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Mixed-Model U-Shaped Assembly Line Balancing Problems with Coincidence Memetic Algorithm
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作者 Parames Chutima Panuwat Olanviwatchai 《Journal of Software Engineering and Applications》 2010年第4期347-363,共17页
Mixed-model U-shaped assembly line balancing problems (MMUALBP) is known to be NP-hard resulting in it being nearly impossible to obtain an optimal solution for practical problems with deterministic algorithms. This p... Mixed-model U-shaped assembly line balancing problems (MMUALBP) is known to be NP-hard resulting in it being nearly impossible to obtain an optimal solution for practical problems with deterministic algorithms. This paper pre-sents a new evolutionary method called combinatorial optimisation with coincidence algorithm (COIN) being applied to Type I problems of MMUALBP in a just-in-time production system. Three objectives are simultaneously considered;minimum number workstations, minimum work relatedness, and minimum workload smoothness. The variances of COIN are also proposed, i.e. CNSGA II, and COIN-MA. COIN and its variances are tested against a well-known algo-rithm namely non-dominated sorting genetic algorithm II (NSGA II) and MNSGA II (a memetic version of NSGA II). Experimental results showed that COIN outperformed NSGA II. In addition, although COIN-MA uses a marginal CPU time than CNSGA II, its other performances are dominated. 展开更多
关键词 ASSEMBLY line balancing Mixed-Model U-line JIT COIN
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Multi-Objective Optimization of Multi-Product Parallel Disassembly Line Balancing Problem Considering Multi-Skilled Workers Using a Discrete Chemical Reaction Optimization Algorithm
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作者 Xiwang Guo Liangbo Zhou +4 位作者 Zhiwei Zhang Liang Qi Jiacun Wang Shujin Qin Jinrui Cao 《Computers, Materials & Continua》 SCIE EI 2024年第9期4475-4496,共22页
This work investigates a multi-product parallel disassembly line balancing problem considering multi-skilled workers.A mathematical model for the parallel disassembly line is established to achieve maximized disassemb... This work investigates a multi-product parallel disassembly line balancing problem considering multi-skilled workers.A mathematical model for the parallel disassembly line is established to achieve maximized disassembly profit and minimized workstation cycle time.Based on a product’s AND/OR graph,matrices for task-skill,worker-skill,precedence relationships,and disassembly correlations are developed.A multi-objective discrete chemical reaction optimization algorithm is designed.To enhance solution diversity,improvements are made to four reactions:decomposition,synthesis,intermolecular ineffective collision,and wall invalid collision reaction,completing the evolution of molecular individuals.The established model and improved algorithm are applied to ball pen,flashlight,washing machine,and radio combinations,respectively.Introducing a Collaborative Resource Allocation(CRA)strategy based on a Decomposition-Based Multi-Objective Evolutionary Algorithm,the experimental results are compared with four classical algorithms:MOEA/D,MOEAD-CRA,Non-dominated Sorting Genetic Algorithm Ⅱ(NSGA-Ⅱ),and Non-dominated Sorting Genetic Algorithm Ⅲ(NSGA-Ⅲ).This validates the feasibility and superiority of the proposed algorithm in parallel disassembly production lines. 展开更多
关键词 Parallel disassembly line balancing problem MULTI-PRODUCT multiskilled workers discrete chemical reaction optimization algorithm
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Effective Hybrid Teaching-learning-based Optimization Algorithm for Balancing Two-sided Assembly Lines with Multiple Constraints 被引量:8
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作者 TANG Qiuhua LI Zixiang +2 位作者 ZHANG Liping FLOUDAS C A CAO Xiaojun 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2015年第5期1067-1079,共13页
Due to the NP-hardness of the two-sided assembly line balancing (TALB) problem, multiple constraints existing in real applications are less studied, especially when one task is involved with several constraints. In ... Due to the NP-hardness of the two-sided assembly line balancing (TALB) problem, multiple constraints existing in real applications are less studied, especially when one task is involved with several constraints. In this paper, an effective hybrid algorithm is proposed to address the TALB problem with multiple constraints (TALB-MC). Considering the discrete attribute of TALB-MC and the continuous attribute of the standard teaching-learning-based optimization (TLBO) algorithm, the random-keys method is hired in task permutation representation, for the purpose of bridging the gap between them. Subsequently, a special mechanism for handling multiple constraints is developed. In the mechanism, the directions constraint of each task is ensured by the direction check and adjustment. The zoning constraints and the synchronism constraints are satisfied by teasing out the hidden correlations among constraints. The positional constraint is allowed to be violated to some extent in decoding and punished in cost fimction. Finally, with the TLBO seeking for the global optimum, the variable neighborhood search (VNS) is further hybridized to extend the local search space. The experimental results show that the proposed hybrid algorithm outperforms the late acceptance hill-climbing algorithm (LAHC) for TALB-MC in most cases, especially for large-size problems with multiple constraints, and demonstrates well balance between the exploration and the exploitation. This research proposes an effective and efficient algorithm for solving TALB-MC problem by hybridizing the TLBO and VNS. 展开更多
关键词 two-sided assembly line balancing teaching-learning-based optimization algorithm variable neighborhood search positional constraints zoning constraints synchronism constraints
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Optimization of assembly line balancing using genetic algorithm 被引量:6
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作者 N.Barathwaj P.Raja S.Gokulraj 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第10期3957-3969,共13页
In a manufacturing industry, mixed model assembly line(MMAL) is preferred in order to meet the variety in product demand. MMAL balancing helps in assembling products with similar characteristics in a random fashion. T... In a manufacturing industry, mixed model assembly line(MMAL) is preferred in order to meet the variety in product demand. MMAL balancing helps in assembling products with similar characteristics in a random fashion. The objective of this work aims in reducing the number of workstations, work load index between stations and within each station. As manual contribution of workers in final assembly line is more, ergonomics is taken as an additional objective function. Ergonomic risk level of a workstation is evaluated using a parameter called accumulated risk posture(ARP), which is calculated using rapid upper limb assessment(RULA) check sheet. This work is based on the case study of an MMAL problem in Rane(Madras) Ltd.(India), in which a problem based genetic algorithm(GA) has been proposed to minimize the mentioned objectives. The working of the genetic operators such as selection, crossover and mutation has been modified with respect to the addressed MMAL problem. The results show that there is a significant impact over productivity and the process time of the final assembled product, i.e., the rate of production is increased by 39.5% and the assembly time for one particular model is reduced to 13 min from existing 18 min. Also, the space required using the proposed assembly line is only 200 m2 against existing 350 m2. Further, the algorithm helps in reducing workers fatigue(i.e., ergonomic friendly). 展开更多
关键词 OPTIMIZATION line balancing genetic algorithm product family assembly line
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A Heuristic Method for Two-sided Assembly Line Balancing Problem 被引量:5
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作者 秦杏敏 金烨 《Journal of Shanghai Jiaotong university(Science)》 EI 2005年第1期61-65,共5页
A two-sided assembly line is typically found in plants producing large-sized products. Its advantages over a one-sided line and the difficulties faced in two-sided line balancing problems were discussed. A mathematica... A two-sided assembly line is typically found in plants producing large-sized products. Its advantages over a one-sided line and the difficulties faced in two-sided line balancing problems were discussed. A mathematical model for two-ALB problem was suggested. A modification of the “ranked positional weight” method, namely two-ALB RPW for two-ALB problems was developed. Experiments were carried out to verify the performance of the proposed method and the results show that it is effective in solving two-sided assembly line balancing problems. 展开更多
关键词 two-sided assembly lines assembly line balancing(ALB) task delay ranked positional weight(RPW)
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Optimization of Line Configuration and Balancing for Flexible Machining Lines 被引量:3
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作者 LIU Xuemei LI Aiping CHEN Zurui 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第3期579-587,共9页
Line configuration and balancing is to select the type of line and allot a given set of operations as well as machines to a sequence of workstations to realize high-efficiency production. Most of the current researche... Line configuration and balancing is to select the type of line and allot a given set of operations as well as machines to a sequence of workstations to realize high-efficiency production. Most of the current researches for machining line configuration and balancing problems are related to dedicated transfer lines with dedicated machine workstations. With growing trends towards great product variety and fluctuations in market demand, dedicated transfer lines are being replaced with flexible machining line composed of identical CNC machines. This paper deals with the line configuration and balancing problem for flexible machining lines. The objective is to assign operations to workstations and find the sequence of execution, specify the number of machines in each workstation while minimizing the line cycle time and total number of machines. This problem is subject to precedence, clustering, accessibility and capacity constraints among the features, operations, setups and workstations. The mathematical model and heuristic algorithm based on feature group strategy and polychromatic sets theory are presented to find an optimal solution. The feature group strategy and polychromatic sets theory are used to establish constraint model. A heuristic operations sequencing and assignment algorithm is given. An industrial case study is carried out, and multiple optimal solutions in different line configurations are obtained. The case studying results show that the solutions with shorter cycle time and higher line balancing rate demonstrate the feasibility and effectiveness of the proposed algorithm. This research proposes a heuristic line configuration and balancing algorithm based on feature group strategy and polychromatic sets theory which is able to provide better solutions while achieving an improvement in computing time. 展开更多
关键词 flexible machining line line balancing line configuration constraints model optimization
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An efficient migrating birds optimization algorithm with idle time reduction for Type-I multi-manned assembly line balancing problem 被引量:2
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作者 ZHANG Zikai TANG Qiuhua +1 位作者 LI Zixiang HAN Dayong 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2021年第2期286-296,共11页
Multi-manned assembly line,which is broadly utilized to assemble high volume products such as automobiles and trucks,allows a group of workers to assemble different tasks simultaneously in a multi-manned workstation.T... Multi-manned assembly line,which is broadly utilized to assemble high volume products such as automobiles and trucks,allows a group of workers to assemble different tasks simultaneously in a multi-manned workstation.This additional characteristic of parallel operators increases the complexity of the traditional NP-hard assembly line balancing problem.Hence,this paper formulates the Type-I multi-manned assembly line balancing problem to minimize the total number of workstations and operators,and develops an efficient migrating birds optimization algorithm embedded into an idle time reduction method.In this algorithm,a new decoding mechanism is proposed which reduces the sequence-dependent idle time by some task assignment rules;three effective neighborhoods are developed to make refinement of existing solutions in the bird improvement phases;and temperature acceptance and competitive mechanism are employed to avoid being trapped in the local optimum.Comparison experiments suggest that the new decoding and improvements are effective and the proposed algorithm outperforms the compared algorithms. 展开更多
关键词 multi-manned assembly line balancing migrating birds optimization META-HEURISTICS
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Genetic Algorithm for Concurrent Balancing of Mixed-Model Assembly Lines with Original Task Times of Models 被引量:1
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作者 Panneerselvam Sivasankaran Peer Mohamed Shahabudeen 《Intelligent Information Management》 2013年第3期84-92,共9页
The growing global competition compels manufacturing organizations to engage themselves in all productivity improvement activities. In this direction, the consideration of mixed-model assembly line balancing problem a... The growing global competition compels manufacturing organizations to engage themselves in all productivity improvement activities. In this direction, the consideration of mixed-model assembly line balancing problem and implementing in industries plays a major role in improving organizational productivity. In this paper, the mixed model assembly line balancing problem with deterministic task times is considered. The authors made an attempt to develop a genetic algorithm for realistic design of the mixed-model assembly line balancing problem. The design is made using the originnal task times of the models, which is a realistic approach. Then, it is compared with the generally perceived design of the mixed-model assembly line balancing problem. 展开更多
关键词 Assembly line balancing Cycle Time GENETIC Algorithm CROSSOVER Operation Mixed-Model
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MODEL OF OPERATING AND BALANCING ASSEMBLY LINE IN A MASS CUSTOMIZATION ENVIRONMENT
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作者 WeiDong JinYe +1 位作者 WangRong WangZheng 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2003年第4期344-347,共4页
The successful implementation of mass customization lies on reengineeringtechnology and management methods to organize the production. Especially in assembly phase, variousproduct configurations, due-time penalties an... The successful implementation of mass customization lies on reengineeringtechnology and management methods to organize the production. Especially in assembly phase, variousproduct configurations, due-time penalties and order-driven strategy challenge the traditionaloperation and management of assembly lines. The business features and the operation pattern ofassembly line based on mass customization are analyzed. And the research emphatically studiesvarious technologic factors to improve customer satisfaction and their corresponding implementmethods in operating assembly line. In addition, the models are proposed for operating assembly lineunder dynamic process environment in mass customization. A genetic approach is developed to providethe optimal solution to the models. The effectiveness of the proposed approach is evaluated with anindustrial application. 展开更多
关键词 Mass customization Assembly line balancing Optimal model
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Assembly Line Balancing Based on Double Chromosome Genetic Algorithm
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作者 刘俨后 左敦稳 张丹 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2014年第6期622-628,共7页
Aiming at assembly line balancing problem,a double chromosome genetic algorithm(DCGA)is proposed to avoid trapping in local optimum,which is a disadvantage of standard genetic algorithm(SGA).In this algorithm,there ar... Aiming at assembly line balancing problem,a double chromosome genetic algorithm(DCGA)is proposed to avoid trapping in local optimum,which is a disadvantage of standard genetic algorithm(SGA).In this algorithm,there are two chromosomes of each individual,and the better one,regarded as dominant chromosome,determines the fitness.Dominant chromosome keeps excellent gene segments to speed up the convergence,and recessive chromosome maintains population diversity to get better global search ability to avoid local optimal solution.When the amounts of chromosomes are equal,the population size of DCGA is half that of SGA,which significantly reduces evolutionary time.Finally,the effectiveness is verified by experiments. 展开更多
关键词 double chromosome genetic algorithm assembly line balancing mathematical model global optimum
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A scenario relaxation algorithm for finite scenario based robust assembly line balancing
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作者 徐炜达 Xiao Tianyuan 《High Technology Letters》 EI CAS 2011年第1期1-6,共6页
A balancing problem for a mixed model assembly line with uncertain task processmg Ume anO daily model mixed changes is considered, and the objective is to minimize the work variances between stations in the line. For ... A balancing problem for a mixed model assembly line with uncertain task processmg Ume anO daily model mixed changes is considered, and the objective is to minimize the work variances between stations in the line. For the balancing problem for the scenario-based robust assembly line with a finitely large number of potential scenarios, the direct solution methodology considering all potential scenarios is quite time-consuming. A scenario relaxation algorithm that embeds genetic al- gorithm is developed. This new algorithm guarantees termination at an optimal robust solution with relatively short running time, and makes it possible to solve robust problems with large quantities of potential scenarios. Extensive computational results are reported to show the efficiency and effectiveness of the proposed algorithm. 展开更多
关键词 scenario-based decision making robust optimization assembly line balancing genetic algorithm
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Optimization of Energy Resource Management for Assembly Line Balancing Using Adaptive Current Search
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作者 Supaporn Suwannarongsri Tika Bunnag Waraporn Klinbun 《American Journal of Operations Research》 2014年第1期8-21,共14页
This paper aimed to present the optimization of energy resource management in a car factory by the adaptive current search (ACS)—one of the most efficient metaheuristic optimization search techniques. Assembly lines ... This paper aimed to present the optimization of energy resource management in a car factory by the adaptive current search (ACS)—one of the most efficient metaheuristic optimization search techniques. Assembly lines of a specific car factory considered as a case study are balanced by the ACS to optimize their energy resource management. The workload variance of the line is performed as the objective function to be minimized in order to increase the productivity. In this work, the ACS is used to address the number of tasks assigned for each workstation, while the sequence of tasks is assigned by factory. Three real-world assembly line balancing (ALB) problems from a specific car factory are tested. Results obtained by the ACS are compared with those obtained by the genetic algorithm (GA), tabu search (TS) and current search (CS). As results, the ACS outperforms other algorithms. By using the ACS, the productivity can be increased and the energy consumption of the lines can be decreased significantly. 展开更多
关键词 ADAPTIVE CURRENT SEARCH Assembly line balancing Energy Resource MANAGEMENT METAHEURISTIC OPTIMIZATION
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CONCURRENT PRODUCT PORTFOLIO PLANNING AND MIXED PRODUCT ASSEMBLY LINE BALANCING
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作者 BRYAN April HU S Jack KOREN Yoram 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2007年第1期96-99,共4页
Reconfigurable products and manufacturing systems have enabled manufacturers to provide "cost effective" variety to the market. In spite of these new technologies, the expense of manufacturing makes it infeasible to... Reconfigurable products and manufacturing systems have enabled manufacturers to provide "cost effective" variety to the market. In spite of these new technologies, the expense of manufacturing makes it infeasible to supply all the possible variants to the market for some industries. Therefore, the determination of the right number of product variantsto offer in the product portfolios becomes an important consideration. The product portfolio planning problem had been independently well studied from marketing and engineering perspectives. However, advantages can be gained from using a concurrent marketing and engineering approach. Concurrent product development strategies specifically for reconfigurable products and manufacturing systems can allow manufacturers to select best product portfolios from marketing, product design and manufacturing perspectives. A methodology for the concurrent design of a product portfolio and assembly system is presented. The objective of the concurrent product portfolio planning and assembly system design problem is to obtain the product variants that will make up the product portfolio such that oversupply of optional modules is minimized and the assembly line efficiency is maximized. Explicit design of the assembly system is obtained during the solution of the problem. It is assumed that the demand for optional modules and the assembly times for these modules are known a priori. A genetic algorithm is used in the solution of the problem. The basic premise of this methodology is that the selected product portfolio has a significant impact on the solution of the assembly line balancing problem. An example is used to validate this hypothesis. The example is then further developed to demonstrate how the methodology can be used to obtain the optimal product portfolio. This approach is intended for use by manufacturers during the early design stages of product family design. 展开更多
关键词 Product portfolio Assembly system design Assembly line balancing Concurrent design and manufacturing Optimization
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Assembly Line Balancing Using Fuzzy Logic: A Case Study of a Tricycle Assembly Line
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作者 Anthony I. Unuigbe Henry A. Unuigbe +1 位作者 Eddy O. Aigboje Polycarp A. Ehizibue 《Open Journal of Optimization》 2016年第2期59-70,共12页
The application of fuzzy logic in balancing a single model tricycle assembly line is presented in this study. MATLAB simulation software was used in the analysis of the primary and secondary data obtained from the ass... The application of fuzzy logic in balancing a single model tricycle assembly line is presented in this study. MATLAB simulation software was used in the analysis of the primary and secondary data obtained from the assembly line under study. Results obtained from the study show that the efficiency of the line increased from 88.1% to 92.4%. The total idle time was also reduced by 56.5%. This indicates an improvement in the efficiency of the line, reduction of bottleneck, and even distribution of tasks along the line for the company under study. 展开更多
关键词 line balancing Fuzzy Logic EFFICIENCY Idle Time
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Heuristics for Mixed Model Assembly Line Balancing Problem with Sequencing
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作者 Panneerselvam Sivasankaran Peer Mohamed Shahabudeen 《Intelligent Information Management》 2016年第3期41-65,共25页
The growing global competition compels organizations to use many productivity improvement techniques. In this direction, assembly line balancing helps an organization to design its assembly line such that its balancin... The growing global competition compels organizations to use many productivity improvement techniques. In this direction, assembly line balancing helps an organization to design its assembly line such that its balancing efficiency is maximized. If the organization assembles more than one model in the same line, then the objective is to maximize the average balancing efficiency of the models of the mixed model assembly line balancing problem. Maximization of average balancing efficiency of the models along with minimization of makespan of sequencing models forms a multi-objective function. This is a realistic objective function which combines the balancing efficiency and makespan. This assembly line balancing problem with multi-objective comes under combinatorial category. Hence, development of meta-heuristic is inevitable. In this paper, an attempt has been made to develop three genetic algorithms for the mixed model assembly line balancing problem such that the average balancing efficiency of the model is maximized and the makespan of sequencing the models is minimized. Finally, these three algorithms and another algorithm in literature modified to solve the mixed-model assembly line balancing problem are compared in terms of the stated multi-objective function using a randomly generated set of problems through a complete factorial experiment. 展开更多
关键词 Assembly line balancing Genetic Algorithm Crossover Operation Mixed-Model Model Sequencing MAKESPAN
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On-line current feed and computer aided control tactics for automatic balancing head
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作者 李勇 陆永平 +1 位作者 须根发 夏松波 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2002年第2期205-207,共3页
In the designed automatic balancing head, a non contact induction transformer is used to deliver driving energy to solve the problem of current fed and controlling on line. Computer controlled automatic balancing expe... In the designed automatic balancing head, a non contact induction transformer is used to deliver driving energy to solve the problem of current fed and controlling on line. Computer controlled automatic balancing experiments with phase magnitude control tactics were performed on a flexible rotor system. Results of the experiments prove that the energy feeding method and the control tactics are effective in the automatic balancing head for vibration controlling. 展开更多
关键词 AUTOMATIC balancing balancing HEAD ON-line CONTROL TACTICS
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A Modified Multi-Agent System for Simple Assembly Line Balancing
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作者 Kana Yokoyama Katsumi Morikawa Katsuhiko Takahashi 《Journal of Mathematics and System Science》 2012年第5期299-314,共16页
In this paper, a modified multi-agent system for assembly line balancing is proposed. Each worker in the assembly line is regarded as an agent, and two neighboring agents exchange information about the allocated tasks... In this paper, a modified multi-agent system for assembly line balancing is proposed. Each worker in the assembly line is regarded as an agent, and two neighboring agents exchange information about the allocated tasks. To balance the workload, an agent with a smaller workload sends a request message to his/her neighboring agent, who has a larger workload, to exchange tasks between them. Without any centralized control mechanism, each agent behaves to achieve their goal, which is to balance the workload. A tabu list and cooling control are also incorporated. However, the effectiveness of the previous system is limited, and the system depends on problems to be solved. As such, a modified system is proposed. In the proposed system, the cycle time is used when considering the proposal of exchange of allocated tasks instead of the task time allocated to the neighboring workers. Also, in the proposed system, the length of tabu list is determined dynamically based on the current number of possible exchanges, and the best cycle time in the search with cooling at medium speed is recorded for the second search that is finished when the current cycle time reaches the recorded cycle time. The effectiveness of the modified system is investigated by solving problems for various conditions. The results show that the proposed system is effective regardless of the problems that are encountered. 展开更多
关键词 Assembly line balancing multi-agent system tabu search.
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Content Addressable Memory Using Automatic Charge Balancing with Self-Control Mechanism and Master-Slave Match Line Design
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作者 Dr. Deepa Jose P. Suganya Dr. Palanichamy Nirmal Kumar 《Circuits and Systems》 2016年第6期597-611,共15页
Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge ... Content Addressable Memory (CAM) is a type of memory used for high-speed search applications. Due to parallel comparison feature, the CAM memory leads to large power consumption which is caused by frequent pre-charge or discharge of match line. In this paper, CAM for automatic charge balancing with self-control mechanism is proposed to control the voltage swing of ML for reducing the power consumption of CAM. Another technique to reduce the power dissipation is to use MSML, it combines the master-slave architecture with charge minimization technique. Unlike the conventional design, only one match line (ML) is used, whereas in Master-Slave Match Line (MSML) one master ML and several slave MLs are used to reduce the power dissipation in CAM caused by match lines (MLs). Theoretically, the match line (ML) reduces the power consumption up to 50% which is independent of search and match case. The simulation results using Cadence tool of MSML show the reduced power consumption in CAM and modified CAM cell. 展开更多
关键词 Content Addressable Memory (CAM) Match line (ML) Master-Slave Match line (MSML) Charge balance Translation Look-Aside Buffer (TLAB)
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Dynamic Balance Control Based on an Adaptive Gain-scheduled Backstepping Scheme for Power-line Inspection Robots 被引量:6
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作者 Songyi Dian Lin Chen +2 位作者 Son Hoang Ming Pu Junyong Liu 《IEEE/CAA Journal of Automatica Sinica》 EI CSCD 2019年第1期198-208,共11页
This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a sing... This paper presents an adaptive gain-scheduled backstepping control(AGSBC) scheme for the balance control of an underactuated mechanical power-line inspection(PLI) robotic system with two degrees of freedom and a single control input.First, a nonlinear dynamic model of the balance adjustment process of the PLI robot is constructed, and then the model is linearized at a nominal equilibrium point to overcome the computational infeasibility of the conventional backstepping technique. Second, to solve generalized stabilization control issue for underactuated systems with multiple equilibrium points,an equilibrium manifold linearized model is developed using a scheduling variable, and then a gain-scheduled backstepping control(GSBC) scheme for expanding the operational area of the controlled system is constructed. Finally, an adaptive mechanism is proposed to counteract the impact of external disturbances. The robust stability of the closed-loop system is ensured by Lyapunov theorem. Simulation results demonstrate the effectiveness and high performance of the proposed scheme compared with other control schemes. 展开更多
关键词 Adaptive BACKSTEPPING balancE control gain-scheduled inspection robot POWER line
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Reconstructed annual glacier surface mass balance in theányêmaqên Mountains,Yellow River source,based on snow line altitude 被引量:1
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作者 LI Kai-ji CAO Bo +2 位作者 GUAN Wei-jin PAN Bao-tian SHANGGUAN Dong-hui 《Journal of Mountain Science》 SCIE CSCD 2022年第4期1070-1081,共12页
Annual mass balance is an important factor that reflects glacier change and glacier meltwater resources.In this study,we analyzed the changes in glacier area,snow line altitude(SLA)and surface elevation in theány... Annual mass balance is an important factor that reflects glacier change and glacier meltwater resources.In this study,we analyzed the changes in glacier area,snow line altitude(SLA)and surface elevation in theányêmaqên Mountain region using multisource remote sensing data.Then,the annual mass balance of two glaciers was reconstructed by using SLA-mass-balance gradient method.The results showed that the glacier area in theányêmaqên Mountains decreased by 29.4 km2from 1985 to 2017.The average SLAs of the Halong Glacier and Yehelong Glacier were approximately 5290 m and 5188 m,respectively.The glacier mass balance for the two glaciers from 1990 to 2020 was-0.71 m w.e.a^(-1) and-0.63 m w.e.a^(-1),respectively.Our results indicate that SLA is an important indicator of glacier changes,and a long sequence of SLAs can more accurately reconstruct the glacier mass balance of the glacier.The mean annual glacial meltwater-fed streamflow is 1.45×10^(7)m^(3) and 1.12×10^(7)m^(3),respectively.Sensitivity analysis indicates that summer air temperature plays a leading role in regard to the influential climatic factors of glacial retreat in theányêmaqên Mountains.This highlights the potential of the methodology for application on reconstructing annual glacier surface mass balance at larger scales without direct measurements. 展开更多
关键词 Snow line altitude(SLA) Glacier annual mass balance reconstruction Glacier changes ányêmaqên Mountains
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