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Simulation has become a very powerful tool because it can, in many cases, minimize the risk of FMS. This paper, on the basis of discussing methods of modeling, presents an approach to the hierarchical simulation, and sets up an FMS simulator which can be used for system simulation, cell simulation, and simulation of machining process according to described data structure and animation technique.
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Kalin Liu, Yulin Ma, Hegao Cai, Tiejun Li, "Hierarchical simulation of FMS," Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); https://doi.org/10.1117/12.217474