Modeling and solution of the joint quay crane and truck scheduling problem

This paper addresses the joint quay crane and truck scheduling problem at a container terminal, considering the coordination of the two types of equipment to reduce their idle time between performing two successive tasks. For the unidirectional flow problem with only inbound containers, in which trucks go back to quayside without carrying outbound containers, a mixed-integer linear programming model is formulated to minimize the makespan. Several valid inequalities and a property of the optimal solutions for the problem are derived, and two lower bounds are obtained. An improved Particle Swarm Optimization (PSO) algorithm is then developed to solve this problem, in which a new velocity updating strategy is incorporated to improve the solution quality. For small sized problems, we have compared the solutions of the proposed PSO with the optimal solutions obtained by solving the model using the CPLEX software. The solutions of the proposed PSO for large sized problems are compared to the two lower bounds because CPLEX could not solve the problem optimally in reasonable time. For the more general situation considering both inbound and outbound containers, trucks may go back to quayside with outbound containers. The model is extended to handle this problem with bidirectional flow. Experiment shows that the improved PSO proposed in this paper is efficient to solve the joint quay crane and truck scheduling problem.     

A proactive approach for simultaneous berth and quay crane scheduling problem with stochastic arrival and handling time

For a container terminal system, efficient berth and quay crane (QC) schedules have great impact on the improvement of both operation efficiency and customer satisfaction. In this paper we address berth and quay crane scheduling problems in a simultaneous way, with uncertainties of vessel arrival time and container handling time. The berths are of discrete type and vessels arrive dynamically with different service priorities. QCs are allowed to move to other berths before finishing processing on currently assigned vessels, adding more flexibility to the terminal system. A mixed integer programming model is proposed, and a simulation based Genetic Algorithm (GA) search procedure is applied to generate robust berth and QC schedule proactively. Computational experiment shows the satisfied performance of our developed algorithm under uncertainty.     

MIP approaches for the integrated berth allocation and quay crane assignment and scheduling problem

In this paper we consider an integrated berth allocation and quay crane assignment and scheduling problem motivated by a real case where a heterogeneous set of cranes is considered. A first mathematical model based on the relative position formulation (RPF) for the berth allocation aspects is presented. Then, a new model is introduced to avoid the big-M constraints included in the RPF. This model results from a discretization of the time and space variables. For the new discretized model several enhancements, such as valid inequalities, are introduced. In order to derive good feasible solutions, a rolling horizon heuristic (RHH) is presented. A branch and cut approach that uses the enhanced discretized model and incorporates the upper bounds provided by the RHH solution is proposed. Computational tests are reported to show (i) the quality of the linear relaxation of the enhanced models; (ii) the effectiveness of the exact approach to solve to optimality a set of real instances; and (iii) the scalability of the RHH based on the enhanced mathematical model which is able to provide good feasible solutions for large size instances.     

考虑泊位疏浚的连续型泊位和动态岸桥联合调度

针对集装箱码头泊位需要定期维护的实际特征,研究了泊位疏浚情况下连续型泊位和动态岸桥联合调度问题。首先,建立了一个以船舶周转时间最小为目标的整数线性规划模型;其次,针对问题特性设计了三种启发式算法。为了分析泊位疏浚对码头工作的影响并验证模型正确性和算法有效性,分别对未考虑泊位疏浚和考虑泊位疏浚两种调度情形,进行了小规模与大规模问题输入的多组测试。三种算法在小规模输入上均取得了相同于CPLEX的精确解,从而验证了算法的有效性;进一步通过对比分析这些算法在大规模输入中的运行结果,验证其有效性能。     

Forward differential dynamic programming

The dynamic programming formulation of the forward principle of optimality in the solution of optimal control problems results in a partial differential equation with initial boundary condition whose solution is independent of terminal cost and terminal constraints. Based on this property, two computational algorithms are described. The first-order algorithm with minimum computer storage requirements uses only integration of a system of differential equations with specified initial conditions and numerical minimization in finite-dimensional space. The second-order algorithm is based on the differential dynamic programming approach. Either of the two algorithms may be used for problems with nondifferentiable terminal cost or terminal constraints, and the solution of problems with complicated terminal conditions (e.g., with free terminal time) is greatly simplified.     

考虑潮汐影响的离散型泊位和岸桥集成调度

泊位和岸桥是集装箱港口最紧缺的资源,二者的调度问题存在很强的内在关联。针对大型船需乘潮进出港的离散型泊位,为提高集装箱码头运作效率和客户满意度,将泊位分配、岸桥指派和岸桥调度集成为一体。首先,考虑潮汐的影响以及岸桥作业中可动态调度的现实,以计划期内所有抵港船舶的岸桥作业成本和滞期成本之和最少为目标,建立一个混合整数规划模型,然后设计了一个嵌入启发式规则的遗传算法对其进行求解。最后,算例结果中给出了每艘船舶在确切时刻对应的具体岸桥和每个岸桥的动态作业时间窗,并通过与单独优化的方案对比,验证了集成方案的有效性。     

Nonlinearly constrained time-delayed optimal control problems

A computational algorithm for solving a class of optimal control problems involving terminal and continuous state constraints of inequality type was developed in Ref. 1. In this paper, we extend the results of Ref. 1 to a more general class of constrained time-delayed optimal control problems, which involves terminal state equality constraints as well as terminal state inequality constraints and continuous state constraints. Two examples have been solved to illustrate the efficiency of the method.     

Numerical solution of singular perturbation problems by a terminal boundary-value technique

In this paper, we present a new approach for numerically solving linear singularly perturbed two-point boundary-value problems in ordinary differential equations with a boundary layer on the left end of the interval. The original problem is divided into outer and inner region problems. A terminal boundary condition in implicit form is introduced. Then, the outer region problem is solved as a two-point boundary-value problem (TPBVP), and an explicit terminal boundary condition is obtained. In turn, the inner region problem is modified and solved as a TPBVP using the explicit terminal boundary condition. The proposed method is iterative on the terminal point of the inner region. Three numerical examples have been solved to demonstrate the applicability of the method.     

An effective mathematical formulation for the unidirectional cluster-based quay crane scheduling problem

The quay crane scheduling problem plays an important role in the paradigm of port container terminal management, due to the fact that it closely relates to vessel berthing time. In this paper, we focus on the study of a special strategy for the cluster-based quay crane scheduling problem that forces quay cranes to move unidirectionally during the scheduling. The scheduling problem arising when this strategy is applied is called the unidirectional quay crane scheduling problem in the literature. Different from other researches attempting to construct more sophisticated searching algorithms, in this paper, we seek for a more compact mathematical formulation of the unidirectional cluster-based quay crane scheduling problem that can be easily solved by a standard optimization solver. To assess the performance of the proposed model, commonly accepted benchmark suites are used and the results indicate that the proposed model outperforms the state-of-the-art algorithms designed for the unidirectional cluster-based quay crane scheduling problem.     

Bounds for the additional cost of near-optimal controls

Near-optimal controls are considered for singular problems with a constrained control. These controls result in a higher cost than the optimal cost. Bounds for the additional cost are derived for problems with fixed terminal time or free terminal time and for minimal time problems. An illustrative example is solved of an optimal evasive control of an aircraft against a homing missile.     

A note on the free terminal time transversality condition

This note clarifies some issues dealing with the necessary condition for the optimal terminal time in free terminal time optimal control problems. It is shown that this condition is independent of the other maximum principle conditions and a simple proof is presented. Also the economic interpretation of the condition is provided.     

Dynamic optimization problems with bounded terminal conditions

Bounded terminal conditions of nonlinear optimization problems are converted to equality terminal conditions via the Valentine's device. In so doing, additional unknown parameters are introduced into the problem. The transformed problems can still be easily solved using the sequential gradient-restoration algorithm (SGRA) via a simple augmentation of the unknown parameter vector . Three example problems with bounded terminal conditions are solved to verify this technique.This research was supported in part by the National Aeronautics and Space Administration under NASA Grant No. NCC 2-106.     

An extension of the well-posedness concept for fractional differential equations of Caputo’s type

It is well known that, under standard assumptions, initial value problems for fractional ordinary differential equations involving Caputo-type derivatives are well posed in the sense that a unique solution exists and that this solution continuously depends on the given function, the initial value, and the order of the derivative. Here, we extend this well-posedness concept to the extent that we also allow the location of the starting point of the differential operator to be changed, and we prove that the solution depends on this parameter in a continuous way too if the usual assumptions are satisfied. Similarly, the solution to the corresponding terminal value problems depends on the location of the starting point and of the terminal point in a continuous way too.     

Coincidence criteria for maximal stable bridges in two game problems of approach

We consider a finite-dimensional conflict-controlled system whose behavior on a finite time interval is described by a vector differential equation. We analyze two game problems of approach in the phase space. In both problems the same terminal set is considered: in the first case, one should guarantee that the phase vector of the system reaches the terminal set at the final instant of time; in the second case, the phase vector should reach the terminal set no later than the final time instant. It is natural to assume that the construction of a solution to the first problem is much simpler than the construction of a solution to the second problem; this fact is confirmed by available experience. The paper is devoted to finding conditions on the system and the terminal set under which the solutions to the above problems coincide. Using these conditions, one can replace the solution of the second problem by the simpler solution of the first problem.     

Optimal control problems with terminal functionals represented as the difference of two convex functions

Two control problems for a state-linear control system are considered: the minimization of a terminal functional representable as the difference of two convex functions (d.c. functions) and the minimization of a convex terminal functional with a d.c. terminal inequality contraint. Necessary and sufficient global optimality conditions are proved for problems in which the Pontryagin and Bellman maximum principles do not distinguish between locally and globally optimal processes. The efficiency of the approach is illustrated by examples.     

考虑翻箱的场桥调度和提箱集卡数量的集成优化

在集装箱码头的进口箱堆场中,码头预约机制、待提箱的实时位置和场桥作业调度方案是制约堆场作业效率和堵塞情况的关键。为缓解进口箱堆场的拥塞情况并提高作业效率,在固定的预约时段内,考虑实时压箱量最少的翻箱规则,兼顾场桥间不可跨越和保持安全间距等现实约束,以场桥最长完工时间最小为目标,构建数学优化模型,设计了嵌入修复算子的改进遗传算法用于求解;通过算例实验验证了算法的有效性和方案的优越性,可为堆场实际作业提供决策参考。     

Direct method for solving optimal control problems with kinks

In this paper, we introduce a direct solution concept applicable to a slightly restricted class of optimal control problems with kinks. The method treats the optimal trajectory when it lies on a kink for an interval of time (a kink arc) in a special manner. The nonkink arc must satisfy the classical set of necessary conditions of the maximum principle, excluding from that set terminal equations on the kink terminal (the junction between this nonkink arc and a kink arc). At this junction, certain conditions, which compensate for the missing terminal conditions, have to be satisfied. In this paper, the method is applied to solve a fairly realistic model for an important inventory problem, namely, the problem of scheduling the production of a commodity.     

基于泊位偏好与岸桥干扰的泊位和岸桥分配

泊位和岸桥是集装箱港口资源中最紧缺的资源,合理的泊位分配和岸桥调度可以提高集装箱港口的资源利用率和港口的运作效率和效益。针对泊位偏离和岸桥工作损失两个因素,文章建立了集装箱港口泊位和岸桥的混合整数线性规划模型;运用采集自宁波某典型集装箱港口的数据,用Gurobi优化软件和两阶段启发式算法对模型进行了求解;对计算结果进行了经济性分析。计算结果表明:该港口的岸线资源利用率为46%时,1000m~1600m基本没被利用;18台岸桥要比16台岸桥的目标值更优,求解时间更短,而且18台岸桥的平均利用率为80%,为此,建议该港口再增加两台岸桥。同时发现:随着船舶规模的增加,Gurobi优化求解的时间增长较快,而两阶段启发式算法仍能在很短时间内求得准优解。     

A computational method for free terminal time optimal control problem governed by nonlinear time delayed systems

This paper considers a free terminal time optimal control problem governed by nonlinear time delayed system, where both the terminal time and the control are required to be determined such that a cost function is minimized subject to continuous inequality state constraints. To solve this free terminal time optimal control problem, the control parameterization technique is applied to approximate the control function as a piecewise constant control function, where both the heights and the switching times are regarded as decision variables. In this way, the free terminal time optimal control problem is approximated as a sequence of optimal parameter selection problems governed by nonlinear time delayed systems, each of which can be viewed as a nonlinear optimization problem. Then, a fully informed particle swarm optimization method is adopted to solve the approximate problem. Finally, two free terminal time optimal control problems, including an optimal fishery control problem, are solved by using the proposed method so as to demonstrate its applicability.