Path planning,modeling and simulation of an autonomous articulated heavy construction machine performing a loading cycle

This research presents path planning and tracking for an articulated large wheel loader during the travel portion of a loading cycle. The study proposes a methodology for path planning, modeling, simulation and control of such vehicles; the analysis focuses on all of these components together and explains the relation among them. The developed methodology for path planning takes into account the dynamics and the performance characteristics of the heavy construction articulated vehicles, it also takes into account the construction working site constraints. The path optimization criterion is based on distance and cusp minimization without neglecting the constraints imposed by the size of the vehicle and its stable turning radius. The proposed path planning methodology is an extension and an improvement for Reeds and Shepp algorithm for a point shortest path calculation. The optimal path is consisted of circular arcs and straight segments, the radius is constant and identical for each arc in the desired path, the radius assumed to be similar to the minimum turning radius of the machine. When optimizing articulated machine path; to best account for machine size and articulation; more than one approach are discussed and compared. The machine is modeled and simulated during tracing the pre-defined planned path. The machine model includes the main frames, tires and a steering controller. The developed PID controller is used to keep machine lateral position within the pre-defined path while traveling with constant speed. The results showed an acceptable optimized path which the machine is able to track closely.     

On the application of a transportation model for revenue optimization in waste management: a case study

This paper describes an interactive decision support system called Opti-Link which has been developed for a company operating in the area of waste and raw material management. Built around a specific transportation problem, the system is used to maximize the revenue generated by selling waste paper to paper mills. Furthermore, the dual variables of the linear program allow the planner to identify upper bounds for setting bid prices to buy waste paper from waste collection companies. First operational results indicate a significant increase in profit while at the same time the duration of the planning process could be cut by more than half.     

Long-term integrated surgery room optimization and recovery ward planning,with a case study in the Brazilian National Institute of Traumatology and Orthopedics (INTO)

This paper proposes an integrated approach for the long-term planning and surgery allocation problem with downstream constraints. It is motivated by a case study in the Brazilian National Institute of Traumatology and Orthopedics, which provides elective high complexity surgeries for patients from the Brazilian public health system. We introduce an optimization problem that designs a periodic surgery allocation schedule as well as a recovery ward utilization plan, with a view at balancing patient arrivals and releases in the long term, in such a way that all surgeries are performed in a timely manner.     

A robust optimization approach to reduce the bullwhip effect of supply chains with vendor order placement lead time delays in an uncertain environment

Supply chain management is important for companies and organizations to improve their business and enhance competitiveness in the global marketplace. The bullwhip effect problem of supply chain systems with vendor order placement lead time delays in an uncertain environment is addressed in this paper. Among the numerous causes of bullwhip effect, we focus on uncertainties with respect to demand, production process, supply chain structure, inventory policy implementation and especially vendor order placement lead time delays. Minimizing the negative effect of these uncertainties in inducing bullwhip effect creates a need for developing dynamical inventory policy that increases responsiveness to demand and decreases volatility in inventory replenishment. First, a dynamic model of supply chain with above uncertainties is developed. Then, a novel uncertainty-dependent robust inventory control method using inventory position information is proposed. Additionally, the maximum allowable vendor order placement lead time delay that ensures the stability of supply chains and the suppression of bullwhip effect under the proposed inventory control policy is explored and measured. We find that vendor order placement lead time delays do play important role in supply chain dynamics and contribute to its turbulence and volatility. The effectiveness and flexibility of proposed method is verified through simulation study.     

Hydrogeochemical modeling for groundwater management in arid and semiarid regions using MODFLOW and MT3DMS: A case study of the Jeffara of Medenine coastal aquifer,South-Eastern Tunisia

The study of water quality and the quantification of reserves and their variations according to natural and anthropogenic forcing is necessary to establish an adequate management plan for groundwater resources. For this purpose, a modeling approach is a useful tool that allows, after calibration phase and verification of simulation, and under different scenarios of forcing and operational changes, to estimate and control the groundwater quantity and quality. The main objective of this study is to collect all available data in a model that simulates the Jeffara of Medenine coastal aquifer system functioning. To achieve this goal, a conceptual model was constructed based on previous studies and hydrogeological investigations. The regional groundwater numerical flow model for the Jeffara aquifer was developed using MODFLOW working under steady-state and transient conditions. Groundwater elevations measured from the piezometric wells distributed throughout the study area in 1973 were selected as the target water levels for steady state (head) model calibration. A transient simulation was undertaken for the 42 years from 1973 to 2015. The historical transient model calibration was satisfactory, consistent with the continuous piezometric decline in response to the increase in groundwater abstraction. The developed numerical model was used to study the system's behavior over the next 35 years under various constraints. Two scenarios for potential groundwater extraction for the period 2015–2050 are presented. The predictive simulations show the effect of the increase of the exploitation on the piezometric levels. To study the phenomenon of salinization, which is one of the most severe and widespread groundwater contamination problems, especially in coastal regions, a solute transport model has been constructed by using MT3DMS software coupled with the groundwater flow model. The best calibration results are obtained when the connection with the overlying superficial aquifer is considered suggesting that groundwater contamination originates from this aquifer. Recommendations for water resource managers

• The results of this study show that Groundwater resources of Jeffara of Medenine coastal aquifer in Tunisia are under immense pressure from multiple stresses.
• The water resources manager must consider the impact of economic and demographic development in groundwater management to avoid the intrusion of saline water.
• The results obtained presented some reference information that can serve as a basis for water resources planning.
• The model runs to provide information that managers can use to regulate and adequately control the Jeffara of Medenine water resources.