Energy and Route Optimization of Moving Devices

This thesis highlights our efforts in energy and route optimization of moving devices. We have focused on three categories of such devices; industrial robots in a multi-robot environment, generic vehicles in a vehicle routing problem (VRP) context, automatedguided vehicles (AGVs) in a large-scale flexible manufacturing system (FMS). In the first category, the aim is to develop a non-intrusive energy optimization technique, based on a given set of paths and sequences of operations, such that the original cycle time is not exceeded. We develop an optimization procedure based on a mathematical programming model that aims to minimize the energy consumption and peak power. Our technique has several advantages. It is non-intrusive, i.e. it requires limited changes in the robot program and can be implemented easily. Moreover,it is model-free, in the sense that no particular, and perhaps secret, parameter or dynamic model is required. Furthermore, the optimization can be done offline, within seconds using a generic solver. Through careful experiments, we have shown that it is possible to reduce energy and peak-power up to about 30% and 50% respectively. The second category of moving devices comprises of generic vehicles in a VRP context. We have developed a hybrid optimization approach that integrates a distributed algorithm based on a gossip protocol with a column generation (CG) algorithm, which manages to solve the tested problems faster than the CG algorithm alone. The algorithm is developed for a VRP variation including time windows (VRPTW), which is meant to model the task of scheduling and routing of caregivers in the context of home healthcare routing and scheduling problems (HHRSPs). Moreover,the developed algorithm can easily be parallelized to further increase its efficiency. The last category deals with AGVs. The choice of AGVs was not arbitrary; by design, we decided to transfer our knowledge of energy optimization and routing algorithms to a class of moving devices in which both techniques are of interest. Initially, we improve an existing method of conflict-free AGV scheduling and routing, such that the new algorithm can manage larger problems. A heuristic version of the algorithm manages to solve the problem instances in a reasonable amount of time. Later, we develop strategies to reduce the energy consumption. The study is carried out using an AGV system installed at Volvo Cars. The results are promising; (1)the algorithm reduces performance measures such as makespan up to 50%, while reducing the total travelled distance of the vehicles about 14%, leading to an energy saving of roughly 14%, compared to the results obtained from the original traffic controller. (2) It is possible to reduce the cruise velocities such that more energy is saved, up to 20%, while the new makespan remains better than the original one

Pollux: a dynamic hybrid control architecture for flexible job shop systems

Nowadays, manufacturing control systems can respond more effectively to exigent market requirements and real-time demands. Indeed, they take advantage of changing their structural and behavioural arrangements to tailor the control solution from a diverse set of feasible configurations. However, the challenge of this approach is to determine efficient mechanisms that dynamically optimise the configuration between different architectures. This paper presents a dynamic hybrid control architecture that integrates a switching mechanism to control changes at both structural and behavioural level. The switching mechanism is based on a genetic algorithm and strives to find the most suitable operating mode of the architecture with regard to optimality and reactivity. The proposed approach was tested in a real flexible job shop to demonstrate the applicability and efficiency of including an optimisation algorithm in the switching process of a dynamic hybrid control architecture.This work was supported by the Colombian scholarship programme of department of science – COLCIENCIAS under grant ‘Convocatoria 568 – Doctorados en el exterior’ and the Pontificia Universidad Javeriana under grant ‘Programa de Formacion de posgrados del Profesor Javeriano’.info:eu-repo/semantics/publishedVersio

The distributed assembly permutation flowshop scheduling problem

Nowadays, improving the management of complex supply chains is a key to become competitive in the twenty-first century global market. Supply chains are composed of multi-plant facilities that must be coordinated and synchronised to cut waste and lead times. This paper proposes a Distributed Assembly Permutation Flowshop Scheduling Problem (DAPFSP) with two stages to model and study complex supply chains. This problem is a generalisation of the Distributed Permutation Flowshop Scheduling Problem (DPFSP). The first stage of the DAPFSP is composed of f identical production factories. Each one is a flowshop that produces jobs to be assembled into final products in a second assembly stage. The objective is to minimise the makespan. We present first a Mixed Integer Linear Programming model (MILP). Three constructive algorithms are proposed. Finally, a Variable Neighbourhood Descent (VND) algorithm has been designed and tested by a comprehensive ANOVA statistical analysis. The results show that the VND algorithm offers good performance to solve this scheduling problem.Ruben Ruiz is partially supported by the Spanish Ministry of Science and Innovation, under the project 'RESULT - Realistic Extended Scheduling Using Light Techniques' with reference DPI2012-36243-C02-01. Carlos Andres-Romano is partially supported by the Spanish Ministry of Science and Innovation, under the project 'INSAMBLE' - Scheduling at assembly/disassembly synchronised supply chains with reference DPI2011-27633.Hatami, S.; Ruiz García, R.; Andrés Romano, C. (2013). The distributed assembly permutation flowshop scheduling problem. International Journal of Production Research. 51(17):5292-5308. https://doi.org/10.1080/00207543.2013.807955S529253085117Basso, D., Chiarandini, M., & Salmaso, L. (2007). Synchronized permutation tests in replicated designs. Journal of Statistical Planning and Inference, 137(8), 2564-2578. doi:10.1016/j.jspi.2006.04.016Biggs, D., De Ville, B., & Suen, E. (1991). A method of choosing multiway partitions for classification and decision trees. Journal of Applied Statistics, 18(1), 49-62. doi:10.1080/02664769100000005Chan, F. T. S., Chung, S. H., Chan, L. Y., Finke, G., & Tiwari, M. K. (2006). Solving distributed FMS scheduling problems subject to maintenance: Genetic algorithms approach. Robotics and Computer-Integrated Manufacturing, 22(5-6), 493-504. doi:10.1016/j.rcim.2005.11.005Chan, F. T. S., Chung, S. H., & Chan, P. L. Y. (2006). Application of genetic algorithms with dominant genes in a distributed scheduling problem in flexible manufacturing systems. International Journal of Production Research, 44(3), 523-543. doi:10.1080/00207540500319229Liao, C.-J., & Liao, L.-M. (2008). Improved MILP models for two-machine flowshop with batch processing machines. Mathematical and Computer Modelling, 48(7-8), 1254-1264. doi:10.1016/j.mcm.2008.01.001Framinan, J. M., & Leisten, R. (2003). An efficient constructive heuristic for flowtime minimisation in permutation flow shops. Omega, 31(4), 311-317. doi:10.1016/s0305-0483(03)00047-1Gao, J., & Chen, R. (2011). A hybrid genetic algorithm for the distributed permutation flowshop scheduling problem. International Journal of Computational Intelligence Systems, 4(4), 497-508. doi:10.1080/18756891.2011.9727808Hansen, P., & Mladenović, N. (2001). Variable neighborhood search: Principles and applications. European Journal of Operational Research, 130(3), 449-467. doi:10.1016/s0377-2217(00)00100-4Hariri, A. M. A., & Potts, C. N. (1997). A branch and bound algorithm for the two-stage assembly scheduling problem. European Journal of Operational Research, 103(3), 547-556. doi:10.1016/s0377-2217(96)00312-8Jia, H. Z., Fuh, J. Y. H., Nee, A. Y. C., & Zhang, Y. F. (2002). Web-based Multi-functional Scheduling System for a Distributed Manufacturing Environment. Concurrent Engineering, 10(1), 27-39. doi:10.1177/1063293x02010001054Jia, H. Z., Nee, A. Y. C., Fuh, J. Y. H., & Zhang, Y. F. (2003). Journal of Intelligent Manufacturing, 14(3/4), 351-362. doi:10.1023/a:1024653810491Jia, H. Z., Fuh, J. Y. H., Nee, A. Y. C., & Zhang, Y. F. (2007). Integration of genetic algorithm and Gantt chart for job shop scheduling in distributed manufacturing systems. Computers & Industrial Engineering, 53(2), 313-320. doi:10.1016/j.cie.2007.06.024Kass, G. V. (1980). An Exploratory Technique for Investigating Large Quantities of Categorical Data. Applied Statistics, 29(2), 119. doi:10.2307/2986296Lee, C.-Y., Cheng, T. C. E., & Lin, B. M. T. (1993). Minimizing the Makespan in the 3-Machine Assembly-Type Flowshop Scheduling Problem. Management Science, 39(5), 616-625. doi:10.1287/mnsc.39.5.616Morgan, J. N., & Sonquist, J. A. (1963). Problems in the Analysis of Survey Data, and a Proposal. Journal of the American Statistical Association, 58(302), 415-434. doi:10.1080/01621459.1963.10500855Pan, Q.-K., & Ruiz, R. (2012). Local search methods for the flowshop scheduling problem with flowtime minimization. European Journal of Operational Research, 222(1), 31-43. doi:10.1016/j.ejor.2012.04.034Potts, C. N., Sevast’janov, S. V., Strusevich, V. A., Van Wassenhove, L. N., & Zwaneveld, C. M. (1995). The Two-Stage Assembly Scheduling Problem: Complexity and Approximation. Operations Research, 43(2), 346-355. doi:10.1287/opre.43.2.346Ruiz, R., & Stützle, T. (2007). A simple and effective iterated greedy algorithm for the permutation flowshop scheduling problem. European Journal of Operational Research, 177(3), 2033-2049. doi:10.1016/j.ejor.2005.12.009Ruiz, R., Şerifoğlu, F. S., & Urlings, T. (2008). Modeling realistic hybrid flexible flowshop scheduling problems. Computers & Operations Research, 35(4), 1151-1175. doi:10.1016/j.cor.2006.07.014Ruiz, R., & Andrés-Romano, C. (2011). Scheduling unrelated parallel machines with resource-assignable sequence-dependent setup times. The International Journal of Advanced Manufacturing Technology, 57(5-8), 777-794. doi:10.1007/s00170-011-3318-2Stafford, E. F., Tseng, F. T., & Gupta, J. N. D. (2005). Comparative evaluation of MILP flowshop models. Journal of the Operational Research Society, 56(1), 88-101. doi:10.1057/palgrave.jors.2601805Tozkapan, A., Kırca, Ö., & Chung, C.-S. (2003). A branch and bound algorithm to minimize the total weighted flowtime for the two-stage assembly scheduling problem. Computers & Operations Research, 30(2), 309-320. doi:10.1016/s0305-0548(01)00098-3Tseng, F. T., & Stafford, E. F. (2008). New MILP models for the permutation flowshop problem. Journal of the Operational Research Society, 59(10), 1373-1386. doi:10.1057/palgrave.jors.260245

A switching mechanism framework for optimal coupling of predictive scheduling and reactive control in manufacturing hybrid control architectures

Nowadays, manufacturing systems are seeking control architectures that offer efficient production performance and reactivity to disruptive events. Dynamic hybrid control architectures are a promising approach as they are not only able to switch dynamically between hierarchical, heterarchical and semi-heterarchical structures, they can also switch the level of coupling between predictive scheduling and reactive control techniques. However, few approaches address an efficient switching process in terms of structure and coupling. This paper presents a switching mechanism framework in dynamic hybrid control architectures, which exploits the advantages of hierarchical manufacturing scheduling systems and heterarchical manufacturing execution systems, and also mitigates the respective reactivity and optimality drawbacks. The main feature in this framework is that it monitors the system dynamics online and shifts between different operating modes to attain the most suitable production control strategy. The experiments were carried out in an emulation of a real manufacturing system to illustrate the benefits of including a switching mechanism in simulated scenarios. The results show that the switching mechanism improves response to disruptions in a global performance indicator as it permits to select the best alternative from several operating modes.This article was supported by COLCIENCIAS Departamento Administrativo de Ciencia, Tecnología e Innovación 10.13039/100007637 [Grant Number Convocatoria 568 Doctorados en el exterior]; Pontificia Universidad Javeriana [Grant Number Programa de Formacion de posgrados].info:eu-repo/semantics/publishedVersio

End-to-end latency and temporal consistency analysis in networked real-time systems

International audienceCritical embedded systems are often designed as a set of real-time tasks, running on shared computing modules, and communicating through networks. Because of their critical nature, such systems have to meet strict timing properties. To help the designers to prove the correctness of their system, the real-time systems community has developed numerous approaches for analysing the worst case scenarios either on the processors (e.g., worst case response time of a task) or on the networks (e.g., worst case traversal time of a message). These approaches provide results only for local components behaviours. However, there is a growing need for having a global view of the system, in order to determine end-to-end properties. Such a property applies to functional chains which describe the behaviour of sequences of tasks. We propose an approach to analyse worst case behaviour along functional chains in critical embedded systems. It is based on mixed integer linear programming (MILP) and is general in the sense that it can be applied to a variety of end-to-end properties. This paper focuses on two essential properties: end-to-end latency and temporal consistency. This work was supported by the French National Research Agency within the SATRIMMAP project

Modelling and optimization of flexible manufacturing systems

The Lagrangian relaxation method for solving a Mixed-Integer Linear Problem was implemented in order to improve the current TEMPO-PSI team exible manufacturing system solutions, available at the AIP-primeca pole in University of Valenciennes, France. The MILP optimization model, from TEMPO-PSI team, can not guarantee good results when the amount of jobs in the manufacturing system increases due to the growth in the number of variables of the model. A study on the optimization model was conducted with the objective to nd the candidate constraints for Lagrangian relaxation. A comparative study is made between the initial model solutions and Lagrange-relaxed model solutions. The results of the present research indicate that the use of the Lagrangian relaxation method on the scheduling problems could have advantages in obtaining better solutions. Um método relaxação lagrangeana para resolver um problema de Programação Misto- Inteira Linear foi implementado com o objetivo de melhorar as soluções actuais dos sistemas de manufatura exíveis da equipa TEMPO-PSI, disponível no laboratório AIPprimeca da Universidade de Valenciennes, França. O modelo de optimização MILP, da equipa TEMPO-PSI, não consegue garantir bons resultados quando a quantidade de operações no sistema de manufactura aumenta, devido ao crescimento do número de variáveis do modelo. O estudo do modelo de optimização foi levado a cabo com o objectivo de encontrar as restrições candidatas para a relaxação Lagrangeana. O estudo comparativo é feito entre as soluções iniciais do modelo e as soluções do modelo relaxado com o método de Lagrange. Os resultados da presente investigação indicam que o uso de método da relaxação Lagrangeana nos problemas de escalonamento de tarefas poderá ter vantagens na obtenção de melhores soluções

Mathematical Modelling and Optimization of Flexible Job Shops Scheduling Problem

The flexible job shop scheduling problem (F-JSSP) is mathematically formulated. One novel position-based and three sequence-based mixed integer linear programming models are developed. Since F-JSSPs are strongly NP-hard, MILPs fail to solve large-size instances within a reasonable timeframe. Thus, a meta-heuristic, a hybrid of artificial immune and simulated annealing (AISA), is developed for use with larger instances of the F-JSSP. To prove the efficiency of developed MILPs and AISA, they are compared against state-of-the-art MILPs and meta-heuristics in literature. Comparative evaluations are conducted to test the quality and performance of the developed models and solution technique respectively. To this end, size complexities of the developed MILPs are investigated. The acquired results demonstrate that the proposed MILPs outperform the state-of-the-art MILP models in literature. Likewise, the proposed AISA outperforms all the previously developed meta-heuristics. The developed AISA has successfully been applied to a realistic case study from mould and die industry

The Distributed and Assembly Scheduling Problem

Tesis por compendio[EN] Nowadays, manufacturing systems meet different new global challenges and the existence of a collaborative manufacturing environment is essential to face with. Distributed manufacturing and assembly systems are two manufacturing systems which allow industries to deal with some of these challenges. This thesis studies a production problem in which both distributed manufacturing and assembly systems are considered. Although distributed manufacturing systems and assembly systems are well-known problems and have been extensively studied in the literature, to the best of our knowledge, considering these two systems together as in this thesis is the first effort in the literature. Due to the importance of scheduling optimization on production performance, some different ways to optimize the scheduling of the considered problem are discussed in this thesis. The studied scheduling setting consists of two stages: A production and an assembly stage. Various production centers make the first stage. Each of these centers consists of several machines which are dedicated to manufacture jobs. A single assembly machine is considered for the second stage. The produced jobs are assembled on the assembly machine to form final products through a defined assembly program. In this thesis, two different problems regarding two different production configurations for the production centers of the first stage are considered. The first configuration is a flowshop that results in what we refer to as the Distributed Assembly Permutation Flowshop Scheduling Problem (DAPFSP). The second problem is referred to as the Distributed Parallel Machine and Assembly Scheduling Problem (DPMASP), where unrelated parallel machines configure the production centers. Makespan minimization of the product on the assembly machine located in the assembly stage is considered as the objective function for all considered problems. In this thesis some extensions are considered for the studied problems so as to bring them as close as possible to the reality of production shops. In the DAPFSP, sequence dependent setup times are added for machines in both production and assembly stages. Similarly, in the DPMASP, due to technological constraints, some defined jobs can be processed only in certain factories. Mathematical models are presented as an exact solution for some of the presented problems and two state-of-art solvers, CPLEX and GUROBI are used to solve them. Since these solvers are not able to solve large sized problems, we design and develop heuristic methods to solve the problems. In addition to heuristics, some metaheuristics are also designed and proposed to improve the solutions obtained by heuristics. Finally, for each proposed problem, the performance of the proposed solution methods is compared through extensive computational and comprehensive ANOVA statistical analysis.[ES] Los sistemas de producción se enfrentan a retos globales en los que el concepto de fabricación colaborativa es crucial para poder tener éxito en el entorno cambiante y complejo en el que nos encontramos. Una característica de los sistemas productivos que puede ayudar a lograr este objetivo consiste en disponer de una red de fabricación distribuida en la que los productos se fabriquen en localizaciones diferentes y se vayan ensamblando para obtener el producto final. En estos casos, disponer de modelos y herramientas para mejorar el rendimiento de sistemas de producción distribuidos con ensamblajes es una manera de asegurar la eficiencia de los mismos. En esta tesis doctoral se estudian los sistemas de fabricación distribuidos con operaciones de ensamblaje. Los sistemas distribuidos y los sistemas con operaciones de ensamblaje han sido estudiados por separado en la literatura. De hecho, no se han encontrado estudios de sistemas con ambas características consideradas de forma conjunta. Dada la complejidad de considerar conjuntamente ambos tipos de sistemas a la hora de realizar la programación de la producción en los mismos, se ha abordado su estudio considerando un modelo bietápico en la que en la primera etapa se consideran las operaciones de producción y en la segunda se plantean las operaciones de ensamblaje. Dependiendo de la configuración de la primera etapa se han estudiado dos variantes. En la primera variante se asume que la etapa de producción está compuesta por sendos sistemas tipo flowshop en los que se fabrican los componentes que se ensamblan en la segunda etapa (Distributed Assembly Permutation Flowshop Scheduling Problem o DAPFSP). En la segunda variante se considera un sistema de máquinas en paralelo no relacionadas (Distributed Parallel Machine and Assembly Scheduling Problem o DPMASP). En ambas variantes se optimiza la fecha de finalización del último trabajo secuenciado (Cmax) y se contempla la posibilidad que existan tiempos de cambio (setup) dependientes de la secuencia de trabajos fabricada. También, en el caso DPMASP se estudia la posibilidad de prohibir o no el uso de determinadas máquinas de la etapa de producción. Se han desarrollado modelos matemáticos para resolver algunas de las variantes anteriores. Estos modelos se han resuelto mediante los programas CPLEX y GUROBI en aquellos casos que ha sido posible. Para las instancias en los que el modelo matemático no ofrecía una solución al problema se han desarrollado heurísticas y metaheurísticas para ello. Todos los procedimientos anteriores han sido estudiados para determinar el rendimiento de los diferentes algoritmos planteados. Para ello se ha realizado un exhaustivo estudio computacional en el que se han aplicado técnicas ANOVA. Los resultados obtenidos en la tesis permiten avanzar en la comprensión del comportamiento de los sistemas productivos distribuidos con ensamblajes, definiendo algoritmos que permiten obtener buenas soluciones a este tipo de problemas tan complejos que aparecen tantas veces en la realidad industrial.[CA] Els sistemes de producció s'enfronten a reptes globals en què el concepte de fabricació col.laborativa és crucial per a poder tindre èxit en l'entorn canviant i complex en què ens trobem. Una característica dels sistemes productius que pot ajudar a aconseguir este objectiu consistix a disposar d'una xarxa de fabricació distribuïda en la que els productes es fabriquen en localitzacions diferents i es vagen acoblant per a obtindre el producte final. En estos casos, disposar de models i ferramentes per a millorar el rendiment de sistemes de producció distribuïts amb acoblaments és una manera d'assegurar l'eficiència dels mateixos. En esta tesi doctoral s'estudien els sistemes de fabricació distribuïts amb operacions d'acoblament. Els sistemes distribuïts i els sistemes amb operacions d'acoblament han sigut estudiats per separat en la literatura però, en allò que es coneix, no s'han trobat estudis de sistemes amb ambdós característiques conjuntament. Donada la complexitat de considerar conjuntament ambdós tipus de sistemes a l'hora de realitzar la programació de la producció en els mateixos, s'ha abordat el seu estudi considerant un model bietàpic en la que en la primera etapa es consideren les operacions de producció i en la segona es plantegen les operacions d'acoblament. Depenent de la configuració de la primera etapa s'han estudiat dos variants. En la primera variant s'assumix que l'etapa de producció està composta per sengles sistemes tipus flowshop en els que es fabriquen els components que s'acoblen en la segona etapa (Distributed Assembly Permutation Flowshop Scheduling Problem o DAPFSP). En la segona variant es considera un sistema de màquines en paral.lel no relacionades (Distributed Parallel Machine and Assembly Scheduling Problem o DPMASP). En ambdós variants s'optimitza la data de finalització de l'últim treball seqüenciat (Cmax) i es contempla la possibilitat que existisquen temps de canvi (setup) dependents de la seqüència de treballs fabricada. També, en el cas DPMASP s'estudia la possibilitat de prohibir o no l'ús de determinades màquines de l'etapa de producció. S'han desenvolupat models matemàtics per a resoldre algunes de les variants anteriors. Estos models s'han resolt per mitjà dels programes CPLEX i GUROBI en aquells casos que ha sigut possible. Per a les instàncies en què el model matemàtic no oferia una solució al problema s'han desenrotllat heurístiques i metaheurísticas per a això. Tots els procediments anteriors han sigut estudiats per a determinar el rendiment dels diferents algoritmes plantejats. Per a això s'ha realitzat un exhaustiu estudi computacional en què s'han aplicat tècniques ANOVA. Els resultats obtinguts en la tesi permeten avançar en la comprensió del comportament dels sistemes productius distribuïts amb acoblaments, definint algoritmes que permeten obtindre bones solucions a este tipus de problemes tan complexos que apareixen tantes vegades en la realitat industrial.Hatami, S. (2016). The Distributed and Assembly Scheduling Problem [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/64072TESISCompendi

Governance mechanism in control architectures for Flexible Manufacturing Systems

Manufacturing systems, and specifically Flexible Manufacturing Systems (FMS), face the challenge of accomplish global optimal performance and reactiveness at dynamic manufacturing environments. For this reason, manufacturing control systems must incorporate mechanisms that support dynamic custom-build responses. This paper introduces a framework that includes a governance mechanism in control system architectures that dynamically steers the autonomy of decision-making between predictive and reactive approaches. Results from experiments led in simulation show that it is worth studying in depth a governance mechanism that tailors the structure and/or behaviour of a manufacturing control system and, at the same time, potentiate the reactivity required in manufacturing operations.info:eu-repo/semantics/publishedVersio