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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Medium Capacity Guided Transit Systems, Vukan R. Vuchic Apr 2002

Medium Capacity Guided Transit Systems, Vukan R. Vuchic

Departmental Papers (ESE)

Presentation slides from Workshop on Medium-Capacity Transit, Korea Railroad Research Institute, Korea, 25-26 Apr. 2002.


Phase Regulation Of Decentralized Cyclic Robotic Systems, E. Klavins, Daniel E. Koditschek Mar 2002

Phase Regulation Of Decentralized Cyclic Robotic Systems, E. Klavins, Daniel E. Koditschek

Departmental Papers (ESE)

We address the problem of coupling cyclic robotic tasks to produce a specified coordinated behavior. Such coordination tasks are common in robotics, appearing in applications like walking, hopping, running, juggling and factory automation. In this paper we introduce a general methodology for designing controllers for such settings. We introduce a class of dynamical systems defined over n-dimensional tori (the cross product of n oscillator phases) that serve as reference fields for the specified task. These dynamical systems represent the ideal flow and phase couplings of the various cyclic tasks to be coordinated. In particular, given a specification of the desired ...


Washington Metro: Planning For Growth, Vukan R. Vuchic, Jeffrey M. Casello Mar 2002

Washington Metro: Planning For Growth, Vukan R. Vuchic, Jeffrey M. Casello

Departmental Papers (ESE)

In 1966, the United States Congress created the Washington Metropoli­tan Area Transit Authority (WMATA) to take control of the District's priva­te bus system and develop a new Metro network for the Nation's capital. Following extensive planning, cons­truction of Washington's Metrorail transit system started in 1969. Seven years later, revenue service began on a 7-kilometre line section with five sta­tions in operation. Another 25 years later, in 2001, the originally planned Washington Metrorail system, shown in Figure 1, was completed, reaching a total of 166 kilometres with 83 sta­tions.


Bus Semirapid Transit Mode Development And Evaluation, Vukan R. Vuchic Jan 2002

Bus Semirapid Transit Mode Development And Evaluation, Vukan R. Vuchic

Departmental Papers (ESE)

With little investment required for operating in streets, bus services are often designed to serve many overlapping routes with frequent stops. To upgrade services and attract choice riders, major bus routes should be provided with exclusive lanes, preferential signals, and fewer but more distinct stops.

The Federal Transit Administration’s (FTA) Bus Rapid Transit (BRT) program is aimed at upgrading bus services into semirapid transit category (technically, bus semirapid transit). Many similar programs in the past were initially successful but later degraded by allowing sharing of lanes by high-occupancy vehicles (HOV) and relaxed enforcement of traffic control. With the systems ...


Städte Und Stadtverkehr Im 21. Jahrhundert, Vukan R. Vuchic Jan 2002

Städte Und Stadtverkehr Im 21. Jahrhundert, Vukan R. Vuchic

Departmental Papers (ESE)

Wenn man heute die komplexen Probleme des Verhaltnisses zwischen Verkehr und Stadten im soeben angebrochenen Jahrhun­dert voraussagen mochte, kann es nutzlich sein, das entsprechende Gedankengut aus dem letzten Jahrhundert und insbesondere aus den letzten Jahrzehnten zu analysieren. Es fall! dabei auf, dass viele Zusammenhan­ge zwischen der Verkehrs- und Stadtentwick­lung oftmals mit erheblicher Verzogerung verstanden wurden. Die ersten waren ver­standlicherweise die Fachleute und manche Politiker, welche auf diese Zusammenhange hingewiesen haben. Noch !anger dauerte es, bis sich die Einsicht in der Bevolkerung ge­nugend verbreitet hatte und es moglich war, praktische Maf3nahmen durchzufuhren.


An Evaluation Of Maglev Technology And Its Comparison With High Speed Rail, Vukan R. Vuchic, Jeffrey Michael Casello Jan 2002

An Evaluation Of Maglev Technology And Its Comparison With High Speed Rail, Vukan R. Vuchic, Jeffrey Michael Casello

Departmental Papers (ESE)

High speed rail (HSR) systems have a proven record of efficient services in about a dozen countries. Recently, Magnetic Levitation (Maglev) technology for high speed ground transportation (HSGT) has been proposed for many intercity and regional lines in Germany, Japan, United States, and other countries. Maglev developers claim that their system can achieve higher speeds, have lower energy consumption and life cycle costs, attract more passengers, and produce less noise and vibration than high speed rail. This article presents a systematic comparison of the proposed Maglev system, specifically the German Transrapid, and high speed rail systems.

The analysis reaches the ...


Self-Stability Mechanisms For Sensor-Cheap Legged Locomotion, Daniel E. Koditschek, Richard Altendorfer, Raffaele M. Ghigliazza, Philip Holmes Jan 2002

Self-Stability Mechanisms For Sensor-Cheap Legged Locomotion, Daniel E. Koditschek, Richard Altendorfer, Raffaele M. Ghigliazza, Philip Holmes

Departmental Papers (ESE)

It is now well established that running animals’ mass centers exhibit the characteristics of a Spring Loaded Inverted Pendulum (SLIP) in the sagittal plane (Blickhan and Full, 1993). What control policy accomplishes this collapse of dimension by which animals solve the “degrees of freedom problem” (Bernstein, 1967)? How valuable might this policy be to gait control in legged robots?