A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non-uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift-robots. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.

Provided is a hypertube transport system. Specifically, provided are a magnetically-levitated train and an infrastructure-system in which same travels, comprising: refrigerant for cooling compressed air of a hypertube train, and a compressed air cooling system utilizing the refrigerant; an apparatus and method for controlling trains operating in a vacuum tube; superconducting switches for superconducting magnets for magnetic levitation; a driving stability apparatus for the hypertube transport system; a control apparatus for trains of the hypertube transport system; and an energy harvester.

Provided is a hypertube transport system. Specifically, provided are a magnetically-levitated train and an infrastructure-system in which same travels, comprising: refrigerant for cooling compressed air of a hypertube train, and a compressed air cooling system utilizing the refrigerant; an apparatus and method for controlling trains operating in a vacuum tube; superconducting switches for superconducting magnets for magnetic levitation; a driving stability apparatus for the hypertube transport system; a control apparatus for trains of the hypertube transport system; and an energy harvester.

A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non-uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift-robots through a network of tracks comprising intersecting vertically and horizontally oriented tracks. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.

A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non-uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift-robots through a network of tracks comprising intersecting vertically and horizontally oriented tracks. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.

A load estimation apparatus includes: an acceleration sensor attached to at least one of a bogie body supporting wheels or a vehicle body attached to the bogie body and configured to measure a first acceleration; and a control unit configured to estimate a load which is applied to the bogie body on the basis of load information which is acquired in advance and in which an acceleration and a load are correlated and the first acceleration.

A load estimation apparatus includes: an acceleration sensor attached to at least one of a bogie body supporting wheels or a vehicle body attached to the bogie body and configured to measure a first acceleration; and a control unit configured to estimate a load which is applied to the bogie body on the basis of load information which is acquired in advance and in which an acceleration and a load are correlated and the first acceleration.

A system determines a wheel contact force in a vehicle that includes a support system including a wheel and a force transmission member configured to transfer a load and/or power to, and from, the wheel to the support system. The includes a sensor connected to the force transmission member that is configured to detect strain in the force transmission member and generate signals representative of the strain and a processor configured to derive a lateral force on the wheel from the signals. A method of calibrating a wheel force measurement system for a vehicle includes measuring a lateral force on a flange of a wheel in contact with a rail or road surface, generating data with a sensor on the force transmission member, and calibrating the data based at least in part on the measured lateral force. A method of operating a vehicle includes determining a plurality of lateral forces Y on a wheel of the vehicle, summing a plurality of lateral forces Y to determine a sum of wheel lateral forces ΣY, determining a vertical force Q on the wheel, determining a lateral to vertical coefficient value defined as ΣY/Q, and controlling operation of the vehicle to maintain the lateral to vertical coefficient below a determined limit or within a determined range.

A system determines a wheel contact force in a vehicle that includes a support system including a wheel and a force transmission member configured to transfer a load and/or power to, and from, the wheel to the support system. The includes a sensor connected to the force transmission member that is configured to detect strain in the force transmission member and generate signals representative of the strain and a processor configured to derive a lateral force on the wheel from the signals. A method of calibrating a wheel force measurement system for a vehicle includes measuring a lateral force on a flange of a wheel in contact with a rail or road surface, generating data with a sensor on the force transmission member, and calibrating the data based at least in part on the measured lateral force. A method of operating a vehicle includes determining a plurality of lateral forces Y on a wheel of the vehicle, summing a plurality of lateral forces Y to determine a sum of wheel lateral forces ΣY, determining a vertical force Q on the wheel, determining a lateral to vertical coefficient value defined as ΣY/Q, and controlling operation of the vehicle to maintain the lateral to vertical coefficient below a determined limit or within a determined range.

A shelving block comprises a first and second shelving units facing from opposite sides of an aisle. The first shelving unit defines a first crate storage location and a second crate storage location that different in height. The first crate storage location is accessible to a robot between a pair of neighboring horizontal rails having a first vertical spacing between them defining a height of the first crate storage location. The second crate storage location is accessible to the robot between another pair of neighboring horizontal rails having a second vertical spacing between them defining a height of the second crate storage location. The first vertical spacing is larger than the second vertical spacing. The robot carries crates according to instructions from a computerized control.