Mobile Planning Research Articles

Mobile robots for isolation-room hospital settings: A scenario-based preliminary study

Isolated patients pose physical challenges to medical staff owing to the need for protective gear. Additionally, communication issues arise within isolation rooms, hampering patient care. Mobile robots offer potential solutions, allowing for contactless communication and efficient task delegation, thereby reducing the risk of cross-contamination and minimizing staff workload. This preliminary study assessed the usability, acceptability, and potential for improvement of mobile robots in clinical nursing scenarios, focusing on nurses’ perspectives. A preliminary test was conducted using mobile robots in a simulated hospital environment with 30 experienced nurses responsible for isolated patient care. Data were collected through interviews, surveys, and scenario-based tasks. Two scenarios were designed to evaluate the usability and effectiveness of mobile robots in real-world nursing situations. Nurses regarded mobile robots as highly usable and useful in healthcare settings. Robots efficiently handled tasks like remote supply delivery and medication distribution. Nurses recognized the potential for improved communication and efficiency with mobile robots; however, concerns were raised about the robots’ limitations in providing emotional support and potential safety issues during emergencies. This research emphasizes the promising role of mobile robots in enhancing healthcare delivery within isolation rooms. While these findings indicate the potential for mobile robots, careful planning, training, and scenario development are crucial for their safe and effective integration into clinical settings. Further research, tailored scenarios, and a reevaluation of the evolving role of nurses in a technology-augmented healthcare environment are necessary, emphasizing the importance of understanding the capabilities and limitations of robotic assistance in patient care.

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration.

Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the ocean water is ejected to space. An existing study has shown that sending small robots into the vents and directly sampling the ocean water is likely possible. To enable such a mission, NASA's Jet Propulsion Laboratory is developing a snake-like robot called Exobiology Extant Life Surveyor (EELS) that can navigate Enceladus' extreme surface and descend an erupting vent to capture unaltered liquid samples and potentially reach the ocean. However, navigating to and through Enceladus' environment is challenging: Because of the limitations of existing orbital reconnaissance, there is substantial uncertainty with respect to its geometry and the physical properties of the surface/vents; communication is limited, which requires highly autonomous robots to execute the mission with limited human supervision. Here, we provide an overview of the EELS project and its development effort to create a risk-aware autonomous robot to navigate these extreme ice terrains/environments. We describe the robot's architecture and the technical challenges to navigate and sense the icy environment safely and effectively. We focus on the challenges related to surface mobility, task and motion planning under uncertainty, and risk quantification. We provide initial results on mobility and risk-aware task and motion planning from field tests and simulated scenarios.

How to transform urban spaces and mobility: a framework for analysing street experiments

ABSTRACT Street experiments have become a popular tool in urban and mobility planning and are increasingly studied in academia. Yet, systematic analysis is limited. This paper presents an assessment framework to collect information on street experiment goals, characteristics, impacts, and learnings in a systematic way. The framework is less focused, but more comprehensive than other approaches. From a scientific point of view, the systematic data collection serves as a basis to apply theoretical or analytical frameworks. From a practical point of view, the information can be used by street experiment organizers both ex-ante and ex-post, for planning, implementation, and evaluation.

Effects of multilevel governance on the design and implementation of sustainable mobility plans

Objectives: The polycentric nature of multilevel governance structures with multiple actors interacting at different levels can facilitate sustainability transitions. This study aims to explore the impact of multilevel governance on the design and implementation of sustainable urban mobility plans within the two-tiered government structure of Sweden. Methodology: The study is based on qualitative review of the academic literature, secondary sources including review of national policy documents and empirical insights drawn from the case study of Umeå, a medium-sized Swedish city which takes part in several national, local, and transnational initiatives to accelerate sustainability transitions. The empirical data is collected through semi-structured interviews with policy experts, policymakers, transport, and urban planners who are responsible for formulation and implementation of transport policies within national and local institutions. Results: The multilevel governance of transport and sustainable urban mobility policies in Sweden produces several positive effects for design and implementation of policies. These include clear division of responsibilities among public authorities at national, regional, and local government level which helps to overcome the problems such as lack of accountability and responsibility. Conclusions: Multilevel governance of sustainable urban mobility policies in Sweden enables local authorities to have access additional resources and knowledge exchange through networks consisting of various public and private actors.

강제동원에 관한 고등학생의 인식과 한국사 수업 방안: A고등학교의 사례 연구

강제동원에 관한 고등학생의 인식과 한국사 수업 방안: A고등학교의 사례 연구

Uncertainty and Triple Access Planning in European Sustainable Urban Mobility Plans: a long way to go yet?

ABSTRACT Triple Access Planning (TAP) is the idea that accessibility can be delivered through physical mobility, digital connectivity, and spatial proximity. There is great uncertainty as to how far one of these three elements will substitute for or complement the others in delivering the accessibility we need in future. Sustainable Urban Mobility (SUM) Planning is touted as a relatively new paradigm in local transport planning oriented to the achievement of a wide range of societal objectives. The paper presents a review of how well SUM Plans from eight European countries, and national guidelines from four currently account for TAP and uncertainty in their approach. Our findings suggest that while the concept of physical proximity is well-understood, other aspects of the TAP and uncertainty approach are not. Digital connectivity is largely ignored. The planning future is treated as largely certain, with no consideration of disruptive factors that might alter this future.

Distributed and collaborative system to improve traffic conditions using fuzzy logic and V2X communications

Nowadays, the increase in the number of vehicles on the roads has brought about several problems such as an increase in traffic congestion and, consequently, in polluting emissions. These problems are especially severe in urban environments. It is crucial to perform a sustainable urban mobility plan to improve the traffic and therefore, reduce the negative impacts caused by traffic jams. To this end, this paper presents a smart mobility plan that employs a collaborative driving strategy. Each vehicle tries to infer traffic conditions using its own status and the information shared by other peers. Using a fuzzy logic approach, vehicles perform decisions in accordance with the traffic levels inferred in real time. The designed mobility plan has been tested through a simulation environment and considering two types of urban areas in a typical European city (a peripheral area and a more congested city centre). If we compare the performance of traffic with and without the system designed, with our approach average speeds increase by up to 11.20 % and CO2 emissions are reduced by up to 12.27 %. Thus, our results show that the mobility plan has helped to enhance the ability of cars to be able to solve problems caused by traffic congestion and traffic jams.

SUSTAINABLE URBAN MOBILITY PLAN AS ONE OF THE TOOLS OF MANAGEMENT OF URBAN TRANSPORT SYSTEMS

The concepts of "urban mobility" and "sustainable urban mobility plan" are defined. Indicators of sustainable transport planning problems in various categories (trip activity, air pollution emissions, noise pollution, transport risk, economic productivity, general accessibility, land use impact, equity capital, transport policy) are also given, possible sub-categories are proposed and the evaluation of indicators according to the principle: A = suggested for use in almost all situations; B = proposed for use if appropriate/possible; C = proposed for use when appropriate to address specific community needs. A number of factors that should be paid attention to in the process of creating a sustainable urban mobility plan are described. It also describes the main stages of creating a plan and the features that should be considered during the planning process in order to successfully implement sharing systems in a mobility strategy.

Digital co-creation in urban mobility planning: what motivates people to participate?

ABSTRACT Efforts to enhance urban mobility sustainability face opposition, necessitating citizen acceptance and participation. This study explores the determinants of willingness to engage in digital co-creation for urban mobility planning. The research, conducted in Darmstadt, Germany, examines socio-economic factors, perceptions, and attitudes. Results indicate that financial and time resources have limited influence on participation, emphasising context-specific considerations. Technical proficiency and age impact participation, emphasising the need for user-tailored digital tools. Individual benefits positively motivate participation, while the role of collective benefits is uncertain. Effective communication strategies should stress individual benefits. Surprisingly, perceived efficacy does not positively influence participation. The study enriches the understanding of effective participation strategies in digital co-creation for urban mobility planning, highlighting the multifaceted nature of the process.

Improved artificial potential field method for mobile robot path planning

Path planning has already been used in areas like robots and unmanned vehicles to prevent collisions in certain environments. A Path planning algorithm is needed to achieve such tasks and Artificial Potential Field (APF) method is one of the methods. However, APF has limitations facing various situations like being stuck in a local minimum such as a dead-end or a narrow path. To solve the problem, First, a side force is added to the algorithm along with two types of definitions of the force direction. Then a variable is proposed to prevent the dead-end situation. Finally, the variable step size is used to improve the efficiency of the algorithm. The simulation results demonstrate the effectiveness of the method. In comparison to APF, the improved APF could prevent the local minimum and reach the target position with fewer processing steps and better performance.

Mobile robot path planning based on bi-population particle swarm optimization with random perturbation strategy

Path planning for mobile robots poses a challenging optimization problem, requiring the discovery of a near-optimal path within diverse constraints. Conventional particle swarm optimization (PSO) algorithms encounter limitations in solving constrained problems, vulnerability to local optima, and premature convergence. To address these challenges, this paper proposes a bi-population PSO algorithm with a random perturbation strategy (BPPSO), which divides particles into two subpopulations. The first subpopulation enhances global search capabilities by considering the quality of particles and the optimal solution of a randomly selected particle when updating velocities. The second subpopulation strengthens local search using a linear cognitive coefficient adjustment strategy. Moreover, a counter tracks iteration without improvement in the global best position. Upon reaching a predefined threshold, random perturbation is added to the positions of all particles in both subpopulations, increasing diversity and enhancing the ability to escape local optima. The performance of BPPSO was experimentally validated across three benchmark functions and four environment models. The results have demonstrated that the proposed BPPSO outperforms existing PSO algorithms and other established path planning algorithms in terms of path quality and running time, highlighting the feasibility of BPPSO in resolving the challenge of mobile robot path planning.

Governance of urban mobility policies and plans in Asian cities

Taking a mixed method and comparative case study approach, this paper has analyzed the formulation process of mobility policy strategies and plans and their implementation in four Asian cities. The key findings are: (1) there was some evidence on leadership shown by mayors, governors, public transport administrators and police in all four cities; (2) limited stakeholder engagement in the whole process of policy formation to implementation and some forms of donor influence were observed in three capital cities that resulted in follow-up projects or studies; and (3) the implementation of policies and plans faced many challenges relating to leadership, resources, prioritization, and coordination among various organizations. There was much focus on the formulation of mobility policies and plans and the users could not feel a meaningful improvement to urban mobility services despite the implementation of large urban mobility projects. A comprehensive evaluation framework is proposed and used to evaluate the whole process of improving urban mobility from policy formulation to implementation. There seems to be much preference for large urban transit projects vis-à-vis infrastructure for active mobility and low-cost solutions. The research also indicates the need for meaningful public engagement so that the mobility plans take a citizen-centric approach that reflects the needs of the urban residents, rather than taking a modernistic approach with solutions more suitable for middle-income groups. Delays in the implementation of major projects also suggest that more realistic planning, scheduling, and improvement in project management and coordination is necessary.

Significance of IgH Gene Rearrangement in Surveillance of Minimal Residual Disease after Autologous Hematopoietic Stem Cell Transplantation in Multiple Myeloma

To investigate the value of immunoglobulin heavy chain (IgH) gene rearrangement in monitoring minimal residual disease (MRD) in multiple myeloma (MM) received autologous hematopoietic stem cell transplantation(auto-HSCT). The clinical data of 26 MM patients who received auto-HSCT in the Department of Hematology, Wuhan First Hospital from 2018 to 2022 were collected. IgH rearrangement was detected by multiplex PCR combined with capillary electrophoresis fragment analysis to evaluate minimal residual disease (MRD), and the outcome of the disease was analyzed statistically. Among the 26 MM patients, 18 were males and 8 were females, with a median age of 59(41-70) years. The median follow-up time after transplantation was 33 (7-52) months. Compared with the IgH rearrangement negative group (n=17), the proportion of CR and sCR of patients with IgH rearrangement positive in bone marrow samples before auto-HSCT at 3 months after transplantation was lower （1/9 vs 14/17）, and the duration of remission (DOR) after transplantation was shorter（10.78±4.35 vs 15.88±5.22 months）, with statistically significant difference in DOR between the two groups(P < 0.05). Compared with IgH rearrangement negative group (n=21), the proportion of CR and sCR of patients with positive IgH rearrangement results from peripheral blood stem cell collection at 3 months after transplantation was lower（0/5 vs 15/21）, the duration of remission (DOR) after transplantation was shorter（9.60±4.83 vs 15.19±5.11 months）, and the difference in DOR between the two groups was statistically significant (P < 0.05). During the follow-up period, 5 patients (5/9) with positive IgH rearrangement results in bone marrow specimens died, and all patients with negative IgH rearrangement results survived. Four patients (4/5) with positive IgH rearrangement results by peripheral blood stem cell samples died, while one patient (1/21) with negative IgH rearrangement results died. In both bone marrow and peripheral blood stem cell samples, the survival time of IgH rearrangement-positive patients after transplantation was shorter than that of IgH rearrangement-negative patients(P < 0.05). Logistic regression analysis showed that gender, disease stage, the proportion of bone marrow smear plasma cells at initial diagnosis, stem cell mobilization plan, efficacy evaluation before transplantation (≥CR and <CR), and CD34+ cell count had no effect on IgH rearrangement results of stem cell collection (P >0.05). By detecting IgH rearrangement of MM patients receiving auto-HSCT, the depth of MRD can be further evaluated, which has a certain guiding significance for the efficacy and prognosis of the disease.

The Walking Bangkapi: Inclusive Pedestrian Network’s Integrated Design and Implementation Study on Bangkok’s Emerging Transportation District

With a city growing in size, capacity, density, and intensity, walkability in the Bangkapi district (Bangkok, Thailand) represents a challenge to produce more inclusive transportation through mobility planning that suits the multimodal transportation system (skywalk, MRT lines, water transportation) and the walking experience of the pedestrian. Drawing from Bangkok’s Transit-Oriented Development (TOD) strategic plan, the challenge lies in the balancing point of efficiently and effectively elevating walkability while keeping the local urban identity. This study investigates the notion of walkability as both a ground-up participatory design process and within the overall mobility planning framework by reviewing both Thai and international sidewalk standards and through interviews with stakeholders. We conclude by producing an experimental design guide and policy recommendations on how area-specific sidewalks have the potential in shaping more feasible and equitable mobility planning from the ground up.

Urban Environment’s Contributory Factors for the Adoption of Cargo Bike Usage: A Systematic Literature Review

The supply chain sector plays a crucial role in driving economic development and globalization. However, the environmental repercussions of logistics and freight transport have become more pronounced. Nowadays, there is an ever-increasing acceptance regarding the opinion that the use of more sustainable urban freight transport has the potential to offer great social, economic, and environmental benefits. This study examines and highlights, via a systematic literature review, the urban environment’s factors that can essentially influence the promotion and usage of cargo bikes for last-mile deliveries in the urban environment. The aforementioned literature review revealed the importance of the quality of the urban environment’s components for the perceived and objective safety of people who make use of cargo bikes. In particular, the most essential factors for the increased use of cargo bikes were found to be traffic load, speed limits, and heavy vehicle traffic. Bicycle infrastructure is also an important factor in bicycling acceptance, as it provides the backbone for a comfortable and safe bicycle ride. Two other factors that can seriously affect cyclists’ sense of safety are street intersections and the width and number of road lanes, as the interaction between cargo bikes and motorized vehicles increases the possibility of traffic accidents. All the above factors need to be considered via various public policies that are not isolated countermeasures but form part of Sustainable Urban Mobility Plans that are currently being implemented in many European cities to ensure continuity and create a sustainable future.

Toward Sustaining Web-Based Senior Center Programming Accessibility With and for Older Adult Immigrants: Community-Based Participatory Research Cross-Sectional Study.

During the COVID-19 pandemic, many community-based organizations serving Asian Americans pivoted to provide web-based care and social services. Asian American community leaders in the United States Pacific Northwest, including Asian Health & Service Center expressed that there are older immigrant adults who experienced backlash from discrimination, fear, and anxiety owing in part to anti-Asian hate and isolation, including from infection precautions. Pivoting supported staying safe from COVID-19 transmission and anti-Asian hate crimes. This study aims to examine the readiness of diverse groups of older Asian American immigrant adults (Chinese, Koreans, and Vietnamese) to use a web-based senior center, including technology access and telehealth use, and to identify the psychosocial health impacts that a web-based senior center could be positioned to meet. A community-based participatory research approach was used to conduct a cross-sectional survey study in an Asian-based health and service center in 2022. We selected surveys from the National Institutes of Health-supported PhenX Toolkit. Analyses were performed using R software. There was an 88.2% (216/245) response rate. Overall, 39.8% (86/216) of participants were Chinese, 25% (54/216) were Korean, and 24.5% (53/216) were Vietnamese. There were significant group differences in mobile data plans (P=.0005). Most had an unlimited mobile data plan (38/86, 44% Chinese; 39/54, 72% Koreans; 25/53, 47% Vietnamese). Significant group differences existed regarding whether they started using a new electronic device to communicate with friends or family after the COVID-19 outbreak (P=.0005); most were Korean participants (31/54, 57%). For written text and audio or video apps, most Chinese participants used WeChat (65/85, 76%; 57/84, 68%, respectively), most Koreans used KakaoTalk (49/54, 91%; 49/54, 91%, respectively), and most Vietnamese used Facebook Messenger for written text (32/50, 64%) and Apple Face Time (33/50, 66%) or Facebook Messenger (31/50, 62%) for audio or video. Significant group differences existed regarding whether to try telehealth (P=.0005); most Vietnamese expressed that they would never consider it (41/53, 77%). Significant group differences existed regarding how well they were able to concentrate (χ22=44.7; P<.0001); Chinese participants reported a greater inability (median 5, IQR 4-6). With regard to difficulties in life experiences (χ22=51; P<.0001), the median was 6 (IQR 5-7) for the Vietnamese group. Significant group differences existed in having had a family/household member's salary, hours, and contracts reduced (P=.0005) and having had a family/household member or friend fallen physically ill (P=.0005)-most Vietnamese (15/53, 28%) and Korean participants (10/53, 19%). To build an efficacious, web-based senior center with web-based care and social service options, more older adults need access to the internet and education about using technology-enabled communication devices. Addressing the unique psychosocial impacts of the COVID-19 pandemic on each group could improve health equity. The strength of the participating older adults was observed and honored.

An algorithm to create model file for Partially Observable Markov Decision Process for mobile robot path planning

The Partially Observable Markov Decision Process (POMDP), a mathematical framework for decision-making in uncertain environments suffers from the curse of dimensionality. There are various methods that can handle huge sizes of POMDP matrices to create approximate solutions, but no serious effort has been reported to effectively control the size of the POMDP matrices. Manually creating the high-dimension matrices of a POMDP model is a cumbersome and sometimes even impossible task. The PCMRPP (POMDP file Creator for Mobile Robot Path Planning) software package implements a novel algorithm to programmatically generate these matrices such that:•The sizes of the matrices can be controlled by configuring the granularity of discretization of the components of the state and•The sparseness of the matrices can be controlled by configuring the spread of the observation probability distribution.This kind of flexibility allows one to achieve a trade-off between time complexity and the level of robustness of the POMDP solution.

Hybrid Whale Optimization with a Firefly Algorithm for Function Optimization and Mobile Robot Path Planning.

With the wide application of mobile robots, mobile robot path planning (MRPP) has attracted the attention of scholars, and many metaheuristic algorithms have been used to solve MRPP. Swarm-based algorithms are suitable for solving MRPP due to their population-based computational approach. Hence, this paper utilizes the Whale Optimization Algorithm (WOA) to address the problem, aiming to improve the solution accuracy. Whale optimization algorithm (WOA) is an algorithm that imitates whale foraging behavior, and the firefly algorithm (FA) is an algorithm that imitates firefly behavior. This paper proposes a hybrid firefly-whale optimization algorithm (FWOA) based on multi-population and opposite-based learning using the above algorithms. This algorithm can quickly find the optimal path in the complex mobile robot working environment and can balance exploitation and exploration. In order to verify the FWOA's performance, 23 benchmark functions have been used to test the FWOA, and they are used to optimize the MRPP. The FWOA is compared with ten other classical metaheuristic algorithms. The results clearly highlight the remarkable performance of the Whale Optimization Algorithm (WOA) in terms of convergence speed and exploration capability, surpassing other algorithms. Consequently, when compared to the most advanced metaheuristic algorithm, FWOA proves to be a strong competitor.

Sustainable Urban Mobility Planning in the Port Areas: A Case Study

Sustainable development, urban planning, mobility, and transport planning, integrated within the context of sustainable urban mobility, have been central themes in both scientific and applied spheres over the past few decades. In port cities, it becomes particularly essential to tackle sustainability issues given the pollution and noise emanating from ships and other port-related activities. To meet mobility and transportation sustainability needs in the port area, a port should implement measures aligned with a sustainable urban mobility planning (SUMP) approach. However, many ports have thus far achieved limited results in this direction due to the absence of an approach to defining sustainable mobility solutions based on the SUMP approach for an urban area associated with the given port. The overall aim of this paper is to support the development of territorial SUMP for port areas by proposing a methodology that identifies and prioritizes sustainable mobility solutions tailored to a specific port area. The proposed methodology is applied in the Port of Bar (Montenegro) through an appropriate case study. In this case study, the methodological steps are systematically followed, resulting in the practical implementation of the selected mobility solution: the use of a hybrid bus for internal employee transportation within the port area. The undertaken case study underscores the simplicity, practical applicability, and adaptability of the proposed methodology.

A novel parallel ant colony optimization algorithm for mobile robot path planning.

With the continuous development of mobile robot technology, its application fields are becoming increasingly widespread, and path planning is one of the most important topics in the field of mobile robot research. This paper focused on the study of the path planning problem for mobile robots in a complex environment based on the ant colony optimization (ACO) algorithm. In order to solve the problems of local optimum, susceptibility to deadlocks, and low search efficiency in the traditional ACO algorithm, a novel parallel ACO (PACO) algorithm was proposed. The algorithm constructed a rank-based pheromone updating method to balance exploration space and convergence speed and introduced a hybrid strategy of continuing to work and killing directly to address the problem of deadlocks. Furthermore, in order to efficiently realize the path planning in complex environments, the algorithm first found a better location for decomposing the original problem into two subproblems and then solved them using a parallel programming method-single program multiple data (SPMD)-in MATLAB. In different grid map environments, simulation experiments were carried out. The experimental results showed that on grid maps with scales of 20 $ \times $ 20, 30 $ \times $ 30, and 40 $ \times $ 40 compared to nonparallel ACO algorithms, the proposed PACO algorithm had less loss of solution accuracy but reduced the average total time by 50.71, 46.83 and 46.03%, respectively, demonstrating good solution performance.