Recent advances in petri nets and concurrency

CEUR Workshop Proceeding

Study for the design of a management system for AGV networks

Automated Guided Vehicles are a vital part of the future intelligent manufacturing processes. In order to make the better profit, it is important to study if deadlocks can occur and how to tackle them. In this project we demonstrate how Petri Net models, which are perfect for representing deadlocks, can be mapped in the simulation software FlexSim. Eventually, we are using this software in order to evaluate different study cases with deadlocks

An approach to task coordination for hyperflexible robotic workcells

2014 - 2015The manufacturing industry is very diverse and covers a wide range of specific processes ranging from extracting minerals to assembly of very complex products such as planes or computers, with all intermediate processing steps in a long chain of industrial suppliers and customers. It is well know that the introduction of robots in manufacturing industries has many advantages. Basically, in relation to human labor, robots work to a constant level of quality. For example, waste, scrap and rework are minimized. Furthermore they can work in areas that are hazardous or unpleasant to humans. Robots are advantageous where strength is required, and in many applications they are also faster than humans. Also, in relation to special-purpose dedicated equipment, robots are more easily reprogrammed to cope with new products or changes in the design of existing ones. In the last 30-40 years, large enterprises in high-volume markets have managed to remain competitive and maintain qualified jobs by increasing their productivity with the incremental adoption and use of advanced ICT and robotics technologies. In the 70s, robots have been introduced for the automation of a wide spectrum of tasks such as: assembly of cars, white goods, electronic devices, machining of metal and plastic parts, and handling of workpieces and objects of all kinds. Robotics has thus soon become a synonym for competitive manufacturing and a key contributing technology for strengthening the economic base of Europe . So far, the automotive and electronics industries and their supply chains are the main users of robot systems and are accounting for more than 60% of the total annual robot sales. Robotic technologies have thus mainly been driven by the needs of these high-volume market industries. The degree of automation in the automotive industries is expected to increase in the future as robots will push the limits towards flexibility regarding faster change-over-times of different product types (through rapid programming generation schemes), capabilities to deal with tolerances (through an extensive use of sensors) and costs (by reducing customized work-cell installations and reuse of manufacturing equipment). There are numerous new fields of applications in which robot technology is not widespread today due to its lack of flexibility and high costs involved when dealing with varying lot sizes and variable product geometries. In such cases, hyper-flexible robotic work cells can help in providing flexibility to the system and making it adaptable to the different dynamic production requirements. Hyper-flexible robotic work cells, in fact, can be composed of sets of industrial robotic manipulators that cooperate to achieve the production step that characterize the work cell; they can be programmed and re-programmed to achieve a wide class of operations and they may result versatile to perform different kind of tasks Related key technology challenges for pursuing successful long-term industrial robot automation are introduced at three levels: basic technologies, robot components and systems integration. On a systems integration level, the main challenges lie in the development of methods and tools for instructing and synchronising the operation of a group of cooperative robots at the shop-floor. Furthermore, the development of the concept of hyper flexible manufacturing systems implies soon the availability of: consistent middleware for automation modules to seamlessly connect robots, peripheral devices and industrial IT systems without reprogramming everything (”plug-and-play”) . In this thesis both innovative and traditional industrial robot applications will be analyzed from the point of view of task coordination. In the modeling environment, contribution of this dissertation consists in presenting a new methodology to obtain a model oriented to the control the sequencing of the activities of a robotic hyperflexible cell. First a formal model using the Colored Modified Hybrid Petri Nets (CMHPN) is presented. An algorithm is provided to obtain an automatic synthesis of the CMHPN of a robotic cell with detail attention to aircraft industry. It is important to notice that the CMHPN is used to model the cell behaviour at a high level of abstraction. It models the activities of each cell component and its coordination by a supervisory system. As more, an object oriented approach and supervisory control are proposed to implement industrial automation control systems (based on Programmable Logic Controllers) to meet the new challenges of this field capability to implement applications involving widely distributed devices and high reuse of software components. Hence a method is proposed to implement both controllers and supervisors designed by Petri Nets on Programmable Logic Controllers (PLCs) using Object Oriented Programming (OOP). Finally preliminary results about a novel cyber-physical approach to the design of automated warehouse systems is presented. [edited by author]XIV n.s

Modeling and simulation of healthcare pharmaceutical environments: a Petri nets approach

This study examines the drug distribution procedure in hospital, based on a bibliographic research and an interview with the pharmacy director of “Hospital de l Rio Ortega” in Vallado lid, Spain. It was necessary to elaborate a theoretical flux-gram of the medication distribution procedure describing the various stages in the process, as well as the objectives of the system, and its critical issues. All these steps depend on various health care providers and health care assistants directly linked. This systemization allowed the observance of the critical knots, understood as the processes and elements with critical impact over the quality of the distribution system. The understandi ng of the possible causes of the system‟s problems serves here as the basis for the formulation issues that make the evaluation possible. There are two basic known types of drug distribution systems: collective and individual. The collective system is the most primitive, although there are hospitals worldwide that adopt this system, considered to be the simplest and lowest in cost of deployment. The individual distribution system is more complex, it needs more professional pharmacists and a hospital pharmacy working around the clock and has as main features the fact that the product or drug is dispensed per patient, and not for the sector in which one may find himself hospitalized. The research of medication errors due to the type of distribution system adopted by hospitals has created a debate on the advantages and disadvantages of the existing systems. The use of a system model for distribution of medicines will provide a more appropriate reduction in risk of errors and foremost a reduction in hospital costs. One objective of this study is to show the best method of distribution of medicines in a hospital pharmacy, that is, the method of distribution in which the chance to experience a medication error would be smaller, and distribution times as well as staff needs were reduced to a minimum. The main objective of this work is to model the medication distribution process in Health-care environments, using Petri Net formalism, and extract information from those models through simulation, to support the decision making relating human resource availability. This work was done during a stage at the Cartif Foundation in Valladolid Spain, with the cooperation of the Valladolid University‟s School of Industrial Engineering. Este estudo examina o procedimento para distribuição de medicamentos dentro de um hospital, baseado numa pesquisa bibliográfica e uma entrevista com o director da farmácia do hospital “Hospital del Rio Ortega” em Valladolid, Espanha. Foi necessário elaborar um fluxogram teórico do procedimento de distribuição de medicamentos descrevendo os vários passos do processo, e ainda os objectivos do sistema e os seus pontos críticos. Todos estes passos dependem de vários assistentes e auxiliares de saúde directamente ligadas. Esta sistematização permitiu observar os pontos críticos, compreendido como os elementos com impacto critico na qualidade do sistema de distribuição. A compreensão das possíveis causas dos problemas do sistema servem de base para formular questões que tornam possível a sua avaliação. Existem dois sistemas básicos de distribuição de medicamentos: Colectivo e Individual. O sistema colectivo é o tipo de distribuição mais primitivo, mas apesar disso existem muitos hospitais do mundo que adoptam este sistema por ser considerado o mais simples e de implementação mais barata. O sistema individual é mais complexo e necessita de mais profissionais qualificados, nomeadamente farmacêutico e\ou técnico de farmácia, a trabalhar 24 horas por dia, tendo como principal característica o facto de que cada produto ou medicamento é dispensado por pessoa e não por sector ou andar em que um possa estar hospitalizado. A pesquisa de erros médicos devido ao tipo de distribuição de medicamentos adoptado pelos hospitais tem criado debate sobre as vantagens e desvantagens dos sistemas existentes. O uso de um modelo para a distribuição de medicamentos levará á redução de erros e acima de tudo pode contribuir para a redução de custos do hospital. Um dos objectivos deste estudo é mostrar o melhor método de distribuição de medicamentos de uma farmácia hospitalar, isto é, o método de distribuição em que se minimiza o risco de erros de medicação, tempos de distribuição assim como necessidade de recursos humanos. O objectivo principal deste trabalho é modelar o processo de distribuição de medicamentos em ambiente hospitalar, usando o formalismo das Redes de Petri, e extrair informação desses modelos através de simulação para apoiar tomadas de decisão relativas á disponibilidade de recursos humanos. Este trabalho foi desenvolvido durante uma estadia na Fundação Cartif de Valladolid em Espanha com a cooperação da Escola de Engenharias Industriais da Universidade de Valladolid

Simulation-Based Control of Complex Material Handling Systems

2008-2009Material Handling (MH) consists in the movement and storage of parts, in a manufacturing or distribution process, from one location to another. Material Handling Systems (MHSs) are everywhere in production plants, assembly lines, product distribution, logistics, intermodal activities (railways, road transportation, container ships, etc..). They usually are distributed, sometimes itinerant and often mixed manned and automated. Although not adding value in the manufacturing process, MH usually influences great part of a company’s operation costs, especially, for example, in the food distribution chain. Due to the increasing demand for a high variety of products, flexibility and efficiency are two important keywords in MHSs. Optimizing MH activities means having shorter response times and an increased throughput of the plant. The importance of this optimization process is very high in today’s companies. Nowadays, the interest in this process is growing rapidly since several new technologies, like the Radio Frequency Identification (RFID) are available which finally allow to introduce an automation level to operating MHSs, almost without stopping operations and at a very low cost. In MHSs control iusses involve the problem of the optimal sequencing and scheduling of short-term activities. The so-called problem of "Dispatching” consists in defining a procedure to assign resources to missions. This is often made by using heuristic rules called Dispaching rules. For control purposes, a model of the system is necessary. Due to the complex and heterogeneous nature of MHSs, modeling approaches proposed in the literature are typically very specific and context-dependent. Moreover, the strong combinatorial nature of the control problem, and the presence of a great number of constraints to be considered, usually make the design of a control solution very tough. To devise a closed form analytical control action can require a great computational effort and could result not so convenient. Indeed, turbulence and variations in the input set of the system can suddenly make not more adequate a hardly designed control action. Thus, the choice of Dispatching rules as control actions, despite producing only local optimum solutions, is very usual for MHSs. Dispatching rules, indeed, result in a more reasonable and robust way to control MHSs since they are effective and computationally inexpensive. In the absence of a closed form control solution, Simulation is fundamental to evaluate the effects of a control action which cannot be analytically predicted. The outcome of the application of a rule or another can be easily tested via simulation and this is the reason why having a good model assumes a further major importance. In this thesis a unique arcchitecture for the modeling and the control of complex MHSs has been proposed.VIII n.s

A petri-net based methodology for modeling, simulation, and control of flexible manufacturing systems

Global competition has made it necessary for manufacturers to introduce such advanced technologies as flexible and agile manufacturing, intelligent automation, and computer-integrated manufacturing. However, the application extent of these technologies varies from industry to industry and has met various degrees of success. One critical barrier leading to successful implementation of advanced manufacturing systems is the ever-increasing complexity in their modeling, analysis, simulation, and control. The purpose of this work is to introduce a set of Petri net-based tools and methods to address a variety of problems associated with the design and implementation of flexible manufacturing systems (FMSs). More specifically, this work proposes Petri nets as an integrated tool for modeling, simulation, and control of flexible manufacturing systems (FMSs). The contributions of this work are multifold. First, it demonstrates a new application of PNs for simulation by evaluating the performance of pull and push diagrams in manufacturing systems. Second, it introduces a class of PNs, Augmented-timed Petri nets (ATPNs) in order to increase the power of PNs to simulate and control flexible systems with breakdowns. Third, it proposes a new class of PNs called Realtime Petri nets (RTPNs) for discrete event control of FMS s. The detailed comparison between RTPNs and traditional discrete event methods such as ladder logic diagrams is presented to answer the basic question \u27Why is a PN better tool than ladder logic diagram?\u27 and to justify the PN method. Also, a conversion procedure that automatically generates PN models from a given class of logic control specifications is presented. Finally, a methodology that uses PNs for the development of object-oriented control software is proposed. The present work extends the PN state-of-the-art in two ways. First, it offers a wide scope for engineers and managers who are responsible for the design and the implementation of modem manufacturing systems to evaluate Petri nets for applications in their work. Second, it further develops Petri net-based methods for discrete event control of manufacturing systems

Foundations of Multi-Paradigm Modelling for Cyber-Physical Systems

This open access book coherently gathers well-founded information on the fundamentals of and formalisms for modelling cyber-physical systems (CPS). Highlighting the cross-disciplinary nature of CPS modelling, it also serves as a bridge for anyone entering CPS from related areas of computer science or engineering. Truly complex, engineered systems—known as cyber-physical systems—that integrate physical, software, and network aspects are now on the rise. However, there is no unifying theory nor systematic design methods, techniques or tools for these systems. Individual (mechanical, electrical, network or software) engineering disciplines only offer partial solutions. A technique known as Multi-Paradigm Modelling has recently emerged suggesting to model every part and aspect of a system explicitly, at the most appropriate level(s) of abstraction, using the most appropriate modelling formalism(s), and then weaving the results together to form a representation of the system. If properly applied, it enables, among other global aspects, performance analysis, exhaustive simulation, and verification. This book is the first systematic attempt to bring together these formalisms for anyone starting in the field of CPS who seeks solid modelling foundations and a comprehensive introduction to the distinct existing techniques that are multi-paradigmatic. Though chiefly intended for master and post-graduate level students in computer science and engineering, it can also be used as a reference text for practitioners

Second Workshop on Modelling of Objects, Components and Agents

This report contains the proceedings of the workshop Modelling of Objects, Components, and Agents (MOCA'02), August 26-27, 2002.The workshop is organized by the 'Coloured Petri Net' Group at the University of Aarhus, Denmark and the 'Theoretical Foundations of Computer Science' Group at the University of Hamburg, Germany. The homepage of the workshop is: http://www.daimi.au.dk/CPnets/workshop02

BioSilicoSystems - A Multipronged Approach Towards Analysis and Representation of Biological Data (PhD Thesis)

The rising field of integrative bioinformatics provides the vital methods to integrate, manage and also to analyze the diverse data and allows gaining new and deeper insights and a clear understanding of the intricate biological systems. The difficulty is not only to facilitate the study of heterogeneous data within the biological context, but it also more fundamental, how to represent and make the available knowledge accessible. Moreover, adding valuable information and functions that persuade the user to discover the interesting relations hidden within the data is, in itself, a great challenge. Also, the cumulative information can provide greater biological insight than is possible with individual information sources. Furthermore, the rapidly growing number of databases and data types poses the challenge of integrating the heterogeneous data types, especially in biology. This rapid increase in the volume and number of data resources drive for providing polymorphic views of the same data and often overlap in multiple resources. 

In this thesis a multi-pronged approach is proposed that deals with various methods for the analysis and representation of the diverse biological data which are present in different data sources. This is an effort to explain and emphasize on different concepts which are developed for the analysis of molecular data and also to explain its biological significance. The hypotheses proposed are in context with various other results and findings published in the past. The approach demonstrated also explains different ways to integrate the molecular data from various sources along with the need for a comprehensive understanding and clear projection of the concept or the algorithm and its results, but with simple means and methods. The multifarious approach proposed in this work comprises of different tools or methods spanning significant areas of bioinformatics research such as data integration, data visualization, biological network construction / reconstruction and alignment of biological pathways. Each tool deals with a unique approach to utilize the molecular data for different areas of biological research and is built based on the kernel of the thesis. Furthermore these methods are combined with graphical representation that make things simple and comprehensible and also helps to understand with ease the underlying biological complexity. Moreover the human eye is often used to and it is more comfortable with the visual representation of the facts

Fifth Workshop and Tutorial on Practical Use of Coloured Petri Nets and the CPN Tools Aarhus, Denmark, October 8-11, 2004

This booklet contains the proceedings of the Fifth Workshop on Practical Use of Coloured Petri Nets and the CPN Tools, October 8-11, 2004. The workshop is organised by the CPN group at the Department of Computer Science, University of Aarhus, Denmark. The papers are also available in electronic form via the web pages: http://www.daimi.au.dk/CPnets/workshop0