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com
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ScienceDirect
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Available online at www.sciencedirect.com

ScienceDirect
Procedia Manufacturing 00 (2019) 000–000
Procedia Manufacturing 00 (2019) 000–000 www.elsevier.com/locate/procedia
www.elsevier.com/locate/procedia
Procedia Manufacturing 43 (2020) 535–542

17th
17th Global
Global Conference
Conference on
on Sustainable
Sustainable Manufacturing
Manufacturing

Cyber-physical
Cyber-physical System
System Enabled
Enabled in
in Sustainable
Sustainable Waste
Waste Management
Management
4.0:
4.0: A
A Smart
Smart Waste
Waste Collection
Collection System
System for
for Indonesian
Indonesian Semi-Urban
Semi-Urban
Cities
Cities
Yun
Yun Arifatul
Arifatul Fatimah
Fatimaha*,
a
*, Andi
Andi Widianto
Widiantob,, Muhtar
b
Muhtar Hanafi
b
Hanafib
a
Industrial Engineering, Universitas Muhammadiyah Magelang, Jl. Mayjen Bambang Sugeng, km5, Mertoyudan, Magelang, 56172, Indonesia
b Industrial Engineering, Universitas Muhammadiyah Magelang, Jl. Mayjen Bambang Sugeng, km5, Mertoyudan, Magelang, 56172, Indonesia
a
Informatic Engineering, Universitas Muhammadiyah Magelang, Jl. Mayjen Bambang Sugeng, km5, Mertoyudan, Magelang, 56172, Indonesia
b
Informatic Engineering, Universitas Muhammadiyah Magelang, Jl. Mayjen Bambang Sugeng, km5, Mertoyudan, Magelang, 56172, Indonesia

Abstract
Abstract
Cyber-physical System has become a trending topic undergoing intense discussion among industries, academicians, government,
Cyber-physical System has become a trending topic undergoing intense discussion among industries, academicians, government,
and communities globally to be implemented into critical infrastructures in a city, including waste management. In developed
and communities globally to be implemented into critical infrastructures in a city, including waste management. In developed
countries, cyber-physical system (CPS) is convinced to improve waste collection process, to reduce transportation energy and cost,
countries, cyber-physical system (CPS) is convinced to improve waste collection process, to reduce transportation energy and cost,
to reduce labour and facilities inefficiency, to improve community health, and to create more value to the waste. However, the
to reduce labour and facilities inefficiency, to improve community health, and to create more value to the waste. However, the
study of the CPS applied in waste management is still lacking from attention and very limited in Indonesia. This study has an
study of the CPS applied in waste management is still lacking from attention and very limited in Indonesia. This study has an
objective to develop a smart waste collection system which integrates physical and cyber spaces to compute, to control and to
objective to develop a smart waste collection system which integrates physical and cyber spaces to compute, to control and to
communicate all waste management components including technology, facility, information, sensors, actuators, and networking.
communicate all waste management components including technology, facility, information, sensors, actuators, and networking.
In-depth research on nonorganic waste banks management presents a task sharing platform of a waste collection system and a smart
In-depth research on nonorganic waste banks management presents a task sharing platform of a waste collection system and a smart
waste collection system using sensing platform suitable for semi-urban cities in a developing country. The model shows an
waste collection system using sensing platform suitable for semi-urban cities in a developing country. The model shows an
integrated and connected element involved in waste collection management.
integrated and connected element involved in waste collection management.
© 2019
© 2020 The
The Authors.
Authors, Published
Published byby Elsevier
Elsevier B.V.
B.V.
© 2019
This The
is an Authors,
open accessPublished by Elsevier
article under B.V.
the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Peer review under the responsibility of the scientific committee of the Global Conference on Sustainable Manufacturing
Peer review
review under
underthe
theresponsibility
responsibilityofofthe
thescientific committee
scientific of the
committee Global
of the Conference
Global on Sustainable
Conference Manufacturing.
on Sustainable Manufacturing
Keywords:Cyber-physical system, waste management, semi-urban cities, sustainability
Keywords:Cyber-physical system, waste management, semi-urban cities, sustainability

* Corresponding author. Tel.: +62 85701108686; fax: +0-000-000-0000 .

* Corresponding author. Tel.: +62 85701108686; fax: +0-000-000-0000 .
E-mail address: yun.fatimah@ummgl.ac.id
E-mail address: yun.fatimah@ummgl.ac.id

2351-9789© 2019 The Authors, Published by Elsevier B.V.

2351-9789© 2019 The Authors, Published by Elsevier B.V.
Peer review under the responsibility of the scientific committee of the Global Conference on Sustainable Manufacturing
Peer review under the responsibility of the scientific committee of the Global Conference on Sustainable Manufacturing

2351-9789 © 2020 The Authors. Published by Elsevier B.V.

This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Peer review under the responsibility of the scientific committee of the Global Conference on Sustainable Manufacturing.
10.1016/j.promfg.2020.02.169
536 Yun Arifatul Fatimah et al. / Procedia Manufacturing 43 (2020) 535–542
2 Yun Arifatul Fatimah/ Procedia Manufacturing 00 (2019) 000–000

Nomenclature
CPS Cyber-physical system
GUIs Graphical User Interfaces
ICT Information Communication Technology
LAN Local Area Network
UML Unified Modelling Language

1. Introduction
The industrial revolution has changed the global world into a more efficient system, work,
technology, social life, and community behaviours. Starting from the 1st revolution which was
characterized by water steam technology to the current fourth revolution which is characterized by
a digitalization technology. The current fourth industrial revolution presents a synthesis technology
which is distorting the physical, biological, and digital fields. Multi-discipline approaches (i.e.,
physical and software components) are intertwined in Cyber-physical system that is applied in
education, health, government, environment, and transportation fields. The cyber-physical system
can also be applied in waste management, starting from the collection, processing, treatment, and
disposal levels. However, the existing condition of the waste management life cycle is often
handled separately. CPS provides solutions to this kind of problems. This study proposes a model
for CPS in the waste management life cycle.

2. Cyber-Physical Systems in waste management

CPS has come to daily human life. CPS applied to agriculture, education, energy management,
intelligent transportation, medical devices and systems, process control, security, smart city, smart
manufacturing, and environment[1]. In CPS, sensors which have the tasks to monitor indicators of
cyber and physic and actuators are used, communicated and coordinated with the elements of
computation, to control the environment[2], [3]. CPS is characterized into cyber capability in
physical components, computational elements, complex network, high automation level,
technology sensors, technology actuators, and human-system interaction [3], [4]. Those
characteristics are needed in the current waste management system. The review research presents
existing CPS adoptions and practices in waste management from waste users to final disposal,
including waste collection, processing, and disposal activities [5], [6]. Waste collection is
conducted through certain collection systems by using vehicles and adopting ICT in the system
[7], [8]. Waste treatment processes such as reduce, reuse, recycle, recondition, remanufacture, and
re-modification have been found to adopt ICT infrastructure to improve waste treatment efficiency
[9], [10]. Waste disposal to landfill is expected to be last option of the life cycle waste management
[11]–[13].
Some reviews research considers ICT including sensors, GPS, RFID, and cloud, to improve the
waste management performance. Sensor is mostly applied at waste sorting stage, enabling
recognizing the various waste characteristic (e.g. papers) and materials in specific properties (e.g.
shape, texture) [14]–[16]. Global Position System (GPS) is usually adopted for tracking vehicle
and bin positions. While wireless technology (e.g. RFID) is commonly used to monitor waste
transportation process[17], [18]. Cloud and CPS have been adopted into some treatment processes
(e.g. recycling, remanufacturing) to support waste recovery process [19], [20]. Smart waste
management system through IoT implementation has been also convinced to help manage the
waste problem globally [21]–[23]. However, the existing waste management system and
technologies researches have still not answered a pervasive fundamental problem which is how to
develop real-time, networked waste collection system with an integrated model of the physical
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waste management system in a unity. This research offers an integration of CPS into the current
waste collection system to solve the problems and to find better solution.
3. Research methodology

This research used a case study in Indonesian semi-urban city (i.e. Magelang city) to develop a
smart waste collection system which integrates physical and cyberspaces. The first stage is an
intensive literature review and direct observation in the city to build the grounded CPS model and
to identify the existing performance of the waste collection activities. The Information related to
technology, infrastructure, process, resources were collected through direct interviews involving
environmental department staffs, waste bank staffs, scavengers, and waste collector. The
components and specification of the CPS enabled waste management system was then formulated.
The second stage is designing the system model and developing the business process. The third
stage is to simulate the system on the case study using a quantitative and qualitative method. The
quantitative method used simulation to know the process cycle of the proposed waste collection
management. The qualitative method through stakeholder’s communication was presented to
determine the performance of the proposed system
4. Analysis and interpretation
4.1. Nonorganic waste bank case study – current picture

Magelang city located in Central Java has been chosen as the case study area. In 2018, the city
had more than 38 productive waste banks, which collect about 120 to 160kg of non-organic waste
per month and employed about 12 to 15 labours per waste bank. The waste bank collects a variety
of valuable waste consisting of paper, cardboard, plastics, bottles, leather, glass, metals, tire,
consumer electronics, batteries, etc. Their enterprise activities are commonly divided into four
distinct sections, which are sorting, measure, selling and land filling. Those sections are mostly
handled manually without proper technology. The waste is collected from the community,
scavengers, office, shops, and small waste collection centre.
The information discussed with the waste bank managers consist of 1) how the waste is
collected. 2) how the waste is separated 3) how the waste is packed 4) how the waste is calculated
and paid, 5) how the waste is distributed. The waste is usually collected and sold to waste bank by
customers through a simple transaction in which waste is manually separated, weighed, packed by
the waste bank worker. The information of the customer waste is given to the finance staff that
record and input the waste data into the computer database. The customers receive their waste
receipt informing their collected waste. The waste is grouped into each similar waste characteristic
for further processes conducted by a third party (i.e. recycling, refurbishment, and the craft
industry). The residue of waste is sent to the landfill area.
4.2. Design of waste collection system – better future
Achievement of sustainable Waste Management enabled CPS, requires ICT integration and IoT
involvement for sustaining the environment, managing the asset and maximizing resources. The ICT
and IoT help provide real-time and transparent information of the entire waste management stages
[21], [23], [24].The proposed waste collection is designed to meet sustainable and smart waste
management performance. The objectives are to optimise the operation cost, the resource efficiency,
the quality waste collected and the service quality.
The local waste bank is located in the community area where customer can easily get access to the
facility. Education about waste type and categories are provided to inform which valuable waste can
be collected. Waste is brought by the customers to the waste bank. Customer is required to register
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as the member of the waste bank to get a member ID card (NFC tag). The ID card is tapped on
the NFC reader which reads the ID card data. The customer then places a specific waste on waste
scale equipped by sensors and chooses the type of waste on the tablet. The waste data (e.g. type of
waste, weight) will be recognised by the microcontroller, which sent the data to IOT local server
for transaction and customer service purposes such as data print and waste receipt. Partially, IoT
local will sent data to main IOT server which collect waste data from all waste bank, while in the
same time dashboard (i.e. monitor) will display customer data including waste weight, price of
waste, money earned, and history of the customer waste transaction.
Sensors (i.e. servo) are placed on the process line to actuate real-world facility (i.e. on-off waste
segregation gate), and to transfer the waste into smart conveyor. The conveyors are utilized with
some sensors to monitor the waste level in the bins. Pressing process automatically works when
the waste meets the certain amount. During the collection process, customer can monitor the
weight of their waste on the dashboard. Customer receives notification on their mobile phone,
presenting their waste and money savings. The waste data through IOT server is then sent to main
waste bank for further process (i.e. recycling, remanufacturing etc.) E-commerce system is
provided for online transaction to maintain the stability of waste price and values. The proposed
waste collection process is presented in Fig. 1
Customer registered Collection
to system station

fail fail
Take User Waste Waste Packing -
Customer queue identification identification bins pressing
number
pass pass
Recycling
Database - CPU
processing – Reuse/rem
Waste information IOT server an, recond
displayed on
dashboard Fig. 1: Proposed waste collections process

Fig. 2: Flowchart of Waste Collection Process and Data Information

The waste bank provides traceability and control of each device, technology, and ICT
throughout the collection process. The critical drivers for the system are to improve the efficiency
of time, resource and energy, to increase transparency, accessibility and traceability of the waste
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Author name / Procedia Manufacturing 00 (2019) 000–000 5

collection process and information [16], [24]–[26]. The human interaction of the waste collection
process is summarized in UML use case diagram. The UML consists of a set of interaction between
system and its users as illustrated in Fig. 3. The system requirements are outlined into waste type
identification, sorting, interfaces (e.g. measurement the weight of waste, customer information,
daily report, etc.), billing system based on customer waste transaction and waste recovery data,
and buyer transactions. Waste type identification is the core of the waste collection system. The
CPS plays an essential part in the waste collection process to monitor the physical world (i.e. waste
flow), and to present accurate and real-time information in the virtual world (i.e. dashboard). The
interactions between users (i.e. manager, customers, buyers) and system are used Graphical User
Interfaces (GUIs) [27] . The billing system represents the recovery waste and the economic value
(i.e. cost) earned by the customers, based on the standard price of each type of waste.
Registration Manage waste
<<include>> data/record/report

User identification
<<include>>
Store customers data
View history/progress

Customers Waste identification

<<include>>
Financial
processing
Use sensor for waste Management, (IT
identification admin, manager)
Financial reporting <<include>>

Use actuator for facility

Update standard operation movement
price
Finance staff
Waste Treatment

Fig. 3: Use case diagram of the waste collection system

4.3. Simulation Approach and Results

The prototype of the waste collection system was developed and simulated at laboratory level to
test the efficiency of the system, as presented in the system prototype in Fig. 4. The system consists
of hardware infrastructures (i.e. conveyors, press machine), sensors component, microcontroller,
servos, mobile phone and sensors network which are connected through IOT.

Fig. 4: System prototype and interface performance of management level

Specific case on paper waste collection system and its interface performance was illustrated in
Fig. 4. The system prototype uses small size local bank waste collection system. There are four
microcontrollers used in the system, including Ardunio mega for running seven weight
measurement and nine motors, MCU - 1 for RFID authentication and information source for the
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LCD monitor, MCU - 2 for keypad menu communication and values determination on weight
scale, and MCU – 3 for servo status access. Customer uses ID card tapped on the NFC reader,
which directly read the ID card data (i.e. customer name, last login, total transaction, waste total
and type). In this simulation, customer places a number of waste paper on waste scale equipped
by sensors and chooses the type of waste on the tablet. There are seven types of papers and its
standard price simulated in the system. The waste data (e.g. cardboard, white paper, book paper in
kg) is recognised by the microcontroller, which sent the waste data to IOT local server for
transaction and customer service purposes, such as data print and waste receipt. Fig.4 illustrates
customer waste information displayed on dashboard. The dashboard (i.e. LCD monitor) shows
waste weight, price of waste, money earned, and history of waste transaction of the customer.
5. Discussion

The existing system is a conventional collection system which is manually conducted, untraceable
and very limited in real-time management. However, the proposed system offers a different
approach in which the cyber-physical systems combine computing and physic process of waste
collection system, thus the waste collection operation is automatically conducted, the waste is
easily identified and tractable, and the information is real time.
Table 1 Existing and proposed system
System Collection operation Waste Reporting Waste statues Process Status Real time
identification information
Existing random process Manual Manual Manual Untracked Not available
Proposed subsequence process Automatic Automatic Automatic Easily tracked Available

Waste is processed through subsequence operations met the standard operational procedure. The
identification process is conducted automatically by using sensors placed on the conveyor, while
the waste is entered the system and is separated into different characteristic. The sensors
communicate with IOT server to activate the actuators for physical separation, to report the
transaction, and to count the waste. Real-time, transparency, and cooperative management of the
waste collection system is the most significant impact of the CPS enabled waste collection system.
Real-time information is accessed directly by the stakeholders to see the process flow of collected
waste, real-time bins/conveyor status (i.e., showing the waste-filled level), total waste data (i.e.
daily, weekly, annually), waste transaction (i.e., finance history of customer waste), and different
type waste inventory data.
The CPS enables the information from different facilities interconnected and integrated into one
system, which reduces the time for waste management processing, recording, and reporting. The
waste is automatically send to the specific conveyor based on the waste characteristic, which
reduce the time mobility of the customer. The system is expected to save time and cost of the entire
collection process, as the system runs continuously. Instead of those benefits, the CPS also enables
the customer to access the waste collection process and information. Less involvement of the
operator also reduces the cost for the manual control mechanism conducted by the operator. The
efficient resource is the other benefit of the system. The quality waste collected in the waste bank
increases the potential reuse/recycle products. The waste is automatically identified and separated
into different type/quality of waste (i.e. cardboard paper, white paper etc.), which reduces the
processing time of waste separation. The less manual handled system increases the performance
of the waste handling process and the productivity of the operator. The CPS also develops secure
and controlled collection systems which minimize the risk of incorrect and inaccurate information
given to the stakeholders (e.g. customer, waste collector, recycling industry).
Those benefits present the positive impacts of the CPS applied in the waste collection system.
However, limited of infrastructure and facility investment cost, unsophisticated skills and
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Author name / Procedia Manufacturing 00 (2019) 000–000 7

knowledge of human resources, lack of cyber-physical communication, minimum government

intervention, ICT (e.g. internet) accessibility and reliability, and community culture and behaviour
need to be concerned during the system implementation. The investment cost for a CPS enabled
waste collection infrastructure, and the facility is still a challenge, as the family and small business
manage the majority of the waste bank. The effort from the Indonesian Government to provide
waste management initiative has not yet covered the technology development. In addition, the
implementation of CPS introduces new autonomous technologies that require skill and knowledge
of the users to adapt to the proposed system. Accordingly, there is an urgent need to educate users
to be familiar with the system. However, there is limited information and knowledge available
regarding the new waste management system. The lack of skills and knowledge for maintaining,
upgrade, and repair the new system is also the challenge for waste banks to sustain their waste
management system.
Furthermore, CPS needs communication between cyber and physical technology and
environment to operate the optimum waste collection system. The use of sensors to identify the
waste, the waste handling through the conveyor, the recording waste data to be saved in database
memory, the measurement of waste, the monitoring waste indicators and actuators, and the
monitoring environment are essential elements of CPS enabled waste collection system. However,
the challenges are how to manage appropriately and synergy the communication between the
physical and computational components, as there are potential unexpected behaviours,
unpredictable environmental and circumstance which can affect the reliability of CPS computation
and processing.
Even though, the Indonesian government has committed to optimizing the effort to solve the
waste problem. However, Government intervention associated with waste treatment technology is
still minimal while the investment cost for introducing the CPS and its infrastructure is expensive.
Limited bandwidth and internet access in Indonesia limit the system capacity to meet the high
performance of the collection system. Therefore, to successfully apply CPS enabled waste
collection system, people require getting involved in the system through their daily life, culture,
behaviours, and community interactions. Proactive communities which are aware and understood
the importance of being involved in the waste collection system is urgently required.
Comprehensive analysis for potential implementation and implication of the purposed waste
management system are become the further research development.
6. Conclusion
The evolution of technology has brought significant changes to our daily life, including how to
manage our waste responsibly and sustainable through the implementation of CPS in waste
collection system. The CPS adopted in this research improves the collection system of Indonesian
non-organic waste. The CPS has different approaches in identifying the waste characteristic
through sensors, actuators, automatic technology, data base and IOT system. Deploying the CPS
allows the automatic sorting, measuring, transporting, pressing of the waste as well as waste
monitoring and reporting, which improve the efficiency of time, resource and energy, to increase
transparency, accessibility and traceability of the current waste collection process and information.
Acknowledgments
This article is part of research titled “Smart City Platform Development for Smart and
Sustainable Waste Collection and Sorting” funded by the Ministry of Research and Higher
Education of Republic Indonesia, 2019.
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