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Robot navigation based on improved A* algorithm in dynamic environment 动态环境下基于改进A*算法的机器人导航
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-07-08 DOI: 10.1108/AA-07-2020-0095
Lin Zhang, Yingjie Zhang, M. Zeng, Yangfan Li
PurposeThe purpose of this paper is to put forward a path planning method in complex environments containing dynamic obstacles, which improves the performance of the traditional A* algorithm, this method can plan the optimal path in a short running time.Design/methodology/approachTo plan an optimal path in a complex environment with dynamic and static obstacles, a novel improved A* algorithm is proposed. First, obstacles are identified by GoogLeNet and classified into static obstacles and dynamic obstacles. Second, the ray tracing algorithm is used for static obstacle avoidance, and a dynamic obstacle avoidance waiting rule based on dilate principle is proposed. Third, the proposed improved A* algorithm includes adaptive step size adjustment, evaluation function improvement and path planning with quadratic B-spline smoothing. Finally, the proposed improved A* algorithm is simulated and validated in real-world environments, and it was compared with traditional A* and improved A* algorithms.FindingsThe experimental results show that the proposed improved A* algorithm is optimal and takes less execution time compared with traditional A* and improved A* algorithms in a complex dynamic environment.Originality/valueThis paper presents a waiting rule for dynamic obstacle avoidance based on dilate principle. In addition, the proposed improved A* algorithm includes adaptive step adjustment, evaluation function improvement and path smoothing operation with quadratic B-spline. The experimental results show that the proposed improved A* algorithm can get a shorter path length and less running time.
目的提出一种在含有动态障碍物的复杂环境中进行路径规划的方法,该方法提高了传统a*算法的性能,可以在短时间内规划出最优路径。设计/方法/途径为了在具有动态和静态障碍物的复杂环境中规划最优路径,提出了一种新的改进a*算法。首先,通过谷歌网对障碍物进行识别,并将其分为静态障碍物和动态障碍物。其次,将光线跟踪算法应用于静态避障,提出了一种基于扩张原理的动态避障等待规则。第三,提出的改进A*算法包括自适应步长调整、评估函数改进和二次B样条平滑路径规划。最后,在实际环境中对所提出的改进A*算法进行了仿真和验证,并与传统的A*算法和改进的A*方法进行了比较。实验结果表明,在复杂的动态环境中,与传统的A*和改进的A*算法相比,所提出的改进A*算法是最优的,执行时间更短。独创性/价值本文提出了一种基于扩张原理的动态避障等待规则。此外,所提出的改进A*算法包括自适应步长调整、评估函数改进和二次B样条路径平滑操作。实验结果表明,改进后的A*算法可以获得更短的路径长度和更短的运行时间。
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引用次数: 5
Robotic industrial automation simulation-optimization for resolving conflict and deadlock 机器人工业自动化仿真-解决冲突和死锁的优化
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-26 DOI: 10.1108/aa-10-2019-0185
H. Fazlollahtabar, M. Saidi‐Mehrabad, E. Masehian
PurposeThe purpose of this study is to investigate the benefits of the turning point layout; a simulation model being applicable for strategic level is designed that compares systems with and without turning points. Specifically, the avoidance of deadlocks and prevention of conflicts is substantial.Design/methodology/approachOptimization process for different layouts and configuration of autonomous guided vehicles (AGVs) are worked out using statistical methods for design parameters. Regression analysis is used to find effective design parameters and analysis of variance is applied for adjusting critical factors. Also, the optimal design is then implemented in a manufacturing system for an industrial automation and the results are reported.FindingsThe outputs imply the effectiveness of the proposed approach for real industrial cases. This research will combine both simulation-based method and optimization technique to improve the quality of solutions.Originality/valueIn AGV systems, the begin-end combinations are usually connected by using a fixed layout, which is not the optimal path. The capability of these configurations is limited and often the conflict of multiple AGVs and deadlock are inevitable. By appearing more flexible layouts and advanced technology, the positioning and dispatching of AGVs increased. A new concept would be to determine each path dynamically. This would use the free paths for AGVs leading to overcome the conflicts and deadlocks.
本研究的目的是探讨拐点布局的效益;设计了一个适用于战略层面的仿真模型,对有拐点和无拐点的系统进行了比较。具体来说,避免僵局和预防冲突是重要的。设计/方法/途径采用设计参数的统计方法,对自动导引车(agv)的不同布局和配置进行优化。采用回归分析寻找有效的设计参数,采用方差分析调整关键因素。最后,将该优化设计应用于某工业自动化制造系统,并给出了结果报告。研究结果表明,本文提出的方法对实际工业案例是有效的。本研究将结合基于仿真的方法和优化技术来提高解的质量。在AGV系统中,开始-结束组合通常使用固定布局连接,这不是最优路径。这些配置的能力是有限的,并且常常不可避免地会出现多个agv的冲突和死锁。通过更加灵活的布局和先进的技术,agv的定位和调度增加了。一个新的概念是动态地确定每条路径。这将使用agv的自由路径来克服冲突和死锁。
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引用次数: 0
Push recovery control for the underactuated lower extremity exoskeleton based on improved capture point concept 基于改进捕获点概念的欠驱动下肢外骨骼推复控制
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-24 DOI: 10.1108/aa-08-2020-0109
Zhang Jiaqi, M. Cong, Dong Liu, Du Yu, Hongjiang Ma
PurposeThe purpose of this paper is to use a simple method to enhance the ability of lower limb exoskeletons to restore balance under large interference conditions and to solve the problem that biped robot stability criterion cannot be fully applied to the underactuated lower limb exoskeletons.Design/methodology/approachThe method used in this paper is to construct an underactuated lower extremity exoskeleton ankle joint with a torsion spring. Based on the constructed exoskeleton, the linear inverted torsion spring pendulum model is proposed, and the traditional capture point (CP) concept is optimized.FindingsThe underactuated exoskeleton ankle joint with torsion springs, combined with the improved CP concept, can effectively reduce the forward stepping distance under the same interference condition, which is equivalent to enhancing the balance ability of the lower extremity exoskeleton.Originality/valueThe contribution of this paper is to enhance the balance ability of the exoskeleton of the lower limbs under large interference conditions. The torsion spring is used as the exoskeleton ankle joint, and the traditional CP concept is optimized according to the constructed exoskeleton.
目的用一种简单的方法提高下肢外骨骼在大干扰条件下恢复平衡的能力,解决两足机器人稳定性准则不能完全应用于欠驱动下肢外骨骼的问题。设计/方法/方法本文中使用的方法是用扭转弹簧构建一个欠驱动的下肢外骨骼踝关节。在构建的外骨骼基础上,提出了线性倒立扭转弹簧摆模型,并对传统的捕获点(CP)概念进行了优化。Findings带扭转弹簧的欠驱动外骨骼踝关节,结合改进的CP概念,可以在相同干扰条件下有效减少向前步进距离,相当于增强了下肢外骨骼的平衡能力。原创性/价值本文的贡献在于增强了下肢外骨骼在大干扰条件下的平衡能力。外骨骼踝关节采用扭转弹簧,并根据构建的外骨骼对传统的CP概念进行了优化。
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引用次数: 2
Iterative learning control for a distributed cloud robot with payload delivery 具有有效载荷传递的分布式云机器人的迭代学习控制
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-23 DOI: 10.1108/aa-11-2020-0179
Jiehao Li, Wang Shoukun, Junzheng Wang, Jing Li, Jiang-bo Zhao, Liling Ma
PurposeWhen it comes to the high accuracy autonomous motion of the mobile robot, it is challenging to effectively control the robot to follow the desired trajectory and transport the payload simultaneously, especially for the cloud robot system. In this paper, a flexible trajectory tracking control scheme is developed via iterative learning control to manage a distributed cloud robot (BIT-6NAZA) under the payload delivery scenarios.Design/methodology/approachConsidering the relationship of six-wheeled independent steering in the BIT-6NAZA robot, an iterative learning controller is implemented for reliable trajectory tracking with the payload transportation. Meanwhile, the stability analysis of the system ensures the effective convergence of the algorithm.FindingsFinally, to evaluate the developed method, some demonstrations, including the different motion models and tracking control, are presented both in simulation and experiment. It can achieve flexible tracking performance of the designed composite algorithm.Originality/valueThis paper provides a feasible method for the trajectory tracking control in the cloud robot system and simultaneously promotes the robot application in practical engineering.
在移动机器人的高精度自主运动中,如何有效地控制机器人沿期望的轨迹运动并同时搬运载荷是一个挑战,尤其是云机器人系统。针对分布式云机器人BIT-6NAZA的载荷投放场景,提出了一种基于迭代学习控制的柔性轨迹跟踪控制方案。设计/方法/方法考虑BIT-6NAZA机器人六轮独立转向的关系,设计了一种迭代学习控制器,实现了有效载荷运输时的可靠轨迹跟踪。同时,对系统进行了稳定性分析,保证了算法的有效收敛。最后,为了评估所开发的方法,在仿真和实验中给出了一些演示,包括不同的运动模型和跟踪控制。它可以实现所设计的复合算法的灵活跟踪性能。独创性/价值本文为云机器人系统中的轨迹跟踪控制提供了一种可行的方法,同时也促进了机器人在实际工程中的应用。
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引用次数: 27
A quasi-Monte Carlo statistical three-dimensional tolerance analysis method of products based on edge sampling 基于边缘抽样的准蒙特卡罗产品三维公差统计分析方法
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-18 DOI: 10.1108/AA-09-2020-0144
Chuanyuan Zhou, Zhenyu Liu, Chan Qiu, Jianrong Tan
PurposeThe conventional statistical method of three-dimensional tolerance analysis requires numerous pseudo-random numbers and consumes enormous computations to increase the calculation accuracy, such as the Monte Carlo simulation. The purpose of this paper is to propose a novel method to overcome the problems.Design/methodology/approachWith the combination of the quasi-Monte Carlo method and the unified Jacobian-torsor model, this paper proposes a three-dimensional tolerance analysis method based on edge sampling. By setting reasonable evaluation criteria, the sequence numbers representing relatively smaller deviations are excluded and the remaining numbers are selected and kept which represent deviations approximate to and still comply with the tolerance requirements.FindingsThe case study illustrates the effectiveness and superiority of the proposed method in that it can reduce the sample size, diminish the computations, predict wider tolerance ranges and improve the accuracy of three-dimensional tolerance of precision assembly simultaneously.Research limitations/implicationsThe proposed method may be applied only when the dimensional and geometric tolerances are interpreted in the three-dimensional tolerance representation model.Practical implicationsThe proposed tolerance analysis method can evaluate the impact of manufacturing errors on the product structure quantitatively and provide a theoretical basis for structural design, process planning and manufacture inspection.Originality/valueThe paper is original in proposing edge sampling as a sampling strategy to generating deviation numbers in tolerance analysis.
目的传统的三维公差分析统计方法需要大量的伪随机数,并消耗大量的计算来提高计算精度,如蒙特卡罗模拟。本文的目的是提出一种新的方法来克服这些问题。设计/方法论/方法将拟蒙特卡罗方法与统一的雅可比torsor模型相结合,提出了一种基于边缘采样的三维公差分析方法。通过设置合理的评估标准,排除代表相对较小偏差的序号,选择并保留代表近似且仍符合公差要求的偏差的其余序号。通过实例分析,说明了该方法的有效性和优越性,它可以减少样本量,减少计算量,预测更宽的公差范围,同时提高精密装配三维公差的精度。研究局限性/含义只有在三维公差表示模型中解释了尺寸和几何公差时,才能应用所提出的方法。实际意义所提出的公差分析方法可以定量评估制造误差对产品结构的影响,为结构设计、工艺规划和制造检验提供理论依据。独创性/价值本文独创性地提出了边缘采样作为公差分析中生成偏差数的采样策略。
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引用次数: 3
Disturbance rejection control of airborne radar stabilized platform based on active disturbance rejection control inverse estimation algorithm 基于自抗扰逆估计算法的机载雷达稳定平台抗扰控制
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-17 DOI: 10.1108/aa-10-2020-0158
Dongni Mei, Zhuzheng Yu
PurposeThis paper aims to study a disturbance rejection controller to improve the anti-interference capability and the position tracking performance of airborne radar stabilized platform that ensures the stability and clarity of synthetic aperture radar imaging.Design/methodology/approachThis study proposes a disturbance rejection control scheme for an airborne radar stabilized platform based on the active disturbance rejection control (ADRC) inverse estimation algorithm. Exploiting the extended state observer (ESO) characteristic, an inversely ESO is developed to inverse estimate the unmodeled state and extended state of the platform system known as total disturbances, which greatly improves the estimation performance of the disturbance. Then, based on the inverse ESO result, feedback the difference between the output of the tracking differentiator and the inverse ESO result to the nonlinear state error feedback controller (NLSEF) to eliminate the effects of total disturbance and ensure the stability of the airborne radar stabilized platform.FindingsSimulation experiments are adopted to compare the performance of the ADRC inverse estimation algorithm with that of the proportional integral derivative controller which is one of the mostly applied control schemes in platform systems. In addition, classical ADRC is compared as well. The results have shown that the ADRC inverse estimation algorithm has a better disturbance rejection performance when disturbance acts in airborne radar stabilized platform, especially disturbed by continuous airflow under some harsh air conditions.Originality/valueThe originality of this paper is exploiting the ESO characteristic to develop an inverse ESO, which greatly improves the estimation performance of the disturbance. And the ADRC inverse estimation algorithm is applied to ameliorate the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous interference under complex air conditions.
目的研究一种抗干扰控制器,提高机载雷达稳定平台的抗干扰能力和位置跟踪性能,保证合成孔径雷达成像的稳定性和清晰度。本研究提出一种基于自抗扰控制(ADRC)逆估计算法的机载雷达稳定平台抗扰控制方案。利用扩展状态观测器(ESO)的特性,开发了一种逆扩展状态观测器来逆估计平台系统的未建模状态和扩展状态,即总扰动,极大地提高了扰动的估计性能。然后,基于ESO逆结果,将跟踪微分器输出与ESO逆结果的差值反馈给非线性状态误差反馈控制器(NLSEF),以消除总扰动的影响,保证机载雷达稳定平台的稳定性。通过仿真实验比较了ADRC反估计算法与比例积分导数控制器的性能,比例积分导数控制器是平台系统中应用最广泛的控制方案之一。此外,还对经典自抗扰算法进行了比较。结果表明,当机载雷达稳定平台中存在干扰时,特别是在某些恶劣空气条件下受到连续气流干扰时,ADRC反估计算法具有较好的抗干扰性能。本文的创新之处在于利用ESO特性开发了一种逆ESO,极大地提高了对扰动的估计性能。应用自抗扰逆估计算法,提高了机载雷达稳定平台的抗干扰能力,特别是在复杂空气条件下抑制连续干扰的能力。
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引用次数: 4
A contour-guided pose alignment method based on Gaussian mixture model for precision assembly 一种基于高斯混合模型的精密装配轮廓引导位姿对准方法
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-17 DOI: 10.1108/AA-08-2020-0103
Pengyue Guo, Zhijing Zhang, Lingling Shi, Yujun Liu
PurposeThe purpose of this study was to solve the problem of pose measurement of various parts for a precision assembly system.Design/methodology/approachA novel alignment method which can achieve high-precision pose measurement of microparts based on monocular microvision system was developed. To obtain the precise pose of parts, an area-based contour point set extraction algorithm and a point set registration algorithm were developed. First, the part positioning problem was transformed into a probability-based two-dimensional point set rigid registration problem. Then, a Gaussian mixture model was fitted to the template point set, and the contour point set is represented by hierarchical data. The maximum likelihood estimate and expectation-maximization algorithm were used to estimate the transformation parameters of the two point sets.FindingsThe method has been validated for accelerometer assembly on a customized assembly platform through experiments. The results reveal that the proposed method can complete letter-pedestal assembly and the swing piece-basal part assembly with a minimum gap of 10 µm. In addition, the experiments reveal that the proposed method has better robustness to noise and disturbance.Originality/valueOwing to its good accuracy and robustness for the pose measurement of complex parts, this method can be easily deployed to assembly system.
目的本研究旨在解决精密装配系统中各零件的位姿测量问题。设计/方法/方法基于单目微视系统,提出了一种新的对准方法,可以实现微零件的高精度姿态测量。为了获得零件的精确姿态,提出了一种基于区域的轮廓点集提取算法和点集配准算法。首先,将零件定位问题转化为基于概率的二维点集刚性配准问题。然后,将高斯混合模型拟合到模板点集,并用层次数据表示轮廓点集。使用最大似然估计和期望最大化算法来估计两个点集的变换参数。发现该方法已在定制的装配平台上通过实验验证。结果表明,该方法可以在最小间隙为10 µm。此外,实验表明,该方法对噪声和干扰具有较好的鲁棒性。独创性/价值由于该方法对复杂零件的姿态测量具有良好的准确性和鲁棒性,因此可以很容易地应用于装配系统。
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引用次数: 2
Optimal resource management and allocation for autonomous-vehicle-infrastructure cooperation under mobile edge computing 移动边缘计算下自动驾驶汽车基础设施合作的资源优化管理与分配
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-14 DOI: 10.1108/AA-02-2021-0017
Shengpei Zhou, Zhenting Chang, Haina Song, Yuejiang Su, Xiaosong Liu, Jingfeng Yang
PurposeWith the continuous technological development of automated driving and expansion of its application scope, the types of on-board equipment continue to be enriched and the computing capabilities of on-board equipment continue to increase and corresponding applications become more diverse. As the applications need to run on on-board equipment, the requirements for the computing capabilities of on-board equipment become higher. Mobile edge computing is one of the effective methods to solve practical application problems in automated driving.Design/methodology/approachIn this study, in accordance with practical requirements, this paper proposed an optimal resource management allocation method of autonomous-vehicle-infrastructure cooperation in a mobile edge computing environment and conducted an experiment in practical application.FindingsThe design of the road-side unit module and its corresponding real-time operating system task coordination in edge computing are proposed in the study, as well as the method for edge computing load integration and heterogeneous computing. Then, the real-time scheduling of highly concurrent computation tasks, adaptive computation task migration method and edge server collaborative resource allocation method is proposed. Test results indicate that the method proposed in this study can greatly reduce the task computing delay, and the power consumption generally increases with the increase of task size and task complexity.Originality/valueThe results showed that the proposed method can achieve lower power consumption and lower computational overhead while ensuring the quality of service for users, indicating a great application prospect of the method.
目的随着自动驾驶技术的不断发展和应用范围的扩大,车载设备的种类不断丰富,车载设备计算能力不断提高,相应的应用也越来越多样化。由于应用程序需要在车载设备上运行,对车载设备的计算能力要求越来越高。移动边缘计算是解决自动驾驶实际应用问题的有效方法之一。设计/方法论/方法在本研究中,根据实际需求,提出了一种移动边缘计算环境下自动驾驶汽车基础设施协作的最优资源管理分配方法,并在实际应用中进行了实验。研究结果提出了边缘计算中路侧单元模块的设计及其相应的实时操作系统任务协调,以及边缘计算负载集成和异构计算的方法。然后,提出了高并发计算任务的实时调度、自适应计算任务迁移方法和边缘服务器协同资源分配方法。测试结果表明,本研究提出的方法可以大大减少任务计算延迟,并且功耗通常随着任务大小和任务复杂度的增加而增加。结果表明,该方法在保证用户服务质量的同时,可以实现较低的功耗和较低的计算开销,具有良好的应用前景。
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引用次数: 2
Trajectory tracking and point stability of three-axis aero-dynamic pendulum with MPC strategy in disturbance environment 扰动环境下基于MPC策略的三轴气动摆轨迹跟踪与点稳定性
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-14 DOI: 10.1108/AA-11-2020-0181
Xiaofeng Liu, Jiahong Xu, Yuhong Liu
PurposeThe purpose of this research on the control of three-axis aero-dynamic pendulum with disturbance is to facilitate the applications of equipment with similar pendulum structure in intelligent manufacturing and robot.Design/methodology/approachThe controller proposed in this paper is mainly implemented in the following ways. First, the kinematic model of the three-axis aero-dynamic pendulum is derived in state space form to construct the predictive model. Then, according to the predictive model and objective function, the control problem can be expressed a quadratic programming (QP) problem. The optimal solution of the QP problem at each sampling time is the value of control variable.FindingsThe trajectory tracking and point stability tests performed on the 3D space with different disturbances are validated and the results show the effectiveness of the proposed control strategy.Originality/valueThis paper proposes a nonlinear unstable three-axis aero-dynamic pendulum with less power devices. Meanwhile, the trajectory tracking and point stability problem of the pendulum system is investigated with the model predictive control strategy.
目的研究具有扰动的三轴气动摆的控制,以便于类似摆结构的设备在智能制造和机器人中的应用。设计/方法论/方法本文提出的控制器主要通过以下方式实现。首先,以状态空间形式推导了三轴气动摆的运动学模型,建立了预测模型。然后,根据预测模型和目标函数,控制问题可以表示为二次规划(QP)问题。QP问题在每个采样时间的最优解是控制变量的值。结果验证了在具有不同扰动的三维空间上进行的轨迹跟踪和点稳定性测试,结果表明了所提出的控制策略的有效性。独创性/价值本文提出了一种具有小功率装置的非线性不稳定三轴气动摆。同时,采用模型预测控制策略研究了摆系统的轨迹跟踪和点稳定性问题。
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引用次数: 0
Multi-objective worker allocation optimisation in a multiple U-line system 多U-line系统中的多目标工人分配优化
IF 2.1 4区 计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS Pub Date : 2021-06-10 DOI: 10.1108/AA-12-2020-0198
P. Chutima, Jurairat Chimrakhang
Purpose This paper aims to evaluate two operational modes of the worker allocation problem (WAP) in the multiple U-line system (MULS). Five objectives are optimised simultaneously for the most complicated operational modes, i.e. machine-dominant working and fixed-station walking. Besides, the benefits of using multiline workstations (MLWs) are investigated. Design/methodology/approach The elite non-dominated sorting differential evolutionary III (ENSDE III) algorithm is developed as a solution technique. Also, the largest remaining available time heuristic is proposed as a baseline in determining the number and utilisation of workers when the use of MLWs is not allowed. Findings ENSDE III outperforms the cutting-edged multi-objective evolutionary algorithms, i.e. multi-objective evolutionary algorithm based on decomposition and non-dominated sorting differential evolutionary III, under two key Pareto metrics, i.e. generational distance and inverted generational distance, regardless of the problem size. The best-found number of workers from ENSDE III is substantially lower than the upper bound. The MULS with MLWs requires fewer workers than the one without. Research limitations/implications Although this research has extended several issues in the basic model of multiple U-line systems, some assumptions were used to facilitate mathematical computation as follows. The U-line system in this research assumed that all lines were produced only a single product. Besides, all workers were well-trained to gain the same skill. These assumptions could be extended in the future. Practical implications The implication of this research is the benefits of multiline workstations (MLWs) used in the multiple U-line system. Instead of leaving each individual line to operate independently, all lines should be working in parallel through the use of MLWs to gain benefits in terms of worker reduction, balancing worker’s workload, higher system utilisation. Originality/value This research is the first to address the WAP in the MULS with machine-dominant working and fixed-station walking modes. Worker’s fatigue due to standing and walking while working is incorporated into the model. The novel ENSDE III algorithm is developed to optimise the multi-objective WAP in a Pareto sense. The benefits of exploiting MLWs are also illustrated.
目的研究多u线系统(MULS)中工人分配问题(WAP)的两种运行模式。对于最复杂的操作模式,即机器主导工作和固定站行走,同时优化了五个目标。此外,还研究了使用多线工作站(mlw)的好处。设计/方法/途径精英非支配排序差分进化III (ENSDE III)算法是一种求解技术。此外,在不允许使用mlw时,建议将最大剩余可用时间启发式作为确定工人数量和利用率的基线。发现无论问题大小如何,在代距和倒代距两个关键Pareto指标下,sensde III都优于前沿的多目标进化算法(即基于分解和非支配排序的多目标进化算法)。从ENSDE III找到的最佳工人数量大大低于上限。有mlw的MULS比没有mlw的MULS需要更少的工人。虽然本研究扩展了多u线系统基本模型中的几个问题,但为了便于数学计算,本研究使用了一些假设。本研究中的u线系统假设所有生产线只生产一种产品。此外,所有的工人都受过良好的培训,以获得相同的技能。这些假设在未来可能会得到扩展。实际意义本研究的意义是在多u线系统中使用多线工作站(mlw)的好处。与其让每条生产线独立运行,不如让所有生产线通过mlw并行运行,从而在减少工人数量、平衡工人工作量和提高系统利用率方面获得好处。原创性/价值本研究首次探讨了机器主导工作和固定站行走模式下MULS的WAP问题。工人在工作时因站立和行走而产生的疲劳被纳入模型。为了在Pareto意义下优化多目标WAP,提出了一种新的endesiii算法。还说明了利用mlw的好处。
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引用次数: 1
期刊
Assembly Automation
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