Mathematics Base for Navigation Mobile Robot Using Reachability Petri Net

Navigation is the journey that brings the precision and accuracy especially for the trip from one place to many destinations. Traveling mobile robot will be challenged when there are plenty of travel options and obstacles; it is necessary for special methods to deal with this. Petri net modeling is one method that can be applied in this navigation. As a model network graph, Petri net can be seen as a model of superior visuals for their token moves that define the process dynamics of a system. Other models that have been provided, such as flow charts, block diagrams or network topology, are using the method of mathematical reachability. Meanwhile Petri net obtained the navigation as a result of marking the value. The final results of this research is that Petri net can be used to obtain mobile robot for navigation

Petri net approaches for modeling, controlling, and validating flexible manufacturing systems

In this dissertation, we introduce the fundamental ideas and constructs of Petri net models such as ordinary, timed, colored, stochastic, control, and neural, and present some studies that emphasize Petri nets theories and applications as extended research fields that provide suitable platforms in modeling, controlling, validating, and evaluating concurrent systems, information systems, and a versatile dynamic system and manufacturing systems;We then suggest some of extensions that help make Petri nets useful for modeling and analyzing discrete event systems and manufacturing systems models based on the context of a versatile manufacturing system, and applies extended Petri nets models to several manufacturing systems such as an assembly cell, an Automated Palletized Conveyor System, and a tooling machine to show increased modeling power and efficient analysis methods;Finally, Validation methods are presented for these models and results of a performance analysis from a deterministic and stochastic model are used to reorganize and re-evaluate a manufacturing system in order to increase its flexibility

Stochastic petri net-based modeling of the durability of renderings

In this study, a methodology to model and predict the life-cycle performance of building façades based on Stochastic Petri Nets is proposed. The proposed model evaluates the performance of rendered façades over time, evaluating the uncertainty of the future performance of these coatings. The performance of rendered façades is evaluated based on a discrete qualitative scale composed of five condition levels, established according to the physical and visual degradation of these elements. In this study, the deterioration is modelled considering that the transition times between these condition states can be modelled as a random variable with different distributions. For that purpose, a Stochastic Petri Nets model is used, as a formal framework to describe this problem. The model’s validation is based on probabilistic indicators of performance, computed using Monte- Carlo simulation and the probability distribution parameters leading to better fit are defined as those maximizing the likelihood, computed using Genetic Algorithm. In this study, a sample of 99 rendered façades, located in Portugal, is analysed, and the degradation condition of each case study is evaluated through in-situ visual inspections. The model proposed allows evaluating: i) the transition rate between degradation conditions; ii) the probability of belonging to a given degradation condition over time; and iii) the mean time of permanence in each degradation condition. The use of Petri Nets shows to be more accurate than a more traditional approach based on Markov Chains, but also allows developing future research to consider different environmental conditions, maintenance actions or inspections, amongst other aspects of life-cycle analysis of existing assets

Computing multi-scale organizations built through assembly

The ability to generate and control assembling structures built over many orders of magnitude is an unsolved challenge of engineering and science. Many of the presumed transformational benefits of nanotechnology and robotics are based directly on this capability. There are still significant theoretical difficulties associated with building such systems, though technology is rapidly ensuring that the tools needed are becoming available in chemical, electronic, and robotic domains. In this thesis a simulated, general-purpose computational prototype is developed which is capable of unlimited assembly and controlled by external input, as well as an additional prototype which, in structures, can emulate any other computing device. These devices are entirely finite-state and distributed in operation. Because of these properties and the unique ability to form unlimited size structures of unlimited computational power, the prototypes represent a novel and useful blueprint on which to base scalable assembly in other domains. A new assembling model of Computational Organization and Regulation over Assembly Levels (CORAL) is also introduced, providing the necessary framework for this investigation. The strict constraints of the CORAL model allow only an assembling unit of a single type, distributed control, and ensure that units cannot be reprogrammed - all reprogramming is done via assembly. Multiple units are instead structured into aggregate computational devices using a procedural or developmental approach. Well-defined comparison of computational power between levels of organization is ensured by the structure of the model. By eliminating ambiguity, the CORAL model provides a pragmatic answer to open questions regarding a framework for hierarchical organization. Finally, a comparison between the designed prototypes and units evolved using evolutionary algorithms is presented as a platform for further research into novel scalable assembly. Evolved units are capable of recursive pairing ability under the control of a signal, a primitive form of unlimited assembly, and do so via symmetry-breaking operations at each step. Heuristic evidence for a required minimal threshold of complexity is provided by the results, and challenges and limitations of the approach are identified for future evolutionary studies

Stochastic petri-net models to predict the degradation of ceramic claddings

A stochastic Petri-net formalism is proposed to predict the degradation of ceramic claddings over time in order to understand how different environmental exposure conditions contribute to the overall degradation of these claddings. For that purpose, the degradation condition of 195 ceramic claddings located in Lisbon, Portugal, is evaluated through in situ visual inspections. In the first part of the study, a stochastic deterioration Petri-net model is proposed for the entire sample. In the second part, the original sample is divided according to the environmental exposure conditions, evaluating the influence of these conditions on the deterioration process of ceramic claddings. Four main degradation agents are analyzed: exposure to moisture; distance from the sea; orientation; and wind–rain action. The results reveal that Petri nets can accurately describe the deterioration process of ceramic claddings, providing relevant information regarding the performance of these claddings through their life cycle and according to the environmental exposure conditions to which they are subject. These results are extremely relevant for different practitioners: the approach allows the adoption of more sustainable and durable solutions at the design stage, as well as improving the durability of the ceramic claddings by performing optimized maintenance plans and strategies

Robotic workcell analysis and object level programming

For many years robots have been programmed at manipulator or joint level without any real thought to the implementation of sensing until errors occur during program execution. For the control of complex, or multiple robot workcells, programming must be carried out at a higher level, taking into account the possibility of error occurrence. This requires the integration of decision information based on sensory data.Aspects of robotic workcell control are explored during this work with the object of integrating the results of sensor outputs to facilitate error recovery for the purposes of achieving completely autonomous operation.Network theory is used for the development of analysis techniques based on stochastic data. Object level programming is implemented using Markov chain theory to provide fully sensor integrated robot workcell control

Formal techniques for the procedural control of industrial processes

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Recent Advances in Multi Robot Systems

To design a team of robots which is able to perform given tasks is a great concern of many members of robotics community. There are many problems left to be solved in order to have the fully functional robot team. Robotics community is trying hard to solve such problems (navigation, task allocation, communication, adaptation, control, ...). This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field. It is focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. The book consists of 16 chapters introducing both basic research and advanced developments. Topics covered include kinematics, dynamic analysis, accuracy, optimization design, modelling, simulation and control of multi robot systems

A study of the layout planning of plant facility based on the timed Petri net and systematic layout planning

The purpose of this research is to solve the problems of unreasonable layout of the production plant, disorder of the logistics process, and unbalanced production line in discrete manufacturing plants. By analyzing the production process and characteristics, the timed Petri net model is constructed according to the function and connection of each production unit, which is then used to generate a FlexSim simulation model of the production plant logistics system with a simulation software. Therewith the FlexSim simulation model is used to simulate the original layout of the plant, and to analyse the simulation data synthetically to put forward an improvement strategy. Combined with the use of the systematic layout planning method to analyze the overall layout of the plant and logistics relations, we infer the relevant drawings between the production units and determine the improved layout of the facilities. Finally, by comparing the before and after improvement simulation results, it is verified that the combination of timed Petri nets and systematic layout planning is effective to ameliorate the layout of the plant facilities and the logistics system. This method makes up for the factors that traditional methods have not considered, achieves the goal of reducing the cross circuitous route of the plant and the idle rate of equipment, and improving the efficiency of production