Implementação da integração PNRD e iPNRD para mundo de blocos

• Autor(a) principal: Santana, Thiago Augusto de
• Data de Publicação: 2023
• Tipo de documento: Trabalho de conclusão de curso
• Idioma: por
• Título da fonte: Repositório Institucional da UFU
• Texto Completo: https://repositorio.ufu.br/handle/123456789/39748
• topic: RFID; PNRD; iPNRD; Rede de Petri; Robô cartesiano; Arduino; Mundo de blocos; Petri net; Cartesian Robot; Block world; CNPQ::ENGENHARIAS::ENGENHARIA MECANICA

Industry 4.0, known as the Fourth Industrial Revolution, encompasses an extensive set of cutting-edge technologies, such as artificial intelligence, robotics, internet of things and cloud computing. In this context, the use of RFID (Radio Frequency Identification) technology is gaining ground. growing application in the industrial and logistics sectors, although its use is largely aimed at identifying items. In this study, a model based on Petri nets is implemented, as proposed by Tavares and Saraiva in 2010. This Petri net is called PNRD (Petri Net Inside RFID Database) and will be applied in the context of the block world with the objective of establishing adaptive control for a cartesian robot and three blocks. The procedure involves creating a Petri space and a PNRD and iPNRD model (inverted PNRD) for each agent, as well as integrating their information. This integration allows the Cartesian robot to autonomously organize the blocks, trying to obtain the desired final state, previously informed and which is verified throughout the process based on the information stored in the RFID tags of each block, where it is established that the RFID tags function as a local database containing information about the block identification, the expected process (represented by the Petri net incidence matrix) and the current and desired state of the block. This is achieved through the comparison of logical and physical information, which results in the generation of a sequence of movements and the execution of corresponding actions and provides adaptive control against failures due to external actions, failures that may or may not make it unfeasible. Reach the final goal of all blocks.