On the geometry,preemptions and complexity of multiprocessor and shop scheduling

In this paper we study multiprocessor and open shop scheduling problems from several points of view. We explore a tight dependence of the polynomial solvability/intractability on the number of allowed preemptions. For an exhaustive interrelation, we address the geometry of problems by means of a novel graphical representation. We use the so-called preemption and machine-dependency graphs for preemptive multiprocessor and shop scheduling problems, respectively. In a natural manner, we call a scheduling problem acyclic if the corresponding graph is acyclic. There is a substantial interrelation between the structure of these graphs and the complexity of the problems. Acyclic scheduling problems are quite restrictive; at the same time, many of them still remain NP-hard. We believe that an exhaustive study of acyclic scheduling problems can lead to a better understanding and give a better insight of general scheduling problems. We show that not only acyclic but also a special non-acyclic version of periodic job-shop scheduling can be solved in polynomial (linear) time. In that version, the corresponding machine dependency graph is allowed to have a special type of the so-called parti-colored cycles. We show that trivial extensions of this problem become NP-hard. Then we suggest a linear-time algorithm for the acyclic open-shop problem in which at most m−2 preemptions are allowed, where m is the number of machines. This result is also tight, as we show that if we allow one less preemption, then this strongly restricted version of the classical open-shop scheduling problem becomes NP-hard. In general, we show that very simple acyclic shop scheduling problems are NP-hard. As an example, any flow-shop problem with a single job with three operations and the rest of the jobs with a single non-zero length operation is NP-hard. We suggest linear-time approximation algorithm with the worst-case performance of ( , respectively) for acyclic job-shop (open-shop, respectively), where (‖ℳ‖, respectively) is the maximal job length (machine load, respectively). We show that no algorithm for scheduling acyclic job-shop can guarantee a better worst-case performance than . We consider two special cases of the acyclic job-shop with the so-called short jobs and short operations (restricting the maximal job and operation length) and solve them optimally in linear time. We show that scheduling m identical processors with at most m−2 preemptions is NP-hard, whereas a venerable early linear-time algorithm by McNaughton yields m−1 preemptions. Another multiprocessor scheduling problem we consider is that of scheduling m unrelated processors with an additional restriction that the processing time of any job on any machine is no more than the optimal schedule makespan C _max^*. We show that the (2m−3)-preemptive version of this problem is polynomially solvable, whereas the (2m−4)-preemptive version becomes NP-hard. For general unrelated processors, we guarantee near-optimal (2m−3)-preemptive schedules. The makespan of such a schedule is no more than either the corresponding non-preemptive schedule makespan or max {C _max^*,p _max}, where C _max^* is the optimal (preemptive) schedule makespan and p _max is the maximal job processing time. E.V. Shchepin was partially supported by the program “Algebraical and combinatorial methods of mathematical cybernetics” of the Russian Academy of Sciences. N. Vakhania was partially supported by CONACyT grant No. 48433.     

Polynomial time approximation schemes for general multiprocessor job shop scheduling

We study preemptive and non-preemptive versions of the general multiprocessor job shop scheduling problem: Given a set of n tasks each consisting of at most μ ordered operations that can be processed on different (possibly all) subsets of m machines with different processing times, compute a schedule (preemptive or non-preemptive, depending on the model) with minimum makespan where operations belonging to the same task have to be scheduled according to the specified order. We propose algorithms for both preemptive and non-preemptive variants of this problem that compute approximate solutions of any positive ε accuracy and run in O(n) time for any fixed values of m, μ, and ε. These results include (as special cases) many recent developments on polynomial time approximation schemes for scheduling jobs on unrelated machines, multiprocessor tasks, and classical open, flow and job shops.     

Scheduling uniform machines on-line requires nondecreasing speed ratios

We consider the following on-line scheduling problem. We have to schedulen independent jobs, wheren is unknown, onm uniform parallel machines so as to minimize the makespan; preemption is allowed. Each job becomes available at its release date, and this release date is not known beforehand; its processing requirement becomes known at its arrival. We show that if only a finite number of preemptions is allowed, there exists an algorithm that solves the problem if and only ifs _i–1/s_i s_i/s_i+1 for alli = 2,,m – 1, wheres _i denotes theith largest machine speed. We also show that if this condition is satisfied, then O(mn) preemptions are necessary, and we provide an example to show that this bound is tight. © 1998 The Mathematical Programming Society, Inc. Published by Elsevier Science B.V.     

Parallel machine covering with limited number of preemptions简

In this paper,we investigate the i-preemptive scheduling on parallel machines to maximize the minimum machine completion time,i.e.,machine covering problem with limited number of preemptions. It is aimed to obtain the worst case ratio of the objective value of the optimal schedule with unlimited preemptions and that of the schedule allowed to be preempted at most i times. For the m identical machines case,we show the worst case ratio is 2m.i.1 m,and we present a polynomial time algorithm which can guarantee the ratio for any 0 ≤ i ≤ m. 1. For the i-preemptive scheduling on two uniform machines case,we only need to consider the cases of i = 0 and i = 1. For both cases,we present two linear time algorithms and obtain the worst case ratios with respect to s,i.e.,the ratio of the speeds of two machines.     

Complexity of shop-scheduling problems with fixed number of jobs: a survey

The paper surveys the complexity results for job shop, flow shop, open shop and mixed shop scheduling problems when the number n of jobs is fixed while the number r of operations per job is not restricted. In such cases, the asymptotical complexity of scheduling algorithms depends on the number m of machines for a flow shop and an open shop problem, and on the numbers m and r for a job shop problem. It is shown that almost all shop-scheduling problems with two jobs can be solved in polynomial time for any regular criterion, while those with three jobs are NP-hard. The only exceptions are the two-job, m-machine mixed shop problem without operation preemptions (which is NP-hard for any non-trivial regular criterion) and the n-job, m-machine open shop problem with allowed operation preemptions (which is polynomially solvable for minimizing makespan).     

New steps in the amazing world of sequences and schedules

In this paper we consider classical shop problems:n jobs have to be processed onm machines. The processing timep _i,j of jobi on machinej is given for all operations (i, j). Each machine can process at most one job at a time and each job can be processed at most on one machine at a given time. The machine orders are fixed (job-shop) or arbitrary (open-shop). We have to determine a feasible combination of machine and job orders, a so-called sequence, which minimizes the makespan. We introduce a partial order on the set of sequences with the property that there exists at least one optimal sequence in the set of minimal elements of this partial order independent of the given processing times. The set of minimal elements (set of irreducible sequences) can be in detail described in the case of the two machine open-shop problem. The cardinality is calculated. We will show which sequences are generated by the well-known polynomial algorithms for the construction of optimal schedules. Furthermore, we investigate the problemO∥C _max on an operation set with spanning tree structure. Supported by Deutsche Forschungsgemeinschaft, Project ScheMA     

Optimal makespan schedule for three jobs on two machines

This paper deals with the problem of scheduling three jobs on two machines in order to minimize the makespan, when operation preemptions are forbidden and routes are fixed and may vary per job. It is shown that this problem can be solved by anO(r ⁴) algorithm, wherer is the maximal number of operations per job. Supported by Belarussian Fundamental Research Found, Project Φ60–242, and Deutsche Forschungsgemeinschaft, Project ScheMA     

Open shop scheduling with some additional constraints

An open shop scheduling problem is presented; preemptions during processing of a job on a processorp is allowed but the job cannot be sent on another processorq before it is finished onp. A graph-theoretical model is described and a characterization is given for problems where schedules with such restricted preemptions useT time units whereT is the maximum of the processing times of the jobs and of the working times of the processors. The general case is shown to be NP-complete. We also consider the case where some constraints of simultaneity are present. Complexity of the problem is discussed and a solvable case is described.     

Computing optimal preemptive schedules for parallel tasks: linear programming approaches

 We study the problem of scheduling a set of n independent parallel tasks on m processors, where in addition to the processing time there is a size associated with each task indicating that the task can be processed on any subset of processors of the given size. Based on a linear programming formulation, we propose an algorithm for computing a preemptive schedule with minimum makespan, and show that the running time of the algorithm depends polynomially on m and only linearly on n. Thus for any fixed m, an optimal preemptive schedule can be computed in O(n) time. We also present extensions of this approach to other (more general) scheduling problems with malleable tasks, due dates and maximum lateness minimization. Received: November 1999 / Accepted: November 2002 Publication online: December 19, 2002 RID="⋆" ID="⋆" This work was done while the authors were associated with the research institutes IDSIA Lugano and MPII Saarbrücken and were supported in part by the Swiss Office Fédéral de l'éducation et de la Science project n 97.0315 titled ``Platform' and by EU ESPRIT LTR Project No. 20244 (ALCOM-IT)     

Some single-machine scheduling problems with actual time and position dependent learning effects

In this paper we study some single-machine scheduling problems with learning effects where the actual processing time of a job serves as a function of the total actual processing times of the jobs already processed and of its scheduled position. We show by examples that the optimal schedules for the classical version of problems are not optimal under this actual time and position dependent learning effect model for the following objectives: makespan, sum of kth power of the completion times, total weighted completion times, maximum lateness and number of tardy jobs. But under certain conditions, we show that the shortest processing time (SPT) rule, the weighted shortest processing time (WSPT) rule, the earliest due date (EDD) rule and the modified Moore’s Algorithm can also construct an optimal schedule for the problem of minimizing these objective functions, respectively.     

Tools for Multicoloring with Applications to Planar Graphs and Partial k-Trees

We study graph multicoloring problems, motivated by the scheduling of dependent jobs on multiple machines. In multicoloring problems, vertices have lengths which determine the number of colors they must receive, and the desired coloring can be either contiguous (nonpreemptive schedule) or arbitrary (preemptive schedule). We consider both the sum-of-completion times measure, or the sum of the last color assigned to each vertex, as well as the more common makespan measure, or the number of colors used. In this paper, we study two fundamental classes of graphs: planar graphs and partial k-trees. For both classes, we give a polynomial time approximation scheme (PTAS) for the multicoloring sum, for both the preemptive and nonpreemptive cases. On the other hand, we show the problem to be strongly NP-hard on planar graphs, even in the unweighted case, known as the sum coloring problem. For a nonpreemptive multicoloring sum of partial k-trees, we obtain a fully polynomial time approximation scheme. This is based on a pseudo-polynomial time algorithm that holds for a general class of cost functions. Finally, we give a PTAS for the makespan of a preemptive multicoloring of partial k-trees that uses only O(log n) preemptions. These results are based on several properties of multicolorings and tools for manipulating them, which may be of more general applicability.     

Scheduling jobs with time-resource tradeoff via nonlinear programming

We consider a scheduling problem where the processing time of any job is dependent on the usage of a discrete renewable resource, e.g. personnel. An amount of k units of that resource can be allocated to the jobs at any time, and the more of that resource is allocated to a job, the smaller its processing time. The objective is to find a resource allocation and a schedule that minimizes the makespan. We explicitly allow for succinctly encodable time-resource tradeoff functions, which calls for mathematical programming techniques other than those that have been used before. Utilizing a (nonlinear) integer mathematical program, we obtain the first polynomial time approximation algorithm for the scheduling problem, with performance bound (3+ε) for any ε>0. Our approach relies on a fully polynomial time approximation scheme to solve the nonlinear mathematical programming relaxation. We also derive lower bounds for the approximation.     

Optimal methods for batch processing problem with makespan and maximum lateness objectives

In this paper we consider the problem of scheduling n jobs on a single batch processing machine in which jobs are ordered by two customers. Jobs belonging to different customers are processed based on their individual criteria. The considered criteria are minimizing makespan and maximum lateness. A batching machine is able to process up to b jobs simultaneously. The processing time of each batch is equal to the longest processing time of jobs in the batch. This kind of batch processing is called parallel batch processing. Optimal methods for three cases are developed: unbounded batch capacity, b > n, with compatible job groups and bounded batch capacity, b  n, with compatible and non compatible job groups. Each job group represents a different class of customers and the concept of being compatible means that jobs which are ordered by different customers are allowed to be processed in a same batch. We propose an optimal method for the problem with incompatible groups and unbounded batches. About the case when groups are incompatible and bounded batches, our proposed method is considered as optimal when the group with maximum lateness objective has identical processing times. We regard this method, however, as a heuristic when these processing times are different. When groups are compatible and batches are bounded we consider another problem by assuming the same processing times for the group which has the maximum lateness objective and propose an optimal method for this problem.     

Exact analysis of asymmetric random polling systems with single buffers and correlated input process

We introduce a simple approach for modeling and analyzing asymmetric random polling systems with single buffers and correlated input process. We consider two variations of single buffers system: the conventional system and the buffer relaxation system. In the conventional system, at most one customer may be resided in any queue at any time. In the buffer relaxation system, a buffer becomes available to new customers as soon as the current customer is being served. Previous studies concentrate on conventional single buffer system with independent Poisson process input process. It has been shown that the asymmetric system requires the solution ofm 2 ^m –1) linear equations; and the symmetric system requires the solution of 2 ^m–1–1 linear equations, wherem is the number of stations in the system. For both the conventional system and the buffer relaxation system, we give the exact solution to the more general case and show that our analysis requires the solution of 2 ^m –1 linear equations. For the symmetric case, we obtain explicit expressions for several performance measures of the system. These performance measures include the mean and second moment of the cycle time, loss probability, throughput, and the expected delay observed by a customer.     

Parametric bounds for LPT scheduling on uniform processors

The nonpreemptive assignment of independent tasks to a system ofm uniform processors is examined with the objective of minimizing the makespan. Using _m , the ratio of the fastest speed to the slowest speed of the system, as a parameter, we assess the performance of LPT (largest processing time) schedule with respect to optimal schedules. It is shown that the worst-case bound for the ratio of the two schedule lengths is between      

Preemptive scheduling with rejection

 We consider the problem of preemptively scheduling a set of n jobs on m (identical, uniformly related, or unrelated) parallel machines. The scheduler may reject a subset of the jobs and thereby incur job-dependent penalties for each rejected job, and he must construct a schedule for the remaining jobs so as to optimize the preemptive makespan on the m machines plus the sum of the penalties of the jobs rejected. We provide a complete classification of these scheduling problems with respect to complexity and approximability. Our main results are on the variant with an arbitrary number of unrelated machines. This variant is APX-hard, and we design a 1.58-approximation algorithm for it. All other considered variants are weakly -hard, and we provide fully polynomial time approximation schemes for them. Finally, we argue that our results for unrelated machines can be carried over to the corresponding preemptive open shop scheduling problem with rejection. Received: October 30, 2000 / Accepted: September 26, 2001 Published online: September 5, 2002 Key words. scheduling – preemption – approximation algorithm – worst case ratio – computational complexity – in-approximability Supported in part by the EU Thematic Network APPOL, Approximation and Online Algorithms, IST-1999-14084 Supported by the START program Y43-MAT of the Austrian Ministry of Science.     

Single machine group scheduling with ordered criteria

The single machine group scheduling problem is considered. Jobs are classified into several groups on the basis of group technology, i.e. jobs of the same group have to be processed jointly. A machine set-up time independent of the group sequence is needed between each two consecutive groups. A schedule specifies the sequence of groups and the sequence of jobs in each group. The quality of a schedule is measured by the criteriaF ₁, ...,F _m ordered by their relative importance. The objective is to minimize the least important criterionF _m subject to the schedule being optimal with respect to the more important criterionF _m–1 which is minimized on the set of schedules minimizing criterionF _m–2 and so on. The most important criterion isF ₁, which is minimized on the set of all feasible schedules. An approach to solve this multicriterion problem in polynomial time is presented if functionsF ₁, ...,F _m have special properties. The total weighted completion time and the total weighted exponential time are the examples of functionsF ₁, ...,F _m–1 and the maximum cost is an example of functionF _m for which our approach can be applied.The research of the authors was partially supported by a KBN Grant No. 3 P 406 003 05, the Fundamental Research Fund of Belarus, Project N 60-242, and the Deutsche Forschungsgemeinschaft, Project Schema, respectively. The paper was completed while the first author was visiting the University of Melbourne.     

Single-machine and two-machine flowshop scheduling with general learning functions

We show that the O(n log n) (where n is the number of jobs) shortest processing time (SPT) sequence is optimal for the single-machine makespan and total completion time minimization problems when learning is expressed as a function of the sum of the processing times of the already processed jobs. We then show that the two-machine flowshop makespan and total completion time minimization problems are solvable by the SPT sequencing rule when the job processing times are ordered and job-position-based learning is in effect. Finally, we show that when the more specialized proportional job processing times are in place, then our flowshop results apply also in the more general sum-of-job-processing-times-based learning environment.     

An approximation algorithm for the m-machine permutation flow shop scheduling problem with controllable processing times

The paper deals with the m-machine permutation flow shop scheduling problem in which job processing times, along with a processing order, are decision variables. It is assumed that the cost of processing a job on each machine is a linear function of its processing time and the overall schedule cost to be minimized is the total processing cost plus maximum completion time cost. A algorithm for the problem with m = 2 is provided; the best approximation algorithm until now has a worst-case performance ratio equal to . An extension to the m-machine (m ≥2) permutation flow shop problem yields an approximation algorithm with a worst-case bound equal to

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, where is the worst-case performance ratio of a procedure used, in the proposed algorithm, for solving the (pure) sequencing problem. Moreover, examples which achieve this bound for = 1 are also presented.     

The “least flexible job first” rule in scheduling and in queueing

We consider an environment with m$m$ machines in parallel operating at different speeds. The processing requirements of all jobs are independent and have the same exponential distribution. Job j$j$ may only be processed on a specific subset of the m$m$ machines, referred to as its restricted set. The restricted sets are nested and preemptions are allowed. We show that the Least Flexible Job to the Fastest Machine (LFJ-FM) minimizes the expected makespan and the total expected completion time.