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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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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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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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Intelligent real-time control of a multifingered robot gripper by learning incremental actions

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Annual Review in Automatic Programming 1992年 17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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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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Some approaches to context based grasp planning for a multi-fingered gripper

Some approaches to context based grasp planning for a multi-...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： M. Seitz J. Kraft Control Systems Theory & Robotics Department Darmstadt University of Technology Germany

Dexterous manipulations of a-priori unknown objects by a multi-fingered gripper require a vision assisted planning of suitable grasps. The selection of the optimum grasp is based on context information specifying the goal of manipulation given by the user, constraints due to the gripper geometry and object properties to be perceived by a vision system. The integration of vision into a hand-arm system allows planning and performance for grasping even unregularly shaped objects. The paper presents a context level for classification of specific grasp situations and a planning level for determination of gripping positions and forces. Especially strategies searching for suitable contact points for the gripper are discussed and compared to each other.< >

关键词： Grippers Shape Information geometry Robotic assembly Technology planning Robots Machine vision Power system modeling Intelligent sensors Fingers

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On a selftuning decoupling controller for the joint control of a tendon driven multifingered robot gripper

On a selftuning decoupling controller for the joint control ...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： K. Kleinmann R. Wacker Control Systems Theory and Robotics Department Darmstadt University of Technology Germany

This paper discusses couplings between the joints observed during position control using a tendon driven multifingered robot gripper. Depending on the mechanical construction these effects are non-linear and time variant as a consequence of friction and cable tension. Because the quality of the joint control is an important prerequisite for stable grasping, its design has to consider these coupling effects, generally using linear models. Therefore, the paper proposes a selftuning system which performs an iterative identification of a decoupling controller. The controller is stored in a CMAC-based neural network, so it can realize a non-linear decoupling. The authors present experimental results obtained by this method in comparison with a conventional approach.< >

关键词： Tendons Robots Grippers Pulleys control systems Torque control Mechanical cables Fingers Couplings Learning systems

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Towards vision assisted space robotics: some examples and experimental results

Towards vision assisted space robotics: some examples and ex...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： M. Seitz N. Hartwig J. Matthiesen Control Systems Theory and Robotics Department Darmstadt University of Technology Germany

Automatic handling, maintenance and repair procedures in orbital space applications will gain importance in the future. Lightweight space robots could be used for many of these tasks, provided they would be dexterous enough and more flexible in their perception of the working environment than the present ones. The employment of vision enables a robot to grasp, and manipulate inspected objects autonomously. The paper describes the interaction between robot, camera and a multisensory gripper for performance of local repair tasks, e.g. opening the jammed solar panel of a satellite, by 3D active inspection. Central points of interest have been the composition of information acquired from image sequences as well as the object localization in the robot work space and the supervision of grasping procedures. Besides a description of the system structure and the underlying ideas, experiences and results from terrestrial lab experiments are presented in order to discuss the limits and possibilities of the use of vision for space robotic tasks.

关键词： Orbital robotics Robot vision systems robotics and automation Employment Cameras Grippers Jamming Satellites Inspection Image sequences

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