Discrete Event Net Based Modeling and Control System Design for Real-Time Concurrent Control of Multiple Robot Systems

This paper deals with control system design and implementation problems encountered in multiple robot systems. The methodology developed is depicted by a set of coordination mechanisms using hierarchical net structures and their accompanying rules. With the net models, the hierarchical and distributed control system is designed for an assembly task. Synchronization commands allow coordination of the movements of the robots. The net models make concurrency of the movements of the robots transparent to users. The net based machine controller executes robot motion control through the communication with the external robot controller using the command/response concept. Sensory signals indicating the change of state of robots are used to trigger or initiate tasks. Simultaneous movement of the robots is obtained by creating different background threads running in parallel under Windows OS. The multilevel hierarchical control system can be consistently constructed using net models.

A general Boolean semantic modelling approach for complex and intelligent industrial systems in the framework of DES

Discrete event system(DES)models promote system engineering,including system design,verification,and assessment.The advancement in manufacturing technology has endowed us to fabricate complex industrial systems.Consequently,the adoption of advanced modeling methodologies adept at handling complexity and scalability is imperative.Moreover,industrial systems are no longer quiescent,thus the intelligent operations of the systems should be dynamically specified in the model.In this paper,the composition of the subsystem behaviors is studied to generate the complexity and scalability of the global system model,and a Boolean semantic specifying algorithm is proposed for generating dynamic intelligent operations in the model.In traditional modeling approaches,the change or addition of specifications always necessitates the complete resubmission of the system model,a resource-consuming and error-prone process.Compared with traditional approaches,our approach has three remarkable advantages:(i)an established Boolean semantic can be fitful for all kinds of systems;(ii)there is no need to resubmit the system model whenever there is a change or addition of the operations;(iii)multiple specifying tasks can be easily achieved by continuously adding a new semantic.Thus,this general modeling approach has wide potential for future complex and intelligent industrial systems.

The Relation between the Stabilization Problem for Discrete Event Systems Modeled with Timed Petri Nets via Lyapunov Methods and Max-Plus Algebra

A discrete event system is a dynamical system whose state evolves in time by the occurrence of events at possibly irregular time intervals. Timed Petri nets are a graphical and mathematical modeling tool applicable to discrete event systems in order to represent its states evolution where the timing at which the state changes is taken into consideration. One of the most important performance issues to be considered in a discrete event system is its stability. Lyapunov theory provides the required tools needed to aboard the stability and stabilization problems for discrete event systems modeled with timed Petri nets whose mathematical model is given in terms of difference equations. By proving stability one guarantees a bound on the discrete event systems state dynamics. When the system is unstable, a sufficient condition to stabilize the system is given. It is shown that it is possible to restrict the discrete event systems state space in such a way that boundedness is achieved. However, the restriction is not numerically precisely known. This inconvenience is overcome by considering a specific recurrence equation, in the max-plus algebra, which is assigned to the timed Petri net graphical model.

Liveness Problem of Petri Nets Supervisory Control Theory for Discrete Event Systems

A quite great progress of the supervisory control theory for discrete event systems (DES)has been made in the past nearly twenty years, and now, automata, formal language and Petri nets become the main research tools. This paper focus on the Petri nets based supervisory control theory of DES. Firstly, we review the research results in this field, and claim that there generally exists a problem in Petri nets based supervisory control theory of DES, that is, the deadlock caused by the controller introduced to enforce the given specification occurs in the closed-loop systems, especially the deadlock occurs in the closed-loop system in which the original plant is live. Finally, a possible research direction is presented for the solution of this problem.

Supervisory Control of Fuzzy Discrete Event Systems Based on Agent

FDES(fuzzy discrete event systems) can effectively represent a kind of complicated systems involving deterministic uncertainties and vagueness as well as human subjective observation and judgement from the view of discrete events, here the information system is divided into some independent intelligent entitative Agents. The concept of information processing state based on Agents was proposed. The processing state of Agent can be judged by some assistant observation parameters about the Agent and its environment around, and the transition among these states can be represented by FDES based on rules. In order to ensure the harmony of the Agents for information processing, its upstream and downstream buffers are considered in the modeling of the Agent system, and the supervisory controller based on FDES is constructed. The processing state of Agent can be adjusted by the supervisory controller to improve the stability of the system and the efficiency of resource utilization during the process according to the control policies. The result of its application was provided to illustrate the validity of the supervisory adjustment.

Detectability for Nondeterministic Discrete Event Systems and Its Applications in Medical Diagnosis

In this paper,we extend our previous results on detectability to nondeterministic discrete event systems.Many practical systems are nondeterministic,especially those in biomedicine.Disease models of patients are usually nondeterministic because hardly anything is deterministic in biological systems.The goal is to determine or estimate the current and subsequent states of a system based on a sequence of observations when the initial state of the system is unknown.We say that a system is detectable if one can determine its state after observing some outputs.The observation includes partial event observation and/or partial state observation.We define four types of detectabilities:strong detectability,(weak) detectability,strong periodic detectability,and (weak) periodic detectability.We derive necessary and sufficient conditions for these detectabilities.These conditions can be checked by constructing an observer,which models the estimation of states under different observation.Furthermore,we apply the results to medical diagnosis by considering a realistic example of diagnosing whether a patient suffers from one of the following five similar diseases:(1) rheumatoid arthritis,(2) rheumatic arthritis,(3) systemic lupus eruthematosus,(4) bony ankylosis,or (5) spondylitis ankylopoietica.

Decentralized supervisory control of continuous timed discrete event systems

In this paper,we presented the decentralized supervisory control problem of discrete event system with continuous-time variable.By presenting the definition of coobservability for the timed specification,a necessary and sufficient condition for the existence of decentralized supervisors is obtained.Finally,a numerical example is given.

Implementation of Hierarchical and Distributed Control for Discrete Event Robotic Manufacturing Systems

The large scale and complex manufacturing systems have a hierarchical structure where a system is composed several lines with some stations and each station also have several machines and so on. In such a hierarchical structure, the controllers are geographically distributed according to their physical structure. So it is desirable to realize the hierarchical and distributed control. In this paper, a methodology is presented using Petri nets for hierarchical and distributed control. The Petri net representation of discrete event manufacturing processes is decomposed and distributed into the machine controllers, which are coordinated through communication between the coordinator and machine controllers so that the decomposed transitions fire at the same time. Implementation of a hierarchical and distributed control system is described for an example robotic manufacturing system. The demonstrations show that the proposed system can be used as an effective tool for consistent modeling and control of large and complex manufacturing systems.

Event-Triggered Finite-Time H∞ Filtering for Discrete-Time Nonlinear Stochastic Systems

This paper addresses the problem of event-triggered finite-time H∞ filter design for a class of discrete-time nonlinear stochastic systems with exogenous disturbances. The stochastic Lyapunov-Krasoviskii functional method is adopted to design a filter such that the filtering error system is stochastic finite-time stable (SFTS) and preserves a prescribed performance level according to the pre-defined event-triggered criteria. Based on stochastic differential equations theory, some sufficient conditions for the existence of H∞ filter are obtained for the suggested system by employing linear matrix inequality technique. Finally, the desired H∞ filter gain matrices can be expressed in an explicit form.

Discrete Event System Framework for Fault Diagnosis with Measurement Inconsistency:Case Study of Rogue DHCP Attack

Fault detection and diagnosis(FDD) facilitates reliable operation of systems. Various approaches have been proposed for FDD like Analytical redundancy(AR), Principal component analysis(PCA), Discrete event system(DES) model etc., in the literature. Performance of FDD schemes greatly depends on accuracy of the sensors which measure the system parameters.Due to various reasons like faults, communication errors etc.,sensors may occasionally miss or report erroneous values of some system parameters to FDD engine, resulting in measurement inconsistency of these parameters. Schemes like AR, PCA etc.,have mechanisms to handle measurement inconsistency, however,they are computationally heavy. DES based FDD techniques are widely used because of computational simplicity, but they cannot handle measurement inconsistency efficiently. Existing DES based schemes do not use Measurement inconsistent(MI)parameters for FDD. These parameters are not permanently unmeasurable or erroneous, so ignoring them may lead to weak diagnosis. To address this issue, we propose a Measurement inconsistent discrete event system(MIDES) framework, which uses MI parameters for FDD at the instances they are measured by the sensors. Otherwise, when they are unmeasurable or erroneously reported, the MIDES invokes an estimator diagnoser that predicts the state(s) the system is expected to be in, using the subsequent parameters measured by the other sensors. The efficacy of the proposed method is illustrated using a pumpvalve system. In addition, an MIDES based intrusion detection system has been developed for detection of rogue dynamic host configuration protocol(DHCP) server attack by mapping the attack to a fault in the DES framework.

Intrusion Detection System for PS-Poll DoS Attack in 802.11 Networks Using Real Time Discrete Event System

Wi-Fi devices have limited battery life because of which conserving battery life is imperative. The 802.11 Wi-Fi standard provides power management feature that allows stations(STAs) to enter into sleep state to preserve energy without any frame losses. After the STA wakes up, it sends a null data or PS-Poll frame to retrieve frame(s) buffered by the access point(AP), if any during its sleep period. An attacker can launch a power save denial of service(PS-DoS) attack on the sleeping STA(s) by transmitting a spoofed null data or PS-Poll frame(s) to retrieve the buffered frame(s) of the sleeping STA(s) from the AP causing frame losses for the targeted STA(s). Current approaches to prevent or detect the PS-DoS attack require encryption,change in protocol or installation of proprietary hardware. These solutions suffer from expensive setup, maintenance, scalability and deployment issues. The PS-DoS attack does not differ in semantics or statistics under normal and attack circumstances.So signature and anomaly based intrusion detection system(IDS) are unfit to detect the PS-DoS attack. In this paper we propose a timed IDS based on real time discrete event system(RTDES) for detecting PS-DoS attack. The proposed DES based IDS overcomes the drawbacks of existing systems and detects the PS-DoS attack with high accuracy and detection rate. The correctness of the RTDES based IDS is proved by experimenting all possible attack scenarios.

Demand and Capacity Modelling in Healthcare Using Discrete Event Simulation

The NHS is right now confronting huge pressures relating to demand and capacity in radiology. The purpose of this research has been to provide information about MRI usage, details of operational aspects of MRI services, and to ascertain the planning intentions of NHS radiology services to keep up and create MRI capacity. The report expands on using Discrete Event Simulation (DES) to inspect and plan the utilisation of NHS hospital resources for the radiology department to help a 24 hr service that is available to outpatients which will help with diminishing patient waiting time, better resource usage, understanding the capacity and demand. Consequently, this research examines to adjust staff and resources with the demand of the MRI. The research was investigated using DES in various scenarios to find which resources are inactive;patients are treated slowly. DES helped in discovering resource utilisation and outpatient throughout the system. It additionally helped in distinguishing the bottlenecks in patient flow. The DES simulation results demonstrated that time for the outpatient in the system is less and more outpatients have been treated too. There is a higher level of outpatient patients leaving the system under 120 minutes. The report uncovered an MRI report interpretation time. Reception room time and MRI waiting room time are decreased significantly. It additionally exhibited with an expanded outflow of outpatients, resources, for example, MRI capacity and radiographer utilisation expanded.

Topology-Based and Event-Oriented Approach to Simulation of Cyber-Physical Systems

A simulation model for cyber-physical systems(CPSs)was presented.The model was developed by the method of combination of topology-based and event-oriented that could be used to simulate systems with routing flexibility,service-selection flexibility and service- mode flexibility overall by integrating the strategies related.The validity of the model has been verified by two extensive experiments.

A Survey of the Use of the Discrete-event Simulation in Manufacturing Industry

In this work, a survey of companies has been produc ed from a questionnaire and in-depth inter-views. The aimof the paper is to give a current view of the use of DES (Discrete- Event Simulation) in the indust ry. The companies have been selected in a wide range in e.g. size, capital turno ver and employees. The survey was restricted to Sweden, although the results may be applicable to other countries with similar industrial structure. Some of the companies investigated are also multinational with branches around the world. T o illustrate the differences in production systems different sectors have be en investigated, e.g. the manufacturing industry and energy sector. The manufact uring systems generally differ in that the energy sector is more known for high reliability in their systems and the manufacturing sector tends to work more wit h lean production. Previous surveys of manufacturing efficiency illustrate different aspects. Accor ding to one survey, more than one-third (34%) of the disturbances in two countr ies (the U.S. and Finland) were mainly caused by design-based errors and flaws. The survey also showed the scope of safety problems experienced in the implemen tation and use of flexible manufacturing systems (Jrvinen et al., 1996). Another survey in Germany reports a gap between users and non-users of DES. Man y companies that are not familiar with simulation are not aware of its benefits. The study suggested integrating simulation into the planning processes as a reg ular tool. So far, DES is mostly used in system planning, resource planning and scheduling and production planning (Hirschberg & Heitmann, 1997). The disposition of the accomplished questionnaire had been multiple-choice ques tions in a strict order. The respondents gave their views on what the interviewe r considered relevant for the survey. The questionnaire was mailed to 220 person s in May 2001; a second round for unanswered surveys was dispatched in August 20 01. Replies came from 114 respondents; thus, the reply rate to all questionnaire s sent out was 52%. The replies came in from 80 different companies. Questionswere raised regarding what kinds of decisions are taken from a simulation projec t and questions were also asked regarding the tool itself. Some common problems encountered based on the authors’ knowledge were asked in the questionnaire. The questions were sent to those who had reasonable knowledge of how to work with D ES. Supplementary in-depth interviews were also accomplished. On the question if DES facilitates the decision-making process 79% of totally 3 8 answered to a very large or a large extent. Regarding the question if DES is a useful tool for measuring the availability of equipment for example system verification 73% of 33 responded to a very large or a large extent. A majority o f the respondents genuinely see an advantage with the use of simulation, which i s an important result from the study. The cost reduction aspect of the productio n is also an advantage of DES. On the question eight answered to a very large ex tent and 23 to a large extent of total 39 replies. The question demonstrates tha t the results of a simulation model are indeed used in the real world. Finally, in the question of DES is used for staffing it is indicated that it is not so co mmonly used as for other functions asked for. The staffing issue requires good k nowledge about time measurement of manual labor. The option, however, to include manual work in a simulation model is in many programs extensive and must be a v aluable option to evaluate work intensive parts of production lines and their im provement. To conclude, it could be mentioned that DES is a tool with potential. The use is increasing and 12 of 80 companies investigated in Sweden 2001 are using it, an increase compared to previous stud-ies. Of those 12 companies, four are using t he tool to a large extent. The main advantage according to the survey beside the visualization part is that the knowledge about a system is investigated and doc umented.

A Novel Simulation Method for Power Electronics: Discrete State Event Driven Method

In the analysis of power electronics system,it is necessary to simulate ordinary differential equations(ODEs)with discontinuities and stiffness.However,there are many difficulties in using traditional discrete-time algorithms to solve such equations.Kofman and others presented the quantized state systems(QSS)algorithm in the discrete event system specification(DEVS)formalism.The discretization is applied to the state variables instead of time range in QSS.QSS is efficient to solve ODEs,but it is difficulty to be used when simulating actual power electronics systems with controller’s and other events.Based on the idea of this numerical algorithm and discrete event,a Discrete State Event Driven(DSED)simulation method is presented in this paper,which is fit for simulation of power electronics system.The method is developed to deal with non-linearity,stiffness and multi-time scale of power electronics systems.The DSED simulation method includes event definition,module seperation and modeling,event-driven mechanisms,numerical computation based on QSS,and some other operations.Simulation results verified the effectiveness and validity of the proposed method.

基于DES监控理论的滑行道对头冲突控制策略

为克服场面开环控制模式难以应对随机事件的缺陷,提出场面运行闭环控制框架.基于DES(离散事件系统)监控理论,研究A-SMGCS(先进机场场面引导与控制系统)滑行道对头冲突控制,建立了面向滑行道物理布局的扩展受控Petri网模型.利用航空器滑行路径序列得到精简滑行模型,并考虑环路和环路链,给出无对头冲突的充分必要条件,提出了滑行道对头冲突避免控制策略以及相应的控制律决策算法.算例仿真试验表明,本文提出的策略能根据场面状态实时识别对头冲突并实现冲突避免.

离散时间多智能体系统间歇事件触发输出一致性

对离散时间多智能体系统间歇事件触发输出一致性进行了研究。首先,结合间歇控制和事件触发机制,针对离散多智能体系统提出一个输出一致性控制协议。然后,构造误差系统,基于Lyapunov稳定性理论得到了依赖于网络的Laplacian矩阵和系统增益的输出一致性条件,实现离散时间多智能体系统间歇事件触发输出一致性。最后,利用具体的仿真例子对结果的有效性进行分析验证。

基于事件反馈的DES监控理论

本文首先综述了近年来基于事件反馈的ＤＥＤＳ监控理论取得的进展，着重给出了几个主要研究方向的结果和存在的间题，同时对这一理论的应用领域特别是在工业过程中的应用进行了讨论，指出了今后的发展方向．

基于DES理论的数模混合电路故障诊断研究

数模混合电路故障诊断是一个被广泛关注的前沿课题,它面临着许多测试上的难点,解决这个问题意义重大而任务艰巨。由于数模混合电路具备DES的特点,本文采用近来发展的DES理论对数模混合电路进行可测性分析,该法可用一定的算法在计算机上实现;最后对DES理论在电路测试中的应用进行了实例验证。实验表明:该方法可以有效地进行数模混合电路故障诊断。

采用DES理论的数模混合电路故障诊断研究

先简单介绍研制中的基于VXI总线电路故障诊断系统的硬件和软件结构,针对待测电路属于数模混合类型,再详细探讨采用离散事件系统法建立最小测试集和编写诊断程序的过程。