In this paper, we propose and develop a two level scheme for monitoring and diagnosis in
automated manufacturing systems. At the first level, there are dedicated diagnostic systems
for each of the subsystems such as machine centres, robots, conveyors, etc. At the second
level we have an intelligent controller monitoring the part flow and coordinating the local
diagnostic systems and controllers. We assume that local controller and diagnostic systems
exist for subsystem level fault detection and diagnosis, and present a Petri net based …