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DOI: http://dx.doi.org/10.1016/j.cie.2016.02.023
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Please cite this article as: Bagheri, M., Devin, A.G., Izanloo, A., A Two-Stage Stochastic Programming Approach
for Nurse Scheduling Problem in a Real Word Hospital, Computers & Industrial Engineering (2016), doi: http://
dx.doi.org/10.1016/j.cie.2016.02.023
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Mohsen Bagheri1, Ali Gholinejad Devin*2, Azra Izanloo*3
1
Department of Industrial Engineering
Sadjad University of technology, Mashhad, Iran
M_Bagheri@sadjad.ac.ir
2
Department of Industrial Engineering
Sadjad University of technology, Mashhad, Iran
Al.Gh130@sadjad.ac.ir
3
MSc in Medical Education
Research and Education Department, Razavi Hospital, Mashhad, Iran
A.izanloo@yahoo.com
1
A Two-Stage Stochastic Programming Approach
for Nurse Scheduling Problem in a Real Word
Hospital
ABSTRACT
Given its complexity and relevance in healthcare, the well-known Nurse Scheduling Problem (NSP) has
been the subject of several researches and different approaches have been used for its solution. The
importance of this problem comes from its critical role in healthcare processes as NSP assigns nurses to
daily shifts while respecting both the preferences of the nurses and the objectives of hospital. Most
models in NSP literature have dealt with this problem in a deterministic environment, while in the real-
world applications of NSP, the vagueness of information about management objectives and nurse
preferences are sources of uncertainties that need to be managed so as to provide a qualified schedule. In
this study, we propose a stochastic optimization model for the Department of Heart Surgery in Razavi
Hospital, which accounts for uncertainties in the demand and stay period of patients over time. Sample
Average Approximation (SAA) method is used to obtain an optimal schedule for minimizing the regular
and overtime assignment costs, with the numerical experiments demonstrating the convergence of
statistical bounds and moderate sample size for a given numerical experiment. The results confirm the
validity of the model.
1 Introduction:
The NSP is a well-known combinatorial optimization problem that has encouraged many researchers
to develop exact and (meta-) heuristic approaches to obtain a qualified solution. The NSP involves
constructing a schedule for nursing staff and assigning nurses to different shifts based on individual and
system preferences within the framework of government regulations.
Given its various constraints, objectives and many possible combinations, NSP is a complex
problem. In the NSP, the nurse manager creates a schedule based on nurse preferences and/or scheduling
requirements. Here, the problem is finding a schedule that both supports the preferences of nurses and
satisfies the individual and system preferences as well as government regulations.
Since there are a plethora of constraints and many possible solutions for NSP, different approaches
such as optimization, artificial intelligence and heuristic and meta-heuristic approaches have been used to
solve it. In the following, an overview of literature is presented.
In the early 1970s, (Warner, 1967) presented a multiple-choice programming in which each nurse
described a group of variables each of which serving as a possible schedule for that nurse in the planning
horizon. (Millar & Kiragu, 1998) provided a mathematical model for minimizing nurse assignment costs
in both cyclic and non-cyclic types for NSP.
2
(Venkataraman & Brusco, 1996) presented a mixed-integer liner programming for evaluating nurse
preference and management regulations. (Ozkarahan, 1989) proposed a flexible decision support system
that sought to satisfy the preferences of both hospitals and nurses. (Jaumard, et al, 1998) proposed a
generic binary linear programming model for NSP with the aim of minimizing salary costs and
maximizing both nurse preferences and team balance so as to satisfy the demand coverage constraints.
(Klinz, et al, 2007) proposed two mathematical models to minimize the total number of work shifts. (Bard
& Purnomo, 2005) offered an integer programming model for nurse assignment for both regular and pool
nurses under different conditions to satisfy the demands stipulated in the planning horizon.
(Hattori, et al, 2005) presented a nurse scheduling system based of Constraint Satisfaction Problem
(CSP) with different levels of importance and subject to dynamic change. (Parr & Thompson, 2007) used
Sawing and Noising with simulated annealing in NSP to ensure the sufficiency of nurse demands in each
shift. (Punnakitikashem, et al, 2008) proposed a stochastic integer programming model for NSP to
minimize the workload penalty on nurses and satisfy the expected demands in the planning horizon. (Fan,
et al, 2013) used binary integer linear programming to maximize nurse preferences and hospital
regulations. (Li & Aickelin, 2004) used the Bayesian optimization and classifier systems for NSP to
minimize the total preference cost of nurses in the planning horizon.
(Topaloglu & Selim, 2007) used a fuzzy goal programming model for NSP to measure uncertainty in
an objective evaluation of hospital regulations and nurse preferences. (Topaloglu & Selim, 2010)
proposed a multi-objective integer programming for NSP to both produce an equitable schedule for nurses
and satisfy hospital management objectives. (Maenhout & Vanhoucke, 2007) presented a novel
electromagnetism meta-heuristic technique for the NSP to minimize the total pattern penalty costs in the
planning horizon. (Landa-silva & Le, 2008) used a multi-objective approach to cope with real-world
uncertainties in NSP. To do so, they used an evolutionary algorithm to achieve high-quality non-
dominated schedules.
(Tsai & Li, 2009) presented a two-stage mathematical modeling approach for the NSP with respect to
hospital management requirements, government regulations, and nurse preferences. (Ohki, et al, 2010)
used a new approach using cooperative genetic algorithm (CGA) to solve NSP. (Zhang, et al, 2011)
proposed a hybrid Swarm-based optimization algorithm in hospital environments that incorporated
genetic algorithm and variable neighborhood search to address highly-constrained NSP with respect to
hospital management requirements.
In Table 1. A brief classification of models in literature is presented.
In the real-world applications of NSP, the vagueness surrounding the target values of management
and nurse preferences are a source of uncertainties that need to be addressed to provide a high-quality
schedule. For this purpose, the basic parameters such as the demand and patient-stay period are stochastic
in nature and the distribution of these parameters is determined from historical data.
The rest of this article is organized as follows: in Section 2, the proposed optimization model for NSP
is presented and the structure of the model is investigated. In Section 3, the solution approach is
introduced with a detailed description of SAA method. Numerical experiments are presented in Section 4.
Finally, concluding remarks are made in Section 5.
3
2 The Model for Nurse Scheduling Problem
In the following, the indices, parameters, variables and our mathematical model describes Stochastic
Nurse Scheduling Problem (SNSP).
{Please insert Table.2 about here}
4
The main objective of the model is to minimize the regular and overtime assignment costs. Let
be the corresponding probability of scenario and . (1), ensures that nurse
1 and 2 are assigned to shift one in allowed dates. According to hospital regulations, nurses 1 and 2 (head
nurses) should be assigned to shift one (morning shift) in working days. In this hospital, no one is allowed
to work on two consecutive afternoon and night shifts. (2) Applies this constraint. If a nurse is assigned to
a night shift, he/she is not allowed to work in the following days. (3) Considers this limitation. (4) Shows
that every nurse should work at least 26 shifts, knowing that shift 3 (night shift) has a double work load
compared to shifts 1 and 2 (morning and afternoon shifts). (5) Shows how empty beds in shift j at date t
can be calculated from total beds available and the number of patients that are present in shift j in date t.
(6-9) calculate the number of accepted patients in shift j in date t considering the remaining capacity. (10)
Shows the total number of patients present in shift j in date t. (11-14) computes additional nurses in shift j
in date t. For this purpose, if the number of available nurses is less than required, the number of overtime
nurses will be a positive value, as calculated by (14).
In this research and are assumed to be uniformly (discretely) distributed: and
for
An exact solution can be achieved by enumeration for a small-size problem. However, if the size of
problem is increased, the model may become unmanageable. In this article, Sample Average
Approximation (SAA) algorithm has been used as a solution strategy for Stochastic Nurse Scheduling
Problem. To apply SAA algorithm, the SNSP is reformulated using recourse action model and the basic
properties of the new formulation are investigated.
In the second-stage problem, is the recourse action unit cost vector and the recourse matrix
determines the available technology. We will use to characterize all randomness in the
problem. The objective function of this second-stage problem, which determines the minimum recourse
action costs as a function of the first-stage decision x and a realization of , is defined by ; the
expectation = provides the recourse action expected costs associated with a first-stage
decision . Thus, the two-stage recourse action model is:
5
Where, indicates the total expected costs of a decision , (Stougie, et al, 2003). The SNSP
can be formulated using the following recourse model.
6
Given the large random data vector , it is highly difficult to evaluate the value of as it
involves solving a large number of similar Integer Linear Programming (ILP). (Birge, J. Louveaux, F,
1997) Since, it is difficult to provide an exact solution of the proposed model, the following structure of
the SNSP2 is proposed to give an approximation.
3 Solution approach: Sample Average Approximation
Suppose we have a sample of N replications of the random vector so that each ,
has the same probability distribution. We can approximate the value of expectation
function by = averaging . Thus, the true (expectation)
problem is equal to (Shapiro, A. and Philpot, A., 2007). The following
mathematical model explains the SAA problem of the SNSP with a sample size of N.
St:
7
(Ahmed, S., et al, 2002) proposed a general SAA algorithm for this type of Stochastic Discrete
Optimization Problem (SDOP). The procedure is as follows:
Suppose is the number of replications in the sample, is the number of scenarios in the sample
problem, and is the number of sample used to estimate for a given feasible
solution .
1. For , perform step 1.1 through 1.3
1.1 Generate sample .
1.2 Solve the proposed problem and let and for optimal objective function value and
optimal solution.
1.3 Generate independent random samples and evaluate the objective function value
and variance for feasible solution . There are different methods to obtain a feasible
solution , including a deterministic problem with expected value parameters known the
Expected Value Problem (EVP). Another method is solving a problem without stochastic
constraints, which is used for a two-stage stochastic problem.
2. Calculate and .
In the algorithm, we can obtain a lower bound (LB) and an upper bound (UB) for the true optimal
value by estimating and respectively, (Mak, et al, 1999). Is an unbiased estimator of
optimal objective function that Here is an unbiased estimator of
the true objective value, but
8
4 Numerical experiments
4.1 Example data
This section describes a case study conducted in the Department of Heart Surgery in Razavi Hospital.
In this department, there are sixteen nurses ( ), a head nurse and an assistant head nurse
( ) with 31 working days each divided into 3 shifts (Morning, Afternoon and Night). The
system capacity (total available beds) is 25 beds.
To evaluate the discrete distribution of the number of new patients arriving in shift j in date t and
the number of shifts that a patient k remains in system, the actual data of the hospital were analyzed.
The disruption of these stochastic parameters is estimated as: and
for the estimated regular and overtime assignment costs
for each shift are 15$ and 18$ respectively. Coverage factor of a nurse is considered , meaning
that each nurse can support five patients.
Figure 1 demonstrates the SAA algorithm optimal solution changes relative to different sample
sizes of N. Although the original sample space in SNSP model is extremely large, a high-quality
solution can be obtained by a relatively small sample size. For the solution of numerical experiment, a
sample size of 100 can provide an acceptable solution.
The sample size (i.e. the size of scenario set ) in numerical experiments is calculated by the
sample size of and which are the possible realization of the number of new patients arriving in
shift j as well as the number of shifts that patient k remains in the system respectively.
All experiments are not needed to evaluate the effects of variable sizes in our SNSP model. It is
proven by (Shapiro & Mello, 2001), however, the sample size required to obtain optimal solutions
and optimal values functions is logarithmical to the variable size. Therefore, the required sample size
increases linearly proportional to a rise in the number of new patients arriving in shift j and number of
shifts that patient k remains in system. The results concerning the achievement of optimal solutions
and optimal values show the convergence of the SAA solutions with exponential rates.
The EVP solution is obtained by substituting random parameters and by their mean values
and then solving the deterministic problem. The results of solving SNSP model shows that the
deterministic problem (EVP) yields unsatisfactory solutions.
We can obtain a lower bound (LB) and an upper bound (UB) for true optimal solutions and
optimal values as functions by estimating and respectively. The former is an unbiased
estimator of the optimal objective function in which In estimating the
lower bound, we can generate independent samples of the uncertain parameters, each with the size
9
and by solving the corresponding SAA problems, the optimal objective values can be
obtained Then, it can be estimated that:
The assignment of nurses to optimal sequence in the planning horizon is demonstrated in Table 3.
When assigning nurses to regular and overtime shifts, the proposed deterministic constraints should
be considered.
{Please insert Table.4 about here}
10
A summary of the simulation procedure and the gap calculation between stochastic nurse
scheduling problem (SNSP) and expected value problem (EVP) is given in Figure 2. Arbitrarily, the
run length is determined as 100 iterations. The results of solving SNSP model show that the solution
presented by the deterministic problem (EVP) is less desirable than the one provided by the SAA
problem, and there is an evident difference between SNSP and EVP solutions.
{Please insert Figure.2 about here}
5 Conclusions
In the real-world applications of the NSP, multiple sources of uncertainty derived from
management objectives and nurse preferences should be considered to provide qualified schedules. In
this paper, the uncertainties related to the demand and stay period of patients have been addressed in
this study. The distribution of stochastic variables is determined from historical data. This study
proposes a two-stage stochastic optimization model for nurse scheduling in accordance with Razavi
Hospital regulations in an uncertain environment. Sample Average Approximation (SAA) algorithm
was used to solve the proposed model and numerical experiments were conducted for a model with
real data in Razavi Hospital. Then, the convergence of statistical bounds with the moderate sample
size was studied. Finally, a simulation study was conducted to show the advantages of SNSP over
EVP.
There are several venues of research in the field of nurse scheduling problem. First, since patients
may have multiple diagnoses during their stay in a hospital unit, different types of priority, demand
and stay period can be considered. Second, given the stochastic demand for resources in a hospital
unit, a model can be designed that regard the service level in determining the number of nurses.
Finally, the education, experience and skill of nurses should be included as important factors in their
assignments, so that we can evaluate the restriction of nurse assignments in the first stage based on
these factors.
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Ozkarahan, I. (1989). A flexible nurse scheduling support system. Comput Methods Programs Biomed, 30(2-3),
145-153.
11
Jaumard, B., Semet, F., & Vovor, T. (1998). A generalized linear programming model for nurse scheduling.
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Klinz, B., Pferschy, U., & Schauer, J. (2007). ILP Models for a Nurse Scheduling Problem. In K.-H. Waldmann &
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Bard, J. F., & Purnomo, H. W. (2005). Short-term nurse scheduling in response to daily fluctuations in supply and
demand. Health Care Manag Sci, 8(4), 315-324.
Hattori, H., Ito, T., Ozono, T., & Shintani, T. (2005). A Nurse Scheduling System Based on Dynamic Constraint
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3533, pp. 799-808): Springer Berlin Heidelberg.
Parr, D., & Thompson, J. M. (2007). Solving the multi-objective nurse scheduling problem with a weighted cost
function. Annals of Operations Research, 155(1), 279-288. doi: 10.1007/s10479-007-0202-4
Punnakitikashem, P., Rosenberger, J., & Buckley Behan, D. (2008). Stochastic programming for nurse assignment.
Computational Optimization and Applications, 40(3), 321-349. doi: 10.1007/s10589-007-9084-2
Fan, N., Mujahid, S., Zhang, J., Georgiev, P., Papajorgji, P., Steponavice, I., . . . Pardalos, P. (2013). Nurse
Scheduling Problem: An Integer Programming Model with a Practical Application. In P. M. Pardalos, P. G.
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Li, J., & Aickelin, U. (2004). The Application of Bayesian Optimization and Classifier Systems in Nurse
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A. Kabn & H.-P. Schwefel (Eds.), Parallel Problem Solving from Nature - PPSN VIII (Vol. 3242, pp.
581-590): Springer Berlin Heidelberg.
Topaloglu, S., & Selim, H. (2007). Nurse Scheduling Using Fuzzy Multiple Objective Programming. In H. Okuno &
M. Ali (Eds.), New Trends in Applied Artificial Intelligence (Vol. 4570, pp. 54-63): Springer Berlin
Heidelberg.
Topaloglu, S., & Selim, H. (2010). Nurse scheduling using fuzzy modeling approach. Fuzzy Sets and Systems,
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Tsai, C.-C., & Li, S. H. A. (2009). A two-stage modeling with genetic algorithms for the nurse scheduling problem.
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375-382): Springer Berlin Heidelberg.
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12
Table 1 A brief review of literature on the NSP
13
Author Objective Property Approach
hospital management and the nurse preferences and hospital information system
scheduling fairness. regulations
Creating an effective mutation
operator and an effective
Ohki, M., Uneme, S. y., Minimizing penalty function for parallel processing algorithm Cooperative genetic
18
& Kawano, H. (2010). evaluating shift schedules for cooperative genetic algorithm (CGA)
algorithm (CGA) to solve the
NSP
Proposing a combination of Genetic algorithm,
Maximizing the quality of
Zhang, Z., Hao, Z., & different heuristic and variable
19 objectives with respect to the
Huang, H. (2011). meta-heuristic methods to solve neighborhood
importance of constraints
NSP search
Parameters
Normal cost of nurse assignment in shift j
Overtime cost of nurse assignment in shift j
Total number of beds in each shift
Empty capacity of shift j in date
Number of new patient arriving in shift j in date
Maximum number of allowed patients in shift j in date
Number of shifts that patient k in date (entered in shift j) remains in the system
Coverage factor of a nurse ( is considered )
A binary variable that indicates whether patient k (presented shift w) is still at shift j or
not.
Total number of patients in shift j in date
Variables
1 if nurse is assigned to shift j in date
0 otherwise
Additional nurses in shift j in date
Demand for nurses in shift j in date
14
3 (19806.21404 , 19811.71366) (20020.27404 , 20028.34196) 25.4349
4 (19811.71366 , 19831.85828) (20029.06666 , 20036.84534) 24.9471
5 (19831.85828 , 19852.00291) (20011.48128 , 20018.97072) 22.4337
6 (19852.00291 , 19882.14753) (20010.63391 , 20017.83409) 22.1149
7 (19882.14753 , 19885.32416) (20006.66853 , 20013.57947) 22.0253
8 (19885.32416 , 19886.62078) (20017.09316 , 20023.71484) 21.8301
9 (19886.62078 , 19885.23541) (20011.06778 , 20017.40022) 21.8120
10 (19885.23541 , 19906.34397) (20016.00841 , 20022.05159) 21.3209
20 (19906.34397 , 19907.13565) (20013.89303 , 20019.64697) 19.8278
30 (19907.13565 , 19919.08928) (20023.02565 , 20028.49035) 18.8230
40 (19919.08928 , 19939.1599) (20019.92428 , 20025.09972) 18.2574
50 (19939.1599 , 19947.30453) (20006.6709 , 20011.5571) 17.4816
100 (19947.30453 , 19803.41741) (20000.12453 , 20004.72147) 11.5266
15
Table 4 The assignment of nurses in optimal sequence in plannig horizon
13 13 92 92 92 92 92 92 91 99 93 93 32 81 81 81 81 81 81 81 88 81 9 1 1 1 2 1 1 1 8
M M M M M M M M M M M M M M M M M M M M M M M M M M 3
M M M M M M M M M M M M M M M M M M M M M M M M M M 9
- M/N M/A M M/A M/A - N - M/N M/A M/A M/A M/A - M/N M/A M A M M/A M - N A - M/N M/A M/A - M/N 1
- N A A - N M - N A A M - M/N A M A - M/N M - - N - M/N M 2
- N - M/N - M/N M/A - N M/A M/A - M/N - N M/A M/A - M/N M/A M/A A - N M/A M/A A M/A M/A M/A 2
M/N M/A A M A - M/N M - N A A A M -- N M - N - N M/A A A A - N A 2
M/A A - N M/A - N M/A A - N M M/A - N M/A M/A M/A A - N A - M/N - N M A 2
- N M A - N M/A A M/A A M/A A M/A - M/N A - N - M/N M/A A - N A A A A 2
A M/A - N A M/A A A A A - N A - N - N A - N A A - N A 2
N A A M/A M - M/N A - N - N A - N - N M M A A - N M A M 33
N - N - N A A A - M/N M/A M A M M A - N A A - N A 33
A A - N A - N M - N - N A - N - N - N M/A A - N A - N 39
N A N - N A - M/N A - N A A - N A - N - N A A - N A 31
A A A - N - N - N - N A - N - N - N - N - N - N A - N A 32
M/N - N A - N A A - N A A A A A M M - M/N M - N A 32
M M/A M/A A A A - N - N - N - N A A - N A A - N A A A - N 32
M - N - M/N - N A - N - N A - N A A M A - N - N A - N 32
A A - N A - N - N M A - N A - N - N M/A - N A - N - N 32
16
4
x 10
2.015
EVP
LB
2.01
UB
2.005
Objective Value
1.995
1.99
1.985
1.98
0 10 20 30 40 50 60 70 80 90 100
SAMPLES
x 10
4 Gap calculation
2.05
EVP
SNSP
2.04
2.03
Total Cost
2.02
2.01
1.99
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100
Iteration
17
Figure 3 Simulation procedure
18
Acknowledgement
We would like to express our gratitude to the Research and Education Department of Razavi
Hospital for their support throughout this study. Also, the authors acknowledge the Surgery Group of
Razavi Hospital for their sincere assistance during this research.
19
Highlights
Modeling nurse scheduling problem which considers uncertainties.
Sample Average Approximation (SAA) method is used to obtain an optimal schedule.
A case study conducted in Department of Heart Surgery in Razavi Hospital.
The main objective of the model is to minimize the total costs.
The problem SNSP was formulated using the recourse model.
20