R.R. Negenborn

R.R. Negenborn
Delft University of Technology | TU · Department of Maritime and Transport Technology (M&TT)

Request my publications via: http://www.negenborn.net/rudy/science.html
Smart Shipping & Smart Logistics in Multi-Machine Contexts

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318
Publications
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5,440
Citations
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May 2021 - present
Delft University of Technology
Position
  • Professor (Full)

Publications

Publications (318)
Article
Full-text available
While offshore wind energy is showing enormous potential, effective approaches to enhance its economics are being sought at the same time. The design of maintenance strategy is a type of strategic decision-making for offshore wind farms, aiming to improve energy production and reduce maintenance expenses. As a complicated and challenging task, the...
Article
Full-text available
As a critical feature of synchromodal transport (ST), service flexibility plays an important role in improving the utilization of resources to reduce costs, emissions, congestions, and delays. However, none of the existing studies considered flexible services under the framework of synchromodality. This paper develops a Mixed Integer Linear Program...
Chapter
The increased implementation of digitalisation all over the world has led to an exponential growth of available data across various industries. Consequently, there is a large growth of Machine Learning (ML) techniques being applied to process data. In oil refineries, various types of process equipment are used, of which flow control valves are esse...
Article
Full-text available
Autonomous docking and undocking control is an important part of intelligent ship motion control. In this study, the adaptive-mutation beetle swarm prediction (AMBS-P) algorithm is used to propose a control approach for autonomous docking and undocking. Firstly, this paper introduces the principle of the AMBS-P algorithm, then the convergence is pr...
Chapter
The trends of autonomous transportation and mobility on demand in line with large numbers of requests increasingly call for decentralized vehicle routing optimization. Multi-agent systems (MASs) allow to model fully autonomous decentralized decision making, but are rarely considered in current decision support approaches. We propose a multi-agent a...
Chapter
Collaboration in transportation is important to reduce costs and emissions, but carriers may have incentives to bid strategically in decentralized auction systems. We investigate what the effect of the auction strategy is on the possible cheating benefits in a dynamic context, such that we can recommend a method with lower chances for carriers to c...
Article
Full-text available
Carriers can remarkably reduce transportation costs and emissions when they collaborate, for example through a platform. Such gains, however, have only been investigated for relatively small problem instances with low numbers of carriers. We develop auction-based methods for large-scale dynamic collaborative pickup and delivery problems, combining...
Article
Full-text available
Wing-diesel engine-powered hybrid ships can effectively reduce fuel consumption and CO2 emissions by using wind energy as the auxiliary driving power. The energy optimization management of the hybrid system can further improve the ship's energy efficiency. To achieve this purpose, it is significant to establish an effective energy consumption model...
Article
Power availability to preserve propulsion is a vital issue in the shipping industry which relies on persistent power generation and maintaining the stability of the power and propulsion system. Since the introduction of on-board all-electric Direct Current Power and Propulsion Systems (DC-PPS) with hybrid power generation, which are more efficient...
Article
Full-text available
Global synchromodal transportation involves the movement of container shipments between inland terminals located in different continents using ships, barges, trains, trucks, or any combination among them through integrated planning at a network level. One of the challenges faced by global operators is the matching of accepted shipments with service...
Article
Full-text available
Traditionally, terminal operators create an initial berthing plan before the arrival of incoming vessels. This plan involves decisions on when and where to load or discharge containers for the calling vessels. However, disruptive unforeseen events (i.e., arrival delays, equipment breakdowns, tides, or extreme weather) interfere with the implementat...
Article
Full-text available
For the complex multi-ship encounter scenarios, this article proposes a dynamic collision avoidance path planning algorithm based on the A-star algorithm and ship navigation rules, namely Dynamic Anti-collision A-star (DAA-star) algorithm. A dynamic search mechanism of the DAA-star algorithm considering time factors is designed to enable the collis...
Preprint
With the popularization of transportation network companies (TNCs) (e.g., Uber, Lyft) and the rise of autonomous vehicles (AVs), even major car manufacturers are increasingly considering themselves as autonomous mobility-on-demand (AMoD) providers rather than individual vehicle sellers. However, matching the convenience of owning a vehicle requires...
Article
Full-text available
With the popularization of transportation network companies (TNCs) (e.g., Uber, Lyft) and the rise of autonomous vehicles (AVs), even major car manufacturers are increasingly considering themselves as autonomous mobility-on-demand (AMoD) providers rather than individual vehicle sellers. However, matching the convenience of owning a vehicle requires...
Article
Full-text available
Current mobility services cannot compete on equal terms with self-owned mobility products concerning service quality. Due to supply and demand imbalances, ridesharing users invariably experience delays, price surges, and rejections. Traditional approaches often fail to respond to demand fluctuations adequately since service levels are, to some exte...
Article
Full-text available
Decision-makers in synchromodal transport (ST) have different preferences toward different objectives, such as cost, time, and emissions. To solve the conflicts among objectives and obtain preferred solutions, a preference-based multi-objective optimization model is developed. In ST, containers need to be transferred across modes, therefore the opt...
Article
The shipping industry is facing increasing demands to reduce its environmental footprints. This has resulted in adoption of new and more environmental friendly power sources and fuels for on-board power generation. One of these novel power sources is the Solid Oxide Fuel Cell (SOFC) which has a great potential to act as a power source, thanks to it...
Article
Full-text available
The cargo fare class mix (CFCM) problem aims to find the optimal fare class mix for a given intermodal transportation network based on known client demands. It is based on a revenue management problem for aviation passengers, the fare class mix problem, but considering intermodal cargo transportation, two major differences apply. Firstly, the CFCM’...
Article
In this paper, we present an analysis of the vulnerability of a distributed model predictive control (DMPC) scheme in the context of cyber-security. We consider different types of the so-called insider attacks. In particular, we consider the situation where one of the local controllers sends false information to others to manipulate costs for its o...
Article
Full-text available
This paper investigates a dynamic and stochastic shipment matching problem faced by network operators in hinterland synchromodal transportation. We consider a platform that receives contractual and spot shipment requests from shippers, and receives multimodal services from carriers. The platform aims to provide optimal matches between shipment requ...
Article
Full-text available
In this paper, we address a multi-objective residential waste collection problem with an integrated territory planning and vehicle routing approach. Dividing the problem into territories enables drivers to carry out the same route every week so they get familiar with it and residents put out their bins at the appropriate time. Another benefit is to...
Article
Among the promising application of autonomous surface vessels (ASVs) is the utilization of multiple autonomous tugs for manipulating a floating object such as an oil platform, a broken ship, or a ship in port areas. Considering the real conditions and operations of maritime practice, this paper proposes a multi-agent control algorithm to manipulate...
Article
This paper investigates a dynamic and stochastic shipment matching problem, in which a platform aims to provide online decisions on accepting or rejecting newly received shipment requests and decisions on shipment-to-service matches in global synchromodal transportation. The problem is considered dynamic since the platform receives requests and tra...
Article
Full-text available
Energy consumption is expected to be reduced while maintaining high productivity for container handling. This paper investigates a new energy-efficient scheduling problem of automated container terminals, in which quay cranes (QCs) and lift automated guided vehicles (AGVs) cooperate to handle inbound and outbound containers. In our scheduling probl...
Article
Full-text available
It is of significant importance to optimize the energy consumption of ships in order to improve economy and reduce CO2 emissions. However, the energy use of ships is affected by a series of navigational environmental parameters, which have certain spatial and temporal differences and variability. Therefore, the dynamic collaborative optimization me...
Article
Full-text available
Increasing international maritime transport drives the need for efficient container terminals. The speed at which containers can be processed through a terminal is an important performance indicator. In particular, the productivity of the quay cranes (QCs) determines the performance of a container terminal; hence QC scheduling has received consider...
Article
Full-text available
Operation & maintenance (O&M) costs account for a large portion of total life cycle cost for onshore wind energy, and the amount is estimated to be more for offshore wind energy. Developing a sound opportunistic maintenance strategy is a solution to reduce O&M costs and enhance wind energy's competitiveness. When the wind farm is located offshore,...
Article
Full-text available
Ship hybridization has received some interests recently in order to achieve the emission target by 2050. However, designing and optimizing a hybrid propulsion system is a complicated problem. Sizing components and optimizing energy management control are coupled with each other. This paper applies a nested double-layer optimization architecture to...
Article
Full-text available
Operation & maintenance (O&M) costs account for a large portion of total life cycle cost for onshore wind energy, and the amount is estimated to be more for offshore wind energy. Developing a sound opportunistic maintenance strategy is a solution to reduce O&M costs and enhance wind energy's competitiveness. When the wind farm is located offshore,...
Conference Paper
Full-text available
The shipping industry is facing increasing requirements to decrease its environmental footprints. This challenge is being addressed through the use of alternative fuels and adoption of novel energy sources in advanced power and propulsion systems. In this paper, an energy management approach is proposed to determine the optimal split between differ...
Article
Full-text available
Offshore platforms and windmills are constructed by assembling huge mechanical structures transported by heavy lift vessels. The construction process comprises two interconnected operations, the dynamic positioning (DP) of the vessel and the lifting of heavy loads. The DP system is commonly designed and tuned for the case that there is no load or f...
Article
Full-text available
Human aspects in collaboration of humans and robots, as common in warehousing, are considered increasingly important objectives in operations management. This work aims to let robots learn about human discomfort in collaborative order picking of robotic mobile fulfillment systems. To this end, a multi-agent reinforcement (MARL) approach that consid...
Article
This paper proposes a multi-agent control scheme for multiple physically interconnected tugboats performing a ship towing process. These tugs are coordinated by two control layers. In the higher layer, the supervisory controller outputs the desired towing forces and reference trajectories for the tugs. This information is used by a tug’s local cont...
Data
The 2020 ISM Conference Best Paper Award
Article
Pontryagin’s Minimum Principle is a way of solving hybrid powertrain optimal energy management. This paper presents an improvement of a classical implementation. The core of this improvement consists in relaxing the tolerance on some intermediate steps of the algorithm in order to reduce the number of iterations and thereby reducing the number of o...
Article
Full-text available
Maritime Autonomous Surface Ships (MASS) attract increasing attention in recent years. Researchers aim at developing fully autonomous systems that replace the role of human operators. Studies either focus on supporting conflict/collision detection (for manned ships) or solving conflict automatically (for unmanned ships). The cooperation between hum...
Preprint
Full-text available
Human aspects in collaboration of humans and robots, as common in warehousing, are considered increasingly important objectives in operations management. In this work, we aim to let robots learn about human discomfort in collaborative order picking of robotic mobile fulfillment systems. To this end, we develop a multi-agent reinforcement (MARL) app...
Article
Full-text available
The design and development of an offshore port terminal is a complex task that involves distinctive design and decision challenges. In this paper, we propose the implementation of a floating, modular, platform that can act as an additional terminal of a port, with the aim of expanding its current container handling capacity. To this end, we introdu...
Article
Full-text available
Energy saving and emission reduction have attracted a great deal of attention in the maritime industry. The optimization of a ship's energy efficiency can reduce energy consumption and CO2 emissions effectively. However, most of the available studies only focus on either the sailing speed or route optimization, and the interaction between speed and...
Conference Paper
Full-text available
The future autonomous ships will be operating in an environment where different autonomous and nonautonomous vessels with different characteristics exist. These vessels are owned by different parties and each uses its owned unique approaches for guidance and navigation. The Collaborative Autonomous Shipping Experiment(CASE) aims at emulating such a...
Article
Full-text available
Residents of cities' most disadvantaged areas face significant barriers to key life activities, such as employment, education, and health-care, due to the lack of mobility options. Shared autonomous vehicles (SAVs) create an opportunity to overcome this problem. By learning user demand patterns, SAV providers can improve regional service levels by...
Conference Paper
Full-text available
This paper presents an effective autonomous follow-the-leader strategy for Azimuthal Stern Drive vessels. The control logic has been investigated from a theoretical point of view. A line-of-sight algorithm is exploited to ensure yaw-check ability, while a speed-check feature is implemented to track the velocity of the target along the path. For thi...
Conference Paper
Full-text available
Many Collision Avoidance Systems (CAS) for autonomous ships usually presume that a ship's dynamics are completely known in advance. However, precise parameters for ships in different operating conditions are, in fact, uncertain and unknown. The parameter identification of ship dynamics is challenging and time-consuming. Thus, uncertainties in the s...
Conference Paper
Full-text available
A sound maintenance strategy is significant for wind energy development, because it can strengthen the competitiveness of wind power. The design and development of maintenance strategies for wind energy is a complicated topic which involves failure modes, degeneration process, weather conditions, spare parts management, accessibility for repair, av...
Article
Automated ground vehicles (AGVs) are essential parts of container operations at many ports. Forming platoons—as conceptually established in trucking—may allow these vehicles to directly cater demand points such as dry ports in the hinterland. In this work, we aim to assess such AGV platoons in terms of operational efficiency and costs, considering...
Conference Paper
When barges are scheduled before the demand for container transport is known, the scheduled departures may match poorly with the realised demands' due dates and with the truck utilization. Synchromodal transport enables simultaneous planning of container, truck and barge routes at the operational level. Often these decisions are taken by multiple s...
Article
Dynamic pricing can be used for better fleet distribution in free-floating vehicle sharing (FFVS), and thus increase utilization and revenue for the provider by reducing supply-demand asymmetry. Supply-demand asymmetry refers to the existence of an undersupply of vehicles at some locations at the same time as underutilization of vehicles at other l...
Chapter
Inland waterway transport is becoming attractive due to its minimum environmental impact in comparison with other transportation modes. Fixed timetables and routes are adopted by most barge operators, avoiding the full utilization of the available resources. Therefore a flexible model is adopted to reduce the transportation cost and environmental i...
Chapter
Automated ground vehicles (AGVs) are essential parts of container operations at many ports. Forming platoons—as conceptually established in trucking—may allow these vehicles to directly cater demand points such as dry ports in the hinterland. In this work, we aim to assess such AGV platoons in terms of operational efficiency and costs, considering...
Article
While collaborative vehicle routing has a significant potential to reduce transportation costs and emissions, current approaches are limited in terms of applicability, unrealistic assumptions, and low scalability. Centralized planning generally assumes full information and full control, which is often unacceptable for individual carriers. Combinato...
Chapter
We present a “rich” Petrol Station Replenishment Problem (PSRP) with real-life characteristics that represents the complexities involved in actual operations. The planning is optimised over multiple days and therefore, the new variant can be classified as the Multi-Period Petrol Station Replenishment Problem (MP-PSRP). A Mixed Integer Linear Progra...
Conference Paper
Full-text available
Global intermodal transportation involves the movement of shipments between inland terminals located in different continents by using ships, barges, trains, trucks, or any combination among them through integrated planning at a network level. One of the challenges faced by global operators is the matching of shipment requests with transport service...