Background Efficient underwater operations with autonomous underwater vehicles (AUVs) relying on several factors for a mission to be successful, such as operation time, distance covered, and waiting times. Today’s methods and processes for AUVs often struggle with inefficiencies and lack of route optimization. These challenges can result in increased operational costs and suboptimal performance. Minimizing operation time and utilizing route planning algorithms enables adaptation to operational challenges, potentially resulting in cost savings. Objectives This thesis aims to identify an efficient and practical solutions that will improve the operations for AUVs and the objective is to optimize the diving process through suboptimal routing algorithms in a predefined scenario. The study addresses one primary question to achive the aim. The question were: How can routing algorithms be implemented to improve the efficiency and reduce the operation time of Autonomous Underwater Vehicles? Methods The method describes three heuristic algorithms for optimizing the operations of AUVs. The first algorithm, the nearest neighbor heuristic (NNH) aims to minimize the distance an AUV needs to travel to recover and deploy ocean bottom nodes (OBN) within a cluster. The second algorithm, inspired by railway traffic, tries to prevent overlaps and minimizing the waiting times at the depot station. The third algorithm is highlighted as a local optimization algorithm that prioritizes the shortest waiting time over the nearest distance, adapting dynamically to available depot stations. Results The results in this thesis are derived from numerous simulations from different scenarios. The relationship between operations time and waiting time for different scenarios was obtained. The first algorithm proved to work for this type of situation. The second algorithm demonstrated its ability to yield superior solutions, albeit at the cost of being time-consuming due to a high number of iterations. The third algorithm was examined under conditions with and without delays. Even with delays, the algorithm consistently manages disturbances effectively. Conclusions While achieving an exact optimal solution remains challenging due to complexity, the research showed promising improvements in the endurance of the AUVs through the algorithms. The first algorithm was effective in minimizing the distance the AUVs traveled by selecting the most efficient path from numerous potential solutions. The second algorithm was slow due to a large number iterations, but the algorithm was able to find a solution where the operation and waiting time of the AUV could be reduced. The third algorithm was faster, but generally resulted in longer operation times. Also, increasing the number of AUVs resulted in shorter operation times but led to longer waiting times at the depot station, particularly in scenarios that became saturated with too many AUVs. / Bakgrund Undervattensoperationer med autonoma undervattensfarkoster (AUV:er) är beroende av flera faktorer för framgångsrika uppdrag, såsom driftstid, avstånd och väntetider. Dagens metoder och processer för AUV:er har ofta problem med ineffektivitet och bristande optimering av rutter. Dessa utmaningar kan leda till ökade driftkostnader och suboptimal prestanda. Genom att minimera operationstiden och använda ruttplaneringsalgoritmer möjliggörs anpassning till operativa utmaningar, vilket potentiellt kan resultera i kostnadsbesparingar. Syfte Detta examensarbete syftar till att utveckla effektiva och praktiska lösningar för att förbättra systemets prestanda och målet är att optimera rutterna genom suboptimala algoritmer i ett fördefinierat scenario. Arbetet behandlar en primärfråga för att uppnå målet. Frågan var: Hur kan ruttalgoritmer implementeras för att förbättra effektiviteten och minska drifttiden för autonoma undervattensfarkoster? Metod Metoden beskriver tre heuristiska algoritmer för att optimera driften förAUV:er. Den första algoritmen, närmaste granne heuristiken (NNH), syftar till attminimera avståndet en AUV behöver resa för att hämta och placera ut havsbottennoder (OBN) inom en kluster. Den andra algoritmen, inspirerad av tågtrafiken, syftar till att endast en AUV befinner sig vid depåstationen åt gången för att förhindra konflikter och minimera väntetider. Den tredje algoritmen är en lokal optimeringsalgoritm som prioriterar kortaste väntetiden över närmaste avstånd och anpassar sig dynamiskt till tillgängliga depåstationer. Resultat Resultaten i denna uppsats baseras på ett flertal simuleringar med olika scenarier. Förhållandet mellan drifttid och väntetid för olika scenarier erhölls. Den första algoritmen visade sig fungera bra för denna typ av situation. Den andra algoritmen visade sin förmåga att ge bättre lösningar, trots att den var tidskrävande pågrund av ett högt antal iterationer. Den tredje algoritmen undersöktes under förhållanden med och utan förseningar. Trots förseningar lyckades algoritmen konsekvent hantera störningar effektivt. Slutsats Trots komplexiteten med att tillhandahålla en exakt optimal lösning, visade arbetet förbättringar i AUV:ers uthållighet genom olika algoritmer. Den första algoritmen var effektiv för att minimera det avstånd som AUV:er färdades genom att välja en optimal väg bland många potentiella lösningar. Den andra algoritmen var långsam på grund av många iterationer, men algoritmen kunde hitta en lösning där AUV:ens drift- och väntetid kunde minskas. Den tredje algoritmen var snabbare men resulterade i längre drifttider. Vidare resulterade ökningen av antalet AUV:er i en minskning av drifttider men ökade väntetider, särskilt i scenarier som blev mättade med för många AUV:er.

Submitted by Maria Cristina (library@lncc.br) on 2016-07-27T18:14:27Z No. of bitstreams: 1 thesis andre.pdf: 6104592 bytes, checksum: 706cde4c24631f976f0ea0697eb8f078 (MD5) / Approved for entry into archive by Maria Cristina (library@lncc.br) on 2016-07-27T18:14:43Z (GMT) No. of bitstreams: 1 thesis andre.pdf: 6104592 bytes, checksum: 706cde4c24631f976f0ea0697eb8f078 (MD5) / Made available in DSpace on 2016-07-27T18:14:55Z (GMT). No. of bitstreams: 1 thesis andre.pdf: 6104592 bytes, checksum: 706cde4c24631f976f0ea0697eb8f078 (MD5) Previous issue date: 2016-05-10 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (Capes) / Brazil has an Exclusive Economic Zone that is very extensive and rich, both in its biodiversity as in its mineral resources. In order to exploit these resources and ensure safety for navigation, Brazil must ensure its sovereignty over this part of its territory. For this purpose, Brazil has the Naval Power exercised by the Brazilian Navy. Among the operations carried out by the Navy there are the search and reconnaissance missions, carried out by ships and by naval aircraft. This work is focused on reconnaissance missions carried out by naval aircraft. The main objective is the evaluation of meta-heuristics for the development of an application that can generate optimized routes for aircraft in the missions, attending the requirements of the Brazilian Navy. This work presents the methods developed based on two nature inspired meta-heuristics, for the elaboration of optimized routes for aircraft. The method is complying with two main constraints for these missions: checkpoints (targets) mobility and the limit of aircraft autonomy. It also presents the results of tests performed with the methods developed in this work and a general evaluation of their performance. / O Brasil possui uma área de Zona Econômica Exclusiva muito extensa e muito rica, tanto na sua biodiversidade como em recursos minerais. Porém, para poder explorar estas riquezas e garantir a segurança para a navegação destas águas o Brasil precisa assegurar sua soberania sobre esta parte de seu território. Para isso conta com o Poder Naval exercido pela Marinha do Brasil, que entre as operações por ela realizadas estão as missões de busca e esclarecimento, tanto por embarcações, como por aeronaves embarcadas. Este trabalho tem seu foco nas operações de esclarecimento por aeronaves embarcadas, tendo como objetivo principal a avaliação de meta-heurísticas para a elaboração de uma aplicação capaz de gerar rotas otimizadas para as aeronaves, em missões de esclarecimento, as quais atendam as necessidades da Marinha do Brasil. Neste trabalho, são apresentados os métodos desenvolvidos com base em duas meta-heurísticas, baseadas na natureza, para a elaboração de rotas otimizadas para as aeronaves, atendendo a duas restrições fundamentais em missões de esclarecimento aéreo, a mobilidade dos pontos de checagem (alvos) e o limite de autonomia das aeronaves. Também são apresentados os resultados dos testes realizados com os métodos desenvolvidos e uma avaliação geral dos seus desempenhos.

Submitted by Maria Medeiros (maria.dilva1@ufcg.edu.br) on 2018-08-01T12:51:34Z No. of bitstreams: 1 DYEGO ASSIS LOURENÇO - DISSERTAÇÃO (PPGECA) 2016.pdf: 2386634 bytes, checksum: 5372c3bee28217bd2a19b987357cd4cb (MD5) / Made available in DSpace on 2018-08-01T12:51:34Z (GMT). No. of bitstreams: 1 DYEGO ASSIS LOURENÇO - DISSERTAÇÃO (PPGECA) 2016.pdf: 2386634 bytes, checksum: 5372c3bee28217bd2a19b987357cd4cb (MD5) Previous issue date: 2016-08-29 / O crescimento desordenado das cidades brasileiras associada à falta de aplicação das políticas nacionais e carência de planejamento na prestação dos serviços de saneamento básico nos municípios, fragilizam a sustentabilidade de um serviço de coleta e transporte de qualidade a ser ofertado pela gestão municipal. Sendo assim, este trabalho tem como objetivo avaliar a eficiência dos serviços de coleta e transporte de resíduos sólidos domiciliares e comerciais em centros urbanos a partir da otimização de rotas, tomando como base de estudo, os bairros Liberdade e Jeremias. A metodologia deste estudo consiste em utilizar técnicas matemáticas por meio de um algoritmo que é integrado a um software roteirizador, que define a melhor rota, segundo a variável que se quer otimizar; sendo utilizadas nesta pesquisa as variáveis distância, tempo de viagem, topografia e intensidade de tráfego de veículos. Os resultados encontrados reforçam a ideia de que a rota atual de coleta de resíduos necessita de melhor planejamento e de melhorias e que as variáveis da topografia são um aspecto importante a ser considerado. Com a adoção das rotas otimizadas, em detrimento da rota atual de coleta, a empresa responsável pela prestação do serviço poderia ser mais eficiente, realizando a mesma atividade em menor tempo e ainda economizar recursos necessários para a prestação do serviço. Desta forma, com a aplicação dos resultados na prática, a empresa poderia economizar, anualmente, mais de R$ 15.000,00, apenas utilizando as rotas otimizadas para os dois bairros avaliados. Ao expandir esta análise para toda a cidade, os resultados podem chegar a elevadas reduções de custos anuais e tais economias financeiras podem ser redirecionadas para a melhoria do próprio sistema de gerenciamento de resíduos sólidos da cidade, inclusive voltado às ações de coleta seletiva, que ainda é tão incipiente em Campina Grande. / The disorderly growth of Brazilian cities, associated with the lack of implementation of policies and the lack of planning in the provision of basic sanitation services in municipalities, the sustainability of a quality collection and transportation service is a municipal management service. The objective of this work is to evaluate the efficiency of solid and commercial solid waste collection and transportation services in urban centers, based on the optimization of routes, based on the study of Liberdade and Jeremias neighborhoods. The methodology of this study consists in using mathematical techniques by means of an algorithm that is integrated in a routing software, which defines a better route, according to the variable to be optimized; Being used in the research as variables of speed, travel time, topography and traffic intensity of vehicles. The results reflect an idea that the current rotation of waste collection needs better planning and improvements and that topography variables are an important aspect to be considered. With the adoption of optimized routes, in detriment of the current route of collection, a company responsible for providing the service could be more efficient, performing the same activity in a shorter time and still save the resources needed for a service rendering. In this way, with an application of the results in practice, a company could save annually more than R $ 15,000.00, only using as optimized routes for the two evaluated neighborhoods. By expanding this city-wide analysis, results are available at high annual cost reductions, and such financial savings can be redirected to an improvement in the city's own solid waste management system, including targeted selective collection actions, which It's so incipient in Campina Grande.

Abstract The focus of the thesis is researching how to optimize a certain route, highlighting theimportance of weather conditions in the context of optimizing truck routes. Additionally, itemphasizes the goals of maximizing human utilization and cost-effectiveness. The project teamconducted a survey on fuel habits, and the results showed that the participating companies lackeda defined strategy for the company's fuel habits or a specific approach for selecting fuelingcompanies. The project team developed an algorithm that assists drivers in selecting the mostoptimized routes while enabling companies to calculate these routes efficiently. Data wascollected on the fuel consumption associated with the loading and unloading of goods. The totalroute cost is calculated using a custom equation that includes the driver´s salary, the employer´ssocial security contribution, the cost of the truck when loading and unloading, and the wear onthe truck. The company naturally expects to generate a profit, and such profit margins may differamong companies. Therefore, the project team excluded this factor from the equation todetermine the route's cost. The findings showed that varying weather conditions did impactconsumption, thereby influencing the final cost. The algorithm that the project team made is asignificant milestone toward the completion of the final product. However, there are still a fewremaining steps to be taken in order to achieve the desired end result and future development.

This thesis addresses route planning of Battery Electric Heavy-Duty Commercial Vehicles to enhance the reliability of electric vehicle transport. Collaborating with Scania, a Swedish truck manufacturing company, the goal is to develop a pipeline that uses open source data from OpenStreetMap and performs a modified Contraction Hierarchy in order to create a graph that can be used as input to a modified Vehicle Routing Problem formulation using Mixed Integer Programming. The input graph is preprocessed to support a Battery Electric Heavy-Duty Commercial Vehicle model in order to more accurately predict energy consumption. The challenges lie in balancing computational efficiency and electric vehicle characteristics. The implemented pipeline demonstrates success but initial tests show that a naive version of the pipeline, not implementing Contraction Hierarchies, can perform better. Several speedups can be made in order to improve the efficiency of the pipeline, the main being in programming in a more efficient programming language than Python. Further testing is needed for larger input graphs to assess performance accurately.

Chaque jour des milliers de camions transportant des centaines de milliers de tonnes de marchandises dangereuses par diverses modalités. Toutefois, le terme “dangereux” indique une adversité intrinsèque qui caractérise ces produits transportés, et qui peuvent se manifester lors d'un accident entraînant la fuite d'une substance dangereuse. Dans une telle situation, les conséquences peuvent nuire à l'environnement et létal pour l'humain.L'importance des marchandises dangereuses revient aux bénéfices économiques considérables générés. En fait, on ne peut nier la contribution du transport des produits dérivés de combustibles fossiles, ce qui représente plus de 60% des marchandises dangereuses transportées en Europe. Eni, la société italienne leader de pétrochimie, gère chaque jour une flotte d'environ 1.500 camions, qui effectuent de nombreuses expéditions. Pourtant la distribution de produits pétroliers est une activité à grande risques, et tout accident lors du transport peut entraîner de graves conséquences.Consciente des enjeux, la division Eni R&M - Logistique Secondaire, historiquement actif au siège de Gênes, collabore depuis 2002 avec le DIBRIS à l'Université de Gênes, et le CRC à Mines ParisTech, dans le but d'étudier les améliorations possibles en matière de sûreté dans le transport de marchandises dangereuses. Au fil des ans, cette collaboration a permis le développement d'un système d'information et décisionnel. Le composant principal de ce système est une plate-forme de surveillance de la flotte Eni appelé TIP (Transport Integrated Platform), pour livrer les produits vers les points de distributions. Ces véhicules sont équipés d'un dispositif capable de transmettre des flux de données en temps réel en utilisant un modem GPRS. Les données transmises peuvent être de nature différente et contenir des informations sur l'état du véhicule, le produit et les événements détectés durant l'expédition. Ces données sont destinées à être reçues par des serveurs centralisés puis traitées et stockées, afin de soutenir diverses applications du TIP.Dans ce contexte, les études menées tout au long de la thèse sont dirigés vers le développement d'une proposition visant à réduire davantage les risques liés au transport de marchandises dangereuses. En d'autres termes, un modèle basé sur le compromis entre les facteurs économiques et sûretés pour le choix de l'itinéraire. L'objectif est motivé par la nécessité de soutenir les règlements et les normes de sécurité existantes, car ils ne garantissent pas totalement contre les accidents entrainant des marchandises dangereuses.L'objectif est effectué en prenant en compte le système existant comme base pour l'élaboration d'un système de transport intelligent (STI) regroupant plusieurs plates-formes logicielles. Ces plates-formes doivent permettre aux planificateurs et aux décideurs de suivre en temps réel leur flotte, à évaluer les risques et tous les itinéraires possibles, de simuler et de créer différents scénarios, et d'aider à trouver des solutions à des problèmes particuliers.Tout au long de cette thèse, je souligne la motivation pour ce travail de recherche, les problématiques, et les défis de transport de marchandises dangereuses. Je présente le TIP comme le noyau de l'architecture proposée du STI. Pour les besoins de la simulation, les véhicules virtuels sont injectés dans le système. La gestion de la collecte des données a été l'objet d'une amélioration technique pour plus de fiabilité, d'efficacité et d'évolutivité dans le cadre de la surveillance en temps réel. Enfin, je présente une explication systématique de la méthode d'optimisation des itinéraires considérant les critères économiques et de risques. Le risque est évalué en fonction de divers facteurs notamment la fréquence d'accidents entrainant des marchandises dangereuses, et ses conséquences. La quantification de l'incertitude dans l'évaluation des risques est modélisée en utilisant la théorie des ensembles flous. / Everyday thousands of trucks transporting hundreds of thousands of tons of dangerous goods by various modalities and both within and across nations. However, the term “dangerous” indicates an intrinsic adversity that characterize these products, which can manifest in an accident leading to release of a hazardous substance (e.g. radioactive, flammable, explosive etc.). In this situation, the consequences can be lethal to human beings, other living organisms and damage the environment and public/private properties.The importance of dangerous goods boils down to the significant economic benefits that generates. In fact, one cannot deny the contribution of the transport of all fossil fuel derived product, which represents more than 60% of dangerous goods transported in Europe. Eni, the Italian leading petrochemical company, every day operates a fleet of about 1,500 trucks, which performs numerous trips from loading terminals to filling stations. Distribution of petroleum products is a risky activity, and an accident during the transportation may lead to serious consequences.Aware of what is at stake, the division Eni R&M - Logistics Secondary, historically active in Genoa headquarters, is collaborating since 2002 with the DIBRIS department at University of Genoa, and the CRC at Mines ParisTech, with the purpose of studying possible improvements regarding safety in transport of dangerous goods, particularly petroleum products. Over years, this collaboration has led to the development of different technologies and mainly to an information and decision support system. The major component of this system is a platform for monitoring Eni fleet, at the national level, to deliver the products to the distribution points, called the Transport Integrated Platform (TIP). These vehicles are equipped with a device capable of transmitting data stream in real-time using a GPRS modem. The data transmitted can be of different nature and contain information about the state of the vehicle and occurred events during the trip. These data are intended to be received by centralized servers then get processed and stored, in order to support various applications within the TIP.With this in mind, the studies undertaken throughout the thesis are directed towards the development of a proposal to further minimize the risk related to the transportation of dangerous goods. In other words, a trade-off based model for route selection taking into consideration economic and safety factors. The objective is prompted by the need to support existent regulations and safety standards, which does not assure a full warranty against accidents involving dangerous goods.The goal is carried out by considering the existent system as basis for developing an Intelligent Transportation System (ITS) aggregating multiple software platforms. These platforms should allow planners and decision makers to monitor in real-time their fleet, to assess risk and evaluate all possible routes, to simulate and create different scenarios, and to assist at finding solutions to particular problems.Throughout this dissertation, I highlight the motivation for such research work, the related problem statements, and the challenges in dangerous goods transport. I introduce the TIP as the core for the proposed ITS architecture. For simulation purposes, virtual vehicles are injected into the system. The management of the data collection was the subject of technical improvement for more reliability, efficiency and scalability in real-time monitoring of dangerous goods shipment. Finally, I present a systematic explanation of the methodology for route optimization considering both economic and risk criteria. The risk is assessed based on various factors mainly the frequency of accident leading to hazardous substance release and its consequences. Uncertainty quantification in risk assessment is modelled using fuzzy sets theory.

This study explores the overlapping of platform technology and cooperative processes in logistics and how this can be of interest to make the industry more environmentally sustainable. It examines the literature regarding platform technology, horizontal collaboration, and environmental sustainability in logistics. Data was collected through interviews with experts in the logistics industry, representatives from logistics companies and a software solutions provider, to obtain a nuanced image from the industry. A framework was created to provide answers to how digital platforms can better be utilized for cooperation in logistics to improve environmental sustainability. In order to fulfill this, incentives and challenges for small- and medium-sized enterprises to cooperate through platform technology were identified. The incentives that were found were classified into driving and pushing. The driving incentives refer to evident benefits for small- and medium-sized enterprises of joining cooperative logistics platforms, while pushing incentives are based on external factors and current issues that potentially could be solved through a cooperative platform. The identified challenges to cooperating through digital platforms are related to cooperative processes, technology and digitalization, and environmental sustainability. These were analyzed from a systems perspective to understand how these affect the problem on several levels in the industry of logistics. Together, the incentives and challenges form the final framework and illustrate how platforms for cooperation can be realized in the logistics industry. / Denna studie undersöker överlappningen av digitala plattformar och samarbetsprocesser inom  logistik och hur detta kan vara av intresse för att göra industrin mer miljömässigt hållbar. Studien utforskar forskningslitteraturen om digitala plattformar, horisontellt samarbete och miljömässig hållbarhet inom logistik. Data samlades in genom intervjuer utförda med experter inom logistikindustrin och representanter från en mjukvarulösningsleverantör och från små- och medelstora företag inom logistik, för att få en nyanserad bild från branschen. Ett ramverk skapades för att ge svar på hur digitala plattformar kan användas bättre för samarbete inom logistik för att förbättra miljömässig hållbarhet. För att uppfylla detta så identifierades incitament och utmaningar för små- och medelstora företag för samarbete genom plattformsteknik. De incitament som hittades klassificerades som drivande och pressande. De drivande incitamenten syftar till de uppenbara fördelar för små- och medelstora företag att ansluta sig till kooperativa logistikplattformar, medan de drivande incitamenten baseras på externa faktorer och problem som potentiellt kan lösas genom en samarbetsplattform. Utmaningarna för att samarbeta via digitala plattformar identifierades relaterat till samarbetsprocesser, teknik och digitalisering, samt miljömässig hållbarhet. Dessa utmaningar identifierades sedan ur ett systemperspektiv för att förstå hur de påverkar problemet på flera nivåer inom logistikbranschen. Tillsammans utgör incitamenten och utmaningarna det slutgiltiga ramverket och illustrerar hur plattformar för samarbete kan förverkligas mer inom logistikindustrin.

NVDB contains information of Sweden’s roads and a large number of properties concerning them. This information is provided as open data and is commonly usedin routing. For an optimal route optimization, several attributes are needed based on the road properties. At the time that this report was written, there was no attribute for slopes. The purpose of this report was, in collaboration with the Swedish transport Administration, to develop a new property “slope” for route optimization based on fuel consumption. The development of the slope phenomenon was built with FME where a script was created that calculated inclination on road links.The script calculated the inclination using a variation of the linear equation. Where x, y and z coordinates and attributes from NVDB were used to obtain values for the equation.The testing and validation of the generated slope property was performed with route optimization in the ArcMap application. The results from route optimization and previous research show a significant reduction in fuel consumption within routes with regard to slope. / NVDB innehåller information om Sveriges vägar och ett stort antal egenskaper för vägarna. Informationen tillhandahålls som öppen data och används ofta inom ruttning. För en optimal ruttoptimering behövs det ett flertal attribut baserat på vägegenskaper. Under tiden den här rapporten skapades så saknades det ett attribut för lutning. Syftet med den här rapporten var att i samarbete med Trafikverket ta fram en ny egenskap “lutning” vid ruttoptimering baserat på bränsleförbrukning. Framtagandet av lutningsföreteelsen var uppbyggt med hjälp av FME där ett skript skapades som beräknade lutningen i väglänkarna. §Skriptet beräknade lutning med hjälp av en variation av räta linjens ekvation. Därx, y och z koordinater samt attribut från NVDB användes för att få fram värden för ekvationen. Testandet och valideringen av den framtagna lutningsegenskapen framfördes med ruttoptimering i programmet ArcMap. Resultatet av ruttoptimeringen och tidigare forskning visar markant reduktion av bränsleförbrukning inom rutter med hänsyntill lutning.