Dynamic vs dedicated automation systems - a study in large structure assembly

The manufacturing industry needs to increase productivity and flexibility to stay competitive. This requires more adaptable and versatile production capabilities. It is expected that dynamic systems, consisting of mobile robots, will be particularly prominent in manufacturing environments where it is difficult to move components and products in a flexible manner. This paper compares the relative advantages of a dynamic, mobile robot-based system with traditional dedicated automation systems. The study uses simulations to evaluate several representative scenarios with different product supply bottlenecks, interference among mobile robots and mixes of products inspired by the aerospace industry. The results show that mobility enables higher resource utilisation and increased flexibility. This highlights the potential operational advantages mobile robot-based systems would offer and gives clear justification to continue the development of dynamic, self-organising production systems based on mobile robots

Sequence-Based Simulation-Optimization Framework With Application to Port Operations at Multimodal Container Terminals

It is evident in previous works that operations research and mathematical algorithms can provide optimal or near-optimal solutions, whereas simulation models can aid in predicting and studying the behavior of systems over time and monitor performance under stochastic and uncertain circumstances. Given the intensive computational effort that simulation optimization methods impose, especially for large and complex systems like container terminals, a favorable approach is to reduce the search space to decrease the amount of computation. A maritime port can consist of multiple terminals with specific functionalities and specialized equipment. A container terminal is one of several facilities in a port that involves numerous resources and entities. It is also where containers are stored and transported, making the container terminal a complex system. Problems such as berth allocation, quay and yard crane scheduling and assignment, storage yard layout configuration, container re-handling, customs and security, and risk analysis become particularly challenging. Discrete-event simulation (DES) models are typically developed for complex and stochastic systems such as container terminals to study their behavior under different scenarios and circumstances. Simulation-optimization methods have emerged as an approach to find optimal values for input variables that maximize certain output metric(s) of the simulation. Various traditional and nontraditional approaches of simulation-optimization continue to be used to aid in decision making. In this dissertation, a novel framework for simulation-optimization is developed, implemented, and validated to study the influence of using a sequence (ordering) of decision variables (resource levels) for simulation-based optimization in resource allocation problems. This approach aims to reduce the computational effort of optimizing large simulations by breaking the simulation-optimization problem into stages. Since container terminals are complex stochastic systems consisting of different areas with detailed and critical functions that may affect the output, a platform that accurately simulates such a system can be of significant analytical benefit. To implement and validate the developed framework, a large-scale complex container terminal discrete-event simulation model was developed and validated based on a real system and then used as a testing platform for various hypothesized algorithms studied in this work

Exploring search space trees using an adapted version of Monte Carlo tree search for combinatorial optimization problems

In this article, a novel approach to solve combinatorial optimization problems is proposed. This approach makes use of a heuristic algorithm to explore the search space tree of a problem instance. The algorithm is based on Monte Carlo tree search, a popular algorithm in game playing that is used to explore game trees. By leveraging the combinatorial structure of a problem, several enhancements to the algorithm are proposed. These enhancements aim to efficiently explore the search space tree by pruning subtrees, using a heuristic simulation policy, reducing the domains of variables by eliminating dominated value assignments and using a beam width. They are demonstrated for two specific combinatorial optimization problems: the quay crane scheduling problem with non-crossing constraints and the 0-1 knapsack problem. Computational results show that the algorithm achieves promising results for both problems and eight new best solutions for a benchmark set of instances are found for the former problem. These results indicate that the algorithm is competitive with the state-of-the-art. Apart from this, the results also show evidence that the algorithm is able to learn to correct the incorrect choices made by constructive heuristics

An exact algorithm for the integrated planning of berth allocation and quay crane assignment

In this paper we study the simultaneous optimization of berth allocation and quay crane assignment in seaport container terminals. We propose a model based on an exponential number of variables that is solved via column generation. An exact branch-and-price algorithm is implemented to produce optimal integer solutions to the problem. In particular, we present several accelerating techniques for the master and the pricing problem that can be generalized to other branch-and-price schemes. Computational results show that the proposed approach outperforms commercial solvers. Furthermore, the developed algorithm allows for a comparative analysis between the hierarchical and the integrated solution approach that confirms the added value of integration in terms of cost reduction and efficient use of resources. To the best of our knowledge, this is the first exact branch-and-price algorithm for both the berth allocation problem and the berth allocation problem with quay crane assignment

The berth allocation problem at port terminals : a column generation framework

Le problème d'allocation de postes d'amarrage (PAPA) est l'un des principaux problèmes de décision aux terminaux portuaires qui a été largement étudié. Dans des recherches antérieures, le PAPA a été reformulé comme étant un problème de partitionnement généralisé (PPG) et résolu en utilisant un solveur standard. Les affectations (colonnes) ont été générées a priori de manière statique et fournies comme entrée au modèle %d'optimisation. Cette méthode est capable de fournir une solution optimale au problème pour des instances de tailles moyennes. Cependant, son inconvénient principal est l'explosion du nombre d'affectations avec l'augmentation de la taille du problème, qui fait en sorte que le solveur d'optimisation se trouve à court de mémoire. Dans ce mémoire, nous nous intéressons aux limites de la reformulation PPG. Nous présentons un cadre de génération de colonnes où les affectations sont générées de manière dynamique pour résoudre les grandes instances du PAPA. Nous proposons un algorithme de génération de colonnes qui peut être facilement adapté pour résoudre toutes les variantes du PAPA en se basant sur différents attributs spatiaux et temporels. Nous avons testé notre méthode sur un modèle d'allocation dans lequel les postes d'amarrage sont considérés discrets, l'arrivée des navires est dynamique et finalement les temps de manutention dépendent des postes d'amarrage où les bateaux vont être amarrés. Les résultats expérimentaux des tests sur un ensemble d'instances artificielles indiquent que la méthode proposée permet de fournir une solution optimale ou proche de l'optimalité même pour des problème de très grandes tailles en seulement quelques minutes.The berth allocation problem (BAP) is one of the key decision problems at port terminals and it has been widely studied. In previous research, the BAP has been formulated as a generalized set partitioning problem (GSPP) and solved using standard solver. The assignments (columns) were generated a priori in a static manner and provided as an input to the optimization model. The GSPP approach is able to solve to optimality relatively large size problems. However, a main drawback of this approach is the explosion in the number of feasible assignments of vessels with increase in problem size which leads in turn to the optimization solver to run out of memory. In this research, we address the limitation of the GSPP approach and present a column generation framework where assignments are generated dynamically to solve large problem instances of the berth allocation problem at port terminals. We propose a column generation based algorithm to address the problem that can be easily adapted to solve any variant of the BAP based on different spatial and temporal attributes. We test and validate the proposed approach on a discrete berth allocation model with dynamic vessel arrivals and berth dependent handling times. Computational experiments on a set of artificial instances indicate that the proposed methodology can solve even very large problem sizes to optimality or near optimality in computational time of only a few minutes

Modeling and Solving the Tactical Berth Allocation Problem

In this paper we integrate at the tactical level two decision problems arising in container terminals: the berth allocation problem, which consists of assigning and scheduling incoming ships to berthing positions, and the quay crane assignment problem, which assigns to incoming ships a certain QC profile (i.e. number of quay cranes per working shift). We present two formulations: a mixed integer quadratic program and a linearization which reduces to a mixed integer linear program. The objective function aims, on the one hand, to maximize the total value of chosen QC profiles and, on the other hand, to minimize the housekeeping costs generated by transshipment flows between ships. To solve the problem we developed a heuristic algorithm which combines tabu search methods and mathematical programming techniques. Computational results on instances based on real data are presented and compared to those obtained through a commercial solver

Models and Solutions Algorithms for Improving Operations in Marine Transportation

International seaborne trade rose significantly during the past decades. This created the need to improve efficiency of liner shipping services and marine container terminal operations to meet the growing demand. The objective of this dissertation is to develop simulation and mathematical models that may enhance operations of liner shipping services and marine container terminals, taking into account the main goals of liner shipping companies (e.g., reduce fuel consumption and vessel emissions, ensure on-time arrival to each port of call, provide vessel scheduling strategies that capture sailing time variability, consider variable port handling times, increase profit, etc.) and terminal operators (e.g., decrease turnaround time of vessels, improve terminal productivity without significant capital investments, reduce possible vessel delays and associated penalties, ensure fast recovery in case of natural and man-made disasters, make the terminal competitive, maximize revenues, etc.). This dissertation proposes and models two alternatives for improving operations of marine container terminals: 1) a floaterm concept and 2) a new contractual agreement between terminal operators. The main difference between floaterm and conventional marine container terminals is that in the former case some of import and/or transshipment containers are handled by off-shore quay cranes and placed on container barges, which are further towed by push boats to assigned feeder vessels or floating yard. According to the new collaborative agreement, a dedicated marine container terminal operator can divert some of its vessels for the service at a multi-user terminal during specific time windows. Another part of dissertation focuses on enhancing operations of liner shipping services by introducing the following: 1) a new collaborative agreement between a liner shipping company and terminal operators and 2) a new framework for modeling uncertainty in liner shipping. A new collaborative mechanism assumes that each terminal operator is able to offer a set of handling rates to a liner shipping company, which may result in a substantial total route service cost reduction. The suggested framework for modeling uncertainty is expected to assist liner shipping companies in designing robust vessel schedules