摘要
目前在数控系统开放性研究已经日臻成熟的情况下,人们为了突破CNC与制造系统上层CAx之间的信息交流瓶颈,增强制造系统的集成性,提出了一种新的加工数据模型—STEP-NC (STEP for numerical controller)。使用STEP-NC取代传统G&M代码作为数控系统的加工数据模型,为数控系统带来了丰富的加工设计和规划信息,为数控系统智能化的发展提供了新的契机。与此同时STEP-NC的使用还引起了数控系统体系结构的巨大变化。为此本文开展了关于STEP-NC型数控系统架构及其关键支撑技术的研究,尤其侧重于STEP-NC型数控系统智能化实现的研究。
本文分析了传统数控系统的基本结构,针对智能数控系统的需求进行了软硬件实施平台的选取。分析了STEP-NC数据模型的结构和特点,探讨了STEP-NC型数控系统的新特征,进而提出了一种STEP-NC型开放式智能数控系统的架构模型。该数控系统架构模型包含了五个主体部分：本地工艺规划模块、智能决策模块、开放式软NC核、加工专家库系统和工业实时以太网现场总线平台。该体系架构为将来STEP-NC型数控系统的进一步研究奠定了基础。
同时,本文还对STEP-NC在数控系统中几个基本功能的实现进行了研究。利用ST-Developer提供的Java开发环境进行STEP-NC信息的提取和解释,以Java3D引擎为基础开发了STEP-NC三维显示和加工仿真模块,将STEP-NC的本地工艺规划功能划分为三个层次,提出了一种STEP-NC工艺规划层与数控内核层对接的方法。开发了验证程序对上述三个STEP-NC功能模块进行了实验验证。
引入本体论的思想构建了一个三层数控加工本体专家库模型,实现了对数控加工领域内的相关加工知识的建模。分析了数控加工本体构建的意义和定位,明确了数控加工本体建模的开发语言和工具,对数控加工领域内的主要概念进行了划分和定义,采用SWRL进行数控加工语义规则设计。研究了Express数据模型到OWL本体模型的映射规则和机制,探讨了数控加工本体专家库与智能数控系统集成的方法。实验表明,该数控加工本体专家库可以有效的表达数控加工领域内的知识,同时具有一定的智能推理能力,能够为STEP-NC型开放式智能数控系统提供智力支持。
采用工业实时以太网作为数控系统的底层硬件平台,既能满足开放性要求,又能保证与制造系统上游设计管理单元之间具有良好的集成能力。本文采用本课题组所研发的EtherMAC实时以太网总线作为STEP-NC型开放式智能数控系统的底层硬件平台,分析了EtherMAC的拓扑结构、工作原理以及从站实施方案。在Linux RTAI平台下为EtherMAC总线开发了主站协议栈,经试验测试,在该主站协议栈下EtherMAC在不需要专有硬件和高性能的RTOS或者控制器的情况下,其定时同步性能以及周期通讯的实时性能与现在流行的几种实时以太网总线水平相当,完全满足同步实时运动控制的要求,同时还为其它应用程序提供了灵活的应用集成接口。
分析了Linux RTAI平台下开放式软数控内核EMC2的结构,提出了以EMC2为核心,上层对接STEP-NC工艺规划模块,下层对接EtherMAC实时以太网总线平台的STEP-NC型开放式智能数控系统的集成方案。采用EMC2的HAL模块设计思想,实现了EtherMAC总线协议的集成,采用ECM2的Canon命令作为STEP-NC加工的数控中间语言,实现了STEP-NC工艺规划模块的集成。在集成后的STEP-NC型开放式智能数控系统架构内,验证了STEP-NC加工数据模型驱动加工的能力以及EtherMAC总线平台的运动控制能力。表明本文所提出的STEP-NC型开放式智能数控系统具有切实的可行性,在该数控系统架构内可以方便灵活的进行功能模块尤其是智能模块的扩展,为将来STEP-NC型数控系统的开发和研究奠定了基础。
At present, a lot of researches have been done to improve the openness of the CNC and the CNC openness theories are getting mature gradually. However, there is still a bottle neck between CNC and the high level manufacturing system CAx in aspect of sharing information. Therefore, to achieve the integration of the whole manufacturing system, a new machining data model, STEP-NC (STEP for numerical controller) was proposed. The utilization of STEP-NC as the machining data model, instead of traditional G&M codes, brings abundant information for designing, process planning and machining. Besides, STEP-NC provides a new opportunity for the intelligent CNC. Meanwhile, the use of STEP-NC causes some greate changes in the architecture of CNC system. For this reason, this paper promotes the research on the architecture of STEP-NC compliant CNC systems and the related key technologies, especially on the realization of intelligence of STEP-NC compliant CNC system.
The basic structure of traditional CNC systems is reviewed and the software and hardware platforms are selected based on the requirements of intelligent CNC systems. The detailed structure and properties of STEP-NC data model are analyzed and the new characteristics of STEP-NC compliant CNC are studied. Then an architecture of open and intelligent STEP-NC compliant CNC system is presented. This CNC framework contains 5 main parts:a local process planning module, an intelligent decision making module, an open soft NC core, an expert knowledge base system and a real-time Ethernet fieldbus platform. This architecture is the basis for the following researches.
The realization of some basic functions is also studied. The Java libraries provided by ST-Developer are used to develop the interpreter that is used to extract and explain STEP-NC data. The Java3D engine is used for display and simulation in 3D. The local process planning module is divided into three levels. An interlinkage method between the process planning and the NC kernel is given. The above three STEP-NC function modules are tested by developing the validation programes.
The ontology conception is introduced to construct a three layered ontology expert model. The related knowledge of machining in CNC area is modeled. The importance of constructing the CNC machining ontology is analyzed. The developing language and tools are specified. The main concepts in CNC domain are classified and defined, and the SWRL is used to design the semantic rules. Meanwhile, the mapping mechanism between Express data model and OWL ontology model is studied. The integration method between CNC machining expert knowledge base and intelligent CNC system is also presented. The experiment indicates that the CNC ontology expert knowledge base can describe the knowledge in CNC area and possess the reasoning capability to support the intelligent behavior of STEP-NC compliant CNC system.
The adoption of real-time industrial Ethernet as low level hardware platform can satisfy the requirement of openness, and thus can guarantee the integration with upper level units of designing and management. A real-time Ethernet which is called as EtherMAC is developed by our research group and adopted by this paper. The topology structure, working mechanism and slave scheme are detailed in this paper. The protocol stack for the master node under Linux RTAI is developed. The real-time and synchronization performance is almost equal to the prevailing real-time Ethernet even without proprietary hardware and high performance RTOS, so it totally satisfies the requirement of isochronous real-time motion control. In addition, the master protocol stack also provides a flexible integrating interface for other application programs.
The soft NC kernel of EMC2 under Linux RTAI is studied. An integrating scheme for STEP-NC compliant open and intelligent CNC is proposed. The EMC2 is regarded as the core, the STEP-NC process planning module is integrated on upper level and the EtherMAC platform is integrated on lower level. The HAL conception of EMC2 is used here, where the EtherMAC protocol stack is integrated. The canon language is adopted as the middle language for CNC machining, where the STEP-NC process planning module is integrated. In this integrated architecture, the capability of driving machining with the data model of STEP-NC and the capability of motion controlling with EtherMAC platform are validated. With this architecture, the intelligent modules and function modules are easy to extend. These indicate that the system proposed in this thesis is feasible, and can provide a basic platform for future researches on intelligent STEP-NC compliant CNC systems.
引文
[1]宋健.制造业与现代化[J].机械工程学报.2002,38(12)：1-9.
[2]徐杜.柔性制造系统原理与实践[M].北京：机械工业出版社.2011：1-368
[3]严新民.计算机集成制造系统[M].西安：西北工业大学出版社.1999：1-239.
[4]刘建萍.制造业的新技术革命—智能制造[J].制造技术与机床.2000(8)：8-10.
[5]X.W.X.Realization of Step-NC Enabled Machining[J]. Robotics and Computer-Integrated Manufacturing.2006,22(2):144-153.
[6]Feld, J. PROFINET-scalable factory communication for all applications, in Factory Communication Systems[C]. Proceedings of 2004 IEEE International Workshop on.2004:33-38.
[7]Felser M. Real-Time Ethernet-Industry Prospective[C]. Proceedings of the IEEE. 2005,93(6):1118-1129.
[8]缪学勤.实时以太网技术现状与发展[J].自动化博览.2005,22(2)：21-24,26.
[9]李宏胜.现代数控系统的技术特点与发展趋势[J].制造业自动化.2002,24(11)：1-2,6.
[10]张俊和魏红根.数控技术发展趋势——智能化数控系统[J].制造技术与机床.2000(4)：7-9.
[11]徐宁和杨秀云.数控系统的现状及发展趋势[J].机械设计与制造.2006(4)：132-134.
[12]刘祖其.数控系统及发展趋势[J].制造业自动化.2009,31(12)：4-5,29.
[13]戴晓华,王文,王威.开放式数控系统研究综述[J].组合机床与自动化加工技术.2000(11)：5-7.
[14]Pritschow, G.N., et al. Open Controller Architecture-Past, Present and Future[J]. CIRP Annals-Manufacturing Technology.2001,50(2):463-470.
[15]P.Lutz, W.Sperling. OSACA-The vendor neutral control architecture[C]. Proceedings of the European Conference on Integration in Manufacturing. Dresden, Germany.1997:247-256.
[16]NACSA J. Comparison of three different open architecture controllers[C]. Proceedings of IFAC MIM.2001:134-138.
[17]Chi Yonglin. An evaluation space for open architecture controllers [J]. International Journal of Advanced Manufacturing Technology.2005,26(4): 351-358.
[18]Chrysler, Ford Motor Co, General Motors. Requirements of open modular architecture controllers for applications in the automotive industry. White papers, version 1.1.1994.
[19]http://www.omac.org/. The Organization for Machnie Automation and Control.
[20]郝钢,韩秋实和孙志永.基于PMAC的开放式数控系统性能的研究[J].北京机械工业学院学报(综合版).2003,18(2)：24-28.
[21]J.S. Albus.The NIST Real-time Control System (RCS):an approach to intelligent systems research[J]. J. Exp. Theor. Artif. Intell.1997:157-174.
[22]http://linuxcnc.org/. LinuxCNC.org -Home.
[23]OSACA consortium. Osaca handbook, part I:basics of osaca[R].2001.
[24]OS AC A consortium. Osaca handbook, part V:specification of the reference architecture[R].2001.
[25]OCEAN. Open controller enabled by an advanced real-time network[J]. PRODUCTION ENGINEERING.2004,11 Part(1):171-174.
[26]S.Fujita, T.Yoshida. Open system environment for controller-development of an open architecture CNC with OSEC specification [EB/OL]. http:// osec. skk-inc. co.j p/e-document. Html/eo secj imtof. Pdf
[27]N.A. Erol, Y.Altintas, M.R. Ito. Open System Architecture Modular Tool Kit for Motion and Machining Process Control[J]. IEEE-ASME J. Mechatronics. 2000(9):281-291.
[28]Software tools for verification of modular FSM based logic control for use in reconfigurable machining systems [C].2000 Japan-USA Symposium on Flexible Automation July 23-26,2000, Ann Arbor, Michigan, USA.
[29]GB/T18759.1.2002.机械电气设备.开放式数控系统——第一部分：总则[S].2002.10.
[30]谢经明.基于现场总线的开放式数控系统研究[博士].武汉：华中科技大学,2003：1-2.
[31]左静,魏仁选,吕新平等.数控系统软件芯片的研制和开发[J].中国机械工程.1999,10(4)：424-426.
[32]何琳,许阳和陈幼平等.基于软件芯片库的开放式数控系统重构[J].机械与电子.2001(2)：44-48.
[33]龚敏和陈友东.数控技术及开放式数控系统[J].机械设计与制造.2006(2)：79-81.
[34]X.W.Xu, Q.He.Striving for a Total Integration of CAD, CAPP, CAM and CNC[J]. Robotics and Computer Integrated Manufacturing.2004,20(2):101-109.
[35]S.T.Newman, A.Nassehi, X.W.Xu, et al. Strategic Advantages of Interoperability for Global Manufacturing Using CNC Technology[J]. Elsevier Science.2008, 24(6):699-708.
[36]刘日良和张承瑞STEP-NC数据模型和数控程序[J].中国制造业信息化.2004,33(10)：102-103,106.
[37]Industrial automation systems and integration—Physical device control —Data model for computerized numerical controllers—Part 1:Overview and fundamental principles.2003
[38]Hardwick, M, Loffredo. D. Lessons Learned Implementing STEP-NC AP-238[J]. International Journal of Computer Integrated Manufacturing.2006,19(6): 523-532.
[39]A. B. Feeney, T. Kramer, F. Proctor, et al. STEP-NC implementation—ARM or AIM?[C]. ISO T24 STEP-Manufacturing Meeting.South Diego, CA, Mar.2003.
[40]Storr A, Heusinger S. STEP-NC-Grundlage einer CAD/NCProzesskette Das STEP-NC-Prozessmodell furdie Drehbearbeitung.2002.
[41]S.T. Newman, R.D Allen and R.S.U Rosso Jr. CAD/CAM solutions for STEP Compliant CNC Manufacture[C]. Proceedings of the 1st CIRP(UK). Seminar Digital Enterprise Technology. School of Engineering, University of Durham. 2002.
[42]Allen R.D., Newman S.T., Harding J.A., et al. The design of a STEP-NC compliant agent based CAD/CAM system [C].Proceedings of the 13th International Conference on Flexible Automation and Intelligent Manufacturing Conference (FAIM2003).2003:530-540.
[43]Brooks S.L. and Wolf M.L. Overview of allied signal's XCUT system [J]. Advances in Feature Based Manufacturing. Elsevier/North Holland:Amsterdam, 1994:399-422.
[44]Suh S.H., Lee B.E, Chung D.H., et al. Architecture and implementation of ashop-floor programming system for STEP-compliant CNC. [J] Comput. Aid. Design.2003,35:1069-1083.
[45]Suh S.H., Chung D.H., et al. Developing an integrated STEP-Compliant CNC prototype[J]. J. Manuf. Syst.,2002b,21(5):350-362.
[46]Suh S.H. and Cheon S.U. A framework for an intelligent CNC and data model[J]. Int. J. Adv.Manuf. Technol.,2002,19 (10):727-735.
[47]Xu X. and Mao J. A STEP-compliant collaborative product development system[C]. Proceedings of the 33rd International Conference on Computers and Industrial Engineering, March 25-27, Ramada Plaza/Oriental Hotel, Jeju, Korea. CIE598,2004.
[48]Weck M, Wolf J and Kiritsis D. STEP-NC—The STEP compliant NC programming interface evaluation and improvement of the modern interface[C]. Proceedings of the ISM Project Forum. Genf, Monte Verita/Ascona Schweiz, 2001.
[49]Wolf J. STEP-NC—integrating shop floor into industrial data flow for the enabling of intelligent near to process functions. Korea-Germany Workshop on STEP-NC,2001.
[50]Kramer T.R., Horst J., et al. Inspection and Control System, NISTIR 7098,2004 (National Institute of Standards and Technology:Gaithersburg, MD).
[51]http://steptools.org/. Steptools.
[52]Fortin E'., Chatelain J.-F. and Rivest L.. An innovative software architecture to improve information flow from CAM to CNC[J]. Comput. Ind. Eng.,2004,46: 655-667.
[53]王军,孙军和聂新刚,等.基于STEP-NC的CNC集成技术研究[J].沈阳建筑大学学报(自然科学版).2005,21(5)：591-596.
[54]张承瑞,刘日良和王恒.CNC技术的最新进展-STEP-NC[J]制造技术与机床.2002(12)：28-30.
[55]桂贵生和杜世昌.新型数控编程数据接口——STEP-NC[J].组合机床与自动化加工技术.2003(3)：26-29.
[56]刘涛,王永章和富宏亚.STEP-NC控制器及其刀轨规划方法研究[J].计算机集成制造系统.2006,12(9)：1490-1494.
[57]王军,李仁堂和孙军,等.基于STIX库的STEP-NC解释器的研究[J].沈阳建筑大学学报(自然科学版).2006,22(5)：872-876.
[58]刘日良,张承瑞和薛强STEP-NC数控程序的信息表达与提取方法研究[J].计算机集成制造系统.2004,10(S1)：85-89.
[59]陈秀生,张承瑞和兰红波,等.基于STEP-NC的数控车削加工仿真系统[J].南京航空航天大学学报.2005,37(z1)：53-57.
[60]C. Zhang, R. Liu, T. Hu. On the futuristic machine control in a STEP-compliant manufacturing scenario. Int. J. Computer Integrated Manufacturing.2006,19(6): 508-515.
[61]兰红波,张承瑞和刘日良.基于多智能体STEP-NC智能控制器体系结构研究[C].第十一届中国人工智能学术年会.武汉,2005.
[62]罗忠诚,彭芳瑜和林奕鸿,等.基于华中高性能数控的STEP-NC系统的研究[J].制造技术与机床.2004(12)：59-62.
[63]王军,宋殿忠和孙军,等.基于功能块技术的STEP-NC模块化数控铣削系统的研究[J].沈阳建筑大学学报(自然科学版).2009,25(2)：355-361.
[64]周刚,邬义杰和潘晓弘.基于字典实体驱动的STEP-NC制造特征重构机制模型[J].中国机械工程.2007,18(21)：2561-2565.
[65]杜娟,田锡天和朱名铨,等.基于STEP和STEP-NC的CAD/CAPP/CAM/CNC系统集成技术研究[J].计算机集成制造系统.2005,11(4)：487-491.
[66]王振华和朱国力.基于现场总线的新型开放式数控系统研究[J].中国机械工程.2001,12(4)：395-397.
[67]谢经明,周祖德和陈幼平,等.基于现场总线的数控系统通信环节时间特性分析[J].计算机集成制造系统.2003,9(4)：285-288.
[68]王太勇,李波和万淑敏,等.基于现场总线的可重构数控系统的研究[J].计算机集成制造系统.2006,12(10)：1662-1667.
[69]IEC,2007. IEC 61158 series:Digital data communication for measurement and control—Fieldbus for use in industrial control systems, Edition 4.
[70]Neumann, P. Communication in industrial automation—What is going on? Control Engineering Practice.2007,15:1332-1347.
[71]Decotignie J.D. Ethernet-Based Real-Time and Industrial Communications. Proceedings of the IEEE.2005,93:1102-1117.
[72]IEC,2002. IEC 61588[S]:precision clock synchronization protocol for networked measurement and control systems.
[73]IEC,2004a. IEC 65C/359/NP. Real-time Ethernet:PROFINET IO.
[74]IEC,2004b. IEC 65C/358/NP. Real-time Ethernet:SERCOS Ⅲ.
[75]IEC,2004c. IEC 65C/356/NP. Real-time Ethernet:POWERLINK.
[76]IEC,2004d. IEC 65C/355/NP. Real-time Ethernet:ETHERCAT.
[77]L.Deshayes, Welsh, M.A. Donmez, et al. Smart Machining Systems:Issues and Research Trends. Book Chapter, Life Cycle Engineering and Sustainable Development.
[78]赵维铎,易红和倪中华,等.基于Web和现场总线的数控系统远程监控研究[J].东南大学学报(自然科学版).2003,33(1)：45-48.
[79]金卫民,神显豪和巩传雷.基于CAN总线的DNC远程诊断及监控系统[J].微计算机信息.2006,22(35)：32-34,40.
[80]赵明光和赵维铎.现场总线在基于Web的CNC远程监控中的应用[J].组合机床与自动化加工技术.2003(6)：44-46.
[81]刘清建,王太勇和徐跃,等.基于总线架构的多层次监控开放数控系统[J].吉林大学学报(工学版).2010,40(6)：1589-1594.
[82]王军平,敬忠良和王安.基于随机模糊神经网络的刀具磨损量软测量技术[J].信息与控制.2002,31(6)：534-537.
[83]陈爱弟,王信义和王忠民.基于模糊聚类的刀具磨损量在线监测方法[J].北京理工大学学报.2000,20(3)：276-280.
[84]李劲松和陈鼎昌.基于铣削力的刀具磨损监控研究[J].北京航空航天大学学报.1998,24(05)：571-574.
[85]冯艳,罗良玲和夏林.基于LabVIEW的刀具磨损在线监控系统[J].制造技术与机床.2006(12)：17-20.
[86]张琳娜.加工误差及其预报建模研究[J].计量学报.1998,19(3)：183-188.
[87]杨勇生.复杂曲面五轴数控加工误差分析及控制[J].上海海运学院学报.2001,22(1)：17-22.
[88]傅建中和陈子辰.加工误差补偿与人工智能[J].组合机床与自动化加工技术.1996(12)：11,12-15.
[89]武美萍,翟建军和廖文和.数控加工切削参数优化研究[J].中国机械工程.2004,15(03)：235-237.
[90]张臣,周来水和安鲁陵,等.基于仿真的数控铣削加工参数优化研究[J].中国机械工程.2007,18(24)：2955-2960,2964.
[91]朱喜林,吴博达和武星星.用于优化机械加工参数的神经网络模型[J].吉林大学学报(工学版).2004,34(02)：244-247.
[92]程涛,左力和刘艳明,等.数控机床切削加工过程智能自适应控制研究[J].中国机械工程.1999,10(01)：26-31.
[93]金仁成,李水进和唐小琦,等.智能自适应数控加工技术研究综述[J].工具技术.2000,34(11)：3-5.
[94]Joze Balic, Miha Kovacic and Bostjan Vaupotic. Intelligent programming of CNC turning operations using genetic algorithm[J].Journal of Intelligent Manufacturing.200606,17(3):331-340.
[95]Amaitik S.M., Kilic S.E. An intelligent process planning system for prismatic parts using STEP features[J].The International Journal of Advanced Manufacturing Technology.2007,31(9-10):978-993.
[96]王军,李亮和孙军,等.基于STEP-NC数控程序生成方法研究[J].沈阳建筑大学学报(自然科学版).2006,22(4)：681-685.
[97]黄华,李爱平.基于STEP-NC的非线性加工工艺规划研究[J].中国机械工程.2009(2)：171-175.
[98]徐旬,宋殿忠和孙军,等.基于STEP-NC数控铣削最优系统[J].沈阳建筑大学学报(自然科学版).2009,25(05)：987-992.
[99]张雪芬,邬义杰和周刚.基于SDAI的STEP-NC解释器的研究[J].组合机床与自动化加工技术.2006,(06)：22-24.
[100]王军,孙军和聂新刚,等.网络化制造中基于STEP-NC的编程方法[J].机电产品开发与创新.2005,18(z1)：40-43.
[101]谢志鹏和陈锻生.用OpenGL开发三维交互式虚拟场景[J].计算机应用.2000,20(8)：38-40.
[102]陈卡DirectX9 3D图形程序设计[M].上海科学技术出版社.2003年7月.
[103]金瑜,陈建勋和赵红武.用Java 3D实现三维演示系统[J].电脑编程技巧与维护.2004(7)：37-40.
[104]蒲洪彬,许阳钊和李伟光.基于UML的数控软件系统建模[J].机床与液压.2010,38(1)：98-100.
[105]刘国梁,郑洪源和丁秋林.基于组件设计的数控仿真系统研究与应用[J].微机发展.2005,15(6)：114-117.
[106]徐安和刘燕军.数控领域内基于XML的可扩展的组件描述[J].计算机工程与应用.2006,42(26)：224-227.
[107]吴孜越,仲志丹和张洛平.XML在数控机床远程监控与故障诊断系统中的应用[J].机械设计与制造.2006,(8)：131-133.
[108]高荣和王治森.基于XML的数控功能集成技术[J].北京工业大学学报.2011,37(02)：173-179.
[109]陈小林,孙厚芳和顾嘉,等.刀具信息管理建模技术研究[J].机械设计与制造.2009,(09)：227-229.
[110]Yang.W., Xu. X. Modelling machine tool data in support of STEP-NC based manufacturing [J]. International Journal of Computer Integrated Manufacturing. 2008,21 (7):745-763.
[111]Robert Neches, Richard Fikes, Tim Finin, et al. Enabling technology for knowledge sharing[J]. AI Magazine.1991,12(3):37-56.
[112]Thomas R. Gruber. A translation approach to portable ontology specifications [J]. Journal Knowledge Acquisition-Special issue:Current issues in knowledge modeling archive.1993,5(2):1-26.
[113]Thomas R. Gruber. Toward principles for the design of ontologies used for knowledge sharing [J]. International Journal of Human-Computer Studies Special issue:the role of formal ontology in the information technology archive.1995,43(5-6).:907-928
[114]Staab S., Studer R.. Handbook on ontologies [M]. International Handbooks on Information Systems, Springer,2004.
[115]Astmeion Gomez-Perez, Oscar Coreho. Ontology specification languages for the semantic web[J]. Journal IEEE Intelligent Systems archive.2002,17(1):54-60.
[116]Guarino N. Semantic Matching:Formal Ontological Distinctions for Information Organization, Extraction, and Integration[M]. Pazienza M T. Information Extraction:a Multidisciplinary Approach to an Emerging Information Technology. New York:Springer-Verlag,1997:139-170.
[117]http://www.w3.org/RDF/.W3C. Resource Description Framework(Rdf).
[118]任磊,谭跃生.基于RDF元数据的网格资源统一描述方法[J].内蒙古科技大学学报.2009,28(2)：148-151.
[119]Mcguinness D.L., Fikes R., Hendler J., et al. DAML+OIL:an ontology language for the Semantic Web[J]. Intelligent Systems, IEEE.2002,17(5):72-80.
[120]http://www.w3.org/Submission/2006/10/. W3C. Submission Request to W3C: Owl 1.1 Web Ontology Language.
[121]Noy, DL McGuinness. Ontology development 101:A guide to creating your first ontology [R].2001.
[122]Dizza Beimel, Mor Peleg. Using OWL and SWRL to represent and reason with situation-based access control policies [J]. Data & Knowledge Engineering. 2011,70(6):596-615.
[123]http://www.ibm.com/developerworks/cn/linux/1-napi/. NAPI技术在Linux网络驱动上的应用和完善.
[124 W. Shackleford J. Michaloski, F. Proctor. The neutral message language:A model and method for message passing in heterogeneous environments[C]. Proceedings of the World Automation Conference. Maui,Hawaii, June 2000.
[125]http://www.isd.mel.nist.gov/projects/rcslib/. Real-Time Control Systems Library — Software and Documentation.
[126]The EMC Team. HAL Manual 2.4[Z]. October 9,2010.
[127]https://www.rtai.org/. RTAI-the Real-Time Application Interface for Linux from DIAPM.
[128]杨林,张承瑞和王科,等.高速加工中的速度规划与段间连接[J].上海交通大学学报,2010,44(01)：40-45.
[129]Thomesse J P. Fieldbus Technology in Industrial Automation [J]. Proceedings of the IEEE.2005,93(6):1073-1101.
[130]何修富.机床数控系统的发展方向——开放式智能化[J].机械制造与自动化.2005,(04)：1-3.
[131]He Z, Mok A and Peng C. Timed Rtos Modeling for Embedded System Design[J]. In Real Time and Embedded Technology and Applications Symposium,2005. RTAS 2005.11th IEEE.2005:448-457.
[132]康存锋等.基于PC的开放式数控系统[J].北京工业大学学报.2001,27(3)：375-377.