Finding good nurse duty schedules: a case study

Constructing duty schedules for nurses at large hospitals is a difficult problem. The objective is usually to ensure that there is always sufficient staff on duty, while taking into account individual preferences with respect to work patterns, requests for leave and financial restrictions, in such a way that all employees are treated fairly. The problem is typically solved via mixed integer programming or heuristic (local) search methods in the operations research literature. In this paper the problem is solved using a tabu search approach as a case study at Stikland Hospital, a large psychiatric hospital in the South African Western Cape, for which a computerized decision support system with respect to nurse scheduling was developed. This decision support system, called NuRoDSS (short for Nurse Rostering Decision Support System) is described in some detail.     

求解护士排班问题的变邻域搜索算法

变邻域搜索算法是求解护士排班问题的一个有效算法,其扰动方法对算法性能有显著影响。为提高护士排班问题中护士的满意度,提出一个改进的变邻域搜索(IVNS)算法。该算法使用了三种邻域结构,而且当使用任意的邻域都不能进一步改进当前解时,设计了一个对当前最优解进行扰动的方法,即在排班期间内随机地选择两天,在不违反硬性约束的条件下选出一组值班护士并交换他们在这两天中的班次。在2010年举行的第一次全球护士排班大赛提供的一组公共测试集上与一个混合变邻域搜索(HVNS)算法进行了比较,在Sprint-early、Medium-early和Long-early组算例上的结果表明,IVNS算法的最优值至少不劣于HVNS,而平均值均优于HVNS;IVNS算法的最大方差为0.72,波动范围小,求解性能稳定。IVNS的扰动方案对现有方案的扰动较小,能有效跳出当前局部最优,增强变邻域搜索算法的优化能力,与HVNS算法相比,其求解性能更优。     

An evolutionary approach for the nurse rerostering problem

The personnel scheduler constructs a deterministic personnel roster that determines the line-of-work for each personnel member. When unexpected events disrupt this roster, the feasibility needs to be restored by constructing a new workable roster. The scheduler must reassign the set of employees in order to cover the disrupted shift such that the staffing requirements and the time-related personnel constraints remain satisfied. In this paper, we propose an evolutionary meta-heuristic to solve the nurse rerostering problem. We show that the proposed procedure performs consistently well under many different circumstances. We test different optimisation strategies and compare our procedure with the existing literature on a dataset that is carefully designed in a controlled and varied way.     

OFDMA协同通信系统资源分配算法

提出了一种OFDMA协同蜂窝网中满足用户QoS需求且兼顾用户公平性的子载波和功率联合分配算法。针对已有算法仅考虑平均功率下的子载波分配、中继节点存在未用功率的情况,研究了子载波分配完毕后中继节点剩余功率最优分配问题。给出了一种基于二分法的功率注水分配方案。仿真结果表明,所提出的子载波和功率联合分配算法能够在满足用户QoS需求及公平性的同时,进一步提高网络吞吐量。     

A particle swarm optimization approach with refinement procedure for nurse rostering problem

This study attempts to develop a model satisfying the rules of a typical hospital environment based both on published research data and on requirements of a local hospital under study. A mathematical formulation for the studied nurse rostering problem (NRP) is presented first. Due to the combinatorial nature of the NRP model, a particle swarm optimization (PSO) approach is proposed to solve this highly complicated NRP. The structure of the problem constraints is analyzed and used as base for generating workstretch patterns. These patterns serve as the base for generating fast initial solutions, and will later be improved upon by the proposed PSO algorithm. This study also proposes a simple yet effective procedure for attempting possible refinements on the solutions obtained by the PSO before reporting the final solutions. When fair shift assignment is considered as the decision objective, computational results show that the proposed PSO algorithm with refinement procedure is able to produce optimal solutions in all real test problems in a very efficient manner.     

A hybrid artificial bee colony for a nurse rostering problem

The nurse rostering problem (NRP) is a combinatorial optimization problem tackled by assigning a set of shifts to a set of nurses, each has specific skills and work contract, to a predefined rostering period according to a set constraints. The metaheuristics are the most successful methods for tackling this problem. This paper proposes a metaheuristic technique called a hybrid artificial bee colony (HABC) for NRP. In HABC, the process of the employed bee operator is replaced with the hill climbing optimizer (HCO) to empower its exploitation capability and the usage of HCO is controlled by hill climbing rate (HCR) parameter. The performance of the proposed HABC is evaluated using the standard dataset published in the first international nurse rostering competition 2010 (INRC2010). This dataset consists of 69 instances which reflect this problem in many real-world cases that are varied in size and complexity. The experimental results of studying the effect of HCO using different value of HCR show that the HCO has a great impact on the performance of HABC. In addition, a comparative evaluation of HABC is carried out against other eleven methods that worked on INRC2010 dataset. The comparative results show that the proposed algorithm achieved two new best results for two problem instances, 35 best published results out of 69 instances as achieved by other comparative methods, and comparable results in the remaining instances of INRC2010 dataset.     

A constraint programming based column generation approach to nurse rostering problems

This paper presents our investigations on a hybrid constraint programming based column generation (CP–CG) approach to nurse rostering problems. We present a complete model to formulate all the complex real-world constraints in several benchmark nurse rostering problems. The hybrid CP–CG approach is featured with not only the effective relaxation and optimality reasoning of linear programming but also the powerful expressiveness of constraint programming in modeling the complex logical constraints in nurse rostering problems. In solving the CP pricing subproblem, we propose two strategies to generate promising columns which contribute to the efficiency of the CG procedure. A Depth Bounded Discrepancy Search is employed to obtain diverse columns. A cost threshold is adaptively tightened based on the information collected during the search to generate columns of good quality. Computational experiments on a set of benchmark nurse rostering problems demonstrate a faster convergence by the two strategies and justify the effectiveness and efficiency of the hybrid CP–CG approach.     

Particle swarm-based olfactory guided search

This article presents a new algorithm for searching odour sources across large search spaces with groups of mobile robots. The proposed algorithm is inspired in the particle swarm optimization (PSO) method. In this method, the search space is sampled by dynamic particles that use their knowledge about the previous sampled space and share this knowledge with other neighbour searching particles allowing the emergence of efficient local searching behaviours. In this case, chemical searching cues about the potential existence of upwind odour sources are exchanged. By default, the agents tend to avoid each other, leading to the emergence of exploration behaviours when no chemical cue exists in the neighbourhood. This behaviour improves the global searching performance. The article explains the relevance of searching odour sources with autonomous agents and identifies the main difficulties for solving this problem. A major difficulty is related with the chaotic nature of the odour transport in the atmosphere due to turbulent phenomena. The characteristics of this problem are described in detail and a simulation framework for testing and analysing different odour searching algorithms was constructed. The proposed PSO-based searching algorithm and modified versions of gradient-based searching and biased random walk-based searching strategies were tested in different environmental conditions and the results, showing the effectiveness of the proposed strategy, were analysed and discussed. Lino Marques is an auxiliary professor in the Department of Electrical Engineering, University of Coimbra, and he is a researcher in the Institute for Systems and Robotics (ISR-UC). He received his Licenciatura, MSc. and Ph.D. degrees in Electrical Engineering from the University of Coimbra, Portugal. His main research interests include embedded systems, mechatronics, robotics for risky environments, optical range sensors, artificial olfaction systems and mobile robot olfaction. Urbano Nunes is an associate professor of the University of Coimbra and a researcher of the Institute for Systems and Robotics (ISR-UC), where he has been involved in research and teaching since 1983. He received his Licenciatura and Ph.D. degrees in Electrical Engineering from the University of Coimbra, Portugal, in 1983 and 1995, respectively. He is the coordinator of the Mechatronics Laboratory of ISR-UC, and had been responsible for several funded projects in the areas of mobile robotics and intelligent vehicles. His research interests include mobile robotics, intelligent vehicles, and mechatronics. Professor Urbano Nunes serves on the Editorial Board of the Journal on Machine Intelligence and Robotic Control, and currently he is co-chair of the IEEE RAS TC on Intelligent Transportation Systems. Currently he is the Program Chair of the IEEE ITSC2006. He has served as General Co-Chair of ICAR 2003 and as member of several program committees of international conferences. Aníbal T. De Almeida graduated in Electrical Engineering, University of Porto, 1972, and received a Ph.D. in Electrical Engineering, from Imperial College, University of London, 1977. Currently he is a Professor in the Department of Electrical Engineering, University of Coimbra, and he is the Director of the Institute of Systems and Robotics since 1993. Professor De Almeida is a consultant of the European Commission Framework Programmes. He is the co-author of five books and more than one hundred papers in international journals, meetings and conferences. He has coordinated several European and national research projects.     

Cooperative search stategies of multi-UAVs for random targets

针对目标在空间上随机均匀分布,在时间上动态随机产生的搜索环境,提出一种基于质心 V 图划分(CVP)的无人机搜索决策方法对多架无人机进行搜索空间分配.首先建立了 CVP 数学模型,在此基础上提出了基于 CVP 的目标分配算法,并证明了算法的收敛性;最后进行了仿真实验,仿真结果表明所提出的 CVP 策略能有效进行随机目标搜索,且算法具有良好的自适应能力.     

Cooperative Tasking for Deterministic Specification Automata

This paper proposes necessary and sufficient conditions for task decomposability with respect to an arbitrary finite number of agents. It is furthermore shown that fulfilling the decomposed local tasks by individual agents guarantees the satisfaction of the original global decomposable task. A divide‐and‐conquer approach for cooperative tasking among multi‐agent systems is proposed. The basic idea is to decompose an assigned global specification (given as a deterministic automaton) into subtasks for individual concurrent agents such that the fulfillment of these subtasks by each individual agent leads to the satisfaction of the global specification as a team. A cooperative scenario involving three robots has been implemented to illustrate the proposed technique. This work provides insights into what kinds of tasks can be achieved distributively, which helps designers specify achievable global tasks for a group of agents and design necessary information sharing among each other for a particular task.     

RoboCup仿真比赛中的Multi-Agent层次协作模型

本文针对RoboCup仿真比赛的多智能体协作问题，分析了目前在RoboCup中的几个典型多智能体协作模型，提出一种三层的Multi—Agent层次协作模型，它包括全局层、局部层和个体层。实战证明该模型是合理的、有效的。     

Cooperative control for target-capturing task based on a cyclic pursuit strategy

This paper studies a methodology for group coordination and cooperative control of n agents to achieve a target-capturing task in 3D space. The proposed approach is based on a cyclic pursuit strategy, where agent i simply pursues agent i+1 modulo n. The distinctive features of the proposed method are as follows. First, no communication mechanism between agents is necessary and thus it is inherently a distributed control strategy. Also, it is a simple robust memoryless control scheme which has self-stability property. Finally, it guarantees a global convergence of all agents to the desired formation. Further, it is also guaranteed that no collision occurs. Simulation examples are given to illustrate the efficacy of the proposed method and the achievement of a desired pursuit pattern in 3D space.     

栅格地图中多机器人协作搜索目标

目标搜索是多机器人领域的一个挑战.本文针对栅格地图中多机器人目标搜索算法进行研究.首先,利用Dempster-Shafer证据理论将声纳传感器获取的环境信息进行融合,构建搜索环境的栅格地图.然后,基于栅格地图建立生物启发神经网络用于表示动态的环境.在生物启发神经网络中,目标通过神经元的活性值全局的吸引机器人.同时,障碍物通过神经元活性值局部的排斥机器人,避免与其相撞.最后,机器人根据梯度递减原则自动的规划出搜索路径.仿真和实验结果显示本文提及的算法能够实现栅格地图中静态目标和动态目标的搜索.与其他搜索算法比较,本文所提及的目标搜索算法有更高的效率和适用性.     

Distributed Cooperative Control of Battery Energy Storage Systems in DC Microgrids

The control of battery energy storage systems(BESSs)plays an important role in the management of microgrids.In this paper,the problem of balancing the state-ofcharge(SoC)of the networked battery units in a BESS while meeting the total charging/discharging power requirement is formulated and solved as a distributed control problem.Conditions on the communication topology among the battery units are established under which a control law is designed for each battery unit to solve the control problem based on distributed average reference power estimators and distributed average unit state estimators.Two types of estimators are proposed.One achieves asymptotic estimation and the other achieves finite time estimation.We show that,under the proposed control laws,SoC balancing of all battery units is achieved and the total charging/discharging power of the BESS tracks the desired power.A simulation example is shown to verify the theoretical results.     

Cooperative semi-global robust output regulation for a class of nonlinear uncertain multi-agent systems

In this paper, we study the cooperative semi-global robust output regulation problem for a class of minimum phase nonlinear uncertain multi-agent systems. This problem is a generalization of the leader-following tracking problem in the sense that it further addresses such issues as disturbance rejection, robustness with respect to parameter uncertainties. To solve this problem, we first introduce a type of distributed internal model that converts the cooperative semi-global robust output regulation problem into a cooperative semi-global robust stabilization problem of the so-called augmented system. We then solve the semi-global stabilization problem via distributed dynamic output control law by utilizing and combining a block semi-global backstepping technique, a simultaneous high gain feedback control technique, and a distributed high gain observer technique.     

Design and evaluation of a multi-recommendation system for local code search

Searching for relevant code in the local code base is a common activity during software maintenance. However, previous research indicates that 88% of manually composed search queries retrieve no relevant results. One reason that many searches fail is existing search tools’ dependence on string matching algorithms, which cannot find semantically related code. To solve this problem by helping developers compose better queries, researchers have proposed numerous query recommendation techniques, relying on a variety of dictionaries and algorithms. However, few of these techniques are empirically evaluated by usage data from real-world developers. To fill this gap, we designed a multi-recommendation system that relies on the cooperation between several query recommendation techniques. We implemented and deployed this recommendation system within the Sando code search tool and conducted a longitudinal field study. Our study shows that over 34% of all queries were adopted from recommendation; and recommended queries retrieved results 11% more often than manual queries.     

Solving dimensioning tasks for proportionally fair networks carrying elastic traffic

The paper studies optimal dimensioning problems associated with the notion of “proportional fairness” (PF) considered for packet networks carrying elastic (greedy) traffic, i.e. the traffic streams that can use up, perhaps within certain assumed bounds, any bandwidth that is assigned to them. We give effective, simple and explicit solutions to the introduced optimisation tasks based on the dual optimisation theory, and illustrate them with numerical examples. The explicit solutions can guide a network operator how to proceed when introducing PF into his network.     

Cooperative target pursuit by multiple UAVs in an adversarial environment

This paper presents the development of a cooperation strategy for multiple UAVs to pursue a target moving in an adversarial environment where threat exposure should be minimized, and obstacles and restricted areas should be avoided. A probabilistic approach is used to model the adversarial environment. A cost function is defined to quantify placement of UAVs around the target in formation in terms of threat exposure level and distance to the target. The cost function is used to develop a cooperation strategy for a team of UAVs to follow the target such that the total threat exposure of the team and the average distance to the target throughout the pursuit are minimized according to the weighting coefficients specified. The cooperation strategy has the feature of collision avoidance as well as data-fusion-based estimation of the target trajectory based on noisy measurements. Simulation results have demonstrated that the cooperation reduces the risk of losing the target during the pursuit while avoiding obstacles and restricted areas. Further, the UAVs guided by the cooperation strategy can follow the target closer without increasing the total threat exposure level as compared to cases where the UAVs pursue the target without cooperation.     

Game-theoretic static load balancing for distributed systems

In this paper, we present a game theoretic approach to solve the static load balancing problem for single-class and multi-class (multi-user) jobs in a distributed system where the computers are connected by a communication network. The objective of our approach is to provide fairness to all the jobs (in a single-class system) and the users of the jobs (in a multi-user system). To provide fairness to all the jobs in the system, we use a cooperative game to model the load balancing problem. Our solution is based on the Nash Bargaining Solution (NBS) which provides a Pareto optimal solution for the distributed system and is also a fair solution. An algorithm for computing the NBS is derived for the proposed cooperative load balancing game. To provide fairness to all the users in the system, the load balancing problem is formulated as a non-cooperative game among the users who try to minimize the expected response time of their own jobs. We use the concept of Nash equilibrium as the solution of our non-cooperative game and derive a distributed algorithm for computing it. Our schemes are compared with other existing schemes using simulations with various system loads and configurations. We show that our schemes perform near the system optimal schemes and are superior to the other schemes in terms of fairness.