Development of a Decision Support Tool for the Storage Policy of a Robotic Mobile Fulfilment System: A CEVA Logistics Den Haag Case Study

This paper focuses on the effect of different storage policies on the performance of RoboticMobile Fulfilment Systems (RMFSs). The research is conducted under the instructions of the Technical University of Delft and CEVA Logistics the Hague. The aim of the research is to develop a decision support tool that can aid companies in the choice of...

Position-based dynamics simulator of vessel deformations for path planning in robotic endovascular catheterization

A major challenge during autonomous navigation in endovascular interventions is the complexity of operating in a deformable but constrained workspace with an instrument. Simulation of deformations for it can provide a cost-effective training platform for path planning. Aim of this study is to develop a realistic, auto-adaptive, and visually...

Autonomous Guidance and Control for Precision Landing on Planetary Bodies: Convex Optimization Approach For Mars and Titan Case Studies

Autonomously landing a spacecraft on the surface of a planetary body with a degree of precision in the order of meters is highly challenging. Over the course of time, the landing ellipse, defined as the region with a 99% likelihood of where a space vehicle will land, has improved steadily but currently still has dimensions in the order of...

Swarm Behaviour for the Zebro Robot

Nature has found many interesting solutions to similar problems that we face with robots. Swarming in robotics is an interesting field to reduce cost and risk, and provide a scalable solution to certain problems. The Zebro Project of the TU Delft performs research in the field of swarm robotics using the six legged robot, called a Zebro. Swarm...

An approach for designing robotized marine container terminals

International transportation is rapidly growing. Even during the recent recession, trade growth percentages world-wide exceeded 5-10%. As a consequence, container handling capacity is rapidly growing as well. Larger vessels, bigger container terminals: it appears to be an on-going process of which the limits have not yet been reached. At the...

Modelling and simulation of a rate controlled manipulator ARM

The mathematical model of a space based manipulator arm with a rate controlled end effector is defined and the recursive algorithms for the computation of the basic djmamic functions are formulated. A digital simulation of this system is implemented and preliminary results are presented. Actual running times for the simulation In a VAX 750...