An AS/RS with one aisle is 300 ft long and 60 ft high. The S/R machine has a maximum speed of 300 ft/min in the horizontal direction. It accelerates from zero to 300 ft/min in a distance of 15 ft. On approaching its target position (where the S/R machine will transfer a load onto or off of its platform), it decelerates from 300 ft/min to a full stop in 15 ft. The maximum vertical speed is 60 ft/min, and the acceleration and deceleration distances are each 3 ft. Assume simultaneous horizontal and vertical movement, and that the rates of acceleration and deceleration are constant in both directions. The pick and deposit time = 0.3 min. Using the general approach of the MHI method for computing cycle time but adding considerations for acceleration and deceleration, determine the single command and dual command cycle times.