Application of supervisory control theory to theme park vehicles

Due to increasing system complexity, time-to-market and development costs reduction, new engineering processes are required. Model-based engineering processes are suitable candidates because they support system development by enabling the use of various model-based analysis techniques and tools. As a result, they are able to cope with complexity and have the potential to reduce time-to-market and development costs. Moreover, supervisory control synthesis can be integrated in this setting, which can further contribute to the development of control systems. To evaluate the applicability of recently developed supervisor synthesis techniques and to show how they can be integrated in an engineering process, a theme park vehicle is chosen as a case study. The supervisor synthesized for the theme park vehicle has successfully been implemented and integrated in the existing resource-control platform

The Marketing and Management of the Travelling Theme Park in Thailand: The Case Study of Siam Carnival Fun Fair

The purpose of this research is to analyze the biggest travelling theme park in Thailand. This research mainly focuses on the marketing and management of the travelling theme park. The marketing area that this research focuses is the advertising methods that the theme park uses. The management area of the theme park focuses on the employees of the theme park and the safety methods that the theme park use in order to gain trustworthiness from the tourists. This study uses qualitative method. Data collection using semi-structured interview, in-depth interview and observation was conducted on 12-13 July 2015. The theme park uses signboard advertisement, social media, word of mouth, radio and free tickets as advertisement method. The employees who work with them should love to travel around, hardworking, ready to learn new things and can do problem solving. College degrees are not required for hiring of employees. The theme park has high standard engineers who take care of the park rides to guarantee safety

Efficiently enforcing mutual state exclusion requirements in symbolic supervisor synthesis

Given a model of an uncontrolled system and a requirement specification, a supervisory controller can be synthesized so that the system under control adheres to the requirements. There are several ways in which informal behavioral safety requirements can be formalized, one of which is using mutual state exclusion requirements. In current implementations of the supervisor synthesis algorithm, synthesis may be inefficient when mutual state exclusion requirements are used. We propose a method to efficiently enforce these requirements in supervisor synthesis. We consider symbolic supervisor synthesis, where Binary Decision Diagrams are used to represent the system. The efficiency of the proposed method is evaluated by means of an industrial and academic case study

Supervisory controller synthesis for product lines using CIF 3

Using the CIF 3 toolset, we illustrate the general idea of controller synthesis for product line engineering for a prototypical example of a family of coffee machines. The challenge is to integrate a number of given components into a family of products such that the resulting behaviour is guaranteed to respect an attributed feature model as well as additional behavioural requirements. The proposed correctness-by-construction approach incrementally restricts the composed behaviour by subsequently incorporating feature constraints, attribute constraints and temporal constraints. The procedure as presented focusses on synthesis, but leaves ample opportunity to handle e.g. uncontrollable behaviour, dynamic reconfiguration, and product- and family-based analysis

Supervisory control theory applied to swarm robotics

Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system’s control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics

Δομοστοιχειωτός Εποπτικός Έλεγχος ενός αυτo-οδηγούμενου οχήματος βιομηχανικής χρήσης

Στην παρούσα διπλωματική εργασία θα παρουσιαστεί το μαθηματικό μοντέλο ενός αυτόνομου ηλεκτρικού οχήματος (AGV) βιομηχανικής χρήσης. Τα αυτο-οδηγούμενα οχήματα που χρησιμοποιούνται στη βιομηχανία απαιτούν ιδιαίτερες προδιαγραφές. Τα υποσυστήματα του οχήματος είναι τα υποσυστήματα των επιμέρους κινητήρων, τα υποσυστήματα των επιμέρους υπόλοιπων ενεργοποιητών, τα υποσυστήματα των αισθητήρων κίνησης, το υποσύστημα του ελεγκτή τροχιάς και το υποσύστημα του αισθητήρα της μπαταρίας. Θα παρουσιαστούν τα μαθηματικά μοντέλα των υποσυστημάτων του συστήματος με χρήση πεπερασμένων ντετερμινιστικών αυτόματων. Θα αναπτυχθεί το συνολικό μοντέλο του συστήματος. Θα παρουσιαστούν οι προδιαγραφές λειτουργίας και συντονισμού των επιμέρους υποσυστημάτων. Θα παρουσιαστούν οι επιθυμητές συμπεριφορές σε μορφή επιθυμητών κανονικών γλωσσών. Θα παρουσιαστούν οι ιδιότητες των επιθυμητών γλωσσών ως προς το συνολικό αυτόματο του συστήματος. Θα σχεδιαστεί μία δομοστοιχειωτή αρχιτεκτονική εποπτικού ελέγχου.In this thesis, the mathematical model of an automated guided electric vehicle for industrial use will be presented. Self-driving vehicles used in industry require special specifications. The vehicle subsystems are the individual motor subsystems, the individual rest actuators subsystems, the motion sensor subsystems, the trajectory controller subsystem, and the battery sensor subsystem. The mathematical models of the subsystems will be presented using finite deterministic automata. The overall system model will be developed. The operation and coordination specifications of the individual subsystems will be presented. Desired behaviors will be presented in the form of desired regular languages. The properties of the desired languages of the system will be presented. A modular supervisory control architecture will be designed