Linear Temporal Logic (LTL) Based Monitoring of Smart Manufacturing Systems

Brian A. Weiss, Gerald Heddy, Umer Huzaifa, Peter Beling, Yacov Haimes, Amy LaViers, and Jeremy Marvel
Submission Type: 
Full Paper
AttachmentSizeTimestamp
phmc_15_039.pdf1.63 MBOctober 6, 2015 - 9:22pm

The vision of Smart Manufacturing Systems (SMS) includes collaborative robots that can adapt to a range of scenarios. This vision requires a classification of multiple system behaviors, or sequences of movement, that can achieve the same high-level tasks. Likewise, this vision presents unique challenges regarding the management of environmental variables in concert with discrete, logic-based programming. Overcoming these challenges requires targeted performance and health monitoring of both the logical controller and the physical components of the robotic system. Prognostics and health management (PHM) defines a field of techniques and methods that enable condition-monitoring, diagnostics, and prognostics of physical elements, functional processes, overall systems, etc. PHM is warranted in this effort given that the controller is vulnerable to program changes, which propagate in unexpected ways, logical runtime exceptions, sensor failure, and even bit rot. The physical components health is affected by the wear and tear experienced by machines constantly in motion. The controller’s source of faults is inherently discrete, while the latter occurs in a manner that builds up continuously over time. Such a disconnect poses unique challenges for PHM. This paper presents a robotic monitoring system that captures and resolves this disconnect. This effort leverages supervisory robotic control and model checking with linear temporal logic (LTL), presenting them as a novel monitoring system for PHM. This methodology has been demonstrated in a MATLAB-based simulator for an industry inspired use-case in the context of PHM. Future work will use the methodology to develop adaptive, intelligent control strategies to evenly distribute wear on the joints of the robotic arms, maximizing the life of the system.

Publication Year: 
2015
Publication Volume: 
6
Publication Control Number: 
039
Page Count: 
10
Submission Keywords: 
Linear Temporal Logic
PHM
Automaton
smart manufacturing
manufacturing system
discrete
sensor failure
continuous
Submission Topic Areas: 
Industrial applications
Model-based methods for fault detection, diagnostics, and prognosis
Sensors
Standards and methodologies
Systems and platform applications
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