The conceived invention provides both a film applicator and a method for placing a continuous film sleeve around a hose, or a grouping of a plurality of hoses. The sleeve thickness is approximately mil to 20 mils thick, which is suitable for cleanliness protection and reducing the possibility of ripping when the hoses are dragged across a floor. The embodied invention includes a plastic sleeve payout tube, that surrounds and encompasses the hose/hoses. The hoses are routed through the sleeve payout tube when they are hauled into a building to be cleaned. The payout tube stores a compacted length of an enclosing plastic sleeve, and the sleeve pays off as the hoses are dragged into the facility to be cleaned. The initial attachment of the plastic sleeve and hoses is by use of an adhesive tape or an outer clamping strap.

The conceived invention provides both a film applicator and a method for placing a continuous film sleeve around a hose, or a grouping of a plurality of hoses. The sleeve thickness is approximately mil to 20 mils thick, which is suitable for cleanliness protection and reducing the possibility of ripping when the hoses are dragged across a floor. The embodied invention includes a plastic sleeve payout tube, that surrounds and encompasses the hose/hoses. The hoses are routed through the sleeve payout tube when they are hauled into a building to be cleaned. The payout tube stores a compacted length of an enclosing plastic sleeve, and the sleeve pays off as the hoses are dragged into the facility to be cleaned. The initial attachment of the plastic sleeve and hoses is by use of an adhesive tape or an outer clamping strap.

The conceived invention provides both a film applicator and a method for placing a continuous film sleeve around a hose, or a grouping of a plurality of hoses. The sleeve thickness is approximately mil to 20 mils thick, which is suitable for cleanliness protection and reducing the possibility of ripping when the hoses are dragged across a floor.

The embodied invention includes a plastic sleeve payout tube, that surrounds and encompasses the hose/hoses. The hoses are routed through the sleeve payout tube when they are hauled into a building to be cleaned. The payout tube stores a compacted length of an enclosing plastic sleeve, and the sleeve pays off as the hoses are dragged into the facility to be cleaned. The initial attachment of the plastic sleeve and hoses is by use of an adhesive tape or an outer clamping strap.

An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.

An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport, vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.

An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.

An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.

SUMMARY

The invention relates to a method and a device for expanding at least a section of an initial tube blank (2) made of plastic or metal in such a way that an expanded tube blank (1) is obtained which tapers in the direction of an end of the tube blank that is not affected by the expansion process. The initial tube blank is fixed in a holding device (4) in a first position (6a), a first mandrel (3) is inserted into the initial tube blank, pressed therein and held in the pressed-in position for a predetermined heating time period, so that at least a part of the tube blank is expanded, and finally the first mandrel is pulled out of the expanded tube blank (1), wherein, when the first mandrel is pulled out of the tube blank, either compressed air is blown into the interior of the expanded tube blank through the first mandrel provided with at least one corresponding first air channel (5), or the expanded tube blank is mechanically stripped off.