大型复杂装备虚拟维修训练平台技术研究
|
摘要
本文将虚拟现实技术、计算机仿真技术、人工智能技术引入大型复杂装备维修训练，开发了大型复杂装备虚拟维修训练平台，为大型复杂装备维修训练提供了一种新的途径和方法。
本文在对大型复杂装备虚拟维修训练需求进行深入研究的基础上，以大型复杂装备维修训练过程仿真模型为切入点，结合HLA标准提出了大型复杂装备虚拟维修训练平台的新构想，构建了支持这一构想的通用性强的技术框架，对框架涉及的一些具体技术问题进行了深入研究，提出了基于MKDN(Maintenance Knowledge Description Net)的维修知识描述方法；建立了学生模型的评估数学模型；采用面向Agent的方法进行了系统设计；提出了一种柔性线缆建模的新算法。论文最后应用上述技术完成了某型导弹地测发控系统虚拟维修训练系统的开发。
论文主要研究内容包括：
一、首次从虚拟维修训练出发，对大型复杂装备虚拟维修的需求进行了全面的研究，不仅从宏观上对大型复杂装备虚拟维修系统的特点、需求进行了分析，而且还研究了电子、机械、液压等子系统和人体维修活动需求。
二、对大型复杂装备虚拟维修训练系统通用框架进行了研究。首先提出了单维修人员虚拟维修训练系统过程仿真模型，在此基础上结合HLA特点提出了大型复杂装备虚拟维修训练系统过程仿真模型和结构框架。建立了HLA联邦与虚拟维修训练的通用映射关系，提出了联邦成员结构和功能流程。
三、对大型复杂装备虚拟维修训练系统维修知识描述方法进行了深入研究，提出了基于MKDN的维修知识描述方法。MKDN是对Petri网的功能扩充，使其适合描述层次多、关系复杂的维修知识。文中对MKDN的定义、分析方法、基于MKDN虚拟维修想定建模、基于MKDN对象行为建模进行了深入研究，并证明了MKDN保持了Petri网的有界性、活性、安全性和可逆性。
四、对智能辅助训练技术进行了深入研究。采用面向对象基于框架的知识表示方法表示领域知识，将领域知识分为原理库和案例库，采用基于案例的推理机制，根据案例的相关原理属性，计算案例间相似度；通过建立学生模型的评估数学模型和评估指标体系，实现了对受训者的知识水平和维修能力的评估；根据学生模型确定了训练策略，控制实例模块选择补救的案例或新的案例对受训者进行训练，从而达到适人化训练的目的。
五、对面向Agent大型复杂装备虚拟维修训练系统设计方法进行了研究。将系统划分为维修训练Agent和虚拟样机Agent两大类进行设计，重点研究了维修训练Agent的设计方
In this paper, a new virtual maintenance training system of the large complex equipment is created with many technologies such as virtual virtual reality, computer simulation, artificial intelligence etc, and a new approach and method is provided for large complex equipment maintenance training.
Based on the research of the requirement of large complex equipment virtual maintenance training, taking the virtual maintenance process simulation model of the large complex equipment as cut-in point, a new thought about large complex equipment virtual maintenance training platform is offered with HLA standard, and the general technology framework of the platform is constructed. Many technology problems in the framework are deeply studied and some new methods, models and arithmetics are put forward such as the maintenance knowledge description net(MKDN) which is suitable for maintenance knowledge description, the evalution mathematic model of student model, the agent-oriented system design method, the new arithmetics of flexible cable. At the last of the paper, the virtual maintenance training system of certain missile luaunch control system is developed with the above technologies.
The main contents involved in this paper are:
1. Firstly make a full-scale research on the requirement of large complex equipment virtual maintenance from the view of virtual maintenance training. Not only the characteristic and requirement of virtual maintenance training system are analyzed, but also the requiprments of electronic, mechanical, hydraulic sub-system and people maintenance action are studied in the virtual maintenance environment.
2. Make the study on the general framework of large complex equipment virtual maintenance training system. Firstly put out the process simulation model of single maintenance man of the virtual maintenance training system, and based on which, the process simulation model and framework of large complex equipment virtual maintenance training system are put forward combim'ng with the characteristics of HLA. The general mapping relation between HLA federation and virtual maintenance training system is established, and the structure and flow of federates are given.
3. Make the study on the maintenance knowledge description method in the large complex equipment virtual maintenance training system, and bring out a new description method based on MKDN. MKDN is realized through the function expansion of Petri Net which is suitable for describing the maintenance knowledge with many administrative levels and complex relation.
本文在对大型复杂装备虚拟维修训练需求进行深入研究的基础上，以大型复杂装备维修训练过程仿真模型为切入点，结合HLA标准提出了大型复杂装备虚拟维修训练平台的新构想，构建了支持这一构想的通用性强的技术框架，对框架涉及的一些具体技术问题进行了深入研究，提出了基于MKDN(Maintenance Knowledge Description Net)的维修知识描述方法；建立了学生模型的评估数学模型；采用面向Agent的方法进行了系统设计；提出了一种柔性线缆建模的新算法。论文最后应用上述技术完成了某型导弹地测发控系统虚拟维修训练系统的开发。
论文主要研究内容包括：
一、首次从虚拟维修训练出发，对大型复杂装备虚拟维修的需求进行了全面的研究，不仅从宏观上对大型复杂装备虚拟维修系统的特点、需求进行了分析，而且还研究了电子、机械、液压等子系统和人体维修活动需求。
二、对大型复杂装备虚拟维修训练系统通用框架进行了研究。首先提出了单维修人员虚拟维修训练系统过程仿真模型，在此基础上结合HLA特点提出了大型复杂装备虚拟维修训练系统过程仿真模型和结构框架。建立了HLA联邦与虚拟维修训练的通用映射关系，提出了联邦成员结构和功能流程。
三、对大型复杂装备虚拟维修训练系统维修知识描述方法进行了深入研究，提出了基于MKDN的维修知识描述方法。MKDN是对Petri网的功能扩充，使其适合描述层次多、关系复杂的维修知识。文中对MKDN的定义、分析方法、基于MKDN虚拟维修想定建模、基于MKDN对象行为建模进行了深入研究，并证明了MKDN保持了Petri网的有界性、活性、安全性和可逆性。
四、对智能辅助训练技术进行了深入研究。采用面向对象基于框架的知识表示方法表示领域知识，将领域知识分为原理库和案例库，采用基于案例的推理机制，根据案例的相关原理属性，计算案例间相似度；通过建立学生模型的评估数学模型和评估指标体系，实现了对受训者的知识水平和维修能力的评估；根据学生模型确定了训练策略，控制实例模块选择补救的案例或新的案例对受训者进行训练，从而达到适人化训练的目的。
五、对面向Agent大型复杂装备虚拟维修训练系统设计方法进行了研究。将系统划分为维修训练Agent和虚拟样机Agent两大类进行设计，重点研究了维修训练Agent的设计方
In this paper, a new virtual maintenance training system of the large complex equipment is created with many technologies such as virtual virtual reality, computer simulation, artificial intelligence etc, and a new approach and method is provided for large complex equipment maintenance training.
Based on the research of the requirement of large complex equipment virtual maintenance training, taking the virtual maintenance process simulation model of the large complex equipment as cut-in point, a new thought about large complex equipment virtual maintenance training platform is offered with HLA standard, and the general technology framework of the platform is constructed. Many technology problems in the framework are deeply studied and some new methods, models and arithmetics are put forward such as the maintenance knowledge description net(MKDN) which is suitable for maintenance knowledge description, the evalution mathematic model of student model, the agent-oriented system design method, the new arithmetics of flexible cable. At the last of the paper, the virtual maintenance training system of certain missile luaunch control system is developed with the above technologies.
The main contents involved in this paper are:
1. Firstly make a full-scale research on the requirement of large complex equipment virtual maintenance from the view of virtual maintenance training. Not only the characteristic and requirement of virtual maintenance training system are analyzed, but also the requiprments of electronic, mechanical, hydraulic sub-system and people maintenance action are studied in the virtual maintenance environment.
2. Make the study on the general framework of large complex equipment virtual maintenance training system. Firstly put out the process simulation model of single maintenance man of the virtual maintenance training system, and based on which, the process simulation model and framework of large complex equipment virtual maintenance training system are put forward combim'ng with the characteristics of HLA. The general mapping relation between HLA federation and virtual maintenance training system is established, and the structure and flow of federates are given.
3. Make the study on the maintenance knowledge description method in the large complex equipment virtual maintenance training system, and bring out a new description method based on MKDN. MKDN is realized through the function expansion of Petri Net which is suitable for describing the maintenance knowledge with many administrative levels and complex relation.
引文
1 张建伟，陆亨立．虚拟现实技术及其应用．电子科技导报 1999，8：26-27
2 张庆雅等．虚拟现实技术及其应用综述．现代电子技术，1998，8：11-13
3 陈禹六等．IDEF建模分析和设计方法．北京，清华大学出版社，1999
4 Grady等著．UML用户指南．北京，机械工业出版社，2001
5 Patrick Senac et al. Hierarchical time stream Petri net: a model for hypermedia systems. 16th international conference on application and theory of Petri nets. Torino, June 1995, pp. 451-470
6 江志斌．Petri网及其在制造系统建模与控制中的应用[M]．北京：机械工业出版社，2004
7 Glor, Peter J. et al., Design evaluation for personnel, training and human factors(DEPTH), Proceedings of the annual reliability and maintainability symposium, Jan 26-28 1993, pp 18-25
8 Ranko Vujosevie et al, DEPTH final report. AFRL/HE-WP-TR-1998-0007, DTIC/AD-A343646, 1998
9 Vujosevic R, Simulation, animation, and analysis of design disassembly for maintainability analysis, international journal of production research V33, Nov 1995, pp. 2999-3022
10 刘铁铭，范玉顺．基于工作流的企业过程建模和仿真技术研究[J]．清华大学学报，2000，40(1)：107-111
11 Stephen Mascaro et al, Hand-in-Glove Human-Machine Interface and Interactive Control: Task Process Modeling Using Dual Petri Nets, Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Leuven, Belgium, May 1998, pp.1289-1295
12 Fuhua Lin et al., An agent-based approach to develop intelligent virtual reality-based training systems, Tools with Artifical Intelligence, 1999. Proceedings 11th IEEE International Conference on 1999, pp.253-260
13 Norman Badler et al, Design Concepts for Automaing Maintenance Instructions, ADA382162, 2000
14 Wampler, J. L. et al, Integrating maintainability and data development, Reliability and Maintainability Symposium, 2003, Annual, IEEE, pp.255-262
15 Jack User's Guide, Version 5.8, Computer Graphics Research Laboratory, Department of Computer and Information Science, University of Pennsylvania, January 11, 1994.
16 Libby Levison et al, How Animated Agents Perform Tasks: Connecting Planning and Manipulation Through Object-Specific Reasoning, University of Pennsylvania, Department of Computer and Information Science, 1994
17 Thomas S. Trias et al, Sonu Chopra, Decision Networks for Integrating the Behavior of Virtual Agents and Avatars, Proceedings of VRAIS'96, IEEE, 1996, pp. 156-162
18 Norman I. Badler et al, "Parameterized Action Representation for virtual human agents," In Embodied Conversational Agents, J. Cassell (ed.), MIT Press, 2000, pp.256-284
19 Ramamani N. Bindiganavale, Building Parameterized Action Representations from Observation, Ph. D Dissertation, Department of Computer and Information Science of the University of Pennsylvania, 2000
20 Christopher WILLIAM Geib, The Intentional Planning System (ItPlans), Ph. D Dissertation, Department of Computer and Information Science of the University of Pennsylvania, 1994
21 Libby Levison, Connecting Planning And Acting Via Object-Specific Reasoning, Ph. D Dissertation, Department of Computer and Information Science of the University of Pennsylvania, 1996
22 James J. K. Jr, Autonomous Agents For Real-Time Animation, Ph. D Dissertation, the Department of Computer Science and The Committee on Graduate Studies of Stanford University, 1999
23 Hyeongseok Ko, Norman I. Badler. Animating Human Locomotion with Inverse Dynamics. Animating Gait and Locomotion IEEE 1996
24 Poupyrev I, Weghorst S, Billinghurst M, Ichikawa T. Egocentric Object Manipulation in Virtual Environments: Empirical Evaluation of Interaction Techniques, Eurographics98, Volume17, (1998), Number3
25 Aaron Bloomfield Yu Deng et al. A Taxonomy and Comparision of Haptic Actions for Disassembly Tasks. Proceeding of the IEEE Virtual Reality 2003(VR'03)
26 Isaac Victor Kerlow.3D计算机动画与图像技术[M]．鲍明忠译．北京：中国水利水电出版社，1998
27 Michael Girard, Anthony A Maciejewski, Computational Modeling for the Computer Animation of Legged Figures[J]. In Proceedings of SIGGRAPH85, 1985, 255-262
28 徐孟，孙守迁，潘云鹤．虚拟人运动控制技术的研究[J]．系统仿真学报，2003(15)：338-342
29 于永利等．维修性可视化涉及分析技术现状与发展趋势．中国机械工程，1998，9(12)：41-44
30 Ranko Vujosevic et al, A Taxonomy of Motion Models for Simulation of Maintenance Tasks, AFR Report, 1995
31 王松山，柳辉．虚拟维修仿真中拆卸规划与人体运动控制研究[J]．中国机械工程，2002，13：15-17
32 温熙森等．大型复杂机电设备监测诊断体系结构研究[J]．中国机械工程．1997，8(2)：99～102
33 黄文虎，夏松波，刘瑞岩．设备故障诊断原理、技术及应用．北京：科学出版社，1996：10～11
34 马磷，吕川．虚拟维修中的任务过程建模[J]．中国机械工程，2002，13：102-104
35 周国华，黄文培．CAI课件的评价体系与模糊综合评价[J]．第三届中国人工智能学会第三届全国学术会议(CAAI-3)，1994，pp．415-419
36 R. Lu, C. Cao, &Y. Chen, et. A PNLU Approach to ICAI Generation[J]. Science in China (Series A), 1996, 38, 1-10
37 刘鹏远，张锡恩．虚拟操作训练系统中的过程仿真模型研究[J]．计算机仿真，2004，21(3)：161-163
38 周彦，戴剑伟．HLA仿真程序设计[M]．电子工业出版社．北京：2002．06
39 洪钢．HLA-21世纪的分布式仿真标准．上海铁道大学学报综合版，2000，21(6)：12-16，
40 邱晓刚，黄柯棣．HLA对象模型的概念、描述与建立[J]．计算机仿真，1998，15(1)：14-17
41 郝建国，黄健，黄柯棣．HLA联邦数据收集的研究与实现[J]．计算机仿真，2002，19(1)：38-42
42 H, Zhao and N. D. Geornagas, An Approach for Stream Retrieval over HLA-RTI, Proc 4th IEEE DS-RT 2000, San Franciso, Aug2000
43 IEEE Std 1516-2000, IEEE Standard for modeling and Simulation(M&S) High Level Architecture(HLA)—Framework and Rules, Sep2000
44 IEEE Std 1516.2-2000, IEEE Standard for Modeling and Simulation(M&S) High Level Architecture(HLA)—Object Model Template(OMT) Specification, Sep2000
45 IEEE Std 1516.1-2000, IEEE Standard for Modeling and Simulation(M&S) High Level Architecture(HLA)—Federation Interface Specification, Apr2000
46 B. Murray, S. Monson, Analysis of Real-Time HLA Distributed Missile Training Federation, Simulation Interoperability Workshop, Spring 2000, http://www.sisostds.org/
47 刘鹏远，张锡恩．基于HLA某型装备虚拟操作训练系统[J]．系统仿真学报，2004，16(6)：1280-1284
48 陈磊，王海丽．导弹攻防对抗仿真系统信息交互的方法研究[J]．系统仿真学报，2001，13(6)：701-703
49 陈磊，王海丽．导弹攻防对抗仿真的时空一致性研究[J]．系统仿真学报，2001，13(5)：634-636
50 冯润明、黄柯棣．HLA联邦成员软件开发环境研究．系统仿真学报[J]，2001，13(3)：267-270
51 谢卫平、邓苏、沙基昌等．基于构件技术的HLA仿真[J]．计算机工程与应用，2002，3：114-116
52 宋云娴，白鹏．智能教学系统设计与实现[M]．电子工业出版社，1995
53 王召福、金士尧．联邦对象模型的相关问题[J]．计算机工程与科学，2001，23(3)：8-10
54 Liu pengyuan, Li ruihua et al. The design of certain missile virtual maintenance system[A]. Proceedings of the 6th international symposium on test and measurement, Dalian, 2005, 2: 1833-1877
55 Dai, F. and Reindl, P., Enable digital mock up with virtual reality techniques-vision, concept, demonstrator[A]. Proceedings of 1996 ASME design engineering technical conference and computers in engineering, Irvine, California August 18-22.
56 李瑞涛，方湄等．虚拟样机技术的概念及应用[J]．金属矿山，2000，7：38-40
57 赵雯，王维平．武器系统虚拟样机技术研究[J]．国防科技大学学报，1999，21(1)：58-62
58 赵雯，王维平．虚拟样机一体化建模方法研究[J]．系统仿真学报，2002，14(1)：100-103．
59 刘鹏远．虚拟现实技术在操作训练中的应用研究[D]．军械工程学院博士学位论文．2003．03
60 孙晋文，李明树．软件开发：从面向对象到Agent技术[J]．计算机与现代化，2000。3：30-32
61 Fuhua Lin, The Development of Intelligent Virtual Reality-based Industrial Training Systems[D]. Ph. D Dissertation, Hong Kong University of Science and Technology, 1998
62 郭艳红，邓贵仕．基于案例的推理(CBR)研究综述[J]．计算机工程与应用，2004，21：1-5
63 Joseph Giarratano，Gary Riley．Expert Systems Principles and Programming[M]．机械工业出版社，2000
64 宋云娴，白鹏．智能教学系统设计与实现[M]．电子工业出版社，1995
65 刘鹏远，张锡恩．分布式虚拟操作训练系统误操作数据采集方法[J]．军械工程学院学报，2005，17(4)：68-71
66 杨纶标，高英仪．模糊数学原理及应用[M]．华南理工大学出版社，2001
67 王永庆．人工智能原理与方法[M]．西安交通大学出版社，1998
68 J. R. Li, L. P. Khoo, S. B. Tor. Desktop virtual reality for maintenance training: an object oriented prototype system (V-REALISM)[J]. Computers in Industry, 2003, 52: 109-125
69 Moez BELLAMINE, Norihiro ABE, Kazuaki TANAKA, Hirokazu TAKI. Remote Machinery Maintenance System with the use of Virtual Reality[A]. Proceedings of the First International Symposium on 3D Data Processing Visualization and Transmission (3DPVT. 02), 2002
70 Eberhard Bluemel, Axel Hintx, Torsten Schulz, Marco Scbumann, Stefan Stuering. Virtual Environment for the Training of Maintenance And Service Tasks[A]. Proceedings of the 2003 Winter Simulation Conference, Magdeburg, GERMANY, 2003, pp. 2001-2007
71 Antonino Gomes de Sa, Gabriel Zachmann. Virtual reality as a tool for verication of assembly and maintenance processes[J]. Computers & Graphics, 1999, 23: 389-403
72 郝建平．维修性可视化分析技术研究[D]．军械工程学院博士论文，1999
73 王松山．虚拟维修样机技术研究与系统实现[D]．军械工程学院博士论文，2005
74 柴旭东，李伯虎．高层体系结构实施技术的初步实践与进一步研究[J]．系统仿真学报，2002，14(2)：152-155
75 周忠，段作义．HLA体系中盟员与RTI的通信实现[J]．系统仿真学报．2001，13(Suppl)
76 史扬，金士尧．基于HLA框架的新一代分布交互仿真．计算机工程与科学．1999，21(3)：P28-33
77 Sven Pawletta, Wolfgang Drewelow, HLA-based Simulation within an Inactive Engineering Environment, IEEE 2000, pp: 97-102
78 Mr. Robert Lutz. A Comparison of HLA Object Modeling Principles With Traditional Object-Oriented Modeling Concepts. 1997 Fall Simulation Interoperability Workshop.
79 冯润明，郝建国．HLA联邦设计中的模型问题[J]．计算机仿真，2002，01：30-33
80 张龙，尹文君．RTI系统时间管理算法研究．系统仿真学报．2000，12(5)：494—498
81 Macedonia M. Exploiting reality with multicast groups: a network architecture for large scale virtual environments. IEEE Computer Graphics and Application, 1995, 15(5): 38-45
82 Qunjie WANG, Mark Green, Chris Shaw. EM-An Environment Manager For Building Networked Virtual Environments[A]. Virtual Reality Annual International Symposium' 95 IEEE Computer Society Press, Los Alamitos, California
83 李国和等．基于HLA的分布交互仿真数据收集系统的研究[J]．计算机科学，2000，27(10)：12—15
84 陈谊，赵敏哲．分布式虚拟现实及其在仿真中的应用[J]．计算机仿真，2002，19(1)：9-13
85 陈谊．基于HLA的三维虚拟环境[J]．计算机工程与应用，2002，38(14)：21-24，
86 John Robinson and Janice Webster. Virtual Reality, a Developer' s Perspective[A]. AVR Ⅱ and CONVR 2001, Conference at Chalmers, Gothenburg, Sweden, 2001. 153-157.
87 刘宏增，黄靖远．虚拟设计[M]．北京：机械工业出版社，1999
88 Jayaram S et al. VADE: A Virtual Assembly Design Environment[J]. IEEE Computer Graphics and Applications, 1999, 29(8): 44-50
89 Jayaram S et al. Virtual assembly using virtual reality techniques[J]. Computer-Aided Design, 1997, 29(8): 575-584
90 Dani T H, Gadh R. Creation of Concept Shape Designs Via a Virtual Reality Interface[J]. Computer-Aided Design, 1997, Vol. 29, No. 8: 555-563
91 Roessler, A. Assembly Planning in Virtual Environment-Scenarios and Potentials, areas/Assembly/OVERVIEW en. html, 1998.
92 Schmits, B. Virtual Reality: On the Brink of Greatness[J]. Computer Aided Engineering, 1993, Vol. 12, No. 4: 26-32.
93 Grandl Reinhard. Virtual process week in the experimental vehicle build aat BMWAG [J]. Robotics and Computer Integrated Manufacturing, 2001, 17(2): 65-71.
94 Abe, et al. Verification of assemblability of mechanical parts and visualization of machinery of assembly in virtual space[A]. In: Proceedings of International Conference on Virtual Reality and Tele-Existence' 97[C], Tokyo, 1997, 208-215.
95 Jung B, et al. Knowledge-based assembly simulation for virtual prototype modeling[A]. In: Proceedings of the 24th Annual Conference of IEEE Industrial Electronics Society[C], Aachen Germany, 1998, 2153-2157.
96 曹鹏彬，刘继红，管强．虚拟拆卸环境中工具的操作技术[J]．计算机辅助设计与图形学学报，2003，Vol．15，No．4：454-458．
97 周炜，易建军，郑建荣，刘继红．虚拟环境下物体的手抓取[J]．计算机辅助工程，2004．6，Np．2：41-44．
98 R. Rowen Loftin. The Use of Virtual Enviornments for Trainint the Hubble Space Telescope Flight Team[EB/OL]. http://www.vetl.uh.edu/Hubble/virtel.html, 1998.
99 Patrick J. Results of a Survey on the Use of Virtual Enviroment Technology in Training NASA Flight Controlers for the Hubble Space Telescope servicing Mission[EB/OL]. http://www.vetl.uh.edu/Hubble/virtel, html, 1998.
100 Loftin, R. B. Virtual environments for aerospace training[A]. Proceedings of IEEE Technical Applications Conference[C]. Northcon, New York: IEEE. 1995.
101 Loftin, R. B., & Kenney, P. Training the Hubble space telescope flight team[A]. IEEE Computer Graphics and Applications[C]. 15 (5), 31-37.
102 John J. Kapp, Erkan Akyuz. Utilization of A Virtual Environment for Combat Information center training[D]. Monterey, California: Naval Postgraduate school, 1997.3.
103 Mossissey, M. Virtual reality: An Industry User' s Perspective[A]. IEEE Coloquium on irtual reality-user issues (Diggest No96/068)[C]. London: EE, 1996.
104 Luis Marcelino, Norman Murray, Terrence Fernando. A User Interface for Virtual Maintainability in Immersive Environments[J]. HCI International, 2003, Vol. 1, pp1183-1187.
105 Luis Marcelino, Norman Murray, Terrence Fernando. A Constraint Manager to Support Virtual Maintainability[J]. Computers and Graphics, 2003, Vol 27, pp19-26.
106 N. Badler, et al. Technology for maintenance procedure validation[R]. AFRL-HE-WP-TR-2001-0117, Philadelphia: University of Pennsylvania, 1998.
107 N. Badler, C. Erignac. Design Concepts for Automating Maintenance Instructions[R]. AFRL-HE-WP-TR-2000-0088, Philadelphia: University of Pennsylvania, 2000.
108 N. Badler. Virtual humans for validating maintenance procedures[J]. Communications of the ACM, 2002.6, Vol. 45, No. 7: 57-63.
109 Jeffrey L. Wampler. Integrating Maintainability and Data Development[A]. In: 2003 Proceedings Annual Reliability and Maintainability Symposium[C]. Tampa, Florida, USA, 2003, 255-262.
110 Wampler, J., R. Blue, C. R. Volpe, P. Rondot. Service Manual Generation: Anautomated approach to maintenance manual development. Proceedings of the 16th Human Factors in Aviation Maintenance Symposium, April 2002.
111 Blue, R. S., J. Wampler, et al, An automated approach and virtual environment for generating maintenance instructions,, Demonstration at CHI 2002.
112 A, Amundarain et al. Virtual reality for aircraft engines maintainability[J]. Mecanique & Industries 5, 2004, pp121-127.
113 Borro Yaguez, Diego. Collisions for maintainability studies with force feedback over dense and massive digital mock-ups[D]. Navarra, Spanish: Universidad DE Navarra, 2004.
114 黄浩东，陈宗基．虚拟原型技术及控制工程中的虚拟原型机[J]．中国机械工程，1999，Vol．25，NO．3：52-54．
115 Wang G G. Definition Clarification and Review on Virtual Prototyping [A]. International Design Engineering Technical Conferences and Design Automation Conference[C]. Pittsburgh, Pennsylvania, 2001[EB/OL].
116 John Ianni, Ranko Vujosevic. A Taxonomy of Motion Models for Simulation and Analysis of Maintenance Tasks[R]. No. A606923, Center for Computer Aided Design, The University of Iowa, June, 1997.
117 朱名铨，张树生．虚拟制造系统与实现[M]．西安：西北工业大学出版社，2001．10．
118 Kevin J. Abshire, Mike K. Barron. Virtual Maintenance: Real-world Applications within Virtual Environment[A]. IEEE Proceedings Annual Reliability and Maintainability Symposium[C]. Aukstakalnis, S. &Blatner, D. 1998. 132-137.
119 Hao Jianping, Yu Yongli. Computer-Aided Maintainability in China[A]. IEEE Proceedings Annual Reliability and Maintainability Symposium[C]. Aukstakalnis, S. & Blatner, D. 1998. 274-278.
120 于永利，郝建平，杨东晓．维修性可视化设计分析技术现状与发展趋势[J]．中国机械工程，1998，Vol．9，No．12：41-44．
121 John Ianni. Maintenance Simulation: Research and Application[R]. AL/HR-TP-1995-0019, Human Resource Directarate Logistics Research Divison, Wright-Patterson AFB, OH, 1995.
122 Rajit Gadh, Hari Srinivasan. Virtual Disassembly—a Software Tool for Developing Product Dismantling and Maintenance Systems[A]. 1998 Proceedings Annual Reliability and Maintainability Symposium[C]. Beijing, 1998. 120-125.
123 郝建平．维修性可视化分析技术研究[D]．石家庄：军械工程学院，1999．5．
124 张茂军．虚拟现实系统[M]．北京：科学出版社，2001．
125 Rix, S. Haas, and J. Teixeira, editors, Virtual Prototyping-Virtual environments and the product design process, chapter 10, pages 113-128. Chapman & Hall, 1995.
126 程成．虚拟环境下人机交互技术研究[D]．北京：中国科学院研究生院，2002．11．
127 Sun H, Green M. a Technique for Animating Natural Behavior in Complex Scenes[A]. IEEE International Conference on Systems, Man, and Cybernetics[C]. Lake R., M. Green, 1991.
128 郑援等．合成虚拟实体对象复合行为状态[J]．计算机学报，1999(1)：98-101．
129 R. J. Millar, J. R. P. Hanna, and S. M. Kealy. A Review of Behavioural
130 Animation[J]. Computer & Graphics, 1999(23): 127-143.
131 N. Badler, Rama Bindiganavale, Jan Allbeck, etc. Parameterized Action Representation for Virtual Human Agents[A]. In Justine Cassell et al[C]. editors, Embodied Conversational Agents. MIT Press, 2000.
132 N. Badler, R. Bindiganavale, J. Bourne, J. Allbeck, J. Shi, and M. Palmer. Real Time Virtual Humans[A]. International Conference on Digital Media Futures[C]. Bradford, UK, April, 1999.
133 M. Kallmann, D. Thalmann. Modeling Behaviors of Interactive Objects for Real Time Virtual Environments[J]. J. Via. Lang. Comput, 2002, 13(2): 177-195.
134 G. Sannier, S. Balcisoy, N. Magnenat-Thalmann, and D. Thalmann. VHD: A System for Directing Real-Time Virtual Actors[J]. The Visual Computer, Springer, 1999 Vol. 15, No. 7/8: 320-329.
135 M. Kallmann, D. Thalmann. a Behavioral Interface to Simulate Agent-Object Interactions in Real-Time[A]. Proceedings of Computer Animation 99[C]. IEEE Computer Society Press, Geneva, 1999. 138-146.
136 R. Boulic, P. Becheiraz, L. Emering, and D. Thalmann. Integration of Motion Control Techniques for Virtual Human and Avatar Real-Time Animation[A]. In Proceedings of VRST'97[C]. ACM press, September 1997. 111-118.
137 Marcelo Kallmann, Jean-Sebastien Monzani, etc. a Common Environment for Simulating Virtual Human Agents in Real Time. Proceedings of the Workshop on Achieving Human-Like Behavior in Interactive Animated Agents[C]. Barcelona, Spain, June, 2000.
138 Marcelo Kallman. Object Interaction in Real Time Virtual Environments[D]. Lausanne: Swiss Federal Institute of Technology, 2001.
139 M. Kallmann and D. Thalmann. Modeling Behaviors of Interactive Objects for Virtual Reality Applications[J]. Journal of Visual Languages and Computing, 2002(13): 177-195.
140 袁崇义．Petri网原理[M]．北京，电子工业出版社，1998．
141 李惠峰等．混合Petri网及其可达性分析[J]．北京航空航天大学学报，2000，26(2)149-152．
142 Cao, Tiehua and Arthur C Sanderson. Intelligent Task Planning Using Fuzzy Petri Nets. Series in Intelligent Control and Intelligent Automation.Word scienctific Publishing Co. Pte. Ltd, 1996, Vol3
143 David, R. and H. Alla. Petri Nets & Grafact, Tools for modeling discrete event systems. Prentice Hall, 1992
144 Kaddouri. S. A., H, Ezzedine, and J. C. Angue. Task modeling using object on petri nets, Symbiosis of Human and Artifact. Proc. of the Sixth Int. Conf. On Human-Computer Interactions. 1995,Vol. a. pp983-988
145 Kiritsis, D. and M. Porchet. A generic Petri net model for dynamic process planning and sequence optimization. Advances in Engineering Software 1996, vol.25, no. 1, pp61-71
146 Kumagai, S. and T. Miyamoto, 1996, An agent net approach to autonomous distributed systems. 1996 IEEE International Conference on Systems, Man and Cybernetics. Infonnation Intelligence and Systems (Cat. No. 96CH35929) P3204-9 vol.4.
147 Lee, KyungHuy and Moo Young Jung. Petri Net Application in Flexible Process Planning, Computers Ind. 1994, Vol.27, No. 1-4, pp. 505-508
148 Murata, T. Petri-net: Properties, analysis and applications. Proc. IEEE, 1989, vol. 77, no. 4, pp. 541-580
149 Zurawski, R. and MengChu Zhou. Petri Nets and Industrial Applications: A Tutorial, IEEE Transactions on Industrial Electronics, Vol.41, No.6, Dec. pp567-583,1994
150 Thomas, Johnson P., Nimal Nissanke, and Keith D. Baker. A Hierarchical Petri Net Framework for the Representation and Analysis of Assembly. IEEE Trans. Robot. Automat. vol. 12, no. 2, pp.268-279, 1996
151 Proth, Jean-Marie and Xiaolan Xie. Petri nets: A Tool for Design and Management of Manufacturing Systems. John Wiley&Sons, 1996
152 Lee, Yang Lyu and Sung Joo Park. OPNets: an object-oriented high-level Petri net model for real-time system modeling[J]. Journal of Systems and Softivare vol.20, no. 1, p69-86, 1993
153 Muller, J. P. The Design of Intelligent Agents[J]. A Layered Approach, Springer. 1996
154 Miiller, H. J. Towards agent systems engineering [J]. Data&Knowledge Engineering, 1997, vol.23, no. 3, p217-45
155 Tambe, M., Johnson, W. L., Jones, R., Koss, F., Laird, J., Rosenbloom, P., and Schwamb, K. Intelligent agents for interactive simulation environments [J]. AI Magazine, 1995, vol.16, no. 1, ppl5-39.
156 Wooldridge, M. Agent-based software engineering [A]. IEEE Proc. -Softw. Eng., 1997, Vol. 144, No. 1. pp26-37
157 Stephen C. Gregg. A Constructive Landing Signals Officer for Conducting Pilot Training in a Sea King Helicopter Deck Landing Simulator[D]. The Royal Military College, 2002.
158 Sam Siewert. A Real-Time Execution Performance Agent Interface for Confidence-Based Scheduling[D]. the Graduate School of the University of Colorado, 2000
159 William Anthony Alford. Design and implementation of the self agent system in a multi-agent-based robot control architecture[D]. Graduate School of Vanderbilt University, 2003
160 Brandt. S., Nutt. G., Berk. T, and Manlovich, J. A Dynamic Quality of Service Middleware Agent for Mediating Application Resource Usage [A]. Proceedings of the 19th IEEE Real-Time Systems Symposium, December 1998
161 A. D. Baker. A survey of factory control algorithms that can be implemented in a multi-agent heterarchy: dispatching, scheduling, and pull[J]. Journal of Manufacturing Systems, 1998,vol. 17, No. 4
162 M. Cantamessa. Hierarchical and heterarchical behaviour in agent-based manufacturing systems[J]. Computers in Industry, 1997,vol. 33
163 A. Deshmukh, T. Middelkoop, A. Krothapalli, W. Shields, N. Chandra, and C. A.Smith. Multi-agent design architecture for integrated design systems[A]. Proceedings of the AIAA Journal of Aircraft, Jan. 1999. Available at http://farm. ecs. umass. edu/publications. html
164 R. J. Graves and G. D Autonomous Agents in Product Realization and Service Provision Environments: Cases and Demonstrations [A]. Proceedings of the ALLEN'97 Conference, October 1-3, 1997, Galway, Ireland
165 S. S. Heragu, R. J. Graves, B. Kim, and A. St. Onge. Intelligent agent based framework for integrating planning and design in material handling systems [J]. Material Handling Research, 2000
166 S. S. Heragu, R. J. Graves, B. Kim, and A. St. Onge, Intelligent agent based framework for manufacturing systems control [A]. IEEE Transactions on Systems, Man, and Cybernetics
167 B. Kim, R. J. Graves, S. S. Heragu, and A. St. Onge. Intelligent Agent Based Model for an Industrial Order Picking Problem[A]. Proceedings of the IOth Annual Industrial Engineering Research Conference, 2001
168 B. Kim, R. J. Graves, S. S. Heragu. Intelligent Agent of an Industrial Warehousing Problem[J]. IEEE Transactions, 2002, vol. 34, No.7
169 N. K. C. Krothapalli and A. V. Deshmukh. Design of negotiation protocols for multi-agent manufacturing systems[J]. International Journal of Production Research, 1999, vol. 37, No. 7
2 张庆雅等．虚拟现实技术及其应用综述．现代电子技术，1998，8：11-13
3 陈禹六等．IDEF建模分析和设计方法．北京，清华大学出版社，1999
4 Grady等著．UML用户指南．北京，机械工业出版社，2001
5 Patrick Senac et al. Hierarchical time stream Petri net: a model for hypermedia systems. 16th international conference on application and theory of Petri nets. Torino, June 1995, pp. 451-470
6 江志斌．Petri网及其在制造系统建模与控制中的应用[M]．北京：机械工业出版社，2004
7 Glor, Peter J. et al., Design evaluation for personnel, training and human factors(DEPTH), Proceedings of the annual reliability and maintainability symposium, Jan 26-28 1993, pp 18-25
8 Ranko Vujosevie et al, DEPTH final report. AFRL/HE-WP-TR-1998-0007, DTIC/AD-A343646, 1998
9 Vujosevic R, Simulation, animation, and analysis of design disassembly for maintainability analysis, international journal of production research V33, Nov 1995, pp. 2999-3022
10 刘铁铭，范玉顺．基于工作流的企业过程建模和仿真技术研究[J]．清华大学学报，2000，40(1)：107-111
11 Stephen Mascaro et al, Hand-in-Glove Human-Machine Interface and Interactive Control: Task Process Modeling Using Dual Petri Nets, Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Leuven, Belgium, May 1998, pp.1289-1295
12 Fuhua Lin et al., An agent-based approach to develop intelligent virtual reality-based training systems, Tools with Artifical Intelligence, 1999. Proceedings 11th IEEE International Conference on 1999, pp.253-260
13 Norman Badler et al, Design Concepts for Automaing Maintenance Instructions, ADA382162, 2000
14 Wampler, J. L. et al, Integrating maintainability and data development, Reliability and Maintainability Symposium, 2003, Annual, IEEE, pp.255-262
15 Jack User's Guide, Version 5.8, Computer Graphics Research Laboratory, Department of Computer and Information Science, University of Pennsylvania, January 11, 1994.
16 Libby Levison et al, How Animated Agents Perform Tasks: Connecting Planning and Manipulation Through Object-Specific Reasoning, University of Pennsylvania, Department of Computer and Information Science, 1994
17 Thomas S. Trias et al, Sonu Chopra, Decision Networks for Integrating the Behavior of Virtual Agents and Avatars, Proceedings of VRAIS'96, IEEE, 1996, pp. 156-162
18 Norman I. Badler et al, "Parameterized Action Representation for virtual human agents," In Embodied Conversational Agents, J. Cassell (ed.), MIT Press, 2000, pp.256-284
19 Ramamani N. Bindiganavale, Building Parameterized Action Representations from Observation, Ph. D Dissertation, Department of Computer and Information Science of the University of Pennsylvania, 2000
20 Christopher WILLIAM Geib, The Intentional Planning System (ItPlans), Ph. D Dissertation, Department of Computer and Information Science of the University of Pennsylvania, 1994
21 Libby Levison, Connecting Planning And Acting Via Object-Specific Reasoning, Ph. D Dissertation, Department of Computer and Information Science of the University of Pennsylvania, 1996
22 James J. K. Jr, Autonomous Agents For Real-Time Animation, Ph. D Dissertation, the Department of Computer Science and The Committee on Graduate Studies of Stanford University, 1999
23 Hyeongseok Ko, Norman I. Badler. Animating Human Locomotion with Inverse Dynamics. Animating Gait and Locomotion IEEE 1996
24 Poupyrev I, Weghorst S, Billinghurst M, Ichikawa T. Egocentric Object Manipulation in Virtual Environments: Empirical Evaluation of Interaction Techniques, Eurographics98, Volume17, (1998), Number3
25 Aaron Bloomfield Yu Deng et al. A Taxonomy and Comparision of Haptic Actions for Disassembly Tasks. Proceeding of the IEEE Virtual Reality 2003(VR'03)
26 Isaac Victor Kerlow.3D计算机动画与图像技术[M]．鲍明忠译．北京：中国水利水电出版社，1998
27 Michael Girard, Anthony A Maciejewski, Computational Modeling for the Computer Animation of Legged Figures[J]. In Proceedings of SIGGRAPH85, 1985, 255-262
28 徐孟，孙守迁，潘云鹤．虚拟人运动控制技术的研究[J]．系统仿真学报，2003(15)：338-342
29 于永利等．维修性可视化涉及分析技术现状与发展趋势．中国机械工程，1998，9(12)：41-44
30 Ranko Vujosevic et al, A Taxonomy of Motion Models for Simulation of Maintenance Tasks, AFR Report, 1995
31 王松山，柳辉．虚拟维修仿真中拆卸规划与人体运动控制研究[J]．中国机械工程，2002，13：15-17
32 温熙森等．大型复杂机电设备监测诊断体系结构研究[J]．中国机械工程．1997，8(2)：99～102
33 黄文虎，夏松波，刘瑞岩．设备故障诊断原理、技术及应用．北京：科学出版社，1996：10～11
34 马磷，吕川．虚拟维修中的任务过程建模[J]．中国机械工程，2002，13：102-104
35 周国华，黄文培．CAI课件的评价体系与模糊综合评价[J]．第三届中国人工智能学会第三届全国学术会议(CAAI-3)，1994，pp．415-419
36 R. Lu, C. Cao, &Y. Chen, et. A PNLU Approach to ICAI Generation[J]. Science in China (Series A), 1996, 38, 1-10
37 刘鹏远，张锡恩．虚拟操作训练系统中的过程仿真模型研究[J]．计算机仿真，2004，21(3)：161-163
38 周彦，戴剑伟．HLA仿真程序设计[M]．电子工业出版社．北京：2002．06
39 洪钢．HLA-21世纪的分布式仿真标准．上海铁道大学学报综合版，2000，21(6)：12-16，
40 邱晓刚，黄柯棣．HLA对象模型的概念、描述与建立[J]．计算机仿真，1998，15(1)：14-17
41 郝建国，黄健，黄柯棣．HLA联邦数据收集的研究与实现[J]．计算机仿真，2002，19(1)：38-42
42 H, Zhao and N. D. Geornagas, An Approach for Stream Retrieval over HLA-RTI, Proc 4th IEEE DS-RT 2000, San Franciso, Aug2000
43 IEEE Std 1516-2000, IEEE Standard for modeling and Simulation(M&S) High Level Architecture(HLA)—Framework and Rules, Sep2000
44 IEEE Std 1516.2-2000, IEEE Standard for Modeling and Simulation(M&S) High Level Architecture(HLA)—Object Model Template(OMT) Specification, Sep2000
45 IEEE Std 1516.1-2000, IEEE Standard for Modeling and Simulation(M&S) High Level Architecture(HLA)—Federation Interface Specification, Apr2000
46 B. Murray, S. Monson, Analysis of Real-Time HLA Distributed Missile Training Federation, Simulation Interoperability Workshop, Spring 2000, http://www.sisostds.org/
47 刘鹏远，张锡恩．基于HLA某型装备虚拟操作训练系统[J]．系统仿真学报，2004，16(6)：1280-1284
48 陈磊，王海丽．导弹攻防对抗仿真系统信息交互的方法研究[J]．系统仿真学报，2001，13(6)：701-703
49 陈磊，王海丽．导弹攻防对抗仿真的时空一致性研究[J]．系统仿真学报，2001，13(5)：634-636
50 冯润明、黄柯棣．HLA联邦成员软件开发环境研究．系统仿真学报[J]，2001，13(3)：267-270
51 谢卫平、邓苏、沙基昌等．基于构件技术的HLA仿真[J]．计算机工程与应用，2002，3：114-116
52 宋云娴，白鹏．智能教学系统设计与实现[M]．电子工业出版社，1995
53 王召福、金士尧．联邦对象模型的相关问题[J]．计算机工程与科学，2001，23(3)：8-10
54 Liu pengyuan, Li ruihua et al. The design of certain missile virtual maintenance system[A]. Proceedings of the 6th international symposium on test and measurement, Dalian, 2005, 2: 1833-1877
55 Dai, F. and Reindl, P., Enable digital mock up with virtual reality techniques-vision, concept, demonstrator[A]. Proceedings of 1996 ASME design engineering technical conference and computers in engineering, Irvine, California August 18-22.
56 李瑞涛，方湄等．虚拟样机技术的概念及应用[J]．金属矿山，2000，7：38-40
57 赵雯，王维平．武器系统虚拟样机技术研究[J]．国防科技大学学报，1999，21(1)：58-62
58 赵雯，王维平．虚拟样机一体化建模方法研究[J]．系统仿真学报，2002，14(1)：100-103．
59 刘鹏远．虚拟现实技术在操作训练中的应用研究[D]．军械工程学院博士学位论文．2003．03
60 孙晋文，李明树．软件开发：从面向对象到Agent技术[J]．计算机与现代化，2000。3：30-32
61 Fuhua Lin, The Development of Intelligent Virtual Reality-based Industrial Training Systems[D]. Ph. D Dissertation, Hong Kong University of Science and Technology, 1998
62 郭艳红，邓贵仕．基于案例的推理(CBR)研究综述[J]．计算机工程与应用，2004，21：1-5
63 Joseph Giarratano，Gary Riley．Expert Systems Principles and Programming[M]．机械工业出版社，2000
64 宋云娴，白鹏．智能教学系统设计与实现[M]．电子工业出版社，1995
65 刘鹏远，张锡恩．分布式虚拟操作训练系统误操作数据采集方法[J]．军械工程学院学报，2005，17(4)：68-71
66 杨纶标，高英仪．模糊数学原理及应用[M]．华南理工大学出版社，2001
67 王永庆．人工智能原理与方法[M]．西安交通大学出版社，1998
68 J. R. Li, L. P. Khoo, S. B. Tor. Desktop virtual reality for maintenance training: an object oriented prototype system (V-REALISM)[J]. Computers in Industry, 2003, 52: 109-125
69 Moez BELLAMINE, Norihiro ABE, Kazuaki TANAKA, Hirokazu TAKI. Remote Machinery Maintenance System with the use of Virtual Reality[A]. Proceedings of the First International Symposium on 3D Data Processing Visualization and Transmission (3DPVT. 02), 2002
70 Eberhard Bluemel, Axel Hintx, Torsten Schulz, Marco Scbumann, Stefan Stuering. Virtual Environment for the Training of Maintenance And Service Tasks[A]. Proceedings of the 2003 Winter Simulation Conference, Magdeburg, GERMANY, 2003, pp. 2001-2007
71 Antonino Gomes de Sa, Gabriel Zachmann. Virtual reality as a tool for verication of assembly and maintenance processes[J]. Computers & Graphics, 1999, 23: 389-403
72 郝建平．维修性可视化分析技术研究[D]．军械工程学院博士论文，1999
73 王松山．虚拟维修样机技术研究与系统实现[D]．军械工程学院博士论文，2005
74 柴旭东，李伯虎．高层体系结构实施技术的初步实践与进一步研究[J]．系统仿真学报，2002，14(2)：152-155
75 周忠，段作义．HLA体系中盟员与RTI的通信实现[J]．系统仿真学报．2001，13(Suppl)
76 史扬，金士尧．基于HLA框架的新一代分布交互仿真．计算机工程与科学．1999，21(3)：P28-33
77 Sven Pawletta, Wolfgang Drewelow, HLA-based Simulation within an Inactive Engineering Environment, IEEE 2000, pp: 97-102
78 Mr. Robert Lutz. A Comparison of HLA Object Modeling Principles With Traditional Object-Oriented Modeling Concepts. 1997 Fall Simulation Interoperability Workshop.
79 冯润明，郝建国．HLA联邦设计中的模型问题[J]．计算机仿真，2002，01：30-33
80 张龙，尹文君．RTI系统时间管理算法研究．系统仿真学报．2000，12(5)：494—498
81 Macedonia M. Exploiting reality with multicast groups: a network architecture for large scale virtual environments. IEEE Computer Graphics and Application, 1995, 15(5): 38-45
82 Qunjie WANG, Mark Green, Chris Shaw. EM-An Environment Manager For Building Networked Virtual Environments[A]. Virtual Reality Annual International Symposium' 95 IEEE Computer Society Press, Los Alamitos, California
83 李国和等．基于HLA的分布交互仿真数据收集系统的研究[J]．计算机科学，2000，27(10)：12—15
84 陈谊，赵敏哲．分布式虚拟现实及其在仿真中的应用[J]．计算机仿真，2002，19(1)：9-13
85 陈谊．基于HLA的三维虚拟环境[J]．计算机工程与应用，2002，38(14)：21-24，
86 John Robinson and Janice Webster. Virtual Reality, a Developer' s Perspective[A]. AVR Ⅱ and CONVR 2001, Conference at Chalmers, Gothenburg, Sweden, 2001. 153-157.
87 刘宏增，黄靖远．虚拟设计[M]．北京：机械工业出版社，1999
88 Jayaram S et al. VADE: A Virtual Assembly Design Environment[J]. IEEE Computer Graphics and Applications, 1999, 29(8): 44-50
89 Jayaram S et al. Virtual assembly using virtual reality techniques[J]. Computer-Aided Design, 1997, 29(8): 575-584
90 Dani T H, Gadh R. Creation of Concept Shape Designs Via a Virtual Reality Interface[J]. Computer-Aided Design, 1997, Vol. 29, No. 8: 555-563
91 Roessler, A. Assembly Planning in Virtual Environment-Scenarios and Potentials, areas/Assembly/OVERVIEW en. html, 1998.
92 Schmits, B. Virtual Reality: On the Brink of Greatness[J]. Computer Aided Engineering, 1993, Vol. 12, No. 4: 26-32.
93 Grandl Reinhard. Virtual process week in the experimental vehicle build aat BMWAG [J]. Robotics and Computer Integrated Manufacturing, 2001, 17(2): 65-71.
94 Abe, et al. Verification of assemblability of mechanical parts and visualization of machinery of assembly in virtual space[A]. In: Proceedings of International Conference on Virtual Reality and Tele-Existence' 97[C], Tokyo, 1997, 208-215.
95 Jung B, et al. Knowledge-based assembly simulation for virtual prototype modeling[A]. In: Proceedings of the 24th Annual Conference of IEEE Industrial Electronics Society[C], Aachen Germany, 1998, 2153-2157.
96 曹鹏彬，刘继红，管强．虚拟拆卸环境中工具的操作技术[J]．计算机辅助设计与图形学学报，2003，Vol．15，No．4：454-458．
97 周炜，易建军，郑建荣，刘继红．虚拟环境下物体的手抓取[J]．计算机辅助工程，2004．6，Np．2：41-44．
98 R. Rowen Loftin. The Use of Virtual Enviornments for Trainint the Hubble Space Telescope Flight Team[EB/OL]. http://www.vetl.uh.edu/Hubble/virtel.html, 1998.
99 Patrick J. Results of a Survey on the Use of Virtual Enviroment Technology in Training NASA Flight Controlers for the Hubble Space Telescope servicing Mission[EB/OL]. http://www.vetl.uh.edu/Hubble/virtel, html, 1998.
100 Loftin, R. B. Virtual environments for aerospace training[A]. Proceedings of IEEE Technical Applications Conference[C]. Northcon, New York: IEEE. 1995.
101 Loftin, R. B., & Kenney, P. Training the Hubble space telescope flight team[A]. IEEE Computer Graphics and Applications[C]. 15 (5), 31-37.
102 John J. Kapp, Erkan Akyuz. Utilization of A Virtual Environment for Combat Information center training[D]. Monterey, California: Naval Postgraduate school, 1997.3.
103 Mossissey, M. Virtual reality: An Industry User' s Perspective[A]. IEEE Coloquium on irtual reality-user issues (Diggest No96/068)[C]. London: EE, 1996.
104 Luis Marcelino, Norman Murray, Terrence Fernando. A User Interface for Virtual Maintainability in Immersive Environments[J]. HCI International, 2003, Vol. 1, pp1183-1187.
105 Luis Marcelino, Norman Murray, Terrence Fernando. A Constraint Manager to Support Virtual Maintainability[J]. Computers and Graphics, 2003, Vol 27, pp19-26.
106 N. Badler, et al. Technology for maintenance procedure validation[R]. AFRL-HE-WP-TR-2001-0117, Philadelphia: University of Pennsylvania, 1998.
107 N. Badler, C. Erignac. Design Concepts for Automating Maintenance Instructions[R]. AFRL-HE-WP-TR-2000-0088, Philadelphia: University of Pennsylvania, 2000.
108 N. Badler. Virtual humans for validating maintenance procedures[J]. Communications of the ACM, 2002.6, Vol. 45, No. 7: 57-63.
109 Jeffrey L. Wampler. Integrating Maintainability and Data Development[A]. In: 2003 Proceedings Annual Reliability and Maintainability Symposium[C]. Tampa, Florida, USA, 2003, 255-262.
110 Wampler, J., R. Blue, C. R. Volpe, P. Rondot. Service Manual Generation: Anautomated approach to maintenance manual development. Proceedings of the 16th Human Factors in Aviation Maintenance Symposium, April 2002.
111 Blue, R. S., J. Wampler, et al, An automated approach and virtual environment for generating maintenance instructions,, Demonstration at CHI 2002.
112 A, Amundarain et al. Virtual reality for aircraft engines maintainability[J]. Mecanique & Industries 5, 2004, pp121-127.
113 Borro Yaguez, Diego. Collisions for maintainability studies with force feedback over dense and massive digital mock-ups[D]. Navarra, Spanish: Universidad DE Navarra, 2004.
114 黄浩东，陈宗基．虚拟原型技术及控制工程中的虚拟原型机[J]．中国机械工程，1999，Vol．25，NO．3：52-54．
115 Wang G G. Definition Clarification and Review on Virtual Prototyping [A]. International Design Engineering Technical Conferences and Design Automation Conference[C]. Pittsburgh, Pennsylvania, 2001[EB/OL].
116 John Ianni, Ranko Vujosevic. A Taxonomy of Motion Models for Simulation and Analysis of Maintenance Tasks[R]. No. A606923, Center for Computer Aided Design, The University of Iowa, June, 1997.
117 朱名铨，张树生．虚拟制造系统与实现[M]．西安：西北工业大学出版社，2001．10．
118 Kevin J. Abshire, Mike K. Barron. Virtual Maintenance: Real-world Applications within Virtual Environment[A]. IEEE Proceedings Annual Reliability and Maintainability Symposium[C]. Aukstakalnis, S. &Blatner, D. 1998. 132-137.
119 Hao Jianping, Yu Yongli. Computer-Aided Maintainability in China[A]. IEEE Proceedings Annual Reliability and Maintainability Symposium[C]. Aukstakalnis, S. & Blatner, D. 1998. 274-278.
120 于永利，郝建平，杨东晓．维修性可视化设计分析技术现状与发展趋势[J]．中国机械工程，1998，Vol．9，No．12：41-44．
121 John Ianni. Maintenance Simulation: Research and Application[R]. AL/HR-TP-1995-0019, Human Resource Directarate Logistics Research Divison, Wright-Patterson AFB, OH, 1995.
122 Rajit Gadh, Hari Srinivasan. Virtual Disassembly—a Software Tool for Developing Product Dismantling and Maintenance Systems[A]. 1998 Proceedings Annual Reliability and Maintainability Symposium[C]. Beijing, 1998. 120-125.
123 郝建平．维修性可视化分析技术研究[D]．石家庄：军械工程学院，1999．5．
124 张茂军．虚拟现实系统[M]．北京：科学出版社，2001．
125 Rix, S. Haas, and J. Teixeira, editors, Virtual Prototyping-Virtual environments and the product design process, chapter 10, pages 113-128. Chapman & Hall, 1995.
126 程成．虚拟环境下人机交互技术研究[D]．北京：中国科学院研究生院，2002．11．
127 Sun H, Green M. a Technique for Animating Natural Behavior in Complex Scenes[A]. IEEE International Conference on Systems, Man, and Cybernetics[C]. Lake R., M. Green, 1991.
128 郑援等．合成虚拟实体对象复合行为状态[J]．计算机学报，1999(1)：98-101．
129 R. J. Millar, J. R. P. Hanna, and S. M. Kealy. A Review of Behavioural
130 Animation[J]. Computer & Graphics, 1999(23): 127-143.
131 N. Badler, Rama Bindiganavale, Jan Allbeck, etc. Parameterized Action Representation for Virtual Human Agents[A]. In Justine Cassell et al[C]. editors, Embodied Conversational Agents. MIT Press, 2000.
132 N. Badler, R. Bindiganavale, J. Bourne, J. Allbeck, J. Shi, and M. Palmer. Real Time Virtual Humans[A]. International Conference on Digital Media Futures[C]. Bradford, UK, April, 1999.
133 M. Kallmann, D. Thalmann. Modeling Behaviors of Interactive Objects for Real Time Virtual Environments[J]. J. Via. Lang. Comput, 2002, 13(2): 177-195.
134 G. Sannier, S. Balcisoy, N. Magnenat-Thalmann, and D. Thalmann. VHD: A System for Directing Real-Time Virtual Actors[J]. The Visual Computer, Springer, 1999 Vol. 15, No. 7/8: 320-329.
135 M. Kallmann, D. Thalmann. a Behavioral Interface to Simulate Agent-Object Interactions in Real-Time[A]. Proceedings of Computer Animation 99[C]. IEEE Computer Society Press, Geneva, 1999. 138-146.
136 R. Boulic, P. Becheiraz, L. Emering, and D. Thalmann. Integration of Motion Control Techniques for Virtual Human and Avatar Real-Time Animation[A]. In Proceedings of VRST'97[C]. ACM press, September 1997. 111-118.
137 Marcelo Kallmann, Jean-Sebastien Monzani, etc. a Common Environment for Simulating Virtual Human Agents in Real Time. Proceedings of the Workshop on Achieving Human-Like Behavior in Interactive Animated Agents[C]. Barcelona, Spain, June, 2000.
138 Marcelo Kallman. Object Interaction in Real Time Virtual Environments[D]. Lausanne: Swiss Federal Institute of Technology, 2001.
139 M. Kallmann and D. Thalmann. Modeling Behaviors of Interactive Objects for Virtual Reality Applications[J]. Journal of Visual Languages and Computing, 2002(13): 177-195.
140 袁崇义．Petri网原理[M]．北京，电子工业出版社，1998．
141 李惠峰等．混合Petri网及其可达性分析[J]．北京航空航天大学学报，2000，26(2)149-152．
142 Cao, Tiehua and Arthur C Sanderson. Intelligent Task Planning Using Fuzzy Petri Nets. Series in Intelligent Control and Intelligent Automation.Word scienctific Publishing Co. Pte. Ltd, 1996, Vol3
143 David, R. and H. Alla. Petri Nets & Grafact, Tools for modeling discrete event systems. Prentice Hall, 1992
144 Kaddouri. S. A., H, Ezzedine, and J. C. Angue. Task modeling using object on petri nets, Symbiosis of Human and Artifact. Proc. of the Sixth Int. Conf. On Human-Computer Interactions. 1995,Vol. a. pp983-988
145 Kiritsis, D. and M. Porchet. A generic Petri net model for dynamic process planning and sequence optimization. Advances in Engineering Software 1996, vol.25, no. 1, pp61-71
146 Kumagai, S. and T. Miyamoto, 1996, An agent net approach to autonomous distributed systems. 1996 IEEE International Conference on Systems, Man and Cybernetics. Infonnation Intelligence and Systems (Cat. No. 96CH35929) P3204-9 vol.4.
147 Lee, KyungHuy and Moo Young Jung. Petri Net Application in Flexible Process Planning, Computers Ind. 1994, Vol.27, No. 1-4, pp. 505-508
148 Murata, T. Petri-net: Properties, analysis and applications. Proc. IEEE, 1989, vol. 77, no. 4, pp. 541-580
149 Zurawski, R. and MengChu Zhou. Petri Nets and Industrial Applications: A Tutorial, IEEE Transactions on Industrial Electronics, Vol.41, No.6, Dec. pp567-583,1994
150 Thomas, Johnson P., Nimal Nissanke, and Keith D. Baker. A Hierarchical Petri Net Framework for the Representation and Analysis of Assembly. IEEE Trans. Robot. Automat. vol. 12, no. 2, pp.268-279, 1996
151 Proth, Jean-Marie and Xiaolan Xie. Petri nets: A Tool for Design and Management of Manufacturing Systems. John Wiley&Sons, 1996
152 Lee, Yang Lyu and Sung Joo Park. OPNets: an object-oriented high-level Petri net model for real-time system modeling[J]. Journal of Systems and Softivare vol.20, no. 1, p69-86, 1993
153 Muller, J. P. The Design of Intelligent Agents[J]. A Layered Approach, Springer. 1996
154 Miiller, H. J. Towards agent systems engineering [J]. Data&Knowledge Engineering, 1997, vol.23, no. 3, p217-45
155 Tambe, M., Johnson, W. L., Jones, R., Koss, F., Laird, J., Rosenbloom, P., and Schwamb, K. Intelligent agents for interactive simulation environments [J]. AI Magazine, 1995, vol.16, no. 1, ppl5-39.
156 Wooldridge, M. Agent-based software engineering [A]. IEEE Proc. -Softw. Eng., 1997, Vol. 144, No. 1. pp26-37
157 Stephen C. Gregg. A Constructive Landing Signals Officer for Conducting Pilot Training in a Sea King Helicopter Deck Landing Simulator[D]. The Royal Military College, 2002.
158 Sam Siewert. A Real-Time Execution Performance Agent Interface for Confidence-Based Scheduling[D]. the Graduate School of the University of Colorado, 2000
159 William Anthony Alford. Design and implementation of the self agent system in a multi-agent-based robot control architecture[D]. Graduate School of Vanderbilt University, 2003
160 Brandt. S., Nutt. G., Berk. T, and Manlovich, J. A Dynamic Quality of Service Middleware Agent for Mediating Application Resource Usage [A]. Proceedings of the 19th IEEE Real-Time Systems Symposium, December 1998
161 A. D. Baker. A survey of factory control algorithms that can be implemented in a multi-agent heterarchy: dispatching, scheduling, and pull[J]. Journal of Manufacturing Systems, 1998,vol. 17, No. 4
162 M. Cantamessa. Hierarchical and heterarchical behaviour in agent-based manufacturing systems[J]. Computers in Industry, 1997,vol. 33
163 A. Deshmukh, T. Middelkoop, A. Krothapalli, W. Shields, N. Chandra, and C. A.Smith. Multi-agent design architecture for integrated design systems[A]. Proceedings of the AIAA Journal of Aircraft, Jan. 1999. Available at http://farm. ecs. umass. edu/publications. html
164 R. J. Graves and G. D Autonomous Agents in Product Realization and Service Provision Environments: Cases and Demonstrations [A]. Proceedings of the ALLEN'97 Conference, October 1-3, 1997, Galway, Ireland
165 S. S. Heragu, R. J. Graves, B. Kim, and A. St. Onge. Intelligent agent based framework for integrating planning and design in material handling systems [J]. Material Handling Research, 2000
166 S. S. Heragu, R. J. Graves, B. Kim, and A. St. Onge, Intelligent agent based framework for manufacturing systems control [A]. IEEE Transactions on Systems, Man, and Cybernetics
167 B. Kim, R. J. Graves, S. S. Heragu, and A. St. Onge. Intelligent Agent Based Model for an Industrial Order Picking Problem[A]. Proceedings of the IOth Annual Industrial Engineering Research Conference, 2001
168 B. Kim, R. J. Graves, S. S. Heragu. Intelligent Agent of an Industrial Warehousing Problem[J]. IEEE Transactions, 2002, vol. 34, No.7
169 N. K. C. Krothapalli and A. V. Deshmukh. Design of negotiation protocols for multi-agent manufacturing systems[J]. International Journal of Production Research, 1999, vol. 37, No. 7