Multi-Agent Systems for Container Terminal Management
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CONTAINER TERMINAL MANAGEMENT CONTAINER FOR SYSTEMS MULTI-AGENT ABSTRACT This thesis describes research concerning the app- In order to evaluate the multi-agent based sys- lication of multi-agent based simulation for evalua- tems approach, a simulation tool, called SimPort, MULTI-AGENT SYSTEMS FOR CONTAINER ting container terminal management operations. was developed for evaluating container terminal The growth of containerization, i.e., transporting management policies. The methods for modelling TERMINAL MANAGEMENT goods in a container, has created problems for the entities in a container terminal are presen- ports and container terminals. For instance, many ted along with the simulation experiments con- container terminals are reaching their capacity li- ducted. The results indicate that certain policies mits and increasingly leading to traffic and port can yield faster ship turn-around times and that congestion. Container terminal managers have certain stacking policies can lead to improved several, often conflicting goals, such as serve a productivity. Moreover, a multi-agent based simu- container ship as fast as possible while minimizing lation approach is used to evaluate a new type of terminal equipment costs Automated Guided Vehicles (AGVs) using a cas- sette system, and compare it to a traditional AGV The focus of the research involves the performan- system. The results suggest that the cassette-ba- Lawrence Edward Henesey ce from the container terminal manager’s per- sed system is more cost efficient than a traditional spective and how to improve the understanding AGV system in certain configurations. Finally, an of the factors of productivity and how they are re- agent-based approach is investigated for evalua- lated to each other. The need to manage complex ting the governance structure of the stakeholders systems such as container terminals requires new involved in a transport corridor. ways for finding solutions, e.g., by applying novel methods and technologies. The approach taken The results of the research indicate that the per- in this thesis is to model the decision makers in- formance of a container terminal can be improved volved in the container terminal operations and by using agent-based technologies. This conclusion various types of terminal equipment, e.g., cranes, is based upon several studies, both conceptual transporters, etc., as software agents. The general and concrete simulation experiments. In particu- question addressed in this work is: can the per- lar, multi-agent based simulation seems to offer formance of a container terminal be improved by container terminal management a suitable tool to using agent-based technologies? control, coordinate, design, evaluate and improve productivity. Henesey Edward Lawrence Blekinge Institute of Technology Doctoral Dissertation Series No. 2006:08 2006:08 ISSN 1653-2090 School of Engineering 2006:08 ISBN 91-7295-099-4 ISBN 978-91-7295-099-3 Multi-Agent Systems for Container Terminal Management Lawrence Edward Henesey Blekinge Institute of Technology Doctoral Dissertation Series No 2006:08 ISSN 1653-2090 ISBN 91-7295-099-4 ISBN 978-91-7295-099-3 Multi-Agent Systems for Container Terminal Management Lawrence Edward Henesey Department of Systems and Software Engineering School of Engineering Blekinge Institute of Technology SWEDEN © 2006 Lawrence Edward Henesey Department of Systems and Software Engineering School of Engineering Publisher: Blekinge Institute of Technology Printed by Kaserntryckeriet, Karlskrona, Sweden 2006 ISBN 91-7295-099-4 ISBN 978-91-7295-099-3 “I did the best I could with what I had.” ~Conway Twitty ABSTRACT This thesis describes research concerning the application of multi-agent based simulation for evaluating container terminal management operations. The growth of containerization, i.e., transporting goods in a container, has created problems for ports and container terminals. For instance, many container terminals are reaching their capacity limits and increasingly leading to traffic and port congestion. Container terminal managers have several, often conflicting goals, such as serve a container ship as fast as possible while minimizing terminal equipment costs The focus of the research involves the performance from the container terminal manager’s perspective and how to improve the understanding of the factors of productivity and how they are related to each other. The need to manage complex systems such as container terminals requires new ways for finding solutions, e.g., by applying novel methods and technologies. The approach taken in this thesis is to model the decision makers involved in the container terminal operations and various types of terminal equipment, e.g., cranes, transporters, etc., as software agents. The general question addressed in this work is: can the performance of a container terminal be improved by using agent-based technologies? In order to evaluate the multi-agent based systems approach, a simulation tool, called SimPort, was developed for evaluating container terminal management policies. The methods for modelling the entities in a container terminal are presented along with the simulation experiments conducted. The results indicate that certain policies can yield faster ship turn-around times and that certain stacking policies can lead to improved productivity. Moreover, a multi-agent based simulation approach is used to evaluate a new type of Automated Guided Vehicles (AGVs) using a cassette system, and compare it to a traditional AGV system. The results suggest that the cassette- based system is more cost efficient than a traditional AGV system in certain configurations. Finally, an agent-based approach is investigated for evaluating the governance structure of the stakeholders involved in a transport corridor. The results of the research indicate that the performance of a container terminal can be improved by using agent-based technologies. This conclusion is based upon several studies, both conceptual and concrete simulation experiments. In particular, multi-agent based simulation seems to offer container terminal management a suitable tool to control, coordinate, design, evaluate and improve productivity. i ii Acknowledgements This research that has culminated into publishing this PhD. thesis may have never been realized were it not for the cooperation, help, motivation, patience, respect, understanding, and most of all the love from many friends, colleagues, partners, and family members throughout the world. Thank you! I especially thank Prof. Dr. Paul Davidsson for always challenging me and commenting on my work. Most importantly, he stepped-in to be my supervisor when I need it and has imparted the philosophy of science to me. I will use this knowledge in my further contributions to science and mankind. In addition, Dr. Jan A. Persson has been instrumental for helping me tackle the complexities associated in modeling and solving container terminal management issues. I also wish to thank my secondary supervisors; Prof. Dr. Johan Woxenius thanks for the kick and Dr. Guahua Bai at the beginning of my research period. Also, I should thank Prof. Dr. Mark Dougherty for inviting me to take the challenge in working on a PhD. in Sweden. In researching container terminals, logistics and shipping, I have met many colorful and interesting people from academia and industry that have helped tremendously. I wish to thank the following people: Capt. C.L. Chen, David Thomas, Dominic Obrigkeit, Ingo Kaldarasch, Ulf Sandevärn, Lennart Svensson, Bjørn O. Hansen, Göran Johansson, Michel Lyrstrand, Prof. Dr. Willy Winklemans, Prof. Dr. Theo Notteboom, Bill Miller, Justin Phillips, Stephen Peck, Filip Persyn, Per- Ola Clemedtson, Franc Pigna, Joachim Pyk, Morgan Andersson, Neil Madden, Jean-Claude Van Gelder, Gustaaf De Monie, Bengt Melin, Anne Williams, Miel Vermorgen and Christopher Matson. I also wish to thank the assistance by companies and organizations that have assisted me with research funding: HHLA (Hamburg Hafen und Lagerhaus AG), Tribon Solutions, Port of Karlshamn, TranSystems, TTS Port and Marine Equipment, and the European Commission, Port of Felixstowe, MSC (Mediterranean Shipping Company) and everyone working with Short Sea Shipping at Maritime iii Transportation and Logistics Advisors and the United States Maritime Administration. I have met some people at Blekinge Institute of Technology that have made life interesting: Dr. Mikael Svahnberg, Dr. Tony Gorsheck, Andreas Jacobsson, Johan Holmgren, “Mr.” Martin Boldt, Dr. Fredrik Wernstedt, Dr. Bengt Carlsson (#347), Niklas Lavesson, Dr. Miroslaw Staron, Dr. Piotr Tomaszewski, Kamilla Klonowska, Linda Ramstedt, Dr. Johanna Törnquist, Simon Kågström, Dr. Stefan Johansson, and Prof. Dr. Lars Lundberg. I also appreciate the support from members of the DISL research group and the Department of Systems and Software Engineering. I appreciate the support and understanding from Conny Johansson. I appreciate the support of friends outside the world of academia who have helped me: Bengt Carlsson (#01), Paulo Vergas, Philippe Hamacher, Dimitris Papaconstantinou, and Bart Van Dyke. As the British comic Mr. Bean said; “family is the most important thing”. Therefore, I wish to thank my families in United States (Virginia), Greece and Germany. I especially thank my Mom and my Dad for instilling me the drive to never giving up. Thanks to my brother, Robert for his ‘pep-talks on wrestling’ often around 2:00 a.m.? My sincere gratitude and much over-due appreciation to my