Orientador: Walter da Cunha Borelli / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica / Made available in DSpace on 2018-07-13T21:49:30Z (GMT). No. of bitstreams: 1 Marton_Mauro_M.pdf: 4622503 bytes, checksum: aa4e42e8be05f77d3135f63306a2d75d (MD5) Previous issue date: 1989 / Resumo: Não informado / Abstract: Not informed. / Mestrado / Mestre em Engenharia Elétrica

Indiana University-Purdue University Indianapolis (IUPUI) / In the past decades, the rapid innovation of technology has greatly affected the automotive industry. However, every innovation has always been paired with safety risks that needs to be quickly addressed. This is where Petri nets (PNs) have come into the picture and have been used to model complex systems for different purposes, such as production management, traffic flow estimation and the introduction of new car features collectively known as, Adaptive Driver Assistance Systems (ADAS). Since most of these systems include both discrete and continuous dynamics, the Hybrid Petri net (HPN) model is an essential tool to model these. The objective of this thesis is to develop, analyze and simulate a lane keeping support system using an HPN model. Chapter 1 includes a brief summary of the specific ADAS used, lane departure warning and lane keeping assist systems and then related work on PNs is mentioned. Chapter 2 provides a background on Petri nets. In chapter 3, we develop a discrete PN model first, then we integrate continuous dynamics to extend it to a HPN model that combines the functionalities of the two independent ADAS systems. Several scenarios are introduced to explain the expected model behavior. Chapter 4 presents the analysis and simulation results obtained on the final model. Chapter 5 provides a summary for the work done and discusses future work.

Petrinetze werden in vielen Bereichen als Modellierungstechnik verwendet. Die verschiedenen Einsatzgebiete und Modellierungsziele erfordern dabei unterschiedliche Typen von Petrinetzen. Einen Petrinetz-Typ kennzeichnen -- neben den üblichen Stellen, Transitionen und Kanten -- eine Menge zusätzlicher, spezifischer Elemente, sowie eine spezifische Schaltregel. In der Literatur findet man zahlreiche verschiedene Petrinetz-Typen. Diese Vielfalt an Petrinetz-Typen lässt sich nicht ohne weiteres überblicken. Deshalb fehlt es auch nicht an Versuchen, allgemeine Petrinetz-Typen oder Klassifikationen -- auch einzelner Aspekte -- zu etablieren. Allerdings erfassen die bisherigen Ansätze nur einen kleinen Teil aller Petrinetz-Typen. Unser semantisch orientierter Klassifizierungsansatz des Petrinetz-Hyperwürfels umfasst deutlich mehr Petrinetz-Typen und erhebt den Anspruch, universell zu sein. Der Petrinetz-Hyperwürfel hat einen syntaktisch orientierten Klassifizierungsansatz als Grundlage. Dieser Ansatz führt einerseits zum Vorschlag der Petri Net Markup Language. Damit können Petrinetze aller Typen einheitlich beschrieben werden. Andererseits führt derselbe Ansatz zu einer Basis für Petrinetz-Werkzeuge, in der die einzelnen Teile eines Petrinetz-Typs unabhängig voneinander implementiert werden. Der Petrinetz-Kern ist eine derartige Basis mit dessen Hilfe Petrinetz-Werkzeuge gebaut werden. Er implementiert Konzepte, die allen Petrinetzen gemein sind, unabhängig von konkreten Petrinetz-Typen. Gemeinsam mit dem Petrinetz-Hyperwürfel bildet der Petrinetz-Kern ein weiteres Basiswerkzeug für einen parametrisierten Petrinetz-Typ mit einer parametrisierten Schaltregel. Die Petri Net Markup Language und der Petrinetz-Kern sind die wesentlichen Beiträge der vorliegenden Arbeit. Gemeinsam bilden sie ein mächtiges Grundgerüst für Petrinetz-Werkzeuge beliebiger Petrinetz-Typen. / Petri nets are widely used for modelling systems. The different areas and goals require different types of Petri nets. Each Petri net contains beside places, transitions, and arcs several further specific elements. Furthermore, a Petri net type defines a specific firing rule. There are many different Petri net types. It is not easy to have a general view on this bulk of Petri net types. Thus, there are attempts to establish general Petri net types or classifications of Petri net types (even of particular aspects). But, current approaches include only a few of all Petri net types. Our approach is a classification by semantics of Petri nets. We call this classification Petri Net Hypercube. It is meant to be universal for all Petri net types. A syntactical classification approach is the base of the Petri Net Hypercube. This approach leads on the one hand to the proposal of the Petri Net Markup Language. This language describes Petri nets of all types. On the other hand, the same approach leads to a base of Petri net tools. The parts of a Petri net type are implemented in this base independently of each other. The Petri Net Kernel is such a base for building Petri net tools. It implements those concepts which are general concepts of each Petri net. The Petri Net Kernel forms together with the Petri Net Hypercube a further basic Petri net tool for a parameterized Petri net type with a parameterized firing rule. The Petri Net Markup Language and the Petri Net Kernel are the main contributions of this thesis. Together, they are a powerful base for Petri net tools of each Petri net type.

The presented work focuses on the theoretical and practical aspects concerning the design and development of a formal method to build a mission control system for autonomous underwater vehicles bringing systematic design principles for the formal description of missions using Petri nets. The proposed methodology compounds Petri net building blocks within it to de_ne a mission plan for which it is proved that formal properties, such as reachability and reusability, hold as long as these same properties are also guaranteed by each Petri net building block. To simplify the de_nition of these Petri net blocks as well as their composition, a high level language called Mission Control Language has been developed. Moreover, a methodology to ensure coordination constraints for teams of multiple robots as well as the de_nition of an interface between the proposed system and an on-board planner able to plan/replan sequences of prede_ned mission plans is included as well. Results of experiments with several real underwater vehicles and simulations involving an autonomous surface craft and an autonomous underwater vehicles are presented to show the system's capabilities. / El treball presentat en aquesta tesi està centrat en el disseny i desenvolupament d'un mètode formal per a construir un sistema de control de missió per a vehicles submarins autònoms, que aporta principis sistemàtics de disseny per a la descripció formal de missions. La metodologia proposada parteix d'uns blocs elementals de construcció, descrits mitjançant xarxes de Petri. La composició d'aquests blocs entre si genera un pla de missió per el qual diverses propietats, com ara accessibilitat o reutilització, són garantides sempre i quan aquestes mateixes propietats siguin també garantides per a cada un dels blocs elementals de construcció. Per simplificar la definició d'aquests blocs, així com per simplificar-ne la seva composició, s'ha desenvolupat un llenguatge d'alt nivell anomenat Mission Control Language. A més, s'ha inclòs una metodologia per assegurar la coordinació de restriccions entre equips de múltiples robots. També s'ha establert una interfície entre el sistema proposat i un planificador a bord del vehicle capaç de planificar/replanificar seqü_encies de plans de missió prèviament definits. Per tal de demostrar les capacitats del sistema, s'han presentat resultats d'experiments amb diversos vehicles submarins reals, així com simulacions amb vehicles autònoms submarins i en superfície.

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This thesis provides a powerful general-purpose proof technique for the verification of systems, whether finite or infinite. It extends the idea of finite local model-checking, which was introduced by Stirling and Walker: rather than traversing the entire state space of a model, as is done for model-checking in the sense of Emerson, Clarke et al. (checking whether a (finite) model satisfies a formula), local model-checking asks whether a particular state satisfies a formula, and only explores the nearby states far enough to answer that question. The technique used was a tableau method, constructing a tableau according to the formula and the local structure of the model. This tableau technique is here generalized to the infinite case by considering sets of states, rather than single states; because the logic used, the propositional modal mu-calculus, separates simple modal and boolean connectives from powerful fix-point operators (which make the logic more expressive than many other temporal logics), it is possible to give a relatively straightforward set of rules for constructing a tableau. Much of the subtlety is removed from the tableau itself, and put into a relation on the state space defined by the tableau-the success of the tableau then depends on the well-foundedness of this relation. This development occupies the second and third chapters: the second considers the modal mu-calculus, and explains its power, while the third develops the tableau technique itself The generalized tableau technique is exhibited on Petri nets, and various standard notions from net theory are shown to play a part in the use of the technique on nets-in particular, the invariant calculus has a major role. The requirement for a finite presentation of tableaux for infinite systems raises the question of the expressive power of the mu-calculus. This is studied in some detail, and it is shown that on reasonably powerful models of computation, such as Petri nets, the mu-calculus can express properties that are not merely undecidable, but not even arithmetical. The concluding chapter discusses some of the many questions still to be answered, such as the incorporation of formal reasoning within the tableau system, and the power required of such reasoning.

[pt] Lógica Proposicional Dinâmica (PDL) é um sistema lógico multi-modal utilizada para especificar e verificar propriedades em programas sequenciais. Redes de Petri são um formalismo largamente utilizado na especificação de sistemas concorrentes e possuem uma interpretação gráfica bastante intuitiva. Neste trabalho apresentam-se extensões da Lógica Proposicional Dinâmica onde os programas são substituídos por Redes de Petri. Define-se uma codificação composicional para as Redes de Petri através de redes básicas, apresentando uma semântica composicional. Uma axiomatização é definida para a qual o sistema é provado ser correto, e completo em relação à semântica proposta. Três Lógicas Dinâmicas são apresentadas: uma para efetuar inferências sobre Redes de Petri Marcadas ordinárias e duas para inferências sobre Redes de Petri Estocásticas marcadas, possibilitando a modelagem de cenários mais complexos. Alguns sistemas dedutivos para essas lógicas são apresentados. A principal vantagem desta abordagem concerne em possibilitar efetuar inferências sobre Redes de Petri [Estocásticas] marcadas sem a necessidade de traduzí-las a outros formalismos. / [en] Propositional Dynamic Logic (PDL) is a multi-modal logic used for specifying and reasoning on sequential programs. Petri Net is a widely used formalism to specify and to analyze concurrent programs with a very intuitive graphical representation. In this work, we propose some extensions of Propositional Dynamic Logic for reasoning about Petri Nets. We define a compositional encoding of Petri Nets from basic nets as terms. Second, we use these terms as PDL programs and provide a compositional semantics to PDL Formulas. Then we present an axiomatization and prove completeness regarding our semantics. Three versions of Dynamic Logics to reasoning with Petri Nets are presented: one of them for ordinary Marked Petri Nets and two for Marked Stochastic Petri Nets yielding to the possibility of model more complex scenarios. Some deductive systems are presented. The main advantage of our approach is that we can reason about [Stochastic] Petri Nets using our Dynamic Logic and we do not need to translate it into other formalisms. Moreover our approach is compositional allowing for construction of complex nets using basic ones.

Typescript (photocopy). / Digitized by Kansas Correctional Industries