Comparative evaluation of resource cycle strategies on operating and environmental impact in container terminals

This paper examines the use of single and dual cycle operations for three types of resources, namely, quay cranes, vehicles, and yard cranes to improve the operating efficiency and reduce the energy consumption in a container terminal. Various cycle strategies are proposed and their corresponding estimation models, describing the stowage distributions of outbound and inbound containers on a ship and the storage sharing level of blocks in the yard, are formulated to estimate the total number of cycles for the resources. Statistical analyses are conducted to evaluate and compare the effect of different cycle strategies on the cycle reductions. From the experiment results, it was found that collaboration between resources with the single cycle operation always outperforms that under the dual cycle operation without collaboration.     

Air traffic management: Optimization models and algorithms

Current air traffic control systems are mainly conceived to ensure the safety of flights by means of tactical interventions, because of the difficulty of accurately foreseeing the traffic evolution. In fact, in real traffic conditions, planes are often penalized since sometimes safety standards are redundant. Today, this management philosophy is no longer valid because of congestion phenomena which often occur in the most important terminal areas. Therefore, as to future control systems it is necessary to introduce not only more automated procedures to keep adequate safety levels, but also planning functions in order to increase the system capacity and to improve system efficiency. In recent years several studies have been carried out, new control concepts have been introduced and some optimization models and algorithms developed to improve air traffic management. In this paper a survey of our early works in this field is reported and a multilevel model of air traffic management is proposed and discussed. The functions corresponding to the on-line control, that is flow control, strategic control of flights and aircraft sequencing in a terminal area, are examined and the optimization models and solution algorithms are illustrated. Finally, relevant problems coped by recent research are mentioned and new trends are indicated.     

Heuristic approaches for solving large-scale bus transit vehicle scheduling problem with route time constraints

This paper presents new models for multiple depot vehicle scheduling problem (MDVS) and multiple depot vehicle scheduling problem with route time constraints (MDVSRTC). The route time constraints are added to the MDVS problem to account for the real world operational restrictions such as fuel consumption. Compared to existing formulations, this formulation decreases the size of the problem by about 40% without eliminating any feasible solution. It also presents an exact and two heuristic solution procedures for solving the MDVSRTC problem. Although these methods can be used to solve medium size problems in reasonable time, real world applications in large cities require that the MDVSRTC problem size be reduced. Two techniques are proposed to decrease the size of the real world problems. For real-world application, the problem of bus transit vehicle scheduling at the mass transit administration (MTA) in Baltimore is studied. The final results of model implementation are compared to the MTA's schedules in January 1998. The comparison indicates that, the proposed model improves upon the MTA schedules in all respects. The improvements are 7.9% in the number of vehicles, 4.66% in the operational time and 5.77% in the total cost.     

A comparison of different container sorting systems in modern rail-rail transshipment yards

Rail-rail transshipment yards act as central hub nodes within a railway network and enable a rapid consolidation of containers between different freight trains. To avoid an excessive movement of gantry cranes when transferring a container from one train to another, modern yards apply sorting systems where shuttle cars move containers horizontally along the spread of the yard. This paper compares four elementary sorting systems. Specifically, we compare rubber-tired and rail-mounted shuttles and differentiate whether a pure shuttle system or a lift & shuttle system is applied. In pure shuttle systems, a shuttle receives a container from a crane and transports it towards the destination crane, where it serves as a storage device until being unloaded. A lift & shuttle system applies shuttles with an integrated lifting platform, so that they are able to autonomously store and receive containers from a separate storage rack. Both alternatives exist in rubber-tired and rail-mounted versions. As the shuttles are the main driver of the investment costs, we compare the required fleet size for timely supplying given gantry crane schedules within all four systems. For this purpose, we derive suited scheduling procedures. This way, decision support for yard managers having to identify a suited sorting system and to layout a new terminal is provided.     

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.     

Metaheuristics for efficient aircraft scheduling and re-routing at busy terminal control areas

Intelligent decision support systems for the real-time management of landing and take-off operations can be very effective in helping air traffic controllers to limit airport congestion at busy terminal control areas. The key optimization problem to be solved regards the assignment of airport resources to take-off and landing aircraft and the aircraft sequencing on them. The problem can be formulated as a mixed integer linear program. However, since this problem is strongly NP-hard, heuristic algorithms are typically adopted in practice to compute good quality solutions in a short computation time. This paper presents a number of algorithmic improvements implemented in the AGLIBRARY solver (a state-of-the-art optimization solver to deal with complex routing and scheduling problems) in order to improve the possibility of finding good quality solutions quickly. The proposed framework starts from a good initial solution for the aircraft scheduling problem with fixed routes (given the resources to be traversed by each aircraft), computed via a truncated branch-and-bound algorithm. A metaheuristic is then applied to improve the solution by re-routing some aircraft in the terminal control area. New metaheuristics, based on variable neighbourhood search, tabu search and hybrid schemes, are introduced. Computational experiments are performed on an Italian terminal control area under various types of disturbances, including multiple aircraft delays and a temporarily disrupted runway. The metaheuristics achieve solutions of remarkable quality, within a small computation time, compared with a commercial solver and with the previous versions of AGLIBRARY.     

Scheduling of Intelligent and Autonomous Vehicles under pairing/unpairing collaboration strategy in container terminals

A new class of Intelligent and Autonomous Vehicles (IAVs) has been designed in the framework of Intelligent Transportation for Dynamic Environment (InTraDE) project funded by European Union. This type of vehicles is technologically superior to the existing Automated Guided Vehicles (AGVs), in many respects. They offer more flexibility and intelligence in maneuvering within confined spaces where the logistic operations take place. This includes the ability of pairing/unpairing enabling a pair of 1-TEU (20-foot Equivalent Unit) IAVs dynamically to join, transport containers of any size between 1-TEU and 1-FFE (40-foot Equivalent) and disjoin again. Deploying IAVs helps port operators to remain efficient in coping with the ever increasing volume of container traffic at ports and eliminate the need for deploying more 40-ft transporters in the very confined area of ports. In order to accommodate this new feature of IAVs, we review and extend one of the existing mixed integer programming models of AGV scheduling in order to minimize the makespan of operations for transporting a set of containers of different sizes between quay cranes and yard cranes. In particular, we study the case of Dublin Ferryport Terminal. In order to deal with the complexity of the scheduling model, we develop a Lagrangian relaxation-based decomposition approach equipped with a variable fixing procedure and a primal heuristics to obtain high-quality solution of instances of the problem.     

Coordinated scheduling models for allied airlines

Recently, as a means of forming global networks and improving operation efficiency, major air carriers have increasingly entered into alliances with other carriers. Fleet routing and flight scheduling are not only important in individual airline operations, but also affect the alliances. The setting of a good flight schedule can not only enhance allied airline operating performance, but can also be a useful reference for alliance decision-making. In this research, we develop several coordinated scheduling models, which will help the allied airlines solve for the most satisfactory fleet routes and timetables under the alliance. We employ network flow techniques to construct the models. The models are formulated as multiple commodity network flow problems which can be solved using a mathematical programming solver. Finally, to evaluate the models, we perform a case study based on real operating data from two Taiwan airlines. The preliminary results are good, showing that the models could be useful for airline alliances.     

Nonlinear programming methods based on closed-form expressions for optimal train control

This paper proposes a novel approach to solve the complex optimal train control problems that so far cannot be perfectly tackled by the existing methods, including the optimal control of a fleet of interacting trains, and the optimal train control involving scheduling. By dividing the track into subsections with constant speed limit and constant gradient, and assuming the train’s running resistance to be a quadratic function of speed, two different methods are proposed to solve the problems of interest. The first method assumes an operation sequence of maximum traction – speedholding – coasting – maximum braking on each subsection of the track. To maintain the mathematical tractability, the maximum tractive and maximum braking functions are restricted to be decreasing and piecewise-quadratic, based on which the terminal speed, travel distance and energy consumption of each operation can be calculated in a closed-form, given the initial speed and time duration of that operation. With these closed-form expressions, the optimal train control problem is formulated and solved as a nonlinear programming problem. To allow more flexible forms of maximum tractive and maximum braking forces, the second method applies a constant force on each subsection. Performance of these two methods is compared through a case study of the classic single-train control on a single journey. The proposed methods are further utilised to formulate more complex optimal train control problems, including scheduling a subway line while taking train control into account, and simultaneously optimising the control of a leader-follower train pair under fixed- and moving-block signalling systems.     

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.     

Train routing and timetabling problem for heterogeneous train traffic with switchable scheduling rules

This paper proposes a mathematical model for the train routing and timetabling problem that allows a train to occasionally switch to the opposite track when it is not occupied, which we define it as switchable scheduling rule. The layouts of stations are taken into account in the proposed mathematical model to avoid head-on and rear-end collisions in stations. In this paper, train timetable could be scheduled by three different scheduling rules, i.e., no switchable scheduling rule (No-SSR) which allows trains switching track neither at stations and segments, incomplete switchable scheduling rule (In-SSR) which allows trains switching track at stations but not at segments, and complete switchable scheduling rule (Co-SSR) which allows trains switching track both at stations and segments. Numerical experiments are carried out on a small-scale railway corridor and a large-scale railway corridor based on Beijing–Shanghai high-speed railway (HSR) corridor respectively. The results of case studies indicate that Co-SSR outperforms the other two scheduling rules. It is also found that the proposed model can improve train operational efficiency.     

Transit scheduling

This paper provides an overview of the transit operational planning process with an emphasis on certain aspects of new methodologies in scheduling. The transit scheduling system usually consists of three interelated components: (1) creation of timetables; (2) scheduling vehicles to trips; and (3) assignment of drivers. These three components are described, but with a focus on the first component because of its importance from the user's perspective. The design of a transit timetable is discussed from both a practical and an analytical viewpoint. A methodology is presented on the construction of alternative computerized public timetables, based on procedures that improve the correspondence of vehicle departure times with passenger demand. The vehicle scheduling procedure is viewed through the minimization of the number of vehicles required to carry out a fixed or variable timetable. Finally, different approaches to the crew assignment component are briefly discussed. The overview and methodologies presented in the paper suggest that most scheduling tasks can be performed automatically or in a conversational man-computer mode. The adoption of new scheduling procedures will undoubtedly increase the efficiency of each of the three components of the transit scheduling system.     

The flying sidekick traveling salesman problem: Optimization of drone-assisted parcel delivery

Once limited to the military domain, unmanned aerial vehicles are now poised to gain widespread adoption in the commercial sector. One such application is to deploy these aircraft, also known as drones, for last-mile delivery in logistics operations. While significant research efforts are underway to improve the technology required to enable delivery by drone, less attention has been focused on the operational challenges associated with leveraging this technology. This paper provides two mathematical programming models aimed at optimal routing and scheduling of unmanned aircraft, and delivery trucks, in this new paradigm of parcel delivery. In particular, a unique variant of the classical vehicle routing problem is introduced, motivated by a scenario in which an unmanned aerial vehicle works in collaboration with a traditional delivery truck to distribute parcels. We present mixed integer linear programming formulations for two delivery-by-drone problems, along with two simple, yet effective, heuristic solution approaches to solve problems of practical size. Solutions to these problems will facilitate the adoption of unmanned aircraft for last-mile delivery. Such a delivery system is expected to provide faster receipt of customer orders at less cost to the distributor and with reduced environmental impacts. A numerical analysis demonstrates the effectiveness of the heuristics and investigates the tradeoffs between using drones with faster flight speeds versus longer endurance.     

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.     

Scheduling decision styles on leisure and social activities

This paper investigates scheduling decisions associated with different types of leisure and social activities. Correlations among decisions and self-selection biases are explicitly investigated by using a sample selection model with a bivariate probit selection rule. A dataset collected in the first wave of a recent activity-travel scheduling panel survey carried out in Valencia (Spain) was used for empirical investigation. Significant differences are revealed in the empirical models for leisure and social activities in planning decisions, including different effects of temporal, companionship and demographic factors. The findings of the empirical model have important implications to travel behavior and activity-travel scheduling model developments. These results confirm the existence of different mechanisms underlying the activity-travel decision processes when leisure and social activities are of concerns. Results provide significant insights into enhancing the performances of an activity scheduling model by capturing accurate activity-travel scheduling tradeoffs in flexible activity types e.g. leisure and social activities.     

Incorporating space–time constraints and activity-travel time profiles in a multi-state supernetwork approach to individual activity-travel scheduling

Activity-travel scheduling is at the core of many activity-based models that predict short-term effects of travel information systems and travel demand management. Multi-state supernetworks have been advanced to represent in an integral fashion the multi-dimensional nature of activity-travel scheduling processes. To date, however, the treatment of time in the supernetworks has been rather limited. This paper attempts to (i) dramatically improve the temporal dimension in multi-state supernetworks by embedding space–time constraints into location selection models, not only operating between consecutive pairs of locations, but also at the overall schedule at large, and (ii) systematically incorporate time in the disutility profiles of activity participation and parking. These two improvements make the multi-state supernetworks fully time-dependent, allowing modeling choice of mode, route, parking and activity locations in a unified and time-dependent manner and more accurately capturing interdependences of the activity-travel trip chaining. To account for this generalized representation, refined behavioral assumptions and dominance relationships are proposed based on an earlier proposed bicriteria label-correcting algorithm to find the optimal activity-travel pattern. Examples are shown to demonstrate the feasibility of this new approach and its potential applicability to large scale agent-based simulation systems.     

Prospects for computer aided railway scheduling: perspectives from users and parallels from mass transit

Railway scheduling faces new challenges as competition and, in many parts of the world, privatisation require ever better results, both in terms of minimising the resources used and maximising the performance achieved by those resources. It is therefore surprising that in practice railway scheduling tasks appear to be performed largely without the use of optimizing models. This paper takes two different perspectives, a case study of user needs from the UK railway industry and a comparative analysis with mass transit scheduling systems, to consider why this might be and assesses what the future prospects are for computer aided railway scheduling.

A number of conclusions are drawn: that optimization models need to be integrated with software packages that meet schedulers' data management needs; that researchers need to work with commercial developers to achieve this integration; that there needs to be an emphasis on extending models to cover more real‐life circumstances; and that solutions with international applicability should be sought.     

Modeling activity conflict resolution strategies using scheduling process data

Developments in activity scheduling process data have recently allowed for much improvement and validation of rule-based activity scheduling models. The use of actual scheduling process data allows for a potentially more realistic model in terms of how the travel episodes are actually derived. Since these types of models are simulations of the scheduling process, scheduling conflicts naturally arise in the creation of the final schedule. The handling of these scheduling conflicts is a critical component of all rule-based activity models. Many of these models rely on the concept of priority of the activities to resolve conflicts. However, recent research has shown that this is often not how conflicts are actually resolved. In order to more accurately model actual conflict resolution behavior, scheduling process data was used to estimate conflict resolution rules using decision trees. The use of a conflict resolution model allows the strategy chosen to depend on the attributes of the individual and the conflicting activities, rather than assuming a prior definition of precedence based on the activity types. The conflict resolution decision showed reasonable ability to predict the resolution strategy chosen in actual scheduling process survey data, and represents an important advance in developing a functional computational process model of activity scheduling.     

Evolutionary crew scheduling with adaptive chromosomes

This paper presents an adaptive evolutionary approach incorporating a hybrid genetic algorithm (GA) for public transport crew scheduling problems, which are well-known to be NP-hard. To ensure the search efficiency, a suitable chromosome representation has to be determined first. Unlike a canonical GA for crew scheduling where the chromosome length is fixed, the chromosome length in the proposed approach may vary adaptively during the iterative process, and its initial value is elaborately designated as the lower bound of the number of shifts to be used in an unachievable optimal solution. Next, the hybrid GA with such a short chromosome length is employed to find a feasible schedule. During the GA process, the adaptation on chromosome lengths is achieved by genetic operations of crossover and mutation with removal and replenishment strategies aided by a simple greedy algorithm. If a feasible schedule cannot be found when the GA’s termination condition is met, the GA will restart with one more gene added. The above process is repeated until a feasible solution is found. Computational experiments based on 11 real-world crew scheduling problems in China show that, compared to a fuzzy GA known to be well performed for crew scheduling, better solutions are found for all the testing problems. Moreover, the algorithm works fast, has achieved results close to the lower bounds obtained by a standard linear programming solver in terms of the number of shifts, and has much potential for future developments.     

Market mechanism design for profitable on-demand transport services

On-demand transport services in the form of dial-a-ride and taxis are crucial parts of the transport infrastructure in all major cities. However, not all on-demand transport services are equal: not-for-profit dial-a-ride services with coordinated drivers significantly differ from profit-motivated taxi services with uncoordinated drivers. In fact, there are two key threads of work on efficient scheduling, routing, and pricing for passengers: dial-a-ride services; and taxi services. Unfortunately, there has been only limited development of algorithms for joint optimization of scheduling, routing, and pricing; largely due to the widespread assumption of fixed pricing. In this paper, we introduce another thread: profit-motivated on-demand transport services with coordinated drivers. To maximize provider profits and the efficiency of the service, we propose a new market mechanism for this new thread of on-demand transport services, where passengers negotiate with the service provider. In contrast to previous work, our mechanism jointly optimizes scheduling, routing, and pricing. Ultimately, we demonstrate that our approach can lead to higher profits and reduced passenger prices, compared with standard fixed price approaches, while also improving efficiency.