• Title/Summary/Keyword: Task Allocation

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Sensor-based Motion Planning Algorithm for High-rise Building Facade Cleaning of Built-in Guide Type Multi-Robot (Built-in guide 타입 다중 로봇의 고층 빌딩 외벽 청소를 위한 센서 기반 운동 계획 알고리즘)

  • Lee, Seung-Hoon;Kim, Dong-Hyung;Kang, Min-Sung;Gil, Myung-Soo;Kim, Young-Soo;Back, Sung-Hoon;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.5
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    • pp.445-452
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    • 2012
  • With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.

Automation of Cell Production System for Cellular Phones based on Multi-dual-arm Robots (복수의 양팔로봇을 적용한 휴대폰 셀 생산시스템의 자동화)

  • Do, Hyun Min;Kim, Doo Hyeong;Kyung, Jin Ho
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.23 no.6
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    • pp.580-589
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    • 2014
  • Demands for automation in the cell production process of IT products are becoming increasingly sophisticated. In particular, the dual-arm robot has drawn attention as a solution because it has a flexibility and works similarly to humans. In this paper, we propose an automation system for cellular phone packing processes using two dual-arm robots. Applied robots are designed with specifications to meet the requirements of cellular phone packing jobs. In addition, a robotic cell production system is proposed by applying a method of task allocation for efficient packing of cellular phones. Specifically, a task is assigned to reduce takt-time and to avoid collision between two robots. Finally, we discuss some experimental results that include the packing job of five unit boxes with seven kinds of accessories.

A Load-Balancing Approach Using an Improved Simulated Annealing Algorithm

  • Hanine, Mohamed;Benlahmar, El-Habib
    • Journal of Information Processing Systems
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    • v.16 no.1
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    • pp.132-144
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    • 2020
  • Cloud computing is an emerging technology based on the concept of enabling data access from anywhere, at any time, from any platform. The exponential growth of cloud users has resulted in the emergence of multiple issues, such as the workload imbalance between the virtual machines (VMs) of data centers in a cloud environment greatly impacting its overall performance. Our axis of research is the load balancing of a data center's VMs. It aims at reducing the degree of a load's imbalance between those VMs so that a better resource utilization will be provided, thus ensuring a greater quality of service. Our article focuses on two phases to balance the workload between the VMs. The first step will be the determination of the threshold of each VM before it can be considered overloaded. The second step will be a task allocation to the VMs by relying on an improved and faster version of the meta-heuristic "simulated annealing (SA)". We mainly focused on the acceptance probability of the SA, as, by modifying the content of the acceptance probability, we could ensure that the SA was able to offer a smart task distribution between the VMs in fewer loops than a classical usage of the SA.

A Context-aware Task Offloading Scheme in Collaborative Vehicular Edge Computing Systems

  • Jin, Zilong;Zhang, Chengbo;Zhao, Guanzhe;Jin, Yuanfeng;Zhang, Lejun
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.15 no.2
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    • pp.383-403
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    • 2021
  • With the development of mobile edge computing (MEC), some late-model application technologies, such as self-driving, augmented reality (AR) and traffic perception, emerge as the times require. Nevertheless, the high-latency and low-reliability of the traditional cloud computing solutions are difficult to meet the requirement of growing smart cars (SCs) with computing-intensive applications. Hence, this paper studies an efficient offloading decision and resource allocation scheme in collaborative vehicular edge computing networks with multiple SCs and multiple MEC servers to reduce latency. To solve this problem with effect, we propose a context-aware offloading strategy based on differential evolution algorithm (DE) by considering vehicle mobility, roadside units (RSUs) coverage, vehicle priority. On this basis, an autoregressive integrated moving average (ARIMA) model is employed to predict idle computing resources according to the base station traffic in different periods. Simulation results demonstrate that the practical performance of the context-aware vehicular task offloading (CAVTO) optimization scheme could reduce the system delay significantly.

Strategy for Task Offloading of Multi-user and Multi-server Based on Cost Optimization in Mobile Edge Computing Environment

  • He, Yanfei;Tang, Zhenhua
    • Journal of Information Processing Systems
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    • v.17 no.3
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    • pp.615-629
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    • 2021
  • With the development of mobile edge computing, how to utilize the computing power of edge computing to effectively and efficiently offload data and to compute offloading is of great research value. This paper studies the computation offloading problem of multi-user and multi-server in mobile edge computing. Firstly, in order to minimize system energy consumption, the problem is modeled by considering the joint optimization of the offloading strategy and the wireless and computing resource allocation in a multi-user and multi-server scenario. Additionally, this paper explores the computation offloading scheme to optimize the overall cost. As the centralized optimization method is an NP problem, the game method is used to achieve effective computation offloading in a distributed manner. The decision problem of distributed computation offloading between the mobile equipment is modeled as a multi-user computation offloading game. There is a Nash equilibrium in this game, and it can be achieved by a limited number of iterations. Then, we propose a distributed computation offloading algorithm, which first calculates offloading weights, and then distributedly iterates by the time slot to update the computation offloading decision. Finally, the algorithm is verified by simulation experiments. Simulation results show that our proposed algorithm can achieve the balance by a limited number of iterations. At the same time, the algorithm outperforms several other advanced computation offloading algorithms in terms of the number of users and overall overheads for beneficial decision-making.

Hybrid Offloading Technique Based on Auction Theory and Reinforcement Learning in MEC Industrial IoT Environment (MEC 산업용 IoT 환경에서 경매 이론과 강화 학습 기반의 하이브리드 오프로딩 기법)

  • Bae Hyeon Ji;Kim Sung Wook
    • KIPS Transactions on Computer and Communication Systems
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    • v.12 no.9
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    • pp.263-272
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    • 2023
  • Industrial Internet of Things (IIoT) is an important factor in increasing production efficiency in industrial sectors, along with data collection, exchange and analysis through large-scale connectivity. However, as traffic increases explosively due to the recent spread of IIoT, an allocation method that can efficiently process traffic is required. In this thesis, I propose a two-stage task offloading decision method to increase successful task throughput in an IIoT environment. In addition, I consider a hybrid offloading system that can offload compute-intensive tasks to a mobile edge computing server via a cellular link or to a nearby IIoT device via a Device to Device (D2D) link. The first stage is to design an incentive mechanism to prevent devices participating in task offloading from acting selfishly and giving difficulties in improving task throughput. Among the mechanism design, McAfee's mechanism is used to control the selfish behavior of the devices that process the task and to increase the overall system throughput. After that, in stage 2, I propose a multi-armed bandit (MAB)-based task offloading decision method in a non-stationary environment by considering the irregular movement of the IIoT device. Experimental results show that the proposed method can obtain better performance in terms of overall system throughput, communication failure rate and regret compared to other existing methods.

Energy-Efficient Resource Allocation for Application Including Dependent Tasks in Mobile Edge Computing

  • Li, Yang;Xu, Gaochao;Ge, Jiaqi;Liu, Peng;Fu, Xiaodong
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.14 no.6
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    • pp.2422-2443
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    • 2020
  • This paper studies a single-user Mobile Edge Computing (MEC) system where mobile device (MD) includes an application consisting of multiple computation components or tasks with dependencies. MD can offload part of each computation-intensive latency-sensitive task to the AP integrated with MEC server. In order to accomplish the application faultlessly, we calculate out the optimal task offloading strategy in a time-division manner for a predetermined execution order under the constraints of limited computation and communication resources. The problem is formulated as an optimization problem that can minimize the energy consumption of mobile device while satisfying the constraints of computation tasks and mobile device resources. The optimization problem is equivalently transformed into solving a nonlinear equation with a linear inequality constraint by leveraging the Lagrange Multiplier method. And the proposed dual Bi-Section Search algorithm Bi-JOTD can efficiently solve the nonlinear equation. In the outer Bi-Section Search, the proposed algorithm searches for the optimal Lagrangian multiplier variable between the lower and upper boundaries. The inner Bi-Section Search achieves the Lagrangian multiplier vector corresponding to a given variable receiving from the outer layer. Numerical results demonstrate that the proposed algorithm has significant performance improvement than other baselines. The novel scheme not only reduces the difficulty of problem solving, but also obtains less energy consumption and better performance.

(Task Creation and Allocation for Static Load Balancing in Parallel Spatial Join (병렬 공간 조인 시 정적 부하 균등화를 위한 작업 생성 및 할당 방법)

  • Park, Yun-Phil;Yeom, Keun-Hyuk
    • Journal of KIISE:Databases
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    • v.28 no.3
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    • pp.418-429
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    • 2001
  • Recently, a GIS has been applicable to the most important computer applications such as urban information systems and transportation information systems. These applications require spatial operations for an efficient management of a large volume of data. In particular, a spatial join among basic operations has the property that its response time is increased exponentially according to the number of spatial objects included in the operation. Therefore, it is not proper to the systems demanding the fast response time. To satisfy these requirements, the efficient parallel processing of spatial joins has been required. In this paper, the efficient method for creating and allocating tasks to balance statically the load of each processor in a parallel spatial join is presented. A task graph is developed in which a vertex weight is calculated by the cost model I have proposed. Then, it is partitioned through a graph partitioning algorithm. According to the experiments in CC16 parallel machine, our method made an improvement in the static load balance by decreasing the variance of a task execution time on each processor.

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Robust Wireless Sensor and Actuator Network for Critical Control System (크리티컬한 제어 시스템용 고강건 무선 센서 액추에이터 네트워크)

  • Park, Pangun
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.24 no.11
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    • pp.1477-1483
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    • 2020
  • The stability guarantee of wireless network based control systems is still challenging due to the lossy links and node failures. This paper proposes a hierarchical cluster-based network protocol called robust wireless sensor and actuator network (R-WSAN) by combining time, channel, and space resource diversity. R-WSAN includes a scheduling algorithm to support the network resource allocation and a control task sharing scheme to maintain the control stability of multiple plants. R-WSAN was implemented on a real test-bed using Zolertia RE-Mote embedded hardware platform running the Contiki-NG operating system. Our experimental results demonstrate that R-WSAN provides highly reliable and robust performance against lossy links and node failures. Furthermore, the proposed scheduling algorithm and the task sharing scheme meet the stability requirement of control systems, even if the controller fails to support the control task.

A Study on the cost allocation method of the operating room in the hospital (수술실의 원가배부기준 설정연구)

  • Kim, Hwi-Jung;Jung, Key-Sun;Choi, Sung-Woo
    • Korea Journal of Hospital Management
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    • v.8 no.1
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    • pp.135-164
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    • 2003
  • The operating room is the major facility that costs the highest investment per unit area in a hospital. It requires commitment of hospital resources such as manpower, equipments and material. The quantity of these resources committed actually differs from one type of operation to another. Because of this, it is not an easy task to allocate the operating cost to individual clinical departments that share the operating room. A practical way to do so may be to collect and add the operating costs incurred by each clinical department and charge the net cost to the account of the corresponding clinical department. It has been customary to allocate the cost of the operating room to the account of each individual department on the basis of the ratio of the number of operations of the department or the total revenue by each operating room. In an attempt to set up more rational cost allocation method than the customary method, this study proposes a new cost allocation method that calls for itemizing the operation cost into its constituent expenses in detail and adding them up for the operating cost incurred by each individual department. For comparison of the new method with the conventional method, the operating room in the main building of hospital A near Seoul is chosen as a study object. It is selected because it is the biggest operating room in hospital A and most of operations in this hospital are conducted in this room. For this study the one-month operation record performed in January 2001 in this operating room is analyzed to allocate the per-month operation cost to six clinical departments that used this operating room; the departments of general surgery, orthopedic surgery, neuro-surgery, dental surgery, urology, and obstetrics & gynecology. In the new method(or method 1), each operation cost is categorized into three major expenses; personnel expense, material expense, and overhead expense and is allocated into the account of the clinical department that used the operating room. The method 1 shows that, among the total one-month operating cost of 814,054 thousand wons in this hospital, 163,714 thousand won is allocated to GS, 335,084 thousand won to as, 202,772 thousand won to NS, 42,265 thousand won to uno, 33,423 thousand won to OB/GY, and 36.796 thousand won to DS. The allocation of the operating cost to six departments by the new method is quite different from that by the conventional method. According to one conventional allocation method based on the ratio of the number of operations of a department to the total number of operations in the operating room(method 2 hereafter), 329,692 thousand won are allocated to GS, 262,125 thousand won to as, 87,104 thousand won to NS, 59,426 thousand won to URO, 51.285 thousand won to OB/GY, and 24,422 thousand won to DS. According to the other conventional allocation method based on the ratio of the revenue of a department(method 3 hereafter), 148,158 thousand won are allocated to GS, 272,708 thousand won to as, 268.638 thousand won to NS, 45,587 thousand won to uno, 51.285 thousand won to OB/GY, and 27.678 thousand won to DS. As can be noted from these results, the cost allocation to six departments by method 1 is strikingly different from those by method 2 and method 3. The operating cost allocated to GS by method 2 is about twice by method 1. Method 3 makes allocations of the operating cost to individual departments very similarly as method 1. However, there are still discrepancies between the two methods. In particular the cost allocations to OB/GY by the two methods have roughly 53.4% discrepancy. The conventional methods 2 and 3 fail to take into account properly the fact that the average time spent for the operation is different and dependent on the clinical department, whether or not to use expensive clinical material dictate the operating cost, and there is difference between the official operating cost and the actual operating cost. This is why the conventional methods turn out to be inappropriate as the operating cost allocation methods. In conclusion, the new method here may be laborious and cause a complexity in bookkeeping because it requires detailed bookkeeping of the operation cost by its constituent expenses and also by individual clinical department, treating each department as an independent accounting unit. But the method is worth adopting because it will allow the concerned hospital to estimate the operating cost as accurately as practicable. The cost data used in this study such as personnel expense, material cost, overhead cost may not be correct ones. Therefore, the operating cost estimated in the main text may not be the same as the actual cost. Also, the study is focused on the case of only hospital A, which is hardly claimed to represent the hospitals across the nation. In spite of these deficiencies, this study is noteworthy from the standpoint that it proposes a practical allocation method of the operating cost to each individual clinical department.

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