Hierarchical Control of Equipment in Automated Container Terminals - Computational Logistics - page 14

Tabl e 1. The operation schedule associated with the proposed supervisory controller.
Each cell shows the transport time T i,j for task j associated to container i .

The hierarchical controller
Task 1 Task 2 Task 3 Task 4 Task 5 Task 6 complete
QC

container no.

QC AGV ASC ASC AGV all

1 40s 40s 56s 56s 56s 56s 192s

2 56s 56s 56s 56s 56s 56s 304s

3 56s 56s 56s 56s 56s 56s 416s

4 56s 56s 56s 56s 56s 56s 528s

Tabl e 2. The operation schedule associated with the heuristic approach. Each cell
shows the transport time T i,j for task j associated to container i .

The heuristic controller
Task 1 Task 2 Task 3 Task 4 Task 5 Task 6 complete
QC

container no.

QC AGV ASC ASC AGV all

1 40s 40s 56s 35s 35s 56s 192s

2 40s 40s 56s 35s 35s 56s 304s

3 40s 40s 56s 35s 35s 56s 416s

4 40s 40s 56s 35s 35s 56s 528s

Tabl e 3. The energy consumption resulting from the proposed control architecture.
Each cell shows the energy consumption for task j associated to container i .

The hierarchical controller
Task 1 Task 2 Task 3 Task 4 Task 5 Task 6 complete
QC

container no.

QC AGV ASC ASC AGV all

1 80kJ 280kJ 900kJ 475kJ 456kJ 450kJ 2641kJ

2 28.8kJ 100.8kJ 900kJ 475kJ 456kJ 450kJ 2410.6kJ

3 28.8kJ 100.8kJ 900kJ 475kJ 456kJ 450kJ 2410.6kJ

4 28.8kJ 100.8kJ 900kJ 475kJ 456kJ 450kJ 2410.6kJ

Tabl e 4. The energy consumption resulting from the proposed control architecture.
Each cell shows the energy consumption for task j associated to container i .

The heuristic controller
Task 1 Task 2 Task 3 Task 4 Task 5 Task 6 complete
QC

container no.

QC AGV ASC ASC AGV all

1 80kJ 280kJ 900kJ 2000kJ 1920kJ 450kJ 5630kJ

2 80kJ 280kJ 900kJ 2000kJ 1920kJ 450kJ 5630kJ

3 80kJ 280kJ 900kJ 2000kJ 1920kJ 450kJ 5630kJ

4 80kJ 280kJ 900kJ 2000kJ 1920kJ 450kJ 5630kJ

Section 3.2. This heuristic approach is considered for the comparison in this
case study. Tables 1 and 2 show the operation time of each piece of equipment
with respect to the proposed hierarchical controller and the heuristic controller.
Due to the synchronization of different types of equipment in the scheduling