Pour résoudre les problèmes lies au trafic important dans les métropoles, de nouvelles alternatives, appelées "Urban Transportation Systems", voient le jour. Celles-ci sont basées sur des véhicules électriques en libre accès. Une fonctionnalité nécessaire de ces systèmes est leur capacité a' se déplacer en convoi. Dans ce manuscrit de thèse, le travail présenté traite de la commande d'un convoi de véhicules urbains. Dans ce mémoire, une modélisation cinématique de type tricycle est adoptée pour représenter le robot mobile. La transformation en système chaîné de ce modèle permet de découpler les commandes latérale et longitudinale. La commande latérale basée sur des techniques de linéarisation exacte, permet d'assurer un suivi de trajectoire avec une tr'es haute précision (puisque les non-linearites du modèle ne sont pas approximées mais au contraire, explicitement prises en compte), indépendamment de la vitesse du robot. La loi de commande longitudinale, basée également sur des techniques de linéarisation exacte, suit une stratégie de commande globale : l''état du convoi est pris en compte, et non pas seulement l'état du véhicule situe immédiatement devant. En fait, le comportement du convoi est étudié à travers les états du leader et du véhicule précédent. L'écart inter-vehicules a réguler est choisi égal à la distance curviligne parcourue le long d'un chemin de référence, ce qui permet d'assurer un comportement cohérent du convoi, y compris lors du suivi de trajectoires a' forte courbure. Afin de prodiguer un confort suffisant aux passagers et d'assurer un fonctionnement en toute sécurité, des fonctions de supervision sont greffées aux lois de commande nominales, d'écrites ci-dessus. Ce module de supervision, nomme "Monitoring", gère également l'insertion ou la désinsertion de véhicules au sein du convoi. Des expérimentations, portées sur des voitures urbaines réelles, nommées Cycabs, permettent de valider les performances de la commande. Pour cela, les véhicules sont équipes d'une communication sans fil de type WiFi. Deux modalités capteurs ont 'et'e envisagées pour localiser les véhicules : principalement un capteur RTK-GPS (Real Time Kinematic Global Positioning System), mais également un système de vision monoculaire.

In today’s fierce competitive global markets, customers are demanding adjustable lot sizes, shorter lead times, higher quality and flexibility; in short, they want it all. In order to stay competitive in the market, companies need to attain both customer satisfaction and cost reduction in production operations. Material Handling Systems (MHS) is the place to accomplish this goal, since they have a direct impact on production. Therefore, the aim of this study was to design an in-house MHS that could be efficient for the production it serves. With this intention, a case-study has been conducted in Bosch Rexroth Japan. During the study, the information gathered through various sources; interviews, observations and measurements. Further, the gathered data is evaluated according to main pillars of the theoretical framework, which includes design principles and physical elements, information and software, human and management. By analyzing the findings from literature review and empirical study, first problems and challenges related to MHSs are identified. Thereafter, possible features that the system should posses are elicited and a design is built out of the selected features. To conclude, the results show that the success is not solely depending on system’s physical attributes; on the contrary, it is more related to rapid and accurate information sharing within the system. Another vital element is the interaction between system and the people, who are utilizing and operating the system. In general terms, the research took MHS design problems from one-dimensional equipment selection processes and enriches them by adding information sharing, human and management angles to design steps.

Submitted by Jorge Silva (jorgelmsilva@ufrrj.br) on 2017-06-09T18:09:43Z No. of bitstreams: 1 2008 - Stela Gomes Pelegrino.pdf: 247744 bytes, checksum: edcaaef4e983d4522513a9fcb967acdc (MD5) / Made available in DSpace on 2017-06-09T18:09:43Z (GMT). No. of bitstreams: 1 2008 - Stela Gomes Pelegrino.pdf: 247744 bytes, checksum: edcaaef4e983d4522513a9fcb967acdc (MD5) Previous issue date: 2008-04-29 / The search of better quality of the milk induces that changes and advances should be reached trought manipulation of de diet of the animals. The evaluation of the food absorption processes have been a very important in the investigation of the animal nutrition. The objective was to evaluate the on ruminal fermentation parameters in high yielding dairy cows fed total mixed ration (TMR). Eighteen Holstein cows in initial third of lactation were distributed to three groups. Cows were fed ad libitum thirty a day. The diet containing corn silage, barley, cottonseed and commercial ration, with forage:concentrate ratio of 45:55. Ruminal fluid was used for sampling at 0, 2, 4 and 6 hours after first meal for determination of ammonia, pH and VFA. The daily average intakes of nutrients, coefficients digestibility and milk production was evaluated how index of the production. There was no effect for averages of molar ruminal concentration ammonia. Was different, 4 hour after fed for the parameters: pH, VFA, acetic, butyric acids evidencing intense ruminal fermentative activity. Total VFA and pH was different in 4 hour after fed. The values of the propionic acid had followed the same trend of the AGV but they had not presented significant difference, the relation acetate: propionato was remained above of 3, keeping adjusted the text of fat of milk. This study demonstrates that the use of total diet provided a ruminal environment with adequate conditions of fermentation without large oscillations, what it diminishes the incidence of metabolic riots in cows of high production. / As melhores mudan?as na produ??o do leite podem ser atingidas atrav?s da manipula??o da dieta dos animais. Avaliar os processos de absor??o de alimentos direcionados para a s?ntese do leite tem sido de grande import?ncia nas pesquisas de nutri??o animal O objetivo deste trabalho foi avaliar os par?metros ruminais de vacas de alta produ??o alimentadas com dieta total. Dezoito animais da ra?a Holandesa, no primeiro ter?o de lacta??o, foram divididos em tr?s grupos, por ordem de pari??o. Os animais receberam dieta total ? vontade (ad libitum) tr?s vezes ao dia composta por silagem de milho, cevada ?mida, caro?o de algod?o e ra??o comercial, com a rela??o volumoso:concentrado de 45:55. Amostras de l?quido ruminal foram coletadas nos hor?rios de 0, 2, 4 e 6 horas, ap?s a alimenta??o, no per?odo da manh?, sendo utilizadas para determina??es das concentra??es de am?nia, pH e AGV do l?quido ruminal. Os valores de consumo m?dio di?rio, coeficiente de digestibilidade, produ??o de leite foram avaliados como indicadores da produ??o. N?o foi observado efeito significante nas concentra??es m?dias ruminais de am?nia. Na quarta hora ap?s a alimenta??o foi observada diferen?a significativa dos par?metros: pH, AGV total, ?cidos ac?tico e but?rico, evidenciando a intensa atividade fermentativa ruminal. Os valores m?dios de ?cido propi?nico seguiram a mesma tend?ncia dos AGV mas n?o apresentaram diferen?a significativa, a rela??o acetato:propionato manteve-se acima de 3, mantendo adequado o teor de gordura do leite. Este trabalho demonstra que o uso de dieta total proporcionou um ambiente ruminal com condi??es adequadas de fermenta??o sem grandes oscila??es, o que diminui a incid?ncia de dist?rbios metab?licos em vacas de alta produ??o.

In recent history there has been a steady increase in container traffic worldwide. As a result modern western Container Terminal ports are turning towards automation to raise their productivity, capacity and reliability. Automated Guided Vehicles (AGVs) are among the most commonly used solutions for horizontal transport within a container terminal. A more recent development in the automated container handling is the use of cassette based or C-AGVs. The latest generation of which provides a zero emission, all electric solution through the use of induction recharge points in the terminal area. The Multi-Agent System (MAS) based simulation model provides a method for evaluating dispatching strategies for this newest generation of C-AGVs. The location and number of recharge points, cassettes, yard and quay cranes as well as the paths containers have to travel are all included in the model. The NetLogo based simulator will be used to compare existing dispatching strategies, modified versions of them, or develop and test new ones. The simulator will also simulate different scenarios, which are described in the later chapters, and can thus be used to determine the best configuration and investment plan in a highly complex domain like a Container Terminal. / s_aliowais@hotmail.com, jan.milants@kahosl.be 0046735781720 ; 003252213865

A software architecture is one of the first steps towards a software system. A software architecture can be designed in different ways. During the design phase, it is important to select the most suitable design of the architecture, in order to create a good foundation for the system. The selection process is performed by evaluating architecture alternatives against each other. We investigate the use of continuous simulation of a software architecture as a support tool for architecture evaluation. For this purpose, we study a software architecture of an existing software system in an experiment, where we create a model of it using a tool for continuous simulation, and simulate the model. Based on the results from the simulation, we conclude that the system is too complex to be modeled for continuous simulation. Problems we identify are that we need discrete functionality to be able to correctly simulate the system, and that it is very time-consuming to develop a model for evaluation purposes. Thus, we find that continuous simulation is not appropriate for evaluating a software architecture, but that the modeling process is a valuable tool for increasing knowledge and understanding about an architecture.

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.

Automated guided vehicles (AGVs) are the key equipment of flexible production systems and an important means for realizing a modern logistics system that meets the demands of Industry 4.0. AGVs are used from the mid 50th to delegate monotonous work of delivering products from the human to the automated device. In the long run, the usage of AGVs brings huge benefits to the manufacturing companies. But the purchase and installation of these devices significantly increase operational costs. This fact halts small and medium-sized enterprises from adopting this technology on their shop floors. The idea of this thesis work is to design and create a device that can be retailed at a significantly lower price without compromising flexibility and functional properties, to be used by smaller businesses. For this mater are used more affordable parts that can bring the cost down of a final product. This work describes the process of developing a differential drive mobile platform under the control of the robotic operating system. The process includes the development of a virtual model; selection of required components and investigation of their compatibility; development of chassis, suspension, and gear system; development of a hardware interface to interact with hardware components; configuration of different algorithms of control, cartography, and navigation; evaluation of the device. The research method is used in this work is design and creation due to the necessity of creating a physical prototype. The budget specification for the project was set to 50000 SEK and the desired payload capacity was set to 100kg. The work has resulted in the creation of a prototype of the AGV. The cost of the project is 20595 SEK. The evaluation of a prototype resulted in a maximum towing force of 300N. The load capacity is limited by the mobile base is 400kg. Safety sensors are not used in this project as the device was meant to operate in a controlled environment. The work also gives an evaluation of the Gmapping algorithm in case of using the laser scanner (RPlidar A1) and two algorithms of navigation stack: TrajectoryPlannerROS and DWA planner. The final prototype is evaluated to support an autonomous movement within a controlled environment.

The aim of this study is to present the advantages and disadvantages of automation in warehouses. The goal is to introduce a way of approaching when implementing a new technology. The following research question are thus stated:     RQ1. What are the advantages with automation in warehouse companies?    RQ2. What are the disadvantages with automation in warehouse companies?    RQ3. How can automation be implemented within a warehouse company?    The research questions worked as a guideline to build the theoretical framework and result section. The analysis and conclusion section were then formulated, and the research questions were answered. To answer the research questions, the approach of the systematic literature review has been used. Which means the information gathered was done in a systematic way.     It can be said that there are both advantages and disadvantages when it comes to automation in warehouses. The automated systems that were introduced in this thesis was AGVs and palletizing robots. Both these systems require more investigation and do not fully fulfil the customer demand. Yet, it can be said that automation in warehouses can have many positive effects on for example productivity, effectivity, and employees phycological and physical aspect.     For implementation of automation a guiding principle of three head phases was introduced with several steps. The head phases are the pre-project phase, implementation phase and post-project phase. The pre-project phase is about analysing the current company state and deciding if the implementation is possible with the resources available. The implementation phase is about the importance of structuring the planning and reducing the uncertainty during the project. Lastly, post-project phase is about adjusting after the automation and reflecting about the implementation. Reflecting the processes that occurred during the project is valuable experience, therefore it is important to think over the whole process and how to keep improving processes within the organization.    There are both advantages and disadvantages with the use of automation within warehouse companies. It is believed that implementation of automation in a warehouse is strongly dependent on the individuals involved. In this study the key individuals that were discussed were managers and employees. A framework for implementation of new technology was introduced as a guiding principle for managers. The framework is aimed to work for warehouse companies and presents the risks of not following the recommended procedure.     In future studies, the programming field within palletizing and AGVs can be further researched, which can reduce the disadvantages with the usage of automation within warehouse companies.

The need for faster and more reliable logistics solutions is rapidly increasing. This is due to higher demands on the logistical services to improve quality,  quantity, speed and reduce the error tolerance. An arising solution to these increased demands is automated solutions in warehouses, i.e., automated material  handling. In order to provide a satisfactory solution, the vehicles need to be smart and able to solve unexpected situations without human interaction.  The purpose of this thesis was to investigate if obstacle detection and avoidance in a semi-unknown environment could be achieved based on the data from a 2D LIDAR-scanner. The work was done in cooperation with the development of a new load-handling vehicle at Toyota Material Handling. The vehicle is navigating from a map that is created when the vehicle is introduced to the environment it will be operational within. Therefore, it cannot successfully navigate around new unrepresented obstacles in the map, something that often occurs in a material handling warehouse. The work in this thesis resulted in the implementation of a modified occupancy grid map algorithm, that can create maps of previously unknown environments if the position and orientation of the AGV are known. The generated occupancy grid map could then be utilized in a lattice planner together with the A* planning algorithm to find the shortest path. The performance was tested in different scenarios at a testing facility at Toyota Material Handling.  The results showed that the occupancy grid provided an accurate description of the environment and that the lattice planning provided the shortest path, given constraints on movement and allowed closeness to obstacles. However, some performance enhancement can still be introduced to the system which is further discussed at the end of the report.  The main conclusions of the project are that the proposed solution met the requirements placed upon the application, but could benefit from a more efficient usage of the mapping algorithm combined with more extensive path planning. / <p>Digital framläggning</p>

The aim of the thesis is to apply simultaneous localization and mapping (SLAM) to automated guided vehicles (AGVs) in a Robot Operating System (ROS) environment. Different sensor setups are used and evaluated. The SLAM applications used is the open-source solution Cartographer as well as Intel's own commercial SLAM in their T265 tracking camera. The different sensor setups are evaluated based on how well the localization will give the exact pose of the AGV in comparison to another positioning system acting as ground truth.