Optimising container processes at multimodal seaport terminals : an integrated approach and application

A Multimodal Seaport Container Terminal (MSCT) is a complex system which requires careful planning and control in order to operate efficiently. It consists of a number of subsystems that require optimisation of the operations within them, as well as synchronisation of machines and containers between the various subsystems. Inefficiency in the terminal can delay ships from their scheduled timetables, as well as cause delays in delivering containers to their inland destinations, both of which can be very costly to their operators. The purpose of this PhD thesis is to use Operations Research methodologies to optimise and synchronise these subsystems as an integrated application. An initial model is developed for the overall MSCT; however, due to a large number of assumptions that had to be made, as well as other issues, it is found to be too inaccurate and infeasible for practical use. Instead, a method of developing models for each subsystem is proposed that then be integrated with each other. Mathematical models are developed for the Storage Area System (SAS) and Intra-terminal Transportation System (ITTS). The SAS deals with the movement and assignment of containers to stacks within the storage area, both when they arrive and when they are rehandled to retrieve containers below them. The ITTS deals with scheduling the movement of containers and machines between the storage areas and other sections of the terminal, such as the berth and road/rail terminals. Various constructive heuristics are explored and compared for these models to produce good initial solutions for large-sized problems, which are otherwise impractical to compute by exact methods. These initial solutions are further improved through the use of an innovative hyper-heuristic algorithm that integrates the SAS and ITTS solutions together and optimises them through meta-heuristic techniques. The method by which the two models can interact with each other as an integrated system will be discussed, as well as how this method can be extended to the other subsystems of the MSCT.

Optimising container transfers at multimodal terminals

The use of containers have greatly reduced handling operations at ports and at all other transfer points, thus increasing the efficiency and speed of transportation. This was done in an attempt to cut down the cost of maritime transport, mainly by reducing cargo handling and costs, and ships' time in port by speeding up handling operations. This paper discusses the major factors influencing the transfer efficiency of seaport container terminals. A network model is designed to analyse container progress in the system and applied to a seaport container terminal. The model presented here can be seen as a decision support system in the context of investment appraisal of multimodal container terminals. (C) 2000 Elsevier Science Ltd.

Genetic algorithms to schedule container transfers at multimodal terminals

Optimising the container transfer schedule at the multimodal terminals is known to be NP-hard, which implies that the best solution becomes computationally infeasible as problem sizes increase. Genetic Algorithm (GA) techniques are used to reduce container handling/transfer times and ships' time at the port by speeding up handling operations. The GA is chosen due to the relatively good results that have been reported even with the simplest GA implementations to obtain near-optimal solutions in reasonable time. Also discussed, is the application of the model to assess the consequences of increased scheduled throughput time as well as different strategies such as the alternative plant layouts, storage policies and number of yard machines. A real data set used for the solution and subsequent sensitivity analysis is applied to the alternative plant layouts, storage policies and number of yard machines.

Nonlinear container ship model for the study of parametric roll resonance

Parametric roll is a critical phenomenon for ships, whose onset may cause roll oscillations up to +-40 degrees, leading to very dangerous situations and possibly capsizing. Container ships have been shown to be particularly prone to parametric roll resonance when they are sailing in moderate to heavy head seas. A Matlab/Simulink parametric roll benchmark model for a large container ship has been implemented and validated against a wide set of experimental data. The model is a part of a Matlab/Simulink Toolbox (MSS, 2007). The benchmark implements a 3rd-order nonlinear model where the dynamics of roll is strongly coupled with the heave and pitch dynamics. The implemented model has shown good accuracy in predicting the container ship motions, both in the vertical plane and in the transversal one. Parametric roll has been reproduced for all the data sets in which it happened, and the model provides realistic results which are in good agreement with the model tank experiments.

Validation of a container ship model for parametric rolling

The objective of this work is to formulate a nonlinear, coupled model of a container ship during parametric roll resonance, and to validate the model using experimental data.

A quay crane scheduling methodology for multimodal container terminals

This thesis develops an operational decision support tool for container terminal managements. The tool generates efficient schedules for shore cranes handling containers carried by mega container vessels.

An application of fuzzy DL-Based semantic perception to soil container classification

Semantic perception and object labeling are key requirements for robots interacting with objects on a higher level. Symbolic annotation of objects allows the usage of planning algorithms for object interaction, for instance in a typical fetchand-carry scenario. In current research, perception is usually based on 3D scene reconstruction and geometric model matching, where trained features are matched with a 3D sample point cloud. In this work we propose a semantic perception method which is based on spatio-semantic features. These features are defined in a natural, symbolic way, such as geometry and spatial relation. In contrast to point-based model matching methods, a spatial ontology is used where objects are rather described how they "look like", similar to how a human would described unknown objects to another person. A fuzzy based reasoning approach matches perceivable features with a spatial ontology of the objects. The approach provides a method which is able to deal with senor noise and occlusions. Another advantage is that no training phase is needed in order to learn object features. The use-case of the proposed method is the detection of soil sample containers in an outdoor environment which have to be collected by a mobile robot. The approach is verified using real world experiments.

Concordia-lehti Lutherin ja luterilaisen ortodoksian teologian tulkitsijana 1994-2003

Concordia-lehti alkaessaan ilmestyä 1994 herätti ristiriitaisia reaktioita esimerkiksi SLEY:n henkilöstön keskuudessa. Alusta alkaen avainhenkilöitä ovat olleet Hannu Lehtonen, Hannu Halonen, Simo Kiviranta ja Sakari Korpinen. Ekumeniaan Concordia on suhtautunut kriittisesti arvioidessaan Porvoon sopimusta ja Yhteistä julistusta vanhurskauttamisesta. Keskeisiä teemoja tässä lehdessä ovat olleet tutkittavana aikana yleinen ja uskon kautta tapahtuva vanhurskauttaminen, Raamatun arvovallan korostaminen, sakramenttien merkityksen esillä pitäminen ja tietyt moraaliset ja eettiset periaatteet ja näkökulmat. Concordiassa on esiintynyt runsaasti sitaatteja Martti Lutherin teoksista, melko paljon myös luterilaisen ortodoksian edustajilta, kuten Martin Chemnitziltä ja Johann Gerhardilta. Ylivoimaisesti eniten artikkeleja kymmenen vuoden aikana on tehnyt päätoimittaja, pastori Hannu Lehtonen. Kirjoittajien joukossa maallikkojen osuus on ollut huomattava. Karismaattisia ilmiöitä arvioitaessa nähtiin osan armolahjoista kuuluneen ennen kaikkea alkukirkon aikaan, vaikka samalla todettiin ihmeitä voivan tapahtua nykyaikanakin. Concordian kirjoittajat eivät hyväksyneet läheskään kaikkia Suomen evankelis-luterilaisessa kirkossa tapahtuneita päätöksiä, asioita ja ilmiöitä. Voimakkaasti todettiin, että kirkossa ei tulisi samanaikaisesti sallia sekä totuutta että erilaisia harhaoppeja. Myös evankelisen liikkeen tai muiden herätysliikkeiden toimintaa ei aina pidetty tarpeeksi rohkeana, vaan katsottiin niiden mukautuneen liikaa yhteiskuntaan ja yleiseen ja valtaa pitävään kirkollisuuteen. Esimerkiksi Helsingin yliopistossa käytettyä historiallis-kriittistä metodia parempana metodina pidettiin historiallis-dogmaattista. Opetusta maailman syntymisestä pitkän evoluutio-prosessin seurauksena ei Concordiassa hyväksytty, vaan opetettiin Jumalan luoneen maailman kuudessa päivässä. Concordiassa kirjoittajina on esiintynyt myös useita tunnustuksellisen luterilaisuuden edustajia lähinnä Yhdysvalloista ja Pohjoismaista. Tutkitun lehden merkitys kirkollisessa kentässä ei ole tilaajamäärän pienuuden vuoksi kovin merkittävä, mutta eräänlaisena taustalla vaikuttajana ja keskustelun herättäjänä vaikutus on ollut suurempi. Concordian näkemyksen mukaan suuri enemmistö ei läheskään aina ole ollut oikeassa hengellisissä kysymyksissä. Evankeliseen liikkeeseen Concordian kirjoittajilla on ollut tietynlainen viha-rakkaussuhde, vaikka se on ollut monen kirjoittajan hengellinen koti. Lehdessä esiintynyttä pietismin arviointia tutkimus ei ole kovin paljon käsitellyt, koska se ei olisi kovin hyvin sopinut eri lukujen otsi- koiden alle. Helluntailaisuuden eri opinkäsityksiä Concordia on myös pyrkinyt kumoamaan. Lehti on halunnut koko ajan perustella opetuksensa selkeillä raamatunkohdilla ja edistää näin luterilaisen uskon ja opin tuntemusta. Tässä tutkimuksessa on ollut tietoinen valinta käyttää samoja raamatunkohtia lähteenä, joita Concordian kirjoittajat ovat itse käyttäneet. Kirkkohistoriaan kuuluvassa opinnäytteessä ei ole yleensä tyypillistä käyttää näin paljon viittauksia Raamattuun, mutta tällainen dogmatiikan mukaan ottaminen on perusteltua, koska se on niin olennainen osa Concordia-lehden teologiaa ja tapaa tuoda esille asioita. Tiivistetysti todeten ihmisten ainoa vapahtaja ja pelastaja on ollut tutkitun lehden mukaan ja on edelleen Jeesus Kristus.

Thermal instability in a three-dimensional rigid container with prescribed heat flux at lower boundary

The Bénard–Marangoni convection is studied in a three-dimensional container with thermally insulated lateral walls and prescribed heat flux at lower boundary. The upper surface of the incompressible, viscous fluid is assumed to be flat with temperature dependent surface tension. A Galerkin–Tau method with odd and even trial functions satisfying all the essential boundary conditions except the natural boundary conditions at the free surface has been used to solve the problem. The critical Marangoni and Rayleigh numbers are determined for the onset of steady convection as a function of aspect ratios x0 and y0 for the cases of Bénard–Marangoni, pure Marangoni and pure Bénard convections. It is observed that critical parameters are decreasing with an increase in aspect ratios. The flow structures corresponding to the values of the critical parameters are presented in all the cases. It is observed that the critical parameters are higher for case with heat flux prescribed than those corresponding to the case with prescribed temperature. The critical Marangoni number for pure Marangoni convection is higher than critical Rayleigh number corresponding to pure Bénard convection for a given aspect ratio whereas the reverse was observed for two-dimensional infinite layer.

Instability Analysis of Nonlinear Surface Waves in a Circular Cylindrical Container Subjected to a Vertical Excitation

Singular perturbation theory of two-time scale expansions was developed both in inviscid and weak viscous fluids to investigate the motion of single surface standing wave in a liquid-filled circular cylindrical vessel, which is subject to a vertical periodical oscillation. Firstly, it is assumed that the fluid in the circular cylindrical vessel is inviscid, incompressible and the motion is irrotational, a nonlinear evolution equation of slowly varying complex amplitude, which incorporates cubic nonlinear term, external excitation and the influence of surface tension, was derived from solvability condition of high-order approximation. It shows that when forced frequency is low, the effect of surface tension on mode selection of surface wave is not important. However, when forced frequency is high, the influence of surface tension is significant, and can not be neglected. This proved that the surface tension has the function, which causes free surface returning to equilibrium location. Theoretical results much close to experimental results when the surface tension is considered. In fact, the damping will appear in actual physical system due to dissipation of viscosity of fluid. Based upon weakly viscous fluids assumption, the fluid field was divided into an outer potential flow region and an inner boundary layer region. A linear amplitude equation of slowly varying complex amplitude, which incorporates damping term and external excitation, was derived from linearized Navier-Stokes equation. The analytical expression of damping coefficient was determined and the relation between damping and other related parameters (such as viscosity, forced amplitude and depth of fluid) was presented. The nonlinear amplitude equation and a dispersion, which had been derived from the inviscid fluid approximation, were modified by adding linear damping. It was found that the modified results much reasonably close to experimental results. Moreover, the influence both of the surface tension and the weak viscosity on the mode formation was described by comparing theoretical and experimental results. The results show that when the forcing frequency is low, the viscosity of the fluid is prominent for the mode selection. However, when the forcing frequency is high, the surface tension of the fluid is prominent. Finally, instability of the surface wave is analyzed and properties of the solutions of the modified amplitude equation are determined together with phase-plane trajectories. A necessary condition of forming stable surface wave is obtained and unstable regions are illustrated. (c) 2005 Elsevier SAS. All rights reserved.

Diagnóstico comparativo de mastitis en leche bovina, por tres pruebas de campo: california mastitis test (CMT), acidez (NaOH), y reductasa, en los municipios de la Concordia, San Rafael del Norte y San Sebastián de Yali, Jinotega

Con el propósito de evaluar tres técnicas para la determinación de Mastitis, (California Mastitis Test (CMT), Hidróxido de Sodio (NaHO) y Azul de Metíleno (AM)), en vacas de doble propósito, en 2000 se efectuó un estudio en los municipios de La Concordia, San Rafael de Norte y San Sebastián de Yalí, del Departamento de Jinotega. Se utilizaron Fincas de Referencia atendidas por el entonces Ministerio de Agricultura y Ganadería (MAG), de las cuales se seleccionaron catorce (14) fincas privadas y dos Cooperativas, para un total de 16 fincas que representaron el 53.3 % del total de fincas. De éstas se muestrearon 398 vacas en producción de diversas razas (Pardo suizo, Brahman y cruces entre Pardo suizo, Criollo y Holstein con Cebú y otros) de diversas lactaciones (número parto}. Las muestras de cada cuarto de la vaca, se tomaron a la hora del ordeño, entre 5:00 y 7:00a.m. Los resultados de CMT e NaHO, (+ ó -), se anotaron en campo al momento de prueba. En la prueba de AM, se hicieron 4 lecturas: 1) al momento de prueba, 2) a los 15 minutos, 3) a una hora y, 4) a tres horas después de la prueba. Se obtuvo un total de 396 datos de 4 cuartos en cada técnica, para un total de 4,752 observaciones. La información se analizó mediante una prueba de Chí Cuadrado, con el Procedimiento CATMOD, del Statistical Análisis System (SAS), Versión para PC 6.03, NC. Las variables de clasificación en el análisis fueron Razas (1-3), Números de Parto (1-6) y Meses de lactación (1-9). De las técnicas, se obtuvo el 46.2, 4.6 y 15.3 % de pruebas positivas con CMT, NaOH y AM, respectivamente; la CMT resultó más efectiva en la determinación de mastitis. De las Razas estudiadas, el Brahmán presentó un 45.2% de afectación por mastitis, mayor que Pardo suizo y cruces indefinidos, con 30.6 y 24.2 %, respectivamente. A partir del tercer parto, se incrementa el nivel de infestación de esta enfermedad, y durante la lactación, en los meses 4, 5,8 y 9.

Nonlinear Faraday Waves in a Parametrically Excited Circular Cylindrical Container

In the cylindrical coordinate system, a singular perturbation theory of multiple-scale asymptotic expansions was developed to study single standing water wave mode by solving potential equations of water waves in a rigid circular cylinder, which is subjec

Computer Simulation Of Random Sphere Packing In An Arbitrarily Shaped Container

Most simulations of random sphere packing concern a cubic or cylindric container with periodic boundary, containers of other shapes are rarely studied. In this paper, a new relaxation algorithm with pre-expanding procedure for random sphere packing in an arbitrarily shaped container is presented. Boundaries of the container are simulated by overlapping spheres which covers the boundary surface of the container. We find 0.4 similar to 0.6 of the overlap rate is a proper value for boundary spheres. The algorithm begins with a random distribution of small internal spheres. Then the expansion and relaxation procedures are performed alternately to increase the packing density. The pre-expanding procedure stops when the packing density of internal spheres reaches a preset value. Following the pre-expanding procedure, the relaxation and shrinking iterations are carried out alternately to reduce the overlaps of internal spheres. The pre-expanding procedure avoids the overflow problem and gives a uniform distribution of initial spheres. Efficiency of the algorithm is increased with the cubic cell background system and double link data structure. Examples show the packing results agree well with both computational and experimental results. Packing density about 0.63 is obtained by the algorithm for random sphere packing in containers of various shapes.

Surface waves in a vertically excited circular cylindrical container

The nonlinear free surface amplitude equation, which has been derived from the inviscid fluid by solving the potential equation of water waves with a singular perturbation theory in a vertically oscillating rigid circular cylinder, is investigated successively in the fourth-order Runge-Kutta approach with an equivalent time-step. Computational results include the evolution of the amplitude with time, the characteristics of phase plane determined by the real and imaginary parts of the amplitude, the single-mode selection rules of the surface waves in different forced frequencies, contours of free surface displacement and corresponding three-dimensional evolution of surface waves, etc. In addition, the comparison of the surface wave modes is made between theoretical calculations and experimental measurements, and the results are reasonable although there are some differences in the forced frequency.