Constrained Task Assignment and Scheduling on Networks of Arbitrary Topology.

This dissertation develops a framework to address centralized and distributed constrained task assignment and task scheduling problems. This framework is used to prove properties of these problems that can be exploited, develop effective solution algorithms, and to prove important properties such as correctness, completeness and optimality. The centralized task assignment and task scheduling problem treated here is expressed as a vehicle routing problem with the goal of optimizing mission time subject to mission constraints on task precedence and agent capability. The algorithm developed to solve this problem is able to coordinate vehicle (agent) timing for task completion. This class of problems is NP-hard and analytical guarantees on solution quality are often unavailable. This dissertation develops a technique for determining solution quality that can be used on a large class of problems and does not rely on traditional analytical guarantees. For distributed problems several agents must communicate to collectively solve a distributed task assignment and task scheduling problem. The distributed task assignment and task scheduling algorithms developed here allow for the optimization of constrained military missions in situations where the communication network may be incomplete and only locally known. Two problems are developed. The distributed task assignment problem incorporates communication constraints that must be satisfied; this is the Communication-Constrained Distributed Assignment Problem. A novel distributed assignment algorithm, the Stochastic Bidding Algorithm, solves this problem. The algorithm is correct, probabilistically complete, and has linear average-case time complexity. The distributed task scheduling problem addressed here is to minimize mission time subject to arbitrary predicate mission constraints; this is the Minimum-time Arbitrarily-constrained Distributed Scheduling Problem. The Optimal Distributed Non-sequential Backtracking Algorithm solves this problem. The algorithm is correct, complete, outputs time optimal schedules, and has low average-case time complexity. Separation of the task assignment and task scheduling problems is exploited here to ameliorate the effects of an incomplete communication network. The mission-modeling conditions that allow this and the benefits gained are discussed in detail. It is shown that the distributed task assignment and task scheduling algorithms developed here can operate concurrently and maintain their correctness, completeness, and optimality properties.Ph.D.Aerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/91527/1/jpjack_1.pd

Design and development of CSP techniques for finding robust solutions in job-shop scheduling problems with Operators

[ES] Se desarrolla una técnica CSP para buscar soluciones robustas en el problema job-shop scheduling. La técnica esta desarrollada en tres pasos. El primer paso resuelve el problema sin tener en cuenta operadores. El segundo paso introduce las restricciones de los operadores y obtiene soluciones teniendo en cuenta el makespan y la robustez. En el tercer paso se mejora la robustez redistribuyendo los buffers. Para probar las robustez de las soluciones obtenidas se aplican incidencias virtuales en las soluciones.[EN] A CSP technique have been developed for finding robust solutions in job-shop scheduling problems with operators. The technique is developed in three steps. The first step solve the problem without operators minimizing the makespan. The second step introduce the operator constraints and give solutions take into account makespan and robustness. The third step improve the robustness redistributing the buffer. Some virtual incidences are created and to check the robustness of the solutions.Escamilla Fuster, J. (2012). Design and development of CSP techniques for finding robust solutions in job-shop scheduling problems with Operators. http://hdl.handle.net/10251/18029Archivo delegad

ALTERNATE MODELS FOR NATURAL GAS TRANSPORTATION SYSTEM PERFORMANCE OPTIMIZATION

The Natural Gas market in the U.S is growing rapidly with evidence that the nation has enough shale reserves to power the country for the next century. To ensure continued economic benefits through the use of this environmentally desired energy source, it becomes important to optimize the transportation network system design. Transportation through pipelines is one of the most common methods used to distribute Natural Gas from source to destination. This transportation system, consisting of pipelines, compressors and other supporting equipment, must be optimized, considering all relevant parameters to minimize cost and increase profit. The research presented here improves on the fuel cost minimization models in literature to incorporate pipeline elevation and safety requirements. A new model is proposed to consider the entire transportation network as a single system and optimize it considering all relevant parameters. The optimization model is setup as a mixed integer nonlinear program. The proposed model is used to optimize the pipeline network for a case study, evaluate the model as well as investigate design capacity and installed capacity of pipeline network

Probabilistic Neural Networks for Special Tasks in Electromagnetics

Tato práce pojednává o technikách behaviorálního modelování pro speciální úlohy v elektromagnetismu, které je možno formulovat jako problém aproximace, klasifikace, odhadu hustoty pravděpodobnosti nebo kombinatorické optimalizace. Zkoumané methody se dotýkají dvou základních problémů ze strojového učení a combinatorické optimalizace: ”bias vs. variance dilema” a NP výpočetní komplexity. Boltzmanův stroj je v práci navržen ke zjednodušování komplexních impedančních sítí. Bayesovský přístup ke strojovému učení je upraven pro regularizaci Parzenova okna se snahou o vytvoření obecného kritéria pro regularizaci pravděpodobnostní a regresní neuronové sítě.The thesis deals with behavioural modelling techniques capable solving special tasks in electromagnetics which can be formulated as approximation, classification, probability estimation, and combinatorial optimization problems. Concept of the work lies in applying a probabilistic approach to behavioural modelling. Examined methods address two general problems in machine learning and combinatorial optimization: ”bias vs. variance dilemma” and NP computational complexity. The Boltzmann machine is employed to simplify a complex impedance network. The Parzen window is regularized using the Bayesian strategy for obtaining a model selection criterion for probabilistic and general regression neural networks.

Metaheuristics and combinatorial optimization problems

This thesis will use the traveling salesman problem (TSP) as a tool to help present and investigate several new techniques that improve the overall performance of genetic algorithms (GA). Improvements include a new parent selection algorithm, harem select, that outperforms all other parent selection algorithms tested, some by up to 600%. Other techniques investigated include population seeding, random restart, heuristic crossovers, and hybrid genetic algorithms, all of which posted improvements in the range of 1% up to 1100%. Also studied will be a new algorithm, GRASP, that is just starting to enjoy a lot of interest in the research community and will also been applied to the traveling salesman problem (TSP). Given very little time to run, relative to other popular metaheuristic algorithms, GRASP was able to come within 5% of optimal on several of the TSPLIB maps used for testing. Both the GA and the GRASP algorithms will be compared with commonly used metaheuristic algorithms such as simulated annealing (SA) and reactive tabu search (RTS) as well as a simple neighborhood search - greedy search

3D Geographical routing in wireless sensor networks

In this paper, we present a novel 3D geographical routing algorithm (3DGR) that makes use of the position information to route packets from sources to destinations with high path quality and reliability. The locality and high scalability of this algorithm make it suitable for wireless sensor networks. It provides high adaptability to changes in topology and recovery of link failures which increases its reliability. We also incorporate the battery-aware energy efficient schemes to increase the overall lifetime of the network. To reduce latency, a method of keeping a small record of recent paths is used. We also show that location errors still result in good performance of our algorithm while the same assumptions might yield to bad performance or even complete failures in others. Simulation results show that the power consumption and delay using 3DGR are close to optimal obtainable based on full knowledge of the network

Multi-Robot Coordination and Scheduling for Deactivation & Decommissioning

Large quantities of high-level radioactive waste were generated during WWII. This waste is being stored in facilities such as double-shell tanks in Washington, and the Waste Isolation Pilot Plant in New Mexico. Due to the dangerous nature of radioactive waste, these facilities must undergo periodic inspections to ensure that leaks are detected quickly. In this work, we provide a set of methodologies to aid in the monitoring and inspection of these hazardous facilities. This allows inspection of dangerous regions without a human operator, and for the inspection of locations where a person would not be physically able to enter. First, we describe a robot equipped with sensors which uses a modified A* path-planning algorithm to navigate in a complex environment with a tether constraint. This is then augmented with an adaptive informative path planning approach that uses the assimilated sensor data within a Gaussian Process distribution model. The model\u27s predictive outputs are used to adaptively plan the robot\u27s path, to quickly map and localize areas from an unknown field of interest. The work was validated in extensive simulation testing and early hardware tests. Next, we focused on how to assign tasks to a heterogeneous set of robots. Task assignment is done in a manner which allows for task-robot dependencies, prioritization of tasks, collision checking, and more realistic travel estimates among other improvements from the state-of-the-art. Simulation testing of this work shows an increase in the number of tasks which are completed ahead of a deadline. Finally, we consider the case where robots are not able to complete planned tasks fully autonomously and require operator assistance during parts of their planned trajectory. We present a sampling-based methodology for allocating operator attention across multiple robots, or across different parts of a more sophisticated robot. This allows few operators to oversee large numbers of robots, allowing for a more scalable robotic infrastructure. This work was tested in simulation for both multi-robot deployment, and high degree-of-freedom robots, and was also tested in multi-robot hardware deployments. The work here can allow robots to carry out complex tasks, autonomously or with operator assistance. Altogether, these three components provide a comprehensive approach towards robotic deployment within the deactivation and decommissioning tasks faced by the Department of Energy

Distributed constraint satisfaction for coordinating and integrating a large-scale, heterogeneous enterprise

Market forces are continuously driving public and private organisations towards higher productivity, shorter process and production times, and fewer labour hours. To cope with these changes, organisations are adopting new organisational models of coordination and cooperation that increase their flexibility, consistency, efficiency, productivity and profit margins. In this thesis an organisational model of coordination and cooperation is examined using a real life example; the technical integration of a distributed large-scale project of an international physics collaboration. The distributed resource constraint project scheduling problem is modelled and solved with the methods of distributed constraint satisfaction. A distributed local search method, the distributed breakout algorithm (DisBO), is used as the basis for the coordination scheme. The efficiency of the local search method is improved by extending it with an incremental problem solving scheme with variable ordering. The scheme is implemented as central algorithm, incremental breakout algorithm (IncBO), and as distributed algorithm, distributed incremental breakout algorithm (DisIncBO). In both cases, strong performance gains are observed for solving underconstrained problems. Distributed local search algorithms are incomplete and lack a termination guarantee. When problems contain hard or unsolvable subproblems and are tightly or overconstrained, local search falls into infinite cycles without explanation. A scheme is developed that identifies hard or unsolvable subproblems and orders these to size. This scheme is based on the constraint weight information generated by the breakout algorithm during search. This information, combined with the graph structure, is used to derive a fail first variable order. Empirical results show that the derived variable order is 'perfect'. When it guides simple backtracking, exceptionally hard problems do not occur, and, when problems are unsolvable, the fail depth is always the shortest. Two hybrid algorithms, BOBT and BOBT-SUSP are developed. When the problem is unsolvable, BOBT returns the minimal subproblem within the search scope and BOBT-SUSP returns the smallest unsolvable subproblem using a powerful weight sum constraint. A distributed hybrid algorithm (DisBOBT) is developed that combines DisBO with DisBT. The distributed hybrid algorithm first attempts to solve the problem with DisBO. If no solution is available after a bounded number of breakouts, DisBO is terminated, and DisBT solves the problem. DisBT is guided by a distributed variable order that is derived from the constraint weight information and the graph structure. The variable order is incrementally established, every time the partial solution needs to be extended, the next variable within the order is identified. Empirical results show strong performance gains, especially when problems are overconstrained and contain small unsolvable subproblems