Consider a normalized storage rack Q units long in the vertical direction. The I/O point is located at the lower lefthand corner of the rack, and each trip originates and terminates at the I/O point. Given that the rack will be serviced by a straddle truck, it is assumed that the truck will travel according to the rectilinear metric.

a. Derive (in closed form) the normalized expected travel time for a single-command cycle.

b. Derive (in closed form) the normalized expected travel time for a dual-command cycle.