Lifting Module Research Articles

Development of structural and technological solutions for the construction of large-span coatings by craneless methods

The article presents an analysis of the method of lifting large-span coatings using the pushing and pulling methods and introduces a new structural-technological solution for erecting coatings using mechanized technological equipment in the form of a lifting module. According to the solution, the load-bearing beams of the coating are moved in the space between paired columns of the frame, resting on the lifting modules. Guide profiles fixed to the inner surfaces of the columns serve as supports for the alternating support of the platforms of the lifting module, which pushes the coating beams in the inter-column space. The developed solution optimizes the lifting processes and reduces the duration of lifting works by minimizing the number of installations works to operations for fixing the beams of the coating at the design height and automating the processes of pushing the coating with lifting modules.

Analytical model and swapping policy assessment of a vertical lift module – buffer integrated storage system

To meet the rising demands of global trade and e-commerce, efficient warehousing relies on integrated and cooperative material handling systems. This paper investigates the extension of Vertical Lift Module (VLM) storage capability with a Buffer System and assesses the impact of this integration on performance. We developed an analytical model to calculate the expected dual command cycles, forming the basis for evaluating the VLM – Buffer integrated storage system’s performance. Our research emphasises minimising unnecessary swaps between the VLM and the Buffer System to enhance throughput performance. We introduce the Look Ahead Strategy (LAS) to minimise inter-system swaps and develop a Binary Integer Program (BIP) to benchmark its performance. The results indicate that LAS performs on par with BIP, due to its ability to consider product popularity during the final selection of the outbound swapping tote. Through a comprehensive analysis of the analytical model with an empirical correction, utilising Pareto-based order sequences, the results show deviations of less than 1% on average, affirming the analytical model’s accuracy. Our research provides insights on using the VLM-Buffer integrated storage system, emphasising efficient tote swapping policies like LAS for enhanced warehouse operations, and allows managers to assess system performance through scenario-based analyses.

δ-Small submodule and Lifting property

In this paper, T is a commutative ring with identity. We were interested in providing A new conclusion about -small submodule by clarifying the connection between the lifting module and -small submodule. Moreover, by employing the concept -projective cover we illustrate how to put any submodule of the module as -small. In addition, we state the definition of -lifting module and associate it with additional concepts such as finitely generated and the property of cyclic module known as principally -lifting to get -small. Lastly, we explained the relationship between p- - hollow and -small in a certain conditions.

Mobile robotics platform for strawberry temporal-spatial yield monitoring within precision indoor farming systems.

Plant phenotyping and production management are emerging fields to facilitate Genetics, Environment, & Management (GEM) research and provide production guidance. Precision indoor farming systems (PIFS), vertical farms with artificial light (aka plant factories) in particular, have long been suitable production scenes due to the advantages of efficient land utilization and year-round cultivation. In this study, a mobile robotics platform (MRP) within a commercial plant factory has been developed to dynamically understand plant growth and provide data support for growth model construction and production management by periodical monitoring of individual strawberry plants and fruit. Yield monitoring, where yield = the total number of ripe strawberry fruit detected, is a critical task to provide information on plant phenotyping. The MRP consists of an autonomous mobile robot (AMR) and a multilayer perception robot (MPR), i.e., MRP = the MPR installed on top of the AMR. The AMR is capable of traveling along the aisles between plant growing rows. The MPR consists of a data acquisition module that can be raised to the height of any plant growing tier of each row by a lifting module. Adding AprilTag observations (captured by a monocular camera) into the inertial navigation system to form an ATI navigation system has enhanced the MRP navigation within the repetitive and narrow physical structure of a plant factory to capture and correlate the growth and position information of each individual strawberry plant. The MRP performed robustly at various traveling speeds with a positioning accuracy of 13.0 mm. The temporal-spatial yield monitoring within a whole plant factory can be achieved to guide farmers to harvest strawberries on schedule through the MRP's periodical inspection. The yield monitoring performance was found to have an error rate of 6.26% when the plants were inspected at a constant MRP traveling speed of 0.2 m/s. The MRP's functions are expected to be transferable and expandable to other crop production monitoring and cultural tasks.

Aerocapture Optimization Method with Lift–Drag Joint Modulation Suitable for Variable Structure Spacecraft

Aerocapture, the action of delivering a vehicle from a hyperbolic orbit to a planetary orbit by using the aerodynamic force, could potentially lower fuel consumption. By controlling the direction and size of the aerodynamic force, the vehicle can accurately enter the target orbit. This paper focuses on a preliminary study of the optimal trajectory for aerocapture on the basis of a novel flight control option, which considers lift and drag joint modulation so as to suit variable structure spacecraft. In the preliminary evaluation of such a flight control option, the aerocapture corridors under lift modulation and drag modulation and the influence of the ballistic coefficient on aerocapture were analyzed, demonstrating that joint modulation can achieve complementary advantages compared with pure lift modulation and drag modulation. Based on this flight control option, optimal aerocapture trajectories with different path constraints, target orbital constraints and control variable constraints were found. It bears noting that both the bank angle and the reference area were taken as control variables for lift modulation and drag modulation, respectively, during the atmospheric flight in the process of designing the optimal trajectories. The optimal results indicate that the flight control option with lift and drag joint modulation can greatly broaden the necessary conditions for aerocapture and extend the target orbital range.

E*-Hollow-Lifting and Cofinitely e*-Lifting Modules

The novel ideas in module M over a ring R are introduced in this study. The first one, a generalization of the e∗-lifting module, is known as e∗-hollow-lifting. The second idea, an inference of e∗-lifting, is known as a cofinite e∗-lifting module. We shall demonstrate some of these ideas’ properties

Uncertainties and Radius Tracking in Flight-Path Angle Guidance for Aerogravity-Assist

This paper addresses the problem regarding the influence of random dispersions related to the environment and system on a flight-path angle guidance algorithm using lift modulation for aerogravity-assist maneuvers on hyperbolic trajectories. To compensate for the effects of dispersions and uncertainties, an original radius tracking guidance model is presented, with a formulation for both the temporal domain and the true anomaly domain. This algorithm allows a vehicle to successfully track a suboptimal trajectory planned before a mission. A case study involving a maneuver on a hyperbolic trajectory to Venus performed by a waverider, which is a spacecraft characterized by a high lift-to-drag ratio, is presented. An uncertainty and sensitivity analysis is used to evaluate the impacts of dispersions in the inputs on the main parameters and the performance characterizing the mission. The analysis provides an extensive range of cases that identify the density and thickness of the atmosphere as the most influential dispersed inputs. Adequately tuning the radius tracking guidance parameters enables the efficient attenuation and compensation of the perturbative effects of the uncertainties for obtaining trajectories that are close to the nominal trajectories, estimated before the mission in the absence of dispersions, in terms of the angular deflection and velocity magnitude variation. The presented model can be easily implemented for onboard guidance purposes.

Multi-person 3D pose estimation from a single image captured by a fisheye camera

Multi-person 3D pose estimation with absolute depths for a fisheye camera is a challenging task but with valuable applications in daily life, especially for video surveillance. However, to the best of our knowledge, such problem has not been explored so far, leaving a gap in practical applications. In this work, we first propose a method for multi-person 3D pose estimation from a single image taken by a fisheye camera. Our method consists of two branches to estimate absolute 3D human poses: (1) a 2D-to-3D lifting module to predict root-relative 3D human poses (HPoseNet); (2) a root regression module to estimate absolute root locations in the camera coordinate (HRootNet). Finally, we propose a fisheye re-projection module without using ground-truth camera parameters to connect two branches, alleviating the impact of image distortions on 3D pose estimation and further regularizing prediction absolute 3D poses. Experimental results demonstrate that our method achieves the state-of-the-art performance on two public multi-person 3D pose datasets with synthetic fisheye images and our newly collected dataset with real fisheye images. The code and new dataset will be made publicly available.

Energy Efficiency of Pressure Shock Damper in the Hydraulic Lifting and Leveling Module

This study evaluates the energy efficiency of pressure shock damping in a hydraulic lifting and leveling (HLL) module of a mobile robotic bricklaying system (RBS). The HLL module includes a servohydraulic actuator (SHA) and a hydraulic shock damper (HSD). The proposed adjustable HSD consists of a hydraulic accumulator circuit (HAC) and proportional damping valve. The frequency characteristics of the impedance and damping efficiency indices were used to evaluate the effectiveness of HSD damping. The dynamic responses of the SHA with and without HSD were analyzed based on a nonlinear state-space model. To control the damping of the pressure shock in the SHA-HSD system, a linear quadratic Gaussian (LQG) controller that follows two measurement signals was implemented. The LQG controller was adapted to the specific dynamic requirements of the SHA-HSD control system and nature of the RBS shock loads. The effectiveness of the LQG controller was evaluated during RBS operation under laboratory conditions. The main purpose of this study was to dynamically stabilize a leveled robot base subjected to shock loading during automatic operation of the RBS.

Design For Manufacture And Assembly Analysis of the Tray for Vertical Lift Modules

Design For Manufacture And Assembly Analysis of the Tray for Vertical Lift Modules

모델 예측 제어를 이용한 높은 질량 중심을 가지는 전방향 이동 로봇의 진동 저감 제어

Autonomous mobile robots equipped with long-stroke lift modules have been developed to assist human workers to transport high positioned heavy objects in the field of logistics. A large amount of rolling vibration during acceleration or deceleration when driving is inevitable for a robot with a high center of mass and low stiffness mechanism. In this study, the simultaneous control of reference velocity tracking and vibration reduction, only using driving motors, is proposed based on a suspended cart-pole inverted pendulum model that combines velocity and vertical vibration motion. A model predictive controller was adopted to account for constraints that prevented the object from slipping when placed atop the lift by saturating the magnitude of the rolling angular acceleration. The simulation results verified that the residual vibration time and magnitude significantly decreased with the proposed controller compared to the controller accounting for driving velocity alone. Additionally, object slippage prevention was ensured with taking minimal loss of the reference velocity tracking performance.

Water Saving Control of Turfgrass Irrigation Robot Using Genetic Simulated Annealing Algorithm

Artificial intelligence through the robotic system offers a solution to the quest for an autonomous system with high cutting efficiency for lawn mowing. Because of the current trimming and maintenance operations on grasslands and gardens, it is essential to develop autonomous and efficient lawn pruning electromechanical equipment. This paper describes the design and construction of a high-performance automated grass trimming and irrigating robot. This device cuts and irrigates grass automatically with little human intervention. A genetic simulated annealing algorithm was employed to optimize motor parameters, specifically design a set of mowing mechanisms and mowing height adjustment system. The prototype was tested, which mainly includes the running status evaluation of the walking module, the mowing module, the cutter head lifting module, and the collision detection module. This robot can save water while watering the lawns, reduce labor costs, and improve mowing efficiency. We note that the proposed system can be implemented on a large scale under natural conditions in the future, which will be helpful in robotics applications and cutting grass on lawns and playing grounds.

On finitely-hollow-weak lifting modules

Finitely-hollow lifting and hollow-weak lifting modules are two generalizations of hollow lifting module which is a weaker version of lifting module. In this paper, we have defined another generalization of hollow-lifting module namely finitely-hollow-weak lifting (f-hollow-weak lifting) module. Various properties of this module have been seen and found that, it is not closed under quotients and summands in general, so sufficient conditions are provided under which f-hollow-weak lifting property of modules is inherited by its quotients and summands. Finally, we have given some characterizations of f-hollow-weak lifting module.

Design of the AGV Trolley for Transporting the Drip Irrigation Belt Roll

Automatic Guided Vehicle (AGV) is a kind of driverless transport vehicle which can carry, store, and load and unload goods. It can follow the preset path, complete the task, and has the functions of obstacle avoidance and safety protection, which is widely used in automatic production system. This paper introduces the design and development of AGV trolley to realize the automatic production transformation of drip irrigation belt production line for agricultural irrigation. According to the design requirements of the drip irrigation belt rolling AGV trolley for the transformation of the production line, based on the previous design experience and technology of the automatic guided trolley, from the actual needs of engineering application, combined with the path guidance technology, embedded control system, sensor detection technology, module control and system control management technology, a tape guided AGV trolley with lifting module is designed, which realizes the functions of rolling, transporting and storing of drip irrigation belt, and the production efficiency of drip irrigation belt is improved.

H-supplemented modules with respect to images of fully invariant submodules

Lifting modules plays important roles in module theory. H-supplemented modules are a nice generalization of lifting modules which have been studied extensively recently. In this article, we introduce a proper generalization of H-supplemented modules via images of fully invariant submodules. Let F be a fully invariant submodule of a right Rmodule M. We say that M is IF -H-supplemented in case for every endomorphism φ of M, there is a direct summand D of M such that φ(F) + X = M if and only if D + X = M, for every submodule X of M. It is proved that M is IF -H-supplemented if and only if F is a dual Rickart direct summand of M for a fully invariant noncosingular submodule F of M. It is shown that the direct sum of IF –H supplemented modules is not in general IF -H-supplemented. Some sufficient conditions such that the direct sum of IF -H-supplemented modules is IF -H-supplemented are given

Strongly Hollow R - Annihilator Lifting Modules and Strongly R - Annihilator (Hollow- Lifting) Modules

Let R be a commutative ring with unity. Let W be an R-module, for K≤F, where F is a submodule of W and K is said to be R-annihilator coessential submodule of F in W (briefly R-a-coessential) if (denoted by K F in W). An R-module W is called strongly hollow -R-annihilator -lifting module (briefly, strongly hollow-R-a-lifting), if for every submodule F of W with hollow, there exists a fully invariant direct summand K of W such that K F in W. An R - module W is called strongly R - annihilator - ( hollow - lifting ) module ( briefly strongly R - a - ( hollow - lifting ) module ), if for every submodule F of W with R - a - hollow, there exists a fully invariant direct summand K of W such that K F in W.

Lifting modules with finite internal exchange property and direct sums of hollow modules

A module [Formula: see text] is said to be lifting if, for any submodule [Formula: see text] of [Formula: see text], there exists a decomposition [Formula: see text] such that [Formula: see text] and [Formula: see text] is a small submodule of [Formula: see text]. A lifting module is defined as a dual concept of the extending module. A module [Formula: see text] is said to have the finite internal exchange property if, for any direct summand [Formula: see text] of [Formula: see text] and any finite direct sum decomposition [Formula: see text], there exists a direct summand [Formula: see text] of [Formula: see text] [Formula: see text] such that [Formula: see text]. This paper is concerned with the following two fundamental unsolved problems of lifting modules: “Classify those rings all of whose lifting modules have the finite internal exchange property” and “When is a direct sum of indecomposable lifting modules lifting?”. In this paper, we prove that any [Formula: see text]-square-free lifting module over a right perfect ring satisfies the finite internal exchange property. In addition, we give some necessary and sufficient conditions for a direct sum of hollow modules over a right perfect ring to be lifting with the finite internal exchange property.

Storage Allocation For Stocked and Buffer Baskets

The recent changes in the retailer landscape and the continuous labor shortage in Thailand and have caused many distribution centers to embrace material handling equipment capable of automatically storage and transporting products. This article presents the case study of a home improvement retailer that adopts a vertical lift module (VLM) system into one of its distribution centers. As automatic equipment dedicated for baskets, a VLM system transports two types of baskets, particularly available stock baskets preparing for picking and consolidated baskets waiting for shipping. A preliminary analysis of current operations reveals that the number of baskets allocated for each type is not suitable, resulting in low utilization of the equipment and storage space. After studying the historical data as well as nature of the business, we proposed a simulation to experiment with the effects of the following operating policies (1) the suitable number of baskets allocated for each type (2) storage policy of consolidated baskets and (3) retrieving patterns of consolidated baskets. The results suggest that the suitable level of each factor that reduces the space utilization of 6.67% and vehicles travel time of 37.5%. Nevertheless, travel times of incoming and outgoing lifters are close to similar represented by their utilization.

Throughput Models for a Stand-Alone Vertical Lift Module

Many companies selling products through e-commerce are on the rise. Their products must be stored, picked and send. Most of them do not need huge storage space and consider using a limited number of Vertical Lift Modules (VLM). These companies experience though that the throughput of a standalone VLM is sometimes too low for efficient picking.

On J–Lifting Modules

Let R be a ring with identity and M is a unitary left R–module. M is called J–lifting module if for every submodule N of M, there exists a submodule K of N such that and . The am of this paper is to introduce properties of J–lifting modules. Especially, we give characterizations of J–lifting modules.We introduce J–coessential submodule as a generalization of coessential submodule . Finally, we give some conditions under which the quotient and direct sum of J–lifting modules is J–lifting.