For rapid growth in technology and automat- ion, human tasks are being taken over by robots as robots have proven to be better with both speed and precision. One of the major and widespread usage of these robots is in the industrial businesses, where they are employed to carry massive loads in and around work areas. As these working environments might not be completely localized and could be dynamically changing, new approaches must be evaluated to guarantee a crash-free way of performing duties.This paper presents a new and efficient fusion algorithm for solving path planning problem in a custom 2D environment. This fusion algorithm integrates an improved and optimized version of both, A* algorithm and the Artificial potential field method. Firstly, an initial or preliminary path is planned in the environmental model by adopting A* algorithm. The heuristic function of this A* algorithm is optimized and improved according to the environmental model. This is followed by selecting and saving the key nodes in the initial path Lastly, on the basis of these saved key nodes, path smoothing is done by artificial potential field method. Our simulation results carried out using Python viz. libraries indicate that the new fusion algorithm is feasible and superior in smoothness performance and can satisfy as a time-efficient and cheaper alternative to conventional A* strategies of path planning.

The development of modern technology requires companies to increasingly compete. It does not only apply to big companies but also small companies like Micro, Small and Medium Enterprises (MSME). In Indonesia, most MSME runs without the use of information technology, one of which is the XYZ weaving conventional business. The XYZ Weaving Business is a manufacturing company that produces products in the form of Endek Fabrics and Custom Fabrics. Endek is a term for ikat woven fabric originating from the island of Bali. Endek woven fabric has a variety of unique motifs from sacred to reflect the feel of nature. Meanwhile, custom weaving is a term for woven fabric that has a homemade motif and usually comes from the wishes of the customer. The business has an income above 50 million rupiahs every month with a total production of 2000 meters of fabric, besides, their customers are from companies and individuals. However, their processes are still managed conventionally, resulting in internal problems such as unorganized data and information due to the lack of integration among company divisions. Furthermore, it also results in disrupted service to customers and the company could suffer losses. ERP is a very popular concept to use in companies because it has a functional area that suits the needs of the company. The ERP used in this study is based on Open source, namely Odoo. The results of research with the implementation of Odoo software by using the Sales, Purchase, Inventory and Manufacturing modules resulting in a more integrated business process change. A test was conducted by using the User Acceptance Testing method to 10 respondents consisting of marketing company employees, administrators, material purchases, warehouses, and production. The total score obtained is 713 and is located in the third quarter, which means the system is considered quite successful to be implemented in XYZ Weaving.

Mother's knowledge about the importance of exclusive breastfeeding is a problem that determines the success of exclusive breastfeeding. Information support is needed to increase the mother's knowledge. This research create an acceptable media for increasing breastfeeding mother's knowledge of exclusive breastfeeding. This research uses the action research method. There are 5 stages including diagnosis, making an action plan, acting, evaluating and learning. The informants of this research are the baby mothers, maternal and child health services cadres and the breastfeeding counseling team at the Pleret health centre. Data collection instruments and techniques using questionnaires and interviews. Credibility test with technical triangulation, which was analyzed using theories from Milles and Huberman. The creation of a series of leaflet media about exclusive breastfeeding guidelines consisting of six series. Leaflets are made attractive in terms of design. This series of leaflet media effective as an educational and promotional media about exclusive breastfeeding.

Path-loss propagation models are useful in radio communications for the prediction of signal’s coverage area, link’s design and power budget. They are equally used for radio channel characterization to accurately predict television coverage, interference analysis and ensure coexistence between the primary service providers and secondary users (through frequency re-use). One of the challenges with the application of a predictive path loss model for any environment other than the one it was developed for is the issue of high prediction errors. This is due to their high dependence on environmental complexity and terrain. In this paper, we investigated the error bounds of eight empirical path loss models to evaluate their reliability of predicting path losses on the UHF band in Ekiti State, South West Nigeria. Measurement of the signal strength for the UHF channel 41 (631.25MHz), Television Broadcasting Station at Ado-Ekiti, was carried out via major routes spanning through the Urban and Suburban areas of the State, using the station as reference. The signal strength values were converted to path losses and compared with predictions of eight selected models. The prediction error, relative error, root mean square error (RMSE), spread corrected mean square error (SC-RMSE), skewness and the normalized error probability density function metrics was calculated to determine the error bound which was used to validate the best predictive model for the routes under consideration. The results of this investigation show that no single model gives an accurate prediction consistently based on the evaluating metrics. However, the Electronic Communication Committee (ECC) 33 model provides better values for the overall metrics considered with RMSE values of 8.48 dB and 9.62 dB (between it and measured values) for Ekiti Suburban and Urban routes respectively. Therefore, optimizing ECC 33 model will bring the RMSE values to the standard acceptable range for both sub - urban and urban routes. The significance of this finding is that ECC 33 model has the least prediction error compared to other selected models and by extension the closest value to the measured values. This validates it to be suitable for the prediction of path losses on the UHF band over the study area.