Tese de mestrado integrado. Engenharia Electrotécnica e de Computadores (Major automação). Faculdade de Engenharia. Universidade do Porto. 2010

Cada vez mais empilhadeiras robóticas são utilizadas para a tarefa de transporte em indústrias e armazéns. O gerenciamento dessas empilhadeiras é a chave para um sistema de transporte eficiente visando maximizar sua taxa de transferência. Um dos principais problemas na operação desses sistemas é a decisão de roteamento das empilhadeiras dentro dos depósitos. Este trabalho propõe um algoritmo de roteamento com a capacidade de realizar a otimização das rotas em tempo-real. Na computação da rota são considerados o desvio de obstáculos, as dimensões e as propriedades físicas das empilhadeiras, pois uma trajetória calculada deste ponto de referência está livre de colisões durante a execução do roteamento. Para realizar os testes foram utilizados os softwares Player/Stage, os quais permitem que simulações do funcionamento do sistema de roteamento sejam realizadas antes que os algoritmos sejam testados em robôs reais. Através dos testes simulados, analisou-se a capacidade de locomoção das empilhadeiras referente ao calculo da melhor rota no ambiente proposto, com o intuito de melhorar o ganho de performance no planejamento de trajetória. / Forklift robots have been increasingly used in transport tasks in industries and warehouses. The key to an efficient transport system is held by a sound management of these forklifts that aim to maximize the transference rate. One of the main problems faced by the transportation systems is routing decision for forklifts within warehouse. The present paper proposes a routing algorithm to calculate optimal routes in real time. Therefore, its computation takes into account obstacle avoidance, the dimension and physical properties of the forklifts, since the calculated path regarding the routing is conflict-free. Simulations were carried out using the software Player/Stage before the algorithms were tested in a real robot. Simulated tests were analyzed in order to observe the locomotion ability of forklifts regarding calculation of the best route in the environment proposed to improve the trajectory planning performance will be assessed.

Cada vez mais empilhadeiras robóticas são utilizadas para a tarefa de transporte em indústrias e armazéns. O gerenciamento dessas empilhadeiras é a chave para um sistema de transporte eficiente visando maximizar sua taxa de transferência. Um dos principais problemas na operação desses sistemas é a decisão de roteamento das empilhadeiras dentro dos depósitos. Este trabalho propõe um algoritmo de roteamento com a capacidade de realizar a otimização das rotas em tempo-real. Na computação da rota são considerados o desvio de obstáculos, as dimensões e as propriedades físicas das empilhadeiras, pois uma trajetória calculada deste ponto de referência está livre de colisões durante a execução do roteamento. Para realizar os testes foram utilizados os softwares Player/Stage, os quais permitem que simulações do funcionamento do sistema de roteamento sejam realizadas antes que os algoritmos sejam testados em robôs reais. Através dos testes simulados, analisou-se a capacidade de locomoção das empilhadeiras referente ao calculo da melhor rota no ambiente proposto, com o intuito de melhorar o ganho de performance no planejamento de trajetória. / Forklift robots have been increasingly used in transport tasks in industries and warehouses. The key to an efficient transport system is held by a sound management of these forklifts that aim to maximize the transference rate. One of the main problems faced by the transportation systems is routing decision for forklifts within warehouse. The present paper proposes a routing algorithm to calculate optimal routes in real time. Therefore, its computation takes into account obstacle avoidance, the dimension and physical properties of the forklifts, since the calculated path regarding the routing is conflict-free. Simulations were carried out using the software Player/Stage before the algorithms were tested in a real robot. Simulated tests were analyzed in order to observe the locomotion ability of forklifts regarding calculation of the best route in the environment proposed to improve the trajectory planning performance will be assessed.

This thesis describes a navigational strategy for automatically guided vehicles and a behavioural control implementation using a modified zero order Sugeno fuzzy inference engine. Animals are examined as a model of intelligent behaviour and behavioural control implementations discussed and compared. The features and the requirements of a behavioural control implementation are identified and modifications to Sugeno inferencing are then described which allow these to be met. A successful implementation is then presented. The navigation task is examined, as are various methods of representing space. Special structural features of constrained spaces are identified. A route based navigation system exploiting diese features is then developed. The strategy combines the representation of space with the task description into an easily communicated message. This navigational strategy is then successfully integrated with the behavioural control implementation presented earlier. The influence of spatial structure on the complexity of the navigation task is investigated with a view to the categorisation of space. A definition of maze-spaces is developed from this. Conclusions are then drawn on the themes of the work, and suggestions made for further investigations.

No description available.

Dissertação apresentada para obtenção do grau de mestre em Engenharia Electrotécnica e de Computadores (Área de especialização de Informática Industrial), na Faculdade de Engenharia da Universidade do Porto, sob orientação do Prof. Doutor Adriano Silva Carvalho

Tese de Mestrado Integrado. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 2013

Due to globalisation, transport policies have been changing and adapting to increase the demands and the needs of the market. Sea ports have a major role in the economic system in which they coordinate the transport of large volumes of cargo in long distances with a high level of productivity. The growth of handling cargo has led to increase congestion in roads because roads are the most used method to transport goods between port and its hinterland. This is the reason why many West European ports are working with train terminals as an alternative form of transport. As part of an intermodal case of study, we have focused on train terminal operations at the port of Barcelona, because currently there is not enough capacity, but it is expected to increase within the next ten years. Moreover, because of the limited geographicalarea, it is important to take in consideration the method for managing the logistics within the container terminal in Barcelona. The objective of this study is to develop a model to analyse and evaluate different types of horizontal transport between the yard and the train terminal at the port of Barcelona in order to identify the most suitable transport system. We compare five different transport systems under three scenarios. The results indicate that some horizontal transport systems are more efficient than others.

Today, there are industries that utilize AGVs to transport goods and materials from one location to another. For smaller scale industries it is costly to have a custom made AGV for their manufacturing unit, so they modify the shape of an AGV to accommodate the necessity of carrying and transporting goods. When the shape of an AGV is modified the built-in sensors will not detect the change in shape of the AGV. Hence, there is a risk that the AGV may collide with objects. Also in some AGVs floor sensors are missing to detect the presence of floor/no floor in front of the AGV, which can be a hazardous situation as there are chances of the AGV falling off from the surface. An example of such an AGV is the Patrolbot which can travel around in an industrial premise wirelessly, but needs addition of such sensors to avoid collisions with the modified structure. A Patrolbot has been used in this thesis work and ultrasonic sensors are utilised for obstacle detection with a modified structure and a built-in laser scanner is studied for mapping purpose. The results of this master thesis was that the ultrasonic sensors were tested under various conditions and results were derived. To obtain the same level of results every time it is required to maintain the conditions on which the ultrasonic sensors rely.

Nesse trabalho utilizou-se o reator anaeróbio horizontal de leito fixo (RAHLF) para produção de ácidos graxos voláteis (AGVs). O reator, com volume total de 2,38 litros, foi preenchido com partículas de argila expandida e alimentado com substrato sintético à base de glicose. Com concentração de glicose de 2000 mg/L, sem adição de alcalinizante e com tempo de detenção hidráulica (TDH) de 2 horas, houve produção de ácidos acético, butírico e propiônico. Com a variação do (TDH) de 2 horas para 0,5 hora, em condições idênticas, houve redução da produção do ácido butírico. Na segunda condição testada, em que a concentração da glicose foi 4000 mg/L, a concentração dos três ácidos aumentou, além de ser produzido o ácido capróico. Nas três últimas experimentações, com a glicose a 2000 mg/L e alcalinizada com bicarbonato de sódio, nas concentrações de 0,1000 e 2000 mg/L e TDH em 0,5 hora, as produções do ácido acético e propiônico aumentaram, enquanto que houve diminuição da produção dos ácidos butírico e capróico. A extração dos AGVs foi realizada em coluna de 320 mL de leito, com resina de troca iônica Dowex Marathon A - tipo aniônica base forte de amina quaternária em gel de divinil benzeno-estireno como matriz. O primeiro sistema extratante testado, foi com a resina condicionada na forma \'CL POT. -\' e a eluição foi feita com solução de \'NA\'\'CL\' em várias concentrações. Os percolados apresentaram alto teor de cloreto, inconveniente para as recuperações dos AGVs ou para o seu descarte no ambiente. O sistema testado com a resina condicionada na forma \'OH POT.-\' e a eluição com solução de \'NA\'\'OH\', em pH 13,5, demonstrou ser viável para a extração e concentração dos AGVs, com os fatores de concentração acima de 25, além de 80% do volume do percolado da fixação ser adequado para a devolução ao ambiente. No último teste o sistema utilizado foi o mesmo, com a alimentação apresentando a relação AVTs : sulfato de 1:1,27 e procurou-se fixar a máxima quantidade de AVTs. A eluição foi com solução de \'NA\'\'OH\' em três diferentes valores de pH: 12, 12,5 e 13. A presença do sulfato, nessa relação, dificultou a fixação dos AVs e, na eluição, competiu com os AVs, resultando em baixos fatores de concentração entre 2 e 3. Um volume de 47% do percolado da fixação e outro, de 29% da eluição, apresentou qualidade para o descarte. Na extração com solvente foram testados dois extratantes, a Alamina 336 (tri-octil/decil amina) e a Alamina 304-1 (tri-n-dodecilamina). O melhor sistema extratante, de solução de AVs impurificada com alto teor de sulfato, foi com a Alamina 336 condicionada com ácido nítrico. Entretanto, o consumo do ácido é alto o suficiente para inviabilizar economicamente a extração. Extração em sistema com baixo teor em sulfato e pH igual a 4,0 demonstrou ser técnicamente viável. Todavia, os valores da DQO residual nos refinados aquosos de todos os sistemas impossibilitam a devolução direta ao ambiente. / This work used the horizontal-flow anaerobic immobilized biomass (HAIB) reactor in order to produce volatile fatty acids (VFAs). The reactor, filled up with expanded clay particles, had a total volume of 2,38 liters and was fed with glucose based synthetic substrate. Production of acetic, butyric, and propionic acids occurred at an influent glucose concentration of 2000 mg/L without any addition of buffer agent and at a hydraulic retention time (HRT) of 2 hours. A reduction in butyric acid production occurred with the decrease of the HRT from 2 to 0,5 hours, with the reactor operating in identical conditions. In a second test condition, where the influent glucose concentration was increased to 4000 mg/L, the production of the three acids increased, beside the production of caproic acid. In the last three experiments, with influent glucose concentration at 2000 mg/L and buffered with sodium bicarbonate at concentrations of 0,1000 e 2000 mg/L and HRT of 0,5 hours, the production of acetic and propionic acids increased, whereas the production of butyric and caproic acids decreased. VFA extraction was accomplished in a 320 mL bed containing the ionic exchange resin Dowex Marathon A - strong base anionic type of quaternary amine in gel of benzene-styrene divinyl as matrix. The first extractant system was tested with the resin conditioned as \'C L POT.-\' and the elution was done with a solution of \'NA\'\'CL\' at different concentrations. The percolates presented high chloride concentration, which is inconvenient for the recovery of VFA or their release to the environment. On the other hand, the system with resin conditioned as \'OH POT.-\' and the elution with a solution of \'NA\'\'OH\' at pH 13,5 showed to be a viable option for the extraction and concentration of VFA with concentration factors above 25. In addition, the 80% of the volume of the fixation percolate is suitable for the devolution into the environment. The same system was used in the last test, however with the feeding at total volatile acids (TVA): sulfate ratios of 1:1,27 trying to fix the maximal amount of TVAs. The elution was done with \'NA\'\'OH\' at three different pH values: 12, 12,5 and 13. The presence of sulfate at this ration hampered the fixation of the volatile acids (VA) and during the elution competed with the VA, resulting in low concentration factors between 2 and 3. The volume of 47% of the fixation percolate and the volume of 29% of the elution presented good quality for discharge. Two extractants were tested in the extraction tests with solvents: Alamine 336 (tri-octyl/decyl amine) and the Alamine 304-1 (tri-n-dodecylamine). The best extractant system for the VA contaminated with high concentrations of sulfate was the Alamine 336 conditioned with nitric acid. The consumption of acid, however, was high enough to make the extraction economically unfeasible. On the other hand, extractions in systems with low sulfate concentrations and pH of 4 showed to be technically feasible, even though the residual chemical oxygen demand (COD) in the aqueous refined of all systems was too high for their direct devolution to the environment.