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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

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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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On the design and simulation-based validation of an active compliance law for multi-arm robots

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robotics and Autonomous Systems 1989年第4期5卷 307-321页

作者： Bruhm, H. Deisenroth, J. Schädler, P. Technical University of Darmstadt Department of Control Engineering Control Systems Theory and Robotics Section Schloßgraben 1 Darmstadt6100 Germany

A special active compliance law is presented as the feedback element in a non-master/slave (i.e. symmetric) coordination strategy with explicit force distribution for robots with multiple cooperating arms. The method used to design the compliance controller comprise a structural design phase and dynamics design phase. The proposed controller structure simplifies the design problem as it maps the multivariate system onto two decoupled SISO loops with PI controllers describing internal and external compliance behavior. The conditions for the validity of this conceptual system model are discussed and the significance of task parameters such as grasp configuration, force distribution law and mechanical compliance values for the controller structure is explored. The dynamic behavior of internal and external compliance is determined in the second design phase by the choice of gain and integral action time of the respective controllers. An example shows the applicability of classical SISO control system design tools such as the root locus technique. The validity of the design method has been verified by means of the multi-arm robot simulation program MAROSIM, which is also presented in the paper. © 1989

关键词： controllers

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TOPOLOGICAL TASK SPACE MODELING FOR PLANNING AUTONOMOUS SPACE ROBOT ACTIONS

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control ENGINEERING PRACTICE 1995年第8期3卷 1095-1104页

作者： MATTHIESEN, J Control Systems Theory and Robotics Department Darmstadt Technical University Landgraf-Georg-Str. 4 D 64283 Darmstadt Germany

Future space robot generations will replace astronauts in deep space missions and routine operations. They will use tools, and perform assembly, disassembly and handling tasks for maintenance purposes. A key feature of autonomous, task-level commandable robots is a valid and complete representation of an application's task space for planning and optimizing a rough action sequence facing a sensorially classified situation. This paper shows such a representation for a robot-based automated material science experiment set-up. It proposes a method of analysis by which a valid and complete task space model can be obtained. Results of practical experiments with a terrestrial laboratory mock-up using the novel representation scheme are presented.

关键词： SPACE robotics AUTONOMOUS control MODEL-BASED TASK PLANNING

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Payoff-Based Approach to Learning Nash Equilibria in Convex Games

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IFAC-PapersOnLine 2017年第1期50卷 1508-1513页

作者： Tatarenko T. Kamgarpour M. Department of Control Theory and Robotics TU Darmstadt Germany Automatic Control Laboratory Swiss Federal Institute of Technology Zurich Switzerland

We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents’ actions belong to a compact convex Euclidean space and the agents’ cost functions are coupled. We propose a distributed payoff-based algorithm to learn Nash equilibria in the game between agents. Each agent uses only information about its current cost value to compute its next action. We prove convergence of the proposed algorithm to a Nash equilibrium in the game leveraging established results on stochastic processes. The performance of the algorithm is analyzed with a numerical case study. © 2017

关键词： game theory Multi-agent decision making payoff-based algorithm

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Registration of human eye movement in biometric research

Registration of human eye movement in biometric research

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13th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2009, Jointly with the 15th International Conference on Information Systems Analysis and Synthesis, ISAS 2009

作者： Nawrat, Aleksander Czornik, Adam Gawliczek, Pawel Institute of Automatic Control Department of Control Theory and Robotics Silesian University of Technology 16 Akademicka St. 44-100 Gliwice Poland

ISBN: (纸本)1934272620

One of the basic human sense is vision. Every day most of the people use their eyes for gathering information about surrounding world. The light is constantly being captured by the human eye, sampled, causing the eye to move to sample next important light structure. In next step the brain is processing the information provided by the eye. Scientists all over the world try to make similar process artificial, allowing computers to gain from sense of vision. Great number of research has been put into eye tracking making it more and more efficient over the years. In this paper we try to propose a solution which is in position to track eyes. There are used two USB cameras connected to a Desktop PC. Each camera tracks one eye and basing on position of center of the eye compute its coordinates. In biometric projects quality of the input signal is crucial variable for whole process. In research was checked 3 algorithms: color filtering, circle Hough transform and optical flow. Each of approached which was tried has its advantages and disadvantages. It would be difficult to have good eye tracking system basing only on one algorithm. So in the work it was proposed a method based on combination of optical flow for tracking the center of the eye, while resetting its position was obtained using Hough transform every Xth frame. It eliminated problem of drift and blinking as was shown on numerical examples.

关键词： Biometrics

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Mathematical methods for target detection in the CCD camera stream

Mathematical methods for target detection in the CCD camera ...

引用

13th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2009, Jointly with the 15th International Conference on Information Systems Analysis and Synthesis, ISAS 2009

作者： Nawrat, Aleksander Rachwal, Tomasz Daniec, Krzysztof Kozak, Kamil Institute of Automatic Control Department of Control Theory and Robotics Silesian University of Technology 16 Akademicka St. 44-100 Gliwice Poland

ISBN: (纸本)1934272612

This paper presents a comparison of neural network method and scale invariant featured method for target detection in the stream possessed from CCD camera. The techniques are designed to run in real-time using off-the-shelf hardware for use on an unmanned vehicle - helicopter. Our methodology is to quickly detect candidate locations using neural network or SIFT. Additional processing is then applied to the candidate locations in order to eliminate false alarms. This technique have been tested on a set of imagery from a live - test range with outstanding results.

关键词： CCD cameras

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Self-organizing visual perception for mobile robot navigation 1

Self-organizing visual perception for mobile robot navigatio...

引用

1st Euromicro Workshop on Advanced Mobile Robots, EUROBOT 1996

作者： Von Wichert, Georg Control Systems Theory and Robotics Department Technical University Darmstadt Landgraf-Georg-Str.4 DarmstadtD-64283 Germany

ISBN: (纸本)0818676957

Visual navigation for mobile robots is almost always performed on the basis of complex CAD models which have to be given to the system in advance. There are some approaches that map visual information more or less directly to robot actions in order to implement some basic capabilities like road following or docking. Complex navigation task, e.g. in buildings, however, are usually solved using three dimensional models of the environment or the objects within it. This paper presents a method for self-organizing the visual perception of a mobile robot in order to adapt it to the surroundings without the need to define and model the relevant aspects of the environment. The system uses a self-organization process to transform the continuous pour of images into a limited number of discrete perceptions which can be used far navigation purposes. Results obtained in an indoor office environment are presented. Nevertheless, the approach is suited also for outdoor navigation. © 1996 IEEE.

关键词： Mobile robots

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Intelligent Real-Time control of a Multifingered Robot Gripper by Learning Incremental Actions

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IFAC Proceedings Volumes 1992年第10期25卷 303-309页

作者： K. Kleinmann M. Hormel W. Paetsch Darmstadt University of Technology Department of Control Systems Theory and Robotics Darmstadt Germany

Learning control systems are expected to have several advantages over conventional approaches when dealing with complex, high-dimensional processes. One example is the task of controlling grasping operations of a multifingered, mul-tijoined robot gripper, which has been designed and implemented at our robotics lab (the Darmstadt-Hand). The Advanced Gripper control with Learning Algorithms -AGRICOLA- presented in this paper is able to maintain a stable grasp even if disturbances are applied. Also it works for objects of different sizes for which the grasping has not been learned. Compared to the conventional stiffness approach the performance of the learning system is equal but the design is much easier, since less knowledge about the gripper-hardware has to be taken into account. The main part of the learning control loop is an associative memory storing the grasping behaviour as determined by the choice of an objective function.

关键词： high-dimensional nonlinear process stable grasp object manipulation associative memories learning control loop

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