An Artificial Immune System for Solving Production

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    Artif Intell Rev

    DOI 10.1007/s10462-011-9259-1

    An artificial immune system for solving production

    scheduling problems: a review

    Ahmad Shahrizal Muhamad Safaai Deris

    Springer Science+Business Media B.V. 2011

    Abstract This article reviews the production scheduling problems focusing on those

    related to flexible job-shop scheduling. Job-shop and flexible job-shop scheduling prob-

    lems are one of the most frequently encountered and hardest to optimize. This article begins

    with a review of the job-shop and flexible job-shop scheduling problem, and follow by the

    literature on artificial immune systems (AIS) and suggests ways them in solving job-shop

    and flexible job-shop scheduling problems. For the purposes of this study, AIS is defined as

    a computational system based on metaphors borrowed from the biological immune system.This article also, summarizes the direction of current research and suggests areas that might

    most profitably be given further scholarly attention.

    Keywords Production scheduling Job-shop scheduling Flexible job-shop scheduling

    Artificial intelligence Artificial immune system Evolutionary computation

    1 Introduction

    Scheduling can be defined as a process to allocate limited resources in order to complete

    activities or tasks in a given period of time with the all constraints given (Baker 1974).

    Scheduling also can be considered as the optimizing of a problem, with the goal of finding

    the best sequencing of functions. Production scheduling are among the most common and

    significant problems faced by the manufacturing industry. Production scheduling problems

    deal with scheduling jobs on a machine (or a set of machines) in order to optimize a specific

    objective function such as total weighted completion time or total weighted tardiness.

    A. S. Muhamad (B) S. Deris

    Artificial Intelligence and Bioinformatics Group, Faculty of Computer Science and Information System,

    Universiti Teknologi Malaysia, 81310 UTM Skudai, Johor, Malaysia

    e-mail: [email protected]

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    Fig. 1 Job-shop scheduling

    problems

    1 2 3 4 3 2

    2 1 3 1 4 4

    3 2 1 3 2 3

    2 3 1 3 3 1

    Job1

    Job2

    Job3

    Job4

    O1 O2 O3 O1 O2 O3

    Machine Processing Time

    Hermann (2006), offers three important perspectives for the production scheduling. These

    are the problem-solving perspective, the decision-making perspective, and the organizational

    perspective. The problem solving perspective views scheduling as an optimization problem.

    It is the formulation of scheduling as a combinatorial optimization problem isolated from

    the manufacturing planning and control system location. Viewed from decision maker per-

    spective, scheduling includes decisions which humans must do. The schedule maker would

    use official and informal information to establish a schedule capable of fixing a specific task

    to be made in that schedule. From an organizational perspective view, scheduling is a com-

    plex information flow and decision maker that must decide production planning and system

    control. Usually a system is divided into various modules and is done in several different

    functions.

    In production scheduling, there are three types of scheduling problems most commonly

    faced. First is the open shop scheduling problem, where there are no ordering constraints on

    operations. Second is the job shop scheduling problem, where the operations of a job aretotally ordered. Third is the flow-shop scheduling problem, where each job has exactly one

    operation for every machine and all jobs go through all the machines in the same order. In this

    paper, we address the issue of how to solving the job-shop and flexible job-shop scheduling

    problems by using an artificial immune system. We also discuss the rescheduling for the

    job-shop and flexible scheduling problems to determine how best to overcome the problems

    caused by a changing or dynamic environment in the manufacturing industry, problems such

    interruptions by equipment failure, changes of the customer requirements and others.

    2 Job-shop and flexible job-shop scheduling problems

    A job-shop consists of a set of n jobs {j1, j2, . . ., jn} with a number of m machines

    {m1, m2, . . ., mm}. For each job there are a series of operations {o1, o2, . . ., oi } with each

    operation having a specified processing time {i1, i2, . . ., i m}. All operations are required

    to be completed on a specific machine and at a particular time, with one machine being able

    to address only one operation. The goal of job-shop scheduling is to produce a schedule that

    minimizes the total time taken to complete all the activities. The process constraints will

    influence the ability to find the best schedule and determining whether its employment will

    be easy or difficult (Pinedo 2002). Figure 1 illustrates the job-shop scheduling problem. Inmost industries, job-shop scheduling is important because it determines the process maps and

    process capabilities (Roshanaei 2009). The possible solutions for n jobs on single machine

    are n!. When m machines exist, the number of possible solutions is (n!)m .

    Flexible job-shop scheduling problem is an extension of the classical job-shop scheduling

    problem that allows anoperation to be processed by any machine from a given set of available

    machines. Like the job-shop, a flexible job-shop consists of a set ofn jobs {j1, j2, . . ., jn}

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    An artificial immune system for solving production scheduling problems: a review

    Fig. 2 Processing time for

    flexible job shop scheduling

    problems

    Job1

    M1

    Operation

    M2 M3

    Machine

    O2 5

    O3 4 4 4

    O4

    Job2 O1 6

    O2 5 7

    O3 7 9

    O4 6 3

    Job3 O1 5 3 3

    O2 4

    O3

    O4

    O1 6 6

    Fig. 3 Types of schedules

    Feasible Schedule

    Semi-active Schedule

    Active Schedule

    Non-delay Schedule

    witha numberofm machines {m1, m2, . . ., mm}.Ineachjob Ji there are a seriesof operations

    {oi,1, oi,2, . . ., oi,ni }with each operation having a processing time {i1, i2, . . ., i m}. For the

    job-shop each operation only can be processed on one machine. But for the flexible job-shop,

    each operation oi,j , i.e. the operation j of job i , can be processed by any among a subset

    Mi,j M of compatible machines. Figure 2 illustrates the flexible job-shop schedulingproblem. The symbol in the figure means that a machine cannot execute a corresponding

    operation. In other words, it does not belong to the subset of compatible machines for that

    operation or any other operation j of job i . Bruker and Schlie (1990) were among the first

    to address the flexible job-shop scheduling problem (Fig. 3).

    The main problem in job-shop and flexible job-shop scheduling is that of obtaining the

    best possible schedules with optimal solutions. The solution to any optimized problem is

    evaluated by an objective function, with functions associated with cost, resource and time

    minimization. There are several objective functions within job-shop and flexible job-shop

    scheduling problem measurement. The common measurements are makespan, flow time,lateness, tardiness and earliness. The makespan is also known as maximum completion

    time and indicates the completion time of the last job to be completed. The makespan is

    important when having a finite number of jobs and is closely related to the throughput objec-

    tive. Flow time is the sum of the completion times for all the jobs scheduled. This function

    minimizes the average number of jobs in the system. Lateness is the difference between the

    job completion time and the due date, L j = Cj dj , and it may have a positive or a negative

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    value. Tardiness indicates the time with which the job j is completed after its date. Therefore,

    tardiness is positive lateness and is equal to Tj = ma x{0, Cj dj }. Earliness is the time in

    which the job j is completed before its due date, Ej = ma x{0, dj Cj }. As French (French

    1982) states; when considering minimum makespan at least one of the optimal solutions to

    a job-shop problem is semi-active, with a schedule classified as a feasible schedule, a semi-active schedule, an active schedule or a non-delay schedule. An optimal schedule exists in

    the set of active schedules.

    Recently, in the dynamic environment of the manufacturing industry, to refer to job-shop

    or flexible job-shop problems obtained by the best schedules with the optimal solution is

    not sufficient. Optimal solutions to problems are often incredibly fragile, and if the original

    problem changes slightly, then an optimal solution cannot massaged a match, and a new

    one must be produced. In the real-world, such changes happen all the time and hence there

    is a great deal of interest in the scheduling communities for generating robust schedules

    rather than optimal ones (Jensen 2003). The most common changes in the current solutions

    are machine breakdown or new orders received from the customer. For machine breakdown

    or new orders received from customers, perhaps the rescheduling of the current solution is

    needed and this depend on the type of situation and when changes happened. For example,

    if the new order is received while the machine is processing a current job and the new job

    (order) is more important than the current job, the uncompleted operation for the current job

    needs to be rescheduled.

    3 The method for solving job-shop and flexible job-shop scheduling problems

    There are several methods to solving the job-shop and flexible job-shop scheduling prob-

    lems, and all can be classified into two categories; the exact and approximate methods. For

    the exact method, the most significant for the Job-Shop Scheduling Problem is called the

    Branch-and-Bound Method. This method was developed by Land and Doig (1960), and used

    primarily for the optimization of problems which could be formulated as linear program-

    ming problems with additional constraints. The main problem with the exact methods is

    cannot always give optimal solutions, especially when resolving scheduling problems. The

    exact methodis suitable forsmall size problems (Baptiste and Le Pape 1996) and for job-shop

    scheduling problems.

    For the approximate methods, it does not always reach an optimal solution, but it can comevery close. There are several techniques in the approximate method that are used to solve the

    job-shop and flexible job-shop scheduling problems such as priority dispatch rules, bottle-

    neck based heuristics and artificial intelligence. For the priority dispatch rules technique, jobs

    can be scheduled on machines taking into consideration certain rules, depending on the final

    objective or purpose for which schedule is being generated. Giffler and Thomson (1960),

    use some rules in their algorithm for solving production scheduling problems. Adams et al.

    (1986), was developed the bottleneck base heuristics algorithm to solving job-shop schedul-

    ing problems. This technique starts by establishing partial schedules for each machine, with

    the schedules built for each machine individually taking into consideration the ready times

    for the jobs on each machine as the completion time on the preceding operation.

    Recently, artificial intelligence techniques have become popular for solving various prob-

    lems, especially scheduling problems. In thearea of scheduling, artificial intelligencerefers to

    the evolutionary algorithm. There are several algorithms for artificial intelligence techniques

    designed to solving job-shop and flexible job-shop scheduling problems, These include the

    genetic algorithm, artificial neural networks, tabu search techniques, simulated annealing,

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    J3

    J1

    J2

    J2

    J4 J1 J3

    J1J4 J2

    J4 J3

    2 4 6 8 10 12 14

    Processing Time

    M

    achine

    M1

    M2

    M3

    Fig. 4 An example of a final solution for the job-shop scheduling problem

    J1 (O1,1)

    J3 (O3,1)

    J1 (O1,2)

    J2 (O2,2)

    J2 (O2,1) J1 (O1,3) J2 (O2,4

    )

    J3 (O3,2) J2 (O2,3)

    Processing Time

    Machine

    M3M

    2

    M1

    2 4 6 8 10 12 14 16 18 20 22 24

    Fig. 5 An example of a final solution for the flexible job-shop scheduling problem

    particle swarm optimization, artificial immune system and others. Which ever technique is

    used, the objective is to obtain the best schedule with optimal and most robust solution.Figure 4 illustrates the best schedule for the job-shop problem as Fig. 1 has and Fig. 5 will

    illustrate, with the schedule for the flexible job-shop problem shown in Fig. 2.

    In a dynamic environment, finding an optimal solution is of the utmost important for real-

    world applications. As we see in the research by Wiers (1997), artificial intelligence is the

    good technique to finding a solution in the dynamic environment of real-world scheduling

    problem applications. In his research he presented the relati9ve applicability of operational

    research and artificial intelligence techniques with their shortcomings in practice. These are:

    (i) robustness; (ii) complexity; (iii) performance measurement; (iv) fixed versus changeable

    input; (v) organizational embedding; (vi) availability and accuracy of data; (vii) interaction

    with human scheduler; (viii) learning from experience (artificial intelligence techniques);(ix) availability and reliability of human experts (artificial intelligence techniques). In this

    paper we will employ artificial intelligence for solving the job-shop and flexible job-shop

    scheduling problems by specifically using an artificial immune system (Figs. 6, 7).

    4 The natural immune system

    The natural immune system became a subject of research interest due to its powerful infor-

    mation processing capabilities. The immune system is a complex of cells, molecules andorgans that function as an identification mechanism capable of perceiving and combating

    dysfunction from its own cells (infections self) and from the action of exogenous infec-

    tious microorganisms (infectious non-selves) such as viruses, bacteria and other parasites

    (so-called invading antigens). The interaction among the immune system and several other

    systems and organs allows the regulation of the body, guaranteeing its stable functioning

    (Jerne 1973; Janeway 1992).

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    APC

    MHC protein Antigen

    Peptide

    T-cell

    Activated T-cell

    B-cell

    Lymphokines

    Activated B-cell(plasma cell)

    ( I )

    ( III )

    ( IV )

    ( V )

    ( VI )

    ( VII )

    ( II )

    Fig. 6 How human immune system work?

    The immune system performs six main tasks. First, Pieces of peptides are joined to the

    major histocompatibility complex(MHC) molecules and are displayed on the surface of the

    cell. Second, T cells are activated by that recognition divide and secrete lymphokines, or

    chemical signals, that mobilize other components of the immune system. Third, the B lym-phocytes, which also have receptor molecules of a single specificity on their surface, respond

    to those signals. Fourth, when activated, the B cells divide and differentiate into plasma cells

    that secrete antibody proteins, which are soluble forms of their receptors. Fifth, by binding

    to the antigens they find, antibodies can neutralize them or sixth precipitate their destruction

    by complement enzymes or by scavenging cells.

    MHC is one of the most focused components of immune system (Dausset 1980). It plays a

    central role in recognizing pathogenic antigens. Lymphocytes are small leukocytes that have

    a major responsibility in the immune system. There are two main types of lymphocytes; B

    lymphocytes (or B cells), which upon activation, differentiate into plasmocytes (or plasmacells) capable of secreting antibodies; and T lymphocytes (or T cells). The main functions

    of the B cells include the production and secretion of antibodies as a response to exogenous

    proteins like bacteria, viruses and tumor cells. EachB cell is programmed to produce specific

    antibodies. The T lymphocyte is also called a T cell because it matures within the thymus

    (Dreher 1995). The functions of T cell include the regulation of other cellular action and

    directly attacks the host infecting cells.

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    Fig. 7 The clonal selection principle

    5 Artificial Immune Systems (AIS)

    Artificial Immune Systems (AIS) are a set of techniques, which try to algorithmically mimic

    the behavior of natural immune systems (Hart 2008). The techniques are naturally used

    in pattern recognition, fault detection, diagnosis, and a number of other areas, including

    optimization (Costa 2002). AIS also can be defined as a computational system based on

    metaphors borrowed from the biological immune system. The work in the field of AIS was

    initiated by Farmer (1986). They introduced a dynamic model of the immune system that

    was simple enough to be simulated on a computer. In their research, the antibody-antibody

    and antibody-antigen reactions are simulated via complementary matching strings.

    To develop the AIS model we need to consider the following important factors:

    i. Hybrid structures and algorithms that are translated into immune system components;ii. Algorithm calculations based on the immunology principle, distribution processing,

    clone selection algorithms, and network theory immunity;

    iii. Immunity based on optimization, self-learning, self-organization, artificial life, cog-

    nitive models, multi-agent systems, design and scheduling, pattern recognition and

    anomaly detection;

    iv. The immune tools for engineering.

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    Hoffman (1986) has constructed a model that incorporates some aspects of the immune sys-

    tem into a neural network. The scope of his model in terms of applications is not as extensive

    as that proposed by Farmer (1986). However, the unique idea of combining the two promoted

    more research into the area and numerous models have been generated since. In other studies

    by Ishida (1990, 1993), models of the immune system are developed and applied to areas suchas process diagnosis. In his studies he deals with a model built on the recognition capabilities

    of the immune system and how it learns through a specific form of recognition. In other

    research, Bersini and Varela (1990, 1991) and Bersini (1991) have developed similar models

    of the immune system and applied them to the areas of machine learning, optimization and

    adaptive control.

    In earlier research, Chueh (2004) introduced an immune algorithm based on the biological

    immune system for the functions of optimization and scheduling. In his research, he applies

    the terminology of biological immune system to his immune algorithm model and a genetic

    algorithm (GA). Genetic algorithms are among the most popular techniques for solving

    scheduling problems. They are computational models that area particular class of evolution-

    ary algorithms using techniques inspired by evolutionary biology. In another study, Luh and

    Chueh (2007) introduce a multi-modal immune algorithm to finding optimal solutions for

    job-shop scheduling problems. A study by Fabio and Maurizio (2006) on the comparison of

    AIS and GA performance states that in the performance of numerically evaluated functions,

    AIS succeed in detecting a larger number of optimal points than GA.

    There are several basic of immune system models and algorithm such as Bone Marrow

    Models, Negative SelectionAlgorithms, the Clonal Selection Principle, Somatic Hypermuta-

    tion and Immune Network Models. In this paper for solving of job-shop and flexible job-shop

    scheduling problem, we will employ the Clonal Selection Principle.

    6 The clonal selection principle

    The clonal selection principle or theory is the algorithm used by the immune system to

    describe the basic features of an immune response to antigen stimulus. It establishes the idea

    that only those cells that recognize the antigens are able to proliferate, thus being selected

    against those which do not. The clonal proliferation ofB cells occurs inside the lymph nodes

    (Weissman and Cooper 1993) within a special microenvironment named the germinal center,

    which is located in the follicular region of the white pulp and is rich in antigen presentingcells (Tarlinton 1998). When a living body is exposed to an antigen, the B cells will respond

    by producing antibodies. Basically,B cells clone themselves into as manyforms as is required

    to fight the infection and clone only those cells which are actually capable of fighting the

    intruder effectively. During the process of clonal proliferation, a hyper-mutation mechanism

    operates on the vulnerable regions of B cells. This hyper-mutation plays a critical role in

    creating diverse antibodies, increasing affinity and enhancing specificity of the antibodies.

    In the AIS, the number of antibodies produced can be analogized as the number of feasible

    solutions, where in the AIS this antibody was produced randomly. For the cloning and mutat-

    ing processes for each feasible solution, it is capable of reaching a near optimal solution.

    When the number of clones for the mutation is large, the optimal solution can be reached

    more quickly. Burnet (1978) state the main features of clonal selection principle:

    i. The new cells are copies (clones) of their parents subjected to a mutation mechanism

    at high rates;

    ii. Elimination of newly differentiated lymphocytes carrying self reactive receptors;

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    iii. Proliferation and differentiation on contact with mature lymphocytes with antigens;

    iv. Restriction of one pattern to one differentiated cell and retention of that pattern by

    clonal descendants;

    v. Generation of new randomgenetic changes, subsequentlyexpressed as diverseantibody

    patterns by a form of accelerated somatic mutation.

    7 Applying the AIS to solving the job-shop and flexible job-shop scheduling problem

    In past research by Burnet (1978), Hart et al. (1998) and Hart and Ross (1999a) it has been

    shown that the AIS model can be used to solve the scheduling problems for industries in a

    dynamic environment. In another study by Hart and Ross (1999b), the function of antigens

    is defined as a sequence of jobs on a particular machine given a particular scenario and

    that of antibodies as a short sequence of jobs that is common to more than one schedule.

    In their research, Aickelin et al. (2004) state that the schedules obtained by using AIS

    are more robust than those obtained by the GA, and it has been proven that increasing the

    number of antigens in an AIS improves the optimality of the schedules obtained. However, it

    decreases its fitness. In a study by Tomoyuki (2003), the immune algorithm is used to solve

    job-shop scheduling problem, and he has demonstrated that the calculation time used by the

    immune algorithm was shorter compared with the GA.

    In other research, Chueh (2004) establishes nine steps in his proposed model for solving

    job-shop scheduling problems; (i) random initialization of antibody population, where the

    initial integer string-encoding antibody population is randomly generated; (ii) antibody rep-

    resentation and geneclassification, where an operation-based representation (Gen etal. 1994)is used to represent the genes of an antibody; (iii) calculating combinatorial intensity, where

    the antibody-to-antigen affinity value is employed to illustrate the combinatorial intensity

    between antigen and antibody/schedules; (iv) clonal proliferation; (v) tournament selection

    for donor antibodies; (vi) germ-line DNA library construction; (vii) random gene fragment

    rearrangement; (viii) antibody diversification; and (ix) the stopping criterion.

    In their research, Ong et al. (2005) proffered an immune algorithm called ClonaFLEX,

    which is designed using the clonal selection principle and employed to solve flexible job-

    shop scheduling problems. In this study, for the antibody population they take inspiration

    from research in applying GA to solving the flexible job-shop scheduling problem by Kacem

    et al. (2002) and Tay and Ho (2004). Another study by Bagheri et al. (2010) introduces amodel to solve flexible job-shop scheduling problem by using an artificial immune system.

    In their research, they produce the antibody population by follow the procedure proposed by

    Pezzella et al. (2008).

    From our discussion of means for solving the job-shop and flexible job-shop scheduling

    problem using AIS and for developing the AIS model to solve job-shop and flexible job-shop

    scheduling problems, we find that the most important is the number of antibody population,

    number of clones and the mutation process for the antibody. When the number of antibodies

    is large, the feasible solution is close to optimal solution; and when the number of clones is

    large, the optimal solution can be reached more quickly. The mutation process is important

    in determining when the cloning is near an optimal solution after the mutation process or

    is far from the optimal solution. Chueh (2004) was used six types of mutation including

    somatic point mutation, somatic recombination, gene inversion, gene conversion and gene

    shift and nucleotide addition. Ong et al. (2005) has used two types; operation order mutation

    and machine order mutation.

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    Fig. 8 An integer string

    encoding antibody generated at

    random

    1 4 2 2 3 1 4 4 3 1 3 2

    Library 4Library 3Library 2Library 1

    1 4 22 3 1

    4 4 3

    1 3 2

    2 4 11 2 3

    3 4 4

    1 3 2

    4 1 22 1 3

    4 3 4

    2 3 1

    4 2 13 2 1

    4 4 3

    3 1 2

    1 4 2 1 2 3 4 3 4 3 1 2

    Fig. 9 An integer string encoding antibody generated using a library

    (1, 1, 1) (3, 1, 3) (2, 1, 2) (3, 2, 1) (2, 2, 3) (1, 2, 2) (1, 3, 2) (2, 3, 1) (2, 4, 2)

    Fig. 10 An antibody representation for flexible job-shop using approach 1

    (1, 1, 1) (3, 1, 2) (2, 1, 2) (2, 2, 2) (1, 2, 2) (3, 2, 1) (2, 3, 1) (1, 3, 1) (2, 4, 2)

    Fig. 11 An antibody representation for flexible job-shop using approach 2

    From another aspect, the way that antibodies are created will effect to most feasible solu-tion. There are two ways to create antibodies for job-shop scheduling problems; first, random

    generation; second, generation using libraries. Figures 8 and 9 present examples of antibod-

    ies for job-shop scheduling problems based on the problem as Fig. 1. The length of antibody

    for the job-shop scheduling problem is equal to m machine multiply by n jobs, where each job

    j will appear m times in an antibody. For a flexible job-shop scheduling problem, there are

    two approaches to antibody creation; first, the assignment process commencing the operation

    with the global minimum processing time in the processing time table, and then performing

    the machine workload update in the processing time table; second, the jobs and machines

    are randomly permitted before the localization approach is applied. For the flexible job-shop

    scheduling problem, the length of the antibody is equal to the number of operations and foreach gene it is formed by triplets (i, j, k) according to the task sequencing list provide by

    Kacem et al. (2002), where i is the job that the operation belongs to; j is the progressive

    number of operations within job i ; and k is the machine assigned to that operation. Figures

    10 and 11 present an example of antibodies for flexible job-shop scheduling problems based

    on a specific problem, as in Fig. 2.

    8 Conclusion

    This paper has introduced the basic concepts of natural immune system and artificial immune

    system for the better understanding of the problems created by job-shop and flexible job-

    shop scheduling. This paper also introduced a mapping of the natural immune system into an

    artificial immune system. It has attempted to illustrate how the AIS can be adapted to tackle

    scheduling problems, especially the job-shop and flexible job-shop scheduling problems. To

    do so, existing AIS scheduling applications were carefully reviewed. Scheduling is an area

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    demanding the application of efficient methods to tackle the combinatorial explosion of the

    results in real-world applications.

    There hasbeen much significant effort and researchundertaken to solve production sched-

    uling problems by means of AIS, especially in the field of job-shop and flexible job-shop

    scheduling problems. There remain challenging researchareas worthexploring. Themajorityof existing efforts have been directed towards applying the AIS to static scheduling, espe-

    cially for job-shop scheduling problems. For flexible job-shop scheduling problems, there

    have been only a few attempts directed towards applying AIS to discover solutions. For fur-

    ther study, we suggest more investigating for the dynamic scheduling in job-shop scheduling

    problem and also to more concentrated investigation of the static and dynamic scheduling on

    flexible job-shop scheduling problems. On the other hand, for further study also we suggest

    the introduction of the AIS model for solving the job-shop and flexible job-shop scheduling

    problems, especially for the purpose of producing optimal and robust scheduling procedures.

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