1

Modeling, analysis and simulation of an automated plates manufacturing system using Timed Coloured Petri Nets
Angel Alberto Castro , Jose Fernando Jimenez . Department of Electrical and Electronics Enginnering, Universidad de los Andes, Bogota. Colombia.

AbstractThis paper presents the modeling, simulation and analysis of a three types of plates manufacturing system with timed coloured Petri nets (CPNs). The main goal is to cope the problem of achieving the three processes in a concurrent manner without conict in the use of shared resources, that is, to achive a compact model for a exible manufacturing system. At rst we obtain an ordinary model by means of the union of the subnets, each of them representing an operation of the system and then is shown the completed Petri net model simulated in WoPeD [1]. That model is folded in a coloured Petri net in order to simplify the model to make the decision making easier. In the coloured Petri net we add the failure states and determine certains parameters of the system and thus avoid conicts, verify the liveness and limitation of the system and obtain a model for control all the process and improve the behavior of the plant. Finally we assign possibles transition times to the model to nd the time accumulated vector for the processes in the model, using this vector it is possible locate the best system sequence. The timed CPN has been simulated in CPN tools [2]. Index Termssynchronized Petri net, Autonomous and Non autonomous Petri nets, exible manufacturing system, task concurrency, timed coloured Petri net, performance evaluation.

I. I NTRODUCTION OWADAYS the production system is focused on obtaining the largest number of products in the shortest time. So, it is normal the rise of exible manufacturing systems FMS that allow to connect several work stations to complete a specic job. This structure allows manufacture multiples products concurrently given to the system exibility and adaptability. The discrete mode of operation of an automated manufacturing system makes that usual control theory do not apply because there are not a continuos system that can be modeled by a differential equation. Discrete event systems encompass a wide variety of physical systems that arise in technology . These include manufacturing systems, trafc systems, logistic systems, database management systems, communication protocol, and data communication networks [3]. As mentioned by Cassandras [4] the two main modeling formalisms of discrete event systems DES to represent languages are automata and Petri nets PN. Like an automaton, a Petri net

is a device that manipulates events according to certain rules allowing modelling systems as a parallel evolution with several processes in cooperation, with a common goal. In a PN, the places represent resources such as machines, mobil robots, buffers, etc. A transition ring represents an activity, beginning and ending with two consecutive events. The transition is red when there are enought resources in the places. PN models fall into one of two classes: timed PN models and untimed PN models [5]. A timed PN of an FMS captures the actual physical behavior of the FMS by assuming specic durations for various activities in the FMS. An untimed PN model of the FMS does not associate any times with the activities. Coloured PN is a graphical language for constructing models of concurrent systems and analysing their properties [8], [13]. CPN models are formal, in the sense that the CPN modelling language has a mathematical denition of both its syntax and its semantics. Such models can be manipulated by a computer tool and can be used to verify system properties, i.e., prove that certain desired properties are fulllled or that certain undesired properties are guaranteed to be avoided [13], [8]. To obtain high quality and low operating costs of the system, we must ensure simple and exible conguration of the system and short time periods to solve the problem of planning and control [10], for this reason the simulation of timed CPNs is an excellent tool when we are designing, controlling and analysing some system. II. G ENERAL D ESCRIPTION A. Manufacturing System The manufacturing system is an extension of the presented in the paper by Jimenez and Castro [6], and it contains three concurrent ows of job processes that make three different types of plates at the same time and exploits the use of shared resources. Process one produces the rst type of plate, process two produces the second type of plate and the process three produces the third type of plate. The rst type is a blank plate, the second is a painted plate, and the third one is a plate engraved. To realize the operations of painting and engraving were added two aditional machines or resources to system, i.e. a robot spray painting and a press machine. The table I shown the systems resources, its respective labels and the resources used by each process.

Angel Castro is with the Department of Electrical Enginnering, Universidad de los Andes, Bogota, Colombia, e-mail: aa.castro10@uniandes.edu.co. Fernando Jimenez is with the Department of Electrical Enginnering, Universidad de los Andes, Bogota, Colombia e-mail: fjimenez@uniandes.edu.co.

Table I S YSTEM S RESOURCES

P ROCESS TYPE L ABEL M1 M2 M3 M4 M5 M6 M7 M8 R ESOURCE I Conveyor Belt Robot Arm 1 Robot Arm 2 Quarter Turn Table Robot Spray Painting Press Machine Buffer 1 Buffer 2 II III

The conveyor belt brings the plates from an innite source to a location where the plate is caught either by the rst robot arm or by the robot painter. If the robot arm 1 catch the plate, it convey the plate to the robot arm 2 by means of a rotative and traslational movements. If the plate is caught by the robot spray painting, there will be a wait time after to the painting process for drying operation and then this machine returns the plate to the buffer 1 to be take by robot arm 1 and follow the same process that the blank plates. The robot arm 2 transport the plates to a carousel by means of only traslational motion and drop the plate in a specic location of the carousel to later come back for other plate. If the plate needs a grab the robot arm 1 must be give the plate to the press machine instead of give it to the robot arm 2. Once the engraving process has nished the plate is dropped in the buffer 2 where is taken by robot arm 2 to be conveyed toward carousel. The carousel have four position and makes a quarter turns when the task of each position is nished. Let assume that the conveyor belt is not a conveyor loop that never stop but a conveyor belt that stops when a plate arrive to the grap position and begins its conveyor again when the plate has been caught. Obviusly the control system must ensure that this timeout shall be minimal. The four operations performed in the carousel are: drop the plate, remove burr from the plate, clean the dish and to evacuate the plate. The layout of the system parts is shown in Figure 1.

a)

b)
Figure 1. a) Overall system layout. b) Top view. Left: lower level, Right: upper level.

Table II S YSTEM S SENSORS . U NCONTROLLABLE EVENTS S UB SYSTEM

C ONVEYOR BELT

L ABEL
SOP FC1 FC2

S IGNIFICANCE
Optical plate Sensor Limit Switch 1 Limit Switch 2 Sensor cylinder Up Sensor cylinder Down Sensor plate Arm 1 Sensor Arm 2 Left Sensor Arm 2 right sensor plate Arm 2 Carousel Quarter Turn Rotated Drop Plate Finished Evacuate Plate Finish Remove Burr Finish Clean Plate Finish Sensor plate Arm 3 Engraved plate Finish Sensor Plate Arm 4 Dry Finished Painted Plate Finished

ROBOT ARM 1

SCU SCD SPB1 SB2L

ROBOT ARM 2

SB2R SPB2 CQTR DRDF

B. Sensors and Actuators All sensors are listed in table II and the commands are listed in the Table III . III. P ROCESS M ODELLING To construct a PN model for the given FMS we use an usual method that can be studied in more detail in Narahari, et. al. [5] or in [9] . We rst represent each machine operation by a sub PN. Each operation is shown in the table IV with its description. Then we obtain the PN model for each specic process as the union of the PNs corresponding to the operation that composed the process. Next we obtain the PN model for the

C AROUSEL

EDF RBF CDF SPB3

ROBOT ARM 3 ENGPF SPB4 ROBOT ARM 4 DRYF PPF

whole system as the union of the PN models of the processes that the system has. If the FMS is complex, the PN model will be huge and its analysis will not be easy. One way to overcome this problem is to use coloured PN instead of ordinary PN. Coloured PNs lead to compact models for even complex FMS [5]. Thus, after obtaining the PN models for each of the three

Table III S YSTEM S C OMMANDS . C ONTROLLABLE EVENTS

S UB SYSTEM C ONVEYOR BELT CBSC DCC UCC DAC ROBOT ARM 1 UAC GDCA1 GDCA1FB1 A2LC A2RC ROBOT ARM 2 GDCA2 GDCA2FB2 CQTC RBC C AROUSEL CDC EDC DRDC GDCA3 ROBOT ARM 3 ENGPC DWPB2 GDCA4 ROBOT ARM 4 DWPB1 Download Plate Buffer 1 Grip plate command Arm 2 Grip plate command Arm 2 from Buffer 2 Carousel Quarter Turn Command Remove Burr Command Clean plate Command Evacuate plate Command Drop plate Command Grip Plate Command Arm 3 Engraving Plate Command Download Plate Buffer 2 Grip Plate Command Arm 4 Up Arm Command Grip plate command Arm 1 Grip plate command Arm 1 from Buffer 1 Arm 2 left command Arm 2 right command Conveyor belt stop command Down Cylinder Command Up cylinder Command Down Arm command L ABEL CBAC S IGNIFICANCE Conveyor belt advance command

Figure 2. Generic Model of an Operation

the operation. P2 corresponds to move the conveyor belt. P3 indicates that the belt is stopped and the plate is in position to be caught. P4 can be seen as the execution of the operation up Arm 1 and P40 as painting and drying the plate . P5 indicates that the plate has nished the operation Up Arm, i.e., the plate has been caught by the robot arm1 and is ready for the next operation. P41 indicates that the plate is painted and dry. P6 indicates that the resource M1 is available. P0 ensure that come one plate at a time. The sub petri net is shown in gure 3.
Table VI P LACES AND T RANSITIONS FOR THE O PERATION 1
P LACE P1 D ESCRIPTION plate ready and waits T RANSITION P2 P3 P4 P5 P6 P40 P41 P0 moving conveyor belt
T1

Table IV S YSTEM S O PERATIONS

O PERATION O1 O2 O3 O4 O5 O6 O7 O8 D ESCRIPTION transport plate by the conveyor belt Take the plate by the robot arm 1 and upload it Take the plate by the spray robot painting, paint it and return it Take the plate by robot arm 2 and deposit on the carousel Get down the arm robot 1 move the robot arm 2 to the right Take the plate by the press machine, engraved it and return it to the robot arm 2 Carry out the process involved in the carousel

D ESCRIPTION CBAC SOP GDCA1 SPB1 GDCA4 SPB4

conveyor belt stopped T2 taking and uploading the plate T3 End of operation P4 T4 Resource M1 available T40 taking and painting the plate T41 End of operation P40 condition plate feeder

processes we can folded that PNs in a coloured petri net with tokens of three colours. Like there are three processes running in the same system, with the same resources we must stablish for each process its respective operation sequence, Table V.
Table V S EQUENCE OF O PERATIONS
P ROCESS I II III S EQUENCE OF OPERATIONS O1-O2-O4-(O5||O6||O8) O1-O3-O2-O4-(O5||O6||O8) O1-O2-O7-O4-(O5||O6||O8)

A. Operations Sub-Petri nets From Table IV we have eight basic operations. Below are explained these operations and now are shown the respectives sub PNs which have been modeled following the structure of the gure 2 [9] 1) O1: Transport the plate by the conveyor belt: For this operation we have the places and transitions listed in table VI. Place 1 stablish the condition of a plate is ready to enter

Figure 3. Transport operation by conveyor belt

2) O2: Take the plate by the robot arm 1 and upload it: For this operation we have the places and transitions listed in table VII. This petri net uses the resource M2 (robot arm

1) to carry out the operation 2 (O2). The resource is released when the plate is taken either by robot arm 2 or by press machine. P3 and P19 or P44 and P19 must be marked to start the operation. P4 to P11 can be seen as the execution of carry up the plate that has been taking from the conveyor. P44 to P11 can be seen as the execution of carry up the plate that has been taking from the Buffer 1.. P19 indicates that the resource M2 is free. The sub petri net is shown in gure 4.
Table VII P LACES AND T RANSITIONS FOR THE O PERATION 2
P LACE P3 P4 P44 P45 P5 P7 P8 P9 P10 P11 P12 P13 P14 P15 P19 D ESCRIPTION T RANSITION conveyor belt stopped T3 taking the plate by arm 1 from the conveyor T4 plate ready in Buffer 1 T443 taking the plate by arm 1 from the Buffer 1 T444 plate gripped by the arm 1 ready for operation 2 T5 moving up arm 1 T6 moving up cylinder 1 T7 moving up cylinder 1 T8 moving up arm 1 T9 plate ready for to be taken T10 Taking plate by robot arm 2 T11 plate took by arm 2 T12 Taking plate by press machine T13 plate took by press machine T14 resource M2 available SPB3 GDCA3 SPB2 GDCA2 SBU SCU UCC SCU SBU UAC SPB1 GDCA1FB1 SPB1 GDCA1 D ESCRIPTION

is dropped on the table. The sub petri net is shown in gure 5.

Table VIII P LACES AND T RANSITIONS FOR THE O PERATION 4
P LACE P11 P12 P63 P64 P13 P21 P22 P23 P24 P25 D ESCRIPTION plate in conveyor ready for be take by the robot arm 2 Taking plate by robot arm 2 plate ready in Buffer 2 taking plate by arm 2 from the Buffer 2 plate took by arm 2 moving arm 2 to the left arm 2 in the left arm 2 is depositing the plate plate on the carousel resource M3 available T RANSITION T11 T12 T631 T632 T20 T21 T22 T23 D ESCRIPTION GDCA2 SPB2 GDCA2FB2 SPB2 A2LC SB2L DRDC DRDF

Figure 5. Grip plate operation by the robot arm 2 and deposit it on carousel

Figure 4. Taking plate operation by the robot arm 1 and upload it

3) O4: Grip the plate by the robot arm 2 and deposit it on carousel: For this operation we have the places and transitions listed in table VIII. This petri net uses the resource M3 (robot arm 2) to carry the plate from the robot arm 1 or from the Buffer 2 to carousel. The resource is released when the plate

4) O5: Get down the arm robot 1: For this operation we have the places and transitions listed in table IX. This petri net uses the resource M2 (robot arm 1) to down the robot arm 1. The resource is released when the arm 1 is positioned in the down position. The sub petri net is shown in gure 6.a. (P56.P18) collects P56 to P18 its simplied net is shown in gure 6.b. 5) O3: Take the plate by the spray robot painting, paint it and return the painted plate : For this operation we have the places and transitions listed in table X. This petri net uses the resource M5 (robot spray painting) to carry the plate from the conveyor belt to a location to paint it and then returns it. The resource is released when the plate is dropped on the Buffer 1. The sub petri net is shown in gure 7. 6) O6: move the robot arm 2 to the right: For this operation we have the places and transitions listed in table XI. This petri net uses the resource M3 (robot arm 2) and its work is to put this resource to the right. The resource is released when the arm is in the right. The sub petri net is shown in gure 8.

Table IX P LACES AND T RANSITIONS FOR THE O PERATION 5

P LACE P13 P15 P19 P14 P15 P16 P17 P18 D ESCRIPTION plate took by arm 2 plate took by press machine resource M2 available moving down arm 1 moving down cylinder 1 moving down cylinder 1 moving down arm 1 T22 arm 1 and cylinder 1 get down T111 SCD 1 T RANSITION T15 T16 T17 T18 T19 T20 T21 D ESCRIPTION SPB3 SPB2 DCC SCD SBD DAC SBD

Figure 7. Operation: Take the plate by the spray robot painting, paint it and return the painted plate

Table XI P LACES AND T RANSITIONS FOR THE O PERATION 6

P LACE P24 P25 P26 P27 D ESCRIPTION T RANSITION plate on the carousel T23 resource M3 available T24 moving robot arm 2 to the right T25 robot arm 2 in right position SB2R A2RC DRDC D ESCRIPTION

XIII. This petri net uses the resource M4 (quarter turn table). The sub petri net is shown in gure 10.

IV. A NALYSIS To achieve an analysis of the Petri net we make the union of the operations and we carry out a simulation over the ordinary PN having in mind what token type can hold in a place. The simulation was made in the software woPed [1]. The model thus obtained have 37 places and 31 transitions and are found 3 estructural conicts. The ordinary PN is shown in Figure 11.

Figure 6. Get down arm robot 1 operation

7) O7: Take the plate by the press machine, engraved it and return it to the robot arm 2: For this operation we have the places and transitions listed in table XII. This petri net uses the resource M3 (robot arm 2) and its work is to put this resource to the right. The resource is released when the arm is in the right. The sub petri net is shown in gure 9. 8) O8: Carry out the process involved in the carousel: For this operation we have the places and transitions listed in table

Table X P LACES AND T RANSITIONS FOR THE O PERATION 3

P LACE P3 P40 P41 P42 P43 P44 P50 D ESCRIPTION T RANSITION conveyor belt stopped T2 take plate by painting arm T40 painting plate T41 drying plate T42 dowloading plate in buffer 1 T43 plate in Buffer 1 T44 resource M5 available DWPB1 DRYF PPF SPB4 GDCA4 SOP D ESCRIPTION

Figure 8. Operation: move the robot arm 2 to the right

Table XII P LACES AND T RANSITIONS FOR THE O PERATION 7

P LACE P11 P14 P15 P61 P62 P63 P60 D ESCRIPTION plate ready for be take by the press machine taking plate by press machine plate took by press machine engraving plate dowloading plate in buffer 2 plate in Buffer 2 resource M6 available T RANSITION T13 T14 T61 T62 T63 D ESCRIPTION GDCA3 SPB3 ENGPC ENGPF DWPB2

Figure 10. Operation: Carry out the process involved in the carousel

Figure 9. Operation: Take the plate by the press machine, engraved it and return it to the robot arm 2

A. Estructural conicts and blocking The rst conict arises in the place P13, this place indicates the state in which the arm robot 2 has taken the plate. That place is an input of the transitions T20 and T16. T20 leads to the operation of carrying the plate to the carousel and T16 leads to the operation of lowering the arm 1. The conict is that it is no possible to execute concurrently the two operations because the enabling of one transition involves deactivate the

Table XIII P LACES AND T RANSITIONS FOR THE O PERATION 8

P LACE P24 P28 P29 P30 P31 P32 P33 P34 P35 P36 D ESCRIPTION plate on the carousel resource M4 available turning the quarter turn table removing burr burr removed cleaning the plate plate cleaned evacuating plate plate evacuated READY PLATES T RANSITION T23 T26 T27 T28
T 29

D ESCRIPTION DRDF CQTC CQTR RBF CDF EDF

T30

other transition. The second structural conict ocurrs in the place P24 which indicates that the plate has been dropped on the carousel. P24 is an input place to transitions T24 and T26. T24 leads to the operation of returning the robot arm 2 to the right position and T26 leads to turn the quarter turn table. In this case, the conict makes that if the carousel is turned, it is disable the process of return the robot arm 2 to the right, generating a block when other plate should be collected by robot arm 2. On the other hand, if the arm robot is returned, the carousel can not be turned producing a block when the next plate should be dropped on the carousel because that position is occupied. The third estructural conict is produced in the place P15 which indicates that the plate has been caught by the press machine. That place is an input place of T61 and T15. T61 leads to the engraving the plate and T15 to get down the robot arm 1. The conict makes that, if is performed the operation of engraving, will not lower the robot arm 1 causing a block when the next plate in the conveyor belt or in the buffer 1 should be caught by the arm 1. If instead the robot arm is lowered, a plate will be stuck in the press machine and therefore could not reuse that resource. 1) Solution of conicts: Because the structural conicts enabling one transition while disabling the other, the solution proposed in this paper is to merge the two transitions. Thus, when a token reaches the place and the transition will be red, the two operation will be performed concurrently. That solution implies restrictions over the system because the respective transitions not only have as an input place the common place but also others places that are not commons. In this system, the restrictions are the following: For the rst conict, merging T16 and T20 arise a transition that leads to get down the robot arm 1 and to carry the plate to the carousel. That transition have as an input place also P19 (represent resource robot arm 1 is free), then to carry the plate to the carousel is necessary that the robot arm 1 is available In the second structural conict merging T24 and T26 results

a transition that is enable not only by the place P24 but also by P28 (resource: carousel) and P25 (resource: robot arm 2) whence the restrictions are To move the robot arm 2 to the right position is necessary that the carousel is free to turn the carousel is necessary that the robot arm 2 is available. In the third conict, merging T61 and T15 arise a transition that will be enable not only by P15 but also by P19 (resource:robot arm 1), thus the restriction is To engraving the plate is neccesary that robot arm 1 is available.

Let us dene, the sets:

:= types of objects allowed in the places := types of f irings allowed in the transitions

We can describe all places and all transitions with an aplication CP () that relates each place with the objects that it can hold, and another aplicacion that relates each transition with the rings that it can have.
Cp : P CT : P ( ) ( )

In this system, the objects that can occupy the places are divided in the plates itself qj and the resources Mi .
A = plate type 1 B = plate type 2 C = plate type 3 M1 = conveyor belt M2 = Robot Arm 1 M3 = Robot Arm 2 M4 = Carousel M5 = Robot spray painting M6 = P ress machine

Thus, we have:
= {A, B, C, M1 , M2 , M3 , M4 , M5 , M6 }

To produce a plate type I, the ring type is the (a). To a plate type II the ring is (b), and to a plate type III the ring is (c). Thus,
= {a, b, c}

The coloured PN has 26 places and 19 transitions, the CPN is shown in Figure 13. There are 9 objects and 3 processes.To describe that PN by means of a description matrix will be necessary 22 9 = 198 rows and 21 3 = 63 columns, because of that the matrix is omited. VI. S IMULATION OF THE TIMED CPN To simulate the timed CPN we have used the software CPN tools [13], [2] because it allows specify colors marks and the time stamps. Time stamp tell us the time at wich the token is ready to be removed by an ocurring transition. First of all, we must declare the set of colors that have the CPN. With the model proposed are necessary 3 sets of token colors. These sets are the following and its declaration is shown in Figure 12.
Figure 11. Ordinary PN
Colores = {A, B, C } A : B : C : plate of type I (blank) plate of type II (painted) plate of type III (engraved)

M achines = {M 1, M 2, M 3, M 4, M 5, M 6}

V. D ESCRIPTION OF THE COLOURED PN Folding the PN obtained previously we obtain a reduction in the number of places and the transitions. This is possible because the three processes are similars and its use the same resources. When there are a set of objects allowed in several places and a set of ring for the transitions, we need specify such objects in order to construct the description matriz.

M1 M2 M 3 M4 M 5 M6

: : : : : :

M achine 1 M achine 2 M achine 3 M achine 4 M achine 5 M achine 6

(Conveyor Belt) (Robot Arm 1) (Robot Arm 2) (Carousel) (Robot Spray P ainting ) (P ress M achine)

M achines Carousel = {Burr, evac, Clean}

Remove Burr Burr : evac : evacuate plate Clean : Clean the plate

Table XIV P LACE D ESCRIPTION C OLOURED P ETRI N ET

P LACE P1 P2 P3 P4 D ESCRIPTION Plate entering to the system trasporting plate by conveyor belt taking plate by M5 or by M2 plate took by M5 or by M2 painting plate drying plate up the painted plate with M2 up the blank plate with M2 Plate ready in top position plate took by arm 2 or by arm 3 bringing the plate to the carousel engraving plate bringing the plate to the carousel plate ready to be download on the carousel Rotating carousel removing burr burr removed cleaning plate plate cleaned evacuating plate plate evacuated plate ready C OLOR SET A,B,C A,B,C A,B,C A,B,C B B B A,C A,B,C A,B,C A,B C C A,B,C A,B,C A,B,C A,B,C A,B,C A,B,C A,B,C A,B,C A,B,C

Figure 12. Color set Declarations

P5 P6 P7

Each of the places in the CPN must be associated with a set of colors that are hold there, and the transitions must be associated to a variables of a set or subset of colors. The next step is to assign unit times to the transitions as follows:
1 6 7 5 unit times = 3 2 5 3 1 to up the robot Arm 1 to paint the plate to dry the plate to engraving the plate to bring to the carousel to turn the carousel to remove the burr to clean the plate to evacuate the plate

P8 P9 P10 P11 P12 P13 P14 P15 P16 P17 P18 P19 P20 P21 P22

To simulate the model of the system we start with 5 tokens of each color, so that the CPN can choose in a non deterministic way the token color that enters to the system. The CPN is shown in Figure 13 and the description of its Places are in the Table XIV.

P rocess 3 : T9 (1) + T12 (5) + T13 (3) + T17 (2) + T18 (5) + T19 (3) + T20 (1)

Adding the times we have,

T ransitions delays = P rocc 1 = P rocc 2 = P rocc 3 = [15] [28] [20]

and the time vector is:

T ime vector : T imeP rocess1 , T imeP rocess2 , T imeP rocess3

T ime vector = [15, 28, 20]

That time is an indication of the time required by produce a type of plate, but the real process is non deterministic because the plates arrive randomly and the system does not know what color is the next to arrive. We can simulate a lot of times the system in order to stablish an average of the number of plates of each type produces in an interval of time. A. Optimal Sequence The Table XV, shown some times required to get a product when the sequence of arrivals are the follows: Performing several simulations it was found that the best sequence is ACBA which uses 31 unit times. That sequence can be extended as ACBACBACBA... to optimized the production time. VII. M ACHINE FAILURES Let us assume that a failure can occurs only when the machine (resource) is working or processing something, i.e. in the places that represent an operation. That is, an event

Figure 13. Timed Coloured Petri Net model

The time vector is an array that specify the time needed by each of the concurrent procceses,
T ransitions delays : T i(+unit timei ) P rocess 1 : T9 (1) + T15 (3) + T17 (2) + T18 (5) + T19 (3) + T20 (1)

P rocess 2 : T5 (6) + T6 (7) + T7 (1) + T15 (3) + T17 (2) + T18 (5) + T19 (3) + T20 (1)

Table XV S OME S EQUENCES IN THE ARRIVALS

A 1 B 1 C 1 S EQUENCE CAB C A B A B C B C A C B A A C B B A C B A C A A C B A T IMES @12 @19 @29 @7 @21 @29 @20 @28 @35 @12 @21 @28 @7 @15 @24 @20 @27 @35 @20 @27 @35 @42 @7 @15 @24 @31

ABC

BCA

CBA

ACB

BAC

allowing an analysis more clear without lost any state of the system. We get the two models, but the second by its own denition reduces the estructural conicts because each arc have assigned a subset of colors that can go through it. The resources were modeled with its own colors, so these can shared by all the processes and we can analyse the behaviour of the model using just one of each resource. The machine failures can be solved using a supervisor or control coordinator that avoids the arrival of the tokens colors corresponding to the plates that use the damage resource. The supervisor is just a lter of colors that arrive at the rst place. In order to optimizing the production time, the sequence in the arrivals must be ACBACBACBA..., so, the supervisor could do that. R EFERENCES
[1] WoPeD (Workow Petri Net Designer) is an open-source software developed at the Cooperative State University Karlsruhe under the GNU Lesser General Public License (LGPL).http://woped.dhbwkarlsruhe.de/woped. [2] CPNtools, version 3.4.0. developed by the CPN Group at Aarhus University from 2000 to 2010. The main architects behind the tool are Kurt Jensen, Sren Christensen, Lars M. Kristensen, and Michael Westergaard. From the autumn of 2010, CPN Tools is transferred to the AIS group, Eindhoven University of Technology, The Netherlands. http://cpntools.org. [3] Notes on Control of Discrete - Events Systems. W.M. Wonham. [4] Introduction to Discrete Event Systems. Christos G. Cassandras, Stphane Lafortune. Springer Science. 2008. [5] A Petri Net Approach to the modeling and analysis of exible manufacturing systems. Y.Narahari, N. Viswanadham. Indian Institute of Science. [6] Modular Supervisory Control for an automated plates manufacturing system with DES. Jimenez. Jose Fernando, Castro. Angel Alberto. Universidad de los Andes, Colombia. 2013 [7] Discrete, Continuous, and Hybrid Petri Nets. Ren David, Hassane Alla. Second edition, Springer. 2010. [8] Coloured Petri Nets, Modeling and validation of concurrent system. Jensen Kurt, Kristensen Lars. Springer. 2009. [9] Modeling of a manufacturing system using Petri Nets. Lefranc, Gaston. Universidad Catolica de Valparaiso, Chile. [10] Modeling of manufacturing systems and robot motions. Kost. Gabriel, Zdanowics. Ryszard. Elsevier. [11] Modeling, Analysis, Simulation, Scheduling, and Control of Semiconductor Manufacturing Systems: A Petri Net Approach. MengChu Zhou, Mu Der Jeng. IEEE transaction on semiconductor manufacturing, Vol 11, No 3. 1998. [12] Lectures on concurrency and Petri Nets. Jorg Desel, Wolfgang Reisig, Grzegorz Rozenberg. Springer. 2004. [13] Coloured Petri Nets and CPN tools for modelling and validation of concurrent systems. Jensen Kurt, Kristensen Lars, Lisa Well. Springer. 2007. [14] Petri Nets. James L. Peterson. Department of computer sciences, The university of Texas. [15] A timed Colored Petri Nets Approach to process scheduling. A. Camurri, P. Franchi and F. Gandolfo. University of Genoa, Italy. [16] Automated Control Synthesis for an Assembly Line Using Discrete Event System Control Theory Vigyan Chandra, Zhongdong Huang, and Ratnesh Kumar. [17] Control of Discrete event systems with modular or distributed structure Jan Komenda, Jan H. van Schuppen. Science Direct. [18] Modular supervisory control of an experimental automated manufacturing system M. Nourelfatha,*, E. Niel. Science Direct. [19] The simulation design and analysis of a exible manufacturing system with Automated Guided Vehicle AGV System. Insup Um, Hyeonjae Cheon, Hongchul Lee.

BACA

ACBA

Figure 14. Model to failure Machine

fail causes that the processing state changes to a failure state [9].That is shown is gure 14. When occurs a fail in any machine the process will be block when the next plate arrive to the location to be caught by this machine. For example if there is a failure in the press machine, the next plate with color (C) that needs that resource can not use it and it remains in a wait state generating that plates of others colors can not pass to its respective resources and the complete system will be blocked. To solve this situation we need a supervisor or control coordinator that when receives a signal indicating a failure of certain machine prevents the arrival of the plates that are processed by that machine, i.e, select a subset of tokens colors that do not need that resource. For example, if there is a failure in the painting machine, the supervisor must choose the appropiate subset of colors that can arrive to the rst place, in this case the subset is {A, C } because the color B correspond to a plate that needs be painted. Thus, the supervisor is just a lter of colors that arrive at the rst place. VIII. C ONCLUSIONS The modeling of a FMS using Petri nets can be divided in a low level design using the aproach ordinary and a high level design using coloured Petri nets. This high level approach is best suited for concurrent and similar processes with the advantage that it have less number of places and transitions