The plan view pattern control theoretical models were simplified. Under the condition of constant volume for the plan view pattern compensation, the relation between the thickness and the length can be simplified to t...The plan view pattern control theoretical models were simplified. Under the condition of constant volume for the plan view pattern compensation, the relation between the thickness and the length can be simplified to the linearity in the segment for the plan view pattern control function. The compensation volume can be dispersed for easy calculation. By comparing the model calculation result with the actual result, it was concluded that the simplified model can be used for the online control process.展开更多
Research works on width compensation and correction were carried out in order to eliminate the effects of the PVPC （ plan view pattern control） on width accuracy of plate mill. The thickness correction calculation f...Research works on width compensation and correction were carried out in order to eliminate the effects of the PVPC （ plan view pattern control） on width accuracy of plate mill. The thickness correction calculation formula was derived for compensation the width deviation caused by PVPC function, and the formula is unified under the thinning and thickening conditions. In order to improve the width calculation accuracy, width spread calculation process was modified with dividing one large reduction pass to several small reduction calculation steps. The thickness wedge was simplified to rectangle based on the volume constant principle, and the width spread model for PVPC was constructed. The width compensation and correction for the PVPC functions are used for the online control process, and the Product dimension accuracy is improved. With the decrease of Crop losses, the Droduct yield was increased with 0. 2%.展开更多
The forward slip model with adhesion was used to derive the formula of calculating taper rolling time. The relation between the rolling time and the taper length and the relation between the rolling time and the taper...The forward slip model with adhesion was used to derive the formula of calculating taper rolling time. The relation between the rolling time and the taper length and the relation between the rolling time and the taper thickness can be obtained. The numerical solution for this formula was used on site. According to the simulation result, the roll gap value should be changed linearly with rolling time.展开更多
This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits...This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.展开更多
Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving fo...Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology.展开更多
Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple ...Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular automata theory, obtains the desired lane change trajectory using this method, and finally changes into a simple coefficient selection problem. Secondly, based on the quadratic optimal control theory, this paper proposes a state space analysis method of intelligent vehicle lateral control, and designs an optimal controller for lateral stability of H2 vehicles. The computer simulation results show that compared with other vehicle trajectory methods, the method in this paper is able to simply and rapidly describe the trajectory, and can describe the intelligent vehicle lane change trajectory under a variety of situations, wherein the controller is reliable and capable of fast convergence.展开更多
This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control pro...This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control problem.Receding horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in flight.Then flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective function.Simulation results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.展开更多
Water pollution control planning for the Taizi River watershed,a typical Chinese case study,is presented in this paper. Based on comprehensive analysis.water quality in the watershed was assessed and predicated;water ...Water pollution control planning for the Taizi River watershed,a typical Chinese case study,is presented in this paper. Based on comprehensive analysis.water quality in the watershed was assessed and predicated;water quality models for the river and reservoir were built;and function of water bodies and environmental assimilative capacity were determined ;and then the planning for industrial pollution sources and concentrated sewage treatment were made respectively.展开更多
This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle av...This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived.The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.展开更多
The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addr...The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addressed and some key ideas used in our recent research. Interested readers are referred to related publications for more details. Each of the three topics in this paper is technically independent from the other ones. However, all three parts together reflect the recent research activities of the first author, jointly with other researchers in different fields.展开更多
Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human ...Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure （COP） switched and modeled after human walking is introduced firstly. Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-1ink planar biped robot is developed. The simulation results exhibit an efficient walking gait.展开更多
Image acquisition stands as a prerequisite for scrutinizing surfaces inspection in industrial high-end manufacturing.Current imaging systems often exhibit inflexibility,being confined to specific objects and encounter...Image acquisition stands as a prerequisite for scrutinizing surfaces inspection in industrial high-end manufacturing.Current imaging systems often exhibit inflexibility,being confined to specific objects and encountering difficulties with diverse industrial structures lacking standardized computer-aided design(CAD)models or in instances of deformation.Inspired by the multidimensional observation of humans,our study introduces a universal image acquisition paradigm tailored for robotics,seamlessly integrating multi-objective optimization trajectory planning and control scheme to harness measured point clouds for versatile,efficient,and highly accurate image acquisition across diverse structures and scenarios.Specifically,we introduce an energybased adaptive trajectory optimization(EBATO)method that combines deformation and deviation with dual-threshold optimization and adaptive weight adjustment to improve the smoothness and accuracy of imaging trajectory and posture.Additionally,a multi-optimization control scheme based on a meta-heuristic beetle antennal olfactory recurrent neural network(BAORNN)is proposed to track the imaging trajectory while addressing posture,obstacle avoidance,and physical constraints in industrial scenarios.Simulations,real-world experiments,and comparisons demonstrate the effectiveness and practicality of the proposed paradigm.展开更多
The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control p...The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based an wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.展开更多
The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the tot...The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.展开更多
We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is construc...We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait＇s efficiency and system＇s stability in adapting to an uncertain terrain.展开更多
It is vital for pipeline assembly enterprise to respond to changing market needs quickly and keep its cost advantage. A production planning and control （PPC） model under supply chain management combining with operat...It is vital for pipeline assembly enterprise to respond to changing market needs quickly and keep its cost advantage. A production planning and control （PPC） model under supply chain management combining with operation characteristics of pipeline assembly enterprise was proposed. The present model can realize synchroni- zation in real-time response in production by establishing a win-win corporate model, classified regulation be- tween strategic parts and non-strategic parts, postponing the production of special modules and guaranteeing pro- duction at the bottleneck.展开更多
This paper presents a new approach to find an approximate solution for the nonlinear path planning problem. In this approach, first by defining a new formulation in the calculus of variations, an optimal control probl...This paper presents a new approach to find an approximate solution for the nonlinear path planning problem. In this approach, first by defining a new formulation in the calculus of variations, an optimal control problem, equivalent to the original problem, is obtained. Then, a metamorphosis is performed in the space of problem by defining an injection from the set of admissible trajectory-control pairs in this space into the space of positive Radon measures. Using properties of Radon measures, the problem is changed to a measure-theo- retical optimization problem. This problem is an infinite dimensional linear programming (LP), which is approximated by a finite dimensional LP. The solution of this LP is used to construct an approximate solution for the original path planning problem. Finally, a numerical example is included to verify the effectiveness of the proposed approach.展开更多
Manufacturing system, with high level of complexity and with a mix of semi-repetitive and repetitive products, to become productive, should seek the standardization of products and processes to obtain the optimization...Manufacturing system, with high level of complexity and with a mix of semi-repetitive and repetitive products, to become productive, should seek the standardization of products and processes to obtain the optimization of use of production resources. However, it is necessary to measure the productivity, so that the system of measurement and control of manufacturing processes are an element critical as to ensure greater visibility of the flow＇s restrictions, minimized when detected properly. In this case, the automation of factory＇s measurement process can effectively contribute to ensuring the effectiveness of the function control of a manufacturing system. It is important to consider that the automation of the system of measurement and control of manufacturing processes, of complex environment, is heavily dependent of IT tools applied directly in the interface computational between the operation systems and the corporate systems. This heavy reliance, if exploited technically properly, allows that automation of the system of measurement and control of production makes the access to time real of availability of manufacturing process＇s data, such as processing time and setup time that it can export to a specialist software in programming production, for example, feasible. In this paper, the automation of the system of measurement and control of production is approached, in order to identify the main possibilities of the design of an information system capable to integrate the flow of information in an environment internal on manufacturing organizations, with emphasis in the digital manufacturing paradigm.展开更多
基金Item Sponsored by National Economy Trade Committee Foundation(ZZ0113A040201)
文摘The plan view pattern control theoretical models were simplified. Under the condition of constant volume for the plan view pattern compensation, the relation between the thickness and the length can be simplified to the linearity in the segment for the plan view pattern control function. The compensation volume can be dispersed for easy calculation. By comparing the model calculation result with the actual result, it was concluded that the simplified model can be used for the online control process.
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No.N120407007)
文摘Research works on width compensation and correction were carried out in order to eliminate the effects of the PVPC （ plan view pattern control） on width accuracy of plate mill. The thickness correction calculation formula was derived for compensation the width deviation caused by PVPC function, and the formula is unified under the thinning and thickening conditions. In order to improve the width calculation accuracy, width spread calculation process was modified with dividing one large reduction pass to several small reduction calculation steps. The thickness wedge was simplified to rectangle based on the volume constant principle, and the width spread model for PVPC was constructed. The width compensation and correction for the PVPC functions are used for the online control process, and the Product dimension accuracy is improved. With the decrease of Crop losses, the Droduct yield was increased with 0. 2%.
基金Item Sponsored by National Economy Trade Committee Foundation (ZZ0113A040201)
文摘The forward slip model with adhesion was used to derive the formula of calculating taper rolling time. The relation between the rolling time and the taper length and the relation between the rolling time and the taper thickness can be obtained. The numerical solution for this formula was used on site. According to the simulation result, the roll gap value should be changed linearly with rolling time.
基金supported by the National Defense Foundation of China(No.403060103)
文摘This paper presents a computationally efficient real-time trajectory planning framework for typical unmanned combat aerial vehicle （UCAV） performing autonomous air-to-surface （A/S） attack. It combines the benefits of inverse dynamics optimization method and receding horizon optimal control technique. Firstly, the ground attack trajectory planning problem is mathematically formulated as a receding horizon optimal control problem （RHC-OCP）. In particular, an approximate elliptic launch acceptable region （LAR） model is proposed to model the critical weapon delivery constraints. Secondly, a planning algorithm based on inverse dynamics optimization, which has high computational efficiency and good convergence properties, is developed to solve the RHCOCP in real-time. Thirdly, in order to improve robustness and adaptivity in a dynamic and uncer- tain environment, a two-degree-of-freedom （2-DOF） receding horizon control architecture is introduced and a regular real-time update strategy is proposed as well, and the real-time feedback can be achieved and the not-converged situations can be handled. Finally, numerical simulations demon- strate the efficiency of this framework, and the results also show that the presented technique is well suited for real-time implementation in dynamic and uncertain environment.
基金supported by the National Key Research and Development Plan of China (No.2016YFB0101102 )the Suzhou Tsinghua Innovation Initiative(No. 2016SZ0207)+2 种基金the National Natural Science Foundation of China(No.51375007)the Research Project of Key Laboratory of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology),Ministry of Education (No.2015KLMT04)the Fundamental Research Funds for the Central Universities (No. NE2016002)
文摘Automotive collision avoidance technology can effectively avoid the accidents caused by dangerous traffic conditions or driver's manipulation errors.Moreover,it can promote the development of autonomous driving for intelligent vehicle in intelligent transportation.We present a collision avoidance system,which is composed of an evasive trajectory planner and a path following controller.Considering the stability of the vehicle in the conflict-free process,the evasive trajectory planner is designed by polynomial parametric method and optimized by genetic algorithm.The path following controller is proposed to make the car drive along the designed path by controlling the vehicle's lateral movement.Simulation results show that the vehicle with the proposed controller has good stability in the collision process,and it can ensure the vehicle driving in accordance with the planned trajectory at different speeds.The research results can provide a certain basis for the research and development of automotive collision avoidance technology.
文摘Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular automata theory, obtains the desired lane change trajectory using this method, and finally changes into a simple coefficient selection problem. Secondly, based on the quadratic optimal control theory, this paper proposes a state space analysis method of intelligent vehicle lateral control, and designs an optimal controller for lateral stability of H2 vehicles. The computer simulation results show that compared with other vehicle trajectory methods, the method in this paper is able to simply and rapidly describe the trajectory, and can describe the intelligent vehicle lane change trajectory under a variety of situations, wherein the controller is reliable and capable of fast convergence.
基金National Science Fund for Distinguished Young Scholars(60925011)
文摘This paper presents online motion planning for UAV(unmanned aerial vehicle) in complex threat field,including both static threats and moving threats,which can be formulated as a dynamic constrained optimal control problem.Receding horizon control(RHC) based on differential evolution(DE) algorithm is adopted.A location-predicting model of moving threats is established to assess the value of threat that UAV faces in flight.Then flyable paths can be generated by the control inputs which are optimized by DE under the guidance of the objective function.Simulation results demonstrate that the proposed method not only generates smooth and flyable paths,but also enables UAV to avoid threats efficiently and arrive at destination safely.
文摘Water pollution control planning for the Taizi River watershed,a typical Chinese case study,is presented in this paper. Based on comprehensive analysis.water quality in the watershed was assessed and predicated;water quality models for the river and reservoir were built;and function of water bodies and environmental assimilative capacity were determined ;and then the planning for industrial pollution sources and concentrated sewage treatment were made respectively.
基金supported by the Program for Liaoning Excellent Talents in University of China(LJQ2014013)the Liaoning Natural Science Foundation of China(2015020066)
文摘This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived.The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.
基金Supported in part by Ford Motor Company, U.S. Air Force Research Laboratory, and National Science Foundation
文摘The paper consists of three topics on control theory and engineering applications, namely bifurcation control, manufacturing planning, and formation control. For each topic, we summarize the control problem to be addressed and some key ideas used in our recent research. Interested readers are referred to related publications for more details. Each of the three topics in this paper is technically independent from the other ones. However, all three parts together reflect the recent research activities of the first author, jointly with other researchers in different fields.
基金Acknowledgements The work was supported by National Natural Science Foundation of China under grant 50775037 and 51075071.
文摘Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure （COP） switched and modeled after human walking is introduced firstly. Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-1ink planar biped robot is developed. The simulation results exhibit an efficient walking gait.
基金supported in part by the National Natural Science Foundation of China(62303457,U21A20482)China Postdoctoral Science Foundation(2023M733737)the National Key Research and Development Program of China(2022YFB3303800)。
文摘Image acquisition stands as a prerequisite for scrutinizing surfaces inspection in industrial high-end manufacturing.Current imaging systems often exhibit inflexibility,being confined to specific objects and encountering difficulties with diverse industrial structures lacking standardized computer-aided design(CAD)models or in instances of deformation.Inspired by the multidimensional observation of humans,our study introduces a universal image acquisition paradigm tailored for robotics,seamlessly integrating multi-objective optimization trajectory planning and control scheme to harness measured point clouds for versatile,efficient,and highly accurate image acquisition across diverse structures and scenarios.Specifically,we introduce an energybased adaptive trajectory optimization(EBATO)method that combines deformation and deviation with dual-threshold optimization and adaptive weight adjustment to improve the smoothness and accuracy of imaging trajectory and posture.Additionally,a multi-optimization control scheme based on a meta-heuristic beetle antennal olfactory recurrent neural network(BAORNN)is proposed to track the imaging trajectory while addressing posture,obstacle avoidance,and physical constraints in industrial scenarios.Simulations,real-world experiments,and comparisons demonstrate the effectiveness and practicality of the proposed paradigm.
文摘The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based an wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.
基金Project supported by the National Natural Science Foundation of China (No.10372014)the Natural Science Foundation of Beijing (No.1072008)
文摘The nonholonomic motion planning of a free-falling cat is investigated. Nonholonomicity arises in a free-falling cat subject to nonintegrable angle velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the motion equation of a free-falling cat is established based on the model of two symmetric rigid bodies and conservation of angular momentum. The control of system can be converted to the problem of nonholonomic motion planning for a free-falling cat. Based on Ritz approximation theory, the Gauss-Newton method for motion planning by a falling cat is proposed. The effectiveness of the numerical algorithm is demonstrated through simulation on model of a free-falling cat.
基金supported by the Science and Technology Innovation Fund for the Doctor
文摘We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot＇s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait＇s efficiency and system＇s stability in adapting to an uncertain terrain.
文摘It is vital for pipeline assembly enterprise to respond to changing market needs quickly and keep its cost advantage. A production planning and control （PPC） model under supply chain management combining with operation characteristics of pipeline assembly enterprise was proposed. The present model can realize synchroni- zation in real-time response in production by establishing a win-win corporate model, classified regulation be- tween strategic parts and non-strategic parts, postponing the production of special modules and guaranteeing pro- duction at the bottleneck.
文摘This paper presents a new approach to find an approximate solution for the nonlinear path planning problem. In this approach, first by defining a new formulation in the calculus of variations, an optimal control problem, equivalent to the original problem, is obtained. Then, a metamorphosis is performed in the space of problem by defining an injection from the set of admissible trajectory-control pairs in this space into the space of positive Radon measures. Using properties of Radon measures, the problem is changed to a measure-theo- retical optimization problem. This problem is an infinite dimensional linear programming (LP), which is approximated by a finite dimensional LP. The solution of this LP is used to construct an approximate solution for the original path planning problem. Finally, a numerical example is included to verify the effectiveness of the proposed approach.
文摘Manufacturing system, with high level of complexity and with a mix of semi-repetitive and repetitive products, to become productive, should seek the standardization of products and processes to obtain the optimization of use of production resources. However, it is necessary to measure the productivity, so that the system of measurement and control of manufacturing processes are an element critical as to ensure greater visibility of the flow＇s restrictions, minimized when detected properly. In this case, the automation of factory＇s measurement process can effectively contribute to ensuring the effectiveness of the function control of a manufacturing system. It is important to consider that the automation of the system of measurement and control of manufacturing processes, of complex environment, is heavily dependent of IT tools applied directly in the interface computational between the operation systems and the corporate systems. This heavy reliance, if exploited technically properly, allows that automation of the system of measurement and control of production makes the access to time real of availability of manufacturing process＇s data, such as processing time and setup time that it can export to a specialist software in programming production, for example, feasible. In this paper, the automation of the system of measurement and control of production is approached, in order to identify the main possibilities of the design of an information system capable to integrate the flow of information in an environment internal on manufacturing organizations, with emphasis in the digital manufacturing paradigm.
