公共制造云服务平台架构及其支撑技术研究

为了能使量大面广的中小企业充分享受云制造的益处, 分析了公共制造云的运行原理, 搭建了一个面向中小企业的公共制造云服务平台架构, 并给出了其形式化描述。对平台所涉及的关键支撑技术如云制造资源管理、协同设计及QoS管理进行分析, 提出了基于多级递阶控制结构的云制造资源管理与监控模型, 以及在云制造基础设施之上构建了支持复杂产品设计、面向服务的虚拟协同设计环境。最后通过公共制造云服务平台运作模型说明了平台的应用性和示范性。     

Coloured Petri nets and graphical simulation for the validation of a robotic cell in aircraft industry

This paper proposes a mixed validation approach based on coloured Petri nets and 3D graphic simulation for the design of supervisory systems in manufacturing cells with multiple robots. The coloured Petri net 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. The graphical simulation is used to analyse and validate the cell behaviour in a 3D environment, allowing the detection of collisions and the calculation of process times. The motivation for this work comes from the aeronautic industry. The automation of a fuselage assembly process requires the integration of robots with other cell components such as metrological or vision systems. In this cell, the robot trajectories are defined by the supervisory system and results from the coordination of the cell components. The paper presents the application of the approach for an aircraft assembly cell under integration in Brazil. This case study shows the feasibility of the approach and supports the discussion of its main advantages and limits.     

Virtual prototyping of automated manufacturing systems with Geometry-driven Petri nets

The design process of automated manufacturing systems typically involves physical prototypes to validate the interactions between hardware and software components. However, physical prototyping is expensive and time consuming, which often leads to insufficient opportunities for testing early during the development cycle. Our objective is to improve this situation by providing a method to develop realistic prototypes using virtual reality technology that can be applied during earlier development stages. Our approach combines a virtual reality engine capable of enacting the laws of rigid body physics with a new hybrid software modelling language to control the simulated hardware using virtual sensors and actuators as they would be present in a physical prototype. The new modelling language is called Geometry-driven Petri nets (GPN) and combines a class of timed, high-level Petri nets with data structures used in state-of-the-art VR environments. This article describes the new GPN approach, applies it to a case study of an automated manufacturing line, and compares it with related approaches.     

Implementation of rule-based information systems for integratedmanufacturing

Focuses on the development of a methodology within a software environment for automating the rule-based implementation of specifications of integrated manufacturing information systems. The specifications are initially formulated in a natural language and subsequently represented in terms of a graphical representation by the system designer. A new graphical representation tool is based on updated Petri nets (UPN) that we have developed as a specialized version of colored Petri nets. The rule-based implementation approach utilizes the similarity of features between UPN and the general rule specification language used for the implementation. The automation of the translation of UPN to the rule specification language is expected to considerably reduce the life-cycle for design and implementation of the system. The application presented deals with the control and management of information flow between the computer-aided design, process planning, manufacturing resource planning and shop floor control databases. This provides an integrated information framework for computer integrated manufacturing systems     

采用随机Petri网的嵌入式机载软件可靠性检测

针对嵌入式机载软件设计中存在的典型缺陷问题，结合嵌入式机载软件任务调度特性，提出采用随机Petri网对嵌入式机载软件设计进行仿真验证的可靠性检测方法，以提高嵌入式机载软件设计的可靠性。该方法采用随机Petri网对嵌入式机载软件系统行为建模，并给出典型缺陷的检测策略和判定准则，然后通过对Petri网模型进行仿真验证，检测系统是否存在此类设计缺陷；并给出了软件设计的运行流程的仿真验证算法，以支持对相应设计的可靠性检测。通过与其他可靠性检测方法的比较，表明了该方法的有效性。     

基于分层着色Petri网的热轧带钢厂产线建模

本文介绍了分层着色Petri网（HCPN）基本原理,并结合局部事件表提出了为复杂制造系统建模的一种方法,此方法可以减少复杂系统建模的复杂性,也为仿真软件体系结构的模块化和层次化设计建立了良好的基础.文中还给出了HCPN在武钢热轧带钢厂产线仿真系统建模中的实现方法.     

Object-oriented design of FMS control software based on object modeling technique diagrams and Petri nets

Control software is very important to realizing the full benefits of flexible manufacturing systems. This paper highlights the difficulties in developing such software and proposes an object-oriented design (OOD) method using object modeling technique (OMT) diagrams and Petri nets (PNs). OOD is used to design reusable and easily maintainable software. OMT diagrams are used to represent explicitly different kinds of static relations, such as generalization, aggregation, and association, among the objects in an FMS. PNs are used to model the dynamic behavior of the objects and the entire FMS and to conduct performance analysis. The use of PNs also leads to a method to identify the data structures and operations of software objects. The proposed method is illustrated through an FMS example. Its capability to support reusability, extendibility, and modifiability of the resulting control software design is also demonstrated when the FMS specifications change.     

基于Petri网的数字系统建模和VHDL实现

基于Petri网的数字系统的建模及其硬件实现方法已经得到了广泛的研究,然而现有的方法主要适用于同步电路,由此提出了一种基于Petri网的数字系统建模和VHDL实现的新方法。首先定义了一种广义同步自控网系统,解决了数字系统的Petri网建模问题。基于一种带优先级的多输入多时钟D触发器,设计了对应的软IP核,进而探讨了广义同步自控网系统模型到VHDL代码的具体转换方法。设计的CAD工具支持数字系统的建模、功能分析与代码转换功能。通过设计示例表明了所述方法和相关工具的有效性。     

Evaluation of the information flow in a hierarchical shop floor control framework

Shop floor controllers have been applied widely in the integration and control of the information flow in computer integrated manufacturing systems. Among the developed control frameworks, hierarchical control structure is the most popular and practical. One of the major arguments about this framework is that computers with strong computing power should be applied in the central controller, and computers with less computing power can be applied in the local controllers. However, very few experimental analyses support this argument. In this research, the information loading for each level of controller is used to examine this argument. A coloured stochastic Petri nets model was developed to describe the information flow in a hierarchical structure. The developed model was simulated and the information loading for each controller can be estimated on the basis of the traffic of the tokens in the net. The simulation results have confirmed the above argument. In addition, the required computation resources for certain functions in hierarchical frameworks were also estimated. These data can be used for replanning the functions performed in each level of the controllers in order to improve the total performance of a hierarchical shop floor controller system.     

A Petri net-based methodology to increase flexibility in service-oriented holonic manufacturing systems

Distributed control systems such as the holonic manufacturing systems and service-oriented architectures have demonstrated to provide higher levels of flexibility, notably in the planning and scheduling functionalities, if well exploited. In scheduling, the use of fixed process plans generated by traditional planning approaches, usually leads to unrealistic schedules due to the lack of considerations of the workshop status. IPPS approaches try to break the gap between these two functionalities in favor of providing flexible plans adapting to the shop floor's state. A key element in the creation of flexible process plans is the definition of a process model capable of representing alternatives solutions to the sequencing problem and therefore increasing the potential solution space. This paper presents a methodology to increase planning flexibility in service-oriented manufacturing systems (SOHMS). The methodology introduces a Petri net service-oriented process model (SOP model) capable of computing a product's deadlock free sequential space and adapts to the fractal character of holonic architectures. A set of modeling rules, with illustrations, is presented for the automatic generation of the Petri net, based on a set of precedence conditions. To explore the solution space represented by the SOP model a holonic interaction protocol is presented. Moreover, a set of behavioral strategies is proposed in order to cope with the effects of a possible combinatorial explosion. A study case applied workshop example is presented to illustrate the modeling process of SOP models, compute the sequential solution space and demonstrate how this notably increases the number of potentially goods feasible solutions.     

A self-learning approach for validation of runtime adaptation in service-oriented systems

Ensuring that service-oriented systems can adapt quickly and effectively to changes in service quality, business needs and their runtime environment is an increasingly important research problem. However, while considerable research has focused on developing runtime adaptation frameworks for service-oriented systems, there has been little work on assessing how effective the adaptations are. Effective adaptation ensures the system remains relevant in a changing environment and is an accurate reflection of user expectations. One way to address the problem is through validation. Validation allows us to assess how well a recommended adaptation addresses the concerns for which the system is reconfigured and provides us with insights into the nature of problems for which different adaptations are suited. However, the dynamic nature of runtime adaptation and the changeable contexts in which service-oriented systems operate make it difficult to specify appropriate validation mechanisms in advance. This paper describes a novel consumer-centered approach that uses machine learning to continuously validate and refine runtime adaptation in service-oriented systems, through model-based clustering and deep learning.     

Necessary and sufficient liveness condition of GS3PR Petri nets

Structural analysis is one of the most important and efficient methods to investigate the behaviour of Petri nets. Liveness is a significant behavioural property of Petri nets. Siphons, as structural objects of a Petri net, are closely related to its liveness. Many deadlock control policies for flexible manufacturing systems (FMS) modelled by Petri nets are implemented via siphon control. Most of the existing methods design liveness-enforcing supervisors by adding control places for siphons based on their controllability conditions. To compute a liveness-enforcing supervisor with as much as permissive behaviour, it is both theoretically and practically significant to find an exact controllability condition for siphons. However, the existing conditions, max, max′, and max″-controllability of siphons are all overly restrictive and generally sufficient only. This paper develops a new condition called max*-controllability of the siphons in generalised systems of simple sequential processes with resources (GS³PR), which are a net subclass that can model many real-world automated manufacturing systems. We show that a GS³PR is live if all its strict minimal siphons (SMS) are max*-controlled. Compared with the existing conditions, i.e., max-, max′-, and max″-controllability of siphons, max*-controllability of the SMS is not only sufficient but also necessary. An example is used to illustrate the proposed method.     

基于变迁覆盖的制造系统死锁控制策略

基于系统Petri网模型,研究柔性制造系统的死锁控制问题.论文利用变迁覆盖为系统设计活性控制器.变迁覆盖是由一组极大完备资源变迁回路组成的集合,其变迁集覆盖了Petri网中所有极大完备资源变迁回路的变迁集.验证变迁覆盖的有效性,然后仅对有效变迁覆盖中的极大完备资源变迁回路添加控制位置,就得到系统的活性受控Petri网.这种受控Petri网包含的控制位置个数少,从而结构相对简单.最后通过一个例子说明了所提出的死锁控制策略的构成与特点.     

An agent-based service-oriented integration architecture for collaborative intelligent manufacturing

The rapidly changing needs and opportunities of today's global market require unprecedented levels of interoperability to integrate diverse information systems to share knowledge and collaborate among organizations. The combination of Web services and software agents provides a promising computing paradigm for efficient service selection and integration of inter-organizational business processes. This paper proposes an agent-based service-oriented integration architecture to leverage manufacturing scheduling services on a network of virtual enterprises. A unique property of this approach is that the scheduling process of an order is orchestrated on the Internet through the negotiation among agent-based Web services. A software prototype system has been implemented for inter-enterprise manufacturing resource sharing. It demonstrates how the proposed service-oriented integration architecture can be used to establish a collaborative environment that provides dynamic resource scheduling services.     

基于MATLAB的运动控制系统实验平台设计

针对运动控制系统课程在传统教学中,学生在课程理论知识学习和利用Matlab/Simulink仿真阶段,缺少实际控制单元设计与开发实际工程训练的问题,设计了一个基于Matlab的运动控制系统实验平台,在实验平台使用基于模型设计的方法可实现从仿真测试到实物测试一体化;通过介绍实验平台中的PC端环境配置流程以及实验平台中驱动器的构成给出了实验平台的总体设计方案;说明了实验平台应用基于模型设计的方法实现代码自动生成的流程,并对基于模型设计的开发流程进行了详细的阐述;通过案例永磁同步电机转速、电流双闭环控制系统在实验平台经过模型在环仿真、软件在环仿真、处理器在环仿真,最后到实验平台进行实物测试的流程与实验结果来达到验证实验平台的优点及其可行性和有效性的目的。     

A web services-based approach to develop a networked information integration service platform for gear enterprise

In order to deal with the problems of information integration and data sharing across distributed heterogeneous application systems in gear enterprises, it is imperative to build up a high quality information integration platform. Web Services, an emerging form of service-oriented architecture (SOA) for distributed computing, have the potential to serve as a key enabling technology to integrate heterogeneous systems under the distributed environment. This paper presents a novel information integration service platform which offers better support for the networked manufacturing of gear enterprise by taking full advantage of technologies of SOA and Web services. In this paper, the information integrated operation mode of gear enterprise networked manufacturing is deeply analyzed and the functional architecture of the networked information integration service platform is proposed. Furthermore, the application integrated framework of gear enterprise is constructed and the software architecture of the service platform is implemented in the .NET environment. Finally, an actual application example of hypoid gear networked manufacturing is provided to demonstrate the practicability of the proposed platform.     

Experimental Testbed for Large Multirobot Teams

Experimental validation is particularly important in multi-robot systems research. The differences between models and real-world conditions that may not be apparent in single robot experiments are amplified because of the large number of robots, interactions between robots, and the effects of asynchronous and distributed control, sensing, and actuation. Over the last two years, we have developed an experimental testbed to support research in multirobot systems with the goal of making it easy for users to model, design, benchmark, and validate algorithms. In this article, we describe our approach to the design of a large-scale multirobot system for the experimental verification and validation of a variety of distributed robotic applications in an indoor environment.     

Knowledge intensive Petri net framework for concurrent intelligent design of automatic assembly systems

The integration of design and planning of flexible assembly system has been recognized as a tool for achieving efficient assembly in a production environment that demands assembly with a high degree of flexibility. This paper proposes a concurrent intelligent approach and framework for the design of robotic flexible assembly systems. The principle of the proposed approach is based on the knowledge Petri net formalisms, incorporating Petri nets with more general problem-solving strategies in AI using knowledge-based system techniques. The complex assembly systems are modeled and analyzed by adopting a formal representation of the system dynamic behaviors through knowledge Petri net modeling from the specifications and the analysis of those models. A template is first defined for a knowledge Petri net model, and then the models for assembly system individuals are established in the form of instances of the template. The design of assembly systems is implemented through a knowledge Petri net-based function–behavior–structure model. The research results show that the proposed knowledge Petri net approach is applicable for design, simulation, analysis and evaluation, and even layout optimization of the flexible assembly system in an integrated intelligent environment. The integration of assembly design and planning process can help reduce the development time of assembly systems.     

基于服务模板的制造资源封装方法

为规范和加快制造资源的封装过程,提出了一种新型的基于服务模板的制造资源封装方法。首先,根据制造资源的特点,给出了服务模板的概念、结构及类型;接着,提出了利用已有服务程序进行模板抽取的过程,定义了一种用于模板抽取的标记语言;然后,给出了基于服务模板的制造资源封装过程,将制造资源封装为基于面向服务体系架构的制造服务。最后,通过实例证明,提出的方法不仅可以规范制造服务的开发过程,而且可充分利用已有的制造资源服务程序,加快制造资源的封装进程。通过采用提出的方法,普通的产品开发人员就可以完成制造资源的服务化封装,而无需专业性的服务封装开发编程知识。该方法可为网络环境下的制造资源共享提供基础性支持。