Energy-Aware Integrated Scheduling for Quay Crane and IGV in Automated Container Terminal
Abstract
:1. Introduction
1.1. Background and Motivation
1.2. Literature Review
1.2.1. Integrated Scheduling in Container Terminal
- (1)
- Integrated scheduling of QC and horizontal transportation equipment
- (2)
- Other integrated scheduling problems
1.2.2. Energy Saving and Emission Reduction in Container Terminal
1.3. Research Gaps
- (1)
- To mitigate QC delay, some studies opt for an excessive number of horizontal transport vehicles. However, this configuration provides limited actual effectiveness in reducing QC delay, diminishes the utilization rate of transport vehicles, and elevates transportation energy consumption;
- (2)
- Previous studies have arbitrarily determined the loading order of containers, overlooking the influence of the ship’s actual stowage on this order. When formulating the ship’s stowage plan, constraints such as preventing heavy containers from exerting pressure on lighter ones, heeling moment limitations, and avoiding placing containers in midair significantly impact the loading sequence;
- (3)
- Most studies uniformly define the loading and transportation speed of containers. However, they overlook the impact of container weight on equipment loading rates. The operational speed of equipment varies based on the weight category of containers;
- (4)
- Some studies address the operational process of QC and horizontal transportation equipment in distinct stages. This approach undermines the linkage between the two operational phases, hinders the flexible operation of equipment, and adversely affects the quality of the final scheduling scheme.
2. Problem Description and Formulation
2.1. Problem Description
- (1)
- The stacking yard is equipped with an ample number of yard cranes, eliminating the need for IGVs to wait in the yard;
- (2)
- Details including the destination port, weight, and quantity of the containers to be loaded have been provided. All containers are of uniform size;
- (3)
- All IGVs transport containers with uniform power. The operation process maintains a consistent speed. Containers of varying weights are transported at distinct speeds. Path conflicts among IGVs are not taken into account;
- (4)
- All QCs load containers with uniform power and operate on a shared track. Loading containers of varying weights incurs distinct time durations. QCs maintain a minimum safe operating distance of one bay;
- (5)
- Unforeseen circumstances such as equipment failure, adverse weather effects, and temporary operational schedule adjustments are ignored.
2.2. Definition of Notations and Variables
2.3. Mathematical Model
2.3.1. Objective Function
2.3.2. Constraints
- (1)
- IGV operational constraints
- (2)
- QC operational constraints
- (3)
- Ship stowage constraints
3. Solution Design
3.1. Standard Sparrow Search Algorithm
3.2. Improved Sparrow Search Algorithm
3.2.1. Cat Chaotic Mapping
3.2.2. Adaptive t-Distribution Mutation
3.3. Encoding and Decoding
3.4. Overall Flow of DMSSA
4. Numerical Experiments
4.1. Instances Generation and Parameters Setting
4.2. Results and Analysis
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Literature | Problem | Objective | Method |
---|---|---|---|
Tan et al. [24] | QCSP | Time and Energy | CPLEX |
Li et al. [25] | QCSP | Time and Energy | Branch-and-bound Algorithm |
Zhong et al. [26] | QCSP | Time and Energy | EMOEA |
Yue et al. [27] | QASP | Energy | Enumeration Algorithm |
Karam et al. [28] | BACATAP | Energy | Lagrangian Solution |
Hong et al. [29] | BACATAP | Time and Energy | Genetic Algorithm |
Zheng et al. [30] | P_QAY | Emissions | Genetic Algorithm |
Zhong et al. [31] | P_QAY | Energy | Bi-level Genetic Algorithm |
Sun et al. [32] | P_QAY | Time and Energy | SA-GA |
Jiang et al. [33] | BQCASP | Emissions | Adaptive Genetic Algorithm |
Notation | Description |
---|---|
I | The set of containers. S and E denote the start and the end of the loading operation, respectively. IS = I ∪ [1]. IE = I ∪ [2,3]. |
i, j | The index of each container. |
Q | The set of QCs. |
q | The index of each QC. |
V | The set of IGVs. |
v | The index of each IGV. |
Ni | The moment when a QC completes loading container i. |
Oi | The time required for a QC to load container i. |
P | The time it takes for a quay crane to traverse one bay width. |
M | A large enough positive number. |
Ri | The moment when a IGV completes transporting container i. |
Sil | The time required for an empty IGV to move from the QC operating area to the yard to receive container i. |
Siu | The time required for a IGV to transport container i from the yard to the QC operating area. |
t1 | The time required for a QC to load a light container. |
t2 | The time required for a QC to load a heavy container. |
v0 | The moving speed of IGV with no load. |
v1 | The moving speed of IGV under light load. |
v2 | The moving speed of IGV under heavy load. |
a | The index of each bay. |
UaS | The start time of the operation on bay a. |
UaE | The end time of the operation on bay a. |
A | The set of bays. S and E denote the start and end of the operation at the bays. AS = A ∪ [4]. AE = I ∪ [5]. |
AF | The set of bays in the forward half of the ship. |
AA | The set of bays in the back half of the ship. |
lq | The first bay to be served by QC q. |
B | The set of stacks in a bay. |
b | The index of each stack. |
BL | The set of stacks on the larboard side. |
BR | The set of stacks on the starboard side. |
C | The set of layers in a bay. |
c | The index of each layer. |
wi | The weight of container i. |
wab | The weight of containers in stack b within bay a. |
ei | Container i has a weight type, denoted by values 1 and 2, representing light and heavy containers. |
f | The width of a container is 2.438 m. |
g | The gap between containers is 0.3 m. |
α | Moment sensitivity factor, taking the value of 10 t. |
HM | Heeling moment. HM = (B − 1) (f + g) α/2. |
LG | Maximum longitudinal weight difference. |
E1 | Energy consumption per unit time for QC loading. |
E2 | Energy consumption per unit time for QC waiting. |
E3 | Energy consumption per unit time during QC waiting, attributed to IGV delays or disruptions by other QCs. |
E4 | Energy consumption per unit time for IGV transporting a container. |
E5 | Energy consumption per unit time for IGV movement without a load. |
E6 | Energy consumption per unit time during IGV waiting caused by QC delay. |
Variable | Description |
---|---|
Equal to 1 if QC q loads container j immediately after loading container i, and 0 otherwise. | |
Equal to 1 if QC q loads container i, and 0 otherwise. | |
Equal to 1 if IGV v transports container j immediately after transporting container i, and 0 otherwise. | |
Equal to 1 if IGV v transports container i, and 0 otherwise. | |
Equal to 1 if QC q operates on bay a, and 0 otherwise. | |
Equal to 1 if QC q operates on bay a before bay a′, 0 otherwise. | |
Equal to 1 if container i is loaded in position (a, b, c) and 0 otherwise. |
Container | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 |
---|---|---|---|---|---|---|---|---|---|---|---|---|
xi | 0.12 | 0.34 | 0.32 | 0.67 | 1.44 | 1.56 | 2.87 | 2.64 | 3.54 | 3.78 | 4.22 | 5.33 |
bay | 1 | 1 | 1 | 1 | 2 | 2 | 3 | 3 | 4 | 4 | 5 | 6 |
Container | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 |
---|---|---|---|---|---|---|---|---|---|---|---|---|
bay | 1 | 5 | 1 | 6 | 2 | 2 | 3 | 3 | 4 | 4 | 5 | 6 |
Bay | 1 | 2 | 3 | 4 | 5 | 6 |
---|---|---|---|---|---|---|
QC | 1 | 2 | 3 | |||
Loading sequence in bay | 1→3 | 6→5 | 8→7 | 9→10 | 2→11 | 4→12 |
Loading sequence at QC | 1→3→6→5 | 8→7→9→10 | 2→11→4→12 |
Parameter | Value | Unit | Parameter | Value | Unit |
---|---|---|---|---|---|
v0 | 350 | m·min−1 | C | 5 | - |
v1 | 280 | m·min−1 | E1 | 90.24 | kWh·(h·veh)−1 |
v2 | 210 | m·min−1 | E2 | 70.18 | kWh·(h·veh)−1 |
t1 | 111 | s | E3 | 49.6 | kWh·(h·veh)−1 |
t2 | 92 | s | E4 | 21 | kWh·(h·veh)−1 |
A | 10 | - | E5 | 14 | kWh·(h·veh)−1 |
B | 6 | - | E6 | 9 | kWh·(h·veh)−1 |
Instance | Size | I/Q/V | Energy Consumption (kWh) | |||||||
---|---|---|---|---|---|---|---|---|---|---|
DMSSA | SSA | MSSA | SHSSA | PSO | WOA | GWO | SOA | |||
1 | Small | 30/2/3 | 133.056 | 133.073 | 133.096 | 132.953 | 133.007 | 133.097 | 133.119 | 133.073 |
2 | 30/2/4 | 133.410 | 133.333 | 133.207 | 133.482 | 133.696 | 133.802 | 133.762 | 133.811 | |
3 | 30/3/4 | 132.342 | 132.379 | 132.320 | 132.299 | 132.357 | 132.495 | 132.350 | 132.495 | |
4 | 30/3/5 | 131.651 | 131.682 | 131.632 | 131.692 | 131.828 | 131.570 | 131.772 | 131.739 | |
5 | Medium | 100/3/4 | 432.873 | 433.008 | 433.362 | 433.498 | 433.107 | 433.202 | 433.121 | 433.153 |
6 | 100/3/6 | 436.097 | 436.618 | 436.510 | 436.745 | 436.627 | 436.412 | 436.389 | 436.438 | |
7 | 100/4/6 | 430.709 | 431.175 | 430.920 | 431.370 | 430.958 | 430.978 | 431.050 | 430.837 | |
8 | 100/4/8 | 434.398 | 434.442 | 435.208 | 435.142 | 434.661 | 434.924 | 434.444 | 434.550 | |
9 | Large | 250/5/6 | 1082.168 | 1082.977 | 1083.385 | 1083.148 | 1083.841 | 1083.242 | 1083.287 | 1083.191 |
10 | 250/5/7 | 1075.953 | 1076.656 | 1076.820 | 1077.068 | 1078.063 | 1077.120 | 1077.055 | 1077.175 | |
11 | 250/5/8 | 1076.705 | 1077.349 | 1076.810 | 1077.641 | 1079.315 | 1077.335 | 1078.541 | 1077.305 | |
12 | 250/5/10 | 1086.418 | 1088.097 | 1088.156 | 1088.103 | 1090.878 | 1087.487 | 1088.109 | 1087.907 |
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Share and Cite
Luo, Y.; Liang, X.; Zhang, Y.; Tang, K.; Li, W. Energy-Aware Integrated Scheduling for Quay Crane and IGV in Automated Container Terminal. J. Mar. Sci. Eng. 2024, 12, 376. https://doi.org/10.3390/jmse12030376
Luo Y, Liang X, Zhang Y, Tang K, Li W. Energy-Aware Integrated Scheduling for Quay Crane and IGV in Automated Container Terminal. Journal of Marine Science and Engineering. 2024; 12(3):376. https://doi.org/10.3390/jmse12030376
Chicago/Turabian StyleLuo, Yuedi, Xiaolei Liang, Yu Zhang, Kexin Tang, and Wenting Li. 2024. "Energy-Aware Integrated Scheduling for Quay Crane and IGV in Automated Container Terminal" Journal of Marine Science and Engineering 12, no. 3: 376. https://doi.org/10.3390/jmse12030376