This paper presents the optimal batch scheduling of a multi-product dairy process using an approach that combines optimization and constraint programming techniques. A suitable model describing the subprocesses and production rules is developed allowing to obtain scheduling constraints relating the production process and the machines available together with their relative efficiencies. After the scheduling problem has been formulated, the batch scheduling of a real powder milk/yogurt process is obtained in an optimal manner using the proposed approach with the objective of meeting customers' deadlines considering the efficiencies/costs of available alternative machines. Results using real consumer orders on some representative scenarios corresponding to the dairy production plant used as a case study are provided. This application shows a formulation closer to the engineering problem description thanks to the constraint-based language that facilitates the adaptation of the optimization objectives and constraints to real applications.
Portal del coneixement obert de la UPC http://upcommons.upc.edu/e-prints Aquesta és una còpia de la versió author's final draft d'un article publicat a la revista Energy Policy.
In this chapter, the problem of fault-tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on an Robust Unknown-Input Observer (RUIO) that allows to estimate the fault as well as the robot state. This fault estimation scheme is integrated with the control algorithm that is based on a observer-based state feedback control. After the fault occurrence, from the fault estimation, a feedforward control action is added to the feedback control action to compensate the fault effect. To cope with the robot non-linearity, its non-linear model is transformed into a Takagi-Sugeno model. Then, the statefeedback and RUIO are designed using an LMI-based approach considering a gainscheduling scheme. To illustrate the proposed fault-tolerant scheme a mobile service robot TIAGo, developed by PAL robotics, is used.
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