A method for turning a pinion-driven lift-robot in an intersection of rails. Moving the pinion-driven lift-robot in a first motion mode to position the pinion-driven lift-robot in a first position at the intersection. The pinion-driven lift-robot is turned over a corner of the intersection that is accessible from the first position and that includes continuous rails connecting a vertical track and a horizontal track, whereby positioning the pinion-driven lift-robot in a second position at the intersection. The pinion-driven lift-robot is moved in a second motion mode towards a designated direction.

A method for turning a pinion-driven lift-robot in an intersection of rails. Moving the pinion-driven lift-robot in a first motion mode to position the pinion-driven lift-robot in a first position at the intersection. The pinion-driven lift-robot is turned over a corner of the intersection that is accessible from the first position and that includes continuous rails connecting a vertical track and a horizontal track, whereby positioning the pinion-driven lift-robot in a second position at the intersection. The pinion-driven lift-robot is moved in a second motion mode towards a designated direction.

A direction switching module for lift robots using a pair of pinions coupled to a rack for propelling vertically and horizontally according to the track's orientation, is disclosed. In a linear motion mode both pinions rotate in the same velocity. In a direction switching mode, when changing from vertical to horizontal motion mode and vise versa, the module is capable of propelling one pinion on a vertical track and its counterpart on a horizontal track, simultaneously, each pinion in a different velocity. A bogie propelled by two pairs of said module is also disclosed, and a controller configured to drive both pinions in same velocity during linear motion and each pinion in a separate appropriate velocity during the direction switching mode. A method for turning a pinion-driven lift-robot in an intersection of rails and a controller for controlling the linear motion modes and the direction switching modes of the lift robot are also disclosed.

A direction switching module for lift robots using a pair of pinions coupled to a rack for propelling vertically and horizontally according to the track's orientation, is disclosed. In a linear motion mode both pinions rotate in the same velocity. In a direction switching mode, when changing from vertical to horizontal motion mode and vise versa, the module is capable of propelling one pinion on a vertical track and its counterpart on a horizontal track, simultaneously, each pinion in a different velocity. A bogie propelled by two pairs of said module is also disclosed, and a controller configured to drive both pinions in same velocity during linear motion and each pinion in a separate appropriate velocity during the direction switching mode. A method for turning a pinion-driven lift-robot in an intersection of rails and a controller for controlling the linear motion modes and the direction switching modes of the lift robot are also disclosed.

The vehicle including an active suspension system (22) parameterized by a set of adjustment parameters. The railway track is cut into segments. For each segment (T), the method includes campaigns for optimization of the set of parameters, such that: during the first campaign, to each passage of the suspension system (22) on the segment (T), a first set of parameters, specific to this passage, is predefined and applied to the suspension system (22), and a comfort quality index is calculated, and then a metaheuristic algorithm is applied for determining second sets of parameters, and during each following optimization campaign, at each passage of the suspension system over the segment, one of the determined sets of parameters by the previous optimization campaign is applied to the suspension system, and the comfort quality index is calculated, and then the metaheuristic algorithm is applied in order to determine new sets of parameters.

An abnormality detection method for a vehicle body tilt control device makes it possible to determine which air spring has an air supply/exhaust abnormality. A model creation step prepares a state estimation model for each of the front and rear vehicle halves into which a vehicle is divided, and an abnormality detection step applies a state estimation technique to the state estimation model to detect which one of the air springs has an air supply/exhaust abnormality. When flow rate command values for air supplied to/exhausted from the air springs included in each vehicle half are input, each of the input flow rate command values for air supplied to/exhausted from the air springs is multiplied by a virtual gain and the results are averaged. Based on the averages, the average of the heights of the air springs is output, where each virtual gain is included as a state variable.

An abnormality detection method for a vehicle body tilt control device makes it possible to determine which air spring has an air supply/exhaust abnormality. A model creation step prepares a state estimation model for each of the front and rear vehicle halves into which a vehicle is divided, and an abnormality detection step applies a state estimation technique to the state estimation model to detect which one of the air springs has an air supply/exhaust abnormality. When flow rate command values for air supplied to/exhausted from the air springs included in each vehicle half are input, each of the input flow rate command values for air supplied to/exhausted from the air springs is multiplied by a virtual gain and the results are averaged. Based on the averages, the average of the heights of the air springs is output, where each virtual gain is included as a state variable.

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.

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.

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.