The Development of a Service Oriented Architecture for Digital Services on Maritime Vessels.

Mechanical and Mechatronic Engineerin

Organization based multiagent architecture for distributed environments

[EN]Distributed environments represent a complex field in which applied solutions should be flexible and include significant adaptation capabilities. These environments are related to problems where multiple users and devices may interact, and where simple and local solutions could possibly generate good results, but may not be effective with regards to use and interaction. There are many techniques that can be employed to face this kind of problems, from CORBA to multi-agent systems, passing by web-services and SOA, among others. All those methodologies have their advantages and disadvantages that are properly analyzed in this documents, to finally explain the new architecture presented as a solution for distributed environment problems. The new architecture for solving complex solutions in distributed environments presented here is called OBaMADE: Organization Based Multiagent Architecture for Distributed Environments. It is a multiagent architecture based on the organizations of agents paradigm, where the agents in the architecture are structured into organizations to improve their organizational capabilities. The reasoning power of the architecture is based on the Case-Based Reasoning methology, being implemented in a internal organization that uses agents to create services to solve the external request made by the users. The OBaMADE architecture has been successfully applied to two different case studies where its prediction capabilities have been properly checked. Those case studies have showed optimistic results and, being complex systems, have demonstrated the abstraction and generalizations capabilities of the architecture. Nevertheless OBaMADE is intended to be able to solve much other kind of problems in distributed environments scenarios. It should be applied to other varieties of situations and to other knowledge fields to fully develop its potencial.[ES]Los entornos distribuidos representan un campo de conocimiento complejo en el que las soluciones a aplicar deben ser flexibles y deben contar con gran capacidad de adaptación. Este tipo de entornos está normalmente relacionado con problemas donde varios usuarios y dispositivos entran en juego. Para solucionar dichos problemas, pueden utilizarse sistemas locales que, aunque ofrezcan buenos resultados en términos de calidad de los mismos, no son tan efectivos en cuanto a la interacción y posibilidades de uso. Existen múltiples técnicas que pueden ser empleadas para resolver este tipo de problemas, desde CORBA a sistemas multiagente, pasando por servicios web y SOA, entre otros. Todas estas mitologías tienen sus ventajas e inconvenientes, que se analizan en este documento, para explicar, finalmente, la nueva arquitectura presentada como una solución para los problemas generados en entornos distribuidos. La nueva arquitectura aquí se llama OBaMADE, que es el acrónimo del inglés Organization Based Multiagent Architecture for Distributed Environments (Arquitectura Multiagente Basada en Organizaciones para Entornos Distribuidos). Se trata de una arquitectura multiagente basasa en el paradigma de las organizaciones de agente, donde los agentes que forman parte de la arquitectura se estructuran en organizaciones para mejorar sus capacidades organizativas. La capacidad de razonamiento de la arquitectura está basada en la metodología de razonamiento basado en casos, que se ha implementado en una de las organizaciones internas de la arquitectura por medio de agentes que crean servicios que responden a las solicitudes externas de los usuarios. La arquitectura OBaMADE se ha aplicado de forma exitosa a dos casos de estudio diferentes, en los que se han demostrado sus capacidades predictivas. Aplicando OBaMADE a estos casos de estudio se han obtenido resultados esperanzadores y, al ser sistemas complejos, se han demostrado las capacidades tanto de abstracción como de generalización de la arquitectura presentada. Sin embargo, esta arquitectura está diseñada para poder ser aplicada a más tipo de problemas de entornos distribuidos. Debe ser aplicada a más variadas situaciones y a otros campos de conocimiento para desarrollar completamente el potencial de esta arquitectura

Diagnosis of an EPS module

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia Electrotécnica e ComputadoresThis thesis addresses and contextualizes the problem of diagnostic of an Evolvable Production System (EPS). An EPS is a complex and lively entity composed of intelligent modules that interact through bio-inspired mechanisms, to ensure high system availability and seamless reconfiguration. The actual economic situation together with the increasing demand of high quality and low priced customized products imposed a shift in the production policies of enterprises. Shop floors have to become more agile and flexible to accommodate the new production paradigms. Rather than selling products enterprises are establishing a trend of offering services to explore business opportunities. The new production paradigms, potentiated by the advances in Information Technologies (IT), especially in web related standards and technologies as well as the progressive acceptance of the multi-agent systems (MAS) concept and related technologies, envision collections of modules whose individual and collective function adapts and evolves ensuring the fitness and adequacy of the shop floor in tackling profitable but volatile business opportunities. Despite the richness of the interactions and the effort set in modelling them, their potential to favour fault propagation and interference, in these complex environments, has been ignored from a diagnostic point of view. With the increase of distributed and autonomous components that interact in the execution of processes current diagnostic approaches will soon be insufficient. While current system dynamics are complex and to a certain extent unpredictable the adoption of the next generation of approaches and technologies comes at the cost of a yet increased complexity.Whereas most of the research in such distributed industrial systems is focused in the study and establishment of control structures, the problem of diagnosis has been left relatively unattended. There are however significant open challenges in the diagnosis of such modular systems including: understanding fault propagation and ensuring scalability and co-evolution. This work provides an implementation of a state-of-the-art agent-based interaction-oriented architecture compliant with the EPS paradigm that supports the introduction of a new developed diagnostic algorithm that has the ability to cope with the modern manufacturing paradigm challenges and to provide diagnostic analysis that explores the network dimension of multi-agent systems

Extending the BASE architecture for complex and reconfigurable cyber-physical systems using Holonic principles.

Thesis (MEng)--Stellenbosch University, 2021.ENGLISH ABSTRACT: ndustry 4.0 (I4.0) represents the newest technological revolution aimed at optimising industries using drivers such as Cyber-Physical Systems (CPSs), the Internet of Things (IoT) and many more. In the past two decades, the holonic paradigm has become a major driver of intelligent manufacturing systems, making it ideal to advance I4.0. The objective of this thesis is to extend an existing holonic reference architecture, the Biography-Attributes-Schedule-Execution (BASE) architecture, for complex and reconfigurable CPSs. In the context of this thesis, complex and reconfigurable systems are considered to be systems that are comprised of many diverse, autonomous and interacting entities, and of which the functionality, organization or size is expected to change over time. The thesis applies the principles of holonic systems to manage complexity and enhance reconfigurability of CPS applications. The BASE architecture is extended for two reasons: to enable it to integrate many diverse entities, and to enhance its reconfigurability. With regards to research on holonic systems, this thesis aims to address two important functions for systems implemented using holonic principles, namely cooperation and cyber-physical interfacing The most important extensions made to the architecture were to enable scalability, refine the cooperation between holons, and integrate cyber-physical interfacing services as Interface Holons. These extensions include platform management components (e.g. a service directory) and standardised plugins (e.g. cyber-physical interfacing plugins). The extended architecture was implemented on an educational sheep farm, because of the many heterogeneous resources (sheep, camps, sensors, humans, etc.) on the farm that need to be integrated into a BASE architecture implemented CPS. This case study implementation had to integrate data from different sensors, provide live analysis of observed data and, when required, notify the physical world of any problems in the CPS. At the end of the implementation, an evaluation was done using the requirements of a complex, reconfigurable CPS as evaluation criteria. This evaluation involved setting up quantitative and qualitative evaluation metrics for the evaluation criteria, doing the evaluations, and discussing what the results from the different evaluations indicate about the effectiveness and efficiency of the extensions made to the BASE architecture. The extensions made to the BASE architecture were found to improve robustness and resilience. The use of Erlang was found to play a very important role in the resulting reliability. The extensions also helped to fully address the original BASE architecture’s scalability shortcomings and to increase development productivity. Lastly, the extensions show the benefits of using service orientation to enable cooperation between holons and how extracting all cyber-physical interfacing of a system into dedicated Interface Holons reduces development time, improves reusability and enhances diagnosability of interfacing problems.AFRIKAANSE OPSOMMING: ndustrie 4.0 (I4.0) is die nuutste tegnologiese revolusie en dit is daarop gemik om industrieë te optimiseer deur middel van drywers soos Kuber-Fisiese Stelsels (KFSs), die Internet of Things (IoT) en vele meer. In die afgelope twee dekades het die holoniese paradigma ʼn belangrike drywer van intelligente vervaardigingstelsels geword, wat dit ideaal maak om I4.0 te bevorder. Die doel van hierdie tesis is om ‘n bestaande holoniese verwysings argitektuur, die Biography-Attributes-Schedule-Execution (BASE-) argitektuur, uit te brei vir komplekse, herkonfigureerbare KFSs. In die konteks van hierdie tesis, word komplekse en herkonfigureerbare stelsels gesien as stelsels wat bestaan uit menige diverse, outonome entiteite wat met mekaar interaksie het en waarvan die funksionaliteit, organisasie en grootte verwag is om te verander met verloop van tyd. Hierdie tesis pas die beginsels van holoniese stelsels toe om die kompleksiteit van KFSs te bestuur en om herkonfigureerbaarheid van KFSs te verbeter. Die BASE-argitektuur word uitgebrei om twee redes, naamlik om die integrasie van menige diverse entiteite te ondersteun en om die argitektuur se herkonfigureerbaarheid te verbeter. Die studie sal ‘n navorsingsbydrae lewer oor holoniese stelsels deur twee belangrike funksionaliteite van stelsels wat geïmplementeer is deur middel van holoniese stelsels aan te spreek – samewerking tussen holons en kuber-fisiese koppeling. Die belangrikste uitbreidings wat gemaak is aan die argitektuur was om skaleerbaarheid moontlik te maak, samewerking tussen holons te verfyn en om kuber-fisiese koppelingsdienste te integreer as holons. Hierdie uitbreidings sluit nuwe platformbestuurkomponente en gestandaardiseerde plugins in. Die uitgebreide argitektuur is geïmplementeer op ʼn opvoedkundige skaapplaas, omdat die skaapplaas baie heterogene hulpbronne (skape, kampe, sensors, mense, ens.) insluit wat in die BASE-argitektuur geïmplementeerde KFS geïntegreer kon word. v Hierdie gevallestudie-implementering moes data van verskillende sensors integreer, intydse analises doen van die waargeneemde data en wanneer nodig, ‘n entiteit in die fisiese wêreld inlig van enige probleme in die KFS. Aan die einde van die implementering is ʼn evaluering gedoen deur die vereistes van ʼn komplekse, herkonfigureerbare KFS as evalueringskriteria te gebruik. Die evaluering het bestaan uit die opstel van kwantitatiewe en kwalitatiewe evalueringsmaatreëls, die uitvoer van die evaluerings en ʼn bespreking van wat die evalueringsresultate aandui oor die effektiwiteit en doeltreffendheid van die uitbreidings wat aan die BASE- argitektuur gemaak is. Dit is bevind dat die uitbreidings wat gemaak is aan die BASE-argitektuur robuustheid en veerkragtigheid verbeter het. Die gebruik van Erlang het ʼn groot rol gespeel in die gevolglike betroubaarheid. Die uitbreidings aan die BASE- argitektuur het ook gehelp om die argitektuur volledig skaleerbaar te maak en om ontwikkelingsproduktiwiteit te verbeter. Laastens, bewys die uitbreidings die voordele van diensoriëntasie in die samewerking tussen holons en hoe die gebruik van Koppelings Holons (Interface Holons) ontwikkelingstyd verminder, die herbruikbaarheid van programbronkode verbeter en diagnoseerbaarheid van koppelingsprobleme versterk.Master

Distributed agents for autonomous spacecraft

Space missions have evolved considerably in the last fifty years in both complexity and ambition. In order to enable this continued improvement in the scientific and commercial return of space missions new control systems are needed that can manage complex combinations of state of the art hardware with a minimum of human interaction. Distributed multi-agent systems are one approach to controlling complex multisatellite space missions. A distributed system is not enough on its own however,the spacecraft must be able to carry out complex tasks such as planning,negotiation and close proximity formation flying autonomously. It is the coupling of distributed control with autonomy that is the focus of this thesis. Three contributions to the state of the art are described herein. They all involve the innovative use of multi-agent systems in space missions. The first is the development of a multi-agent architecture, HASA, specifically for space missions. The second is to use embedded agents to autonomously control an interferometric type space telescope. The third is based on software agents that coordinate multiple Earth observation missions coupled with a global optimisation technique for data extraction. The HASA architecture was developed in reaction to the over generality of most multi-agent architectures in the computer science and robotics literature and the ad-hoc, case-by-case approach, to multi-agent architectures when developed and deployed for space missions. The HASA architecture has a recursive nature which allows for the multi-agent system to be completely described throughout its development process as the design evolves and more sub-systems are implemented. It also inherits a focus on the robust generation of a product and safe operation from architectures in use in the manufacturing industry. A multi-agent system was designed using the HASA architecture for an interferometric space telescope type mission. This type of mission puts high requirements on formation flying and cooperation between agents. The formation flying agents were then implemented using a Java framework and tested on a multi-platform distributed simulation suite developed especially for this thesis. Three different control methods were incorporated into the agents and the multi-agent system was shown to be able to acquire and change formation and avoid collisions autonomously. A second multi-agent system was designed for the GMES mission in collaboration with GMV, the industrial partner in this project. This basic MAS design was transferred to the HASA architecture. A novel image selection algorithm was developed to work alongside the GMES multi-agent system. This algorithm uses global optimisation techniques to suggest image parameters to users based on the output of the multi-agent system

Advances in Robotics, Automation and Control

The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man

Coalition based approach for shop floor agility – a multiagent approach

Dissertation submitted for a PhD degree in Electrical Engineering, speciality of Robotics and Integrated Manufacturing from the Universidade Nova de Lisboa, Faculdade de Ciências e TecnologiaThis thesis addresses the problem of shop floor agility. In order to cope with the disturbances and uncertainties that characterise the current business scenarios faced by manufacturing companies, the capability of their shop floors needs to be improved quickly, such that these shop floors may be adapted, changed or become easily modifiable (shop floor reengineering). One of the critical elements in any shop floor reengineering process is the way the control/supervision architecture is changed or modified to accommodate for the new processes and equipment. This thesis, therefore, proposes an architecture to support the fast adaptation or changes in the control/supervision architecture. This architecture postulates that manufacturing systems are no more than compositions of modularised manufacturing components whose interactions when aggregated are governed by contractual mechanisms that favour configuration over reprogramming. A multiagent based reference architecture called Coalition Based Approach for Shop floor Agility – CoBASA, was created to support fast adaptation and changes of shop floor control architectures with minimal effort. The coalitions are composed of agentified manufacturing components (modules), whose relationships within the coalitions are governed by contracts that are configured whenever a coalition is established. Creating and changing a coalition do not involve programming effort because it only requires changes to the contract that regulates it