Tummers Food Processing Solutions is an internationally operating company based in the Netherlands, that sells factory lines for processing tuberous products like potatoes. Before being processed into various products, the incoming tuber batches are always washed and cleaned from waste particles like clods, stones and haulm. For this purpose washing lines consisting out of different machines are used. Every processing application, customer and kind of input product results in different requirements regarding the machines, options and their configuration. Currently for every customer a tailor made machine line is designed, consisting out of customised machines based on the expertise of the corresponding sales agent and the engineer that designs the machines. This results in individually designed machines, friction between different departments and mistakes in drawings, parts lists, manufacturing, documentation and others. Once installed on site, the machine line is controlled by machine operators that keep the factory operational but are not optimising the performance and efficiency of the machine line nor conduct preventive maintenance. To tackle both the issues on the company and the customer side, the strategy for designing these tuber washing lines has to be turned into adaptive machine line design. Adaptive machine line design is a combination of modular design and smart factory engineering. Machine lines are customer specifically configured out of standardised modules and controlled by smart systems to optimize performance and efficiency and predict maintenance. Because potatoes are by far the most commonly processed product, followed up by carrots, this research focusses on potato washing lines with some specific side notes for processing carrots. Based on sales records and customer preferences, a set of standardised machine models and options is defined as the machine portfolio. This portfolio consists out of ten different machines, each available in different sizes, with waste and product streams to different directions and other standardised options. A jigsaw puzzle model can be made where this machine portfolio is build up as a set of puzzle pieces. For every different application a set of these puzzle pieces can be chosen from the portfolio and connected in different configurations. To determine which machines with which options to choose from the portfolio in which order, a model can be used. This model is based on a set of input- output relations and first set up as a decision scheme after which it is modeled in LabView as a basic machine line configurator. The model is then used to configure machine lines for five different examples. Each example is an existing order with differences in customer specific wishes, input and output characteristics and boundary conditions regarding factory layout and peripheral equipment. With help of these five examples the model is iteratively checked and improved after which the amount of customer specific engineering is determined that still needs to be performed after standardising of the machines. A first layer of a Digital Twin for smart control of the washing line is designed. This control strategy is based on the Key Performance Indicators of the washing line and their relations between them. Based on open or closed loop control, a set of control schemes is created for each machine that requires smart control. A thorough analysis of the costs and benefits of implementing a modular design strategy for the tuber washing lines shows that huge amounts of man hours can be saved after implementation. Next to these savings in labour, less mistakes will be made in the design and manufacturing of the machines which improves the professional image of the company and lowers friction between different departments and stress on the workfloor. Due to significant savings in replacing wear sensitive parts, reduced factory downtime, loss of product in waste streams and reduced operator wadges, installing a system for smart control can easily be earned back in the first year of operations. All and all changing the design strategy for tuber washing lines to adaptive machine line design is very promising for both the machine line manufacturer as for the customer.

The parcel transport industry utilizes automated parcel sorting systems to effectively manage incoming parcels. These systems typically comprise multiple infeed conveyors that converge onto a single merge conveyor for parcel merging. However, the conventional First-Come-First-Serve merging method results in reduced utilization of the merge conveyor and throughput. To address this, a novel approach is proposed in this study, combining a dynamic programming-based control algorithm with a maximum heap algorithm. This approach aims to enhance the utilization of the merge conveyor and achieve a balanced load among the infeeds. To optimize utilization, an additional imaginary segment is introduced ahead of the merge conveyor, synchronously moving with the merge conveyor's speed. This segment is intelligently populated with parcels using dynamic programming, eliminating unnecessary empty spaces. Results demonstrate that the dynamic programming approach outperforms other techniques in terms of utilization. This research presents an initial investigation into implementing dynamic programming as a control algorithm to improve merge conveyor utilization in the parcel transport industry.

Grabs are essential in the process of unloading a bulk carrier by grabbing bulk material such as iron ore from the cargo hold. Due to varying operational conditions, the consistency and the amount of payload can vary significantly. One of the largest varying operational conditions is the occurrence of irregular bulk surfaces. Therefore, it is highly desired to attain a more predicable unloading capacity. This can be achieved by designing a hybrid grab which combines a regular grab with mechanical (rope) closing with an energy storage system that can deliver extra torque to increase the penetration depth. This hybrid grab will be designed by comparing its components on important assessment criteria and it will be analyzed if its stored energy provides more benefits than the additional weight of the hybrid grab mechanism over multiple grab cycles. Six hybrid grab concepts were formed by combining the sub solutions with several interconnection possibilities which resulted in a final concept score. The supercapacitor concept has been chosen as the main design based on the benefit of supercapacitors having the ability the absorb energy quickly and because the electrical system has the benefit to be connected in a smart system with interactive accelerator sensors input. To investigate the performance of the hybrid grab in terms of unloading capacity, several experiments were replicated with a new simulation setup. The average of unloading capacity of these simulations increased by 20.1%. It was found that for a SWL of 50 ton the hybrid grab could be activated half of the times. This resulted in an unloading capacity increase of 7.7% for the hybrid grab. The peak is reached for allowable load or SWL> 58 [ton] after which the hybrid grab is activated every cycle which results in a payload increase of 16.3%. These results show the excellent performance the hybrid grab can deliver when unloading a bulk carrier.

The Discrete Element Method (DEM) in combination with an One Factor At a Time (OFAT) experimental simulation plan were employed to investigate the effect of a selection of factors on the mixing performance of a double shaft, batch-type paddle mixer. Most influential factors on the mixing performance of the paddle mixer are desired for optimization purposes. Selected factors are the three material characteristics (particle size, particle density, composition), three operational conditions (initial filling pattern, fill level, impeller rotational speed) and three geometric characteristics (paddle size, paddle angle and paddle number). A 175L paddle mixer is converted into a simulation model and the material model is adopted from literature. The material model comprises of free-flowing, perfectly spherical glass beads. The Hertz-Mindlin contact model is used to simulate the granular material. Furthermore, the simulation strategy consists of the filling process and mixing process. In the former, all input settings are specified. The latter process uses the filling process results to mix the 2-component mixture for a total real-time of 30 seconds. To ensure robust, stable and fit-for-purpose DEM simulations, a 'worst-case scenario' simulation is built for the filling process. By variations in shear modulus and time step, the simulation time is being reduced without compromising the stability or realistic behavior of the material. The output is then used in both processes for all simulations in the experimental simulation plan. The mixture quality is assessed by the mixing index Relative Standard Deviation (RSD), where both the mixing effectiveness (mixture quality after 30 seconds) and the mixing efficiency (the time it takes to reach a RSD lower than or equal to 0.2) are evaluated. The particle size and particle density have a significant effect on the final mixture quality after 30 seconds of mixing (KPI 1). Moreover, screenshots in x, y and z directions at predefined time steps are generated to serve as visual feedback to understand the mixing mechanisms and flow patterns qualitatively. And, the RSD only stipulates the global mixing performance of the system. To be able to observe local differences in mixture quality, heat maps are generated. Additional local grid systems derived from the global 14x14x9 are designed such that the mass concentration of one of the components can be visualized in x, y or z direction. The particle size and particle density have a significant effect on the final mixture quality after 30 seconds of mixing (KPI 1). Moreover, the composition, initial filling pattern, fill level, impeller rotational speed and paddle size have a significant effect on how fast a steady-state mixture quality is reached (KPI 2). Finally, the paddle angle and paddle number have a significant effect on both KPIs and therefore holds most potential with respect to optimization purposes.

Gripping slippery, compliant, and irregular tissues during MIS is often challenging using a conventional gripper. A force grip has to compensate for the low friction coefficient between the gripper’s jaws and tissue surface. This study focuses on the development of a suction gripper as an alternative for the well-known tissue gripper. Suction technology applies only normal forces to grip the tissue without the need to enclose it. Inspiration is taken from biological suction discs. These are able to attach to a wide variety of substrates, varying from slimy surfaces to rough rocks subjected to chaotic streams. The designed suction gripper is divided into two parts; the suction chamber inside the handle where vacuum pressure is generated, and the suction tip that makes contact with the target tissue. The suction tip fits trough a 10 mm diameter trocar, and unfolds in a larger suction surface when being retracted from the trocar. The suction tip is built in a layered manner. Each layer focuses on a specific function to allow for safe and effective tissue handling: 1) Foldability, 2) Air Tightness, and 3) Slide ability. The footprint of the tip focuses on its adaptability to different substrates. Experimental validation of the suction tip’s attachment performance on slippery and flexible phantom tissue showed a maximal attachment force of 3.27±0.15 N. The occurrence of leakage appeared to be the main reason that larger attachment forces are not reached. The proposed prototype of the suction tip provides a base for further research to develop a reliable and effective tissue gripper actuated by suction.

Standard treatment methods for prostate cancer often result in side-effects because of damage to the surrounding tissue. Magnetic resonance imaging (MRI) guided focal laser ablation to treat prostate cancer reduces the risk of adverse effects by preserving noncancerous tissue. Prostate cancer diagnosis and focal laser ablation treatment both require the insertion of a needle for biopsy and optical fibre positioning. The insertion of needles in soft tissues causes tissue motion and deformation, resulting in tissue damage. In this study, we propose an MRI-ready actuation system for a needle that can be inserted into tissue with a zero external push force and without buckling. The zero external push force is achieved by moving parallel needle segments in a reciprocating manner. The actuation unit’s design inspired by the click-pen mechanism actuates the reciprocating motion of six parallel needle segments by solely a discrete manual translating actuation as its input. A prototype, called the Ovipositor MRI-Needle, was built using 3D printed parts and six 0.25-mm diameter Nitinol rods. Experimental validation of the Ovipositor MRI-Needle in ex vivo human prostate tissue inside a preclinical MRI scanner showed that the needle could advance in three out of five measurements through the tissue. The Ovipositor MRI-Needle is a step forward in the direction of developing a self-propelling needle for MRI-guided transperineal laser ablation to treat prostate cancer.

This thesis aims to explore the design of a mechanical solution for a self-burrowing probe for site characterization using a bio-inspired design approach. The biological strategies of a range of organisms known for their burrowing and penetration behavior are presented and several burrowing robots that implement these biological strategies as working principles are reviewed. Existing literature lacks insight in the performance of burrowing robots in real-world site characterization circumstances where the exact composition of the soil is heterogeneous and initially unknown. Additionally, current burrowing robots perform at shallow depth not representative of the full range of depths associated with different site characterization applications. Seven different conceptual designs of a self-burrowing probe are generated using a morphological chart. The strengths, weaknesses, opportunities and threats of the conceptual designs are addressed, and the concepts are compared based on five Key Performance Indicators (KPIs). The KPIs are prioritized to take into account their significance to the feasibility of the design. The earthworm-inspired self-burrowing probe is deemed the most promising conceptual design based on a comparative analysis. An analytical model of the earthworm-inspired self-burrowing probe is presented and used to calculate the resistance and reaction forces mobilized by the probe during the self-penetration step of the locomotion cycle. Three possible applications at varying depths are introduced to analyse the effect of the principal dimensions of the probe on the self-penetration ability. Through the analysis it is shown that the preferred way to improve the performance of the probe is by increasing the total reaction force mobilized by the anchor through. To achieve this, a combination of increasing the anchor length and skin-soil friction coefficient is advised. The total resistance force calculated by the analytical model and the radial limit pressure at the depth of the three different applications are used to explore several actuation means. The analysis motivates the use of a soft robotic solution with integrated actuation using Smart Memory Alloy (SMA) for seafloor characterization application. The more conventional hydraulic and electromagnetic actuation methods are deemed suitable for the probe for cable laying and foundation design applications. A prototype is constructed that translates the abstract working principles of the self-burrowing probe to a rigid mechanical design. Experience gained during this prototyping exercise is presented to guide the detailed design of a self-burrowing probe for site characterization.

The MLD massage is a key component of a lymphedema patient’s treatment. Currently, research is ongoing manifesting a transition from system care to self-care by designing robotic sleeves that are able to perform an effective and safe MLD massage enabling the patient to gain a sense of empowerment and ownership over their treatment and time. This research presents an innovative approach towards the MLD treatment by introducing an intermediate step: the bio-inspired design of the patient training education tool (PTET), a tool which aids the patient in performing the MLD massage safely and efficiently by themselves. The PTET is a pliable and slim sheet that easily adapts to the contours of the limb. Exerting manual pressure onto this sheet induces a colour change at a specific pressure threshold, giving the lymphedema patients a visual sign they have reached the required amount of pressure for this type of massage. The mechanism of colour change is inspired by the cephalopod’s dispersion and aggregation of its chromatophores. This study presents the design and validation of the working mechanism of a bio-inspired flexible colour-changing sheet, and first insights into the adaptability of the design variables and their relation to the threshold pressure, threshold indent and degree of colour change.

One of the biggest challenges of the century is the fight against global warming. In all sectors people are doing their best to reduce their carbon footprints and their impact on the environment. In the energy sector this is done by making use of renewable energy sources (RES), such as wind turbines, instead of fossil fuels. This transition to RES and the growing demand of energy results in extensive off-shore wind farms containing large wind turbines. During the installation of these wind turbines, the monopile (MP) foundation is driven into the seabed using an impact hammer, which dissipates a high amount of energy into the water in the form of sound pressure waves. The intensity of these sound pressure waves can be expressed in sound levels and is used to quantify the effects of such waves in underwater environment. These high underwater noise levels have a large impact on its marine life as marine mammals rely on sound waves, particularly low-frequency wave. The noise from pile driving damages their auditory systems and can lead to multiple injuries making them more vulnerable to predators. For this reason, it is crucial to research methods for predicting underwater noise and reducing the noise during off-shore pile driving operations. The mitigation techniques currently in use or in development lack the ability to filter the sound pressure peaks at a specific frequency band. For this reason, an elastic meta material-based structure, called Meta Cushion, is designed to reduce low-frequency noise during off-shore impact pile driving. To assess the functionality of the Meta Cushion in reducing low-frequency noise during offshore impact pile driving, a small-scale pile driving test setup was designed and built. The small-scale test aimed to validate the numerical results and to provide a better understanding of the cushion's effectiveness. This test was a joint effort of Delft University of Technology and Huisman Equipment B.V.. The small-scale impact test setup was scaled using scaling laws on the large-scale appliance, and the instrumentation was selected to perform the required measurements to quantify wave propagation. The test setup was built using a test tank with sound-absorbing foam attached to its walls and soil at the bottom to reduce the reflection waves of the tank sides. In the middle of the tank a small-scaled MP was placed on top of a damping plate, to protect the MP and the bottom of the tank. This damping plate was changed during the experiments, because the initial plate caused a large backlash on the MP after impact. On top of the MP, different cushions were placed, and on the MP wall, a set of strain gauges and an accelerometer was attached to measure the behaviour of the MP throughout the tests. In the tank, a hydrophone was placed to measure the sound pressure as a result of the impact force. The small-scale test setup had three test rounds; the first round assessed the functionality of the meta-material unit cell by testing a modular Meta Cushion made from three different materials: aluminium, acrylic, and nylon, while using a pivot impact hammer; the second and third test rounds were performed on two aluminium non-modular cushions, which were designed and built to withstand the stresses during an impact test with a higher impact force, using a drop weight impact hammer. The FRF-experiments were conducted to extract the actual TL frequency and the attenuation caused by it for each cushion...

Climate change and greenhouse gas emissions have been at the forefront of both public and academic debate for some years. Although the shipping industry has managed to remain relatively free of climate regulation this is changing with the IMO goals for 2050. The military sector has also escaped scrutiny on sustainability issues. But this is also changing as the Dutch Ministry of Defence expressed the ambition to reduce its carbon footprint, with the eventual goal to reduce the operational dependency on a scarce resource, and to comply with national and international regulation. The direct aim, therefore, is to reduce the fossil fuel consumption by 70%, and to comply with IMO regulations by 2050. In this thesis the possibilities for reducing fossil fuel consumption and greenhouse gas emissions will be examined. This will be done for the seagoing large surface vessels of the Royal Netherlands Navy by using alternative fuels. This question is answered through the execution of two case studies of vessels with different mission profiles: the Zeven Provinciën class Air Defence and Command Frigate and the Landing Platform Dock Johan de Witt. For both vessels, a design process is carried out in which more detail is progressively added whilst down selecting the most suitable technologies. The first step in the design process is an operational analysis. This operational analysis uses the perceived missions profiles and the RNLN maritime doctrine to make a prioritization in a set of technical properties or measures of effectiveness. In the second design step, a systematic design variation is used to estimate the effect that different energy carriers have on the main dimensions of the vessel. The parametric design tool developed for this is an adapted version of the SPEC tool developed by Marin. The model estimates the required power and the weight of different weight groups of the vessel. The final design step continues with a more detailed proposal for a power plant configuration for both case studies. With this detailed design a final assessment of the fuel consumption, exhaust gas emissions, and operational effectiveness is made. Throughout the design phases it was established that the displacement of both vessels would increase significantly due to the lower energy density of the selected fuels. In the case of the Air Defence and Command Frigate, the high top speed and relatively high fuel and system weight lead to a larger increase in required fuel and installed power due to the increasing resistance when using anything but the most energy dense fuels. For the Landing Platform Dock, which has a more modest power requirement and a relatively low system and fuel weight, the increase in displacement is smaller. In conclusion, it can be said that the goals stipulated by the Ministry of Defence are attainable. The effect on the operational effectiveness varies between vessels but the overall fuel consumption, cost, and displacement are sure to increase significantly.

New trends in the offshore wind industry show that wind farms are being built further onto sea. This also means that turbines have to be installed in deeper waters resulting in new challenges for the offshore wind industry. The commonly used jack-up vessels have a limited operating depth and therefore floating installation vessels become an interesting alternative. The downside of using floating installation vessels is that they encounter more unwanted motions. A motion compensating tool can help to decrease the negative effects of the unwanted motions. The designing steps for a motion compensating tool are presented resulting in a final concept design. The concept is eventually worked out in a mathematical model to evaluate the dynamic behaviour.

The expansion of the cruise market in the last decades and the significant increase in the size of cruise ships, led to a revision of the safety standards for passenger vessels which resulted in the introduction of the so-called "Safe Return to Port" regulatory framework (SRtP). These regulations strongly impacted every aspect of the life of passenger ships, from commissioning to operations. Clearly also the design of these vessels was highly affected, inducing the design companies to face with the risks entailed by SRtP regulations on a daily basis. Indeed these regulations require great complexity of the systems in terms of redundancy and segregation, and their great interdependence further complicate the assessment of the functional capabilities requested by SRtP. The complexity required in the designs and the difficulties in assessing the compliance with the regulations contribute to increase the risks associated with SRtP projects. Obviously design companies are negatively affected by these risks and preventing expensive re-designs in later stages of the process is mandatory to improve the company's performance. Due to the complexity of the task, a support method for the mitigation of the risks entailed by the non compliance of the designs with SRtP regulations is proposed. The method comprises a through analysis of the spaces on board and a software tool to support designers in the assessment of the correct placement of the components of the systems, in order to guarantee the required capabilities in every casualty scenario.

Transshipment is a key component of modern-day shipping logistics. Container supply chains rely on transhipment hubs to access remote locations. With globalisation driving growth in container trade, maritime congestion is rising at container terminals in ports worldwide. This is expected to worsen as demand continues to grow. The ill effects of this congestion are particularly being felt along transportation networks between deep-sea container terminals and Hinterland terminals. Therefore, this research aims to suggest solutions that address current problems and meet current targets, while also delivering future-proof and scalable transshipment options across a range of ports and hinterlands worldwide. This work in particular will evaluate the impact of novel maritime concepts such as amphibious AGVs, floating terminals, and super barges and how they can contribute to developing efficient container transportation networks that could address the congestion problem of incoming container barges at deep-sea container terminals. The key performance indicators (KPIs) emphasize reduced maritime congestion, while also aiming to achieve similar daily throughput, transport time, and reduced transporter fleet sizes. To implement this, an agent-based simulation methodology quantifies the existing problems along the deep-sea-hinterland network and validates the feasibility of the proposed transportation networks. The proposed innovative concepts and the current container transshipment scenario are implemented in the simulation environment of the Port of Rotterdam. The global applicability and scalability potential of the proposed transshipment solutions is further demonstrated on a much larger scale by testing them in the Hong Kong-Pearl River Delta, which covers an area similar to the size of the Netherlands. From an innovation point of view, concepts like Amphibious AGVs and floating terminals depict versatility in mobility and flexibility in execution respectively. This work, therefore, opens up an intriguing future scope for maritime transshipment that is both sustainable and adaptable, while also discussing limitations and concerns that need to be carefully considered.

Compliant mechanisms have found their way in more and more applications in recent years, particularly in the aerospace and microsystems sectors. The benefits of compliant mechanisms stretch far, and can be exploited for large scale applications as well. Little research has been performed on the use of compliant mechanisms in large scale structures, where large deflections are in play. This while the interest in foldable structures is increasing, take for example the foldable container concept and origami inspired structures. The required hinges can be made compliant, such a hinge is called a flexure. The aim of this research is to give insight in the design of flexures for large scale applications and large deflections, to aid researchers when designing large foldable structures. The research question that is answered in this report is: how can flexure design be optimized for foldable structures? To answer the research question a PseudoRigid Body Model (PRBM) is made in Python, along with a multiobjective optimization. Compliant mechanisms can offer increased performance, however, the design of compliant mechanisms is more complicated than rigid body mechanisms. Therefore, an intuitive method for designing compliant mechanisms is required. The FiniteElement Method is considered for this purpose, but is too complex and not suited for initial design stages. Therefore, a PRBM is selected for the design analysis, as it is less complex and well suited for large deflection members and ideal for initial design stages. A PRBM with two revolute joints is used, because it provides a higher accuracy than a model with one revolute joint and it simplifies the iterative process of a model with three revolute joints, while maintaining a similar level of accuracy. The load case that is evaluated in this research is a moment end load. A sensitivity analysis is performed for the flexure behaviour regarding the flexure’s Young’s modulus, length, width, thickness and end moment load. This analysis shows that the flexure length and moment load, linearly influence the flexure deflection, i.e. twice the length, gives twice the deflection. Furthermore, the flexure deflection is reverse linearly dependant on the Young’s modulus and width, i.e. twice the width, gives a twice as small deflection. The flexure is most sensitive to a change in thickness. For a thickness increase of factor 𝑛, the deflection decreases by a factor 𝑛3. Furthermore, the design of the flexure is evaluated for three material types, being aluminium, rubber and a Nickel–Titanium Shape Memory Alloy (SMA). The material changes the behaviour of the flexure because of the material’s Young’s modulus and yield strength, which prescribes the allowed load. Therefore, it is shown that the measure of flexibility, 𝐹 = 𝜎𝑦 𝐸 , is a good indicator for suitable flexure materials. When taking the results from the sensitivity analysis and implementing the importance of the flexure material’s yield strength, a design constant can be deduced for viable and intuitive flexure design. This constant considers all the variables influencing the flexure design and assumes maximum allowable load on the flexure. With this constant researchers can quickly identify feasible flexure designs and the result of parameter changes are made more intuitive. The multiobjective optimization for the flexure design is performed with Nondominated Sorting Genetic Algorithm II. The optimization can find the Paretooptimal solutions for the objectives of shape error, stress and volume, while varying the flexure thickness. The evaluated configurations are for a single flexure and for flexures implemented in a large scale compliant mechanism. For the single flexure target shape, a clear Paretofront is found, depicting the required tradeoff between the objective functions. Furthermore, the optimization visualizes the super elastic properties of the SMA and its effect on the deflection when actuated optimally. The results for the use of SMA flexures in a compliant mechanisms are shown as well. It shows that with the right boundary conditions the superelasticity properties of the SMA can be exploited for optimal compliant structure design. From this it can be concluded that this optimization can be used for design of complicated foldable structures, while taking into account the accuracy of the compliant mechanism’s motion. For future research it is proposed to visualize the behaviour of a flexure with a different crosssection than a rectangular beamlike crosssection. Furthermore, more research is required into the practicality of flexures for large scale applications, since the out of plane stiffness can become too low, risking the planar motion of flexures. Other directions that require more research, are the influence of micro slip and unloading effects on the flexure behaviour.   

This research explores the design and evaluation of the bio inspired soft robotic gripper for large object manipulation in the field of transport engineering. Bio-inspired soft robots use soft mechanical, structural or material components inspired from nature. The application of soft robotics can often be found on a small size scale but could also be beneficial on a larger size scale to manipulate larger objects and heavier objects. Manipulating large objects often requires many people working close to the object and gripper which can result in dangerous situations. Integrating soft robots can result in a improved safety during operation by preventing these accidents from happening. Also the flexible characteristics of these types of robots enables the manipulation of different types of objects. The main question this research answers is: What are the structural possibilities and limitations of bioinspired soft robots in break bulk manipulation? The objective of this research is to design and evaluate a bio-inspired soft robot that is able to manipulate break bulk. The soft robotic gripper is designed by using the double diamond design method and by using different concept generation and evaluation tools. Generating concept designs is done using a morphological chart and selecting the concept is done using a modified Harris Profile. The most promising conceptual design is then selected and developed in more detail in the preliminary design. This design explores the different shapes and size using bio inspired design and drawing inspiration fromthe trunk of an elephant as gripper. This design is then modelled on a small size scale as well as the large size scale and evaluated using a FEA and MBD. After several iterations the detailed design could be created. The design of the gripper uses shape memory alloy (SMA) as actuators integrated in segments as building blocks to shape the gripper. The model of the single SMA spring is first designed and evaluated using a FEA program on a small size scale to compare with the physical spring on the same size scale. This model of the spring resembles the physical spring deviating 1.6% with the reaction force of 6.75 N on the simulation and 6.88 N on the physical spring. For the upscaled model this results in a reaction force of 255 N. The next step is to use this reaction force and apply it to the segment where the SMA spring is replaced with this force to obtain the segment bending angle. This results shows the bending angle of the segment of 29 degrees for the single SMA spring actuation and 80 degrees for the two spring actuation at 50% of the actuation force. At 100% of the actuation force, these bending angles increase up to 74 degrees and 126 degrees respectively. Using this result the range of motion (RoM) can be determined and compared with the prototype. This result presents a similar behaviour of the model with a slight decreased performance of the prototype over the simulations. The prototype of the single gripper can be combined with other grippers and work together to manipulate larger, heavier and more complex shaped objects. Combining three of these small size trunk inspired grippers shows the capability to lift an avocado of 276 grams or 2.7 N. Scaling this load capacity to the upscaled gripper shows the load capacity of 10.4 kg or 102 N. Improving the design and performing more research in the different types of objects regarding size, shape, weight and surface roughness can be done to increase this load capacity. This gripper design presented in this research can be seen as the initial step in the automation of large object manipulation. Possible applications of upscaling the gripper can be found in the area of construction sites, offshore industry and space exploration.

The exponential growth in maritime trade during the 21st century has posed notable challenges for container terminals, resulting in congestion and operational inefficiencies. This study delves into the efficacy of Amphibious Automated Guided Vehicles (AGVs) as an innovative remedy to tackle these issues and facilitate the shift towards autonomous operations at container terminals. Motivated by the need to optimize spatial utilization and reduce reliance on conventional material handling equipment in port areas, this study employs an agent-based modeling approach. Subse- quently, the formulated model is applied in a case study focusing on major Ports of the World. This study undertakes a critical examination of the potential of Amphibious AGVs in alleviating congestion and operational challenges faced by container terminals in the context of an increasingly interconnected global trade setting. By conducting a thorough examination of existing literature and creating a generalised simulation model, this study aims to offer valuable insights that can influence the evolution of container terminal operations.

The exponential growth in maritime trade during the 21st century has posed notable challenges for container terminals, resulting in congestion and operational inefficiencies. This study delves into the efficacy of Amphibious Automated Guided Vehicles (AGVs) as an innovative remedy to tackle these issues and facilitate the shift towards autonomous operations at container terminals. Motivated by the need to optimize spatial utilization and reduce reliance on conventional material handling equipment in port areas, this study employs an agent-based modeling approach. Subse- quently, the formulated model is applied in a case study focusing on major Ports of the World. This study undertakes a critical examination of the potential of Amphibious AGVs in alleviating congestion and operational challenges faced by container terminals in the context of an increasingly interconnected global trade setting. By conducting a thorough examination of existing literature and creating a generalised simulation model, this study aims to offer valuable insights that can influence the evolution of container terminal operations.