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Electric Vehicle Routing Problem with Capacitated Charging Stations and Dynamic Electricity Prices

IEEE Internet of Things Journal 2025年

作者： He, Zhiye Tian, Yuning Miao, Haoyu Yao, Canqi Yang, Zaiyue Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities School of System Design and Intelligent Manufacturing Shenzhen518055 China The Hong Kong Polytechnic University Department of Logistics and Maritime Studies Hong Kong Hong Kong

With rapid electrification of transportation systems in recent years, the electric vehicle routing problem (EVRP) has received increasing attention. In order to serve a set of valuable transportation tasks using a fleet of electric vehicles, EVRP intends to jointly determine their routes and the charging schedules, with the aim of optimizing service reward and charging cost under state of charge (SOC) constraints of battery. EVRP is a difficult nonlinear integer program, and due to its intrinsic NP-hardness early EVRP studies often oversimplify the charging process and assume unlimited capacity of charging stations and constant electricity price. The contribution of this paper lies in twofold. First, to better characterize the practical charging process, this paper introduces a new graph model that can take the charging station capacity and dynamic electricity price into full consideration. Second, we design a series of transformation techniques, including reformulation SOC dynamics, Lagrangian relaxation, exact linear programming relaxation, etc, which eventually convert the original EVRP into an approximate linear program. Extensive simulations across 14 instances demonstrate that, the proposed approach is capable of solving large-scale instances over 500 nodes, and is 100 times faster than traditional analytic methods while achieving very close optimality. While comparing with the popular heuristic method ALNS (Adaptive Large Neighborhood Search), our method is several times faster and obtains much better optimality. © 2014 IEEE.

关键词： Charging stations

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APPLICATIONS OF THE FUZZY-LOGIC IN AUTOMATED ROBOTIC DEBURRING

引用

FUZZY SETS AND systemS 1994年第3期63卷 293-305页

作者： LIU, MH WIENAND, S Department of Control Engineering Control System Theory & Robotics Group Technical University of Darmstadt Darmstadt Germany

Some applications of the fuzzy logic in the automated robotic deburring are described. Main motivations for these applications are (1) the unpredictability of positional inaccuracies and variations of buff sizes, which are difficult to measure;and (2) the nonlinear and complex behaviour of the deburring process. For a passive deburring strategy the fuzzy logic is used to supervise positional inaccuracies, to directly process disturbed force/torque measurements to avoid time delays, and to adjust controller parameters according to working conditions. For an active deburring strategy a fuzzy man-machine interface is built to take the advantage of utilizing operator's knowledges about buff characteristics, and a fuzzy modeling algorithm is developed to get the input-output relationship of, and to extract qualitative understanding about the deburring process. Some experimental results are presented.

关键词： DEBURRING FORCE control FUZZY LOGIC LINGUISTIC MODELING MAN-MACHINE INTERFACE ROBOTS

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FORCE-controlLED FUZZY-LOGIC-BASED ROBOTIC DEBURRING

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control ENGINEERING PRACTICE 1995年第2期3卷 189-201页

作者： LIU, MH Department of Control Engineering Control System Theory and Robotics Group Technical University of Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

In this paper a three-step active deburring strategy is proposed based on fuzzy logic and force feedback control. A strategy for automatic contour following is developed to identify unknown workpiece contours, to automatically generate desired robot motions, and to detect unknown burr sizes and positional inaccuracies. Under the deburring strategy the robot motion and force control are planned actively according to the detected burr sizes and positional inaccuracies. A fuzzy man-machine interface is built to make use of the knowledge of human operators to simplify the burr detection. A fuzzy model of the deburring process is developed to support the planning of deburring procedures. Implementation of and experiments with the proposed strategies are described.

关键词： DEBURRING FORCE control FUZZY systemS FUZZY MODELING GRINDING FUZZY MAN-MACHINE INTERFACE MACHINING POSITION control ROBOTS

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A three fingered, multijointed gripper for experimental use

A three fingered, multijointed gripper for experimental use

引用

1990 IEEE International Workshop on Intelligent Robots and systems, IROS 1990

作者： Paetsch, W. Kaneko, M. Technical University of Darmstadt Department of Control Engeneering Control Systems Theory and Robotics Section Germany Kyushu Institute of Technology Computer Science and System Engeneering Kawazu 680-4 Iizuka820 Japan

A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in terms of position and force control to perform experiments about grasping and object motion in a useful way. The gripper will be used to develop and evaluate different approaches of stable grasping and object manipulation. First results of the control of the gripper on joint level as well as the cartesian behaviour of the fingers and some results and experiences with first grasping and manipulation experiments using the presented system are reported. © 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Grippers

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A simple approach for hand-arm coordination

A simple approach for hand-arm coordination

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： W. Paetsch A. Weigl Control System Theory and Robotics Department Technical University of Darmstadt Germany

When integrating a dexterous robot hand into a hand-arm system, one has to coordinate and control the usually redundant system while taking into account the special capabilities of the subsystems "hand" and "arm". This paper presents a simple approach for hand-arm coordination in Cartesian space which subdivides the object motion into hand and arm portions using only a few easily interpretable parameters. Applying well-known stiffness control approaches for the hand and the arm respectively, the problem of controlling the subsystems appropriately (including force control) is solved. The results of experiments using a system with 15 degrees of freedom are shown and discussed.

关键词： Robot kinematics control systems Motion control Jacobian matrices Force control Velocity control Torque control Null space Grasping Joining processes

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Solving insertion tasks with a multifingered gripper by fumbling

Solving insertion tasks with a multifingered gripper by fumb...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： W. Paetsch G. von Wichert Control System Theory and Robotics Department Technical University of Darmstadt Germany

Part mating with a multifingered gripper mainly comprises two areas, i.e., the control of the gripper or hand and the strategies to solve the task. The problem is made more difficult by the uncertainties from mechanical, sensor or control errors within the gripper system or the parts to be assembled. The authors examine how to find and to realize a hand behavior, which solves the task under the assumption that the system is heavily influenced by the uncertainties mentioned. The problem is solved by a force feedback loop, containing a comparatively simple mathematic description of strategies applied in parallel. The proof of the efficiency of the approach is given. Results of various experiments are presented.< >

关键词： Grippers Error correction Uncertainty Mechanical sensors Sensor systems control systems Robotic assembly Force control Torque control Force sensors

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Force-controlled Robotic Deburring

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IFAC Proceedings Volumes 1993年第2期26卷 855-858页

作者： M.-H. Liu H. Tolle Control System Theory and Robotics Group Department of Control Engineering Technical University of Darmstadt Schlossgraben 1 Darmstadl Germany

In this paper a three-step active deburring strategy is proposed based on force feedback control. Strategies for automatic contour following are developed to identify unknown workpiece contours, to automatically generate desired robot motions, and to detect unknown burr sizes. Under the active deburring strategy burr size variations are identified through contour following and different sizes of burrs are removed with a specification of a variable desired deburring force. Implementation of and experiments with the proposed strategies are described.

关键词： Deburring force control grinding machining position control robots teaching

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Discrimination properties of invariants using the line moments of vectorized contours

Discrimination properties of invariants using the line momen...

引用

International Conference on Pattern Recognition

作者： G. Lambert J. Noll Control System Theory and Robotics Department Darmstadt University of Technology Darmstadt Germany

In this paper a new approach for image analysis in real time based on the vectorized contours of a scene is presented. Taking advantage of the fast and efficient determination of the line moments, invariants with respect to translation, scaling and rotation are derived. Four different sets of rotational invariants are introduced and their performance is examined on two examples. Moreover, a quality measure for class discrimination of feature sets is presented and investigated. Using this quality measure as a cost function, heuristic search strategies and genetic algorithms are employed for the feature selection. Thus, high dimensional feature spaces are reduced significantly without losing relevant image information. The performance of both the full and the reduced data sets is investigated on a set of noisy patterns and on a set of letters.

关键词： Layout Image edge detection Data mining Integral equations Hardware Image segmentation control systems Robots Image analysis Cost function

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Analysis of Time Zero Reset method for Virtual Slope Walking

Analysis of Time Zero Reset method for Virtual Slope Walking

引用

IEEE International Conference on robotics and Biomimetics

作者： Youbin Qiu Mingguo Zhao State Key Laboratory of Robotics and System (HIT) Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China Institute of Control Theory and Technology Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781457721366

In our previous work, we proposed a novel method Virtual Slope Walking(VSW) for biped locomotion. Mechanical energy is restored by actively extending stance leg in this method. VSW has two kinds of implementations, termed self-excited mode and parametric excited mode, respectively. In self-excited mode, stance leg extension is controlled according to its angle, but the measure of leg's angle is difficult in practical implementation; while in parametric excited mode stance leg extension is controlled according to time. In this paper, we investigate a method for VSW using parametric excited mode named Time Zero Reset method, which controlling stance leg extension with relative time, time zero is reset at each heelstrike. The method generates stable period-1 and multi-period walking cycles which not seen in VSW before. The results of stability analysis show the method has strong tolerance to disturbances. Compared to previous parametric excited mode with open-loop control, it has wider speed range and is more robust to disturbances with low cost as only touchdown sensors are needed.

关键词： Legged locomotion Angular velocity Limit-cycles Eigenvalues and eigenfunctions Mathematical model Stability analysis

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Associative datafields in automotive control

Associative datafields in automotive control

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： Schmitt Ullrich Tolle Department of Motor Vehicle Safety Systems Robert Boach GmbH Schwieberdingen Germany Institute of Control Engineering Department of Control System Theory and Robotics Technical University of Darmstadt Germany

This work presents an associative datafield structure that has been developed for automotive control applications by the Institute of control Engineering, department of control systems theory and robotics at the Technical University of Darmstadt and the Robert Bosch GmbH. In contrast to the state-of-the-art lattice-like datafields, the new system permits the modelling of multidimensional nonlinear process and/or controller characteristics with respect to computational performance and storage capacity provided by automotive control units. Furthermore, the associative datafield allows the compensation of wear and tear and manufacturing tolerances by learning, i.e. online adaptation of its contents. The paper describes the principles of the associative datafield and different update algorithms. Results of simulations using realistic data from car engines are discussed.< >

关键词： Road vehicles Interpolation Real time systems Road vehicle control Intelligent control Learning control systems

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