WO2001050666A9 - Programmateur de ressources exerçant un effet positif sur les couts et procede correspondant - Google Patents

Programmateur de ressources exerçant un effet positif sur les couts et procede correspondant

Info

Publication number
WO2001050666A9
WO2001050666A9 PCT/US2000/035090 US0035090W WO0150666A9 WO 2001050666 A9 WO2001050666 A9 WO 2001050666A9 US 0035090 W US0035090 W US 0035090W WO 0150666 A9 WO0150666 A9 WO 0150666A9
Authority
WO
WIPO (PCT)
Prior art keywords
frain
cost
resource exception
resource
schedule
Prior art date
Application number
PCT/US2000/035090
Other languages
English (en)
Other versions
WO2001050666A3 (fr
WO2001050666A2 (fr
Inventor
Michael S Crone
Original Assignee
Michael S Crone
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US09/476,615 external-priority patent/US7092894B1/en
Application filed by Michael S Crone filed Critical Michael S Crone
Priority to AU24529/01A priority Critical patent/AU2452901A/en
Priority to CA002397123A priority patent/CA2397123A1/fr
Publication of WO2001050666A2 publication Critical patent/WO2001050666A2/fr
Publication of WO2001050666A3 publication Critical patent/WO2001050666A3/fr
Publication of WO2001050666A9 publication Critical patent/WO2001050666A9/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/10—Operations, e.g. scheduling or time tables
    • B61L27/12—Preparing schedules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L2205/00—Communication or navigation systems for railway traffic
    • B61L2205/04—Satellite based navigation systems, e.g. global positioning system [GPS]

Definitions

  • the present invention relates to the scheduling of movement of plural units
  • freight railways share the track with passenger railways.
  • Freight trains may also be operated on an ad hoc basis to satisfy the
  • railway system generally has a signal network of track, a finite number of
  • the railway system must both attempt to schedule such trains in a way that
  • the faster train will be permitted to pass the slower train and to identify during the
  • situations may include a main track 10, a side track 20 which is selectively utilized
  • switches 22 The switches may be manually operated or may be remotely .
  • the HUT 24 may receive signals from track sensors 26 which indicate the presence of a frain on a section of frack.
  • the frain system may also include aspects 28
  • train detection sensors 26 operate along a length of frack which may
  • sections of frack are isolated into separate segments by discontinuing the frack for a
  • a voltage differential is applied between the two rails of a frack and when a
  • the frack sensors 26 between confrol points such as
  • HUT 24 is able to determine if a block of frack between confrol points is occupied, but
  • the HUT 24 may send information regarding various of the conditions
  • the safety margin is necessarily related to the precision with which the
  • ATCS American System
  • transponders are used in the ATCS system.
  • Interrogators inside a locomotive activate a transponder by emitting a signal which is detected by the fransponder.
  • Each fransponder contains a unique identification which
  • the identification information may then be sent to a computer on
  • the locomotive can use signals from its odometer to compute the locomotive's
  • the odometer error provides an uncertainty as to the
  • the position information of the train may be kept within limits.
  • the position information of the train may be kept within limits.
  • frain 11 was sided at Brovo for nearly two
  • train 88 for example, spent almost two hours of a five hour
  • frain G7 may have been able to continue to run on the frack until the Hotel
  • the frain may be sided for a period of time, i.e., the meet and
  • dispatcher may conservatively and prematurely place a train in a siding, waiting an unnecessarily long period of time for the passage of the other train.
  • the dispatcher generally controls only a portion of the rail system
  • a schedule should involve all elements or resources that are
  • the main lines can be used at capacity.
  • a first step in providing a precision confrol system is the use of an optimizing
  • boundary conditions can include things such as extrinsic traffic, (which in the U.S. is
  • the present invention may be structured to facilitate the use of new boundary conditions or constraints, or new contractual terms. For example, if a
  • the present invention determines a movement
  • the present invention incorporates into the schedule the very fine grain structure
  • locomotives by number may include the determination of the precise time or
  • movement of the frains may include all the details of frain handling, power levels,
  • the present invention provides the movement plan to the persons or
  • the movement plan can be provided merely to the
  • the movement plan may be provided to the
  • the disclosed system and method may be viewed as a transportation
  • the frain is that the stopping distance of a specific frain is a natural by-product.
  • this precision frain confrol allows the computation of the moving block guard band and permits trains to be spaced as close as their stopping distances will allow.
  • the frain movement planning system disclosed herein is hierarchial in nature in
  • This hierarchial process means that the solution space over
  • condition and frains may be moved around that constraint in an optimum manner.
  • the use of an expert system in this capacity permits the user to supply the rules
  • rule base may be that so many hours of maintenance activity on a given section of
  • the scheduler may be allowed to schedule
  • frain on one trip may cause a locomotive to be unavailable for a planned second trip
  • provided by the present invention is that it has continuous monitoring of anomalies as
  • the anomaly resolution or exception handling process can be
  • priority must be tempered and the priority function must
  • Incremental cost can be fuel cost, hourly cost of personnel, hourly use cost
  • the plan must include nonlinearities in the incremental costs to allow for the
  • a true optimization plan is one whereby the variables including the assignment
  • commodity frain may involve more resources being used. In the present invention, it is the global or the overall optimization for cost
  • the total cost includes the operating costs such as fuel and rolling stock
  • the present invention provides a novel method and apparatus
  • Figure 1 is a schematic block diagram of the prior art systems.
  • Figure 2 is a pictorial depiction of a prior art stringline used in the scheduling
  • FIG. 3 is a functional block diagram of the system of the present invention.
  • Figure 4 is a functional block diagram of the system wide planner or order
  • FIG. 5 is system flow diagram of the implementation of the resource
  • Figure 6 is a functional block diagram of the movement planner portion of the
  • Figure 7 is a functional block diagram of the physical model of Figure 6.
  • Figure 8 is a schematic illustration of system operation.
  • Figure 9 is a pictorial illustration of the multilevel absfraction of the three
  • FIG 10 is a functional block diagram of the frain controller of Figure 3 as
  • Figure 11 is a functional block diagram of a portion of the frain controller of
  • Figure 12 is a graphical representation of the ideal frajectory of the target
  • Figure 13 is a graphical representation of the simplified frajectory of the target
  • a system wide planner or order scheduler 200 may include a system wide planner or order scheduler 200,
  • a planner/dispatcher 204 a safety insurer 206 and a frain controller 208.
  • system wide planner 200 In overall terms, and as explained further below, the system wide planner 200
  • system wide planner 200 develops a coarse schedule for the use of the various
  • planner/dispatcher 204 receives the coarse schedule from the system wide planner 200
  • the movement plan may then be used by the dispatching
  • controller 308 on board the locomotive in the frains being controlled.
  • the movement plan developed by the planner/dispatcher 204 may be checked
  • the planner/dispatcher 204 may also
  • the signals to the frack elements 210 may be verified for
  • frack these parameters include, for example, the grade of the frack, its curvature and slope, and the condition of the frack bed and rails.
  • the system wide planner 200 is able to
  • all levels of the system may include frain handling constraints within
  • the planner/dispatcher 204 of Figure 3 has two processes: a planner/
  • the planner/dispatching function is
  • the movement plan is a time history of the position of the frains throughout the
  • the movement planner takes into account
  • the movement planner takes into account the speed changes and/or time
  • the movement planner accounts for the fact that the
  • frain may have to slow somewhat for switching and, particularly if the frain is stopped
  • the models of the prior art may model the travel between two
  • planner of the present invention accurately knows not only when a frain will arrive in
  • frack it may schedule meetings and passings more closely than in the
  • Fixed block rules reflect the segmentation of fracks into fixed blocks or
  • the block size was set at the distance that the
  • the movement plan In another embodiment of the present invention, the movement plan
  • Both the movement plan signals and the frack force controlling signals may be
  • the safety insurer may be any type of frack forces.
  • planner/dispatcher 204 was not sufficiently detailed, including factors such as inertia
  • the frain controller 208 would not be able to
  • identifier 310 a candidate resource determiner 314, a frain action effects calculator
  • the order scheduler 200 may also include a consfraint based
  • inference engine comprising an interval grouper 324 and a resource scheduler 330.
  • a new order for rail service may be applied via an input
  • the order may be any request
  • for rail service may include an origination point, an earliest pickup time at the
  • origination point the destination point, the latest delivery time to the destination point
  • An order may take the form of a request to move a specifically loaded train
  • each trip may require a frain resource, a sequence of frack resources, mine loading resources and a
  • the extent of planning determiner 304 also receive on an input terminal 306 the
  • a resource may be any entity which may be
  • terminal equipment such as a loader or unloader, frack segments and any fixed or
  • the extent of planning determiner 304 may also receive any schedule
  • a schedule exception may be any previously
  • the extent of planning determiner 304 may also receive any extrinsic traffic
  • Extrinsic fraffic is any fraffic which is not subject
  • prescheduled fraffic e.g., prescheduled fraffic
  • the extent of planning determiner 304 may be any suitable conventional
  • apparatus preferably appropriately programmed general pu ⁇ ose computer or a
  • the extent of planning determiner 304 provides orders to an activity ldentitier
  • An activity is an event which requires one or more resources to be assigned for
  • an activity may be the loading of a frain with a
  • the activity identifier and sequencer 310 in turn provides a list of the available
  • the activity identifier and sequencer 310 may
  • the train action effects calculator 318 also aims to calculate the train action effects of the train action effects of the train action effects of the train action effects calculator 318.
  • the frain action effects calculator 318 may be any suitable conventional appropriately
  • the calculator is
  • the time interval converter 320 may likewise be suitable conventional general
  • pu ⁇ ose or special pu ⁇ ose computer capable of converting each of the candidate
  • the output signal from the time interval converter 320 may be applied by way
  • the interval grouper 324 also receives
  • the interval grouper 324 may be any suitable conventional general or special
  • pu ⁇ ose computer capable of calculating the total time associated with the execution
  • the resource scheduler 330 which receives the interval groups also receives by
  • the scheduler 330 receives a signal from the extent of
  • the output signal from the schedule 330 is applied to any suitable
  • the output signal from the scheduler 330 is the schedule which is also
  • the resource scheduler 330 may be any suitable conventional general pu ⁇ ose
  • the extent of planning determiner 304 determines the extent of
  • the extent of planning determiner 304 uses a set of rules defined by standard
  • the orders from the extent of planning determiner 304 are received by the
  • activity identifier and sequencer 310 are used to generate an activity list. For each order, a list of activities required to satisfy the order is identified.
  • Route selection may be based upon cost analysis, upon previously
  • the activity list is, of
  • the activity list is supplied to the candidate resource determiner 314. For each
  • a particular destination such as a port for coal hauling operations may not be
  • activity list may be provided to the frain action effects calculator 318 and the time
  • 314 serves to limit the potential assignment of rolling stock and/or other resources to
  • the frain action effects calculator 318 and the time interval converter 320 are the activities which it has the capacity to perform.
  • Loading and unloading tasks may be computed by dividing the capacity of a
  • the time interval converter 320 translates the sequence of activities on the
  • the time interval converter 320 passes a list of time intervals
  • the interval grouper 324 receives the list of grouped intervals from the time
  • interval converter 320 receives the orders from the interval converter 320.
  • the interval grouper 324 also receives the orders from the interval converter 320.
  • the interval grouper 324 provides the time
  • Gaps represent the time periods which may be allowed to pass between the
  • a gap may be the existence of a siding or other capacity for holding a frain for
  • a gap e.g., one associated with the passage of a frain over a
  • interval groups are passed to the resource scheduler 330 which also
  • the resource scheduler 330 thus conducts a search for a schedule which
  • the search for an acceptable schedule may employ various
  • the interval groups are returned to the interval
  • grouper 324 for division at the gaps into smaller groups. After division, they may be
  • the resource scheduler 330 can provide a schedule which
  • schedule is also applied to the extent of planning determiner 304 as part of its data
  • the display 334 conveniently displays the resulting schedule for user
  • a popular display is a standard string-line diagram used by the
  • the resource scheduler 330 performs globally optimized scheduling of frain
  • the resource scheduler 330 is implemented in the Harris
  • shell provides a virtual engine for developing distributed algorithms which may be
  • This engine provides a consfraint propagation inferencing environment with built-in communications capabilities and a unique discrete-simulation capability.
  • the resource scheduler 330 shown in Figure 5 is a UNIX process which
  • an order also has a time interval during
  • the activity lists can be converted to a sequence of time
  • Focused simulated annealing is a distributed version of simulated annealing written in COPES. It follows the traditional flavor of simulated annealing in the
  • Variables include starting temperature and the number of temperature
  • Each routine can schedule its associated trip for modification on a random basis with
  • the time range being a variable reflecting the importance of the next move of the trip
  • the resource scheduler 330 employs a dynamic, distributed, robust, and
  • tripO_state is actually composed of trip state variables
  • tripjresource class objects defining the sequence of resources necessary to
  • Consfraints are bound to each trip and are the primary move operators to explore the
  • the time interval converter requests a schedule from the resource scheduler
  • the server_io consfraint fires and moves this request into the interface state class
  • This message contains information about the order as described earlier, search goals,
  • the op_capacity_request consfraint generates order class objects for each order, and enough frain trips to satisfy each order. It notifies the control_search
  • Confrol_search initializes the search and annealing parameters and sets up for
  • the first phase search It activates all selected trip consfraints and randomly schedules
  • the schedule for firing is a discrete-event queue reflected by
  • the confrol_search starts another annealing pass
  • a directed search process is performed to further refine
  • one is an instance of the consfraint routine bound to an instance of a trip class.
  • the change_equipment is only fired if it is determined at
  • the move_group operator is only fired at the end of phase one and if a
  • the scheduling system utilizes a cost reactive resource scheduler to minimize resource exception while at the same time minimizing the global costs associated with the solution.
  • resource exception is the amount of time that two or more resources are in conflict, e.g., the duration of time that two frains are scheduled to be using the same frack at the same time.
  • a cost reactive scheduler may be used to develop a schedule by evaluating the resource exception and the cost associated with moves resulting in a schedule which is not only resolvable, but represents a more minimal cost solution. Since the movement planner is designed as a hierarchical system, and the absfraction used for resources and movement by the scheduler leave room for the movement planner to resolve minor conflicts, the resource scheduler does not have to remove all resource exceptions for a successful solution to be found.
  • the cost reactive scheduler comes as close to this solution, i.e., target total resource exception time of 1% of the total unopposed trip time, as possible, without going under it, to minimize the resultant global cost.
  • the cost reactive scheduler is able to achieve this minimum global cost by evaluating the "goodness" of each move in terms of resource exception and cost associated with each move.
  • the cost reactive scheduler does not resolve each scheduling problem in the same way.
  • the cost reactive scheduler initially classifies the set of orders for frain resources and then generates a schedule using scaling parameters and acceptance criteria which are dependent upon the classification of the scheduling problem. For example, the cost reactive scheduler may initially classify a set of order for frain resources into one of four categories:
  • the scheduler will classify the problem as "Cost Constrained” and will emphasize cost. If it appears that there is excessive slack in the solution space, the scheduler will classify the problem as "Cost Constrained and Resource Unconstrained” and will emphasize reducing cost even more. If the scheduling problem appears to have insufficient slack to achieve the 1% target resource exception, the scheduler classifies the problem as "Resource Constrained” and will emphasize reducing resource exception at the expense of cost. All other scheduling problems may be considered ordinary and have a sfraight forward solution and may be classified as "Normal".
  • the cost reactive scheduler will determine a scaling parameter which may be applied to the resource exception or the cost associated with each move to emphasize either the resource exception or the cost as a function of the classification of the scheduling problem.
  • the cost reactive scheduler searches for moves that approach the target resource exception of 1%.
  • the cost reactive scheduler accepts a lesser solution, in order to preserve moves for later in the search phase that would not otherwise be available if the 0% resource exception solution was initially accepted.
  • the scheduler may accept a move where the result of the move results in an increase of the cost or resource exception.
  • a schedule with minimal global cost will result from searching for moves that approach the target resource exception of approximately 1% of total unopposed trip time for the set of orders for train resources.
  • FIG 12 a graphical representation of the search phase of the cost reactive scheduler is shown as a plot of resource exception versus temperature steps - where temperature steps represent the end of several move operations in the search.
  • Figure 12 shows a plot of the ideal trajectory of the 1% target resource exception as a dashed line versus the solution generated by the cost reactive scheduler as a solid line.
  • resource exception is in units of time (seconds) and more positive resource exception means an improvement.
  • a scaling parameter was used to normalize and weight a change in resource exception in a given search operation so that a change in cost could be compared directly with resource exception to determine whether the move is good or not.
  • the frajectory can be shifted up or down the resource exception axis resulting in a higher or lower final resource exception value.
  • the initial scaling parameters are chosen in an effort to achieve the 1% target resource exception.
  • the scaling parameter may comprise two components, a normalizing component and a biasing component.
  • the normalizing component is determined during a first phase of the search.
  • the biasing component is determined after each move and forces the resource exception towards the 1% frajectory.
  • the ideal frajectory was represented by a polynomial derived from a successful run of a prior art scheduler that does not contain the cost reactive modifications of the present invention.
  • the solution of the cost reactive scheduler (solid line) can be seen varying above and below the trajectory during the search.
  • the effect of the cost reactive modifications is to pull the actual values toward the frajectory.
  • FIG. 13 a simplified piece- wise linear approximation of the idealized frajectory was found to accomplish the desired goal in a more efficient manner than by deriving a polynomial to represent the experimentally determined frajectory.
  • the approximation is shown as a dashed line in Figure 13.
  • the target frajectory is represented by cost emphasis linear phase with zero slope (and an exception value of -30000 seconds in this example), followed by one with a slope like the idealized curve.
  • the maximum number of temperature steps representing the cost emphasis phase is a dependent upon the classification of the scheduling problem.
  • the goal of the cost reactive scheduler is to generate a schedule within this target range - thus insuring a low cost solution.
  • the cost reactive scheduler may receive a set of orders for frain resources (the movement of frains or utilization of other resources) which define a scheduling problem.
  • Each order will have a cost function, typically a polynomial equation associated ith it.
  • the order may also have a scheduling window associated with it i.e., earliest departure time and latest a ⁇ ival time.
  • the cost reactive scheduler will classify the scheduling problem as a function of the slack associated with the orders.
  • Slack is the accumulation for all of the orders of the differences for each trip between maximum trip time based on the scheduling window and the minimum trip time based on maximum throttle.
  • the scheduler may compare the slack associated with the scheduling problem with the total trip time for the scheduling problem, and classify the scheduling problem as Cost Constrained, Cost Constrained and Resource Unconstrained, Resource Constrained or Normal as previously discussed.
  • the scheduler should be able to achieve the target 1% resource exception and the problem may be classified as "Cost Constrained”. If the slack time associated with the scheduling problem is greater that 150% of the total unopposed trip time then the problem may be classified as "Cost Constrained And Resource Unconstrained.”
  • Another predetermined parameter may be used to determine if a problem is Resource Constrained. For example, if the resource exception time divided by the total trip time is greater than this predetermined parameter, then the resource scheduler may classify the problem as "Resource Constrained".
  • the scheduler may classify the problem as "Normal".
  • the scheduler may perform several other functions before initiating the search phase. As explained above, the scheduler will emphasize costs during the beginning of the search phase ("cost emphasis phase"). The duration of the cost emphasis phase may be based on reducing the resource exception to a specified level, or on a maximum number of moves or temperature steps. For example, the scheduler may determine the initial resource exception value and the initial cost associated with the scheduling problem. The scheduler may then determine the level to which the resource exception value must be reduced in order to stop emphasizing costs. The scheduler may also determine a maximum number of temperature steps for emphasizing costs based on the classification of the problem, with the Cost Constrained problem requiring the most temperature steps and Resource Constrained problem requiring the least temperature steps.
  • the scheduler may estimate target resource exception as a specified percentage of the total trip time by adding a percent to the total minimum trip time and dividing by 100.
  • the target resource exception may be updated periodically, e.g., after every 800 temperature steps.
  • the initial scaling parameter may be defined by the COPES database.
  • the search phase may comprise a first phase and a second phase.
  • the normalizing component of the scaling parameter may be determined and updated after every move.
  • the normalizing component may be defined as the ratio of the change in resource exception versus the change in cost.
  • the scheduler may also define the normalizing component as a function of the classification of the scheduling problem. For example, if the scheduling problem is Resource Constrained, then the scheduler may retain the largest change ratio as the scaling parameter. For all other classifications, the scheduler may retain the ratio of the average change in resource exception versus the average change in cost as the normalizing component.
  • the duration of the first phase of the search may be defined by the COPES database , e.g., the initial 100 temperature steps.
  • the normalizing component is no longer updated and remains constant throughout the second phase of the search.
  • the biasing component may be used to force the resource exception toward the target frajectory.
  • the first phase begins the search for a solution to the scheduling problem by making a random move.
  • the resulting resource exception for the problem and the cost associated with the move may be determined by applying the initial scaling factor (for the first move) to the resource exception value and the cost as a function of the classification of the scheduling problem. For example, if the problem is Cost Constrained, the cost will be weighted more heavily than the resource exception.
  • the normalizing component from the previous move is used to determine the scaling parameter for the subsequent move.
  • the biasing component may continue to be determined during the subsequent move as a function of the resource exception as compared to the target resource exception.
  • the normalizing component may be updated during each move as a function of the ratio of the change in resource exception versus the change in cost.
  • the determination of whether a move is accepted is a function of the classification of the problem, and the change in the resource and cost associated with the move. For example: a) If the change in resource exception and the change in cost are both improvements over the previous move, then the move is accepted for all classifications; b) If the change in resource exception and the change in cost are both worse, then reject the move for all classifications; c) If the if the change in resource exception is worse, but the change in cost is an improvement, accept the move if the magnitude of the change in cost is greater than the magnitude of the change in resource exception; and d) If the change in resource exception is an improvement and the change in cost is worse, accept the move if the magnitude of the change in resource exception is greater than the magnitude of change in the cost, unless
  • the search is not in the Cost Emphasis phase and the resource exception is already better than the target frajectory; or 2. the scheduling problem is Cost Constrained and the resource exception is already better than the target frajectory.
  • the scheduler may logarithmically reduce the effect of cost change as the search progresses by de-emphasizing uphill resource exception moves as the search temperature decrease, e.g., by including a log 10 factor based on the number of temperature steps.
  • the second phase of the search is similar to the first phase with the exception that the normalizing component of the scaling factor remains constant. Therefore, the scaling parameter is only adjusted as the biasing component moves the resource exception closer to the target resource exception.
  • the resource scheduler 330 globally optimizes scheduling of the frains by abstracting both frain movement and resources.
  • the use of the focused simulated annealing in COPES focuses attention on the critical areas.
  • the generation of move operators, although random, is more directed by allowing the consfraints attached to each trip to make decisions regarding the usefulness of modifications to the global solution.
  • the use of a cost reactive scheduler may be used to develop a schedule by evaluating resource exception and the cost associated with the moves to result in a schedule which is not only resolvable, but represents a minimal cost solution.
  • the order scheduler 200 provides the schedule information to the planner/dispatcher 204, a portion of which i.e., the movement planner 202, is illusfrated in greater detail in Figure 6.
  • the movement planner comprises a movement planner initializer 400, a movement planner executor 402, a physical model 404 (preferably a stand alone unit as illusfrated in Figure 8), a display, a resolution options identifier 408 and a conflict resolver 410.
  • the movement planner initializer 400 receives the schedule from the order scheduler 200 of Figure 3 through the planner/dispatcher 204.
  • the movement planner initializer 400 also receives information regarding the state of the system from any suitable conventional external source, generally from the dispatching function of the planner/dispatcher 204. This information may be developed from a variety of sources such as the geolocating system (illusfrated in Figure 10) or conventional frack sensors for determining the location of frains in the system.
  • the schedule and the data as to the state of the railway system are used along with the definition of each of the frains and their starting point to initialize the movement planner.
  • the definition of a frain may include all relevant data such as the number and type of locomotives, the number and type of cars and the weight of each of the cars.
  • the starting point of each frain includes its position of the frain in the system, its direction on the track, and its velocity.
  • the schedule includes: the originating point, a time of departure from the originating point and a destination point.
  • This data is a "state vector" which is supplied to the movement planner executive 402 along with a time interval which indicates the extent of time that the movement planner 202 should plan frain movements.
  • the movement planner initializer 400 may be any appropriately programmed general pu ⁇ ose or special pu ⁇ ose computer.
  • the movement planner executor 402 receives the schedule and state of the systems data from the movement planner initializer 400 and is connected for two-way communications with the physical model 404 and the resolution options identifier 408.
  • the movement planner executor 402 also receives information from the conflict resolver 410 and provides information to the planning/dispatching function through a terminal 406.
  • the movement planner executor may be any appropriately programmed general pu ⁇ ose or special pmpose computer.
  • the movement planner executor 402 receives and records the state vector, and uses the services of the physical model 404 to advance time in increments until (a) the physical model 404 reports a train conflict, (b) a specific stop condition occurs or (c) the simulation time interval is reached.
  • the state vector at the time of the conflict is saved and the conflict is reported by the movement planner executive 402 along with the data reporting the time history of the motion of the frains.
  • the existence of and background information relating to the detected conflict is reported by the physical model 404 to the conflict resolver 410.
  • the physical model 404 follows the motion of the frain once it has been provided by the movement planner executive 402 with data identifying the initial state, stopping condition and the time advanced interval.
  • the resolution options identifier 408 receives the notice of a conflict from the movement planner executor 402 and identifies the options available for the resolution thereof.
  • the conflict resolver 410 receives the identified opti options identifier 410 and performs an analysis based on the performance measure data received from terminal 332 of the order scheduler 200, Figure 4. This evaluation is accomplished by simulating each of the options and computing the associated performance measure or figure of merit.
  • this "best” result is reported to the movement planner executor 402 for display to the dispatcher and/or the movement plan is revised to include the alternate path, if applicable, and the simulation using the physical model 404 is repeated beginning from the initial state or other recorded state.
  • Local optimization is satisfactory in a large percentage of scenarios if the schedule provided by the order scheduler 200 of Figure 3 has been sufficiently intelligent in specifying the dispatching times. If the dispatch times are not carefully specified, local optimization may lead to "lockup", i.e., a condition in which conflicts may no longer be resolved. Lockup occurs because the resolution of one conflict leads to or limits the alternatives for resolution of another set of conflicts.
  • Global optimization may be performed using a variety of optimization techniques, preferably a version of the well known "branch and bound” technique for searching a free of alternative solutions.
  • each of the conflicts is modeled as a branch point on a decision free.
  • the search technique chooses the lowest cost alternative and continues the simulation.
  • the cost of alternatives is saved, as is the state of the system for each of the conflict points. It is possible that choosing the lowest cost solution among the alternatives may not result in the optimum overall solution.
  • the branch and bound technique allows the search to back up in the free and refract decisions previously made in order to reach a lower cost solution or avoid a lockup.
  • the movement plan available at the dispatcher terminal 406 desirably includes a suitable conventional display to display the motion of the frains until a conflict occurs, and to present the time history leading up to the conflict in a graphical form for inte ⁇ retation and resolution by a human operator.
  • the data from the optional resolution options identifier 408 may be displayed to the operator to assist him in manually resolving the conflict.
  • the conflict resolver 410 may provide a suggestion as to resolution of the conflict and that suggestion may also be displayed to the operator.
  • Consfraints considered in this description generally fall into three categories, those time constraints which are inherent in the task of filling an order, those constraints which are inherent in the structure of the railroad, and those consfraints which are explicitly specified by the user.
  • Order consfraints include the sequential nature of the activities based upon the fact that a frain cannot jump from one point to another without passing through some intermediate segments. For example, in order to load coal at a mine, a train must capture the frack segments, in the appropriate order, from the place at which the frain originates to the destination mine and only then capture the frack segment at the mine and the mine loading equipment.
  • Constraints are also inherent in the structure of the railroad. Such consfraints include gap-able elements (sidings located between segments) and single/multiple frack configurations. A wide variety of user defined consfraints may be included. These consfraints are generally time consfraints which seek to restrict the resource scheduler 330 from scheduling certain resources over certain time periods.
  • consfraint is a mine which has limited hours (e.g. daylight only) during which it can load coal. Such a consfraint would be included by limiting the resource availability to a specified interval.
  • resources such as frack or locomotives, which are out of service for maintenance during a specified time interval.
  • a frain which is not under the control of the scheduler, e.g., a passenger frain which is scheduled by an entity external to the freight frain scheduler. All of these consfraints may be included by appropriately defining the resource availability timelines.
  • the rule-based process converts orders into a form which is suited to a constraint-propagation solution and restricts the search space by eliminating certain candidate solutions, based upon a set of rales inco ⁇ orating company policy, standard operating procedures and experience factors, among others.
  • the consfraint-based process solves the problem of moving time intervals to maximize the externally supplied performance measure while satisfying all of the consfraints.
  • the result of this process is a schedule for railway operation which includes a globally optimized schedule for frain operation, maintenance activities, and terminal equipment.
  • each of the processes may be implemented as an asynchronous UNIX process with inter-process communications between the two processes implemented using a well known client server relationship based upon UNIX sockets.
  • the procedural means In the event that the procedural means is provided, it also is implemented as one or more asynchronous UNIX processes. These processes communicate using a well-known client-server inter-process communications.
  • the procedural means is used to refine the schedule to include details of the rail system. This is accomplished by simulating the operation of the railroad, identifying the conflicts in the schedule which result from the level of model absfraction used in the consfraint-based process, and adjusting the schedule to eliminate those conflicts while at the same time maximizing the performance measure.
  • the movement plan obtained by refining the schedule is returned to the rule-based processor. If for any reason, all conflicts cannot be resolved, the movement plan is returned to the rule-based processor with the conflict duly noted.
  • the rule-based processor examines the movement plan based upon set of rales depicting company policies and, if the movement plan is satisfactory, forwards the movement plan to the dispatcher for display or for use in controlling the applicable frains as described infra.
  • Orders may arrive as a batch or arrive in a sequence over a period of time.
  • the user interface 500 translates this data into "facts” and asserts them into the rule-based process.
  • the user may also add, remove, or change certain rales in the rales database for the pu ⁇ ose of including company policy and other experience factors which may change over time.
  • the user interface 500 provides data to a rale based expert system 502.
  • a variety of expert system tools are available to allow the facts to be asserted and processed by a rale-based inference engine according to the rules contained in the rale data base.
  • the prefe ⁇ ed implementation is the C-Language Integrated Production System (CLIPS) developed by NASA Johnson Space Flight Center because it is readily imbedded into a system and supports an object-oriented approach which is compatible with the consfraint-based element .
  • CLIPS C-Language Integrated Production System
  • Order specific rales include rales which identify the sequence of activities with associated resources which are required to fill an order and put the order into a structure which can be inte ⁇ reted by the consfraint based interference engine.
  • Order specific rales also include rales which determine the extent to which scheduling will be performed in the event that a prior schedule exists. For example, company policy may dictate that trips scheduled to begin within a specified time period not be rescheduled upon receipt of a new order, but may be rescheduled in the event of unforeseen delays which impact the existing schedule. These rales may be modified as new types of service, company policy, standard operating procedures, or experience factors on the handling of orders are changed.
  • a second category is rales which receive availability information from the user interface 500 and process these rales into a form which is suitable for application to the consfraint based process.
  • Availability is modified to account for extrinsic traffic, locomotives out of service for repair or maintenance, frack out of service, or other factors which affect the availability profiles.
  • a third category of rales are rales which restrict the search space for the consfraint based process. Rules are provided to determine the route to be taken to accomplish the order. In many of the larger railroads there are multiple paths which can be taken to move a frain from one point to another. This set of rales selects the optimum path based upon principals of physics, specified performance measures, standard operating procedures or and experience factors. Trains which cannot service an order because of locomotive power or terminal equipment limitations are excluded from consideration.
  • a fourth category of rales is those rales which evaluate the schedule returned by the consfraint based process and either resubmit the orders to the consfraint based process after relaxing some of the constraints, submit the schedule to the procedural means (if available), or notify the user through the user interface 500 that the request is overly constrained and cannot be scheduled.
  • a fifth category of rales are those rales which evaluate the schedule and determine if it should be replanned, i.e. if there are no conflicts present, is it acceptable according to company policy and is it complete.
  • a sixth category of rales are those which receive notification of deviations of the frains from the movement plan and determine whether or not re-scheduling should occur, and if the rescheduling should be performed by adjusting the movement plan or the schedule.
  • a request to schedule an order from a scheduler client 504 may be submitted via the client-server 508 to the consfraint based expert system 510 for scheduling.
  • the rale based expert system 502 determines the action to be taken. Depending upon the rales, this action may include rescheduling or, if the unresolved conflict is small, the schedule may be forwarded to the procedural means (if available) to resolve in the course of refining the schedule into the detailed movement plan.
  • the schedule may be passed to a dispatcher terminal/display 506 if desired for display to an operator (e.g. a dispatcher) or to automated dispatching. If the procedural process 516 is available, the schedule along with a performance measure may be passed there via the movement planner client 508 for refinement.
  • the scheduler client 504 may receive a schedule request from the rule-based expert system 502, translate it into a structure understood by the scheduler server 508 and submit it to the scheduler server 508.
  • This schedule request may includes one or more orders.
  • an order may contain information such as the total quantity of commodity (if the order is for bulk delivery), the earliest time that pickup can occur, the latest time for delivery, and a performance measure reflecting penalties for late delivery and/or incentives for early delivery.
  • the order may reflect the activities required to service the order and the resource types (e.g., frains) suitable for servicing the order.
  • an order may include a percent of full speed parameter and a slack time percent parameter.
  • the percent of full speed parameter indicates that the schedule should be built with the trains running at less than maximum speed, thus giving the movement planner more latitude in satisfying the resulting schedule.
  • the slack time percent provides a limited amount of cushion within which the movement planner can move the frain trips to assure meeting the overall schedule.
  • the schedule client 504 receives the schedule from the consfraint based system 510 via the scheduler server 508, and franslate it into a fact which can be asserted in the rale-based expert system 502.
  • the schedule server 508 receives an order in the form described above and franslate it into a form compatible with the consfraint based expert system 510. It also franslates the schedule produced by the constraint based expert system 510 into a form compatible with the scheduler client 504.
  • the scheduler server 508 and the scheduler client 504 communicate using client-server inter-process communications well known in the art.
  • consfraint propagation expert system 510 satisfies a set of consfraints describing an order asserted by the scheduler server 508. All of these consfraints may be included by appropriately defining the resource availability timelines.
  • Consfraints specified by the user include resources, such as frack or locomotives, which are out of service for maintenance and frain not under the purview of the scheduler, such as an Amfrack frain which is scheduled by an external entity.
  • the prefe ⁇ ed implementation for the consfraint based system 510 is the well known search technique known as simulated annealing. However, other search techniques such as genetic search may be suitable for some applications. Simulated annealing may be implemented using a consfraint propagation shell based upon the Waltz algorithm (described, e.g., in "Understanding Line Drawings of Scenes with Shadows," The Psychology of Computer Vision, ed. P. Winston, McGraw-Hill, New York, 1975).
  • the capability to translate the sequence of activities in the activity list to a sequence of time intervals may be provided by a commercially available frain performance calculator.
  • a custom developed process based upon the Davis Equations for frain motion or suitable conventional means may be used to of estimate the time required for a resource to complete a specified activity. If alternative resources are available for accomplishing an activity, then alternative intervals are defined for each activity. A list of intervals, grouped by resource and by time may thus be produced.
  • Intervals are grouped together in a logical way, typically initially on the basis of entire frain trips (if applicable to a particular order).
  • a gap-able interval is an interval in a group after which a gap is allowed before the next interval in the group.
  • This representation is used to represent the presence of a siding or other capability for holding a frain for an interval of time while another frain passes. Capability is provided to receive the interval groups, resources available intervals, and performance measures and conduct a search for a schedule which (a) satisfies the resource availability consfraints, (b) satisfies the interval consfraints, and (c) minimizes the performance measures.
  • the interval groups are further subdivided or gapped, the intervals regrouped and then the search is continued using the smaller time intervals.
  • the resulting movement plan is forwarded to the scheduler server 508 for return to the rule-based system. If all of the consfraints cannot be satisfied, the movement plan is returned along with an indication that the schedule has conflicts and the identification of the resources and activities involved in the conflict.
  • a display 506 is desirably provided to display the resulting movement plan for user examination.
  • a variety of means may be used to display the plan.
  • a popular approach is a standard stringline diagram used by railroads. As illusfrated in Figure 2, the stringline is a line drawing in which the position on the frack is plotted as a function of the time for each frain.
  • a movement planner client 512 is provided to franslate the schedule into the form of a request for planning which is compatible with the movement planner server 514.
  • the movement plan is received from the movement planner server 514 and translated into a form which is compatible with the rale based expert system 502.
  • the movement planner server 514 franslates the request for movement planning into a form which is compatible with the procedural system 516.
  • the server 514 also franslates the movement plan received from the procedural system 516 into a form which can be understood by the movement planner server 514.
  • the movement planner client and movement planner server 514 communicate using conventional inter-process communications.
  • the procedural system 516 receives the schedule and a state of the rail network (position of frains) from an external source and initializes a simulation capability with the definition of each of the trains and their initial point.
  • the definition of a frain includes the number and type of locomotives, the number and type of cars and the weight of the cars.
  • the position of each frain includes its position of the train, its direction on the frack, and its velocity. The motions of all of the scheduled frains is simulated until a frain conflict occurs, a specified stop condition occurs, or the simulation time interval is reached.
  • the state vector at the time of the conflict is recorded and the options available to resolve the conflict are determined. If no conflict occurs, then the movement plan is complete and it is reported to the movement planner server 514 for forwarding to the rule based system and for execution by the planning/dispatching function.
  • the options available to resolve a conflict may be enumerated.
  • Conflicts may be classified as “meets”, “passes”, “merges”, or "crossings".
  • the options for resolution of a conflict include moving one of the frains to an alternate track to await the passing of the conflicting frain.
  • the departure of a frain from its origin point or other point at which it is stopped may be delayed until the way is clear.
  • Still another option is to stop one of the frains at a point along its path to allow the other frain to move onto an alternate frack.
  • the identification of alternate track options and options for stopping along a route are enumerated beginning with those options which are closest to the point of conflict.
  • Best performance is determined by a performance measure supplied by the rale based system. Evaluation of each option is accomplished by simulating each of the options and computing the associated performance measure. If "local optimization" is employed, the movement plan is revised to include the best alternative path (if applicable), and the simulation is rolled back to the closest point back from the point at which the frains involved in the conflict fransfe ⁇ ed to an alternate frack. Local optimization is satisfactory in a large percentage of scenarios because the prior scheduling operation performs a global optimization. Global optimization may be performed using a variety of optimization techniques.
  • each of the conflicts is modelled as a branch point on a decision free.
  • the search technique chooses the lowest cost alternative and continues the simulation.
  • the cost of alternatives may be recorded, and the state of the system may be recorded periodically. It is possible that choosing the lowest cost solution among the alternatives may not result in the optimum overall solution.
  • the branch and bound technique allows the search to back up in the free and refract decisions previously made in order to reach a lower cost solution.
  • An important aspect of the present invention is the use of a physical model of the topology of the railway system in several levels of absfraction in the planning process.
  • the topology of a railway system may be represented with multiple levels of complexity. This provides not only the capability to model highly complex systems, but also to hide levels of complexity where such complexity is a detriment to the efficient utilization of the model.
  • an object-oriented rail topology model is composed of three fundamental elements, i.e., nodes, segments, and connectors.
  • a segment is used to represent a length of rail which may be single or multiple frack and is composed of an ordered collection of fragments.
  • a fragment is a piece of frack which has constant grade, constant curvature, constant speed limit, and length.
  • a node may represent a complex object and may itself contain internal structure composed of nodes, segments and connectors. Connectors are used at each end of a segment to join a segment to a node, and nodes may possess an arbitrary number of connectors. Each element of the topology is provided with a unique system identifier to enable the identification of a location by reference to the system identifier.
  • a rail network is represented as a node.
  • This rail network node contains structure which in turn can be represented as a set of nodes connected by segments.
  • This first level of complexity models a rail network as a set of frack segments connecting nodes which represent gross entities such as ports, mines, setout yards, sidings, crossovers, forks, joins, and branch points.
  • this level of detail may represent the maximum level of detail.
  • further levels of complexity may be added until the entire rail network is modelled in detail.
  • the node 900 at one end of a segment may be a siding 902 or a switch 904.
  • the node 906 may represent an entire port, with multiple nodes.
  • the use of one or more nodes within a node is particularly useful in developing different degrees of absfraction in something as simple as sections of track.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Système et procédé de programmation servant à déplacer plusieurs objets à travers un dispositif comportant des trajets multiples et décrit sous la forme de système de programmation de wagons de marchandises. Ce système de programmation met en application un programmateur de ressources permettant d'optimiser les coûts, de manière à limiter au maximum le recours à des ressources exceptionnelles, tout en minimisant simultanément les coûts globaux associés à cette solution. On peut utiliser cette programmation de déplacement afin de contribuer à la commande du mouvement de trains à travers le système ou de commander automatiquement ce mouvement.
PCT/US2000/035090 1999-12-31 2000-12-22 Programmateur de ressources exerçant un effet positif sur les couts et procede correspondant WO2001050666A2 (fr)

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