Tham khảo tài liệu 'manufacturing the future 2012 part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Applications of Petri Nets to Human-in-the-Loop Control for Discrete . 191 Discussions On the part of the human-controlled robot in the proposed supervisory framework the human behavior is advised and restricted to satisfy the specifications so that the collision and deadlock are avoid during the surveillance period. As shown in Table 5 without supervisory control the state space is 65 including the undesired collision and deadlock states. By using our proposed approach in the preliminary supervision . only the collision-free specification to is enforced the state space reduces to 44. Finally with the deadlock resolution the state space is limited to 40 only. That means the undesired collision and deadlock states will be successfully avoided during the surveillance period. In this approach the supervisor only consists of places and arcs and its size is proportional to the number of specifications that must be satisfied. Petri net models Unsupervised system Preliminary supervision with deadlocks Complete supervision deadlock-free Places 18 23 25 Transitions 22 22 22 State space 65 44 40 Table 5. Comparison between unsupervised and supervised systems 7. Conclusion This chapter has presented a PN-based framework to design supervisors for human-in-the-loop systems. The supervisor is systematically synthesized to enforce the requirements. To demonstrate the practicability of the proposed supervisory approach an application to 1 the RTP system in semiconductor manufacturing controlled over the Internet and 2 the two-robot remote surveillance system are provided. According to the feedback status of the remotely located system the designed supervisory agent guarantees that all requested commands satisfy the desired specifications. On the part of human- 192 Manufacturing the Future Concepts Technologies Visions controlled systems the developed supervisor can be implemented as an intelligent agent to advise and guide the human operator in issuing .