Produktion und Logistik Herausgegeben von B. Fleischmann, Augsburg, Deutschland M. Grunow, München, Deutschland H. Günther, Berlin, Deutschland S.
Helber, Hannover, Deutschland K. Inderfurth, Magdeburg, Deutschland H. Kopfer, Bremen, Deutschland H. Meyr, Hohenheim, Deutschland Th.
Spengler, Braunschweig, Deutschland H. Stadtler, Hamburg, Deutschland H. Tempelmeier, Köln, Deutschland G. Wäscher, Magdeburg, Deutschland Diese Reihe dient der Veröffentlichung neuer Forschungsergebnisse auf den Gebieten der Produktion und Logistik.
Aufgenommen werden vor allem herausragende quantitativ orientierte Dissertationen und Habilitationsschriften. Die Publikationen vermitteln innovative Beiträge zur Lösung praktischer Anwendungsprobleme der Produktion und Logistik unter Einsatz quantitativer Methoden und moderner Informationstechnologie. Herausgegeben von Professor Dr. Bernhard Fleischmann Professor Dr.
Herbert Meyr Universität Augsburg Universität Hohenheim Professor Dr. Martin Grunow Professor Dr. Spengler Technische Universität München Technische Universität Braunschweig Professor Dr. Hans-Otto Günther Professor Dr.
Hartmut Stadtler Technische Universität Berlin Universität Hamburg Professor Dr. Stefan Helber Professor Dr. Horst Tempelmeier Universität Hannover Universität Köln Professor Dr. Karl Inderfurth Professor Dr.
Gerhard Wäscher Universität Magdeburg Universität Magdeburg Professor Dr. Herbert Kopfer Universität Bremen Kontakt Professor Dr. Hans-Otto Günther Technische Universität Berlin H 95, Straße des 17. Juni 135 10623 Berlin Volker Windeck A Liner Shipping Network Design Routing and Scheduling Considering Environmental Influences Foreword by Prof.
Hartmut Stadtler Volker Windeck Hamburg, Germany Dissertation University of Hamburg, 2012 ISBN 978-3-658-00698-3 ISBN 978-3-658-00699-0 (eBook) DOI 10.1007/978-3-658-00699-0 The Deutsche Nationalbibliothek lists this publication in the Deutsche Nationalbibliografie; detailed bibliographic data are available in the Internet at http://dnb. Library of Congress Control Number: 2012951488 Springer Gabler © Springer Fachmedien Wiesbaden 2013 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or schol- arly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work.
Duplication of this pub- lication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc.
in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of publication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer Gabler is a brand of Springer DE.
Springer DE is part of Springer Science+Business Media.de Foreword Transport by ship is regarded as the most economical and ecological means of transport for carrying large and heavy volumes over long distances. Still or as a result, total world-wide container shipping is due to its mere size one of the largest carbon dioxide (CO2) and sulphur oxides (SOX) polluters today. Hence, recommendations for reducing these emissions are most welcome. This thesis not only presents a decision support system for designing a liner shipping network and its operation.
It is also a nice example for how Operations Research models and algorithms can help to improve both economical and ecological objectives simultaneously! This research is based on detailed real-world data for currents, winds and waves a ship may face on a given passage. It is used as an input to a shortest path and a strategic mathematical model. As means to reduce emissions and fuel consumption, slow steaming as well as additional propulsion systems are incorporated into the models. A large computational test with container ships equipped with the latest technology for an additional wind propulsion system (i., a kite) shows that significant reductions of fuel consumption can be expected only on specific passages (like the North Atlantic).
Much more important in this respect is the choice of an appropriate speed (including slow steaming) for each leg on a ships round trip. Although Volker Windeck has put much emphasis on making use of the latest and most accurate data, it is recommended not to generalize his find- ings on the potential reduction of fuel consumption and emissions. Instead, shipping companies should implement the model suite developed and doc- umented in this thesis and perform their own calculations considering their fleet of container ships and customer base. It has been a great pleasure to have been able to collaborate with Volker Windeck during the last four years and to see a fascinating topic ripening and yielding computational results which in this breadth could neither be achieved by simple human reasoning nor by real-word experiments.
vi Foreword I sincerely hope that his model suite including a highly innovative math- euristic will not only be of interest to the academic world but will also be used intensively by shipping companies. Hartmut Stadtler Preface In this thesis the results of the research are presented which were carried out at the Institute for Logistics and Transportation of the University of Hamburg. I am very grateful to Prof. Hartmut Stadtler for giving me the opportunity to engage in this research topic which is linked to very challeng- ing, technical questions and contains a great portion of maritime flair, too.
Whenever necessary he offered his time and always got me back on track with his enormous experience and stimulating suggestions. Knut Haase deserves special thanks for reviewing my thesis as a co-supervisor and also providing valuable advice on how to solve my shortest path problem. Also, I thank Prof. Stefan Voß for taking on the chair on the dissertation committee and being an obviously interested reader of my dissertation which he expressed in enriching suggestions and questions during my thesis defence.
My thanks also to the core of in-house supporters and dear colleagues Christopher Haub, Florian Kröger and Julian Wulf for proofreading and mul- tiple good suggestions and Sylvia Kilian and Stefanie Nonnsen for providing a friendly atmosphere. Much support was given from my former colleagues Dr. Martin Albrecht, Dr. Carolin Püttmann and Dr.
Christian Seipl who were always offering their help to get me started with my research. My sincere thanks go to all the companies and organizations, that of- fered me their time when discussing my research project. Among them Dr. Thomas Bruns and Mr.
Hill of the DWD (German Meteorological Service) who deserve a special thanks for their interest and support and es- pecially providing me with weather data on wind and waves being a most valuable basis of my research. Finally, I would like to thank my wife and family for accompanying me with unlimited love and support, which allowed me to accomplish this set goal. Volker Windeck Contents List of Figures xi List of Tables xv Abbreviations xvii Nomenclature xix 1 Introduction 1 1.1 Freight Transporation Systems .2 Terms and Definitions .3 Routing and Scheduling .4 Routing and Scheduling in Maritime Shipping .1 Examples of Operational and Tactical Planning .2 Examples of Strategic Planning .2 SPP Network Design .3 Shortest Path Problem .4 Calculation of Ship Fuel Consumption. 62 4 Strategic Liner Network Design 79 4.2 Decision Problem and Mixed Integer Programming Model .2 Mixed Integer Programming Model .1 Generation of Test Data .2 Evaluation of the Test Results .1 Evaluation of Solution Approaches .2 Testing the Effect of a Kite Propulsion System .3 Consideration of the Effects of some Parameters.
114 6 Summary and Outlook 119 A Appendix 123 A.1 Kite Propulsion Force Data Input .3 Wave Resistance Data Input .4 Great Circle Navigation Formulas .5 Computational Tests - Changing Revenue. 126 Bibliography 127 List of Figures 2.1 Global container handling from 2000 to 2009 and forecasts for 2010 and 2011, according to Tiedemann (2011) .2 Ship routes without and with subtours .3 Tramp ship routing example, on the basis of Lin and Liu (2011, p.4 Passenger and ferry time-space network, according to Lai and Lo (2004, p.1 Constructing Isochrones, according to Szlapczynska and Smierzchal- ski (2007, p.2 Constructing a network, according to (Hagiwara 1989, p.3 Example of a network connecting harbours Cadiz and New York - Newark, network displayed with Google Earth .4 Constructing center points, according to Lee et al.5 Creating interception arcs to given grid resolution .6 Determination of course between interception point I1 and I2 47 3.7 Pseudo code according to Grünert and Irnich (2005, p.8 Label-setting example, step 1 .10 Labelsetting example, further iteration steps .11 Label-setting example, optimal solution .12 Wind directions and angles according to ships heading .13 SkySails, possible courses (SkySails 2009) .14 SPPTW from Le Havre to Miami network with resolution of 60nm (top) and resolution of 240nm (bottom), displayed with Google Earth.15 SPP from Cadiz to Miami, with (white) and without (black line) sail at 23 kn, displayed with Google Earth.16 Fuel consumption by ship type. 69 xii List of Figures 3.17 Fuel consumption for travelling across the Atlantic Ocean with- out sail assistance on ship of type Laetitia.18 Travelled distances for travelling across the Atlantic Ocean without sail assistance on ship of type Laetitia.19 Fuel consumption and travelled distances for travelling within the Gulf of Mexico.20 Mean fuel savings in % when using sail assistance.21 Carrying capacity in TEU and installed machine power for all ship types.22 Mean fuel savings in % when using the SPPTW algorithm compared to the LFCP algorithm.23 Mean travel time saved in % when using the SPPTW algo- rithm compared to the LFCP algorithm.24 Mean fuel savings in % when using the SPPTW algorithm compared to the regular SPP algorithm.25 Mean distance and travel time saved in % when using the SPPTW algorithm compared to the regular SPP algorithm.1 Example of harbour call sequences according to (Rana and Vickson 1991, p.3 Hapag-Lloyd South China Sea Expr.4 CMA CGM French Asia Line 12, CGM (2011) .5 Possible routes of a cargo from load harbour i = 4 to unload harbour j = 5 on a ship’s round trip.6 Visualisation of the Hybrid Algorithm .7 Vector setting example.8 The VNS Pseudo code .9 Neighbourhood and Local Search heuristics.1 Progress of the objective function value during the Matheuris- tic run for test set (23, 3lSwS, 04, 650, 4.2 Harbour visiting sequence of ships of type ’Rafaela’ (white line) ’Alicante’ (grey line) and ’Moliere’ (black line) and their corresponding schedules (see tables at harbours; Arr = arrival time; Dep = departure time)(2011 c Google). To view this figure in colour please refer to: www.de/ Buch/978-3-658-00698-3/A-Liner-Shipping-Network-Design.
113 List of Figures xiii A.1 Kite propulsion force gradient .2 Wave resistance factor according to (Yaozong 1989, p.3 Determination of a great circle route. 125 List of Tables 2.1 Comparison of operational characteristics of freight transporta- tion modes (Christiansen et al.2 Strategic, tactical and operational planning tasks in maritime transportation according to Christiansen et al.1 Literature overview on environmental routing .2 Value constraints for remaining drag coefficient approximation function (Schneekluth 1988, p.3 List of all 33 harbours considered.4 Harbour to harbour connections .5 Ships maximum service speeds .4 Classification scheme according to Kjeldsen (2009) .2 Ship test settings .3 Comparison of solution quality between Matheuristic and the original mixed integer programming model .4 Evaluating the effect of an alternative kite propulsion system .5 Evaluating the effect of changing fuel costs .6 Evaluating the effect of changing charter rates .1 Data input for a kite of 160 m2 .3 Evaluating the effect of changing revenues .