1E583/583G Lecture Eleven: Automated Storage and Retrieval System Scanned with CamScannerASIRS Views x Sa = Each S/R machine serves 2 sides of racks. ee . Parts move tolout of 2 ASIRS at the }O point CLLUATT (stand). Rack is a rectangular SS Shape. ‘SIR machine travels I flee] I LI simultaneously in the I TOR@AUOD Bee] . horizontal and vertical | direction. Distance = Rectilinear distance (Manhattan distance, Right-angle distance, Rectangular distance) = Euclidean distance m Chebyshev distance (or Tchebychev distance) = Given 2 points , A (x, y,) and B (x,, y,) in the space B Lee (1% % LP Lym Yo 1 PIMP When p=1, we call L the Rectilinear distance 4z LE 1+ I Ye 1) A When p=2, we call L, the Euclidean distance (AB) When p> , lim L,=max( | x;— X_ |, | ¥i— Yo |), Chebyshev distance {0 Gong Scanned with CamScannerS/R machine Traveling Trajectory Assume the I/O point is located at the lower left-hand corner. Constant speeds on x and y directions There are 3 basic types of trajectories to move from the I/O to the point Ain the rack. All 3 trajectories are possible, WHY? 1 i Distance domain vo —x Itis hard to express SIR machine moving behavior, then, hard to analyze an ASIRS. > We need a simple and generic way to represent the SIR mic trajectory S/R machine Traveling Trajectory (Continued) @ The rack is a continuous pick face a S/R machine operates either on a single or dual command basis = SIR machine travels simultaneously in the horizontal and vertical directions = Randomized storage is used Distance domain Time domain Het00ft 408 S,=125fpm: = wv as vo = vo Setoopm Eat 410 The trajectory of an SIR mic in the time domain : Gong S : Scanned with CamScannerSingle Command vs. Dual Comment (SC, DC) = Performa single storage or retrieval activity in one trip —>x = Perform both a storage activity and a retrieval activity in one trip y 1 8 R vo Example 1 = One ASIRS has an I/O at the lower left hand corner. Assume the time domain is considered. 4. Whats the trajectory to perform a storage SC at (6,2)? 2. What is the DC travel time in performing a sequence of {0,0)-> (2,4) (6,2)> (0,0)? 3. Following the previous question (2.), SIR m/c no longer travels along x and y directions simultaneously. Instead, it follows a rectilinear traveling. Then, what will the trajectory become? (Forklift is an example.) eng Scanned with CamScannerTravel time Estimation 4. Material Handling Institute (MHI): a The single command expected travel time Is estimated to be equal to twice the time required to travel from the /O point to the storage slot at the center: ‘ofthe rack, = The dual comment travel time is estimated by assuming that a storage is performed at the center of the rack and a retrieval is performed at a point located three fourths of the distance (horizontally and vertically) from the UO point. i vo vo ry \ 0 2. Discrete Model = =the total number of openings in the rack = =the one-way travel time between the 110 point and the Ah opening (t= ¢,) = t= the one-way travel time between the Ah opening and the th opening (ty =, 1 E(SC) = the expected single command round-trip travel time ie. 1X ESC)=— F201 N et = E(DC) = the expected dual command travel time — yout E(DC)= Noval) Sy [tor + ty +40) fet jeied Decong 10 Scanned with CamScanner3. Continuous Model (Bozer and White) 6 assumptions: = The rack is considered to be a continuous rectangular pick face where the UO point is located at the lower left-hand corner. = The SIR machine operates either on a single or dual command basis, ic, multiple stops inthe not allowed. | = The rack length and height, as well as the SIR machine speed in the horizontal and vertical directions, are known, ‘= The SIR machine travels simultaneously in the horizontal and vertical directions. In calculating the travel time, constant velocities are used for horizontal and vertical travel. = Randomized storage is used, That is, any point within the pick face is equally likely to bbe selected for storage or retrieval, = Pick-up and deposit (P/D) times associated with load handling are ignored. The PID time is generally independent of the rack shape and the travel velocity of the SIR machine. Furthermore, given the load characteristics, the PID time is usually deterministic. Hence, itis a matter to include the PID time after the average travel time has been computed. Notation = S, =the speed of SIR in the horizontal direction a S,=the speed of SIR in the vertical direction a L=the length of the rack a H=the height of the rack = t,=US, = t,=HIS, a T=Max(t,, ty) = b=rack shape factor = Min (1/T)(t,, t,) = Min (t,/t,, t/t) = E(SC)= the expected travel time under single command = E(TB) =the expected travel time between two randomly selected points = E(DC)= the expected travel time for a dual command cycle = E(SC)+E(TB) {peony 2 Scanned with CamScanner= E(SC)=THt + (1/3)(b%)] wm E(TB)=T[13 + (1/6)(b?) —(1130)(b%)] wm E(DC) =E(SC) + E(TB) = T[4/3 + (1/2)(b*) —(1/30)(b*)] ‘Single command cycle vs. R Dual command cycle 6 Gong Example 2 = An ASIRS with L= 320 ft, H= 100 ft, S,= 400 fpm, S= 125 fpm = Whats the SC travel time to perform a storage at x=200 ft and y=50 ft? eGong “ Scanned with CamScannerExample 3 —_— m= An ASIRS with L= 320 ft, H= 100 ft, $= 400 fpm, S,= 125 fpm = Under randomized storage! retrieval policy, what should the E(SC) and E(DC) be? Example 4 = Within atime domain, it, = 2 and t, = 4, then E(SC) = ? and E(0C) =? Be Gong 6 Scanned with CamScannerExample 5 = Again, ift,=4 and t, =2, then E(SC) = ? and E(DC) = 7 Example 6 = There are 2 racks defined as follows. Both have the same area. Which one has the smaller E(SC)? Rack 4: t, = Zandt, =0.5 Rack 2: t,=4andt,=1 (asquare-in-time rack, SIT) Scanned with CamScannerExample 7 = There is a rack with parameters, t, = 1, t,= 0.6, and T= 1. (1) f only 60% utilization is applied, then what the E(SC) shall be? (2) 80% utilization is applied, then E(SC) = 2 (3) Again, if 50% utilization is now applied, then E(SC) = 7 Example 8 = Given an ASIRS rack, VO locates at the middle along the x direction. Then, E(SC) = ? and E(DC) = ? Scanned with CamScannerExample 9 = Continuing the previous example, if UO locates at the center of the rack, then E(SC) = ? and E(DC) = ? gExample 10 = Given an ASIRS rack as follows, Zone | and Zone Il have the same area (space). But, Zone | is more active and has 2 times activities than Zone Il. Calculate E(SC) and E(DC), where t, =t, = 1. a 2 Scanned with CamScannericici te a Wl Example 11 = There are 2 types of products A and B stored in the rack. Both require the same storage space. However, the turnover rate of A is twice of B. Howto design the rack so that the E(SC) is minimized? ey Example 12 = Consider an SIT (square-in-time) rack. If | and O locate at opposite ends of the rack, then E(SC) = ? and E(DC) = ? De Gong % Scanned with CamScanner+ Example 13 = Inan SIT rack, If and O locate at different elevations, (0, 0) and (0, 0.6), respectively, then E(SC) = ? and E(OC) = ? Example 14 = Ifthe U0 is one time unit away from the lower left corner of the rack along the x direction, what is the E(SC) to retrieve a product (pallet) locating at (3,2)? = Time domain is assumed. Scanned with CamScanner[x Example 15 {a = Along the previous example's configuration, when typ Is involved and typ = 0.25, then what are the travel times in performing the following 2 cycles? = Asingle command cycle, from U0 to (2,4) to UO = Adual command cycle, from VO to (2,4), to (3,2) to UO | i 0 (32) Comparison MHI vs. Discrete Model vs. Continuous Model | = Alternative (configuration) one (refer to page 333, Table 1) = 40 column (length), 10 levels (height), 400 openings (NOP=400) Each opening has the size of 4ftx Aft. Therefore, L= 160 ft and H= 40ft Assume S,= 400 ft, S,= 100ft = Calculate E(SC) according to MHI model, discrete model, and continuous model = Calculate the deviations from the discrete model Scanned with CamScanner