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June 8, 1970 Docks — Port Talbot — “Dock estate” — Meaning — New harbour and jetty built adjacent to old harbour — Whether part of port of Port Talbot — “Dock work” — “Discharging from ship” — Discharging ore in continuous operation involving work with unloaders, belt conveyor system and primary boomstacker in stockyard — Stacking in stockyard — Whether dock work ordinarily performed by dock workers at Port Talbot — Dock Labour Scheme for South Wales Ports (1942) App. (4) — Port of Port Talbot Registration Amended Scheme (1943) Sch. para. I (1) (a) — Dock Workers (Registration of Employment) Act, 1946 (9 & 10 Geo. VI, c. 22), s. 2(5)(6) — Dock Workers (Registration of Employment) (Amendment) Order, 1967 (S.I. 1967,No. 1252), Sch. 2, App. I M. (4).

July 9, 1969 Docks — “De‐casualisation scheme” — Timber loaded on lorries after storage in dock area on removal from ship — Piling of timber at importer's yard “in vicinity of” Cardiff dock estates — Whether “Dock Work” — Whether yard outside dock estates — “Cargo” — Meaning — Whether “goods still identifiable as something carried within a ship” — Dock Workers (Regulation of Employment) Act, 1946 (9 & 10 Geo.VI, c. 22), s.6 — Docks and Harbours Act, 1966 (c.28), ss. 51 (3), 58 — Dock Workers (Regulation of EmpIoyment)(Amendment) Order, 1967 (S.I. 1967, No. 1252), Sch. 2 cl. 1(3) proviso, 2, App. I, M(2).

This paper investigates a problem in a reverse logistics (RLs) network to decide whether to dispose of unsold goods in primary stores or re-commercialize them in outlet centers. By deducting the costs associated with each policy from its revenue, this study aims to maximize the profit from managing unsold goods.

A new mixed-integer linear programming model has been developed to address the problem, which considers the selling prices of products in primary and secondary stores and the costs of transportation, cross-docking and returning unwanted items. As a result of uncertain nature of the cost and time parameters, gray numbers are used to deal with it. In addition, an innovative uncertain solution approach for gray programming problems is presented that considers objective function satisfaction level as an indicator of optimism.

According to the results, higher costs, including transportation, cross-docking and return costs, make sending goods to outlet centers unprofitable and more goods are disposed of in primary stores. Prices in primary and secondary stores heavily influence the number of discarded goods. Higher prices in primary stores result in more disposed of goods, while higher prices in secondary stores result in fewer. As a result of the proposed method, the objective function satisfaction level can be viewed as a measure of optimism.

An integral contribution of this study is developing a new mixed-integer linear programming model for selecting the appropriate goods for re-commercialization and choosing the best outlet center based on the products' price and total profit. Another novelty of the proposed model is considering the matching percentage of boxes with secondary stores’ desired product lists and the probability of returning goods due to non-compliance with delivery dates. Moreover, a new uncertain solution approach is developed to solve mathematical programming problems with gray parameters.

Cross-docking is a supply chain distribution and logistics strategy for which less-than-truckload shipments are consolidated into full-truckload shipments. Goods are stored up to a maximum of 24 hours in a cross-docking terminal. In this chapter, we build on the literature review by Ladier and Alpan (2016), who reviewed cross-docking research and conducted interviews with cross-docking managers to find research gaps and provide recommendations for future research. We conduct a systematic literature review, following the framework by Ladier and Alpan (2016), on cross-docking literature from 2015 up to 2020. We focus on papers that consider the intersection of research and industry, e.g., case studies or studies presenting real-world data. We investigate whether the research has changed according to the recommendations of Ladier and Alpan (2016). Additionally, we examine the adoption of Industry 4.0 practices in cross-docking research, e.g., related to features of the physical internet, the Internet of Things and cyber-physical systems in cross-docking methodologies or case studies. We conclude that only small adaptations have been done based on the recommendations of Ladier and Alpan (2016), but we see growing attention for Industry 4.0 concepts in cross-docking, especially for physical internet hubs.

Docking technology plays a crucial role in enabling long-duration operations of autonomous underwater vehicles (AUVs). Visual positioning solutions alone are susceptible to abnormal drift values due to the challenging underwater optical imaging environment. When an AUV approaches the docking station, the absolute positioning method fails if the AUV captures an insufficient number of tracers. This study aims to to provide a more stable absolute position visual positioning method for underwater terminal visual docking.

This paper presents a six-degree-of-freedom positioning method for AUV terminal visual docking, which uses lights and triangle codes. The authors use an extended Kalman filter to fuse the visual calculation results with inertial measurement unit data. Moreover, this paper proposes a triangle code recognition and positioning algorithm.

The authors conducted a simulation experiment to compare the underwater positioning performance of triangle codes, AprilTag and Aruco. The results demonstrate that the implemented triangular code reduces the running time by over 70% compared to the other two codes, and also exhibits a longer recognition distance in turbid environments. Subsequent experiments were carried out in Qingjiang Lake, Hubei Province, China, which further confirmed the effectiveness of the proposed positioning algorithm.

This fusion approach effectively mitigates abnormal drift errors stemming from visual positioning and cumulative errors resulting from inertial navigation. The authors also propose a triangle code recognition and positioning algorithm as a supplementary approach to overcome the limitations of tracer light positioning beacons.

In the digital assembly system of large aircraft components (LAC), the docking trajectory of LAC is an important factor affecting the docking accuracy and stability of the LAC. The main content of docking trajectory planning is how to move the LAC from the initial posture and position to the target posture and position (TPP). This paper aims to propose a trajectory planning method of LAC based on measured data.

First, the posture and position error model of the wing is constructed according to the measured data of the measurement points (MPs) and the fork lug joints. Second, the particle swarm optimization algorithm based on the dynamic inertia factor is used to optimize the TPP of the wing. Third, to ensure the efficiency and stability of posture adjustment, the S-shaped curve is used as the motion trajectory of LAC, and the parameters of the trajectory are solved by the generalized multiplier method. Finally, a series of docking experiments are carried out.

During the process of posture adjustment, the motion of the numerical control locator (NCL) is stable, and the interaction force between the NCLs is always within a reasonable range. After the docking, the MPs are all within the tolerance range, and the coaxiality error of the fork lug hole is less than 0.2 mm.

In this paper, the measured data rather than the theoretical design model is used to solve the TPP, which improves the docking accuracy of LAC. Experiment results show that the proposed trajectory method can complete the LAC docking effectively and improve the docking accuracy.

Compared with the robotic manipulation in structured environment, high performance assembly of complex parts in extreme special environment is facing great challenges because of the uncertainty in the environment, and the decline of the control accuracy of the robot and the sensor accuracy. The assembly and construction of the space station is a typical case. An important step in the construction of the space station is the module positioning and docking with the auxiliary of the space manipulator. The operation of the manipulator is faced with many problems, such as low sensing information accuracy, large end position deviation and the requirement of weak impact in the docking process. The purpose of this paper is to design a docking method at the strategy level to effectively solve the problems that may be faced in the docking process.

Inspired by the research of robotic high-precision compliant assembly, this paper introduces the concept of Attractive Region in Environment (ARIE) into the space manipulator–assisted module docking. The contact configuration space of the docking mechanism and the existence of ARIE are systematically analyzed. The docking strategy based on ARIE framework is proposed, in which the impedance control is used to ensure the weak impact during the docking process.

For the androgynous peripheral spacecraft docking mechanism, a large range of attractive region exists in the high-dimensional contact configuration space. The docking strategy based on ARIE framework can be designed according to the geometric characteristics of the constraint region and the structural characteristics of the docking mechanism. The virtual models and the simulation environment are established, and the effectiveness of the proposed method is preliminarily verified.

Based on the research results of robotic precision compliant manipulation, in this paper, the theory of ARIE is first systematically applied to the analysis of spacecraft docking problem and the design of docking scheme. The effectiveness of the proposed docking method is preliminarily verified for the requirements of large position tolerance and weak impact. The research results will provide theoretical support and technical reference for the assembly and construction of space station and other space manipulator operations.

This paper aims to focus on the spatial docking task of unmanned vehicles under ground conditions. The docking task of military unmanned vehicle application scenarios has strict requirements. Therefore, how to design a docking robot mechanism to achieve accurate docking between vehicles has become a challenge.

In this paper, first, the docking mechanism system is described, and the inverse kinematics model of the docking robot based on Stewart is established. Second, the genetic algorithm-based optimization method for multiobjective parameters of parallel mechanisms including workspace volume and mechanism flexibility is proposed to solve the problem of multiparameter optimization of parallel mechanism and realize the docking of unmanned vehicle space flexibility. The optimization results verify that the structural parameters meet the design requirements. Besides, the static and dynamic finite element analysis are carried out to verify the structural strength and dynamic performance of the docking robot according to the stiffness, strength, dead load and dynamic performance of the docking robot. Finally, taking the docking robot as the experimental platform, experiments are carried out under different working conditions, and the experimental results verify that the docking robot can achieve accurate docking tasks.

Experiments on the docking robot that the proposed design and optimization method has a good effect on structural strength and control accuracy. The experimental results verify that the docking robot mechanism can achieve accurate docking tasks, which is expected to provide technical guidance and reference for unmanned vehicles docking technology.

This research can provide technical guidance and reference for spatial docking task of unmanned vehicles under the ground conditions. It can also provide ideas for space docking missions, such as space simulator docking.

The purpose of this paper is that the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment under the connection of the cone–hole docking mechanism.

An arc-shaped docking cone head with a posture-maintaining spring and two arc-shaped connecting rods that formed a ring round hole were designed to achieve large tolerance docking. Before active locking, the coordination between structures was used to achieve passive locking, which mitigated the docking impact of modular robots in unstructured environment. Using the locking ring composed of the two arc-shaped connecting rods, open-loop and closed-loop motion characteristics were obtained through the mutual motion of the connecting rod and the sliding block to achieve active locking, which not only ensured high precision docking, but also achieved super docking stability.

The cone–hole docking mechanism had the docking tolerance performance of position deviation of 6mm and pitch deviation of 8° to achieve docking of six degrees of freedom (6-DOF), which had a load capacity of 230 N to achieve super docking stability. Under the connection of the cone–hole docking mechanism, the modular mobile robots reformed the multimachine joint mode to achieve obstacle-crossing, climbing and other multifunctional inspection in unstructured environment.

Based on mechanical analysis of universal models, a cone–hole docking mechanism combining active and passive functions, six-dimensional constraints could be implemented, was proposed in this paper. The characteristics of the posture-maintaining spring in the cone docking head and the compression spring at the two ends of two arc-shaped connecting rods were used to achieve docking with large tolerance. Passive locking and active locking modules were designed, mitigating impact load and the locking did not require power to maintain, which not only ensured high precision docking, but also achieved super docking stability.

Collaborative Logistics (CL) and merging operations are crucial strategies for reducing costs and improving service in transportation companies. This study proposes a model for optimizing efficiency in supply chain networks through inbound and outbound Collaborative Logistics implementation among the carriers in centralized, coordinated networks with cross-docking.

A mixed-integer non-linear programming model is developed to determine the optimal truck-goods assignment while gaining economies of scale through mixing multiple less-than-truckload (LTL) products with different weight-to-volume ratios. Unlike the previous studies that have considered Collaborative Logistics from the cost and profit-sharing perspective, the proposed model seeks to determine an appropriate form of Collaborative Logistics in the VRP.

This article shows that in a three-echelon supply chain consisting of a set of suppliers, a set of customers and a cross-docking terminal, partial collaboration among the inbound carriers and outbound carriers outperforms no/complete collaboration. This approach enhances the supply chain efficiency by minimizing the total transportation costs, the total transportation miles and the total number of trucks and maximizing fleet utilization. While addressing the four points, the role of collaborative logistics among the carriers was discussed. In a three-echelon SC consisting of a set of suppliers, a set of customers and a cross-docking terminal, partial collaboration among the inbound carriers and outbound carriers outperforms no/complete collaboration. Using a combination of experimental analysis and optimization process, it was recommended that managers be cautious that too much (full or complete) or no collaboration can result in SC performance deterioration.

The suggested approach enhances the supply chain efficiency by minimizing the total transportation costs, the total transportation miles and the total number of trucks and maximizing fleet utilization. While addressing the four points, the role of Collaborative Logistics among the carriers was discussed.