Researches on Risk Evaluation of Green Agro-product Closed Supply Chain

Closed supply chain is a superior form of management model of chain supply and an effective means of improving the modernization of agro-product circulation. Based on the research results of the current literatures on supply chain risk and agro-product supply chain, related subjects of the agro-product closed supply chain involving production, management and consumption are studied and analyzed and the primary risking factors in the supply chain system are classified as environmental risk, system risk, information risk, management risk and quality risk. Risk of agro-product closed supply chain is evaluated by using the method of fuzzy comprehensive evaluation and the values are acquired. The result shows that risk of agro-product closed supply chain is moderate with relatively high risk, which basically accords with the present actual situations. It can be seen from the index weights of various levels that the key first-level indices influencing the risks are system risk, information risk, quality and safety risk and the key second-level are the coordinating and controlling ability of core enterprises, the implementation of information traceability and the construction of quality safety system. Therefore, risk of agro-product closed supply chain should be reduced by taking prevention and controlling measures mainly from these aspects.

Biped Robot with Triangle Configuration

A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism. The scalability of three sides of the triangle is realized by three actuated prismatic joints. The three vertexes of the triangle are centers of three passive revolute joints coincidently. The biped mechanism for straight walking is proposed and its walking principle and mobility are explained. The static stability and the height and span of one step are analyzed. Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs. A prototype is developed and experiments are carried out to validate the straight walking gait. Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around. The turning ability is verified by experiments. As a new member of biped robots, its triangle configuration is used to impart geometry knowledge. Because of its high stiffness, some potential applications are on the way.

The Fuzzy Neural Network Control Scheme With H∞ Tracking Characteristic of Space Robot System With Dual-arm After Capturing a Spin Spacecraft

In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.

COORDINATING PRODUCTION AND RECYCLING DECISIONS WITH STOCHASTIC DEMAND AND RETUR

In this paper, the joint production and recycling problem is investigated for a hybrid manufacturing and remanufacturing system where brand-new products are produced in the manufacturing plant and recycled products are remanufactured into as-new products in the remanufacturing facility. Both the brand-new products and remanufactured products are used to satisfy customer demands. Returns of used products that are recycled from customers are assumed to be stochastic and nonlinearly price-dependent. A mathematical model is proposed to maximize the overall profit of the system through simultaneously optimizing the production and recycling decisions, subject to two capacity constraints ？ the manufacturing capacity and the remanufacturing capacity. Based on Lagrangian relaxation method, subgradient algorithm and heuristic algorithm, a solution approach is developed to solve the problem. A representative example is presented to illustrate the system, and managerial analysis indicates that the uncertainties in demand and return have much influence on the production and recycling policy. In addition, twenty randomly produced examples are solved, and computational results show that the solution approach can obtain very good solutions for all examples in reasonable time.