Realization of an automated microassembly task involving micro adhesive bonding

An automated approach is proposed for a microassembly task, which is to insert a 10 μm diameter glass tube into a 12 μm diameter hole in a silicon substrate, and bond them together with ultraviolet （UV） curable adhesive. Two three-degree-of-freedom micromanipulators axe used to move the glass tube and the dispensing needle, respectively. Visual feedback is provided by an optical microscope. The angle of the microscope axis is precisely calibrated using an autofocus strategy. Robust image segmentation method and feature extraction algorithm are developed to obtain the features of the hole, the glass tube and the dispensing needle. Visual servo control is employed to achieve accurate aligning for the tube and the hole. Automated adhesive dispensing is used to bond the glass tube and the silicon substrate together after the insertion. On-line monitoring ensures that the diameter of the adhesive spot is within a desired range. Experimental results demonstrate the effectiveness of the proposed strategy.     

基于智能规划的计划识别模型

为了解决战场态势评估问题,提出了一个基于智能规划的军事计划识别模型,给出了基于一阶谓词逻辑的计划识别模型描述方法,论述了基于该模型的计划假设识别方法。模型可以根据世界模型和作战目标的要求实时生成新的计划,来满足当前计划识别的需要,克服了Kautz计划识别框架的不足。     

基于深度强化学习的双向装配序列规划

为了解决复杂装配模型的序列规划问题,并使算法对任意初始状态具有较高的适应性,本文提出了一种包含正向装配以及逆向拆解的一体化双向装配序列规划方法BASPW–DQN.针对复杂装配模型,首先进行了一体化装配序列规划的问题描述与形式化表示;在此基础上,引入了课程学习及迁移学习方法,对包含前向装配和逆向错误零件拆卸两部分过程的双...     

基于非线性工艺规划思想的车间动态调度系统

描述了一种基于非线性工艺规划思想的车间动态调度系统的集成框架结构，其核心模块为计划调度模块，该模块调用由遗传算法和启发式调度相结合的调度算法生成动态调度方案。其中所提出的遗传编码的设计充分考虑工艺路径的柔性，并根据此编码提出调度方案的构造方法，同时相应地改进了遗传操作，从而实现了调度的全局最优性和可行性。     

Operation sequencing in an automated process planning system

One of the most difficult tasks we face in automated process planning is determination of operation sequencing. In this paper we present an approach to automatic generation of machining sequences in an object-oriented automated process planning system. Sequencing of machining operations is carried out in three phases of planning: initial planning, set-up planning, and final planning. The initial planning generates general plans including the required operations and machine cells. Two types of information are used at this stage, manufacturing process knowledge and component information, including features and associated dimensions, tolerances, surface finish, and material conditions. Based on process requirements decided in the initial planning, the set-up planning selects machines and fixtures, decides the clamping surfaces and feature accessibility, and sequences the set-ups. The final planning determines all the detailed sequences of operations based on the set-ups using the built-in manufacturing logic and heuristics. We introduce the set-up planning, the core of the planning system, to link the part model, initial planning and final detailed planning. The strategy has been implemented in an object-oriented process planning system. An example is provided to demonstrate the approach.     

装配序列规划中拆卸方向的确定

以产品为出发点进行拆卸判断,以拆卸顺序的逆生成装配序列是装配序列规划中常用的方法,而拆卸方向的确定量是其关键的一步,而将拆卸方向简化为与坐标轴平行的方向不能产生完备的可行装配顺序集,在分析装配过程的特点基础上,提出一种根据装配约束关系用球面几何计算拆卸方向和方法,首先,利用球面几何的方法求解局部拆卸方向集,取局部方向集所对应的球面多边形的形心为局部拆卸方向;然后,利用投影的方法测试此局部拆卸方向是否为全局拆卸方向,文中提出的方法可以方便地用于工程实践中。     

A hybrid approach for dynamic routing planning in an automated assembly shop

Highly turbulent environment of dynamic job-shop operations affects shop floor layout as well as manufacturing operations. Due to the dynamic nature of layout changes, essential requirements such as adaptability and responsiveness to the changes need to be considered in addition to the cost issues of material handling and machine relocation when reconfiguring a shop floor’s layout. Here, based on the source of uncertainty, the shop floor layout problem is split into two sub-problems and dealt with by two modules: re-layout and find-route. GA is used where changes cause the entire shop re-layout, while function blocks are utilised to find the best sequence of robots for the new conditions within the existing layout. This paper reports the latest development to the authors’ previous work.     

Assembly sequence planning of rigid and flexible parts

Assembly sequence planning (ASP) is the process of computing a sequence of assembly motions for constituent parts of an assembled final product. ASP is proven to be NP-hard and thus its effective and efficient solution has been a challenge for the researchers in the field. Despite the fact that most assembled products like ships, aircrafts and automobiles are composed of rigid and flexible parts, no work exists for assembly/disassembly sequence planning of flexible parts. This paper lays out a theoretical ground for modeling the deformability of flexible assembly parts by introducing the concept of Assembly stress matrix (ASM) to describe interference relations between parts of an assembly and the amount of compressive stress needed for assembling flexible parts. Also, the Scatter Search (SS) optimization algorithm is customized for this problem to produce high-quality solutions by simultaneously minimizing both the maximum applied stress exerted for performing assembly operations and the number of assembly direction changes. The parameters of this algorithm are tuned by a TOPSIS-Taguchi based tuning method. A number of ASP problems with rigid and flexible parts were solved by the presented SS and other algorithms like Genetic and Memetic algorithms, Simulated Annealing, Breakout Local Search, Iterated Local Search, and Multistart Local Search, and the results and their in-depth statistical analyses showed that the SS outperformed other algorithms by producing the best-known or optimal solutions with highest success rates.     

Assembly operation process planning by mapping a virtual assembly simulation to real operation

Virtual assembly has been widely used in product development. However, virtual operation and actual operation are different in time and space, the simulation of interactive virtual assembly cannot support the assembly operation's process planning directly. In this paper, the solution for assembly operation's process planning is developed based on interactive virtual assembly. According to the solution, interactive assembly operation is used to obtain the actions of operation sequence. The actions are mapped into the data of a real operation action to obtain real operation actions. Then assembly operation cards can be obtained. To support the assembly operation actions obtained through virtual assembly simulation, a product assembly model is proposed. An operation semantic model is used to replace the geometric constraint model of assembly, which contains several ordered geometric constraints and some engineering restriction conditions. To test the solution and the models, one process planning example of an automobile engine is introduced. The results verified the feasibility and the effectiveness of the methods.     

Assembly features in modeling and planning

In recent years, features have been introduced in modeling and planning for manufacturing of parts. Such features combine geometric and functional information. Here it is shown that the feature concept is also useful in assembly modeling and planning. For modeling and planning of both single parts and assemblies, an integrated object-oriented product model is introduced. For specific assembly-related information, assembly features are used. Handling features contain information for handling components, connection features information on connections between components. A prototype modeling environment has been developed. The product model has been successfully verified within several analyses and planning modules, in particular stability analyses, grip planning, motion planning and assembly sequence planning. Altogether, feature-based product models for assembly can considerably help in both assembly modeling and planning, on the one hand by integrating single-part and assembly modeling, and on the other hand by integrating modeling and planning.     

规划识别的研究及其应用

规划识别是人工智能研究领域的一个重要分支.由于近年来的广泛应用,规划识别的重要性被越来越多的学者所认同.对规划识别领域的大量文献进行广泛而深入研究,从整体上阐述了规划识别问题,较为全面地介绍了规划识别的发展历程、分类、方法以及应用,并着重介绍了规划识别目前较为流行的技术方法和热门应用,公开了几个未解决的问题.     

Active acquisition of user models: Implications for decision-theoretic dialog planning and plan recognition

This article investigates the implications ofactive user model acquisition upon plan recognition, domain planning, and dialog planning in dialog architectures. A dialog system performs active user model acquisition by querying the user during the course of the dialog. Existing systems employ passive strategies that rely on inferences drawn from passive observation of the dialog. Though passive acquisition generally reduces unnecessary dialog, in some cases the system can effectively shorten the overall dialog length by selectively initiating subdialogs for acquiring information about the user.We propose a theory identifying conditions under which the dialog system should adoptactive acquisition goals. Active acquisition imposes a set ofrationality requirements not met by current dialog architectures. To ensure rational dialog decisions, we propose significant extensions to plan recognition, domain planning, and dialog planning models, incorporating decision-theoretic heuristics for expected utility. The most appropriate framework for active acquisition is a multi-attribute utility model wherein plans are compared along multiple dimensions of utility. We suggest a general architectural scheme, and present an example from a preliminary implementation.The author will be at the Department of Computer Science, University of Toronto, untilThe author will be at the Department of Computer Science, University of Toronto, untilThe author will be at the Department of Computer Science, University of Toronto, untilThe author will be at the Department of Computer Science, University of Toronto, untilThe author will be at the Department of Computer Science, University of Toronto, untilThe author will be at the Department of Computer Science, University of Toronto, until     

一种炼钢–连铸生产计划一体化编制方法

炼钢和连铸生产调度是钢铁企业生产调度的重要内容而且二者密切相关.目前采用的调度方法多是分别编制炼钢炉次计划和连铸浇次计划,还没有协调处理二者的有效办法.提出了一种炼钢-连铸生产计划的一体化编制方法.首先通过求解炼钢炉次计划编制的多目标优化模型得到炉次计划的多个候选方案,在此基础上通过求解以最小化计划数为目标的连铸浇次计划数学模型得到浇次计划,最后根据浇次计划从炉次计划的候选方案中确定炉次计划.求解过程中使用了多目标模拟退火算法和改进变邻域搜索算法.基于实际生产数据的仿真试验表明了所提方法的有效性.     

装配规划与方案评价集成系统的研究与开发

为了将装配顺序规划与方案评价有效集成,规划合理的装配顺序,检验装配过程中存在的干涉情况,提出了人机交互定义分层装配顺序主模型与自动生成子装配的两级装配顺序规划方法．该方法适用于大型装配模型的装配顺序规划场合;在原有的研究项目KMCAD3D基础之上,开发了一套实用的装配顺序规划与方案评价原型系统;通过对二级蜗轮减速器实例的装配顺序规划讨论,说明了该方法的可行性．     

贪心选择在地铁站内行人疏散中的应用

大型室内场所空间布局较为复杂(如地铁站), 人群的高密度聚集往往存在一些潜在的风险. 本文在分析国内外人群快速疏散研究现状的基础上, 提出了一种基于贪心选择的行人疏散方法. 该方法以地铁站内复杂场景作为研究背景: 首先, 针对地铁站内的行人的行动轨迹难以获取问题, 本文利用地铁站内行人真实出站数据, 基于元胞自动机, 构建了行人疏散轨迹半仿真模型, 并利用实际流量数据优化该半仿真模型; 其次, 基于该轨迹模型, 为了满足高动态场景中的实时性, 采用复杂度较低的贪心选择策略分配最优疏散出口; 最后, 以杭州武林广场地铁站为例, 使用真实出站数据设计对比实验, 验证行人轨迹模型的有效性以及出口分配方法的性能. 结果表明, 本文所提出的行人轨迹模型能够较好的模拟行人的轨迹, 仿真中各出口疏散人数同真实出站数据拟合程度的可决系数R2达到了0.67. 相较于最短路径和最短时间出口分配方法, 本文所提出的方法在整体疏散效率上分别提高了27.2%和16.5%.     

群体动画中路径自动规划方法研究

为了在制作群体动画时产生逼真的运动路径,在群体运动的模拟中设计了碰撞检测和碰撞避免的方法,并基于微粒群算法和人工蜂群算法提出了群体动画路径自动规划方法.仿真实验表明;该方法能够实现群体动画运动路径的自动设计,提高了群体动画的制作效率.     

基于深度邻域搜索PSO 算法的装配序列优化问题

针对产品结构特征建立几何约束矩阵, 以最大化满足几何约束条件装配次数和最小化装配方向改变次数为目标, 研究产品装配序列优化问题. 利用值变换的粒子位置和速度更新规则, 基于具有随机性启发式算法产生初始种群, 提出一种带有深度邻域搜索改进策略的粒子群算法解决装配序列问题. 通过装配实例验证了所提出算法的性能并对装配序列质量进行了评价, 所得结果表明了该算法在解决装配序列优化问题上的有效性与稳定性.

     

互联电力系统; 鲁棒联结稳定; 向量L yapunov 函数; 鲁棒界

分析了轧制批量计划编制问题,建立了不确定轧制计划数的轧制计划VRP模型.该模型不仅考虑了轧制计划中板坯在厚度和硬度上的跳跃、板坯宽度的正反跳以及相同宽度板坯连续轧制的长度约束,而且考虑了轧制计划中烫辊材和主体材的合理安排.构造出一种基于单亲遗传算子的免疫算法用于求解此模型.生产数据的仿真结果表明,所提出的模型及算法切实可行.     

A hybrid-graph approach for automated setup planning in CAPP

In this paper, a systematic approach for automated setup planning in CAPP is introduced. The concept of “hybrid graph”, which can be transferred into directed graph by changing any two-way edge into one-way edge, is introduced. The specified graph theory is effectively used in setup planning. Tolerance relations are used as critical constraints for setup planning. Comprehensive principles are explored and summarized for setup planning. The hybrid-graph theory, accompanied by matrix theory, is used to aid computerizing these principles. An example is illustrated to demonstrate the algorithm.     

Exploratory research on reading cognition and escape-route planning using building evacuation plan diagrams

The purpose of evacuation plan diagrams is for readers to comprehend and then plan an evacuation route. However, comprehending such diagrams involves complex issues that have yet to be addressed by research. This study aims to investigate how Taiwanese people interpret evacuation plan diagrams in their buildings. Issues of interest include the amount of time that it takes for a member of the general public to read a diagram and the time that they spend planning their escape route. Correlated and influencing factors are analyzed. The floor plan of an actual department store was used as the diagram for cognitive testing. A method of stimulated measurement was conducted over the Internet. The results of the experiment showed that the time it takes to plan an escape route is about 1.1 to 2 times longer than its reading time. This indicates that there is a significant time difference between diagram interpretation and stimulated planning. It was found that the longer it takes to read a diagram, the longer it takes to plan an escape route. In addition, to understand the difference between interpretations by the general public versus those with an architectural background, an analysis showed that the general public takes two to three times longer than architectural professionals to read a diagram and plan an escape route. Consequently, improvements in reading diagrams could help in the planning of a more efficient escape route. Furthermore, through our analysis, we found that the design of diagram symbols must satisfy conventional use and also that diagrams must avoid the use of metaphorical and abstract symbols. Diagrams that follow our guidelines will generally result in more effective and efficient conveyance of the intended message, thereby assisting in an emergency.