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Dirk Missal
Formal Synthesis of Safety Controller
Code for Distributed Controllers
λογος
Formal Synthesis of Safety Controller Code
for Distributed Controllers
Dissertation
vorgelegt dem
von
Gutachter
1. Prof. Dr.-Ing. Hans-Michael Hanisch
2. Prof. Dr. Zhiwu Li
email: [email protected]
5 Behavior Specications 53
5.1 System specication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.2 Distribution to modular specications . . . . . . . . . . . . . . . . . . . . . 55
I
7 Synthesis of Forcing/Locking Safety Controllers 85
7.1 Synthesis of forcing/locking control functions . . . . . . . . . . . . . . . . . 86
7.1.1 Partially enabled controllable steps . . . . . . . . . . . . . . . . . . 86
7.1.2 Monolithic backward search . . . . . . . . . . . . . . . . . . . . . . 88
7.1.3 Permissiveness of the backward search results . . . . . . . . . . . . 93
7.1.4 Forward step analysis . . . . . . . . . . . . . . . . . . . . . . . . . . 97
7.2 Distribution and example . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
7.3 Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Bibliography 135
II
List of Figures
1.1 Formal model types overview. . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Steps to be proceeded for controller function synthesis. . . . . . . . . . . . 3
III
6.2 Behavior model of the lifting unit. . . . . . . . . . . . . . . . . . . . . . . . 62
6.3 Example scheme of a modular backward step and it's results. . . . . . . . . 68
6.4 Schematic example of the creation and the composition of communication
predicates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.5 Partially composed 𝑆 𝑁 𝐶𝐸𝑆 model of the ejection unit. . . . . . . . . . . . 78
6.6 Resulting local backward graphs for the forbidden states 𝑓 3 and 𝑓 4 (extract
of Figure A.1 in the appendix). . . . . . . . . . . . . . . . . . . . . . . . . 81
6.7 Local backward graphs for the forbidden states 𝑓 3 and 𝑓 4 containing ob-
servable state atoms only. . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
7.1 The uncontrollable pre-region for results with forcing and locking control
action. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
7.2 Example of an invalid transition 𝑡2 to a possible step {𝑡1} and a predicate
𝑝2 ∧ 𝑝3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
7.3 Scheme of the two types of cycles of forcing states. . . . . . . . . . . . . . . 99
7.4 Forcing/locking safety controller synthesis results for the example model and
the specications f1 and f4. . . . . . . . . . . . . . . . . . . . . . . . . . . 106
A.1 Results of the modular backward search without extension by event syn-
chronizations based on the forbidden states 𝑓 3 and 𝑓 4 (as in the example
Section 6.3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
A.2 Results of the monolithic backward search with extension by event synchro-
nizations based on the forbidden states 𝑓 3 and 𝑓 4. . . . . . . . . . . . . . . 129
A.3 𝑆 𝑁 𝐶𝐸𝑆 model of the testing station. . . . . . . . . . . . . . . . . . . . . . 130
IV
List of Tables
6.1 State invariants of the ejection and measuring unit models. . . . . . . . . . 79
8.1 Example set of local control functions (example in Section 6.3). . . . . . . 114
A.1 Controllable and observable nodes of the lifting, ejection and measuring unit.127
A.2 Modular synthesized local control functions to the specied forbidden states
𝑓 3 and 𝑓 4 (example in Section 6.3). . . . . . . . . . . . . . . . . . . . . . . 128
V
VI
1 Introduction
Modern control systems in manufacturing are characterized by rising complexity in size
and functionality. They are highly decentralized and constitute a network of physically
and functionally distributed controllers collaborating to perform the control tasks. That
goes along with a further growing demand on safety and reliability.
The development to more complex systems leads to the need of systematic, more reliable
design methods on one hand and intensies the issue of computational complexity for such
methods on the other hand. Within the wide range of approaches for systematic controller
design, this work focuses on their model-based design. More detailed, approaches for formal
synthesis of control functions and their implementation are discussed in the following.
Theoretical approaches for the synthesis of controllers or supervisors are adopted to answer
the newly emerging challenges of distribution and communication. This includes topics like
the use of modular plant models that preserve information about the modular structure
of the plant, methods to specify forbidden or desired behavior locally instead of using
global specications and synthesis approaches for local controllers and their communication
structure instead of a global controller or supervisor.
On the other hand, model-based design methods add specic issues as there are - amongst
others - the cost for the modeling itself, the challenge of nding a suitable application
abstraction, the mathematical complexity of the analysis and the assignability of the results
back to real systems. All these points are discussed for the introduced approaches in this
work.
The term formal model subsumes a wide range of model types and dierent application ar-
eas. There are three main groups of models. First are discrete models describing behavior-
based on system states and state transitions. The second group are continuous models rep-
resenting behavior in terms of dierential equations as for example linear system equations.
A combination of those two are hybrid models. They combine system's state representa-
tion with continuous behavior models enabled in an active state. A simplied overview
on model types is given in Figure 1.1. The model used in this work is based on Petri net
elements. The higher Petri nets are highlighted therefore.
Model Types
Formal model-based analysis and design methods subsume the simulation with formal mod-
els, formal verication and formal controller synthesis. The formal model is used to test or
respectively verify the behavior of a controller model in closed loop with a model of the plant
behavior in simulation and verication.
1.2. PROBLEM AND METHODS OF RESOLUTION 3
First fundamental work on controller synthesis was published by the group of P.J. Ramagde
and M.W. Wonham introducing the supervisory control theory [WR84, RW87b]. Supervi-
sors are controllers coordinating dierent machines or machine parts to avoid undesirable
behavior or/and deadlocks. Last is also addressed in works on deadlock prevention in so
called exible manufacturing systems [BK90, LZ09, ZL10].
Controlling the computational complexity of synthesis approaches has been the main issue
from the beginning [Sre96]. Modular enhancements were developed shortly after introduc-
tion of the supervisory control theory [RW87a, LW88] to address the issue of computational
complexity. An overview of Discrete Event Systems (abbr. DES) and control theory is given
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That this Countrey is term’d New France, First discovery.
from having been discover’d by the French,
at least more fully than before, there needs no question to be made;
but whether Joannes Verrazanus, under Francis the First of France,
or Sebastian Cabot before spoken of, were the first in this Discovery,
may admit of something of dispute: the Cabots indeed, (for John the
Father is by some mention’d to have accompanied his Son) who by
all are own’d the first Discoverers of New-found-Land and Terra de
Baccalaos, are also commonly reputed to have first found out the
Province of New France, together with some parts adjacent, though
perhaps it might be upon this Ground that Terra de Nova, or New-
found-Land, not being known at first to be an Island, New France
and that might be taken for one continu’d Province; and it appears so
much the more probable, because Canada, or Nova Francia, is by
some call’d Terra Nova; however it be, or whoever were the first
Adventurers, Quarteri and Champlain are the two French-men that
have gain’d so much fame by making a more ample and particular
search into these parts, that this Province may seem from thence to
have sufficient claim to the Title of New France, whereof that part
more especially so call’d, lies on the North-side of the River Canada,
and Southward to Terra Corterealis. The Winter is here very long,
and so much the more severe by reason of a cold North-West Wind
which blows most part of the Winter Season, and brings with it so
thick a Snow, that it continues upon the Ground most commonly till
after May. The Countrey is for the most part wooddy, but in the
Champain parts thereof very fruitful of Corn, and all sorts of Grain,
especially Pulse: It hath also Fish, Fowl, wild Deer, Bears, Marterns,
and Foxes in abundance, and of Hares such plenty, that one of the
little Islands belonging to this Province, is by the French nam’d L’Isle
des Lievres, or The Island of Hares: But the most peculiar
Commodity belonging to this Countrey is the Esurgnuy, a kind of
Shell-Fish, extraordinary white, and approv’d of singular vertue for
the stanching of Blood; to which purpose they make Bracelets of
them, not onely for their own use, but also to vend them to others;
but John de Laet and others have observ’d no other than a
superstitious use of them amongst the Salvages, in their Funeral
Rites for the Dead: the manner of their taking it is very remarkable;
for when any one is condemn’d to die, or taken Prisoner, they cut off
all his fleshy parts in long slices, and then throw him into the River,
where they let him lie twelve hours, and at last pulling him out again
find his Wounds full of Esurgnui. Quadus and Maginus make
mention of three ancient Towns, namely Canada (denominated as
the Province, from the River) Hochelai and Hochchelaga, giving
Name to a Territory about it, which Geographers either take no
notice of, or make some question of the being of such Towns;
however, a late Describer of the West-Indies, not mentioning the
other two, gives this description of the last, viz. Hochchelaga:
“This City (saith he) said to be the Seat and Residence of a King of
this Country whom the Natives, at least some of them, acknowledge
and reverence, carrying him sometimes in great pomp upon their
Shoulders sitting upon a Carpet of Beasts Skins, is situate far within
Land, at a distance of six or seven Leagues from the River Canada,
and is a kind of fortifi’d place, encompass’d about with a threefold
Range of Timber Ramparts one within another, of about two Rods
high from the Ground, with cross Planks, or pieces of Timber jutting
out, on purpose to hinder an Enemy’s Scaling or getting up; towards
the top there is as it were a Scaffold or Gallery fram’d, from whence
they may throw down Stones of which there is always good store
ready, or what else to annoy the Assailants: It hath one onely Gate
for Entrance, and that likewise well fortifi’d after their manner:
There are guess’d to be in it fifty or sixty great Houses, built (as the
maner of the Americans that live in Houses usually is) in a square
Figure, each side being about fifty Foot long, or more, and sixteen or
twenty broad, but not many Stories high; and in the midst of the
Court or void space, a place to make their Fire, and do other
necessary work about it. Moreover the Territory round about this
Town is both rich in Soil, and pleasant in Prospect.”
Besides these three above-mention’d Towns there are several
others, which are not untaken notice of in the most modern
Descriptions and Maps, viz. 1. Stadac, or Stadacone, somewhat
Westward of a small Isle call’d The Isle d’Orleance; 2. Quebeque,
which being made a Colony of the French, and the Natives expell’d,
came to be Entituled St. Croix; 3. Tadoussac, which lies in that part
of the Countrey denominated from the River Saguenay, and by some
call’d at this day Nouvelle Biscaye, a delightful place, and full of
stately Trees, and hath likewise a good and safe Haven, capable of
receiving twenty Ships; 4. Trois Rivieris, or three Rivers; 5. Monreal;
6. Sillery; 7. Richelieu; besides two strong Castles or Forts,
Franceroy and St. Lewis; the First built by Monsieur Robeval at his
Landing here, about the Year 1540. the other design’d for a Colony,
in the Year 1611. by Monsieur Champlany, but hinder’d by the
Invasion of the Iroquois. The smaller Rivers that run out of the
Gulph of St. Lawrence, and the grand River Canada towards the
North, on which side chiefly lies this Province, are, 1. Chichesedec, 2.
St. Margarite, 3. Lesquemin, 4. Saquenay, before-mention’d, 5.
Montonne; and on the South side, the River Mary. The principal
Tribes of the ancient Natives of this Countrey were; on the North
side of Canada the Canadans, the Betisiamites, the Hurons, the
Algoniquins, the Quenongebins, the Algoingequins, the
Attagopantans, the Atticameques, the Nipisiriniens; and on the
South side, the Etechemins, and the chief Heads or Princes of these
Tribes were call’d Sagamores.
Jaques Quartier Complementing their Strange Fish nam’d
King Agouthanna, took up his Quarters a Chaousarou.
whole Winter at St. Croix, a Sandy Promontory, overflow’d by the
River Canada, into which falls the Lake de Champlain, grown round
about with Chestnut Trees; in it breeds the strange Fish call’d
Chaousarou, generally ten Foot long, with Heads like Sharks, and
two rows of Teeth in their Mouths, their Skins full of strong Scales,
which are sufficient Shields against Swords and Lances, are great
devourers of other Fish and Fowls, which they take after this
manner, viz. they swim amongst Reeds or Canes, and lie still with
their Mouths open; whereat the Birds sitting down upon them, are
immediately swallow’d.
The Natives of Nova Francia anoint their bodies with Oil; in the
Summer they go naked, and in the Winter mantle themselves in
Furs. Their Warlike Accoutrements are Darts and Clubs, but chiefly
great Shields. They are revengeful, cruel, and fraudulent; their
Women common to all Men, from fifteen to twenty, after which,
Marrying, they become very Chaste. Their Diet is Indian Corn, fresh
and salt Fish, Venison, Buffalo’s and Beavers flesh; wiping their
Fingers (when greasie) on their Heads, or their Dogs backs, which
wait for the Scraps.
At that season when the Corn covers the Strange proof of
ground, to any heighth, they eat Cockles, Valor.
Dogs, dead Caryon, and the Skins Wonderful opinion
wherewith they Clothe themselves. When of God.
they have eaten their fill, they tabering on Flood.
their Bellies, cry, Tapoue Mikispoun, that Sorcerers.
is, Verily I am satisfi’d. They give their Sick They boast their
a speedy Cure, either immediately killing Extract from
them, or inhumanely exposing them to the Heaven.
Woods, to be devour’d by ravenous Beasts, Their strange
but if they die suddenly, they in howling Relation concerning
tone pronounce Ove, Ove, thereby to chase it.
the Souls of the Deceas’d out of their Huts; As also of the
they stick the bodies on Woodden Prongs, Creation, and Souls
of the Deceased.
cover them with Bark, and lay their Clothes
and Arms by them; all what remains of the Strange Rock.
Funeral Feasts is burnt, whereas at other Thunder.
times, what e’re is brought on their Table Thakabech an Idol.
they eat, though ready to burst. They make Funeral-Feast.
the first Proofs of their Valour by
undergoing a most prodigious Torment, in this manner; Two by
consent tie their naked Arms together, on which they suffer burning
Sulphur to be pour’d, till the flesh starts from the bone; if either of
them shrink, or pull back his Arm, he is accounted by them ever after
as an ignominious and base Coward. They call God Atahocan, and
believe that one Messou first drowning the world by a general
Deluge, restor’d it again after a wonderful manner, viz. Messou
hunting with Wolves, they scented a Deer which being closely
pursu’d, leap’d into a neighboring Pool, the Wolves following it, were
drown’d; Messou coming thither, stood amaz’d at a Bird, which
inform’d him, that the Wolves were pluck’d down, and held fast in
the bottom by horrible Monsters, whereupon he diving, the Pool
immediately began to swell, and at last the whole surface of the Earth
to be overflow’d. Messou afterwards let a Raven flie to fetch a Clod of
Earth, but in vain, for all the Land lay drown’d in Water; at last a Rat
diving to the bottom, brought a lump of Earth, out of which Messou
restor’d the World; shot Arrows into Trees, which became fruitful
Branches. Here also reside an innumerable many Sorcerers, call’d
Pillotoa’s, which sometimes being possess’d with a Frenzy, scourge
themselves in a terrible manner, insomuch that the Blood runs down
by their sides: These People are held in great esteem, for they boast
themselves to have their Original from Heaven upon this occasion,
viz. Ataensic, a certain great Queen or Goddess, residing above the
Stars, had a sick Husband, who Dreamt that he should be restor’d to
his former health so soon as he could but taste of the Fruits which
grew on a Tree, whereby the Family of Heaven were kept alive, but
that the Tree must needs be cut down, which Ataensic obeying, gave
onely two blows, when the Tree, to her great amazement, fell out of
Heaven down to the Earth; there being by this means nothing more
left to eat in Heaven: Ataensic follow’d the fallen Tree, and being big
with Child, bare a Daughter, which growing up to years, was
Deliver’d of two Daughters, viz. Taoviscaron and Jouskeha, the
eldest of which slew the youngest: By these Fables we may discern
their obscure knowledge of Noah’s Flood, Eve’s Fall, and Cain’s
Murder. No less ridiculous is that which they believe concerning the
Creation, viz. That the Waters were inclos’d within a Frog, which
Jouskeha causing to be cut open, all Streams and Rivers issuing out,
had their Original from thence: This done, Jouskeha open’d a Pit, out
of which came all sorts of Beasts; they ascribe a Bodily shape to the
Soul, as also Immortality, but that they live together in a great
Village towards the West; from which removing sometimes, they
knock at the Doors of their former Friends in the Night, and sow
deserted Grounds: That the Journey towards the Village in which the
Souls reside is very strange; the Highway thither beginning at a Rock
nam’d Ecaregniendi, where they first Paint their Faces, which done,
they go to a Hut inhabited by an old Man, nam’d Osotrach, who
takes the Brains out of the Souls Head; after which they walk to a
broad River, which they cross on a narrow Plank or Bridge, on which
a Dog encountring, forces them to leap into the Water, which carries
them down to the foremention’d Village. They acknowledge one Oki
for the Governor of the Sea, and seasons of the Year: They also
Religiously Worship the Rock Tsankchi Arasta, which they believe
some ages ago was once a Man, but afterward Transform’d into a
Rock, in which a Dæmon resides, who can make their Journies either
successful or dangerous, wherefore they offer him Tobacco. Their
opinion of Thunder is likewise very ridiculous, for they say that the
Devil endeavoring to vomit a horrible Serpent, by straining to
evacuate the same, rents the Clouds, and occasions Thunder. Lastly,
They relate of a Dwarf call’d Thakabech, who climb’d on the top of a
Tree, which by his blowing thereon grew so high, that it touch’d the
Clouds, and Thakabech easily stept into them, where he found all
sorts of delight and pleasure; but having a Sister on Earth, descended
again along the Tree, and fetching his Sister, conducted her above
the Stars; mean while, Thakabech going in the Night to see if he had
taken any thing in his Net which he had pitch’d, found it full of Fire,
and observing the same very narrowly, saw that he had taken the
Sun, but durst not approach the same, by reason of its great heat; but
making a Mouse, sent her to gnaw the Net in pieces, and set the Sun
at liberty. Every twelfth year they keep an extraordinary great
Funeral-Feast; for on the Set-time they flock from all parts to the
appointed place, every one carrying thither the Bodies or Bones of
their Deceas’d Friends, wrapt up in Clothes, and hang them over
their Meat, which they eat singing; such fond and Superstitious
Conceits make up the Religion of these poor deluded People.
Sect. V.
Accadia, or Nova Scotia.
Sect. VI.
Norumbegua.
Beasts.
The Beasts peculiar to this Countrey are the Moose, the Rackoon,
and the Musquash; the two first Land-Animals, the last Amphibious,
which with others common to them with us, are thus versifi’d by the
abovesaid Author:
The Kingly Lyon, and the strong-arm’d Bear;
The large limb’d Mooses, with the tripping Deer;
Quill-darting Porcupines, that Rackoons be
Castled ith’ hollow of an aged Tree;
The skipping Squirrel, Rabbet, purblind Hare,
Immured in the self-same Castle are,
Lest red-ey’d Ferrets, wily Foxes should,
Them undermine, if Ramper’d but with Mold;
The grim-fac’d Ounce, and rav’nous howling Wolf,
Whose meagre Paunch sucks like a swallowing Gulph;
Black glittering Otters, and rich Coated Beaver;
The Civet-scented Musquash smelling ever.
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