scheduling theory, algorithms, and systems

Scheduling Michael L. Pinedo Scheduling Theory, Algorithms, and Systems Fourth Edition permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Springer New York Dordrecht Heidelberg London ISBN 978-1-4614-1986-0 e-ISBN 978-1-4614-2361-4 DOI 10.1007/978-1-4614-2361-4 © Springer Science+Business Media, LLC 201 All rights reserved. This work may not be translated or copied in whole or in part without the written Mathematics Subject Classification (2010): Library of Congress Control Number: 2 68Mxx, 68M20, 90Bxx, 90B35 Michael L. Pinedo New York New York University NY, USA 2011945105 mpinedo@stern.nyu.edu To Paula, Esti, Jaclyn, and Danielle, Eddie, Jeffrey, and Ralph, Franciniti, Morris, Izzy, and baby Michael. H F r W pr a t i n t h H en r r ed e W ar r in c t th e n 1 9 h e o ry L e ri c I t o c i p l e e a n 9 18 . o ri gi L a u ck W o e e s i n n u . T h i na l u re n W . e val i n h u al h e G l s, b n ce Ta y uat h is me e G a n b ot h G y lo r e p p a p e ti n n tt c h i n H E ant t r . H p ro d p er ng o c ha r n pu E N R t w H e d d uc t “E f o f t r ts c u r po R Y w as d ev e t io n f fi c t he c ur r o se L A ( 1 a n e lo p n s c c ie n A m r en an d A U R 1 86 1 n i n p e d c he d n c y m er i tl y d i n R E 1 -1 9 n du d hi d ul e an d i ca n in u n d e N C 9 1 9 str i s n o e s. d D n S o u se e si gn C E G 9 ) i al o w G a D e m o ci e ar e n . GA en g fa m a ntt m oc r e t y e t y A N T g in e m o u di s r ac y of yp ic T T e er u s c s cu s y ,” M e all y a n c ha r s se d wh e ch a y a n d a r ts d d t h ich a ni c si m a d d u r h e u h e c al mp l i d is c r in g u n d e p r e E n i fic a c i p l e g W d erl y e se ng i n a ti o e o W orl d y in g nte d n ee r o n o o f d g d r s o f Preface Preface to the First Edition Sequencing and scheduling is a form of decision-making that plays a crucial role in manufacturing and service industries. In the current competitive environment effective sequencing and scheduling has become a necessity for survival in the market-place. Companies have to meet shipping dates that have been committed to customers, as failure to do so may result in a significant loss of goodwill. They also have to schedule activities in such a way as to use the resources available in an efficient manner. Scheduling began to be taken seriously in manufacturing at the beginning of this century with the work of Henry Gantt and other pioneers. However, it took many years for the first scheduling publications to appear in the industrial engineering and operations research literature. Some of the first publications ap- peared in Naval Research Logistics Quarterly in the early fifties and contained results by W.E. Smith, S.M. Johnson and J.R. Jackson. During the sixties a significant amount of work was done on dynamic programming and integer pro- gramming formulations of scheduling problems. After Richard Karp’s famous paper on complexity theory, the research in the seventies focused mainly on the complexity hierarchy of scheduling problems. In the eighties several different directions were pursued in academia and industry with an increasing amount of attention paid to stochastic scheduling problems. Also, as personal comput- ers started to permeate manufacturing facilities, scheduling systems were being developed for the generation of usable schedules in practice. This system design and development was, and is, being done by computer scientists, operations researchers and industrial engineers. This book is the result of the development of courses in scheduling theory and applications at Columbia University. The book deals primarily with machine scheduling models. The first part covers deterministic models and the second part stochastic models. The third and final part deals with applications. In this last part scheduling problems in practice are discussed and the relevance of the theory to the real world is examined. From this examination it becomes vii viii Preface clear that the advances in scheduling theory have had only a limited impact on scheduling problems in practice. Hopefully there will be in a couple of years a second edition in which the applications part will be expanded, showing a stronger connection with the more theoretical parts of the text. This book has benefited from careful reading by numerous people. Reha Uz- soy and Alan Scheller Wolf went through the manuscript with a fine tooth comb. Len Adler, Sid Browne, Xiuli Chao, Paul Glasserman, Chung-Yee Lee, Young- Hoon Lee, Joseph Leung, Elizabeth Leventhal, Rajesh Sah, Paul Shapiro, Jim Thompson, Barry Wolf, and the hundreds of students who had to take the (re- quired) scheduling courses at Columbia provided many helpful comments which improved the manuscript. The author is grateful to the National Science Foundation for its continued summer support, which made it possible to complete this project. Michael Pinedo New York, 1994. Preface to the Second Edition The book has been extended in a meaningful way. Five chapters have been added. In the deterministic part it is the treatment of the single machine, the job shop and the open shop that have been expanded considerably. In the stochastic part a completely new chapter focuses on single machine scheduling with release dates. This chapter has been included because of multiple requests from instructors who wanted to see a connection between stochastic scheduling and priority queues. This chapter establishes such a link. The applications part, Part III, has been expanded the most. Instead of a single chapter on general purpose procedures, there are now two chapters. The second chapter covers various techniques that are relatively new and that have started to receive a fair amount of attention over the last couple of years. There is also an additional chapter on the design and development of scheduling systems. This chapter focuses on rescheduling, learning mechanisms, and so on. The chapter with the examples of systems implementations is completely new. All systems described are of recent vintage. The last chapter contains a discussion on research topics that could become of interest in the next couple of years. The book has a website: http://www.stern.nyu.edu/~mpinedo The intention is to keep the site as up-to-date as possible, including links to other sites that are potentially useful to instructors as well as students. Many instructors who have used the book over the last couple of years have sent very useful comments and suggestions. Almost all of these comments have led to improvements in the manuscript. Reha Uzsoy, as usual, went with a fine tooth comb through the manuscript. Salah Elmaghraby, John Fowler, Celia Glass, Chung-Yee Lee, Sigrid Knust, Preface ix Joseph Leung, Chris Potts, Levent Tuncel, Amy Ward, and Guochuan Zhang all made comments that led to substantial improvements. A number of students, including Gabriel Adei, Yo Huh, Maher Lahmar, Sonia Leach, Michele Pfund, Edgar Possani, and Aysegul Toptal, have pointed out various errors in the original manuscript. Without the help of a number of people from industry, it would not have been possible to produce a meaningful chapter on industrial implementations. Thanks are due to Heinrich Braun and Stephan Kreipl of SAP, Rama Akkiraju of IBM, Margie Bell of i2, Emanuela Rusconi and Fabio Tiozzo of Cybertec, and Paul Bender of SynQuest. Michael Pinedo New York, 2001. Preface to the Third Edition The basic structure of the book has not been changed in this new edition. The book still consists of three parts and a string of Appendixes. However, several chapters have been extended in a meaningful way, covering additional topics that have become recently of interest. Some of the new topics are more methodological, whereas others represent new classes of models. The more methodological aspects that are receiving more attention include Polynomial Time Approximation Schemes (PTAS) and Constraint Program- ming. These extensions involve new material in the regular chapters as well as in the Appendixes. Since the field of online scheduling has received an enormous amount of attention in recent years, a section focusing on online scheduling has been added to the chapter on parallel machine scheduling. Two new classes of models are introduced in the chapter on more advanced single machine scheduling, namely single machine scheduling with batch pro- cessing and single machine scheduling with job families. Of course, as in any new edition, the chapter that describes implementations and applications had to be revamped and made up-to-date. That has happened here as well. Two new software systems have been introduced, namely a system that is currently being implemented at AMD (Advanced Micro Devices) and a generic system developed by Taylor Software. For the first time, a CD-ROM has been included with the book. The CD- ROM contains various sets of power point slides, minicases provided by com- panies, the LEKIN Scheduling system, and two movies. The power point slides were developed by Julius Atlason (when he taught a scheduling course at the University of Michigan-Ann Arbor), Johann Hurink (from the University of Twente in Holland), Rakesh Nagi (from the State University of New York at Buffalo), Uwe Schwiegelshohn (from the University of Dortmund in Germany), Natalia Shakhlevich (from the University of Leeds in England). [...]... Application-Specific Systems 17.6 Implementation and Maintenance Issues 459 460 462 467 470 476 479 18 Design and Implementation of Scheduling Systems: More Advanced Concepts 18.1 Robustness and Reactive Decision Making 18.2 Machine Learning Mechanisms 18.3 Design of Scheduling Engines and Algorithm... Detailed Scheduling System 19.2 IBM’s Independent Agents Architecture 19.3 Real Time Dispatching and Agent Scheduling at AMD 19.4 ASPROVA Advanced Planning and Scheduling 19.5 Preactor Planning and Scheduling Systems 19.6 Taylor Scheduling Software 511 512 516 519 524 529 534 Contents xvii 19.7 LEKIN - A System... other scheduling features, that are not mentioned here, have been studied and analyzed in the literature Such features include periodic or cyclic scheduling, personnel scheduling, and resource constrained scheduling 2.3 Classes of Schedules In scheduling terminology a distinction is often made between a sequence, a schedule and a scheduling policy A sequence usually corresponds to a permutation of the... undergone a number of enhancements and corrections The presentations and proofs of various results in Chapters 4 and 5 have been changed and simplified Chapter 6 now contains a new section that focuses on proportionate flow shops Chapter 19 contains a significant amount of new material as well; two new sections have been added that describe the Asprova APS and the Preactor scheduling systems The other chapters... 16.2 Cyclic Scheduling of a Flow Line 16.3 Scheduling of a Flexible Flow Line with Limited Buffers and Bypass 16.4 Scheduling of a Flexible Flow Line with Unlimited Buffers and Setups 16.5 Scheduling a Bank of Parallel Machines with Jobs having Release Dates and Due Dates ... Schwiegelshohn) University of Leeds (Natalia Shakhlevich) 2 Scheduling Systems (a) LEKIN (New York University - Michael Pinedo and Andrew Feldman) (b) LiSA (University of Magdeburg - Heidemarie Braesel) (c) TORSCHE (Czech Technical University - Michal Kutil) 3 Scheduling Case (a) Scheduling in the Time-Shared Jet Business (Carnegie-Mellon University - Pinar Keskinocak and Sridhar Tayur) 4 Mini-Cases (a) (b) (c) (d)... 454 17 Design and Implementation of Scheduling Systems: Basic Concepts 17.1 Systems Architecture 17.2 Databases, Object Bases, and Knowledge-Bases 17.3 Modules for Generating Schedules 17.4 User Interfaces and Interactive Optimization 17.5 Generic Systems vs... Algorithms and Schemes 589 589 592 595 598 E Complexity Classification of Deterministic Scheduling Problems 603 F Overview of Stochastic Scheduling Problems 607 G Selected Scheduling Systems 611 H The Lekin System 615 H.1 Formatting of Input and Output... and Algorithm Libraries 18.4 Reconfigurable Systems 18.5 Web-Based Scheduling Systems 18.6 Discussion 485 486 491 496 500 502 505 19 Examples of System Designs and Implementations 19.1 SAP’s Production Planning and Detailed Scheduling System 19.2 IBM’s Independent Agents... Methods and Rolling Horizon Procedures 15.3 Constraint Programming 15.4 Market-Based and Agent-Based Procedures 15.5 Procedures for Scheduling Problems with Multiple Objectives 15.6 Discussion 399 400 402 407 411 418 424 16 Modeling and Solving Scheduling Problems in Practice 16.1 Scheduling . Scheduling Michael L. Pinedo Scheduling Theory, Algorithms, and Systems Fourth Edition permission of the publisher (Springer. Design of Scheduling Engines and Algorithm Libraries . . . . . . . . 496 18.4 ReconfigurableSystems 500 18.5 Web-BasedSchedulingSystems 502 18.6 Discussion 505 19 Examples of System Designs and Implementations. Discussion 424 16 Modeling and Solving Scheduling Problems in Practice . . . . . 431 16.1 SchedulingProblemsinPractice 432 16.2 CyclicSchedulingofaFlowLine 435 16.3 Scheduling of a Flexible Flow