Seminario: Modeling and Analysis of Industrial Robots using Petri nets

Tue, 20/09/2016 - 10:30


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.



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.