# Geo-Spatial Context Provision for Digital Twin Generation
## 2 CPS-Based Vaccine Logistics
### General Workflow  
The set-up of the scenario and the minimal number of involved steps for transport preparation can be seen in Figure 1. The process starts with a package containing vaccines arriving at the intended input location (in our simplified set-up this would be the door of the room). A photoelectric barrier sensor that is part of the room registers the arrival. This triggers the further handling of the package through the robot.  
**(Step 1)** The robot moves to the location of the package and reads a label attached to it, which provides the necessary information for the following steps (i.e., the type of vaccine and the specific transport assignment, and following from that the sensors that are required). The robot picks up the package.  
**(Step 2)** The robot moves the package to the shelf on the left side of the room for intermediate storage.  
**(Step 3)** The robot moves to the shelf on the upper right side of the room, which contains a selection of sensors to equip a transport box with. Based on the vaccine-specific information read from the label previously, the robot picks up a sensor (due to the capabilities of the arm only one sensor can be carried at a time).  
**(Step 4)** The robot moves over to the shelf housing the transport boxes on the lower left of the room. The robot uses the arm unit to insert the sensor into the intended cavity on the side of the transport box. Upon successful insertion, the sensor is activated and begins actively sensing its environment. Sensor information can be accessed by the transport box, which can execute different actions based on the read values and additional information concerning the payload and transport assignment. In case further sensors are required, the robot returns to the shelf containing the sensors and repeats the preceding step, until the box is equipped with all the necessary sensors.  
**(Step 5)** Once a box has been successfully prepared, the robot moves over to the shelf on the left side of the room and picks up the vaccine package intended for the transport container.  
**(Step 6)** The robot transports the package to the shelf containing the transport boxes and puts it into the box it prepared in the previous steps. The robot connects to the box (which has network capabilities) to share information. This includes information about the payload and the transport assignment (influencing which actions the box takes in response to certain sensor readings) and the sensors that were equipped. When the box is notified that the preparation steps have been completed successfully and receives the corresponding  
Figure 1: Vaccine logistics illustration case - Schematic of the system set-up and the minimal number of involved steps.  
information, it closes itself automatically and informs the robot with some confirmation to be ready for transport.  
**(Step 7)** Finally, the robot picks up the box, moves it to the output destination, and places it there.  
Abstracting the behavior of the robot, it can be seen as a loop repeating the following two actions for each step: move to way-point and interact with environment.