenges is crucial to harnessing the full benefits of this approach and ensuring the reliable and efficient operation of power systems. Effective communication and coordination strategies among intelligent agents are integral to maintaining power system stability. Timely information exchange, load balancing, disturbance management, and the integration of AI contribute to a more resilient and adaptive energy grid. As technology advances, refining these strategies will be essential to meet the growing demands of an ever-evolving power landscape. As technology marches forward, it becomes increasingly evident that the refinement of these strategies is paramount. The dynamism of the power landscape, driven by technological advancements and evolving needs, necessitates an agile and adaptable power system. The fusion of multi-intelligent bodies and modern technology stands as a testament to our collective pursuit of a more reliable, efficient, and sustainable energy future. In this ever-evolving landscape, the innovation and enhancement of these strategies are our compass, guiding us toward a brighter and more efficient future.

Can hybrid strategy improve SME performance? The role of innovation and adaptive capacity

PurposeThis article focusses on the hybrid strategy, a simultaneous combination of cost leadership and differentiation strategy. The study aims to examine the impact of hybrid strategy on firm performance through its anticipated positive effects on process and product innovation. In addition, we study the moderating role of adaptive capacity in the direct relationships of hybrid strategy with process and product innovation.Design/methodology/approachStructural equation modelling was used to analyse 1,842 Spanish firms with fewer than 250 employees. We randomly selected small and medium-sized enterprises (SMEs) operating in Spain from the Spanish Central Business Directory (2021) database. The overall sample design was based on stratified sampling.FindingsWe found that hybrid strategy is positively related to firm performance and to process and product innovation. Additionally, in firms implementing hybrid strategies, process innovation fostered firm performance. Finally, adaptive capacity strengthened the relationships of hybrid strategy with process and product innovation. This sheds light on how and when hybrid strategy is most effective in fostering SME performance.Practical implicationsWe highlight that SMEs need to establish strategies that use diverse resources and capabilities and not just generate competitive advantage using one strategy (cost leadership or differentiation strategy). This requires an agile and flexible systems and structures.Originality/valueOur research provides novel results by proposing the adoption of hybrid strategies instead of pure strategies (cost leadership and differentiation strategy) as a way for SMEs to survive during crises. Unlike “stuck in the middle” strategies, our study demonstrates the importance of hybrid strategies in a comprehensive model that links them to innovation and firm performance, with adaptive capacity being a determining factor.

Vitalizing logistics strategies for Tiksi Port using the interpretive structural modelling method

Tiksi Port is a Russian seaport located on the Laptev Sea shore in the Central Arctic region and holds potential as a crucial and versatile hub for the improvement of the Eastern Arctic sector. It is one of the main ports on the Northern Sea Route and can potentially become the primary point for transporting various types of cargo. Currently, Tiksi Port is shallow and incapable of receiving large sea vessels and although it was initially equipped with handling equipment, signs of decline are visible. This study aims to identify the critical logistics elements of Tiksi Port and classify them according to their level of significance in vitalizing the logistics activities of the port for further practical use. Interpretive Structural Modelling and the Matrix of Cross Impacts Multiplication Applied to a Classification (MICMAC) method was used in this study. The study findings revealed ten factors that appeared at three levels of importance. According to the analysis results, “combating oil spills” was present at Level 3, which is the first and most fundamental level to be improved. Tiksi Port officials and government ministries can use these results as a reference for development and to support the establishment of a cost-effective and agile logistics system for related companies.

Spray: A Spectrum-efficient and Agile Concurrent Backscatter System

Recent works have achieved considerable success in improving the concurrency of backscatter network. However, they do not optimize the balance between throughput and spectrum occupancy, both of which serve as pivotal parameters in concurrent transmissions. Moreover, these works also introduce complex components on tag thereby increasing both power consumption and deployment costs. In this article, we propose Spray , a tag-lightweight system to achieve high throughput and narrow-band occupancy with low power. The key idea is to incorporate an agile channel allocating and scheduling mechanism into the backscatter network. This approach allows for efficient spectrum utilization and concurrency without the need for energy-intensive components. To optimize throughput in the presence of the challenge of harmonic interference, we introduce a novel algorithm that determines the channels with an optimal combination of central frequencies and bandwidths. Additionally, we propose a fair scheduling strategy to ensure equitable transmission opportunities for all tags. We prototype the Spray tag using commercial off-the-shelf components and implement the excitation and receiver with software-defined radio platform. Our evaluation shows that the system supports 30 parallel tags transmitting in the bandwidth of 600 kHz and the throughput can reach more than 280 kbps.

Health challenges and facilitators of arbaeen pilgrimage: a scoping review

BackgroundThe Arbaeen Pilgrimage, a momentous religious journey drawing millions of participants annually, presents a profound spiritual experience. However, amidst its significance lie various health challenges that pilgrims encounter along the way. Addressing these challenges is vital to ensure the well-being of participants and the success of this extraordinary event. In light of this, the aim of this study is to examine the health challenges of the Arbaeen Pilgrimage, identify facilitators for solving these challenges, and propose effective solutions to enhance the overall pilgrimage experience for all involved.MethodsThe scoping review was performed by searching databases such as Web of Science, PubMed, Scopus, and Google Scholar search engine with a focus on the keywords “Arbaeen”, “Arbaeen walk” and “Arbaeen pilgrimage”. The search was not constrained by a specific time limitation in the databases. Data from studies were extracted using a data extraction form consisting of 9 fields. The selection of articles and data extraction were carried out by two researchers, adhering to predefined inclusion and exclusion criteria. Any disagreements were resolved through consultation with a third researcher. The study was reported following the PRISMA checklist.ResultsOut of 1619 retrieved articles, 9 were finally included in this study. All these studies were published since 2017 and conducted in Iraq and Iran. In total, 101 health challenges and facilitators were identified, comprising 61 challenges and 40 facilitators. The challenges with the highest frequency included “infectious disease outbreaks” (n = 7), “Poor management of Iraq’s health system in waste collection and disposal” (n = 4), “Rising incidence of walking injuries among pilgrims (e.g., burns, fractures, lacerations, wounds, and blisters)” (n = 4), and “Insufficient knowledge about personal and public health“(n = 4). The most important facilitators to solving the challenges were: “Customized pilgrim training and addressing their issues, with a focus on vital practices” (n = 6), “Coordinating mass gathering stakeholders, including health ministries and organizations” (n = 4), and “Implementing an agile syndromic system for rapid surveillance and identification of contagious illnesses” (n = 4).ConclusionThe article discusses health challenges faced during the Arbaeen Pilgrimage and proposes facilitative measures for participants’ well-being. It emphasizes the significance of addressing health risks in large gatherings and suggests incorporating measures for a safer and enjoyable pilgrimage experience. Overall, understanding and managing these health factors can lead to a successful execution of the Arbaeen Pilgrimage, benefiting the physical and spiritual well-being of all involved.

Analysis and Design of User Interface Private Tutor Mobile Application with Agile System Development Methodologies

Wijaya Learning Center in Gading Serpong faced challenges with low course participation due to an inefficient registration system, and to overcome these challenges, a UI analysis and design were conducted, leading to the development of a mobile application. This application allows clients to easily access class information, register online, and make payments. The backend, designed for the owner, supports schedule checks, transaction monitoring, and teacher management tasks. Class schedules, entered by the owner, remain consistent with changes permitted once a month. Clients can select their preferred schedule through the user interface. The study utilized Agile system development methodologies, known for their success in various fields. The research concludes that Agile methodologies significantly streamline the application design process, resulting in a functional mobile application that meets user requirements. Rigorous testing confirms the smooth usability of the application's four main functions, enhancing the private tutoring experience at Wijaya Learning Center.

Analysis Systematic Literature Review: The Study of HRM Transformation Into Digital-Based GHRM Future Research Agenda

Eco-friendly human resources can help sustainable business continuity. The current research aims to propose a business model theoretical framework that adapts to the new environment, addresses sustainable goals and gaps in the field, and builds a resilient and agile system for the business ecosystem. To approach the research problem, this study used the R-based Bibliometrix tool. The Scopus database selected and analyzed papers as part of five research steps. Bibliometric tools such as Biblioshiny, VOSviewer, and R Studio have been used to illustrate the findings. This study’s findings highlight several factors that will form the foundation of the proposed model. Green competencies, both natural and acquired, and the requirement to provide green motivation, were identified as important for developing the new business model.

Bioinspired Jumping Soft Actuators of the Liquid Crystal Elastomer Enabled by Photo-Mechanical Coupling.

Jumping, a fundamental survival behavior observed in organisms, serves as a vital mechanism for adapting to the surrounding environment and overcoming significant obstacles within a given terrain. Here, we present a light-controlled soft jumping actuator inspired by asphondylia, which employs a closed-loop structure and utilizes a liquid crystal elastomer (LCE). Photo-mechanical coupling highlights the significant influence of the light source on the actuator's jumping behavior. Manipulating the light intensity, the relative position of stimulus and light lock, and the concentration of disperse red 1 (DR1) allows precise control over both the maximum take-off velocity and jump height. Furthermore, tailoring the size of the LCE actuator offers a means of regulating jumping behavior. Upon exposure to 460 nm LED irradiation, our actuator achieves remarkable performance, with a maximum jumping height of 10 body length (BL) and take-off velocity of 62 BL/s. These actuators accumulate and rapidly release energy, enabling the effective transportation of microcargos across substantial distances. Our research yields valuable insights into the realm of soft robotics, underscoring the pivotal importance of photo-mechanical coupling in the field of soft robotics, thereby serving as a catalyst for inspiring continued exploration of agile and capable systems by prestoring elastic energy.

Chaos based speech encryption using microcontroller

In this work a real-time chaos-based speech encryption scheme designed for low-cost microcontroller implementation is presented. The method involves a two-step encryption process: shuffling based on a hash algorithm and XOR operation with a pseudo-random bit sequence from a chaotic map. Key findings include the use of a 1D chaotic map for speed, a hash algorithm to simplify shuffling and enhance overall speed, and implementation on an inexpensive STM32 microcontroller for cost-effective high security. Various tests, including Log-likelihood ratio, entropy, correlation coefficient, and spectral distortion, validate the encryption scheme’s effectiveness. The result is a secure and agile system designed for sequential encryption and transmission.

Tackling upcoming projects: The development and efficacy of event previews an experimental study.

Traditional performance management systems are increasingly seen as ill-conceived for today's dynamic organizational landscape. Researchers and practitioners advocate for agile PM systems that emphasize continuous monitoring, learning, and feedback. We present the 'event preview', a novel approach that is designed to address several shortcomings of traditional performance management practices. Event previews consist of five fixed questions, which are discussed among team members before an event, instigating a detailed reflection and mental simulation of upcoming events or projects in order to achieve the desired outcomes. In doing so, event previews support teams to utilize their projects as learning opportunities. This study provides the theoretical basis for the event preview and empirically tests its effectiveness. A sample of 119 teams participated in the experiment in which they were asked to solve as many puzzles as possible within a fixed time frame. One condition conducted an event preview beforehand, the other condition did not. Our findings, which were based on a comparison of the averages of the two conditions, suggest that the event preview holds promise for improving team performance and communication. As such, the event preview presents an additional instrument to the changing performance management landscape. This simple practice can be incorporated in the performance management cycle, emphasizing adaptability and continuous improvement in organizations.

Enhancing Support For Senior Citizens: Development And Evaluation of The OSCA Information Management System With Agile Methodology and ISO/IEC 25010 Compliance

The elderly were a member of the vulnerable group which the government supported and assisted in every way possible. To contribute to the support and assistance needed by the elderly who are called senior citizens, this study was conducted. This aims to develop and design a usable, performance-efficient, and functional suitable to the operation and service of the Office of the Senior Citizen Affairs (OSCA), Cabanatuan City office. The System Application Office of the Senior Citizen Affairs Information Management System with Analytics (OSCA-IMSA) was developed using the Agile System Development Life Cycle (SDLC) Model. The agile model has different phases and sub-phases that guarantee the quality and efficient development of the system. Every phase and sub-phases lead to a well-organized, and systematic process of system development. The proponents adopted the ISO/IEC 25010 criteria as an evaluation tool to assess the system's usability, reliability, performance efficiency, functional suitability, security, portability, maintainability, and compatibility. The self-made survey questionnaire was used as the main tool to collect the data from the respondents. Purposive sampling was used to determine the right respondents for the study. The study was composed of two different sets of respondents, the first set was the System Users and the second set was composed of IT Experts. The Office of the Senior Citizen Affairs Information Management System with Analytics (OSCA-IMSA) was evaluated and assessed by the respondents with a result of being highly functional, highly efficient, highly portable, highly maintainable, highly compatible, highly secured, highly reliable, and highly usable. This result indicates that the system passed and conformed to the ISO/IEC 25010 Software Product Quality Standard, hence, is recommended to be deployed at the research locale.

MONO-HYDRA: REAL-TIME 3D SCENE GRAPH CONSTRUCTION FROM MONOCULAR CAMERA INPUT WITH IMU

Abstract. The ability of robots to autonomously navigate through 3D environments depends on their comprehension of spatial concepts, ranging from low-level geometry to high-level semantics, such as objects, places, and buildings. To enable such comprehension, 3D scene graphs have emerged as a robust tool for representing the environment as a layered graph of concepts and their relationships. However, building these representations using monocular vision systems in real-time remains a difficult task that has not been explored in depth.This paper puts forth a real-time spatial perception system Mono-Hydra, combining a monocular camera and an IMU sensor setup, focusing on indoor scenarios. However, the proposed approach is adaptable to outdoor applications, offering flexibility in its potential uses. The system employs a suite of deep learning algorithms to derive depth and semantics. It uses a robocentric visual-inertial odometry (VIO) algorithm based on square-root information, thereby ensuring consistent visual odometry with an IMU and a monocular camera. This system achieves sub-20 cm error in real-time processing at 15 fps, enabling real-time 3D scene graph construction using a laptop GPU (NVIDIA 3080). This enhances decision-making efficiency and effectiveness in simple camera setups, augmenting robotic system agility. We make Mono-Hydra publicly available at: https://github.com/UAV-Centre-ITC/Mono_Hydra.

How can early COVID-19 vaccine campaigns in the US-affiliated Pacific Islands inform future vaccine efforts: a cross-sectional analysis

IntroductionThe US-affiliated Pacific Islands (USAPI) are six geographically isolated and culturally distinct Pacific Island jurisdictions with special relationships with the USA; the USAPI were included in the US COVID-19 vaccination...

Thinking outside of the [cold] box: implementing a human-centered design approach to understand barriers and craft solutions to cold chain equipment maintenance in Niger

BackgroundVaccines require cold chain equipment (CCE) to ensure quality and potency, yet the risk of CCE failing is well-documented, often due to lack of equipment maintenance. While general barriers to a reliable CCE maintenance system are known, little has been done to understand the barriers from the cold chain technician’s perspective. This human-centered design (HCD) study in Niger sought to better understand the gap in the current maintenance approaches from the technicians’ perspectives and to collaboratively identify forward-thinking solutions.MethodsThe research team collected data through semi-structured and open-ended in-depth consultations. Rapid qualitative research was followed by co-creation workshops with study participants to identify solutions.ResultsThe research team conducted 20 in-depth consultations in two regions with participants directly involved in the management of the cold chain. Fourteen people participated in the online co-creation workshop, and 20 people participated in the in-person workshop. Insights were organized in three main areas: (1) the lack of system agility and ability to optimize resources constrain performance of the maintenance system; (2) cold chain is often an afterthought within the overall context of immunization services and should instead be prioritized; and (3) knowledge sharing across the system and key stakeholders is ad hoc with limited understanding of roles and responsibilities. During the co-creation workshop, participants identified four main concepts as potential solutions: (1) create an on-line platform to connect people and to share knowledge across regions; (2) develop practical CCE technical resources; (3) use gamification and friendly competition to motivate staff to value maintenance; and (4) create a real-time maintenance tracking system.DiscussionThis study took a unique HCD approach to engage people directly involved in CCE maintenance to more deeply understand challenges with the current system and create space to identify innovative solutions that are tailored to the context. The results demonstrate that stakeholders can identify potential solutions that have not been part of the typical approaches to a maintenance system. This HCD approach has implications for all global health challenges and demonstrates a methodology that can encourage key stakeholders to think about problems and solutions differently.

Digital Transformation from Planning to Execution — A Strategic Framework based on Ambidexterity and Enterprise Architecture and Interoperability

The demand for business structures that respond more quickly to changes imposed by a competitive market makes digital transformation (DT) the driver of more agile and cost-effective production systems. From such perspective derives the following question: How does literature organize the main strategies demanded by the DT challenge in an organization? Based on a systematic literature review, this study aims to identify and analyze DT’s main characteristics, leading to the development of a framework to support its understanding from planning to execution. The Digital Transformation – Planning to Execution Framework (DT-P2EF) is divided into two conceptual blocks. The first block focuses on the DT planning, including the organizational requirements of an enterprise architecture (EA), the organizational characteristics based on the organizational ambidexterity (OA) introduction, and the barriers that may impact the DT, according to Enterprise Interoperability (EI). The second block of the framework regards the DT execution, the translation of the strategy defined and the performance monitoring of the DT in the organization. The DT-P2EF consists in identifying business influence factors and dimensions for a better understanding and development of the DT journey in enterprises.