2.2.4. SHPN Model Structure and Simulation

The hybrid aspect of the model is determined by variables related to distances travelled by the ARS. These distances are considered between places where disassembly occurs and places where storage warehouses are located. These variables vary according to whether speed is constant or variable, a variation based on the ARS speed between A/D/RML locations. To develop a global assembly and/or disassembly model, we shall consider the hybrid aspect of the assembly/disassembly/repair process served by the platform. For modeling, we shall use Synchronized Hybrid Petri Nets (SHPN) [20], which integrates the discrete appearance of the assembly/disassembly process with the continuous appearance of moving of the WMR and components handling by the RM. The entire model is SHPN type as it is interfaced with external events for synchronization in a modeling/simulation approach useful prior to real-time control. SHPN morphology results in the integration of two PN models, each of which has a specific typology: SPN (Synchronized PN) and SHPN (Synchronized Hybrid PN). The simulation of the SHPN model (non-autonomous HPN model) is used to make and check the compatibility of the discrete dynamics of the ML with the continuous dynamics of the ARS and to be able perform together, synchronized without conflicts. The SHPN overall structure and the SHPN representation by modeling assembly, disassembly and repair operations for 2 different types of products (WP1 and WP2), performed by ARS equipped with RM, is shown in Figure 12.

These models describe the following automatic operations:


Based on the SHPN model (Figure 13), Sirphyco simulation results for continuous and discrete places associated with displacements of ARS and FC with IRM are shown in Figures 14 and 15. PN Transitions, task scheduling presentation and steps for disassembly and repair operations on A/D/RML assisted by ARS are shown in Figures 16–18.

**Figure 14.** Monitoring signals for assembly operation steps from PN Sirphyco simulation: (**a**) WP 1, (**b**) WP 2.

**Figure 15.** Monitoring signals in PN Sirphyco simulation: (**a**) disassembly WP2, (**b**) repair WP2.

**Figure 16.** ARS task scheduling for disassembly operation.
