Cyber-physical Systems (CPS) are complex systems that interact with the physical world where instant external changes exist. To tackle these systems, in the literature, software agents are considered as an option and their enhancement with fuzzy logic can also be employed. Agent-oriented approaches and particularly Belief-Desire-Intention (BDI) architecture is used in different application areas. In all these domains, autonomy and proactive behaviour as well as the human-like reasoning are important aspects to enhance the intelligence of a system. These features can also be applied in CPS where the systems are complex. In this study, it is aimed to enhance a CPS using fuzzy logic for intelligent agents so that intelligent decision making can be applied to eliminate inaccurate calculations in the CPS. To evaluate the proposed fuzzy-BDI approach, we used a CPU fan control system. First, the system is tested assuming that the temperature sensor is ideal without including any sampling noise. We applied traditional BDI and fuzzy-BDI separately. Then, we tested data sampling process considering ∓ 5 error rate. We concluded that fuzzy-BDI approach for both ideal and noisy data showed considerable improvement.

Towards Applying Fuzzy Systems in Intelligent Agent-based CPS: A Case Study

Cyber-physical systems (CPSs) are complex systems interacting with the physical world where instant external changes and uncertain events exist. The Internet of Things is a paradigm that can interoperate with a CPS to increase the CPS’s network and communication capabilities. In the literature, software agents, particularly belief–desire–intention (BDI) agents, are considered options to program these heterogeneous and complex systems in various domains. Moreover, fuzzy logic is a method for handling uncertainties. Therefore, the enhancement of BDI with fuzzy logic can also be employed to improve the abilities, such that autonomy, pro-activity, and reasoning, which are essentials for intelligent systems. These features can be applied in CPSs and IoT interoperable systems. This study extends the CPSs and IoT interoperable systems using fuzzy logic and intelligent agents as symmetric paradigms that equally leverage these domains as well as benefit the agent & artifact approach. In this regard, the main contribution of this study is the integration approach, used to combine the CPS and IoT augmented with fuzzy logic using BDI agents. The study begins with constructing the design primitives from scratch and shows how Jason BDI agents can control the distributed CPS. The study then performs the artifact approach by encapsulating a fuzzy inference system, utilizing time-based reasoning, and benefiting from symmetric fuzzy functions. Lastly, the study applies the self-adaptiveness method and flexibility plan selection, considering the run-time MAPE-K model to tackle run-time uncertainty.

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Enhancing BDI Agents Using Fuzzy Logic for CPS and IoT Interoperability Using the JaCa Platform

Rational software agents with the BDI reasoning model for Cyber–Physical Systems

Mobile robots allow us to achieve tasks independently from human intervention. Mobile robots follow their long-term goals according to a given way-point while observing the environment and reacting to the uncertain events around them. Therefore, a localization technology such as ultra-wide-band should be used to permit their movement along a path. Moreover, they can receive their goals from a remote terminal at any instant of time. Since these robots consist of the cyber, the physical and the network parts they can be inspected under the cyber-physical systems paradigm as well. The physical side describes the concrete form of the robot while the cyber part represents its software-based features. They can establish a network in order to achieve communication between that remote terminal. As these systems are quite complex because of their heterogeneity (multi-component), complexity (programming effort) and environmental changes (noisy or imprecise information), software agents can be a suitable paradigm to implement these systems from a higher abstraction level including communication capabilities while fuzzy-logic control (FLC) can be a way to deal with environmental effects. Specifically, the FLC for speed control can enhance and smoothen the capabilities of mobile robots while they are moving towards their locations compared to conventional controllers. In this study, LEGO Mindstorms EV3, Brick PI and JADE agents were used including fuzzy logic to create a mobile robot case study. 

Deployment of Software Agents and Application of Fuzzy Controller on the UWB Localization Based Mobile Robots

Siber-fiziksel Sistemler (SFS), anlık dış değişikliklerin olduğu fiziksel dünya ile etkileşime giren karmaşık yapıdaki sistemlerdir. Literatürde, yazılım etmenleri bu karmaşık yapıdaki sistemlerin programlanması için bir seçenek olarak kabul edilir ve sahip oldukları özellikleri geliştirmek için bulanık mantık ile birlikte kullanılabilir. Etmen odaklı yaklaşımlar, özellikle Kanı-İstek-Hedef (KİH) mimarisi, çeşitli uygulamalarda kullanılmaktadır. Siber-fiziksel Sistemler alanında özerklik, önalma ve insan benzeri akıl yürütme, bir sistemin zekasını geliştirmek için gereken temel unsurlardır. KİH etmenleri tarafından bu özellikler, sistemlerin karmaşık olduğu SFS de uygulanabilir ve bulanık mantık ile kapasiteleri genişletilebilir. Bu çalışma, SFS'deki kusurlu olabilecek hesaplamaları azaltmak amacıyla bulanık mantığı baz alarak KİH mimarisine bağlı akıllı etmenleri uygular. Önerilen bulanık KİH yaklaşımını değerlendirmek için bir MİB fan sistemi kullanılmıştır. İlk olarak, sıcaklık duyargasının herhangi bir örnekleme gürültüsü olmadan ideal olduğu varsayılarak sistem test edilmiştir. Normal KİH ve bulanık mantık tabanlı KİH ayrı ayrı uygulanarak sonuçlar test edilmiştir. Daha sonra -+ beş hata oranı dikkate alınarak veri örnekleme süreci test edilmiştir. Hem ideal hem de gürültülü veriler için bulanık KİH yaklaşımının önemli bir gelişme gösterdiği sonucuna varılmıştır. Ayrıca, somut bir vaka çalışması da kullanarak Jason KİH için akıl yürütme döngüsü kısıtlamaları denenmiştir.

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Integrating Fuzzy Logic into Intelligent Agents: Experiments on a CPS

To cope with the challenges of constructing Cyberphysical Production Systems (CPPS), many studies propose benefiting from agent systems. However, industrial processes should be mostly emulated while agent-based solutions are integrating with CPPS since it is not always possible to apply cyber-based solutions to these systems directly. The target system can be miniaturised while sustaining its functionality. Hence, in this paper, we introduce an agent-based industrial production line and discuss the system development using Lego technology while providing integration of software agents as well as focusing on low-level requirements. In this way, a CPPS is emulated while agents control the system.

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Metehan Mustafa Yalcin

Papers

An Agent-based Cyber-Physical Production System using Lego Technology