Tomaz C. Barros,  Jorge C.A. de Figueiredo,  Angelo Perkusich. 

This paper introduces an approach based on Colored Petri Nets (CPN) to systematically introduce fault-tolerance in the design of a supervisor for a Flexible Manufacturing System (FMS). The system is modeled by means of Place/Transition nets and then is structurally reduced, resulting in a CPN that is independent of a specific production route. The introduction of fault tolerance in the design of such a supervisor considers both forward recovery and backward recovery. For forward recovery we anticipate faults in resources in a production route and reschedule the production routes for production orders before the faulty resource is reached. The backward recovery is considered at the level of a resource in such a way that when a faulty resource is fixed, the operation restarts on the last consistent operation executed

http://www.scielo.br/scielo.php?script=sci_arttext&pid=S0104-65001997000300002&lng=e

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