Centre for Distributed Automation and Control

Holonic Manufacturing Systems

Introduction to distributed intellgent systems Distributed, intelligent manufacturing control systems refer to the class of manufacturing control systems in which 1. Control system decisions (e.g. for planning, scheduling, routing, task execution etc) are determined by more than one decision making element 2. he decision making elements ! typically so called software agents interact collaborati"ely and flexibly to arri"e at a decision #. $o one decision making element has access to all of the information re%uired to make an effecti"e decision &. Decision making elements are typically linked to physical elements in the manufacturing domain ! namely machines, products, parts and customer orders 'n this category CD(C has been in"ol"ed specifically in two closely related de"elopments in distributed, intelligent control in a manufacturing context, namely, multi!agent based manufacturing control and holonic manufacturing control. )oth of these use a common core component ! a software agent. ( software agent, in the context of a manufacturing control system, is an interacti"e decision making software element, which is more formally defined (*+,are and -ennings, 1../)0 A distinct software process, which can reason independently, and can react to change induced upon it by other agents and its environment, and is able to cooperate with other agents. Multi Agent Based Manufacturing Control (gents ha"e been applied as a means of de"eloping distributed decision making solutions in the manufacturing control domain for o"er ten years, and an important class of these applications are those in which software agents correspond on a one!to!one basis with each machine and product (representing all or part of customer orders) in the manufacturing en"ironment. 1sing the appropriate distributed control algorithms, the indi"idual machine and product agents can make their own manufacturing control decisions relating to scheduling, resource allocation, prioritisation etc. using an automated form of 2negotiation2. he key benefit of such an approach is that if production is disrupted or reorganised in some way, the same negotiation process still takes place, albeit with different machines or products making the decisions, and hence the system is relati"ely robust to change. (lgorithms implemented in multi agent software en"ironments ha"e been de"eloped for planning, scheduling and shop floor control applications.

Con"entional "s 3ulti (gent )ased 3anufacturing Control 4ystem Holonic Manufacturing Systems he field of holonic manufacturing systems has de"eloped o"er the last ten years as an approach for designing and operating autonomous, flexible, interchangable manufacturing modules referred to as holons. 't is a systems engineering methodology rather than a solution to a specific control problem, and is referred to as a bottom up approach because o"erall plant control is de"eloped through the integration of these flexible, interchangable manufacturing modules. his is in direct contrast with con"entional top-down methodologies for designing and specifying manufacturing control systems (e.g. Computer 'ntegrated 3anufacturing or C'3) in which a computer control systems hierarchy is centrally de"ised to support the planning, scheduling and shop floor control processes of a factory. The discriminating value of holonic manufacturing is that it represents the only methodology for control system design which manages short and long term changes in the manufacturing environment as "business as usual". 5e emphasise here that holonic manufacturing is not an alternative nor an identical approach to multi!agent control but rather it is complementary in that it represents a systems engineering approach to the de"elopment of manufacturing control systems infrastructure, rather than a solution mechanism for sol"ing indi"idual manufacturing control problems. 3ost de"elopments of holonic systems to date ha"e deployed agent!like sol"ers as a means of resol"ing planning, scheduling and shop floor control issues. ,owe"er, while multi agent based control systems represent purely software en"ironments, a holonic system encapsulates both the physical and information based aspects of the manufacturing en"ironment. ,ence a resource holon for machining, for example, might contain a machine tool, sensing and actuation, a local controller, a network connection and one or more coordinating software agents located either locally or on the network.

3achining 6esource ,olon he integration of the physical resource or product to the different control processes in a holonic en"ironment is illustrated below

Con"entional "s ,olonic 3anufacturing Control 4ystem Learn more...

Designing Communication 7rotocols for ,olonic Control De"ices 1sing (dd to marked items 8lementary $ets (dd to sa"ed items )ook 4eries9ecture $otes in Computer 4cience 6ecommend this 7ublisher 4pringer )erlin : ,eidelberg chapter '44$ ;#;2!.<&# 4ub=ect Computer 4cience >olume >olume #?.#:2;;? )ook ,olonic and 3ulti!(gent 4ystems for 3anufacturing D*' 1;.1;;<:11?#<@&< Copyright 2;;? '4)$ .<@!#!?&;!2@2#<!2 D*' 1;.1;;<:11?#<@&<A< 7ages </!@/ *nline Date hursday, (ugust 2?, 2;;?

Algorithms and Technologies

Designing Communication 7rotocols for ,olonic Control De"ices 1sing 8lementary $ets James Brusey1 and Duncan McFarlane1 (1) 'nstitute for 3anufacturing, Cambridge 1ni"ersity, Cambridge C)216B, 1C Abstract ( difficulty encountered when de"eloping ,olonic 3anufacturing 4ystems (,34s) is the need to place some or all of the intelligence associated with a holon on a small, low!powered de"ice that has real!time constraints. his re%uirement must be balanced with the need to communicate with such a holon using standard, open, and sophisticated protocols. ( possible solution is to split the functionality into two parts with a lightweight sub!holon on the de"ice and an associated high!le"el sub!holon on a remote ser"er. ,owe"er a key difficulty is ensuring that the communication protocol between the two sub!holons is robust and reliable, while still allowing all the flexibility that is re%uired in these types of applications. his paper explores the use of 8lementary $et 4ystems as a basis for the specification of the communication and demonstrates that this pro"ides a simple and robust basis for designing correct communication protocols in the case where communication is "ia a shared data table, such as the memory on an 6D'D tag.

( 4trategy to 'mplement and >alidate 'ndustrial (pplications of ,olonic 4ystems )ook 4eries9ecture $otes in Computer 4cience 7ublisher 4pringer )erlin : ,eidelberg '44$ ;#;2!.<&# 4ub=ect Computer 4cience >olume >olume #?.#:2;;? )ook ,olonic and 3ulti!(gent 4ystems for 3anufacturing D*' 1;.1;;<:11?#<@&< Copyright 2;;? '4)$ .<@!#!?&;!2@2#<!2 D*' 1;.1;;<:11?#<@&<A1; 7ages 111!12; *nline Date hursday, (ugust 2?, 2;;?

(dd to marked items (dd to sa"ed items 6ecommend this chapter

Implementation and Validation Aspects

( 4trategy to 'mplement and >alidate 'ndustrial (pplications of ,olonic 4ystems Francisco P. Maturana1 , Raymond J. Staron1 , Pavel Tich2 , Petr lechta2 and Pavel !r"a2 (1) 6ockwell (utomation, 1 (llen!)radley Dri"e, 3ayfield ,ts., *, &&12&!/11@, 14( (2) 6ockwell (utomation s.r.o., 7ekarska 1;a, 1??;; 7rague ?, CEech 6epublic Abstract Classical control systems are based on feedback techni%ues and models that generally cannot manage computational complexity, nonlinearity and uncertainty. 3oreo"er, classical control cannot adapt well to the "ariability of the processes under control in a dynamic fashion. ,owe"er, agent!based control eases combinatorial complexity by enabling a robust partitioning of knowledge and beha"iors. 't is a difficult challenge to create the infrastructure, de"elopment system and "alidation tools for agent systems. 'n this paper we discuss fundamental steps to achie"e the foundation infrastructure for creating agents but also we address se"eral guidelines to create the agents and the re%uirements to present this to non!agent specialists. C(638$0 3ulti!agent 3onitoring and $otification for Complex 7rocesses )ook 4eries9ecture $otes in Computer 4cience 7ublisher 4pringer )erlin : ,eidelberg '44$ ;#;2!.<&# 4ub=ect Computer 4cience >olume >olume #?.#:2;;? )ook ,olonic and 3ulti!(gent 4ystems for 3anufacturing D*' 1;.1;;<:11?#<@&< Copyright 2;;? '4)$ .<@!#!?&;!2@2#<!2 D*' 1;.1;;<:11?#<@&<A1@ 7ages 1.<!2;/ *nline Date hursday, (ugust 2?, 2;;? (dd to marked items (dd to sa"ed items 6ecommend this chapter

Applications
C(638$0 3ulti!agent 3onitoring and $otification for Complex 7rocesses #arry Bunch1 , Ma$$ie Breedy1 , Je%%rey M. Bradsha&1 , Marco 'arvalho1 and

(iran)an Suri1 (1) Dlorida 'nstitute for ,uman and 3achine Cognition, &; 4. (lcaniE 4t. 7ensacola, D9 #2?/#, Abstract 8arly and consistent detection of abnormal conditions is important to the safe and efficient operation of complex industrial processes. *ur research focuses on enabling the operators and engineers who control and maintain such systems to describe process conditions to software agents, deploy such agents to continuously monitor li"e process data, and recei"e appropriate notification from their personal agents concerning the process state. he resulting dynamic population of monitoring agents is managed by our agile computing framework according to policies that define computing and networking resource restrictions as well as user notification re%uirements and preferences. Larry Bunch '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 1 / ! -ISCIS Ad"ances in Com#uter and Information Sciences $r. %uncer &ren J machines for knowledge processing and 7rofessor 8meritus, 1ni"ersity of *ttawa, J machines with knowledge processing Canada and abilities. >ice! Director, 'nformation echnologies for 6esearch 'nstitute knowledge 1)' (C ! 3armara 6esearch Center, processing IebEe! Cocaeli, urkey machines htt#'// (((. btae. mam. go". tr/) tuncer with %uncer. *ren+ scs. com knowledge '4C'4F2;;; G uncer Hren 2;;;.1;.11 - , / processing ! --.*/L0$102 abilities -.*/L0$10 34*C0SSI.12 J abacus and %H0 SHI5% *5 3A4A$I1M Jastrolabe J Dor a long time in the history of JK ci"iliEation, being J unit record 6no(ledgeable (as an important asset. J hybrid J 'nformation age realities pro"ide tools to computers store and J com#uters interactively access a "ast amount of !7C knowledge. ! notebook J (ll the knowledge we get through formal !palm education ! wearable can reside on a single CD! 6*3 where the ! implentable? knowledge can be stored for interacti"e fixed! wired search tools without any loss. "ariable! wired '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 7 / tools ! --.*/L0$10 stored! program 34*C0SSI.1 tools 08049/H040 Cnowledge processing is done by two types '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 11 of machines or systems0 / ! !machines

for knowledge processing machines with knowledge processing abilities J abacus Jastrolabe JK J unit record J hybrid computers J com#uters !7C ! notebook !palm ! wearable ! implentable? Jautomata J -ac%uard loom Jcomputer!embedded systems :C04) (pre!: re!: auto!) programmable systems fixed! wired tools "ariable! wired tools stored! program tools #arameter "alues ; com#. -no(ledge- based C0S Camera reads directly film s#eed *#timi<ation *#timi<ing C0S %rac6ing missile 8ehicle- sensing road 4easoning 4easoning or rule- based C0S 4ule- based robot Simulation Simulati"e C0S 3redicti"e dis#lays generated "ia on- line simulation Multi#aradigm 6# ability Multi#aradigm C0S

:semi-= autonomous system (ith abilities for com#.2 o#t.2 reasoning2 and sim.= ypes of knowledge processing ypes of C84 8xamples '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 1> / ! -Highlights of Soft(are 0ngineering 3aradigms 3aradigm %y#es of 3rogramming 'mperati"e programming J 7rocedural programming J 4tructured programming J *b=ect! based programming 'nteracti"e programming J 8"ent! based programming Declarati"e programming J Dunctional programming J 9ogic programming Delegated programming J (gent! based programming '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 1? / ! -/HA%@S .0A% B Some 3oints Denning, 7. -. and 6. 3. 3etcalfe (1..<). )eyond Calculation L he $ext Difty Mears of Computing. $ew Mork0 Copernicus: 4pringer! >erlag. Com#uters are still "ery young. /hat (e (itness is Cust the beginning. Soft(are agents J(gents are software modules L with cogniti"e abilities that L can work as assistants to users (humans or other agents) J hey can obser"e their en"ironments as well as they can affect it. J Cogniti"e abilities include0 (%uasi!) autonomy, perception, moti"ation, reasoning, assessing, understanding, learning, goal processing, and goal! directed knowledge processing. '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 1, / ! -Mobile agents and distributed com#uting J extend the concept of com#utational #latform to (hole or #art of the net on

intranets and on the 'nternet. System theories pro"ide strong backgrounds for cogniti"e, i. e., intelligent com#uteri<ation. Dor example, systems with understanding abilities systems with learning abilities systems with ada#tation abilities systems with antici#ation abilities '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 1D / ! ->. Coo#eration is becoming an important paradigm for both ci"ilian and military applications. '4C'4F2;;; G uncer Hren 2;;;.1;.11 - 17 / ! -Holonic systems J HolonsE pro"ides a powerful paradigm to concei"e, model, support, and manage dynamically organi<ing com#leF coo#erati"e systems. N from Ireek holos, whole ( holonic system is composed of autonomous entities (called holons) that can deliberately reduce their autonomy, when need arise, to collecti"ely achie"e a goal. Agent- directed simulation Agent- directed simulation G synergy of simulation and soft(are agents J Agent simulation J Agent- based simulation J Agent- su##orted simulation Agent simulation is simulation of agents that represent natural or engineered intelligent systems.

J Multi- agent simulation denotes simulation of a collection of agents (or agency). J Agent simulation or multi- agent simulation is "ery im#ortant and #romisingH J Can simulate any intelligent entity (humans, intelligent weapons, intelligent systems, ...) Agent- based simulation is a simulation study where the beha"ior of models are generated by using agent technology. J 3ay ha"e technical meritsO howe"er, agent simulation is more intuiti"e to graspP (since it deals with simulation of intelligent entities.) Agent- su##orted simulation is simulation where agent technology is used to support simulation operations. '4C'4F2;;; G uncer Hren 2;;;.1;.11 - I / ! -Agentsu##orted simulation 1. to support user/ soft(are interface functions' ! help, guidance, "ery high! le"el problem specification, explanation, interpretation . agent- su##orted simulation Juality assurance. :88; A= #. to support #rocessing of simulation #rograms ! agent! supported simulation #rogram generation / integration :HLA= ! agent! supported simulation #rogram com#rehension. (for program maintenance) Holonic system simulation J Holonic agent simulation (or holon simulation, in short) is an important type of agent simulation where agents represent holons.

IMS 34*14AMM0

*utline 3ro#osal - A$$MA. Submitted by' .ational 4esearch Council Canada Simon 5raser Kni"ersity $ili# B. -ota6 - dili#.6ota6+nrc-cnrc.gc.ca /illiam A. 1ru"er - gru"er+cs.sfu.ca

*3-L?LL . Acronym 'D8( >. 5ull %itle 'ntelligent and Distributed 8nergy (pplications ?. %heme:s= ,olonic or multi!agent systems including distributed de"ice controlO Communications systemsO4ystems engineeringO (lternati"e energy systems, fuel cell and hydrogen systems and technologiesO 8xtraction, processing and distribution of gaseous and li%uid forms of energyO Ieneration and distribution of electrical energy. I. -ey(ords 6enewable energy, fuel cells, hydrogen, distributed generation, remote power, holonic coordination, intelligent control, multi!agent systems, energy networks. ,. *bCecti"es and industrial rele"ance Bac6ground Cost!effecti"e and reliable sources of energy are necessary for economic progress. raditional sources such as hydroelectric power, fossil fuels, and nuclear energy will not be able to meet the demands of future generations. hey ha"e a significant impact on climate change and city pollution, and in many cases, their supply is limited. he issue of reliable, continual supply is compounded by today+s centraliEed energy distribution systems. 6enewable energy sources such as wind, solar, micro!hydro, wa"e, geo!thermal, and bio!mass are potential solutions, but challenges exist around storage and deli"ery of energy. )y coupling these renewable energy sources with fuel cells and hydrogen systems, we can create renewable, en"ironmentally friendly, flexible, distributed, and integrated energy systems. *bCecti"e o optimiEe and accelerate the adaptation of fuel cell and hydrogen technologies to intelligent and distributed energy applications using renewable energy. 4pecifically the goal is to0 De"elop intelligent energy de"ices with a 27lug!and!7roduce2 capability De"elop and implement technologies for industry experts to optimiEe the design Q operations of energy nodes consisting of intelligent energy De"ices De"elop and implement technologies for industry experts to optimiEe the design Q operations of integrated energy networks consisting of numerous energy nodes cooperating together to fulfill the energy needs. Industrial rele"ance 8"ery ma=or industrialiEed economy including Canada, 14(, 8uropean 1nion, -apan, Corea, China Q 'ndia ha"e allocated significant resources towards the de"elopment of alternati"e energy solutions dri"en by shortage of energy, climate change Q international agreements such as the Cyoto 7rotocol. 4pecifically a

1. 4ef. .umber

number of pro=ects are already underway. Dor example, the Canadian 7rime 3inster announced the >ancou"er to 5histler 2,ydrogen ,ighway2 consisting of se"en hydrogen fuelling nodes. 4imilar pro=ects ha"e been announced in eastern Canada and throughout the 14( (e.g., California, $e"ada, (riEona, 3ichigan, 'llinois, $ew Mork). 'n e"ery situation the key obstacles are economic affordability, scalability Q robustness:reliability of the yet unpro"en and emerging technologies. 7hysical implementation of such systems are extremely expensi"e and risky. he proposed pro=ect is aimed at working with the industry, research organiEations Q uni"ersities to de"elop tools and technologies to enable rapid assessment of alternati"e designs and operational logistics, as well as energy de"ices, to optimiEe the design and reduce the risks. !. A##roach and o"er"ie( of #lanned (or6 he proposed system architecture, as illustrated in the figure below will ha"e the following key components0R ( web!based graphical human!machine interface which an industrial expert can use to configure and simulate an energy application, either at the 8nergy $ode le"el or at an 8nergy $etwork le"el. his interface would pro"ide an access to the remaining components of the systemOR ( local database of alternati"e scenarios and configurations that the expert wishes to examine and e"aluateOR ( simulation system residing at the expert+s site capable of simulating the 8nergy $ode, as configured by the expert, using the database. he simulation would be performed in #D so that the expert can consider the space re%uirements (e.g., flow of "ehicles in the fuelling station) in addition to traditional issues related to capacities, costs, and utiliEation. Durthermore, the simulation model would ha"e a built!in acti"ity!based costing approach so that the expert can also analyse the cost implications of "arious alternati"esO

4ystem (rchitecture ( comprehensi"e database consisting of0

o

8nergy supply and demand profiles for specific applications (e.g., supply a"ailable from solar, wind or other renewable and non!renewable sources of energy)O 8nergy demands to fulfil the re%uirements in the form of electricity and heatO

7erformance characteristics of energy de"ices including the costs, capacities, repair and maintenance fre%uencies, and costsO ,olonic coordination and control would pro"ide a capability to use distributed communications to enable decision making between "arious elements of the system, and pro"ide coordination and control of their acti"ities. his holonic system would ha"e a multi!layered architecture with the lowest le"el representing 8nergy De"ices, the middle le"el representing 8nergy $odes, and the highest le"el representing the 8nergy $etwork. 8nergy De"ice 4imulators are another key element of the system. )ecause fuel cells and electrolysers are complex electro!chemical de"ices, there may be a need to simulate the actual beha"iour of these de"ices in specific operating conditions which the simulation of the whole system represents. he $ational 6esearch Council Canada and other research organiEations ha"e pro=ects underway to understand and model the fundamental beha"ior of such de"ices. he architecture permits access to such simulators in the system as they are needed and become a"ailable.
o

he proposed pro=ect includes de"elopment and implementation of the elements described abo"e in a generic architecture, populating the database with pertinent information, de"elopment and "alidation of the simulation models at the network, node and de"ice le"els and use of the system in demonstration applications within the regions participating in the pro=ect. $eli"erables Comprehensi"e database of energy de"ices, supply Q demand profiles >alidated #D simulation models of energy de"ices, nodes Q networks 'nternet based access for the industry experts to enable on!line design Q optimiEation of energy nodes Q networks ,olonic 7lug!and!7roduce intelligent energy de"ices Q nodes ,olonic coordination Q control of energy de"ices, nodes Q networks (pplication test beds (e.g., hydrogen fuelling stations, distributed power generation) in e"ery participating region. D. Cost 0stimate 1?; man!years ? years .. Duration (years)

1L. 3artners 7artners are being contacted now to confirm their interest in participating in this '34 pro=ect. 4trong interest has already been expressed by firms, uni"ersities and research institutions in Canada, 14(, 81, 4witEerland and Corea. 11. 8alue-added of the international coo#eration (ccelerate adaptation of alternati"e Q renewable energy technologies 6educe dependence on non!renewable energy sourcesO 6educe dependence on centraliEed energy production Q distribution systems 'mpro"e robustness of energy supply resulting in reduced "ulnerability to crisis Q threats (e.g., terrorism) 7ro"ide a migration path from the legacy energy systems to en"ironmentally friendly and sustainable energy systems.

$isci#line research contributions to the modelling and design of Intelligent Manufacturing systems

Chrysostomos Stylios, Peter Groumpos

Laboratory for Automation and Robotics Technical University of Denmark DK-2800 Lyn by D!"#ARK !mail ilad$i%t&dtu&dk

1ilad Langer2 Christian SMrensen

De%artment of #anufacturin !n ineerin University of 'atras 2()00 Rion* 'atras* +R!!,! !mail stylios$ee&u%atras& r
Yong Ta !yun, "anfred #ec

Laboratory for #achine Tools and 'roduction !n ineerin -./L0 Aachen University of Technolo y-R.T1-AA,1!"0 2teinbachstrasse )34 D)20)( Aachen +!R#A"5 !mail6 hyt$78l&r7th-aachen&de
$enoit Iung

,RA"-++'* 9aculte des sciences Universit de !A!"#$ %&'() *+*,- .andoeuvre 9RA",! /mail0 benoit.iung1cran.u-nancy.fr
Abstract This )oint *a*er is the result o% the &or+ o% cluster ,-. &ithin the /s*rit 01 no. 21233 on 4ntelli$ent Manu%acturin$ Systems 54MS6 &or+in$ $rou*. The *a*er conveys the results o% a co-o*erative research e%%ort "et&een #7R Patras 51reece6, DT8 5Denmar+6, 'R7(91S4P 5France6 and 7achen 0:# 51ermany6. 4t aims at hi$hli$htin$ the contri"ution o% each o% the *artners to some common issues related to the modellin$ and control o% an autonomous and co-o*erative system under dynamically chan$in$ conditions. ;et, it does not *rovide a $lo"al solution since this &ould re<uire %urther investi$ations and research, "ut it stimulated us to continue &or+in$ to&ards the inte$ration o% our individual a**roaches &ithin the 4MS *ers*ective. &ey'ords% Modellin$, 'ontrol, 4ntelli$ent Manu%acturin$ Systems

() Introduction
The re<uirements %or ne& $eneration manu%acturin$ systems, &hich &ill "e characterised "y hi$h autonomy and intelli$ence, have led to the investi$ation and invention o% ne& techni<ues that &ill inte$rate and com"ine +no&n advanced methodolo$ies and &ill "e the core o% these so*histicated systems. Po&er%ul com*uters, advances in communication and other technolo$ical and scienti%ic areas &ould "e inte$rated and utilised in the area o% 4ntelli$ent Manu%acturin$ Systems. 4t has "ecome <uite clear that the re<uirements in the modellin$ and control o% systems cannot "e met only &ith the e=istin$ conventional theories. 4t is necessary to investi$ate and use ne& methods that &ill e=*loit human e=*erience, &ill have learnin$ ca*a"ilities, &ill "e su**lied &ith %ault- detection and

identi%ication characteristics and it &ill include im*recision and uncertainty. 7n 4ntelli$ent Manu%acturin$ System should utilise e%%ectively all the com*any resources, es*ecially the insi$hts and e=*erience o% %ront-line o*erators and e=*erts, in order to achieve continuous im*rovements in *roductivity. >ne o% the ma)or o")ectives o% the 4ntelli$ent Manu%acturin$ System initiative ?1@ is to contri"ute to the develo*ment o% ne& *roduction systems that can %ul%il technical, economic and environmental re<uirements %or o*timality and sustaina"ility &hile maintainin$ their com*etitiveness. This necessitates enhancement o% the %le=i"ility, reusa"ility, availa"ility, de*enda"ility o% the *roduction system ?2@. This leads to a system or$anisation that has to "e a com*romise "et&een the current hierarchical enter*rise architectures, &hich are inherently inte$rated, and the ne& distri"uted architectures, &hich are more %le=i"le, reactive and a$ile ?,@.

*) +rame of ,eference
4ndeed an inte$rated or$anisation re<uires that in%ormation is made availa"le %or use "y all the o*erational activities and throu$hout the entire "usiness environment. 4n that &ay, Aintelli$enceA em"edded in the %ield com*onents 5e.$. devices such as actuators, sensors, P#'Bs, etc.6 ?.@ and di$ital communication 5e.$. %ield-"us6 *rovide a solution to an in%ormational re*resentation o% the *roduction *rocess as e%%iciently as *ossi"le. The resultin$ sho* %loor architecture is there%ore constituted "y a net&or+ o% %ield com*onents inte$ratin$ a Atechnical %orm o% intelli$enceA 5local ca*acities6 that o%%er a $reater reactivity &hile intero*eratin$ amon$ them to ensure the inte$ration 5co-ordination6 o% o*erational activities. These architectures advocated "y the 4MS initiative are characterised mainly "y *ro*erties o% %le=i"ility and ada*ta"ility that are re<uired to <uic+ly %ace u* internal and e=ternal distur"ances &hile *reservin$ the $lo"al $oals o% the a**lication. Thus in order to *ortray and investi$ate the di%%erent researches descri"ed in this *a*er a %rame o% re%erence has to "e esta"lished. This re%erence can then "e used as a "asis %or com*arison o% the di%%erent researches, to reveal *ossi"le %ields o% colla"oration %or %urther research. From a *roduction *oint o% vie&, a com*romise has to "e reached "et&eenC 1. Integration #aradigm that focuses on integrating the *perational domains (Control, 3aintenance and technical 3anagement0 CMM concept S?T) at the shop floor le"el in accordance with the )usiness domains at the 8nterprise le"el. hus it comprises a coherent architecture in order to gain real business ad"antages, and re%uires the use of a well!known CIM0 0nter#rise hierarchical modelling frame(or6 S/T as promoted by the 87 21@?. 28'!'C2 and the world!wide 28nterprise 'ntegration2 initiati"e S<T. he resulting 2hierarchical2 systems are optimised for performances and as a consistent whole but with considering the problems that unforeseen disturbances may cause. 2. $istribution #aradigm that focuses on embedding 2intelligence2 at the shop floor le"el producing an adaptable architecture that achie"es hardware and software interoperability and adaptability. 't re%uires the use of a prospecti"e '34 ('ntelligent 3anufacturing 4ystem) 0nter#rise distributed modelling frame(or6 as proposed by the world!wide '34 initiati"e. he resulting 2intelligent2 systems (distributed, heterarchical) enhance interoperability, adaptability, ability to react to disturbances, still ha"e problems related with optimising global functionality. his compromise asks for the definition of the expected characteristics of such type of production systems. his implies not only the need to characterise the architecture resulting from the engineering process, i.e. the model of the system (hierarchical, heterarchical), but also the engineering process itself. he engineering process can be formalised by use of meta!models, reference models, emergence mechanisms, etc. Dinally a modelling framework (Cartesian, systemic, etc.) has to be used in order to pro"ide a framework thereby the architecture can be implemented, based on the engineering process S@T. Dosan+e and (ell ?E@ introduced an -nterprise Integration Capability "odel in order to characterise architectures usin$ %ive levels 5inter*reted as hierarchical, inte$rated, distri"uted, and intelli$ent "y 4un$ et al ?F@6. 0eston in ?2@ also *ro*osed some classi%ications o% the systems and system en$ineerin$ *rocess.

%able 1. 5rame of 4eference ada#ted from 4./. Holloc6 et al N!O and Iung et al NDO

The relationshi* "et&een architecture and modellin$ %rame&or+ is illustrated in Ta"le 1. 4t is "ased on the /nter*rise 4nte$ration 'a*a"ility Model *ro*osed "y Dosan+e and (ell ?E@ and on a classi%ication o% modellin$ %rame&or+s *ro*osed "y 4un$ et al ?F@. The Ta"le illustrates %ive levels, &hich are named Fra$mented, Ri$id, !isi"le, 4ntero*era"le and 7da*ta"le, res*ectively. 7t the %irst level 5Fra$mented 4slands6 no inte$ration e=ists and thus no modellin$ %rame&or+ can "e used. The Ri$id level is characterised "y *urely hierarchical structures and the modellin$ %rame&or+ is "ased on the 'artesian a**roach. This modellin$ %rame&or+ results in structures that ensure o*timal overall *er%ormances "ut are too ri$id and res*ond only *oorly to chan$es and distur"ances. 4n order to loosen the hierarchy the !isi"le level allo&s communication "et&een su"-units. Go&ever this structure is still too ri$id and slo& in res*ondin$ to distur"ances. The modellin$ %rame&or+ a**roach is Systemic in such %rame&or+s as 1/R7M. The 4ntero*era"le level re*resents a distri"uted structure, &here all decision-ma+in$ is carried out locally at each unit. This results in a %lat structure, &here the units co-o*erate. The modellin$ %rame&or+s used are o")ect- orientation and distri"uted arti%icial intelli$ence 5D746 methods. These systems are easy -to-re-con%i$ure and there%ore they res*ond &ell to chan$es and distur"ances. Go&ever the decentralisation hinders the overvie& o% the *er%ormance o% the systems &here"y su"o*timisation is li+ely to result.. The 7da*ta"le level corres*onds to the ultimate Arela=ationA o% the hierarchy and thus, to the 4MS *aradi$m in $eneral. The evolution o% modellin$ %rame&or+s has not "een consistent &ith the evolution o% *roduction system architectures. For instance, the Distri"uted 7rti%icial 4ntelli$ence *aradi$m currently does not seem to "e o*erational enou$h %or modellin$ 4ntelli$ent Systems. 4t is ho&ever ade<uate %or modellin$ and control o% autonomous and co-o*erative system, since it considers the system as an interaction "et&een autonomous and inde*endent entities 5 agents or holons6, &hich &or+ to$ether accordin$ to o*eratin$ modes ?1H@. So, all these architectures can "e im*lemented throu$h modellin$ %rame&or+, "ut on the "asis o% an en$ineerin$ *rocess. The en$ineerin$ *rocess can "e characterised "y the Capability "aturity "odel 5Ta"le 26 used in so%t&are en$ineerin$ ?11@. This model o% $raded maturity 5not a continuous maturity model6, similar to the So%t&are 'a*a"ility Maturity Model *ro*osed "y the So%t&are /n$ineerin$ 4nstitute o% 'arne$ie Mellon 8niversity , su$$ests %ive levels o% classi%icationC 4nitial, Re*eata"le, De%ined, Mana$ed and >*timisin$. Moreover the model divides these cate$ories into <ualitative and <uantitative ones in order to clari%y the AinvariantsA o% the modellin$ *rocess, such as the $enericity, reusa"ility and validity o% the architecture. This re%erence model can "e used to classi%y the architecture o"tained as a result o% the en$ineerin$ *rocess, s*eci%ically in terms o% the research descri"ed in this *a*er.

%able 1. 5rame of 4eference ada#ted from 4./. Holloc6 et al N!O and Iung et al NDO

The main $oal o% this *a*er is to use the %rame o% re%erence sho&n a"ove to descri"e ho& any o% the *artnersI research contri"utes to the modellin$ and control o% autonomous and co-o*erative system. By clari%yin$ issues related to the manner o% im*lementation o% the architecture at the ada*ta"le level 5Ta"le 16 throu$h the use o% ne& modellin$ %rame&or+, these issues &ill additionally sho& the $eneral shi%t %rom the !isi"le level 5'4M6 to the 7da*ta"le level 54MS6. 4t is im*ortant to note that this shi%t has to "e realised at and "et&een t&o levels, namely the sho* %loor level and the "usiness level. This corres*onds to realisin$ the inte$ration "et&een the sym"olic &orld and the *hysical one. 'oo*eration at the *hysical level is more di%%icult to achieve than it is at the sym"olic one due to the di%%erence "et&een the hard constraints 5time, *hysical location, variations, une=*ected "ehaviour, etc.6. The ne& intelli$ent systems &ill thus have to emer$e %rom these s*ecial inte$ration re<uirements.

.) Summarising ,esearch Contributions

7ll %our *artners have di%%erent a**roaches re$ardin$ the modellin$ and desi$n o% 4ntelli$ent Manu%acturin$ SystemsJ yet &ith the same aim namely an a$ile *roduction system. The di%%erent a**roaches are *resented in Fi$ure 1, &here the investi$ation o% the "orders "et&een these %ields is one o% the $oals o% this *a*er. The #a"oratory %or 7utomation and Ro"otics 5#7R6 *ro*oses a hierarchical a**roach to descri"in$ the u**er *roduction level and the lo&er enter*rise level. This modellin$ a**roach can "e classi%ied accordin$ to Fi$ure 1, and it "elon$s to the hierarchical and inte$rated a**roaches class. This a**roach e=amines the sho* %loor system %rom a "ehavioural *oint o% vie& and it utilises an a"stract methodolo$y in modellin$ this "ehaviour. This methodolo$y is named FuKKy 'o$nitive Ma* 5F'M6 and it "elon$s to the so%t com*utin$ a**roaches, modellin$ the sho* %loor level %rom a "ehavioural *oint o% vie&. Moreover a hierarchical structure is *ro*osed that esta"lishes a sho* %loor level &ith su*ervisory control, &hich is lin+ed &ith the "usiness level in Fi$ure 15see Section .6. DT8 has attem*ted to develo* an architecture and methodolo$y %or the desi$n o% a$ile sho* %loor control systems and has %ocused their research on the holonic a**roach. By %oundin$ the control system on autonomous and co-o*erative entities 5holons6, a hi$hly ada*ta"le manu%acturin$ system can "e realised. The main interest at DT8 is in develo*in$ a system architecture de%inin$ the %unctionality o% the "asic entities, structures o% the entities and their co-o*eration mechanisms. This research aims at "uildin$ a Golonic Multi-cell 'ontrol System 5GoMu'S6 architecture that can "e used %or the desi$n and develo*ment o% a multi-cell control system at the sho* %loor level 5see Section 36.

+igure () -nterprise Pyramid #ith Partners ,eserch +ields The 'R7(-1S4P &or+ is more dedicated to an en$ineerin$ *rocess "ased on re%erence models and dealin$ &ith the architecture o% sho* %loor *roduction systems. 4t means to *rovide solutions to the system structure chan$e and ada*tation as a dynamic or$anisation. The develo*ment o% an o*erational system is "ased on the a**lication o% the re%erence models and leads to "uildin$ a *hysical sho* %loor architecture, &hich is com*osed o% co-ordinated and co-o*eratin$ intero*era"le and reusa"le hard&are9so%t&are %ield com*onents 5see Section L6. The co-ordination and the coo*eration are re<uired to %orm a %unctionally inte$rated and *hysically distri"uted sho* %loor architecture &hich is a %irst ste* to&ards a %ull intelli$ent manu%acturin$ system usin$ an en$ineerin$ *rocess "ased increasin$ly on emer$in$ trends that &ould *rovide more ada*ta"ility 5see end o% Section L6. 4n the develo*ment o% ne& intelli$ent systems, the +inds o% communication and in%ormation e=chan$e "et&een sho* %loor devices o% the *hysical systems or a$ents that model the system have a $reat im*ortance. 4n this %rame&or+ 7achen 0:# *ro*oses a data and communication model, &hich can "e used as a $ate&ay "et&een the sho* %loor and the "usiness levels. The e=istence o% a relia"le means %or e=chan$in$ in%ormation is a %undamental issue in all the research &or+ descri"ed in this *a*er. 5see Section E6.

/) A "odel $ased on +u00y Cogniti1e "ap 2+C"3

/)( $eha1ioural "odel of Shop +loor 4e1el
Gierarchical architectures are &idely used and acce*ted in enter*rise modellin$. #7R is considerin$ a $eneral hierarchical architecture to model the sho* %loor level o% the enter*rise. >ur research %ocuses on an a"stract model that connects the sho* %loor level &ith the u**er level at the enter*rise *yramid 5Fi$ure 16 and thus it creates a more inte$rated modellin$ a**roach. 4n order to develo* advanced modellin$ methodolo$ies "ased on so%t com*utin$ a**roaches, ideas and e=istin$ a**roaches %rom in%ormation theory, neural net&or+s and %uKKy lo$ic are investi$ated and utilised to re*resent and *rocess in%ormation in a hy"rid and hierarchical industrial system ?12@. This hierarchical a**roach *ays more attention %rom a "ehavioural *oint o% vie& to the sho* %loor level and a ne& modellin$ methodolo$y is resorted to in order to model the "ehaviour o% the human o*erator at his level and o% the system itsel%. The *ro*osed methodolo$y is that o% FuKKy 'o$nitive Ma*s 5F'Ms6, &hich can model dynamical com*le= systems that chan$e in time %ollo&in$ non-linear la&s. FuKKy 'o$nitive Ma*s use a sym"olic re*resentation %or the descri*tion and modellin$ o% the system ?1,@. 7 FuKKy 'o$nitive Ma* consists o%

conce*ts that illustrate di%%erent as*ects in the "ehaviour o% the system and these conce*ts interact &ith each other sho&in$ the dynamics o% the system. 7n F'M inte$rates the accumulated e=*erience and +no&led$e on the o*eration o% the system, as a result o% the method "y &hich it is constructed, i.e. usin$ human e=*erts that +no& the o*eration o% the system and its "ehaviour. /=*erts re*resent the human accumulated +no&led$e on the o*eration and "ehaviour o% the system, usin$ conce*ts to stand %or the main characteristics and %actors o% the system and they also e=*ress the causal relationshi* amon$ %actors connectin$ conce*ts &ith &ei$hted interconnections ?1.@. 7t the sho* %loor level o% the *lant there is a common technical in%ormation system %or the *rocess control, the com*uterised and technical mana$ement systems that is shared "et&een the *roduction and the mana$ement teams ?3@. This in%ormation could "e uni%ied and used to construct a FuKKy 'o$nitive Ma*, &hich &ill re*resent a conce*tual, or$anisational and o*erational model o% the system ?13@. The +no&led$e on manu%acturin$ *lants includes the layout o% the *lant, the e=*ected "ehaviour o% some *arts o% the *lant, an a$$re$ation o% attri"utes or <uality varia"les that are im*ortant. This in%ormation is ca*tured usin$ a FuKKy 'o$nitive Ma* structure that e=*loits human o*eratorBs e=*erience and +no&led$e. 7n e=*ert relates a *rocess or a succession o% *rocesses to a conce*t, or a conce*t can stand %or a s*eci%ic *roduction *rocedure or a *rocess can re*resent the o*eration or mal%unction o% a machine or the desired out*ut, etc. 7ll these conce*ts are closely connected to each other &ith a de$ree o% cause and e%%ect that is e=*ressed "y the &ei$hted interconnections. The develo*ment and desi$n o% the a**ro*riate and e%%icient FuKKy 'o$nitive Ma* model %or the descri*tion o% a system re<uires the contri"ution o% human +no&led$e and e=*erience on the o*eration o% the system. /=*erts and o*erators o% the system, &ho +no& the "ehaviour o% the system, have created a mental model o% the system and, accordin$ to this mental modelJ they monitor, su*ervise, control and ma+e decisions and ta+e actions on the o*eration o% the system. This model can easily "e constructed as a FuKKy 'o$nitive Ma* that is a conce*tual model. /=*erts are as+ed to determine the conce*ts that "est suit the model o% the system. 7n e=*ert +no&s &hich %actors are the +ey *rinci*les %unctions o% the system o*eration and "ehaviour and he e=*resses a conce*t %or each one o% the %actors or elements. Moreover, durin$ the o*eration o% the system, he may o"serve &hich o% the elements o% the system in%luenced the others and he could determine %or the corres*ondin$ conce*ts the ne$ative, *ositive or Kero e%%ect o% one conce*t on the others. For each interconnection, it is assi$ned a %uKKy value, since it is assumed that there is a %uKKy de$ree o% causality "et&een conce*ts. Dno&led$e and e=*erience are stored on the structure o% the FuKKy 'o$nitive Ma* and the corres*ondin$ interconnections that summarise the cause and e%%ect correlation amon$ conce*ts. The selection o% the di%%erent %actors o% the system, &hich must consist the F'M, is the result o% a close-u* on systemBs o*eration and "ehaviour under the o*eratorIs su*ervision and control, as e=*erts have ac<uired them. 'ausality has $reat im*ortance %or the FuKKy 'o$nitive Ma* desi$n as it indicates &hether a chan$e in one conce*t causes chan$e in another, and it must include the *ossi"le hidden causality that could e=ist "et&een several conce*ts.

/)* A +u00y Cogniti1e "ap "odel for Process Industry

The characteristics, develo*ment methodolo$y and %eatures o% FuKKy 'o$nitive Ma*s have already "een *resented. 4n this Section a FuKKy 'o$nitive Ma* model %or a sim*le *art o% a chemical *lant &ill "e develo*ed in order to illustrate the *rocedure o% develo*in$ an F'M model %or a system and ho& F'M &ould loo+ li+e. The e=amined e=am*le consists o% t&o chemical *rocesses, &hich ta+e *lace in t&o tan+s, and the *roduct o% Process 1 continues its *rocessin$ in tan+ 2 &hereas Process 2 ta+es *lace. 7 *i*eline connects the t&o tan+s and its status in%luences "oth *rocesses as it ta+es the out*ut o% the %irst and *rovides the in*ut to the other. 'onventional controllers are used to control these t&o *rocesses and human o*erators &ill su*ervise and control the &hole system.

+igure *) A +u00y Cogniti1e "ap ,epresenting the $eha1iour of A Chemical Plant For this chemical *lant a FuKKy 'o$nitive Ma* can "e develo*ed that &ill model human su*ervision. This F'M is illustrated in Fi$ure 2. This F'M consists o% seven conce*ts that re*resent the main

%actors, states and varia"les o% the *lant. The F'M is develo*ed "y a $rou* o% e=*erts &ho su*ervise the *rocess and +no& the o*eration o% the systemC Concept (C the state o% Process 1J Concept *C it re*resents the state o% Pi*eline, &hich connects the t&o *rocessesJ Concept .C the state o% Process 2J Concept /C the Final Product o% the t&o chemical *rocessesJ Concept 5C the Muality o% the Final ProductJ Concept 6C the occurrence o% Failure 1, mostly related to Process 1J Concept 7C the a**earance o% Failure 2, mostly related to Process 2. The $rou* o% e=*erts +no& the correlation amon$ these conce*ts and so they can descri"e the in%luence o% one conce*t on the other and their causal relationshi* &ith a %uKKy de$ree. First o% all, they determine &hich conce*t &ill in%luence &hich other. So they descri"e that Process 1 in%luences *ositively the conce*t o% Pi*eline. Pi*eline in%luences *ositively the state o% Process 2 and Process 1. Process 2 in%luences *ositively the Final Product, the Pi*eline and the conce*t %or the Muality o% the Final Product. The state o% the Muality has a *ositive e%%ect %or Process 1, Process 2 and the conce*t o% Final Product. /=*erts +no& that &hen Failure 1 occurs, this event in%luences ne$atively the state o% Process 1, and conse<uently the state o% Pi*eline, &hich is de*endin$ on Process 1, and the Muality o% the Final Product, is in%luenced ne$atively. 0hen Failure 2 comes u*, there is a ne$ative e%%ect on Process 2 and it in%luences ne$atively the o*eration o% Process 1 and o% Pi*eline, as they are *re*rocessors o% Process 2. 4n addition to this, Failure 2 in%luences ne$atively the Muality o% the %inal *roduct. 0hen e=*erts determined the conce*ts that consisted the FuKKy 'o$nitive Ma* and the *ositive or ne$ative in%luence o% one conce*t on the other, they also had to determine the de$ree o% this causal in%luence. /very causal relationshi* amon$ conce*ts can "e re*resented "y a &ei$ht. /=*erts descri"e the in%luence o% one conce*t on the other &ith a lin$uistic varia"le. /very e=*ert descri"es each interconnection &ith a %uKKy varia"le and then the corres*ondin$ %uKKy &ei$hts are com"ined and inte$rated into one, &hich is de%uKKi%ied into one numerical &ei$ht. The %ollo&ed methodolo$y is that *ro*osed in ?1L@. 0hen the FuKKy 'o$nitive Ma* &as constructed, it could "e used to model the "ehaviour and to simulate the o*eration o% the system. The values o% conce*ts stand %or some varia"les and states o% the system and so their corres*ondin$ conce*t values re*resent values o% states and varia"les in the real system.

/). A !ierarchical T'o8le1el Super1isory Structure

The $eneral characteristics o% Manu%acturin$ Systems are their com*le=ity and their lar$e scale construction that ma+e researchers use structural models such as hierarchical, heterarchical and other models in order to model such systems. 4n Manu%acturin$ Systems %rame&or+ the human o*erator o%%ers and su**orts Su*ervisory 4ntelli$ent 'ontrol throu$h the use o% a va$ue control methodolo$y, &ithin &hich he ta+es into consideration di%%erent %actors and their relationshi*. >n the other hand, there is a hi$h re<uirement %or more so*histicated systems &ith advanced characteristics such as the *ossession o% human-li+e e=*ertise &ithin a s*eci%ic domain, their ada*tation and learnin$ to do "etter in chan$in$ environments. FuKKy 'o$nitive Ma*s are sym"olic re*resentations %or the descri*tion and modellin$ o% com*le= systems, revealin$ di%%erent as*ects in the "ehaviour o% com*le= systems in terms o% conce*tsJ and the interactions amon$ conce*ts sho& the linear and non-linear dynamics o% a system. The su*ervisor o% a system can "y means o% this a"stract methodolo$y model the FuKKy 'o$nitive Ma*. 4t is assumed a hierarchical structure &here the lo&er level consists o% conventional control methodolo$ies and the su*ervisor is modelled &ith this sym"olic a"stract methodolo$y and the &hole structure %ollo&s the *rinci*le o% Adecreasin$ *recision and increasin$ intelli$enceA ?1E@. The su*ervisory model is develo*ed as an au$mented FuKKy 'o$nitive Ma*. F'M is constructed &ith a methodolo$y that descri"es the su*ervisor directly %rom the +no&led$e and e=*erience o% e=*erts &ho are monitorin$, su*ervisin$ and controllin$ the *rocess manually and success%ully. 0ithin this *rocedure *rimary attention is *aid to the humanBs "ehaviour and e=*erience rather than to the *rocess "ein$ controlled. This distinctive %eature ma+es FuKKy 'o$nitive Ma*s "e a**lica"le and attractive %or dealin$ &ith the su*ervised *ro"lem &here the *rocess at the lo&er level is <uite com*le= and on the other hand this *rocess is su*ervised and controlled satis%actorily "y human o*erators. 4t is su$$ested a hierarchical t&o -level structure, &here the lo&er level system is su%%iciently controlled "y local conventional or non conventional controllers and the su*ervisor at the second level. The *ro*osed structure is de*icted in Fi$ure ,, &here the su*ervisor is modelled as a FuKKy 'o$nitive Ma* and consists o% %ive su"-F'Ms. /ach one o% these su"-F'Ms accom*lishes a s*ecial action %or the *lant at the lo&er levelJ one F'M is monitorin$ the *lant, another one is used %or %ailure dia$nosis, the ne=t one is used %or decision-ma+in$, the other %or *lannin$ actions on the *lant and the last F'M

descri"es the e=ecution commands and sends them to the *lant. These %ive F'Ms are interconnected and they may have common conce*ts. The *lant at the lo&er level has its o&n local controllers that *er%orm usual control actions and the su*ervisor is used %or more $eneral *ur*osesC to or$anise the overall *lant in order to accom*lish various tas+s, to hel* the o*erator ma+e decisions, to *lan strate$ically the control actions and to detect and analyse %ailures. This su*ervisor &ith an au$mented FuKKy 'o$nitive Ma* attem*ts to emulate the human control and su*ervision ca*acity %or the *lant.

+igure .) The Proposed !ierarchical T'ole1el Structure #ith the Super1isor +C" The t&o-level structure and se*arately its t&o levels have "een descri"ed. These t&o levels interact and there is an amount o% in%ormation that must *ass on %rom one level to another and vice versa. Thus there is an inter%ace "et&een the t&o levels, &hich consists o% t&o *arts, one *art &ill *ass in%ormation %rom the controller at the lo&er level to the au$mented FuKKy 'o$nitive Ma* at the u**er level and the other *art &ill trans%orm and transmit in%ormation in the o**osite direction.

+igure /) The Structure of the !olon

+igure 5) Intra8and Inter8!olon Interaction The su*ervisor FuKKy 'o$nitive Ma* interacts &ith the u**er enter*rise levels on the $eneral enter*rise *yramid 5Fi$ure 16. The FuKKy 'o$nitive Ma* model o% the su*ervisor can easily interact, communicate and "e inte$rated &ith the other elements o% this *yramid .

5) A !olonic "ulti8cell Control System Architecture

The research *er%ormed at DT8 contri"utes to the develo*ment o% autonomous and co-o*erative Sho* Floor 'ontrol 5SF'6 systems and is *art o% the on-$oin$ international research in the area o% Golonic Manu%acturin$ Systems 5GMS6. The aim o% the Golonic theory is to realise manu%acturin$ control systems that inherit the "est characteristics o% the inte$ration and distri"ution *aradi$ms as descri"ed in the introduction 5see Ta"le 16. These manu%acturin$ systems are a"le to simultaneously *er%orm as "oth a hierarchical and a heterarchical control system. Thus in order to o"tain ada*ta"le manu%acturin$ systems a hy"rid a**roach is ado*ted in &hich the "est characteristics o% the ri$id, visi"le and intero*era"le architectures are com"ined 5see Ta"le 16. The resultin$ structure o% the control systems can "e dynamically chan$ed "ased on the demands %orced in "y the environment, thus ena"lin$ a hi$hly ada*tive "ehaviour. The contri"ution includes an architecture 5GoMu'S architecture6 &hich ma+es hi$hly ada*ta"le sho* %loor control systems "e desi$ned and develo*ed. 4t includes a methodolo$y *rescri"in$ ho& to develo* and im*lement sho* %loor control systems "ased on this architecture. GoMu'S is an acronym %or Golonic Multi-cell 'ontrol System. The term Golonic *oints at the s*ecial characteristics o% this ty*e o% a control system, &hich are the inherent traits o% autonomy and co-o*erativeness. Thus the system consists o% elements that are Golons structured in a holarchy, yieldin$ a "ehaviour that $ives the &hole system an a$ile nature, "oth in terms o% *er%ormance and recon%i$ura"ility. The term multi-cell im*lies the e=tent o% this class o% control systems in a manu%acturin$ enter*rise. 7n GoMu'S is desi$ned %or the control o% &hat &ould "e the cell and area levels o% a manu%acturin$ enter*rise in terms o% traditional hierarchical control models. 4n *o*ular terms, an GoMu'S re%ers to a hi$hly a$ile sho* %loor control system %rom the &or+station level and u* to the %actory level accordin$ to the enter*rise *yramid illustrated in Fi$ure 1. The GoMu'S architecture consists o% a set o% %unctional models, an o")ect -oriented model and a meta-model %or the inte$rated data"ase o% the system, called the Product State Model 5PSM6 ?1F@. These models descri"e the $eneric system %unctionality, the $eneric "uildin$ "loc+s o% the system and the internal structure o% a holon res*ectively. The structural elements and their relationshi*s are descri"ed "ased on a set o% o")ectoriented models usin$ the 8M# modellin$ standard. This modellin$ a**roach is a hy"rid o% the modellin$ methods classi%ied as distri"uted, inte$rated and hierarchical architectures res*ectively 5see Ta"le 16. 4t has "een ado*ted as a result o% the need %or a ne& modellin$ method at the 7da*ta"le level. 7t this *oint it is uncertain i% it &ill do, "ut it serves as a %irst attem*t to model the %uture ada*ta"le and intelli$ent manu%acturin$ systems.

The elements o% the architecture are a"stract meanin$ that they have to "e customised, as *art o% the en$ineerin$ *rocess in order to o"tain the holons and other structural elements necessary %or im*lementation. /ach Golon in the architecture descri"es a $eneric com*onent o% a sho* %loor control system. The system architecture is im*lemented usin$ the Java *ro$rammin$ lan$ua$e and can "e vie&ed on the GoMu'S &e"-site 5htt*C99&&&.homucs.or$6, &here "oth the documentation and source code %iles can "e %ound.

5)( The Architecture of A !olon

By de%inition a Golon is an autonomous and co-o*erative element o% a manu%acturin$ system. 4t is autonomous since it can derive its o&n *lans and e=ecute them. 4t is co-o*erative since it can interact &ith other manu%acturin$ holons in the system to de%ine mutual *lans and contin$encies. 4n %act it is very similar to a so%t&are a$ent, yet it has its di%%erences. First, there is a strict structural de%inition re$ardin$ the di%%erent ty*es o% Golons and their %unctionality, secondly it consists o% a *hysical *art such as a manu%acturin$ resource or *roduct and has a s*ecial mechanism to inter%ace &ith that *hysical *art. 7 Golon does not have to "e intelli$ent. 4n other &ords it is not *art o% the s*eci%ication that it has to have "uilt in intelli$ence such as an arti%icial intelli$ence en$ine, althou$h this is *ractically un%easi"le since it is essential in achievin$ autonomy and co-o*erativeness. 4n *ractice its autonomy can "e achieved "y sim*le lo$ical tests, &hile its co-o*erativeness can "e achieved "y *ro$ramma"le interactions "et&een o")ects 5see Fi$ure .6. Go&ever in order to o"tain o*timal *er%ormance in com*le= manu%acturin$ environments there is a need %or more com*le= autonomy and co-o*eration en$ines, &hich can "e realised "y such methods as FuKKy 'o$nitive Ma*s 5F'M6 ?see #7R, Section .@ and so%t&are a$ents. 7 Golon has an !MD 5!irtual Manu%acturin$ Device6 and a Dernel. The !MD allo&s %or a vendor inde*endent and easily con%i$ura"le inter%ace to manu%acturin$ e<ui*ment and the +ernel allo&s %or system inde*endent im*lementation o% multi-a$ent systems. The !MD de%ines the inter%ace to the *hysical manu%acturin$ devices "ased on the M7P9MMS and 4S> >S4 layer model. The client-server relation "et&een the holon and the !MD o")ect re*resents the a**lication layer in the 4S> >S4 model. The Dernel is an im*lementation o% an a$ent that drives the Golon, thus ma+in$ the GoMu'S a s*ecialised Multi-a$ent System 5M7S6. The Dernel de%ines the inter%ace to an a$ent and thus all the lo$ic o% the Golon is contained in the Dernel. 4nternal interaction &ithin a Golon is the interaction "et&een the Golon, !MD and Dernel. The e=ternal interaction is the interaction "et&een holons &ithin the GoMu'S and e=ternal in%ormation systems li+e /RP, etc. The internal and e=ternal interactions are called intra- and inter-holon interaction res*ectively. The inter-holon interaction "et&een Golons is *er%ormed at t&o levels. Bet&een holons, im*lemented throu$h the method invocation and e=chan$e o% holons 5o")ects6, and "et&een +ernels usin$ the im*lemented M7S. The intra-holon interaction is *er%ormed usin$ the event mechanism im*lemented in the GoMu'S architecture 5Fi$ure 36. The Dernel contains the Golons decision lo$ic, &hich is used to interact usin$ "oth lon$ and short-term interaction. #on$-term interaction %or a Golon can "e a messa$e a"out the %uture arrival o% an >rder Golon, ena"lin$ the Dernel lo$ic to ma+e advance decisions. Short-term interaction concerns real-time decisions a"out dis*atchin$ o% orders or events. /.$. &here should an order "e *ut a%ter *rocessin$, &hich encom*asses the in%ormation %lo& "et&een the Golon, !MD and Dernel as mentioned a"ove. 4n%ormation a"out the *hysical system is crucial in inte$ratin$ the *hysical manu%acturin$ system into the manu%acturin$ control system. >ne method o% *rovidin$ this in%ormation is "y continuously readin$ state in%ormation throu$h the !MD. The GoMu'S architecture su**orts this internal structure o% a Golon "y *rovidin$ a set o% classes and an event mechanism to su**ort interaction "et&een the +ernel o% the Golon and the Golon. The re$istration o*eration is enca*sulated in the Golon class such that it is an attri"ute o% all the Golons in an GoMu'S. The im*lementation o% the Dernel class is done accordin$ to the actual ena"lin$ technolo$y "ein$ used. This is also valid %or the communication and interaction *rotocol "et&een the +ernels, e.$. a "iddin$ mechanism.

5)* +unctionality of A !olon

4n order to su**lement the structural descri*tion o% the Golon &ith an overvie& o% the re<uired %unctionality o% the GoMu'S and its elements, the architecture includes a set o% %unctional models usin$ the 4D/FH techni<ue. The s*eci%ic $eneric %unctional de%inition o% a Golon &ith res*ect to ho& it uses its +ernel is $iven "y modellin$ %rom the vie&*oint o% the Golon *er%ormance o% *roduction tas+s. The conte=t is the $eneric %unctionality o% the Golon. Thus the %unctions descri"ed are common to all ty*es o% Golons in the GoMu'S architecture ?12@. 4t descri"es the three central %unctions that a Golon has to include in the conte=t o% a sho* %loor control system.

+igure 6) The Generic +unctionality of A !olon8A9 ID+9 Diagram Fi$ure L illustrates the three %undamental %unctions o% a Golon. These are Plannin$, /=ecution and Monitorin$. They have to "e *er%ormed "y all Golons in order to "e a"le to act autonomously. Thus they have to "e a"le to com*ile their o&n *lans and e=ecute them &hile monitorin$ their *ro$ress. This $eneric %unctionality model is in %act no di%%erent %rom the models used to descri"e traditional SF' systems and +no&n %rom the inte$rated %rame&or+ 5Ta"le 16 and the systemic a**roach o% the Production 7ctivity 'ontrol 5P7'6 %unctional architecture ?2H@. This is o% course o"vious since the SF' tas+ is inde*endent o% SF' solution, traditional or holonic. The di%%erence lies in that, in a GoMu'S, this $eneric %unctionality e=its in the entire element o% the SF' system and not only at the sho* %loor controller level. Furthermore the %unctionality is attri"uted to the Golons, &hich also consist o% the *hysical sho* %loor e<ui*ment and materials. Thus >rder holons also have this %unctionality, &hich allo&s the *lannin$ o% the *roduction %lo& to "e *er%ormed in co-ordination "y "oth material and resources in contrast to traditional systems &here the control is e=erted solely "y &hat is considered to "e resources in the GoMu'S.

6) +rom Integrated8Distributed Shop +loor Architecture $ased on Interoperable +ield Components to Intelligent Shop +loor Architecture
4n relation to Distri"ution-4nte$ration issues, the %irst research *er%ormed at 'R7(91S4P contri"uted to the %ormalisation o% the $eneric en$ineerin$ *rocess o% inte$rated - distri"uted sho* %loor architecture. This &or+ is )usti%ied "y the recurrin$ needs o% industrial system en$ineerin$ *rocess and their re%erence models allo&in$ the system structure to chan$e and ada*t as a dynamic or$anisation. The en$ineerin$ *rocess is not %ocused on the *roduct de%inition 5Nthe 0hatB o% the /nter*rise6 "ut on the de%inition o% the o*erational system 5Nthe Go&B6 at the sho* %loor level &hich su**orts the *roduct manu%acturin$. The a**lication o% the re%erence models leads to "uildin$ a *hysical sho* %loor architecture, &hich is com*osed o% co-ordinated and co-o*eratin$ intero*era"le and reusa"le hard&are9so%t&are %ield com*onents 5devices6. The resultin$ sho* %loor architecture is there%ore constituted "y a net&or+ o% %ield com*onents inte$ratin$ a N technical %orm o% intelli$ence N 5local ca*acities6 that o%%er a $reater reactivity &hile intero*eratin$ amon$ them to ensure the inte$ration 5coordination6 o% o*erational activities. That means to add to the %ield com*onents classical missions ne& services related to monitorin$, validation, evaluation, decision- ma+in$, etc. ?21@, &ith re$ard to their o&n o*erations 5an increased de$ree o% autonomy6 "ut also their intero*era"ility conte=t %or a**lication 5an increased de$ree o% com*onent interaction6. The intero*era"ility, in accordance &ith the de%inition *ro*osed "y the S/M4 or$anisation 5Semiconductor /<ui*ment and 4nternational Material6 can "e descri"ed "y C

'nteroperability of class ( for the communication, 'nteroperability of class ) for the application ser"ices, 'nteroperability of class C for the interchangeability K towards ada#tability.

he resulting shop floor architecture based on interoperable components is thus characterised by three keywords0 'nteroperability, 'ntegration and Distribution. his architecture is complex due to, first, the interaction between its "arious field components, and second, the heterogeneous nature of the "arious techni%ues implemented in it. 'ts de"elopment implies definition of its components, the carrying out of the de"elopment itself and finally their assembly and checking that their interactions constitute correctly the functions expected from a distributed! integrated architecture. he engineering process of such architecture has to master the complexities of distribution and interactions, to pro"ide better global performance and better reacti"ity at disturbances (a compromise between hierarchy and heterarchy S#T). /arly &or+s in /uro*ean /SPR4T Pro)ects on 'MM conce*t 5an inte$ration vie&6 have contri"uted to this en$ineerin$ *rocess "ut mainly %rom technolo$ical and normative *oints o% vie&. They *ro*osed *re-inte$ration o% the 'MM activities throu$h the im*lementation o% 4ntelli$ent 7ctuation and Measurement systems 5IA" conce*tC a distri"ution vie&6 com*osed o% smart devices and %ield-"uses ?22@ develo*ed as s*eci%ic %ield com*onents. 7ll these /uro*ean ROD *ro)ects have "een su**orted "y industrial users comin$ mainly %rom ener$y domain such as /DF 5F6, /(/# 546, /DP 5P6, #7B>R/#/' 5B6 and "y industrial vendors such as S/M7 1R>8P 5F and B6, B/R(7RD 5F6, 7BB 5S06, /#S71 B74#/; 546 and B4FF4 546. Some o% the *artners are already involved in our current ROD.

5igure !. CMM/IAM Modelliing 54ame(orr6 - 104AAM Modelling 5rame(or6

This Atechnolo$icalA 'MM947M inte$ration is not su%%icient to %ul%il all the %eatures o% the en$ineerin$ *rocess and to ensure its consistency and reusa"ility. 4ndeed, the "ehaviour o% the &hole 'MM947M system cannot result only %rom assem"lin$ the re<uired technolo$y. 4t is necessary to move %rom a ATechnolo$y *ushA situation to a A Re<uirement *ull situationA. So, to "e com*liant &ith "oth inte$ration and distri"ution *aradi$m, &e have *romoted the %ormalisation o% the 'MM947M en$ineerin$ *rocess throu$h a systemic %rame&or+ and "y means o% re%erence models that can "e a**lied in de%inin$ s*eci%ic inte$rated-distri"uted sho* %loor architectures The re%erence models are %ormalised inside the %rame&or+ "y usin$ an e=tended entity9relationshi* %ormalism. The use o% re%erence models has several advanta$es, such as their reusa"ility %or other a**lications o% the same ty*e, their steady im*rovement "y collection and analysis o% e=*erience, the reduction o% develo*ment costs, the u*$radin$ o% the <uality o% solutions, the de*enda"ility o% the resultin$ architectures. The %rame&or+ allo&s to structure the develo*ment o% the architecture in a more e%%ective &ay "y ta+in$ into account the systemic *aradi$m and considerin$ the architecture throu$h its %unctional, $enetic and *hysical re*resentations ?3@. 4t can "e synthesised alon$ the three a"straction, vie& and inte$ration a=es in accordance &ith the 1/R7M %rame&or+ ?2,@ 5Fi$ure E6. 4n this %rame&or+, the en$ineerin$ *rocesses have to C ensure that the operational architecture resulting from the reference models application will satisfy the integration and distribution re%uirements (to reach the le"els +>isible+ and +'nteroperable+ of able 1),

support formal reference models guaranteeing the %uality of the approach re%uired to master the modelling process consistency, reusability and impro"ement (to reach the le"els +Defined+ and +Uuantitati"ely 3anaged+ of able 2).

4o, the role of the modelling agent is, "iewed from the user needs, to deduce the functional model of C33:'(3 architecture and, from a real C33:'(3 resource system, to induce the operational ones knowing that these stages are guided by the framework pre"iously defined, which implements the systemic modelling approach on two main planes0 a 2system:abstraction2 plane which consists in modelling, in a separate way, the transformational processing of the shop floor acti"ities, and their organisation on a distributed architecture in order to satisfy the user needs,

1. an 2integration:abstraction2 plane which consists in integrating through transactional processing the

pre"ious transformational ones and in implementing them in an integrating infrastructure S.T in order to form a coherent whole.

,.1 5rom Closed $istributed *#erational Acti"ities

The %rame&or+ aims in the %irst instance at modellin$ each one o% the three 'MM o*erational activities 5its trans%ormational *rocessin$6, &ith no considerations %or the other ones 5no inte$ration6. 7t this sta$e, the $lo"al NGo&B o% the *rocess is desi$ned in terms o% mechanical %ield 5device6 com*onents, &hich su**ort elementary *hysical trans%ormations re<uired to ela"orate the *roduct 5e.$. to store &ater "y means o% tan+, to re$ulate the &ater %lo& "y means o% valve, P 6. >n these assum*tions, the %rame&or+ has to ensure the ma**in$ "et&een the re<uirements e=*ressed "y the users and re*resented "y a %unctional model o% the e=*ected services, and the o%%ered vendorIs solution re*resented "y an o*erational model. So, the modellin$ %rame&or+ su**orts three a"straction levelsC functional le"el, which expresses the user+s re%uirements in terms of each operational acti"ity of the shop floor architecture without considering any distribution criteria or technological constraints on the ' processing, storing or communication, organisational le"el, which introduces distribution criteria such as those linked to 0 user+s organisational re%uirements resulting from safety, dependability, redundancy and other constraints. hese criteria are ' implementation independent, "endorsF organisational architecture which results from matching existing (or new) field components to the user re%uirements

1. operational le"el taking into account the ' technological constraints and de"elopments.
he ob=ecti"e of each operational shop floor acti"ity is 0 for the control, to ensure the commandability and obser"ability of the physical architecture, by means of actuation and measurement channels, defined from the needs of the functional step S2&T S@T, for a 2-ust in ime2 7redicti"e 3aintenance, to ensure the a"ailability of architecture resources S2?T S2/T through Dorecasting, Diagnosis and 3onitoring processes based on the causal relationships between functioning and malfunctioning, for the technical 3anagement, to optimise the operation phase by modifying control or maintenance procedures, tools and materials. 4o, the reference models ha"e to formalise (a) the functional re%uirement diagrams from the user needs and related to each C33 goal (definition of Dunctional Companion 4tandards)O (b) the distribution of these re%uirements (Dunctional Companion) in co!operating organisational!units while respecting on the one hand, the appropriate corporate and site policies on safety, haEard and operability studies, K and, on the other hand, the application goalO (c) the mapping of these org!units onto physical field components from a processing, storing and communication point of "iew. he distribution is made on two le"els linked by a fieldbus 0 2nternal functions, which are directly supported by the field de"ices components 0 Vintelligent field de"icesF, performing a mechanical or electrical transformation (actuators and sensors), /3ternal functions, which are not supported by the field de"ices and need to be implemented into another field component within the process systems ,to satisfy the user+s needs (e.g. control unit).

he communication interoperability (class () is supported by the fieldbus and the processing interoperability (class )) is supported by the Dunctional Companion 4tandards. he features of the selected fieldbus ensure the co!operation of the Communication ser"ices and the Dunctional Companion 4tandards as well as the co! operation of the application ser"ices. The resultin$ architecture, o"tained "y derivation o% re%erence models, models each o*erational sho* %loor activity called Nintero*era"leB, "ecause it is "ased on intero*era"le and distri"uted com*onents "ut closed "ecause it is not inte$rated &ith the other activities.

6)* ): To An ;pen Integrated Shop +loor Architecture :

To o*en and enhance the closed o*erational sho* %loor activities to "ecome a 'ontrol, Maintenance and Technical Mana$ement inte$rated system, the modellin$ %rame&or+ has to su**ort also the re*resentation o% in%ormation transaction "et&een 'ontrol, Maintenance and Technical Mana$ement activities ?2E@. The en$ineerin$ *rocess has to ta+e into account the communication o% the transactional in%ormation, its *rocessin$ and its stora$e to realise a horiKontal inte$ration 5"et&een all the o*erational activities6 and a vertical one &ith the other /nter*rise %unctions. 7t this sta$e, the re%erence models %ormalise, %irst, the develo*ment o% the technical in%ormation systems, to inte$rate the three sho* %loor islands, and second, the mechanisms to com*lete the o*erational architecture, that is to say the im*lementation o% the control, maintenance, technical mana$ement and technical in%ormation systems in the inte$ratin$ in%rastructure. This inte$ration is su**orted "y the selected %ield"us and "y technical Data Base Mana$ement Systems that ensure the co-ordination o% the 'MM islands in s*ace and in time res*ectively. 7ll these sho* %loor re%erence models have "een a**lied and validated durin$ the desi$n and im*lementation o% the inte$rated - distri"uted sho* %loor architecture o% the 'R7( #a"oratory *lat%orm 5to reach the level . o% Ta"le 26. The $oal o% this la"oratory *lat%orm is to carry out a &ater level re$ulation in a closed control loo*. The loo* +ee*s a constant level 5volume6 o% &ater &here an in*ut &ater %lo& re*resents the disru*tion, and an out*ut &ater %lo& is controlled to maintain the level. QFrom a technolo$ical *oint o% vie&, the 'R7( #a"oratory *lat%orm 5Fi$ure F6 is structured, on the one hand, on an 47M com*osed o% t&o inte$rated valves, a level and a %lo& transmitter and, on the other hand, on a 'MM com*osed o% a control system, a maintenance system, a technical mana$ement system and a technical data"ase. These t&o levels o% the *lat%orm are connected throu$h a F4P %ield"us. 7ll these 'MM947M com*onents are realised as %ield com*onents 5devices6 already availa"le on the mar+et and, o% &hich *rocessin$-storin$ *arts have already "een im*lemented or can "e develo*ed "y means o% standardised tools li+e 4/'11,1-,.

+igure <) Validation $ased ;n "AD&IT Platform of Agent8oriented "aintenace +unctional Architecture of the C,A= 4aboratory Platform

6). : And to An Intelligent Shop +loor Architecture

To con%er intero*era"ility o% class ' to this ty*e o% sho* %loor architecture, our o")ective is to evolve %rom Ivisi"le-intero*era"leI to Iada*ta"leI 5intelli$ent6 architecture 5to reach the level 3 o% Ta"le 16, that is more a"le to "ear chan$es o% the structure. 4t means also an evolution to&ards the en$ineerin$

*rocesses related to Distri"uted 7rti%icial 4ntelli$ence "ased on emer$in$ trends. So the current 'R7(91S4P research is to a**ly the Multi-7$ent System modellin$ techni<ue %or the develo*ment o% the *roactive maintenance intelli$ent system o% the 'R7( #a"oratory *lat%orm ?2F@. The *roactive maintenance strate$y ?2L@ is "ased on the *ro$nosis o% the de$radation throu$h a *ro$nosis *rocess ena"lin$ to *ro*a$ate the de$radation causes in order to antici*ate the manu%acturin$ system %ailure. The cause identi%ication is realised throu$h a dia$nosis *rocess determinin$ the de$radation ori$ins %rom the sym*tom o"servation. The de$radation identi%ication hi$hli$hts the system mal%unctionin$ states %rom the material %lo&s *ro*erties deviations throu$h a monitorin$ *rocess. This a$ent -oriented maintenance architecture su**orts the 7alaadin model ?1H@ com*osed o% $eneric M7S conce*ts as a$ent 5e.$. monitorin$, dia$nosis, *ro$nosis, communicator6, $rou* 5e.$. maintenance, communication6, role 5e.$. to dia$noseP .6 and +ernel &hich ensure the co-o*eration, the %le=i"ility and the ada*ta"ility o% the maintenance system 5so%t&are or mechanical com*onent modi%yin$, addin$, removin$, redistri"utin$, P 6. The reactive a$ent identi%ication is "ased on the %unctionin$ analysis +no&in$ that each a$ent o% monitorin$, dia$nosis and *ro$nosis is associated &ith each %lo&, each activity and &ith each decom*osition level o% the analysis. This %unctionin$ %ormalisation can induce the mal%unctionin$ "y considerin$ that the relationshi* "et&een these t&o modes is directly lin+ed to the relationshi* "et&een the normal and a"normal states o% the system 5de$radation o% the %lo& and9or the activity6. The im*lementation o% these M7S conce*ts in the case o% the 'R7( #a"oratory *lat%orm, led %irst to an a$ent -oriented %unctional architecture, then to an or$anisational architecture, and %inally to an o*erational one. The t&o %irst architectures &hich have not inte$rated yet mechanisms to resolve semantic and s*atial dia$nosis con%licts, have "een *rototy*ed on the $eneric case tool M7DD4T 5Multi-7$ent Develo*ment Dit6 su**ortin$ J7!7 code, the model o% communication a$ents o% the contractual net&or+, and a $ra*hical inter%ace. They have "een validated 5Fi$ure F6 "y e=ecutin$ a set o% test scenarios, &hich is a re*resentation o% real de$radation vectors o% the *lat%orm. Finally, the im*lementation o% the *roactive maintenance intelli$ent system on the *lat%orm 5o*erational architecture6 is in *ro$ress "y codin$ the a$ents, +ernels, communicators and synchronisers 5develo*ed in J7!76 into the industrial com*onents 5P#' o% the t&o valves, o% the %lo& sensor, o% the maintenance &or+stationP .6 su**ortin$ 4/'11,1-, and into the F4P %ield"us. This research is a %irst real ste* to&ards the modellin$ and im*lementation o% 4ntelli$ent Manu%acturin$ Systems.

7) De1elopment of An ;b>ect8oriented Data "odel As A Gate'ay $et'een Shop +loor and $usiness 4e1els
The 0:# research %ocused on the connection "et&een sho* %loor and "usiness level in the manu%acturin$ system. The dra&"ac+s o% the current inter%ace "et&een t&o levels &ere analysed and a ne& data inter%ace *ro*er %or the intelli$ent manu%acturin$ system &as introduced.

+igure ?) The Current and =e' Schema of the Interface $et'een CAD@CA" and C=C

7)( Autonomous Production Cell and "achining !olon

Follo&in$ the recent trend to&ard small lot *roduction and a lar$e num"er o% *roduct variations, an autonomous *roduction cell 57P'6 is "ein$ develo*ed at the 7achen 8niversity o% Technolo$y ?22@. The o")ective o% this research is to im*lement a ne& manu%acturin$ system em*hasisin$ autonomy and co-o*eration 5ada*ta"le level o% Ta"le 16. The idea underlyin$ this *ro)ect re%lects the reality that

the conventional automated systems o% the FHBs, desi$ned to "e coherent &ith the inte$ration *aradi$m 5the visi"le level o% Ta"le 16 have not met the ne& demands o% manu%acturin$ systems, &hich should have "een more ada*ta"le, intelli$ent and co-o*erative. This o")ective also coincides &ith that o% the Golonic Manu%acturin$ System researches, &hich is one o% the ma)or *ro)ects o% 4ntelli$ent Manu%acturin$ Systems, es*ecially re$ardin$ the realisation o% the Machinin$ Golon. 4n the old style o% machinin$ cell em"odied in the hierarchical %rame&or+, the manu%acturin$ commands are delivered %rom '7D9'7M system in the desi$n de*artment. The machine o*erator should o*timise the machinin$ and o*erational *arameters manually at the test *hase. Ge should also monitor the &hole machinin$ *rocess and solve the *ro"lems &hich occur dynamically. This situation leads to hi$h com*le=ity and lo& e%%iciency o% the machinin$ *rocess. 4n order that the old style o% machinin$ cells *ro$resses to&ard the Machinin$ Golon, it should "e a"le to carry out its o&n machinin$ *lan inde*endently and to su**ort an e%%ective co-o*eration &ith other Golons. 'onsiderin$ these re<uirements, 0:# studied on the data inter%ace "et&een sho* %loor and "usiness %or the ne& manu%acturin$ system 5see Fi$ure 16.

7)* Current Situation of the Data Interface

The e=chan$e o% the *art *ro$ram in the manu%acturin$ industry is currently done usin$ the 4S> L2F, standard ?,H@. The standard, ho&ever, dates "ac+ to the time o% *rimitive (' controllers and is desi$ned to "e consistent &ith se*arated manu%acturin$ cells 5the %ra$mented islands level o% Ta"le 16. There%ore, it is considered to "e technolo$ically outdated and im*ro*er %or the ne& autonomousco-o*erative manu%acturin$ system. 7dditionally, this standard *resents many dra&"ac+sC 516 4t descri"es only a lo& level o% data such as a=is movement 5li+e 11, 12, 1,6 and s&itchin$ instructions 5li+e M,, MF6, 526 4t is *oorly suited %or hi$h-level machinin$, 5,6 4t is im*ossi"le to e=chan$e *art *ro$rams "et&een various controllers, 5.6 4t is im*ossi"le to chan$e com*le= (' *ro$rams at sho* %loor level, 536 4t is im*ossi"le to %eed"ac+ the modi%ied *art *ro$rams to *lannin$ de*artment. Due to these disadvanta$es, controller and machine -tool manu%acturers have introduced their o&n e=tensions, &hich can "e coded only "y vendor-s*eci%ic *ost-*rocessors. This severely *revents the manu%acturin$ system %rom realisin$ an o*en architecture. The lo& level o% data that it descri"es also *rohi"its the manu%acturin$ system %rom "ein$ e<ui**ed &ith intelli$ent %unctions. 4n the meantime, the Standard %or the /=chan$e o% Product Model Data 5ST/P6 ?,1@ &as *ro*osed in order to *rovide a neutral mechanism ca*a"le o% descri"in$ *roduct data throu$hout the li%e -cycle o% a *roduct inde*endent o% any *articular system. The ST/P is e=tendin$ its a**lication areas to such a case as the contri"ution to the concurrent en$ineerin$ throu$h the im*lementation o% /n$ineerin$ Data Mana$ement system at the "usiness level ?,2@. The inte$ration into the sho* %loor level, ho&ever, is still to "e achieved. This mismatch o% the data model "et&een '7D9'7M and '(' has also caused much di%%iculty in veri%ication o% the machined *art com*ared to the desi$ned *art. Many researches on the (' code veri%ication usin$ reverse en$ineerin$ technolo$y have "een done as the case o% RoyIs ?,,@.

7). The =e' Data Interface, ST-P8=C

Re$ardin$ the a%orementioned situation, 0:# has develo*ed a ne& *ro$rammin$ inter%ace &ith many industrial *artners &ithin several *ro)ects such as M7TR7S and >PT4M7#. The ne& inter%ace, today called ST/P-(' 5ST/P-com*liant data inter%ace %or (umerical 'ontrols6, aims not only to re*lace 4S> L2F, "ut also to su**ort much im*roved %unctionality. Fi$ure 2 sho&s the characteristics o% the current inter%ace and o% the ne& one.

+igure (9) Capsulated Structure of "anufacturing Information

4n the meantime, Pritscho& ?,.@ *resented the "ene%its o% usin$ o")ect-oriented modellin$ in machinin$ technolo$y. 1i"son ?,3@ used the /RPR/SS lan$ua$e, &hich is ca*a"le o% descri"in$ o")ect-oriented modellin$, in order to e=chan$e ca*sulated %eature in%ormation "et&een '7D and '7M. TSnsho%% ?,L@ *resented the &ay ho& the $eometrical, technolo$ical and %unctional *arameters can "e com"ined and ca*sulated. Based on this research trend, the ne& data model uses entities, &hich ca*sulate all attri"utes o% manu%acturin$ in%ormation such as $eometrical, technolo$ical, *rocess model, and resource in%ormation. There%ore, the modularity and the reusa"ility o% in%ormation are "ein$ im*roved. Fi$ure 1H sho&s the ca*sulated structure o% manu%acturin$ in%ormationC all the in%ormation o% the machinin$ *rocesses includin$ the manu%acturin$ se<uence is ca*sulated in /ntity Ae=ecuta"leA. 4n li+e manner, does all in%ormation o% the *roduct desi$n data in /ntity Amanu%acturin$T%eatureA and all in%ormation o% the machinin$ technolo$y in /ntity Ao*erationA. The e=ecution o% manu%acturin$ tas+ can "e inter*reted as an e=ecution o% an Ae=ecuta"leA &hich machines a *art o% Amanu%acturin$T%eatureA throu$h an Ao*erationA. The ne& inter%ace is desi$ned 516 to impro1e the eAchange of information bet'een manufacturingcell and its en1ironments, and 526 to describe high8le1el information in order to impro1e autonomy . These desi$n criteria are also con%ormant &ith the research *ur*ose o% Golonic Manu%acturin$ System, &hich aims at the sta"ility and the %le=i"ility o% manu%acturin$ *rocess and an e%%icient use o% availa"le resources. 'oncernin$ 516, the "i-directional e=chan$e o% in%ormation "et&een (' controller in sho* %loor and '7D9'7M system at "usiness level is *romoted "y means o% the $eometry re*resentation o% ST/P. 7s the inter%ace is vendor-neutral, it also im*roves the e=chan$e o% in%ormation inside the sho* %loor &here usually many di%%erent ty*es o% controllers are e<ui**ed. This as*ect si$ni%icantly contri"utes to im*rovin$ %le=i"ility and coo*era"ility o% manu%acturin$ systems. 4n other &ords, the *art *ro$ram can "e modi%ied at the sho* %loor in order to ada*t the technolo$ical data to the dynamically chan$in$ situation and this modi%ied *ro$ram can easily "e %ed "ac+ to the *lannin$ de*artment. The e=am*le data, &hich need "e in*ut or modi%ied at sho* %loor, are set-u* data, security *lane, cuttin$ *arameters 5cuttin$ s*eed and %eed rate6, and machine %unctions. 4% small chan$e o% *roduct desi$n occurs, modi%ications are needed %or only some *art o% the data and other *arts "ein$ *ossi"le to reuse. This also *rovides a clue %or sharin$ +no&-ho& o% the o*erator at the sho* %loor amon$ the de*artments in the enter*rise. Fi$ure 11 sho&s the data model %or a round hole and a drillin$ ty*e o*eration. 7 %eature AroundTholeA is manu%actured throu$h a list o% drillin$ ty*e o*erations. 7s all technolo$ical data are ca*tured in an o*eration, it *lays a role o% the "uildin$ "loc+ %or the machinin$ o% a hole. For e=am*le, let us consider the . holes 5see Fi$ure 126 &hich are made o% the same material and have the same dimension "ut di%%erent sur%ace <ualityC AGoleT7A has a normal sur%ace <uality, AGoleTBA has a hi$her sur%ace <uality, AGoleT'A has a normal sur%ace <uality &ith threads, and AGoleTDA has a hi$her sur%ace <uality &ith threads. 7 com"ination o% *articular o*erations can "e used %or the machinin$ o% each hole. The o*eration A'enterTdrillin$T7A can "e used %or all . holes. The o*eration ADrillin$T7A can "e used %or AGoleT7A and AGoleT'A. 7%ter this manner, ABorin$TBA is %or AGoleTBA and AGoleTDA and ATa**in$T'A is %or AGoleT'A and AGoleTDA. This illustrates the "ene%its o% an o")ect-oriented descri*tion o% the machinin$ in%ormation.

5igure 11. %he $ata Structure for A 4ound Hole and A $rilling %y#e *#eration

+igure (*) The Combinations of Particular ;peration for the "achining of / Similar !oles (ot only are the o*erations handled as a "uildin$ "loc+ "ut also are all $eometrical and technolo$ical /ntities. There%ore, i% a data"ase containin$ these "uildin$ "loc+s o% /ntities is im*lemented, the +no&-ho& o% the *revious o*erations can "e e%%ectively saved and retrieved as &ell as the (' *art *ro$ram can "e $enerated much more easily. 7dditionally, than+s to the common data model "et&een sho* %loor and desi$n de*artment, it is also %easi"le to "uild an inte$rated data"ase, &hich ena"les the a$ile e=chan$e o% in%ormation in the manu%acturin$ industries. 'oncernin$ 526, the ne& inter%ace covers manu%acturin$ tas+s such as rou$hin$ or %inishin$ o% a *oc+et in contrast to the lo& level commands o% 4S> L2F,. These tas+s contain all o*erational and technolo$ical in%ormation necessary to *roduce the %inished *art %rom the ra& *iece. 0ith this hi$h-level o% in%ormation, additional intelli$ent %unctions may "e realised in the controller. Re$ardin$ sta"ility, as the inter%ace is *rovided &ith the entity %or *rocess models, the machinin$ *rocess should "e sel%-reliant throu$h the e%%ective *rocess monitorin$ and treatment o% distur"ances such as chatter, tool "rea+a$e, tool &ear, tool collision, and machine %aults. The intelli$ent %unctions li+e automatic selection o% cuttin$ tool and technolo$ical data

can "e im*lemented usin$ much hi$her in%ormation a"out resources li+e ra& -material and cuttin$ tool. 7dditionally, an e%%ective Man -Machine 4nter%ace *ro$ram li+e a sho* %loor *ro$rammin$ system can ma=imise the utilisation o% the machine o*eratorBs +no&-ho&, &hich is also considered to "e a very im*ortant resource.

7)/ Standardisation and Validation of the ST-P8=C

The ne& data inter%ace has "een introduced into the 4S> &or+in$ $rou* 54S>9 T'1F.9S'1901E6 and the standard 4S> 1.L.2 ?,E@ is no& under %inal deli"eration %or the Dra%t 4nternational Standard version. 7 *rototy*e im*lementation o% a controller that is a"le to e=ecute a *art *ro$ram accordin$ to the ne& inter%ace has "een done in the >S7'7-"ased (' develo*ed "y 0:#. >S7'7 ?,F@ is the /uro*ean o*en control architecture standard. ST/P-(' *ro)ect is no& runnin$ as a research and validation *ro)ect in /uro*e. 4n this *ro)ect, the ne& data inter%ace &ill "e veri%ied throu$h a num"er o% im*lementations "y industrial *artners and could "e e=tended to other technolo$ies li+e turnin$, $rindin$, /DM, contour cuttin$, and ra*id *rototy*in$ under the international co-o*erative &or+s. The ne& inter%ace develo*ed and veri%ied throu$h these research activities &ill $ive a solution to eliminate the "ottlenec+ "et&een the sho* %loor and "usiness level and create a com*lete $ate&ay "et&een t&o levels. Throu$h this $ate&ay, the communication net&or+ systems %or in%ormation *rocesses can "e realised and thus autonomy and co-o*eration &ill "e si$ni%icantly increased in the 4ntelli$ent Manu%acturin$ System. The descri"ed results are )oint e%%orts o% the 4S> T'1F.9S'1901E. The authors &ould li+e to than+ all *artners %or their contri"utions and e%%orts.

<) Conclusions
4n this *a*er, disci*line research a**roaches %or the architecture and modellin$ o% enter*rise &ere *resented. 7ll these a**roaches have the same o")ectiveC to create and develo* the %rame&or+ %or an 4MS environment. They are di%%erent "ut com*lementary a**roaches, they &or+ &ithin the same sco*e and there is an overla**in$ amon$ them, &hich encoura$es us to %urther investi$ate the inte$ration o% these a**roaches in order to %ollo& the 4MS *ers*ective. The 4MS-01 $ave us the o**ortunity to understand each otherIs research interest and %ind out that our colla"oration can lend to more inte$rated a**roaches and thus to the develo*ment o% so*histicated autonomous and co-o*erative systems. >ur %uture common research a**roach &ill investi$ate the *ossi"ility o% develo*in$ a FuKKy 'o$nitive Ma* that &ill consist o% conce*ts, some o% &hich are holons, an area in &hich #7R and DT8 &ill continue to &or+. Moreover #7R &ill continue their research colla"oration &ith 'R7( in the develo*ment o% a su*ervisor over the 'R7( architecture. DT8 a**roach and 'R7( are com*lementary 9su**lementary architectures and "oth teams have to &or+ to this. >n the other hand, 7achen 0:# research a**roach &ill hel* all other teams solve the communication *ro"lems that they %ace &ith in transmittin$ in%ormation "et&een di%%erent *arts o% the enter*rise and mainly in understandin$ su"systems constructed &ith di%%erent architectures and a**roaches. 0ithin this %rame&or+ all *artners are $oin$ to *resent their results in /uro*ean industries and moreover they are $oin$ to su"mit a *ro*osal to continue their research colla"oration.

Ac no'ledgment
This &or+ is su**orted "y /SPR4T *ro)ect no. 21233, 4ntelli$ent Manu%acturin$ Systems 0or+in$ 1rou* 54MS-016.

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