MULTI-AGENT APPROACH FOR DISTRIBUTED FLEXIBLE MANUFACTURING SYSTEMS

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Flexible Bio-tensegrity Manipulator with Multi-degree of Freedom and Variable Structure

Conventional manipulators with rigid structures and sti ness actuators have poor flexibility,limited obstacle avoidance capability,and constrained workspace.Some developed flexible or soft manipulators in recent years have the characteristics of infinite degrees of freedom,high flexibility,environmental adaptability,and extended manipulation capability.However,these existing manipulators still cannot achieve the shrinking motion and independent control of specified segments like the animals,which hinders their applications.In this paper,a flexible bio-tensegrity manipulator,inspired by the longitudinal and transversal muscles of octopus tentacles,was proposed to mimic the shrinking behavior and achieve the variable motion patterns of each segment.Such proposed manipulator uses the elastic spring as the backbone,which is driven by four cables and has one variable structure mechanism in each segment to achieve the independent control of each segment.The variable structure mechanism innovatively contains seven lock-release states to independently control the bending and shrinking motion of each segment.After the kinematic modeling and analysis,one prototype of such bionic flexible manipulator was built and the open-loop control method was proposed.Some proof-of-concept experiments,including the shrinking motion,bending motion,and variable structure motion,were carried out by controlling the length of four cables and changing the lock-release states of the variable structure mechanism,which validate the feasibility and validity of our proposed prototype.Meanwhile,the experimental results show the flexible manipulator can accomplish the bending and shrinking motion with the relative error less than 6.8%through the simple independent control of each segment using the variable structure mechanism.This proposed manipulator has the features of controllable degree-of-freedom in each segment,which extend their environmental adaptability,and manipulation capability.

New Method for Predicting the Motion Responses of A Flexible Joint Multi-Body Floating System to Irregular Waves

A new hybrid method of frequency domain and time domain is developed in this paper to predict the motion responses of a flexibly joint multi-body floating system to irregular waves. The main idea of the method is that the three-dimensional frequency method is used to obtain the hydrodynamic coefficients and the response equations are solved in time domain step by step. All the forces can be obtained at the same time. The motions and nonlinear mooring forces of a box type six-body floating system are predicted. A comparison of the theoretical method-based Solutions with experimental results has shown good agreement.

MULTI-FLEXIBLE SYSTEM DYNAMIC MODELING THEORY AND APPLICATION

The flexible body modeling theory was demonstrated. An example of modeling a kind of automobile’s front suspension as a multi-flexible system was shown. Finally, it shows that the simulation results of multi-flexible dynamic model more approach the road test data than those of multi-rigid dynamic model do. Thus, it is fully testified that using multi-flexible body theory to model is necessary and effective.

Discrete time transfer matrix method for dynamics of multibody system with flexible beams moving in space

In this paper, by defining new state vectors and developing new transfer matrices of various elements mov- ing in space, the discrete time transfer matrix method of multi-rigid-flexible-body system is expanded to study the dynamics of multibody system with flexible beams moving in space. Formulations and numerical example of a rigid- flexible-body three pendulums system moving in space are given to validate the method. Using the new method to study the dynamics of multi-rigid-flexible-body system mov- ing in space, the global dynamics equations of system are not needed, the orders of involved matrices of the system are very low and the computational speed is high, irrespec- tive of the size of the system. The new method is simple, straightforward, practical, and provides a powerful tool for multi-rigid-flexible-body system dynamics.

Development of a Flexible Multibody Model to Simulate Nonlinear Effects in Printing Process

Modern high speed printing machines are able to print up to 700 m/min. At this rate, little excita-tions lead to vibrations, which may lead to loss of contact between the rollers (bouncing). This bouncing results in white stripes, being visible on the printed image. To enable the simulation of the whole printing process, including effects like bouncing, a discrete multibody model is developed. The rollers are modeled by several rigid bodies. These bodies are connected to each other by rotational springs, which allow simulation of the first bending eigenmodes of each roller. The contact area between the rollers is modeled by several nonlinear translational springs and damping elements. These elements change their stiffness and damping values depending on the distance between the rollers. If a defined distance is exceeded, the values become zero, which represents the loss of contact (bouncing). The unknown spring and damping elements of this model are parametrized with help of an experimental modal analysis. This paper presents the development of a flexible multibody model to simulate nonlinear effects in printing process.

FLEXIBLE 2-DOF STEERING MODEL OF MULTI-AXLE HEAVY-DUTY VEHICLE

A flexible two degrees of freedom (2-DOF) steering model of multi-axlevehicle (MAV) is presented with considering the effect of frame flexibility based on the classic2-DOF model. A method to calculate the frame flexibility is derived by using three moments equation.The steering stability of MAV is analyzed. The steering performance of MAV is also researched infrequency domain. Simulation results show that the dynamic effects of flexible model are more severethan rigid model and the flexible effect of frame will weaken the steering stability of MAV.Different disposals of steering axles lead to different steering characteristics of MAV. Thein-phase steering mode improves the steering characteristics and stability at high speed. Theanti-phase steering mode increases the steering mobility at low vehicle speed.

Carbon Black and Multi Wall Carbon Nanotubes Loaded Polyurethane Foam Composite Flexible Thermal Radiator

Carbon black (CB) or multi walled carbon nanotubes (MWCNT) loaded polyurethane conductive foams are used as heaters, electrodes, radar absorbers and shielding. This paper discusses the performance of an innovative flexible thermal radiator (FTR) constructed with CB filled or MWCNT filled conductive foam and powering electrode structure constructed with textiles manufacturing process (knitting, weaving or nonwoven). Silver (Ag) yarns are used for the powering electrodes construction. This paper discusses the construction, electro-thermal analysis, performance and applications of FTR. Also this paper compare the thermal and electrical characteristics of CB filled and MWCNT filled FTRs. The electro-thermal model is simulated by using finite element methods.

Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects

The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.

A Study on the Architecture of Flexible ERP Based on Multi-Agent Technology

Traditional ERP software system cannot efficiently su pport new management ideas such as BPR, DEM and virtual enterprise which emphasi zes that enterprise should be adjusted to market changes and business process ch ain and value chain should be integrated tightly. To solve these problems, this paper proposed the conception of Flexible ERP system. F-ERP is a self- adapti ve software system based on multi-agent technology. It developed the followin g kind of agents which are useful for F-ERP: business process agent, interf ace agent, data agent and decision and analysis agent. The F-ERP software syste m is an hierarchy system which is composed of data layer, system tools layer, bu siness application layer and business decision layer. It used component based de velopment mythology and complied with CORBA to development F-ERP. The F-ERP sy stem can support the new management ideas such as BPR, DEM and virtual enterpris e etc. By implementation of it, enterprise can improve its management and promot e its competence.

STUDY ON DYNAMICS, STABILITY AND CONTROL OF MULTI-BODY FLEXIBLE STRUCTURE SYSTEM IN FUNCTIONAL SPACE

The dynamics, stability and control problem of a kind of infinite dimensional system are studied in the functional space with the method of modern Mathematics. First, the dynamical control model of the distributed parameter system with multi-body flexible and multi-topological structure was established which has damping, gyroscopic parts and constrained damping. Secondly, the necessary and sufficient condition of controllability and observability, the stability theory and asymptotic property of the system were obtained. These results expand the theory of the field about the dynamics and control of the system with multi-body flexible structure, and have important engineering significance.

Articulated Lifting System Modeling Based on Dynamics of Flexible Multi-Body Systems

In lifting sub-system of deep-sea mining system, spherical joint is used to connect lifting pipes to replace fixed joint. Based on Dynamics of Flexible Multi-body systems, the mechanics model of articulated lifting system is established. Under the four-grade and six-grade oceanic condition, dynamic responses of lifting system are simulated and experiment verified. The simulation results are consistent with experimental ones. The maximum moment of flexion is 322 kN-m on the first pipe under six-grade sea condition. It is seen that the articulated connection can reduce the moment of flexion. The bending deformation of pipe center is researched, and the maximum is 0. 000479 m on the first pipe. Deformation has a little effect on the motion of system. It is feasible to analyze articulated lifting system by applying the theory of flexible multi-body dynamics. The articulated lifting system is obviously better than the fixed one.

Influence of a multi-step process on the thickness reduction error of sheet metal in a flexible rolling process

Flexible rolling is a forming process based on thickness reduction, and the precision of thickness reduction is the key factor affecting bending deformation. The major purpose of the present work is to solve the problem of bending deformation error caused by insufficient thickness reduction. Under the condition of different rolling reductions with the same sheet thickness and the same thickness reduction with different sheet thicknesses, the thickness reduction error of sheet metal is analyzed. In addition, the bending deformation of sheet metal under the same conditions is discussed and the influence of the multi-step forming process on the thickness reduction error is studied. The results show that, under the condition of the same sheet thickness, the thickness reduction error increases with increasing rolling reduction because of an increase in work hardening. As rolling reduction increases, the longitudinal bending deformation decreases because of the decrease of the maximum thickness difference. Under the condition with the same thickness reduction, the thickness reduction error increases because of the decrease of the rolling force with increasing sheet thickness. As the sheet thickness increases, the longitudinal bending deformation increases because of the increase in the maximum thickness difference. A larger bending deformation is divided into a number of small bending deformations in a multi-step forming process, avoiding a sharp increase in the degree of work hardening; the thickness reduction error is effectively reduced in the multi-step forming process. Numerical simulation results agree with the results of the forming experiments.

Dynamic Characteristic Study of Ball Screw Feed Drive Systems Based on Multi-flexible Body Model

A new ball screw dynamic model was developed under the adequate consideration of the interaction in the screw-nut assembly (not only the mutual-coupling factors but also the self-coupling factors) . Based on this model,the multi-flexible body (MFB)dynamic model of ball screw feed drive system was then founded in order to take full account of the influencing factor of system flexibility and study the dynamic behaviors of the whole mechanical transmissions. Moreover,the MFB based state space modeling was proposed by modal state space method, which extraced the eigenmodes of more dominant modes and applied them into an MFB state space model,and realized the integrated model of servo drives and MFB mechanical transmissions more effectively and efficiently. In conclusion,the comparisons between simulations and experimental results show: the stiffness formulation of the ball screw assembly derived above is a suitable method for achieving accurate MFB models of ball screw mechanical transmission systems,this proposed MFB model is valid,and the integrated model of ball screw feed drive system is accurate and reliable. All these provide the important approaches and guidelines for dynamic characteristic study and selection of control parameters in the machine tool design period.

A Flexible and Adaptive Multi-bimensional Back System Based on Ergonomics

According to the study on seat-back curves about different people, the method that using two arc-shaped roofs to give back supporting force of the human body is proposed. Through a clever design application of piezoelectric sensor, microcontroller, motors, and arc-shaped roofs form a closed loop control system. Through the design of horizontal and vertical adjustment mechanism, a flexible and adaptive multi-dimensional back can reduce the harm to human spine which caused by poor posture and sedentary life style. Model building and stress analysis are done by Inventor software to verify the mechanism of strength.

A Flexible DSP-Based Network forReal-Time Image-Processing

This paper proposed a general purpose real-time image processing system based on a flexible DSP-based Network, which is implemented by a high bandwidth communication channel, links. The links is realized using FPGA and provides a bandwidth of 12. 8 Gbit/s. Using the links, The topologic of multi-DSP system can be changed online to meet the variabilities of the parallel algorithm of image processing. The system can be assembled with utmost tens of boards and maintain the high communication speed. Analysis of the system adaptivity to image processing is testified followed by actual results. Key words real-time image processing - multi-DSP - flexible - scalable - FPGA - links CLC number TP 303 Foundation item: Supported by the National Natural Science Foundation of China (60135020)Biography: MAO Hai-cen(1973-), male, Ph.D. candidate, research direction: artificial intelligence, expert system, pattern recognition and image processing

Modeling of large scale solar cell handling robot with belt-driven flexible arms

To increase the competition of the solar energy collection system, the size of the solar panel module during the manufacturing process is being increased continuously. As the size of the solar panel increases, the size of the robot to handle the panel increased also. The change in scale of the robot inevitably results ill the amplification of the adverse effect of tile flexure. The main source of the flexure in the large scale solar cell panel handling system is the long and thin fork fingers of the [land and the solar cell panel. In addition, tile belt-driven actuator system used by most of the large scale panel handling robot is another significant source of the vibration. In this paper, the flexible multi body dynamic model of a large scale solar cell panel handling robot, which is being designed and constructed with the help of Kyung Hee University, is developed. The belt-driven system in the robot is also modeled as flexible system and included ill the robot to represent the actual vibration characteristics of the actuator system. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi： 10.1063/2.1301310]

Development of a Simulation-Based Intelligent Decision Support System for the Adaptive Real-Time Control of Flexible Manufacturing Systems

This paper describes a simulation-based intelligent decision support system (IDSS) for real time control of a flexible manufacturing system (FMS) with machine and tool flexibility. The manufacturing processes involved in FMS are complicated since each operation may be done by several machining centers. The system design approach is built around the theory of dynamic supervisory control based on a rule-based expert system. The paper considers flexibility in operation assignment and scheduling of multi-purpose machining centers which have different tools with their own efficiency. The architecture of the proposed controller consists of a simulator module coordinated with an IDSS via a real time event handler for implementing inter-process synchronization. The controller’s performance is validated by benchmark test problem.

Effect of Mass Ratio on Hydrodynamic Response of a Flexible Cylinder

灵活圆形的柱体的导致流动的颤动(FIV ) 上的集体比率的效果试验性地在一辆拖引的坦克被调查。分别地，有 7.9 公里和 4.8 公里的外部、内部的直径的一个 Tygon 试管为学习被采用。试管被连接到一辆马车并且从休息拖引到一稳定在慢下来在 1.6 m 的距离上再休息在前加快 m/s 到 1.6 仍然流水。雷纳兹数字基于柱体，外部直径是 80013,000，并且减少的速度(柱体天赋频率使正常化的速度和外部直径) 从 2 ～ 25 跨越了。当连接时，柱体在 11 N 的轴的虚荣下面从 420 公里被伸长到 460 公里。把伸长的长度基于柱体，方面比率(到外部直径的柱体长度的比率) 作为 58 被计算。三集体比率(柱体的比率结构的质量到代替的液体质量， m *) 被分别地用空气，水，和合金粉末(nickel-chromium-boron 矩阵合金) 填满柱体内部 0.7， 1.0，和 3.4 决定。一个光方法为反应大小被采用。多频率颤动在两个被观察同轴(IL ) 并且跨流动(CF ) 回答；在高级雷纳兹数字，颤动模式直到 3 rd 在 CF 反应被识别。模式转变被发现为最高测试的集体比率在更低的减少的速度发生。颤动振幅和频率关于减少的速度被确定并且表示。一个重要减少的颤动振幅与增加集体比率在 IL 反应被发现，并且仅仅起始、上面的分支在 IL 和 CF 反应振幅存在。规范的反应频率被揭示线性地关于减少的速度增加，并且为线性关系的斜坡被发现为测试的三格相同。