American Institute of Mathematical Sciences

May  2021, 17(3): 1025-1055. doi: 10.3934/jimo.2020010

Integrated optimization of process planning and scheduling for reducing carbon emissions

 1 State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China 2 School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Wuhan 430081, China

* Corresponding author: Qiong Liu

Received  October 2018 Revised  June 2019 Published  May 2021 Early access  January 2020

Fund Project: The first author is supported by NSFC grant No.51675206 and No.51561125002 and FRFCU HUST:2016YXMS275

In order to reduce environment impacts of manufacturing processes and fill in research gaps that most previous separated optimization of process planning and scheduling ignored influences of process planning on scheduling, a multi-objective integrated optimization model of process planning and scheduling for reducing carbon emissions in manufacturing processes is proposed. The model aims at minimizing makespan and carbon emissions in manufacturing processes by integrated optimizing machining methods for all machining features of workpieces, machine allocations of processes, process routes and machining sequence of workpieces. Because there are many parameters in the proposed model needed to be optimized and they are interactional, a four segment encoding method is designed and a Non-dominated Sorting Genetic Algorithm II is adopted to solve the proposed model. A case study including three workpieces with twenty-three machining features to be processed by turning, milling, drilling, boring and grinding is used to verify the proposed integrated model and algorithm. Results show that the proposed integrated optimization method can further reduce carbon emissions and makespan in manufacturing processes compared with conventional separated optimization of process planning and scheduling. The proposed integrated optimization method is validated.

Citation: Qiong Liu, Jialiang Liu, Zhaorui Dong, Mengmeng Zhan, Zhen Mei, Baosheng Ying, Xinyu Shao. Integrated optimization of process planning and scheduling for reducing carbon emissions. Journal of Industrial & Management Optimization, 2021, 17 (3) : 1025-1055. doi: 10.3934/jimo.2020010
References:

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References:
Flow chart of NSGA-II
Four segment encoding
Crossover of genes in machining method and machine allocation codes
Crossover of genes in process route code
Crossover of genes in machining sequence code
Mutation of genes in machining method and machine allocation code
Mutation of process route code
Mutation of machine allocation code
Mutation of machining sequence code
The workpiece 1 of sleeve
The workpiece 2 of hinge
The workpiece 3 of flange
The Gantt chart of solution 1
The Gantt chart of solution 29
The relationship of two objectives
Components of carbon emissions in each solution in the Pareto set
Gantt chart of solution 1 for scheduling after process planning
Literatures on IPPS
 IPPS Publication Optimization Objectives Decision Variables Optimization method Integrated Optimization of Cutting Parameters and Scheduling Fang et al.(2011) 1. Makespan 2. Peak total power consumptions 3. Carbon footprints of machines 1. Schedule plans Schedule under limited sets of cutting speed Lin et al. [20] 1. Makespan 2. Carbon footprints caused by energy consumption of machines in machining and idling states and material consumption of cutting tools 1. Cutting parameters 2. Schedule plans Optimization of cutting parameters before scheduling Zhang et al. [45] 1. Completion time 2. Carbon emissions caused by energy consumption of machines in machining and idling states, and material consumption of cutting tools and cutting fluid 1. Cutting parameters 2. Schedule plans Real integrated optimization Integrated Optimization of Process Planning Chaudhry and Usman [6] 1. Makespan 1. Process routes 2.Schedule plans Select one process route for each workpiece from a predetermined process route set before scheduling Qiao and Lv [31] 1. Makespan 2. Mean flow time 1. Process routes 2. Machining methods Optimization of process plan before scheduling Bettwyet al. [4] 1. Makespan 1. Process routes 2. Schedule plans Integrated optimization, but transportation time and setup time were ignored Li et al. [19] 1. Makespan 2. Machine utilization 3. Energy consumption of machines in powered on, idling, preheated, machining and powered off states 1. Machining sequence of workpieces 2. Machine allocation 3. Cutting tool selection 4. Cutting tool approaching direction Scheduling based on generated process plans of workpieces Zhang et al. [46] 1. Energy consumptions of machines in machining and idling states 1. Process plans 2. scheduling plans Scheduling under the process plans selected from candidates Wang et al. [37] 1. Makespan 2. Energy consumptions of machines in machining, idling, setup and tool changing states 1. Cutting parameters 2. Process routes 3. Scheduling Integrated optimization of process routes and scheduling using the optimized cutting parameters
 IPPS Publication Optimization Objectives Decision Variables Optimization method Integrated Optimization of Cutting Parameters and Scheduling Fang et al.(2011) 1. Makespan 2. Peak total power consumptions 3. Carbon footprints of machines 1. Schedule plans Schedule under limited sets of cutting speed Lin et al. [20] 1. Makespan 2. Carbon footprints caused by energy consumption of machines in machining and idling states and material consumption of cutting tools 1. Cutting parameters 2. Schedule plans Optimization of cutting parameters before scheduling Zhang et al. [45] 1. Completion time 2. Carbon emissions caused by energy consumption of machines in machining and idling states, and material consumption of cutting tools and cutting fluid 1. Cutting parameters 2. Schedule plans Real integrated optimization Integrated Optimization of Process Planning Chaudhry and Usman [6] 1. Makespan 1. Process routes 2.Schedule plans Select one process route for each workpiece from a predetermined process route set before scheduling Qiao and Lv [31] 1. Makespan 2. Mean flow time 1. Process routes 2. Machining methods Optimization of process plan before scheduling Bettwyet al. [4] 1. Makespan 1. Process routes 2. Schedule plans Integrated optimization, but transportation time and setup time were ignored Li et al. [19] 1. Makespan 2. Machine utilization 3. Energy consumption of machines in powered on, idling, preheated, machining and powered off states 1. Machining sequence of workpieces 2. Machine allocation 3. Cutting tool selection 4. Cutting tool approaching direction Scheduling based on generated process plans of workpieces Zhang et al. [46] 1. Energy consumptions of machines in machining and idling states 1. Process plans 2. scheduling plans Scheduling under the process plans selected from candidates Wang et al. [37] 1. Makespan 2. Energy consumptions of machines in machining, idling, setup and tool changing states 1. Cutting parameters 2. Process routes 3. Scheduling Integrated optimization of process routes and scheduling using the optimized cutting parameters
Parameters and variables
 N=(1, 2, ...n) set of workpieces M=(1, 2, ..., m) set of machines i workpiece i $\in$ N k machine k$\in$ M $f_{ir}$ the r-th machining feature of workpiece i, r$\in$ (1, 2, ..., $F_{i}$) (1, 2, ...$N_{fir}$) set of candidate machining methods for machining feature $f_{ir}$ $o_{ij}$ the j-th process of workpiece i, j$\in$J, J=(1, 2, ..., $n_{i}$) $M_{ij}$ set of candidate machines for the j-th process of workpiece i $C_{p}$ carbon emissions in manufacturing processes $C_{Me}$ carbon emissions caused by energy consumption of machines in machining state $C_{Ie}$ carbon emissions caused by energy consumption of machines in idling state $C_{Ae}$ carbon emissions caused by energy consumption of machines in setup state $C_{c}$ carbon emissions caused by consumption of coolant $C_{l}$ carbon emissions caused by consumption of lubricant $C_{t}$ carbon emissions caused by energy consumption of electric fork lifts $\alpha_{e}$ carbon emission factor of electric energy $P_{ijk}$ power of machine k to machine the j-th process of workpiece i $t_{ijk}$ power of machine to machine the j-th process of workpiece i on machine k $P_{idle, k}$ idling power of machine k $S_{ijk}$, $C_{ijk}$ start time and completion time of the j-th process of workpiece i on the machine k $C_{hlk}$ completion time of the l-th process of the immediate preceding processing workpiece h of workpiece i on machine k, $S_{ijk}$=$C_{hlk}$ if the j-th process of workpiece i is the first process on machine k $S_{fok}$ start time of the o-th process of the immediate succeeding processing workpiece h of workpiece i on machine k, $S_{fok}$=$C_{ijk}$ if the j-th process of workpiece i is the last process on machine k $P_{hik}$, $t_{hik}$ setup power and time of machine k from processing the immediate preceding processing workpiece h to workpiece i $E_{k}$ energy consumption of machine in state of power on, preheating and power off $T_{ck}$ effective duration of coolant in machine k $L_{ck}$ recycling coolants in machine k $\alpha_{ck}$ carbon emission factor of coolant $T_{open, k}$, $T_{dose, k}$ power on time and power off time of machine k; $T_{open, k}$-$T_{dose, k}$: operation time of machine k. $T_{lk}$ effective duration of lubricant in machine k $L_{lk}$ lubricant consumptions in machine k $\alpha_{l}$ carbon emission factor of lubricant $P_{tij}$ power of electric forklift to handle workpiece i from machine k' for the (j-1)-th process of workpiece i to machine k for the j-th process of workpiece $T_{lk}$ effective duration of lubricant in machine k $t_{tij}$ transmission time needed to move workpiece i from machine k' for the (j-1)-th process of workpiece i to machine k for the j-th process of workpiece i $C_{time}$ makespan in manufacturing processes $X_{fir}$ the selected machining method for machining feature $f_{ir}$ of workpiece i $l_{z}$ the l-th flexible process section of type $T_{z}$ $O_{iplz}$ process p in the l-th flexible process section of type $T_{z}$ of workpiece i $X_{ijk}$ decision variable
 N=(1, 2, ...n) set of workpieces M=(1, 2, ..., m) set of machines i workpiece i $\in$ N k machine k$\in$ M $f_{ir}$ the r-th machining feature of workpiece i, r$\in$ (1, 2, ..., $F_{i}$) (1, 2, ...$N_{fir}$) set of candidate machining methods for machining feature $f_{ir}$ $o_{ij}$ the j-th process of workpiece i, j$\in$J, J=(1, 2, ..., $n_{i}$) $M_{ij}$ set of candidate machines for the j-th process of workpiece i $C_{p}$ carbon emissions in manufacturing processes $C_{Me}$ carbon emissions caused by energy consumption of machines in machining state $C_{Ie}$ carbon emissions caused by energy consumption of machines in idling state $C_{Ae}$ carbon emissions caused by energy consumption of machines in setup state $C_{c}$ carbon emissions caused by consumption of coolant $C_{l}$ carbon emissions caused by consumption of lubricant $C_{t}$ carbon emissions caused by energy consumption of electric fork lifts $\alpha_{e}$ carbon emission factor of electric energy $P_{ijk}$ power of machine k to machine the j-th process of workpiece i $t_{ijk}$ power of machine to machine the j-th process of workpiece i on machine k $P_{idle, k}$ idling power of machine k $S_{ijk}$, $C_{ijk}$ start time and completion time of the j-th process of workpiece i on the machine k $C_{hlk}$ completion time of the l-th process of the immediate preceding processing workpiece h of workpiece i on machine k, $S_{ijk}$=$C_{hlk}$ if the j-th process of workpiece i is the first process on machine k $S_{fok}$ start time of the o-th process of the immediate succeeding processing workpiece h of workpiece i on machine k, $S_{fok}$=$C_{ijk}$ if the j-th process of workpiece i is the last process on machine k $P_{hik}$, $t_{hik}$ setup power and time of machine k from processing the immediate preceding processing workpiece h to workpiece i $E_{k}$ energy consumption of machine in state of power on, preheating and power off $T_{ck}$ effective duration of coolant in machine k $L_{ck}$ recycling coolants in machine k $\alpha_{ck}$ carbon emission factor of coolant $T_{open, k}$, $T_{dose, k}$ power on time and power off time of machine k; $T_{open, k}$-$T_{dose, k}$: operation time of machine k. $T_{lk}$ effective duration of lubricant in machine k $L_{lk}$ lubricant consumptions in machine k $\alpha_{l}$ carbon emission factor of lubricant $P_{tij}$ power of electric forklift to handle workpiece i from machine k' for the (j-1)-th process of workpiece i to machine k for the j-th process of workpiece $T_{lk}$ effective duration of lubricant in machine k $t_{tij}$ transmission time needed to move workpiece i from machine k' for the (j-1)-th process of workpiece i to machine k for the j-th process of workpiece i $C_{time}$ makespan in manufacturing processes $X_{fir}$ the selected machining method for machining feature $f_{ir}$ of workpiece i $l_{z}$ the l-th flexible process section of type $T_{z}$ $O_{iplz}$ process p in the l-th flexible process section of type $T_{z}$ of workpiece i $X_{ijk}$ decision variable
Machining features, processing constraint, machining methods and machine types of workpieces
 Workpiece Machining features Processing constraints on machining feature Candidate machining methods Process re-coding Machine types Workpiece 1 $f_{1}$ Method 1:Rough turning a(200s)-Finish turning b(160s) Method 2:Rough milling a (180s)-Finish milling b(150s) Rough turning 1- Finish turning 9 Rough milling 1- Finish milling 9 Turning lathe- Turning lathe Milling machine- Milling machine $f_{2}$ Method 1:Rough turning c (120s)- Finish turning d(60s)-Grinding e(100s) Rough turning 2- Finish turning 10- Grinding 16 Turning lathe - Turning lathe -Grinding machine $f_{3}$ Method 1:Rough turning f (130s)- Finish turning g (50s)- Grinding h (120s) Method 2:Rough milling f(100s)-Finish milling g(40s)- Grinding h (120s) Rough turning 4-Finish turning12-Grinding 18 Rough milling 4-Finish milling 12 -Grinding 18 Turning lathe - Turning lathe -Grinding machine Milling machine - Milling machine -Grinding machine $f_{4}$ Method 1:Rough turning i (150s)- Finish turning j (60s)- Grinding k (120s) Rough turning3-Finish turning11 -Grinding 17 Turning lathe - Turning lathe -Grinding machine $f_{5}$ Method 1:Rough turning l (150s)- Finish turning m(100s) Method 2:Rough milling l (130s)-Finish milling m(90s) Rough turning 5- Finish turning 13 Rough milling 5-Finish milling 13 Turning lathe - Turning lathe Milling machine - Milling machine $f_{6}$ After $f_{1}$-$f_{5}$ Method :Drilling n (120s)-Counterboring o (80s) -Reaming p (60s) Drilling 6-Counterboring 7-Reaming14 Drilling machine-Drilling machine -Drilling machine $f_{7}$ After $f_{1}$-$f_{5}$ Method 1:Drilling q (200s)-Counterboring r (150s) Drilling 8-Counterboring 15 Drilling machine-Drilling machine Workpiece 2 $f_{1}$ Method1:Rough milling a (120s)-Semi finish milling b (50s)-Finish milling c (60s) Rough milling 1-Semi finish milling 2-Finish milling 9 Milling machine - Milling machine - Milling machine $f_{2}$ Method 1:Milling d (110s) Milling 3 Milling machine $f_{3}$ After $f_{1}$, $f_{2}$, $f_{5}$ Method 1:Rough boring e (60s)-Semi boring f (50s) -Finish boring g (60s)-h (0s) Method 2:Drilling e (50s)-Counterboring f (40s) -Rough reaming g (50s)-Finish reaming h (60s) Rough boring 5-Semi boring 7-Finish boring 10-12 Drilling5-Counterboring 7-Rough reaming 10-Finish reaming 12 Boring machine-Boring machine -Boring machine-0 Drilling machine-Drilling machine -Drilling machine -Drilling machine $f_{4}$ After $f_{1}$, $f_{2}$, $f_{5}$ Method 1:Rough boring i (60s)-Semi boring j(50s) -Finish boring k(60s)-l(0s) Method 2:Drilling i(50s)-Counterboring j(40s) -Rough reaming k(50s)-Finish reaming l(60s) Rough boring 6-Semi boring 8 -Finish boring 11-13 Drilling 6-Counterboring 8-Rough reaming 11-Finish reaming 13 Boring machine-Boring machine-Boring machine-0 Drilling machine-Drilling machine-Drilling machine-Drilling machine $f_{5}$ Method 1:Milling m(110s) Milling 4 Milling machine Workpiece 3 $f_{1}$ Method 1:Milling a(120s) Milling 1 Milling machine $f_{2}$ Method 1:Rough milling b(100s)- Semi finish milling c(80s) Rough milling 2-Semi finish milling 15 Milling machine-Milling machine $f_{3}$ After $f_{1}$, $f_{2}$ Method 1;Rough milling d(150s)- Semi finish milling e(130s) Rough milling 3-Semi finish milling 16 Milling machine - Milling machine $f_{4}$ After $f_{1}$, $f_{2}$ Method 1:Rough turning f(150s)- Semi finish turning g(100s) Method 2;Rough milling f(130s)- Semi finish milling g(100s) Rough turning 4-Semi finish turning17 Turning lathe - Turning lathe $f_{5}$ After $f_{1}$, $f_{2}$ Method 1;Rough turning h(180s)- Semi finish turning i(100s)- Finish turning j(110s) Rough turning 5-Semi finish turning 6- Finish turning 18 Turning lathe - Turning lathe-Turning lathe $f_{6}$ After $f_{1}$, $f_{2}$ Method 1:Turning k(100s) Turning 7 Turning lathe $f_{7}$ After $f_{1}$, $f_{2}$ Method 1:Rough milling l(120s)- Semi finish milling m(100s)-Finish milling n(50s) Rough milling 8-Semi finish milling 9-Finish milling 19 Milling machine - Milling machine - Milling machine $f_{8}$ After $f_{3}$-$f_{6}$ Method 1;Rough boring o(100s)-Semi boring p(60s)-Finish boring q(110s) Method 2:Rough turning o(120s)-Semi finish turning p(110s)- Finish turning q(80s) Rough boring 10-Semi boring 11-Finish boring 20 Rough turning 10-Semi finish turning 11- Finish turning 20 Boring machine-Boring machine-Boring machine Turning lathe - Turning lathe - Turning lathe $f_{9}$ After $f_{3}$-$f_{6}$ Method 1:Rough milling r(130s)- Semi finish milling s(90s) Method 2:Rough turning r(150s)- Semi finish turning s(110s) Method 3:Rough boring r(120s)-Semi boring s(70s) Rough milling12-Semi finish milling21 Rough turning 12-Semi finish turning 21 Milling machine- Milling machine Turning lathe- Turning lathe $f_{10}$ After $f_{8}$, $f_{9}$ Method 1:Drilling t(100s)-Counterboring u(50s) Drilling 13-Counterboring 22 Drilling machine-Drilling machine $f_{11}$ After $f_{8}$, $f_{9}$ Method 1:Drilling v(120s)-Counterboring w(60s) Drilling 14-Counterboring 23 Drilling machine-Drilling machine
 Workpiece Machining features Processing constraints on machining feature Candidate machining methods Process re-coding Machine types Workpiece 1 $f_{1}$ Method 1:Rough turning a(200s)-Finish turning b(160s) Method 2:Rough milling a (180s)-Finish milling b(150s) Rough turning 1- Finish turning 9 Rough milling 1- Finish milling 9 Turning lathe- Turning lathe Milling machine- Milling machine $f_{2}$ Method 1:Rough turning c (120s)- Finish turning d(60s)-Grinding e(100s) Rough turning 2- Finish turning 10- Grinding 16 Turning lathe - Turning lathe -Grinding machine $f_{3}$ Method 1:Rough turning f (130s)- Finish turning g (50s)- Grinding h (120s) Method 2:Rough milling f(100s)-Finish milling g(40s)- Grinding h (120s) Rough turning 4-Finish turning12-Grinding 18 Rough milling 4-Finish milling 12 -Grinding 18 Turning lathe - Turning lathe -Grinding machine Milling machine - Milling machine -Grinding machine $f_{4}$ Method 1:Rough turning i (150s)- Finish turning j (60s)- Grinding k (120s) Rough turning3-Finish turning11 -Grinding 17 Turning lathe - Turning lathe -Grinding machine $f_{5}$ Method 1:Rough turning l (150s)- Finish turning m(100s) Method 2:Rough milling l (130s)-Finish milling m(90s) Rough turning 5- Finish turning 13 Rough milling 5-Finish milling 13 Turning lathe - Turning lathe Milling machine - Milling machine $f_{6}$ After $f_{1}$-$f_{5}$ Method :Drilling n (120s)-Counterboring o (80s) -Reaming p (60s) Drilling 6-Counterboring 7-Reaming14 Drilling machine-Drilling machine -Drilling machine $f_{7}$ After $f_{1}$-$f_{5}$ Method 1:Drilling q (200s)-Counterboring r (150s) Drilling 8-Counterboring 15 Drilling machine-Drilling machine Workpiece 2 $f_{1}$ Method1:Rough milling a (120s)-Semi finish milling b (50s)-Finish milling c (60s) Rough milling 1-Semi finish milling 2-Finish milling 9 Milling machine - Milling machine - Milling machine $f_{2}$ Method 1:Milling d (110s) Milling 3 Milling machine $f_{3}$ After $f_{1}$, $f_{2}$, $f_{5}$ Method 1:Rough boring e (60s)-Semi boring f (50s) -Finish boring g (60s)-h (0s) Method 2:Drilling e (50s)-Counterboring f (40s) -Rough reaming g (50s)-Finish reaming h (60s) Rough boring 5-Semi boring 7-Finish boring 10-12 Drilling5-Counterboring 7-Rough reaming 10-Finish reaming 12 Boring machine-Boring machine -Boring machine-0 Drilling machine-Drilling machine -Drilling machine -Drilling machine $f_{4}$ After $f_{1}$, $f_{2}$, $f_{5}$ Method 1:Rough boring i (60s)-Semi boring j(50s) -Finish boring k(60s)-l(0s) Method 2:Drilling i(50s)-Counterboring j(40s) -Rough reaming k(50s)-Finish reaming l(60s) Rough boring 6-Semi boring 8 -Finish boring 11-13 Drilling 6-Counterboring 8-Rough reaming 11-Finish reaming 13 Boring machine-Boring machine-Boring machine-0 Drilling machine-Drilling machine-Drilling machine-Drilling machine $f_{5}$ Method 1:Milling m(110s) Milling 4 Milling machine Workpiece 3 $f_{1}$ Method 1:Milling a(120s) Milling 1 Milling machine $f_{2}$ Method 1:Rough milling b(100s)- Semi finish milling c(80s) Rough milling 2-Semi finish milling 15 Milling machine-Milling machine $f_{3}$ After $f_{1}$, $f_{2}$ Method 1;Rough milling d(150s)- Semi finish milling e(130s) Rough milling 3-Semi finish milling 16 Milling machine - Milling machine $f_{4}$ After $f_{1}$, $f_{2}$ Method 1:Rough turning f(150s)- Semi finish turning g(100s) Method 2;Rough milling f(130s)- Semi finish milling g(100s) Rough turning 4-Semi finish turning17 Turning lathe - Turning lathe $f_{5}$ After $f_{1}$, $f_{2}$ Method 1;Rough turning h(180s)- Semi finish turning i(100s)- Finish turning j(110s) Rough turning 5-Semi finish turning 6- Finish turning 18 Turning lathe - Turning lathe-Turning lathe $f_{6}$ After $f_{1}$, $f_{2}$ Method 1:Turning k(100s) Turning 7 Turning lathe $f_{7}$ After $f_{1}$, $f_{2}$ Method 1:Rough milling l(120s)- Semi finish milling m(100s)-Finish milling n(50s) Rough milling 8-Semi finish milling 9-Finish milling 19 Milling machine - Milling machine - Milling machine $f_{8}$ After $f_{3}$-$f_{6}$ Method 1;Rough boring o(100s)-Semi boring p(60s)-Finish boring q(110s) Method 2:Rough turning o(120s)-Semi finish turning p(110s)- Finish turning q(80s) Rough boring 10-Semi boring 11-Finish boring 20 Rough turning 10-Semi finish turning 11- Finish turning 20 Boring machine-Boring machine-Boring machine Turning lathe - Turning lathe - Turning lathe $f_{9}$ After $f_{3}$-$f_{6}$ Method 1:Rough milling r(130s)- Semi finish milling s(90s) Method 2:Rough turning r(150s)- Semi finish turning s(110s) Method 3:Rough boring r(120s)-Semi boring s(70s) Rough milling12-Semi finish milling21 Rough turning 12-Semi finish turning 21 Milling machine- Milling machine Turning lathe- Turning lathe $f_{10}$ After $f_{8}$, $f_{9}$ Method 1:Drilling t(100s)-Counterboring u(50s) Drilling 13-Counterboring 22 Drilling machine-Drilling machine $f_{11}$ After $f_{8}$, $f_{9}$ Method 1:Drilling v(120s)-Counterboring w(60s) Drilling 14-Counterboring 23 Drilling machine-Drilling machine
Time needed to move a workpiece from one machine to another (/s)
 Process/machine Turning Milling Drilling Boring Grinding M1 M2 M3 M4 M5 M6 M7 M8 M9 Turning M1 0 10 19 40 42 60 62 70 80 M2 10 0 10 40 40 60 60 70 78 M3 19 10 0 40 40 60 60 70 72 Milling M4 40 40 40 0 12 30 30 40 50 M5 42 40 40 12 0 30 30 40 53 Drilling M6 60 60 60 30 30 0 12 20 28 M7 62 60 60 30 30 12 0 20 26 Boring M8 70 70 70 40 40 20 20 0 18 Grinding M9 80 78 72 50 53 28 26 18 0
 Process/machine Turning Milling Drilling Boring Grinding M1 M2 M3 M4 M5 M6 M7 M8 M9 Turning M1 0 10 19 40 42 60 62 70 80 M2 10 0 10 40 40 60 60 70 78 M3 19 10 0 40 40 60 60 70 72 Milling M4 40 40 40 0 12 30 30 40 50 M5 42 40 40 12 0 30 30 40 53 Drilling M6 60 60 60 30 30 0 12 20 28 M7 62 60 60 30 30 12 0 20 26 Boring M8 70 70 70 40 40 20 20 0 18 Grinding M9 80 78 72 50 53 28 26 18 0
The identifiers of clamping method for machining features of workpieces
 Workpiece Workpiece 1 Workpiece 2 Workpiece 3 Machining features $f_{1}$ $f_{2}$ $f_{3}$ $f_{4}$ $f_{5}$ $f_{1}$ $f_{2}$ $f_{5}$ $f_{1}$ $f_{2}$ $f_{3}$ $f_{4}$ $f_{5}$ $f_{6}$ $f_{7}$ $f_{8}$ $f_{9}$ Machining Turning 1 1 2 2 2 - - - - - - 10 10 10 - 11 11 Milling 3 - 4 - 4 7 8 9 12 12 13 13 - - 13 - 14 methods Grinding - 5 6 5 - - - - - - - - - - - - -
 Workpiece Workpiece 1 Workpiece 2 Workpiece 3 Machining features $f_{1}$ $f_{2}$ $f_{3}$ $f_{4}$ $f_{5}$ $f_{1}$ $f_{2}$ $f_{5}$ $f_{1}$ $f_{2}$ $f_{3}$ $f_{4}$ $f_{5}$ $f_{6}$ $f_{7}$ $f_{8}$ $f_{9}$ Machining Turning 1 1 2 2 2 - - - - - - 10 10 10 - 11 11 Milling 3 - 4 - 4 7 8 9 12 12 13 13 - - 13 - 14 methods Grinding - 5 6 5 - - - - - - - - - - - - -
Setup times for processing different workpieces on the same machine and times needed to change clamping types (/s)
 Workpiece 1 2 3 1 2 3 1 2 3 Machine M1 M2 M3 Workpiece 1 (26) 28 32 (20) 26 30 (20) 26 30 2 30 (0) 40 30 (0) 26 30 (0) 26 3 40 50 (29) 35 30 (22) 35 30 (22) M4 M5 M6 1 (26) 26 30 (21) 21 30 (0) 58 31 2 30 (22) 26 25 (22) 26 55 (0) 60 3 35 30 (30) 35 30 (30) 25 50 (0) M7 M8 M9 1 (0) 58 24 (0) 32 40 (18) 29 45 2 55 (0) 60 35 (0) 90 25 (15) 30 3 20 50 (0) 30 80 (28) 40 25 (20)
 Workpiece 1 2 3 1 2 3 1 2 3 Machine M1 M2 M3 Workpiece 1 (26) 28 32 (20) 26 30 (20) 26 30 2 30 (0) 40 30 (0) 26 30 (0) 26 3 40 50 (29) 35 30 (22) 35 30 (22) M4 M5 M6 1 (26) 26 30 (21) 21 30 (0) 58 31 2 30 (22) 26 25 (22) 26 55 (0) 60 3 35 30 (30) 35 30 (30) 25 50 (0) M7 M8 M9 1 (0) 58 24 (0) 32 40 (18) 29 45 2 55 (0) 60 35 (0) 90 25 (15) 30 3 20 50 (0) 30 80 (28) 40 25 (20)
Powers of machines, usages of coolant and lubricant
 Machine M1 M2 M3 M4 M5 M6 M7 M8 M9 Power (/$10^{3}w$) Workpiece 1 9.5 7.6 8 8.5 11.5 12 9.5 9.25 15 2 13.5 9 9.5 9.25 10.6 11.5 10 9.9 15.5 3 9.5 7.5 12 10 9.25 9 9.1 8 15 Idling 1.1 1.4 1.25 0.75 0.9 2.75 2.1 2 2.5 Setup 2.1 2.5 2.3 1.9 2.1 3.8 3.2 3.1 3.6 Coolant Usage(/$10^{-3} $$m^{3} ) 350 360 350 210 200 410 400 300 300 Use cycle(/ 10^{4}s ) 86 86 86 120 120 90 90 130 100 Lubricant Usage(/ 10^{-3}$$ m^{3}$) 0.3 0.31 0.33 0.28 0.3 0.33 0.35 0.29 0.32 Use cycle(/$10^{4}s$) 41 41 41 46 46 54 54 50 58
 Machine M1 M2 M3 M4 M5 M6 M7 M8 M9 Power (/$10^{3}w$) Workpiece 1 9.5 7.6 8 8.5 11.5 12 9.5 9.25 15 2 13.5 9 9.5 9.25 10.6 11.5 10 9.9 15.5 3 9.5 7.5 12 10 9.25 9 9.1 8 15 Idling 1.1 1.4 1.25 0.75 0.9 2.75 2.1 2 2.5 Setup 2.1 2.5 2.3 1.9 2.1 3.8 3.2 3.1 3.6 Coolant Usage(/$10^{-3} $$m^{3} ) 350 360 350 210 200 410 400 300 300 Use cycle(/ 10^{4}s ) 86 86 86 120 120 90 90 130 100 Lubricant Usage(/ 10^{-3}$$ m^{3}$) 0.3 0.31 0.33 0.28 0.3 0.33 0.35 0.29 0.32 Use cycle(/$10^{4}s$) 41 41 41 46 46 54 54 50 58
Carbon emission factors
 Resource Carbon emission factor Electrical energy 1.8742x$10^{-7}$ $kgCO_{2}/J$ Lubricant 2,850 $kgCO_{2}/ $$m^{3} coolant 3,050 kgCO_{2}/ m^{3}  Resource Carbon emission factor Electrical energy 1.8742x 10^{-7} kgCO_{2}/J Lubricant 2,850 kgCO_{2}/$$ m^{3}$ coolant 3,050$kgCO_{2}/$ $m^{3}$
A Pareto set of the proposed integrated method of process planning and scheduling
 The number of Pareto solutions $C_{Me}$ $(kgCO_{2})$ $C_{Ie}$ $(kgCO_{2})$ $C_{Ae}$ $(kgCO_{2})$ $C_{t}$ $(kgCO_{2})$ $C_{c}$ $(kgCO_{2})$ $C_{l}$ $(kgCO_{2})$ $C_{p}$ $(kgCO_{2})$ $C_{time}$ (s) 1 8.7531 3.7681 0.095985 0.45655 0.10306 0.19883 13.376 2,796 2 9.0407 3.8443 0.11121 0.52739 0.10387 0.19315 13.821 2,780 3 9.108 3.7814 0.12769 0.53395 0.10151 0.18059 13.833 2,735 ... ... ... ... ... ... ... ... ... 27 8.9757 6.1699 0.14854 0.62382 0.10072 0.25358 16.272 2,536 28 8.8894 6.3467 0.2138 0.53723 0.10252 0.22544 16.315 2,530 29 8.8997 6.281 0.27783 0.54117 0.10202 0.22421 16.326 2,525
 The number of Pareto solutions $C_{Me}$ $(kgCO_{2})$ $C_{Ie}$ $(kgCO_{2})$ $C_{Ae}$ $(kgCO_{2})$ $C_{t}$ $(kgCO_{2})$ $C_{c}$ $(kgCO_{2})$ $C_{l}$ $(kgCO_{2})$ $C_{p}$ $(kgCO_{2})$ $C_{time}$ (s) 1 8.7531 3.7681 0.095985 0.45655 0.10306 0.19883 13.376 2,796 2 9.0407 3.8443 0.11121 0.52739 0.10387 0.19315 13.821 2,780 3 9.108 3.7814 0.12769 0.53395 0.10151 0.18059 13.833 2,735 ... ... ... ... ... ... ... ... ... 27 8.9757 6.1699 0.14854 0.62382 0.10072 0.25358 16.272 2,536 28 8.8894 6.3467 0.2138 0.53723 0.10252 0.22544 16.315 2,530 29 8.8997 6.281 0.27783 0.54117 0.10202 0.22421 16.326 2,525
Pareto solutions of scheduling after process planning
 The number of Pareto solutions $C_{Me}$ $(kgCO_{2})$ $C_{Ie}$ $(kgCO_{2})$ $C_{Ae}$ $(kgCO_{2})$ $C_{t}$ $(kgCO_{2})$ $C_{c}$ $(kgCO_{2})$ $C_{l}$ $(kgCO_{2})$ $C_{p}$ $(kgCO_{2})$ $C_{time}$ (s) 1 8.5521 4.5633 0.12961 0.4408 0.09917 0.20544 13.966 3,082 2 8.994 4.2145 0.13048 0.44605 0.10144 0.18311 14.169 2,941 3 8.9908 4.4446 0.13095 0.53526 0.1023 0.22189 14.426 2,616 ... ... ... ... ... ... ... ... ... 11 9.1172 5.7343 0.072699 0.53526 0.10447 0.21548 15.779 2,545 12 8.9459 6.0728 0.12725 0.47951 0.10216 0.21728 15.945 2,535 13 9.3706 6.1467 0.1115 0.5392 0.10312 0.25379 16.525 2,530
 The number of Pareto solutions $C_{Me}$ $(kgCO_{2})$ $C_{Ie}$ $(kgCO_{2})$ $C_{Ae}$ $(kgCO_{2})$ $C_{t}$ $(kgCO_{2})$ $C_{c}$ $(kgCO_{2})$ $C_{l}$ $(kgCO_{2})$ $C_{p}$ $(kgCO_{2})$ $C_{time}$ (s) 1 8.5521 4.5633 0.12961 0.4408 0.09917 0.20544 13.966 3,082 2 8.994 4.2145 0.13048 0.44605 0.10144 0.18311 14.169 2,941 3 8.9908 4.4446 0.13095 0.53526 0.1023 0.22189 14.426 2,616 ... ... ... ... ... ... ... ... ... 11 9.1172 5.7343 0.072699 0.53526 0.10447 0.21548 15.779 2,545 12 8.9459 6.0728 0.12725 0.47951 0.10216 0.21728 15.945 2,535 13 9.3706 6.1467 0.1115 0.5392 0.10312 0.25379 16.525 2,530
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