Organized and ginvited by John Gan
Thank youLim Ser Yong
Decision & Control for
Lim Ser Yong
F.L. Lewis
Sustainable Manufacturing and Green Engineering
F.L. LewisAutomation & Robotics Research Institute (ARRI)
The University of Texas at Arlington
F.L. LewisMoncrief-O’Donnell Endowed Chair
Head Controls & Sensors Group
Invited by
Automation & Robotics Research Institute (ARRI)The University of Texas at Arlington
Head, Controls & Sensors Group
Decision & Control for Sustainable Manufacturing and Green Engineering
Talk available online at http://ARRI.uta.edu/acs
Outline1. What, how, overall perspectives of Sustainable Manufacturing2 Topics for further research and publication2. Topics for further research and publication
What is‐
Life Cycle Design Green EngineeringSustainable DevelopmentSustainable EngineeringDesign for SustainabilityReverse LogisticsReverse ManufacturingEoL‐ End of LifeRecovery Reuse Remanufacturing RecyclingRecovery‐ Reuse, Remanufacturing, Recycling, Redistribution
What does it mean?
Why?
http://smc.simtech.a‐star.edu.sg
Dr. Song Bin, Directorg , The Phases of ManufacturingDr. Stephan Biller, GM
Traditional manufacturing (Henry Ford 1905)Traditional manufacturing (Henry Ford – 1905)
Lean manufacturing (Toyota – 1970s)
Green manufacturing (environmental philanthropy‐ 2000s)Green manufacturing (environmental philanthropy 2000s)
Sustainable manufacturing
Sustainable Product life cycles Supported by economic profit benefits
F. Giudice, G. La Rosa, A. Risitano,
THE TAO WORKS TO USE THE EXCESS, AND
Product Design for the Environment, Taylor & Francis, 2006.
,GIVES TO THAT WHICH IS DEPLETED.
THE WAY OF MAN IS TO TAKE FROM THE DEPLETED, AND GIVE TO THOSE WHO ALREADY HAVE AN EXCESSGIVE TO THOSE WHO ALREADY HAVE AN EXCESS.
To be ecologically responsible and socially responsive, Design must be revolutionary and radical in the truest sense.It must dedicate itself to Occam’s Razor, nature’s principle of least effort. This is accomplished through proper methods of Decision and Control.
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Process industries
The Limits to Growth1972 D H Meadows D L Meadows J Randers and WW Behrens III1972, D.H. Meadows, D.L. Meadows, J. Randers, and W.W. Behrens III.
Exponential population growthSuper Exponential resource depletionSuper Exponential resource depletion
The amount of time left for a resource with constant consumption growth is :
where:y = years left;g = 1.026 (2.6% annual consumption growth);R = reserve;
constant consumption growth is :
Fossil fuels gone Starvation DiseaseFresh water gone
C = (annual) consumption.
2020 2030 2050
Fossil fuels gone Starvation DiseaseFresh water gone
2070
timeline
Lotka‐Volterra Predator/Prey Model
x ax bxyd
Resources/preyy cy dxy Consumers/predator
Plots by Erin McNelis, Associate Professor, Mathematics and Computer Science Department, Western Carolina University
Logistic Function (Verhulst Model) – The Limits to Growth
Figure 1
Logistic Function (Verhulst Model) The Limits to Growth
2y cy dy
http://www.gummy‐stuff.org/logistic‐growth.htm
The Limits to Growthx ax
Resources/Prey/Carrying Capacity
y cy Consumers/Predator/Population
2y cy dy Logistic Function (Verhulst Model)
Consumers/Predator/Population
Resources/Prey/Carrying Capacity
C /P d t /P l ti
x ax bxyd
Lotka‐Volterra Predator/Prey Model
Consumers/Predator/Populationy cy dxy
BALANCE= Control the growth parameters:a= rate of resource increaseb= rate of depletion of resources by population
t f l ti d /
Figure fromT.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Prentice‐Hall, 2010.
c= rate of population decrease w/ no resourcesd= rate of use of resources
Human Technological Development Goes in Waves
T.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Pearson, 2010.
A Non‐Sustainable society Green manufacturing: Production can be environmentally friendly and cost‐effective
William Atkinson, contributing editor ‐‐Manufacturing Business Technology, 3/29/2008 5:20:00 PM, g g gy, / /
U.K.‐based Lanner Group survey:only 9% of respondents prioritized reduction of their carbon footprint in 2007only 9% of respondents prioritized reduction of their carbon footprint in 2007. 72 % of the respondents said they had other priorities to address first15% said the process is too costly8% said they didn’t know how to do it.8% said they didn t know how to do it.
Green products are more expensive than traditional products so it isGreen products are more expensive than traditional products, so it is difficult to create a market for them
R. Florida, Lean and Green: The move to environmentally conscious manufacturing, Cal. Management Rev., Fall 1996
Environmental concernGovernment regulations
Drivers for Sustainable Manufacturing
Government regulationsCustomer preferences – redefining satisfactionPreferences of New Staff Hires – Dr. Stephan Biller, GM
R. Florida, Lean and Green: The move to environmentally conscious manufacturing, Cal. Management Rev., Fall 1996
Drivers for Environmental Industrialism
T.E. Graedel and J.A. Howard‐Grenville, Greening the Industrial Facility, Springer, 2005.
Sustainable Industrial Life CyclesSustainable Development:Meets the needs of the presentDoes not compromise the ability of future generations to meet their own needs
1987 W ld C i i E i t d D l t (WCED)‐ 1987 World Commission on Environment and Development (WCED)
Functions of Nature and the Environment:Functions of Nature and the Environment:• Provide raw materials and all other primary resources that support human activities
• Constitute a cleaning reservoir to absorb, and sometimes recycle, waste from activities
P f h i l bl f i f h lif f ki d ( bili i f• Perform other irreplaceable functions for the life of mankind (e.g., stabilization of climatic conditions on the global scale, or defense from UV rays by the ozone layer)
H ?F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
How?
Biological Food WebSustainableSustainable
The Circle of LifeCircular dependenciesLife/death cycleLife/death cycleResource ReuseRegeneration
The Industrial Life Cycle
Circular dependenciesLife/death cycleResource ReuseResource ReuseRegeneration
Must close the loopp
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Industrial Ecology
Industrial Manufacturing WebT.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Prentice‐Hall, 2010.
Must have economic drivers
Re‐Design reduces Consumption of resourcesresources
Recycling reduces Depletion of natural resourcesnatural resources
T.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Prentice‐Hall, 2010.
Manufacturing & Distribution
Life Cycle Engineeringg
Reverse Manufacturing & Reverse Distribution
B. Madhevan, D.F. Pyke, M. Fleischmann, “Periodic review, push inventory policies for remanufacturing, European J. Oper. Res., v. 151, 2003.
Life Cycle Engineering
T.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Prentice‐Hall, 2010.
End of Life EngineeringReverse ManufacturingReverse Logistics
Manufacture Distribution and logistics
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Reverse manufactureReverse logistics
Resource Use and Waste Emissions
J. Heilala, S. Lind, B. Johansson, “Simulation‐based sustainable manufacturing system design,” Proc. Winter Sim. Conf, 2008.
The productIs notThe onlyThe onlyOutput
I ROut: Toxic Gases emitted
Industrial Metabolism for Toyota AutoOut: C02
In: ResourcesEnergyWater
Production
Use
Out: Wastewater & Toxins into waterwaysOut: Wasted energy, thermal
T.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Prentice‐Hall, 2010.
Life Cycle Resource Usage and Pollution
Old: Best product for minimum cost expenditures
Resource = money (cost), natural resources, electric power, water, carbon footprint,
Old: Best product for minimum cost expendituresNew: Best product for minimum resource expenditures
y ( ), , p , , p ,waste cleanup fines
PRE‐PRODUCTION DISTRIBUTION USERETIREMENT – EOL
PRE‐PRODUCTIONRaw material extractionProcessingShippingStorage
PRODUCTIONFormingAssemblyFinishing
DISTRIBUTIONPackageShippingStorageDelivery
USEOperationMaintenanceRepairUpgrade
RecoveryReuseRemanufacturingRecycleDisposalDisposal
Raw materials Energy
WaterCatalysts
PollutantsToxins
CO2
Catalysts
REVERSE DISTRIBUTIONPackageShippingpp gStorageDelivery
Industrial Ecology
Socio‐Biological systems are sustainable.g yA key feature is a cyclic structure of birth, life, and death A cyclic dependency of organisms on each other that returns resources to the environment
Socio‐biological Food ChainsSocio‐biological Food Chains
• Cyclical structure of the subject’s life (conception, birth, development,maturity, the end of life)
(• Functions of metabolic type (ingestion of resources, transformation,growth of systems) • Capacity to reuse and to recycle resources (potentially zero waste, interms of the system)terms of the system)
• The processes of transformation can be considered cyclical, giventhat single organisms draw on flows of material and energy andproduce waste but the entire network to which they belong does notproduce waste, but the entire network to which they belong does notproduce waste.• The exchange of resources between systems is sustained by forms ofcooperation.
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Sustainability‐ How?
• Reducing the use of materials, using recycled and recyclable materials, and reducing toxic or polluting materialsM i i i h b f l bl l bl• Maximizing the number of replaceable or recyclable components
• Reducing emissions and waste in production processes• Increasing energy efficiency in phases of production and use• Increasing reliability and maintainability of the system• Increasing reliability and maintainability of the system• Facilitating the exploitation of materials and recovery of resources by planning the disassembly of components• Extending the product’s useful life Extending the product s useful life• Planning strategies for the recovery of resources at end‐of‐life, facilitating reuse, remanufacturing and recycling, and reducing waste• Controlling and limiting the economic costs incurred by design interventions g g y gaimed at improving the environmental performance of the product• Respecting current legal constraints and evaluating future regulations in preparation
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Sustainability‐ How? SustainabilityIs Optimal DesignWith a Global View
Must have
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
economic drivers
Environmentally-Conscious Product Design
Green manufacturing: Production can be environmentally friendly and cost‐effectiveWilliam Atkinson, Manufacturing Business Technology, 3/29/2008
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
DFE= Design for EnvironmentPC&P P ll ti C t l d P tiPC&P= Pollution Control and Prevention
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
• Study of the flows and transformations of materials and energy• Change in the conception of transformation processes from linear• Change in the conception of transformation processes from linear(open) to cyclical (closed)• Holistic vision of the interaction between industrial and ecologicalsystems• Harmonization between industrial systems and ecological systems• Emulation, in the structuring of industrial systems and in their organizational
manufacturingmanufacturing
Reverse manufacturing
Design for Environment
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Life Cycle Engineering
• Depletion—The impoverishment of resources, imputable to all theresources taken from the ecosphere and used as input in the product–
Three main effects of Human systems on the Environment
system (e.g., depletion of mineral and fossil fuel reserves as a resultof their extraction and transformation into construction materialsand energy)• Pollution—All the various phenomena of emission and waste,caused by the output of the product–system into the ecosphere (e.g.,dispersion of toxic materials or phenomena caused by thermal andchemical emissions such as acidifi cation, eutrophication, and globalwarming)• Disturbances—All the phenomena of variation in environmentalstructures due to the interaction of the product–system with theecosphere (e.g., degradation of soil, water, and air)F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Reverse Logistics and Reverse Manufacturing
EoL RetirementEoL Retirement• Reuse‐ Regain the original functionality of the product, reusing it whole• ReManufacturing• Reuse some components, either directly or after they have beenReconditionedReconditioned• Recycle‐ Exploit the resources used through processes of recycling materials or of energy recovery• Eliminate all or part of the product in waste disposal sites
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Life Cycle Engineering
Reverse LogisticsReverse ManufacturingEoL‐ End of Life
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Life Cycle Design
As a design approach, LCD is characterized by three main aspects:• The perspective is broadened to include the entire life cycle.• The assumption is that the most effective interventions are thosepmade in the fi rst phases of design.• There is simultaneity in the operations of analysis and synthesis onthe various aspects of the design problem.
• Resources utilization (optimization of the materials and energy use)• Manufacturing planning (optimization of the production processes)• Life cycle cost (optimization of the total cost of life cycle)• Life cycle cost (optimization of the total cost of life cycle)• Product properties (harmonizing a wide range of required productproperties, such as ease of production, functionality, safety, quality,reliability, aesthetics)• Company policies (respect for the common company position and• Company policies (respect for the common company position andobjectives)• Environmental protection (control and minimization of environmentalimpacts)
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006. F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Life Cycle AssessmentGovernment, Society, and Industry Regulation
Life Cycle Costs
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Life Cycle Costs
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
End of Life & Re‐Manufacturing Costs
R f iReverse manufacturingmust have Economic Drivers
Government subsidiesat first
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Integrated Economic‐Environmental Analysis
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
DFX‐ Design for X
• Design for Producibility/Manufacturability• Design for Assembly• Design for Variety D i f R b /Q li• Design for Robustness/Quality
• Design for Reliability • Design for Serviceability/Maintainability Design for Serviceability/Maintainability • Design for Safety
• Design for EnvironmentDesign for Environment• Design for Repair • Design for Retirement/Recovery• Design for Disassemblyg y
assembly tree depth• Design for Reuse• Design for Recycling
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
DFX‐ Design for X
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Commercial Software for Ecology‐Based Design is Already Available
EcodesignMeasure and optimize the environmental performance of products.
ECO‐it software allows you to model a complex product and its life cycle in a few minutes. ECO‐it calculates the environmental load, and shows which parts of the product's life cycle contribute most. With this information you can target your creativity to improve the environmental performance of the product.
1. Do not design products, but life cycles2. Natural materials are not always better2. Natural materials are not always better3. Energy consumption: often underestimated4. Increase product life time5. Do not design products, but services6. Use a minimum of material7 U l d t i l7. Use recycled materials8. Make your product recyclable
The Industrial Sectors
T.E. Graedel and J.A. Howard‐Grenville, Greening the Industrial Facility, Springer, 2005.
The Future Industrial Sectors
T.E. Graedel and J.A. Howard‐Grenville, Greening the Industrial Facility, Springer, 2005.
SIMTech Sustainable Manufacturing Centerhttp://smc.simtech.a‐star.edu.sg
Dr. Song Bin, Director
Re‐Engineer ManufacturingRethinkResources
RedefineSatisfaction
Revive Waste
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Decision & Control for Greening the Supply Chain
Cycles, Reuse, and Recovery
F. Giudice, G. La Rosa, A. Risitano, Product Design for the Environment, Taylor & Francis, 2006.
Recovery, Remanufacturing, Recycling
T.E. Graedel and J.A. Howard‐Grenville, Greening the Industrial Facility, Springer, 2005.
The Metal Recycling Industry
T.E. Graedel and J.A. Howard‐Grenville, Greening the Industrial Facility, Springer, 2005.
Inventory levels of supplier and buyer Reverse manufacturing Inventory levels
Total Costs of Green Supply Chain
Design and manufacturing:g gDesign costRaw material costsholding costunit assembly costsetup costssetup costsinspection cost
Lifetime:Operating costsrepair costs
Reverse manufacturing:Salvage costreuse collecting costreuse collecting costcleaning and disassembly costremanufacturing costrecycle cost
An Ops. Research Nonlinear Programming Problem:Minimize cost subject to constraints and temporal precedence relations
f hDefine the costs to minimizeUse J. Pearl’s message passing algorithm on Bayesian decision networks
Reverse Logistics
Reverse Manufacturing
Reverse Logistics
Formulate and SolveFormulate and Solve Ops. Research Programming problem
Customer model
Order/Procurement Control
Production WIP Control
Add a control loop for Recovery
Robust control, H‐inf, Optimal Control, MPC, transfer functions
Recycling Dynamics
Closed‐loop Recycling (same facility) Open‐loop (Between Different facilities)
T.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Prentice‐Hall, 2010.
Decision & Control for Sustainable Manufacturing
Life Cycley
PRE‐PRODUCTION DISTRIBUTION USERETIREMENT – EOL
PRE‐PRODUCTIONRaw material extractionProcessingShippingStorage
PRODUCTIONFormingAssemblyFinishing
DISTRIBUTIONPackageShippingStorageDelivery
USEOperationMaintenanceRepairUpgrade
RecoveryReuseRemanufacturingRecycleDisposalDisposal
Raw materials Energy
WaterCatalysts
PollutantsToxins
CO2
Catalysts
REVERSE DISTRIBUTIONPackageShippingpp gStorageDelivery
Decision & Control for Sustainable Manufacturing
Old: Best product for minimum cost expenditures
Resource = money (cost), natural resources, electric power, water, carbon footprint
Old: Best product for minimum cost expendituresNew: Best product for minimum resource expenditures
Forming Assembly Finishing PackagingMachining
Raw materials Energy
WaterCatalysts
PollutantsToxins
CO2
Catalysts
S i bili O i l D i U i Gl b l ViSustainability = Optimal Design Using Global View
EnergyWaterRaw materialsHazardous materials
INTEGRATED DECISION & CONTROL:Smart Building SystemsHVACCo2 and air qualityMinimum energy buidingMinimum energy buiding
Energy Power SystemsRenewable vs. grid
Fluid distribution and Recovery systemsManufacturing Line System
Singapore Zero Energy Buildingg p gy g
SIMTechSIMTech Web Web based Environment Monitoring Systembased Environment Monitoring System
SIMTech Level 5 floor plan displaying temperature
Wai Yie Leong, SIMTech
displaying temperature sensor nodes
Trend data analysis
d d l
Trend data analysis
• Temperature data display• Trend analysis• Alarm and Messages• Real‐time web‐cam monitoringg
SMS alarm message systemWeb based Graphical Interface for effortlessaccess and monitoring of environmentparameters in real time as well as historical
76Copyright © 2009 All rights reserved
Singapore Institute of Manufacturing Technology
parameters in real time as well as historicaltrends analysis
Energy Use and Loss for Industrial Facility
T.E. Graedel and B.R. Allenby, Industrial Ecology and Sustainable Engineering, Prentice‐Hall, 2010.
Discrete Process Energy Use/Loss and Wastes
System Modeling for Energy‐based Control
T.E. Graedel and J.A. Howard‐Grenville, Greening the Industrial Facility, Springer, 2005.
Dynamic Energy Labeling –Customer Preferences for Green Products = Competitive Advantage
Forming Assembly Finishing PackagingMachining
Raw materials Energy WaterCatalysts
PollutantsToxins
CO2
Use RFID Tag to store energy informationduring manufactureduring manufacture
Product Energyb lLabel
RFID for energy labeling of:ProductsProcesses
Add (wireless) sensors to compute energy used at each stage
How do other disciplines do energy‐aware scheduling?
Scheduling for communication systems
O R h Li P i P blOps. Research Linear Programming ProblemMinimize energy while guaranteeing enough flow through a directed graphto satisfy the BW demand.y
User‐Configured TDMA for Wireless Sensor NetworksA. Tiwari, P. Ballal, and F.L. Lewis, “Energy‐Efficient Wireless Sensor Network Design & Implementation for Condition Based Maintenance,” ACM Trans. on Sensor Networks, vol. 3, no. 1, pp. 1‐23, March 2007.
1 State Machine for WSN Nodes
, , , , pp ,
Energy aware cross‐layer decision & control for WSN communication systems
It takes 69.78 % more Energy to startup Node in Tx Mode than that in Rx Mode
1. State Machine for WSN Nodes
Sl St t
Emergency
Looks For Commands from BSRadio Turned Off,
Continuous Sensing Sleep State
Receive State
Time out
Data out
Sleep cmd
Done
Continuous Sensing
Setup State Transmit State
Set cmd
Data out
Transmit cmd
Done
Sets up Various Node parameters
Transmits Data or Parameters Desired
User‐Configured TDMA for Wireless Sensor NetworksA. Tiwari, P. Ballal, and F.L. Lewis, “Energy‐Efficient Wireless Sensor Network Design & Implementation for Condition Based Maintenance,” ACM Trans. on Sensor Networks, vol. 3, no. 1, pp. 1‐23, March 2007.
2. The Battery Consumption Equation= a detailed energy model
, , , , pp ,
Time taken by radio to switch to
Transmit mode from sleep/receive mode
A /
Number of times per hour, radio switches to
transmit mode from sleep/receive mode
Actual time for which radio transmit,
each time it is in transmit mode
t/ttt
rxrxtxrxrxtxrxrxsrxrxs
txtxmtxtxrxtxtxrxtxtxmtxtxstxtxs
TITTINTTINTTINTTIN
TITTINTITTINAmpHrs/Hr
onturnrx/txsstxsstxssrxssrx TITTINTTIN
Time taken by radio to switch to
receive mode from sleep/transmit mode
Number of times per hour, radio switches to
receive mode from sleep/transmit mode
Actual time for which radio receives,
each time it is in receive mode Itx> Irx > Is
A. Tiwari, P. Ballal, and F.L. Lewis, “Energy‐Efficient Wireless Sensor Network Design & Implementation for Condition Based Maintenance,” ACM Trans. on Sensor Networks, vol. 3, no. 1, pp. 1‐23, March 2007.
f ll d b f d f h d f h h h d (
3. Optimal Sleep Schedule Calculations
Given, sweep rates for all node, number of data points from each node, frequency at which each node transmits (every r hours), the sleep durations for all the nodes in network is given by :
Sweep Rate Matrix (1Xn)Time Period Matrix
Sleep duration for any given node is
)2(givennotRateupdatingiffTNdiagNTS
SdiagUTT
pTs
Tspd
rp
Sweep Rate Matrix (1Xn)
Sleep Duration Matrix
Time taken by each node in transmitting its data
Sleep duration for any given node is
Total time – its own transmission time
)3(3600 givenRateupdatingiffTNdiagRS Tp
Ts
Tud
No Of Data Points Matrix (1Xn)
(in Sec)
Updating Rate Matrix
No. Of Data Points Matrix (1Xn)Total time taken by all nodes for
transmitting their data
Updating rate is actually – approximate sleep Duration for that particular node
If Updating rate is 1 hr for some node which transmits for 2 sec in each slot => the node will tx 2Sec, then sleep for 3600‐2sec, and then again repeats..
Optimal Scheduling For Manufacturing Systemsp g g y
1. Different states for machines ‐ idle, working, shut down1. Different states for machines idle, working, shut down
2. Derive a detailed energy model
3 Optimal Schedule Calculations3. Optimal Schedule Calculations
Scheduling for Computing Systems
t e1
2
4
12 12,t e1 1,t e
3
4
6
node= instructionEdge= data dependence
56
Performance scheduling‐ finish fastestList scheduling‐ for each node, compute exec. time to end of code
Start at root and go towards leaves‐ schedule the node with max exec. time
Energy scheduling‐ finish with least energyFor each node compute min energy path to end of codeFor each node, compute min. energy path to end of code
Combine performance and energy
(1 )Perf time energyPerf time energy
Energy cost table
Spatial thermal‐aware job scheduling:• Algorithms MinHR [2] and XInt [3] schedule jobs to reduce heat recirculationR d th S l H t I d b th 15%• Reduce the Supply Heat Index by more than 15%
Spatio‐temporal thermal‐aware job scheduling:• Reduce the Supply Heat Index by twice the amountpp y y• A job is usually submitted with a runtime estimate, which is largely overestimated.
e g Weekend effect:e.g. Weekend effect:• a burst of jobs is submitted on a Friday night• causes inefficiency in data centers;• first‐come first‐serve with back‐filling (FCFS‐backfill) scheduler will cause a period of high and cooling expensive data center utilization followed by an energy wasting period of idleand cooling‐expensive data center utilization, followed by an energy‐wasting period of idle servers.
Also – off‐peak energy hours
Virtualization‐ software program wrappers that allow any program to run on any machine.Allows use of standard multi resource/multi job scheduling routines
D= Heat distribution matrix
1 12 2
inlet temp of machine power consumed by machinei l f hi h di h i f h k d b hi 2 . . 2
at time t+1 in time interval t
inlet temp of machine heat dist to mach i from mach k power consumed by machine
HVAC li l t HVAC supply( 1) ( ) ( )inletTemp t Dp t Temp t
Power generated during time interval t
HVAC supply( 1) ( ) ( )inletTemp t Dp t Temp t Select cij and HVAC supply tempusing Ops. Research programming
Power generated by node i:
( ) ( ) ( ) ( )i i ij ijj jobs
p t t c t power t
Power generated by node i:
Power used by job j on node i
Allocation of job j to node i
Idle power of node i
Energy‐Aware Scheduling for Machine Tools
Energy time traceEnergy time trace
Compute weighted costs and profitsCompute weighted costs and profits
Power consumed= current x voltage
Power delivered= force x speed
P IVMeasure with installed power meter
k
Power delivered= force x speed= torque x angular velocity
P torque
compute from voltage and current measurementsSankey Diagram
compute from voltage and current measurements
Efficiency= power delivered
Also proportional to material removal rate
Efficiency= power delivered power consumed
Energy= power x time
0
( )t
E P t dt
Machine state transition diagram Compute power consumed in each state
Energy Consumption Model and Forecasting
p p
Energy Consumption ForecastingSystem Modeling for Energy UsagePredict Energy required for each jobPredict Energy required for each job
Motor Failures:
energyefficiency
Energy aware operation extends machine lifetimes
MTBF‐Mean time between failures
These concepts require improved Discrete Event Routing Flow Control
multiply = AND & addition = ORNew Matrix Formulation for DE Supervisory Control
US P t t
DE Model State Equation: Compare with xk+1=Axk+Buk
US Patent
DDucrcv uFuFrFvFx Fire next tasks
Tasks complete
Task sequencing matrix – by Mission Planner
Resources available
Resource assignment matrix – by onsite Leader
Targets / parts in
Decision/Command input1 0 001
cv
Means jobs 1 and 4 have just completed
110
cr
Means resources2 and 3 are available
70 1S4m1S5m1R1gS2
mobile wireless sensor network DE simulation priority 2-->1
1
u1
Simulation Results
40
50
601R1gS21R2gA1R1rS21R1lis1R2m1R1gS11R1dS21R1m1S2m
2S1n2
Mis
sion
u2
Mission/Task 1 jobs
10
20
30
2S1m2R1gS32R1cS32S3m2R1dC
R1R2UGS1UGS2ur
ces
Mis
sion
Mission/Task 2 jobs
Resources
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140
10UGS3UGS4UGS5
Time [s]
Reso
u
1S4mobile wireless sensor network DE simulation priority1-->2
u1Event traces
50
60
70 1S4m1S5m1R1gS21R2gA1R1rS21R1lis1R2m1R1gS11R1dS21R1
M
issi
on1
u1 Event traces
• Up means task in progress
• Down means resource in use
20
30
401R1m1S2m
2S1m2R1gS32R1cS32S3m2R1dC
R1s
Mis
sion
2
u2
Simulation 2 –
0 20 40 60 80 100 120 140 0 20 40 60 80 100 120
10
R2UGS1UGS2UGS3UGS4UGS5
Time [s]
Reso
urce
sSimulation 2 change mission/task priority
Simulation of Steady‐State Behavior
Resource Percent Utilization
B ttl k D t tiBottleneck Detection
Can use for steady‐state energy comsumption analysisCan use for steady state energy comsumption analysis
DDucrcv uFuFrFvFx DEC for Energy‐Aware Scheduling and Dispatching
DDucrcvResource assignment matrix
1jobt
Define time vector for jobs 2jobtT
1resP Define power consumed vector for resources 2resP P
Energy vector of power consumed by jobs E F P
Then total energy (= power x time) needed for the mission (all jobs) is Ttot rE T F P
Energy vector of power consumed by jobs rE F P
Energy needed for currently schedulable jobs 1 ( )Tstep rE x T F P (Hadamard product)
Now can do optimal scheduling using e g Model Predictive ControlNow can do optimal scheduling using, e.g., Model Predictive Control
Can also compute energy remaining and time remaining for each mission (EDD)
DEC for Energy‐Aware Scheduling and Dispatching
Define Energy BottleneckDefine Energy Bottleneck
Can use existing methods in bottleneck detection and load balancing
PHM slides
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