Coloured timed Petri net model for real-time control of automated guided vehicle systems

Automated guided vehicle systems (AGVS) are material-handling devices representing an efficient and flexible option for products management in automated manufacturing systems. In AGVS, vehicles follow a guide-path while controlled by a computer that assigns the route, tasks, velocity, etc. Moreover, the design of AGVS has to take into account some management problems such as collisions and deadlocks. The paper presents a novel control strategy to avoid deadlock and collisions in zone-controlled AGVS. In particular, the control scheme manages the assignments of new paths to vehicles and their acquisition of the next zone. Moreover, the use of coloured Petri nets is proposed to model the dynamics of AGVS and implement the control strategy stemming from the knowledge of the system state. Additionally, extending the coloured Petri net model with a time concept allows investigation of system performance. Several simulations of an AGVS with varying fleet size while measuring appropriate performance indices show the effectiveness of the proposed control strategy compared with an alternative policy previously presented.     

An efficient real-time deadlock-free control algorithm for automated manufacturing systems

In recent years, deadlock issue has received considerable attention in the real-time control realm of automated manufacturing system (AMS). In this paper, we propose a simple and easily adaptable deadlock avoidance algorithm using a graph theoretic approach. Unlike Petri-net based methods which are complex and static from the viewpoint that once they are constructed and implemented, it is not easy to modify them as the system configuration is changed, and operate them coupled with other shop-floor control modules such as a dispatching controller, our algorithm can be used cooperatively with a dispatching controller and expanded with little modification. The core of the algorithm consists of two modules: resource allocation policy and a cycle detection method. In particular, the resource allocation policy is of importance in our algorithm because even though the cycle detection method is employed, deadlock may occur under wrong resource allocation policies. Throughout this paper, we propose a quasi two-step resourceallocation policy with which our deadlock avoidance algorithm can detect and avoid deadlock just one step before deadlock.     

Deadlock prevention for automated guided vehicles in automated container terminals

Automated guided vehicles (AGVs) are an important component for automating container terminals. When utilizing AGVs to transport containers from one position to another in a container terminal, deadlocks are a serious problem that must be solved before real operations can take place. This study assumes that the traveling area for AGVs is divided into a large number of grid-blocks, and, as a method of traffic control, grid-blocks are reserved in advance when AGVs are running. The first purpose of the reservation is to make room between AGVs and to prevent deadlocks. The objective of this study is to develop an efficient deadlock prediction and prevention algorithm for AGV systems in automated container terminals. Because the size of an AGV is much larger than the size of a grid-block on a guide path, this study assumes that an AGV may occupy more than one grid-block at a time. This study proposes a method for reserving grid-blocks in advance to prevent deadlocks. A graphical representation method is suggested for a reservation schedule and a priority table is suggested to maintain priority consistency among grid-blocks. It is shown that the priority consistency guarantees deadlock-free reservation schedules for AGVs to cross the same area at the same time. The proposed method was tested in a simulation study.     

Two-step approach to robust deadlock control in automated manufacturing systems with multiple resource failures

ABSTRACT

In an automated manufacturing system (AMS), resource failures are inevitable, which renders the existing deadlock control policies for AMSs without considering resource failures ineffective. For the AMSs with multiple unreliable resources, in this paper, a method is developed for robust deadlock resolution using the framework of Petri nets (PNs). The considered AMSs are modeled with PN models called system of simple sequential process with resources (S³PR). An unreliable S³PR (U-S³PR) is obtained by adding recovery subnets that model the resource failures and recovery procedures of the places where resource failures may happen. Based on the model, a two-step approach is developed to design a robust controller. At Step 1, we use a siphon-based deadlock control method to analyze the behavior with resource failures and propose an incomplete robust deadlock controller for a U-S³PR. At Step 2, a reachability-graph-analysis-based method is utilized to consummate the robust deadlock controller. Then, a robust liveness-enforcing supervisor is derived to make an unreliable S³PR live even if multiple types of resources break down. Finally, the proposed method is illustrated by using an example.     

有限混合体模型上的自动模型选择:一种崭新的数据建模方式

在数据建模和分析中,有限混合体模型被广泛地使用着。然而,如何仅仅针对一组来自于某个有限混合体模型的数据选择出分量或聚类的个数则依然是一个非常困难的问题。由于分量个数是混合体模型的规模度量,其选择问题被称为有限混合体的模型选择问题。最近,针对有限混合体模型,特别是高斯混合模型,一种自动模型选择学习机制逐步发展成熟起来。这种新的机制能够在学习参数的过程中自动地完成模型选择,为数据的建模与分析提供了一种新的思路与途径。本文将对于高斯混合模型或一般有限混合体模型的自动模型选择学习算法及其典型应用进行综述与总结。首先,我们综述了基于贝叶斯阴阳机和谐学习原则的自动模型选择学习算法。然后,我们描述了另一种基于熵惩罚的自动模型选择学习算法。最后,我们给出了自动模型选择学习算法的一些典型的应用。     

Deadlock control of autonomous vehicle storage and retrieval systems via coloured timed Petri nets and digraph tools

This paper addresses the deadlock control problem for the autonomous vehicle storage and retrieval system (AVS/RS). For an AVS/RS with several autonomous vehicles running in bi-direction, deadlock control is one of the key issues in the implementation of AVS/RS. The cycle-deadlock is the main type of deadlock in AVS/RS. In the paper, the dynamic model of AVS/RS is investigated by using coloured timed Petri nets (CTPN). Based on the CTPN model, a route digraph is built to detect cycle-deadlock in AVS/RS with digraph tools; the necessary and sufficient conditions of deadlock-free are established. Moreover deadlock-free control policies are proposed, the critical state in deadlock free is also identified and FCFS policy is applied to solve it. Finally, a case study is given to validate the policies.     

Hybrid Petri net and digraph approach for deadlock prevention in automated manufacturing systems

This paper proposes a hybrid approach to deadlock prevention in automated manufacturing systems that combines Petri nets (PNs) and digraphs, so taking advantage of the strong points of both techniques. The approach uses digraphs to make the detection of deadlock conditions easier and then translates the obtained information in empty siphons of the PN modelling the same system. The proposed methodology allows the implementation of new PN‐based deadlock prevention control policies. A case study and the simulation results show the benefits of the new control strategies.     

Constructing the closed-form solution of control-related states real-time information for insufficient k-th order systems with one non-sharing resource to realize dynamic modeling large TNCS systems of petri nets

Since the contribution from the closed-form solution (CFS) of the number of control-related states (CRSs) of the variant k-th order system can enumerate the number of each type of CRS in real time, we can apply this real-time information to enhance the capability for dynamic modeling of such systems. For example, allocating a non-sharing waiting dummy resource (known as a deadlock thread-holder [DTH]) in each forbidden substate at that location will increase the maximum number of reachable states that can be derived using a CFS in real time. We can thus avoid the occurrence of deadlock without implementing an additional controller. To extend this capability to model a k-th order system with one non-sharing circle subnet allocated at the top position of the left-hand process (denoted as a top non-sharing circle subnet [TNCS] k-th order system) by Petri net (PN), which is the fundamental manufacturing model for different products sharing common parts, this paper extends the existing research on CFS for PNs to an insufficient k-th order system, which is the essential element for a TNCS system with one non-sharing resource. The proposed deadlock avoidance algorithm can be employed to realize the allocation of dynamic non-sharing processes.     

亚声/声速射流式调制气流声源气动模拟研究

考察了不同湍流模型及近壁面处理对调制射流下游边界层分离区域的预测精度,对比不同网格结构和密度的流场数值解,获得了较为理想的网格无关稳态模拟结果。在此基础上,数值模拟获取了不同气室工作压力条件下气流声源性能参数,分析了正弦调制频率为100Hz瞬态流场对应的脉动声源形成过程。该计算模型便于大功率气流声源的工程设计、性能预测和加深对换能机理的理解,同时也为探索新的声源性能提升途径和预测声源辐射声场提供了基础。     

Complex refractive index of ammonium nitrate in the 2-20-microm spectral range

Using high-resolution Fourier-transform infrared absorbance and transmittance spectral data for ammonium sulfate (AMS), calcium carbonate (CAC), and ammonium nitrate (AMN), we made comparisons with previously published complex reactive-index data for AMS and CAC to infer experimental parameters to determine the imaginary refractive index for AMN in the infrared wavelength range from 2 to 20 microm. Subtractive Kramers-Kronig mathematical relations were applied to calculate the real refractive index for the three compositions. Excellent agreement for AMS and CAC with the published values was found, validating the complex refractive index obtained for AMN. We performed backscatter calculations using a log-normal size distribution for AMS, AMN, and CAC aerosols to show differences in their backscattered spectra.     

Separation of no-carrier-added 52Mn from bulk chromium: a simulation study for accelerator mass spectrometry measurement of 53Mn

53Mn radionuclide (T(1/2) = 3.7 x 10(6) y) is produced through the interaction of cosmic rays. Measurements of concentrations of 53Mn in rocks might help to understand Earth surface processes that occurred in time periods not accessible with other cosmogenic nuclides. Only accelerator mass spectrometry (AMS) can determine such ultratrace levels of 53Mn. The main interference in the detection of 53Mn by AMS is its stable isobar 53Cr, which is roughly approximately 10(12) times more abundant in nature. A prerequisite of any AMS measurement of 53Mn in geological samples is therefore chromium separation by an efficient chemistry. Thus, we have developed a method for the separation of chromium and manganese by using a radiometric simulation. The separation procedure was monitored by 51Cr (T(1/2) = 27.70 d) and 52Mn (T(1/2) = 5.59 d) as the corresponding radiotracers for chromium and manganese, respectively. The separation studies were performed by a liquid-liquid extraction technique using trioctylamine (TOA) diluted in cyclohexane. A high separation factor (approximately 16 000) for Mn and Cr can be obtained at optimal conditions of 0.8 M TOA and 9 M HCl. The developed method has been found equally applicable for real geological samples such as manganese crusts, lava, and sediment samples. Therefore, the method offers an important tool to improve 53Mn measurements by AMS.     

AGVS循环死锁搜索算法的改进设计及其实现

为了解决国内AGVS在循环死锁搜索算法研究中存在的搜索循环死锁类型不全的问题,利用任务\|资源图(task-resource graph,T-R图)提出一个改进算法。改进算法如下：首先,根据AGV的相对位置变化和执行任务的情况,利用T-R图对AGVS进行建模,然后根据循环死锁的T-R图特征,在每一个状态时刻下,使用图的强连通分支理论搜索循环死锁。当访问完所有状态时刻下的T-R图,也就找到了AGVS中的所有循环死锁。算例验证与理论分析均说明改进算法可以搜索到全部类型的循环死锁,解决了原算法存在的不足。根据改进算法开发的控制规则,可以有效避免新循环死锁的产生。同时指出,对改进算法稍加修改,可以找到AGVS中所有的循环死锁和非循环死锁。     

Using a genetic algorithm to schedule the space-constrained AGV-based prefabricated bathroom units manufacturing system

In this article, scheduling problem of a space-constrained AGV-based prefabricated bathroom units (PBU) manufacturing system is addressed. Space becomes a key resource to this manufacturing system because a very large space is required to accommodate the settling units as well as the queues. Although line balancing helps to reduce the queues, the system is still prone to deadlock due to limited space. Hence, in order to prevent deadlock situations, the production start times of PBUs have to be controlled. A genetic algorithm is proposed with the objective to decide operation for each workstation and to choose a start time for each PBU. The project duration is minimised while satisfying precedence relations and resource availabilities. A rule-based simulation approach is used to estimate the fitness value of every GA chromosomes. At last, the experiment based on data from an industrial project shows that the proposed algorithm has the potential to guide the real practice.     

A structured approach to deadlock detection,avoidance and resolution in flexible manufacturing systems

Production scheduling models that determine part mix ratios and detailed schedules do not usually account for deadlocks that can be caused by part flow. Deadlocks must be prevented for operational control (especially in automated systems). The major thrust of this paper is in developing a structured model for deadlock detection, avoidance and resolution caused by part flow in manufacturing systems. A system status graph can be constructed for the parts currently in the system. Deadlock detection amounts to determining deadlocks in the system status graph. On the other hand, deadlock avoidance amounts to restricting parts movement so that deadlocks are completely avoided in the future. While deadlock detection is a one-step look ahead procedure, deadlock avoidance is a complete look ahead procedure. Deadlock resolution or recovery amounts to judiciously using a limited queue to recover from deadlocks. Deadlock detection and avoidance are absolutely crucial to uninterrupted operation of automated manufacturing systems. A model based in graph theory has been formulated to detect and avoid deadlocks in automated manufacturing systems.     

Integrating flexible routing and algebraic deadlock avoidance policies in automated manufacturing systems

Deadlock avoidance policies guarantee deadlock free buffer space allocation to concurrent computing parts in flexible manufacturing systems. Typically, these policies require enumeration of the routes that parts follow. In systems with flexible routing, where parts can choose from a set of machines at each processing step, route enumeration can be of exponential complexity. Set-up and execution of deadlock avoidance constraints are rendered computationally intractable. The objective of this work is to develop a control model that allows for several processing alternatives at each step while maintaining deadlock free operation and avoiding complete route enumeration.     

Simulation-based performance evaluation of transport vehicles at automated container terminals

Significant unproductive and costly waiting occurs during AGV (Automated Guided Vehicle) use, both under the CC (Container Crane) and in the blocks compared to that of a manual yard tractor. A possible solution to this problem is that, in the design of ACT (Automated Container Terminals), ALV (Automated Lifting Vehicles), which can load and unload their own containers, be considered as an alternative. In this paper, the objective is to analyze how increases in the use of ALVs rather than AGVs affects the productivity of ACTs. We derived four inferences regarding the cycle time of vehicles and verified their validity in a simulation. A simulation model of an ACT with perpendicular layout was developed and is described in this paper. From the results of the simulation analysis, we determined the savings effect by cycle time and the required number of vehicles. We demonstrated that the ALV is superior to the AGV in both productivity and efficiency principally because the ALV eliminates the waiting time in the buffer zone.Correspondence to: Yong Seok Choi:     

Requests network model for deadlock detection and avoidance in automated manufacturing systems

A modern competitive environment requires rapid and effective responses to varying production demands with shorter life cycles. A feasible solution to cope with such unpredictable situations is to introduce an automated manufacturing system characterized by high flexibility, autonomy and cooperation. Much research has been done on negotiation-based scheduling and control under the distributed control architecture due to its operational flexibility and scalability. Despite many advantages, the probability of the system stalling at a deadlock state is high. Specifically, it is difficult to detect impending part flow deadlocks within the system. A system request network model is defined here to analyse various deadlock situations. Request cycles are then identified by a virtual part flow control mechanism. No request cycle in the system request network represents ‘no system deadlock’. For any request cycle, a deadlock analysis is performed. If any request cycle exists that represents either a part flow deadlock or an impending part flow deadlock, then the system will be deadlocked. The proposed model can analyse all types of impending part flow deadlocks. Furthermore, it is more efficient through the reduction of search space, is applicable to various configurations and is less restrictive in dynamic shop floor control.     

基于多传感器信息的双足机器人步行系统的研究

提出了一种基于多传感器信息和实时修正算法的双足机器人分级递阶行走控制结构。在系统设计中,充分考虑零力矩点（ZMP）稳定性规则以及机器人行走时所受的其它物理性约束条件。为提高机器人对不平整路面的鲁棒性和克服系统建模误差,行走控制系统中采用了鲁棒地面反力控制器和基于地面反力最优规划的姿态控制策略。     

Control of deadlock and blocking for production systems with unreliable workstations

Over the past decade, the development of supervisory controllers for automated manufacturing systems has been an active area of research with particular attention focusing on deadlock avoidance. Most work to date assumes that system workstations do not fail. This paper considers deadlock and blocking problems in systems with one unreliable workstation, the objective being to develop supervisory control policies that allocate workstation buffer space so that failure of the workstation server does not propagate through blocking to effectively stall other portions of the system. In short, when a workstation fails, the system should automatically continue producing all part types not requiring that workstation. To accomplish this, the supervisory controller must simultaneously avoid deadlock and buffer allocation states that are not feasible initial states for the 'reduced' system resulting from workstation failure. When the workstation fails, the controller must then simultaneously avoid both deadlock and buffer allocation states that are not feasible initial states for the original system so that transition to normal operation is smooth when the failed workstation is restored. This paper shows this class of problems through several examples, identifies properties that controllers must satisfy to deal effectively with these problems and develops a polynomial control policy that satisfies these properties.     

Evaluating order of circuits for deadlock avoidance in a flexible manufacturing system

In modern highly automated flexible manufacturing systems, various parts are processed concurrently. Due to the concurrency and shared equipment usage, deadlock is a common problem that causes loss of productivity. When such a system is modelled by a digraph, existence of circuits in such a graph is a necessary condition for deadlock and knots and the order of circuits are closely related to impending deadlocks – a type of deadlock that is more difficult to detect. A deadlock avoidance algorithm that dynamically evaluates the order of circuits is presented. The algorithm is highly permissive since the order evaluation captures more part flow dynamics, especially when there exist multiple knots in the digraph model. It also runs in polynomial time once the set of circuits of the digraph is given. Simulation results are provided to illustrate the application of the algorithm.