Abstract
One of the most important objectives for container terminals is to minimize the total weighted turnaround time for vessels. Minimizing total weighted vessel loading time directly helps minimize total weighted vessel turnaround time. In this paper we consider the yard crane (YC) scheduling problem in a multi-vessel loading process. We propose a YC scheduling system that minimizes the total weighted maximum tardiness of loading jobs. Our experiments show that this is significantly more effective in the minimization of the total weighted vessel loading time than the existing YC scheduling methods that minimize job waiting time or makespan. Our scheduling system also has the ability to dynamically optimize the YC operations with the consideration of the maximum tardiness already incurred to each vessel earlier in the loading process. To evaluate against our YC scheduling system, an optimal algorithm to minimize makespan (useful if there is YCs shortage) and an optimal algorithm to minimize total weighted job tardiness (common in manufacturing) are also proposed.
Similar content being viewed by others
References
Ahmt J, Sigtenbjerggaard JS, Lusby RM, Larsen J, Ryan D (2016) A new approach to the container positioning problem. Flex Serv Manuf J 28:617–643
Allahverdi A, Ng CT, Cheng TCE, Kovalyov MY (2008) A survey of scheduling problems with setup times or costs. Eur J Oper Res 187:985–1032
Briskorn D, Angeloudis P (2016) Scheduling co-operating stacking cranes with per-determined container sequences. Discrete Appl Math 201:70–85
Briskorn D, Emde S, Boysen N (2016) Cooperative twin-crane scheduling. Discrete Appl Math 211:40–57
Cao Z, Lee DH, Meng Q (2008) Deployment strategies of double-rail-mounted gantry crane systems for loading outbound containers in container terminals. Int J Prod Econ 115:221–228
Cao JX, Lee DH, Chen JH, Shi Q (2010) The integrated yard truck and yard crane scheduling problem: Benders’ decomposition-based methods. Trans Res Part E 46:344–353
Carlo HJ, Vis IFA, Roodbergen KJ (2014) Storage yard operations in container terminals: literature overview, trends, and research directions. Eur J Oper Res 235(2):412–430
Chen L, Langevin A (2011) Multiple yard cranes scheduling for loading operations in a container terminal. Eng Optim 43(11):1205–1221
Chen L, Bostel N, Dejax P, Cai J, Xi L (2007) A tabu search algorithm for the integrated scheduling problem of container handling systems in a maritime terminal. Eur J Oper Res 181:40–58
Chen L, Langevin A, Lu Z (2013) Integrated scheduling of crane handling and truck transportation in a maritime container terminal. Eur J Oper Res 225:142–152
Dorndorf U, Schneider F (2010) Scheduling automated triple cross-over stacking cranes in a container yard. OR Spectr 32(3):617–632
Froyland G, Koch T, Megow N, Duane E, Wren H (2008) Optimizing the landside operation of a container terminal. OR Spectr 30(1):53–75
Gharehgozli AH, Yu Y, de Koster R, Udding JT (2014) An exact method for scheduling a yard crane. Eur J Oper Res 235(2):431–447
Gharehgozli AH, Laporte G, Yu Y, de Koster R (2015) Scheduling twin yard cranes in a container block. Trans Sci 9(3):706–719
Graham RL, Lawler EL, Lenstra JK, Kan AHGR (1979) Optimization and approximation in deterministic sequencing and scheduling: a survey. Ann Discrete Math 5:287–326
Guo X, Huang SY (2012) Dynamic space and time partitioning for yard crane workload management in container terminals. Trans Sci 46(1):134–148
Guo X, Huang SY, Hsu WJ, Low MYH, Chan TH, Liu JH (2007) Vehicle Dispatching with real time location information in container terminals. In: Proceedings of the european modeling and simulation symposium
Guo X, Huang SY, Hsu WJ, Low MYH (2011) Dynamic yard crane dispatching in container terminals with predicted vehicle arrival information. Adv Eng Inf 25(3):472–484
Hu ZH, Sheu JB, Luo JX (2016) Sequencing twin automated stacking cranes in a block at automated container terminal. Trans Res Part C 69:208–227
Huang SY, Guo X and Tay TC (2011) An improved least cost heuristic for dynamic yard crane deployment in container terminals. In: The 7th annual IEEE conference on automation science and engineering (CASE 2011): 84–89. Trieste, Italy: Institute of Electrical and Electronics Engineers, Inc
Huang SY, Li Y, Guo X (2014) Yard crane dispatching to minimize vessel turnaround times in container terminals. In: The 2014 Winter Simulation Conference
Huang SY, Li Y, Fan X (2015) TwinCrane-ATCRSS-Game: job dispatching with lookahead for twin yard cranes. In: The 5th international conference on logistics and maritime systems
Jung SH, Kim KH (2006) Load scheduling for multiple quay cranes in port container terminals. J Intell Manuf 17:479–492
Kim KM, Kim KY (1999) An optimal routing algorithm for a transfer crane in port container terminals. Trans Sci 33(1):17–33
Kim KY, Kim KH (2003) Heuristic algorithms for routing yard-side equipment for minimizing loading times in container terminals. Naval Res Log 50:498–514
Kim KH, Kang JS, Ryu KR (2004) A beam search algorithm for the load sequencing of outbound containers in port container terminals. OR Spectr 26:93–116
Kim Y, Kim T, Lee H (2016) Heuristic algorithm for retrieving containers. Comput Ind Eng 101:352–360
Kumar MM, Omkar SN (2008) Optimization of yard crane scheduling using particle swarm optimizartion with genetic algorithm operators (PSOGAO). J Sci Ind Res 67:335–339
Lau HYK, Zhao Y (2008) Integrated scheduling of handling equipment at automated container terminals. Int J Prod Econ 112:665–682
Lee DH, Chen JH (2010) An improved approach for quay crane scheduling with non-crossing constraints. Eng Optim 42(1):1–15
Lee DH, Cao Z, Meng Q (2007) Scheduling of two-transtainer systems for loading outbound containers in port container terminals with simulated annealing algorithm. Int J Prod Econ 107:115–124
Lee DH, Cao JX, Shi Q, Chen JH (2009) A heuristic algorithm for yard truck scheduling and storage allocation problems. Trans Res Part E 45:810–820
Lenstra JK, Kan AHGR, Brucker P (1977) Complexity of machine scheduling problems. Ann Discrete Math 1:343–362
Li W, Wu Y, Petering M, Goh M, de Souza R (2009) Discrete time model and algorithms for container yard crane scheduling. Eur J Oper Res 198:165–172
Li W, Goh M, Wu Y, Petering M, de Souza R, Wu YC (2012) A continuous time model for multiple yard crane scheduling with last minute job arrivals. Int J Prod Econ 136:332–343
Meersmans PJM, Wagelmans APM (2001) Effective algorithms for integrated scheduling of handling equipment at automated container terminals. Erasmus Research Institute of Management (ERIM), ERIM Report Series Reference No. ERS-2001-36-LIS
Narasimhan A, Palekar US (2002) Analysis and algorithm for the transtainer routing problem in container port operation. Trans Sci 36(1):63–78
Ng WC (2005) Crane scheduling in container yards with intercrane interference. Eur J Oper Res 164:64–78
Ng WC, Mak KL (2005a) An effective heuristic for scheduling a yard crane to handle jobs with different ready times. Eng Optim 37(8):867–877
Ng WC, Mak KL (2005b) Yard crane scheduling in port container terminals. Appl Math Model 29(3):263–276
Park T, Choe R, Ok SM, Ryu KR (2010) Real-time scheduling for twin RMGs in an automated container yard. OR Spectr 32:593–615
Pinedo ML (2016) Scheduling: theory, algorithms, and systems, 5th edn. Springer, Berlin
Saanen Y, van Valkengoed M (2005) Comparison of three automated stacking alternatives by means of simulation. In: Proceedings of the winter simulation conference, pp 1567–1576
Speer U, Fischer K (2017) Scheduling of different automated yard crane systems at container terminals. Trans Sci 51(1):305–324
Stahlbock R, Voss S (2010) Efficiency consideration for sequencing and scheduling of double-rail-mounted gantry cranes at maritime container terminals. Int J Shipp Trans Log 2(1):95–123
Steenken D, Voss S, Stahlbock R (2004) Container terminal operation and operations research – a classification and literature review. OR Spectr 26:3–49
Vis IF, Carlo HJ (2010) Sequencing two cooperating automated stacking cranes in a container terminal. Trans Sci 44(2):169–182
Wu Y, Li W, Petering MEH, Goh M, de Souza R (2015) Scheduling multiple yard cranes with crane interference and safety distance requirement. Trans Sci 49(4):990–1005
Yu M, Qi X (2013) Storage space allocation models for inbound containers in an automatic container terminal. Eur J Oper Res 226(1):32–45
Zeng Q, Yang Z (2009) Integrating simulation and optimization to schedule loading operations in container terminals. Comput Oper Res 36(6):1935–1944
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Huang, S.Y., Li, Y. Yard crane scheduling to minimize total weighted vessel loading time in container terminals. Flex Serv Manuf J 29, 689–720 (2017). https://doi.org/10.1007/s10696-017-9299-1
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10696-017-9299-1