ArticlePDF Available

Abstract

With the integration and extensive applications for new generation of information technologies (such as cloud computing, internet of things, big data, mobile internet, artificial intelligence) in manufacturing industry, a number of countries had put forward their national advanced manufacturing development strategies, such as Industry 4.0 in Germany, Industrial Internet and manufacturing system based on Cyber-Physical Systems (CPS) in USA, as well as Made in China 2025 and Internet Plus Manufacturing in China. Although each of these strategies was proposed under different circumstances, one of the common purposes of these strategies was to achieve the interconnection, interoperability between physical world and the information world of manufacturing and the intelligent operation of manufacturing. As one of bottlenecks to achieve this purpose, the communication and interaction between the physical world and the information world of manufacturing must be solved. To solve the problem, a novel concept of Digital Twin Workshop (DTW) based on digital twin was proposed. Complementary to the concept, the characteristics, architecture, system composition, operating mechanism and enabling key technologies were also elaborated and discussed respectively. On this basis, the theory and implementation of the communication and interaction between physical and information world of workshop based on workshop digital twin data were discussed.
!!""!##!"#$%& ' () $%&'!"(%'#
!)#* $#%+%,
-
./0123/0
4
15/06 753.859/.1:3
4;
<
=/0,= >53'!)#*
!"#
!
#)'#"#?@
"
A
'9:,='!)#*')#'))#
!"#$!
!)#@B)@B!)
#
C090:D06!)>.30!)#@'
%& ' ( !
&' ( ) * + ,-./ 0 $ * + ,-12 3 4 $
E#E!!E)#
%#
&'()*+,-561234$
E#F*E)"!
%#
*7 8 9 : ; < = > ? 3
12 3 4$
!)#E27)F)*))
%&$%&'()*+%'+*,-.
!
G1%
A
09/=.
--
%1/06H
<
/I0(5/:%35&(5/.15&;9:0390J%.365/:%3
'
+I:35
$
(%'E#E!!E)#
'
E#F*E)"!
%'
536/I0;9:0390K L09I3%&%
4< 7:3:=/1
<
233%D5/:%3 70/I%6G1%
4
15,'
+I:35
$
(%'!)#E27)F)*))
%
'
@ABCDE(((FGHIDEJK:LM
N!O'
P!Q'
RST'
UVW
$
XYZ[Z\]+ (^_*+`ab=R+c'
XY!
#))#?#
%
)!*!
de:Ffgh7i$
jklm)
nop)
] @ q )
r ^ s o )
t=uvw%
`xyz{|}~'
&(&'5zxy&fzj=FM)
)
=sop)
,+G;z x y)
& x
y!)!E}sopNx y )
5zxyxyw&z '
¡ ¢ 4£ ¤ F ¥ ¦
§xyzn¨}ghzsos©`uv_ª>'
¡¢«¬¤F¥j¦§ x y zn ¨ } g h
¤Ez®s`¢{&¯°F±²'
, @ A B C $
O:
4
:/5&LP:3
%'
@ABCDE$
O:
4
:/5&LP:3 Q%1R=I%
-
%
´ '
µ@ABCDEz·¸¹º)
J K» x )
¼ ½ )
¾ ¿ 7 i w &ÀÁ,Â6ÃÄ,DEBC@qz
DEn¨}ghz®s`¢{¨Å}¦§;<&
+,-!
@ABCDE#
@ABC#
DEBC@q#
ÆÇDE#
¾¿7i#
®s`¢{
./012!
LG")#'@
!!!34567!
S
!+
/
+*)0*1+'1%23.4%
5
!
)',15
)2)(+
/
-6%26&*&2,1%23.4%
5
!"#$%&
'
'(")*+%,
-
'
.(/)*0&1,
-2
%,
-
'
343&,
-
5&,
$
;9I%%&%8S./%,5/:%3;9:0390536T&09/1:95&T3
4
:3001:3
4
'
U0:I53
4V3:D01=:/
<
'
U0:
A
:3
4#))#?#
'
+I:35
%
78.*2)9*
!
Q:/I/I0:3/0
4
15/:%35360W/03=:D05
--
&:95/:%3=8%130P 4
03015/:%3%8:38%1,5/:%3/09I3%&%
4
:0= $
=.9I5=
9&%.69%,
-
./:3
4
'
:3/0130/%8/I:3
4
=
'
H:
465/5
'
,%H:&0:3/0130/
'
51/:8:9:5&:3/0&&:
4
0390
%
:3,53.859/.1:3
4
:36.=/1
<
'
5
3.,H01%89%.3/1:0=I56-
./8%1P516/I0:135/:%35&56D53906,53.859/.1:3
4
60D0&%
-
,03/=/15/0
4
:0=
'
=.9I5=236.=/1
<
F'):3X01,53
<
'
236.=/1:5&23/0130/536,53.859/.1:3
4
=
<
=/0,H5=06%3+
<
H01BGI
<
=:95&;
<
=/0,=$
+G;
%
:3V;S'
5=
P0&&5=7560:3+I:35!)!E53623/0130/G&.=753.859/.1:3
4
:3+I:35'S&/I%.
4
I059I%8/I0=0=/15/0
4
:0=P5=-
1%B
-
%=06.36016:880103/9:19.,=/5390=
'
%30%8/I09%,,%3-
.1
-
%=0=%8/I0=0=/15/0
4
:0=P5=/%59I:0D0/I0:3/019%3309B
/:%3
'
:3/01%
-
015H:&:/
<H0/P003-
I
<
=:95&P%1&6536/I0:38%1,5/:%3P%1&6%8,53.859/.1:3
4536/I0:3/0&&:
4
03/%
-
015B
/:%3%8,53.859/.1:3
4
'S=%30%8H%//&0309R=/%59I:0D0/I:=
-
.1
-
%=0
'
/I09%,,.3:95/:%3536:3/0159/:%3H0/P003/I0
-
I
<
=:95&P%1&6536/I0:38%1,5/:%3P%1&6%8,53.859/.1:3
4,.=/H0=%&D06'L%=%&D0/I0
-
1%H&0,'
53%D0&9%390
-
/%8
O:
4
:/5&LP:3Q%1R=I%
-$
OLQ%
H5=06%36:
4
:/5&/P:3P5=
-
1%
-
%=06'+%,
-
&0,03/51
<
/%/I09%390
-
/
'
/I09I5159/01:=B
/:9=
'
519I:/09/.10
'
=
<
=/0,9%,
-
%=:/:%3
'
%
-
015/:3
4,09I53:=,536035H&:3
4R0
<
/09I3%&%
4
:0=P0105&=%0&5H%15/06536
6:=9.==0610=
-
09/:D0&
<
'Y3/I:=H5=:=
'
/I0/I0%1
<536:,
-
&0,03/5/:%3%8/I09%,,.3:95/:%3536:3/0159/:%3H0/P003
-
I
<
=:95&536:38%1,5/:%3P%1&6%8P%1R=I%
-H5=06%3P%1R=I%
-6:
4
:/5&/P:365/5P0106:=9.==06'
:,
;
1%2(.
!
6:
4
:/5&/P:3P%1R=I%
-
#
6:
4
:/5&/P:3
#
P%1R=I%
-6:
4
:/5&/P:365/5
#
9
<
H01P%1R=I%
-
#
R0
<
/09I3%&%
4<
#
:3/01B
59/:%35368.=:%3
<
!89:;<
j{|}È:Ffgh7i$
jklm)
n
op)
]@q)
r^ s o)
t=uvw%'
É Ê u v =
Ë}uvDE'
Ì  u v C Í'
Î Ï Ð Ñ Ò _*
#
+
)
Ó
_)
_)
uv _ )
Ô Õ _ w x y   Ö × } Ø
lm»Ùºxy·¸ !!""
Ú'
Ûܦ§ÝÞzuvxy'
¥ßà&zá
â xy    x y L M $
j =  FM)
)
=  s o p )
,  +G;
$
9
<
H01B
-
I
<
=:95&=
<
=/0,=
%
zxy+
<
H01B
753.859/.1:3
4
*
!
+
)
&xy!)!E
)
sopNxy)
5
zxyxy*
"BF
+
)
kx y*
EB@
+
w%
¢
ã×z4£¤F&¦§ä4£z«¬¤F¥j¦
§x y z n ¨   } g h   ¤ E z ® s ` ¢
{*
*
+
&D E¥ x y å ^ z æ K , Â'
ç è é Û D E
zCÍêëì¨)
CÍå^lí)
CÍîRïxwð
ñòó}ÃÄôõ6¶«¬ö²z:÷ø&
j ù #úû '
Ûn ¨ [ E } g h [ E z ü ñ °
DEzCÍêëì¨)
CÍå^lí)
CÍîRïx
âKòó'
D Ez   ß à ý ê þ ÿ  Î !"Ó"
#&!F " #!
DECÍêëì¨)
CÍ å ^ l í )
CÍîRïxw$ %  n ¨ [ E &!& " #!
d e
l m» } gh 7 i z '(} È '
D E g h [ E )
C'
È*Àgh[EÌDECÍêëì¨)
CÍå
^lí)
CÍîRïxwº+,v'
-¡./)
Rñ)
0vw123'
 Á "# D E z n ¨ [ E } g h
[E4Á°56'
78®s&!9"#!
DEn¨
[ E` g h[ E Ì :®s-12 3 '
 ý ê ¥ ©
ît+ª>¦§'
7;<=)
¦>z®s}{|&?
@òój!&
!
#
"
* +, - . / 0 1 !C Í ê ë ý ê AB t
C)
ÊD)
nE)
FºG}Í Gw&D E C Í ê ë ì
¨¥H+Ï ÐD E C Í Ö ê '
° ê ë z IJ } ^ J
K)
LJ)
¾·)
vMw@qâKNÙ)
OP)
Q¨)
òó}zîR&ÀDEgh[E§¤àz!
F"#'
° CÍ ê ë z ì ¨ ý ê R S t = ì ¨ &C
Íêëghýê©ît=T U V O P ÀW X Y Z
6'
¡[\)
]^)
¸l)
òó _±'
-` a } È
bcd&d el m » } g h 7 i z   `   '
Ge }D E gh ì ¨ · ¸  J Ü C '
6 ¶ ö ² *
fFgR ñ z ô õ '
D E   â ( ! &"#&
©î'(tM1h쨷¸)
ÊD쨷¸)
nE
iPì ¨· ¸ )
j ? ì ¨ · ¸ )
ÍG@ q ì ¨ · ¸
w'
C Íê ë z ì ¨ bc*f ] kñ  l& 
 ·¸ z @q ý ê © î mn z t = ; M U ('
@ q
Xod)
¦>p)
bc d'
>7;° ê ë ¦ >L
Jzqr`st&u$ I '
d e n o p 7 i z º v
}'
©îÀD E 8 w x n y z { | $
C56:%J10B
Z
.09
<
2603/:8:95/:%3
'
CJ2O%)
u v })
~   w'
¦§j?)
nE)
ÀxGwCÍêë@qz(^N
Ù'
¦§6·¸@qzÀnU('
>¦§g
h·¸@q`CÍêë¦>¾@qz *
[B?
+
'
D
Ed ¤  â ( ! 9Ó"# &À!9 " # '
 DE g h[ E ` n ¨ [ E z @ q 7;{ | '
¡ÀÈîR78¦>® s ` { | '
C Í ê
ëì ¨ z u v )
ý^)
 p'
x< Ï Ð
=FM)w á âx y L M ° u v C Í )
uvDE}
uv=Ëzê×&
!
!
"
* +, - 2 3 ! 4 !DECÍå^¥HÀ
CÍw^ë z >  !'
D E C Í ê ë
Fg¾·}R¹|I'
¢æKV º ¼ gC
ÍzîR&CÍå^lí¥HÀÏÐ>E)
º
ç)
XowH£ê×}zà!'
|ê
ëç¡vMz%x'
°CÍå^âK¹)
í
`&À¡gh¢#z ! F " # '
CÍå^l
íý꣤t z þ ¥'
© î ¢= ; M º& G ;
Mzbc}`ad'
° l í x z v M þ¥
ê×§)
RS3'
V- ¨ x z l í ©©ª'
«¬fz;F'
zë}./®%]'
,
¯° ± ²&¯ ° Î 6 ö ² '
'( l m » )
gh)
É
Lw7i'
È*À l m » 6 Ì  ,  @ + L  z C
Í å^ l í º +,v*
#)
+
& G ; M ¤2 l m » 3
]zQ¨vM'
,> ³ ;ë ° C Í å ^ â
K³;z|  í'
V1._*f * +
z._;'
]kñ  §b c '
´ d  ° t z R
S'
-vµ¶·¸] z C Í L& C Í å ^ l
í©©®%Íà"#'
³¥IJz'
7;°¦¹C
ͺ^ë z &u$ I '
d e D E g h [ E
` n¨ [ E® s z 23'
CÍå^lí· Î ^ J
;M Í C '
b ôõÎ6ö²&»© î ¦ > N Ù
tC)
ÊD)
nEw@q'
° C Í å ^ l í z ¦ ¼½
¾âK^J¿À'
VÁ qºÂl í > Ã
ÄÅ*
##
+
& ) G ; M 23 C Í å ^ l í z µ
ƺ^'
 ¥ 7;v>q r }s t
C Íê ë @q } g h @ q z { | @ q'
CÍå^l
ízÇ)
o^)
u v  w R)d '
x< Ï Ð
uvCÍê×&
!
"
"
* +, - 5 6 7 & !DECÍîRC Í
êë¡ÈCzCÍå^ɺ&DECÍîRïx
¥H+ÏÐÍGXoÖ×$
jÊñ%)
ËÌÖ×$
j
®Í#%)
e(Ö× $
jÎÏ %
w'
° C Í î R 
ztC)
ÊD)
nE)
ÍGwâKÐ)
òó._ï
xzîR&Ñ#°CÍîRzЩ©RÒtzÓ
!
!## N!O w!
@ABCDE(((FGHIDEJK:LM
ÔI¦§'
VRq t = þ ¥ Õ 1 C Í î R  § z ö
²Ð&ÁÖ'
° C Í î R z ï x ¥Ò ¢ ^ ª
>âKt=ÄÅ`æK&G;Mz7½¥ý×
3)
ö²§ > '
-ØÙö ² Ú Û '
y º  ° C
Í îR zï x ¦ >p)
>  Êñd)
Ü p ] w 
Ð&d eg h 7i z   '
DE ¶ · ¦ §  } _
}®8(^_'
ÝÞÎ6ö²&ßá'
@AM}à
} z  ÈD E z ÙÊñ* f ]zl&
¡á'
Îlm»°Ùz@qâK¸l)
òó}.
â'
äåz*+}`a&>'
(^
_zæKà§Cͧ æz ï x Êñ*
#!
+
&¥'
 DE n ¨[ E ` g h [ E @ q z   '
CÍ
îRïx©©OÀ]zç è '
y º ` ¦ ¹C Í 
éê&denop7iz¡Àxyzë
ì'
] ] 23 C Í î R z ¦ >@ q NÙ v
M*
[
+
&ä| n o p ° C Í î R @ q z ¦ > N Ù v
M'
xyæK·¸ví°¦>îïÃ>Q¨'
§CÍîRïxz¦>*
#"
+
'
ÀF gR ñ 6 ô õ
Î6ö²&¥'
ß à D E C Í î R ï x z u v
ð®._vM R )Ð'
ñÖ D E g h [ E `
n¨[EzâF{|&
ÛÎ6°DECÍêëì¨)
CÍå^lí)
C
Í îR ï xz   } òóÿ R ò ó , ô'
j  ¦ §
zn¨[E}gh[Ez¦>®s`âF{
|'
¥ßà¢5õz ± ² &j ù #z ! ö " # ú
û'
DEÀþÿà9Ó"#z}òó÷'
DE
n¨[E`gh[Ez¦>®s}âF{|¥¦
§uvxyzø ù Ö ê'
ú¥ D E H I   } ò ó
zØÚ&
>'
@ABC*
#F
+
>+¦§n¨`g
h¦>® s} { | z F G  b ; < '
u#û
Vûëì¾ü&çèéÃÄ@ABCÀDEz
'
@ABCDEz³´'
V°@ABCDE
z·¸¹º)
J K » x)
¼ ½ )
¾ ¿ 7 i w â K ý þ
}µ'
ÛÜ+H I Ì  ,  D E B C @ q z D E
n ¨  } g h   ® s ` ¢ {  ÿ¨Å};<
!&
=
!=>?@ABCDEFGHI
=><
!J=>?@K=>?@AB
@ A B C $
O:
4
:/5&LP:3
%
z³´"Ñ § 
!))"$'
X1:0D0=#$À%&& ' Á]+zÍG
ðC()#ì¨*R6 *
#F
+
&÷I'
%&&+8
é@ABCz³´'(fZ\OKàz,-ü.w
ö²*
#E
+
'
Vé ¡ g/+F Ó Ù º  ³n ¨ o)
³
0ñ)
³³cz1ÝîR'
,OKàzn¨LÉ
É¡Åtyz Æ Ç L '
Î ÿ 2@ q Î  [ Ó
à¦>ú:z@q'
q r }stn¨°3zðC(
)# î R*
#@
+
&@ A B C ?  Î!¼ ½*
#*
+
!
!° n
¨°3z4@ q â K Ù º'
¥n¨°3z5¦t
y#
"OÀ  n ¨ ° 3zðC( ) #'
`¡¢â
_'
V167¾ô{#
#$ví°n¨°3â
K8'
Ü-ví,L._n¨°3&ß à @
ABCz¨´9À8ò:;*f}¥<&f
zj X1:0D0=wén¨ · ¸` ¡ w bzÆÇ·
¸ä|'
ýþ ,  @ A B C z =>· ¸ ? @
`AB;<'
VÀ(S;S ¾ ·¸ Ì ¥
<*
#[
+
&%&[Cýþ¦¥Dä É *+E© î é
F§GÝzO»ÆÇL`HIOKzäÉÜp}
JñlmLä|'
Ì   ,  @ A B C z O »
äÉK(  '
VLä @ A B C z 7 i . Ú*
#E
+
&
ÁÖ'
GL+MN M À Æ Ç ` § ¦ E É
6FÓ¦>z<O'
,  @ A B C +ËÌÿ § b
zÍGP÷`QR*
#?
+
&ST U M N ,
@
A_VWX-
z³´'
MY2xyeÀgh[
EÉÉÅ|xyRzCÍ·¸L'
¦§n¨[
EÛÍGÊ l fxyæKzðî R @ A _*
!)
+
&¯
°=>ÍGÌ®sÖ×'
Z[MNÉ6 ,  @
ABCz"O @ ¥ \ ] '
Î  Ì s ^1 Ý â g
hzÍGÊ l L '
Û Ü . _ n ¨   z Í G
¦@'
VÎO»_Z+`âK¥<*
!#
+
&
ÛÎ6òó,ô'
@A B C ¥ ¦ § n ¨ `
gh{|zFGb¢#&ÜDEzn¨`g
h z ® s ` { | ¥ ¦ § =  FM)
)
&xy
!)!E
)
=sop)
,+G; zx y w z« ¬ ¤ F &
"
lm»Ùºxy·¸ !!""
Áçè,@ABC7iÃÄ@ABCDE
z³´&
@A B C D E $
O:
4
:/5&LP:3 Q%1R=I%
-
'
OLQ%
¥ À: F fg h 7 i } x y 7 i ^!'
© î n ¨
D E` Æ ÇD E z Vݦt y ` ¦ >® s'
¦ §
n¨DE)
ÆÇDE)
D E   · ¸ z ðê ë )
ð 
R)
ð@qzÙº}{|'
ÀDEBC@qz
^!'
¦ §D E C Í ê ë ì ¨)
C Í å ^ l í )
C Í
îRïxwÀn¨DE)
ÆÇDE)
DE·¸E
zafJK'
ÛÜÀÏмg4£}zà!'
ZfD EC Í }ì ï ". z F G D E J K : L M &
OLQ ýê n¨DE$
-
I
<
=:95&P%1R=I%
-
%)
Æ Ç
DE$
9
<
H01P%1R=I%
-
%)
D E   · ¸ $
Q%1R=I%
-
;01D:90;
<
=/0,'Q;;
%)
D E B C @ q $
P%1R=I%
-
6:
4
:/5&/P:365/5
%
ö8ò¹º&
=>=
!=>?@ABL*FGHI
jù !ú û '
¡  !
n¨DE¥DEË × O À
z ¦ @Ù |'
ýêbcOd Q;; !ZzCÍ
'
VÚ e  ÆÇDE1Ý._÷  g /z C
ÍHf'
æ K CÍ å ^ V  º C Í #
Æ Ç D E
¥n ¨ D E z 5¦ z )
 ð @A_g h '
ý ê b c
° C Í l í
"
å ^ â K 1Ý)
i j . _ '
V° C
ÍîRâK¦>Ð )
  `Äï w #
Q;;¥@q
^z4  · ¸ 0vzÙ|L k '
ý ê b
cÀ D E B C@ q ^!° D E u v _ ì ï  ÿ
·¸ QR}   '
j ° C Í ê ë )
C Í l í
"
å ^ )
C Íî R w z ì ï ` . _   w#
D E B C @ q
¥ n ¨ D E )
ÆÇDE} Q;; ¾ z @ q '
Î
@ q { | ÷ÍCzÈC @ q z Ù |'
¥ n ¨
DE)
ÆÇDE} Q;;J K ®sz^&
!M!M#
!81*+
`[¸ D E  '
OLQ B[¸ D E ú ? D z
0v}>Ö'
¡ n ¨ D E lÖ? D ª É ³ h ¦>
@qzÓ ô O(` { | v M'
ÎD E ,
t(»(
n(mn-
êë¢{zvM&
À¦§ªÉ³h@qzÓôO(`{|;5'
Ö
êFo£`z@q©g`pqrs'
Φ§°CÍê
ë© tOu}© t v w z¸Fp q Î@ qz
¸Fxr&ÀÁ,Â6'
N,z ¸ F ._
vw'
éDE ¦ >@ q 6[yÆÇDE} Q;;
&ä
rs°³4)
³0ñ)
³zñz n ¨ DE @ q âK
í)
{|xr w'
¦§@q z ,ª >)
,}h
F. _Q¨'
V© î @ q z ò 4)
¾ o)
¹ | w ª
>'
¦§ DE³h³LJ@qº` {|&
ÁÖ'
n¨DEªÉCÍêëÖ¦§¢{'
ε
=>³ózmn&CÍêëÓ@~,ÎÁqCÍ
lí@q)
=@ q } º^ @ q w í ( zs
»x)
,ÎÁq¡Ó@z×>I'
¦
סÓ@>I'
VÀð®". z 4 £ !° 
(zK+âKvïx`._&`[¸zÎtzõ
â+Ez D E  ',
t(»(n(m n -
êë¢
{zn¨DE?ú3zå)
µ)
`
uv&
!M!M!
!9:*+
ÆÇ D Eç X6 ¥ L z Ù |'
LAB
êë)
K+)
9Ó 5 &À ê ë 5'
ÆÇDE
ýêAB°t)
»)
n)
m n wDECÍêëâK@
A_
"
ÆÇ_zL}°n¨K â K q r z
n¨L&ÀK+5'
ýêABÀ^$
jCÍl
í%
º^$
j%
z>!'
°DEK+z
)
V)
o ^  w ¼ âKq r z K +L &
À5'
ýêA B R qDE³z J K  ò _
É6zij)
._)
)
}hwL&
ÀC Í à'
ÆÇ D E , ` n ¨ D E ¦ @ § ñ
uzL'
°Q;; z C Í l í â K af1Ý ò
ó'
ݦLÇCÍzðîR'
ÛÜ>§CÍlí
,vOÀzö²'
¦>ÄÅ}._&ÀCÍ'
Æ
ÇDE167n¨DEz¦>@ q ` ô { '
À °
n¨DE§ñGÝzà!'
° ¡ J K î R â K <
=zÄï`._&>'
Æ Ç D E Ý z 9ü,
_bå,ÈÌÍCÓ` ® s Ó'
 Î
Ó)
lbc#
-ÆÇDEL¾gh,`n
¨DEâKã>® s '
¦§ÆÇDE`n¨
DEzxÙº)
¦>®s`{|&
F
!## N!O w!
@ABCDE(((FGHIDEJK:LM
!M!M"
!*+;<()!
Q;;
"
Q;;¥ @ q ^z4  · ¸ 0v z Ù |
Lk'
ýêbcÀ D E B C @ q ^!° D E u
v_ìïÿ·¸QR}'
j°CÍêë)
CÍ
lí
"
å^)
C Í î R w z ì ï ` . _   w &`
j'
ÀOdfÓ C Í ÷'
Q;; À D E B C @
qz^!'
C ºÏ Ð  Ö ×    ~ ï z 1 h
s;}:C Í l í&À C Í Ì :¤ à '
Q;;
,ÆÇDE°CÍlíz1Ý)
ij._@q'
°CÍlíÃÞ } . _ &À C Í î R '
n ¨
DEzCÍLJ} Æ Ç D E ° C Í  z 1Ý)
¥
<`._äåû1s^fQ;;
'
Q;; ¦>ÄÅ
CÍlíε¦ ¹C Í Ö × z ó_&OLQ  b
Ùº Q;;z³áì¨0v'
¦ §  ° D E 1
hz._sì ¨ )
C Í l í z . _ Î C Í ê
ëzvJK'
víÎ"8z9y"]zb'
ÛÜÀÅ@6§@ABCDEzbc&
!M!MF
!*+=,>?
DE B C@ q ý ê n ¨ D E ¾ z @ q)
Æ
ÇDE¾z @ q )
Q;;¾z @ q Î 9¦{ |
ÍCz@qöɺ&
n¨ D E ¾ z @ q ý ê A B CÍ ê ë @ q)
CÍå^@q}CÍîR@qw&CÍîR@qý
êABtC)
ÊD)
nEwv>ºÍGCÍz
îR@q'
j=¾@q)
=@q)
CÍâñ@qw&
ÆÇDE¾z@qýêABÆÇDEJKz@q
ÎJ Kú Ö z @ q '
j L  @ q )
1Ý @ q i
j)
._)
  w@q&Q;;  ¾ z @ q A B  Û
eì¨f C Í ï x z @ q '
jÿì
¨@q'
e1hì¨@q'
P
"
ì¨@q'
C
Íì ¨ @ q '
ÍGì ¨ @ q w &Î69 ¦ { | Í C
z@q¥H° n ¨ D E )
Æ Ç D E Q;; z @ q
âK|)
¸l)
¾o)
¡4)
ò_)
¢£ ì _ w ª
>!zÈC@q&
DEBC@ q +OLQ ÿðê ë)
ð  R)
ðz@ qÙº`¢¤\]'
AB gh¥ ¦&À
Ùºz, Â6'
DEBC@ q â K§ñ z @ q{ |'
V1°(z@qâKú:` ¸¨'
¥¦§n¨D
E)
ÆÇDE )
Q;;zJK©©®sz^&
?
!=>?@A B : MNOP
!5Û OLQ zCÍêëì ¨ )
CÍ å ^ lí)
CÍîRïx9Ó ; 5 µ ¶ OLQ z J K » x $
j
ù"
%&
E
lm»Ùºxy·¸ !!""
ù""#!¥°CÍêëì¨zaf._î
R'
>stOLQ n¨DE` Q;;z®sî
R'
¡Q;;ý> &ßOLQ Of ª(
$
jCÍ%
>'
Q;;z4·¸ÀDEB
C@qzCÍêëì¨zÿ2@q¡¾o@
qz^!'
Áq C Í  ° C Í ê ë â K ì ¨
s'
*fÏÐ Ö ×    ~ ï V ` ¡  ¾
mê¾ oz :1hs;&Q;; « ¬ n ¨ D
EztC)
ÊD)
nEw C Í ê ë z ¦ >@ q '
° ê
ëzLJâKòó)
ij'
VqÁ°:1h
s;âKÞ ` . _ '
é ; Î ì ï Hfz
M!Z y n ¨ D E&n ¨ D E À ì ï Hfz>
!'
éCÍêëÄÅfµ|zLJ'
VÀÁîR
1 é ¦ >@ q  « y Q;; âKi j '
ߦ>@q`;¬ >'
Q;;®á°;â K
Þ'
V!ZzìïHf&jÁs=af'
¯y
° CÍ ê ëz ì ¨ ".&,  Î 6 î R '
" # !"
°*f :z C Í l í
"
å^&" # !Í C z@ q
ð8O(DEBC@q±'
V`§z@q{|'
>
+÷="#z@q,Â`^&
ù"" # "¥° C Íl í z af._îR'
>stOLQ Q;;`ÆÇDEz® s î R'
ÀäîR'
ÆÇDEý>  &Æ Ç D E O d
"#!Cºz:zCÍlí
"
å^'
ÀDEBC@
qzCÍlí1Ýòóä å z ÿ 2@ q )
C Í
z¦>@qΡ¾o@qz^!'
,êë)
K+L w ° C Í l í â K 1Ý)
ò ó .
_'
G<C Íl í v í` Í G ð C( ) #  mê 
e¾o'
Vví° D E ²8 Ö 8 z º^
?FgzÇ&ÆÇDEéÎ6îRÍCz
1Ýòóäås^ y Q;;
'
Q;; ,@q°
CÍlíÃÞ. _ '
V®á[yÆÇDE&
s=af'
¯yCÍlí".&,Î6îR'
"#"*f._÷zg/z C Í l í '
V,  ä
líCºCÍîRJKHf&"#"ÍCz@q
ð8O(D EB C @ q ±'
` § @ q { | ÷>+
÷="#z^&
ù""##¥°CÍîRz¦>af._î
R'
>stOLQ  n ¨ D E ` Æ Ç D E z ®
R '
¡ n ¨ D E ý>  &n ¨ D E O d
"#"z C Í î R J K Hf'
  H f¹C Í &
À¦¹CÍîR'
n ¨ D E é ¦ >@ q [yÆ Ç
DE'
ÆÇDEÁq n ¨ D E z ¦ > L J ° ( â
KLJú:'
Vén¨DEz¦¹J K @ q `  g
/z CÍ l í @ q â K ° &³& ¦ @ q  F '
Æ ÇD E °n ¨ D E z º^ë â K ´{'
VÀ
º^ëz>!°CÍîRâK1Ý&ÆÇDE
,¦>1Ý@q)
¦>CÍ@q)
ÿ2CÍ@qw
DEBC@q'
Ûðê ë )
ðR)
ð  z ð ñ °
CÍîRâKij)
._w'
VΦ>ÄïH
fzM >  n ¨ D E'
°CÍîRâK._ï
x&jÁs= a f'
¯ y ¦§CÍîR".&ä"
#ÍCz@qO ( DEBC@q±'
` § @ q {
|÷>+÷="#z^&
©î Î 69Ó" # '
DE º C Í V*f
CÍäå$
ÍG%'
C Í ê ë  ¾ g h O ( Q;; '
Ì:!FµC Í &© î " # !"#zaf .
_'
DEBC@qû1 ú : ` ¸¨'
OLQ * f
1zâ_}Þ&
@
!=>?@A B : QR
@><
!STUV
OLQ Ʀ{|z ¼ ½ ý ê @§ÀÎ!©Ó ;
5!
!n ¨D E ` Æ Ç D E ¥ Vݦt y z&ß
á'
ÆÇDE¥°n¨DE§ñݦzqr}LÇ&
©îÆÇ§¦)
23§ ¦ )
ÉL`1Ýw7i'
Æ Ç
DE°n¨DEzêë)
K+)
w³üëâ
KÉL'
*f°zL)
K+L}L
w'
Û ÜÝ ¦  lÂn ¨ D E&©î16 7 n ¨
DEz¦>@q'
ÆÇDEݦTUn¨DE
zâ_îR&s¤'
n ¨ D E 5¦®§ÆÇDE
g/zCÍîR'
Úe  ÆÇDEg/z C Í î
RÎ1Ý }. _ z äåâ K C Í '
È C Í î R 
1*f._&n¨DE`ÆÇDEVKOÀ'
F F
°'
¢â_&"n¨DE`ÆÇDE¥¦>®
sz&ÀOLQ JKîR'
n ¨ D E z ú @ q
Òû¦>ÓôV[«·ÆÇDE&ÆÇDEÁq¦
>@ q° n ¨D E z J K L J âK1Ý . _ ò ó '
V°n¨DEâK¦>Äï&©în¨DE`ÆÇ
DEz¦>®s'
& ¦ ví>¸¹4Á z ^ J
ó_V¦>ÃI&Àn¨DE`ÆÇDEz
¦>®s'
CÍîR1*f._&
@>=
!=WXY
Q;;
)
n ¨D E }Æ Ç D E Î D E B C @ q +
,Â'
©î@q^ ¦ § ( zJKΩ © ¤ E
z®s&?@@§À!
!°Q;;
!
ßá'
n¨ D E
@
!## N!O w!
@ABCDE(((FGHIDEJK:LM
>LJ@q^Q;;° C Í ê ë  s â K .
_'
VCº:zCÍlí&d÷'
:zCÍlí
®·ÆÇDEâK1Ý}¥<&ÀÆÇDE1Ý@
qz^!'
Q;; s=Ä Å)
. _ C Í l í ¯ y
".&"°  n ¨ D E!
Q;; C º ".CÍlí
÷'
é lí Î CÍ î R J K HfzM!Z y n ¨
DE&n ¨D E z  ê ë À Hf@ q z ^!'
é
(z!@ÄÅfµ|zLJVÌ:CÍ&ÀCÍ
îR'
ÆÇDE¦>Ðïn¨DEzJKLJ'
VéLJ@ qþ î º » Q¨÷s^ y C Í î R  &
ÀÆÇDEs^@qz^!'
n¨DE>^>'
._CÍîR&#°ÆÇDE!
ÀÍà"#'
ÆÇ
DEOdI ( Q;; z C Í l í @ q '
ÀCÍlí
@qz^!1ÝV._ÅÓ C Í î R '
¦ § ° 1
hz".Î&À C Í î R  '
À n ¨ D E ¦ >J
K@qz^!'
Æ Ç D E © î ¦ >z1Ý ò ó
¾o)
  Ä ï w '
È C Í v í § b â K &OLQ
ÀDEBC@qz^!'
û1Þ}._&
@>?
!Z*["
Z\]"
Z^_`IEUV
OLQ zÙ º ` { | ý ê @§ÀÎ! 9 Ó ;
5!
!DEðê ë z Ù º ` { | !
ÀOLQ '
© î
nop)
sop)
opwgh¢#'
n¨DEzt)
»)
n)
mnw G C Í ê ë ûð5O(g h   '
¦§4ÁEzsos©}@q¢¤&CÍê
ëzÙº}{|'
¦ §  °  ê ë | ¨ z  s } .
_¹|'
G< C Í z Îâ K&"D E ð  R z
Ùº`{|!
ÀCÍîR'
ÆÇDE¦ïCÍ
îR z ú mê&ÀOLQ x !'
©î¾o)
¹
|w>'
n ¨D E z ¦ >C Í L J @ q À F g `
!ûãÎ(^òó)
|'
ÛÜ>¼½¾Àz
'
"]_¿DEzv}.Ú&#
DEðzÙº`{|!
OLQ Q;;
)
Æ
ÇDE}n¨DE¤E©î@q®sºFÓÅ
@'
D E z G   $
j n E · `¿ À )
=ò
ó`._)
vò ó ` ì ¨ w%
û  b Ù º '
¦ § @
q¢¤'
ABgh¥ ¦ '
ÛÜÀÅ@6  §OLQ
zb c &ðê ë)
ðR)
ð  z Ù º ` { | +
OLQ zJKÿð5 z @ q Q R `§ X o z g
h&
@>@
!abMNEcd
ÀOLQ '
n ¨ D E )
Æ Ç D E Î Q;; ©
©¤ E 1® s )
af . _ &? @ @ § À!
!Q;;
`n¨DE¤E©î@qV^)
afJK'
È*
C Íê ë ì ¨ ".&Q;; Áq C Í  Í C 1 h
s;'
VÁq n ¨ D E C Í ê ë z ¦ > L J °
¡âK._`Ä Å &ÀÁaf î R '
C Í ê ë *
f". z ì ¨  s'
VC º :C Í l í&"
Q;;} Æ Ç D E ¤ E © î À m ¥<)
af._'
Z
fCÍlí".&ÀCÍæ K ¤ à'
Q;;éC Í
 }C Í l í ® ·Æ Ç D E â K 1Ý } . _&)
÷'
ÆÇ D E é 1Ý } . _ z äås^ y Q;;
'
Q;;° C Í l í â K Þ. _&Á î R  1a
f'
¯yC Íl í Zf".&#n ¨ D E ` Æ Ç D
E ¤E ©î Æ ¦ t y )
¦>® s '
È*C Í î R "
.&ÀCÍîR'
Æ Ç D E ¦ >Ðï n ¨ D E
zJK'
Áqn¨DEz¦>LJCº._;'
V
s^Hn ¨D E z C Í &À Á af._'
CÍ
îRÎ".z;â K '
¯ y C Í ä  &OLQ À
Î69Gaf._*fR=z._`Þ&
A
!=>?@AB : + ,ef
Fú û '
OLQ z¾¿7iRq¡ýê·
¸¹º'
,ýê ò +E]4!
!n¨ D E ,
t(»(
n(mn-
so ` ¢ { 7 i#
"ÆÇ D E É L )
1Ý
JK¥<7i#
#DEBC@qÉÉì¨7i#
$OLQ JK7i#
%,OLQ zuvCÍ`Ê`
7i&
$
#
%
n ¨ D E ,
t(»(n(m n -
s o ` ¢ {
7i&ýêAB!
!ªÉxy 1hvwô ó ` @q«
¬7i#
"ªÉ ³ h ³LJ@q { |` x r 7i#
#
³hªÉ[Óàvo._ Á®7 i#
$ªÉ³
h@q©t`Á7i#
%ªÉ1hòÁMvïx
7i#
&ªÉxy 1 h Ó ô O(7i ` r sýx#
'
DE ¦>JKuvÐ` . x7iw&
$
!
%
ÆÇDEÉÉ)
1ÝJK`¥<7i&ýê
AB!
!Æ Ç D E É L 7 i'
j D E ,
ê ë (K+(
-
³ü³0ñÉL`1Ý7i#
"³ü³0ñL
Ùº`{|7i#
#Æ Ç D E J K » ¨  ò _
#
$CÍ l í
"
CÍ î R 1Ý J K)
¥<`._7
i#
%DEÆÇ§¦}23§¦7iw&
$
"
%
DEBC@qÉÉì¨7i&ýêAB!
!³4)
³ > E0ñ)
³zñ @ q í ` { | 7
i#
",ôÂ)
,ª>)
,}hªÉ@q{|7i#
#
@ q ä É ÃO P 7 i#
$OLQ Æ ¦ { | ` @
qv7i#
%OLQ Ʀ Vt y 7 i #
&DE ]
@q7i*
!!
+
w&
*
lm»Ùºxy·¸ !!""
$
F
%
OLQ J K 7 i&ýêA B !
!OLQ Æ ¦
¦>®s7i#
"³h@qvïx7i#
#(¹
(µ^ñ7i#
$C Í ê ë ì ¨ )
C Í l í )
C Íî R w af J K ` . _ 7 i #
%OLQ J K £
`)
vw7i.w&
$
E
%
,  OLQ z u v C Í ` Ê`  7 i&
ýêAB!
!DEÊD,-ì¨7i`#
"ÍG
Xo¦>ï x` ò ó 7 i   #
#D E v . _
7i *
!"B!F
+
#
$nEu v ¿ À ` · 7
i#
%vCÍ=òó7i#
&uvCÍJK._
7i`#
'DEÊ`ìï7i`w&
B
!ghi
OLQ >+F G H I D E J K : L M'
°¦§
= FM)
)
=sop)
,  +G; z x y )
 & x y
!)!E
)
s o p Nxy)
kx y )
5 z x y w á
âxyLM}?Û]z¾ÀÄ^>&çè
¯°¦§6¶áâxyLM}ú¢5°zx
y n¨   } g h   ¤ E z ® s ` ¢ {  F ±
²'
   OLQ z³ ´ '
µ ¶  OLQ · ¸ ¹ º)
JK»x)
¼½)
¾¿7i@·w&÷=ýþé/Å
j¦§ OLQ z ~    Æ f z¨Å)
¾ ¿ 7
i)
JK»xw̧(ýþ&
jk!
ÓÇ*²¹RÈ É Ê )
PË \ É Ê C)
Ì
ÍÉÊC w !`çÅèÎ> Ä Å &ç è  Ï º
÷'
¾=>*f&'()*+,-Ð Ñ &Ò #
$}ÓÔ¨ =] + )ÕÖ#$zH  '
U÷  ×
°"#'
ØÙÚ'¨=+c\:I.:Q53
4#$}ÛÜ
]+Ý\Þ ß# $ · à³áâãÇ'
À Á F V
ûÓÇ.
lm34!
*
#
+
!LSY J
'
+]T(X ^'
_S](X \
'
0/5&'S6D53906 ,53.859B
/.1:3
4=
<
=/0,=
!
=%9:5&:`5/:%3 9I5159/01:=/:9=536 /1036=*
>
+
'
>%.135&%823/0&&:
4
03/ 753.859/.1:3
4
'!)#E
'
OY2
!
#)'#))*
"
=#)[FEB)#EB#)F!B['
*
!+
!(;J'+
<
H01,53.859/.1:3
4*
TU
"
Y\+
'$
!)#EB#)B)!%
'I//
-
=
!""
PPP'3=8'
4
%D
"
30P=
"
30P=
/
=.,,'
A
=
-
093/3
/
:6a#"@F@@KQL'
,9
/
:6aV;(;J
/
E#KQL',9
/
0Da9&:9R'I/,&'
*
"
+
!LSY J
'
_]S(X\
'
]V ^'C0=%.190=01D:90,535
4
0,03/:3
,53.859/.1:3
44
1:6=
<
=/0,*
7+
']%H%R03
'
('>'
'V;S!
>%I3
Q:&0
<K ;%3=
'
!)#!'
*
F
+
!LSY J
'
_]S(X \
'
\S2\2^'+%38:
4
.15H&0:3/0&&:
4
03/%
-
/:B
,:`5/:%35&
4
%1:/I,!
60=:
4
3536-
159/:90:3,53.859/.1:3
4
*
7+
'
(0P ^%1R
'
('^'
'
V;S!
;
-
1:3
4
01B$01&5
4
'
!)#F'
[
!## N!O w!
@ABCDE(((FGHIDEJK:LM
*
E
+
!\2U%I.
'_]S(X \:3
'QS(X ;I:&%3
4
'LSY J0:
'
0/5&'
+&%.6,53.859/.1:3
4
!
530P=01D:90B%1:03/0630/P%1R06 ,53.B
859/.1:3
4,%60&
*
>
+
'+%,
-
./0123/0
4
15/06 753.859/.1:3
4;
<
=B
/0,=
'
!)#)
'
#@
$
#
%!
#B*
'
#@
$
:3+I:30=0
%
'
*
Ìä å'
P!æ'
Ñ>
ç'
N!O'
w'
kxy(5 z p è_ xy: L M *
>
+
'
l
m»Ùºxy·¸'
!)#)
'
#@
$
#
%!
#B*
'
#@'
+
*
@
+
!LSY J
'
_]S(X\
'
$T(bSLT;] $+
'
0/5&'+&%.6,53.B
859/.1:3
4
!
5 9%,
-
./:3
4536 =01D:90B%1:03/06 ,53.859/.1:3
4
,%60&
*
>
+
'G1%9006:3
4
=%8/I023=/:/./:%3%8 709I53:95&T3
4
:B
3001=
'
G51/U
!
>%.135&%8T3
4
:3001:3
4753.859/.10
'
!)##
'
!!E
$
#)
%!
#?@?B#?*@'
*
*
+
!LSY J0:
'+]T(X ^:3
4
'cV \:65
'0/5&'++2%LB+78
4
!
9&%.69%,
-
./:3
4536:3/0130/%8/I:3
4
=BH5=069&%.6 ,53.859B
/.1:3
4=01D:90=
<
=/0,*
>
+
'2TTT L153=59/:%3=%3236.=/1:5&23B
8%1,5/:9=
'
!)#F
'
#)
$
!
%!
#F"EB#FF!'
*
[
+
!LSY J
'
_VY ^'
cV \
'
0/5&'2%LBH5=06:3/0&&:
4
03/-
0190
-
B
/:%35365990==%8,53.859/.1:3
4
10=%.190/%P5169&%.6 ,53.B
859/.1:3
4
*
>
+
'2TTT L153=59/:%3=%3236.=/1:5&238%1,5/:9=
'
!)#F
'
#)
$
!
%!
#EF*B#EE*'
*
?
+
!UC2(LCVG S'
CS(S;2(X]T O'7+JSC\S(TO'CJ2O
%
--
%1/.3:/
<535&
<
=:=8%1&05301,53.859/.1:3
4
*
>
+
'23/0135/:%3B
5&>%.135&%8G1%6.9/:%3C0=0519I
'
!)#)
'
F[
$
?
%!
!*FEB!*@F'
*
#)
+
!G2(TOY 7'
^T(U'Y3/I060=:
4
353660D0&%
-
,03/%8%HB
A
09/B%1:03/06=9I06.&:3
4=
<
=/0,=*
>
+
'S335&=%8Y
-
015/:%3=
C0=0519I
'
#??*
'
*)
!
"E?B"*['
*
##
+
!(T>2SO ]'
;VX27VCS ('
2QS7VCS b'S
4
03/BH5=B
066
<
35,:9:3/0
4
15/06
-
1%90==
-
&533:3
4
536=9I06.&:3
4
:38&0WB
:H&0,53.859/.1:3
4=
<
=/0,=
*
>
+
'23/0135/:%35&>%.135&%8G1%B
6.9/:%3C0=0519I
'
!)##
'
F?
$
E
%!
#"*"B#"[?'
*
#!
+
!JV >:3
4Z
:'S9/.5/%1536:/=5
--
&:95/:%3*
7+
'U0:
A
:3
4
!
+I:35
759I:30G10==
'
!))?
$
:3+I:30=0
%
'
*
é ê ë'
æ K à  ¡  
*
7+
'
XY!
»ì=íÑ'
!))?'
+
*
#"
+
!LSY J
'
_VY ^'
cV \
'
0/5&'23/0130/%8/I:3
4
=536UY7B
H5=06&:809
<
9&05==0==,03/%80301
4<
B=5D:3
45360,:==:%3B10B
6.9/:%3%8
-
1%6.9/=
*
>
+
'2TTT L153=59/:%3=%3236.=/1:5&23B
8%1,5/:9=
'
!)#F
'
#)
$
!
%!
#!E!B#!@#'
*
#F
+
!SGC2;Y'O:
4
:/5&/P:3
!,53.859/.1:3
40W90&&0390/I1%.
4
I
D:1/.5&859/%1
<10
-
&:95/:%3*
TU
"
Y\+
'
$
!)#FB)EB)@%
'I//
-
!""
PPP'5
-
1:=%'9%,'
*
#E
+
!LVTXT\T>
'
2(XCSJJTS SC'
TS;Y( LX'
0/5&'C003
4
:B
3001:3
45:19158/=/1.9/.15&&:80-
106:9/:%3.=:3
456:
4
:/5&/P:3
*
>
+
'23/0135/:%35&>%.135& %8 S01%=
-
590 T3
4
:3001:3
4
'
!)##
OY2
!
#)'##EE
"
!)##
"
#EF*?['
*
#@
+
!X\ST;;XT(T
'
;LSCXT\O'LI06:
4
:/5&/P:3-
5156:
4
,8%1
8./.10 (S;S 536 V;5:18%190D0I:9&0=
*
++""
G1%9006:3
4
=%8
/I0E"16;/1.9/.10=O
<
35,:9=53675/01:5&=+%38010390';
-
0B
9:5&;0==:%3%3/I0O:
4
:/5&LP:3'C0=/%3
'
$5'
'
V;S!
S2SS'
!)#!
!
#B#F'
*
#*
+
!UY;+]TCL ;
'
CY;T( C'O:
4
:/5&/P:3B/I0;:,.&5/:%35=B
-
09/
*
7+""
709I5/1%3:9J./.10='U01&:3
'
X01,53
<
!
;
-
1:3
4
01B
$01&5
4
'
!)#@'
*
#[
+
!XC2T$T; 7'
$2+bTC;>'O:
4
:/5&/P:3
!,:/:
4
5/:3
4.3
-
10B
6:9/5H&0
'
.360=:15H&00,01
4
03/H0I5D:%1:39%,
-
&0W=
<
=/0,=
*
7+""
L153=6:=9:
-
&:351
<G01=
-
09/:D0=%3 +%,
-
&0W ;
<
=/0,='
U01&:3
'
X01,53
<
!
;
-
1:3
4
01B$01&5
4
'
!)#*'
*
#?
+
!GSCOY ('O:
4
:/5&536-
I
<
=:95&9%,0/%
4
0/I015/GL+&:D0
4
&%H5&
*
TU
"
Y\
+
'
$
!)#EB)@B)[
%
'I//
-
!""
H&%
4
='
-
/9'9%,
"
!)#E
"
)@
"
)[
"
6:
4
:/5&B536B
-
I
<
=:95&B9%,0B/%
4
0/I01B5/B
-
/9B&:D0B
4
&%H5&
"
'
*
!)
+
!;2T7T(;'LI06:
4
:/5&/P:3
*
TU
"
Y\
+
'
$
!)#EB##B#*
%
'I//
-
!""
PPP'=:0,03='9%,
"
9.=/%,01B,5
4
5`:30
"
03
"
I%,0
"
:36.=/1
<
"
6:
4
:/5&:`5/:%3B:3B,59I:30BH.:&6:3
4
"
/I0B6:
4
:/5&B/P:3'I/,&'
*
!#
+
!JYVCXTSV T'
XY7T_T'
SO\2]'
0/5&';
<
=/0,03
4
:B
3001:3
4P%1RH039I8%1,.&/:BD:0P==
<
=/0,=,0/I%6%&%
4<P:/I
"OTcGTC2T(+TG&5/8%1,'/I05:19158/15651.=095=0
*
7+""
+%,
-
&0W;
<
=/0,=O0=:
4
3 K 7535
4
0,03/S=:5'U01&:3
'
X01B
,53
<
!
;
-
1:3
4
0123/0135/:%35&G.H&:=I:3
4
'
!)#@'
*
!!
+
!\2>
'
LSYJ
'
+]T(X ^'
0/5&'U:
4
65/5:3-
1%6.9/&:809
<
9&0
,535
4
0,03/*
>+
'LI023/0135/:%35&>%.135&%8 S6D53906
753.859/.1:3
4L09I3%&%
4<
'
!)#E
'
[#
$
#BF
%!
@@*B@[F'
*
!"
+
!LSY J
'
U2\
'
_VY ^'
0/5&'SI
<
H1:64
1%.
-&056015&
4
%B
1:/I,8%14
1003 ,5/01:5&=0&09/:%3 P:/I0301
4<9%3=:6015/:%3
:3-
1%6.9/60=:
4
3
*
>
+
'+2CG S335&=B753.859/.1:3
4L09I3%&%B
4<
'
!)#@
'
@E
$
#
%!
?B#!'
*
!F
+
!LSY J
'QS(X ^'
_VY ^'
0/5&'23/0130/%8/I:3
4
=:3
-
1%6.9/&:80B9
<
9&00301
4< ,535
4
0,03/
*
>
+
'>%.135&%8236.=B
/1:5&238%1,5/:%323/0
4
15/:%3
'
!)#@
'
#
!
!@B"?'
nopq!
N!O$
#?[#d %'
î'
ïXÓÔ t'
#$ '
ÉÊ '
ÉÊ Cð'
ýþ ; !
5   z u v x y )
x y   ì ¨ ` . _)
Ô Õ x y   7 i)
@
ABC7iw'
TB,5:&
!
8/5%
(
H.55'06.'93
#
P!Q$
#?[?d %'
ñ'
òXGgt'
ÉÊ ýþC'
ýþ ; !
@A B C 7 i )
ÔÕxy7i#
RST$
#?[*d %'
î'
ÛÜ ó ] t'
ÉÊ ýþC'
ýþ ; !
5zuvxy)
@ABCDEuvso7i#
UVW$
#?[?d %'
î'
ÛÜ ô õ t'
ÉÊ ýþC'
ýþ ; !
5zuvxy)
uvxyv>)
@A B C 7 i &
?
... A closed-loop methodology enables the identification of problems or improvements in the product's design that can be addressed in the next batch of production. The DTS model developed by [22] states that when a new product is being manufactured in the System, shop-floor digital twin data trigger the required resources, such as equipment, materials, tools, and humans. SDTS starts communicating with PS, VS, and VSS once it receives the product information. ...
Conference Paper
The current massive use of machine learning and the 5G networks have supported the high demand for the digital twin and made it more popular and common in the industrial sector and scientific research related to smart manufacturing. As part of this research study, the currently available opportunities for smart manufacturing using digital twins have been reviewed and discussed in the industry 4.0 field. While digital twins have garnered much attention in the industrial internet of things, their use in smart manufacturing has been much less common. This discussion here focuses on the open challenges in smart manufacturing and industry 4.0 and suggests that in some cases. Digital twins should be treated differently to enhance industrial processes and smart manufacturing applications. On the other hand, this research examines the impact of digital twins on smart manufacturing and sustainable production rates, aiming to promote the industry’s digital transformation to meet the required production rate. The research discussed the digital twin concept and its origins and perspectives from academia and industrial sectors. It reveals its potential for the digitalization of manufacturing. Also, the review discussed how the digital twins could support the integrated, flexible, and collaborative manufacturing environments associated with the fourth industrial revolution. Different industrial operational technologies and communication technologies have profoundly changed smart manufacturing. Intelligent and automated information exchange, automated machine control, and interoperable production systems have all been enabled by Industry 4.0. System-level CPS and digital twins can collaborate through Smart Service Platforms for Digital Twins. In addition to optimizing production configurations, the digital twin is used to determine the impact of decisions made during modifications or upgrades. By analyzing the predictive maintenance of manufacturing lines, the time between production delays will be reduced. A specific alarm or notification will be sent to the user to enable them to take quick action. A digital twin application analyzes and simulates data by controlling, monitoring, and optimizing variables based on various factors in both online and offline modes. This study seeks to evaluate the evolution of digital twin concepts and their relevance to smart manufacturing. It summarized and explained the current state of digital twins in manufacturing literature, highlighting future directions for studies and the highest potential for future applications.
... It reflects the increasing demand of integrating physical systems with their virtual models [7]. In a recent study [8], a five-dimension DT model was proposed in order to promote the DT applications. It is an extended version of the previous threedimension DT model with two more elements, i.e. ...
Preprint
Full-text available
Digital Twin technology has been widely applied in various industry domains. Modern industrial systems are highly complex consisting of multiple interrelated systems, subsystems and components. During the lifecycle of an industrial system, multiple digital twin models might be created related to different domains and lifecycle phases. The integration of these relevant models is crucial for creating higher-level intelligent systems. The Cognitive Digital Twin (CDT) concept has been proposed to address this challenge by empowering digital twins with augmented semantic capabilities. It aims at identifying the dynamics and interrelationships of virtual models, thus to enhance complexity management capability and to support decision-making during the full system lifecycle. This paper aims to explore the CDT concept and its core elements following a systems engineering approach. A conceptual architecture is designed according to the ISO 42010 standard to support CDT development; and an application framework enabled by knowledge graph is provided to guide the CDT applications. In addition, an enabling tool-chain is proposed corresponding to the framework to facilitate the implementation of CDT. Finally, a case study is conducted, based on simulation experiments as a proof-of-concept.
... Many scholars have researched the construction, data collection and monitoring of digital twins. Tao et al. [24] proposed the concept of the digital twin workshop, described the system composition, principal mechanism, characteristics and key technologies of a digital twin workshop, and further discussed the theory and implementation methods of the interaction and integration between physical space and digital space based on workshop data. Dahman et al. [25] proposed a simulation framework based on testable digital twins and virtual test platforms, combining the latest virtual reality and 3D simulation technology. ...
Article
Full-text available
At present, discrete workshops demand higher transportation efficiency, but the traditional scheduling strategy of the logistics systems can no longer meet the requirements. In a transportation system with multiple automated guided vehicles (multi-AGVs), AGV path conflicts directly affect the efficiency and coordination of the whole system. At the same time, the uncertainty of the number and speed of AGVs will cause a lot of cost. To solve these problems, an AGVs Multi-Objective Dynamic Scheduling (AMODS) method is proposed which is based on the digital twin of the workshop. The digital twin of the workshop is built in the virtual space, and a two-way exchange and real-time control framework based on dynamic data is established. The digital twin system is adopted to exchange data in real time, create a real-time updated dynamic task list, determine the number of AGVs and the speed of AGVs under different working conditions, and effectively improve the efficiency of the logistics system. Compared with the traditional scheduling strategy , this paper is of practical significance for the scheduling of the discrete workshop logistics systems to improve the production efficiency, utilization rate of resources and dynamic response capability .
... Sören et al. researched the acquisition method of conventional data in the digital twin, which improves the accuracy of production planning and the flexibility of workshop manufacturing by obtaining the equipment data on the workshop field [41]. Zhang et al. proposed a new concept of a digital twin workshop, including the physical workshop, virtual workshop, workshop service system and workshop twin data, and discussed the production operation mechanism of a digital twin workshop, providing the theoretical foundation for the intelligent manufacturing of workshop [42]. Zhang et al. constructed many resource interactions in the virtual twin to dispatch the decision process with modeling as Markov in real-time, thus achieving the dispatching optimization in the production process [43]. ...
Article
Full-text available
This paper presents a complex product design-manufacturing-operations and maintenance integration method based on digital twin technology. This method aims to solve the problem of information silos in the design, manufacturing and operation and maintenance phases of complex products in the context of intelligent manufacturing and to integrate the design, manufacturing and operation and maintenance processes of complex products. To address the integration needs of complex product design, manufacturing, operation and maintenance business integration, a framework for complex product design-manufacturing-operation and maintenance integration based on the digital twin is first proposed, in addition to designing a model and operation mechanism for combining the virtual and real of the digital twin model. Then, the implementation of multistage collaborative design technology, data intelligent sensing technology, and data integration and fusion technology for the digital twin-based design-manufacturing-operations and maintenance integration processes are analyzed and discussed. Finally, a case study involving the fault prediction of key components of the bogie of an EMU demonstrated the integrated mode of operation in the design-manufacture-operation and maintenance process of the EMU. It verified the effectiveness of the proposed framework, process and methodology.
Article
Full-text available
Assembly is a critical step in the manufacturing process. Robotic assembly technology in automatic production lines has greatly improved the production efficiency. However, in assembly process, dynamic disturbances such as processing time change and advance delivery may occur, which cause the scheduling deviation. Traditional scheduling methods are not sufficient to meet the real-time and adaptive requirements in smart manufacturing. Digital twin (DT) has the characteristics of virtual-reality interaction and real-time mapping. In this paper, we propose a DT-based framework of task rescheduling for robotic assembly line (RAL) and its key methodologies, thus to realize the timely and dynamic adjustment of scheduling plan under uncertain interferences. First, a DT model of RAL task rescheduling composed of physical entity (PE), virtual entity (VE), and virtual-reality interaction mechanism is proposed. Then, a mathematical model is established. By analyzing the adaptive objective thresholds from the perspectives of event trigger and user demand trigger, a DT-driven multi-level (production unit level and line level) rescheduling strategy is proposed. Taking both the computing time and solution quality into consideration, the precedence graph is introduced to propose a rescheduling approach based on an improved discrete fireworks algorithm. Finally, the effectiveness of the proposed model and approach are verified by task scheduling experiments of RAL.
ResearchGate has not been able to resolve any references for this publication.