National Kaohsiung First University of Science and Technology
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Design of an Agent-based Holonic Execution Control for a generic AS/RS with Aisles of Multi-Cranes
No full text[[abstract]]自動倉儲系統 (Automatic Storage and Retrieval System, AS/RS)為無人化自動控制之立體倉儲系統。AS/RS所執行之作業領域包含﹕(1)原物料之訂購、收料、品檢、儲存達到自動進料入庫功能；(2)半成品暫存以緩衝各製程不平衡流量；(3)銜接自動化生產活動單元之自動分類、堆棧系統，使其製程平衡，流量順暢；(4)出庫連結自動包裝、貼標、分揀設備，完成自動化物料出貨作業。典型的自動倉儲系統包含多個巷道(aisle)及巷道兩側高架式儲存料架(storage racks)，每條巷道內各由一台自動存取車(Storage/Retrieval Machine, Crane)負責執行物料入庫及出庫之存取作業。巷道前設置物料搬運系統，負責入出庫站與存取車間之物料運搬作業。
本研究所要探討之AS/RS基本上為一可包含數個樓層之物料運搬系統(Material Transportation)，以及多個巷道(Aisle)自動存取之典型自動化倉儲系統，但是其中各巷道可包含數台存取車執行存取作業，各物料搬運系統亦可包含多台搬運車執行搬運作業，本研究即針對此物流整合巷道多車AS/RS發展建構其通式化(Generic)執行管控模式，從接收出/入庫令後的計劃決策流程至各物料搬運存取設備之動態作動控制的整個運作管控，提供可彈性定義的系統架構，更能包容涵蓋多樓層、多巷道、多存取車之各種可能的組構變異，使AS/RS系統具備高度之精敏性(agility)，可重組性(configurability)與可擴充性(extendibility)。所建構設計之通式化執行管控模式整合採用群己架構（Holonic Architecture）及多代理人模式（Multi-Agent），可讓系統更具精敏（Agility）的特質，其中各代理人模組則採用事件驅動程序鏈(Event-Driven Process Chain, EPC)的模式來建構AS/RS計劃決策作業流程，並藉由先前研究[4]中針對彩色斐氏網(Colored Petri-Nets )變更修訂之泛事件驅動模組化彩色斐氏網(GED-MCPN)來建構AS/RS物流設備的運作控制流程，如此之系統架構模式，將可彈性定義系統架構，並以一致之系統處理模式，涵蓋包容多樓層、多巷道、多存取車之各種可能的組構變異。[[abstract]]Automatic Storage and Retrieval System (AS/RS) is a three-dimensional warehouse system which can automatically store incoming material and retrieve stored parts with no direct human handling. A typical AS/RS configuration includes several aisles with storage racks on both sides of each and with one storage/retrieval machine (S/R machine), or called crane, in each aisle and several material transportation systems in different floors for connecting the material flow between input/output ports in each floor and the S/R machine in each aisle.
The AS/RS to be studied and controlled in this research is basically an AS/RS of typical configuration, but with multiple cranes allowable in each aisle and multiple cars in each material transportation system.
The aim of this research is thus to develop a generic execution control system for such a material flow integrated AS/RS with aisles of multi-cranes. In this execution control system, the AS/RS system configuration can be flexibly defined, and a wide variation in the number of floors, aisles, cranes and transportation cars included can be handled by the generic control system, such that the controllable AS/RS can own the feature of high agility, reconfigurability and extendibility. Also, an agent-based holonic manufacturing architecture was adopted for designing the execution control system, in which each agent was modeled with EPC (Event-Driven Process Chain) for the upper level decision & planning operation and with a modified Colored Petri-Nets for the lower level equipment real time control operation
An Adaptive-Network Based Fuzzy Inference System For Prediction Of Surface Quality After Roll Grinding
No full text[[abstract]]研磨是軋輥加工中，普遍的精密加工方法之一，由於研磨加工參數的變動，操作者經常使用傳統參數和嘗試錯誤方法去操作機器，加工品質不易控制且沒有效率，為了提升軋輥表面品質及節省加工時間，建立預測加工模型幫助操作者掌握軋輥表面品質和提升加工效率實有必要。
本文主要目的，將研究軋輥研磨後表面粗度度和硬度預測模式，研磨過程是相當複雜，許多變動的研磨参數將影響研磨結果，三個主要研磨加工參數砂輪轉速、進刀量和研磨量，利用適應性模糊類神經(ANFIS)理論預測表面粗糙度和硬度。
肆種不同的歸屬函數，三角形歸屬函數、梯形歸屬函數、鐘形歸屬函數及高斯歸屬函數，經由適應性模糊類神經訓練過程，並比較預測值和實驗值，這個預測模型有很好的精度，可做為相關研究和實際使用。[[abstract]]Grinding is one of the most popular method for precision machining of rolls. Due to variation in grinding parameters,operators usually use conservative parameters and try-and-errors to operate the grinding machine,which don’t easy control quality and inefficient. In order to improve roll surface quality and save machine time. It is necessary to establish predictive model to help operators to control the roll surface quality and processing efficiency.
The purpose of this paper is to set-up a predictive model for surface roughness and hardness after roll grinding. The grinding process are complex that can have many variables grinding parameter affecting the desired results .Three main grinding parameters are wheel speed,feed rate and depth of cut. A predictive model for surface roughness and hardness is developed by using adaptive-network based fuzzy inference system(ANFIS).
Four different membership functions are triangular ,trapezoidal,gebell and gauss were used during the training process of ANFIS in this study.Comparing the predicted values with the experimental results for roll grinding. These predictive models have good accuracy and suit to be used for the relational research and practical
Development of A Virtual Factory Planning and Evaluation System
No full text[[abstract]]本研究旨在運用虛擬實境技術研製一虛擬工廠製程規劃與評估系統，以彈性製造系統為例。透過Visual Basic程式語言編輯系統介面，整合生產排程與生產管理法則、虛擬實境開發軟體EON studio、NC解譯模組等。虛擬實境模擬系統可進行生產加工流程之模擬，包括單流程/排程加工、自行更改加工參數、NC加工模擬等功能，並依模擬結果之數據評估出生產效益與產量。在實際生產前，使用虛擬實境模擬系統先進行模擬，可避免加工錯誤、機台損毀等實機運作可能發生之情況，亦降低生產成本、提升加工效率。[[abstract]]The purpose of this study is to develop a VR-based planning and evaluation system for the FMS by means of virtual reality technology. The system interface edited with Visual Basic integrates with scheduling and production management theory, the VR software-EON studio, NC (numerical control) interpretive module, etc. The capabilities of the VR system include simulation of single/scheduling process, modification of processing parameters, simulation of NC machining course, etc. Finally, the system could depend on the data of simulation results to evaluate the production efficiency and output
Research on High-Precision and Large-Stroke Positioning Stage Utilizing Spring-mounted Piezoelectric Actauators
No full text[[abstract]]本論文為配合精密工業之精密零組件自動組裝、接合作業及檢查作業等需求，建構壓電元件與彈簧所構成之大行程定位裝置及角位移定位裝置。此兩種定位裝置之驅動原理乃利用壓電元件瞬間變形所產生之衝擊力用於敲擊移動檯而造成微動；並利用彈簧可伸縮之特性，使壓電元件能持續敲擊移動檯而達到大行程的功能。移動檯的特點在於：利用衝擊力的驅動方式，能有效克服傳統機構在滑動面間所產生的粘著－滑動之現象，使移動檯具有微╱奈米的微動步幅；其次，利用極簡單的壓縮彈簧而不需任何位移放大機構，就能有效克服壓電元件僅有數微米之作動範圍的限制。
本論文之內容主要分成大行程定位裝置及角位移定位裝置兩大部份，其中，在大行程定位裝置方面，包含實驗裝置之建構、移動檯特性之驗證、1自由度自動控制系統之建構，以及理論式之建構與模擬等。在移動特性的驗證上，首先根據所建構之大行程定位裝置，探討驅動電壓之振幅及移動檯之質量等參數對移動特性的影響，並確認移動檯具有15 nm以下連續微動之高精密定位能力及1.63 m/s至3.5 mm/s的移動速度範圍；在1自由度自動控制系統上，建構閉迴路控制系統，確認移動檯能達到10nm的定位精度；最後，在理論分析上，利用簡單的質量－阻尼－彈簧之機械振動系統，模擬移動檯之動態特性，模擬之結果並與實驗數據相比較，確認理論分析模型的正確性。另外，在角位移定位裝置方面，根據所建構之角位移定位裝置，探討驅動電壓之振幅及彈簧之預壓力等參數對移動特性的影響，並確認移動檯具有1.5 μrad以下連續微動之高精密定位能力。
由於本論文所探討之壓電元件與彈簧所構成之大行程定位裝置及角位移定位裝置，具有微動步幅達微╱奈米級、作業行程大，以及控制器相對簡單等優點，極適合在精密產業上的應用。尤其，由於構造簡單，易於建構成多自由度的微動檯，預期將在精密零組件組裝之自動化作業，或半導體、生物試片之精密檢查作業上，受到廣泛的應用。[[abstract]]This thesis proposes a large-stroke positioning stage and rotational positioning stage consisting of spring-mounted piezoelectric actuators for the applications of the automatic assembly, alignment and examination works of miniaturized precision components. The configurations of the positioning stages are to utilize the impact force caused by the rapid deformation of the piezoelectric actuator for the actuation of the positioning stage, and to utilize a compression spring to keep the continuous actuation by the piezoelectric actuator for obtaining large-stroke ability. The main advantages of the positioning stages are described as: by utilizing the impact force of piezoelectric actuator, it can overcome the stick-slip phenomenon that commonly occurs between the sliding surface in traditional driving mechanisms, hence the positioning stages can feature micron/nano step motion ability. Furthermore, the main disadvantage of the piezoelectric actuator in which its stroke is limited to only a few microns is successfully overcome by the combination with a simple compression spring.
The content of the research works on the thesis is divided into two main parts: one is the large-stroke positioning stage including the configurations of the experimental setups which were used for examining the motion characteristics of the large-stroke positioning stage, a control model based on the experimental setup was configured and the experiments for the automatic control system were carried out, and the theoretical models based on the configured experimental setups were established and verified. In the works for examining the motion characteristics of the large-stroke positioning stage, an experimental setup with the actuation of motion was configured. Several parameters, e.g., the amplitude of the applied voltage and the mass of the positioning stage, which affect the motion behaviors of the large-stroke positioning stage were examined and discussed. The experimental results show that the proposed large-stroke positioning stage can be continuously actuated precisely with 15-nanometer order of precision step motion. In the works for examining the characteristics of automatic positioning control, a closed-loop control system was configured. The experimental results show that the control system can successfully position the stage with the accuracy of 10 nm. In the works for theoretically analyzing the dynamic characteristics of the large-stroke positioning stage, a simple mass-damper-spring mechanical vibration model was established, and the simulation works were carried out. Due to that the numerical results agreed well with experimental results, the validation of the analysis model was confirmed. On the other part of researches works on rotational positioning stage, an experimental setup was configured for examining the motion characteristics of the rotational precision positioning stage, the experimental results show that the proposed rotational positioning stage can be continuously actuated precisely with 1.5 ?戠ad order of precision step motion.
Having the advantages of high-precision positioning ability, large travel range, and simple controller, it is expected that the positioning stages developed in the thesis will be widely applied to the precision industry. Especially, due to its simple structure, it is easier to configure the positioning stage having multi-degree-of-freedom in the future works. Their applications will cover the alignment works for the laser-fiber connectors, automation assembly works for the miniaturized precision components, and the precision examination works for the semiconductor or biological field