A survey of literature on shuttle based storage and retrieval systems

Prethodna decenija donela je pravi procvat u oblasti automatskih skladišnih sistema (SBS/RS) baziranih na šatl tehnologiji u mnogim industrijama. Njihova superiornost u odnosu na 'mini-load' automatske skladišne sisteme ogleda se prvenstveno u mogućnosti većeg protoka skladišnih jedinica kroz sistem, velikoj fleksibilnosti proširenja sistema i mnogo boljoj energetskoj efikasnosti, koja je rezultat manje potrošnje energije i sposobnosti regeneracije velike količine energije. Sveobuhvatan pregled literature SBS/RS prikazan u ovom radu ukazuje na glavne specifičnosti, ključne pretpostavke i aproksimacije u razvijenim modelima za procenu vrednosti performansi sistema ili strategijama za upravljanje sistemom, i ističe najvažnije zaključke izvedene iz dobijenih rezultata. Predstavljeni pristupi u modeliranju sistema mogu biti koristan alat za projektante SBS/RS prilikom procene efikasnosti sistema u početnoj fazi projektovanja.The last decade brought the blooming of the shuttle-based automated storage and retrieval system (SBS/RS) in many industrial applications. They proved the superiority over the mini-load automated storage and retrieval system mainly due to higher throughput capacity, high flexibility of future extension, much better energy efficiency resulting from lower energy consumption and high energy regeneration capability. A comprehensive literature review on SBS/RS given in the paper pointed out main specifics and crucial approximations and assumptions of the developed system performance estimation models or control strategies, as well as the main conclusions resulting from the obtained results. Presented modeling approaches could be a valuable tool for SBS/RS designers and other related decision makers to estimate the system efficiency in the starting phase of SBS/RS design activities

Container terminals in river ports

This paper deals with some problems concerning development concepts and equipment of container terminals in river ports, especially for Serbian ports located on river Danube. Paper discusses comparative data concerning transshipment and flow of containers in selected relevant European ports. The research focuses on the development of Serbian container terminals as parts of logistic systems and gives the basic concepts that should be the basis for river ports terminals in future. Results of simulation model of terminal are presented for two developed concepts terminals. The paper presents the analysis of technical parameters of quayside container crane suitable for Serbian river terminals as a principal subsystem in the whole terminal system, and also gives the proposal for crane’s structure, kinematics of reeving, lifting capacity and some preliminary control tests

Numerical study of wind actions applied to a low profile container crane

Cilj predstavljene numeričke analize je da istraži probleme koji su obuhvaćeni u postupku projektovanja nisko profilnih kontejnerskih dizalica izloženih statičkom i dinamičkom dejstvu vetra, kako bi se utvrdilo da li su ova opterećenja opasna ako se uporede sa standardnim radnim opterećenjem koje se javlja u toku pretovara kontejnera. U prvom koraku istraživanje je sprovedeno pomoću različitih šema dejstva vetra koje su date u standardima; U drugom koraku je analizirano stvarno stanje (eksperimentalno dobijena brzina vetra u odnosu na vreme) i rezultati su dobijeni za konkretnu kontejnersku dizalicu lociranu u jednoj italijanskoj luci. Dobijeni rezultati u pogledu maksimalnih pomeranja na strukturi zavise od opterećenja dizalice i primene različitih šema koje se koriste da bi se obuhvatio uticaj vetra. Korišćenjem promenljivog pritiska vetra, istraživanje pokazuje da su efekti opterećenja vetrom u velikoj meri pod uticajem sopstvenih frekvencija kako noseće strukture, tako i elemenata koji čine strukturu.The target of this numerical study is to investigate the problems involved in the design of a low profile container crane exposed both to static and dynamic wind actions, in order to establish if these loads are dangerous when compared with the load induced by standard container load and unload operations. In the first step the work was performed by means of different schematizations of the wind load action allowed by the standards; the second step regarded the application of a real trend (velocity of wind versus time) obtained experimentally on a similar crane positioned in an Italian harbor. The results obtained in terms of maximum displacement depend on the crane load conditions and on the different schematizations used for the wind action. Using a variable wind pressure, the research shows that the effects of wind loads are greatly influenced by the natural vibration frequencies of both the structure and the elements that compose the structure

Numerical study of wind actions applied to a low profile container crane

Cilj predstavljene numeričke analize je da istraži probleme koji su obuhvaćeni u postupku projektovanja nisko profilnih kontejnerskih dizalica izloženih statičkom i dinamičkom dejstvu vetra, kako bi se utvrdilo da li su ova opterećenja opasna ako se uporede sa standardnim radnim opterećenjem koje se javlja u toku pretovara kontejnera. U prvom koraku istraživanje je sprovedeno pomoću različitih šema dejstva vetra koje su date u standardima; U drugom koraku je analizirano stvarno stanje (eksperimentalno dobijena brzina vetra u odnosu na vreme) i rezultati su dobijeni za konkretnu kontejnersku dizalicu lociranu u jednoj italijanskoj luci. Dobijeni rezultati u pogledu maksimalnih pomeranja na strukturi zavise od opterećenja dizalice i primene različitih šema koje se koriste da bi se obuhvatio uticaj vetra. Korišćenjem promenljivog pritiska vetra, istraživanje pokazuje da su efekti opterećenja vetrom u velikoj meri pod uticajem sopstvenih frekvencija kako noseće strukture, tako i elemenata koji čine strukturu.The target of this numerical study is to investigate the problems involved in the design of a low profile container crane exposed both to static and dynamic wind actions, in order to establish if these loads are dangerous when compared with the load induced by standard container load and unload operations. In the first step the work was performed by means of different schematizations of the wind load action allowed by the standards; the second step regarded the application of a real trend (velocity of wind versus time) obtained experimentally on a similar crane positioned in an Italian harbor. The results obtained in terms of maximum displacement depend on the crane load conditions and on the different schematizations used for the wind action. Using a variable wind pressure, the research shows that the effects of wind loads are greatly influenced by the natural vibration frequencies of both the structure and the elements that compose the structure

Dynamic analyses of gantry crane under several trolley and payload movements

Izučava se dinamičko ponašanje realne portalne dizalice izložene većem broju pokreta kolica i korisnog tereta. Razvijen je poseban numerički postupak koji je primenjen metodom konačnih elemenata na simulaciju različitih načina kretanja glavne grede. Rezultati jasno pokazuju da pomeraj krana, naročito longitudinalni, u velikoj meri zavisi od ubrzanja kako u početnoj tako i u fazi zaustavljanja, čemu su kolica izložena za vreme kretanja glavne grede krana. Poslednji deo rada prikazuje simulaciju iznenadnog zaustavljanja kretanja kolica i potonjeg ljuljanja korisnog tereta; u ovom slučaju, dužina užeta koje zaustavlja koristan teret na kolicima ima glavnu ulogu u određivanju kretanja i maksimalnog longitudinalnog pomeraja dizalice.The aim of this research is to study the dynamic behaviour of a real gantry crane subjected to the actions induced by the trolley and payload movement. A specific numerical procedure was developed and implemented in the finite element method in order to simulate different trolley movement modes on the crane's main beam. From the results, it is clear that the crane displacement, especially the longitudinal one, is strongly dependent on the acceleration both in the starting phase and in the stopping phase to which the trolley is subjected during its movement on the crane main beam. The last part of this research simulates the sudden stop of the trolley movement and subsequent payload swinging; in this case, the length of the rope that suspend the payload to the trolley has a fundamental role in the trend and maximum longitudinal crane displacement value

Container terminals in river ports

This paper deals with some problems concerning development concepts and equipment of container terminals in river ports, especially for Serbian ports located on river Danube. Paper discusses comparative data concerning transshipment and flow of containers in selected relevant European ports. The research focuses on the development of Serbian container terminals as parts of logistic systems and gives the basic concepts that should be the basis for river ports terminals in future. Results of simulation model of terminal are presented for two developed concepts terminals. The paper presents the analysis of technical parameters of quayside container crane suitable for Serbian river terminals as a principal subsystem in the whole terminal system, and also gives the proposal for crane’s structure, kinematics of reeving, lifting capacity and some preliminary control tests

A Survey of Researches in the Field of Ecodesign Related to Intralogistics at the University of Belgrade - Faculty of Mechanical Engineering (2010-2017)

Since its inception in the educational process at the Faculty of Mechanical Engineering (University of Belgrade) in 2008/2009 (Master and PhD studies), as the result of the Tempus project JEP 40069 “Design in Mechanical Engineering” (2006-2008), the field of ecodesign and sustainable logistics has a permanent growth both in tuition and research. That finally resulted in establishing Laboratory of ecodesign and logistics in 2014 and several researches conducted through the work in this Lab. Some of them have been done in the cooperation with some foreign academic institutions. The main stream of the mentioned researches was related to the assessment of environmental effects of intralogistics equipment, such as material handling (cargo handling equipment in ports such as are cranes and terminal tractors) and conveying (belt conveyors) equipment. Accordingly, the conducted researches and findings have been presented to a broader scientific community and published in international journals, books and presented at the international conferences. This paper gives a survey and compilation of those publications in the period 2010-2017

Application of a mathematical model for container transport flow of goods: from the far east to Serbia

Container transport represents a key component of intermodal transport and a substantial contribution to the rapidly growing international trade. The container trade should be optimal to provide a suitable resource utilisation and profitability to key operators, providing them an easy and relatively cheap access to international markets. Numerous algorithms have been generated to provide an efficient solution to optimisation problems in container trade. This paper analyses the supply-chain network focusing on container import from the Far East to Serbia through selected Mediterranean ports (Koper, Rijeka, Bar, Thessaloniki and Constanta). An optimisation mathematical model was developed, minimising the transit time and transportation costs of container imports to Serbia, by means of using various liner shipping services on the deep-short sea and truck-rail-barge inland transport networks from selected ports. By using the bi-objective model for container flows from the Far East through Mediterranean ports, the optimal path for container import to Serbia has been determined. Certain groups of customers require the lowest freight rates, while others give priority to a faster delivery

Consideration of a moving mass effect on dynamic behaviour of a jib crane structure

U radu se razmatra dinamičko ponašanje ravninske konstrukcije stupne konzolne dizalice izložene djelovanju gibanja kolica elektromotornog vitla koje nosi teret. Dinamički odzivi konstrukcije, u vertikalnom i u horizontalnom pravcu, dobiveni su uporabom metode konačnih elemenata i metode direktne integracije. Umjesto konvencionalnog pristupa uporabe modela pokretne sile, u ovom su radu obuhvaćeni utjecaji inercije masa kolica, vitla i tereta. Radi toga, koncept matrice pokretne mase je implementiran u matrici masa cijelog sustava. Određene su prinudne oscilacije konstrukcije stupne konzolne dizalice zbog djelovanja ekvivalentnog pokretnog opterećenja pri čemu je matrica masa sustava promjenjiva u vremenu. Razmatran je utjecaj intenziteta, brzine i ubrzanja pokretnog opterećenja. Rezultati daju korisne zaključke za konstruiranje konzolnih dizalice.This work examines the dynamics of a two-dimensional jib crane structure subjected to a moving trolley with hoist and payload. Dynamic responses of the structure, both in the vertical (Y) and horizontal direction (X), are calculated using the finite element method and the direct integration method. Instead of the conventional moving force problem, this paper deals with the two-dimensional inertial effects due to the masses of trolley, hoist and payload. For this purpose, the moving mass matrix has been used to give contribution to the overall mass matrix of the entire system. The title problem was solved by calculating the forced vibration responses of the jib crane structure with time-dependent overall mass while subjected to an equivalent moving force. Factors as magnitude, speed and acceleration of the moving trolley were studied as well. Numerical results reveal that the approach used herein is usefull and can be used to draw conclusions for the structural design purposes of jib cranes

Past, state-of-the-art and future of intralogistics in relation to megatrends

Nakon kratkog pregleda istorije intralogistike, ovaj rad izučava pogled na navedene tehnologije. One su u vezi sa t.z.v. 'megatrendovima' kao što su globalizacija, urbanizacija, demografske i klimatske promene, za koje se očekuje da donesu globalne promene u nekoliko sledećih decenija i koje će najverovatnije odrediti buduću ulogu intralogistike i fokus istraživanja u ovoj oblasti.After briefly reviewing the history of intralogistics, this paper examines the outlook for the technologies concerned. This is related to the so-called 'megatrends', such as globalisation, urbanisation, demographic shifts and climate change, which are expected to bring about major global transformations over the next few decades, and which are also likely to determine the future functions of intralogistics and the focus of research in the field