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Volume 8 Issue 3
Mar.  2021

IEEE/CAA Journal of Automatica Sinica

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Bo Huang, MengChu Zhou, Cong Wang, Abdullah Abusorrah and Yusuf Al-Turki, "Deadlock-free Supervisor Design for Robotic Manufacturing Cells With Uncontrollable and Unobservable Events," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 597-605, Mar. 2021. doi: 10.1109/JAS.2020.1003207
Citation: Bo Huang, MengChu Zhou, Cong Wang, Abdullah Abusorrah and Yusuf Al-Turki, "Deadlock-free Supervisor Design for Robotic Manufacturing Cells With Uncontrollable and Unobservable Events," IEEE/CAA J. Autom. Sinica, vol. 8, no. 3, pp. 597-605, Mar. 2021. doi: 10.1109/JAS.2020.1003207

Deadlock-free Supervisor Design for Robotic Manufacturing Cells With Uncontrollable and Unobservable Events

doi: 10.1109/JAS.2020.1003207
Funds:  This work was in part supported by the National Natural Science Foundation of China (61773206), the Natural Science Foundation of Jiangsu Province of China (BK20170131), Jiangsu Overseas Visiting Scholar Program for University Prominent Young & Middle-aged Teachers and Presidents (2019-19), and the Deanship of Scientific Research (DSR) at King Abdulaziz University (RG-20-135-38)
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  • In this paper, a deadlock prevention policy for robotic manufacturing cells with uncontrollable and unobservable events is proposed based on a Petri net formalism. First, a Petri net for the deadlock control of such systems is defined. Its admissible markings and first-met inadmissible markings (FIMs) are introduced. Next, place invariants are designed via an integer linear program (ILP) to survive all admissible markings and prohibit all FIMs, keeping the underlying system from reaching deadlocks, livelocks, bad markings, and the markings that may evolve into them by firing uncontrollable transitions. ILP also ensures that the obtained deadlock-free supervisor does not observe any unobservable transition. In addition, the supervisor is guaranteed to be admissible and structurally minimal in terms of both control places and added arcs. The condition under which the supervisor is maximally permissive in behavior is given. Finally, experimental results with the proposed method and existing ones are given to show its effectiveness.

     

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    Highlights

    • A supervisor synthesis method to prevent deadlocks for robotic manufacturing cells with uncontrollable and unobservable events is proposed.
    • The obtained supervisor is admissible and structurally minimal.
    • The condition under which the supervisor is maximally permissive in behavior is given.
    • The method can deal with the nets whose crucial transitions may be uncontrollable or unobservable.

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