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Optimizing energy consumption of robotic cells by a branch & bound algorithm

COMPUTERS & OPERATIONS RESEARCH 2019年 102卷 52-66页

作者： Bukata, Libor Sucha, Premysl Hanzalek, Zdenek Czech Tech Univ Czech Inst Informat Robot & Cybernet Zikova 1903-4 Prague 16636 6 Czech Republic Czech Tech Univ Fac Elect Engn Dept Control Engn Karlovo Namesti 13 Prague 12135 2 Czech Republic

Nowadays, robotic cells are mostly designed with the main goal to meet the desired production rate without any consideration of the energy efficiency, therefore, it is often possible to achieve significant energy savings without downsizing the production. In our previous study, we established the mathematical formulation of the energy optimization problem, proposed a parallel heuristic, and optimized an existing robotic cell in Skoda Auto, the results of which revealed a 20% reduction in the energy consumption of robot drive systems. This study proposes a novel parallel branch & bound algorithm to optimize the energy consumption of robotic cells without deterioration in throughput. The energy saving is achieved by changing robot speeds and positions, applying robot power-saving modes (brakes, bus power off), and selecting an order of operations. The core part of the algorithm is our tight lower bound, based on convex envelopes. Besides the bounding, a Deep Jumping approach is introduced to guide the search to the promising parts of the branch & bound tree, and the parallelization accelerates the exploration of the tree. The experimental results revealed that the performance of the parallel algorithm scales almost linearly up to 12 processor cores, and the quality of obtained solutions is better or comparable to other existing works. (C) 2018 Elsevier Ltd. All rights reserved.

关键词： branch & bound algorithm Energy optimization Robotic cells Industrial robots Industry 4.0 Convex envelopes Parallel algorithms

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Allocation of Static VAr Compensators Using Optimal Reactive Power Flow and branch & bound algorithm

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IEEE LATIN AMERICA TRANSACTIONS 2016年第5期14卷 2194-2200页

作者： Silva, M. C. A. Belati, E. A. Fed Univ ABC UFABC Santo Andre SP Brazil

This paper presents a model based on an Optimal Reactive Power Flow (ORPF) to the allocation of Static VAr Compensator (SVC) in the power transmission network. The SVC was modeled as a variable susceptance and inserted into Ybus matrix. For discretization of the devices to be allocated in the system were used binary variables associated to SVC susceptance. A multiobjective function formed by two parts, active power losses and voltage deviation, was used in the ORPF formulation. In each one of parts was associated a parameter that allows giving more or less weight to each part. Due to the problem characteristics, Mixed Integer Nonlinear Programming (MINLP), was used a branch & bound (B&B) algorithm associated with the ORPF. The model is tested in the IEEE 118-bus system. The results show that the modeling and the technique of solution used are appropriate for SVCs allocation and power system analysis.

关键词： optimal reactive power flow allocation of static VAr compensator branch & bound algorithm

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Performance evaluation of a reconfiguration-algorithm for memory arrays containing clustered faults

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IEEE TRANSACTIONS ON RELIABILITY 1996年第2期45卷 274-284页

作者： Blough, DM University of California Los Angeles Irvine USA

Reconfiguration of memory arrays using spare rows & columns is useful for yield-enhancement of memories, This paper presents a reconfiguration algorithm (QRCF) for memories that contain clustered faults, QRCF operates in a branch & bound fashion similar to known optimal algorithms that require exponential time, However, QRCF repairs faults in clusters rather than individually, Since many faults are repaired simultaneously, the execution-time of QRCF does not become prohibitive even for large memories containing many faults. The performance of QRCF is evaluated under a probabilistic model for clustered faults in a memory array, For a special case of the fault model, QRCF solves the reconfiguration problem exactly in polynomial time. In the general case, QRCF produces an optimal solution with high probability, The algorithm is also evaluated through simulation. The performance and execution-time. of QRCF on arrays containing clustered faults are compared with other approximation algorithms and with an optimal algorithm. The simulation results show that QRCF outperforms previous approximation algorithms by a wide margin and performs nearly as well as the optimal algorithm with an execution-time that is orders of magnitude less.

关键词： branch & bound algorithm clustered-fault model defect memory reconfiguration spare

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Competitive and cooperative behaviour analysis of connected and autonomous vehicles across unsignalised intersections: A game-theoretic approach

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TRANSPORTATION RESEARCH PART B-METHODOLOGICAL 2021年 149卷 322-346页

作者： Wang, Hua Meng, Qiang Chen, Shukai Zhang, Xiaoning Natl Univ Singapore Dept Civil & Environm Engn Singapore 117576 Singapore Tongji Univ Sch Econ & Management Shanghai 200092 Peoples R China

We in this paper investigate navigation strategies of two cross-moving connected and autonomous vehicles (CAVs) at an unsignalised intersection. As highly intelligent and automated entities, CAVs could make decisions independently or behave in a cooperative manner. A Nash game with discrete decision strategy is formulated to characterize the non-cooperative behaviour and a cooperative game is formulated to model the cooperative control mechanism. Results show that (i) pure-strategy Nash equilibria (NEs) for the non-cooperative game always exist and NEs hold if and only if at least one CAV takes its dominant strategy;(ii) more than two pure-strategy NE solutions may exist, but at most two different payoffs could arrive for each player at pure-strategy NEs;(iii) the optimal solution to the cooperative game must be in the NE solution set. These interesting findings provide useful managerial insights to CAV operators and transport authorities, and also enable us to tailor a branch & bound (B&B) algorithm to efficiently solve the models. We also extend the proposed methodology to the n-player case ( n >= 3 ) and give some more generalized insights. Numerical experiments are demonstrated in the end to test the computational accuracy and efficiency of the B&B method and show that our models and algorithm can be readily incorporated into future real-time CAV decision system to help navigate through unsignalised intersections. (c) 2021 Elsevier Ltd. All rights reserved.

关键词： Connected and autonomous vehicles Nash game Cooperative behaviour Unsignalised intersection branch & bound algorithm

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Probabilistic μ-analysis for system performances assessment.

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IFAC-PapersOnLine 2017年第1期50卷 399-404页

作者： Falcoz A. Alazard D. Pittet C. Airbus Defence and Space 31 rue des cosmonautes Toulouse Cedex 31402 France ISAE-SUPAERO 10 Avenue Edouard Belin Cedex 4 Toulouse BP-54032 31055 France CNES 18 avenue E. Belin cedex 9 Toulouse 31401 France

H∞/µ methods are commonly used in Airbus Defence and Space for the design and validation of control solutions. Formulated in a worst-case paradigm, these methods necessarily lead to overly conservative solutions since sized on the extreme cases. However, the acceptance for relaxed control performances requires mastering the risk associated to the detected unlikely events calling for probabilistic performances metrics in the validation process. A probabilistic µ-analysis method is presented in this paper to exhaustively explore the uncertain parametric domain while evaluating the cumulative probability density function of the performance index. Recent µ-analysis tools implemented in the ONERA's SMAC toolbox are coupled with a dichotomic search algorithm in order to delimit the safe parametric domain while incrementing the probability of success of criteria. The proposed algorithm is applied to a didactic second order system to demonstrate the performances of the method. © 2017

关键词： branch & bound algorithm Probabilistic µ-analysis randomly distributed parameters

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Distributed Image Processing Scheduling in Heterogeneous Computing Network Systems

Distributed Image Processing Scheduling in Heterogeneous Com...

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9th France-Japan and 7th Europe-Asia Congress on Mechatronics (MECHATRONICS) / 13th International Workshop on Research and Education in Mechatronics (REM)

作者： Fard, Farzad Norouzi Broumandnia, Ali Mohammadi, Sasan Islamic Azad Univ Dept Mechatron South Tehran Branch Tehran Iran

ISBN: (纸本)9781467347716;9781467347723

a decretive concern in distributed computing systems is to efficiently schedule the tasks among all processors so that the overall processing time of the submitted tasks is at a minimum. In this article, following the recently evolved paradigm, referred to as is divisible load theory (DLT), we conducted an experimental study on the time performance to processes a large volume of image data on a network of workstations. We present our program model and timing mechanism for the distributed image processing and finally display effects of delta parameter and test cases in our mentioned algorithm.

关键词： Distributed image processing divisible load theory heterogeneous computing branch & bound algorithm Divisible Load Scheduling

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Probabilistic μ-analysis for system performances assessment

Probabilistic μ-analysis for system performances assessment

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20th World Congress of the International-Federation-of-Automatic-Control (IFAC)

作者： Falcoz, Alexandre Alazard, Daniel Pittet, Christelle Airbus Def & Space 31 Rue Cosmonautes F-31402 Toulouse France ISAE SUPAERO 10 Ave Edouard BelinBP 54032 F-31055 Toulouse 4 France CNES 18 Ave E Belin F-31401 Toulouse 9 France

H-infinity/mu methods are commonly used in Airbus Defence and Space for the design and validation of control solutions. Formulated in a worst-case paradigm, these methods necessarily lead to overly conservative solutions since sized on the extreme cases. However, the acceptance for relaxed control performances requires mastering the risk associated to the detected unlikely events calling for probabilistic performances metrics in the validation process. A probabilistic mu-analysis method is presented in this paper to exhaustively explore the uncertain parametric domain while evaluating the cumulative probability density function of the performance index. Recent mu-analysis tools implemented in the ONERA's SMAC toolbox are coupled with a dichotomic search algorithm in order to delimit the safe parametric domain while incrementing the probability of success of criteria. The proposed algorithm is applied to a didactic second order system to demonstrate the performances of the method. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Probabilistic mu-analysis randomly distributed parameters branch & bound algorithm

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Special Classes of Fuzzy Integer Programming Models with All-Different Constraints

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SCIENTIA IRANICA TRANSACTION E-INDUSTRIAL ENGINEERING 2009年第1期16卷 1-10页

作者： Eshghi, K. Nematian, J. Sharif Univ Technol Dept Ind Engn Tehran Iran

In this paper, a fuzzy approach is applied to special classes of integer programming problems with all different constraints. In the first model, a fuzzy integer programming model is developed to represent the all-different constraints in mathematical programming. In order to solve the proposed model, a new branching scheme for the branch and bound algorithm is also presented. In the second model, a special class of large-scale multi-objective fuzzy integer programming problems with all-different constraints is introduced. A solution method for the proposed model is also developed by using the decomposition technique, weighting method and branch and bound algorithm. An. illustrative numerical example is also given to clarify the theory and the method discussed in this paper.

关键词： Fuzzy integer programming All-different constraints branch & bound algorithm

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