This paper attempts to uncover one possible method for the IMR (indoor mobile robot) to perform indoor exploration associated with SLAM (simultaneous localization and mapping) using LiDAR. Specifically, the IMR is required to construct a map when it has landed on an unexplored floor of a building. We had implemented the e-SLAM (exploration-based SLAM) using the coordinate transformation and the navigation prediction techniques to achieve that purpose in the engineering school building which consists of many 100-m2 labs, corridors, elevator waiting space and the lobby. We first derive the LiDAR mesh for the orthogonal walls and filter out the static furniture and dynamic humans in the same space as the IMR. Then, we define the LiDAR pose frame including the translation and rotation from the orthogonal walls. According to the MSC (most significant corner) obtained from the intersection of the orthogonal walls, we calculate the displacement of the IMR. The orientation of the IMR is calculated from the alignment of orthogonal walls in the consecutive LiDAR pose frames, which is also assisted by the LQE (linear quadratic estimation) method. All the computation can be done in a single processor machine in real-time. The e-SLAM technique leads to a potential for the in-house service robot to start operation without having pre-scan LiDAR maps, which can save the installation time of the service robot. In this study, we use only the LiDAR and compared our result with the IMU to verify the consistency between the two navigation sensors in the experiments. The scenario of the experiment consists of rooms, corridors, elevators, and the lobby, which is common to most office buildings.

Indoor mobile robot (IMR) motion control for e-SLAM techniques with limited sensors, i.e., only LiDAR, is proposed in this research. The path was initially generated from simple floor plans constructed by the IMR exploration. The path planning starts from the vertices which can be traveled through, proceeds to the velocity planning on both cornering and linear motion, and reaches the interpolated discrete points joining the vertices. The IMR recognizes its location and environment gradually from the LiDAR data. The study imposes the upper rings of the LiDAR image to perform localization while the lower rings are for obstacle detection. The IMR must travel through a series of featured vertices and perform the path planning further generating an integrated LiDAR image. A considerable challenge is that the LiDAR data are the only source to be compared with the path planned according to the floor map. Certain changes still need to be adapted into, for example, the distance precision with relevance to the floor map and the IMR deviation in order to avoid obstacles on the path. The LiDAR setting and IMR speed regulation account for a critical issue. The study contributed to integrating a step-by-step procedure of implementing path planning and motion control using solely the LiDAR data along with the integration of various pieces of software. The control strategy is thus improved while experimenting with various proportional control gains for position, orientation, and velocity of the LiDAR in the IMR.

Abstract-This study aimed to investigate the advantages of using the ABL method incorporating experiential learning in a blended environment over the conventional learning. This research was an experimental research with a 2x2x2 factorial design. The research participants were 56 students obtained using the saturation sampling technique. The data were collected using two methods namely test and non-test. The data were analyzed using a four-way analysis of variance (ANOVA). In the hypothesis tests, the significance level (α) used was 0.05 or 5%. The results showed that there was; (1) a significant difference in student achievement and soft skill between groups of students taught by the ABL method and taught using conventional methods; (2) a significant difference in student achievement between student groups with high achievement motivation and with low achievement motivation; (3) a significant difference in student achievement between groups of students with high soft skill and with low soft skills; and (4) a significant interaction effect by using ABL model, achievement motivation, and soft skill on student achievement. Referring to the results of this study, learning in the course of construction management by using ABL could improve the ability to think critically and improve the soft skills and student achievement.

The chassis system directs students to understand the basic concepts of modern motor vehicle maintenance and repair. One of the subjects is the anti-lock brake system (ABS) which can cause misconceptions in learners. So it takes learning media that can improve understanding and learning results,namely learning media anti-lock brake system (ABS) integrated hardware-in-the-loop (HIL). The implementation of ABS-HIL aims to improve student learning outcomes. Before application, the development of learning media is carried out. Sample of 27 students, with observation & pre-test & post-test data collection techniques. The data is analyzed descriptively and tests “t”. The results of the study found an improvement in the results of the study proven post-test scores = 90,44 more than the pre-test score = 78,44.

Identification of tire tread type characteristics needs to be taken into consideration when choosing a tire. The accuracy of choosing a tire will help ensure the safety of the rider. The identification procedure is by comparing symmetrical and asymmetrical 1-way direction tires. The parameter is the braking time needed for the vehicle to stop. The braking time required by asymmetric type 1-way direction tires is shorter than symmetrical type. So, motorists are advised to choose asymmetric type 1-way direction tires to get a shorter braking time.