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an
d
co
n
tr
o
l
t
h
e
o
p
er
atio
n
al
ef
f
icie
n
c
y
,
d
r
iv
e
i
m
p
r
o
v
e
m
en
t
s
tr
ateg
ie
s
,
a
n
d
v
er
if
y
m
an
u
f
ac
t
u
r
in
g
d
ec
is
io
n
s
ef
f
ec
ti
v
en
e
s
s
[
1
0
,
1
1
]
.
C
u
r
r
en
tl
y
,
in
cr
ea
s
in
g
u
s
e
o
f
a
u
to
m
at
io
n
a
n
d
r
o
b
o
tizatio
n
ca
n
b
e
s
ee
n
,
w
h
ic
h
r
ep
lace
s
h
u
m
an
lab
o
r
.
I
n
d
u
s
tr
ial
r
o
b
o
ts
h
a
v
e
m
o
b
ili
t
y
s
i
m
i
lar
to
t
h
at
o
f
th
e
h
u
m
a
n
ar
m
,
an
d
ca
n
p
er
f
o
r
m
v
ar
io
u
s
co
m
p
lex
ac
tio
n
s
s
i
m
ilar
l
y
to
a
h
u
m
a
n
.
I
t
i
s
esti
m
ated
t
h
at,
th
a
n
k
s
to
r
o
b
o
tizatio
n
,
m
a
n
y
co
m
p
a
n
ies
h
a
v
e
o
b
tain
ed
a
r
ed
u
ctio
n
in
p
r
o
d
u
ctio
n
co
s
ts
o
f
5
0
%,
an
in
cr
ea
s
e
i
n
p
r
o
d
u
ctiv
it
y
o
f
3
0
%,
an
d
an
in
cr
ea
s
e
in
u
tili
za
t
io
n
o
f
m
o
r
e
th
an
8
5
% [
1
2
]
.
T
h
er
e
ar
e
s
ev
er
al
d
ig
ital
s
i
m
u
latio
n
to
o
ls
to
ch
o
o
s
e
f
r
o
m
,
b
o
th
d
u
r
in
g
th
e
d
es
ig
n
an
d
t
h
e
o
p
er
atio
n
o
f
a
m
a
n
u
f
ac
t
u
r
in
g
s
y
s
te
m
.
F
ac
ilit
y
la
y
o
u
t
a
s
w
ell
as
m
ate
r
ial
h
a
n
d
lin
g
s
y
s
te
m
s
elec
tio
n
an
d
co
n
f
i
g
u
r
atio
n
ca
n
b
e
s
u
p
p
o
r
ted
b
y
to
o
ls
s
u
ch
as
3
D
Mo
tio
n
Si
m
u
lati
o
n
[
1
3
]
.
I
n
o
r
d
er
to
p
er
f
o
r
m
a
co
m
p
r
eh
e
n
s
i
v
e
an
al
y
s
is
ta
k
i
n
g
in
to
ac
co
u
n
t
asp
ec
ts
r
elate
d
to
r
o
b
o
t
m
o
ti
o
n
,
as
th
e
p
o
s
s
ib
ilit
y
to
r
ea
ch
all
th
e
o
b
j
ec
tiv
es,
s
af
et
y
o
f
m
o
v
e
m
en
t
s
t
h
r
o
u
g
h
o
u
t
th
e
m
a
n
u
f
ac
t
u
r
i
n
g
ce
ll
an
d
th
e
co
n
f
i
g
u
r
atio
n
o
f
a
s
u
i
ta
b
le
la
y
o
u
t,
t
h
e
3
D
s
i
m
u
lat
io
n
s
o
f
t
w
ar
e
DE
L
MI
A
V5
w
a
s
ad
d
itio
n
all
y
e
m
p
lo
y
ed
to
p
er
f
o
r
m
a
d
etaile
d
d
esig
n
p
h
ase
o
f
th
e
m
an
u
f
ac
t
u
r
in
g
ce
ll.
T
h
e
r
esu
lt
s
o
f
t
h
i
s
3
D
s
i
m
u
latio
n
c
o
n
ce
r
n
ed
la
y
o
u
t
m
o
d
i
f
icatio
n
s
an
d
t
h
e
esti
m
ated
r
o
b
o
t lo
a
d
in
g
/
u
n
lo
ad
i
n
g
a
n
d
tr
av
el
ti
m
es.
R
o
b
o
tic
s
i
m
u
latio
n
i
s
a
p
o
w
er
f
u
l
to
o
l
w
h
ich
is
e
x
te
n
s
i
v
el
y
u
s
ef
u
l
in
i
n
d
u
s
tr
y
i
n
o
r
d
er
to
s
av
e
m
o
n
e
y
an
d
en
d
u
s
er
s
’
ti
m
e
w
h
i
le
d
esig
n
i
n
g
a
r
o
b
o
tic
w
o
r
k
ce
ll.
U
s
er
s
ca
n
p
r
ed
ict
th
e
b
eh
a
v
io
r
o
f
w
o
r
k
ce
ll
p
r
io
r
s
etti
n
g
u
p
ac
tu
al
p
r
o
ce
s
s
a
n
d
th
u
s
ca
n
s
a
v
e
b
o
th
ti
m
e
a
n
d
m
o
n
e
y
.
R
o
b
o
tic
s
i
m
u
la
tio
n
allo
w
s
s
m
o
o
t
h
er
tr
a
n
s
itio
n
f
r
o
m
co
n
ce
p
t
to
r
ea
lit
y
g
iv
in
g
u
s
er
s
f
r
ee
d
o
m
to
m
ak
e
m
is
tak
e
s
,
s
t
u
d
y
an
d
a
n
al
y
ze
t
h
e
m
w
h
ile
d
esig
n
in
g
t
h
e
w
o
r
k
ce
ll.
Ma
n
y
in
d
u
s
tr
ies
ar
e
n
o
w
r
ec
o
g
n
izi
n
g
s
i
m
u
latio
n
a
s
a
v
iab
le
to
o
l
a
s
it
p
r
o
v
id
es
b
etter
m
an
u
f
ac
t
u
r
in
g
d
esi
g
n
s
a
n
d
al
s
o
o
f
f
er
s
co
s
t
b
en
e
f
it
s
i
n
en
g
in
ee
r
in
g
a
n
d
in
s
tallat
io
n
b
en
e
f
its
[
1
4
]
.
R
o
b
o
tic
s
i
m
u
lat
io
n
is
a
k
in
e
m
atic
s
s
i
m
u
latio
n
to
o
l
w
h
ich
p
r
i
m
ar
y
u
s
es
ar
e
as
a
h
ig
h
l
y
d
etail,
ce
ll
-
l
ev
el
v
al
id
atio
n
to
o
l
[
1
5
]
an
d
f
o
r
s
im
u
lat
in
g
a
s
y
s
t
e
m
w
h
o
s
e
s
tate
c
h
an
g
e
s
co
n
ti
n
u
o
u
s
l
y
b
ased
o
n
t
h
e
m
o
t
io
n
(
s
)
o
f
o
n
e
o
r
m
o
r
e
k
in
e
m
at
ic
d
ev
ices [
1
6
]
.
T
h
e
r
esear
ch
w
o
r
k
ill
u
s
tr
ated
in
th
i
s
p
ap
er
is
ca
r
r
ied
o
u
t
in
th
e
m
etal
ca
n
m
a
n
u
f
ac
t
u
r
i
n
g
i
n
d
u
s
tr
y
f
o
r
co
n
tain
i
n
g
f
o
o
d
an
d
p
r
o
d
u
cts.
C
u
r
r
en
tl
y
,
t
h
e
p
r
o
ce
s
s
o
f
ae
r
o
s
o
l
ca
n
p
ac
k
ag
in
g
an
d
p
alletizin
g
i
n
th
is
m
an
u
f
ac
t
u
r
in
g
ce
l
l
is
o
p
er
ated
m
an
u
all
y
b
y
t
h
e
w
o
r
k
er
.
T
h
e
o
p
er
atio
n
to
au
to
m
ate
in
th
e
m
eta
l
ca
n
m
an
u
f
ac
t
u
r
in
g
in
d
u
s
tr
y
is
r
el
ated
to
th
e
d
ev
elo
p
m
e
n
t
an
d
i
m
p
le
m
e
n
tatio
n
o
f
th
e
Di
g
it
al
Facto
r
y
co
n
ce
p
t
th
r
o
u
g
h
t
h
e
ap
p
licatio
n
o
f
r
o
b
o
t
s
im
u
latio
n
to
o
ls
f
o
r
m
o
d
ell
in
g
,
an
a
l
y
s
is
a
n
d
i
m
p
r
o
v
e
m
en
t
o
f
r
ea
l
m
an
u
f
ac
t
u
r
in
g
ce
ll
s
.
T
h
e
an
al
y
s
is
an
d
i
m
p
r
o
v
e
m
en
t
o
f
a
m
a
n
u
f
ac
t
u
r
i
n
g
ce
ll
ar
e
t
y
p
icall
y
ca
r
r
ied
o
u
t
t
h
r
o
u
g
h
a
d
ec
is
io
n
m
ak
in
g
p
r
o
ce
s
s
i
n
v
o
l
v
i
n
g
s
e
v
er
al
is
s
u
e
s
to
b
e
tak
en
i
n
to
co
n
s
id
er
atio
n
.
R
o
b
o
t
s
i
m
u
la
tio
n
to
o
ls
ar
e
v
er
y
ef
f
ec
tiv
e
to
s
u
p
p
o
r
t
th
is
p
r
o
ce
s
s
,
as
t
h
e
y
e
n
ab
le
d
ea
lin
g
w
it
h
a
n
u
m
b
er
o
f
asp
ec
ts
a
s
d
iv
er
s
e
as
f
ac
ili
t
y
la
y
o
u
t
,
m
ater
ial
h
an
d
li
n
g
s
y
s
te
m
d
esi
g
n
,
m
an
u
f
ac
t
u
r
in
g
s
y
s
te
m
ca
p
ac
it
y
an
d
t
h
r
o
u
g
h
p
u
t a
n
al
y
s
is
.
I
n
th
i
s
r
esear
ch
w
o
r
k
,
th
e
f
u
zz
y
lo
g
ic
ap
p
r
o
ac
h
is
e
m
p
l
o
y
ed
to
an
a
l
y
s
e
th
e
a
u
to
m
at
ed
C
ANs
p
ac
k
ag
i
n
g
ce
ll
i
n
ter
m
s
o
f
p
r
o
d
u
ctiv
i
t
y
a
n
d
u
tili
za
t
io
n
o
f
av
ailab
le
r
eso
u
r
ce
s
.
T
h
e
n
u
m
er
i
ca
l
an
al
y
s
is
r
es
u
lt
s
ar
e
p
er
f
o
r
m
ed
to
s
u
g
g
est
p
o
s
s
ib
le
i
m
p
r
o
v
e
m
e
n
t
ac
tio
n
s
th
at
co
u
ld
in
cr
ea
s
e
e
f
f
ic
ien
c
y
a
n
d
p
r
o
d
u
ctiv
it
y
o
f
th
e
a
u
to
m
ated
C
ANs
p
ac
k
a
g
i
n
g
ce
ll.
I
n
ad
d
itio
n
,
t
h
e
p
r
o
ce
s
s
o
f
a
n
ae
r
o
s
o
l
ca
n
p
ac
k
a
g
in
g
a
n
d
p
alletizi
n
g
s
y
s
te
m
,
co
m
p
o
s
ed
o
f
a
r
o
b
o
t
m
an
ip
u
lato
r
an
d
a
u
to
m
ated
p
r
o
d
u
ctio
n
m
ac
h
i
n
e
an
d
d
ev
ic
es
is
m
o
d
elled
a
n
d
s
i
m
u
lated
v
ia
Del
m
ia
V6
s
o
f
t
w
ar
e
w
it
h
th
e
ai
m
to
ex
a
m
i
n
e
an
d
im
p
r
o
v
e
p
er
f
o
r
m
a
n
ce
.
T
h
e
s
i
m
u
la
tio
n
w
il
l
f
o
cu
s
o
n
ac
ti
v
it
ies
o
f
r
o
b
o
t
m
an
ip
u
lato
r
i
n
d
e
-
p
allet
izin
g
,
m
ater
ial
h
a
n
d
lin
g
,
p
ac
k
a
g
i
n
g
,
u
n
lo
ad
in
g
,
an
d
p
alletizin
g
t
h
r
o
u
g
h
o
u
t
th
e
w
o
r
k
ce
ll.
T
h
e
a
n
al
y
s
is
a
n
d
p
r
o
cu
r
e
m
e
n
t
o
f
t
h
at
au
to
m
atio
n
will
g
r
ea
tl
y
i
m
p
r
o
v
e
th
e
p
r
o
d
u
ctiv
it
y
a
n
d
co
s
t e
f
f
ec
tiv
e
n
ess
o
f
th
is
m
an
u
f
ac
t
u
r
in
g
in
d
u
s
tr
y
.
2.
CURR
E
NT
M
ANUF
ACTU
RIN
G
WO
RK
CE
L
L
2
.
1
.
Aer
o
s
o
l c
a
n pa
ck
a
g
ing
a
nd
pa
llet
izing
pro
ce
s
s
I
n
o
u
r
ca
s
e
s
t
u
d
y
,
t
h
e
p
r
o
d
u
ctio
n
i
n
d
u
s
tr
y
o
f
ae
r
o
s
o
l
ca
n
s
u
s
ed
to
co
n
tai
n
ch
e
m
ica
ls
,
in
w
h
ic
h
th
e
p
r
o
ce
s
s
o
f
p
ac
k
ag
in
g
1
2
ae
r
o
s
o
l
ca
n
s
i
n
to
a
ca
r
d
b
o
ar
d
c
ar
to
n
an
d
p
alletizi
n
g
is
a
m
a
n
u
f
ac
tu
r
i
n
g
s
ce
n
ar
io
.
Ho
w
e
v
er
,
as
m
en
t
io
n
ed
i
n
Se
ctio
n
1
,
th
e
c
u
r
r
en
t
w
o
r
k
ce
ll
s
till
e
m
p
lo
y
s
w
o
r
k
er
s
f
o
r
ae
r
o
s
o
l
ca
n
p
ac
k
a
g
i
n
g
an
d
p
alletizin
g
as s
h
o
w
n
in
F
i
g
u
r
e
1
.
T
h
e
p
r
o
ce
d
u
r
e
o
f
ae
r
o
s
o
l c
an
p
ac
k
ag
i
n
g
a
n
d
p
alletizi
n
g
,
b
y
a
to
tal
o
f
s
ix
w
o
r
k
er
s
is
as
f
o
ll
o
w
s
:
-
Fo
r
m
in
g
a
ca
r
d
b
o
ar
d
ca
r
to
n
an
d
ass
e
m
b
lin
g
a
1
2
co
m
p
ar
t
m
en
ts
p
ar
titi
o
n
,
a
n
d
th
e
n
p
u
tti
n
g
an
as
s
e
m
b
led
p
ar
titi
o
n
in
to
t
h
e
ca
r
d
b
o
ar
d
ca
r
to
n
,
w
it
h
t
h
r
ee
w
o
r
k
er
s
as s
h
o
w
n
in
F
ig
u
r
e
1
(
a)
.
-
Mo
v
in
g
t
h
e
as
s
e
m
b
led
ca
r
d
b
o
ar
d
ca
r
to
n
to
th
e
ass
e
m
b
l
y
s
tatio
n
,
w
it
h
o
n
e
w
o
r
k
er
,
an
d
th
e
a
n
o
th
er
o
n
e
w
o
r
k
er
p
ac
k
a
g
i
n
g
t
h
e
ae
r
o
s
o
l c
an
s
i
n
a
ca
r
d
b
o
ar
d
ca
r
to
n
,
an
d
s
ea
lin
g
it,
as s
h
o
w
n
i
n
Fi
g
u
r
e
1
(
b
)
.
-
Mo
v
in
g
t
h
e
s
ea
led
ae
r
o
s
o
l c
an
s
ca
r
to
n
,
an
d
p
alletizin
g
,
w
it
h
o
n
e
w
o
r
k
er
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
(
c)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
1
78
–
189
180
(
a)
(
b
)
(
c)
Fig
u
r
e
1
.
Ma
n
u
al
ae
r
o
s
o
l c
an
s
p
ac
k
ag
i
n
g
a
n
d
p
alletizin
g
: (
a)
ca
r
to
n
b
o
ar
d
w
it
h
3
w
o
r
k
er
s
,
(
b
)
ass
e
m
b
l
y
s
tatio
n
w
i
th
o
n
e
w
o
r
k
er
,
an
d
(
c)
p
alletizin
g
w
i
th
o
n
e
w
o
r
k
er
2
.
2
.
Curre
nt
w
o
rk
ce
ll a
na
ly
s
is
T
h
e
cy
c
le
ti
m
e
a
n
al
y
s
is
,
w
o
r
k
w
it
h
p
eo
p
le,
is
r
ef
er
r
ed
to
as
h
u
m
a
n
c
y
cle
ti
m
e
(
CT
)
u
s
i
n
g
o
n
e
o
f
th
e
w
o
r
k
m
ea
s
u
r
e
m
en
t
te
ch
n
ic
s
ca
lled
Me
th
o
d
T
im
e
Me
asu
r
e
m
en
t
(
MTM
)
o
f
a
p
er
s
o
n
w
h
o
h
as
b
ee
n
g
iv
e
n
a
r
ea
l
-
ti
m
e
w
o
r
k
o
u
t.
T
h
e
h
u
m
a
n
c
y
cle
ti
m
e
o
f
ae
r
o
s
o
l
ca
n
s
p
ac
k
ag
i
n
g
an
d
p
alletiz
in
g
as
m
e
n
tio
n
ed
i
n
Sectio
n
2
.
1
ca
n
b
e
ex
p
r
ess
ed
as in
(
1
)
:
∑
(
1
)
w
h
er
e
CT
=
c
y
cle
t
i
m
e,
s
e
c/p
a;
t
i
=
m
ater
ial
h
a
n
d
lin
g
/
ass
e
m
b
l
y
o
p
er
atio
n
ti
m
e
at
w
o
r
k
s
tatio
n
i
,
s
ec
;
i
=
w
o
r
k
s
tatio
n
.
T
h
e
p
r
o
d
u
ctio
n
r
ate
(
R
p
)
o
f
a
h
u
m
a
n
w
o
r
k
ce
l
l c
an
b
e
ill
u
s
tr
at
ed
as in
(
2
)
:
(
2
)
w
h
er
e
R
p
is
ex
p
r
ess
ed
i
n
w
o
r
k
u
n
its
p
er
h
o
u
r
,
p
a/h
r
;
T
p
=
p
r
o
d
u
ctio
n
ti
m
e
p
er
w
o
r
k
u
n
it
o
n
th
e
w
o
r
k
s
tat
io
n
th
at
ta
k
es t
h
e
lo
n
g
est,
m
i
n
.
Her
e,
th
e
p
r
o
d
u
ctio
n
ti
m
e
m
e
asu
r
e
m
en
t
o
f
o
n
e
p
ac
k
o
n
ea
c
h
w
o
r
k
s
tatio
n
,
r
esp
ec
ti
v
el
y
,
is
s
h
o
w
n
i
n
T
ab
le
1
.
I
t
is
s
ee
n
th
a
t
th
e
c
y
cle
ti
m
e
o
f
a
h
u
m
an
w
o
r
k
ce
ll
f
o
r
p
ac
k
ag
i
n
g
ae
r
o
s
o
l
ca
n
s
i
n
o
n
e
p
ac
k
,
an
d
t
h
en
p
alletizin
g
,
ca
n
b
e
o
b
tain
ed
f
r
o
m
(
1
)
,
th
er
ef
o
r
e,
CT
=
1
5
+2
0
+1
0
+
1
0
+3
0
+1
5
=
1
0
0
s
ec
■
I
t is also
s
ee
n
t
h
at,
ae
r
o
s
o
l c
an
s
p
ac
k
ag
i
n
g
at
w
o
r
k
s
ta
tio
n
5
,
tak
es t
h
e
lo
n
g
est,
t
h
at
is
,
T
p
=
3
0
s
ec
=
3
0
/6
0
=
0
.
5
m
i
n
C
alcu
late
th
e
p
r
o
d
u
ctio
n
r
ate
f
r
o
m
(
2
)
w
i
ll b
e:
()
I
f
s
p
ee
d
in
g
u
p
th
e
d
e
m
a
n
d
s
o
f
th
e
j
o
b
is
n
ee
d
ed
,
it
is
o
n
ly
p
o
s
s
ib
le
to
r
ed
u
ce
th
e
CT
.
Ho
w
ev
er
,
th
er
e
ar
e
ce
r
tain
e
f
f
ec
ts
a
n
d
p
h
y
s
ic
al
d
e
m
a
n
d
s
o
f
s
p
ee
d
in
g
u
p
t
h
e
d
e
m
a
n
d
s
o
f
t
h
e
j
o
b
b
y
r
ed
u
cin
g
t
h
e
CT
[
1
7
]
.
I
t
r
esu
lt
s
i
n
m
u
s
cle
p
ai
n
a
n
d
ten
d
er
n
ess
o
f
t
h
e
n
ec
k
a
n
d
s
h
o
u
l
d
er
ar
ea
s
,
ar
e
also
co
m
m
o
n
i
n
r
ep
etitiv
e
ta
s
k
s
,
i
f
th
e
CT
is
r
ed
u
ce
d
.
T
h
er
ef
o
r
e,
in
o
r
d
er
to
in
cr
ea
s
e
p
r
o
d
u
cti
o
n
r
ate
to
m
ee
t
d
e
m
a
n
d
,
it
i
s
p
o
s
s
ib
le
i
s
to
ad
d
w
o
r
k
ce
l
ls
o
r
w
o
r
k
s
h
i
f
t
s
.
Ho
w
e
v
er
,
o
p
er
atin
g
co
s
t
w
ill
b
e
in
cr
ea
s
ed
as
w
ell.
Fo
r
th
at
r
e
aso
n
,
au
to
m
ati
n
g
i
n
p
ac
k
ag
i
n
g
a
n
d
p
alletizi
n
g
s
y
s
t
e
m
s
i
s
s
u
g
g
es
ted
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
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mp
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men
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f a
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K
h
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a
k
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r
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181
T
ab
le
1
.
T
h
e
p
r
o
d
u
ctio
n
ti
m
e
p
er
1
p
ac
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W
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st
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t
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f
w
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15
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20
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t
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a
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p
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p
a
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10
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1
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o
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c
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g
i
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30
6
1
P
a
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t
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z
i
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g
15
3.
DE
V
E
L
O
P
M
E
NT
O
F
AUT
O
M
AT
E
D
CAN
P
A
CK
AG
I
NG
C
E
L
L
3
.
1
.
Co
ncept
ua
l desig
n
Fro
m
th
e
s
t
u
d
y
an
d
an
al
y
s
is
o
f
th
e
w
o
r
k
ce
ll
o
f
t
h
e
cu
r
r
en
t
s
y
s
te
m
,
th
er
e
is
a
co
n
ce
p
t
to
d
esig
n
a
s
y
s
te
m
w
i
th
a
w
o
r
k
in
g
p
r
o
ce
s
s
ar
e:
1
)
ar
r
an
g
in
g
t
h
e
ae
r
o
s
o
l
ca
n
s
in
t
h
e
f
o
r
m
o
f
1
2
ca
n
s
,
2
)
p
lacin
g
a
g
r
o
u
p
o
f
ae
r
o
s
o
l
ca
n
s
i
n
to
a
n
a
s
s
e
m
b
led
ca
r
to
n
,
3
)
s
ea
l
in
g
th
e
ca
n
n
ed
ca
r
to
n
,
an
d
4
)
p
alletiz
in
g
t
h
e
s
ea
led
ca
n
as
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
I
t
is
s
ee
n
th
at,
th
e
s
p
ee
d
in
g
u
p
th
e
d
e
m
an
d
s
o
f
th
e
j
o
b
ca
n
b
e
d
o
n
e
w
ith
a
u
to
m
ated
p
r
o
d
u
ctio
n
m
ac
h
in
e
s
an
d
d
ev
i
ce
s
in
s
tead
o
f
h
u
m
an
w
o
r
k
er
s
.
Fig
u
r
e
2
.
C
o
n
ce
p
tu
al
d
esi
g
n
3
.
2
.
Ana
ly
s
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o
f
CAN
pa
c
k
a
g
ing
ce
ll
Fu
zz
y
L
o
g
ic
ap
p
r
o
ac
h
is
e
m
p
lo
y
ed
to
a
n
al
y
s
e
t
h
e
a
u
to
m
ated
C
A
Ns
p
ac
k
ag
in
g
ce
ll
in
ter
m
s
o
f
p
r
o
d
u
ctiv
it
y
a
n
d
u
ti
lizatio
n
o
f
av
ailab
le
r
eso
u
r
ce
s
.
T
h
e
f
u
zz
y
m
o
d
el
f
o
r
p
r
o
d
u
ctio
n
r
ate
is
s
h
o
w
n
in
Fig
u
r
e
3
.
I
n
th
is
r
esear
c
h
,
t
h
r
ee
in
p
u
ts
,
tr
an
s
f
er
r
in
g
r
ate
(
Tr
)
,
p
ac
k
a
g
in
g
r
ate
(
Pk
)
a
n
d
p
alletizi
n
g
r
ate
(
Pl
)
,
an
d
o
n
e
o
u
tp
u
t
f
u
zz
y
v
ar
iab
le,
p
r
o
d
u
ctio
n
r
ate
(
Rp
)
ar
e
co
n
s
id
er
ed
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
ea
ch
f
u
zz
y
s
et
ar
e
tr
ian
g
u
lar
ex
ce
p
t a
t t
h
e
ex
tr
e
m
e
lef
t a
r
e
ass
u
m
ed
.
Un
i
v
er
s
e
o
f
d
is
co
u
r
s
e
o
f
th
e
v
ar
iab
les is
d
ef
in
ed
as:
Tr
=
[
0
.
8
,
1
6
]
Pk
=
[
0
.
0
,
1
5
]
Pl
=
[
0
.
0
,
1
6
]
Rp
=
[
0
.
0
,
2
0
]
W
h
en
t
h
r
ee
i
n
p
u
ts
ar
e
en
ter
ed
in
to
t
h
e
s
y
s
te
m
,
a
cr
i
s
p
o
u
tp
u
t
w
ill
b
e
o
b
tain
ed
f
o
r
p
r
o
d
u
ctio
n
r
ate
as
s
h
o
w
n
in
Fig
u
r
e
4
.
Fig
u
r
e
3
.
Fu
zz
y
m
o
d
el
f
o
r
p
r
o
d
u
ctio
n
r
ate
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
1
78
–
189
182
Fig
u
r
e
4
.
C
r
is
p
o
u
tp
u
t
f
o
r
p
r
o
d
u
ctio
n
r
ate
3
.
3
.
Ro
bo
t
ic
wo
rk
ce
ll
m
o
de
lin
g
T
h
e
m
et
h
o
d
o
lo
g
y
f
o
r
d
ev
elo
p
in
g
t
h
e
au
to
m
ated
C
A
N
s
p
ac
k
ag
i
n
g
ce
ll
is
b
ased
o
n
t
h
e
co
n
ce
p
tu
a
l
d
esig
n
in
Sec
tio
n
3
.
1
.
Usi
n
g
D
el
m
ia
V6
s
o
f
t
w
ar
e,
th
e
f
o
llo
w
i
n
g
s
tep
s
ar
e:
a.
Mo
d
elin
g
o
f
3
D
g
eo
m
etr
y
:
Au
to
m
a
ted
C
A
N
s
p
ac
k
a
g
i
n
g
ce
ll
h
er
e
co
n
s
i
s
ts
o
f
r
o
b
o
t
m
an
ip
u
lato
r
,
an
d
a
u
to
m
ated
p
r
o
d
u
ctio
n
m
ac
h
in
e
a
n
d
d
ev
ice
s
ar
e
m
o
d
eled
as
th
e
r
o
b
o
tic
w
o
r
k
ce
ll
is
s
h
o
w
n
in
Fi
g
u
r
e
5.
T
h
e
s
eq
u
en
ce
o
f
r
o
b
o
tic
w
o
r
k
ce
l
l
w
o
r
k
i
n
g
i
s
d
eter
m
i
n
e
d
as f
o
llo
w
s
.
Fig
u
r
e
5
.
R
o
b
o
tic
w
o
r
k
ce
ll
-
A
j
o
in
t
ar
m
r
o
b
o
t
(
1
)
p
ick
s
ca
r
d
b
o
ar
d
co
v
er
in
g
th
e
to
p
o
f
th
e
in
co
m
i
n
g
ae
r
o
s
o
l
ca
n
p
allet,
an
d
p
lace
s
it
o
n
th
e
ca
r
d
b
o
ar
d
s
tack
.
T
h
e
j
o
i
n
t
ar
m
r
o
b
o
t
th
en
m
o
v
e
s
b
a
ck
to
p
ick
a
n
e
m
p
t
y
p
allet
an
d
p
lace
it
o
n
th
e
s
u
p
p
o
r
t b
ase.
-
An
au
to
m
atic
ca
n
tr
a
n
s
f
er
r
in
g
m
ac
h
in
e
(
2
)
lo
ad
s
2
2
8
ae
r
o
s
o
l
ca
n
s
at
a
ti
m
e,
th
e
n
tr
an
s
f
er
s
t
h
e
m
to
th
e
e
n
d
o
f
th
e
f
ee
d
tr
ac
k
d
iv
id
ed
in
to
f
o
u
r
ch
an
n
els.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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J
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m
I
SS
N:
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I
mp
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men
t o
f a
n
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u
to
m
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ted
C
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p
a
ck
a
g
in
g
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ystem
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o
n
mo
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... (
K
h
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a
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r
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183
-
A
t
t
h
e
s
a
m
e
t
i
m
e,
t
h
e
ca
r
d
b
o
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d
w
i
ll
b
e
f
o
ld
ed
in
t
h
is
a
u
to
m
at
ic
ca
s
e
er
ec
to
r
(
3
)
,
th
en
th
e
ca
r
d
b
o
ar
d
ca
r
to
n
is
f
o
r
w
ar
d
ed
to
th
e
au
to
m
at
ic
p
ar
titi
o
n
ass
e
m
b
ler
(
4
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in
o
r
d
e
r
to
ass
em
b
l
y
a
1
2
co
m
p
ar
t
m
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t
s
p
ar
titi
o
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d
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th
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a
s
s
e
m
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led
ca
r
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ar
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to
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is
tr
an
s
p
o
r
ted
to
th
e
en
d
o
f
co
n
v
e
y
o
r
,
w
ai
t
f
o
r
p
ac
k
ag
i
n
g
.
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T
h
e
j
o
in
t
ar
m
r
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o
t
p
ick
s
1
2
ae
r
o
s
o
l
ca
n
s
at
a
tim
e
f
r
o
m
th
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n
d
o
f
th
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f
ee
d
tr
ac
k
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th
en
m
o
v
i
n
g
to
th
e
co
n
v
e
y
o
r
,
p
lace
s
all
th
e
ca
n
s
i
n
t
h
e
ca
r
to
n
.
T
h
e
ae
r
o
s
o
l
ca
n
n
ed
ca
r
to
n
i
s
t
h
en
co
n
v
e
y
ed
to
a
n
au
to
m
at
ic
ca
r
to
n
s
ea
ler
(
5
)
to
s
ea
l th
i
s
ca
r
to
n
u
s
i
n
g
tap
e.
-
T
h
e
j
o
in
t
ar
m
r
o
b
o
t
m
o
v
es
to
p
ick
t
h
e
s
ea
led
ca
r
to
n
o
n
e
b
y
o
n
e,
t
h
e
n
d
o
th
e
p
alletiz
in
g
.
T
h
e
jo
in
t
ar
m
r
o
b
o
t th
en
g
o
es b
ac
k
an
d
r
ep
ea
ts
in
s
tep
4
f
o
r
a
to
tal
o
f
1
9
ti
m
es,
co
n
s
id
er
ed
as 1
cy
cle
ti
m
e.
b.
Def
i
n
i
n
g
o
f
w
o
r
k
ce
ll c
o
m
p
o
n
en
t p
ar
a
m
eter
s
:
A
n
al
y
s
i
s
o
f
th
e
r
es
u
lt
s
in
Sec
tio
n
3
.
2
is
ca
r
r
ied
o
u
t
to
s
u
g
g
est
p
o
s
s
ib
le
ar
ea
s
o
f
i
m
p
r
o
v
e
m
en
t
th
a
t
co
u
ld
in
cr
ea
s
e
e
f
f
icien
c
y
a
n
d
p
r
o
d
u
ctiv
it
y
,
a
n
d
a
r
ec
o
n
f
i
g
u
r
atio
n
o
f
a
u
to
m
ated
C
AN
p
ac
k
ag
in
g
ce
ll
t
h
r
o
u
g
h
in
te
g
r
atio
n
o
f
a
r
o
b
o
tic
m
a
ter
ial
h
a
n
d
li
n
g
s
y
s
te
m
i
s
p
r
o
p
o
s
ed
.
I
t
p
r
o
v
id
es
th
e
ab
ili
t
y
to
s
elec
t
a
n
d
p
o
s
itio
n
th
e
v
ar
io
u
s
co
m
p
o
n
e
n
ts
o
f
th
e
ac
tiv
e
d
ev
ices
a
n
d
to
o
ls
in
c
lu
d
in
g
j
o
in
t
ar
m
r
o
b
o
t
an
d
s
en
s
o
r
s
.
T
h
e
w
o
r
k
ce
l
l
co
m
p
o
n
e
n
t
s
h
a
v
i
n
g
f
o
llo
w
i
n
g
s
p
ec
if
icatio
n
s
:
1
)
6
ax
es
j
o
in
t
ar
m
r
o
b
o
t;
r
o
b
o
t
m
o
tio
n
s
p
ee
d
,
J
1
=
2
1
0
°/
s
,
J
2
=
1
9
0
°/
s
,
J
3
=
2
1
0
°/
s
,
J
4
=
4
0
0
°/
s
,
J
5
=
4
0
0
°/
s
,
an
d
J
6
=
6
0
0
°/
s
,
2
)
au
to
m
a
tic
ca
n
tr
an
s
f
er
r
in
g
m
ac
h
i
n
e;
2
4
0
ca
n
s
/
m
in
,
3
)
au
to
m
atic
ca
s
e
er
ec
to
r
;
2
0
p
as/m
i
n
,
4
)
au
to
m
at
ic
p
ar
titi
o
n
ass
e
m
b
ler
;
2
0
p
as/
m
i
n
,
an
d
5
)
au
to
m
atic
ca
r
to
n
s
ea
ler
; 2
0
p
as/
m
i
n
.
T
h
e
au
to
m
a
ted
C
A
Ns
p
ac
k
a
g
in
g
ce
ll
p
r
o
ce
s
s
is
s
h
o
w
n
as
a
P
er
t
p
r
o
ce
s
s
ch
ar
t
in
Fig
u
r
e
6
,
w
h
ic
h
co
n
s
is
ts
o
f
3
w
o
r
k
s
tat
io
n
s
:
1
)
ST
1
-
R
o
b
o
tic_
A
ct_
0
1
r
ep
r
esen
ts
t
h
e
j
o
in
t
ar
m
r
o
b
o
t,
2
)
S
T
2
-
Gan
tr
y
_
A
ct_
0
1
r
ep
r
esen
ts
t
h
e
a
u
to
m
atic
ca
n
s
tr
an
s
f
er
r
in
g
m
ac
h
i
n
e,
an
d
3
)
ST
3
-
Mo
d
u
lar
_
A
ct_
0
1
r
ep
r
esen
ts
th
e
au
to
m
atic
ca
s
e
er
ec
to
r
,
p
ar
titi
o
n
ass
e
m
b
l
er
,
an
d
ca
r
to
n
s
ea
ler
as sh
o
w
n
in
Fi
g
u
r
e
7
,
8
,
an
d
9
r
esp
ec
tiv
el
y
.
Fig
u
r
e
6
.
S
y
s
te
m
P
E
R
T
p
r
o
ce
s
s
ch
ar
t
Fig
u
r
e
7
.
W
o
r
k
s
tatio
n
ST
1
-
R
o
b
o
tic_
A
ct_
0
1
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
1
78
–
189
184
Fig
u
r
e
8
.
W
o
r
k
s
tatio
n
ST
2
-
Gan
tr
y
_
A
ct_
0
1
Fig
u
r
e
9
.
W
o
r
k
s
tatio
n
ST
3
-
Mo
d
u
lar
_
A
ct_
0
1
3
.
4
.
Si
m
ula
t
io
n
T
h
is
u
s
e
s
g
eo
m
etr
ic
m
o
d
eli
n
g
an
d
k
i
n
e
m
a
tic
a
n
al
y
s
is
t
o
s
i
m
u
late
th
e
m
o
v
e
m
e
n
t
o
f
a
r
o
b
o
tic
m
an
ip
u
lato
r
a
n
d
p
r
o
d
u
ctio
n
m
ac
h
in
e
a
n
d
d
ev
ices.
T
h
e
b
est p
er
f
o
r
m
an
ce
o
f
s
i
m
u
latio
n
o
f
th
e
r
o
b
o
tic
w
o
r
k
ce
l
l
ca
n
b
e
d
e
m
o
n
s
tr
ated
b
y
t
h
e
p
r
o
ce
s
s
Gan
tt
ch
ar
t
i
n
Fi
g
u
r
e
1
0
(
a)
,
(
b
)
,
an
d
(
c
)
.
I
n
th
is
p
ap
er
,
it
s
h
o
w
s
t
h
e
Ga
n
t
t
ch
ar
t
o
f
th
e
j
o
in
t
ar
m
r
o
b
o
t
in
ea
ch
ac
tiv
it
y
o
n
l
y
t
h
r
o
u
g
h
o
u
t
th
e
c
y
cle
ti
m
e,
w
h
ich
is
5
5
4
.
9
7
s
ec
,
as
s
h
o
w
n
i
n
Fig
u
r
e
1
1
(
a)
,
(
b
)
,
an
d
(
c
)
.
(
a)
(
b
)
(
c)
Fig
u
r
e
1
0
.
P
r
o
ce
s
s
Gan
tt c
h
ar
t (
a)
d
u
r
atio
n
0
-
1
9
0
s
,
(
b
)
1
9
0
-
3
8
0
s
,
an
d
(
c)
3
8
0
-
555s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
I
mp
r
o
ve
men
t o
f a
n
a
u
to
m
a
ted
C
A
N
p
a
ck
a
g
in
g
s
ystem
b
a
s
ed
o
n
mo
d
elin
g
... (
K
h
o
n
g
s
a
k
S
r
a
s
r
is
o
m
)
185
(
a)
(
b
)
(
c)
Fig
u
r
e
1
1
.
R
o
b
o
tics
Gan
tt c
h
a
r
t (
a)
d
u
r
atio
n
0
-
1
9
0
s
,
(
b
)
1
9
0
-
3
8
0
s
,
an
d
(
c)
3
8
0
-
5
5
5
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2020
:
1
78
–
189
186
4.
ANALY
SI
S O
F
RO
B
O
T
I
C
WO
RK
CE
L
L
4
.
1
.
Ro
bo
t
cy
cle
t
im
e
a
na
ly
s
i
s
P
r
o
ce
s
s
Gan
tt
ch
ar
t
i
n
F
ig
u
r
e
9
s
h
o
w
s
t
h
at
t
h
e
r
o
b
o
t
cy
cle
ti
m
e
i
s
eq
u
al
to
t
h
e
to
ta
l
ti
m
e
i
n
th
e
p
r
o
ce
s
s
.
T
h
er
ef
o
r
e,
in
th
is
r
esear
ch
,
o
n
l
y
t
h
e
r
o
b
o
t
c
y
cle
ti
m
e
is
a
n
al
y
ze
d
,
w
h
ich
is
a
s
i
m
ilar
ap
p
r
o
ac
h
to
MT
M.
C
y
cle
ti
m
e
an
al
y
s
i
s
o
f
r
o
b
o
t
o
p
er
atio
n
is
u
s
ef
u
l
f
o
r
esti
m
ati
n
g
t
h
e
a
m
o
u
n
t
o
f
ti
m
e
r
eq
u
ir
ed
to
ac
h
iev
e
ce
r
tain
w
o
r
k
c
y
cle
ti
m
e
p
r
io
r
to
th
e
p
r
o
v
is
io
n
o
f
w
o
r
k
s
tatio
n
an
d
r
o
b
o
t
p
r
o
g
r
am
m
i
n
g
[
1
8
]
.
T
h
e
cy
cle
ti
m
e
o
f
th
e
p
r
o
p
o
s
ed
r
o
b
o
tic
ap
p
licati
o
n
s
in
v
o
lv
e
s
s
o
m
e
f
o
r
m
o
f
m
ater
ial
h
an
d
li
n
g
i
n
p
alletizi
n
g
/
de
-
p
alletizi
n
g
a
n
d
m
ac
h
in
e
lo
ad
in
g
/u
n
lo
ad
in
g
ap
p
licatio
n
s
,
i
n
w
h
ic
h
th
e
r
o
b
o
t
is
u
s
ed
to
s
u
p
p
o
r
t
an
a
u
to
m
at
ic
ca
n
tr
an
s
f
er
r
i
n
g
m
ac
h
in
e
a
n
d
an
au
to
m
atic
ca
r
t
o
n
s
ea
ler
ca
n
b
e
an
al
y
ze
d
u
s
in
g
th
e
b
asic c
y
cle
ti
m
e
eq
u
atio
n
as i
n
(
3
)
:
(
3
)
w
h
er
e
T
c
=
c
y
c
le
ti
m
e,
m
i
n
/p
a;
T
o
=
ti
m
e
o
f
t
h
e
ac
t
u
al
p
all
etizin
g
/d
e
-
p
allet
izin
g
,
m
ac
h
in
e
lo
ad
in
g
/
u
n
lo
ad
in
g
o
p
er
atio
n
s
,
m
in
/p
a;
T
h
=
w
o
r
k
p
ar
t h
an
d
lin
g
,
m
in
/p
a;
an
d
T
w
=
av
er
ag
e
w
aiti
n
g
ti
m
e,
m
i
n
/p
a.
A
cc
o
r
d
in
g
to
th
e
R
o
b
o
tics
Gan
tt
ch
ar
t
in
Fi
g
u
r
e
1
0
,
th
e
r
o
b
o
t
cy
cle
ti
m
e
ca
n
b
e
o
b
tain
ed
f
r
o
m
th
e
ti
m
e
th
at
t
h
e
r
o
b
o
t
m
a
n
ip
u
lato
r
is
in
v
o
lv
ed
i
n
all
ac
tiv
it
ies
f
o
r
ae
r
o
s
o
l
ca
n
s
p
ac
k
ag
i
n
g
an
d
p
alletizin
g
.
I
n
ad
d
itio
n
,
th
e
ti
m
e
o
f
all
ac
ti
v
itie
s
s
h
o
w
n
o
n
t
h
e
R
o
b
o
tics
Gan
t
t
c
h
ar
t
ca
n
b
e
cla
s
s
i
f
ie
d
in
to
5
g
r
o
u
p
s
o
f
ac
tiv
itie
s
,
as
s
h
o
w
n
i
n
T
ab
le
2
.
T
h
e
r
o
b
o
t
cy
cle
ti
m
e,
T
c
ca
n
b
e
ca
lcu
lated
f
r
o
m
(
3
)
,
w
h
ic
h
is
th
e
to
tal
ti
m
e
o
f
all
ac
tiv
it
ies is
:
T
h
e
p
r
o
d
u
ctio
n
r
ate
o
f
a
r
o
b
o
tic
ce
ll
is
b
ased
o
n
th
e
av
er
ag
e
p
r
o
d
u
ctio
n
ti
m
e,
w
h
ic
h
m
u
s
t
i
n
clu
d
e
th
e
ti
m
e
to
s
et
u
p
t
h
e
ce
ll.
(
4
)
w
h
er
e
T
p
=
a
v
er
ag
e
p
r
o
d
u
ctio
n
ti
m
e
p
er
w
o
r
k
u
n
it,
m
i
n
;
T
su
=
s
et
u
p
ti
m
e,
m
in
;
a
n
d
Q
=
q
u
an
tit
y
o
f
w
o
r
k
u
n
its
p
r
o
d
u
ce
d
in
th
e
p
r
o
d
u
ctio
n
r
u
n
.
P
r
o
d
u
ctio
n
r
ate
is
th
e
r
ec
ip
r
o
ca
l o
f
av
er
ag
e
p
r
o
d
u
ctio
n
ti
m
e:
(
5
)
w
h
er
e
R
p
is
ex
p
r
ess
ed
i
n
w
o
r
k
u
n
it
s
p
er
h
o
u
r
,
p
a/h
r
.
Fo
r
lo
n
g
-
r
u
n
n
i
n
g
j
o
b
s
,
R
p
ap
p
r
o
ac
h
es
th
e
c
y
c
le
r
ate
R
c
,
w
h
ic
h
is
t
h
e
r
ec
ip
r
o
ca
l o
f
T
c
.
T
h
at
is
,
as
Q
b
ec
o
m
e
s
v
er
y
lar
g
e
(
T
su
/
Q
)
0
an
d
(
6
)
w
h
er
e
R
c
=
o
p
er
atio
n
cy
cle
r
ate
o
f
th
e
m
ac
h
in
e,
p
a/
h
r
;
an
d
T
c
=
o
p
er
atio
n
cy
c
le
ti
m
e
wh
ich
ta
k
e
s
th
e
lo
n
g
est,
m
i
n
/p
a,
f
r
o
m
(
3
)
.
Fro
m
th
e
P
r
o
ce
s
s
Gan
t
t
C
h
a
r
t
in
Fig
u
r
e
9
,
it
ca
n
b
e
s
ee
n
th
at
t
h
e
T
c
th
at
ta
k
es
t
h
e
lo
n
g
e
s
t
i
s
2
7
.
6
3
s
ec
,
or
C
alcu
late
th
e
p
r
o
d
u
ctio
n
r
ate
f
r
o
m
(
6
)
w
i
ll b
e:
Ho
w
e
v
er
,
in
t
h
e
ac
t
u
al
i
m
p
le
m
en
tatio
n
o
f
th
e
s
y
s
te
m
,
a
n
d
t
h
e
r
es
u
lt
s
o
f
t
h
e
p
r
o
d
u
ctio
n
r
a
te
w
h
ich
is
o
b
tain
ed
f
r
o
m
t
h
e
f
u
zz
y
lo
g
ic
m
o
d
el
i
n
s
ec
tio
n
3
.
2
,
t
h
e
p
r
o
d
u
ctio
n
r
ate
w
ill,
t
h
er
e
f
o
r
e,
in
cr
ea
s
e
b
y
ap
p
r
o
x
i
m
a
tel
y
4
ti
m
es [
1
9
]
.
T
h
u
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
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I
mp
r
o
ve
men
t o
f a
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ted
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a
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in
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ystem
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K
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s
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S
r
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o
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187
T
ab
le
2
.
T
h
e
ac
tiv
ities
o
f
t
h
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
f
o
r
1
9
p
ac
k
s
o
f
ae
r
o
s
o
l c
an
p
ac
k
a
g
i
n
g
an
d
p
alletizin
g
A
c
t
i
v
i
t
y
O
p
e
r
a
t
i
o
n
T
i
me
(
se
c
)
1.
De
-
p
a
l
l
e
t
i
z
i
n
g
P
i
c
k
+
M
o
v
e
+
P
l
a
c
e
+
W
a
i
t
10
2.
M
a
t
e
r
i
a
l
h
a
n
d
l
i
n
g
P
i
c
k
+
M
o
v
e
+
P
l
a
c
e
+
W
a
i
t
20
3.
P
a
c
k
a
g
i
n
g
(
1
9
t
i
me
s)
P
i
c
k
+
M
o
v
e
+
P
l
a
c
e
+
W
a
i
t
9
.
0
1
1
9
=
1
7
1
.
1
9
4.
U
n
l
o
a
d
i
n
g
(
1
9
t
i
me
s)
P
i
c
k
+
M
o
v
e
+
W
a
i
t
5
1
9
=
9
5
5.
P
a
l
l
e
t
i
z
i
n
g
(
1
9
t
i
me
s)
M
o
v
e
+
P
l
a
c
e
+
W
a
i
t
1
3
.
6
2
1
9
=
2
5
8
.
7
8
4
.
2
.
E
co
no
m
ic
a
na
ly
s
is
A
n
e
w
a
u
to
m
a
ted
C
A
N
s
p
ac
k
ag
in
g
ce
ll
s
h
o
u
ld
b
e
ec
o
n
o
m
i
ca
ll
y
e
v
alu
a
ted
an
d
co
m
p
ar
ed
to
p
r
esen
t
p
r
o
d
u
ctio
n
w
o
r
k
ce
l
ls
.
O
n
e
i
m
p
o
r
tan
t
f
i
g
u
r
e,
u
s
ed
to
d
eter
m
in
e
t
h
e
v
al
u
e
o
f
t
h
e
i
n
v
e
s
t
m
en
t,
is
th
e
n
et
p
r
esen
t
v
alu
e,
w
h
ic
h
i
s
ca
lcu
lated
u
s
i
n
g
(
7
)
w
h
er
e
E
UA
C
is
th
e
eq
u
iv
a
len
t
u
n
i
f
o
r
m
a
n
n
u
al
ca
s
h
,
C
t
is
t
h
e
n
et
ca
s
h
f
lo
w
at
ti
m
e
t
,
n
is
th
e
ec
o
n
o
m
ic
lif
e
ti
m
e
o
f
t
h
e
in
v
e
s
t
m
en
t,
A
/P
is
th
e
ca
p
ital
r
ec
o
v
er
y
f
ac
t
o
r
.
A
n
o
th
er
u
s
e
f
u
l
f
i
g
u
r
e
is
t
h
e
p
a
y
b
ac
k
p
er
io
d
,
w
h
ic
h
is
ca
lc
u
lated
b
y
s
o
l
v
in
g
(
8
)
w
h
er
e
T
is
t
h
e
p
a
y
b
ac
k
p
e
r
io
d
.
E
UA
C
=
˗
I
n
ve
s
tmen
t c
o
s
t
(
A
/P
,
3
0
%,
n
)
+
A
n
n
u
a
l in
c
o
me
˗
Op
era
tio
n
co
s
t
(
7
)
∑
(
8
)
Usi
n
g
(
7
)
,
w
h
er
e
i
n
v
e
s
t
m
en
t
co
s
t
=
7
,
0
0
0
,
0
0
0
b
ah
t
,
o
p
er
atio
n
co
s
t
=
6
6
0
,
0
0
0
B
ah
t/y
ea
r
,
an
n
u
al
in
co
m
e
=
5
,
7
4
5
,
6
0
0
B
ah
t,
an
d
A
/P
w
h
ic
h
MA
R
R
=
3
0
%,
an
d
n
=
5
y
ea
r
,
w
ill
b
e
0
.
4
1
0
5
8
(
n
o
te
: 3
0
B
ath
=
1
US d
o
llar
)
.
T
h
u
s
,
N
o
te
: W
h
en
t
h
e
r
es
u
lt o
f
E
UA
C
is
p
o
s
iti
v
e,
th
i
s
r
o
b
o
t p
r
o
j
ec
t sh
o
u
ld
b
e
g
o
o
d
f
o
r
in
v
est
m
e
n
t.
P
ay
b
ac
k
p
er
io
d
ca
n
b
e
ca
lcu
la
ted
f
r
o
m
(
8
)
.
T
hus
,
4
.
3
.
Ana
ly
s
is
o
f
re
s
ults
T
h
e
p
er
f
o
r
m
a
n
ce
o
f
a
u
to
m
a
ted
ae
r
o
s
o
l
ca
n
p
ac
k
ag
in
g
a
n
d
p
alletizi
n
g
w
o
r
k
ce
l
ls
co
m
p
ar
ed
to
m
an
u
all
y
ae
r
o
s
o
l
ca
n
p
ac
k
ag
in
g
a
n
d
p
alletizi
n
g
is
s
h
o
w
n
in
T
ab
le
3
.
Fro
m
th
e
tab
le
,
it
ca
n
b
e
s
ee
n
th
a
t
th
e
p
r
o
d
u
ctio
n
r
ate
o
f
a
u
to
m
a
ted
ae
r
o
s
o
l
ca
n
p
ac
k
a
g
i
n
g
an
d
p
alletizin
g
w
o
r
k
ce
l
ls
i
s
1
.
4
2
ti
m
e
s
h
ig
h
er
t
h
a
n
m
an
u
al
ae
r
o
s
o
l
ca
n
p
ac
k
ag
i
n
g
a
n
d
p
alletizin
g
.
Mo
r
eo
v
er
,
th
e
p
r
o
d
u
ctio
n
r
ate
o
f
a
u
to
m
ated
w
o
r
k
ce
l
ls
ca
n
b
e
in
cr
ea
s
ed
f
r
o
m
1
3
0
p
as/h
r
to
5
2
1
p
as/h
r
b
y
ad
d
in
g
o
n
e
C
ar
tesi
a
n
r
o
b
o
t
to
r
ep
lace
w
o
r
k
in
g
i
n
ac
ti
v
it
y
3
,
T
ab
le
2
,
b
ec
au
s
e
if
u
s
i
n
g
o
n
l
y
o
n
e
r
o
b
o
t
m
a
n
ip
u
la
to
r
,
th
er
e
w
il
l
b
e
a
w
a
iti
n
g
ti
m
e
i
n
t
h
i
s
ac
tiv
it
y
to
8
s
ec
/p
a
(
s
ee
R
o
b
o
tic
s
Ga
n
tt
c
h
ar
t
i
n
Fig
u
r
e
1
0
(
a)
,
(
b
)
o
r
(
c
)
)
.
I
n
ad
d
itio
n
,
th
e
w
o
r
k
er
s
w
o
r
k
8
h
o
u
r
s
a
d
a
y
,
ta
k
e
a
b
r
ea
k
f
o
r
1
h
o
u
r
.
Fo
r
t
h
is
r
ea
s
o
n
,
t
h
er
e
w
il
l
b
e
a
s
et
u
p
ti
m
e
e
v
er
y
4
h
o
u
r
s
.
As
a
r
esu
lt
,
lead
ti
m
e
w
il
l
b
e
in
cr
ea
s
ed
.
T
h
er
ef
o
r
e,
th
e
p
r
o
d
u
ctio
n
r
ate
o
f
m
a
n
u
a
l
w
o
r
k
ce
lls
w
il
l
also
b
e
d
ec
r
ea
s
ed
.
Fu
r
th
er
m
o
r
e,
w
o
r
k
er
s
w
h
o
w
o
r
k
i
n
r
ep
etiti
v
e
ta
s
k
s
c
o
n
tin
u
o
u
s
l
y
f
o
r
a
lo
n
g
ti
m
e
e
x
p
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ien
ce
m
u
s
cle
p
ai
n
a
n
d
te
n
d
er
n
ess
o
f
th
e
n
ec
k
an
d
s
h
o
u
ld
er
ar
ea
s
.
T
h
e
cy
cle
ti
m
e
i
s
th
er
e
f
o
r
e
in
cr
ea
s
ed
.
T
ab
le
3
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
ae
r
o
s
o
l c
an
p
ac
k
ag
i
n
g
a
n
d
p
alletizin
g
w
o
r
k
ce
ll
s
f
o
r
p
r
o
d
u
ct
d
em
a
n
d
=
2
7
3
,
6
0
0
p
ac
k
s
W
o
r
k
c
e
l
l
C
y
c
l
e
t
i
me
(
se
c
)
P
r
o
d
u
c
t
i
o
n
r
a
t
e
(
p
a
/
h
r
)
T
o
t
a
l
t
i
me
(
h
r
)
N
o
.
o
f
w
o
r
k
e
r
(
p
e
r
so
n
)
M
a
n
u
a
l
p
a
c
k
a
g
i
n
g
p
a
l
l
e
t
i
z
i
n
g
1
0
0
1
2
0
2
2
8
0
6
A
u
t
o
mat
e
d
p
a
c
k
a
g
i
n
g
p
a
l
l
e
t
i
z
i
n
g
2
9
.
2
1
5
2
1
5
2
5
n
o
n
e
5.
CO
NCLU
SI
O
N
T
h
e
c
y
cle
ti
m
e
a
n
al
y
s
i
s
i
s
c
ar
r
ied
o
u
t
o
n
t
h
e
p
r
ese
n
t
ae
r
o
s
o
l
ca
n
p
ac
k
ag
i
n
g
a
n
d
p
alle
tizin
g
a
n
d
r
esu
lt
s
h
a
v
e
s
h
o
w
n
th
e
n
ee
d
f
o
r
ch
an
g
e
to
au
to
m
atio
n
i
n
t
h
e
p
ac
k
ag
i
n
g
an
d
p
alletizi
n
g
.
T
h
u
s
t
h
e
d
ev
elo
p
m
en
t
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