title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ð´Ð»Ñ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÑ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½ÑÑ ÑÑÐµÐµÐº
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of robot coordination models for robotic production cells
Creators: name: ÐÑÐºÐ°Ñ, ÐÐºÐ°ÑÐµÑÐ¸Ð½Ð°
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: ÑÑÐ¿ÐµÑÐ²Ð¸Ð·Ð¾Ñ
ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ¸Ð¾Ð½Ð½ÑÐ¹ Ð¼Ð¾Ð´ÑÐ»Ñ
Ð´Ð¸ÑÐºÑÐµÑÐ½Ð¾-ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
ÐºÐ¾Ð½ÐµÑÐ½ÑÐ¹ Ð°Ð²ÑÐ¾Ð¼Ð°Ñ
Ð¼Ð¾Ð´Ð°Ð»ÑÐ½Ð°Ñ Ð»Ð¾Ð³Ð¸ÐºÐ°
LTL
Supremica
Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½Ð°Ñ ÑÑÐµÐ¹ÐºÐ°
supervisor
coordination module
discrete event system
finite state machine
modal logic
production cell

description: Ð Ð°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐµÑÐµÐ½Ð¸Ñ Ð¾Ð´Ð½Ð¾Ð¹ Ð¸Ð· Ð²Ð°Ð¶Ð½ÑÑ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð¹ Ð½Ð°ÑÐºÐ¸ â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð´ÐµÑÐµÐ½ÑÑÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½Ð¾Ð¹ ÑÑÐµÐ¹ÐºÐ¾Ð¹. ÐÐ°Ð´Ð°ÑÐ° ÑÐµÐ°Ð»Ð¸Ð·ÑÐµÑÑÑ Ð¿Ð¾ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÐµÐ¾ÑÐ¸Ð¸ ÑÐ¸Ð½ÑÐµÐ·Ð° ÑÑÐ¿ÐµÑÐ²Ð¸Ð·Ð¾ÑÐ° â Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ°. ÐÐ·-Ð·Ð° ÑÐ»Ð¾Ð¶Ð½Ð¾ÑÑÐ¸ ÑÐ°ÑÑÐ¼Ð°ÑÑÐ¸Ð²Ð°ÐµÐ¼Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð´Ð»Ñ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÑÑÑ ÑÐ¿ÐµÑÐ¸Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¹ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½Ñ ÑÐ¸Ð½ÑÐµÐ·-ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Supremica, Ð¾ÑÐ½Ð¾Ð²Ð¾Ð¹ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ ÑÐ²Ð»ÑÑÑÑÑ ÐºÐ¾Ð½ÐµÑÐ½ÑÐµ Ð°Ð²ÑÐ¾Ð¼Ð°ÑÑ.
ÐÐ»Ð°Ð²Ð½Ð°Ñ ÑÐµÐ»Ñ Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ â Ð¿ÑÐ¾Ð´ÐµÐ¼Ð¾Ð½ÑÑÑÐ¸ÑÐ¾Ð²Ð°ÑÑ, ÐºÐ°Ðº Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½ÑÑ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐµÐ¹ Supremica ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°ÑÑ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½Ð¾Ð¹ ÑÑÐµÐ¹ÐºÐ¸, ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ¸Ñ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ¾Ð² ÐºÐ¾ÑÐ¾ÑÐ¾Ð¹ Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÐµÑ Ð¼Ð¾Ð´ÑÐ»ÑÐ½ÑÐ¹ ÑÑÐ¿ÐµÑÐ²Ð¸Ð·Ð¾Ñ. Ð Supremica ÑÑÑÐ¾Ð¸ÑÑÑ Ð´Ð¸ÑÐºÑÐµÑÐ½Ð¾-ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½Ð¾Ð¹ ÑÑÐµÐ¹ÐºÐ¸ Ð¸ Ð·Ð°Ð´Ð°ÑÑÑÑ ÐºÐ¾Ð½ÐµÑÐ½Ð¾Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ½ÑÐµ ÑÐ¿ÐµÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¸, Ð¾Ð³ÑÐ°Ð½Ð¸ÑÐ¸Ð²Ð°ÑÑÐ¸Ðµ ÑÐ²Ð¾Ð±Ð¾Ð´Ð½ÑÐµ Ð´ÐµÐ¹ÑÑÐ²Ð¸Ñ Ð°Ð³ÐµÐ½ÑÐ¾Ð² Ð² ÑÐ¸ÑÑÐµÐ¼Ðµ. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð²ÐµÑÐ¸ÑÐ¸ÑÐ¸ÑÑÐµÑÑÑ ÑÑÐµÐ´ÑÑÐ²Ð°Ð¼Ð¸ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ Ð¿Ð°ÐºÐµÑÐ°. Ð¡ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ð¸ Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸ÑÑÑ Ð¿Ð¾Ð´ÑÐ¾Ð±Ð½ÑÐ¹ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÑÑÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÐ¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¸ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÑ Ñ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð¼Ð¾Ð´ÐµÐ»Ð¸. ÐÐ¾ÑÐ¾Ð²Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ Ð´ÐµÐ¼Ð¾Ð½ÑÑÑÐ¸ÑÑÐµÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ ÑÐµÐ¾ÑÐ¸Ð¸ ÑÐ¸Ð½ÑÐµÐ·Ð° ÑÑÐ¿ÐµÑÐ²Ð¸Ð·Ð¾ÑÐ° ÐºÐ°Ðº ÑÐ¿Ð¾ÑÐ¾Ð±Ð° ÑÐµÑÐµÐ½Ð¸Ñ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼Ñ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ¸Ð¸ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ¾Ð² Ð² Ð¼ÑÐ»ÑÑÐ¸Ð°Ð³ÐµÐ½ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ. 
ÐÐ¾Ð»ÑÑÐµÐ½Ð½ÑÐµ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÑÑ Ð´Ð»Ñ Ð½Ð°Ð¿Ð¸ÑÐ°Ð½Ð¸Ñ ÑÑÐµÐ±Ð½Ð¾-Ð¼ÐµÑÐ¾Ð´Ð¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¿Ð¾ÑÐ¾Ð±Ð¸Ñ Â«ÐÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÐ¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² ÑÐ¾Ð±Ð¾ÑÐ¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ð¹ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½Ð¾Ð¹ ÑÑÐµÐ¹ÐºÐ¸Â», ÐºÐ¾ÑÐ¾ÑÐ¾Ðµ Ð¿Ð¾ÑÐ°Ð³Ð¾Ð²Ð¾ Ð¿Ð¾ÐºÐ°Ð·ÑÐ²Ð°ÐµÑ, ÐºÐ°Ðº Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÑÑ ÑÐµÐ¾ÑÐ¸Ñ ÑÐ¸Ð½ÑÐµÐ·Ð° ÑÑÐ¿ÐµÑÐ²Ð¸Ð·Ð¾ÑÐ¾Ð² Ð´Ð»Ñ ÑÐµÑÐµÐ½Ð¸Ñ Ð¿ÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼.
description: The work is devoted to solving one of the important problems of computer science - the development of decentralized management of a robotic production cell. The problem is realized by means of application of the theory of synthesis of the supervisor - logic controller. Because of complexity of the considered system for model creation the specialized tool of synthesis-control Supremica is used which basis are final automata.
The main objective of the graduation work is to demonstrate how to use the functionality of Supremica to develop a model of a production cell, the coordination of the elements of which is provided by a modular supervisor. In Supremica, a discrete event model of the production cell is built and the final specifications are set for the free actions of the agents in the system. The developed model is verified by the software package. By means of simulation, a detailed analysis of the efficacy of the built control and experiments with changing the model parameters are performed. The ready model demonstrates the application of the theory of supervisor synthesis as a way of solving the problem of elements coordination in a multi-agent system. 
The results obtained are used to write a training manual "Coordination of robots in a robotic cell", which shows step by step how to apply the theory of supervisor synthesis to solve practical problems.