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Parametric Transformation of Timed Weighted Marked Graphs:Applications in Optimal Resource Allocation 被引量:1
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作者 Zhou He Ziyue Ma +1 位作者 Zhiwu Li Alessandro Giua 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第1期179-188,共10页
Timed weighted marked graphs are a subclass of timed Petri nets that have wide applications in the control and performance analysis of flexible manufacturing systems.Due to the existence of multiplicities(i.e.,weights... Timed weighted marked graphs are a subclass of timed Petri nets that have wide applications in the control and performance analysis of flexible manufacturing systems.Due to the existence of multiplicities(i.e.,weights)on edges,the performance analysis and resource optimization of such graphs represent a challenging problem.In this paper,we develop an approach to transform a timed weighted marked graph whose initial marking is not given,into an equivalent parametric timed marked graph where the edges have unitary weights.In order to explore an optimal resource allocation policy for a system,an analytical method is developed for the resource optimization of timed weighted marked graphs by studying an equivalent net.Finally,we apply the proposed method to a flexible manufacturing system and compare the results with a previous heuristic approach.Simulation analysis shows that the developed approach is superior to the heuristic approach. 展开更多
关键词 Discrete event system resource allocation timed Petri net weighted marked graph
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Design,analysis,and neural control of a bionic parallel mechanism 被引量:1
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作者 Yaguang ZHU Shuangjie ZHOU +1 位作者 Ruyue LI Manoonpong PORAMATE 《Frontiers of Mechanical Engineering》 SCIE CSCD 2021年第3期468-486,共19页
Although the torso plays an important role in the movement coordination and versatile locomotion of mammals,the structural design and neuromechanical control of a bionic torso have not been fully addressed.In this pap... Although the torso plays an important role in the movement coordination and versatile locomotion of mammals,the structural design and neuromechanical control of a bionic torso have not been fully addressed.In this paper,a parallel mechanism is designed as a bionic torso to improve the agility,coordination,and diversity of robot locomotion.The mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and running.The overall spatial motion performance of the parallel mechanism is improved by optimizing the structural parameters.Based on this structure,the rhythmic motion of the parallel mechanism is obtained by supporting state analysis.The neural control of the parallel mechanism is realized by constructing a neuromechanical network,which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion patterns.Experimental results show that the complete integrated system can be controlled in real time to achieve proper limb-torso coordination.This coordination enables several different motions with effectiveness and good performance. 展开更多
关键词 neural control behavior network RHYTHM motion pattern
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