Conceptualizing tools for autonomous vehicle storage and retrieval systems

Autonomous vehicle storage and retrieval systems utilize rail-guided vehicles moving in rectilinear paths within and between the aisles of unit load storage racks. Vertical vehicle movement is provided by lifts installed at fixed locations along the rack periphery. As an alternative to traditional automated storage and retrieval systems, autonomous vehicle systems enable users to match vehicle fleet size and the number of lifts to the level of transactions demand in a storage system. Analytical conceptualizing tools based on the features of autonomous vehicle systems are proposed for modelling expected performance as a function of key system attributes including storage capacity, rack configuration and fleet size. The models are demonstrated for a sample problem and compared with analytical conceptualizing tools used for automated storage and retrieval systems.     

Instantaneous velocity field measurements in unsteady gas flow by speckle velocimetry

An application of speckle photography techniques to unsteady gas flow measurements is presented. The instrumentation developed for the analysis of double-exposure photographs by digital signal processing is described. It is shown that 2-D velocity fields can be measured even when the flow is not perfectly 2-D. Accuracy and limitations of these techniques are discussed.     

An efficient cycle time model for autonomous vehicle storage and retrieval systems

A computationally efficient cycle time model for conceptualizing autonomous vehicle storage and retrieval systems and comparing their performance with crane-based automated storage and retrieval systems is presented. The model is based on an iterative computational scheme exploiting random storage assumptions and queuing model approximations. Relative to earlier models, the procedure scales up efficiently for large problems thereby enabling more extensive search of a design solution space. Simulation based validation studies suggest that model accuracy is adequate for system conceptualization. The procedure is demonstrated using realistically sized sample problems.     

半挂式车辆自主驾驶的轨迹跟踪控制研究

该文针对半挂式车辆的自主驾驶,设计一种基于迭代线性二次型调节器(iLQR)的轨迹跟踪控制器.通过深入研究转向过程中半挂式车辆的运动,建立满足非完整性约束的非线性车辆运动学模型,并根据期望轨迹对其进行线性化,得到线性的轨迹跟踪误差模型.基于扩展卡尔曼滤波器设计车辆状态观测器,估计车辆的航向角.通过对期望轨迹进行基于三次B...     

无缆自治水下机器人运动控制技术研究

针对无缆自治水下机器人满足不同任务要求下的运动控制进行了研究。引入极大似然参数估计算法获取水下机器人水动力系数,并在此基础上搭建起6自由度运动仿真系统。通过改进传统水下机器人体系结构中的推力器布置方式、推力分配策略、运动控制方法和船位推算算法,使得无缆自治水下机器人的运动控制系统在保持原有精确定位功能的同时也能完成远距离高速航行等任务,从而解决了高速航行给无缆自治水下机器人带来的一系列问题。海上进行的速度控制、位置控制和长航程导航试验,验证了无缆自治水下机器人在所提出的运动控制系统控制下可以满足任务需求,具有一定的工程应用价值。     

Analytical model to estimate performances of autonomous vehicle storage and retrieval systems for product totes

In today's competitive scenario of increasingly faster deliveries and smaller order sizes, material-handling providers are progressively developing new solutions. A recent, automated material-handling technology for unit load storage and retrieval consists of an autonomous vehicle storage and retrieval system (AVS/RS). The present paper presents an analytical model to estimate the performances (the transaction cycle time and waiting times) of AVS/RS for product tote movement. The model is based on an open queuing network approach. The model effectiveness in performance estimation is validated through simulation.     

Contrast-enhancement techniques for particle-image velocimetry

In video-based particle-image velocimetry (PIV) systems for fluid mechanics research, it is sometimes desirable to image seed particles to be smaller than a camera pixel. However, imaging to this size can lead to marginal image contrast such that significant numbers of erroneous velocity vectors can be computed, even for simple flow fields. A variety of image-enhancement techniques suitable for a low-cost PIV system that uses video cameras are examined and tested on three representative flows. Techniques such as linear contrast enhancement and histogram hyperbolization are shown to have good potential for improving the image contrast and hence the accuracy of the data-reduction process with only a 15% increase in the computational time. Some other schemes that were examined appear to be of little practical value in PIV applications. An automated shifting algorithm based on mass conservation is shown to be useful for displacing the second interrogation region in the direction of flow, which minimizes the number of uncorrelated particle images that contribute noise to the data-reduction process.     

Edge technique for high-accuracy Doppler velocimetry

The edge technique has been used in simple laboratory experiments to demonstrate velocity measurements with an experimental error, standard deviation, as small as 12 cm/s, which represents a Doppler-shift measurement accuracy of 8 parts in 10(10) of the laser frequency. An edge filter with a spectral width 140 times larger than the measurement accuracy achieved is used. The measurements are made in the presence of short-term frequency drifts equivalent to velocities of 5 to 10 m/s, which are eliminated by the differential frequency measurement used in the edge technique. Long-term frequency drifts are compensated for by servo locking the edge to the laser frequency. High accuracy is achieved for a range of locations on the edge from 0.33 to 4.5 fringe half-widths (half-width at half-maximum), a dynamic range greater than 500 times the measurement accuracy.     

Stellar speckle camera for spectroscopy

A stellar speckle spectrometer with increased performance and flexibility has been newly developed. In this new spectrometer two synchronized detectors are used to observe a dispersed speckle pattern and a specklegram. A reflection grating is employed as a disperser. We obtained a stellar spectrum with the diffraction-limited spatial resolution of a telescope by referring to specklegrams that are simultaneously recorded with dispersed speckle patterns. A preliminary observational result is also shown.     

Phase-conjugate holographic system for high-resolution particle-image velocimetry

A novel holographic particle-image velocimeter system has been developed for the study of threedimensional (3-D) fluid velocity fields. The recording system produces 3-D particle images with a resolution, a signal-to-noise ratio, an accuracy, and derived velocity fields that are comparable to high-quality two-dimensional photographic particle-image velocimetry (PIV). The high image resolution is accomplished through the use of low f-number optics, a fringe-stabilized processing chemistry, and a phase conjugate play-back geometry that compensates for aberrations in the imaging system. In addition, the system employs a reference multiplexed, off-axis geometry for the determination of velocity directions with the cross-correlation technique, and a stereo camera geometry for the determination of the three velocity components. The combination of the imaging and reconstruction subsystems makes the analysis of volumetric PIV domains feasible.     

Photophoretic velocimetry for the characterization of aerosols

Aerosols are particles in a size range from some nanometers to some micrometers suspended in air or other gases. Their relevance varies as wide as their origin and composition. In the earth's atmosphere they influence the global radiation balance and human health. Artificially produced aerosols are applied, e.g., for drug administration, as paint and print pigments, or in rubber tire production. In all these fields, an exact characterization of single particles as well as of the particle ensemble is essential. Beyond characterization, continuous separation is often required. State-of-the-art separation techniques are based on electrical, thermal, or flow fields. In this work we present an approach to apply light in the form of photophoretic (PP) forces for characterization and separation of aerosol particles according to their optical properties. Such separation technique would allow, e.g., the separation of organic from inorganic particles of the same aerodynamic size. We present a system which automatically records velocities induced by PP forces and does a statistical evaluation in order to characterize the particle ensemble properties. The experimental system essentially consists of a flow cell with rectangular cross section (1 cm(2), length 7 cm), where the aerosol stream is pumped through in the vertical direction at ambient pressure. In the cell, a laser beam is directed orthogonally to the particle flow direction, which results in a lateral displacement of the particles. In an alternative configuration, the beam is directed in the opposite direction to the aerosol flow; hence, the particles are slowed down by the PP force. In any case, the photophoretically induced variations of speed and position are visualized by a second laser illumination and a camera system, feeding a mathematical particle tracking algorithm. The light source inducing the PP force is a diode laser (lambda = 806 nm, P = 0.5 W).     

Iteration algorithm for computer-aided speckle interferometry

An iteration algorithm for the analysis of speckle interference patterns is presented. First, four digitized phase-shifted patterns are locally averaged. The phase information is then extracted by the usual phase shift algorithm. The wrapped phase is in turn used to reconstruct four new phase-shifted patterns. These three steps form a cycle. Repetition of the three steps has a great effect on suppressing speckle noise. Theoretical study shows that the iterated phase converges to a perfect result under ideal conditions. In general, the iteration causes little error but improves the phase information a great deal. The signal-to-noise ratio rises when additional iterations are performed.     

Deadlock control of autonomous vehicle storage and retrieval systems via coloured timed Petri nets and digraph tools

This paper addresses the deadlock control problem for the autonomous vehicle storage and retrieval system (AVS/RS). For an AVS/RS with several autonomous vehicles running in bi-direction, deadlock control is one of the key issues in the implementation of AVS/RS. The cycle-deadlock is the main type of deadlock in AVS/RS. In the paper, the dynamic model of AVS/RS is investigated by using coloured timed Petri nets (CTPN). Based on the CTPN model, a route digraph is built to detect cycle-deadlock in AVS/RS with digraph tools; the necessary and sufficient conditions of deadlock-free are established. Moreover deadlock-free control policies are proposed, the critical state in deadlock free is also identified and FCFS policy is applied to solve it. Finally, a case study is given to validate the policies.     

In-line holographic particle image velocimetry for turbulent flows

A holographic system has been developed to measure the velocity field in three-dimensional flow regions. The system records the position of small tracer particles on two in-line holograms of the flow obtained simultaneously. Two exposures are recorded on each hologram. The flow velocity is derived from the displacement of the particles between exposures. A general design procedure is described for selecting the particle diameter and the concentration on the basis of the configuration of the flow facility and the resolution characteristics of the holographic imaging system. The system was implemented in a 2 ft x 2 ft (1 ft = 30.48 cm) water channel to measure the velocity field in a turbulent free-surface jet. The spatial resolution of the system is 1 mm, and the field of view is 100 mm, approximately. Measurements performed with this system are compared with results reported in the literature and are found to be in good agreement.     

Analog sensor design proposal for laser Doppler velocimetry

Laser Doppler velocimetry (LDV) has been widely used for many years in fluid mechanics to measure particle velocity. However, in most applications, i.e., in industrial processes, such a system is often too expensive. This paper discusses a technique based on the use of an analog phase-locked loop and an analog integrator system for processing laser Doppler velocimeter data to infer particle velocity. This method appears to be suitable for designing low-cost integrated LDV sensors. A SIMULINK program has been written in order to validate the method for velocities in the 10-80 mm/s range. Finally, the performance of the estimator is illustrated by Monte-Carlo simulations obtained from synthesized Doppler signal.