6,559 research outputs found
Towards the fast and robust optimal design of Wireless Body Area Networks
Wireless body area networks are wireless sensor networks whose adoption has
recently emerged and spread in important healthcare applications, such as the
remote monitoring of health conditions of patients. A major issue associated
with the deployment of such networks is represented by energy consumption: in
general, the batteries of the sensors cannot be easily replaced and recharged,
so containing the usage of energy by a rational design of the network and of
the routing is crucial. Another issue is represented by traffic uncertainty:
body sensors may produce data at a variable rate that is not exactly known in
advance, for example because the generation of data is event-driven. Neglecting
traffic uncertainty may lead to wrong design and routing decisions, which may
compromise the functionality of the network and have very bad effects on the
health of the patients. In order to address these issues, in this work we
propose the first robust optimization model for jointly optimizing the topology
and the routing in body area networks under traffic uncertainty. Since the
problem may result challenging even for a state-of-the-art optimization solver,
we propose an original optimization algorithm that exploits suitable linear
relaxations to guide a randomized fixing of the variables, supported by an
exact large variable neighborhood search. Experiments on realistic instances
indicate that our algorithm performs better than a state-of-the-art solver,
fast producing solutions associated with improved optimality gaps.Comment: Authors' manuscript version of the paper that was published in
Applied Soft Computin
A robust solving strategy for the vehicle routing problem with multiple depots and multiple objectives
This document presents the development of a robust solving strategy for the Vehicle Routing Problem with Multiple Depots and Multiple Objectives (MO-MDVRP). The problem tackeled in this work is the problem to minimize the total cost and the load imbalance in vehicle routing plan for distribution of goods. This thesis presents a MILP mathematical model and a solution strategy based on a Hybrid Multi- Objective Scatter Search Algorithm. Several experiments using simulated instances were run proving that the proposed method is quite robust, this is shown in execution times (less than 4 minutes for an instance with 8 depots and 300 customers); also, the proposed method showed good results compared to the results found with the MILP model for small instances (up to 20 clients and 2 depots).MaestríaMagister en Ingeniería Industria
Automated sequence and motion planning for robotic spatial extrusion of 3D trusses
While robotic spatial extrusion has demonstrated a new and efficient means to
fabricate 3D truss structures in architectural scale, a major challenge remains
in automatically planning extrusion sequence and robotic motion for trusses
with unconstrained topologies. This paper presents the first attempt in the
field to rigorously formulate the extrusion sequence and motion planning (SAMP)
problem, using a CSP encoding. Furthermore, this research proposes a new
hierarchical planning framework to solve the extrusion SAMP problems that
usually have a long planning horizon and 3D configuration complexity. By
decoupling sequence and motion planning, the planning framework is able to
efficiently solve the extrusion sequence, end-effector poses, joint
configurations, and transition trajectories for spatial trusses with
nonstandard topologies. This paper also presents the first detailed computation
data to reveal the runtime bottleneck on solving SAMP problems, which provides
insight and comparing baseline for future algorithmic development. Together
with the algorithmic results, this paper also presents an open-source and
modularized software implementation called Choreo that is machine-agnostic. To
demonstrate the power of this algorithmic framework, three case studies,
including real fabrication and simulation results, are presented.Comment: 24 pages, 16 figure
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