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

Memristor-based hardware and algorithms for higher-order Hopfield optimization solver outperforming quadratic Ising machines

Ising solvers offer a promising physics-based approach to tackle the challenging class of combinatorial optimization problems. However, typical solvers operate in a quadratic energy space, having only pair-wise coupling elements which already dominate area and energy. We show that such quadratization can cause severe problems: increased dimensionality, a rugged search landscape, and misalignment with the original objective function. Here, we design and quantify a higher-order Hopfield optimization solver, with 28nm CMOS technology and memristive couplings for lower area and energy computations. We combine algorithmic and circuit analysis to show quantitative advantages over quadratic Ising Machines (IM)s, yielding 48x and 72x reduction in time-to-solution (TTS) and energy-to-solution (ETS) respectively for Boolean satisfiability problems of 150 variables, with favorable scaling

Solving of constraint satisfaction problems by reduction to SAT

Mnogi realni problemi se danas mogu predstaviti u obliku problema zadovoljenja ogranicenja (CSP) i zatim rešiti nekom od mnogobrojnih tehnika za rešavanje ovog problema. Jedna od tehnika podrazumeva svođenje na problem SAT, tj. problem iskazne zadovoljivosti. Promenljive i ogranicenja problema CSP se prevode (kodiraju) u SAT instancu, ona se potom rešava pomocu modernih SAT rešavaca i rešenje se, ako postoji, prevodi u rešenje problema CSP. Glavni cilj ove teze je unapređenje rešavanja problema CSP svođenjem na SAT. Razvijena su dva nova hibridna kodiranja (prevođenja u SAT formulu) koja kombinuju dobre strane postojecih kodiranja. Dat je dokaz korektnosti jednog od kodiranja koji do sada nije postojao u literaturi. Razvijen je sistem meSAT koji omogucava svođenje problema CSP na SAT pomocu cetiri osnovna i dva hibridna kodiranja, kao i rešavanje problema CSP svođenjem na dva problema srodna problemu SAT, SMT i PB. Razvijen je portfolio za automatski odabir kodiranja/rešavaca za ulaznu instancu koju je potrebno rešiti i pokazano je da je razvijeni portfolio uporediv sa najefikasnijim savremenim pristupima. Prikazan je novi pristup zasnovan na kratkim vremenskim ogranicenjima sa ciljem da se znacajno smanji vreme pripreme portfolija. Pokazano je da se ovim pristupom dobijaju rezultati konkurentni onima koji se dobijaju korišcenjem standardnog vremena za pripremu. Izvršeno je poređenje nekoliko tehnika mašinskog ucenja, sa ciljem da se ustanovi koja od njih je pogodnija za pristup sa kratkim treniranjem. Prikazan je jedan realan problem, problem raspoređivanja kontrolora leta, kao i tri njegova modela. Veliki broj metoda rešavanja i raznovrsnih rešavaca je upotrebljeno za rešavanje ovog problema. Razvijeno je više optimizacionih tehnika koje imaju za cilj pronalaženje optimalnih rešenja problema. Pokazuje se da je najefikasnija hibridna tehnika koja kombinuje svođenje na SAT i lokalnu pretragu. Razmotren je i problem sudoku, kao i postojece tehnike rešavanja sudoku zagonetki vecih dimenzija od 9 x 9. Pokazuje se da je u rešavanju ovih zagonetki najefikasnije vec postojece svođenje na SAT. Unapređen je postojeci algoritam za generisanje velikih sudoku zagonetki. Pokazano je da jednostavna pravila preprocesiranja dodatno unapređuju brzinu generisanja sudokua.Many real-world problems can be modeled as constraint satisfaction problems (CSPs) and then solved by one of many available techniques for solving these problems. One of the techniques is reduction to SAT, i.e. Boolean Satisfiability Problem. Variables and constraints of CSP are translated (encoded) to SAT instance, that is then solved by state-of-the-art SAT solvers and solution, if exists, is translated to the solution of the original CSP. The main aim of this thesis is to improve CSP solving techniques that are using reduction to SAT. Two new hybrid encodings of CSPs to SAT are presented and they combine good sides of the existing encodings. We give the proof of correctness of one encoding that did not exist in literature. We developed system meSAT that enables reduction of CSPs to SAT by using 4 basic and 2 hybrid encodings. The system also enables solving of CSPs by reduction to two problems related to SAT, SMT and PB. We developed a portfolio for automated selection of encoding/solver to be used on some new instance that needs to be solved. The developed portfolio is comparable with the state-of-the-art portfolios. We developed a hybrid approach based on short solving timeouts with the aim of significantly reducing the preparation time of a portfolio. By using this approach, we got results comparable to the ones obtained by using preparation time of usual length. We made comparison between several machine learning techniques with the aim to find out which one is the best suited for the short training approach. The problem of assigning air traffic controllers to shifts is described and three models of this problem are presented. We used a large number of different solving methods and a diverse set of solvers for solving this problem. We developed optimization techniques that aim to find optimal solutions of the problem. A hybrid technique combining reduction to SAT and local search is shown to be the most efficient one. We also considered sudoku puzzles and the existing techniques of solving the puzzles of greater size than 9x9. Amongst the used techniques, the existing reduction to SAT is the most efficient in solving these puzzles. We improved the existing algorithm for generating large sudoku puzzles. It is shown that simple preprocessing rules additionally improve speed of generating large sudokus

Proceedings of the Sixth NASA Langley Formal Methods (LFM) Workshop

Today's verification techniques are hard-pressed to scale with the ever-increasing complexity of safety critical systems. Within the field of aeronautics alone, we find the need for verification of algorithms for separation assurance, air traffic control, auto-pilot, Unmanned Aerial Vehicles (UAVs), adaptive avionics, automated decision authority, and much more. Recent advances in formal methods have made verifying more of these problems realistic. Thus we need to continually re-assess what we can solve now and identify the next barriers to overcome. Only through an exchange of ideas between theoreticians and practitioners from academia to industry can we extend formal methods for the verification of ever more challenging problem domains. This volume contains the extended abstracts of the talks presented at LFM 2008: The Sixth NASA Langley Formal Methods Workshop held on April 30 - May 2, 2008 in Newport News, Virginia, USA. The topics of interest that were listed in the call for abstracts were: advances in formal verification techniques; formal models of distributed computing; planning and scheduling; automated air traffic management; fault tolerance; hybrid systems/hybrid automata; embedded systems; safety critical applications; safety cases; accident/safety analysis

Integrated Analysis of Airport Capacity and Environmental Constraints

LMI conducted an integrated analysis of airport capacity and environmental constraints. identifying and ranking the key factors limiting achievement of NextGen capacity goals. The primary metric used was projected throughput, which was estimated for the years 2015 and 2025 based on the unconstrained demand forecast from the Federal Aviation Administration, and planned improvements including those proposed in the NextGen plan. A set of 310 critical airports was identified.. collectively accounting for more than 99 percent of domestic air traffic volume; a one-off analytical approach was used to isolate the constraint being assessed. The study considered three capacity constraints (runway.. taxiway, and gate) and three environmental constraints (fuel, NO(x) emissions, and noise). For the ten busiest airports, runway and noise are the primary and secondary constraints in both 2015 and 2025. For the OEP 35 airports and overall for the remaining airports, the most binding constraint is noise. Six of the 10 busiest airports, will face runway constraints in 2025, and 95 will face gate constraints. Nearly every airport will be subject to constraints due to emissions and NOx. Runway and taxi constraints are more concentrated in the large airports: environmental constraints are present at almost every airport regardless of size

Modelo matemático para a gestão de escalas de serviço para controladores de tráfego aéreo

Orientador: Prof. Dr. José Eduardo Pécora JuniorCoorientador: Prof. Dr. Cassius Tadeu ScarpinDissertação (mestrado) - Universidade Federal do Paraná, Setor de Tecnologia, Programa de Pós-Graduação em Engenharia de Produção. Defesa : Curitiba, 28/02/2020Inclui referências: p.62-64Resumo: O espaço aéreo sob responsabilidade brasileira passa dos 20.000.000 km² (vinte milhões de km²) e para garantir a segurança de todas as aeronaves no espaço aéreo durantes as diversas fases do voo, os Serviços de Tráfego Aéreo funcionam ininterruptamente, sendo necessário que os profissionais desta área trabalhem em regime de escalas. Estudos indicam que profissionais sujeitos a esse regime de trabalho sofrem efeitos em decorrência de fatores relacionados aos horários irregulares, incluindo trabalhos noturnos. Este trabalho apresenta um modelo matemático de programação linear inteira misto desenvolvido para a designação de escalas de serviço para operadores de um Centro de Controle de Área, onde se realiza o controle de tráfego aéreo. A proposição deste modelo objetiva a maximização das preferências declaradas pelos Controladores e a redução dos custos, considerando restrições opcionais ou de qualidade (restrições soft) e restrições obrigatórias (restrições hard). As declarações de preferências dos operadores pelas designações foram alvo de um estudo buscando identificar qual a melhor composição das declarações para uma boa gestão das escalas em questões de satisfação com o trabalho e qualidade de vida dos profissionais. Foram definidos os cenários para análise e as instâncias para testes em tamanho real, com 120 trabalhadores e considerando um horizonte de planejamento de um mês. O modelo demonstrou capacidade de utilização e encontrou soluções ótimas em grande parte das instâncias em tempos computacionais considerados baixos em média. Dois cenários foram escolhidos como os melhores para a gestão das escalas de serviço, a partir da análise das soluções encontradas, identificou-se que o modelo é capaz de atender 83% das preferências indicadas pelos profissionais, proporcionando aumento na satisfação com o trabalho. O modelo também possibilita que os profissionais tenham mais liberdade na gestão dos horários de trabalho, uma vez que é possível indicar combinações de suas preferências para folgas, tendo em vista que essas indicações foram atendidas em mais de 99% dos casos. Estes resultados demonstram que o modelo é uma ferramenta adequada para a gestão das escalas de serviço para Controladores de Tráfego Aéreo minimizando os efeitos negativos relacionados ao regime de trabalho por escalas, como a redução dos níveis de fadiga, melhora na qualidade do sono e no bem-estar no trabalho, melhores condições para participar de atividades de lazer, entre outros. Palavras-chave: Escala de Serviço. Controle de Tráfego Aéreo. Programação Linear Inteira Mista. Qualidade de Vida no Trabalho.Abstract: The airspace under Brazilian responsibility goes from 20,000,000 km² (twenty million km²) and to guarantee the safety of all aircraft in the airspace during the various phases of the flight, the Air Traffic Services operate around the clock, being necessary that the professionals work in scales. Studies indicate that professionals subject to this work regime suffer effects due to factors related to irregular hours, including night work. This work presents a mathematical model of mixed integer linear programming developed for the designation of shifts work for Air Traffic Controllers in a center control, which aims to maximize the preferences declared by workers and reduce costs, considering optional or quality restrictions (soft constraints) and mandatory restrictions (hard constraints). The operators' declarations of preference for the designations were the subject of a study seeking to identify the best composition of the declarations for a good management of the shifts in matters of satisfaction with the work and quality of life of the professionals. Scenarios for analysis and instances for life-size tests were defined, with 120 workers and considering a planning horizon of one month. The model demonstrated usability and found optimal solutions in most instances in computational times considered low on average. Two scenarios were chosen as the best ones for the management of shifts schedules, from the analysis of the results found. It was identified that the model is capable of meeting 83% of the preferences indicated by the professionals, providing an increase in job satisfaction. The model also allows professionals to have more freedom in the management of working hours, since it is possible to indicate combinations of their preferences for time off, given that these indications were met in more than 99% of cases. These results demonstrate that the model is an adequate tool for the management of shift scheduling for Air Traffic Controllers, minimizing the negative effects related to the work regime by scales, such as the reduction of fatigue levels, improvement in the quality of sleep and well-being at work, better conditions to participate in leisure activities, among others. Keywords: Shift Scheduling. Air Traffic Control. Mixed Integer Linear Programming. Quality of Life at Work

Working Notes from the 1992 AAAI Spring Symposium on Practical Approaches to Scheduling and Planning

The symposium presented issues involved in the development of scheduling systems that can deal with resource and time limitations. To qualify, a system must be implemented and tested to some degree on non-trivial problems (ideally, on real-world problems). However, a system need not be fully deployed to qualify. Systems that schedule actions in terms of metric time constraints typically represent and reason about an external numeric clock or calendar and can be contrasted with those systems that represent time purely symbolically. The following topics are discussed: integrating planning and scheduling; integrating symbolic goals and numerical utilities; managing uncertainty; incremental rescheduling; managing limited computation time; anytime scheduling and planning algorithms, systems; dependency analysis and schedule reuse; management of schedule and plan execution; and incorporation of discrete event techniques

Developing a distributed electronic health-record store for India

The DIGHT project is addressing the problem of building a scalable and highly available information store for the Electronic Health Records (EHRs) of the over one billion citizens of India

Cooperation of Combinatorial Solvers for Air Traffic Management and Control

In the context of the SESAR project, Air Traffic Control (ATC) and Management (ATM) in Europe is undergoing a paradigm shift to be able to accommodate the current traffic growth forecast: many expert-based systems will be enhanced by optimization software to improve the decisionmaking process and regulation planning. Current state-of-the-art combinatorial optimization techniques that are applied to ATC and ATM include approximation algorithms like metaheuristics (e.g. Genetic Algorithm, Tabu Search, Simulated Annealing, etc.) and complete algorithms like Constraint Programming (CP) and Mixed Integer Programming. However, the large scale of the considered instances and the handling of their inherent uncertainties result in very hard problems, which can hinder or even defeat either of the previously mentioned optimization methods alone. To overcome these difficulties and improve the resolution efficiency of standard algorithms, we propose to study the generic cooperation of any set of combinatorial solvers by sharing solutions, optimization bounds and possibly other information in order to speed up the overall process. In this thesis, we have specified and implemented a distributed system which is able to integrate any combinatorial solver with the suitable interface, adapt existing solvers to take into account and provide information on the state of the search from and to other solvers, and applied this framework to two ATC and ATM problems: the en-route conflict resolution problem and the Gate Allocation Problem (GAP). For the first one, we have presented a new generic framework for the modeling and resolution of en-route conflicts in three dimensions as well as a large set of realistic instances, which have been solved with the cooperation of a Memetic Algorithm and Integer Linear Programming (ILP) solver. For the GAP, we have presented a new CP model, as well as new optimization constraints to maximize the robustness of the schedule, and search strategies together with their parallel cooperation. The solver, implemented with the FaCiLe CP library, outperforms a state-of-the-art ILP solver on real instances