Search Results (69)

As global shipping expands, Automated Container Terminals (ACTs) are vital for port competitiveness. However, modern three-stage yard layouts often suffer from spatio-temporal conflicts between dual yard cranes during relay operations, while uncoordinated container placement causes localized overloads and safety hazards. To address these issues, this study proposes a multi-objective mixed-integer linear programming (MILP) model integrating three-stage operations with spatio-temporal mutual exclusion constraints. The model minimizes makespan, external truck waiting time, and inventory disparities across landside bays. To solve this NP-hard problem, an Improved Octopus Optimization Algorithm (IOOA) is developed, featuring discrete space mapping, Euclidean-based state determination, integer flight steps, and local fine-tuning. Numerical experiments demonstrate that this approach significantly reduces the total makespan and truck waiting times while ensuring a highly uniform container distribution across bays. Ultimately, this study mitigates safety risks associated with space overloads and isolated stack collapses, providing a robust decision-making framework to enhance the efficiency and safety of next-generation ACTs. Full article

This study proposes an integrated artificial intelligence-based framework for modeling and predicting quay crane productivity and operational delays in conventional container terminals, addressing key limitations in the existing port analytics literature. The research introduces a novel dual-mode machine learning architecture that explicitly separates retrospective prediction (forecast mode) from pre-operational decision support (decision mode), addressing a critical gap in existing literature where predictive models are rarely aligned with real-world informational constraints. The framework is applied to a high-resolution, real-world dataset comprising ship-level operations over a three-year period (2023–2025), incorporating a structured representation of 27 delay types and multiple resource allocation variables. A multi-indicator modeling strategy is employed, simultaneously analyzing four productivity metrics (RQCP, GMPH, WBMPH and NMPH), thus allowing for a systematic comparison of their structural sensitivities to delays, congestion, and equipment utilization. The results reveal a clear hierarchy of predictability and operational behavior: structurally driven indicators such as RQCP and GMPH exhibit high predictive stability, while delay-sensitive indicators such as NMPH display greater variability, reflecting real-time operational disruptions. The consistent model performance in forecasting and decision-making indicates significant predictive value in pre-operational variables, endorsing its utility for uncertain decision-making. Sensitivity analysis reveals a critical nonlinear congestion threshold affecting predictive accuracy under extreme operational strain. Employing a combination of multi-indicator productivity modeling, structured delay classification, and ensemble learning within an integrated analytical framework, this research enhances both methodological and practical insights into port operations, aiding in merging predictive analytics with operational decision-making in container terminals to enhance resource allocation, delay handling, and container terminal efficiency. Full article

With the gradual rise of battery-powered ships, the high-power charging demand during berthing is poised to exacerbate the peak-to-valley difference in the port grid, possibly leading to grid congestion and logistical disruption. To address this challenge, this paper proposes a bi-level coordinated scheduling scheme across both logistical operations and energy flow dispatch. Initially, by developing a refined model for the dynamic power characteristics of quay crane (QC) clusters, the surplus power capacity that can be stably released through an orderly QC operational delay is quantified. Subsequently, a hybrid AC/DC ship–shore interconnection architecture based on a smart interlinking unit (SIU) is proposed to utilize the QC peak-shaving capacity and satisfy the increasing shore power demand. In light of these, at the logistics level a coordinated scheduling of berths, QCs, and ships charging is performed with the objective of minimizing port berthing operational costs. At the energy flow level, the coordinated delay in QC clusters’ operations and SIU-enabled power dispatching are implemented for charging power support. The case studies demonstrate that, compared with the conventional independent operational mode, the proposed coordinated scheduling scheme enhances the shore power supply capability by utilizing the QC peak-shaving capability effectively. Moreover, as well as satisfying the charging demands of electric ships, the proposed scheme significantly reduces the turnaround time of ships and achieves a 39.29% reduction in port berthing operational costs. Full article

Modern port operations face increasing challenges from rapidly changing weather and environmental conditions, requiring accurate short-term forecasting to support safe and efficient maritime activities. This study presents a sensor fusion-based machine learning framework for real-time multi-target nowcasting of wind gust speed, sustained wind speed, and wind direction using heterogeneous data collected at the Port of Livorno from February to November 2025. Using an IoT architecture compliant with the oneM2M standard and deployed at the Port of Livorno, CNIT integrated heterogeneous data from environmental sensors (meteorological stations, anemometers) and vessel-mounted LiDAR systems through feature-level fusion to enhance situational awareness, with gust speed treated as the primary safety-critical variable due to its substantial impact on berthing and crane operations. In addition, a comparative performance analysis of Random Forest, XGBoost, LSTM, Temporal Convolutional Network, Ensemble Neural Network, Transformer models, and a Kalman filter was performed. The results show that XGBoost consistently achieved the highest accuracy across all targets, with near-perfect performance in both single-split testing (R² ≈ 0.999) and five-fold cross-validation (mean R² = 0.9976). Ensemble models exhibited greater robustness than deep learning approaches. The proposed multi-target fusion framework demonstrates strong potential for real-time deployment in Maritime Autonomous Surface Ship (MASS) systems and port decision-support platforms, enabling safer manoeuvring and operational continuity under rapidly varying environmental conditions. Full article

This paper develops accurate three-dimensional trajectory tracking and anti-sway control strategies for offshore container cranes operating in an open-sea environment. A 5-DOF nonlinear dynamic model is developed that simultaneously accounts for the crane’s structural motion, trolley movement, spreader hoisting with variable rope length, and both lateral and longitudinal payload sway. The model further incorporates external disturbances induced by wave-excited ship motions. To ensure smooth, efficient, and accurate load transportation from the initial to the target position, an effective trajectory-planning scheme is proposed using a quintic polynomial trajectory refined by a ZVD shaper to suppress residual oscillations. A sliding mode control method is then designed to achieve accurate trajectory tracking and load-sway suppression under external disturbances. Numerical simulations demonstrate that the proposed trajectory planning method effectively reduces the residual oscillations and verifies the effectiveness and robustness of the proposed sliding mode control strategy. Full article

The motion of ships in the ocean follows six degrees of freedom, and accurately measuring this motion is crucial for improving marine engineering operations. Among the six degree-of-freedom movement of ships, the change in ship heave freedom has the worst impact on offshore lifting operations. At present, the most common method for measuring heave displacement is by integrating heave acceleration twice. The heave motion of ships belongs to low-frequency motion, but the low-frequency band range is often easily overlooked. This paper first analyzes the wave spectrum to determine the dominant frequency range of ship heave motion under typical wind speeds, which is found to be between 0.22 Hz and 0.45 Hz. The accuracy of low-frequency ship heave displacement signals largely depends on the heave acceleration signal, and filtering acceleration signals in the low-frequency range is particularly difficult. To address this challenge, this paper proposes a low-frequency component filtering method for heave acceleration signal of marine ships, which effectively avoids the phase and peak-to-peak errors introduced by traditional filters. This method further improves the filtering performance of acceleration signals in the 0.2 Hz to 0.5 Hz low-frequency range and can provide the crane driver with a motion reference for the heave of the ship when the ship is performing lifting operations. Full article

Accurate carbon emission estimation across all operational stages of container terminals is essential for advancing low-carbon development in the transportation sector and designing effective emission reduction pathways. This study develops a two-layer carbon accounting framework that integrates vessel berthing–waiting and terminal operations, tailored to the operational characteristics of Shanghai Port container terminals. The Ship Traffic Emission Assessment Model (STEAM) is applied to estimate emissions during berthing, while a bottom-up method is employed for mobile-mode container handling operations. Targeted mitigation strategies—such as shore power adoption, operational optimization, and “oil-to-electricity” or “oil-to-gas” transitions—are evaluated through comparative analysis. Results show that vessels generate substantial emissions during erthing, which can be significantly reduced (by over 60%) through shore power usage. In terminal operations, internal transport trucks have the highest emissions, followed by straddle carriers, container tractors, and forklifts; in stacking, tire cranes dominate emissions. Comprehensive comparisons indicate that “oil-to-electricity” can reduce total emissions by approximately 39%, while “oil-to-gas” can achieve reductions of about 73%. These findings provide technical and policy insights for supporting the green transformation of container terminals under the national dual-carbon strategy. Full article

Container terminals are facing significant challenges in meeting the increasing demands for volume and throughput, with limited space often presenting as a critical constraint. Key areas of concern at the quayside include the berth allocation problem, the quay crane assignment, and the scheduling problem. Effectively managing these issues is essential for optimizing port operations; failure to do so can lead to substantial operational and economic ramifications, ultimately affecting competitiveness within the global shipping industry. Optimization models, encompassing both mathematical frameworks and metaheuristic approaches, offer promising solutions. Additionally, the application of machine learning and reinforcement learning enables real-time solutions, while robust optimization and stochastic models present effective strategies, particularly in scenarios involving uncertainties. This study expands upon earlier foundational analyses of berth allocation, quay crane assignment, and scheduling issues, which have laid the groundwork for port optimization. Recent developments in uncertainty management, automation, real-time decision-making approaches, and environmentally sustainable objectives have prompted this review of the literature from 2015 to 2024, exploring emerging challenges and opportunities in container terminal operations. Recent research has increasingly shifted toward integrated approaches and the utilization of continuous berthing for better wharf utilization. Additionally, emerging trends, such as sustainability and green infrastructure in port operations, and policy trade-offs are gaining traction. In this review, we critically analyze and discuss various aspects, including spatial and temporal attributes, crane handling, sustainability, model formulation, policy trade-offs, solution approaches, and model performance evaluation, drawing on a review of 94 papers published between 2015 and 2024. Full article

To address distributed mass payload (DMP) anti-swing control problems typified by offshore wind turbine blades, this paper adopts multi-body dynamics and rigid-flexible coupling modelling approaches. It derives the geometric constraints and static equilibrium equations for marine crane multipoint lifting of DMP, and establishes a dynamic coupling model considering ship roll and pitch environmental excitations. Then, under the maximum environmental excitation set in the experiment, the flexible cable parallel anti-swing system achieves swing suppression rates of 41.0% and 58.0% for the in-plane and out-of-plane angles of the DMP with regular geometric shape and mass distribution, respectively. For the DMP with irregular geometry and mass distribution, the suppression rates are 48.4% and 39.3% for the in-plane and out-of-plane angles, respectively. It is found that, after adjusting the lifting method and increasing the distance between the lifting points, the maximum in-plane angle of the payload decreases by 2.3%, while the out-of-plane angle maximum decreases by 52.0%. These results demonstrate the effectiveness of adjusting lifting methods in suppressing swing for irregular DMPs, thereby verifying the reliability and applicability of the flexible cable parallel anti-swing system and providing a reference for improving anti-swing performance and lifting efficiency in offshore DMP operations. Full article

This study presents an automated docking block placement system developed for regular and emergency repairs of large ships and naval vessels. Traditional methods involve manually arranging heavy concrete docking blocks using cranes or forklifts, which can take several days and pose significant safety risks because of the heavy materials involved. The proposed system integrates an unmanned crane with a six-degree-of-freedom (6-DOF) robotic platform and a mobile robot-based 3D precision positioning system to automate block relocation. The use of a 3D laser tracker mounted on the mobile robot is the key to the system, which, when combined with environmental sensors such as LiDAR and RTK-GPS, provides millimeter-level positional feedback. To address the lack of clear reference points in conventional docking blocks, a precisely machined aluminum target block was attached to each block. An algorithm employing Density-Based Spatial Clustering of Applications with Noise (DBSCAN), KD-Tree, and Random Sample Consensus (RANSAC) techniques was used to detect and classify the vertex of the target block from the 3D point cloud data. The experimental results demonstrated a positional measurement error within 0.5 mm at an 8 m distance. This novel system reduces the setup time, enhances worker safety, and increases the overall efficiency and capacity of dry dock maintenance operations. Full article

Offshore cranes are widely used in important fields such as wind power construction and ship replenishment. However, large payloads such as wind turbine blades are hoisted by multiple steel wire ropes, which makes it difficult to directly control their movements; that is, the number of input degrees of freedom is less than that of the output degrees of freedom. In addition, compared with land cranes, offshore cranes are inevitably affected by waves, wind, etc. The transition from a fixed base to a dynamic base brings severe challenges to their oscillation suppression and precise positioning. At the same time, to improve operational efficiency, the hoisting operation of offshore cranes usually adopts velocity input control patterns that fit the habits of manual operation, and most of them are in the form of dual-axis linkage for pitch and hoisting. Therefore, this paper proposes a fast terminal sliding mode control method for double-pendulum offshore cranes with distributed-mass payloads (DMPs). First, a nonlinear dynamic model of offshore cranes considering DMPs is established, and a dynamic model based on acceleration input control patterns is acquired. Based on this, considering the variation in hoisting rope lengths, a novel adaptive control method is proposed. Finally, simulation results verify the effectiveness of the proposed method, and the robustness of the proposed method to DMP mass parameter uncertainty and disturbances is demonstrated. Full article

The high-pile beam slab structure is a commonly employed design for riverbank wharves; however, the wharf structure may incur damage due to various factors during long-term operation, resulting in potential safety concerns. To illustrate this, an investigation was conducted on a high-pile beam slab wharf, which included on-site examination, testing, and large-scale three-dimensional numerical simulation. The effects of gravity, ship impact, earthquake, lateral impact, water, and crane change were considered to explore the causes of cracking in the wharf concrete components. The results indicated that crane modification significantly augmented loads, precipitating notable deformation (92% increase in maximum vertical displacement), and the maximum tensile stress exceeded concrete tensile strength. The inadequate thickness of the steel reinforcement protective layer caused concrete carbonation, steel exposure, and corrosion, reducing structural capacity. The presence of defects in the pile foundation has been shown to result in high stress concentrations, which can lead to deformation and damage. There was a 58% increase in vertical displacement in the concrete components above the affected area compared to intact piles. Based on analysis of the results, appropriate measures for strengthening and correction have been proposed to ensure the safety and durability of the wharf. A comprehensive multifactor evaluation and 3D simulation of the actual dimensions are recommended to ensure the safety of wharf structures. Full article

Loading operations are a crucial part of container terminal activities and play a key role in influencing shoreline operation efficiency. To overcome the challenge of mismatched local ship decisions and global yard decisions during single-vessel operations, which often result in conflicts related to container retrieval in the yard, a novel intelligent decision-making model for stack-yard positioning in full shoreline loading operations is proposed. This model seeks to optimize the balance between yard operation instructions and quay crane operation instructions. An enhanced Constrained Optimization Genetic Algorithms-Greedy Randomized Adaptive Search (COGA-GRASP) algorithm is introduced to tackle this decision-making issue, and it is applied to identify the most optimal bay configuration for full shoreline loading operations. The proposed model’s effectiveness is validated through testing and solution outcomes. Full article

The operation process of double-pendulum ship-borne cranes with variable rope lengths is frequently complex, with numerous unpredictable circumstances, such as the swing of the load and external environmental interferences, which undoubtedly make the analysis of the swing characteristics of the system and the controller design more difficult. On this basis, an active disturbance rejection controller based on an energy coupling method is proposed to inhibit the double-pendulum swing angle. The controller can suppress the swing of the hook and load within 0.5 degrees under the conditions of continuous sea wave disturbances and external disturbances. Firstly, the energy function of the system is constructed by analyzing the dynamic model of the system. Then, an adaptive control method is designed by analyzing the energy function of the system. In addition, an overshoot limit term and an anti-swing term are added to limit the overshoot and swing of underactuated parts of the system. Then, the stability of the closed-loop system is strictly proven by using Lyapunov analysis. Finally, the simulation and experimental results indicate that the proposed controller ensures the accurate positioning of the jib and rope length without overshoot. Additionally, it effectively reduces the double-pendulum swing angle when there is an external interference such as waves, demonstrating strong robustness. Full article

The International Maritime Organization (IMO) aims for net zero emissions in shipping by 2050. Ports, key links in the supply chain, are embracing green innovation, focusing on efficient berth and quay crane scheduling to support green port development amid limited resources. Additionally, the energy consumption and carbon emissions from the port shipping industry contribute significantly to environmental challenges and the sustainable development of ports. Therefore, reducing carbon emissions, particularly those generated during vessel berthing, has become a pressing task for the industry. The increasing complexity of berth allocation now requires compliance to vessel service standards while controlling carbon emissions. This study presents an integrated model that incorporates tidal factors into the joint optimization of berth and quay crane operations, addressing both service standards and emissions during port stays and crane activities, and further designs a PSO-GA hybrid algorithm, combining particle swarm optimization (PSO) with crossover and mutation operators from a genetic algorithm (GA), to enhance optimization accuracy and efficiency. Numerical experiments using actual data from a container terminal demonstrate the effectiveness and superiority of the PSO-GA algorithm compared to the traditional GA and PSO. The results show a reduction in total operational costs by 24.1% and carbon emissions by 15.3%, highlighting significant potential savings and environmental benefits for port operators. Furthermore, the findings reveal the critical role of tidal factors in improving berth and quay crane scheduling. The results provide decision-making support for the efficient operation and carbon emission control of green ports. Full article