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Although the problem of disassembly line balance has been studied in depth, there are fewer starting points from green, economy and position as the basis for path planning. This paper considers the disassembly path from the three perspective. For green perspective, even if the product doesn't have the economic value, the toxic solid and liquid must be excluded; For economic, the re-utilize value of the disassembled object is fewer, the complete disassembly will abandon; Furthermore, the three-dimensional information is difficult to obtain. In this paper, the reducer drawn by Solidworks to obtain the position and mass, and then the improved R-AOG (Rectangle-AND/OR Graph) used to represent the directional relationship of large-scale component disassembly. And use R-AOG de-sign Allowedk, Lastly, compare I-ACO with other ACO to prove the efficiency and quality, and ap-plies it to the reducer disassembly planning to obtain the optimal disassembly path, these experimental results help company to better plan the disassembly line, reduce the maintenance threshold of the reducer, and also beneficial to build automated disassembly lines.

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This paper presents a fault tolerant control (FTC) based on the type-2 fuzzy logic system (IT2FLS) using an adaptive control law for a double star induction machine (DSIM) under broken rotor bars (BRB) fault of a squirrel-cage in order to improve its reliability and availability. The adaptive fuzzy control is designed to compensate for the fault effect. The proposed FTC is able to maintain acceptable performance in the event of BRB. The stability of the closed-loop is verified by exploitation of Lyapunov theory. To proof the performance and effectiveness of the proposed FTC, a comparative study within sliding mode control (SMC) is carried out. Obtained results show that the proposed FTC has a better robustness against the BRB fault.