Multi-objective Anti-swing Trajectory Planning of Double-pendulum Tower Crane Operations using Opposition-based Evolutionary Algorithm

Underactuated tower crane lifting requires time-energy optimal trajectories for the trolley/slew operations and reduction of the unactuated swings resulting from the trolley/jib motion. In scenarios involving non-negligible hook mass or long rig-cable, the hook-payload unit exhibits double-pendulum behaviour, making the problem highly challenging. This article introduces an offline multi-objective anti-swing trajectory planning module for a Computer-Aided Lift Planning (CALP) system of autonomous double-pendulum tower cranes, addressing all the transient state constraints. A set of auxiliary outputs are selected by methodically analyzing the payload swing dynamics and are used to prove the differential flatness property of the crane operations. The flat outputs are parameterized via suitable B\'{e}zier curves to formulate the multi-objective trajectory optimization problems in the flat output space. A novel multi-objective evolutionary algorithm called Collective Oppositional Generalized Differential Evolution 3 (CO-GDE3) is employed as the optimizer. To obtain faster convergence and better consistency in getting a wide range of good solutions, a new population initialization strategy is integrated into the conventional GDE3. The computationally efficient initialization method incorporates various concepts of computational opposition. Statistical comparisons based on trolley and slew operations verify the superiority of convergence and reliability of CO-GDE3 over the standard GDE3. Trolley and slew operations of a collision-free lifting path computed via the path planner of the CALP system are selected for a simulation study. The simulated trajectories demonstrate that the proposed planner can produce time-energy optimal solutions, keeping all the state variables within their respective limits and restricting the hook and payload swings.Comment: 14 pages, 14 figures, 6 table

Optimal power flow problem considering multiple-fuel options and disjoint operating zones: A solver-friendly MINLP model

This paper proposes a solver-friendly model for disjoint, non-smooth, and nonconvex optimal power flow (OPF) problems. The conventional OPF problem is considered as a nonconvex and highly nonlinear problem for which finding a high-quality solution is a big challenge. However, considering practical logic-based constraints, namely multiple-fuel options (MFOs) and prohibited operating zones (POZs), jointly with the non-smooth terms such as valve point effect (VPE) results in even more difficulties in finding a near-optimal solution. In complex problems, the nonlinearity itself is not a big issue in finding the optimal solution, but the nonconvexity does matter and considering MFO, POZ, and VPE increase the degree of nonconvexity exponentially. Another primary concern in practice is related to the limitations of the existing commercial solvers in handling the original logic-based models. These solvers either fail or show intractability in solving the equivalent mixed integer nonlinear programming (MINLP) models. This paper aims at addressing the existing gaps in the literature, mainly handling the MFOs and POZs simultaneously in OPF problems by proposing a solver-friendly MINLP (SF-MINLP) model. In this regard, due to the actions that are done in the pre-solve step of the existing commercial MINLP solvers, the most adaptable model is obtained by melting the primary integer decision variables, associated with the feasible region, into the objective function. For the verification and didactical purposes, the proposed SF-MINLP model is applied to the IEEE 30-bus system under two different loading conditions, namely normal and increased, and details are provided. The model is also tested on the IEEE 118-bus system to reveal its effectiveness and applicability in larger-scale systems. Results show the effectiveness and tractability of the model in finding a high-quality solution with high computational efficiency

Optimal Ship Maintenance Scheduling Under Restricted Conditions and Constrained Resources

The research presented in this dissertation addresses the application of evolution algorithms, i.e. Genetic Algorithm (GA) and Differential Evolution algorithm (DE) to scheduling problems in the presence of restricted conditions and resource limitations. This research is motivated by the scheduling of engineering design tasks in shop scheduling problems and ship maintenance scheduling problems to minimize total completion time. The thesis consists of two major parts; the first corresponds to the first appended paper and deals with the computational complexity of mixed shop scheduling problems. A modified Genetic algorithm is proposed to solve the problem. Computational experiments, conducted to evaluate its performance against known optimal solutions for different sized problems, show its superiority in computation time and the high applicability in practical mixed shop scheduling problems. The second part considers the major theme in the second appended paper and is related to the ship maintenance scheduling problem and the extended research on the multi-mode resource-constrained ship scheduling problem. A heuristic Differential Evolution is developed and applied to solve these problems. A mathematical optimization model is also formulated for the multi-mode resource-constrained ship scheduling problem. Through the computed results, DE proves its effectiveness and efficiency in addressing both single and multi-objective ship maintenance scheduling problem

A comprehensive survey on cultural algorithms

Peer reviewedPostprin

Study of an Optimized Micro-Grid’s Operation with Electrical Vehicle-Based Hybridized Sustainable Algorithm

Recently, the expansion of energy communities has been aided by the lowering cost of storage technologies and the appearance of mechanisms for exchanging energy that is driven by economics. An amalgamation of different renewable energy sources, including solar, wind, geothermal, tidal, etc., is necessary to offer sustainable energy for smart cities. Furthermore, considering the induction of large-scale electric vehicles connected to the regional micro-grid, and causes of increase in the randomness and uncertainty of the load in a certain area, a solution that meets the community demands for electricity, heating, cooling, and transportation while using renewable energy is needed. This paper aims to define the impact of large-scale electric vehicles on the operation and management of the microgrid using a hybridized algorithm. First, with the use of the natural attributes of electric vehicles such as flexible loads, a large-scale electric vehicle response dispatch model is constructed. Second, three factors of micro-grid operation, management, and environmental pollution control costs with load fluctuation variance are discussed. Third, a hybrid gravitational search algorithm and random forest regression (GSA-RFR) approach is proposed to confirm the method’s authenticity and reliability. The constructed large-scale electric vehicle response dispatch model significantly improves the load smoothness of the micro-grid after the large-scale electric vehicles are connected and reduces the impact of the entire grid. The proposed hybridized optimization method was solved within 296.7 s, the time taken for electric vehicle users to charge from and discharge to the regional micro-grid, which improves the economy of the micro-grid, and realizes the effective management of the regional load. The weight coefficients λ1 and λ2 were found at 0.589 and 0.421, respectively. This study provides key findings and suggestions that can be useful to scholars and decisionmakers