Master Thesis Computer Science Thesis no: MSC-2009:1 June 2009 Container Terminal Operations Modeling through Multi- Agent based Simulation Yasir Ayub 8209015299 Usman Faruki 8401103570 School of Computing Blekinge Institute of Technology Soft Center SE - 37225 RONNEBY SWEDEN 1 This thesis is submitted to the Department of Computer Science, School of Computing at Blekinge Institute of Technology in partial fulfillment of the requirements for the degree of Master of Science in Computer Science. The thesis is equivalent to 20 weeks of full time studies. Contact Information: Author(s): Yasir Ayub E-mail: [email protected] Usman Faruki E-mail: [email protected] University advisor: Dr. Lawrence Edward Henesey School of Computing Blekinge Institute of Technology School of Computing Blekinge Institute of Technology Internet: www.bth.se/tek Phone : +46 457 38 50 00 Soft Center SE-37225 RONNEBY Fax : + 46 457 102 45 SWEDE 2 Contents List of Figures: ..........................................................................................................................6 List if Acronyms: .......................................................................................................................7 Abstract .....................................................................................................................................8 Acknowledgement .....................................................................................................................9 Motivation ............................................................................................................................... 10 Introduction............................................................................................................................. 11 Chapter No. 1 .......................................................................................................................... 13 Background ............................................................................................................................. 13 1.1 Background ................................................................................................................. 14 1.2 Type of Containers ...................................................................................................... 15 1.3 Type of Cranes ............................................................................................................ 16 1.3.1 Quay Cranes ........................................................................................................ 16 1.3.2 Yard Cranes ......................................................................................................... 17 1.4 Transport Vehicles ...................................................................................................... 17 1.4.1 Automatic Guided Vehicles, Trucks and Straddle carrier...................................... 17 Chapter No. 2 .......................................................................................................................... 19 Problem Identification ............................................................................................................ 19 2.1 Problem Identification ................................................................................................. 20 2.2 Research Questions ..................................................................................................... 21 Chapter No. 3 .......................................................................................................................... 22 Research Methodology ............................................................................................................ 22 3.1 Research Methodology ................................................................................................ 23 3.1.1 Domain Selection ................................................................................................. 24 3.1.2 Literature Review ................................................................................................ 24 3.1.3 Problem Identification .......................................................................................... 24 3.1.4 Data Gathering ..................................................................................................... 24 3.1.5 Model Proposed ................................................................................................... 25 Chapter No. 4 .......................................................................................................................... 26 Container Terminal Operations ............................................................................................. 26 4.1 Container Terminal Operations ................................................................................... 27 4.1.1 Vessel Arrival and Berth Allocation ..................................................................... 28 4.1.2 Quay Crane Allocation ......................................................................................... 29 4.1.3 Horizontal vehicles Allocation ............................................................................. 30 4.1.4 Yard Crane Allocation ......................................................................................... 31 3 Chapter No. 5 .......................................................................................................................... 33 Proposed Model ....................................................................................................................... 33 5.1 Proposed Model .......................................................................................................... 34 5.2 Overall Process Diagram ............................................................................................. 34 5.2.1 Berth Allocation................................................................................................... 35 5.2.2 Container unloading to Quay Side ........................................................................ 35 5.2.3 Transporting containers to yard area..................................................................... 35 5.2.4 Unloading containers to yard area ........................................................................ 35 5.3 Hierarchical Multi-Agent Model ................................................................................. 35 5.3.1 Port Manager ....................................................................................................... 35 5.3.2 Berth Manager ..................................................................................................... 35 5.3.3 Quay Side Manager.............................................................................................. 37 5.3.4 Transport Manger ................................................................................................ 37 5.3.5 Yard Manger ........................................................................................................ 37 5.4 Activity Diagrams for Sub-Processes .......................................................................... 37 5.4.1 Berth Allocation................................................................................................... 37 5.4.2 Container unloading at Quay Side ........................................................................ 38 5.4.3 Transporting containers to yard area..................................................................... 40 5.4.4 Unloading containers to yard area ........................................................................ 41 Chapter No. 6 .......................................................................................................................... 44 Agent Allocation Policies ........................................................................................................ 44 6.1 Berth Allocation Policies............................................................................................. 45 6.2 Berth Cost ................................................................................................................... 48 6.3 QC Allocation Polices ................................................................................................. 49 6.4 QC Cost ...................................................................................................................... 50 6.5 YC Allocation Policies ................................................................................................ 50 6.6 YC Cost ...................................................................................................................... 51 6.7 Transport Vehicles Cost .............................................................................................. 51 6.7.1 AGVs Cost .......................................................................................................... 52 6.7.2 Truck Cost ........................................................................................................... 52 6.8 Total Cost of all Agents .............................................................................................. 53 Chapter No. 7 .......................................................................................................................... 54 Container Terminal Simulation.............................................................................................. 54 7.1 Simulation..................................................................................................................