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

Towards Efficient Resource Provisioning in Hadoop

Considering recent exponential growth in the amount of information processed in Big Data, the high energy consumed by data processing engines in datacenters has become a major issue, underlining the need for efficient resource allocation for better energy-efficient computing. This thesis proposes the Best Trade-off Point (BToP) method which provides a general approach and techniques based on an algorithm with mathematical formulas to find the best trade-off point on an elbow curve of performance vs. resources for efficient resource provisioning in Hadoop MapReduce and Apache Spark. Our novel BToP method is expected to work for any applications and systems which rely on a tradeoff curve with an elbow shape, non-inverted or inverted, for making good decisions. This breakthrough method for optimal resource provisioning was not available before in the scientific, computing, and economic communities. To illustrate the effectiveness of the BToP method on the ubiquitous Hadoop MapReduce, our Terasort experiment shows that the number of task resources recommended by the BToP algorithm is always accurate and optimal when compared to the ones suggested by three popular rules of thumbs. We also test the BToP method on the emerging cluster computing framework Apache Spark running in YARN cluster mode. Despite the effectiveness of Spark’s robust and sophisticated built-in dynamic resource allocation mechanism, which is not available in MapReduce, the BToP method could still consistently outperform it according to our Spark-Bench Terasort test results. The performance efficiency gained from the BToP method not only leads to significant energy saving but also improves overall system throughput and prevents cluster underutilization in a multi-tenancy environment. In General, the BToP method is preferable for workloads with identical resource consumption signatures in production environment where job profiling for behavioral replication will lead to the most efficient resource provisioning

Swarming Reconnaissance Using Unmanned Aerial Vehicles in a Parallel Discrete Event Simulation

Current military affairs indicate that future military warfare requires safer, more accurate, and more fault-tolerant weapons systems. Unmanned Aerial Vehicles (UAV) are one answer to this military requirement. Technology in the UAV arena is moving toward smaller and more capable systems and is becoming available at a fraction of the cost. Exploiting the advances in these miniaturized flying vehicles is the aim of this research. How are the UAVs employed for the future military? The concept of operations for a micro-UAV system is adopted from nature from the appearance of flocking birds, movement of a school of fish, and swarming bees among others. All of these natural phenomena have a common thread: a global action resulting from many small individual actions. This emergent behavior is the aggregate result of many simple interactions occurring within the flock, school, or swarm. In a similar manner, a more robust weapon system uses emergent behavior resulting in no weakest link because the system itself is made up of simple interactions by hundreds or thousands of homogeneous UAVs. The global system in this research is referred to as a swarm. Losing one or a few individual unmanned vehicles would not dramatically impact the swarms ability to complete the mission or cause harm to any human operator. Swarming reconnaissance is the emergent behavior of swarms to perform a reconnaissance operation. An in-depth look at the design of a reconnaissance swarming mission is studied. A taxonomy of passive reconnaissance applications is developed to address feasibility. Evaluation of algorithms for swarm movement, communication, sensor input/analysis, targeting, and network topology result in priorities of each model\u27s desired features. After a thorough selection process of available implementations, a subset of those models are integrated and built upon resulting in a simulation that explores the innovations of swarming UAVs

Quantum annealing for vehicle routing and scheduling problems

Metaheuristic approaches to solving combinatorial optimization problems have many attractions. They sidestep the issue of combinatorial explosion; they return good results; they are often conceptually simple and straight forward to implement. There are also shortcomings. Optimal solutions are not guaranteed; choosing the metaheuristic which best fits a problem is a matter of experimentation; and conceptual differences between metaheuristics make absolute comparisons of performance difficult. There is also the difficulty of configuration of the algorithm - the process of identifying precise values for the parameters which control the optimization process. Quantum annealing is a metaheuristic which is the quantum counterpart of the well known classical Simulated Annealing algorithm for combinatorial optimization problems. This research investigates the application of quantum annealing to the Vehicle Routing Problem, a difficult problem of practical significance within industries such as logistics and workforce scheduling. The work devises spin encoding schemes for routing and scheduling problem domains, enabling an effective quantum annealing algorithm which locates new solutions to widely used benchmarks. The performance of the metaheuristic is further improved by the development of an enhanced tuning approach using fitness clouds as behaviour models. The algorithm is shown to be further enhanced by taking advantage of multiprocessor environments, using threading techniques to parallelize the optimization workload. The work also shows quantum annealing applied successfully in an industrial setting to generate solutions to complex scheduling problems, results which created extra savings over an incumbent optimization technique. Components of the intellectual property rendered in this latter effort went on to secure a patent-protected status

The Effect of Deployment and Optimal Dispatch of Shared Electric Shuttles on the Energy Efficiency of Campus Transit

A problem facing most public transit systems is low energy efficiency and the continued cycling of large transport vehicles such as buses at low occupancy when low demand for transport exists, wasting energy to no benefit. To remedy this issue, we propose a hybrid system consisting of existing diesel buses and automated electric shuttles to augment the system during off-peak hours. Due to their smaller size, higher occupancy, and more efficient powertrains, these shuttles could reduce the system energy used per passenger-mile-traveled. Automation removes the labor cost of drivers and, thus, eliminates the need to employ more drivers for the shuttles. The automated electric shuttles can reduce the energy use of the public transit system further while still meeting ridership demands during times with low demand for transport using optimized routes. These shuttles are considered on-demand, and we will formulate and solve an optimization algorithm to optimally allocate the shuttles to requests based on predicted fuel use (a proxy for energy use), predicted time cost, and the number of missed requests. The optimization is built upon a network graph that presents combinations of transport requests and the vehicles that can serve them and their associated routes for the optimization to choose from. By using traffic microsimulation software, the shuttles can travel along their optimized routes while being affected by transient traffic conditions, giving a better approximation of their real-world energy use. The proposed hybrid system is implemented in a commercial traffic microsimulation environment representing Clemson University’s Purple Route. To ensure high system fidelity, intersection turn ratios, boarding patterns, car traffic, etc. are implemented as well. When available, the microsimulation uses real data from multiple sources such as historic ridership data and signal timings. The results of the microsimulation demonstrate that a system where buses operate during times of high demand and automated electric shuttles operate during times of low demand has a lower energy use per passenger-mile-traveled and no missed requests. This hybrid system improves the energy used per passenger-mile-traveled by at least 32% ii when compared to the current system of buses. The hybrid system also improves the total energy use by at least 64% when compared to the total energy use of the current bus system. However, minor changes in the capacity of the hybrid system have no significant effect on the performance of the hybrid system

HPCCP/CAS Workshop Proceedings 1998

This publication is a collection of extended abstracts of presentations given at the HPCCP/CAS (High Performance Computing and Communications Program/Computational Aerosciences Project) Workshop held on August 24-26, 1998, at NASA Ames Research Center, Moffett Field, California. The objective of the Workshop was to bring together the aerospace high performance computing community, consisting of airframe and propulsion companies, independent software vendors, university researchers, and government scientists and engineers. The Workshop was sponsored by the HPCCP Office at NASA Ames Research Center. The Workshop consisted of over 40 presentations, including an overview of NASA's High Performance Computing and Communications Program and the Computational Aerosciences Project; ten sessions of papers representative of the high performance computing research conducted within the Program by the aerospace industry, academia, NASA, and other government laboratories; two panel sessions; and a special presentation by Mr. James Bailey

LDRD project final report : hybrid AI/cognitive tactical behavior framework for LVC.

This Lab-Directed Research and Development (LDRD) sought to develop technology that enhances scenario construction speed, entity behavior robustness, and scalability in Live-Virtual-Constructive (LVC) simulation. We investigated issues in both simulation architecture and behavior modeling. We developed path-planning technology that improves the ability to express intent in the planning task while still permitting an efficient search algorithm. An LVC simulation demonstrated how this enables 'one-click' layout of squad tactical paths, as well as dynamic re-planning for simulated squads and for real and simulated mobile robots. We identified human response latencies that can be exploited in parallel/distributed architectures. We did an experimental study to determine where parallelization would be productive in Umbra-based force-on-force (FOF) simulations. We developed and implemented a data-driven simulation composition approach that solves entity class hierarchy issues and supports assurance of simulation fairness. Finally, we proposed a flexible framework to enable integration of multiple behavior modeling components that model working memory phenomena with different degrees of sophistication

Research and Technology Highlights 1995

The mission of the NASA Langley Research Center is to increase the knowledge and capability of the United States in a full range of aeronautics disciplines and in selected space disciplines. This mission is accomplished by performing innovative research relevant to national needs and Agency goals, transferring technology to users in a timely manner, and providing development support to other United States Government agencies, industry, other NASA Centers, the educational community, and the local community. This report contains highlights of the major accomplishments and applications that have been made by Langley researchers and by our university and industry colleagues during the past year. The highlights illustrate both the broad range of research and technology (R&T) activities carried out by NASA Langley Research Center and the contributions of this work toward maintaining United States leadership in aeronautics and space research. An electronic version of the report is available at URL http://techreports.larc.nasa.gov/RandT95. This color version allows viewing, retrieving, and printing of the highlights, searching and browsing through the sections, and access to an on-line directory of Langley researchers