University of Luxemburg June 07, Multi-Agent-Approach for Control and Diagnosis of Complex Production Systems.

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1 University of Luxemburg June 07, 2005 Multi-Agent-Approach for Control and Diagnosis of Complex Production Systems Thomas Laengle Fraunhofer IITB Karlsruhe

2 Outline 1) Motivation 2) Research area intelligent control and diagnosis in robotics 3) Actual and future projects 4) Component / Agent approach for (non) embedded systems 5) Summary and outlook

3 Faults in factory automation Requirements in factory automation: 1. Shorter time for testing and tuning of automation systems 2. Minimization of down-time Requirements on the control and diagnosis system: 1. Flexible architecture for control 2. Flexible architecture for diagnosis Reasons for the down-time: 1. faults in the components and in the process 2. Cost pressure has negative impact on the robustness Faults will increase in the future

4 Complexity and Flexibility 1. Production systems are very complex hundreds of robots in a line 2. New automation concept (Robot-Garden) behaviour is less deterministic 3. Products are changing very fast production systems should be extendable Production line complexity is high and growing control systems have to be flexible diagnosis systems have to be flexible Robot garden

5 Method in the future + + Plug & Produce! Integration of control system Integration of diagnosis system Automatic reconfiguration

6 Reconfiguration Behaviour-reconfiguration: Change of parameters, replacement of software components Temporal reconfiguration: Change of time-aspects of the software components Spatial reconfiguration: migration of software components to other platforms Structural reconfiguration: Change of the topology, change of the inputoutput-relation for software components Velocity- v sensor Acceleration- a Control system sensor Velocity- v sensor Accelerationsensor a diff a Control system

7 Reconfiguration local fault detection Decision decision making reconfiguration

8 Self organisation Integration by communication, cooperation, coordination local reconfiguration local fault detection

9 Agents for control and diagnosis Physical entity: e.g.factory,production line, welding cell, machine, robot,... AGENT A group of agents is used for the control and the diagnosis of a component AGENT AGENT AGENT AGENT

10 Classification of different approaches Task control Task channel Task MAS subtasks communication Task Task Information 5% 24% 10% Action Information Action channel 37% 8% 7% communication Information 3% 4% 2% DAI Action

11 Structure of research New components Normalisation Component-oriented researches -Self repairing comp. -Intelligent devices. Next generation Software New Architectures for safety critical high confidence systems - Real time designs - Embedded softwares. RECORDS Certification Application-oriented researches -Automobile -Process industry - Aerospace. Demonstration Implementation Advanced control -Fault tolerant control -Fault identification. Training New design, new tools Quelle: Ding/Längle 2002

12 Integration of the different topics Multi-Agent Systems Fault tolerance, Fault detection Embedded systems

13 Survey of projects Multi-Agent Systems KORINNA VIDOP KAMARA KORINNA ended KACOR MAGIC RECORDS DIAMOND SIMON running applied Embedded Systems SOFIA OCCUBOT ARIKT PROSERV Fault tolerance Fault diagnosis

14 Robot for commissioning tasks

15 Robot for commissioning tasks

16 Survey of projects Multi-Agent Systems OCCUBOT VIDOP KAMARA KORINNA ended KACOR MAGIC RECORDS DIAMOND SFB 588 running applied Embedded Systems SOFIA OCCUBOT ARIKT PROSERV Fault tolerance Fault diagnosis

17 Intelligent Robot für Seat-Tests replaces expensive machines Imitation of human-like movements 6D Force/Torque sensor force-controlled tests adaption to new tests

18 Intelligent Robot für Seat-Tests

19 Survey of projects Multi-Agent Systems VIDOP ARIKT KAMARA KORINNA beendet KACOR MAGIC RECORDS DIAMOND SFB 588 laufend beantragt Embedded Systems SOFIA OCCUBOT ARIKT PROSERV Fault tolerance Fault diagnosis

20 Robot based inspection system Bildverarbeitung Robotersteuerung Leit-Rechner Ethernet-Switch Bildverarbeitung Proxy- PC Robotersteuerung

21 Robot based inspection system

22 Motor inspection

23 Robot based inspection system

24 Welding inspection

25 Survey of projects Multi-Agent Systems VIDOP SFB 588 KAMARA KORINNA ended KACOR MAGIC RECORDS DIAMOND SFB 588 running applied Embedded Systems SOFIA OCCUBOT ARIKT PROSERV Fault tolerance Fault diagnosis

26 Human-Robot Cooperation Task recognition State recognition Task planning Knowledge Task execution Rules Wissensbasiertes Verhalten Regelbasiertes Verhalten Feature recognition Skills Skills decoder Mechatronische Fähigkeiten Sensors (e.g. Data from the skin) Actuators (e.g. operations for robot)

27 Human-Robot Cooperation

28 Survey of projects Multi-Agent Systems VIDOP SOFIA KAMARA KORINNA ended KACOR MAGIC RECORDS DIAMOND SFB 588 running applied Embedded Systems SOFIA OCCUBOT ARIKT PROSERV Fault-tolerance Fault-diagnosis

29 Control system for drives

30 Why software components 1968 My thesis is that the software industry is weakly founded, and that one aspect of this weakness is the absence of a software components sub industry M.D.McIlroy (NATO-Conference, Garmisch)

31 Why software components Component based systems PC, Office, Internet Corba JavaBeans etc.

32 Why software components Component based systems PC, Office, Internet Corba JavaBeans etc. Real-time, Embedded mainly software manufacturing

Offline configuration Generation process: outside the runtime system Description process: outside the runtime system Component description K1 K2 Kn Component library K1 K2 Kn

33 Offline configuration Generation process: outside the runtime system Description process: outside the runtime system Component description K1 K2 Kn Component library K1 K2 Kn Description process Generationprocess Application Runtime system Firmware Due to firmware only restricted reconfigurations possible Adaptation of parameters No structural reconfiguration

Online / Dynamic Configuration Description Process: outside the runtime system Generation process: on the runtime system Online: during the start phase (static) Dynamic: during

34 Online / Dynamic Configuration Description Process: outside the runtime system Generation process: on the runtime system Online: during the start phase (static) Dynamic: during the running phase Component description K1 K2 Kn Description process Configuration description Runtime system Application Component library K1 K2 Kn Generation process K1 K3 K4

35 Classification of component systems Description process non emb. Configuration embedded ADLs, PECOS, Simulink, OSACA SOFIA Compo-... AIRES nents none (less) Corba, DCOM, JavaBeans Port Based Objects generation Offline Online / Dynamicc process

36 Structure of a general component k event-groups: event e occurs: 1. Transfer of Input vector X Ae in X. 2. Running of δ e ( s alt, X ) 3. Running of β e ( s alt, X ) X A X O 11 x A11 x A12... x A1n1 x A21... x A2n2... x Ak x Aknk I 11 I 12 I 1n I 21 I 2n I k1 I kn x 11 x x 1n1 x x 2n2... x k1... x knk s alt δ 1 ( s alt, X ) β 1 ( s alt, X ) δ 2 ( s alt, X ) β 2 ( s alt, X ) δ k ( s alt, X ) β k ( s alt, X ) State memory s 1,neu Y 1 s 2,neu Y 2 s k,neu Y k O O 1m1 O 21 O 2m2 O k1... O kmk 4. Output of result Y e

37 Structure of a time triggered component Only two event groups: 1. Static event group - event for actualisation - reading of static input ports - writing of static output ports - decoupled event group - used for parametric 2. Cyclic event group - cyclic event - reading of cyclic input ports - writing of cyclic output ports - coupled to static event group - used for process task X A x AS1 x AS2... x ASnS x AZ1 x AZ x AZnZ I S1 I S2 I SnS I Z1 I Z2 I ZnZ X x S1 x S2... x SnS x Z1 x Z x ZnZ.... s S,alt s Z,alt δ S ( s S,alt, X S ) β S ( s S,alt, X S ) δ Z ( s alt, X ) β Z ( s alt, X ) State memory s S,neu Y S s Z,neu Y Z O S1 O S2 O SmS O Z1 O Z2 O ZnZ

38 Different component interfaces Needed by user of a component Needed for development of a component I1 I2 I3 TTC O1 TTC I1, I2, I3, O1 Receive, Transmit, Update,... Communication by non-buffered communication channels working only on the newest data

39 Communication between components Output ports Comp. PI Input ports Comp. Comp. PI Comp. Output ports always have a port instance (PI) PI: shared memory section

40 Shared Port Instances Output ports Comp. PI Input ports Comp. Comp. PI Comp. Input ports can be directly connected with existing Pis. Shared Port Instances (SPI)

41 Communication Components Output ports Input ports Comp. PI Comp. Comp. PI CC PI Comp. Using of special purpose Communication components (CC)

42 Process communication Problem: consistency of input/output data during the communication between processes Stewart: local und global memory Non interruptible copy after W D1 D2 Non interruptible copy before R D3 D1 w D1 R W(riter) D2 w D2 R R(eader) D3 w D3 R Interruptible write Interruptible read

43 Process communication Regarding the priority of the processes (Rate Monotonic Scheduling, fixed priority), no global memory is needed Case 1: P (W) > P (R); P = Cycle time Priority of R higher, R cannot be interrupted by W Non interruptible copy after W, because D1 w D2 w D3 w consistent and no over-writing of not already read D1 R D2 R D3 R (R is already finished!) D1 w D1 R W(riter) D2 w D2 R R(eader) D3 w D3 R Interruptible writing by W not interruptible reading

44 Process communication Regarding the priority of the processes (Rate Monotonic Scheduling, fixed priority), no global memory is needed Fall 2: P (R) > P (W); P = Cycle time Priority of W higher, R cannot be interrupted by R Non interruptible copy before R, because D1 w D2 w D3 w consistent (W finished!) And no over-writing of only party read D1 R D2 R D3 R D1 w D1 R W(riter) D2 w D2 R R(eader) D3 w D3 R by R non interruptible writing Interruptible reading

45 Process communication Components with the same cycle time are assembled to one process P { CopyInputFromHigherPriorityProcesses; K1; K2;... Kn; CopyOutputToHigherPriorityProcesses; }

46 Example D4 1 D6 1 P1 5 ms D1 1 D3 1 D3 3 P3 12 ms D6 3 D1 2 P2 7 ms D5 3 D7 3 D7 2 D5 2 D4 2 Copy before reading Copy after writing

47 SOFIA Framework SCD - SOFIA Configuration Description SCI - SOFIA Component Interface

48 Configuration during the start-up K 2 SCD K 3 K 4 Runtime system 1. Read SCD Configurationsystem 4. Initialisation of runtime system 3. Starting of componentsk 1 K 2 K 3 Transmit/Receive Calling of Components PI PI PI Communication system 2. Initialisation of communication system

49 Manual dynamic reconfiguration Disconnect(connection) Connect(Port1, Port2) NewComponent(K) DelComponent(K) ChangeTime(K, CycleTime) Reconfiguration interface Runtime System Application Component Library Reconfigur.- K1 K3 K1 K2 Kn process K4

50 Automatic dynamic reconfiguration Velocitysensor acceleration- v a Control system sensor Velocitysensor Accelerationsensor v a diff a Control system Rule 1: if (!a) { Disconnect(V2); K4 = NewComponent(diff); Decision V1 = Connect(K1, K4); V2 = Connect(K4, K3); ChangeTime(K4, time(k2)); } Rule 2 : if (!v) {...

51 Central approach Runtime system Application Component library Reconfigur.- K1 K3 K1 K2 Kn process K4 Rules Decision Faultdetection

52 Decentralised approach Distribution of the knowledge to the different components (agents)! Runtime system Component library K1 K2 Kn K1 K4 K3 Autonomous self-reconfigurable Application

53 The overall cycle Reconfiguration Process Control Autonomous Reaction Decision Fault Detection Dependent on Implementation Independent of the Implementation

54 Summary Goal in production: fast adaption of the systems Needed: Integrated Control and Diagnosis Multi-Agenten Systeme Multi-Agent Systems Fault tolerance, Fault detection VIDOP KAMARA KORINNA KACOR MAGIC RECORDS DIAMOND SFB 588 Embedded systems Eingebettete Systeme SOFIA OCCUBOT ARIKT PROSERV Fehlertoleranz, Robustheit und Diagnose Actual and future research projects Example: embedded systems

55 University of Luxemburg June 07, 2005 Murphy s Law The only thing that is certain is that the system is going to fail.

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