CN106774193A - Manufacture system dynamic coordinate method based on hormone response diffusion principle - Google Patents
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 143
- 239000005556 hormone Substances 0.000 title claims abstract description 112
- 229940088597 hormone Drugs 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 101
- 230000004044 response Effects 0.000 title claims abstract description 22
- 238000009792 diffusion process Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000002068 genetic effect Effects 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims description 66
- 230000028327 secretion Effects 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 14
- 238000005457 optimization Methods 0.000 claims description 9
- 239000013256 coordination polymer Substances 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000003248 secreting effect Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 5
- 230000015556 catabolic process Effects 0.000 claims description 4
- 230000001351 cycling effect Effects 0.000 claims description 3
- 230000008030 elimination Effects 0.000 claims description 3
- 238000003379 elimination reaction Methods 0.000 claims description 3
- 230000014759 maintenance of location Effects 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims description 3
- 238000013178 mathematical model Methods 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims 1
- 210000001124 body fluid Anatomy 0.000 description 3
- 239000010839 body fluid Substances 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003890 endocrine cell Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008844 regulatory mechanism Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Manufacturing & Machinery (AREA)
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- Automation & Control Theory (AREA)
Abstract
The invention discloses a kind of manufacture system dynamic coordinate method based on hormone response diffusion principle, the method is mainly and is inspired by internal system hormone response flooding mechanism, realize a kind of manufacture system dynamic coordinate method based on hormone response diffusion principle, devising two kinds can be with interactional hormone, carry out rapid optimizing, wherein in order to expand the solution space of optimizing, the method of genetic cross variation is also used to operate feasible solution, in the case of multi-process routes, to be carried out more reasonably selecting and distributing to resource according to production task；Responded simultaneously for the accident in manufacture system, the agility of system can be improved.
Description
Technical field
The present invention relates to a kind of manufacture system dynamic coordinate method based on hormone response diffusion principle, belong to manufacture system
Dynamic coordinate Optimal Decision-making field.
Background technology
As the expansion of field of artificial intelligence research is with deeply, the model of mind of human body information treatment mechanism is increasingly becoming one
Individual new study hotspot, the diversity of its system architecture, function and its regulatory mechanism, complexity, reliability, adaptability and efficiently
Property etc. be worth us to be used for reference and referred to when manufacture system is studied.And internal system is even more in human body information processing system
Core, wherein complicated and unique, can to give researcher based on hormone response flooding mechanism information processing manner a lot
Inspire.This coordination approach based on internal system hormone response flooding mechanism is a kind of implicit dynamic coordinate method, root
According to the adjustment effect that hormone concentration in body fluid changes, numerous independent individualities can rapidly be guided and coordinate total to current system
In the work that body is needed most, it is achieved thereby that comprehensive coordinate and cooperation between system internal resources.Internal system passes through
The Reaction-diffusion terms of hormone realize regulating and controlling effect, and its traffic is small, can realize Fast synchronization coordination and cooperation, by stimulating or pressing down
Make the secretory activity of other endocrine cells to keep the stabilization of organismic internal environment, so as to reach the mesh of body function total optimization
's.Also, this is-not symbol formula communication means based on hormone response flooding mechanism is referred to as the implicit coordination system, its with based on system
The display coordination systems such as LR, Petri Net for commonly using in system control sytsem and CNP are made to compare, with the information traffic it is small,
Coordinate it is simple, the advantages of be easily achieved.Based on this, inspired by hormone response flooding mechanism in internal system, devised one
The task coordinate optimized algorithm based on hormone secretion Principles of Regulation is planted, real-time optimization distribution is carried out to production task, and being capable of pin
Fast reaction is carried out to various accidents so that device resource is rationally utilized.
The content of the invention
In order to solve the above-mentioned technical problem, it is dynamic the invention provides a kind of manufacture system based on hormone response diffusion principle
State coordination approach.
In order to achieve the above object, the technical solution adopted in the present invention is：
Manufacture system dynamic coordinate method based on hormone response diffusion principle, comprises the following steps,
Step 1, analyzes production task and the resource coordination optimization process of Discrete manufacturing system, founding mathematical models and its
Constraints；
Step 2, is inspired by internal system hormone control mechanism, on the basis of the Mathematical Modeling set up, builds workshop
The production task hormone information of management level, builds the resource feedback hormone information of process route；
Step 3, the production capacity to all resources sets up production capacity table, and assesses its production capacity, sets up hormone letter
Breath node, deposits it and is directed to the corresponding hormone secretion amount of various production tasks, and composition can take the Discrete manufacturing system of hormone in
System " body fluid " interior environment；
Step 4, after production task is reached, carries out production breakdown, and some techniques are generated according to workshop real resource situation
Route, is then verified by constraints, and actual conditions are adjusted, and generates the production on each processing route at random
Piece count；
Step 5, generate production task hormone, and releases into PE；
Step 6, Workshop Production resource layer perceives production task hormone, and the virtual condition according to each process route is to it
Responded, when the resource low production cost on certain process route, and met the requirement of constraints, then increased its hormone point
The amount of secreting；Otherwise then reduce its secretory volume；
Step 7, generation resource feedback hormone, and release into PE；
Step 8, Shop floor control layer senses that resource feeds back hormone, and production task hormone is carried out further according to information therein
Update, the piece count produced on adjustment wherein each processing route, and global optimization is carried out by genetic cross variation method；
Step 9, according to object function to cross and variation after new allocative decision calculate, and all solutions are carried out successively
Sequence, screening, elimination of the last one, calculate solution space matrix, and generate resource feedback hormone with this；
Step 10, sets cycling condition, and the methods described in step 5~9 is circulated operation, solves in Alternative
In the case of route, according to Discrete manufacturing system model target, task is selected and distribution with the most rational of resource.
The Mathematical Modeling of Discrete manufacturing system is,
minCtotal(P)=CP(P)+CT(P)
Constraints is,
Wherein, Ctotal(P) it is total cost of production, CP(P) it is work piece production expense, CT(P) it is workpiece transport expense, RPFor
The process route sum that can be produced, NrpIt is the production quantity of the workpiece P on process route rp, CrpIt is on process route rp
The production cost of single workpiece P, CTrpIt is the cost of transportation of the workpiece P on process route rp, NPIt is the total amount of generation production workpiece P,
TrpIt is the production time of the workpiece P on process route rp, TTrpIt is the haulage time of the workpiece P on process route rp, T is completion
Time, DPIt is the delivery date of production task.
Production task hormone triple hx(Job_id, Num, Info) builds, resource feedback hormone four-tuple hy
(Routh_id, c, t, ρ) builds；Wherein, Job_id represents the numbering for production task, and Num represents the quantity of workpiece, Info tables
Show the related process information of production task, Routh_id represents that process route is numbered, and c represents the cost information of the processing route, t
The process time on the processing route is represented, ρ represents hormone secretion amount.
Hormone secretion amount more new formula：
ρrp(t+1)=α ρrp(t)+Δρ
Wherein, ρrpIt is the amount of hormone secretion two on process route rp, α is the retention rate of hormone, and Q is known fixed constant
Amount, t represents current time, and t+1 represents next workpiece arrival time.
In process of production, when there is accident, specific dynamic coordinate process is Discrete manufacturing system,
S1, being chosen from resources bank according to the production technology of accident suitably can process equipment；
S2, foundation hormone take the hormone amount remained in each resource hormone information node in environment in, and superposition obtains each
Hormone secretion amount in the existing resource feedback hormone of bar process route；
Specific formula is,
Wherein, ρiHormone secretion amount is remained on resource i selected in process route, n represents process route length；
S3, production task hormone information and resource the feedback hormone information updated in Discrete manufacturing system；
S4, the existing hormone dynamic coordinate algorithm of operation, i.e. step 5~9, are that the suitable money of matching is coordinated in accident
Source.
The beneficial effect that the present invention is reached：The present invention is mainly opened by internal system hormone response flooding mechanism
Hair, realizes a kind of manufacture system dynamic coordinate method based on hormone response diffusion principle, and devising two kinds can mutual shadow
Loud hormone, carrys out rapid optimizing, wherein the solution space in order to expand optimizing, also using the method for genetic cross variation, come pair can
Row solution is operated, in the case of multi-process routes, can more reasonably to be selected resource according to production task
And distribution；The present invention is responded for the accident in manufacture system simultaneously, can improve the agility of system.
Brief description of the drawings
Fig. 1 is flow chart of the invention.
Fig. 2 is multi-process routes digraph.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
As shown in figure 1, the manufacture system dynamic coordinate method based on hormone response diffusion principle, comprises the following steps：
Step 1, analyzes production task and the resource coordination optimization process of Discrete manufacturing system, founding mathematical models and its
Constraints.
Discrete Manufacturing Systems production task can be described as with resource coordination optimization problem：Quantity is NPGeneration processing workpiece
P, after production task therein is carried out into production breakdown, can obtain a production task for multi-process routes as shown in Figure 2
Optional resource operation digraph corresponding with resource, 3 executive process routes, Sp1~Sp9Represent and be directed in the processing of workpiece p
Available resource.
Discrete manufacturing system and Mathematical Modeling are set up with the minimum target of production cost and its constraints is：
The Mathematical Modeling of Discrete manufacturing system is,
minCtotal(P)=CP(P)+CT(P)
Constraints is：Ensure all production tasks can with corresponding resource coordination, and can regulation when
Interior completion, specifically,
Wherein, Ctotal(P) it is total cost of production, CP(P) it is work piece production expense, CT(P) it is workpiece transport expense, RPFor
The process route sum that can be produced, NrpIt is the production quantity of the workpiece P on process route rp, CrpIt is on process route rp
The production cost of single workpiece P, CTrpIt is the cost of transportation of the workpiece P on process route rp, NPIt is the total amount of generation production workpiece P,
TrpIt is the production time of the workpiece P on process route rp, TTrpIt is the haulage time of the workpiece P on process route rp, T is completion
Time, DPIt is the delivery date of production task.
Step 2, is inspired by internal system hormone control mechanism, on the basis of the Mathematical Modeling set up, builds workshop
The production task hormone information of management level, builds the resource feedback hormone information of process route.
Production task hormone triple hx(Job_id, Num, Info) builds, resource feedback hormone four-tuple hy
(Routh_id, c, t, ρ) builds；Wherein, Job_id represents the numbering for production task, and Num represents the quantity of workpiece, Info tables
Show the related process information of production task, Routh_id represents that process route is numbered, and c represents the cost information of the processing route, t
The process time on the processing route is represented, ρ represents hormone secretion amount.
Step 3, the production capacity to all resources sets up production capacity table, and assesses its production capacity, sets up hormone letter
Breath node, deposits it and is directed to the corresponding hormone secretion amount of various production tasks, and composition can take the Discrete manufacturing system of hormone in
System " body fluid " interior environment.
Step 4, after production task is reached, carries out production breakdown, and some techniques are generated according to workshop real resource situation
Route, is then verified by constraints, and actual conditions are adjusted, and generates the production on each processing route at random
Piece count.
Step 5, generate production task hormone, and releases into PE.
Step 6, Workshop Production resource layer perceives production task hormone, and the virtual condition according to each process route is to it
Responded, when the resource low production cost on certain process route, and met the requirement of constraints, then increased its hormone point
The amount of secreting；Otherwise then reduce its secretory volume.
Judge whether the resource production cost on process route low, by by the resource production cost on process route with set
Fixed threshold value is compared, less than the then judgement low production cost of threshold value.
Hormone secretion amount more new formula：
ρrp(t+1)=α ρrp(t)+Δρ
Wherein, ρrpIt is the amount of hormone secretion two on process route rp, α is the retention rate of hormone, and Q is known fixed constant
Amount, t represents current time, and t+1 represents next workpiece arrival time.
Step 7, generation resource feedback hormone, and release into PE.
Step 8, Shop floor control layer senses that resource feeds back hormone, and production task hormone is carried out further according to information therein
Update, the piece count produced on adjustment wherein each processing route, and global optimization is carried out by genetic cross variation method
In order to expand the Searching Resolution Space scope of feasible solution, herein according to the digraph of multi-process routes resource, m kinds are chosen
Feasible allocative decision is solution space Xm, its matrix is expressed as：
Per a line x in matrixiThe dynamic candidate group of solution space is constituted, is carried out by the means of hereditary variation global excellent
Change.In the selection process, the Mathematical Modeling according to Discrete manufacturing system is calculated each candidate solution in feasible solution, is pressed
The probability h that formula is obtainedriTwo feasible solutions chosen in solution space carry out cross and variation operation；
Wherein, CTotal(P i) represents i-th production task totle drilling cost of solution in solution space.By formula as can be seen that each
In individual feasible solution, its production cost is smaller, then its be selected carry out cross and variation probability it is smaller because the feasible solution is more
Adjunction is bordering on optimal solution, is adapted to retain.
In crossover operation, if xiAnd xjTo carry out two feasible solutions of crossover operation, xiAnd xjTwo rows in for matrix,
Actual crossover probability is pc=PC×hri, PCFor the crossover probability that system specifies.Feasible solution so higher for cost is come
Say, the probability that it is intersected is just than larger.P ∈ [0,1] are randomly generated, if p ﹥ pc, then crossover operation is carried out.Similarly, becoming
Different stage, its actual mutation probability is pm=PM×hri, PMFor the mutation probability that system specifies.It is same using such mutation probability
Sample can cause that the variable of more excellent solution can be preserved with more.P ∈ [0,1] are randomly generated, if p ﹥ pm, then row variation behaviour is entered
Make.
Step 9, according to object function to cross and variation after new allocative decision calculate, and all solutions are carried out successively
Sequence, screening, elimination of the last one, calculate solution space matrix, and generate resource feedback hormone with this；
Step 10, sets cycling condition, and the methods described in step 5~9 is circulated operation, solves in Alternative
In the case of route, according to Discrete manufacturing system model target, task is selected and distribution with the most rational of resource.
In dynamicalmanufacturing environment up in air, accident occurs often meaning that each in Discrete manufacturing system
Kind of resource may have the production schedule and use, then each resource in consideration system is just had to the arrangement of accident
Actual working state, the then arrangement according to process route in accident reasonably carries out resource selection and coordinated allocation.
Assuming that only needing production comprising a type of product I in accident, (production task of multiple product combination can
By that analogy), its production technology is characterized as：I1 → I2 →... ... → In (work such as car, milling, mill during expression manufacture product I
Sequence, n represent it required for flow quantity, i.e. process route length).
In process of production, when there is accident, specific dynamic coordinate process is Discrete manufacturing system：
S1, being chosen from resources bank according to the production technology of accident suitably can process equipment；
S2, foundation hormone take the hormone amount remained in each resource hormone information node in environment in, and superposition obtains each
Hormone secretion amount in the existing resource feedback hormone of bar process route；
Specific formula is,
Wherein, ρiHormone secretion amount is remained on resource i selected in process route, n represents process route length；
S3, production task hormone information and resource the feedback hormone information updated in Discrete manufacturing system；
S4, the existing hormone dynamic coordinate algorithm of operation, i.e. step 5~9, are that the suitable money of matching is coordinated in accident
Source.
The above method is mainly and is inspired by internal system hormone response flooding mechanism, realizes a kind of anti-based on hormone
The manufacture system dynamic coordinate method of diffusion principle is answered, devising two kinds can carry out rapid optimizing with interactional hormone, wherein
In order to expand the solution space of optimizing, also use the method for genetic cross variation to operate feasible solution, so as in multiplexing
In the case of skill route, resource can be carried out according to production task more reasonably select and distribute.Simultaneously the above method for
Accident in manufacture system is responded, and can improve the agility of system.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of the technology of the present invention principle is not departed from, some improvement and deformation can also be made, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (5)
1. the manufacture system dynamic coordinate method of hormone response diffusion principle is based on, it is characterised in that：Comprise the following steps,
Step 1, analyzes production task and resource coordination optimization process, founding mathematical models and its constraint of Discrete manufacturing system
Condition；
Step 2, is inspired by internal system hormone control mechanism, on the basis of the Mathematical Modeling set up, builds workshop management
The production task hormone information of layer, builds the resource feedback hormone information of process route；
Step 3, the production capacity to all resources sets up production capacity table, and assesses its production capacity, sets up hormone information section
Point, deposits it and is directed to the corresponding hormone secretion amount of various production tasks, and composition can take the Discrete manufacturing system " body of hormone in
The interior environment of liquid "；
Step 4, after production task is reached, carries out production breakdown, and some process routes are generated according to workshop real resource situation,
Then verified by constraints, actual conditions are adjusted, and generated the work produced on each processing route at random
Number of packages amount；
Step 5, generate production task hormone, and releases into PE；
Step 6, Workshop Production resource layer perceives production task hormone, and the virtual condition according to each process route is carried out to it
Response, when the resource low production cost on certain process route, and meets the requirement of constraints, then increase its hormone secretion
Amount；Otherwise then reduce its secretory volume；
Step 7, generation resource feedback hormone, and release into PE；
Step 8, Shop floor control layer senses that resource feeds back hormone, and production task hormone is carried out more further according to information therein
Newly, the piece count for being produced on adjustment wherein each processing route, and global optimization is carried out by genetic cross variation method；
Step 9, according to object function to cross and variation after new allocative decision calculate, and all solutions are arranged successively
Sequence, screening, elimination of the last one, calculate solution space matrix, and generate resource feedback hormone with this；
Step 10, sets cycling condition, and the methods described in step 5~9 is circulated operation, solves in multi-process routes
In the case of, according to Discrete manufacturing system model target, task is selected and distribution with the most rational of resource.
2. the manufacture system dynamic coordinate method based on hormone response diffusion principle according to claim 1, its feature exists
In：The Mathematical Modeling of Discrete manufacturing system is,
min Ctotal(P)=CP(P)+CT(P)
Constraints is,
Wherein, Ctotal(P) it is total cost of production, CP(P) it is work piece production expense, CT(P) it is workpiece transport expense, RPFor can be with
The process route sum of production, NrpIt is the production quantity of the workpiece P on process route rp, CrpIt is single on process route rp
The production cost of workpiece P, CTrpIt is the cost of transportation of the workpiece P on process route rp, NPIt is the total amount of generation production workpiece P, TrpFor
The production time of workpiece P, T on process route rpTrpIt is the haulage time of the workpiece P on process route rp, T is completion date,
DPIt is the delivery date of production task.
3. the manufacture system dynamic coordinate method based on hormone response diffusion principle according to claim 2, its feature exists
In：Production task hormone triple hx(Job_id, Num, Info) builds, resource feedback hormone four-tuple hy(Routh_
Id, c, t, ρ) build；Wherein, Job_id represents the numbering for production task, and Num represents the quantity of workpiece, and Info represents production
The related process information of task, Routh_id represents that process route is numbered, and c represents the cost information of the processing route, and t represents this
Process time on processing route, ρ represents hormone secretion amount.
4. the manufacture system dynamic coordinate method based on hormone response diffusion principle according to claim 3, its feature exists
In：Hormone secretion amount more new formula：
ρrp(t+1)=α ρrp(t)+Δρ
Wherein, ρrpIt is the amount of hormone secretion two on process route rp, α is the retention rate of hormone, and Q is known fixed constant amount, t tables
Show current time, t+1 represents next workpiece arrival time.
5. the manufacture system dynamic coordinate method based on hormone response diffusion principle according to claim 4, its feature exists
In：In process of production, when there is accident, specific dynamic coordinate process is Discrete manufacturing system,
S1, being chosen from resources bank according to the production technology of accident suitably can process equipment；
S2, foundation hormone take the hormone amount remained in each resource hormone information node in environment in, and superposition obtains each bar work
Hormone secretion amount in the existing resource feedback hormone of skill route；
Specific formula is,
Wherein, ρiHormone secretion amount is remained on resource i selected in process route, n represents process route length；
S3, production task hormone information and resource the feedback hormone information updated in Discrete manufacturing system；
S4, the existing hormone dynamic coordinate algorithm of operation, i.e. step 5~9, are that the suitable resource of matching is coordinated in accident.
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2016
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|---|---|---|---|---|
| DE3602457A1 (en) * | 1985-09-17 | 1987-03-26 | Mauser Werke Oberndorf | Computer-controlled production system |
| CN101782771A (en) * | 2010-03-17 | 2010-07-21 | 东华大学 | Spinning process intelligent optimized design method based on immune neural network |
| JP2013062508A (en) * | 2011-09-12 | 2013-04-04 | Applied Materials Israel Ltd | Method of generating recipe for manufacturing tool and system thereof |
| CN104077630A (en) * | 2014-05-26 | 2014-10-01 | 浙江工业大学 | Workshop layout method for complex job of simulating human cell evolution |
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| Title |
|---|
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