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Real-time task processing method based on edge computing for spinning CPS

Shiyong YIN, Jinsong BAO, Jie LI, Jie ZHANG

《机械工程前沿（英文）》 2019年第14卷第3期页码 320-331 doi: 10.1007/s11465-019-0542-1

摘要： Spinning production is a typical continuous manufacturing process characterized by high speed and uncertain dynamics. Each manufacturing unit in spinning production produces various real-time tasks, which may affect production efficiency and yarn quality if not processed in time. This paper presents an edge computing-based method that is different from traditional centralized cloud computation because its decentralization characteristics meet the high-speed and high-response requirements of yarn production. Edge computing nodes, real-time tasks, and edge computing resources are defined. A system model is established, and a real-time task processing method is proposed for the edge computing scenario. Experimental results indicate that the proposed real-time task processing method based on edge computing can effectively solve the delay problem of real-time task processing in spinning cyber-physical systems, save bandwidth, and enhance the security of task transmission.

关键词： edge computing real-time task scheduling CPS spinning

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Energy-aware scheduling with reconstruction and frequency equalization on heterogeneous systems

Yong-xing LIU,Ken-li LI,Zhuo TANG,Ke-qin LI

《信息与电子工程前沿（英文）》 2015年第16卷第7期页码 519-531 doi: 10.1631/FITEE.1400399

摘要： With the increasing energy consumption of computing systems and the growing advocacy for green computing, energy efficiency has become one of the critical challenges in high-performance heterogeneous computing systems. Energy consumption can be reduced by not only hardware design but also software design. In this paper, we propose an energy-aware scheduling algorithm with equalized frequency, called EASEF, for parallel applications on heterogeneous computing systems. The EASEF approach aims to minimize the finish time and overall energy consumption. First, EASEF extracts the set of paths from an application. Then, it reconstructs the application based on the extracted set of paths to achieve a reasonable schedule. Finally, it adopts a progressive way to equalize the frequency of tasks to reduce the total energy consumption of systems. Randomly generated applications and two real-world applications are examined in our experiments. Experimental results show that the EASEF algorithm outperforms two existing algorithms in terms of makespan and energy consumption.

关键词： Directed acyclic graph Dynamic voltage scaling Energy aware Heterogeneous systems Task scheduling

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基于渐进式蚁群优化的多处理器任务分配 Article

Hamid Reza BOVEIRI

《信息与电子工程前沿（英文）》 2017年第18卷第4期页码 498-510 doi: 10.1631/FITEE.1500394

摘要：任务调度优化是多处理器环境（如并行和分布式系统）取得良好性能所面临的最重要挑战之一。目前大多数任务调度算法基于列表调度法，该方法的基本思路是，以列表的形式准备一系列待调度的节点，赋予这些节点不同优先级，然后不断去除列表中优先级最高的节点，并将其分配给具有最早开始时间（Earliest start time, EST）的处理器。由此可见，该算法的完成时间主要由两大因素决定：（1）任务分配顺序的选择（次序子问题）；（2）选定顺序的任务如何分配给处理器（分配子问题）。已有文献提出了许多解决次序子问题的好办法，但分配子问题少有人涉及。本文研究结果显示：传统的按照最早开始时间分配任务的方法并非最优；基于蚁群优化算法，得到一种新的方法，可以获得高效得多的调度方案。

关键词：蚁群优化；列表调度；多处理器任务图调度；并行与分布式系统

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机载机电系统总线管理研究

王占林,裘丽华

《中国工程科学》 2001年第3卷第6期页码 48-52

摘要：

各种运载体中都有很多机电系统，目前多按独立子系统方式进行管理。文章提出通过总线进行综合管理的方案，使各子系统除完成各自独立功能外还具有余度、容错功能；着重介绍了如何通过仿真平台进行综合管理的研究，给出了平台的硬软件结构及任务分配与调度的策略。

关键词：分布式多处理机仿真平台任务分配任务调度余度

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满足MapReduce环境下近似处理的时限要求 Article

Ming-hao HU, Chang-jian WANG, Yu-xing PENG

《信息与电子工程前沿（英文）》 2017年第18卷第11期页码 1754-1772 doi: 10.1631/FITEE.1601056

摘要：为了向大数据分析提供实时结果，在现今的生产环境中满足MapReduce作业的时限要求是非常关键的。许多研究致力于解决时限要求的问题，目前存在两种代表性的方法。第一种是分配适量资源以在时限前完成整个作业，在时限紧迫或资源受限时，该方法会错过时限；另一种是在时限约束下运行预数据量的样本，该方法能满足时限但无法使数据量最大化。在本文中，我们提出一个时限–导向的任务调度方法来解决上述问题，称为“Dart”。给定具体的时限和可用资源量时，Dart使用基于历史数据和作业运行状态的迭代估计法准确预测作业完成时间。基于时间预测，Dart法采用接近–修改算法做出动态调度决策，在满足时限的情况下将可处理数据量最大化并消除掉队任务。同时Dart法可有效地避免任务失败和数据倾斜，防止其性能受影响。在包含64个虚拟机的集群上使用OpenCloud和Facebook的工作负载对Dart法进行评估。结果表明Dart法在时限紧迫和资源受限情况下能有效满足时限并将处理数据量最大化。

关键词： MapReduce；近似作业；时限；任务调度；掉队任务消除

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A novel task-oriented framework for dual-arm robotic assembly task

《机械工程前沿（英文）》 2021年第16卷第3期页码 528-545 doi: 10.1007/s11465-021-0638-2

摘要： In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend. However, making the dual-arm robots more intelligent in such applications is still an open, challenging issue. This paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm robots. In this framework, visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces, where the performance of tasks can be abstracted as a high-level state for intelligent reasoning. The assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the workpieces. Next, the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the scenarios. Experiments are set up with a dual-arm robotic system (ABB YuMi and an RGB-D camera) to validate the proposed framework. Experimental results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.

关键词： dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception

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Risk evaluation for the task transfer of an aircraft maintenance program based on a multielement connection

《工程管理前沿（英文）》 doi: 10.1007/s42524-023-0282-0

摘要： This paper proposes a framework for evaluating the efficacy and suitability of maintenance programs with a focus on quantitative risk assessment in the domain of aircraft maintenance task transfer. The analysis is anchored in the principles of Maintenance Steering Group-3 (MSG-3) logic decision paradigms. The paper advances a holistic risk assessment index architecture tailored for the task transfer of maintenance programs. Utilizing the analytic network process (ANP), the study quantifies the weight interrelationships among diverse variables, incorporating expert-elicited subjective weighting. A multielement connection number-based evaluative model is employed to characterize decision-specific data, thereby facilitating the quantification of task transfer-associated risk through the appraisal of set-pair potentials. Moreover, the paper conducts a temporal risk trend analysis founded on partial connection numbers of varying orders. This analytical construct serves to streamline the process of risk assessment pertinent to maintenance program task transfer. The empirical component of this research, exemplified through a case study of the Boeing 737NG aircraft maintenance program, corroborates the methodological robustness and pragmatic applicability of the proposed framework in the quantification and analysis of mission transfer risk.

关键词： risk evaluation maintenance steering group analytic network process task transfer maintenance program

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

《机械工程前沿（英文）》 2023年第18卷第2期 doi: 10.1007/s11465-022-0741-z

摘要： Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robots. Existing inspection robots are usually involved in issues: Robots with manipulators need complicated installation due to their fixed base; tube mobile robots suffer from low running efficiency because of their structural restricts. Since there are thousands of tubes to be checked, task planning is essential to guarantee the precise, orderly, and efficient inspection process. Most in-service robots check the task tubes using row-by-row and column-by-column planning. This leads to unnecessary inspections, resulting in a long shutdown and affecting the regular operation of a nuclear power plant. Therefore, this paper introduces the structure and control system of a dexterous robot and proposes a task planning method. This method proceeds into three steps: task allocation, base position search, and sequence planning. To allocate the task regions, this method calculates the tool work matrix and proposes a criterion to evaluate a sub-region. And then all tasks contained in the sub-region are considered globally to search the base positions. Lastly, we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned path. We validated the optimized algorithm by conducting task planning experiments using our robot on a tube sheet. The results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

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Development and challenges of planning and scheduling for petroleum and petrochemical production

Fupei LI, Minglei YANG, Wenli DU, Xin DAI

《工程管理前沿（英文）》 2020年第7卷第3期页码 373-383 doi: 10.1007/s42524-020-0123-3

摘要： Production planning and scheduling are becoming the core of production management, which support the decision of a petrochemical company. The optimization of production planning and scheduling is attempted by every refinery because it gains additional profit and stabilizes the daily production. The optimization problem considered in industry and academic research is of different levels of realism and complexity, thus increasing the gap. Operation research with mathematical programming is a conventional approach used to address the planning and scheduling problem. Additionally, modeling the processes, objectives, and constraints and developing the optimization algorithms are significant for industry and research. This paper introduces the perspective of production planning and scheduling from the development viewpoint.

关键词： planning and scheduling optimization modeling

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Lessons learned from developing and implementing refinery production scheduling technologies

Marcel JOLY, Mario Y. MIYAKE

《工程管理前沿（英文）》 2017年第4卷第3期页码 325-337 doi: 10.15302/J-FEM-2017033

摘要： An increasing number of novel and highly specialized computer-aided decision-making technologies for short-term production scheduling in oil refineries has emerged and evolved over the past two decades, thereby encouraging refiners to permanently rethink the way the refining business is operated and managed. In this report, we discuss the key lessons learned from one of the pioneering, yet daring, enterprise-wide programs entirely implemented in an energy company devoted to developing and implementing an advanced refinery production scheduling (RPS) technology, i.e., the RPS system of Petrobras. Apart from mathematical and information technology issues, the long-term sustainability of a successful RPS project is, we argue, the outcome of a virtuous cycle grounded on permanent actions devoted to improving technical education inside the organization, reinspecting organizational cultures and operational paradigms, and developing working processes.

关键词： automation decision making oil refinery optimization production scheduling

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A review of intelligent optimization for group scheduling problems in cellular manufacturing

《工程管理前沿（英文）》页码 406-426 doi: 10.1007/s42524-022-0242-0

摘要： Given that group technology can reduce the changeover time of equipment, broaden the productivity, and enhance the flexibility of manufacturing, especially cellular manufacturing, group scheduling problems (GSPs) have elicited considerable attention in the academic and industry practical literature. There are two issues to be solved in GSPs: One is how to allocate groups into the production cells in view of major setup times between groups and the other is how to schedule jobs in each group. Although a number of studies on GSPs have been published, few integrated reviews have been conducted so far on considered problems with different constraints and their optimization methods. To this end, this study hopes to shorten the gap by reviewing the development of research and analyzing these problems. All literature is classified according to the number of objective functions, number of machines, and optimization algorithms. The classical mathematical models of single-machine, permutation, and distributed flowshop GSPs based on adjacent and position-based modeling methods, respectively, are also formulated. Last but not least, outlooks are given for outspread problems and problem algorithms for future research in the fields of group scheduling.

关键词： cellular manufacturing group scheduling flowshop literature review

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A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

《机械工程前沿（英文）》 2013年第8卷第1期页码 33-41 doi: 10.1007/s11465-013-0356-5

摘要：

This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.

关键词： binary actuation flexure hinges SMA actuators low-cost design kit task-adaptation

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A carbon efficiency upgrading method for mechanical machining based on scheduling optimization strategy

Shuo ZHU, Hua ZHANG, Zhigang JIANG, Bernard HON

《机械工程前沿（英文）》 2020年第15卷第2期页码 338-350 doi: 10.1007/s11465-019-0572-8

摘要： Low-carbon manufacturing (LCM) is increasingly being regarded as a new sustainable manufacturing model of carbon emission reduction in the manufacturing industry. In this paper, a two-stage low-carbon scheduling optimization method of job shop is presented as part of the efforts to implement LCM, which also aims to reduce the processing cost and improve the efficiency of a mechanical machining process. In the first stage, a task assignment optimization model is proposed to optimize carbon emissions without jeopardizing the processing efficiency and the profit of a machining process. Non-dominated sorting genetic algorithm II and technique for order preference by similarity to an ideal solution are then adopted to assign the most suitable batch task of different parts to each machine. In the second stage, a processing route optimization model is established to plan the processing sequence of different parts for each machine. Finally, niche genetic algorithm is utilized to minimize the makespan. A case study on the fabrication of four typical parts of a machine tool is demonstrated to validate the proposed method.

关键词： Low-carbon manufacturing carbon efficiency multi-objective optimization two-stage scheduling job shop

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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

《机械工程前沿（英文）》 2020年第15卷第2期页码 193-208 doi: 10.1007/s11465-019-0569-3

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation

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Refinery production scheduling toward Industry 4.0

Marcel JOLY, Darci ODLOAK, Mario Y. MIYAKE, Brenno C. MENEZES, Jeffrey D. KELLY

《工程管理前沿（英文）》 2018年第5卷第2期页码 202-213 doi: 10.15302/J-FEM-2017024

摘要： Understanding the holistic relationship between refinery production scheduling (RPS) and the cyber-physical production environment with smart scheduling is a new question posed in the study of process systems engineering. Here, we discuss state-of-the-art RSPs in the crude-oil refining field and present examples that illustrate how smart scheduling can impact operations in the high-performing chemical process industry. We conclude that, more than any traditional off-the-shelf RPS solution available today, flexible and integrative specialized modeling platforms will be increasingly necessary to perform decentralized and collaborative optimizations, since they are the technological alternatives closer to the advanced manufacturing philosophy.

关键词： cyber-physical systems optimization petrochemical industry scheduling smart manufacturing