Appendix A Falcon Project Partners - Springer978-0-85729-968-0/1.pdf · Appendix A Falcon Project...

Appendix AFalcon Project Partners

This appendix provides an overview of the organisations that have participated inthe Falcon project.

• Embedded Systems Institute, P.O. Box 513, 5600 MB Eindhoven, TheNetherlands

• Vanderlande Industries B.V., Vanderlandelaan 2, 5466 RB Veghel, TheNetherlands

• Demcon Advanced Mechatronics, Zutphenstraat 25, 7575 EJ Oldenzaal,The Netherlands

• Delft University of Technology, Faculty of Mechanical, Maritime and MaterialsEngineering (3ME), Department BioMechanical Engineering, P.O. Box 5, 2600AA Delft, The Netherlands

• Eindhoven University of Technology, Department of Mathematics andComputer Science, Software Engineering and Technology Group, P.O. Box513, 5600 MB Eindhoven, The Netherlands

• Eindhoven University of Technology, Department of Mathematics andComputer Science, Stochastic Operations Research Group, P.O. Box 513,5600 MB Eindhoven, The Netherlands

• Eindhoven University of Technology, Department of Mechanical Engineering,Dynamics and Control Group, P.O. Box 513, 5600 MB Eindhoven, TheNetherlands

• Eindhoven University of Technology, Department of Mechanical Engineering,Manufacturing Networks Group, P.O. Box 513, 5600 MB Eindhoven, TheNetherlands

• University of Twente, Faculty of Electrical Engineering, Mathematics andComputer Science, Control Engineering Group, P.O. Box 217, 7500 AEEnschede, The Netherlands

• Utrecht University, Faculty of Science, Department of Information andComputing Sciences, Decision Support Group, P.O. Box 80.089, 3508 TBUtrecht, The Netherlands

• Eurandom, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

R. Hamberg and J. Verriet (eds.), Automation in Warehouse Development,DOI: 10.1007/978-0-85729-968-0, � Springer-Verlag London Limited 2012

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Appendix BFalcon Project Publications

This appendix provides an overview of the articles, papers, reports, and thesespublished within the scope of the Falcon project.

1. Adinandra S, Caarls J, Kostic D, Nijmeijer H (2010) Performance of high-level and low-level control for coordination of mobile robots. In: Proceedingsof the 7th international conference on informatics in control, Automation andRobotics (ICINCO), pp 63–71

2. Adinandra S, Kostic D, Caarls J, Nijmeijer H (2011) Towards a flexible andscalable transportation in distribution centers: low-level motion controlapproach. In: Proceedings of the 8th international conference on informatics incontrol, Automation and Robotics (ICINCO), pp 155–160

3. Aertssen J, Rudinac M, Jonker P (2011) Fall and action detection in elderly homes.In: Conference on advancement of assistive technology in Europe (AAATE)

4. Aertssen J, Rudinac M, Jonker P (2011) Real time fall detection and poserecognition in home environments. In: international joint conference on computervision, Imaging and computer graphics theory and applications (VISAPP)

5. Akman O (2011) Detection, tracking and mapping for mobile robots andaugmented reality in context-free environments. Ph.D. thesis, Delft Universityof Technology, Delft

6. Akman O, Bayramoglu N, Alatan AA, Jonker P (2010) Utilization of spatialinformation for point cloud segmentation. In: 3DTV-conference: the truevision—capture, Transmission and display of 3D Video (3DTV-CON), pp 1–4

7. Akman O, Jonker P (2009) Exploitation of 3d information for directing visualattention and object recognition. In: Proceedings of the eleventh IAPRconference on machine vision applications, pp 50–53

8. Akman O, Jonker P (2010) Computing saliency map from spatial informationin point cloud data. In: Advanced concepts for intelligent vision systems,Lecture notes in computer science, vol 6474. Springer, Berlin, pp 290–299

9. Akman O, Lenseigne B, Jonker P (2009) Directing visual attention and objectrecognition using 3d information. In: Proceedings of the fifteenth annualconference of the advanced school for computing and imaging


225

10. Aldewereld H, Dignum F, Hiel M (2011) Reorganization in warehousemanagement systems. In: Proceedings of the IJCAI 2011 workshop onartificial intelligence and logistics (AILog-2011), pp 67–72

11. Andriansyah R (2011) Order-picking workstations for automated warehouses.Ph.D. thesis, Eindhoven University of Technology, Eindhoven

12. Andriansyah R, Etman LFP, Adan IJBF, Rooda JE (2011) Automated order-picking workstation handling out-of-sequence product arrivals. In:Proceedings of the 1st international conference on simulation and modelingmethodologies, Technologies and applications, pp 283–292

13. Andriansyah R, Etman LFP, Rooda JE (2009) On sustainable operation ofwarehouse order picking systems. In: XIV Summer School ’Francesco Turco’,pp IV.16–IV.23

14. Andriansyah R, Etman LFP, Rooda JE (2009) Simulation model of a single-server order picking workstation using aggregate process times. In: Advancesin system simulation, 2009. SIMUL ’09. First international conference on,pp 23–31

15. Andriansyah R, Etman LFP, Rooda JE (2010) Aggregate modeling for flow timeprediction of an end-of-aisle order picking workstation with overtaking. In:Winter simulation conference (WSC), Proceedings of the 2010, pp 2070–2081

16. Andriansyah R, Etman LFP, Rooda JE (2010) Flow time prediction for asingle-server order picking workstation using aggregate process times. Int JAdv Syst Meas 3:35–47

17. Andriansyah R, de Koning WWH, Jordan RME, Etman LFP, Rooda JE (2008)Simulation study of miniload-workstation order picking system. SE-Report2008-07, Eindhoven University of Technology, Department of MechanicalEngineering, Eindhoven

18. Andriansyah R, de Koning WWH, Jordan RME, Etman LFP, Rooda JE (2011)A process algebra based simulation model of a miniload workstation orderpicking system. Comput Ind 62:292–300

19. Ansems RPWM (2008) Scheduling the unloading of incoming containers in adistribution center. Bachelor’s thesis, Eindhoven University of Technology,Department of Mechanical Engineering, Systems Engineering Group, Eindhoven

20. Arnoldus J, Bijpost J, van den Brand M (2007) Repleo: a syntax-safe templateengine. In: Proceedings of the 6th international conference on generativeprogramming and component engineering, pp 25–32

21. Baril M (2011) Stable precision grasps with underactuated fingers. Internshipreport, Delft University of Technology, Department of BioMechanicalEngineering, Delft

22. Bayramoglu N, Akman O, Alatan AA, Jonker P (2009) Integration of 2dimages and range data for object segmentation and recognition. In:Proceedings of the twelfth international conference on climbing andwalking robots and the support technologies for mobile machines, pp 927–933

23. Berendse DFJ (2010) Design, verification and analysis of the highly dynamicstorage system. Master’s thesis, Eindhoven University of Technology,Department of Mathematics and Computer Science, Eindhoven

226 Appendix B: Falcon Project Publications

24. Bijl RJ (2010) Formalizing material flow diagrams. Master’s thesis,Eindhoven University of Technology, Department of Mathematics andComputer Science, Eindhoven

25. Birglen L, Kragten GA, Herder JL (2010) State-of-the-art in underactuatedgrasping. Mech Sci 1:3

26. Bos HD (2010) Evolution of robotic hands. Internship report, University ofTwente, Control Laboratory, Enschede

27. Bosch A, Slobbe J, van Dam T (2008) Het effect van contactmateriaal van eenrobothand. Bachelor’s thesis, Delft University of Technology, Department ofBioMechanical Engineering, Delft

28. Bouarfa L, Akman O, Schneider A, Jonker PP, Dankelman J (2011) In-vivoreal-time tracking of surgical instruments in endoscopic video. MinimInvasive Ther Allied Technol

29. Chang Y (2010) Design of an underactuated gripper for the item picking indistribution centers. Master’s thesis, Delft University of Technology,Department of BioMechanical Engineering, Delft

30. De Jong D (2007) Analyse naar het grijpen met een Soft Gripper: eenvergelijking tussen praktijk en computersimulatie. Bachelor’s thesis, DelftUniversity of Technology, Department of BioMechanical Engineering,Delft

31. De Koning WWH (2008) Modeling a storage and retrieval system:architecture and model aggregations. Master’s thesis, Eindhoven Universityof Technology, Department of Mechanical Engineering, Systems EngineeringGroup, Eindhoven

32. De Natris R (2010) Analyse van een AIP station met een eindige buffer.Bachelor’s thesis, Eindhoven University of Technology, Department ofMechanical Engineering, Systems Engineering Group, Eindhoven

33. Den Dunnen S (2009) The design of an adaptive finger mechanism for a handprosthesis. Master’s thesis, Delft University of Technology, Department ofBioMechanical Engineering, Delft

34. Differ HG (2010) Design and implementation of an impedance controller forprosthetic grasping. Master’s thesis, University of Twente, Control Laboratory,Enschede

35. Differ HG (2010) Development of a homing procedure and investigation of tipstiffness for the robotic finger test setup. Internship report, University ofTwente, Control Laboratory, Enschede

36. Engelen L, van den Brand M (2010) Integrating textual and graphicalmodelling languages. Electron Notes Theor Comput Sci 253:105–120

37. Febrianie B (2011) Queueing models for compact picking systems. Master’sthesis, Eindhoven University of Technology, Department of Mathematics andComputer Science, Eindhoven

38. Ficuciello F, Carloni R, Visser LC, Stramigioli S (2010) Port-Hamiltonianmodeling for soft-finger manipulation. In: Intelligent Robots and Systems(IROS), 2010 IEEE/RSJ international conference on, pp 4281–4286

Appendix B: Falcon Project Publications 227

39. Giaccotto R (2008) Smooth surface fitting by patches, a new method ofinterpolation for contact modeling. Master’s thesis, University of Twente,Control Laboratory, Enschede

40. Guitian Mediero PJ (2009) Modular platform for the experimental evaluationof underactuated finger. Internship report, Delft University of Technology,Department of BioMechanical Engineering, Delft

41. Hakobyan L (2009) Warehouse design toolbox. SAI technical report,Eindhoven University of Technology, Eindhoven

42. Hamberg R (2008) Tilt-tray sorters modelled with UPPAAL. ESI Report2008-2, Embedded System Institute, Eindhoven

43. Heling JWE (2011) Design of an automated item picking workstation.Master’s thesis, Eindhoven University of Technology, Department ofMechanical Engineering, Manufacturing Networks Group, Eindhoven

44. Hiel M, Aldewereld H, Dignum F (2010) Modeling warehouse logistics usingagent organizations. In: Collaborative agents—research and development,Lecture notes in computer science, vol 6066. Springer, Berlin, pp 14–30

45. Jordan RME (2007) Literature review on designing a warehouse order pickingsystem with conveyors and workstations. Internship report, EindhovenUniversity of Technology, Department of Mechanical Engineering, SystemsEngineering Group, Eindhoven

46. Jordan RME (2008) Modeling the item picking area of the plus retail compactpicking system. Master’s thesis, Eindhoven University of Technology,Department of Mechanical Engineering, Systems Engineering Group,Eindhoven

47. Kavuma JM (2009) Holonic highly dynamic storage system: agent-baseddistributed control. SAI technical report, Eindhoven University ofTechnology, Eindhoven

48. Kool AC (2008) Grasping performance in compliant underactuated robotichands. Master’s thesis, Delft University of Technology, Department ofBioMechanical Engineering, Delft

49. Kostic D, Adinandra S, Caarls J, Nijmeijer H (2010) Collision-free motioncoordination of unicycle multi-agent systems. In: American controlconference (ACC), 2010, pp 3186–3191

50. Kostic D, Adinandra S, Caarls J, van de Wouw N, Nijmeijer H (2009)Collision-free tracking control of unicycle mobile robots. In: Decision andcontrol, 2009 held jointly with the 2009 28th Chinese control conference.CDC/CCC 2009. Proceedings of the 48th IEEE conference on, pp 5667–5672

51. Kostic D, Adinandra S, Caarls J, van de Wouw N, Nijmeijer H (2010)Saturated control of time-varying formations and trajectory tracking forunicycle multi-agent systems. In: Decision and control (CDC), 2010 49thIEEE conference on, pp 4054–4059

52. Kragten GA (2011) Underactuated hands: fundamentals, performance analysisand design. Ph.D. thesis, Delft University of Technology, Delft

53. Kragten GA, Baril M, Gosselin C, Herder JL (2011) Stable precision grasps byunderactuated fingers. IEEE Trans Rob, To appear


54. Kragten GA, Bosch HA, van Dam T, Slobbe JA, Herder JL (2009) On theeffect of contact friction and contact compliance on the grasp performance ofunderactuated hands. In: ASME 2009 international design engineeringtechnical conferences and computers and information in engineeringconference, vol 7, pp 871–878

55. Kragten GA, van der Helm FCT, Herder JL (2011) A planar geometric designapproach for a large grasp range in underactuated hands. Mech Mach Theory46:1121–1136

56. Kragten GA, Herder JL (2007) Equilibrium, stability and robustness inunderactuated grasping. In: ASME 2007 international design engineeringtechnical conferences and computers and information in engineeringconference, vol. 8, pp 645–652

57. Kragten GA, Herder JL (2010) The ability of underactuated hands to graspand hold objects. Mech Mach Theory 45:408–425

58. Kragten GA, Herder JL (2010) A platform for grasp performance assessmentin compliant or underactuated hands. J Mech Des 132:1–6

59. Kragten GA, Herder JL, Schwab AL (2008) On the influence of contactgeometry on grasp stability. In: ASME 2008 international design engineeringtechnical conferences and computers and information in engineeringconference, vol. 2, pp 993–998

60. Kragten GA, Kool AC, Herder JL (2009) Ability to hold grasped objects byunderactuated hands: performance prediction and experiments. In: Robotics andAutomation, 2009. ICRA ’09. IEEE international conference on, pp 2493–2498

61. Kragten GA, Meijneke C, Herder JL (2010) A proposal for benchmark testsfor underactuated or compliant hands. Mech Sci 1:13–18

62. Lassooij J, Reuijl D, Steenbergen R, Warnar P (2008) Ondergeactueerderobothand: van model naar ontwerp. Bachelor’s thesis, Delft University ofTechnology, Department of BioMechanical Engineering, Delft

63. Liang HL (2011) A graphical specification tool for decentralized warehousecontrol systems. SAI technical report, Eindhoven University of Technology,Eindhoven

64. Liu L, Adan IJBF (2011) Queueing network analysis of compact pickingsystems. Working paper

65. Meijneke C, Kragten GA, Wisse M (2011) Design and performance assessmentof an underactuated hand for industrial applications. Mech Sci 1:9–15

66. Mennink T (2010) Virtualization of the FALCON humanoid finger into adirect drive system. Internship report, University of Twente, ControlLaboratory, Enschede

67. Meulen MG (2010) Verification of PLC source code using propositional logic.Master’s thesis, Eindhoven University of Technology, Department ofMathematics and Computer Science, Eindhoven

68. Moneva H, Caarls J, Verriet J (2009) A holonic approach to warehousecontrol. In: 7th international conference on practical applications of agents andmulti-agent systems (PAAMS 2009), Advances in intelligent and softcomputing, vol 55. Springer, Berlin, pp 1–10


69. Moneva HG (2008) A holonic approach to decentralized warehouse control.SAI technical report, Eindhoven University of Technology, Eindhoven

70. Nguyen PH (2010) Quantitative analysis of model transformations. Master’sthesis, Eindhoven University of Technology, Department of Mathematics andComputer Science, Eindhoven

71. Ordóñez Camacho D, Mens K, van den Brand M, Vinju J (2010) Automatedgeneration of program translation and verification tools using annotatedgrammars. Sci Comput Program 75:3–20

72. Ouwerkerk B, Crooijmans B, de Nooij M, de Vries S (2008) Grijpbereik vaneen vormadaptieve robothand bij verschillende stijfheidverhoudingen tussende kootjes. Bachelor’s thesis, Delft University of Technology, Department ofBioMechanical Engineering, Delft

73. Paese M (2008) Analysis of an automated item picking workstation. Master’sthesis, Eindhoven University of Technology, Department of MechanicalEngineering, Systems Engineering Group, Eindhoven

74. Pape R (2011) The effect of joint locks in underactuated hand prostheses.Master’s thesis, Delft University of Technology, Department of BioMechanicalEngineering, Delft

75. Protic Z (2011) Configuration management for models: generic models formodel comparison and model co-evolution. Ph.D. thesis, EindhovenUniversity of Technology, Eindhoven

76. Pulcini G (2010) Design of a miniaturized joint lock for an under actuatedrobotic finger. Master’s thesis, University of Twente, Control Laboratory,Enschede

77. Reehuis E, Bäck T (2010) Mixed-integer evolution strategy usingmultiobjective selection applied to warehouse design optimization. In:Proceedings of the 12th annual conference on genetic and evolutionarycomputation, pp 1187–1194

78. Roode V (2011) Exception handling in automated case picking. SAI technicalreport, Eindhoven University of Technology, Eindhoven

79. Rudinac M, Jonker PP (2009) Entropy based method for keypoint selection.In: Proceedings of the fifteenth annual conference of the advanced school forcomputing and imaging

80. Rudinac M, Jonker PP (2010) A fast and robust descriptor for multiple-viewobject recognition. In: Control automation robotics & vision (ICARCV), 201011th international conference on, pp 2166–2171

81. Rudinac M, Jonker PP (2010) How to focus robots attention? In: Intelligentmachines symposium

82. Rudinac M, Jonker PP (2010) Saliency based method for object localization.In: Proceedings of the sixteenth annual conference of the advanced school forcomputing and imaging

83. Rudinac M, Jonker PP (2010) Saliency detection and object localization inindoor environments. In: Pattern recognition (ICPR), 2010 20th internationalconference on, pp 404–407


84. Rudinac M, Jonker PP (2010) Scene exploration and object inspection formobile robots in indoor environments. In: Bits&Chips embedded systemensymposium

85. Rudinac M, Jonker PP (2011) Visual categorization of unknown objects formobile robotic applications. In: Hightech mechatronica

86. Rudinac M, Lenseigne B, Jonker P (2009) Keypoints extraction and selectionfor recognition. In: Proceedings of the eleventh IAPR conference on machinevision applications

87. Stel DWJ (2011) The impact of sequence requirements of product totes on theperformance of a goods-to-man system. Master’s thesis, Eindhoven Universityof Technology, Department of Mechanical Engineering, ManufacturingNetworks Group, Eindhoven

88. Steutel P (2009) Design of a fully compliant underactuated finger with amonolithic structure and distributed compliance. Master’s thesis, DelftUniversity of Technology, Department of BioMechanical Engineering, Delft

89. Steutel P, Kragten GA, Herder JL (2010) Design of an underactuated fingerwith a monolithic structure and largely distributed compliance. In: ASME2010 international design engineering technical conferences and computersand information in engineering conference, vol. 2, pp 355–363

90. Sun T (2010) Comparison and improvements of compact picking systemmodels. Master’s thesis, Eindhoven University of Technology, Department ofMathematics and Computer Science, Eindhoven

91. Van Amstel MF (2010) The right tool for the right job: assessing modeltransformation quality. In: Computer software and applications conferenceworkshops (COMPSACW), 2010 IEEE 34th annual, pp 69–74

92. Van Amstel MF (2012) Assessing and improving the quality of modeltransformations. Ph.D. thesis, Eindhoven University of Technology,Eindhoven

93. Van Amstel MF, Bosems S, Kurtev I, Ferreira Pires L (2011) Performance inmodel transformations: a comparison between ATL and QVT. In: Theory andpractice of model transformations: proceedings of the fourth internationalconference on model transformation (ICMT 2011), Lecture notes in computerscience, vol 6707. Springer, Berlin, pp 198–212

94. Van Amstel MF, van den Brand MGJ (2010) Quality assessment of ATLmodel transformations using metrics. In: Proceedings of the secondinternational workshop on model transformation with ATL (MtATL 2010)

95. Van Amstel MF, van den Brand MGJ (2011) Model transformation analysis:staying ahead of the maintenance nightmare. In: Theory and practice of modeltransformations: proceedings of the fourth international conference on modeltransformation (ICMT 2011), Lecture notes in computer science, vol 6707.Springer, Berlin, pp 108–122

96. Van Amstel MF, van den Brand MGJ (2011) Using metrics for assessing thequality of ATL model transformations. In: Proceedings of the third workshopon model transformations with ATL (MtATL2011), pp 20–34


97. Van Amstel MF, van den Brand MGJ, Engelen, LJP (2010) An exercise initerative domain-specific language design. In: Proceedings of the joint ERCIMworkshop on software evolution (EVOL) and international workshop onprinciples of software evolution (IWPSE), pp 48–57

98. Van Amstel MF, van den Brand MGJ, Engelen LJP (2011) Using a DSL andfine-grained model transformations to explore the boundaries of modelverification. CS-report 11-02, Eindhoven University of Technology,Department of Mathematics and Computer Science, Eindhoven

99. Van Amstel MF, van den Brand MGJ, Engelen LJP (2011) Using a DSL andfine-grained model transformations to explore the boundaries of modelverification. In: Proceedings of the third workshop on model-basedverification & validation from research to practice (MVV 2011)

100. Van Amstel MF, van den Brand MGJ, Engelen LJP (2011) Using a DSL andfine-grained model transformations to explore the boundaries of modelverification—extended abstract. In: Proceedings of the seventh workshop onadvances in model based testing (A-MOST 2011)

101. Van Amstel MF, van den Brand MGJ, Nguyen PH (2010) Metrics for modeltransformations. In: Proceedings of the ninth Belgian-Netherlands softwareevolution workshop (BENEVOL 2010)

102. Van Amstel MF, van den Brand MGJ, Protic Z (2008) Version control ofgraphs. In: Informal pre-proceedings of the seventh Belgian-Netherlandssoftware evolution workshop (BENEVOL 2008), pp 11–12

103. Van Amstel MF, van den Brand MGJ, Protic Z, Verhoeff T (2008)Transforming process algebra models into UML state machines: bridging asemantic gap? In: theory and practice of model transformations (Lecturenotes in computer science), vol 5063. Springer, Berlin, pp 61–75

104. Van Amstel MF, Lange CFJ, van den Brand MGJ (2008) Metrics foranalyzing the quality of model transformations. In: Proceedings of thetwelfth ECOOP workshop on quantitative approaches on object orientedsoftware engineering (QAOOSE 2008), pp 41–51

105. Van Amstel MF, Lange CFJ, van den Brand MGJ (2008) Metrics foranalyzing the quality of model transformations—extended abstract. In:Informal pre-proceedings of the seventh Belgian-Netherlands softwareevolution workshop (BENEVOL 2008), pp 36–37

106. Van Amstel MF, Lange CFJ, van den Brand MGJ (2009) Using metrics forassessing the quality of ASF+SDF model transformations. In: Theory andpractice of model transformations, Lecture notes in computer science, vol5563. Springer, Berlin, pp 239–248

107. Van Amstel MF, van de Plassche E, Hamberg R, van den Brand MGJ, RoodaJE (2007) Performance analysis of a palletizing system. SE-report 2007-09,Eindhoven University of Technology, Department of MechanicalEngineering, Eindhoven

108. Van den Brand M, Protic Z, Verhoeff T (2010) Fine-grained metamodel-assisted model comparison. In: Proceedings of the 1st international workshopon model comparison in practice, pp 11–20


109. Van den Brand M, Protic Z, Verhoeff T (2010) Generic tool for visualizationof model differences. In: Proceedings of the 1st international workshop onmodel comparison in practice, pp 66–75

110. Van den Brand M, Protic Z, Verhoeff T (2010) RCVDiff—a stand-alone toolfor representation, calculation and visualization of model differences. In:Proceedings of international workshop on models and evolution—ME 2010

111. Van den Brand M, Protic Z, Verhoeff T (2011) A generic solution for syntax-driven model co-evolution. In: Proceedings of the 49th internationalconference on objects, models, components, patterns

112. Van den Brand MGJ, van der Meer AP, Serebrenik A (2009) Type checkingevolving languages with MSOS. In: Semantics and algebraic specification,Lecture notes in computer science, vol 5700. Springer, Berlin pp 207–226

113. Van den Brand MGJ, van der Meer AP, Serebrenik A, Hofkamp AT (2010)Formally specified type checkers for domain specific languages: experiencereport. In: Proceedings of the tenth workshop on language descriptions,Tools and Applications, pp 12:1–12:7

114. Van den Brandt M (2010) US technological innovation systems for servicerobotics. Master’s thesis, University of Twente, Control laboratory,Enschede

115. Van der Linden RR, de Groot PCJ (2007) Analyse van het grijpen metrolling-link prothesevingers. Bachelor’s thesis, Delft University ofTechnology, Department of BioMechanical Engineering, Delft

116. Van Maanen M (2009) A simulation model of an automated item pickingworkstation. Internship report, Eindhoven University of Technology,Department of Mechanical Engineering, Systems Engineering Group,Eindhoven

117. Verriet J, van Wijngaarden B, van Heusden E, Hamberg R (2011)Automating the development of agent-based warehouse control systems.In: Trends in practical applications of agents and multiagent systems,Advances in intelligent and soft computing, vol 90. Springer, Berlin,pp 59–66

118. Vidal Troitinho V (2009) Design and simulation of a reconfigurableunderactuated finger. Internship report, Delft University of Technology,Department of BioMechanical Engineering, Delft

119. Wassink M (2011) On compliant underactuated robotic fingers. Ph.D. thesis,University of Twente, Enschede

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Index

AABC Lab, 41–43ACP see automated case pickingAdaptability, 11, 30, 33, 37, 42, 43, 52, 117,

130, 179, 186, 215Adaptive grasping, 130Agent, 9, 19, 21, 25, 26, 28, 33–43

autonomous, 34behaviour, 25–27, 29, 37, 38, 43organisation, 9, 33, 34, 38–43re-organisation, 43role, 9, 19, 38–40

AGV see automated guided vehicleAIP see automated item pickingAlternating-bit protocol, 49AMR see autonomous

mobile robotAPF see artificial

potential fieldArtificial potential field, 199, 202ASF+SDF, 54ASRS see automated storage

and retrieval systemATL, 54Auction see biddingAutomated case picking, 10, 20, 24–26, 30,

75–85, 215Automated guided vehicle, 12, 104,

141, 177–180, 183, 186, 187,191–206, 215

Automated item handling, 7, 10, 11, 153, 154,160, 163, 164, 166, 214, 215

Automated item picking, 105–115, 117,142, 214

Automated storage and retrieval system, 60,90–92, 106

AutoMod, 95

Autonomous mobile robot see automatedguided vehicle

Availability, 11, 65, 77–79, 82–85, 89, 192,213, 215

BBehaviour

component, 21–27, 30–32, 213, 219skeleton, 21–24, 26, 27, 29–31, 95, 212system, 9, 17–24, 34, 45, 47, 212

Bidding, 40, 41Bin-picking workstation, 133, 136, 146 see

also item-picking workstationBreakdown, 11, 40, 83–85, 192, 199, 201Buffer, 36, 38, 63, 64, 66, 68, 96, 200

occupancy, 95, 96size, 79, 81, 82, 85, 89, 91, 94

Bundle adjustment, 180, 183, 184Business rule, 9, 19, 20, 26, 27, 30, 31, 37, 42,

92, 96, 213

CC++, 141, 145Call relation visualisation, 54, 55Camera, 134, 136, 140, 146, 151, 157, 166,

167, 180–183, 186, 204–2062D, 155, 161, 166, 182, 185CMOS, 153, 155, 181eye-in-hand, 136, 149, 150stereo, 158, 178–182, 184–187time-of-flight, 153–155, 158, 160,

161, 181Carrying industrial partner, 7, 8, 218Case, 10, 24, 25, 27, 28, 76, 77, 80

picking, 10, 215


235

C (cont.)Case picker, 24, 27, 28, 77–85CNP see contract net protocolCode generation, 31, 47–49, 51, 212Collision, 130, 177, 192, 194, 196, 205

avoidance, 12, 177–188, 192, 194,196–199, 201, 204

detection, 167Columbia object image library, 144, 145Compact picking system, 63, 89–93, 95, 98,

100, 200Compliancy, 11, 129, 130, 166, 214Component design see design,

componentComputer vision, 11, 107–109, 114, 115, 130,

133, 135, 163–168, 170–173, 181,188, 214–216, 218, 220

Consolidation, 4, 6, 64, 90, 106Contract net protocol, 41Control see also coordination

architecture, 193, 194, 196, 202, 206compliancy, 163, 166, 169, 170, 173force, 163, 169, 173formation, 192high-level, 71, 167, 169, 191, 201 see also

control, system-levellow-level, 71, 105, 109, 112, 113, 167, 191,

192, 194, 195, 198, 201motion, 191–193real-time, 112, 169strategy, 89, 95system-level, 51, 77, 79, 211, 212, 218, 219

see also control, high-leveltrajectory, 194, 195weight, 163, 166, 172

Conveyor, 4, 11, 12, 34, 37, 38, 47, 48, 50, 52,63, 64, 66, 90, 105, 111, 178, 192,193, 200–204, 215, 216

closed-loop, 62, 63, 200 see also transportloop

Coordination, 12, 92 see also controlhigh-level, 12, 191, 193, 196–199,

201, 202, 216inter-robot, 12, 191, 192, 196–199,

215, 216low-level, 12, 191–193, 196, 198, 199,

201, 202, 204, 216Cost

operational, 5, 76, 89system, 62, 76, 78, 79, 89, 179, 191, 193,

196, 203, 204, 206CPS see compact picking systemCurious robot, 135, 136, 140Curvature see surface, curvature

DData analysis, 88, 97, 98, 118Deadlock, 192, 199, 201, 202, 204Decentralised warehouse control, 9, 17–33,

212, 213, 219Decision rule see business ruleDelft Hand, 3, 119–130Demonstrator day, 218, 220Depth estimation, 170, 179Descriptor, 142–146 see also feature

colour, 142global, 142–145local, 142shape, 143texture, 142vector, 148, 156visual, 137, 151

Designchoice, 118, 130component, 7conceptual, 120–122, 166, 167decision, 10, 46, 75, 84–86pattern, 43, 213requirements, 118, 119, 123, 126, 154,

178–181stepwise approach, 131system, 7, 22, 31, 81, 87, 154, 164,

181–186, 213, 214 see also design,warehouse

warehouse, 7, 10, 45, 88 see also design,system

Distribution centre, 3, 4, 7, 76, 109, 113, 206,see also warehouse

Domain-specific language, 46–53, 100, 220see also meta-model

DSL see domain-specific language

EE-puck, 204, 205Early validation, 88, 99Early-phase development, 10, 75, 213Edge histogram, 143EFD see elliptic fourier descriptorEffective process time, 10, 61, 62, 65, 71,

213, 216distribution, 65–69, 71, 72realisation, 66, 69, 70

Efficiency, 34, 43, 79, 88, 129, 212, 214, 220EKF-SLAM, 180, 185Elliptic Fourier descriptor, 145–147, 149, 150Enterprise resource planning, 17, 18, 20, 24,

27, 28EPT see effective process time

236 Index

ERP see enterprise resource planningExchangeability, 30, 34, 62

FFastSLAM, 180Feature, 11, 105, 109, 114, 115, 135 see also

descriptor2D, 11, 153–156, 158–160, 2142.5D, 159, 2143D, 11, 153–156, 160, 182, 184, 187clustering, 156, 169dominant, 11, 135, 137, 143, 144, 147, 151extraction, 137, 142, 149, 151, 155–158,

160, 182–184grasp, 142, 169local, 158, 159matching, 142, 145, 156–158, 160, 182natural, 12, 180, 182, 184, 187normalisation, 143–145, 147scale-invariant, 155shape, 137tracking, 180, 182–185vector, 148visual, 109, 142

Flexibility, 11, 19, 33, 34, 37, 39, 42, 43, 62,79, 89, 95, 96, 100, 133, 134, 191,192, 206, 212, 214, 215, 219, 220

Flow time, 62, 69, 72order, 62, 64, 69, 70, 89tote, 62, 64, 69, 70, 89, 91

Fourier descriptor, 145 see also elliptic Fourierdescriptor

Frame differencing, 146

GGamma distribution, 66Gantry robot, 105, 111, 114Gaussian probability kernel, 138Goods-to-man, 10, 19, 61–63, 65, 71, 72, 105,

177, 178, 186Graceful degradation, 79, 202, 215 see also

robustnessGraphical editor, 30–32, 50–52, 100, 212Grasp equilibrium, 119, 123–126, 128, 130Grasp performance, 127–130Grasping, 11, 107–110, 115, 117–131, 137,

146, 150, 160, 163–166, 170, 173,177, 179, 180, 186, 214

Grasping point, 11, 134, 137, 142, 146,149–151

Grey-level co-occurrence matrix, 142, 143Gridlock see also deadlock

Gripper, 11, 108–110, 112, 114, 117, 134, 136,150, 151, 163, 166, 168, 170, 172,173, 178, 214, 215, 220

head, 110suction, 11, 105, 111, 118, 130underactuated, 114–131, 163, 164,

166, 173

HHeuristic rule, 71, 95High-level control see control, high-levelHigh-level coordination see coordinationHomographic mapping, 157, 158, 160Hough clustering, 166HSV histogram, 142, 143

IIllumination, 114, 136, 140, 144, 145,

153–155, 158–160, 168, 181Image

2D, 155–1582.5D, 155, 156, 158–161depth see image, 2.5Ddisparity, 179, 185, 188processing, 133, 134range see image, 2.5Dstereo, 181, 185–187

Industry-as-laboratory, 7, 12, 211, 216–220Infrared light, 155, 158Input station see also warehouse,

input stationInter-arrival rate, 69, 70Inter-arrival time, 65Interaction protocol, 9, 19, 22, 26, 37, 38, 40,

41, 197, 198, 212Inverse Fourier transform, 138Investment level see cost, systemItem, 10, 11, 105, 107, 108, 111, 113, 114,

148, 163, 165, 172, 200, 201characterisation, 115classification, 216colour, 10, 11, 136, 137, 142, 144, 145,

151, 153–156, 159–161descriptor see descriptorfeature see featuregrasping see graspinggrasping characteristics, 133, 151holding, 118, 119learning, 11, 109, 115, 133–151, 154, 155,

157, 214localisation, 11, 134, 136–142, 146, 148,

153–161, 164, 166, 170, 206

Index 237

I (cont.)manipulation, 118, 133–151, 164, 166,

167, 170, 172, 173, 177, 186mass, 118, 119, 126, 129, 135, 165, 166picking, 11, 64, 66, 105, 106, 108, 153,

154, 163, 200, 214, 215, 220 seealso order picking

pose, 110, 114, 134, 135, 137, 142, 144,153, 154, 158, 160, 172

recognition, 11, 114, 115, 133–151,153–161, 164, 166, 171, 177, 178,186, 206, 220

releasing, 118, 119rigidity, 113, 114, 135, 154, 157, 158, 160,

163, 165, 172, 173shape, 10, 11, 109, 113, 114, 118, 119, 122,

129, 130, 136, 144, 145, 149–151,153, 154, 158, 160, 163–165,172, 173

size, 10, 118, 119, 123–131, 135–137, 140,146, 151, 154, 165, 166

texture, 11, 109, 136, 137, 142, 144,145, 151, 153–156, 158–161,163, 166, 172

Item database, 11, 109, 115, 135, 137, 140,142, 147–149, 155–158, 166 seealso product database

test set, 144training set, 143, 144

Item picker, 41, 64, 68, 105, 106, 108,165, 216

Item-picking workstation, 11, 105, 106, 108,109, 111–114, 135, 163, 215

JJade, 25, 28, 29Java, 25, 95

KKeypoint, 109, 137, 142

2D, 156, 160matching, 156, 157, 160, 166

Knowledge transfer, 216, 218, 220KUKA lightweight robot, 166, 167, 169, 170

LLandmark, 179–181, 183, 187Laser scanner, 154, 181Layout, 6, 10, 38, 46, 51, 79–84, 88, 91, 95,

96, 99, 192, 193, 204Lighting see illumination

Little’s law, 10, 89Livelock, 202Load balancing see schedulingLow-level control see control, low-levelLow-level coordination see coordination

low-level

MMaintainability, 30, 37, 52–54, 78, 142Man-to-goods, 19, 177, 178, 186Map

3D, 177–181, 183–187building, 12, 177–183, 185, 186, 188, 220dense, 181, 185–188disparity, 185, 186feature, 184, 187global, 181, 185–187integration, 181, 185, 186local, 181, 185, 186saliency, 138, 139sparse, 181–185, 187

Marker, 12, 180, 182, 204detection, 180

MAS see multi-agent systemMASQ, 21, 35, 36, 41

mind, 35–38perspective, 35–37presence, 21, 35–38, 42, 43space, 35–38

Material flow controller, 18, 20, 21, 24, 25Material flow diagram, 46, 49–52Material handling system, 6, 10, 18–22, 24, 25,

46, 49–52MDSE see model-driven software engineeringMean-shift method, 139Mean-time-between-failures, 82, 83Mean-time-to-repair, 83Mean-value analysis, 98Meshing, 185Meta-DSL, 53Meta-model, 35, 36, 49 see also domain-spe-

cific languagecoverage, 55, 56

MFC see material flow controllerMFD see material flow diagramMHS see material handling systemMiniload, 21, 24, 25, 27, 28, 34, 37–40, 42, 62,

63, 77, 200Model

aggregate, 61–72, 213analysis, 80, 82, 85, 95, 98, 99, 214architecture, 70–72aspect, 7, 75, 79, 100, 213

238 Index

black-box, 71, 89, 90, 97, 100, 214calibration, 213comparison, 52, 53, 56configuration, 214configuration management, 52, 53, 56construction, 85, 94difference calculation, 53elliptic Fourier descriptor, 146, 147, 150grasping, 133, 136, 137, 145, 146matching, 53organisational, 38–40, 43performance, 62, 89, 92, 93, 96shape, 137, 151simulation, 65, 70, 72, 85, 87, 91, 95system, 10, 76, 79, 87–89, 92, 93, 99, 216validation, 92

Model transformation, 43, 45–56, 212analysis, 54–56formalism, 54quality, 54–56visualisation, 54–56

Model-based design, 3, 11, 100, 122, 213, 214see also Model-driven development

Model-driven development, 3, 7–9, 211, 212see also model-based design

Model-driven software engineering, 9, 31, 43,45–56, 213

Modularity, 19, 34, 37, 42, 99, 112, 181,212, 219

Motion planning, 170MSER blob detector, 138MTBF see mean-time-between-failuresMTTR see mean-time-to-repairMulti-agent system, 34, 38, 42

NNegotiation, 91, 197, 198, 201Non-holonomic constraints, 194, 195NQC, 47, 49

OObject see itemObstacle detection, 185Occlusion, 134, 140, 143, 145, 153, 154, 158,

160, 169, 182, 214OpenCV, 169OpenRAVE, 167, 169–171OpenSceneGraph, 95OperA, 38, 40, 43OPS see order-picking systemOrder, 5, 18, 26, 34, 37, 40–42, 62, 64, 67, 68,

91, 93, 94, 194, 200, 213

completion time, 77, 89pattern see order, size distributionpicking, 5, 7, 34, 36, 37, 40, 105, 117–119,

133, 134, 137, 153, 154, 160,163–165, 167–170, 173,177 see also item, picking

planning see planningrelease strategy, 69, 71, 72, 83–85, 95scheduling see schedulingsize, 5, 10, 63, 67, 106, 200size distribution, 63, 69, 89, 91, 106, 111

Order picker, see item pickerOrder tote see tote, orderOrder-picking system, 61–63, 65, 70–72, 163,

164, 166, 173Order-picking workstation, 21, 34–40, 42, 50,

61–67, 69–72, 90–94, 118, 130,142, 154, 163, 200, 206

Outlier rejection, 138, 139, 157, 159

PPallet, 4, 24, 25, 28, 77–81, 83, 106Palletiser, 24, 25, 27, 77–81, 83, 85Parallel tracking and mapping, 180, 182Parzen-window estimation, 138Path planning, 167, 169–171, 173, 177, 178,

185, 186, 188Pattern recognition, 133, 134, 145Performance, 7, 17, 19, 34, 42, 43, 61, 62, 65,

69–71, 77–79, 81, 88, 89, 91, 93,96, 98, 108, 111, 113, 114,118–120, 127, 130, 141, 144, 145,164, 191–193, 195, 200, 202, 213,216 see also throughput

Performance metric, 64, 95, 118, 119,127–130, 191, 193, 195, 196

Pick-and-place, 111, 134, 171, 179Picking, 4, 6, 94, 105 see also order, pickingPlanning, 6, 18, 20, 21, 24, 25, 36–41, 51, 91,

191–193, 202Plant, 36–39, 92Point cloud, 153, 159–161, 187Polling system, 67POOSL, 80, 91Pose

3D, 181–183, 186, 187camera, 180–183, 187estimation, 157, 178–186, 188, 204item see item, posetracking, 177, 178, 180, 186, 187

Power grasp, 118, 119, 121–125, 128–130, 166Precision and recall, 140, 141, 148Precision grasp, 118, 119, 122, 125–130, 172

Index 239

P (cont.)Predictability, 33, 34, 43, 72, 76Priority rule, 199, 201, 204Product database, 118, 134–136, 142, 151,

153, 154, 160 see also item databaseProduct tote see tote, productPTAM see parallel tracking and mapping

QQueue, 63, 64, 67, 68, 91, 200

infinite, 67, 68Queueing network model, 65, 68, 71, 98Queueing network theory, 82QVT, 54

RRandom bin-picking, 109 see also bin-picking

workstationRandom sampling consensus, 157Receiving, 4, 6, 94Redundancy, 11, 79, 192Reference architecture, 9, 17–32, 69, 71,

216, 217Reference case, 12, 118, 199, 217Reliability, 7, 77, 82, 117, 118, 140, 163, 164,

172, 173Repast Simphony, 41Replenishment, 18, 22–28, 31, 37, 39–41, 77,

91, 193, 200, 206Retail warehouse see warehouse, retailReturn-on-investment, 76Reusability, 17–19, 21, 29, 30, 32–34, 38, 43,

53, 54, 56, 62, 71, 72Roaming vehicle, 12, 93, 141, 215, 216, 220Robot, 135, 154, 166, 177–179, 183, 186

arm, 11, 110, 111, 114, 119, 134, 136, 137,146, 151, 163, 166, 170, 177–180,183, 186, 187

finger, 117–126, 128, 130, 131, 150,166, 173

gripper see gripperhand, 11, 114, 117–131, 180, 214motion, 177–188palm, 120–124, 128, 130, 150phalanx, 118–125, 127, 130, 131, 166pick-and-place, 153, 154, 160pose, 177, 178, 180SCARA, 161

Robustness, 11, 19, 34, 42, 43, 109, 114, 115,117–119, 127, 130, 133, 134, 136,142, 145, 146, 154, 155, 160, 163,164, 166, 168, 169, 173, 177, 178,

182, 184, 191, 192, 199, 202, 206,214–216 see also gracefuldegradation

Routing, 51, 93simulator, 93, 98, 100

Rule-of-thumb, 10, 88, 89Running-cost level see cost, operational

SSafety, 165, 166, 168Sales process, 87–89, 97, 99, 100, 216Saliency, 135, 138, 140, 141, 182, 214Scalability, 191, 202, 215Scheduling, 6, 18–21, 24, 25, 36–39, 71, 72,

89, 91, 92, 112, 164, 168, 191–193Semiglobal matching, 185Sensitivity analysis, 65, 71, 72, 75, 98Sequence requirement, 61, 67, 71, 78–82, 84,

85, 91, 213Sequencing see schedulingSGM see semiglobal matchingShipping, 4, 6, 106Shuttle see automated guided vehicleSIFT, 105, 109, 137, 142, 155, 156, 166,

180, 182Similarity transform, 145Simulation, 10, 25, 41–43, 49, 51, 65, 70,

87–96, 98–100, 167, 191, 197, 201,202, 204, 206, 212, 216

model see model, simulationrun, 90–92, 95, 96, 100

Simultaneous localisation and mapping, 12,177–188, 215, 216, 220

Single-server queueing system, 68Skeleton behaviour see behaviour, skeletonSKU see stock-keeping unitSLAM see simultaneous localisation and

mappingSpectral residual, 138–140Stock-keeping unit, 62, 63, 77, 80, 95, 201Storage, 4, 6, 64, 71, 72, 76–78, 80, 93, 94,

200, 206Store-friendly delivery, 4 see also sequence

requirementSuction cup, 109, 114, 160, 163,

165, 214Suction gripper see gripper, suctionSURF, 155, 156, 166, 182Surface

curvature, 149, 150, 159, 161normal, 149, 159–161

System see also warehouseaspect, 75, 76, 78, 80, 89, 91, 213

240 Index

behaviour see behaviour, systemconfiguration, 9, 10, 17, 29, 30, 32, 71, 72,

87–100, 213, 214, 220design see design, systemdimensioning, 79, 80, 93, 122–127, 193engineering, 164–170, 173integration, 11, 109, 112, 115, 130,

163–173, 215layout see layoutmonitoring, 168performance see performancerequirements, 7, 72, 76, 79, 118, 164, 165,

173, 178–181, 216throughput see throughput

System-level control see control,system-level

TThroughput, 42, 62, 69–72, 78–82, 89, 91, 92,

94, 95, 98–100, 117, 179, 192,195–197, 202, 206, 213, 215

Tote, 36, 66–69, 96, 136–138, 140, 146, 147,151, 160, 168, 177, 179, 180, 201

order, 4, 62–64, 90, 91, 93–95, 105, 106,110, 111, 118, 133, 134, 154,170, 200

product, 4, 37, 62–64, 66, 67, 90, 91, 94,95, 105, 106, 111, 118, 134–137,153–155, 170, 200, 201

routing see routingTraceability, 87, 99Trajectory, 197

generation, 194, 196, 204reference, 194, 195, 198, 204tracking, 192–195, 198, 206

Transport and storage unit, 34, 38, 40, 42, 77Transport loop, 21, 90, 91 see also conveyor,

closed-loopTransport network, 95Transportation, 4, 11, 34, 78, 92–94, 96,

105, 106, 177, 178, 186, 191–206,215, 220

Tray, 24, 25, 28, 77Tritree, 183, 185, 186TSU see transport and storage unit

UUML, 22Underactuation, 11, 114, 117–131, 136, 163,

166, 214Unicycle mobile robot, 194, 195, 204Utilisation, 79, 89, 91, 95

VVacuum technology, 109, 214Value-added service, 4Vehicle see automated guided vehicleVersatility, 11, 129, 214, 215, 220Vision see computer visionVisual servoing, 136, 150, 177–179, 186Visualisation, 90, 92–95, 167

3D, 94–96

WWarehouse, 3, 4, 7, 10, 11, 17, 18, 37, 45, 106,

114, 117, 129, 130, 141, 163, 173,177, 178, 186, 191, 193, 196, 200,204, 212, 216 see also distributioncentre

automated, 61, 62, 105, 119, 130, 191, 193,199–201

automation, 3, 5, 7, 8, 45, 46, 61, 105, 106,117, 163, 211, 219

concept development, 75–85, 213, 217configuration, 97, 99design see design, warehouseinput station, 133–151, 154, 155retail, 3–5, 12, 34, 43, 95, 106, 107, 114,

119, 133–137, 142, 148, 151, 153,154, 160

Warehouse architecture team, 217, 218Warehouse control system, 18, 166, 169Warehouse design toolbox, 97–99Warehouse management and control system,

9, 17–43, 71Warehouse management system, 17, 18, 133,

136, 137, 151, 154, 155Warehouse of the future, 211, 217, 220WCS see warehouse control systemWDT see warehouse design toolboxWHAT see warehouse architecture teamWIP see work-in-processWMCS see warehouse management and

control systemWMS see warehouse management systemWork-in-process, 89, 91

XXML, 169Xtend, 54

ZZone picking system, 93–96, 98ZPS see zone picking system

Index 241

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