Multicriteria control strategies of Holonic Energy Systems

© Science Academy Publisher, United Kingdom www.sciacademypublisher.com Papier apportant peu de reconnaissance, du fait d'un processus de relecture très édulcoré..., mais que nous conservons au titre de la datation de nos premiers travaux sur les HES (Holonic Energy Systems).International audienceThe renewable energy sources are, and will be more and more, brought to cohabit on the same site. However, they have not yet the subject of a real overall energy management strategy. As several systems rely on multiple energy sources, power distribution strategy must be implemented by matching the supply and the demand. The balance between production and consumption must be carefully conducted to ensure the availability of power. This paper addresses decentralized control strategies of multi-sources and multi-users energy systems. The objective is to describe, by using the recursion principle of the holonic paradigm, a decentralized multi-sources, multi-users energy system. The bases of multicriteria decision aid method are presented to ensure, in an adequate and automated way, the several possible switchings between the various energy sources of the system

A holonic multi-agent methodology to design sustainable intelligent manufacturing control systems

[EN] The urgent need for sustainable development is imposing radical changes in the way manufacturing systems are designed and implemented. The overall sustainability in industrial activities of manufacturing companies must be achieved at the same time that they face unprecedented levels of global competition. Therefore, there is a well-known need for tools and methods that can support the design and implementation of these systems in an effective way. This paper proposes an engineering method that helps researchers to design sustainable intelligent manufacturing systems. The approach is focused on the identification of the manufacturing components and the design and integration of sustainability-oriented mechanisms in the system specification, providing specific development guidelines and tools with built-in support for sustainable features. Besides, a set of case studies is presented in order to assess the proposed method.This research was supported by research projects TIN2015-65515-C4-1-R and TIN2016-80856-R from the Spanish government. The authors would like to acknowledge T. Bonte for her contribution to the NetLogo simulator of the AIP PRIMECA cell.Giret Boggino, AS.; Trentesaux, D.; Salido Gregorio, MÁ.; Garcia, E.; Adam, E. (2017). A holonic multi-agent methodology to design sustainable intelligent manufacturing control systems. Journal of Cleaner Production. 167(1):1370-1386. https://doi.org/10.1016/j.jclepro.2017.03.079S13701386167

Skill-based reconfiguration of industrial mobile robots

Caused by a rising mass customisation and the high variety of equipment versions, the exibility of manufacturing systems in car productions has to be increased. In addition to a exible handling of production load changes or hardware breakdowns that are established research areas in literature, this thesis presents a skill-based recon guration mechanism for industrial mobile robots to enhance functional recon gurability. The proposed holonic multi-agent system is able to react to functional process changes while missing functionalities are created by self-organisation. Applied to a mobile commissioning system that is provided by AUDI AG, the suggested mechanism is validated in a real-world environment including the on-line veri cation of the recon gured robot functionality in a Validity Check. The present thesis includes an original contribution in three aspects: First, a recon - guration mechanism is presented that reacts in a self-organised way to functional process changes. The application layer of a hardware system converts a semantic description into functional requirements for a new robot skill. The result of this mechanism is the on-line integration of a new functionality into the running process. Second, the proposed system allows maintaining the productivity of the running process and exibly changing the robot hardware through provision of a hardware-abstraction layer. An encapsulated Recon guration Holon dynamically includes the actual con guration each time a recon guration is started. This allows reacting to changed environment settings. As the resulting agent that contains the new functionality, is identical in shape and behaviour to the existing skills, its integration into the running process is conducted without a considerable loss of productivity. Third, the suggested mechanism is composed of a novel agent design that allows implementing self-organisation during the encapsulated recon guration and dependability for standard process executions. The selective assignment of behaviour-based and cognitive agents is the basis for the exibility and e ectiveness of the proposed recon guration mechanism

A reference model for information specification for metalworking SMEs

The work reported in this thesis offers a novel basis for the realisation of specifications for information requirements to meet the distinct operational requirements of metalworking SMEs. This has been achieved through the development of a reference SME enterprise model based on fundamental ideas of the holon and fractal factory concepts. The novel concept of a node holon is introduced, which allows the representation of the human dominated interactions in a company based on the fundamental concepts of the holon. This offers a competitive alternative to the methods for enterprise modelling and information specification which are based solely around business processes and procedural rules. A new representation for the organisation of the SME has been based on identifying the major zones of activity within the enterprise, which is seen to provide a more appropriate representation for companies whose basis for operation is informally structured. Two classes of zones have been identified, these are the business support zone and manufacturing zone. The relationship between a top down description of the enterprise as zones and the complementary bottoms up modelling of the enterprise based on concepts of the node holon are described in detail. A critical study of two candidate modelling architectures, namely CIN40SA and ARIS will show the applicability of the individual architectures for the task information specification. The constituents of the SMEE enterprise reference model is placed within the context of contemporary enterprise modelling practice by mapping against one of the architectures. This will demonstrate how the architectures can readily accommodate new modelling approaches whilst retaining their major advantages, thereby increasing their applicability and potential uptake. The reference SME enterprise model has been readily applied in the study of an SME, where a representation of the company has been achieved solely on the current organisation of its business support and manufacturing activities. The holonic aspects of the enterprise have also been successfully modelled. This process is supported by a CASE tool which has it constructs underpinned by the reference SME enterprise model

Knowledge and agent-based system for decentralised scheduling in manufacturing

The aim of the research paper is to develop algorithms for manufacturers’ agents that would allow them to sequence their own operation plans and to develop a multi-agent infrastructure to allow operation pair agents to cooperatively adjust the timing of manufacturing operations. The scheduling problem consisted of jobs with fixed process plans and of manufacturers collectively offering the necessary operations for the jobs. Manufacturer agents sequenced and pair agents timed each operation as and when required. Timing an operation triggered a cascade of conflicts along the job process plan that other pair agents would pick up on and would take action accordingly. The conventional approach performs conflict resolution in series and manufacturer agents as well as pair agents wait until they are allowed to sequence and time the next operation. The limiting assumption behind that approach was systematically removed, and the proposed approach allowed manufacturers to perform operation scheduling in parallel, cutting down tenfold on the computation time. The multi-agent infrastructure consists of the Protégé knowledge base, the Pellet semantic reasoner and the Workflows and Agent Development Environment (WADE). The case studies used were the MT6, MT10 and LA19 job shop scheduling problems; and an industrial use case was provided to give context to the manufacturing environment investigated. Although there were benefits from the decentralised manufacturing system, we noted an optimality loss of 34% on the makespans. However, for scalability, our approach showed good promise

A holonic manufacturing architecture for line-less mobile assembly systems operations planning and control

Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2022.O Line-Less Mobile Assembly Systems (LMAS) é um paradigma de fabricação que visa maximizar a resposta às tendências do mercado através de configurações adaptáveis de fábrica utilizando recursos de montagem móvel. Tais sistemas podem ser caracterizados como holonic manufacturing systems (HMS), cujas chamadas holonic control architecture (HCA) são recentemente retratadas como abordagens habilitadoras da Indústria 4.0 devido a suas relações de entidades temporárias (hierárquicas e/ou heterárquicas). Embora as estruturas de referência HCA como PROSA ou ADACOR/ADACOR² tenham sido muito discutidas na literatura, nenhuma delas pode ser aplicada diretamente ao contexto LMAS. Assim, esta dissertação visa responder à pergunta \"Como uma arquitetura de produção e sistema de controle LMAS precisa ser projetada?\" apresentando os modelos de projeto de arquitetura desenvolvidos de acordo com as etapas da metodologia para desenvolvimento de sistemas holônicos multi-agentes ANEMONA. A fase de análise da ANEMONA resulta em uma especificação do caso de uso, requisitos, objetivos do sistema, simplificações e suposições. A fase de projeto resulta nos modelos de organização, interação e agentes, seguido de uma breve análise de sua cobertura comportamental. O resultado da fase de implementação é um protótipo (realizado com o Robot Operation System) que implementa os modelos ANEMONA e uma ontologia LMAS, que reutiliza elementos de ontologias de referência do domínio de manufatura. A fim de testar o protótipo, um algoritmo para geração de dados para teste baseado na complexidade dos produtos e na flexibilidade do chão de fábrica é apresentado. A validação qualitativa dos modelos HCA é baseada em como o HCA proposto atende a critérios específicos para avaliar sistemas HCA. A validação é complementada por uma análise quantitativa considerando o comportamento dos modelos implementados durante a execução normal e a execução interrompida (e.g. equipamento defeituoso) em um ambiente simulado. A validação da execução normal concentra-se no desvio de tempo entre as agendas planejadas e executadas, o que provou ser em média irrelevante dentro do caso simulado considerando a ordem de magnitude das operações típicas demandadas. Posteriormente, durante a execução do caso interrompido, o sistema é testado sob a simulação de uma falha, onde duas estratégias são aplicadas, LOCAL\_FIX e REORGANIZATION, e seu resultado é comparado para decidir qual é a opção apropriada quando o objetivo é reduzir o tempo total de execução. Finalmente, é apresentada uma análise sobre a cobertura desta dissertação culminando em diretrizes que podem ser vistas como uma resposta possível (entre muitas outras) para a questão de pesquisa apresentada. Além disso, são apresentados pontos fortes e fracos dos modelos desenvolvidos, e possíveis melhorias e idéias para futuras contribuições para a implementação de sistemas de controle holônico para LMAS.Abstract: The Line-Less Mobile Assembly Systems (LMAS) is a manufacturing paradigm aiming to maximize responsiveness to market trends (product-individualization and ever-shortening product lifecycles) by adaptive factory configurations utilizing mobile assembly resources. Such responsive systems can be characterized as holonic manufacturing systems (HMS), whose so-called holonic control architectures (HCA) are recently portrayed as Industry 4.0-enabling approaches due to their mixed-hierarchical and -heterarchical temporary entity relationships. They are particularly suitable for distributed and flexible systems as the Line-Less Mobile Assembly or Matrix-Production, as they meet reconfigurability capabilities. Though HCA reference structures as PROSA or ADACOR/ADACOR² have been heavily discussed in the literature, neither can directly be applied to the LMAS context. Methodologies such as ANEMONA provide guidelines and best practices for the development of holonic multi-agent systems. Accordingly, this dissertation aims to answer the question \"How does an LMAS production and control system architecture need to be designed?\" presenting the architecture design models developed according to the steps of the ANEMONA methodology. The ANEMONA analysis phase results in a use case specification, requirements, system goals, simplifications, and assumptions. The design phase results in an LMAS architecture design consisting of the organization, interaction, and agent models followed by a brief analysis of its behavioral coverage. The implementation phase result is an LMAS ontology, which reuses elements from the widespread manufacturing domain ontologies MAnufacturing's Semantics Ontology (MASON) and Manufacturing Resource Capability Ontology (MaRCO) enriched with essential holonic concepts. The architecture approach and ontology are implemented using the Robot Operating System (ROS) robotic framework. In order to create test data sets validation, an algorithm for test generation based on the complexity of products and the shopfloor flexibility is presented considering a maximum number of operations per work station and the maximum number of simultaneous stations. The validation phase presents a two-folded validation: qualitative and quantitative. The qualitative validation of the HCA models is based on how the proposed HCA attends specific criteria for evaluating HCA systems (e.g., modularity, integrability, diagnosability, fault tolerance, distributability, developer training requirements). The validation is complemented by a quantitative analysis considering the behavior of the implemented models during the normal execution and disrupted execution (e.g.; defective equipment) in a simulated environment (in the form of a software prototype). The normal execution validation focuses on the time drift between the planned and executed schedules, which has proved to be irrelevant within the simulated case considering the order of magnitude of the typical demanded operations. Subsequently, during the disrupted case execution, the system is tested under the simulation of a failure, where two strategies are applied, LOCAL\_FIX and REORGANIZATION, and their outcome is compared to decide which one is the appropriate option when the goal is to reduce the overall execution time. Ultimately, it is presented an analysis about the coverage of this dissertation culminating into guidelines that can be seen as one possible answer (among many others) for the presented research question. Furthermore, strong and weak points of the developed models are presented, and possible improvements and ideas for future contributions towards the implementation of holonic control systems for LMAS

Self-organisation of mobile robots in large structure assembly using multi-agent systems

Competition between manufacturers in large structure assembly (LSA) is driven by the need to improve the adaptability and versatility of their manufacturing systems. The lack of these qualities in the currently used systems is caused by the dedicated nature of their fixtures and jigs. This has led to their underutilisation and costly changeover procedures. In addition to that, modern automation systems tend to be dedicated to very specific tasks. This means that such systems are highly specialised and can reach obsolescence once there is a substantial change in production requirements. In this doctoral thesis, a dynamic system consisting of mobile robots is proposed to overcome those limitations. As a first knowledge contribution in this doctoral thesis, it is investigated under which conditions using mobile robots instead of the traditional, fixed automation systems in LSA can be advantageous. In this context, dynamic systems are expected to be more versatile and adaptive than fixed systems. Unlike traditional, dedicated automation systems, they are not constrained to gantry rails or fixed to the floor. This results in an expanded working envelope and consequently the ability to reach more workstations. Furthermore, if a product is large enough, the manufacturer can choose how many mobile robots to deploy around it. Accordingly, it was shown that the ability to balance work rates on products and consequently meet their due times is improved. For the second knowledge contribution, two fundamentally different decision-making models for controlling mobile agents in the complex scheduling problem are investigated. This is done to investigate ways of taking full advantage from the potential benefits of applying mobile robots. It is found that existing models from related academic literature are not suited for the given problem. Therefore, two new models had to be proposed for this purpose. It was plausible to use an agent-based approach for self-organisation. This is because similarly to agents, mobile robots can perform independently of one-another; and have limited perception and communication abilities. Finally, through a comparison study, scenarios are identified where either model is better to use. In agreement with much of the established literature in the field, the models are shown to exhibit the common advantages and disadvantages of their respective architecture types. Considering that the enabling technologies are nearing sufficient maturity for deploying mobile robots in LSA, it is concluded that this approach can have several advantages. Firstly, the granularity and freedom of movement enables much more control over product completion times. Secondly, the increased working envelope enables higher utilisation of manufacturing resources. In the context of LSA, this is a considerable challenge because products take a very long time to get loaded and unloaded from workstations. However, if the product flow is steady, there are rare disruptions and rare production changes, fixed automation systems have an advantage due to requiring much less time (if any) for moving and localising. Therefore, mobile systems become more preferred to fixed systems in environments where there is an increasing frequency of disruptions and changes in production requirements. The validation of agent-based self-organisation models for mobile robots in LSA confirms the expectations based on existing literature. Also, it reveals that with relatively low amounts of spare capacity (5%) in the manufacturing systems, there is little need for sophisticated models. The value of optimised models becomes apparent when spare capacity approaches 0% (or even negative values) and there is less room for inefficiencies in scheduling

Evaluation of C# for a station controller in a reconfigurable manufacturing system

Thesis (MEng)--Stellenbosch University, 2016.ENGLISH ABSTRACT: Reconfigurable manufacturing systems (RMSs) are aimed at dynamic situations, such as varying products, variations in production volume requirements and changes in available resources. RMSs distinguish themselves from other types of manufacturing systems in that they can quickly adapt to a new product being introduced without the need for long reconfiguration times, and can therefore cost effectively produce smaller batch sizes. RMSs in research environments in most cases used Agent Based Control (ABC), but the main automation vendors in the industry do not support ABC. This inhibits the acceptance of RMSs by the industry. For this research, C# was investigated as an alternative to ABC, since C# can provide for many of the functionalities of agents, yet is a more widely known language than ABC. Furthermore, C# is an object-oriented programming (OOP) language and thus possesses characteristics aligned with the core characteristics of reconfigurable manufacturing systems. The focus of this thesis is to determine the suitability of C# for the development of the control software for RMSs. This thesis describes the design, implementation, testing and evaluation of a reconfigurable stacking and buffering station. The controller was implemented in C# and made use of the ADACOR architecture. The physical test-setup was built to evaluate the reconfigurability of the controller in a series of reconfiguration experiments. The thesis showed that the controller could handle all the hardware interfaces without problems, since C# generally simplifies the task of hardware interfacing. OOP characteristics helped making developing and maintaining the code an intuitive task. The stacking station handled all communication with the cell controller correctly, which proved that it could easily be integrated into a distributed control architecture.AFRIKAANSE OPSOMMING: "Reconfigurable manufacturing systems" (RMSs) is gemik op dinamiese situasies, soos veranderende produkte, veranderings in produksievolumes en veranderinge in beskikbare hulpbronne. RMSs onderskei hulself van ander tipes vervaardigingstelsels deurdat hulle vinnig kan aanpas by nuwe produkte wat bekendgestel word sonder dat dit nodig is om die stelsel eers lank te herkonfigureer, en kan sodoende kleiner lotgroottes koste-effektief produseer. RMSs maak in navorsingmilieus meestal gebruik van "Agent Based Control" (ABC), maar die hoof outomatisasie-verkopers in die industrie ondersteun nie ABC nie. Dit belemmer die aanvaarding van RMSs in die industrie. Vir hierdie navorsing is C# as 'n alternatief vir ABC ondersoek omdat C# baie van die funksionaliteite kan voorsien wat aangetref word in ABC, maar terselfdertyd 'n meer bekende taal is as ABC. Verder is C# 'n objek-georiënteerde programmerings- (OOP) taal en beskik dus oor karakteristieke wat in lyn is met die kernkarakteristieke van RMSs. Die fokus van hierdie tesis is die geskiktheid van C# vir die ontwikkeling van beheersagteware vir 'n RMS. Hierdie tesis beskryf die ontwerp, implementering, toetsing en evaluering van 'n herkonfigureerbare stapel- en bufferstasie. Die beheerder was in C# geïmplementeer en het van die ADACOR-argitektuur gebruik gemaak. Die fisiese toets-opstelling was gebou om die herkonfigureerbaarheid van die beheerder te kan evalueer aan hand van 'n reeks herkonfigureringseksperimente. Die tesis het gewys dat die beheerder sonder probleme alle hardeware-intervlakke kon hanteer, omdat C# dit oor die algemeen vergemaklik om met hardeware te kommunikeer. OOP karakteristieke was nuttig om die ontwikkeling en instandhouding van die program intuïtief te maak. Die stapelstasie het alle kommunikasie met die selbeheerder korrek hanteer, wat bewys het dat dit probleemloos in 'n verspreide beheerargitektuur opgeneem kon word