Purpose A welding robot is a complicated system with uncertainty, time-varying, strong coupling and non-linear system. It is more complicated if it is used in an underwater environment. It is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the classical proportional integral derivative control method to realize automatic tracking of the seam. The purpose of this paper is to suggest a novel method to deal with these issues. Design/methodology/approach To combine the advantages of active disturbance rejection control (ADRC) and sliding mode control (SMC) to improve the shortcomings of a single control method, a hybrid control method for an underwater welding robot trajectory tracking based on SMC_ADRC is proposed in this research work. Findings The simulation experiment of the proposed approach is carried out by Matlab/Simulink, and the welding experiment is recorded. The seam gets plumper and smoother, with better continuity and no undercut phenomenon. Originality/value The proposed approach is effective and reliable, and the system’s tracking performance is stable, which can effectively reduce chattering and improve system robustness.
{"title":"The welding tracking technology of an underwater welding robot based on sliding mode active disturbance rejection control","authors":"Shengqiang Li, Xiaofan Zhang","doi":"10.1108/aa-07-2022-0171","DOIUrl":"https://doi.org/10.1108/aa-07-2022-0171","url":null,"abstract":"\u0000Purpose\u0000A welding robot is a complicated system with uncertainty, time-varying, strong coupling and non-linear system. It is more complicated if it is used in an underwater environment. It is difficult to establish an accurate dynamic model for an underwater welding robot. Aiming at the tracking control of an underwater welding robot, it is difficult to achieve the control performance requirements by the classical proportional integral derivative control method to realize automatic tracking of the seam. The purpose of this paper is to suggest a novel method to deal with these issues.\u0000\u0000\u0000Design/methodology/approach\u0000To combine the advantages of active disturbance rejection control (ADRC) and sliding mode control (SMC) to improve the shortcomings of a single control method, a hybrid control method for an underwater welding robot trajectory tracking based on SMC_ADRC is proposed in this research work.\u0000\u0000\u0000Findings\u0000The simulation experiment of the proposed approach is carried out by Matlab/Simulink, and the welding experiment is recorded. The seam gets plumper and smoother, with better continuity and no undercut phenomenon.\u0000\u0000\u0000Originality/value\u0000The proposed approach is effective and reliable, and the system’s tracking performance is stable, which can effectively reduce chattering and improve system robustness.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45249070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose The paper aims to propose a method to build environmental constraint region online in complex-shaped peg-in-hole assembly tasks. Design/methodology/approach Compared with conventional way which using computer-aided design (CAD) models of assembly parts to construct the environmental constraint region offline, the paper provides an online approach that consists of three aspects: modeling assembly parts through visual recognition, decomposing complex shapes into multiple primitive convex shapes and a numerical algorithm to simulate the peg-in-hole insertion contact. Besides, a contrast experiment is performed to validate the feasibility and effectiveness of the method. Findings The experiment result indicates that online construction takes less time than the offline way under the same task conditions. Furthermore, due to the CAD models of the parts are not required to be known, the method proposed in the paper has a broader application in most assembly scenarios. Originality/value With the improvement of customization and complexity of manufactured parts, the assembly of complex-shaped parts has drawn greater attention of many researchers. The assembly methods based on attractive region in environment (ARIE) have shown great performance to achieve high-precision manipulation with low-precision systems. The construction of environmental constraint region serves as an essential part of ARIE-based theory, directly affect the formulation and application of assembly strategies.
{"title":"Online modeling of environmental constraint region for complex-shaped parts assembly","authors":"Shuai Gan, Yang Liu, Ziyu Chen","doi":"10.1108/aa-07-2022-0180","DOIUrl":"https://doi.org/10.1108/aa-07-2022-0180","url":null,"abstract":"\u0000Purpose\u0000The paper aims to propose a method to build environmental constraint region online in complex-shaped peg-in-hole assembly tasks.\u0000\u0000\u0000Design/methodology/approach\u0000Compared with conventional way which using computer-aided design (CAD) models of assembly parts to construct the environmental constraint region offline, the paper provides an online approach that consists of three aspects: modeling assembly parts through visual recognition, decomposing complex shapes into multiple primitive convex shapes and a numerical algorithm to simulate the peg-in-hole insertion contact. Besides, a contrast experiment is performed to validate the feasibility and effectiveness of the method.\u0000\u0000\u0000Findings\u0000The experiment result indicates that online construction takes less time than the offline way under the same task conditions. Furthermore, due to the CAD models of the parts are not required to be known, the method proposed in the paper has a broader application in most assembly scenarios.\u0000\u0000\u0000Originality/value\u0000With the improvement of customization and complexity of manufactured parts, the assembly of complex-shaped parts has drawn greater attention of many researchers. The assembly methods based on attractive region in environment (ARIE) have shown great performance to achieve high-precision manipulation with low-precision systems. The construction of environmental constraint region serves as an essential part of ARIE-based theory, directly affect the formulation and application of assembly strategies.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44341469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Zhong Cao, L. Zhang, A. Ahmad, F. Alsaadi, M. Alassafi
Purpose This paper aims to investigate an adaptive prescribed performance control problem for switched pure-feedback non-linear systems with input quantization. Design/methodology/approach By using the semi-bounded continuous condition of non-affine functions, the controllability of the system can be guaranteed. Then, a constraint variable method is introduced to ensure that the tracking error satisfies the prescribed performance requirements. Meanwhile, to avoid the design difficulties caused by the input quantization, a non-linear decomposition method is adopted. Finally, the feasibility of the proposed control scheme is verified by a numerical simulation example. Findings Based on neural networks and prescribed performance control method, an adaptive neural control strategy for switched pure-feedback non-linear systems is proposed. Originality/value The complex deduction and non-differentiable problems of traditional prescribed performance control methods can be solved by using the proposed error transformation approach. Besides, to obtain more general results, the restrictive differentiability assumption on non-affine functions is removed.
{"title":"Adaptive neural prescribed performance control for switched pure-feedback non-linear systems with input quantization","authors":"Zhong Cao, L. Zhang, A. Ahmad, F. Alsaadi, M. Alassafi","doi":"10.1108/aa-05-2022-0126","DOIUrl":"https://doi.org/10.1108/aa-05-2022-0126","url":null,"abstract":"\u0000Purpose\u0000This paper aims to investigate an adaptive prescribed performance control problem for switched pure-feedback non-linear systems with input quantization.\u0000\u0000\u0000Design/methodology/approach\u0000By using the semi-bounded continuous condition of non-affine functions, the controllability of the system can be guaranteed. Then, a constraint variable method is introduced to ensure that the tracking error satisfies the prescribed performance requirements. Meanwhile, to avoid the design difficulties caused by the input quantization, a non-linear decomposition method is adopted. Finally, the feasibility of the proposed control scheme is verified by a numerical simulation example.\u0000\u0000\u0000Findings\u0000Based on neural networks and prescribed performance control method, an adaptive neural control strategy for switched pure-feedback non-linear systems is proposed.\u0000\u0000\u0000Originality/value\u0000The complex deduction and non-differentiable problems of traditional prescribed performance control methods can be solved by using the proposed error transformation approach. Besides, to obtain more general results, the restrictive differentiability assumption on non-affine functions is removed.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44738353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ling Chen, Zhi Su, Xiaotong He, Xiang Chen, Lin Dong
Purpose Embroidery as a textile embellishment technique plays an important role in people's daily life. Esthetic embroidery artworks possess cultural values. With the development of robotics and artificial intelligence (AI), these technologies have been studied and applied in the embroidery process. This study aims to survey how these technologies facilitate embroidery from different aspects. Design/methodology/approach This paper surveys how the technologies of robotics and AI are applied in the embroidery field. The applications are mainly reviewed from three aspects: computerized robotic embroidery systems has been widely used for the mass production of embroidered textiles, the advanced technological systems and techniques have greatly facilitated the development of smart textiles and the artificial intelligence plays an important role in the inheritance, innovation and protection of traditional handicraft artwork of embroidery. Findings The programmable robotic embroidery machines have greatly improved the production efficiency of embroidered textiles and promoted the development of electronic textiles. The AI, mainly the deep learning technology, brings significant benefits to esthetic embroidery creation. Technology-based embroidery has become a hot research topic in the field of textiles. Originality/value This paper summarizes the application of robotics and AI technologies in the field of embroidery, which provides readers a comprehensive and systematic understanding about the research progress of modern technology-oriented embroidery. This helps readers gain inspiration from the technology perspectives.
{"title":"The application of robotics and artificial intelligence in embroidery: challenges and benefits","authors":"Ling Chen, Zhi Su, Xiaotong He, Xiang Chen, Lin Dong","doi":"10.1108/aa-07-2022-0183","DOIUrl":"https://doi.org/10.1108/aa-07-2022-0183","url":null,"abstract":"\u0000Purpose\u0000Embroidery as a textile embellishment technique plays an important role in people's daily life. Esthetic embroidery artworks possess cultural values. With the development of robotics and artificial intelligence (AI), these technologies have been studied and applied in the embroidery process. This study aims to survey how these technologies facilitate embroidery from different aspects.\u0000\u0000\u0000Design/methodology/approach\u0000This paper surveys how the technologies of robotics and AI are applied in the embroidery field. The applications are mainly reviewed from three aspects: computerized robotic embroidery systems has been widely used for the mass production of embroidered textiles, the advanced technological systems and techniques have greatly facilitated the development of smart textiles and the artificial intelligence plays an important role in the inheritance, innovation and protection of traditional handicraft artwork of embroidery.\u0000\u0000\u0000Findings\u0000The programmable robotic embroidery machines have greatly improved the production efficiency of embroidered textiles and promoted the development of electronic textiles. The AI, mainly the deep learning technology, brings significant benefits to esthetic embroidery creation. Technology-based embroidery has become a hot research topic in the field of textiles.\u0000\u0000\u0000Originality/value\u0000This paper summarizes the application of robotics and AI technologies in the field of embroidery, which provides readers a comprehensive and systematic understanding about the research progress of modern technology-oriented embroidery. This helps readers gain inspiration from the technology perspectives.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42781082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose This paper aims to propose a method to automate the tolerance analyses of mechanical assembly using STandard for the Exchange of Product model data-Application Protocol Part 242 (STEP AP 242) files derived from the 3-D computer-aided design (CAD) models. Design/methodology/approach Product manufacturing information and mating information available in ISO 10303 STEP AP242 files resulting from the 3-D CAD model of mechanical assembly are extracted. The extracted geometric attributes, geometric dimensioning and tolerancing (GD&T) and mating information are used to automatically generate assembly graph and mating edges required for the tolerance analyses of the mechanical assembly by using the matrix approach. Findings The feasibility of the proposed method is verified through two mechanical assembly case studies. The results of manual calculations and tolerance values computed by the automated method are very closely matching. Practical implications Tolerance analysis is an integral part of product development that directly influences the cost and performance of a product. Apart from the academic interest, the work is expected to have positive implications for the digital design and smart manufacturing industry that involve in the development of solutions for automation of design and manufacturing system functions. Originality/value The approach presented in the paper that aids the automation of tolerance analyses of mechanical assembly is an innovative application of the STEP AP 242 file. The automation of tolerance analyses would improve the productivity and efficiency of the product realization process.
目的本文旨在提出一种使用从三维计算机辅助设计（CAD）模型导出的产品模型数据交换标准应用协议第242部分（STEP AP 242）文件来自动进行机械装配公差分析的方法。从机械装配的三维CAD模型中提取ISO 10303 STEP AP242文件中可用的产品制造信息和配合信息。提取的几何属性、几何尺寸标注和公差（GD&T）以及配合信息用于使用矩阵方法自动生成机械装配公差分析所需的装配图和配合边。通过两个机械装配实例验证了该方法的可行性。手动计算的结果与自动方法计算的公差值非常匹配。实际含义公差分析是产品开发的一个组成部分，它直接影响产品的成本和性能。除了学术兴趣之外，这项工作预计将对数字设计和智能制造行业产生积极影响，这些行业涉及设计和制造系统功能自动化解决方案的开发。独创性/价值本文提出的有助于机械装配公差分析自动化的方法是STEP AP 242文件的创新应用。公差分析的自动化将提高产品实现过程的生产力和效率。
{"title":"Automatic tolerance analyses by generation of assembly graph and mating edges from STEP AP 242 file of mechanical assembly","authors":"Mukunthan S., Manu R., D. Lawrence K.","doi":"10.1108/aa-11-2021-0155","DOIUrl":"https://doi.org/10.1108/aa-11-2021-0155","url":null,"abstract":"\u0000Purpose\u0000This paper aims to propose a method to automate the tolerance analyses of mechanical assembly using STandard for the Exchange of Product model data-Application Protocol Part 242 (STEP AP 242) files derived from the 3-D computer-aided design (CAD) models.\u0000\u0000\u0000Design/methodology/approach\u0000Product manufacturing information and mating information available in ISO 10303 STEP AP242 files resulting from the 3-D CAD model of mechanical assembly are extracted. The extracted geometric attributes, geometric dimensioning and tolerancing (GD&T) and mating information are used to automatically generate assembly graph and mating edges required for the tolerance analyses of the mechanical assembly by using the matrix approach.\u0000\u0000\u0000Findings\u0000The feasibility of the proposed method is verified through two mechanical assembly case studies. The results of manual calculations and tolerance values computed by the automated method are very closely matching.\u0000\u0000\u0000Practical implications\u0000Tolerance analysis is an integral part of product development that directly influences the cost and performance of a product. Apart from the academic interest, the work is expected to have positive implications for the digital design and smart manufacturing industry that involve in the development of solutions for automation of design and manufacturing system functions.\u0000\u0000\u0000Originality/value\u0000The approach presented in the paper that aids the automation of tolerance analyses of mechanical assembly is an innovative application of the STEP AP 242 file. The automation of tolerance analyses would improve the productivity and efficiency of the product realization process.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41796989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose This paper aims to develop a method to improve the accuracy of tolerance analysis considering the spatial distribution characteristics of part surface morphology (SDCPSM) and local surface deformations (LSD) of planar mating surfaces during the assembly process. Design/methodology/approach First, this paper proposes a skin modeling method considering SDCPSM based on Non-Gaussian random field. Second, based on the skin model shapes, an improved boundary element method is adopted to solve LSD of nonideal planar mating surfaces, and the progressive contact method is adopted to obtain relative positioning deviation of mating surfaces. Finally, the case study is given to verify the proposed approach. Findings Through the case study, the results show that different SDCPSM have different influences on tolerance analysis, and LSD have nonnegligible and different influence on tolerance analysis considering different SDCPSM. In addition, the LSD have a greater influence on translational deviation along the z-axis than rotational deviation around the x- and y-axes. Originality/value The surface morphology with different spatial distribution characteristics leads to different contact behavior of planar mating surfaces, especially when considering the LSD of mating surfaces during the assembly process, which will have further influence on tolerance analysis. To address the above problem, this paper proposes a tolerance analysis method with skin modeling considering SDCPSM and LSD of mating surfaces, which can help to improve the accuracy of tolerance analysis.
{"title":"Tolerance analysis of planar parts with skin modeling considering spatial distribution characteristics of surface morphology and local surface deformations","authors":"Tuanhui Shen, Cong Lu","doi":"10.1108/aa-07-2022-0198","DOIUrl":"https://doi.org/10.1108/aa-07-2022-0198","url":null,"abstract":"Purpose\u0000This paper aims to develop a method to improve the accuracy of tolerance analysis considering the spatial distribution characteristics of part surface morphology (SDCPSM) and local surface deformations (LSD) of planar mating surfaces during the assembly process.\u0000\u0000\u0000Design/methodology/approach\u0000First, this paper proposes a skin modeling method considering SDCPSM based on Non-Gaussian random field. Second, based on the skin model shapes, an improved boundary element method is adopted to solve LSD of nonideal planar mating surfaces, and the progressive contact method is adopted to obtain relative positioning deviation of mating surfaces. Finally, the case study is given to verify the proposed approach.\u0000\u0000\u0000Findings\u0000Through the case study, the results show that different SDCPSM have different influences on tolerance analysis, and LSD have nonnegligible and different influence on tolerance analysis considering different SDCPSM. In addition, the LSD have a greater influence on translational deviation along the z-axis than rotational deviation around the x- and y-axes.\u0000\u0000\u0000Originality/value\u0000The surface morphology with different spatial distribution characteristics leads to different contact behavior of planar mating surfaces, especially when considering the LSD of mating surfaces during the assembly process, which will have further influence on tolerance analysis. To address the above problem, this paper proposes a tolerance analysis method with skin modeling considering SDCPSM and LSD of mating surfaces, which can help to improve the accuracy of tolerance analysis.","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45832076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ruihan Zhao, Liang Luo, Pengzhong Li, Jinguang Wang
Purpose Quality management systems are commonly applied to meet the increasingly stringent requirements for product quality in discrete manufacturing industries. However, traditional experience-driven quality management methods are incapable of handling heterogeneous data from multiple sources, leading to information islands. This study aims to present a quality management key performance indicator visualization (QM-KPIVIS) system to enable integrated quality control and ultimately ensure product quality. Design/methodology/approach Based on multiple heterogeneous data, an integrated approach is proposed to quantify explicitly the relationship between Internet of Things data and product quality. Specifically, this study identifies the tracing path of quality problems based on multiple heterogeneous quality information tree. In addition, a hierarchical analysis approach is adopted to calculate the key performance indicators of quality influencing factors in the quality control process. Findings Proposed QM-KPIVIS system consists of data visualization, quality problem processing, quality optimization and user rights management modules, which perform in a well-coordinated manner. An empirical study was also conducted to validate the effectiveness of proposed system. Originality/value To the best of the authors’ knowledge, this study is the first attempt to use industrial Internet of Things and multisource heterogeneous data for integrated product quality management. Proposed approach is more user-friendly and intuitive compared to traditional empirically driven quality management methods and has been initially applied in the manufacturing industry.
{"title":"An industrial heterogeneous data based quality management KPI visualization system for product quality control","authors":"Ruihan Zhao, Liang Luo, Pengzhong Li, Jinguang Wang","doi":"10.1108/aa-05-2022-0139","DOIUrl":"https://doi.org/10.1108/aa-05-2022-0139","url":null,"abstract":"\u0000Purpose\u0000Quality management systems are commonly applied to meet the increasingly stringent requirements for product quality in discrete manufacturing industries. However, traditional experience-driven quality management methods are incapable of handling heterogeneous data from multiple sources, leading to information islands. This study aims to present a quality management key performance indicator visualization (QM-KPIVIS) system to enable integrated quality control and ultimately ensure product quality.\u0000\u0000\u0000Design/methodology/approach\u0000Based on multiple heterogeneous data, an integrated approach is proposed to quantify explicitly the relationship between Internet of Things data and product quality. Specifically, this study identifies the tracing path of quality problems based on multiple heterogeneous quality information tree. In addition, a hierarchical analysis approach is adopted to calculate the key performance indicators of quality influencing factors in the quality control process.\u0000\u0000\u0000Findings\u0000Proposed QM-KPIVIS system consists of data visualization, quality problem processing, quality optimization and user rights management modules, which perform in a well-coordinated manner. An empirical study was also conducted to validate the effectiveness of proposed system.\u0000\u0000\u0000Originality/value\u0000To the best of the authors’ knowledge, this study is the first attempt to use industrial Internet of Things and multisource heterogeneous data for integrated product quality management. Proposed approach is more user-friendly and intuitive compared to traditional empirically driven quality management methods and has been initially applied in the manufacturing industry.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45449467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose Assembly errors of aeroengine rotor must be controlled to improve the aeroengine efficiency. However, current method cannot truly reflect assembly errors of the rotor in working state owing to difficulties in error analysis. Therefore, the purpose of this study is to establish an optimization method for aeroengine rotor stacking assembly. Design/methodology/approach The assembly structure of aeroengine rotor is featured. Rotor eccentricity is optimized based on Jacobian–Torsor model. Then, an optimization method for assembly work is proposed. The assembly process of the high-pressure compressor rotor and the high-pressure turbine rotor as the rotor core assembly is mainly considered. Findings An aeroengine rotor is assembled to verify the method. The results show that the predicted eccentricity differed from the measured eccentricity by 6.1%, with a comprehensive error of 8.1%. Thus, the optimization method has certain significance for rotor assembly error analysis and assembly process optimization. Originality/value In view of the error analysis in the stacking assembly of aeroengine rotor, an innovative optimization method is proposed. The method provides a novel approach for the aeroengine rotor assembly optimization and is applicable for the assembly of high-pressure compressor rotor and high-pressure turbine rotor as the rotor core assembly.
{"title":"Geometric modeling analysis method for stacking assembly deviation of aero engine rotor","authors":"Zesheng Wang, Dongbo Wu, Haibo Wang, Jiawei Liang, Jingguang Peng","doi":"10.1108/aa-05-2022-0130","DOIUrl":"https://doi.org/10.1108/aa-05-2022-0130","url":null,"abstract":"\u0000Purpose\u0000Assembly errors of aeroengine rotor must be controlled to improve the aeroengine efficiency. However, current method cannot truly reflect assembly errors of the rotor in working state owing to difficulties in error analysis. Therefore, the purpose of this study is to establish an optimization method for aeroengine rotor stacking assembly.\u0000\u0000\u0000Design/methodology/approach\u0000The assembly structure of aeroengine rotor is featured. Rotor eccentricity is optimized based on Jacobian–Torsor model. Then, an optimization method for assembly work is proposed. The assembly process of the high-pressure compressor rotor and the high-pressure turbine rotor as the rotor core assembly is mainly considered.\u0000\u0000\u0000Findings\u0000An aeroengine rotor is assembled to verify the method. The results show that the predicted eccentricity differed from the measured eccentricity by 6.1%, with a comprehensive error of 8.1%. Thus, the optimization method has certain significance for rotor assembly error analysis and assembly process optimization.\u0000\u0000\u0000Originality/value\u0000In view of the error analysis in the stacking assembly of aeroengine rotor, an innovative optimization method is proposed. The method provides a novel approach for the aeroengine rotor assembly optimization and is applicable for the assembly of high-pressure compressor rotor and high-pressure turbine rotor as the rotor core assembly.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44689311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Haifeng Huang, Xiaoyan Wu, Tingting Wang, Yongbin Sun, Qiang Fu
Purpose This paper aims to study the application of reinforcement learning (RL) in the control of an output-constrained flapping-wing micro aerial vehicle (FWMAV) with system uncertainty. Design/methodology/approach A six-degrees-of-freedom hummingbird model is used without consideration of the inertial effects of the wings. A RL algorithm based on actor–critic framework is applied, which consists of an actor network with unknown policy gradient and a critic network with unknown value function. Considering the good performance of neural network (NN) in fitting nonlinearity and its optimum characteristics, an actor–critic NN optimization algorithm is designed, in which the actor and critic NNs are used to generate a policy and approximate the cost functions, respectively. In addition, to ensure the safe and stable flight of the FWMAV, a barrier Lyapunov function is used to make the flight states constrained in predefined regions. Based on the Lyapunov stability theory, the stability of the system is analyzed, and finally, the feasibility of RL in the control of a FWMAV is verified through simulation. Findings The proposed RL control scheme works well in ensuring the trajectory tracking of the FWMAV in the presence of output constraint and system uncertainty. Originality/value A novel RL algorithm based on actor–critic framework is applied to the control of a FWMAV with system uncertainty. For the stable and safe flight of the FWMAV, the output constraint problem is considered and solved by barrier Lyapunov function-based control.
{"title":"Reinforcement learning control for a flapping-wing micro aerial vehicle with output constraint","authors":"Haifeng Huang, Xiaoyan Wu, Tingting Wang, Yongbin Sun, Qiang Fu","doi":"10.1108/aa-05-2022-0140","DOIUrl":"https://doi.org/10.1108/aa-05-2022-0140","url":null,"abstract":"\u0000Purpose\u0000This paper aims to study the application of reinforcement learning (RL) in the control of an output-constrained flapping-wing micro aerial vehicle (FWMAV) with system uncertainty.\u0000\u0000\u0000Design/methodology/approach\u0000A six-degrees-of-freedom hummingbird model is used without consideration of the inertial effects of the wings. A RL algorithm based on actor–critic framework is applied, which consists of an actor network with unknown policy gradient and a critic network with unknown value function. Considering the good performance of neural network (NN) in fitting nonlinearity and its optimum characteristics, an actor–critic NN optimization algorithm is designed, in which the actor and critic NNs are used to generate a policy and approximate the cost functions, respectively. In addition, to ensure the safe and stable flight of the FWMAV, a barrier Lyapunov function is used to make the flight states constrained in predefined regions. Based on the Lyapunov stability theory, the stability of the system is analyzed, and finally, the feasibility of RL in the control of a FWMAV is verified through simulation.\u0000\u0000\u0000Findings\u0000The proposed RL control scheme works well in ensuring the trajectory tracking of the FWMAV in the presence of output constraint and system uncertainty.\u0000\u0000\u0000Originality/value\u0000A novel RL algorithm based on actor–critic framework is applied to the control of a FWMAV with system uncertainty. For the stable and safe flight of the FWMAV, the output constraint problem is considered and solved by barrier Lyapunov function-based control.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43406226","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Purpose Various approaches and algorithms have been proposed since the 1950s to solve the assembly line (AL) balancing problem. These methods have established an AL configuration from the beginning. However, a prebalanced AL may have to be rebalanced in real life for many reasons, such as changes in the cycle time, production demand, product features or task operation times. This problem has increasingly attracted the interest of scientists in recent years. This study aims to offer a detailed review of the assembly line rebalancing problems (ALRBPs) to provide a better insight into the theoretical and practical applications of ALRBPs. Design/methodology/approach A structured database search was conducted, and 41 ALRBP papers published between 2005 and 2022 were classified based on the problem structure, objective functions, problem constraints, reasons for rebalancing, solution approaches and type of data used for solution evaluation. Finally, future research directions were identified and recommended. Findings Single model, straight lines with deterministic task times were the most studied type of the ALRBPs. Eighteen percent of the studies solved worker assignment problems together with ALRBP. Product demand and cycle time changes were the leading causes of the rebalancing need. Furthermore, seven future research opportunities were suggested. Originality/value Although there are many review studies on AL balancing problems, to the best of the authors’ knowledge, there have been no attempts to review the studies on ALRBPs.
{"title":"A detailed review and analysis of assembly line rebalancing problems","authors":"Tolga Çimen, A. Baykasoğlu, Şebnem DEMİRKOL AKYOL","doi":"10.1108/aa-02-2022-0031","DOIUrl":"https://doi.org/10.1108/aa-02-2022-0031","url":null,"abstract":"\u0000Purpose\u0000Various approaches and algorithms have been proposed since the 1950s to solve the assembly line (AL) balancing problem. These methods have established an AL configuration from the beginning. However, a prebalanced AL may have to be rebalanced in real life for many reasons, such as changes in the cycle time, production demand, product features or task operation times. This problem has increasingly attracted the interest of scientists in recent years. This study aims to offer a detailed review of the assembly line rebalancing problems (ALRBPs) to provide a better insight into the theoretical and practical applications of ALRBPs.\u0000\u0000\u0000Design/methodology/approach\u0000A structured database search was conducted, and 41 ALRBP papers published between 2005 and 2022 were classified based on the problem structure, objective functions, problem constraints, reasons for rebalancing, solution approaches and type of data used for solution evaluation. Finally, future research directions were identified and recommended.\u0000\u0000\u0000Findings\u0000Single model, straight lines with deterministic task times were the most studied type of the ALRBPs. Eighteen percent of the studies solved worker assignment problems together with ALRBP. Product demand and cycle time changes were the leading causes of the rebalancing need. Furthermore, seven future research opportunities were suggested.\u0000\u0000\u0000Originality/value\u0000Although there are many review studies on AL balancing problems, to the best of the authors’ knowledge, there have been no attempts to review the studies on ALRBPs.\u0000","PeriodicalId":55448,"journal":{"name":"Assembly Automation","volume":null,"pages":null},"PeriodicalIF":2.1,"publicationDate":"2022-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42913103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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