基于机器人-安全系统的可靠性模型的动态分析

The reliability of robot system, as the main technical indicators to measure the quality of robot system, is attracting more and more attention. Due to advancement of technology, the robot systems used in industry have become more sophisticated, flexible and complex. But, the more complex the system, the more prone to failure. However, these complex robot system have strong applicability in engineering. Therefore, their reliability has become a very serious and urgent problem to be solved. At present, the researchers only carries on the reliability analysis to the robot system in the steady state case. In this project, we do dynamic analysis for robot-safety system which are established by the supplementary variable method. Firstly, by using the strongly continuous semigroup theory we investigate the well-posedness of the reliability models based on robot-safety system. Then, by employing the spectral theory of linear operator we study the asymptotic behavior of the time-dependent solutions. Next, the time-dependent reliability indices of these reliability models is studied and compared by numerical analysis. The results of this project can be useful to make the robot - safety system more reliable, safe and cost-efficient.

机器人系统的可靠性作为衡量机器人系统质量好坏的主要技术指标，正受到越来越多的关注。由于技术的进步使得在工业中使用的机器人系统变得更先进、更灵活、更复杂。但是系统越复杂越容易发生故障。然而这些复杂机器人系统在工程上具有较强的适用性。因此它们的可靠性成了相当严重而又迫切需要解决的问题。目前研究者只对机器人系统的稳态情况进行可靠性分析。本项目对以补充变量法建立的机器人-安全系统进行动态分析。首先运用强连续算子半群理论研究若干基于机器人-安全系统的可靠性模型的适定性，然后应用线性算子的谱理论研究时间依赖解的渐近行为，其次研究这些可靠性模型的瞬时可靠性指标并通过数值计算方法进行比较。该项目的研究结果将有助于使机器人-安全系统在使用过程中更加可靠、安全和经济有效。

1.研究了以修理时间作为补充变量建立的、复杂机器人-安全系统的适定性和解的渐近性质以及瞬时可靠性指标的渐近行为。得到了该模型时间依赖解指数收敛于它们的稳态解。通过 Matalb 数值计算方法对这些机器人-安全系统的各种可靠性指标进行了比较并讨论了瞬时可靠性指标对系统的影响。.2.通过运用本项目中介绍的研究方法，研究了具有强占重复优先修理权的、两部件复杂系统. 证明了该模型有唯一的、非负的时间依赖解，接着推出了该模型时间依赖解指数收敛于其稳态解。此外给出了系统的瞬时可靠性指标的渐近性质并求出了它们的具体表达式。最后,通过数值计算讨论了瞬时可靠性指标对系统的影响。.3.得到了服务员具有可选的、固定假期的 M/G/1 排队模型的适定性和解的渐近行为。证明了该模型时间依赖解强收敛于其稳态解。.4.刻画了常微分方程形式的、具有工作休假及休假终止的 M/M/1 排队模型的主算子的点谱。