**Table of Contents**
[TOC]

The following rules have been applied in order to create PDDL files from IEC 62264 production system models.

# PDDL Domain Definitions

## Metamodel Concepts
Metamodel concepts of IEC 62264 are being converted to a set of PDDL type specifications and predicates. Relevant elements are those that appear within a given IEC 62264 model. Unused elements are not translated in order to reduce file size and increase performance and readability.
* IEC 62264 elements (e.g., `Equipment`, `Equipment Class`) are converted to types.
* IEC 62264 relations (e.g., `Equipment` can be classified by [0..*] `Equipment Classes`) are converted to predicates.

For the above mentioned examples, the IEC 62264 concepts are translated from
```mermaid
classDiagram
	Person "0..*" --> "0..*" Personnel Class : defined by
	Equipment "0..*" --> "0..*" Equipment Class : defined by
	Material Lot "0..*" --> "1" Material Definition : defined by
	Material Definition "0..*" --> "0..*" Material Class : grouped by
```

to

```pddl
(:types
	PersonnelClass Person
	EquipmentClass Equipment
	MaterialClass MaterialDefinition MaterialLot
)
(:predicates
	(PersonClassed ?P - Person ?C - PersonnelClass)
	(EquipmentClassed ?E - Equipment ?C - EquipmentClass)
	(MaterialClassed ?D - MaterialDefinition ?C - MaterialClass)
	(MaterialDefined ?L - MaterialLot ?D - MaterialDefinition)
	(MaterialLotClassed ?L - MaterialLot ?C - MaterialClass)
)
```
Where the last predicate `(MaterialLotClassed ?L - MaterialLot ?C - MaterialClass)` is the composition of `defined by` and `grouped by` in the material information model.

## Model Concepts
IEC 62264 instance data is converted into PDDL information using the rules laid out in the following clauses. Note, that we are using class diagram visual syntax instead of object diagram syntax due to limitations in the used Markdown rendering engine.

### * Class and Material Definition
`* Class` and `Material Definition` instances are converted to constants

From

```mermaid
classDiagram
	class MaintenanceEngineer
	<<PersonnelClass>> MaintenanceEngineer
	class PositioningUnit
	<<EquipmentClass>> PositioningUnit
	class Chassis
	<<MaterialClass>> Chassis
	class ChassisBlack
	<<MaterialDefinition>> ChassisBlack
```

to

```pddl
(:constants
	PC_MaintenanceEngineer - PersonnelClass
	EC_PositioningUnit - EquipmentClass
	MC_Chassis - MaterialClass
	MD_Chassis-Black - MaterialDefinition
)
```

### * Class Property and Material Definition Property
Boolean `* Class Property` and `Material Definition Property` instances are converted to predicates and actions. Non-boolean properties are not supported in the current state of implementation. The actions are only generated, if the property is not marked as of kind `implicit`, in which case the corresponding predicate is only triggered by other actions' effects.

From

```mermaid
classDiagram
	class PositioningUnit
	<<EquipmentClass>> PositioningUnit
	class Locked
	<<EquipmentClassProperty>> Locked
	PositioningUnit *-- Locked : has property
```

to

```pddl
(:predicates
	(PositioningUnitLocked ?E - Equipment)
)

(:action LockPositioningUnit
	:parameters (?E - Equipment)
	:precondition	
		(and
			(EquipmentClassed ?E EC_PositioningUnit)
			(not (PositioningUnitLocked ?E))
		)
	:effect	
		(and
			(increase (total-cost) 1)
			(PositioningUnitLocked ?E)
		)
)

(:action UnlockPositioningUnit
	:parameters (?E - Equipment)
	:precondition	
		(and
			(EquipmentClassed ?E EC_PositioningUnit)
			(PositioningUnitLocked ?E)
		)
	:effect	
		(and
			(increase (total-cost) 1)
			(not (PositioningUnitLocked ?E))
		)
)
```
Please, note that we have applied hard-coded "pretty-printing" to some of the `* Class Property` instances. In the above case `PositioningUnit`'s `locked` is translated into the terms `LockPositioningUnit` and `UnlockPositioningUnit`. The default translation for this instance would be `PositioningUnitLockedTrue` `PositioningUnitLockedFalse`. Action cost for setting a property are considered to be 1.

### Resource Network Connection Type
`Resource Network Connection Type` instances are converted to predicates.

From

```mermaid
classDiagram
	class EquipmentReachTo
	<<ResourceNetworkConnectionType>> EquipmentReachTo
	class MaterialLocation
	<<ResourceNetworkConnectionType>> MaterialLocation
```

to

```pddl
(:predicates
	(ReachesTo ?R ?E - Equipment)
	(MaterialLocation ?M - MaterialLot ?E - Equipment)
)
```

Please, note that we have applied hard-coded "pretty-printing" to some of the `ResourceNetworkConnectionType` instances. In the above case `EquipmentReachTo` is translated into the term `ReachesTo`.

### Process Segment
`Process Segment` instances are converted to actions, with their `* Segment Specification` instances becoming their parameters and being used in certain pre and post condition statements. In the example below, we are not listing all elements specified in the IEC 62264 input model, as this would increase complexity a lot. Instead, we are listing the main elements of the input model, but we are listing the complete result for the PDDL domain description.

From

```mermaid
classDiagram
	class MoveShuttle
	<<ProcessSegment>> MoveShuttle
	class Shuttle
	<<EquipmentSegmentSpecification>> Shuttle
	class ShuttleClass
	<<EquipmentClass>> ShuttleClass
	class From
	<<EquipmentSegmentSpecification>> From
	class To
	<<EquipmentSegmentSpecification>> To
	class LockedFrom
	<<EquipmentSegmentSpecificationProperty>> LockedFrom
	class PositioningUnitClass
	<<EquipmentClass>> PositioningUnitClass
	class LockedTo
	<<EquipmentSegmentSpecificationProperty>> LockedTo
	class Locked
	<<EquipmentClassProperty>> Locked
	MoveShuttle *-- Shuttle : contains
	MoveShuttle *-- From : contains
	MoveShuttle *-- To : contains
	Shuttle --> ShuttleClass : specifies
	From *-- LockedFrom : has property
	From --> PositioningUnitClass : specifies
	To --> PositioningUnitClass : specifies
	To *-- LockedTo : has property
	PositioningUnitClass *-- Locked : has property
	LockedFrom --> Locked : corresponds to
	LockedTo --> Locked : corresponds to
```

to

```pddl
(:action MoveShuttle
	:parameters (?SHUTTLE ?FROM ?TO - Equipment)
	:precondition	
		(and
			(EquipmentClassed ?SHUTTLE EC_Shuttle)
			(or
				(EquipmentClassed ?FROM EC_PositioningUnit)
				(EquipmentClassed ?FROM EC_TransportationNode)
			)
			(imply (EquipmentClassed ?FROM EC_PositioningUnit) 
				(not (PositioningUnitLocked ?FROM))
			)
			(imply (EquipmentClassed ?FROM EC_TransportationNode) (TransportationNodeOccupied ?FROM))
			(or
				(EquipmentClassed ?TO EC_PositioningUnit)
				(EquipmentClassed ?TO EC_TransportationNode)
			)
			(imply (EquipmentClassed ?TO EC_PositioningUnit) 
				(not (PositioningUnitLocked ?TO))
			)
			(imply (EquipmentClassed ?TO EC_TransportationNode) 
				(not (TransportationNodeOccupied ?TO))
			)
			(TransportationNodeConnection ?FROM ?TO)
			(EquipmentLocation ?SHUTTLE ?FROM)
			(not (EquipmentLocation ?SHUTTLE ?TO))
		)
	:effect	
		(and
			(not (TransportationNodeOccupied ?FROM))
			(TransportationNodeOccupied ?TO)
			(increase (total-cost) (shuttle-time ?FROM ?TO))
			(not (EquipmentLocation ?SHUTTLE ?FROM))
			(EquipmentLocation ?SHUTTLE ?TO)
		)
)
```

Please, note that we are adding a few pre- and post conditions hard-coded in the transformation process, based on our knowledge of the underlying production system, e.g., utilization of the `EquipmentLocation` and `TransportationNodeConnection` predicates.

Further, the action cost are encoded as a function `shuttle-time` that is filled with values in the PDDL problem description. 

# PDDL Problem Definitions

## Person, Equipment, and Material Lot
Instances of `Person`, `Equipment`, and `Material Lot` are converted to objects. Their relations to `* Class` or `Material Definition` instances are materialized as initialization statements.

From

```mermaid
classDiagram
	class MaintenanceEngineer1
	<<Person>> MaintenanceEngineer1
	class MaintenanceEngineer
	<<EquipmentClass>> MaintenanceEngineer
	class Shuttle1
	<<Equipment>> Shuttle1
	class Shuttle
	<<EquipmentClass>> Shuttle
	class ChassisBlack1
	<<MaterialLot>> ChassisBlack1
	class ChassisBlack
	<<MaterialDefinition>> ChassisBlack
	class Chassis
	<<MaterialClass>> Chassis
	MaintenanceEngineer1 --> MaintenanceEngineer : defined by
	Shuttle1 --> Shuttle : defined by
	ChassisBlack1 --> ChassisBlack : defined by
	ChassisBlack --> Chassis : grouped by
```

to

```pddl
(:objects
	P_MaintenanceEngineer-1 - Person
	E_Shuttle-1 - Equipment
	ML_Chassis-Black-1 - MaterialLot
)
(:init
	(PersonClassed P_MaintenanceEngineer-1 PC_MaintenanceEngineer)
	(EquipmentClassed E_Shuttle-1 EC_Shuttle)
	(MaterialClassed MD_Chassis-Black MC_Chassis)
	(MaterialDefined ML_Chassis-Black-1 MD_Chassis-Black)
	(MaterialLotClassed ML_Chassis-Black-1 MC_Chassis)
)
```

### Resource Network Connection
`Resource Network Connection` instances are converted to init statements.

From

```mermaid
classDiagram
	class Robot1ReachesToTable1
	<<ResourceNetworkConnection>> Robot1ReachesToTable1
	class Robot1ReachesToPUMC1
	<<ResourceNetworkConnection>> Robot1ReachesToPUMC1
	class Robot1ReachesToPUMC2
	<<ResourceNetworkConnection>> Robot1ReachesToPUMC2
	class EquipmentReachTo
	<<ResourceNetworkConnectionType>> EquipmentReachTo
	Robot1ReachesToTable1 --> EquipmentReachTo : derived from
	Robot1ReachesToPUMC1 --> EquipmentReachTo : derived from
	Robot1ReachesToPUMC2 --> EquipmentReachTo : derived from
```

to

```pddl
(:init
	(ReachesTo E_Robot-1 E_Table-1)
	(ReachesTo E_Robot-1 E_PositioningUnit-MachiningCenter-1)
	(ReachesTo E_Robot-1 E_PositioningUnit-MachiningCenter-2)
)
```

### Intralogistic Routing Topology
`Resource Network Connection` instances of type `Transport-System-Track-Connection` and `Transport-System-Positioning-Unit-Connection` are converted in a very specific way. The former raw connections represent the physical connections of all track curves, lines, and switches. The latter represent the physical location where a positioning unit has been attached to a track. This information is read in, and a simplified topology (a graph) is computed that only contains the positioning units and whether they are reachable from each other. The edge weight of the graph corresponds to the physical track length between the positioning units and is converted into seconds based on an assumed average speed of 0.56 m/s.

For each "positioning unit connection" two init statements are created: one that states that these two positioning units are connected with each other (`TransportationNodeConnection`), and another one setting the function value for the function `shuttle-time`, representing the estimated traveling time in seconds between these two positioning units. The resulting PDDL init statements are listed below:

```pddl
(:init
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-2)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-2) 25)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-1)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-MachiningCenter-1) 30)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-Buffer)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-Buffer) 54)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-1)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-1) 78)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-2)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-3 E_PositioningUnit-IO-2) 37)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-3)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-3) 25)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-1)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-MachiningCenter-1) 35)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-Buffer)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-Buffer) 59)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-1)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-1) 83)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-2)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-2 E_PositioningUnit-IO-2) 42)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-3)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-3) 28)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-2)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-MachiningCenter-2) 33)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-Buffer)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-Buffer) 62)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-1)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-1) 86)
	(TransportationNodeConnection E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-2)
	(= (shuttle-time E_PositioningUnit-MachiningCenter-1 E_PositioningUnit-IO-2) 45)
	(TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-3)
	(= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-3) 30)
	(TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-2)
	(= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-2) 35)
	(TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-1)
	(= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-MachiningCenter-1) 40)
	(TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-IO-1)
	(= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-IO-1) 26)
	(TransportationNodeConnection E_PositioningUnit-Buffer E_PositioningUnit-IO-2)
	(= (shuttle-time E_PositioningUnit-Buffer E_PositioningUnit-IO-2) 47)
	(TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-3)
	(= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-3) 18)
	(TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-2)
	(= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-2) 23)
	(TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-1)
	(= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-MachiningCenter-1) 28)
	(TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-Buffer)
	(= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-Buffer) 52)
	(TransportationNodeConnection E_PositioningUnit-IO-1 E_PositioningUnit-IO-2)
	(= (shuttle-time E_PositioningUnit-IO-1 E_PositioningUnit-IO-2) 36)
	(TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-3)
	(= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-3) 51)
	(TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-2)
	(= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-2) 56)
	(TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-1)
	(= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-MachiningCenter-1) 61)
	(TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-Buffer)
	(= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-Buffer) 22)
	(TransportationNodeConnection E_PositioningUnit-IO-2 E_PositioningUnit-IO-1)
	(= (shuttle-time E_PositioningUnit-IO-2 E_PositioningUnit-IO-1) 47)
)
```