Positioning a Handshake Bay for Twin Stacking Cranes in an Automated Container Terminal Yard Block

Algorithm 3

Decoding scheme based on task priorities.

 Inputs

 Outputs

 Steps

 Step 1 Initialize and a set containing uncompleted tasks and the corresponding cranes

 Step 2 Select the bays between and to form a candidate bay set . Use to index the jth element in

 Step 3 For each

  Step 3.1 Let , initialize sequence , initialize an occupied time set . Use to index the jth element in .

  Step 3.2 Insert all the tasks of the prime crane into , i.e., .

  Step 3.3 While is not empty

   Step 3.3.1 Select from with the highest vector value in , and insert to the sequence tail of

   Step 3.3.2 Calculate

   Step 3.3.3 If is the prime crane

    Step 3.3.3.1 If violates the safe time interval, namely

      Delay to a conflict-free time value, and add to

    End If

    Step 3.3.3.2 Add to if task is stacked at for operated by the other crane.

   Step 3.3.4 else

    Step 3.3.4.1 If violates the safe time interval, namely,

      delay to a conflict-free time value, and add to

    End If

   Step 3.3.5 End If

  Step 3.4 End While

  Step 3.5 Set

  Step 3.6 If

  End If

 Step 4 End For

 Step 5 Output