Fault tolerant process planning and control

The authors develop a model for achieving reliable and high-performance control programs. The approach combines hierarchical control, inherent fault tolerance, and massive parallelism. The approach uses a fine-grain cellular automation for implementing the supervisory task of a hierarchical system. The use of massive parallelism significantly enhances the reliability of the process control system and speeds up the planning time. The authors present an algorithm for generating plans using cellular automation based on a discrete ray tracing algorithm. The formulated plan is optimal for the given class of control programs