Robust Operation and Control Synthesis of Autonomous Mobile Rack Vehicle in the Smart Warehouse

Nowadays, with the development of science and technology, to manage the inventory in the warehouse more efficiency, so the warehouse must have the stability and good operation chain such as receive and transfer the product to customer, storage the inventory, manage the location, making the barcode...in that operation chain, storage the inventory in the warehouse is most important thing that we must consider. In addition, to reduce costs for larger warehouse or expand the floor space of the small warehouse, it is impossible to implement this with a traditional warehouse. The warehouse is called the traditional warehouse when it uses the fixed rack. To build this type of warehouse, the space for storage must be very large. However, the cost for renting or buying the large warehouse is too expensive, so to reduce cost and build the flexible warehouse which can store the huge quantity of product within limited area, then the smart warehouse is necessary to consider. The smart warehouse system with autonomous mobile rack vehicles (MRV) increases the space utilization by providing only a few open aisles at a time for accessing the racks with minimal intervention. It is always necessary to take into account the mobile-rack vehicles (or autonomous logistics vehicles). This thesis deals with designing the robust controller for maintaining safe spacing with collision avoidance and lateral movement synchronization in the fully automated warehouse. The compact MRV dynamics are presented for the interconnected string of MRV with communication delay. Next, the string stability with safe working space of the MRV has been described for guaranteeing complete autonomous logistics in the extremely cold environment without rail rack. In addition, the controller order has been significantly reduced to the low-order system without serious performance degradation. Finally, this control method addresses the control robustness as well as the performances of MRV against unavoidable uncertainties, disturbances, and noises for warehouse automation.Contents List of Tables vii List of Figures viii Chapter 1. Introduction 1 1.1 Mobile rack vehicle 2 1.2 Leader and following vehicle 5 1.2.1 Cruise control 5 1.2.2 Adaptive cruise control 6 1.2.3 String stability of longitudinal vehicle platoon 10 1.2.4 String stability of lateral vehicle platoon 15 1.3 Problem definition 20 1.4 Purpose and aim 21 1.5 Contribution 22 Chapter 2. Robust control synthesis 23 2.1 Introduction 23 2.2 Uncertainty modeling 23 2.2.1 Unstructured uncertainties 24 2.2.2 Parametric uncertainties 25 2.2.3 Structured uncertainties 26 2.2.4 Linear fractional transformation 26 2.2.5 Coprime factor uncertainty 27 2.3 Stability criterion 31 2.3.1 Small gain theorem 31 2.3.2 Structured singular value synthesis brief definition 33 2.4 Robustness analysis and controller design 34 2.4.1 Forming generalized plant and structure 34 2.4.2 Robustness analysis 37 2.5 Robust controller using loop shaping design 39 2.5.1 Stability robustness for a coprime factor plant description 41 2.6 Reduced controller 44 2.6.1 Truncation 45 2.6.2 Residualization 46 2.6.3 Balanced realization 47 2.6.4 Optimal Hankel norm approximation 48 Chapter 3. Dynamical model of mobile rack vehicle. 53 3.1 Dynamical model of longitudinal mobile rack vehicle 53 3.2 Dynamical model of lateral mobile rack vehicle 56 3.1.1 Kinematics and dynamics of mobile rack vehicles 56 3.1.2 Lateral vehicle model with nominal value 62 Chapter 4. Controller design for mobile rack vehicle 65 4.1 Robust controller synthesis for longitudinal of mobile rack vehicles 65 4.2 Robust controller synthesis for lateral of mobile rack vehicles 73 4.2.1 Lateral vehicle model with uncertainty description 74 4.2.2 Controller design 78 4.2.3 Robust performance problem 82 4.3 String stability of connected mobile rack vehicle 85 4.4 Lower order control synthesis 87 Chapter 5. Numerical simulation and discussion 92 5.1 Mobile rack longitudinal control simulation and discussion 92 5.2 Mobile rack lateral control simulation and discussion 99 Chapter 6. Conclusion 110 Reference 112Docto

Aerosolized Surfactants: Formulation Development and Evaluation of Aerosol Drug Delivery to the Lungs of Infants

The overall aim of this research project was to develop surfactant dry powder formulations and devices for efficient delivery of aerosol formulations to infants using the excipient enhanced growth (EEG) approach. Use of novel formulations and inline delivery devices would allow for more efficient treatment of infants suffering from neonatal respiratory distress syndrome and bronchiolitis. A dry powder aerosol formulation has been developed using the commercial product, Survanta ® (beractant) and EEG technology to produce micrometer-sized hygroscopic particles. Spray drying and formulation parameters were initially determined with dipalmitoylphosphatidylcholine (DPPC, the dominant phospholipid in pulmonary surfactant), which produced primary particles 1 um in size with a mass median aerodynamic diameter of 1-2 um. Investigation of dry powder dispersion enhancers and alcohol concentration on the effect of powder aerosol characteristics were performed with the Survanta-EEG formulation. The optimal formulation consisted of Survanta ® , mannitol and sodium chloride as hygroscopic excipients, and leucine as the dry powder dispersion enhancer, prepared in 20% v/v ethanol/water. The powders produced primary particles of 1 um with \u3e50% of the particles less than 1 um. The presence of surfactant proteins and surface activity were demonstrated with the Survanta-EEG formulation following processing. A novel containment unit dry powder inhaler (DPI) was designed for delivery of the surfactant-EEG formulation using a low volume of dispersion air. Studies explored optimization of air entrainment pathway, inlet hole pattern, delivery tube internal diameter and length. With 3- 10 mg fill masses of spray dried surfactant powder, the DPI enabled delivery of \u3e2 mg using one 3-mL actuation of dispersion air. Overall, it was possible to deliver \u3e85% of the loaded fill mass using three actuations. Nebulized aerosol formulations are characterized with low delivered doses. Using a novel mixer-heater delivery system, the highest estimated percent lung dose achieved during realistic in vitro testing of a Survanta-EEG formulation aerosolized with a commercial mesh nebulizer was when nebulization was synchronized with inhalation of the breathing profile. Design changes to the mixer-heater system eliminated the need for synchronization, achieving an estimated percent lung dose of 31% of the nominal, an improvement compared with existing systems that achieve approximately \u3c2% lung dose