Design of Discrete-Event Systems Using Templates Lenko Grigorov 1, José Eduardo Ribeiro Cury 2 and...
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Design of Discrete- Event Systems Using Templates Lenko Grigorov 1 , José Eduardo Ribeiro Cury 2 and Karen Rudie 1 1 Queen’s University, Kingston, Canada 2 Federal University of Santa Catarina, Brazil
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Transcript of Design of Discrete-Event Systems Using Templates Lenko Grigorov 1, José Eduardo Ribeiro Cury 2 and...
Design of Discrete-Event Systems Using Templates
Lenko Grigorov1, José Eduardo Ribeiro Cury2 and Karen Rudie1
1 Queen’s University, Kingston, Canada2 Federal University of Santa Catarina, Brazil
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Discrete Event Systems
Ramadge and Wonham '86
Model as FSAs
System Supervisor
events
controldecisions
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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System
Robotic armPress
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Requirements
Collision prevention Process
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Problem 1: synchronization
Collision prevention Process
Press
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Problem 2: explicit specs
Collision prevention Process
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Supervisors
Trivial example Real system
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Problem 3: implementation
?
Abstract supervisor Programmable Logic Controller(PLC) code for real system
(50 states, 200 transitions)
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Conceptual design framework What we really talk about is
Event generators Protocols
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Conceptual design framework What we really talk about is
Event generators Protocols
Santos et al. '01 Active components Passive components Connections between them Simultaneous structural & functional
design
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Example diagram
Press Arm Welder
Avoid collision
Transport belt
Process control
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Example diagram
Press Arm Welder
Avoid collision
Transport belt
Process control
Event synchronization
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Templates (abstract)
Abstract common behavior
template
abstract
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Templates (instantiate)
Instantiate existing templates
template
instantiate
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Templates
Faster No need to remodel similar behavior
More robust Can be thoroughly tested
Easier Graphical conceptual designs
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Process
1.Model templates as FSAs
2.Instantiate graphically the templates
3.Link graphically the events to synchronize the template instances
4.Enter custom PLC code for events
5.Click “GO” to automatically Make implicit specifications explicit Compute modular supervisors Obtain PLC code for download to controller
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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1.Model templates as FSAs
2.Instantiate graphically the templates
3.Link graphically the events to synchronize the template instances
4.Enter custom PLC code for events
5.Click “GO” to automatically Make implicit specifications explicit Compute modular supervisors Obtain PLC code for download to controller
Process
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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1.Model templates as FSAs
2.Instantiate graphically the templates
3.Link graphically the events to synchronize the template instances
4.Enter custom PLC code for events
5.Click “GO” to automatically Make implicit specifications explicit Compute modular supervisors Obtain PLC code for download to controller
ProcessControl engineer
Programmer
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Example application
Methodology used to design controllers for a robotic testbed at DAS, UFSC
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Benefits of thetemplate design methodology Operates in the standard DES
framework Saves time and testing effort Reduces likelihood of errors Facilitates integration of expertise Focuses on conceptual design Supports quick prototyping
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Future work
Improve user interface Focus on fast design prototyping
Conceptual designs with “placeholder” components
Parametrization Scaling of templates
Two-way real-time interaction between DES model and PLC
June, 2008 Grigorov, Cury and Rudie, QueensU & UFSC
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Our universities
