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Two-Stage Stochastic Scheduling of a Multiproduct Pipeline System using Similarity Index Decomposition

IFAC-PapersOnLine 2024年第14期58卷 43-48页

作者： Daniel Montes José Luis Pitarch César de Prada Department of Systems Engineering and Automatic Control Universidad de Valladolid Spain Institute of Sustainable Processes Universidad de Valladolid Spain Instituto U. de Automática e Informática Industrial (ai2) Universitat Politècnica de Valencia Spain

Multiproduct pipelines are crucial for delivering substantial quantities of refined oil products from major supply centers to clients within a nearby geographical area. Despite the significant infrastructure investment, the associated transportation costs are markedly lower than those incurred with traditional delivery trucks. However, the scheduling of these systems presents a formidable challenge, requiring meticulous planning of pumping runs well in advance to meet the anticipated demands of clients. In this work, we enhance an existing literature model of a multiproduct pipeline system by introducing uncertainty in the customer demand. The problem is then addressed via a two-stage stochastic formulation. The typical drawback with stochastic formulations is the high computational burden required. To address this challenge, we adapt the so-called Similarity Index decomposition, resulting in a 28-fold improvement in CPU time while achieving equivalent solutions compared to solving the full-space problem.

关键词： Decomposition MILP Uncertainty Planning Oil & Gas

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Topological Robot Localization in a Large-Scale Water Pipe Network 21st

Topological Robot Localization in a Large-Scale Water Pipe N...

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21th Annual Conference on Towards Autonomous Robotics, TAROS 20120

作者： Worley, Rob Anderson, Sean Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783030634858

Topological localization is well suited to robots operating in water pipe networks because the environment is well defined as a set of discrete connected places like junctions, customer connections, and access points. Topological methods are more computationally efficient than metric methods, which is important for robots operating in pipes as they will be small with limited computational power. A Hidden Markov Model (HMM) based localization method is presented here, with novel incorporation of measured distance travelled. Improvements to the method are presented which use a reduced definition of the robot state to improve computational efficiency and an alternative motion model where the probability of transitioning to each other state is uniform. Simulation in a large realistic map shows that the use of measured distance travelled improves the localization accuracy by around 70%, that the reduction of the state definition gives an reduction in computational requirement by 75% with only a small loss to accuracy dependant on the robot parameters, and that the alternative motion model gives a further improvement to accuracy. © 2020, Springer Nature Switzerland AG.

关键词： Computational efficiency

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The Potential of Low-Altitude Airspace: The Future of Urban Air Transportation

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第8期9卷 5250-5254页

作者： Hailong Huang Jiangcheng Su Fei-Yue Wang Department of Aeronautical and Aviation Engineering Hong Kong Polytechnic University Hong Kong China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Institute of Engineering Macau University of Science and Technology Macau China

Many megacities, such as London, New York, Paris, Tokyo, Beijing, and Shanghai, have been born due to urban- ization. While citizens enjoy the convenience of city life, such cities suffer from drawbacks of transportation: the average commute time has been increasing over the past years. With the maturity of electric vertical take-off and landing (eVTOL) aircraft technology, decision-makers have started to look upward to the low-altitude airspace. This blue space has the potential to reshape the transportation system and shorten the average travel time in daily life. To explore this emerging area, we held a Distributed/Decentralized Hybrid Workshop on Sustain- ability for Transportation and Logistics (DHW-STL), and this letter summarizes the outcomes of our discussion. Here, we first pinpoint the pain issues of conventional transportation. Then, we present the emerging low-altitude airspace transportation option, followed by a discussion on how such a new transportation option can integrate with the conventional ground-based transportation system. Some thoughts about the pathway to further development of the integrated transportation system are shared finally.

关键词： Aircraft Transportation Urban areas Air traffic control Traffic congestion Meters Aircraft propulsion Motors Logistics Indexes

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Smooth approximation of polyhedral potential field in NMPC for obstacle avoidance

Smooth approximation of polyhedral potential field in NMPC f...

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European control Conference (ECC)

作者： Theodor-Gabriel Nicu Florin Stoican Ionela Prodan Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Romania LCIS Univ. Grenoble Alpes Grenoble INP Institute of Engineering and Management Univ. Grenoble Alpes. Valence France

The sum function notion allows one to define a continuous, piecewise affine over a polyhedral support, surface which accurately penalizes the closeness to polyhedral obstacles. This, in turn, leads to a continuous and piecewise description of the potential field surface further used into an NMPC (Nonlinear Model Predictive control) motion planning problem. We introduce and analyze their smooth versions to show significant computational *** analyze the links between the piecewise and smooth surfaces (magnitude and location of critical points). The results are validated in simulation and shown to compare favourably with previous mixed-integer based formulations.

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Deep unfolding projected first order methods-based architectures: application to linear model predictive control

Deep unfolding projected first order methods-based architect...

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European control Conference (ECC)

作者： Daniela Lupu Ion Necoara Department of Automatic Control and Systems Engineering University Politehnica Bucharest Bucharest Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics of the Romanian Academy Bucharest Romania

Deep learning black-box neural networks have revolutionized many fields, including image processing, inverse problems, text mining and more recently, give very promising results in systems and control. Recently, unfolded deep learning techniques were proposed, which bring the physics of the model and standard optimization techniques into the architecture design, in order to eliminate the disadvantages of the black-box learning. In this paper we design trainable unfolded deep architectures for linear MPC based on two standard iterative optimization algorithms (projected gradient descent-PGD and accelerated projected gradient descent - APGD). Our neural networks are expressed as the combination of weight and activation functions with closed-form expressions and an extra parameter allowing to consider the basic algorithm (PGD) or its accelerated version (APGD). We also study the performance of the proposed networks on a linear MPC application.

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Coordinate descent methods beyond smoothness and separability

arXiv

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arXiv 2024年

作者： Chorobura, Flavia Necoara, Ion Automatic Control and Systems Engineering Department University Politehnica Bucharest Splaiul Independentei 313 Bucharest060042 Romania Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics of the Romanian Academy Bucharest10587 Romania

This paper deals with convex nonsmooth optimization problems. We introduce a general smooth approximation framework for the original function and apply random (accelerated) coordinate descent methods for minimizing the corresponding smooth approximations. Our framework covers the most important classes of smoothing techniques from the literature. Based on this general framework for the smooth approximation and using coordinate descent type methods we derive convergence rates in function values for the original objective. Moreover, if the original function satisfies a growth condition, then we prove that the smooth approximations also inherits this condition and consequently the convergence rates are improved in this case. We also present a relative randomized coordinate descent algorithm for solving nonseparable minimization problems with the objective function relative smooth along coordinates w.r.t. a (possibly nonseparable) differentiable function. For this algorithm we also derive convergence rates in the convex case and under the growth condition for the objective. © 2024, CC BY.

关键词： Convex optimization

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How are policy gradient methods affected by the limits of control?

arXiv

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arXiv 2022年

作者： Ziemann, Ingvar Tsiamis, Anastasios Sandberg, Henrik Matni, Nikolai Division of Decision and Control Systems Kth Royal Institute of Technology Sweden Automatic Control Laboratory Eth Zurich Switzerland Department of Electrical and Systems Engineering University of Pennsylvania United States

We study stochastic policy gradient methods from the perspective of control-theoretic limitations. Our main result is that ill-conditioned linear systems in the sense of Doyle inevitably lead to noisy gradient estimates. We also give an example of a class of stable systems in which policy gradient methods suffer from the curse of dimensionality. Our results apply to both state feedback and partially observed systems. © 2022, CC BY.

关键词： State feedback

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Energy-Efficient Path-Planning for UAV Swarm Based Missions: A Genetic Algorithm Approach

Energy-Efficient Path-Planning for UAV Swarm Based Missions:...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Georgios P. Kladis Lefteris Doitsidis Nikos C. Tsourveloudis Department of Aeronautical Science Automatic Control Aerospace Technology Defence Systems and Operations Academic Section Hellenic Air Force Academy Dekeleia Greece School of Production Engineering and Management Technical University of Crete Chania Crete Greece

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In all applications involving swarms, it's crucial for the group to achieve its objectives safely and with efficient energy utilisation, while adhering to constraints and meeting mission requirements. This article focuses on addressing the offline path planning problem for Unmanned Aerial Vehicles (UAVs), with a specific emphasis on enhancing energy efficiency. Each UAV in the swarm is guided along a candidate path represented by a Bézier curve, which evolves through a two-step procedure. Firstly, a genetic algorithm (GA) normalises the fitness function to ensure fair comparison of traits. Secondly, a multi-objective swarm-based path planning approach is employed to find the most energy-efficient and safe route for the swarm, meeting predefined criteria. The designed solution paths accommodate the functional and physical limitations of aerial vehicles, while also considering factors such as vessel traffic and weather conditions in the operational area. Simulation examples demonstrate the effectiveness of this approach.

关键词： Autonomous aerial vehicles Energy efficiency Path planning Air traffic control Aircraft Genetic algorithms Meteorology

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Carbon-Aware Computing in a Network of Data Centers: A Hierarchical Game-Theoretic Approach

arXiv

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arXiv 2024年

作者： Breukelman, Enno Hall, Sophie Belgioioso, Giuseppe Dörfler, Florian The KTH Royal Institute of Technology School of Electrical Engineering and Computer Science Division of Decision and Control Systems Malvinas väg 10 StockholmSE-100 44 Sweden The Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zürich8092 Switzerland

Over the past decade, the continuous surge in cloud computing demand has intensified data center workloads, leading to significant carbon emissions and driving the need for improving their efficiency and sustainability. This paper focuses on the optimal allocation problem of batch compute loads with temporal and spatial flexibility across a global network of data centers. We propose a bilevel game-theoretic solution approach that captures the inherent hierarchical relationship between supervisory control objectives, such as carbon reduction and peak shaving, and operational objectives, such as priority-aware scheduling. Numerical simulations with real carbon intensity data demonstrate that the proposed approach successfully reduces carbon emissions while simultaneously ensuring operational reliability and priority-aware scheduling. © 2024, CC BY-NC-ND.

关键词： Carbon

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Modeling, Analysis and Simulation of the Effect of Temperature on Magnetostrictive Actuators 9

Modeling, Analysis and Simulation of the Effect of Temperatu...

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9th International Conference on Fluid Power and Mechatronics, FPM 2023

作者： Zhang, Xinyuan Wang, Shaoping Niu, Yu Wu, Xiao Wang, Xingjian Gavrilov, Alex I. School of Automation Science and Electrical Engineering Beihang University Beijing100191 China Tianmushan Laboratory Hangzhou310023 China Ningbo Institute of Technology Beihang University Ningbo315800 China Research Institute of Aero-Engine Beihang University Beijing100191 China Bauman Moscow State Technical University Department of Automatic Control Systems Moscow105005 Russia

ISBN: (纸本)9798350304947

The increased demand for active control of engines has made the study of high-frequency response actuators increasingly important, and actuators based on magnetostrictive materials are promising for a wide range of applications. In this paper, the magnetic field distribution and various thermal losses including Joule heat loss, eddy current loss and hysteresis loss inside the giant magnetostrictive actuator (GMA) are analyzed, and the mathematical model of the current-driven GMA operation is derived, where the new J-A model considering the temperature effect is used to describe the hysteresis nonlinearity of the material. This paper simulates the actuator model under the action of multiple physical fields in COMSOL, focusing on the variation of the output displacement of the actuator when the thermal field and thermal expansion are integrated, and provides the theoretical basis for the design of the GMA control algorithm in the future. © 2023 IEEE.

关键词： Temperature

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