F.L. Lewis, Assoc. Director for Research Moncrief-O’Donnell Endowed Chair Head, Controls, Sensors, MEMS Group - PowerPoint PPT Presentation

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F.L. Lewis, Assoc. Director for Research Moncrief-O’Donnell Endowed Chair Head, Controls, Sensors, MEMS Group

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  1. Sponsored by IEEE Singapore SMC, R&A, and Control Chapters Organized and invited by Professor Sam Ge, NUS Wireless Sensor Networks for Monitoring Machinery, Human Biofunctions, and BCW Agents F.L. Lewis, Assoc. Director for Research Moncrief-O’Donnell Endowed Chair Head, Controls, Sensors, MEMS Group Automation & Robotics Research Institute (ARRI)The University of Texas at Arlington

  2. F.L. Lewis, Assoc. Director for Research Moncrief-O’Donnell Endowed Chair Head, Controls, Sensors, MEMS Group Automation & Robotics Research Institute (ARRI)The University of Texas at Arlington Discrete Event Control & Decision-Making http://ARRI.uta.edu/acs

  3. Objective: Develop new DE control algorithms for decision-making, supervision, & resource assignment WITH PROOFS Apply to manufacturing workcell control, battlefield C&C systems, & internetworked systems • Patent on Discrete Event Supervisory Controller • New DE Control Algorithms based on Matrices • Complete Dynamic Description for DE Systems • Formal Deadlock Avoidance Techniques • Implemented on Intelligent Robotic Workcell • Internet- Remote Site Control and Monitoring • USA/Mexico Collaboration • Exploring Applications to Battlefield Systems Discrete Event Control $75K in ARO Funding for Networked Robot Workcell Control $80K in NSF Funding for research and USA/Mexico Network Intelligent Robot Workcell Dr. Jose Mireles- co-PI Man/Machine User Interface USA/Mexico Internetworked Control

  4. Matrix Formulation: Definition Based on Manufacturing Bill of Materials DE Model State Equation: Where multiply = AND & addition = OR where is the task or state logic is the job sequencing matrix (Steward) is the resource requirements matrix (Kusiak) is the input matrix is the conflict resolution matrix Job Start Equation: Resource Release Equation: Product Output Equation:

  5. Resources required Prerequisite jobs Meaning of Matrices Next job Next job Fr Fv Steward’s Task Sequencing Matrix Kusiak’s Resource Requirements Matrix Bill of Materials (BOM) Conditions fulfilled Conditions fulfilled Release resource Next job Sr Sv

  6. EXAMPLE ARRI Intelligent Material Handling (IMH) Cell 3 robots, 3 conveyors, two part paths

  7. Layout of the IMH Cell

  8. Construct Job Sequencing Matrix Fv Part A job 1 Part B job 1 Part A job 2 Part B job 2 Part A job 3 Part B job 3 Used by Steward in Manufacturing Task Sequencing Part A job 1 Part A job 2 Part A job 3 Prerequisite jobs Next jobs Part B job 1 Part B job 2 Part B job 3 Contains same information as the Bill of Materials (BOM)

  9. Construct Resource Requirements Matrix Fr Conveyor 1 Conveyor 3 Fixture 1 Robot 1- IBM Robot 2- Puma Robot 3- Adept Used by Kusiak in Manufacturing Resource Assignment Part A job 1 Part A job 2 Part A job 3 Contains information about factory resources Prerequisite resources Part B job 1 Part B job 2 Part B job 3 Next jobs

  10. R2 J5 R3 J3 More About Fv J5 J1 J3 J4 J4 J2 J5 J6 Two 1’s in same row = Assembly J2 DECISION NEEDED! J1 J6 Two 1’s in same col. = Routing (Job Shop) More About Fr R1 R2 R3 J2 J5 J6 Two 1’s in same row = Job needs multiple res. J2 DECISION NEEDED! R1 Two 1’s in same col. = Shared Resource J6

  11. Controller based on Matrix Formulation Resource allocation, task planning, task decomposition, Bill of Materials Dispatching rules Matrix Formulation Discrete Event Controller External Events Start jobs Start resource release Task complete Workcell External events present Jobs completed Resources released Tasks completed

  12. Advantages of the Matrix Formulation • Formal rigorous framework • Complete DE dynamical description • Relation to known Manufacturing notions • Formal relation to other tools- Petri Nets, MAX-Plus • Easy to design, change, debug, and test • Formal deadlock analysis technique • Easy to apply any conflict resolution (dispatching) strategy • Optimization of resources • Easy to implement in any platform (MATLAB, LabVIEW, C, C++, visual basic, or any other)

  13. Jobs complete Resources available Relation to Petri Nets Trans. Trans. Fr Fv Transition Transition Release resource Next jobs Sr Sv

  14. Example r1 t1 p1 t2 pinA p2 t3 poutA r2 pinB t4 t5 t6 poutB p3 p4 r3 p1 p2 p3 p4 pinA pinB r1 r2 r3 t1 t2 t3 t4 t5 t6 p1 p2 p3 p4 poutA poutB r1 r2 r3 t1 t2 t3 t4 t5 t6

  15. r1 t1 p1 t2 pinA p2 t3 poutA r2 pinB t4 t5 t6 poutB p3 p4 r3 OR/AND Algebra-Locating transitions firing from current marking Fv Fr r Fu u v = , so x = i.e. fire t2 and t4 x =

  16. Activity Completion Matrix F: Activity Start Matrix S: Complete DE Dynamic Formulation PN Incidence Matrix: PN marking transition equation: Allowable marking vector:

  17. Petri Net Marking Transition Equation--need to add Job Duration Times PN Marking Vector Split transition equation in two steps Add tokens Subtract tokens when job complete Add Time Duration Vector Corresponds to Timed Places

  18. Jobs completed by Robot 1 Robot 1 busy or idle c.f. DE version of ODE23 Allows Direct Simulations- e.g. MATLAB

  19. Conflict Resolution for Shared Resources r1 p1 t1 t2 pinA p2 t3 poutA Which one to fire? r2 pinB t4 t5 t6 poutB p3 p4 r3 Fr Fv r Fu u v Shared Resource- Two entries in same column But gives negative marking! Cannot fire both. = , so x =

  20. Conflict resolution, add extra CR input and new matrix Fuc: r1 p1 t1 t2 pinA p2 t3 poutA r2 r2 p3 pinB t4 t5 t6 poutB p4 r3 Fr Fv r Fu Fuc u r2 v = , so x = Now only t5 fires

  21. Application- Intelligent Material Handling Machine 1 Adept Puma Machine 2 CRS 12 Sensors!!

  22. ARRI Intelligent Material Handling (IMH) Cell 3 robots, 3 conveyors, two part paths

  23. Layout of the IMH Cell

  24. Multipart Reentrant FlowLine c.f. Kumar

  25. Petri Net flow chart

  26. c.f. Saridis Jim Albus

  27. LabVIEW diagram of Controller

  28. Resources LabVIEW Controller's interface: Fr Fv

  29. R1u1 R1u2 R1u3 R1u4 R2u1 R2u2 R2u3 R3u1 R3u2 Discrete events Results of LabVIEW Implementation on Actual Workcell Compare with MATLAB simulation! We can now simulate a DE controller and then implement it, Exactly as for continuous state controllers!!

  30. U.S.-Mexico shared research DE control via internet Texas Using Matrix DEC in LabVIEW