The impact of dwell point policy in an Automated Storage/Retrieval System

Automated storage and retrieval systems (AS/RS) are devices that allow intensive storage of materials. They can improve the supply chain performance, assuring more available volume for storage, lower labour costs and higher handling throughput of warehousing. Furthermore, the automated control allows the probability of errors in storage and retrieval to be minimised, along with the probability of product damage during movements. The purpose of the paper is to find the best solution in order to find the optimal dwell point policy, among different rules, able to minimise the travel time and distance travelled by stacker cranes, and consequently warehousing costs. An original and innovative model was developed in order to investigate the dwell point position for random allocation of unit loads. A software platform was developed to validate the proposed model by computer simulations. The performance of the system was analysed in a parametric/continuous way, varying at the same time the number of spans and levels, the height of the input/output point and the interval between requested missions. The results show that the developed model allowed convenience areas to be identified among the policies in which the travel time, distance travelled, and consequently warehousing costs are minimised, by varying different parameters.     

Modelling load retrievals in puzzle-based storage systems

Puzzle-based storage systems are a new type of automated storage systems that allow storage of unit loads (e.g. cars, pallets, boxes) in a rack on a very small footprint with individual accessibility of all loads. They resemble the famous 15-sliding tile puzzle. Current models for such systems study retrieving loads one at a time. However, much time can be saved by considering multiple retrieval loads simultaneously. We develop an optimal method to do this for two loads and heuristics for three or more loads. Optimal retrieval paths are constructed for multiple load retrieval, which consists of moving multiple loads first to an intermediary ‘joining location’. We find that, compared to individual retrieval, optimal dual load retrieval saves on average 17% move time, and savings from the heuristic is almost the same. For three loads, savings are 23% on average. A limitation of our method is that it is valid only for systems with a very high space utilisation, i.e. only one empty location is available. Future research should investigate retrieving multiple loads for systems with multiple empty slots.     

Designing an optimal turnover-based storage rack for a 3D compact automated storage and retrieval system

Compact, multi-deep (3D) automated storage and retrieval systems (AS/RS) are becoming increasingly popular for storing products. We study such a system where a storage and retrieval (S/R) machine takes care of movements in the horizontal and vertical directions of the rack, and an orthogonal conveying mechanism takes care of the depth movement. An important question is how to layout such systems under different storage policies to minimize the expected cycle time. We derive the expected single-command cycle time under the full-turnover-based storage policy and propose a model to determine the optimal rack dimensions by minimizing this cycle time. We simplify the model, and analytically determine optimal rack dimensions for any given rack capacity and ABC curve skewness. A significant cycle time reduction can be obtained compared with the random storage policy. We illustrate the findings of the study by applying them in a practical example.     

Belt-conveyor based efficient parallel storage system design and travel time model analysis

This paper presents a belt-conveyor based parallel storage system (PSS). Compared with the conventional AS/RS, it has advantages including more efficient utilisation of storage space, and faster storage and retrieval of products. The PSS consists of three components: the automated retrieval system (ARS), the automated storage system (ASS) and the compact storage rack (CSR). In the ARS, a vertical screw conveyor is used to facilitate the vertical movement of the unit loads, while a powered belt-conveyor is used for the horizontal dimension. Additionally, a powered conveyor system enables motion along the depth dimension, meaning each lane in the CSR is connected to several storage cells. Horizontal belt-conveyor and powered conveyor in the lane constitute cross-belt which causes the parallel process. On the other side of the rack, a unit load lift, a RGV lift, several rail-guided vehicles and a buffer rack constitute the ASS. Based on the system, we formulate separate travel-time models for ARS and ASS, under the assumption of randomised, uniformly distributed storage rack positions. Computer simulation with Matlab is used to validate the models, and optimise the automated storage system.     

钢货架结构研究现状与关键技术

随着物流和电商行业的飞速发展,钢货架结构从单纯提供货物存储功能的简单机械类产品逐步向高位立体库、库架合一式建筑发展,这对货架结构的安全性提出更高要求。与传统钢框架结构相比,钢货架结构的托盘货载远大于结构自重,竖向荷载活恒比值可达10∶1量级;主要竖向承重构件多采用连续开孔薄壁截面,其性能受到局部屈曲、畸变屈曲、整体屈曲以及各屈曲模式间相互作用的影响;梁柱节点和柱脚节点多为半刚性挂齿式机械连接,表现出强非线性和捏拢滑移滞回特征;竖向支撑体系对整体结构稳定性的影响机制和有效性。另外,在地震作用下,货架结构的破坏模式除了主要承重构件的破坏和整体结构的垮塌外,还存在托盘货载跌落导致的货物、结构破坏和人员伤害。在钢货架结构抗震分析中,托盘货物的滑动和跌落应属于一种极限状态加以考虑,托盘与横梁间的动力摩擦系数将成为评估结构性能的一个重要参数。结合国内外已有研究成果,该文基于钢货架结构的特点,评述了现有的研究方法,综述了各基本结构要素的力学行为、整体结构的稳定性态及抗震性能,探讨了研究中的关键问题。     

Improvement of AS/RS performance using design and application of common zone

Minimization of overall queue length in AS/RS is studied in this research. In general, class-based storage policy is recommended for overall AS/RS operation, but it has a rack shortage problem under demand variation. To resolve this problem, an area along the board of two classes in AS/RS racks is allocated and is named the common zone. This zone is designed to handle the rack shortage problem associated with the items in a particular class under class-based storage policy. Thirty percent common zone size is determined as the most favorable allocation among various sizes through simulation experiments. This particular size common zone policy is compared with other well-known policies such as class-based, relocation, and random storage policy. These four operation policies under three different levels of workloads with demand variations are simulated. Crane moving time, rack shortages, delay times as well as throughputs are checked for the policy evaluation.     

An integrated storage assignment method for manual order picking warehouses considering cost,workload and posture

This paper presents an integrated storage assignment method for low-level picker-to-parts order picking warehouses taking into account economic and ergonomic objectives. Three different pallet rack layouts are studied in this paper, namely (a) picking from full pallets on the floor, (b) picking from half-pallets on the floor, and (c) picking from half-pallets on the upper rank of the shelf. First, cost functions are developed to assess the total order picking performance impact of these different pallet rack layouts. Second, with regard to workload, the metabolic cost and energy expenditure rates for picking from the different rack layouts under study are derived. Third, for assessing the working posture during order picking, the Ovako Working Posture Analysing System index is used where the required data is collected using a motion capturing system. The developed models are combined to propose a heuristic storage assignment procedure that supports the decision of which item to store on which pallet. The developed storage assignment method is then applied to an industrial case study. The results of the paper support warehouse managers in assessing the order picking storage assignment from an ergonomics viewpoint and in estimating its impact on financial order picking performance.     

Propagation of unit location uncertainty in dense storage environments

Dense storage systems provide high-space utilisation; however, because not all units are immediately accessible, selectively offloading units can require shifting of other stored units in order to access the requested unit. Given an initial certainty in unit location, a discrete time Markov Chain is developed to quantify the growth of unit location uncertainty as a function of retrieval requests. As the first to mathematically model uncertainty propagation in dense storage operations, metrics are developed to analyse the model. A theoretical understanding of the relationship among storage density, retrieval times and unit location uncertainty is provided. Finally, a case study using inventory and load plan data from a military application illustrates how the developed models can be used by managers to evaluate selective offloading policies and layouts.     

乏燃料贮存格架在组件跌落事故中的冲击分析

为解决乏燃料贮存格架在组件跌落事故中的冲击分析问题,对ANSYSLS-DYNA程序在弹塑性条件下的冲击分析功能进行开发,并运用于300 MW压水堆核电厂乏燃料贮存格架受乏燃料组件撞击的仿真分析中,采用应变失效和变形失效的方法对乏燃料贮存格架进行安全评定,证明现有的设计满足安全要求。所应用的弹塑性冲击分析方法,以及对乏燃料贮存格架评定的方法同样适用于其它核电设备。     

A heuristic travel time model for random storage systems using closest open location load dispatching

A heuristic method is proposed for estimating travel times in unit load random storage systems where incoming loads are dispatched to the closest available storage positions. A queuing model representation is used where servers correspond to storage positions and the service rate is based on the turnover distribution of stored loads. The resultant state distribution is applied to approximate storage position occupancy probabilities useful for generating storage and retrieval travel time estimates. Computational results suggest that the heuristic procedure yields smaller errors in random storage travel time estimates than alternative models.     

Optimal placement and sizing of harmonic filters aboard an electric propulsion ship

An optimisation technique using simulated annealing is described, in order to find the best placement of the harmonic filters to be installed in a distribution system with their minimum power size. The filtering currents are then calculated not to cancel the resulting harmonic voltages but to reduce their values with respect to the fixed limits. The objective is to minimise the power size in view of maximum savings in the equipment cost. The aboard power system of an electric propulsion ship with a great number of nonlinear loads is analysed in order to illustrate the efficiency of the optimisation method.     

Travel-time models and fill-grade factor analysis for double-deep multi-aisle AS/RSs

Double-deep multi-aisle automated storage/retrieval systems are increasingly applied for storing and retrieving unit loads, with advantages of increased space utilisation, reduced number of aisles and improved efficiency of storage rack (S/R) machines. In such systems, the retrieval process may consist of the rearrangement of blocking loads, based on the assumptions of uniformly distributed storage locations and random storage policy. We formulate analytical travel-time models of both single- and dual-command cycles under three rearrangement rules. We validate the analytical travel-time models by simulation and conduct numerical experiments to analyse the effect of the number of aisles an S/R machine serves, the fill-grade factor and the command cycles on the expected travel time of the S/R machine. The results show that the expected travel time of the S/R machine is increasing with the increase in the number of aisles an S/R machine serves and the increase in the fill-grade factor, and dual command cycle outperforms single-command cycle in terms of cycle time. To deal with the trade-off between the storage space cost and the operational cost of the S/R machine, we develop a decision model for finding an optimal fill-grade factor to minimise the total cost. We find the condition when an optimal fill-grade factor exists and show how to calculate it. Based on the decision model, we compare the performance of double-deep multi-aisle automated storage/retrieval system (AS/RSs) and single-deep single-aisle AS/RSs. The results show that double-deep multi-aisle AS/RSs outperform single-deep single-aisle AS/RSs in terms of total cost, although double-deep multi-aisle AS/RSs need more storage locations.     

定形相变蓄热单元周期性释热实验分析

针对相变蓄热材料实际应用中的周期性释热情况,本文采用响应面法设计实验方案,对一种基于圆环形赤藻糖醇/膨胀石墨复合相变材料的间接式蓄热器进行周期性释热实验.利用蓄热材料的释热量、释热动力、有效能利用率对蓄热单元的释热性能进行分析.结果表明:当间歇时间为20 min,材料累计释热时间为40 min,总释热功率、斯蒂芬数、火...     

Optimal storage rack design for a multi-deep compact AS/RS considering the acceleration/deceleration of the storage and retrieval machine

This paper explores the optimal storage rack design for a multi-deep compact Automated Storage and Retrieval System (AS/RS) considering the acceleration and deceleration of storage and retrieval (S/R) machine. The expected travel time under the single-command cycle and dual-command cycle for a random storage strategy is derived. Based on the travel time, the general models we propose calculate the optimal ratio between three dimensions that minimises the travel time under different speed profile scenarios. From the result, it is proven that the optimal storage rack design model in the constant speed situation can be treated as a special case of the model considering the acceleration and deceleration of S/R machine. Finally, this study investigates the effect of speed profile of S/R machine and fixing dimensions by various numerical experiments.     

Expected travel time and optimal boundary formulas for a two-class-based automated storage/retrieval system

Our paper studies a two-class-based rectangular-in-time automated storage/ retrieval system (AS/RS). We present explicit formulas for the optima! boundary of the two storage areas as well as for the expected single command cycle time for an optimally designed rack. In the basic model each crane handles a single aisle. These formulas provide the designer with a full picture of the quantitative effects of the various factors (i.e., access frequencies of the two storage areas, and dimensions of the rack) on the optimal boundary of the two storage areas and the achievable cycle lime in the warehouse. We also develop expected travel time formulas for the dual command AS/RS with two-class-based storage policies and obtain the optimal boundary with a one-dimensional search procedure. Similar developments (i.e., expected travel time formulas and optimal boundary search procedures) are discussed for AS/RS with a single command policy but with each crane handling multiple aisles.     

Rule of thumb heuristics for configuring storage racks in automated storage and retrieval systems design

A well-known rule of thumb for evaluating storage rack configurations in automated storage and retrieval (ASR) systems is modified to avoid the need for two key assumptions. These are the proportion of single and dual command order picking cycles used in operating a system and the total storage capacity requirements when randomized versus dedicated storage is used. Procedures for generating ASR system cost estimates are also directly coupled with models for estimating the utilization of storage and retrieval machines. Additional performance criteria for evaluation of alternative rack configurations are proposed. The modified rules of thumb are also designed for implementation on PC-level hardware, but with adequate computational efficiency for analysing a broad range of rack design alternatives in large-scale applications. They are demonstrated using a realistic sample problem.     

Sequencing the storages and retrievals for flow-rack automated storage and retrieval systems with duration-of-stay storage policy

Sequencing of storages and retrievals is an important topic in the automated storage and retrieval system (AS/RS), which largely influences the throughput performance and the operational cost of an AS/RS. In this paper, the problem of sequencing the storages and retrievals in a flow-rack AS/RS with duration-of-stay storage policy is analysed and a two-step heuristic called the grouping-matching method is proposed for minimising the total travel time of operations. The proposed grouping-matching method assigns unit-loads into groups in the grouping step and matches groups and bins of flow rack in the matching step. Two grouping heuristics are designed for the grouping step. The matching subproblem is formulated as an assignment to be solved. Simulation experiments are conducted to evaluate the effectiveness and efficiency of the grouping-matching method and the two grouping heuristics used for the grouping subproblem.     

Travel time models for double-deep automated storage and retrieval systems

In this paper new analytical travel time models for the computation of cycle times for unit-load double-deep automated storage and retrieval systems (in continuation double-deep AS/RS) are presented. The proposed models consider the real operating characteristics of the storage and retrieval machine and the condition of rearranging blocking loads to the nearest free storage location during the retrieval process. With the assumption of the uniform distributed storage rack positions and the probability theory, the expressions of the single and modified dual command cycle have been determined. The proposed models enable the calculation of the mean cycle time for single and dual command cycles, from which the performance of the double-deep AS/RS can be evaluated. A simulation model of the selected double-deep AS/RS has been developed to compare the performances of the proposed analytical travel time models. The numerical analyses show that with regard to the examined type of double-deep AS/RS with a different fill-grade factor, the results of the proposed analytical travel time models correlate with the results of simulation models of double-deep AS/RS.     

A storage assignment policy in a man-on-board automated storage/retrieval system

This paper deals with a man-on-board automated storage/retrieval system where each customer order consists of a number of different items and is picked one at a time. For the system the problem examined is to allocate storage locations dedicatedly to items so that the total travel time required to pick all the given orders per period is minimized. The problem is shown to be formulated as a variant of the generalized assignment model. A heuristic for the storage layout problem is developed based on the group technology concept considering both order structure and frequency. Through the heuristic, close relationships between items are identified from the order structure, and then based on the relationships the items are compelled to be stored closely in the storage rack following a space-filling curve. Experimental results are provided to describe the performance of the heuristic     

Experimental assessment of energy storage via variable speed compressor

In this study, usage of a variable speed refrigeration system in latent heat thermal energy storage (LHTES) system is investigated to increase energy storage efficiency. Four different compressor speed control cases are compared to obtain a constant heat transfer fluid (HTF) temperature at the inlet of the energy storage tank. These control cases are (i) control with evaporation temperature, (ii) control with ethylene glycol temperature at the outlet section of evaporator, (iii) control with suction pressure of the compressor and (iv) on/off control. By means of the experimental analysis the best control strategy is obtained as control with Case (ii), in terms of stability of inlet temperature of heat transfer fluid, variations of energy efficiency of LHTES and coefficient of performance (COP) of the system. While the Case (ii) provides the most stabile inlet temperature of HTF, Case (iv) represents the worst stability. Besides, the highest energy efficiency (99.0%), exergy efficiency (87.0%) and COP (2.05) values observed in Case (ii). Additionally, the time period to reach the set value is nearly 50 min in Case (i), Case (iii) and Case (iv) on the other hand this unstable initial time period becomes nearly 25 min for Case (ii). As a result, variable speed compressor should be controlled with Case (ii) to stabilize ethylene glycol-water solution temperatures as well as increase efficiency and COP of the system.