International Series in Operations Research & Management Science Volume 182 SeriesEditor: FrederickS.Hillier StanfordUniversity, CA, USA Special Editorial Consultant: Camille C. Price Stephen F. Austin State University, TX, USA (cid:70)(cid:111)(cid:114)(cid:102)(cid:117)(cid:114)(cid:116)(cid:104)(cid:101)(cid:114)(cid:118)(cid:111)(cid:108)(cid:117)(cid:109)(cid:101)(cid:115)(cid:58) http://www.springer.com/series/6161 Hamilton Emmons • George Vairaktarakis Flow Shop Scheduling Theoretical Results, Algorithms, and Applications Hamilton Emmons George Vairaktarakis Weatherhead School of Management Weatherhead School of Management Case Western Reserve University Case Western Reserve University Cleveland, OH 44106 Cleveland, OH 44106 USA USA [email protected] [email protected] ISSN 0884-8289 ISBN 978-1-4614-5151-8 ISBN 978-1-4614-5152-5 (eBook) DOI 10.1007/978-1-4614-5152-5 Springer New York Heidelberg Dordrecht London Library of Congress Control Number: 2012947403 © Springer Science+Business Media New York 2013 This work is subject to copyright. 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Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com) Στη μν´ημη των φ´ιλων μoυ Γιω´ργoυ Aγγ(cid:14)λλo´πoυλoυ και Δημ´ητρη Kωνσταντα´κη G.V. For Lin, with love H.E. Preface The idea for this monograph was born during lunch conversations between the authors. By that time, both of us had a lot of exposure in scheduling research, and observed that a constant stream of invitations to review was fillingourdesks withpapers onflowshopresearch. Wecouldn’thelpnoticing that,even though several monographsand edited volumes haveappeared on scheduling in general, most of these works survey the field by contributing a singlechapter toevery production system such as the flow shop.In contrast, flow shop systems appear to be the most studied in all of scheduling liter- ature, offering unique contributions, occupying the research efforts of many researchers around the globe. Thismonographisallaboutflowshops.Wehaveorganizedselectedresults intotendistinctflowshopsystemsandwheneverpossible,wehaveattempted to exploit the connections. We used our subjective personal discretion in se- lectingtheresults presented, andweapologizeinadvancetothose(hopefully few) in the audience whom we leave disappointed. We also include a limited number of results that have not been published before. We have sought to make the material accessible to a broad readership, and have tried hard to simplify notation and reveal unifying concepts. In all, we know of no other text dedicated to flow shop research at the breadth attempted here. It is our hope that, by organizing in one place a huge body of flow shop knowledge along distinct design features, we help scholars and practitioners to identify easily what is known in the literature on problems of interest. Moreover, we hope that results unique to flow shop research willprovide the seed for research inother areas of scheduling and in optimizationin general. Finally,ourmonographmayprovidetheimpetusformethodsandtechniques thathave been tried successfully in other areas ofoptimizationto be applied to flow shop problems that are intractable as of now. We are very grateful for the helpful suggestions of many friends and col- leagues, notable among whom are Kenneth Baker, Xiuli Chao,Sel¸cuk Kara- bati,Michael Pinedo, Ruben Ruiz, and Gideon Weiss. Also, many thanks to our Editor and friend, Frederick Hillier,forhis patience and encouragement. Hamilton Emmons and George Vairaktarakis Cleveland, OH, U.S.A. vii Contents 1 INTRODUCTION........................................ 1 1.1 Assumptions and Conventions............................ 2 1.2 Terminology ........................................... 3 1.2.1 Problem Classification and Notation ................ 5 1.3 Precedence ............................................ 7 1.3.1 Precedence versus Dominance...................... 9 1.4 The Permutation Flow Shop ............................. 10 1.5 Graphic Representation of Flow Shop Schedules ............ 11 1.6 Dominance Properties................................... 12 1.6.1 Sequencing using Dominance....................... 14 1.7 Heuristics and Worst Case Analysis....................... 16 1.7.1 Cyclic Flow Shops................................ 17 References ................................................. 18 2 THE TWO-MACHINE FLOW SHOP .................... 21 2.1 Examples.............................................. 21 2.2 F2|(perm),(pmtn)|Cmax: Johnson’s Rule.................. 22 2.2.1 F2|(perm),rj|Cmax and F2|(perm)|Lmax ............ 26 2.2.2 F2|(perm),prec|Cmax ............................. 28 2.2.3 F2|perm,sij,tij|Cmax ............................. 29 2.2.4 Manufacturing Cells .............................. 29 2.2.5 F2|sij|Cmax with a Single Server ................... 29 2.2.6 Lot Streaming ................................... 31 2.3 The Choice of Objective................................. 34 2.4 F2|(perm)|ΣC ........................................ 35 j 2.4.1 PolynomiallySolvable Cases ....................... 35 2.4.2 Lower Bounds ................................... 35 2.4.3 OptimalAlgorithms and Heuristics ................. 40 2.4.4 F2|(perm)|ΣC with Setups ....................... 42 j | | 2.5 F2 (perm) (ΣCj|minCmax).............................. 44 | | 2.6 F2 (perm) (αΣCj+βCmax).............................. 45 ix x Contents | | 2.7 F2 (perm) fmax........................................ 45 | | 2.7.1 F2 (perm),sj Lmax or Tmax ....................... 46 | | 2.8 F2 (perm) ΣT ........................................ 48 j 2.8.1 Dominance properties............................. 49 2.8.2 Lower Bounds ................................... 49 2.8.3 Branch-and-Bound Algorithms ..................... 51 2.8.4 Heuristics ....................................... 51 | | 2.8.5 F2 (perm),prep ΣT ............................. 52 j | | 2.9 F2 (perm),d =d Σw U ............................... 52 j j j | | 2.9.1 The Complexityof F2 (perm),d =d ΣU .......... 52 j j | | 2.9.2 F2 (perm),(pmtn),d =d Σw U .................. 54 j j j | | 2.10 F2 (perm),pij=uij−vijrij (Σijrij|Cmax ≤D) ............. 54 2.11 Bicriteria Objectives .................................... 55 2.11.1 Branch-and-Bound for a Bicriteria Objective......... 56 | | 2.11.2 F2 (perm) (ΣCj,Cmax) ........................... 57 2.11.3 Bicriteria InvolvingCmax and a Measure of Tardiness . 57 2.12 Related Problems ...................................... 61 2.12.1 G2|(pmtn)|Cmax ................................. 61 2.12.2 O2|(pmtn)|Cmax ................................. 62 2.12.3 S2||Cmax and S2|pmtn|Cmax ..................... 63 2.13 Closing Remarks ....................................... 63 References ................................................. 63 3 TRANSFER LAGS IN THE FLOW SHOP............... 67 3.1 Preliminaries........................................... 67 3.1.1 Applications ..................................... 68 3.1.2 Types of Lags.................................... 69 3.1.3 Notation ........................................ 72 3.2 The Two-Machine Flow Shop with Lags................... 72 3.2.1 F2|perm,(cid:4)j|Cmax................................. 73 3.2.2 When are Permutation Schedules Optimal?.......... 75 3.2.3 F2|rvrs,(cid:4)j|Cmax ................................. 76 3.2.4 F2|(cid:4)j|Cmax ...................................... 77 3.2.5 F2|(perm),prec|Cmax ............................. 80 3.2.6 Two-Stage Manufacturing Cells as Flow Shops with Lags............................................ 83 3.3 The Two-Stage Hybrid Flow Shop with Lags .............. 86 3.3.1 Preliminaries .................................... 87 3.3.2 F(k1,k2)|perm,(cid:4)j|Cmax ........................... 88 3.3.3 F(k1,k2)|rvrs,(cid:4)j|Cmax ............................ 90 3.3.4 F(k1,k2)|(cid:4)j|Cmax................................. 91 3.3.5 SummaryofPerformance RatioandComplexityResults 92 3.3.6 ComputationalExperiments ....................... 92 3.4 The m-Machine Flow Shop with Lags ..................... 93