Control of interacting machines in automated container terminals using a sequential planning approach for collision avoidance

The control of automated container terminals is complex since Quay Cranes (QCs), Automated Guided Vehicles (AGVs) and Automated Stacking Cranes (ASCs) interact intensively for transporting containers, while collision avoidance of equipment must be ensured. This paper proposes a methodology to generate collision-free trajectories of free-ranging AGVs in automated container terminals, while minimizing the makespan of the whole container handling system. A hierarchical control architecture is proposed to integrate the scheduling of interacting machines and trajectory planning of AGVs. Following a so-called overall graph sequence by a scheduler, the collision-free trajectories of AGVs are determined by solving a collection of mixed integer linear programming problems sequentially. Simulation results illustrate the potential of the proposed methodology.     

Sequencing twin automated stacking cranes in a block at automated container terminal

In the considered automated container terminal (ACT) that is designed for Shanghai Yangsha Terminal, two automated stacking cranes (ASCs) are configured for each block and they interact with automated lifting vehicles (ALVs) at the two ends of a block individually. To increase the capacity, container yards with multiple rows of blocks perpendicular to the terminal’s shoreline are considered. To utilize the yard spaces, the twin ASCs are devised to share the same tracks installed at the two sides of a block, while interferences between the ASCs challenge the routing and sequencing operations. To isolate the control and simplify the coordination of the two ASCs, the interference between ASCs is formulated by analyzing the minimal temporal intervals between any two tasks. Three models are then established to sequence the container handling tasks under the minimization of the makespan. An exact algorithm and a genetic algorithm are designed to solve the problem. Numerical experiments show that the algorithms are competitive comparing to on-the-shelf solvers. Practical implications are investigated based on the formulations and experimental results. The managerial implications and technological aspects of applying the formulations and algorithms to practical situations to real-world ACTs are discussed.     

Cluster analysis of the competitiveness of container ports in Brazil

The container cargo proportion of total maritime transport increased from 3% in 1980 to 16% in 2011. The largest Brazilian port, the port of Santos, is the 42nd largest container port in the world. However, Santos’ performance indicators are much lower than those of the world’s largest ports, so comparisons with them are difficult. This article focuses on the Brazilian container terminals that handled containers in 2009 and compares port competitiveness. This study classified seventeen Brazilian container terminals into three distinct groups based on the following competitiveness criteria: number of containers handled, berth length, number of berths, terminal tariffs (in US$), berth depth, rate of medium consignment (in containers/ship), medium board (containers/hour), average waiting time for mooring (in hours/ship), and average waiting time for load or unload cargo (in hours/ship). This classification used a hierarchical cluster analysis. The classification shows that the terminal of Tecon in the port of Santos has the best performance of all, while small terminals (<150,000 container units) are the worst performing terminals in Brazil.     

The container retrieval problem with respect to relocation

The demand for container terminal yards is growing significantly faster than the supply of available land; therefore, containers are typically stacked high to better utilize the land space in container yards. However, in the process of container retrieval, non-productive reshuffling may be required to relocate the containers that are stacked on top of the target container. Container retrieval is directly related to the operational efficiency of terminals. Because the industry has become increasingly competitive, it has become critical to introduce a systematic approach to retrieving containers. In this study, we develop a heuristic that can generate feasible working plans for rail-mounted gantry cranes (RMGC) in container yards to minimize the number of container movements while taking the RMGC working time into consideration. The methodology takes into consideration the case that containers are grouped in terms of their retrieval order. Multi-lift RMGC models also are studied. Comprehensive numerical experiments reveal that the method runs faster than other methods published in the literature by several orders of magnitude; additionally, our method is able to solve instances larger than practical use. The number of movements approaches a theoretical lower bound, and the numerical results clearly demonstrate the tradeoff between the number of movements and the working time, and provide useful insights for yard planning.     

A study of economic efficiency in port security inspection

The purpose of this paper is to study an economic efficiency for the prediction of additional truck turnaround time and for determining the number of the port security inspection equipment required at a terminal inspection station. The economic efficiency with six base models was developed to assist terminal operators' decision‐making. In addition, this study developed an optimal procedure that terminal operators could use to optimally run in terms of various statistics processes including exponential, deterministic, and others, seeking a solution that was beneficial for both terminal operators and truckers. As a result of this research of the additional cargo turnaround time for port security delay, the following conclusion can be drawn and made. The average additional delay time in the inspection station is very dependent on the inspection rate of the lower stage. The higher weighted inspection time based on raising security level allows less number of trucks to be inspected, which will derive high delay in the inspection station. Increase of rate of Green Lane usage will allow a decrease in the arrival rate, which may derive improvement of inspection equipment efficiency and average delay time at the inspection station. In multiple stage model, total number of trucks and delay time very closely follow those of low inspection stage rate and number of inspection units. Free Lane is to be followed by Customs‐Trade Partnership Against Terrorism and standardization of customs, packing, loading and unloading, documents, procedure, and exchange working in each country. Copyright © 2012 John Wiley & Sons, Ltd.     

Automated shunting of rail container wagons in ports and terminal areas

The development of intermodal container transport is hampered in part by the cost associated with the shunting of trains in marshalling yards, inland and port railway terminals. Many new technologies have been developed in the past decade, but have still not been applied because of high capital investment costs, lack of sufficient market demand and uncertain rates of return. The key for increasing the competitiveness of intermodal container transport by rail is the operation of heavy haul container trains between port and inland railway terminals more frequently with fast, flexible and automatic transhipment, shunting and coupling of container wagons. The operation of self-driven railcars equipped with automatic centre coupling on terminal tracks, which can also be train-hauled on conventional hinterland railway lines, would enable a reduction of shunting and transhipment time and costs in intermodal container terminals by more than 30%.     

The impact of competition on container port (in)efficiency

There are many studies on container port efficiency and that seek to understand what factors, such as technical and scale efficiency, private versus public terminal management or macro-economic factors, play on the efficiency score of a given port. There are fewer studies that focus on the role played by the inter-port competitive environment. This role remains difficult to assess. In fact, on the one hand, a port subject to high inter-port competition may record higher efficiency scores due to the pressure from the competitive environment. On the other hand, a port subject to high competition may be forced to over-invest and could therefore records a lower efficiency score. This article investigates this issue and examines how the degree of competition measured at different levels (local, regional and global level) impacts the efficiency score of a given container port. To do so, we implement a truncated regression with a parametric bootstrapping model. The model applied to information gathered for 200 container ports in 2007 and 2010 leads to the following conclusions: port efficiency decreases with competition intensity when measured in a range of 400–800 km (regional level); and the effect from competition is not significant when competition is measured at a local (less than 300 km) or at a global (more than 800 km) level. Estimates also show a tendency for ports who invested from 2007 to 2010 to experience a general decrease in efficiency scores, an element which could be explained by the time lag between the investment and the subsequent potential increase in container throughput.     

Intermodal freight transport planning – A receding horizon control approach

This paper investigates intermodal freight transport planning problems among deep-sea terminals and inland terminals in hinterland haulage for a horizontally fully integrated intermodal freight transport operator at the tactical container flow level. An intermodal freight transport network (IFTN) model is first developed to capture the key characteristics of intermodal freight transport such as the modality change phenomena at intermodal terminals, physical capacity constraints of the network, time-dependent transport times on freeways, and time schedules for trains and barges. After that, the intermodal freight transport planning problem is formulated as an optimal intermodal container flow control problem from a system and control perspective with the use of the proposed IFTN model. To deal with the dynamic transport demands and dynamic traffic conditions in the IFTN, a receding horizon intermodal container flow control (RIFC) approach is proposed to control and to reassign intermodal container flows in a receding horizon way. This container flow control approach involves solving linear programming problems and is suited for transport planning on large-sized networks. Both an all-or-nothing approach and the proposed RIFC approach are evaluated through simulation studies. Simulation results show the potential of the proposed RIFC approach.     

Performance analysis of cargo-handling equipment from a green container terminal perspective

This study employs a green container terminal perspective to compare the performance of four types of cargo handling equipment used in container yards – automatic rail, rail, electric tire, and tire transtainers – based on working efficiency, energy saving performance, and carbon reductions. It is found that automatic rail and electric tire transtainers are the optimal types of green cargo handling equipment.     

Modeling the cost sensitivity of intermodal inland waterway terminals: A scenario based approach

Cost characteristics of differently sized inland waterway terminals (IWTs) have not received much scientific attention. This observation is remarkable given the importance of costs in transportation decision-making. Classification of differently sized IWTs and their cost structure will lead to more insight into the container cost per terminal. Therefore, the goal of our research was to determine both the characteristics of the cost structure associated with different inland waterway (IWW) container terminal types and the sensitivity of the system to cost/TEU changes in input and operational conditions. We show that terminals with a higher container throughput encounter fewer costs, and can therefore charge a lower price. Assumed delays of 2 h per day on the waterside cause a 4.7–6.6% cost increase per container, mainly caused by extra labor costs. It is also assumed that the changing climate will influence terminal operations and results in extreme water levels (lasting two weeks occurring four times a year) causing a cost increase of 1.0–3.4%. Subsidies can cause cost reductions of 0.3–10.4% depending on the exact form, with the smaller terminals benefiting more because their investment costs are higher relative to operational costs. A subsidy can lower costs by up to 10.4%, but it is questionable whether small and medium terminals will have a lower cost price than the market price, showing that it is important for small and medium terminals to quickly grow in size.     

The impact of job assignment rules for straddle carriers on the throughput of container terminals

Straddle carriers represent a critical resource in the handling of containers within a container terminal. It is essential that they are deployed in an as efficient manner as possible. The research presented in this paper is motivated by the need to critically evaluate job assignment rules for straddle carriers that operate in a multiple straddle environment. This is achieved by developing a discrete event simulation model using industrial simulation software to model a container terminal located in Melbourne, Australia. The model accounts for variables such as the number of straddle carriers needed, the speed of straddle carriers, the arrival rate of trucks, and the job assignment rule. A principal finding of the study is that increasing the number of straddles in the present set‐up from 6 to 7 has a negligible effect on daily throughput. However, an increase in the number of straddles to 7 is expected to have a profound effect on reducing the average waiting time of trucks within the terminal from over 16 minutes to under 9 minutes, a decrease of 46.5%. However, a further increase in the number of straddles results in no further increase in daily throughput. It was observed that the throughput of the terminal is very sensitive to the speeds at which straddles travel. The management of the terminal has proposed a new heuristic job assignment rule for straddles, because the present rule does not assign the jobs to straddles closest to the truck requesting to load or unload a container. As a result a new heuristic job assignment rule was tested. The simulation results revealed that both the old and new rules performed equally well using performance indicators such as average container flow time, daily throughput, average waiting time of jobs, number of jobs in the queue, and straddle utilisation. Therefore, the new rule will not improve these performance measures if implemented     

Collaborative truck scheduling and appointments for trucking companies and container terminals

Appointment systems for truck arrivals at container terminals have been applied in many ports to reduce truck congestion. This study suggests a new appointment process by which trucking companies and terminals collaboratively determine truck operation schedules and truck arrival appointments. This study formulates a mathematical model involving a sub-problem for each trucking company to determine the optimal dispatching schedules for trucks and the other sub-problem for the terminal to estimate the expected truck system time in each time interval. An iterative collaboration process is proposed based on a decomposed mathematical formulation. Numerical experiments are conducted to investigate the performance of the decision process and the robustness of the process in practical operation conditions.     

A container terminal simulation model with animation capabilities

The objective of this paper is to introduce a computer simulation model with on-screen animation graphics, which can simulate the operations of a container terminal equipped with straddle carriers. The movements of the equipment are simulated as realistically as possible, to include time losses due to the mismatch in the sequence of equipment movements and to traffic congestion. Trucks are normally served in a specified area, but in some cases, straddle carrier drivers can call the truck to be served directly in the container storage areas. The experience of operators is incorporated in the model, in the form of a knowledge base, that is used to simulate the above process and determine the service discipline. The model was designed to evaluate different configurations (changes in yard layout, equipment number and productivity, truck arrival pattern and service discipline) of the simulated system. The proposed model was used to examine the differences between “the observed” operations strategy and the strategy dictated by the operational rules of the port of Piraeus. The results indicate that “the observed” strategy leads to shorter truck service time but increase the traffic conflicts in the terminal's internal transport networks.     

A set-covering model for a bidirectional multi-shift full truckload vehicle routing problem

This paper introduces a bidirectional multi-shift full truckload transportation problem with operation dependent service times. The problem is different from the previous container transport problems and the existing approaches for container transport problems and vehicle routing pickup and delivery are either not suitable or inefficient. In this paper, a set covering model is developed for the problem based on a novel route representation and a container-flow mapping. It was demonstrated that the model can be applied to solve real-life, medium sized instances of the container transport problem at a large international port. A lower bound of the problem is also obtained by relaxing the time window constraints to the nearest shifts and transforming the problem into a service network design problem. Implications and managerial insights of the results by the lower bound results are also provided.     

A study of container berth allocation

This study is based on a major container terminal operator in Hong Kong. Container terminals form a link in the transport chain for transhipment and temporary storage of containers. The service time for vessels including waiting time for berthing must be minimal in order to reduce costs for shipping lines. The use of heuristics and computer simulation to measure different allocation strategies is demonstrated. The existing performance measures of allocation are evaluated and prioritized. Three sets of allocation policies are developed to tackle the day-to-day allocation problems with a view to increasing operational efficiency and enhancing customer service levels. Results show that all three proposed allocation policies have substantial improvements over the existing policy.     

Foreign participation and competition: A way to improve the container port efficiency in China?

This paper investigates how the involvement of foreign and local ownerships, intra- and inter-port competition and hinterland affect the container terminal efficiency in China and its neighboring countries. The operational efficiency of sample container terminals is estimated by data envelopment analysis, which is followed by regression analysis to examine factors affecting container terminal efficiency. We find that having some Chinese ownership may make a container terminal more efficient, while a container terminal is less efficient with Chinese as the major shareholder. It is also found that intra- and inter-port competition may enhance container terminal efficiency. Finally, the efficiency growth of terminals is examined, and implications for the regional economic disparity in China are discussed.     

Lane‐based optimization of traffic equilibrium settings for area traffic control

Area traffic control is an important element in Intelligent Transportation System (ITS). This paper extends the lane‐based optimization method to a traffic equilibrium network, which improves the operational performance of signal‐controlled network. We formulate a decomposition approach to simultaneously optimize the lane markings and signal settings for a signal‐controlled network that comprises two levels of optimization. At the junction level, the lane markings, control sequence, and other aspects of the signal settings are optimized for individual junctions, whereas at the network level, the group‐based signal settings are optimized to take into account the re‐routing characteristics of travelers and signal coordination effects that are based on a TRANSYT traffic model, which is a well‐known procedure for evaluating the performance of signal‐controlled networks. We use a numerical example to demonstrate the effectiveness of the proposed methodology.     

How do economies of density in container handling operations affect ships’ time and emissions in port? Evidence from Norwegian container terminals

Efficient port services are prerequisites for competitive and sustainable maritime transports. This paper makes advances in studying the determinants of the time that ships spend in port and the associated emissions to air. We estimate a production model for cargo handling based on a unique dataset containing each port of call at the largest container terminals in Norway in 2014. In turn, we use auxiliary engine emission factors to estimate particulate matter and nitrogen oxide emissions from ships at berth, to determine how the corresponding damage costs of air pollution vary with container throughput, location, and terminal investments. We find that Norwegian container terminals operate under increasing returns to density. Small ships that unload few containers are far from reaping economies of density, leading to high marginal time requirements for container handling and consequently high marginal external costs. From a Pigouvian taxation perspective, port charges should therefore be regressive in the number of containers handled. Moreover, we find that the external costs of maritime transports are severely understated when port operations are ignored. Our model allows determining the marginal productivities of port facilities. Thereby, it is instrumental in designing port charges that are diversified according to the quantity of containers handled and the service quality (i.e., the speed of handling operations). Regarding contextual factors, we find that establishing high-frequent liner services improves the ship working rate, while simultaneous calls at a terminal impede productivity. The type of container (loading/unloading; empty/laden) also appears to influence the duration of ship working.     

Automated guided vehicle system for two container yard layouts

The explosive growth in the freight volumes has put a lot of pressure on seaport authorities to find better ways of doing daily operations in order to improve the performance and to cope with avalanches of containers processing at container terminals. Advanced technologies, and in particular automated guided vehicle systems (AGVS), have been recently proposed as possible candidates for improving the terminal’s efficiency not only due to their abilities of significantly improving the performance but also to the repetitive nature of operations in container terminals. The deployment of AGVS may not be as effective as expected if the container terminal suffers from a poor layout. In this paper, simulation models are developed and used to demonstrate the impact of automation and terminal layout on terminal performance. In particular, two terminals with different but commonly used yard configurations are considered for automation using AGVS. A multi attribute decision making (MADM) method is used to assess the performance of the two terminals and determine the optimal number of deployed automated guided vehicles (AGVs) in each terminal. The simulation results demonstrate that substantial performance can be gained using AGVS. Furthermore, the yard layout has an effect on the number of AGVs used and on performance.     

Storage space allocation in container terminals

Container terminals are essential intermodal interfaces in the global transportation network. Efficient container handling at terminals is important in reducing transportation costs and keeping shipping schedules. In this paper, we study the storage space allocation problem in the storage yards of terminals. This problem is related to all the resources in terminal operations, including quay cranes, yard cranes, storage space, and internal trucks. We solve the problem using a rolling-horizon approach. For each planning horizon, the problem is decomposed into two levels and each level is formulated as a mathematical programming model. At the first level, the total number of containers to be placed in each storage block in each time period of the planning horizon is set to balance two types of workloads among blocks. The second level determines the number of containers associated with each vessel that constitutes the total number of containers in each block in each period, in order to minimize the total distance to transport the containers between their storage blocks and the vessel berthing locations. Numerical runs show that with short computation time the method significantly reduces the workload imbalance in the yard, avoiding possible bottlenecks in terminal operations.