Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

西电东送战略研究

西电东送战略系在对我国东、西部地区自然资源和经济资源的差异性与互补重构的必要性研究的基础上形成与发展的。对西北、华北联网工程和西南水电能源基地建设的研究。主要围绕西部水电开发规模、时序、可能外送电力的能力、流向、，以及其经济合理性技术可行性展开。加强国家的产业、行业政策引导，实施多元资源互补策略，必将促进西电东送事业的发展。     

D-side: A facility and workforce planning group multi-criteria decision support system for Johnson Space Center

“To understand and protect our home planet, to explore the universe and search for life, and to inspire the next generation of explorers” is NASA's mission. The Systems Management Office at Johnson Space Center (JSC) is searching for methods to effectively manage the Center's resources to meet NASA's mission. D-Side is a group multi-criteria decision support system (GMDSS) developed to support facility decisions at JSC. D-Side uses a series of sequential and structured processes to plot facilities in a three-dimensional (3-D) graph on the basis of each facility's alignment with NASA's mission and goals, the extent to which other facilities are dependent on the facility, and the dollar value of capital investments that have been postponed at the facility relative to the facility's replacement value. A similarity factor rank orders facilities based on their Euclidean distance from Ideal and Nadir points. These similarity factors are then used to allocate capital improvement resources across facilities. We also present a parallel model that can be used to support decisions concerning allocation of human resources investments across workforce units. Finally, we present results from a pilot study where 12 experienced facility managers from NASA used D-Side and the organization's current approach to rank order and allocate funds for capital improvement across 20 facilities. Users evaluated D-Side favorably in terms of ease of use, the quality of the decision-making process, decision quality, and overall value-added. Their evaluations of D-Side were significantly more favorable than their evaluations of the current approach.     

A genetic algorithm for the optimisation of assembly sequences

This paper describes a Genetic Algorithm (GA) designed to optimise the Assembly Sequence Planning Problem (ASPP), an extremely diverse, large scale and highly constrained combinatorial problem. The modelling of the ASPP problem, which has to be able to encode any industrial-size product with realistic constraints, and the GA have been designed to accommodate any type of assembly plan and component. A number of specific modelling issues necessary for understanding the manner in which the algorithm works and how it relates to real-life problems, are succinctly presented, as they have to be taken into account/adapted/solved prior to Solving and Optimising (S/O) the problem. The GA has a classical structure but modified genetic operators, to avoid the combinatorial explosion. It works only with feasible assembly sequences and has the ability to search the entire solution space of full-scale, unabridged problems of industrial size. A case study illustrates the application of the proposed GA for a 25-components product.     

电子商务环境下企业资源计划(ERP)的新进展

分析了在电子商务环境下企业资源计划 (ERP)需求的新特点 ,并结合ERP发展和实际应用中存在的问题 ,论述了ERP与电子商务集成化的发展方向 ,提出了企业关系管理 (ERM )的基本框架和建立商业网络 (BN)的必要性。同时 ,还论述了ERP系统在网络化、模块化和智能化的发展方向和最新进展。     

Determining the characteristics of systems with multiple inputs and multiple outputs

A simple and computationally efficient method of determining the transfer function and other characteristics of systems with multiple inputs and multiple outputs (MIMO systems) described by autoregression equations is proposed. The method is based on the use of the discrete Fourier transformation. The algorithm is highly suitable for computer implementation. The efficiency and simplicity of the method are illustrated using the example of a system with three inputs and three outputs. The proposed concept may be applied to systems described by the autoregression sliding mean.     

基于专家系统的机器人高层规划

本文介绍一个基于专家系统的机器人高层规划系统,阐述几个潜在应用子系统,并应用专家系统方法进行多机器人协调避碰运动规划。本系统具有良好的规划性能。     

Using the analytic network process (ANP) in a SWOT analysis - A case study for a textile firm

Strengths, Weaknesses, Opportunities and Threats (SWOT) analysis does not provide an analytical means to determine the importance of the identified factors or the ability to assess decision alternatives according to these factors. Although the analysis successfully pinpoints the factors, individual factors are usually described briefly and very generally. For this reason, SWOT analysis possesses deficiencies in the measurement and evaluation steps. Although the analytic hierarchy process (AHP) technique removes these deficiencies, it does not allow for measurement of the possible dependencies among the factors. The AHP method assumes that the factors presented in the hierarchical structure are independent; however, this assumption may be inappropriate in light of certain internal and external environmental effects. Therefore, it is necessary to employ a form of SWOT analysis that measures and takes into account the possible dependency among the factors. This paper demonstrates a process for quantitative SWOT analysis that can be performed even when there is dependence among strategic factors. The proposed algorithm uses the analytic network process (ANP), which allows measurement of the dependency among the strategic factors, as well as AHP, which is based on the independence between the factors. Dependency among the SWOT factors is observed to effect the strategic and sub-factor weights, as well as to change the strategy priorities.     

Service life planning and performance requirements

Service life planning comprises a model for the determination of a reasonable expected service life for buildings and components, and it establishes a routine for the assessment of design alternatives. A design option is considered reasonable when it meets or exceeds performance requirements over time that have been drawn up specifically for the specific project. Due to this assessment reference, there is a very evident link to the concept of performance-based building. Any stakeholder involved in the value chain or in the design process of the building, as well as regulators and building users, can express performance requirements. Identified requirements, both in relevance and in quality, will vary with the stakeholder and his/her perspective of interest. As building sector manufacturers develop most products with reference to standards rather than with reference to specific requirements, there is no direct link from user requirements to the product design. Instead, the building designer has the responsibility to ensure performance requirements are met by the performance of products integrated into the design. As these design decisions also have to be made at the material and component level, a performance-based building would benefit from an established rationale that enables the communication of performance requirements across the relevant system levels in the relevant design processes. A path for the connection of the established concepts of service life planning and performance-based building is presented. The aim is to identify key elements that need to be developed for the successful linkage of performance-based building with service life planning.