To balance inventory cost with diverse demand,an optimal investment decision on necessary process improvement for delayed product differentiation is studied. A two-stage flexible manufacturing system is modeled as a c...To balance inventory cost with diverse demand,an optimal investment decision on necessary process improvement for delayed product differentiation is studied. A two-stage flexible manufacturing system is modeled as a continuous time Markov chain. The first production stage manufactures semifinished products based on a make-to-stock policy. The second production stage customizes semi-finished products from the first production stage on a make-to-order policy. Various performance measures for this flexible manufacturing system are evaluated by using matrix geometric methods. An optimization model to determine the level of investment on process improvement that minimizes the manufacturer ’s total cost is established. The results show that,a higher investment level can reduce both the expected customer order fulfillment delay and the expected semi-finished products inventory. When the initial order penetration point is 0. 4,the manufacturer ’s total cost is reduced by 15. 89% through process investment. In addition, the optimal investment level increases with the increase in the unit time cost of customer order fulfillment delay,and decreases with the increase in the product value and the initial order penetration point.展开更多
An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both v...An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.展开更多
Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance c...Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.展开更多
基金The National Natural Science Foundation of China(No.71661147004)
文摘To balance inventory cost with diverse demand,an optimal investment decision on necessary process improvement for delayed product differentiation is studied. A two-stage flexible manufacturing system is modeled as a continuous time Markov chain. The first production stage manufactures semifinished products based on a make-to-stock policy. The second production stage customizes semi-finished products from the first production stage on a make-to-order policy. Various performance measures for this flexible manufacturing system are evaluated by using matrix geometric methods. An optimization model to determine the level of investment on process improvement that minimizes the manufacturer ’s total cost is established. The results show that,a higher investment level can reduce both the expected customer order fulfillment delay and the expected semi-finished products inventory. When the initial order penetration point is 0. 4,the manufacturer ’s total cost is reduced by 15. 89% through process investment. In addition, the optimal investment level increases with the increase in the unit time cost of customer order fulfillment delay,and decreases with the increase in the product value and the initial order penetration point.
基金supported by the National Key R&D Program of China(No.2017YFB1300400)the National Natural Science Foundation of China(No. 51805107)
文摘An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.
基金Project(51221004) supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject(2010R50036) supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘Considering the compliance control problem of a hexapod robot under different environments, a control strategy based on the improved adaptive control algorithm is proposed. The model of robot structure and impedance control is established. Then, the indirect adaptive control algorithm is derived. Through the analysis of its parameters, it can be noticed that the algorithm does not meet the requirements of the robot compliance control in a complex environment. Therefore, the fuzzy control algorithm is used to adjust the adaptive control parameters. The satisfied system response can be obtained based on the adjustment in real time according to the error between input and output. Comparative experiments and analysis of traditional adaptive control and the improved adaptive control algorithm are presented. It can be verified that not only desired contact force can be reached quickly in different environments, but also smaller contact impact and sliding avoidance are guaranteed, which means that the control strategy has great significance to enhance the adaptability of the hexapod robot.
