Advances in Factories of the Future, CIM and Robotics (eBook)

Front Cover 1
Advances in Factories of the Future, CIM and Robotics 4
Copyright Page 5
FOREWORD 6
Table of Contents 10
PART 1: FACTORIES OF THE FUTURE 14
Chapter 1. Future Factories and Today's Organizations 16
Abstract 16
1. INTRODUCTION 16
2. THEORETICAL FRAMEWORK 17
3. CIM AS AN INTEGRATED MANUFACTURING STRATEGY 19
4. CONCLUSIONS AND IMPLICATIONS FOR FUTURE FACTORIES 24
5. REFERENCES 25
Chapter 2. Methodologies for the regeneration of manufacturing competitiveness 26
1. INTRODUCTION 26
2. THE SPECIFICATION OF A METHODOLOGY 27
3. METHODOLOGY DEVELOPMENT 29
4. THE METHODOLOGY 29
5. THE IDENTIFICATION OF A THEME 33
6. CONCLUSION 33
REFERENCES 33
PART 2: NEW MANAGEMENT APPROACHES 36
CHAPTER 3. PROJECT DEFINITION: SOME METHODOLOGICAL PROBLEMS 38
Abstract 38
Keywords 38
1. THE BACKWARD EFFECT OF SOLUTIONS ON PROBLEM DEFINITIONS 39
2. THE DEFICIENCIES OF O.R. FORMULATION OF THE PROJECT SCHEDULEPROBLEM 41
3. SPECIFIC PROBLEMS SET BY THE HIERARCHIC AL APPRO ACH 43
4. RISK ANALYSIS IN PROJECTS DEFINITION 46
References 46
Chapter 4. A critical assessment of the modelling and analysis of justin-time manufacturing systems 48
Abstract 48
1. INTRODUCTION 48
2. CRITICAL ASSESSMENT OF THE EXISTING JIT LITERATURE 48
3. FUTURE RESEARCH DIRECTIONS ON JIT MODELLING ANDANALYSIS 51
4. CONCLUDING REMARKS 55
REFERENCES 55
Chapter 5. Modeling and evaluation of teamwork 58
Abstract 58
1. INTRODUCTION 58
2. DEFINITION OF TEAM AND THE BEHAVIOR MODEL FOR TEAM MEMBERS 59
3. THE EVALUATION FUNCTION OF TEAM SYSTEM 60
4. THE CHARACTERISTIC EVALUATION FUNCTION AND THE EVALUATION OF THE TEAM SYSTEM 63
5. COORDINATION 64
6. AN EXAMPLE OF TEAMWORK IN A MANUFACTURING SYSTEM 65
7. CONCLUSION 67
ACKNOWLEDGEMENT 67
REFERENCES 67
PART 3: CIM MODELLING 68
Chapter 6. A Methodology To Improve Manufacturing Systems Integration 70
Abstract 70
KEYWORDS 70
1. INTRODUCTION 70
2. METHODOLOGY 71
3. SUMMARY OF AN INDUSTRIAL APPLICATION 75
4. Further Planned Developments of the Methodology 77
5. Conclusions 78
References 78
CHAPTER 7. PLANNING OF ENTERPRISE-RELATED CIM STRUCTURES 80
Abstract 80
1. INTRODUCTION 80
2. IMPACT OF MODELLING FOR THE PLANNING PROCESS 81
3. INTEGRATED ENTERPRISE MODELLING 81
4. REFERENCE MODEL FOR ENTERPRISE RELATED CIM-PLANNING ANDINTRODUCTION 87
5. CONCLUSION 88
6. REFERENCES 89
CHAPTER 8. ADVANCED MODELLING APPROACH TO CIM SYSTEMS 90
Abstract 90
Keywords 90
1. INTRODUCTION 90
2. CONSTRUCTS OF THE INFORMATION VIEW 91
3. CONSTRUCTS OF THE RESOURCE VIEW 92
4. CONSTRUCTS OF THE FUNCTION VIEW 93
5. CONSTRUCTS OF THE ORGANISATION VIEW 96
6. EXAMPLE 97
7. PERFORMANCE ANALYSIS OF ENTERPRISE MODELS 99
8. CONCLUSION 102
9. REFERENCES 102
Chapter 9. A Method for Developing CIM-Systems withColoured Petri Nets 104
Abstract 104
Keywords 104
1 INTRODUCTION 104
2 SYSTEM AND SYSTEM ANALYSIS 105
3 COLOURED PETRI NETS 106
4 PROPOSED METHOD 107
5 CIM AS AN EXAMPLE FOR A COMPLEX SYSTEM 109
6 CONCLUSIONS 110
6 REFERENCES 111
PART 4: INFORMATION SYSTEMS 114
CHAPTER 10. MULTIPLE REPRESENTATION, MULTIPLE DEFINITION AND OBJECT ORIENTEDREPRESENTATION 116
Abstract 116
Key-Words 116
1. INTRODUCTION 116
2. DATA MODELLING IN CAD/CAM APPLICATIONS 118
3. MULTIPLE REPRESENTATION AND MULTIPLE DEFINITION MODELLING 119
4. CONCLUSION 123
5. BIBLIOGRAPHY 124
CHAPTER 11. CONTROL AND MANAGEMENT OF INFORMATIONFLOW FOR COMPUTER INTEGRATEDMANUFACTURING 126
Abstract 126
1. Introduction 126
2. INSIM (INformation System for Integrated Manufacturing) 127
3. Structured Modeling of the Domain Knowledge - UpdatedPetri Nets 128
4. Modeling Methodology 130
5. Knowledge Verification 133
6. Conclusions 134
References 134
PART 5: KNOWLEDGE-BASED SYSTEMSFOR MANUFACTURING SYSTEM SIMULATION 136
CHAPTER 12. PRODUCTIVITY ENHANCEMENT FOR PROCESS SIMULATIONUSING KNOWLEDGE BASED APPROACH1 138
ABSTRACT 138
Keywords 138
1 Introduction 139
2 Subsystems of IP SE 141
3 Conclusions 145
REFERENCES 147
CHAPTER 13. KBAMS: A KNOWLEDGE BASED MODELING ANDSIMULATION ENVIRONMENT FOR MANUFACTURING. 148
Abstract 148
1. Introduction 148
2. Approach 149
3. Factory Modeling Concepts 150
4. The Simulation Engine 153
5. A Semiconductor Modeling Example 155
6. Conclusion 156
Bibliography 157
PART 6: CAEDCOMPUTER-AIDED ENGINEERING AND DESIGN 158
Chapter 14. A new element for symmetrically laminated cross-ply beamsbased on a higher-order theory 160
Abstract 160
Keywords 160
1. INTRODUCTION 160
2. THE BEAM THEORY 161
3. NUMERICAL RESULTS 165
4. SUMMARY AND CONCLUSIONS 168
5. REFERENCES 169
Chapter 15. A Post-processor for adaptive meshing for problems withsteep gradient areas 170
Abstract 170
1. ERROR IN CONSTITUTIVE RELATION 170
2. APPLICATION TO FINITE ELEMENT COMPUTATION 171
3. H-VERSION OF AN OPTIMAL MESH PROCEDURE FOR STEEPGRADIENTS 172
5. CONCLUSION 178
6. REFERENCES 178
CHAPTER 16. CONFIGURATION OF TECHNICAL PRODUCTSUSING A KNOWLEDGE-BASED MODEL CONCEPT 180
Abstract 180
Keywords 180
1 Introduction 180
2 A Model of the Configuration Process 181
3 Knowledge Types of the Configuration Domain 182
4 The Course of Configuration Using the ModelConcept 185
5 MoKon - A Prototypic Model-Based Tool forBuilding Configuration Systems 186
6 Conclusion 188
References 189
Chapter 17. Circuit-breaker design using an integrated cad/cae tool 190
Abstract 190
1 Introduction 190
2 Computational methodology 191
3 An interactive CAD/CAE tool 193
4 Validation of the model 195
5 Benefits of the CAD/CAE tool 197
6 Conclusion 198
References 198
PART 7: METAL CUTTINGAND ASSEMBLY PROCESSES 200
Chapter 18. Interactive Tool for Decision-Making in Cutting 202
Abstract 202
1 THE INDUSTRIAL PROCESS 202
2 MODELISATION 204
3 THE DECISION SUPPORT SYSTEM 206
4 RESULTS 208
5 FURTHER RESEARCH 210
ACKNOWLEDGEMENTS 210
CHAPTER 19. SOME STRATEGIES IN AUTOMATED ASSEMBLY OF SMALLRIGID PARTS BASED ON FORCE FEEDBACK 212
Abstract 212
Keywords 212
INTRODUCTION 212
THE CONCEPT OF RIGID PART ASSEMBLY AND POSSIBLESTRATEGIES BASED ON FORCE FEEDBACK 213
STRATEGY BASED ON THE MEASUREMENT OF THE VERTICALCOMPONENT (Fz) OF THE INSERTION FORCE 214
STRATEGY BASED ON THE MEASUREMENT OF TILTING MOMENTS(.., ..) IN ADDITION TO THE VERTICAL INSERTION FORCE (Fz) 215
THE MAXIMUM ADMISSIBLE ERROR AND THE MAGNITUDE OF THEREQUIRED CORRECTION 216
DISCUSSION 216
CONCLUSION 219
NOMENCLATURE 219
ACKNOWLEDGMENT 219
REFERENCES 220
APPENDIX A 220
APPENDIX B 221
Chapter 20. Subassemblies and common fitting nodes in determination ofassembly sequences 222
Abstract 222
1. INTRODUCTION 222
2. GENERAL METHOD 222
3. FUNCTIONAL LIAISONS MODEL 223
4. CONTACT LIAISONS 228
5. FITTING LIAISONS 228
6. COMMON CONTACT NODES 229
7. MODELIZATION OF FIXING NODES 229
8. REFERENCES 231
PART 8: MANUFACTURING CELL LAYOUT 232
Chapter 21. A generalized approach of the part machine grouping problem forthe design of cellular manufacturing systems 234
Abstract 234
Keywords 234
1. INTRODUCTION 234
2. REVIEW OF THE CELLULAR MANUFACTURING APPROACHES 235
3. PROPOSED APPROACH 236
5. CONCLUSION 241
REFERENCES 241
CHAPTER 22. THE INTRA-CELL LAYOUT PROBLEM IN AUTOMATEDMANUFACTURING SYSTEMS 244
Abstract 244
Keywords 244
1. INTRODUCTION 244
2. PROBLEM FORMULATION 245
3. LITERATURE REVIEW 245
4. A TWO-STAGE APPROACH TO THE MACHINE LAYOUT PROBLEM 247
5. CONCLUSION 255
6. REFERENCES 255
CHAPTER 23. WORKSHOP LAYOUT GUIDED BY NEURAL NETWORKS 258
ABSTRACT 258
KEYWORDS 258
INTRODUCTION 258
1 NEURAL NETWORKS 258
2 GENERAL ARCHITECTURE OF THE SYSTEM 260
3 DESCRIPTION 263
CONCLUSION 267
REFERENCES 267
PART 9: SCHEDULING ANDMULTI-LEVEL CONTROL OF FMS 268
CHAPTER 24. SCHEDULING PROBLEM IN SOME PRODUCTION PROCESSES 270
Abstract 270
Keywords 270
1. Introduction 270
2. Problem statement 271
3. Computational complexity 272
4. Heuristic method 273
5. Computational experience 276
References 277
Chapter 25. Evaluation Methods for a Distributed Intelligent Control Architecture : case of IntegratedManufacturing Systems 278
Abstract 278
Keywords 278
1. INTRODUCTION 278
2. CHARACTERIZATION OF THE PROBLEM DOMAIN 278
3. DESIRED CHARACTERISTICS OF EVALUATION METHODOLOGIES FOR THEDOMAIN 281
4. EVALUATION METHODS 282
5. AN INSTANCE OF SCOPE PROBLEM SOLVING 283
6. EVALUATION OF SCOPE 287
7. CONCLUSION 288
8. REFERENCES 288
CHAPTER 26. A HYBRID MODEL OF HIERARCHICAL CONTROLARCHITECTURE IN AUTOMATED MANUFACTURING SYSTEMS 290
Abstract 290
1. INTRODUCTION 290
2. FUNCTIONAL MANUFACTURING SYSTEMS 293
3. EXTENSIONAL EQUALITY PROPERTY 294
4. CASE STUDY 295
5. CONCLUSIONS 298
6. ACKNOWLEDGMENT 298
7. REFERENCES 298
PART 10: FMS ANALYSIS WITH PETRI NETS 300
CHAPTER 27. MODULARIZATION AND PROPERTIES OFFLEXIBLE MANUFACTURING SYSTEMS 302
Abstract 302
Keywords 302
1. Introduction 302
2. Colored Timed Petri Net (CTPN) 303
3. Modularize the FMS by CTPN 304
4. Structural Properties of the FMS 310
5. Conclusion 310
Acknowledgment 310
References 310
CHAPTER 28. TASK-DRIVEN MULTILEVEL CONTROL OF FMS 312
Abstract 312
Keywords 312
1. INTRODUCTION 312
2. BASIC MODELS 313
3. MODELLING FMS FROM EVENT LEVEL AND TASK LEVEL 314
4. MULTI-LEVEL CONTROL STRUCTURE FOR FMS 318
5. FORMULATION OF THE MULTILEVEL CONTROL PROBLEM 320
6. CONCLUSION 322
7. REFERENCES 323
CHAPTER 29. FLEXIBLE MACHINING CELL CONTROL WITH THE MODIFIED PETRI NET METHODOLOGY 324
Abstract 324
Keywords 324
1. INTRODUCTION 324
2. CELL CHARACTERISTICS 325
3. EVALUATION OF MODIFIED PETRI NETS FOR THE MODULAR DESIGN OF FLEXIBLEMANUFACTURING CELLS 325
4. CONCLUSION 333
5. REFERENCES 333
PART 11: FAULT DIAGNOSIS AND MAINTENANCE 334
Chapter 30. A Hybrid Model for Fault Diagnosis in Manufacturing Systems 336
Abstract 336
Keywords 336
1. INTRODUCTION 336
2. PERFECT AND IMPERFECT TESTS SEQUENCES 337
3. INTEGRATION OF STRUCTURAL RELATIONSHIP IN TESTSSEQUENCE GENERATION 340
4. ARTIFICIAL INTELLIGENCE AND EXPERT SYSTEMS 342
5. CONCLUSION 344
REFERENCES 344
Chapter 31. Availability Optimization of Randomly Failing Equipments 346
Abstract 346
Keywords 346
1. INTRODUCTION 346
2. BASIC CONCEPTS 347
3. MODELING AND EVALUATING THE AVAILABILITY OF SPECIFICSTRUCTURES 348
4. REDUNDANCY CONTRIBUTION 352
5. PREVENTIVE MAINTENANCE CONSIDERATIONS 353
6. OTHER CONTRIBUTIONS 355
7. CONCLUSION 355
8. REFERENCES 355
PART 12: ROBOTICS SYSTEM REPRESENTATION 356
Chapter 32. Recursive Flexible Multibody DynamicsUsing Spatial Operators 358
Abstract 358
1. Introduction 358
2. Equations of Motion 358
3. Composite Body Forward Dynamics Algorithm 365
4. Factorization and Inversion of the Mass Matrix 366
5. Articulated Body Forward Dynamics Algorithm 367
6. Computational Cost 369
7. Conclusions 369
References 370
PART 13: COLLISION AVOIDANCEAND TRAJECTORY GENERATION 372
CHAPTER 33. A COLLISION AVOIDANCE METHOD FOR MOBILE ROBOTS 374
Abstract 374
Keywords 374
1. Introduction 374
2. Statement of the problem, notations 375
3. Collision avoidance principle 376
4. Selection of an admissible safe displacement 378
5) Example 382
6 Conclusion 383
7. References 383
CHAPTER 34. ON THE CALIBRATION MODEL AND METHOD FORIMPROVING ROBOT ACCURACY 384
Abstract 384
Keywords 384
1. INTRODUCTION 384
2. CALIBRATION MODELS AND ACCURACY SOFTWARE 385
3. Relative Calibration Method 389
4. CONCLUSIONS 395
Acknowledgements 396
References 396
CHAPTER 35. OPTIMAL TRAJECTORY GENERATION OF SINGLE-ROBOTAND TWO-ROBOT CONTACT OPERATIONS 398
Abstract 398
Keywords 398
1. INTRODUCTION 398
2. PROBLEM STATEMENT 400
3. Solution procedures 404
4. EXAMPLE 406
5. RESULTS 407
6. CONCLUSIONS 408
Acknowledgement 408
References 408
CHAPTER 36. ON THE FEASIBILITY OF CONTINUOUS TRAJECTORIES FORREDUNDANT MANIPULATORS IN CLUTTERED ENVIRONMENTS 410
Abstract 410
Keywords 410
1. INTRODUCTION 410
2. DEFINITION AND KINEMATICS OF A REDUNDANT ROBOT 411
3. DESCRIPTION OF THE METHOD 412
4. RESULTS 415
5. CONCLUSIONS 418
REFERENCES 419
Chapter 37. Polyhedron placement for planar motions 420
Abstract 420
Keywords 420
1 INTRODUCTION 420
2 THE POLYGONAL CASE 422
3 THE POLYHEDRAL CASE 423
4 EXPERIMENTAL RESULT 428
5 Conclusion 431
Acknowledgements 431
References 431
PART 14: ROBOTICS SYSTEM CONTROL 432
CHAPTER 38. MODEL-BASED VARIABLE-STRUCTURE ADAPTIVE CONTROL OFROBOT MANIPULATORS 434
Abstract 434
Keywords 434
1. INTRODUCTION 434
2. DEVELOPMENT OF MODEL-BASED VS ADAPTIVE CONTROL ALGORITHM 435
3. FEATURES OF MODEL-BASED VS ADAPTIVE CONTROL SCHEME 437
4. EXPERIMENTAL STUDY 438
5. CONCLUSION 441
6. REFERENCES 441
Chapter 39. Adaptive Control for Manipulators with ElasticJoints : Application of Passive Systems Approach 448
Abstract 448
Key Words 448
1 Introduction 448
2 Model of an elastic joint manipulator 449
3 Trajectory model and oscillation damping 450
4 Application of the passive systems approach 452
5 Comments on the simulation results 457
6 Conclusion 457
References 458
CHAPTER 40. ROBUST POSITION CONTROL OFROBOT MANIPULATORS 462
Abstract 462
Keywords 462
1 Introduction 462
2 Model Reference Control with disturbance observer:main results 463
3 Robot control with disturbance observer 467
4 Simulation results 471
5 Conclusion 472
References 472
CHAPTER 41. CARTESIAN-BASED ITERATIVE LEARNING CONTROL OF MANIPULATORS FORCONSTRAINED MOTION 474
Abstract 474
Keywords 474
I. INTRODUCTION 474
II. CARTESIAN-BASED DISCRETE LEARNING CONTROLLER 475
III. CONVERGENCE OF CARTESIAN-BASED DISCRETE CONTROLLER 477
IV. EXTENSION OF LEARNING ALGORITHM TO HYBRID POSITION/FORCE CONTROL 479
V. SIMULATION RESULTS 483
VI CONCLUSION 484
REFERENCES 485
CHAPTER 42. ADAPTIVE IMPEDANCE CONTROL FOR COMPLIANT MOTIONIN PASSIVE ENVIRONMENT 488
Abstract 488
Keywords 488
1. Introduction 488
2. System modelling and properties 489
3. Adaptive force position control 493
4. Simulations and Conclusion 496
REFERENCES 497
PART 15: INDUSTRIAL APPLICATIONS 500
CHAPTER 43. STEEL COILS SCHEDULING IN A FLOW-SHOPWITH PARALLEL TOOLS AND TIGHT CONSTRAINTS 502
Abstract 502
Keywords 502
1. INTRODUCTION 502
2. DESCRIPTION OF THE PROBLEM CONSTRAINTS 503
3. DESCRIPTION OF THE DECOMPOSITION APPROACH FOR SHORT TERM PROBLEM 506
4. CONCLUSION 508
5. REFERENCES 508
Chapter 44. Highly flexible automated and integrated bricklaying systems forsteel-converters refractory linings 510
Abstract 510
Keywords 510
1. OUTLINE OF THE PROBLEM 510
2. BASIC PRINCIPLES OF THE BRICKLAYING MACHINE AND PROJECTPARTNERS 510
3. BRICKLAYING TYPE USED FOR THE BRICKLAYING MACHINE 512
4. CONSTRAINTS AND AIMS OF THE BRICKLAYING MACHINE 513
5. DESCRIPTION OF THE BRICKLAYING MACHINE MODULES 513
6. COMPUTER SUPERVISING SYSTEM OF THE BRICKLAYING MACHINE 519
7. ERGONOMICAL AND SAFETY ASPECTS OF THE BRICKLAYINGMACHINE 519
8. CONCLUSIONS 519
Chapter 45. Design The Standard of Low Magnetic Field byComputer Simulation 520
Abstract 520
Keywords 520
1. INTRODUCTION 520
2. THEORY 521
3. COMPUTATIONS AND ANALYSIS 522
4. CONCLUSIONS 523
5.REFERENCES 529
Chapter 46. New method of sampling and positioning for scanning systems load cell-PZTtranslator 530
Abstract 530
1. INTRODUCTION 530
2. PRINCIPLE OF OPERATION 532
3. SYSTEM 535
4. CONCLUSION 536
5 . REFERENCES 537
CHAPTER 47. COMPUTATION OF THE AXIAL ELECTRIC FIELD FOR THEPROPAGATING MODE ALONG A THIN WIRE IN A CIRCULAR TUNNELUSING AN APPROXIMATE SOLUTION FOR THE DERIVED BESSELFUNCTIONS IN THE CASE OF FINITE SHIELD CONDUCTIVITY ANDPERMEABILITY 538
Abstract 538
Keywords 538
1. INTRODUCTION 538
2. THEORY 539
3. CONCLUSION 543
4. REFERENCES 543
AUTHOR INDEX 544