Design of supervisory control logic of a multi-robot assembly cell by automata-based model checking and markov decision models오토마타 기반의 모델검증기법 및 마코프 의사결정 모형에 의한 복수 로봇조립 작업장의 운영로직의 설계

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We discuss design of supervisory control logic of a multi-robot assembly cell. We present an application of the two-phase approach of Lee and Lee for supervisory control logic design. We first develop a plant model of concurrent automata for the cell. By using the automata-based model checking technique, we develop a logical controller that drives the cell so as to satisfy logical control requirements as well as carry out the assembly mission. We develop a procedure for constructing a timed global automata that models the global state transition behavior of the cell that is controlled by the logical controller. We develop algorithms for identifying conflict states and computing branching probabilities and sojourn time distributions. Finally, we model the performance controller design problem as a Markov decision process model and solve the problem by the value iteration algorithm.
Advisors
Lee, Tae-Eogresearcher이태억researcher
Description
한국과학기술원 : 산업공학과,
Publisher
한국과학기술원
Issue Date
1997
Identifier
112978/325007 / 000953566
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 산업공학과, 1997.2, [ iii, 50 p. ]

Keywords

Markov decision models; Model checking; Automata; Supervisory control; Multi-robot assembly cell; 복수 로봇조립 작업장; 마코프 의사결정 모형; 모델검증; 오토마타; 감시제어

URI
http://hdl.handle.net/10203/41507
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=112978&flag=dissertation
Appears in Collection
IE-Theses_Master(석사논문)
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