distributed manufacturing control with extended cnp ...€¦ · distributed manufacturing control...

Distributed Manufacturing Control with Extended CNP Interaction

of Intelligent Products

Theodor Borangiu1, Silviu Raileanu1, Damien Trentesaux2, Thierry Berger2 , Iulia Iacob1

1 University Politehnica of Bucharest, Dept. of Automation and Industrial Informatics, ROMANIA

CIMR Centre of Research & Training in Robotics and CIM, [email protected] 2 Université Lille Nord de France, F-59000 Lille, UVHC, TEMPO Lab. F-59313 Valenciennes,

FRANCE

14th IFAC Symposium on Information Control Problems in Manufacturing

Bucharest, May 23-25, 2012

2

Summary

1. Introduction

2. Structure of the control model

3. Extended CNP for order holon execution

4. Information architecture

INCOM 2012, Bucharest, May 23-25, 2012

3

Introduction

Manufacturing domain is suitable for decentralization of the control because it features physically highly distributed processing systems

Production environment is not always deterministic, centralized approaches rapidly become inefficient when the shop floor cell must deal with disturbances or uncertainties => switch the primary objective of a designed system from global optimization to adaptability at perturbations and real-time optimization

Intelligence is highly distributed in sensing and local analysis of physical properties

Distributed intelligence paradigms: Product-driven automation Intelligent product (McFarlane et al., 2002, Meyer et al., 2008) Multi Agent control (Bellifemine et al., 2007) Holonic Manufacturing Systems (Babiceanu et al., 2004, Borangiu et al., 2009) Result: dynamic reconfiguration to provide agility to frequent changes in

production, fault-tolerance to resource breakdowns and adaptability to material flow variations.

Reduce the myopia (Leitao et al., 2010) through a combination of the two control modes - hierarchical and heterarchical


4

Structure of the control model

Passive

product

Product blueprint/

Product holon

Resources

Transportation

resources

Processing

resourcesStorage

resources

Space

transformation

Structure

transformation

Time

transformation

Intelligent products/

Order holons

(level 1)

Infrastructure

(routing)Pallet

AssociativeNon

associative

composes

composes

Intelligent

Embedded Device

composes

Resource holons

(level 1)

Is a

Supervisory entity

Coordinator holon

(level 2)

InfluenceInfluence

composes

Information

processing

Fabrication

machines

Material

processing

Is a

Is a

Dialog

Is a

Information

storageInformation

transportation

Is a


5


Order holon represent the client’s orders composed of: product, pallet carrier and IED

Intelligence boundary

Ph

ysi

ca

l p

ro

du

ct

Inte

rn

al

inte

ra

cti

on

s (a

sso

cia

tio

n,

dir

ect

co

ntr

ol)

Ex

tern

al

inte

ra

cti

on

s

(co

mm

un

ica

tio

n, se

nso

rs)

Memorization module

Communication

module

System model

IED

Processing

module

Product model

Info

rm

ati

on

al

en

vir

on

men

t



The proposed structure of the control system is completed with two additional elements which help ease the access to information Resource Service Access Model (RSAM):

distributed fault-tolerant entity in charge of collecting resource information during their usage and offering it in a concise manner when taking the decision of resource allocation.

Mediator: agent in charge with conflict resolution during active OH bidding.

6INCOM 2012, Bucharest, May 23-25, 2012

Extended CNP for order holon execution

Semi-heterarchical strategy

When executing a product the decisional module shouldprovide an answer to the following questions: "What is thenext operation to be performed? What is the resource thatwill do that operation? How do I bring the product there(which is the route)?"


Strategy Description Expected results

Hierarchical Planning and scheduling

for a batch are centralized

done at the high layer

Minimize the

makespan at batch

level

Negotiated

Heterarchical

Schedules of each active

OH are computed through

communication with the

other active OHs.

Minimize the

makespan at

packet level

Non-Negotiated

Heterarchical

There is no global

scheduling and the next

operation is selected on

the first free resource

found

Minimize the

perturbation

impact

Knowledge

update

RSAM Mediator

Decision Execution

Resource

Holons

8

RSAM Mediator OHs RHs

Update HR

list

Choose best HRs

m

n≤mdeadline

refuse

accept

i≤n

j<n-i

reject

proposal

accept

proposal

k=j-1

1

Incre

ase R

H lo

ad

Delay

(due to

physical

constraints )Request op.start

Iterative

coordination

cfp

Request

Inform

failure

inform -done

inform -result

Next operations

through

No

rm

al o

pe

ra

tio

n m

od

e

Pe

rtu

rb

atio

n d

ete

cted

Extended CNP for order holon execution


9

Generic control model: based on

JADE framework

Composing agents

• Active holon entity agent

(Overo air)

• Resource holon agent (legacy

equipment integration through

MAS technology)

• RSAM agent

Host for resource j

PC

(X86 Architecture)

Host for order i

Embedded real-

time system (ARM

Architecture)

Wi-Fi / ETH Network

Host configuration

terminal

`

RS

AM

Ag

en

t

(in

itia

l

co

nfi

gu

rati

on

)

AH

E &

Me

dia

tor

Ag

en

t

RH

Ag

en

t

RS

AM

Ag

en

t

Server

(X86 Architecture)

JADE Distributed Agent Platform for FMS Control

JADE Main

Container

JADE Agent

Container

JADE Agent

Container

Resource controllerPhysical pallet

with productPhysical resource

Generic

VM

Generic

VMGeneric

VM

ETH connection

Electrical connection

Physical

association

RS

AM

Ag

en

t

Information architecture


10

Main RSAM

Agent

RH Agent

Services Search

Agent (Directory

Facilitator (DF))

Backup RSAM

AgentsBackup RSAM

AgentsBackup RSAM

Agents

(1) Request agent address

based on service type

(2) Inform

(3) Update HR status

(4) ACK status update

OH Agent

Resource information

collection/update process

(3) Request

service

(4) Provide

service

OH service reception

process

Information backup

process

Post

RSAM

service

Post RSAM service

(1) Request

RSAM

service

(2) Provide

service

Periodic Inform

RSAM High Availability Architecture

Information architecture


Experiments have been done using the three proposed control strategies

In a non-perturbed environment the hierarchical strategy offers the best production time (global optimization), followed by the negotiated heterarchical(local optimization) and finally by the non-negotiated heterarchical (no optimization).

In a perturbed environment (resource failures (flash) the results prove that the hierarchical strategy becomes inefficient compared with a heterarchical(negotiated of non-negotiated) strategy


Conclusions

0

1000

2000

3000

4000

5000

6000

`10` `20` `30` `40` `50`

Pro

du

cti

on

du

rati

on

[s]

Number of products

Hierarchic

Negotiatedheterarchic

Non-Negotiatedheterarchic

0

100

200

300

400

500

600

700

800

900

1000

`1` `2` `3` `4` `5` `6` `7` `8` `9` `10` `11` `12`

Pro

du

cti

on

du

rati

on

[s]

Number of products

Hierarchic

Negotiatedheterarchic

Non-Negotiatedheterarchic

Advantages of using a semi-heterarchical strategy whose scope is to switch between hierarchical (stable FMS) and heterarchical (frequent disturbances) control.


Conclusions

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