Orientadores: Helder Anibal Hermini, João Mauricio Rosario / Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-14T02:05:53Z (GMT). No. of bitstreams: 1 Paracencio_LuisGustavodeMello_D.pdf: 6716809 bytes, checksum: 4cd9dbc748f0f532de18ea5573d7c2fb (MD5) Previous issue date: 2009 / Resumo: Com o avanço tecnológico na área de engenharia mecatrônica, cada vez mais é necessário acompanhar e aperfeiçoar os estudos. Este trabalho pretende apresentar metodologias para integração de células de manufatura robotizadas com ênfase na modelagem e controle de um dispositivo robótico. O modelo do dispositivo em estudo é composto de três graus de liberdade acionados hidraulicamente, o que permite o posicionamento de uma mesa, onde uma peça possa ser trabalhada por dois robôs industriais, constituindo assim um sistema colaborativo de manufatura. São apresentados estudos referentes à modelagem cinemática e dinâmica, e ao cálculo dos parâmetros do sistema de controle utilizando MatLab-SimulinkTM. Foi desenvolvida uma interface em linguagem LabVIEWTM para aquisição e tratamento de informações provenientes dos sensores das juntas e da implementação do sistema de supervisão e controle. A partir da publicação de uma página de aplicação HTML, a célula colaborativa poderá ser disponibilizada na WEB, permitindo a criação de um laboratório virtual, direcionado à pesquisa científica e tecnológica e com possibilidade de se interligar com outros laboratórios de ensino e pesquisa. Isso permitirá, por exemplo, a realização de experiências e ensino à distância, executando tarefas complexas em tempo real / Abstract: In recent years, with technological advances in mechatronics engineering it is necessary to monitor and improve the studies of these new trends. This research aims to present a methodology to integrate robotic manufacturing cells with emphasis on modeling and controlling of a robotic device. The model of the device of this study consists of three degrees of freedom, driven hydraulically allowing the placement of a table where a piece can be worked by two industrial robots constituting a system of collaborative manufacturing. Studies are presented concerning kinematic and dynamic models and the calculation of parameters of the control system using MatLab-SimulinkTM. An interface was developed in LabVIEWTM language for acquisition and processing of the information from the sensors of the joints and the implementation of the system of supervision and control. Since the publication of an HTML page, a cell collaborative application may be available on the collaborative WEB allowing the creation of a virtual laboratory directed to scientific and technological research and the possibility to connect with other laboratories for teaching and research. For instance, this will allow carrying out the implementation of distance learning experience and performing complex tasks in real time / Doutorado / Mecanica dos Sólidos e Projeto Mecanico / Doutor em Engenharia Mecânica

Notre thèse est consacrée à l’étude de la supervision des réseaux de Petri en vue de la conception de systèmes manufacturiers flexibles. L’objectif est la définition de stratégies de pilotage en ligne pour l’évitement de conflits et d’interblocages, dans le cadre de la théorie de la supervision. Le point de départ de notre travail est d’exploiterle graphe de marquage du réseau de Petri, ce qui permet en particulier d’obtenir des stratégies de commande maximalement permissive pour des problèmes d’évitement de conflits et d’interblocages. Nous avons ainsi introduit des techniques originales, manipulations d’inégalités ou réductions d’ensembles de marquages, destinées à diminuerla complexité algorithmique d’une telle méthode. Dans premier temps, nous avons focalisé sur la synthèse de superviseurs dits purs, ce qui correspond au cas particulier où l’ensemble de marquage légaux, est convexe.Cette optimisation est ensuite considérée du point de vue de la facilité de mise en oeuvre. Nous traitons ainsi de la minimisation de la structure du superviseur et de son coût d’implémentation en préservant une structure de supervision qui offre à la fois la permissivité maximale et une complexité de calcul raisonnable en vue d’utilisationsur des installations réelles. Aussi, nous avons cherché à réduire le nombre de places de contrôle nécessaires pour réaliser un superviseur maximalement permissif, pour cela nous avons formule le calcul du nombre minimal de places de contrôle en termes d’un problème de programmation linéaire. Afin d’affaiblir la complexité de ce calcul de superviseur, deux versions de l’algorithme sont proposées. Ce problème de minimisation de la taille dusuperviseur, quoique fondamental, n’est pas abordé aussi directement dans la littérature. Il s’agit là d’une première contribution.Dans u second temps, nous nous sommes intéressés aux réseaux de Petri à boucles (self-loops). Les boucles étant représentées par une variable qui s’ajoute dans la contrainte inégalité définissant l’ensemble de marquages légaux. Après avoir proposé une méthode de réduction du nombre d’inégalités ainsi que du superviseur optimalen se basant sur les approches et résultats précédents, nous avons établi une condition suffisante d’obtention d’un superviseur maximalement permissif permettant de traiter des ensembles de marquages légaux non convexes.Enfin nous proposons une méthode de synthèse de contrôleur pour une nouvelle classe de réseaux de Petri, avec des arcs inhibiteurs correspondant à des contraintes définies par des intervalles. La taille du contrôleur ainsi obtenu et défini en termes d’arcs inhibiteurs à intervalles s’en trouve réduite ainsi que par conséquent sont coût d’implémentation. / Reachability graph analysis is an important technique for deadlockcontrol, which always suffers from a state explosion problem since it requires togenerate all or a part of reachable markings.Based on this technique, an optimal or suboptimal supervisor with high behavioralpermissiveness can always be achieved. This thesis focuses on designing liveness enforcing Petri net supervisors for FMSs by considering their behavioralpermissiveness, supervisory structure, and computationnal complexity.The following research contributions are made in this thesis.1. The design of a maximally permissive liveness-enforcing supervisor for an FMSis proposed by solving integer linear programming problems (ILPPs).2. Structural complexity is also an important issue for a maximally permissivePetri net supervisor. A deadlock prevention policy for FMSs is proposed, which canobtain a maximally permissive liveness-enforcing Petri net supervisor while thenumber of control places is compressed.3. In order to overcome the computational complexity problem in MCPP and ensurethat the controlled system is maximally permissive with a simple structure, wedevelop an iterative deadlock prevention policy and a modified version.4. We consider the hardware and software costs in the stage of controlimplementation of a deadlock prevention policy, aiming to obtain a maximallypermissive Petri net supervisor with the lowest implementation cost. A supervisorconsists of a set of control places and the arcs connecting control places totransitions. We assign an implementation cost for each control place and controland observation costs for each transition. Based on reachability graph analysis,maximal permissiveness can be achieved by designing place invariants that prohibitall FBMs but no legal markings.5. Self-loops are used to design maximally permissive supervisors. A self-loop ina Petri net cannot be mathematically represented by its incidence matrix. Wepresent a mathematical method to design a maximally permissive Petri netsupervisor that is expressed by a set of control places with self-loops. A controlplace with a self-loop can be represented by a constraint and a selfloopassociated with a transition whose firing may lead to an illegal marking.

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Made available in DSpace on 2015-03-05T13:56:58Z (GMT). No. of bitstreams: 0 Previous issue date: 20 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Este trabalho tem como objetivo a geração de um modelo de escalonamento aplicado ao Jobshop Scheduling Problem num Sistema de Manufatura Flexível que considera o tempo total de produção (makespan), o tempo total de atraso, o tempo total parado e o tempo total ocioso.O modelo proposto é composto por: (a) uma função objetivo que reflete, através de suas variáveis de decisão e seus pesos respectivos, as estratégias de otimização, e de (b) uma arquitetura que está dividida em cinco fases. O modelo utilizou o algoritmo Busca Tabu que,através de duas estratégias de geração de vizinhanças, busca a otimização da função objetivo. A arquitetura do modelo baseia-se na extração da demanda de produção, na Tecnologia de Grupo, nas Regras de Despacho, no Algoritmo Busca Tabu e na gravação do plano de produção, para tratar os Problemas de Seleção de Partes (Famílias de Partes) e do Escalonamento. Foram realizados, através de um estudo de caso, diversos experimentos que possibilitaram a comparação de estratégias de otimiza / This paper has the aim of generating a scheduling model applied to Job-shop Scheduling Problem in Flexible Manufacturing System, which considers the makespan, total tardiness time, total stop time, total idle time. The model proposed is composed for: (a) an objective function that reflects, through its variables of decision and its weights, the optimization strategies, and (b) arquitecture that is divided in five phases. The model used the Tabu Search algorithm which, through two strategies neighborhoods generation, searching the objective function optimization. The model architecture is based on extraction of production demand, in the Group Technology, in the Dispatching Rules, in the Tabu Search algorithm and save production plan, to deal the Part Selections (Part Families) and Scheduling Problems.Through a study of case, it has been realized several experiments which makes it possible the comparison of optimization strategies and real scheduling, and which proves conflicts in decision variables. For mo

Made available in DSpace on 2015-03-05T13:58:26Z (GMT). No. of bitstreams: 0 Previous issue date: 1 / Universidade do Vale do Rio dos Sinos / Neste trabalho é abordado o Problema de Escalonamento em um job shop, considerando restrições de datas de entrega, turnos de produção e tempo de setup entre operações. Considera-se um ambiente de Sistema de Manufatura flexível, que dado ao alto nível de automação, permite a previsibilidade dos processos de carregamento dos recursos à área de processamento. O problema foi modelado através de uma Função Objetivo fn composta de três variáveis de decisão. A importância da contribuição de cada variável para o valor de fn é gerida pela atribuição de valores aos pesos associados às variáveis. Na abordagem proposta, são utilizadas técnicas de Tecnologia de Grupo e Busca Tabu. O modelo implementado é uma modificação da técnica i TSAB, proposta por Nowicki e Smutnicki, a qual apresenta bons resultados no tratamento do Problema de Escalonamento em um job shop PEJS clássico. A consideração das restrições adicionais ao PEJS aumenta a complexidade do modelo implementado, porém, deixa o problema mais próximo da realidade. / In this work the Job Shop Scheduling Problem is studied, considering due dates, production turns and tooling constraints. This problem is applied in a Flexible Manufacturing System, which possesses high degree of automation, allowing previsibility in the processes of loading and unloading jobs on the machines. The problem is modeled through a objective function fn composed by three weighted decision variables. The importance of each variable in the fn final value is managed through assignment of values to the weights of these variables. In the proposed approach, it was used Group Technology and Tabu Search techniques. The implemented model is a modification of the i TSAB technique, proposed by Nowicki and Smutniki. The consideration of adicional constraints in the Job Shop Scheduling Problem increases the complexity of the implementation, otherwise, makes the problem closer to the industrial reality. The model was validated using benchmark instances, in which the data from the addional constraints were added.

In this study, an operational (short term) flexibility management approach is proposed for make-to-order companies with flexible shops. Order Review and Release (ORR) techniques and typical Flexible Manufacturing System (FMS) decisions are combined in this method. The proposed method prepares a shop environment by allocating process and routing flexibility types at different levels to the shop in each production cycle. Variety, volume, and criticality of the part types in the pool and the anticipated orders constitute the main inputs for flexibility allocation. A flexibility management policy is introduced and determination of the proper policy is realized with the integrated utilization of mathematical programming and simulation modeling. An experimental study is performed to investigate the effects of proposed method on a hypothetical flexible shop. Results show that with an appropriate policy, periodical and online flexibility management can be an effective tool to cope with uncertainty in demand if combined with ORR techniques.

Made available in DSpace on 2016-06-02T19:05:23Z (GMT). No. of bitstreams: 1 DissEGRM.pdf: 5921557 bytes, checksum: 89005165cd9d839d8283e0713abe1fb8 (MD5) Previous issue date: 2005-05-30 / Financiadora de Estudos e Projetos / The Petri Net based Search has been shown as a promising way to solve Flexible manufacturing Systems (FMS) Scheduling Problem. However, the response time is critical since it s a system with high computational complexity. Focusing the reduction of response time, this work proposes a heuristic for Petri Net based Search to solve FMS Scheduling problem of makespan minimization. Experiments showed improvements on response time reduction comparing with prior works / Abordagens de Busca baseadas em Rede de Petri (PN) têm sido mostradas como uma forma promissora de resolver o problema da Programação da Produção de Sistemas Flexíveis de Manufatura (FMS). Entretanto, o tempo de resposta é crítico, uma vez que se trata de um sistema de alta complexidade computacional. Focando a redução do tempo de resposta do sistema, este trabalho propõe uma heurística para busca baseada em Rede de Petri para resolver o problema de programação de FMS na minimização do makespan. Experimentos mostraram um avanço na melhoria do tempo de resposta em relação a trabalhos anteriores

Este trabalho tem por objetivo atualizar um Sistema Flexível de Manufatura, (SFM) didático, que devido às suas características construtivas apresentava inúmeras dificuldades de operação e manutenção, necessitando sempre de mão de obra altamente especializada. As dificuldades com a manutenção tornavam o SFM totalmente inoperante para a utilização nas aulas de uma das unidades da escola SENAI, o que prejudicava as atividades práticas, em laboratório, das disciplinas do curso técnico da área de produção. O projeto deste trabalho consistiu em uma reengenharia completa da parte elétrica de um Veículo Guiado Automaticamente (AGV) como também no desenvolvimento de um sistema supervisório, que comanda a comunicação entre os CNCs, AGV e computadores. Após as modificações efetuadas, os alunos das disciplinas da área de produção poderão interagir com o sistema, modificando a logística de produção conforme as necessidades didáticas a serem estudadas. Por outro lado os alunos de automação, por meio do acesso à documentação e à estrutura do sistema de manufatura, poderão desenvolver estudos e possíveis modificações, uma vez que o sistema se tornou mais didático e amigável. / This paper aims to update a didactic Flexible Manufacturing System (FMS) that due to their construction had numerous difficulties in operation and maintenance, and so constantly require manpower to operate and maintain highly specialized. The difficulties with maintaining the SFM became totally irrelevant, for use in the classroom of an unit school SENAI, would hinder the practical activities in the disciplines of laboratory technician course from the production area. The design of this work consisted in re-engineering of the complete electrical part of an Automatically Guided Vehicle (AGV) and development of a supervisory system and communication between the CNCs, AGV and computers. After the modifications to the students of the disciplines of production may interact with the system by modifying the production logistics as required didactic to be studied. Furthermore students automation through access to documentation and structure of the manufacturing system can develop studies and possible changes, since the system became more didactic and friendly.

Industry 4.0 has caused exceptional changes in the industrial world. A relevant breakthrough is the concept of Cyber-Physical Production System (CPPS) which involves a system of interconnected entities with the main objective of achieving flexibility, which is essential for the manufacturing industries to remain competitive due to the actual demand for customization. The project suggests the use of a robot cell distribution called robot island as a solution to address this problem. In the implementation, a virtual model and program will be presented with flexible mobile robots, AGVs and a PLC. All are designed following the three principles of the CPS using RobotStudio and CODESYS to simulate and evaluate the results. The research demonstrates how autonomous, modular, flexible and adaptable to changes in product or production process system is, for example with the integration of the concept of the resource pool and variations in the product characteristics. The resulting executable is made with standardised modules so it can be extrapolated to other manufacturing processes, opening a wide range of possibilities for this island of robots. / <p>Utbytesstudenter</p>