Seminario: Modeling and Analysis of Industrial Robots using Petri nets
Abstract:
The presentation contains a brief overview of systems and computer
engineering research and laboratories at Technical University of Iasi:
sound of vision project [1], autonomous mobile robots - sample gathering
project [2], and other small projects. This is followed by my research
on holonic manufacturing systems [3] and [4]. Here, it is discussed
about connecting the implementation of manufacturing systems with their
behavioral models that can be obtained by the means of colored Petri
nets [5]. Distributed algorithms are between the topical approaches used
in manufacturing control architectures. Their validation and evaluation
techniques are challengeable due the non-deterministic execution and
the partial knowledge of each entity. The development phase can hide
several issues; for example, to reproduce a failure or worse execution
based on the simulation data may be difficult. With respect to this, one
possibility is to develop a model-prototype enclosing some basic
characteristics: simple and understandable, shareable, modifiable,
catching the partial/entire system’s behavior, allowing space state
analysis and simulations. Such a model can be built up through colored
Petri nets, using the CPN Tool [5]. The considered example regards the
model for three distributed constraint satisfaction algorithms [6]:
synchronous backtracking, asynchronous backtracking and weak-commitment
search. Following this approach, other distributed protocols can be
designed and validated, too.
1. www.soundofvision.net
2. www.loris.tuiasi.ro
3. Panescu, D., Pascal, C., 2012. HAPBA – a Holonic Adaptive Plan-Based
Architecture. In: Borangiu, Th., Thomas, A., Trentesaux, D. (eds.)
Service Orientation in Holonic and Multi-Agent Manufacturing Control,
Springer, pp. 61-74.
4. Panescu, D., Pascal, C., 2015. Holonic coordination obtained by
joining the contract net protocol with constraint satisfaction.
Computers in Industry, vol. 81, pp. 32-46.
5. Jensen, K., Kristensen, L.M., 2009. Coloured Petri nets: modeling and
validation of concurrent systems. SpringerVerlag, New York.
6. Yokoo, M., Durfee, E., Ishida, T., Kuwabara, K., 1998. The
distributed constraint satisfaction problem: formalization and
algorithms. IEEE Transaction on Knowledge and Data Engineering, 10(5),
pp. 673-685.