tag:blogger.com,1999:blog-40634506584215223562024-03-09T04:13:55.246-06:00Open PRT specification projectRethinking Personal Rapid Transit DesignDanhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.comBlogger176125tag:blogger.com,1999:blog-4063450658421522356.post-83324132321856912222016-12-19T23:36:00.002-06:002016-12-19T23:36:52.643-06:00Greetings, Updates and Plans from Dan the Blogger<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimnTdlf8g4lj9m8zqwWvb-qnQ-e6Ao1s82ymD65rSUqpFbqm7pxrnwQikuMEXQl8kKo5-ha5kfBGpl4S0oqcqkfGkiFx4DZ12khNmk0y_uQLTDUBPSLAoMn8ayT2cmPQXKIkdoWfYpJ9-j/s1600/Holiday+Pic.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEimnTdlf8g4lj9m8zqwWvb-qnQ-e6Ao1s82ymD65rSUqpFbqm7pxrnwQikuMEXQl8kKo5-ha5kfBGpl4S0oqcqkfGkiFx4DZ12khNmk0y_uQLTDUBPSLAoMn8ayT2cmPQXKIkdoWfYpJ9-j/s400/Holiday+Pic.jpg" width="400" /></a></div>
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As some long time readers or diggers into old posts may know,
I have, for quite a while now, been dealing with some issues that have been
competing for the attention previously devoted to this blog. In particular, I
wrote several years ago that I was caring for four elderly family members. That
number is down to two, and I have finally simplified their living arrangements (sold
two houses) to where they can still manage to live semi-independently. This has
given me a large part of this last summer and fall to catch up on pursuing my long-term
goal of developing my humble homestead on some land I own in New Hampshire.
This is a monumental and urgent task for a man of my age, (62) especially since
some amount of sweat equity therein has always been an important (and long
postponed) component of my retirement planning. At 85 and 87, my remaining relatives will
surely and increasingly pull me away from these goals again in the near future,
and so I must work around the clock while I can. My current lodging is
completely off-the-grid, in a remote streamside cabin (not pictured) which I
have managed to make quite comfortable except for the winter months, when
provisions would have to be brought in by snowmobile. I love this Thoreau-style
life, but there is no internet and even phone signals are very spotty. My
projects there are varied and challenging, both mentally and physically, and I
have found it difficult to switch my focus away from matters at hand even when
I get to more connected places, such as the town library. (the nearest
McDonalds is 25 miles away!) I do fly back to Houston frequently to help out and
try to get caught up when in the city, although I am busy here as well. So I
guess what I am saying is please bear with me, and don’t hesitate to comment,
even if I take a very long time to reply! BTW, this problem is years old. Way
back in <a href="http://openprtspecs.blogspot.com/2010/10/simple-circuits.html" target="_blank">post 106</a> you
can see the experimental bent-roof structure pictured above when it was just a
skeleton of 1x3 boards, and note that even back then I was making excuses for
being out so of touch!<o:p></o:p></div>
<span style="font-family: "Calibri",sans-serif; font-size: 11.0pt; line-height: 107%; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: Calibri; mso-fareast-language: EN-US; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin;"><br /></span>
<span style="line-height: 107%;"><span style="font-family: inherit;">Recent long, cold nights, however, have afforded
some time to sit by my wood stove and do some design work on the “Mama Bear” bogie
design. What I am working on, specifically, is a design that is fully buildable
for prototype and testing purposes. To this end I am refining the design from a
standpoint of what is most practical in terms of milling, welding and assembly
procedures. </span></span><br />
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjYs0O570oZabj0DXwwyMQpc0Y7HeiHnqkA2dfLTRgoULX9oYbDpGGUU1EC9Uy0k89r8_opcB8bMvvDGKlHbYMOPbXWo4pCBsGS6ue87Fo-SYrXvJDC4xZw6K4-LU7rNDvEzPwI07LcehDR/s1600/mama+exploded.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="301" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjYs0O570oZabj0DXwwyMQpc0Y7HeiHnqkA2dfLTRgoULX9oYbDpGGUU1EC9Uy0k89r8_opcB8bMvvDGKlHbYMOPbXWo4pCBsGS6ue87Fo-SYrXvJDC4xZw6K4-LU7rNDvEzPwI07LcehDR/s400/mama+exploded.png" width="400" /></a></div>
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Pictured above is an exploded view of a SMART (Suspended
Multi-axis Automated Rail Transport) PRT bogie of the mid-size variety. (Mama
Bear) If you are completely new to the site and the concept, this is the motorized
part of a hanging Personal Rapid Transit vehicle that rides within the track,
so that the carriage may hang from it. This design features an unmatched combination
of tighter turning, steeper climbing, faster speeds, and other many other attributes
that long-time readers will recognize from earlier iterations. If it seems like
there are an awful lot of parts, I would point out that many are identical, may
be machined with the same set-up, can be ordered pre-cut to a shape from a
steel or aluminum supplier, and so forth. A mass produced equivalent would be
quite different, ideally with self-turning wheels (axial flux, hub motor driven)
mounted on a stamped metal frame. This design relies on a lot of supplier-cut
sheet and plate shapes, with lathe-cut “stand-offs” and lots of threaded rod,
nuts and bolts to hold it all together. Below are the assembly stages. Note: I
did not include every single nut and bolt, nor is this CAD file scaled to the
precision customary for shop drawings. Some plate thicknesses might vary,
depending on choosing aluminum or steel. If plates appear thick, they are probably
aluminum.<o:p></o:p></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicy91N7ndqwzMRS9C32qscxTDDYguD1t-Kzr_Ak-Aa_8OXoWW6YHKxjri2I1GgL0BGXeLUNxd59JDmdcka8IfxJSoZtMk65cBhiAmlc9HeM3ancAVAh9o2KznIYjWE1_lWQeX-UbrbVNdy/s1600/plate+and+square+tube.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="296" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEicy91N7ndqwzMRS9C32qscxTDDYguD1t-Kzr_Ak-Aa_8OXoWW6YHKxjri2I1GgL0BGXeLUNxd59JDmdcka8IfxJSoZtMk65cBhiAmlc9HeM3ancAVAh9o2KznIYjWE1_lWQeX-UbrbVNdy/s320/plate+and+square+tube.png" width="320" /></a></div>
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The design starts with 1.25” square and rectangular tubing,
flame-cut 1/8<sup>” </sup>sheet steel and some round tube and bar, all welded.</div>
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<o:p></o:p></div>
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The stand-offs are pipe which is filled with foam that is drilled
to help center the pieces during assembly. <o:p></o:p></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaar5VdV8byMT7Z_WqSkIKyU9ohJiPrff-iYxDlKEMRNPHfoMo5VFBRcYtUYItV4-4ySwWzIRsNwmpXzbSO9P3g7lpk9sAjw_GPhsjglU-8RIAIMZDLNPjY65s3s9sKPJN9_7D-C3bovBt/s1600/exploded+switcher.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="265" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaar5VdV8byMT7Z_WqSkIKyU9ohJiPrff-iYxDlKEMRNPHfoMo5VFBRcYtUYItV4-4ySwWzIRsNwmpXzbSO9P3g7lpk9sAjw_GPhsjglU-8RIAIMZDLNPjY65s3s9sKPJN9_7D-C3bovBt/s400/exploded+switcher.png" width="400" /></a></div>
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The track switching components are assembled separately.
These utilize pre-milled (for exact thickness) aluminum plate material, which
is an off-the-shelf item. Aluminum can “smear” into ripples instead of wearing
smoothly, so for more than a few thousand switching cycles nylon or bronze
bearing surfaces should be inset for those dark blue (steel) switcher arms.<o:p></o:p></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgLJLsz16RFG-ICXNr43FLqWZ-QRz-9Sr-wCLBprXgatX60CpocHepHodcdap7SyZID625wufSXjGU3up4pN2nteVl4ACHcIxC-5wIcgaGYR86mQbVesHO30f1Zlo5I4PZ7bZ0qJ2akzAV0/s1600/switcher+assembled.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="272" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgLJLsz16RFG-ICXNr43FLqWZ-QRz-9Sr-wCLBprXgatX60CpocHepHodcdap7SyZID625wufSXjGU3up4pN2nteVl4ACHcIxC-5wIcgaGYR86mQbVesHO30f1Zlo5I4PZ7bZ0qJ2akzAV0/s400/switcher+assembled.png" width="400" /></a></div>
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<span style="line-height: 107%;"><span style="font-family: inherit;">This
assembled unit shows how both sets of switcher arms are sandwiched between
milled aluminum plates, and how this assembly must be stout enough to never become
bent to where the arms might become bound. Note that each arm’s pivot point is
across the unit while it is raised and lowered by a cam near its midpoint. This
geometry transfers load directly to the frame without stressing or inducing
rotation to the camshaft once set into the up or down position. </span></span></div>
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<span style="line-height: 107%;"><span style="font-family: inherit;">Above
we see how the nearly completed switcher assembly is inserted and bolted into
the frame, and additional motor mounting parts (plates and stand-offs) are
added. </span></span></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2o1VntL37RCBLaZkd_mdyXcBktKQyLS2AvzwhbkIAeoo28ZO9nQcI9Wsc2WBSR18SJqr6NWovrYucUyoDgwJOwxpVQSi9_SURNJh8rugM266E1Mm7V2_hq_V15XF8m82QQqOZ_Nf6VJ9B/s1600/with+switcher+.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="387" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2o1VntL37RCBLaZkd_mdyXcBktKQyLS2AvzwhbkIAeoo28ZO9nQcI9Wsc2WBSR18SJqr6NWovrYucUyoDgwJOwxpVQSi9_SURNJh8rugM266E1Mm7V2_hq_V15XF8m82QQqOZ_Nf6VJ9B/s400/with+switcher+.png" width="400" /></a></div>
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Finally, standard trailer wheel spindles are added as are
the guide wheels and axles.</div>
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<span style="font-family: inherit;">There.
Now you just need 4 of <a href="http://www.goldenmotor.com/" target="_blank">Golden Motor’s 5 kw BLDC motors,</a> ($376. Each) for a
total of 26 HP, some timing belts and pulleys, 4 heavy-duty trailer tires and
hubs and you are practically “good to go.” </span><o:p></o:p></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVg907QMWEhyQ80DrCCXRfJGJ4sD5TE4Fa7s9doKcSE_yTi4aexvmaZ1T3mNbipHp5hB6GWVq3wnMUK0XZAR47vT8JSkFu191hrZppl7FJd5zi55adir78CwvZiF7arsMa-pki2kLUNv8a/s1600/PRT+bogie+.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="350" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjVg907QMWEhyQ80DrCCXRfJGJ4sD5TE4Fa7s9doKcSE_yTi4aexvmaZ1T3mNbipHp5hB6GWVq3wnMUK0XZAR47vT8JSkFu191hrZppl7FJd5zi55adir78CwvZiF7arsMa-pki2kLUNv8a/s400/PRT+bogie+.png" width="400" /></a></div>
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Lastly, sprockets are
attached to the belt pulleys, (so they rotate as one) and a free spinning wheel
tops off each wheel axle assembly. The sprockets act as cogs for climbing a “ladder”
of dowl pins or even a mounted chain. The free-spinning wheels are used to
press the sprocket into engagement, so it cannot skip. When the sprockets are
engaged the tires free-spin. In this mode the bogie is extremely manuverable
and can even climb straight up. That is it; except, perhaps, for adding some safety sensors
to keep an eye on things out in the field, wire harnesses and other small stuff.<o:p></o:p></div>
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And one last thing – ideally the bogie should have a controller
package that can make the motors behave like servos – that is to be able to
numerically select (via a real-time program) the speed and number of
revolutions of each motor so that, for example, the outside wheels can rotate proportionally
faster than the inside ones while turning, or the front and rear wheels can
rotate at different speeds when switching from cruising to climbing mode. <a href="http://openprtspecs.blogspot.com/2011/11/climbing-chain.html" target="_blank">Post 131</a> explains climbing and <a href="http://openprtspecs.blogspot.com/2014/06/musical-prt.html" target="_blank">162</a> discusses
using digital rotational control in general. It is, however, possible to use 4
of Golden Motor’s ($585.00 - Ouch!) controllers, unmodified, in a pinch. This is
an inelegant control solution because it is inaccurate and overly complex, but
it would do for now… I will discuss this option in a future post. <o:p></o:p></div>
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So, do we have any volunteers to go out and build this
puppy? Oh yeah… Track will be (I would guess) about $200.00 per ft. erected… What’s
that, you say? Too expensive?... Baby
bear?... Well, that is still on the drawing board.<o:p></o:p></div>
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<span style="font-family: "Calibri",sans-serif; font-size: 11.0pt; line-height: 107%; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: Calibri; mso-fareast-language: EN-US; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin;">
<span style="font-size: 11pt; line-height: 107%;">Anyway, have a great time these holidays! Best
Wishes from DTB! (Dan the Blogger)</span></span></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com26tag:blogger.com,1999:blog-4063450658421522356.post-23451307589988209142016-09-16T11:32:00.000-05:002016-09-16T11:32:08.729-05:00PRT is Dead. Long live PRT!<div class="MsoNormal">
<span style="font-family: inherit;">With the various advances that have come to transportation
lately, PRT has lost its monopoly on many of the virtues that once made it
unique. It is, perhaps, natural to wonder if PRT’s time has come and gone. Once
upon a time only PRT could manage its traffic because the vehicles were
centrally controlled. Now, with traffic apps, roadside electric billboard
alerts, etc., drivers by the thousands can increasingly be alerted of upcoming
congestion and change their routes accordingly. In the very near future cars
will be “talking” to signs, traffic lights, the cloud and to each other. In the
past the whole idea of a driverless vehicle was unthinkable without a dedicated
track or guideway, simply for safety reasons. That is clearly changing. Once,
PRT alone made electric vehicles practical, because an electrified rail
eliminated the need for the heavy lead-acid batteries that made electric cars
slow and short-range. Another advantage gone. Does all of this mean PRT is
dead? Can PRT’s essential advantages can be had in different ways? Let’s dig a
little deeper. <o:p></o:p></span></div>
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<span style="font-family: inherit;"><br /></span></div>
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<span style="font-family: inherit;">One must first realize that progress has not been confined
to cars alone. PRT’s centralized control scheme was a liability as well as an
asset – A single glitch could strand everybody. Autonomous driving benefits PRT
right along with automobiles. This is especially important in that it facilitates
variable speeds which, in turn, enable tighter turns and faster straightaways,
making PRT much more versatile. Those sweeping, graceful turns once depicted in
PRT promo material were far from an asset – who would give up their valuable
corner property without a fight? Advances in batteries benefit PRT as well. Now
there are many “third rail” options including none at all, being a discontinuous,
a charge-on-the-go system, supplementing solar collectors, etc. Wireless
connectivity, combined with more “intelligent” PRT control makes for a very
robust and fault-tolerant system. In other words, any PRT system that is
devised today can be far superior to past designs by almost every metric. <o:p></o:p></span></div>
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<span style="font-family: inherit;"><br /></span></div>
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<span style="font-family: inherit;">Although many designs still represent a basically workable,
even elegant transit alternative, enough has changed in the technological
landscape to justify a re-think of many key aspects of the whole proposition.
It’s not just self-driving technology and batteries. It’s smart phones, the
cloud, how things are prototyped and manufactured. The world itself has
changed, including people’s expectations and behavior. About the only thing
that hasn’t changed is the need. The fundamental problem with “surface”
transportation is that paths inherently cross, leaving no alternative but for
someone to stop and wait, whether you’re a pedestrian, train, on bicycle or on
horseback. The large size and weight of commercial vehicles on our current
roadways curtails extensive use of curative overpasses and even when elevation
is absolutely necessary, the high inertia of these vehicles is such that
massive cloverleaf designs must be created or they would simply skid off the
road at reasonable speeds. This, with the shrinking amount of available ground-level
space, ensures troublesome bottlenecks. Self-driving cars, alone, can never
solve this dilemma. Private passenger vehicles do not require anything close to
such a heavy infrastructure, yet they comprise the lion’s share of vehicular
traffic. There is, therefore, great advantage to be gained by giving such smaller
vehicles a modern, non-stop infrastructure all their own, which can also
eliminate the need for plowing, policing, and save lives. So if a smaller
gauge, elevated (and presumably automated) system for moving people is still needed
what, specifically, has changed? <o:p></o:p></span></div>
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<span style="font-family: inherit;"><br /></span></div>
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<span style="font-family: inherit;">PRT has always been a mix of utopian dream and practicality.
You walk a short distance to a station, there are private vehicles waiting, and
you get whisked away, non-stop, to your destination. But wait: A “short distance?”
How short? “Private vehicles waiting?” Every time? Isn’t that kind of wasteful,
having that much precious investment sitting idle? What about vehicle capacity?
Should all vehicles that will usually carry one be built for four, “just in
case?” And what about “non-stop?” If a vehicle can pick up a passenger or two
without adding substantially to the travel time, isn’t it kind of inefficient
not to? Or what about “To your destination?” How close are we really talking
about? Above all, is this practical as a business?<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Unfortunately, the whole notion of PRT becomes very iffy
when many important stations have yet to be added, because it is that much less
likely that there will be potential passengers, at any given time, within
walking distance of a given station. Trying to start a PRT system without a multitude
of destinations is like opening a grocery store that only stocks pet food,
diapers and milk and expecting it to grow from there. No selection, no customers.
I suspect we all agree, however, that PRT would prosper fabulously were it extensively
built-out to the point of having stations on every corner. That would be a “Walmart”
of destination choices! But how do we realistically get there in stages? This
has always been the fly in the ointment and is where the latest technological
trends may just come to the rescue, even if the remedies aren’t exactly what a PRT
purist would like. Let’s start with the first part of the supposition above,
walking that “short distance” to the station. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">It is no secret that Uber is working on self-driving cars.
Yet as the recent fatal crash of a Tesla on autopilot points out, there will be
a lot of bumps along the way, especially in terms of liability and ethics when it
comes to driverless cars going lethal speeds. For robotaxis, it is more likely that
completely driverless vehicles will cut their teeth on the slower, short-haul
market for quite some time before attempting to navigate amongst drivers who
themselves are often driving unsafely, sometimes on foggy, icy or flooded
streets. A preferable start for an Uber would be, therefore, somewhere that would
leverage the convenience of a ride hailing app with a greater value than a
short, slower ride would ordinarily suggest. Such situations already exist in
cities with long established and heavily used transit systems, where some
neighborhoods are just out of comfortable walking distance to the nearest
station. Assigning a few robotaxis to each station would extend a transit
system’s reach. Better yet, however, would be to service a PRT station, because
that would mean that an entire trip could be arranged in a single step. In
other words, a robotaxi/PRT/robotaxi trip could be arranged by phone, giving
the full door-to-door service of a traditional taxi but with the non-stop,
flyover capability of PRT, hopefully for the lion’s share of the trip. This
would require far fewer PRT stations than the traditional grid approach, with
the PRT simply acting as a wormhole from one part of the city to another. Such
a partnership is as good for Uber as it is for PRT.<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Then there is the matter of sharing the ride via Group Rapid
Transit, or GRT. Automated self-driving
technologies enable a mix of vehicles. There can be 2 seaters, 4 or 6-10
seaters or cargo vehicles all sharing the same track. A cloud-based phone app
could do more than simply synchronize the ground transportation for a PRT
passenger. It could also pair passengers with vehicles “on the fly” to create
the most efficient shared routing. Since nascent networks will necessarily have
only a few major destinations to start, it is vital to implement a business
model that can survive this stage. Such stripped-down networks tend to lend
themselves more to GRT than PRT, since it makes little sense to send large
numbers of people to the same destination in separate vehicles. Readers of this
blog will note that the concept of a multiple-tier, yet compatible track system
(Baby, Mama and Papa bear track) has been proposed herein, and GRT track is of
the “Papa Bear” variety, which supports high speeds and heavier weights, but
not steep slopes or tight turns that would be best for confined, densely developed
areas. Although not as flexible as a smaller track, it is assumed that many
important destinations are accessible by major highways anyway, and such track
would generally follow these or other uncontested routes. In a more mature
system these would form an arterial backbone for smaller, yet compatible PRT track
and station designs that are sized to more comprehensively serve neighborhoods
where space and flexibility is at a premium. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">This is where cloud-based “intelligent” routing and
scheduling really makes a difference. Consider the compromise reflected in all
forms of shared, scheduled transit: Running infrequently makes for full
vehicles but discourages use of the system while running frequently promotes
system use but it may operate at a loss because the vehicles are nearly empty. With
app/cloud-based systems, however, the need can be monitored in real time and
responded to accordingly. This strongly implies an approach that incorporates
multiple vehicle sizes, something that would make sense anyway, from airplanes
to buses, if only such vehicles could be staged “at the ready,” and there was a
means to accurately predict occupancy. A paradigm of distributed, algorithmically
anticipated, haled (rather than scheduled) vehicles makes this possible for the
first time, essentially turning everything we thought we knew about mass transit
on its head. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">In a fully automated, cloud-based deployment scheme, artificial
intelligence would be used in real time to choose both vehicle type and
destination to best eliminate waiting and minimize travel time while maximizing
throughput. Unlike a city bus, which often has a sign that shows
route/destination information, A GRT vehicle’s sign (and destination) might
change as it pulls into a station based on the more democratic principle of
majority rule. Perhaps such a system
could even arrange a passenger transfer to another vehicle, maybe even calling
that passenger by name and giving instructions. For that matter the vehicle
would also “know” if a passenger is making a mistake and getting off at the
wrong station. The system could even respond to passenger preferences and
histories, such as not pairing an unaccompanied woman or minor alone with a
stranger, or only pairing students of a local college with other students. Hmm…
This might give new meaning to the term “speed dating”! Seriously though, bad
experiences can be reported within a passenger app, and with cameras becoming
ever cheaper and clearer, this all bodes well for safety and passenger
satisfaction even without the watchful eye of a driver. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">All of the above stands in stark contrast to the “everything
or nothing” proposition of traditional PRT, and we all know which of those two cases
has come true to date. Is PRT “dead?” Perhaps, in a way. If this is so than it
is death by a thousand cuts… a business model that is not quite compelling
because dozens of very minor (though often solvable) factors add up to a no-go,
especially in the early stages when there are too few stations to create the
“network effect.” Still, besides
creating a dizzying array of choices, our current technological prowess has
made the path towards those original goals more likely and achievable, not
less. At present it seems that GRT (rather than PRT) is probably the way to
start because the drawbacks of group travel have been largely eliminated and
GRT offers a better business model for the fewer stations that are an essential
stage in building out a network. GRT, like PRT, with a robotaxi at each end,
offers true door-to-door service, ideally with near zero wait time. It is also
notable that even with a GRT system there would be naturally be a need for
smaller vehicles. Late at night, for example, it would make little sense to use
vehicles that are sized for rush hour. This bodes well for the prospect of arterial
track sections that are eventually populated by both PRT and GRT vehicles. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Any ground-based leg of the trip, of course, will still
experience traffic delays. That, for PRT (and elevated transport in general) is
a good thing, as it will encourage expanding the aerial network into more and
more areas, and encourage players like Uber, Google, or even Ford to enter the
elevated transit business. The contrast between crawling along on the ground and
flying over the city will be like night and day, and it is hard to imagine that
they will not see the light. It is also noteworthy that future robotaxi logs
would give solid statistical evidence as to where the elevated track should
expand to next, by predicting how such a “spur” would perform monetarily,
removing the financial risk of such an expansion. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">PRT does seem dead or dying as a singular, all-inclusive product/service,
in that the old model is analogous to treating
cars and roads as a single thing, when they are many: There are many types of
roads and many types of vehicles that drive on those roads and that’s a Darwinian
strength. The specific vehicle/track/operational methodologies of many past PRT
designs were often tightly integrated to compensate for technological
limitations of the day and so now require total revision in the face of the
game changing advent of autonomous vehicular control. In this new world the
track itself is the most important part to get right, because it is,
ultimately, the limiting factor. Track that is too expensive, uses too much
real estate, requires stations that are too expensive, is noisy, is affected by
weather, cannot easily be modified for various loads or spans, cannot support
high speeds, cannot be quickly and inexpensively constructed or modified, etc., won’t fulfill
its promise, or the promise of anything running on it. Above all it needs to be
flexible, and that means being designed for much more than PRT. It seems
increasingly likely that vehicles from multiple venders may be the business
model that is most likely to flourish in the ecosystem of grade separated,
automated transport, so we have to keep the track simple.<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">The roll of the “control system” has clearly changed. There
has always been some degree of autonomy in PRT, say to slam on the brakes to
avert a collision, for example. With newfound autonomous capabilities however,
centralized “control” becomes, more and more, merely a role of scheduling and traffic
optimization. Under such a scenario, the central computer basically makes
suggestions in real-time that are normally followed, so it is essentially the
same as central control. The difference is that the vehicles are quite capable
of working independently, just at a more cautious pace. This may seem like
splitting hairs, but it is an important distinction from a business
perspective, because it redefines what role a PRT company would have in
continuing operations by reducing an important role to a discreet, probably largely
cloud based, software layer. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"> </span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">What if, we might dream, a city were to say to a Google,
Tesla, Amazon or an Uber, “If we provide this track and these stations will you
design and build robotic vehicles for it? Or perhaps provide the central
traffic optimization (control) layer? While it might seem, at first glance,
that such companies would have little to gain, it is actually a pretty
interesting sandbox, as described in the previous post, and the cost of
prototyping and mass producing the actual machinery is falling every day. There
has always been a natural dichotomy in PRT between that which is naturally a city’s
business and what a PRT company can be expected to produce and perform.
Autonomous vehicles enable a “dumb” track that requires less oversight, is less
likely to become obsolete, is less tied to a specific vehicle manufacturer, and
is therefore generally less burdensome and risky to a city. This, in turn,
relieves vehicle manufacturers from a business they want no part of, that being
planners and builders of urban infrastructure. The PRT provider really becomes
more of a go-between, a builder of partnerships. Everybody’s happy! <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<br />
<div class="MsoNormal">
<span style="font-family: inherit;">The PRT of old seems pretty much dead... if it was ever
really alive to start with. Loosely defined, however, where we are simply
referring to smaller, haled robotic vehicles operating on a network of lightweight,
elevated tracks... well that, my friends, is alive and well. Long live PRT!</span><o:p></o:p></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com18tag:blogger.com,1999:blog-4063450658421522356.post-88800416184880468952016-03-23T23:18:00.000-05:002016-03-23T23:27:44.116-05:00A Simple Question<div class="MsoNormal">
<div class="MsoNormal">
<o:p></o:p></div>
<span style="font-family: inherit;"><br /></span>
<span style="font-family: inherit;">I have a simple question for Google, Tesla, Apple, GM, BMW
or any of the other makers (or potential makers) or self-driving cars. It goes
something like this:</span><br />
<span style="font-family: inherit;"><br /></span>
<span style="font-family: inherit;">Let’s suppose you put 4 robocars in a parking lot, and they
all want to leave at once. Who goes first, and why? Taken a bit farther, if a
couple of your competitor’s self-driving cars enter the mix, then what? Can I
bully my way out first if I am the only human driver? What if I yell, “My
wife’s water just broke!” What if one is
a bus? Do large or full vehicles get priority over a vehicle with a single
passenger? Or here’s one for Amazon. What if a bunch of delivery drones arrive
back at the warehouse at the same time? What about when multiple robo-forklifts
rush pallets to a waiting truck? How is all of this coordinated? <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">What we are talking about here is something very fundamental,
even in nature… When herds navigate a river crossing or when bees enter a hive,
there must be a pecking order. Extended to movements en masse, there are
behaviors such as flocking, schooling and swarming. This is an essential
building block that must be integrated into the programing of any autonomous robot
that moves around amongst other mobile devices. It is more complicated than
simply allowing the first in line to take the lead. As noted earlier, there are
mitigating circumstances than can change the priorities. “First come first
serve” won’t work, for example, if the first in line is a nimble little vehicle
but the second is very much larger and/or moving faster. These parameters must
be mathematically quantified in computer code.<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Whenever autonomous vehicles (of any type) approach each
other there must be some kind of mutual greeting, and exchange of self-descriptions,
and declaration of current and intended movement. In the simplest example, two equal
vehicles are traveling in straight lines and those lines cross up ahead. A
check of velocities determines that both will arrive at this crossing simultaneously,
so one or both must adjust speed accordingly to prevent a collision. This greeting
need not be last-minute in either time or space, but rather should occur as far
ahead of time as is practical. After
all, if an automated train pulling thousands of tons is one minute away, the
other vehicles that will be crossing that track would be well advised to
anticipate this arrival! In the automotive realm, convergence of large numbers
of cars at a single choke point will form gridlock, so advance warning of this
would obviously be advantageous. In other words, what is collision prevention
close-up is traffic prevention if done ahead of time. A cloud-based, queryable master
timetable can be generated by monitoring such intervehicular communications, so
all upcoming interactions on any particular vehicle’s itinerary can be foretold
by simple sorting. In other words, every vehicle can know who it will encounter
on a journey and when. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Because of the many manufacturers and types of robotic
vehicles that might be involved, “interspecies” traffic management will
eventually require a holistic approach, and so a number of standards will need
to be established. Otherwise muscular Teslas will be bullying Google cars and
neither will understand why a bus keeps stopping. Aspects of such protocols
will be widely applicable to various forms of human controlled transportation
as well, providing an additional layer of safety for road, air, harbor or rail
traffic. (Existing standards and practices will have to be folded in.) Drones
could simply be “repelled” by air traffic corridors when they are active, road traffic
would automatically start pulling over with the approach of an ambulance and so
forth. Even inanimate objects could participate. Perhaps someday stop signs may literally stop
you! <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">And what, pray tell, does any of this have to do with
Personal Rapid Transit? First of all, collision avoidance and traffic control
are problems that equally apply to PRT, and no such software for autonomous PRT
vehicles currently exists, even though it would have huge advantages, such as
eliminating any chance of a systemic failure. The fear of such failure has been
one argument against compact track designs that are otherwise cheaper and less
visually intrusive, since they cannot double as an emergency walkway. Autonomously controllable vehicles could
reroute, backup, or even push a disabled vehicle, making any such problem much
more manageable. In short, a system based on autonomous vehicles has the
robustness demanded in today’s world. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Secondly, such software will have to be written anyway, as it
is the core of any system that can coordinate self-driving cars or other mobile
robotic systems. It is that last assertion that is key: The software will have
to be written anyway, because will likely be done before any comparable code is
written specifically for PRT. The problem for PRT, besides the wait, is that
there is no particular reason to believe that the developers of self-driving cars
will tackle this problem as a holistic platform until they are forced to do so.
It is much easier to stick with “first come, first served” until forced to do
otherwise. Until you ask the parking lot question, the matter appears to be a
simple extension of obstacle avoidance – a mere footnote in the code. Someone
needs talk to these folks and point out that there probably is a sizable DARPA
grant in there for whoever takes this on as an independent field of R&D. It
has incredibly important military, as well as civilian, applications. </span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">The good
news for PRT is that it just happens that this platform can, in most cases, be researched
more easily with PRT than with cars or other steerable robots. To illustrate
this, let’s start with connectivity.</span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">The same year as I started this blog, Kevin Ashton coined
the term “</span><a href="https://en.wikipedia.org/wiki/Internet_of_Things" style="font-family: inherit;" target="_blank">internet of things</a><span style="font-family: inherit;">” </span><span style="font-family: inherit;">referring to a world of pervasive internet
where everyday devices would communicate with each other, the cloud, the owner,
and/or the manufacturer. Such a world is slowly coming to be, from doorbells
that ring your phone to, of course, GPS navigation in your car. Yet fast and completely
reliable real-time connectivity is still a problem, something that the upcoming
5G cellular standards will try to address. In the meantime, for automakers,
this limitation adds to the constraints in developing the kind of vehicular
coordination discussed earlier. Between the unpredictable street environment,
the lack of connectivity, and the lack of other cars with which to communicate,
it is likely that traffic coordination directly between vehicles will become mired
in, conflated with, and given a back seat to these other issues. PRT, in
contrast, is a perfect testing ground for such coordinated control because it
lacks these complications. “Leaky cable” (as proposed by Skyweb Express,
Flyways, and others) is a method of extending the range of wireless
communications that is basically protocol agnostic; Perforated coaxial cable
acts as a track-wide linear antenna for both broadcasting and receiving
wireless signals, and inside of a shielded track at a range of mere inches it
can provide super-clean transmission of wireless Ethernet, Bluetooth, or
experimental protocols designed to exploit or supplement next generation
cellular technologies. In other words, Google’s cars might not be able to
reliably chat with each other from long range now, but with leaky cable equipped
PRT they could simulate that future connectivity in a way that they can’t out
on the streets.</span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">To prevent collisions (or to merge PRT vehicles) we need
more than a “handshake”. We need to act on real-time velocity and trajectory
information. The parking lot example illustrates just how complicated this is.
The cars can be initially positioned and aiming anywhere, and their preferred
paths can be curved by any amount or into an “S,” for that matter. Meanwhile they
can speed up or slow down by any amount, all while trying to maintain a
comfortable ride and watch for obstacles. In short, the possible combinations
are nearly infinite. Track-based PRT reduces this to absolute bare-bones. Trajectory
information is nil (or zero, for straight ahead) because the vehicle is captive
on a track, and changeable only to 1. (to switch tracks) This means that while
still needing to be written into the program, all of that complex turning radii
and angle information is reduced to one single, binary “bit.” - Little more
than a place marker - I told you it was
easy! <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Velocity information for PRT is also highly reliable in comparison
to self-driving cars since, out on the streets, moments of uncertainty rightly
cause moments of deceleration which results in unpredictable travel times. In the
controllable environment of a track the interactions between vehicles can be
programmed to milliseconds even when it will be many minutes before the
encounter occurs. This simplifies experimentation with algorithms for shaping
traffic of any type including air, harbor, warehouse, rail, etc. One immediate
and valuable use of such software is to more accurately simulate proposed
highways and modifications to them. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">PRT is also the ideal way to experiment with adding “the
cloud” into the mix. If two vehicles will cross the same merge point in 5
seconds, that interaction should be transacted locally. If the encounter is 3
minutes away, however, that is something that should probably be cloud-based.
The interaction of cloud and local communications and processing resources is
hard to study out on public streets, but is essential for making robots behave
as a team, not just for transportation but for fields such as space or undersea
construction, search and rescue, or for military uses - anywhere where swarms
of small robots acting in concert could gainfully replace teams of humans. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">Moving from simulations to making occupied vehicles actually
cooperate takes testing in the physical world, and this is expensive. For such
testing, it is very hard to imagine a mechanical system that is simpler than a
PRT bogie which, since it doesn’t have to steer or handle bumps, can be reduced
to the absolute minimum of moving parts possible for a self-mobile device. This
simplicity and affordability enables experiments that require large numbers of vehicles.
For scaled-down, indoor model testing, track could be something as simple as a
one piece extrusion. Such experimentation is not frivolous. Consider the
problem of sequential merges, for example, such as would happen with multiple
on-ramps feeding a single lane. How many vehicles can you add and how fast,
when they are all “thinking” for themselves? Can you throw in a simulated
emergency vehicle? Mastering this ultra-simplified, track-based environment would
be a valuable precursor to doing the same on the open road. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">The bottom line is that to get those cars out of the parking
lot, you need to write a program, and that program needs structure and a
foundation. To go about their business efficiently, self-driving cars, (or
other forms of mobile robotics) need to coordinate their movements by
communicating and planning ahead. Doing this effectively across a broad range
of devices constitutes a huge but necessary challenge, and a chance for
interested companies to create standards and otherwise influence a whole new
and emerging, yet fundamental platform. To get this right, they will need to
develop and test a system whereby autonomous vehicles will resolve conflicting
routing intentions in real time and circumvent future conflicts by some method
of fair prioritization. Doing this for drones, in full 3D, will be an astronomical
challenge, and even coordinating vehicles in open parking lot or warehouse space
involves a nearly infinite number of possible paths, not to mention timing.
Doing this for rail-based PRT would, perhaps, be the simplest testable starting
point, because the vehicles are as elemental is possible, the steering is binary,
the rolling surface is smooth and controllable, and the wireless communications
are free from interference and distance limitations. A near-perfect laboratory.
<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<div class="MsoNormal">
<span style="font-family: inherit;">For PRT, this presents an interesting business model. What
if, for example, a city were to agree to partner with a Google or Apple or Uber
(or a consortium) to create such a laboratory in the form of an actual PRT
system. In this case the city and its local partners would be primarily
responsible for track and stations, which I have demonstrated can be quite
minimal. The majority of the system could be developed with funds already
earmarked for similar experimentation. This combination also falls neatly into federal funding<a href="http://www.its.dot.gov/its_program/its_factsheets.htm" target="_blank"> programs already underway</a>, and we should not underestimate the
influence these tech giants have in setting the agenda for such funding. The US
Department of Transportation may not be interested in PRT per se, but they are
clearly interested in <a href="http://www.its.dot.gov/factsheets/pdf/ITS_JPO_StratPlan.pdf" target="_blank">everything that makes PRT tick!</a> Also, the (PR) optics of the whole
program would be great for everyone involved. To these companies (unlike the
government) bold is beautiful!</span><span style="font-family: inherit;"> </span><span style="font-family: inherit;">Such a scheme squarely addresses PRT’s three greatest
problems, those being [1] the “PRT-needs-a-large-network-to-be-profitable”
problem, [2] the “government-bias-toward-pavement-based-solutions” funding
problem, and [3] the “reluctance-of-cities-to-try-anything-new, especially-with-an
untried-startup” problem.</span></div>
<div class="MsoNormal">
<span style="font-family: inherit;"><br /></span></div>
<span style="font-size: 11pt; line-height: 107%;"><span style="font-family: inherit;">I have one more, simple question for the tech
giants, not to mention our respective governments. “Do you want to shape this
coming paradigm or do you want to cede this field to someone else?” </span></span>Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com14tag:blogger.com,1999:blog-4063450658421522356.post-30446763962027768572015-12-20T15:52:00.001-06:002015-12-20T15:59:34.192-06:00Modularizing PRT<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjtKBDKx3TuOCNNWrkrGU6B7pUJXYxic5gdOBfOBw4lAWa8H_zJV-q8eAX50MTP9AsYWE8m9TqrQGMrDy0GYn_jbkcXURrtNx5ltF5uecHyqba2HNM6-48lVatnf-pcJjQz1ky26WRZSP86/s1600/Santa+faces+rising+sea+levels.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="383" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjtKBDKx3TuOCNNWrkrGU6B7pUJXYxic5gdOBfOBw4lAWa8H_zJV-q8eAX50MTP9AsYWE8m9TqrQGMrDy0GYn_jbkcXURrtNx5ltF5uecHyqba2HNM6-48lVatnf-pcJjQz1ky26WRZSP86/s400/Santa+faces+rising+sea+levels.jpg" width="400" /></a></div>
<div style="text-align: center;">
<div style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">Let’s Hope,
for Santa’s sake, that the nations of the world make 2016 a banner year by actually
acting on the agreements reached at the recent international climate summit! PRT
is too good of a solution to languish for long in a world that is finally getting
serious about carbon reduction!</span></span></div>
</div>
<div style="text-align: justify;">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">One problem that
is holding up the implementation of PRT, ironically, is the speed of
technological progress. In eras past, such big projects could be tackled with the
assurance that they would remain cutting-edge for years to come, so any government
contributions would remain relevant and financial stakeholders would enjoy a fairly
long-term leg up on the competition as well. These days, better techniques,
materials and methods come along almost faster than whiteboard ink can dry. In
particular, the progress toward electric and self-driving cars, better batteries,
robotics, communications and so forth creates the impression that any major innovations
in transportation field may well be obsolete or unneeded soon anyway. After
all, many of us still have our share of VCR players, film cameras, and cassette
tapes somewhere in the basement, and what mayor or transit chief wants to
create a highly visible, far-flung legacy that ends up looking as modern as an eight
foot home satellite dish? Like it or not, cutting-edge means little-explored, unvetted,
vulnerable to being leapfrogged. With the speed of technological change being
as fast as it is, is it any wonder that neither government (local, state or federal)
nor private investors want to stick their necks out on tech ventures that involve
so much untested ground?<o:p></o:p></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">Making sure
that the PRT infrastructure remains useful for decades to come requires a
careful analysis of the problems that PRT is supposed to solve and designing the
machinery, software and architecture with an eye on that distant future. To do
this, we must bet on various assumptions, many of which are, luckily, quite
likely. For example, it can be wagered that land for stations in the inner city
will not get cheaper or more plentiful. It can be assumed that the expectations
for comfort, speed, quietness, will become more demanding over time. It is not
good enough to come up with the best option currently available. What is needed
is a solution that will evolve to be better and better, and will never be
eclipsed by some new technology that unexpectedly becomes polished and cost
effective.<o:p></o:p></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">Too bad the
challenge isn’t confined to the just the vehicles. Daily use always reveals design
shortcomings, and new additions to a fleet will surely sport many improvements.
Evolution happens more quickly for parts of a system that are frequently
replaced. Conversely, (and this is the problem) since the track should last for
many decades, we are seemingly stuck with whatever we start with.<o:p></o:p></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">The obvious
downside of making such wrong choices was a motivation for establishing this
blog and a call for consensus and standards. It soon became clear, however,
that various PRT developers would always differ on what design approaches would
win the day, and that it hardly mattered anyway. Financial backers have little
interest in anything beyond getting an initial contract and ownership of
proprietary technologies. Yet perhaps there is a way to address this whole
problem of obsolescence that makes sense for all stakeholders in both the long
and short term; Modularization!<o:p></o:p></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">Modularizing
PRT (or any other system) ensures that only a barest minimum of components
cannot be easily swapped with updated versions. As readers of this blog know
all too well, a tremendous amount of work has been done herein on bogie designs
that were later scrapped. The bogie, of course, fits within a mating track, so
if the bogie is not perfect all of the track for years to come will have the
same shortcoming. It is like introducing a bad gene into an organism that will
be carried down through generations of offspring. By modularizing the mating
components, this risk can be minimized. In particular, PRT track, of the sort
we are dealing with here, can be divided into two functions. The first is to
provide rigidity across a span, like a bridge, and the second is to provide the
interior with rolling surfaces, electrical and data carrying structures, and so
forth. This second aspect can, in whole or in part, be replaceable, adjustable,
or otherwise be modifiable. This is not an intuitive way to treat track design,
the first instinct being to make the track as simple, strong and affordable as
possible through tight integration. There are, however, natural boundaries
within the track that can be exploited. Issues of thermal expansion, sound and
vibration isolation, third rail and cable maintenance, etc. all tend to favor fastened
inner structural elements over direct, permanent (welded) attachment to the structure.
Note also that, within the SMART framework, there are already specialized track
“innards” for climbing or making tight turns. Even the structural shell has
some modularization, first, because lengths of track would most likely be
manufactured off-site in prescribed lengths and turning radii, but second,
because the left and right halves from a length of track would optimally be
detachable from each other so as to facilitate the insertion of switch points
or just for ease of access. <o:p></o:p></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">Modularizing
elements of the track also makes the initial design of the bogey much easier because it can be designed for what is most practical and cost-effective today
without as much fear of introducing some demon-seed design detail that will be
impossible to exorcise at a future date.</span></span></div>
<div class="MsoNormal" style="text-align: left;">
<br /></div>
<div class="MsoNormal" style="text-align: left;">
<span style="line-height: 107%;"><span style="font-family: inherit;">Modularizing
key track elements also facilitates adjustability. Rather than setting internal
dimensions in stone, why not build-in a range instead? Especially if it only
involves punching a few alternative bolt holes – sort of like adjustable
shelves? </span><span style="font-size: 12pt;"><o:p></o:p></span></span></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZP4sMO3JDXcQRw5zizoQB_QlQsNceWL3CIW-EHafGi2tKYZnLK70boYjuLPffmqKWA5S4jB-2abHo9WRpMNGcb2A4YLVXiKnVuATUh6xc4ES21FI8vZm0zTcRBm9TsoZr2KSGxSUTBJSR/s1600/PRT+bogie+on+angle+iron.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZP4sMO3JDXcQRw5zizoQB_QlQsNceWL3CIW-EHafGi2tKYZnLK70boYjuLPffmqKWA5S4jB-2abHo9WRpMNGcb2A4YLVXiKnVuATUh6xc4ES21FI8vZm0zTcRBm9TsoZr2KSGxSUTBJSR/s400/PRT+bogie+on+angle+iron.png" width="365" /></a></div>
<div class="MsoNormal">
This
illustration shows just how simple modular PRT running surfaces can be. Two
pieces of angle steel, (red) and two inner guide rails are the only continuous
components in this (evolving) “Mama Bear” configuration, other than the “third
rail” electrical contacts and “leaky cable” Ethernet communications. (Not
shown.) In other words, if a city were to, for some reason, change to some
other system, there need not be a whole lot to swap out. <o:p></o:p></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;">Today, PRT’s
advantage shouldn’t be seen so much in terms of robotic vehicles, but rather as
the most practical way to enter, exit or bypass the stop-and-go ground-level congestion
that is an unavoidable part of urbanized life. It is the exploitation of unused
“air-corridors,” and it can only be accomplished in such an affordable and
compact fashion (and with such high vehicle density) using automation, or it
would have been done long ago. We may well even be entering an era of “If you
build it, they will come,” when it comes to PRT track, since exploiting these
corridors represents a quantum efficiency advance in the same vein as the
ongoing efforts of companies like Amazon, Google, Apple, Tesla, etc. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;">In a future
where ground-based automated vehicles are commonplace, PRT will still add an
important, complimentary contribution, but besides being affordable and long
lasting, it must be versatile. Making track components modular and adjustable
seems like a vital first step in making sure that first iteration systems do not
become obsolete in the face subsequent designs and this, of course, is prerequisite
to being seen as a good long term investment for a city. In other words, any
PRT system isn’t seen as future-proof is toast because nobody will take a
chance on it in the first place! Well, back to the drawing board...<o:p></o:p></span></div>
<div class="MsoNormal" style="text-align: center;">
<br /></div>
<div class="MsoNormal">
</div>
<div class="MsoNormal" style="text-align: center;">
<span style="line-height: 107%;">Happy
Holidays from Dan the Blogger!<span style="font-size: 12pt;"><o:p></o:p></span></span></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com4tag:blogger.com,1999:blog-4063450658421522356.post-23537345381687241752015-10-28T22:40:00.000-05:002015-10-28T22:48:07.894-05:00There Will Be a Quizz.<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhpjIT7jidRwdQZG4cToOOMNKA-A5_0YdIdsxRXSQKuy0UsPrbc0DRpSuDiysSJH8Ok4yvQZSgZJY4cCDk7YDi89ftzRy9UJZzhlBqwhh8o_mrRfj6_BHNDv-miC15yeD0s1DrHaweG9PeR/s1600/SMART+bogie.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="375" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhpjIT7jidRwdQZG4cToOOMNKA-A5_0YdIdsxRXSQKuy0UsPrbc0DRpSuDiysSJH8Ok4yvQZSgZJY4cCDk7YDi89ftzRy9UJZzhlBqwhh8o_mrRfj6_BHNDv-miC15yeD0s1DrHaweG9PeR/s400/SMART+bogie.png" width="400" /></a></div>
<br />
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">In the last
post I referred to PRT as a kind of “Urban Wormhole” and spoke of how
self-driving taxis could never replace PRT. I would like, in, this post, to
follow up on that a bit. I think it is important to make the relevant arguments
clear and on the table for all who will listen. An entirely new and untried
transportation infrastructure is a tall order, yet I believe there are
unassailable arguments why such an augmentation to our current systems is
necessary and inevitable. I have included a short quiz in this post, designed
to (hopefully) win someone over. Now, if I could just come up with a really
catchy slogan….</span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"> <o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">The robotic
car push reminds me of that stage of the internet revolution that centered on
perfecting the dial-up modem, which of course, can only be as good as the phone
wires it is connected to. In the case of mobility, at least in urbanized areas,
the main problem is that there is an inherent cap on our <i>surface</i> transportation’s efficiency. It is, at best, 50%. The
reason is simple. Simple physics dictates that if 50% of traffic wants to go
east/west, and the other half wants to go north/south, each will have to yield
right-of-way 50% of the time, once a line for each direction has developed. Nothing
but passing over or under that crossing traffic can improve this dismal number.
And that is the best case for the intersection itself. Were we to measure
efficiency based on the time difference between “making the light” in no
traffic and what can typically happen in rush hour for individual cars, that
efficiency number would be much, much worse… 15 – 20% perhaps? And that is only
one, and they add up! In what other endeavor would we put up with such
inefficiency?<o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">This is all unfortunate
because, with the possible exception of bike trails or sidewalks, there is no current
surface transportation infrastructure that can be elevated or buried economically
enough to generally allow multi-level, non-stop traffic flow. If it WERE
economical, we would not have such gridlock today! <o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">Vehicles, and
the surfaces constructed for them to roll upon, (this includes rail) have evolved
to be too big, cumbersome, and expensive to be the only alternatives in space
constrained, urban areas. How ironic
that, in a quest for the efficiency of carrying more load per vehicle trip, we have
accomplished exactly the opposite! In all fairness, bigger really IS better,
once you get out of town a bit – yet gridlock is the elephant in the room when
it comes to urban mobility and robotic cars can only be of peripheral help in
the current context. Any real solution demands an infrastructure specifically
designed for non-stop travel in all directions at once, and logic dictates that
this architecture be smaller, not bigger. The fiber optic cable of
transportation! Actually, it is within this framework that automatic driving
technology can really shine. With a faster, yet smaller “pipeline” the driving
decisions would come at a much faster rate as well. No place to be texting! <o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">So here is
the quiz. It is more for making people think and to stimulate conversation than
anything else. Maybe it will help win a few converts!<o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">1] Non-stop
ground transportation can only be achieved by incorporating
overpasses/underpasses but this is impractical for widespread use because of the
heavy loads that our current roads and rail systems are designed to carry. True/False<o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">2] The
majority of vehicles on the road are carrying payloads, including people, that
weigh just a tiny fraction of what roads are built to carry, and this
represents a waste of resources if more appropriately scaled infrastructure is
possible. True/False<o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">3] The ONLY way
for most travel to be non-stop within an urban/suburban environment is to
create a new, more affordable infrastructure which is necessarily aerial and
sized appropriately for lighter payloads, such as people. True/False
<o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">4] The
technologies for automatic vehicular and traffic control to utilize such an
infrastructure have now come of age.
True/False <o:p></o:p></span></span></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">There. Saying
“False” to any one of these will hopefully start a thoughtful debate at least. “Grass
roots” movements have to start with consensus, and consensus must start somewhere!
</span></span></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">When I
started this blog, part of the mission was to create some standardization,
particularly with regard to the track. Seen in this light, it can be better
understood why so many PRT bogie/track designs have been explored on this site.
The world needs an infrastructure for urban/suburban mobility that allows
non-stop travel. Dual-mode? Fare based? Privately owned? In a way it really
doesn’t matter. To me the question is, “What are the mechanical/architectural
underpinnings that will best encourage the development and proliferation of such
a system?” </span></span><span style="font-family: inherit; line-height: 107%;">We need the
combination of present practicality and boundless future possibilities if we
want to propose it as a solution worthy being added to skylines across the
globe. I believe a PRT track can be designed that includes very little beyond
the architectural structure that is required for spanning between support
posts. Sort of a standard PRT building block, which (as most of you know) I
have dubbed the SMART (Suspended Multi-Axis Automated Rail Transport) platform.</span></div>
<div class="MsoNormal">
<span style="font-family: inherit; line-height: 107%;"><br /></span></div>
<br />
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">A brief
progress report is, perhaps, in order. In the design pictured up top, I have
continued with the theme of using off-the-shelf-parts, and experimented with
putting the four motors between the drive wheels instead of off of the ends,
and this shot highlights a new cam-driven lever-type switching-guide-wheel
mechanism.</span><span style="font-size: 16pt;"><o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3Ltjv_mCWsO99TngYmnueBG33ojcUI17Ayv55DPSmYi_P0O6tYSBOZyUVGYW23mwV1YprGOLXxEZZoJ8tHFkUwHWVduEb74tBFJJ1CoqK6hYk8ZC4Ah_dH_EasQ2rpoc_eqRivnLHtF-N/s1600/SMART+PRT+bogie+2.0+b.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="305" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3Ltjv_mCWsO99TngYmnueBG33ojcUI17Ayv55DPSmYi_P0O6tYSBOZyUVGYW23mwV1YprGOLXxEZZoJ8tHFkUwHWVduEb74tBFJJ1CoqK6hYk8ZC4Ah_dH_EasQ2rpoc_eqRivnLHtF-N/s320/SMART+PRT+bogie+2.0+b.png" width="320" /></a></div>
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeO0JoZcUkNGTLGJuBTkNBlsEV4i-xNu6DdgpgRrogvlBgt6ERfs6R4bM3eM9HL5fTGAyQPyCYCBRHvKCQsByrQd1qa1nIElwc49F1INDmEwnq9SCEQ_GUCJAMU3G2I0WiyV7RVJjff-e2/s1600/SMART+PRT+Bogie+Mama2+.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="284" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgeO0JoZcUkNGTLGJuBTkNBlsEV4i-xNu6DdgpgRrogvlBgt6ERfs6R4bM3eM9HL5fTGAyQPyCYCBRHvKCQsByrQd1qa1nIElwc49F1INDmEwnq9SCEQ_GUCJAMU3G2I0WiyV7RVJjff-e2/s320/SMART+PRT+Bogie+Mama2+.png" width="320" /></a></div>
<div class="MsoNormal">
<span style="font-size: 16.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">Right this
minute, the holdup is this – I love the idea of being able to remove the side
of the track that normally switches off (right if you are American, left if you
are British) without diverting PRT traffic. This would allow switches to be added or
removed with minimal disruption in instances where no alternative routing
exists, such as is likely to happen again and again on the outer edges of any
growing network. Unfortunately this entails running on the left wheels alone
and doubles the load on them. If the wheels are to be soft enough to cushion
vibration and smoothly handle expansion joints, and especially if they use ordinary,
safety-rated pneumatic tires, they will compress under the load and maybe even
deform side to side, adding substantial complication to what could otherwise be
a super simple switching scheme.<o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">In these
last two pics first note that the steering wheel guides have been turned upside
down (compared to the one on top) and there are no longer two sets per side,
like in previous posts. It looks like this would be sufficient, even in this "half-track" mode, if we wanted to use custom solid tires designed not to rock or compress
too much. Unfortunately I would like to make this cheap and straight forward
enough for an individual, company or university to build for experimental
purposes…, hence the “off-the-shelf” trailer tires. (Smaller, higher pressures
and stiffer sidewalls than automotive) <o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;"><br /></span></span></div>
<div class="MsoNormal">
</div>
<div class="MsoNormal">
<span style="line-height: 107%;"><span style="font-family: inherit;">Finally note
how the track’s spine is missing the opposing C channel, since that side has
been removed. That otherwise sandwiched plate is a splicing means, a potential
hanger for cable stays and placing an upside down “U” channel over it can
create a waterproof seal, like in a standing-seam metal roof, when used with the
sheet metal sheathing, which is curved to stiffen it between structural ribs. Work continues! </span><span style="font-size: 16pt;"><o:p></o:p></span></span></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com9tag:blogger.com,1999:blog-4063450658421522356.post-82675831069123437942015-08-10T21:06:00.000-05:002015-08-15T19:59:17.131-05:00168> Self-Driving Cars and the Urban Wormhole<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">In our last
exciting episode I promised to explore cooperative robotics, but there is an
unavoidable side issue that is worth at least one post in itself, one that
high-jacks the whole subject. What I am referring to is self-driving cars.<span style="color: red;"> </span>It is not just that PRT and automobile automation
have such obvious similarities that makes the subject a prerequisite to
discussing PRT control. It is also the fact that self-driving cars may actually
change the definition and purpose of PRT.<span style="color: red;"><o:p></o:p></span></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Self-driving
cars are not just about following directions and staying on the road. Spinoff features
such as automatic braking for collision avoidance are already widely available in
everyday production models. Since self-driving features often involve
technologies that clearly can enhance safety, there is an “arms race” in this
regard. With communication between
vehicles (“I’m slamming on the brakes, so you better, too!”) and awareness of
real-time traffic, (such as could be monitored, compiled and reported by the
vehicles themselves) it is not hard to see how cars could be made to operate
within a sort of “hive mind,” to the benefit of the group. This is basically a
PRT operating system and is a wakeup call to self-steering PRT systems like
ULTra or ToGethere, whose technologies are getting leapfrogged by this trend. Notably,
the self-driving paradigm is proving that a high degree of autonomous control
is doable, challenging the centralized control schemes of only a few years
back. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Does self-driving
auto technology render PRT irrelevant? Do self-driving cars eliminate the same
problems that PRT was to solve?<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">The short
answer is no. The question does, however, illustrate how various flavors of PRT
have very different challenges in this new technological landscape. What, for
example, should the business model be for ULTra in a world transitioning to self-driving
taxis that may not need guideways or stations? Of course that may be quite a
ways off, and maybe it is Google who should be approaching ULTra. After all,
every cent ULTra has made is a cent more than Google has made on its robocars, with
Google putting all of their eggs in a business-model-basket that is still a bit
of a head-scratcher and is contingent on many unanswered questions when it comes to safety.<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">So far
Google and the others have seemingly only taken their vehicles out in decent
conditions, weather-wise, content to garner impressive numbers of miles without
incident. But how do they handle being behind a vehicle that is dropping
debris? Or on patchy “black ice?” Fresh snow or street flooding can completely obscure
where the road is. Timid response, in these instances, that would prevent
lawsuits is also the kind of driving that would snarl traffic. Imagine a car
that is afraid to go through ankle-deep water and so just stops! Can a robocar
understand when weather conditions are deteriorating too much to enter the
freeway or understand the significance of a funnel cloud? Humans usually know
when they should stay put or go back. Will Google be able to give that much
common sense to their cars? What about morality? Will they know to hit the
truck to avoid the woman with the baby carriage? <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">It has been
reported that, at least some states, they cannot dispense with manual controls
(such as a steering wheel) nor the human seated so as to operate them. This leads
one to wonder under what conditions the authorities would permit such use. Beyond
that, what is the profit model that trumps the obvious, added liability issues?
Do drivers really want to relinquish all control and do manufacturers really
want to sell mechanically stripped down cars with no sex appeal?<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">A safe
starting point would be a special lane or only going at fairly slow speeds.
(i.e. a mode similar to current pavement-running PRT systems) After all, many
localities allow golf cart type vehicles on public roads, and these need no
horns, airbags, seat belts, etc., as they don’t go that fast. While this would
probably be allowable, it does little to solve urban congestion and so, by
itself, risks irrelevancy. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Interestingly,
there are flavors of PRT that have just the opposite problem. SkyTran, for
example, is really built more for speed than for serving little stations in
every nook and cranny of a typical city. Suspended systems, in general, have
the potential to move people from one side of town to the other quite quickly
using an inexpensive, minimalistic track, but like all PRT, suffer from the
potential problem of not having a sufficient number stations and walk-up
customers to create the cash flow to pay-down the system components and still
provide a return on investment. It’s the old first and last mile problem. Could
self-driving automobiles be the answer to aggregating more PRT passengers at
fewer stations? Quite possibly.<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Uber has
expressed interest in self-driving cars, and car sharing schemes like Zip Car raise
interesting questions about ownership. Why garage a vehicle that could be
gainfully employed elsewhere while you are not using it? Why own a vehicle at
all – especially if there is one parked close by that will come to you when
summoned? <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Once upon a
time, PRT offered a unique combination of benefits that could not be had
otherwise. It was automated, elevated, personal, fast, but it was only practical
within an interdependent framework of technologies. Over time, developments in sensor,
communications and computing gave advantage to a variety of methodologies enabling
new designs that emphasized varying missions and business models. The emergence
of autonomous cars, it seems, puts a focus on one of the original themes, which
is a network of fast, elevated, non-stop corridors that are unencumbered by the
gridlock below. This mission is unthreatened by the self-driving car revolution
and, indeed, may well benefit from it. PRT, at this point, needs to be
considered not as a fleet of automated taxis, but as a network of personally navigable
urban wormholes. The automated taxi aspect is now only a means to an end, not
the end itself. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Originally
the idea was to space PRT stations so that each was reasonably within reach by
walking. Now perhaps each station could garage a half-dozen automated taxis,
giving such stations much broader reach. This associated service would not have
to extend very far to cut the number of stations to a fraction of what would
otherwise be required. This scheme works perfectly with car sharing, carpooling,
or even private ownership. Even if each fully self-driving “car” can only go a
few blocks, with similar vehicles and capabilities at each end of the PRT
“wormhole,” the combination could be very synergistic. The timing and payments between
the two systems could be integrated, even if under different ownership. On such
limited routes where the speed limits are low there is much less reason to
require a driver, meaning self-driving cars are clearly ready for this NOW. Where
special lanes could be created, ULTra is also ready to go as well. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Side note: The
above combination offers less advantage for the SMART PRT designs shown within
this blog because SMART is specifically designed to address the “last mile”
problem with vertical capabilities and stationless pickup and drop-off
capabilities. Of course any infrastructure, surface or elevated, will
undoubtedly face obstacles on certain routes, and so alternatives are always
welcome. That being said…<o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">It is important
to note that slow, short-haul, self-driving “taxis” also offer synergy with
other forms of mass transit, such as light rail, subways, scheduled shuttles
and so forth. Even with limited routes, (There might be too much traffic on
public roads and no room for a special lane) phone apps could be used to locate
the nearest suitable pickup point. Such pickup points could enhance the value
of properties that are otherwise inconveniently remote from mass transit. Short
hauls to such existing transit hubs seems like a good business model for such a
product/service right now and deployment of such FULLY robotic vehicles, even
at slow speeds, might serve similar R&D aims as the current, unpaid efforts
and would offer a potential opportunity to cement a leadership position in the
field while generating revenue. <o:p></o:p></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;"><br /></span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Self-driving
cars, capable of full city and highway use without special lanes or a standby
driver are still a long ways off for general use, and the eventual payoff for
the producers of such vehicles is questionable. Short range, slower vehicles
face no particular obstacle to immediate adoption, however, and everybody from
ULTra to Google to Uber to Zip and the various auto makers should jump on this
opportunity to become leaders in this transitional space. Meanwhile PRT
wannabes need to take note that the current technological backdrop no longer
supports slower, station-intensive, short range systems. Instead, PRT companies
should concentrate on designs that foster the cheapest, fastest network of
elevated track possible, filling that one niche that automation itself cannot
address. </span></div>
<div class="MsoNormal">
<span style="font-size: 12.0pt; line-height: 107%;">Elevation has always been the answer to surface traffic congestion, but
has always been prohibitively expensive (not to mention ugly and in-the-way) when
scaled for heavy vehicles, and so gridlock continues. Like fiber-optics compared
to copper, some form of light, affordable, high-speed “pipes” for moving people
are inevitable, and the first barrier, autonomous yet cooperative automation, is
falling away fast. Like that fiber-optic cable, the second barrier is what
happens at each end – how data is efficiently transmitted and received.
Hopefully self-driving vehicles will help provide comparable, easy-to-implement
solutions for either end of the mobility solution that cities need so badly - that
Urban Wormhole technology called PRT. <o:p></o:p></span></div>
<br />
<div class="MsoNormal">
<br /></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com16tag:blogger.com,1999:blog-4063450658421522356.post-278867586202937962015-06-17T18:25:00.001-05:002015-08-15T19:58:50.650-05:00167> Easier Every Day<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjDLoJU7dAbSmeeb8ti9juyJU0LPra-rcR5zLh9i8iFDaTxWGd6TNi3zn6YTqfhUfFXIQPLLmTxegrwJUFmfhBvzTh14b_Pzm8wObqeMwRlmQ_ukeFux9lk3jV-gfI4E6-We0zAx-Rp_4pa/s1600/Mama+bear+study+1.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="302" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjDLoJU7dAbSmeeb8ti9juyJU0LPra-rcR5zLh9i8iFDaTxWGd6TNi3zn6YTqfhUfFXIQPLLmTxegrwJUFmfhBvzTh14b_Pzm8wObqeMwRlmQ_ukeFux9lk3jV-gfI4E6-We0zAx-Rp_4pa/s320/Mama+bear+study+1.png" width="320" /></a></div>
<div class="separator" style="clear: both; text-align: center;">
<br /></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
Creating a PRT
system is getting easier every day. Increasingly, it is a matter of employing
off-the- shelf components in ways that have already been established for other
purposes, using software that basically provides a “fill in the blank”
framework, and communications that work reliably at blazing speeds using
ordinary protocols. These days each individual PRT vehicle will have far more
computing power than yesterday’s entire system, and what used to be worrisome
safety issues can now be addressed by a redundancy of cheap processors and
sensors that can check and recheck everything under the sun hundreds to times
per second, using self-diagnostic AI software that is ever more capable. <o:p></o:p></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<br /></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
When I started
this blog one of my primary worries was that cities would never accept a whole
new infrastructure that would be dependent on all kinds of exotic, proprietary
technologies and specifications, understood only by the PRT system developer. At
the time, only a precious few corporate giants had the technological
credibility and depth of resources to give much political cover and comfort to
local transit officials. Those days are fading fast. While any project can turn
south, particularly when attempted by an untested company, at least the next generation
of PRT systems will be understandable and serviceable by ordinary
professionals, no doubt with considerable free help from component vendors.
Indeed, the idea of an automated taxi service, what with self-driving cars
already roaming our streets, only seems truly futuristic in regards to the
uncertainties of the street – the darting dog, the patch of ice and so forth.
Such a service within the controlled confines of a track hardly seems like a
technological challenge anymore, just a monetary, logistical and political one.<o:p></o:p></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<br /></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
With that in
mind, there is a case to be made for setting aside any remaining system
components that are overly exotic. Although self-turning wheel motors are
absolutely perfect for robotic transportation, at present the selection of such
motor/controller packages in the appropriate power range is still quite
limited. Therefore, it is not a great
idea for me to tightly couple my open-source designs with these motors, as
though the designs are dependent upon them. Mechanically, a self-switching
bogie for carrying a suspended load (such as PRT passengers) is almost
ridiculously simple, even with off-the-shelf motors. I have therefore used four
ordinary BLDC motors in the above design. SMART (Suspended Multi-axis Automated
Rail Transport) designs require a motor for each wheel because switching from
cruising to climbing (and vice versa) requires the front and back wheels to
momentarily rotate at different speeds, and turning in very tight quarters
calls for the left and right wheels to rotate differently as well. The
redundancy of four motors also dovetails well with reliability, continuing a
philosophy of completely eliminating any possibility of a single vehicular
breakdown, let alone anything systemic. <o:p></o:p></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<br /></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
Shown are
Golden Motor’s 5000w offerings, for a combined total of about 26 hp. It is
reasonable to assume that these motors would be powerful enough for full
“SMART” functionality, such as even climbing straight up if necessary, while
still being “geared” to reach highway speeds, or close to it. (Contingent on
final aerodynamics/permitted load.) Continuing with the “You can build it in
your garage” theme, I decided to use trailer tires, which, despite their small size,
are designed with tougher sidewalls and higher inflation pressures than
automotive tires while still being load and safety tested. In production solid
tires would be preferable, although there are various strategies that could
allow this vehicle to limp along, even with multiple flat tires. Note –
although I picture a 16”OD tire, as is clear from the end view, the raised
steering guide wheel assembly ended up considerably higher, defeating the
reason for that size wheel. With a few modifications, a 20.5 OD drive wheel
could be used that will have a greater (1050 lb. each) load range.) <o:p></o:p></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<br /></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
From my 3D
simulations, it appears that this bogie can achieve turning radii (horizontal
and vertical) of under 60 inches, keeping with a design philosophy of enabling
PRT to go essentially anywhere with minimal conflicts and expenses regarding right-of-way
or station placement. A whole PRT vehicle could easily pull a U-turn within the
floor space of a small two car garage!<o:p></o:p></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
Briefly, a
description of the drawing - Wheels A only come under load when stabilizing a
turn, unless encountering gale-force side winds, or helping to support vehicle
in the event of a deflated or over-weighted tire. (running slowly on only the two
left wheels enables the switching side of the track to be modified or even
removed, such as to add a junction, without completely detouring or halting all
traffic, but this would tend to compress pneumatic tires until wheels A are
sharing the load.) Wheels B have
opposite rotation because they hold the bogie down, (engaging the bottom side
of the channel that A uses) especially at high speeds into gusty head winds,
where the aerodynamic “pushback” would otherwise lift the back wheels, or when
climbing “cog” style, using the pinion gear (or sprocket) C. Note that the
pinion gear C and the drive wheels F are driven in unison while wheels B are
free-turning. Normally engaged, oppositely rotating wheel pairs D keep the
bogie centered. Raised steering guide wheel E does not normally contact the
track because the guide rail is discontinuous and tapers into contact at
junctions only. Note that steering guide wheel E gets raised and lowered with
the upper wheels A of the OPPOSITE side, not the same side, as in previous
designs, since the steering guide mechanisms (shown in violet) now crisscross
each other. This more securely holds the bogie to one side or the other by
basically scissor-clamping that side of the track, while hooking the top guide
rail, so as to completely support the vehicle, if need be. The channels that
hold these upper guide wheels (A) would, by the way, have a liner (shown in
blue) that would only be thick enough to make forceful engagement at sharp
turns and junctions. Although this bogie might, at first glance, seem to be
bristling with various wheels, most only see use for a tiny fraction of the
time. Their various sizes are proportional to the durations and load of such
engagement. Not shown are
the electrical and communications interfaces between bogie and track. Contacts
for third rail” electrical feeds would be side-mounted. “Leaky cable” Ethernet could
go almost anywhere. I have not yet worked on emergency brakes for this design. Also,
the track is shown as a simplified representation of the various contact
surfaces: It is not some miracle extrusion!</div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<br /></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<o:p></o:p></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
Finally, I
would like to reiterate the rationale for the “Mama Bear” design. I can
sympathize with readers who have, for years now, seen design after design come
forward from this site, only to be replaced by yet another, presumably better
one. Hey! The Model T was a great design as well, but that does not mean it was
the “last word” in automotive functionality! In the case of prior PRT designs,
there was always an inherent conflict between the holy grail of minimal track
size and the obvious merits larger, automotive-sized wheels for heavy loads,
higher speeds, and less maintenance. While simply splitting the difference is
one solution, this essentially means that future designers must “round up” both
the track and the bogie size to accommodate the largest and fastest anticipated
vehicle and impose that same design on neighborhoods where such a system could
prove unpopular or too costly. But the only other alternative is to limit the
potential speed or size, which does not seem like a good starting point either.
A high speed, 6-10 person, scheduled shuttle between an airport or a
park&ride and downtown seems like a practical arrangement, and would be
better yet if the track is PRT compatible. But let’s keep such “muscular” track
out of peoples’ front yards! Simply eliminating mechanical reliance on a
track’s “ceiling” height allows this flexibility, so that the smallest vehicles,
designed for using equally small track, can still larger track wherever needed.
Smaller track, we should remember, is much cheaper and so has inherent
advantages in addressing the “last mile” problem, (or simply providing more coverage
for a given cost) and we should not dismiss places like campuses, that don’t
need a family-sized vehicles in the first place. <o:p></o:p></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<br /></div>
<div class="MsoNormal" style="margin-left: 0.25in;">
<span style="line-height: 106%;"><span style="font-family: inherit;">In
conclusion, I would just like to point out how mechanically simple this whole
thing is. There are two moving assemblies that go up and down on a cam, mounted
on a frame (yellow) that holds four motor powered wheels. Other than that, what
is left is basically an exercise in cooperative robotics, a technological
environment that is becoming increasingly commonplace. I will be addressing
aspects of that next time. </span></span></div>
<br />Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com4tag:blogger.com,1999:blog-4063450658421522356.post-45689387474126163662015-03-10T18:14:00.003-05:002015-08-15T19:58:08.478-05:00166> Cruisin' for Burgers and Batteries <div class="MsoNormal">
As I wrote in
my last post, to pay its own way and generate additional profits to reward
stakeholders, a system must achieve a certain threshold of passengers, and
these are, by definition, pedestrians – a relative rarity in many (especially younger)
US cities. I illustrated the problems of gaining passengers with many low
volume stations with a heat map. What I left out, however, were the special
cases where there are natural congregations of people for some reason. There is
an obvious disadvantage in only catering to such hot spots, even if almost all
cities have them. To do so is like planting daffodils too far apart. They may
fill in someday, but it could take decades. Still, it is worth listing some of
these “special cases” as many are actually quite common. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
>A bridge
– The cost of building a PRT bridge or putting track on an existing bridge is
almost trivial compared to adding a lane for ordinary traffic and getting
through such a bottleneck quickly can potentially create high volumes of passengers.<o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
>A large
topographical obstruction – a related issue is when a city is located on a
lake, ocean or river or even against a mountain, where straight-line travel is
obstructed. A good example would be a city on a bay, where the only routes are
C-shaped and through highly developed areas. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
>An
existing, pedestrian-based transportation infrastructure. There is obvious
advantage to sharing stations with other networks where possible. This includes
bus stations, airports, subway stations, etc. <o:p></o:p></div>
<div class="MsoNormal">
>Park
& Ride locations - Get passengers where they are leaving their cars anyway!<o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
>Tourist
destinations and parks – It should be noted that many times parks front rivers
and streams, which may even provide a ready-made route for PRT. Parks may be advantageous
from the city’s point of view as well, involving less red tape and/or alternative
funding possibilities. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
>Privately
owned commercial real estate – this could include office buildings, strip
centers, big box stores and so forth.</div>
<div class="MsoNormal">
<o:p></o:p></div>
<div class="MsoNormal">
If I have
left out any categories, post ‘em in the comments section! For the moment,
though, I would like to concentrate on this last one, because it is both universal
and well-distributed, and so should influence a PRT system’s design. I will
skip going through multistory buildings for the moment because there is already
a lot to cover. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
In the US, it
is common to have “big box” stores and strip centers running along freeways,
accessible by the freeway’s one-way feeder roads. This tends to create
elongated commercial zones … little “Main Streets.” What used to occur in the
town center now often happens here. Moreover, highways reserve overpasses for only
the major cross streets. This makes these overpasses the only portals between
adjacent neighborhoods and stimulates commercial activity on these crossing
routes as well. The corners between highways and these cross streets tend to
have a lot of traffic and are eventually prime sights for multi-story
buildings. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
I regard
these sites as extremely important to PRT design since they often have terrible
traffic, both on and off of the highway, and it is a particularly difficult situation
to remedy by conventional means such as road expansion or widening the roads a
block over. These sites have added significance to the commuter, as they tend to
occur “on the way,” and so would seem to be one way to extend PRT out from
downtown areas to allow suburbanites a way to access a downtown PRT system without
driving all of the way there first. They are naturally distributed in key
areas. If PRT is to have a real impact it must be able to spread, to join the
various hubs and trafficked areas, and so such areas are essential footholds. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
One
requirement that PRT should have, to service such areas, is the ability to
cross the highway. Here suspended designs have a huge advantage over supported
ones as they can, in many cases, simply run under the overpasses, using their
ability to quickly change elevations and tilt into turns to comfortably navigate
what is likely a very serpentine route. These advantages come into play even if
the only route is over the highway, as this would be extremely high (supported
designs would need very long ramps) and would ideally use some sort of
cable-stayed or suspension design, which is also very well suited for suspended
systems.<o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
The next
requirement PRT must have to service such areas takes some consideration
regarding ownership of these properties. (I am not including using public
easements in this discussion, for brevity.) First of all, the retail
establishments probably do not own the land. Such land parcels are often owned
by developers and whoever has their store there at the time is simply
babysitting it… paying the bills and generating some return while the land
appreciates. Therefore putting PRT stations on such land is contingent on what
serves those developers’ needs. For this reason, it is worth exploring what
strategies could be employed to entice these land developers to allow stations
on their property and under what terms. </div>
<div class="MsoNormal">
<o:p></o:p></div>
<div class="MsoNormal">
One thing
that needs mentioning is that these “developers” are probably not individuals
but rather partnerships or corporations, often set up expressly for a
particular property. As such, they may have certain bylaws, have silent and
managing partners, and so forth, so any kind of agreement regarding adding a PRT
“station” should be as simple as possible, as they have their own internal
politics. This would involve some kind of monetary benefit for them and
provisions for eliminating risk and complications. On the cash side, the
solution seems easy enough. One way that a city can incentivize corporations is
with a tax break, something that is increasingly done to attract new businesses.
This way cities can knock down the cost of the project, at least on paper. Never
underestimate a city’s willingness to “rob Peter to pay Paul!” For the
landowners, they see their tax bill reduced, their tenants see higher foot
traffic, so leasing values go up. Win win.<o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
The next
criteria is to make it risk and hassle free. This is where the physical PRT
design comes in, particularly in regards to the matter of permanence. No
landowner wants to permanently relinquish sovernty over any section of his
property, nor does he want to be tasked its upkeep, utility costs, security and
so forth. He also won’t want to be responsible for its removal and repair of
the site if he decides to repurpose or sell the property. This means that ideally
the “station” would be powered from the track and require minimal anchoring or
other foundation work. For example, holes could be augered into the parking lot
for subterranean concrete anchors, where removing bolt-on components leaves
only small holes to fill and patch. The idea is to make the entire spur and
station easy to install or remove. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Also note
that many of these properties have super-sized parking lots, the owners being
understandably reluctant to subdivide the land. This raises the possibility of
creating a mini “park and ride” lot. It also raises the matter of ensuring
convenient parking for store patrons is not sacrificed for commuter parking.
This will take some creative problem solving! Luckily the system will probably
know who the passengers are. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Another related
instance of private ownership is the strip center. These tend to be smaller
lots, and usually have somewhat less parking. They may also have vacancies,
raising the possibility of using indoor space for a station. Again, this would
take a PRT design capable of tight, serpentine track configurations. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Then there is
great American mall…Many of these are dying and have parking galore, indoor space
and so forth. These folks should jump at the chance to have PRT, and have “Park
& Ride” written all over them.<o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
The original
creators of PRT envisioned a citywide transit solution, not a system designed
for just a few niche markets. They also lived in a time when people believed in
big government funded projects, and cities where not so spread out. These days,
if PRT is to demonstrate its worth, we will have to find a formula where it can
spread, station by station, by the benefits each new station brings to everyone
involved, from cities to investors to passengers, to merchants along the way. One
overlooked source of revenue is the immersive experience of the trip itself.
After all, the pod knows who you are and where you are going, and potentially
much more… It can talk to you, play games with you, even tell you about the attractions along your route.<o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Imagine, for
instance, the pod itself offering special sales, issuing coupons, etc. for
upcoming stops. “Battery sale? Next stop?” “Half-priced fries for the next 30
minutes at McDonalds? – Honey, better hit that button for station 22!” For the
merchants, it’s like home delivery in reverse. It is a big machine to
automatically attract and deliver customers to the front door, and at an exact
time of their choosing! That item you looked up on Amazon last night might just
“happen” to be on sale just a few stations down. A personalized, temporally-tuned
billboard… You could hunt for (or potentially even negotiate) custom tailored deals
along your way! <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
<br />
<div class="MsoNormal">
One thing that has, so far, characterized SMART PRT
designs is that they are not cheap. The track, yes. The stations, yes – but the
vehicles have capabilities that far exceed other designs. I have always
considered that the vehicles themselves are best left to a deeper pocketed
partner – that they should be, in the words of Steve Jobs, “Insanely great.” This
business model – the intelligent delivery of customers directly to merchants –
is not well supported by slower systems that need big loops, large stations,
long ramps, etc. If you are going to stop at the store on the way home, it
needs to be a fast, red carpet experience…which, by the way, is the same
experience we need for PRT to become the long-lasting paradigm that it deserves
to be. To do this right, we really need
an Apple, a Google, an Amazon - and the right
business model to get their attention. Maybe this is it. You listening, guys?..
Tim? Elon? Sir Richard?... Call me!! <o:p></o:p></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com17tag:blogger.com,1999:blog-4063450658421522356.post-87402102669424803182015-02-04T10:39:00.000-06:002015-02-07T21:26:53.712-06:00165> Tips for Designing PRT<div class="MsoNormal">
Recently I have been corresponding with a new PRT developer,
and I was struck by how similar his logic is to the many who have come before. He initiated his communications by saying that the first step to a successful solution
should be a fresh look at the problem. He then stated his list of design
criteria, tying back each decision to the problems that it would solve. Before
very long, he had narrowed his design to something very similar to the SMART platform,
yet quite different in many important ways, and I found myself defending the specifics
of my approach. I thought I would share.<o:p></o:p><br />
<br /></div>
<div class="MsoNormal">
Design differences don’t just come from differing views on
the practicality of one mechanical solution over another, but also from the
original assessment of the problem itself. PRT is the would-be solution to a
host of different grievances. To some, it is primarily an energy/climate saver. To others the main emphasis is downtown mobility, while some would try to solve
the problem of gridlock on our highways. The various PRT solutions that are out
there, it seems to me, are all pretty well crafted for their intended purposes. What worries me is they stick to their respective missions a little too
tightly. <o:p></o:p></div>
<div class="MsoNormal">
<br />
Current PRT offerings are not versatile enough to harvest
sufficient passengers from the varied, real-world cityscapes to be economically
viable until they have reached a critical mass of coverage. The cost to achieve
this break-even coverage is simply larger than what cities can afford or, at
least, are willing to risk their careers over. Here is a brief synopsis of the problem:<br />
<br />
For PRT (or any
other public transportation system) to be a serious contender, it must pass two
tests. First, it must not lose money. Second, it must perform its function better
than alternative choices. When PRT can clearly meet these two criteria, it will
be adopted, pure and simple. Starting with the first test, let’s imagine the simplest,
cheapest system, a simple loop between two stations. PRT costs money, and that
only gets returned through fares. The separate costs of track, stations and
vehicles must each be amortized though their respective lives and these numbers
(along with operating costs) tell us how many passengers need to use those
assets daily to make the system break even. Here’s a hint. It takes lots and
lots of passengers to make the payments! With two stations, the only people who
will use the system are those who need to go to one of those two destinations.
While you can buy fewer vehicles, and you can make smaller stations, you can’t
reduce the track costs to where only the occasional pod will pay the bills, so
that component (the track) bleeds money from the stations and vehicles, leading
to its logical elimination. Now we have another shuttle bus on the streets.</div>
<div class="MsoNormal">
<o:p></o:p></div>
<br />
As for the second criteria, such a simple route lends itself
better to a larger, scheduled vehicle anyway. Since everyone is going to the
same place, why not ride together? Even a few stations between would not represent
much added inconvenience.<br />
<div class="MsoNormal">
<o:p></o:p></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKoJ5BTjaKXFuMIvPwFS1tdKZKgYFOosy08xJU52x2j-JmZF_hx2LxxMWyF-yFE1ZRt4rU1xikfbzaDZ7MdBuXTOCt0t7rSe_77XDPvUBAz0kdCi3IudZQjNq8qFgSGbMU8akQi6W_YE8U/s1600/5+loop+study.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgKoJ5BTjaKXFuMIvPwFS1tdKZKgYFOosy08xJU52x2j-JmZF_hx2LxxMWyF-yFE1ZRt4rU1xikfbzaDZ7MdBuXTOCt0t7rSe_77XDPvUBAz0kdCi3IudZQjNq8qFgSGbMU8akQi6W_YE8U/s1600/5+loop+study.png" height="388" width="400" /></a></div>
<div class="MsoNormal">
Above is a “heat map” of 5 layouts, representing increasing
numbers of loops and stations. The warmer colors represent greater traffic. These
are not representations of city blocks nor would it ever be possible to have
such evenly spaced stations. Passengers are only where you find them, and then
only some of the time. What is shown, though, is how stations are
interdependent for passenger traffic. Each station is both source of new passengers
and a destination for others who would not otherwise ride. In a full-sized system,
(not shown) the vast majority would be hot yellows and oranges, and only the
outer perimeter would be the unprofitable purple or blue. PRT clearly can’t
start too small. <o:p></o:p></div>
<div class="MsoNormal">
<br />
Needing more closely associated network nodes to be
effective is not unique to PRT. The same heat map and lack of profitability at
the outer edges can be seen with a bus system or parcel delivery, for example. Yet
networks are not necessarily all equal when it comes to the ability to grow
“from seed.” The key is making each part of the network viable in its own
right. No doubt the builders of the very first stretch of railroad already had
a pretty good idea that it would be profitable on its own, and each subsequent
branch surely met this test as well.<br />
<o:p></o:p></div>
<div class="MsoNormal">
When it comes to priorities for designing the perfect PRT
system, this business of needing a whole network from the start is a whopper. It
is the elephant in the room. Yet with proper design I believe a formula for
growth can be found. There’s more. Next time you are somewhere that you think
would benefit from a PRT system, try identifying the next closest station
sites, and estimate how many passengers each such station would attract. If
your experience is anything like mine, you will soon see that good sites are not
at all easy to come by, and those with lots of foot traffic are usually on
private land or are squeezed by roads that have been widened as far as limited
easements will allow. At best they are in patches, separated by areas that
don’t need PRT at all. I pity the poor city planner tasked with finding station
sites every half-mile that have enough pedestrian traffic to warrant an
elevator equipped station.<br />
<br /></div>
<div class="MsoNormal">
<o:p></o:p></div>
<div class="MsoNormal">
The mobility problems faced by the urban and suburban
populations differ greatly, and often PRT designers are biased by their own
experience. There are differences due to geography (such as climate) and even city-to-city
topographical differences, such as water frontage or hills. Political
differences are important because they effect funding and attitudes toward
public works in general. There are even historical differences. One that I am
often reminded of is (then) President Eisenhower’s “cold war” strategy of initiating
of the US interstate highway system, resulting in urban neighborhood segmentation
and the suburbanization of an entire nation. Now, 1 out of 4 miles driven in
the US is on an interstate, often at maddeningly slow speeds! The point is that
these are among the factors that individualize a city’s needs, even as the
economics of starting a PRT company push toward a more “cookie cutter” approach,
and therein lies the rub.<o:p></o:p><br />
<br /></div>
<div class="MsoNormal">
This is where “SMART” comes in. “Suspended Multi-axis
Automated Rail Transport” is not a PRT system per se, but a development
platform. Any system that can move vehicles in 3D can also work in 2D. Any
system that can travel at 90 mph can also travel at 30. If it can turn in a 6’
radius, it can certainly manage any street corner. The idea to avoid “baking
in” needless limitations. The SMART vehicles are very capable and full featured
because someday they might be expected to be that way. After all, people will
eventually want, from PRT, the same qualities they would expect from a manually
driven taxi service, and investors, equally, will prefer a fast, efficient and
comfortable fleet to maximize returns. In the meantime, there are tough choices
in store. SMART, with all of its “bells and whistles” is, admittedly, an
extremely (if not prohibitively) expensive way to start. Yet its basic
architecture, especially the track, addresses the above problems squarely by
being uniquely versatile. <o:p></o:p></div>
<div class="MsoNormal">
With PRT requiring a whole network to operate profitably, and
with the vast differences between different cityscapes, the problems that
predicate a PRT designer’s job are immense and varied. Some examples include how to put dirt-cheap
stations everywhere and anywhere; how to take the shortest route between
lucrative sites instead of being detoured by worried landowners; how to
piggy-back other services, like carrying utilities or street lighting; How to
give local planners more and better options; How to get property owners to allow
stations on their parking lots and in their lease spaces; How to attract the
most riders without cutting fares, how to encourage night traffic and freight, how
to minimize operating costs, and so forth. <o:p></o:p><br />
<br /></div>
<div class="separator" style="clear: both;">
</div>
<div class="MsoNormal">
Why PRT has not entered the mainstream is not simply a
matter of suspended vs. supported design, linear vs. rotary motors, or third
rail vs. battery power. It is the big structural issues regarding network size,
versatility, and the business model, and translating these overarching issues
that into physical form should be “job one” for the PRT designer. <o:p></o:p></div>
<div class="MsoNormal">
<br /></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com20tag:blogger.com,1999:blog-4063450658421522356.post-5644331681138808222015-01-17T14:47:00.000-06:002015-02-07T21:22:59.086-06:00164> Papa Bear, Mama Bear, Baby Bear<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgSZcml5gsF3BVsfoZzcmnE5Hm7Fv_jrdZZ8se6babY2GF1UjGFWbRO8kCpIzdsh9jihoYEGfMlS71jGETRbd0BoKNwI71KQb8FE2CPCqCTmYQt74YUagVkfV12BLwdLzwbjES-sgFZDsU3/s1600/Babyw2Mama.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgSZcml5gsF3BVsfoZzcmnE5Hm7Fv_jrdZZ8se6babY2GF1UjGFWbRO8kCpIzdsh9jihoYEGfMlS71jGETRbd0BoKNwI71KQb8FE2CPCqCTmYQt74YUagVkfV12BLwdLzwbjES-sgFZDsU3/s1600/Babyw2Mama.png" height="400" width="387" /></a></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5rSTs_2I_4ubDG9Aovo5eI_WTIu5-_xYIcXJ8bkxLY2iuhyphenhyphenV4ODf5xKKGdjxG3UWGO80QIRDI5UKakCMAFw4IX9wNKdB5lG9uKCbodZB9VU1Y3MNm2AwIgIAbyLOAHoWvnNx-WyRfrI7T/s1600/PRT+track+MamaPapa.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg5rSTs_2I_4ubDG9Aovo5eI_WTIu5-_xYIcXJ8bkxLY2iuhyphenhyphenV4ODf5xKKGdjxG3UWGO80QIRDI5UKakCMAFw4IX9wNKdB5lG9uKCbodZB9VU1Y3MNm2AwIgIAbyLOAHoWvnNx-WyRfrI7T/s1600/PRT+track+MamaPapa.png" height="400" width="392" /></a></div>
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<br />
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
As promised in my last post, I have modified the SMART PRT
(Suspended Multi-axis Automated Rail Transport – Personal Rapid Transit) design
yet again, this time to accommodate featherweight “pods” and enclose the bottom
of the track, as well as fine-tuning certain proportions.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
There is also a secondary rationale for considering ultra-light
PRT systems, which is the matter of parcel and light freight delivery.
Companies such as Amazon are clearly putting heavy emphasis on speedy delivery
these days, and the ability to integrate a steady stream of varying vehicles
is, unlike days past, essentially a given. Couple this will the fact that such
track would be many times cheaper, and a very good case can be made for
exploring the matter further.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
In response to this challenge I submit the pictured
multi-sized approach. In the top picture, the comparatively tiny profile of the
“Baby Bear” track can be seen, which does not even reach the man’s knee.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
Before going any further, though – a disclaimer: The
pictures are to illustrate component geometry only. The track is shown as if it
can be simply extruded, which it can’t, and I just thickened the top of the
larger sizes to show where ribs would most probably go. </div>
<div class="MsoNormal">
Also, I’m sure that there are some newer readers who may
have never considered the matter of switching suspended PRT, and who may be
confused by the various end-views. To them, I offer this more complete, yet
still simplified, end view and explanation.</div>
<div class="MsoNormal">
<br /></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh0IgUH9coPBkOf57CsFAzCK7Ibj6OwTmDNmdyCFgjuWloD2pi1LN01Y6eFCusgHpMY58oZKvd4swD3YDBaOsuj_6RTCFg-8lh2F3eqaol12-dR-HkVueLe7eE4bpzlTAXWVXb2CW3eyYuC/s1600/Switching+suspended+Personal+Rapid+Transit.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh0IgUH9coPBkOf57CsFAzCK7Ibj6OwTmDNmdyCFgjuWloD2pi1LN01Y6eFCusgHpMY58oZKvd4swD3YDBaOsuj_6RTCFg-8lh2F3eqaol12-dR-HkVueLe7eE4bpzlTAXWVXb2CW3eyYuC/s1600/Switching+suspended+Personal+Rapid+Transit.png" height="366" width="400" /></a></div>
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List 5"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Bullet 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Bullet 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Bullet 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Bullet 5"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Number 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Number 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Number 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Number 5"/>
<w:LsdException Locked="false" Priority="10" QFormat="true" Name="Title"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Closing"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Signature"/>
<w:LsdException Locked="false" Priority="1" SemiHidden="true"
UnhideWhenUsed="true" Name="Default Paragraph Font"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text Indent"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Continue"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Continue 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Continue 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Continue 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List Continue 5"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Message Header"/>
<w:LsdException Locked="false" Priority="11" QFormat="true" Name="Subtitle"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Salutation"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Date"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text First Indent"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text First Indent 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Note Heading"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text Indent 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Body Text Indent 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Block Text"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Hyperlink"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="FollowedHyperlink"/>
<w:LsdException Locked="false" Priority="22" QFormat="true" Name="Strong"/>
<w:LsdException Locked="false" Priority="20" QFormat="true" Name="Emphasis"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Document Map"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Plain Text"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="E-mail Signature"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Top of Form"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Bottom of Form"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Normal (Web)"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Acronym"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Address"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Cite"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Code"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Definition"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Keyboard"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Preformatted"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Sample"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Typewriter"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Variable"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Normal Table"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="annotation subject"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="No List"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Outline List 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Outline List 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Outline List 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Simple 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Simple 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Simple 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Classic 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Classic 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Classic 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Classic 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Colorful 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Colorful 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Colorful 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Columns 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Columns 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Columns 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Columns 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Columns 5"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 5"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 6"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 7"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Grid 8"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 4"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 5"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 6"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 7"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table List 8"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table 3D effects 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table 3D effects 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table 3D effects 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Contemporary"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Elegant"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Professional"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Subtle 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Subtle 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Web 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Web 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Web 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Balloon Text"/>
<w:LsdException Locked="false" Priority="39" Name="Table Grid"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="Table Theme"/>
<w:LsdException Locked="false" SemiHidden="true" Name="Placeholder Text"/>
<w:LsdException Locked="false" Priority="1" QFormat="true" Name="No Spacing"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading"/>
<w:LsdException Locked="false" Priority="61" Name="Light List"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 1"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 1"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 1"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 1"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 1"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 1"/>
<w:LsdException Locked="false" SemiHidden="true" Name="Revision"/>
<w:LsdException Locked="false" Priority="34" QFormat="true"
Name="List Paragraph"/>
<w:LsdException Locked="false" Priority="29" QFormat="true" Name="Quote"/>
<w:LsdException Locked="false" Priority="30" QFormat="true"
Name="Intense Quote"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 1"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 1"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 1"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 1"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 1"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 1"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 1"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 1"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 2"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 2"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 2"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 2"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 2"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 2"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 2"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 2"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 2"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 2"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 2"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 2"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 2"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 2"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 3"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 3"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 3"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 3"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 3"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 3"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 3"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 3"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 3"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 3"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 3"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 3"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 3"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 3"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 4"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 4"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 4"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 4"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 4"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 4"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 4"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 4"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 4"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 4"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 4"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 4"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 4"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 4"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 5"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 5"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 5"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 5"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 5"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 5"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 5"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 5"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 5"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 5"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 5"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 5"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 5"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 5"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 6"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 6"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 6"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 6"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 6"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 6"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 6"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 6"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 6"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 6"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 6"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 6"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 6"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 6"/>
<w:LsdException Locked="false" Priority="19" QFormat="true"
Name="Subtle Emphasis"/>
<w:LsdException Locked="false" Priority="21" QFormat="true"
Name="Intense Emphasis"/>
<w:LsdException Locked="false" Priority="31" QFormat="true"
Name="Subtle Reference"/>
<w:LsdException Locked="false" Priority="32" QFormat="true"
Name="Intense Reference"/>
<w:LsdException Locked="false" Priority="33" QFormat="true" Name="Book Title"/>
<w:LsdException Locked="false" Priority="37" SemiHidden="true"
UnhideWhenUsed="true" Name="Bibliography"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="TOC Heading"/>
<w:LsdException Locked="false" Priority="41" Name="Plain Table 1"/>
<w:LsdException Locked="false" Priority="42" Name="Plain Table 2"/>
<w:LsdException Locked="false" Priority="43" Name="Plain Table 3"/>
<w:LsdException Locked="false" Priority="44" Name="Plain Table 4"/>
<w:LsdException Locked="false" Priority="45" Name="Plain Table 5"/>
<w:LsdException Locked="false" Priority="40" Name="Grid Table Light"/>
<w:LsdException Locked="false" Priority="46" Name="Grid Table 1 Light"/>
<w:LsdException Locked="false" Priority="47" Name="Grid Table 2"/>
<w:LsdException Locked="false" Priority="48" Name="Grid Table 3"/>
<w:LsdException Locked="false" Priority="49" Name="Grid Table 4"/>
<w:LsdException Locked="false" Priority="50" Name="Grid Table 5 Dark"/>
<w:LsdException Locked="false" Priority="51" Name="Grid Table 6 Colorful"/>
<w:LsdException Locked="false" Priority="52" Name="Grid Table 7 Colorful"/>
<w:LsdException Locked="false" Priority="46"
Name="Grid Table 1 Light Accent 1"/>
<w:LsdException Locked="false" Priority="47" Name="Grid Table 2 Accent 1"/>
<w:LsdException Locked="false" Priority="48" Name="Grid Table 3 Accent 1"/>
<w:LsdException Locked="false" Priority="49" Name="Grid Table 4 Accent 1"/>
<w:LsdException Locked="false" Priority="50" Name="Grid Table 5 Dark Accent 1"/>
<w:LsdException Locked="false" Priority="51"
Name="Grid Table 6 Colorful Accent 1"/>
<w:LsdException Locked="false" Priority="52"
Name="Grid Table 7 Colorful Accent 1"/>
<w:LsdException Locked="false" Priority="46"
Name="Grid Table 1 Light Accent 2"/>
<w:LsdException Locked="false" Priority="47" Name="Grid Table 2 Accent 2"/>
<w:LsdException Locked="false" Priority="48" Name="Grid Table 3 Accent 2"/>
<w:LsdException Locked="false" Priority="49" Name="Grid Table 4 Accent 2"/>
<w:LsdException Locked="false" Priority="50" Name="Grid Table 5 Dark Accent 2"/>
<w:LsdException Locked="false" Priority="51"
Name="Grid Table 6 Colorful Accent 2"/>
<w:LsdException Locked="false" Priority="52"
Name="Grid Table 7 Colorful Accent 2"/>
<w:LsdException Locked="false" Priority="46"
Name="Grid Table 1 Light Accent 3"/>
<w:LsdException Locked="false" Priority="47" Name="Grid Table 2 Accent 3"/>
<w:LsdException Locked="false" Priority="48" Name="Grid Table 3 Accent 3"/>
<w:LsdException Locked="false" Priority="49" Name="Grid Table 4 Accent 3"/>
<w:LsdException Locked="false" Priority="50" Name="Grid Table 5 Dark Accent 3"/>
<w:LsdException Locked="false" Priority="51"
Name="Grid Table 6 Colorful Accent 3"/>
<w:LsdException Locked="false" Priority="52"
Name="Grid Table 7 Colorful Accent 3"/>
<w:LsdException Locked="false" Priority="46"
Name="Grid Table 1 Light Accent 4"/>
<w:LsdException Locked="false" Priority="47" Name="Grid Table 2 Accent 4"/>
<w:LsdException Locked="false" Priority="48" Name="Grid Table 3 Accent 4"/>
<w:LsdException Locked="false" Priority="49" Name="Grid Table 4 Accent 4"/>
<w:LsdException Locked="false" Priority="50" Name="Grid Table 5 Dark Accent 4"/>
<w:LsdException Locked="false" Priority="51"
Name="Grid Table 6 Colorful Accent 4"/>
<w:LsdException Locked="false" Priority="52"
Name="Grid Table 7 Colorful Accent 4"/>
<w:LsdException Locked="false" Priority="46"
Name="Grid Table 1 Light Accent 5"/>
<w:LsdException Locked="false" Priority="47" Name="Grid Table 2 Accent 5"/>
<w:LsdException Locked="false" Priority="48" Name="Grid Table 3 Accent 5"/>
<w:LsdException Locked="false" Priority="49" Name="Grid Table 4 Accent 5"/>
<w:LsdException Locked="false" Priority="50" Name="Grid Table 5 Dark Accent 5"/>
<w:LsdException Locked="false" Priority="51"
Name="Grid Table 6 Colorful Accent 5"/>
<w:LsdException Locked="false" Priority="52"
Name="Grid Table 7 Colorful Accent 5"/>
<w:LsdException Locked="false" Priority="46"
Name="Grid Table 1 Light Accent 6"/>
<w:LsdException Locked="false" Priority="47" Name="Grid Table 2 Accent 6"/>
<w:LsdException Locked="false" Priority="48" Name="Grid Table 3 Accent 6"/>
<w:LsdException Locked="false" Priority="49" Name="Grid Table 4 Accent 6"/>
<w:LsdException Locked="false" Priority="50" Name="Grid Table 5 Dark Accent 6"/>
<w:LsdException Locked="false" Priority="51"
Name="Grid Table 6 Colorful Accent 6"/>
<w:LsdException Locked="false" Priority="52"
Name="Grid Table 7 Colorful Accent 6"/>
<w:LsdException Locked="false" Priority="46" Name="List Table 1 Light"/>
<w:LsdException Locked="false" Priority="47" Name="List Table 2"/>
<w:LsdException Locked="false" Priority="48" Name="List Table 3"/>
<w:LsdException Locked="false" Priority="49" Name="List Table 4"/>
<w:LsdException Locked="false" Priority="50" Name="List Table 5 Dark"/>
<w:LsdException Locked="false" Priority="51" Name="List Table 6 Colorful"/>
<w:LsdException Locked="false" Priority="52" Name="List Table 7 Colorful"/>
<w:LsdException Locked="false" Priority="46"
Name="List Table 1 Light Accent 1"/>
<w:LsdException Locked="false" Priority="47" Name="List Table 2 Accent 1"/>
<w:LsdException Locked="false" Priority="48" Name="List Table 3 Accent 1"/>
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To switch suspended PRT, the part of the vehicle that rides
inside of the track (the bogie) must grip one side of the track or the other,
so that when the track routing diverges, the vehicle’s drive unit (bogie) does
not fall out of the track’s ever widening slot. In this end-view, the pair of
steering-guide wheels on the right “clamp” into rolling engagement with the
track, while the left ones spread apart to release that side. In other words
the bogie, shown in blue, can be fully supported by either side of the track
and so can follow either as they split apart into different routes. The weight forces
of the hanging passenger cabin are shown by the three red arrows. </div>
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It is also noteworthy that certain parts of the track are
eliminated where there is no switching. In this picture, the steering guide
wheels are not quite contacting anything. Side-to-side guidance is maintained
by the large, counter-rotating horizontal wheels; to do otherwise would simply add
wear to the smaller wheels for no reason. The actual contact rails are only at
switch points and taper into contact gradually for a smooth transition. Also,
particularly observant, long-time readers will note that some track parts will
need to be modified or removed for tight radius turns, both side-to-side and
up-and-down. </div>
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Now, back to the top pictures. In these two illustrations,
BTW, the steering guide wheels are engaged as if they were approaching a “Y” in
the track.</div>
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<br /></div>
<div class="MsoNormal">
The “baby” track is sized for speeds below 30 mph, (48 km/h)
with weights below 500 lbs. including vehicle and passenger/cargo. It has 8”
(215 mm) solid drive wheels. (It could handle more with steel wheels and very
frequent supports but this would be inconsistent with most applications) The
track width is 13.5”. (343 mm)<span style="mso-spacerun: yes;"> </span></div>
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<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
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To the person’s top-right are the “baby” wheels within a
larger (mama-bear) track. Directly below are the wheels for the “mama-bear”
vehicle within the same, matching track. This size (30” or 762mm wide) is
consistent with the 3.5 person vehicles that have been shown in earlier posts,
weighing in at about 1300 lbs., fully loaded. The performance would be
generally auto-like, with quick enough acceleration to allow fairly short
on-ramps, (an often overlooked design consideration!) and speeds approaching 50
mph. (80 km/h) It is not impossible that faster speeds would be practical…Only
testing will tell. </div>
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<br /></div>
<div class="MsoNormal">
The second picture above<span style="mso-spacerun: yes;">
</span>illustrates (left to right, clockwise) the “mama bear” bogie in the
“mama bear” track,<span style="mso-spacerun: yes;"> </span>the “mama-bear” bogie
in the “Papa bear” track, and the “Papa bear” bogie in the “Papa bear” track.
This larger wheel and track would be for still higher speeds and/or loads. Not
much bigger than the “Mama Bear” combo, (35” or 890mm wide) the steering guide
wheels get an extra two inches of diameter while drive wheels become
auto-sized. The guide wheels of heavy vehicles can also be made of
longer-lasting, harder polyurethane formulation or even steel, as sound is less
of an issue because such routing would typically be along highways, more than
fronting homes of businesses. Being designed for long distances and for larger
(GRT) shuttle vehicles, this larger sized track would not universally assume
full 3D routing and would be encased in a heavier structural elements. High
speed sections would require some additional interior space to allow air to slip
around the speeding bogie. Some very large cities might opt for the “Papa Bear”
track throughout, to accommodate faster personal vehicles designed for
typically long commutes. It is, after all, only 5 inches wider and height is
more a function of span/vs load than wheel size.<span style="mso-spacerun: yes;"> </span>I am somewhat dubious about the utility of
making this largest track universally “baby bear” compatible, and one approach
would be to design such track to be easily convertible for this purpose, rather
than to include this feature initially, like the pictures shown above. This is
primarily because of the speed differences, since any quiet and smooth running 8”
wheel couldn’t tolerate continuous, heavily loaded, high speed use for very
long, and so must be confined areas that are appropriate for low speeds anyway.
For lighter parcel delivery, however, in, say, the 25 kg load range or less, it
is a different story. Here small vehicles could almost fill the track spaces
between large GRT vehicles, not slow them down at all, and still be nearly
silent when they get into neighborhoods… without needing new wheels every
thousand miles. </div>
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<br /></div>
<div class="MsoNormal">
What is regrettable is that the Mama Bear track isn’t
smaller and cheaper – more of a mid-point between the larger and smaller sizes.
Unfortunately once you can physically over-pack a vehicle with weight, (as is
unpreventable with the interior cabin space required by disability laws) you
can theoretically load each vehicle just as much, and as long as there is the remote
possibility of a sudden stopping of traffic, where suddenly such loaded
vehicles are bumper to bumper, applying all of that weight to a span, or even
all applying emergency brakes at once on a curve, (thus pulling the track
forward and sideways and down) … there is the need for some pretty beefy track,
at least that is how it will be regulated. </div>
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<br /></div>
<div class="MsoNormal">
Ironically, the baby bear track <i style="mso-bidi-font-style: normal;">can be</i> small because <i style="mso-bidi-font-style: normal;">it is</i>
small… If track and vehicles are cheap enough, it becomes easy to pay for, even
without heavy ridership, which permits longer headways and slower speeds, so
everything can be lighter-duty. Of course the “baby bear” can’t exist as a
transit system alone, since it does not meet the criteria mentioned above. The
Mama and Papa Bear systems need to really pack the tracks and run as fast as
possible to pay their way, especially until the business model proves itself
and costs begin to drop. This kind of traffic is best promoted by providing a
certain degree of comfort…And comfort adds…you guessed it… weight. In PRT,
there is no such thing as a free bowl of porridge!</div>
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<br /></div>
<div class="MsoNormal">
Next step - Adapt this wheel geometry to actual stock steel,
practical fabrication methods and truss design, as well as to finally address
the long-neglected issue of “third rail” placement. </div>
<br />
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UnhideWhenUsed="true" QFormat="true" Name="heading 3"/>
<w:LsdException Locked="false" Priority="9" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="heading 4"/>
<w:LsdException Locked="false" Priority="9" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="heading 5"/>
<w:LsdException Locked="false" Priority="9" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="heading 6"/>
<w:LsdException Locked="false" Priority="9" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="heading 7"/>
<w:LsdException Locked="false" Priority="9" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="heading 8"/>
<w:LsdException Locked="false" Priority="9" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="heading 9"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="index 1"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="index 2"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="index 3"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="index 8"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="index 9"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
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<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 2"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 3"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 4"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 5"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 6"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 7"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 8"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" Name="toc 9"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="footnote text"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="annotation text"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="header"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="footer"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="index heading"/>
<w:LsdException Locked="false" Priority="35" SemiHidden="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="table of figures"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="envelope address"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="footnote reference"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="table of authorities"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="List"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" Priority="10" QFormat="true" Name="Title"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" Priority="1" SemiHidden="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" Priority="11" QFormat="true" Name="Subtitle"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" Priority="22" QFormat="true" Name="Strong"/>
<w:LsdException Locked="false" Priority="20" QFormat="true" Name="Emphasis"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="E-mail Signature"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Acronym"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Cite"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Preformatted"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
Name="HTML Typewriter"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" Priority="39" Name="Table Grid"/>
<w:LsdException Locked="false" SemiHidden="true" UnhideWhenUsed="true"
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<w:LsdException Locked="false" SemiHidden="true" Name="Placeholder Text"/>
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<w:LsdException Locked="false" Priority="60" Name="Light Shading"/>
<w:LsdException Locked="false" Priority="61" Name="Light List"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 1"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 1"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 1"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 1"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 1"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 1"/>
<w:LsdException Locked="false" SemiHidden="true" Name="Revision"/>
<w:LsdException Locked="false" Priority="34" QFormat="true"
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<w:LsdException Locked="false" Priority="29" QFormat="true" Name="Quote"/>
<w:LsdException Locked="false" Priority="30" QFormat="true"
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<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 1"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 1"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 1"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 1"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 1"/>
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<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 1"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 1"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 2"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 2"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 2"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 2"/>
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<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 2"/>
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<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 2"/>
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<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 2"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 2"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 2"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 2"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 2"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 3"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 3"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 3"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 3"/>
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<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 3"/>
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<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 3"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 3"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 4"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 4"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 4"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 4"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 4"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 4"/>
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<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 4"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 4"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 4"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 4"/>
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<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 4"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 4"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 5"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 5"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 5"/>
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<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 5"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 5"/>
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<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 5"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 5"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 5"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 5"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 5"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 5"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 5"/>
<w:LsdException Locked="false" Priority="60" Name="Light Shading Accent 6"/>
<w:LsdException Locked="false" Priority="61" Name="Light List Accent 6"/>
<w:LsdException Locked="false" Priority="62" Name="Light Grid Accent 6"/>
<w:LsdException Locked="false" Priority="63" Name="Medium Shading 1 Accent 6"/>
<w:LsdException Locked="false" Priority="64" Name="Medium Shading 2 Accent 6"/>
<w:LsdException Locked="false" Priority="65" Name="Medium List 1 Accent 6"/>
<w:LsdException Locked="false" Priority="66" Name="Medium List 2 Accent 6"/>
<w:LsdException Locked="false" Priority="67" Name="Medium Grid 1 Accent 6"/>
<w:LsdException Locked="false" Priority="68" Name="Medium Grid 2 Accent 6"/>
<w:LsdException Locked="false" Priority="69" Name="Medium Grid 3 Accent 6"/>
<w:LsdException Locked="false" Priority="70" Name="Dark List Accent 6"/>
<w:LsdException Locked="false" Priority="71" Name="Colorful Shading Accent 6"/>
<w:LsdException Locked="false" Priority="72" Name="Colorful List Accent 6"/>
<w:LsdException Locked="false" Priority="73" Name="Colorful Grid Accent 6"/>
<w:LsdException Locked="false" Priority="19" QFormat="true"
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<w:LsdException Locked="false" Priority="21" QFormat="true"
Name="Intense Emphasis"/>
<w:LsdException Locked="false" Priority="31" QFormat="true"
Name="Subtle Reference"/>
<w:LsdException Locked="false" Priority="32" QFormat="true"
Name="Intense Reference"/>
<w:LsdException Locked="false" Priority="33" QFormat="true" Name="Book Title"/>
<w:LsdException Locked="false" Priority="37" SemiHidden="true"
UnhideWhenUsed="true" Name="Bibliography"/>
<w:LsdException Locked="false" Priority="39" SemiHidden="true"
UnhideWhenUsed="true" QFormat="true" Name="TOC Heading"/>
<w:LsdException Locked="false" Priority="41" Name="Plain Table 1"/>
<w:LsdException Locked="false" Priority="42" Name="Plain Table 2"/>
<w:LsdException Locked="false" Priority="43" Name="Plain Table 3"/>
<w:LsdException Locked="false" Priority="44" Name="Plain Table 4"/>
<w:LsdException Locked="false" Priority="45" Name="Plain Table 5"/>
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<![endif]--><br />Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com7tag:blogger.com,1999:blog-4063450658421522356.post-57406562704148936932014-11-26T21:48:00.000-06:002015-02-07T21:21:08.513-06:00163> Turkey Day!<!--[if gte mso 9]><xml>
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<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdlrsTAXYTvW-EVSoCNAuKsB0G67oKRZsMYU3j0yUV739a-TQWv_-lekirkmF_3Aa6_rOgy8MIJk46U0bryht621WshL5rJS5OAxpayK21TRzwg9g27QraX5MznS3oZ1RsLghE1eZp0CdR/s1600/PRT+chef.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdlrsTAXYTvW-EVSoCNAuKsB0G67oKRZsMYU3j0yUV739a-TQWv_-lekirkmF_3Aa6_rOgy8MIJk46U0bryht621WshL5rJS5OAxpayK21TRzwg9g27QraX5MznS3oZ1RsLghE1eZp0CdR/s1600/PRT+chef.jpg" height="400" width="385" /></a></div>
<div class="MsoNormal" style="mso-layout-grid-align: none; text-autospace: none;">
<br /></div>
<div class="MsoNormal" style="mso-layout-grid-align: none; text-autospace: none;">
<span style="font-family: inherit;"><span lang="EN" style="mso-ansi-language: EN; mso-ascii-font-family: Calibri; mso-bidi-font-family: Calibri; mso-hansi-font-family: Calibri;">At this time of year, seems
like everybody’s sharing culinary secrets. So here's my recipe for perfect
PRT.<span style="mso-spacerun: yes;"> </span>First you take individual desirable
attributes, like speed, energy efficiency, and so forth, and, one by one,
design for that attribute. The idea is to take each one as far as you can
before it is clearly too much of a good thing. Take that design, set it aside
for future use. Then you repeat the same process for the other, often competing
attributes you have identified. Once all of that has been done, you have
premixed the ingredients for truly great PRT, and the fun begins. Like adding
spices to a soup by experimenting with small quantities, you add a little of
this and a dash of that, backing off when you add too much, until the
proportions are just right. </span></span></div>
<div style="text-align: justify;">
<br /></div>
<div style="text-align: justify;">
<span style="font-family: inherit;">
</span></div>
<div class="MsoNormal" style="mso-layout-grid-align: none; text-autospace: none;">
<span style="font-family: inherit;"><span lang="EN" style="mso-ansi-language: EN; mso-ascii-font-family: Calibri; mso-bidi-font-family: Calibri; mso-hansi-font-family: Calibri;">Recently I have been mulling
over where I left off with SMART PRT, and have realized that there is still a
lot of work left undone. If attributes like small turning radius, high-speed
switching or low maintenance are the object, then I am done. But at what
expense? I designed a system that is "track-compatible" with GRT,
(larger group vehicles, such as scheduled shuttles) equal a car in speed and
comfort, can even climb straight up… but what about all of the single
passengers only going a couple of miles in the inner city? Have I excluded this
important demographic? After all, to many who live and work in the inner city,
this is what PRT is really about. Many do not even see an important role for
suburban systems, as I do. Not everyone lives in a freeway-dependent mega-city.
Perhaps I omitted an important ingredient from <span style="mso-spacerun: yes;"> </span>the dish.</span></span></div>
<div style="text-align: justify;">
<br /></div>
<div style="text-align: justify;">
<span style="font-family: inherit;">
</span></div>
<div class="MsoNormal" style="mso-layout-grid-align: none; text-autospace: none;">
<span style="font-family: inherit;"><span lang="EN" style="mso-ansi-language: EN; mso-ascii-font-family: Calibri; mso-bidi-font-family: Calibri; mso-hansi-font-family: Calibri;">This reflection has also
been prompted by a couple of factors. After my last post, about programmable
motors, I discovered that since last time I looked into it, a huge amount of
progress has been made in this field, and not just to make servo motors run
programmed routines. They are using specially shaped waveforms for optimal
speed or torque performance as well, in a process called Frequency Oriented
Control. (FOC)<span style="mso-spacerun: yes;"> </span>Unfortunately wheel
motors with matched FOC controllers (with position control) have not yet
arrived, and I hate promoting designs that rely on parts that are not available
at practical prices. I love direct-drive wheel motors, but the advantages of
FOC, when it comes to integrating motors into a larger system software
architecture, are huge. Also, the appropriately sized wheel motors that are
available are for two-wheeled scooters and e-bikes, and they have through-axles
that are meant to be supported from both sides of the wheel. My designs do not
reflect this, although these motors could never achieve higher speeds anyway. <span style="mso-spacerun: yes;"> </span></span></span></div>
<div style="text-align: justify;">
<span style="font-family: inherit;">
</span></div>
<div style="text-align: justify;">
<br /></div>
<div class="MsoNormal" style="mso-layout-grid-align: none; text-autospace: none;">
<span style="font-family: inherit;"><span lang="EN" style="mso-ansi-language: EN; mso-ascii-font-family: Calibri; mso-bidi-font-family: Calibri; mso-hansi-font-family: Calibri;">I also have been troubled by
my abandonment of a totally enclosed bogie. In a quest for high speed and
smooth switching, I designed-in some very large diameter centering and steering
guide wheels, leaving guide surfaces exposed on the bottom of the track and those
guide wheels semi-exposed to the elements. That large diameter would be
consistent with a softer, quieter ride via softer, quieter wheel materials, which,
of course, wear more quickly - thus they are bigger for more wear surface. That
diameter could be maintained, but with harder materials, for heavy vehicles
like GRT. At least that was my rationale. Yet I have never been a fan of what
this does to the track, not just for the reasons just mentioned, but also in
regards to compatibility with vehicles that don't need such big guide wheels
since they are for slower, urban use. Furthermore, the high speeds or heavy
vehicles are likely to make the most noise where it doesn’t matter much, such
as along freeways. And not fully enclosing the guide wheels inside the track
makes them louder anyway. </span></span></div>
<div style="text-align: justify;">
<br /></div>
<div style="text-align: justify;">
<span style="font-family: inherit;">
</span></div>
<div class="MsoNormal" style="mso-layout-grid-align: none; text-autospace: none;">
<span style="font-family: inherit;"><span lang="EN" style="mso-ansi-language: EN; mso-ascii-font-family: Calibri; mso-bidi-font-family: Calibri; mso-hansi-font-family: Calibri;">I think, in retrospect, I
designed for the exception rather than the rule, and it is time to see how a
lighter, smaller system can be modified toward the larger and more powerful,
instead of starting with the heavier system and trying to design lighter
vehicles for it. At the very least, those reverse rotating centering wheels
(golden-yellow, below) can to be reduced in diameter. 15" is just way too
big to require (due to track proportions) of lighter PRT vehicles. The load on
these wheels may be continuous, but it is not that great, except perhaps for
GRT, which could even use steel wheels if wear is a problem. </span></span></div>
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<div class="separator" style="clear: both; text-align: justify;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZAQmgbfHbp5BbOmu_MG2ZUfv5SYkBdsGtaiBujs5hIWlKwFKianiOtru09FwVDiUwafiag-NXKzDnTf0ERlJO-oMcd8r_rQBVvcEHhRn1Q2hWKhoKfZwquK2GZi9Jp8Dj3FVOQ8KbEelH/s1600/straightaway.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZAQmgbfHbp5BbOmu_MG2ZUfv5SYkBdsGtaiBujs5hIWlKwFKianiOtru09FwVDiUwafiag-NXKzDnTf0ERlJO-oMcd8r_rQBVvcEHhRn1Q2hWKhoKfZwquK2GZi9Jp8Dj3FVOQ8KbEelH/s1600/straightaway.jpg" height="400" width="341" /></a></div>
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<span style="font-family: inherit;"><span lang="EN" style="mso-ansi-language: EN; mso-ascii-font-family: Calibri; mso-bidi-font-family: Calibri; mso-hansi-font-family: Calibri;">This illustration, (not to
scale) shows the current track design. The bogie is highly abbreviated to more
clearly show the guide wheel positions. The configuration shown is for straight
travel, as even the raised steering guide wheel (left, light brown) is not
quite touching. This is because the steering guide rails are discontinuous,
(and therefore not shown) and only taper into contract in advance of a
switch-point. It can be seen that the track (blue) is not wide enough to wrap
the guide wheels in this design. </span></span></div>
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<br /></div>
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<div class="MsoNormal" style="mso-layout-grid-align: none; text-autospace: none;">
<span style="font-family: inherit;"><span lang="EN" style="mso-ansi-language: EN; mso-ascii-font-family: Calibri; mso-bidi-font-family: Calibri; mso-hansi-font-family: Calibri;">Also at issue are those
multipurpose "hold-down" wheels. (maroon) These are a holdover from
early designs that had no other options to deal with the tremendous twisting
forces (red arrows) that could be exerted by a swinging passenger cabin. These
also doubled as upper steering guide wheels, securely locking the bogie to one
side or the other as the track splits into separate directions. As one such
wheel would be in continuous rotation for long periods, these were also designed
to be of a softer material, like rubber, and of large diameter. The problem is
that this solution, which engages the top of track, means that a smaller,
lighter bogie, which might optimally run in a smaller track, would have to be
inconveniently tall to reach these “ceiling mounted” guideways. The key to
solving this dilemma has been partially solved by current position of the large
counter-rotating running guide wheels. (golden yellow) They are now positioned so as to directly absorb
the brunt of any sideways forces, making continuously engaged upper guide wheels
unnecessary. Any upper guide wheels would be for switching and extraordinary
events, such as a sudden gale force wind gust or emergency stop. The position of
those large counter-rotating guide wheels does, however, directly add to the
height of the track, and competes for vertical space with the drive wheels.
(Purple) These may have to be reduced from typical automotive size, even for
heavy or fast systems. <span style="mso-spacerun: yes;"> </span>By the way, if
you are wondering about those things sticking out of the axles, they’re for
climbing... Check out <a href="http://openprtspecs.blogspot.com/2011/11/climbing-chain.html" target="_blank">post 131</a> for details. </span></span></div>
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that my feast is not quite ready. I need to add two more ingredients... Bogies
designed for drop-in motors that are available now, and a lighter, lower
performance vehicle equally at home in the heavier track. What I am aiming for
is a three tier system for vehicles - a “papa bear” (GRT) a “mama bear” (high
speed, longer range PRT) and a “baby bear” (light-duty PRT for inner city and
campuses.) Right now I see “mama bear” track as universal, being sharable with either
the larger or the smaller, but not both at once. For example, track running
along freeways wouldn’t allow any “baby bear” pods, and “papa bear” GRT vehicles
would be only for connecting large stations that are far apart, while the
mid-size, “mama bear” vehicles would be able to go anywhere. (Actually they are
more like a compact car, very tight for 4 average adults.) That size, after
all, can comply with US disability laws, whereas anything catering to
individuals or pairs could not. </span></span></div>
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catering,.. Tomorrow is Thanksgiving, a US holiday about giving thanks while
eating ourselves into a coma. So happy Thanksgiving, everyone. If you need me,
I’ll be in the kitchen. I’m preparing a feast!</span></span></div>
<br />Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com2tag:blogger.com,1999:blog-4063450658421522356.post-29630964090993058012014-06-25T22:02:00.000-05:002015-02-07T21:16:47.814-06:00162> Musical PRT<!--[if gte mso 9]><xml>
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I think it is high time that I offer a primer on controlling
rotary motor powered PRT, at least as I see it. </div>
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Let’s start at the very beginning. First of all, not all
motors just start turning when you apply electricity. The ones that do
generally have “brushes,” a kind of internal switch that turns off and on as
the motor shaft rotates. Such internal, mechanical switching is inherently “dumb”
and not really suited for PRT. We’ll concentrate on other types. <span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
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Brushless DC motors, in particular, can have a number of
different wires coming out of them, and power must be applied sequentially to
these wires, in the right order, for rotation to occur. Reverse the sequence,
and the motor generally turns backwards. Examples of such motors are the stepper
motors in your inkjet printer that control the print head and the paper feed.
They stop, go and reverse with great precision. Such motors require a
controller, which dictates the speed, number of turns and direction, as well as
a driver, which uses this information to switch and modulate the larger current
loads required to power a motor. </div>
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<br /></div>
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This is distinctly different than another class of motor often
used for similar robot-like functions, the servo motor, which has an on-board
sensor that reports back to the controller on the motor’s revolutions. These
are often a modified form of standard, old-school, free-running DC motors,
whose speed is typically voltage dependent and can run backwards by reversing the
single pair of power leads. (like your cordless drill) Such motors are
generally fairly high speed and geared down greatly, resulting in high torque,
quick speed changes, and good accuracy down-line. For example, a motor with a
60 to 1 gear reduction, if halted within a specific motor turn, would have the
resulting (geared down) shaft showing a resolution of a sixtieth of a
revolution, like minutes of a clock.<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
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I might add one more thing about AC and DC motors, which is
that brushless DC motors, since they require fluctuating current to run, could
also be called AC motors. After all, the drivers are basically causing current
to alternate, even if it is not at all like what comes out of the wall. I have
seen some electric car motors described as “AC” even though they clearly run on
batteries. Alas, we live in complicated times!<span style="mso-spacerun: yes;">
</span></div>
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<br /></div>
<div class="MsoNormal">
Both AC and DC motors have been standardized for years,
having side or end-mount enclosures in many sizes with predictable bolting
patterns. There is a vast business of accessories for these motors, especially gearboxes,
since standard motors need to run at fairly high speeds to be efficient. The
advent of cheap computing, however, has opened the door to many special-purpose
designs, although these tend to be comparatively expensive. The most common
trait of these hybrid newcomers is their ability to change direction and speed
“on the fly,” so as to enable direct-drive devices that are unencumbered by bulky,
complex and inefficient mechanical transmission hardware. A good example is the
“torque motor” in which a ring rotates within a larger ring, or multi-pole
designs, made to hold position as well as rotate, much like stepper motors.</div>
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<br /></div>
<span style="font-family: "Calibri","sans-serif"; font-size: 11.0pt; line-height: 115%; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: Calibri; mso-fareast-language: EN-US; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin;">One such hybrid is the<a href="https://www.youtube.com/watch?v=1EnnkzD5Ld8" target="_blank"> hub motor I designed for myexperimental bogie.</a> (As mentioned
when posted previously, go to minute 5.5 to skip the explanation and just see
it work!) <span style="mso-spacerun: yes;"> </span>As you can see, from the
illustration below, I have a new driver, as per the discussion in the last
blog. This will control one wheel. Another driver will hang below the crossbar,
and that resulting pair will be mirrored on the right side as well. There will
be a circuit board that bridges and connects all four drivers, which will be
the controller. For what it is worth, I have an off-the-shelf, postage stamp
sized driver that I have yet to get working. If I had known how many scrapped
boards making my own would lead to, I think I would have redoubled those
efforts!</span><br />
<br />
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A main point that I would like to make is that for PRT
applications, the drive wheels can be made to turn a certain number of times, or
even turn at exact fractions of a rotation, simply by entering a number into
the controller. Using my little model as an example, it takes eighty pulses of
electricity to make the wheels turn one revolution. One revolution moves the
bogie one foot. Therefore, to move the bogie, for example, exactly 7 feet, I
need to supply exactly 560 pulses. (7 x 80 =560) I will refer to such a motor system
as digital, for lack of a better term. <span style="mso-spacerun: yes;"> </span></div>
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This illustration shows how I would program the controller
to make my model bogie travel that seven ft. before stopping, and how I would
make this occur in exactly eight seconds, with ramped acceleration and
deceleration. <span style="mso-spacerun: yes;"> </span>There are 16 lines, each
taking a half of a second to complete. That’s where the 8 seconds comes from.
The shortest wavelengths, (all of those in the middle) are 10 milliseconds
each. Each time a wave crests, my little wheel turns 1/80<sup>th</sup> of a
turn, so you can see it holds top speed through the middle of this 8 second
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Clearly this is a much different paradigm than with motors
that “free-run.” Free-running systems (including the internal combustion engine)
need to continually check their situation to know what to do. This illustrates
the difficulty in adapting some existing hardware, such as golf cart or
motorized scooter motors, to PRT use. These systems are designed for a human driver,
who decides when and how to apply the accelerator or brakes until a destination
has been reached. Emulating human senses and reasoning is an overly cumbersome
basis for automating vehicles in the controlled environment of an enclosed
track, although this approach has merit for emergency situations.<span style="mso-spacerun: yes;"> </span>Even servo motors, without emulating human
control, basically take analog data (rotational velocity and position) and
digitize it, analyze it, then use that digital data to adjust the voltage. (back
to analog) That is a lot to have going on, especially multiplied by all of the
vehicles in a PRT system, yet even that is not my principle objection. I don’t
like the fact that such systems are reactive by design. When you apply the
brakes, it is a reaction to your vehicle going too fast. When you step on the
gas, it is a reaction to your vehicle going too slow. Why not just do it
exactly right in the first place? We want PRT to run like clockwork, and clocks
are accurate because the various wheels inside are kept in check by the
immutable meshing of gears, not because the second hand decides to apply the
brakes because it is moving too fast for the minute hand! What kind of a clock
would that be? Sure, these days we can check things a thousand times a second.
But it is still reactive - adjusting for sub-optimal conditions. What is worse
is that it suggests that were such a system to malfunction, a runaway or stall condition
could occur, much like a human driver who is asleep at the wheel. </div>
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<span style="mso-spacerun: yes;"> </span>
</div>
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Of course even with a fully
digital system, where every trip can be reduced to simply counting down a
predetermined number of pulses, some feedback is still essential. Tire wear or under-inflation,
for example, will reduce the diameter of a wheel, making it travel slightly less
on the same number of pulses. Even in an enclosed track, the possibility of
slipping should be considered. Clearly the system still needs to check and adjust
the count periodically so as to prevent a vehicle from over or under-shooting
its target. This process is very much like the servo motors mentioned above,
except that a servo motor checks its rotational progress, whereas I would
suggest checking linear progress against the track, which is, after all, what
really counts. </div>
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<br /></div>
<div class="MsoNormal">
One very important difference between this and free-running
systems is the unbreakable relationship between time and distance from a
control point of view. On a purely digital system, there is set number of
pulses that must be sent to the motors for a given distance, and that never
changes, no matter the speed. The vehicle can slow for switches and tight
turns, speed up where possible, yet the number of pulses will remain the same,
and adding up the time between wave crests always gives the exact arrival time.
This is not just true to the destination, but to every turn, switch or marker
along the way. This allows us to do away with the traditional notion of “line
speed” - an outdated idea that means that the entire system can only run as
fast as is practical on its slowest corner. With a digital system, there is no
such thing as a runaway condition. All movement is the result of pulses that are
counting to a finite number, and those pulses (and therefore the trip) will end
at an exact time, down to the millisecond. All maneuvers are programmed in
advance, so each trip can be optimized, turn by turn, for comfort and speed. Whether
organized as whole trips or as trip segments, travel is reduced to “playing” a
digital file in real-time, like listening to an MP3. <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
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This architecture creates a very simple basis for traffic
management. Since each vehicle knows exactly how long it takes to arrive at each
merge point on its journey and this information can be made available
system-wide, vehicle itineraries can be synchronized to avoid conflicts.<span style="mso-spacerun: yes;"> </span>For only a few hundred vehicles and a few
dozen stations, merge-point collisions could be avoided with nothing more than
a few seconds of departure delay. For larger systems, alternative versions for
segments of the journey can be substituted, bumping the timing by a few seconds
faster or slower. For the largest and busiest systems, of course, a high degree
of coordination in real time may be required to manage heavy traffic. This
architecture, I believe, has advantages for this as well, being highly
compatible with autonomous and group decision-making as well as centralized or
regional control. The ultimate control system would undoubtedly be some
hierarchical combination of all four and could even include a fifth, that being
mid-trip passenger input. (“That’s the place! Circle around to the station that
we just passed!”) </div>
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<br /></div>
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In summary, there is a correspondence between distances traveled
and wheel rotations and the progress of those rotations, in turn, is the result
of a real-time streaming digital signal, similar to, say, playing a music file.
Therefore any particular trip (or trip segment) that a PRT vehicle might take
can be optimally executed just like playing a song that makes the motor run to
its beat. Within that file are points in time/space where merges will occur,
just like there are predicable points in a song where a particular instrument
comes in. To propose to depart from a station at any given second is to propose
to reserve those merge points at very specific moments in the future. Such a
direct correspondence between execution of code and PRT vehicle position allows
a huge amount of flexibility in terms of traffic management, wherein all kinds
of innovative ways can be found, on the software level, to crowd more vehicles
into an ever expanding system safely. The key is to abandon the free-running
paradigm in favor of one where track position, time and wheel rotations are
kept in tight sync with whatever “tune” (trip) the passenger chooses to play.
Necessary variations are accomplished by substituting pre-written code snippets
in what is essentially an editing program. Both number of waves (distance,
position on track) and wavelength (speed) can be edited separately and executed
on the fly, preferably by prescribed increments for simplicity’s sake, but few
real-time calculations and minimal communications are required for good
performance on systems that involve only a few hundred vehicles. <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
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<span style="font-family: "Calibri","sans-serif"; font-size: 11.0pt; line-height: 115%; mso-ansi-language: EN-US; mso-ascii-theme-font: minor-latin; mso-bidi-font-family: "Times New Roman"; mso-bidi-language: AR-SA; mso-bidi-theme-font: minor-bidi; mso-fareast-font-family: Calibri; mso-fareast-language: EN-US; mso-fareast-theme-font: minor-latin; mso-hansi-theme-font: minor-latin;">Although this all may seem like a great leap, it
should be noted that ALL motors already have an internal drumbeat that
corresponds to the motor’s rotational position, since pulsing the motor’s windings
is what makes that rotation advance. Therefore all vehicular movement, be it
advancing by a car-length within a station or a 10 minute journey across town, is
accomplished by providing this rhythm, even though that rhythm may have, in the
past, been simply regarded as a byproduct, like the growl of a Harley winding
out. The age of computers has merely provided us a way to count and control
those pulses in the pursuit of perfectly replicable movement. <span style="mso-spacerun: yes;"> </span>Play it again, Sam! </span><br />
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<br />Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com1tag:blogger.com,1999:blog-4063450658421522356.post-14279432107526230052014-04-23T23:08:00.001-05:002015-02-07T21:20:05.800-06:00161> Scribblings from the Tundra<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg734glY_R1_9EOSvRSSldw4Cxq3E3Vrh5TKL-ZA2B-8DRTzDUkPYBRSkPBGviczLtttBtjBQsGxleEAH1uZ8Am3CwNoT9r4zizJcnZZfo4b44z9q-nT9IWr56gOJmVOtUx1cP_ntsxEazX/s1600/greetings.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg734glY_R1_9EOSvRSSldw4Cxq3E3Vrh5TKL-ZA2B-8DRTzDUkPYBRSkPBGviczLtttBtjBQsGxleEAH1uZ8Am3CwNoT9r4zizJcnZZfo4b44z9q-nT9IWr56gOJmVOtUx1cP_ntsxEazX/s1600/greetings.jpg" height="316" width="400" /></a></div>
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First of all, thanks for the support in regards to my last
post. With everybody seemingly stable, I decided to let my sister “take the
wheel” for a couple of weeks so I can unpack my New Hampshire cabin for the
summer construction projects, and see how it has fared through the worst winter
in recent memory.<span style="mso-spacerun: yes;"> </span>Unfortunately, I
arrived to find snow drifts of up to 4 ft., with 12 hours of shoveling just to
get my car to the road. The picture above is my “runabout” Toyota, which I only
use on the land, down by my cabin.<span style="mso-spacerun: yes;">
</span>(Boards on roof with tarp over that, if you are wondering what you are
looking at) And that was is April 13<sup>th</sup>! Then, on April 15<sup>th</sup>,
we got 3 more inches! Now it seems my dad has had another stroke so I am going
back to Houston tomorrow. Not that I am getting much done here, although the
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaVxwbDtOXUGuz1Df0CeQLiU3FrhCiHG6GG0IPm4iLm02IFYMfEP63mj_H2ndIuUbggD0eiTcAar8-BEOEyFLhhDxWpLV6lQYVz7m6uoSyPKKbuOkhjNdtGCJA4cM-k-5voilpiVNWtoNl/s1600/progress.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaVxwbDtOXUGuz1Df0CeQLiU3FrhCiHG6GG0IPm4iLm02IFYMfEP63mj_H2ndIuUbggD0eiTcAar8-BEOEyFLhhDxWpLV6lQYVz7m6uoSyPKKbuOkhjNdtGCJA4cM-k-5voilpiVNWtoNl/s1600/progress.jpg" height="341" width="400" /></a></div>
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<span style="font-family: inherit;"><span style="font-size: small;">This really shows how different this bogie design is than
one where wheel-wear is not considered as a primary consideration, usually
because of slow anticipated speeds and/or more limited trip distances. Here the
diameters/widths are all proportional to service demands. It is not easy to
see, but there are four black wheels, in two counter-rotating pairs. The small
bottom wheels only engage during switching. </span></span></div>
<span style="font-family: inherit;"><span style="font-size: small;">
</span></span><br />
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<br /></div>
<span style="font-family: inherit;"><span style="font-size: small;">
</span></span><br />
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<span style="font-family: inherit;"><span style="font-size: small;">I mention this because this is NOT how to make a small model
for running around a track to demonstrate PRT. Designs adapted to the bench top
would be much easier, and would look a lot more logical. This is true “to scale”,
where the full sized wheel-motors would be about the same size as the wheels of
a compact car. Our personal vehicles, I would point out, are real work-horses,
when you think about it. Would you want any less for a commercial system? You
re-invent the wheel at your own peril! </span></span></div>
<span style="font-family: inherit;"><span style="font-size: small;">
</span></span><br />
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<br /></div>
<span style="font-family: inherit;"><span style="font-size: small;"><span style="line-height: 115%;">Unfortunately, the electronics have been really
slow going. Designing the circuits forces you to finalize your logic in excruciating
detail. How many digital inputs from the track might you want? How many sensors
will the bogie have? How and what will force a program to branch? Will future
iterations of motors have other wiring needs?
Another problem is that hand-made circuits can’t be shrunk to fit a
scale model, and I want to make the electronics modular, so that PC boards can
be swapped out for later iterations.
These boards need to be able to physically attach to the frame and make
all of the proper electrical connections with each other. Finally, the motor
winding discs have proved very tricky to produce. I have killed fully 50% of my
attempts. Pictured below are 6 components to prove my point, all destined for
the junk pile. Each represents dozens of hours of work.</span></span></span><br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQxoO7KICe-Ylxtfp3-Xs4WuGaAxvkw3AuXH4hCljwRpKCnrOVQvF_CLWM_imOd268qYbqapm4C-SrCFR8TZnfrJMACFo5bMGGChEpHL5K39EVS455whnlZlrSjWJojbW6R5_B5VAgTkC4/s1600/scrap.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhQxoO7KICe-Ylxtfp3-Xs4WuGaAxvkw3AuXH4hCljwRpKCnrOVQvF_CLWM_imOd268qYbqapm4C-SrCFR8TZnfrJMACFo5bMGGChEpHL5K39EVS455whnlZlrSjWJojbW6R5_B5VAgTkC4/s1600/scrap.jpg" height="300" width="400" /></a></div>
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There is, at least, some upside to such failures. Your
attempts get better and better. Along those lines, I thought I might share one
other reject that I must say I’m rather proud of.</div>
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<br /></div>
<div class="separator" style="clear: both; text-align: center;">
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<span style="font-family: inherit;">I’ve been looking around online for the latest techniques
for making circuit boards at home. I used to photo-etch, sensitizing my own
boards, but my chemicals went bad and are now illegal, leaving me with a
lifetime supply of double-sided copper-clad board and no way to sensitize it.
Luckily, I stumbled across the “Laser printer iron-on transfer method,” which
various people have demonstrated on YouTube, Instructables, etc. Unfortunately
my printer is a real cheapo, and the faint, line-ridden output isn’t what these
online instructors had in mind, even for the (generally) large, crude boards
that they show. One of these days I’ll have to reveal my secret techniques for
getting such fine detail! In any case, it shows that all of that time wasn’t
completely wasted. Learn by doing! </span></div>
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<span style="font-family: inherit;">By the way, since an effective PRT demonstration should have
more than one vehicle, I am keeping an eye on ways to mass produce these components.
Circuit boards are fairly cheap to have made in quantity, once you know, for
sure, that the circuit paths are what you really want. You could waste a whole
lot of time and money in the meantime, though, discovering what is wrong with
your designs! They still need to be prototyped in the finished form and scale
to make them “plug & play.” <span style="mso-spacerun: yes;"> </span></span></div>
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<span style="font-family: inherit;">So here is where I stand, after all of my misguided
efforts. I have now, reluctantly, decided to use 5 Arduino microprocessors per
vehicle; one per wheel with a fifth as a controller/clock. In theory I could
run all four wheels with a single microprocessor and still have a couple of IO
pins to spare, but that limits improvements to the motor drivers, along with
other issues. The circuit board above was to run two wheels with one
microprocessor, (for 2 or maybe 3 microprocessors per vehicle) since wheels always
work in pairs anyway. But the whole left side of the board is for two buffer
chips that would have directed that output, and they take as much space as the
microprocessor board they would replace. So in the end I am lavishing the
system with microprocessors galore. This goes against my grain, as I am sort of
fanatical about keeping designs concise. This will, however, do more than
ensure that we have plenty of spare IO pins. It will give us four identical
driver boards, and a separate microprocessor only for functions like routing
and sensing. It is a more physically logical and symmetrical architecture, and
it neatly separates the software code into higher and lower functions. Below is
the artwork, almost complete, for such a driver, shrunk as small as I can make
it. Never mind the “floating”” components… It’s just a screen-shot… This is
what I have been working on at night by the wood stove!</span></div>
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</xml><![endif]--></span></span><span style="font-family: inherit;">Unfortunately, wrapping this iteration up is showing me that
there are a number of connection pins that simply won’t fit where I want them.
Period. The board cannot be made any bigger and still fit, and the density of
the circuit traces is as tight as I can go. So, believe it or not, it’s back to
the drawing board yet again! I need to explore modifying this design into a piggy-back
design, since I do have room if I build upward. Well, I said this would take a
long time, didn’t I? </span><span style="font-size: small;"><span style="font-family: "Calibri","sans-serif"; line-height: 115%;">
</span></span><br />
<div class="MsoNormal">
<br /></div>
<span style="font-size: small;"><span style="font-family: inherit;">
</span><span style="font-family: inherit;"><span style="line-height: 115%;">Here. Enjoy. This is my stream after the
mid-April snow. We’ll see you next time. </span></span></span><br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvVSvS81_JtoILGxBzUvj8eqc1HIIYbStIEOiJaFz3gGurHSUbXaE0qmebz2VVVM96d-8xC6cGJWmdasBx7i186UQUITJmtZ6HOZEGDISADY9ytueSE0h5NOmfJKMdl9dLn5NHSazfSxNz/s1600/land,+april+15.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjvVSvS81_JtoILGxBzUvj8eqc1HIIYbStIEOiJaFz3gGurHSUbXaE0qmebz2VVVM96d-8xC6cGJWmdasBx7i186UQUITJmtZ6HOZEGDISADY9ytueSE0h5NOmfJKMdl9dLn5NHSazfSxNz/s1600/land,+april+15.jpg" height="300" width="400" /></a></div>
<br />
<br />Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com5tag:blogger.com,1999:blog-4063450658421522356.post-13502746660412036032013-12-16T22:43:00.000-06:002015-02-07T21:15:15.496-06:00160> The Trainwreck Finally Happened<!--[if gte mso 9]><xml>
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To my friends in the PRT
community… I want to explain my sudden disappearance and long absence. Some of
you may have experienced challenge of caring for an aging relative. Well, I
have three such relatives, and they have all been living together in a big old
house, unable to agree on when or where to move to get the kind of assistance
they increasingly need. The youngest, (83) is particularly stubborn and has
basically told me to “Butt out” for years. Obviously this standoff could only end
badly, and now everything has really broken down. We are have been dealing with senility,
anxiety disorder, financial difficulties, mobility and a host of
other problems for a while now. Now the mainstay of the group has required 2 emergency surgeries in the last 5 weeks. It is stage 2 cancer. As the only "available" family member this has put me in a tough
position. It is especially difficult, I have found, to clear my head enough to
write this blog. Frankly, every time I start writing, I simply fall asleep.
Such is my physical and emotional exhaustion. Also there are, after all, over a
150 posts already, so most of the more important topics have been discussed and
re-discussed, and the main mission of this blog has been largely achieved. The
kind of incremental design improvements that remain will hardly make gripping
reading material, so its not a great time to have writer’s block. Moreover, any
efforts toward this site would seem to be best spent organizing the existing
material into a more cogent presentation. As it stands now, most of the best
material is already deeply buried, and I am not inclined to add fluff just for
the sake of posting new reading. </div>
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<br /></div>
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But believe it or not, there is
a silver lining. When I am under a lot of stress I have always found relief by
tinkering in the shop. Lately, in the evenings, I have found myself pushing
forward on the scale model of the “SMART” PRT system. (Suspended Multi-axis
Automated Rail Transport) <span style="mso-spacerun: yes;"> </span>Such pursuits
are easy for me to organize into sub-projects that can be worked into my bits
of free time. It’s like knitting. The project may be big, but it’s relaxing and
easy to pick up and put down. In this way I have actually made a fair amount of
progress, and this seems like a better use of my time right now.</div>
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<br /></div>
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I have come to believe that society
really isn’t ready for PRT. It is too big of a change and too counter-intuitive
to be championed by anyone in the public sector. Yet I believe it will happen
eventually, since leaps in efficiency are inevitable over time. Revolutions
come when evolution is stymied. I believe that the case for PRT will be made
obvious (and therefore less risky) by related technologies becoming more
commonplace. Delivering people around a city is not that different from
delivering packages around a distribution or mail center, delivering meals in a
hospital, baggage in an airport or pallets around a warehouse. Robotic
technologies will increasingly replace current systems and evolve, I believe,
toward overhead rail-based systems. “Pick and Place” is already one of the most
common uses of robots, and it seems inevitable that their gantries will only get
longer and robots will need to be untethered. It also seems inevitable that work
will increasingly be done cooperatively by multiple robots on these overhead
rails. A system using many untethered robots, moving materials around larger
and larger arenas, basically demonstrates and proves the PRT concept. Jeff Bezos, in
unveiling plans for home deliveries via drone helicopters, is surely conscious that
his (3D) solution also applies to a similar problem existing within Amazon’s own
distribution centers. Miles of conveyor belts are a slow, awkward and
inflexible (basically 2D, gravity-based, inertia limited) architecture that is
roughly analogous to the roads he seeks to circumvent. A small army of pick and
place robots running around a 3D rail network could reposition items many, many
times faster - without the insane hive noise and energy consumption of the
drones. </div>
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<br /></div>
<div class="MsoNormal">
Since this is my take on the PRT
situation, I think the next step is for me to demonstrate just how simple the
mechanics of such a system really are. Unfortunately I no longer have a machine shop at my disposal, but even this is sort of a blessing.
After all, if I can build these things with simple hand tools, it’s a pretty
strong indicator that mass production won’t be problematic. One disclaimer
though; Making this model to scale is not at all easy. My homemade circuit
boards, for example, would scale up to be suitcase sized, but I need to fit
them in somewhere, nevertheless. There is a necessary learning curve where
parts are built just to act as place holders and to experiment with the
fabrication methodology. Then they are tossed and replaced by something better
and easier to make. So let’s just say patience is a virtue!</div>
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<br /></div>
<span style="font-family: "Calibri","sans-serif"; font-size: 11pt; line-height: 115%;">So that’s the situation.
The blog, for the foreseeable future, will be basically on hold, although I
plan to post occasional progress reports. (or anything else that may come to
mind, just as long as it basically writes itself!) At some point I hope to
reorganize the material on the site to make it a better resource. My apologies
for my long absence and for not returning any emails or comments during these
trying times. <span style="mso-spacerun: yes;"> </span>I hope to get to them
soon. Unfortunately, it appears that the situation here will be tough for a while, as chemotherapy will be starting in the next few
weeks. (And she doesn’t want nurses in the house!) <span style="mso-spacerun: yes;"> </span>So this may be my last contact for a while.
But when I return, mark my words, I’ll have something pretty interesting to
show for my absence. Happy Holidays and Adios ‘till then! </span>Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com4tag:blogger.com,1999:blog-4063450658421522356.post-86356382570376883702013-09-04T19:51:00.000-05:002017-02-25T11:15:50.010-06:00160> Lessons From Industry<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgPicBMbmkfZlkuDwUTTPA-g0D5Y2okl9oXCzJdB9mORRSdKRNgTf_3BL4MYR_8Ipg1jWJBK5Edus-srBS_lBLe2WdW2_TJxYixgPd5LbtzXsDkuwBBbyix0dExKA00BrOOoQ5msFVpPJkI/s1600/scada.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgPicBMbmkfZlkuDwUTTPA-g0D5Y2okl9oXCzJdB9mORRSdKRNgTf_3BL4MYR_8Ipg1jWJBK5Edus-srBS_lBLe2WdW2_TJxYixgPd5LbtzXsDkuwBBbyix0dExKA00BrOOoQ5msFVpPJkI/s400/scada.jpg" width="400" /></a></div>
<br />
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How does running a PRT system compare to, say, running an
assembly line full of robots? <span style="mso-spacerun: yes;"> </span>Or how
about compared to industrial processes like a chemical plant? <span style="mso-spacerun: yes;"> </span>There is a lot of reason to ask such
questions, because the controls for such complex processes are always being
upgraded with the latest equipment, so it’s interesting to see what they are
using and why. <span style="mso-spacerun: yes;"> </span>Could such solutions be
ready-made for PRT<i style="mso-bidi-font-style: normal;">? </i></div>
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<br /></div>
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Let’s start with the onboard computer. <span style="mso-spacerun: yes;"> </span>What is needed is a stripped down system, both
in terms of physical and software architectures. <span style="mso-spacerun: yes;"> </span>Half of the stuff on a typical motherboard is
completely unnecessary and therefore detrimental. <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>Also, a
computer for industrial processes can’t run on Windows or any other ordinary desk
operating system because such systems are specifically designed to take as long
as necessary to finish a task. <span style="mso-spacerun: yes;"> </span>This is
so the time may be divided between however many programs might be running at
the time.<span style="mso-spacerun: yes;"> </span>Industrial processes, on the
other hand, usually need to perform within an exact time frame. <span style="mso-spacerun: yes;"> </span>You can’t have one robot run more slowly than
the others in an assembly line whenever it is receiving new instructions, for
example. <span style="mso-spacerun: yes;"> </span>Also, industrial control computers
need to be designed for potentially harsh environments. <span style="mso-spacerun: yes;"> </span>Dust, changes in humidity, temperature, even
insects can cause failures in PCs as well, but not catastrophic, dangerous
failures that could result in loss of life or extensive physical damage.<span style="mso-spacerun: yes;"> </span>Finally, there is great advantage to giving
industrial control computers lots of input/output terminals, something missing on
ordinary computer motherboards. These computers are often used as an
intermediary between sensors and switches, so having simple input terminals for
the sensors with corresponding outputs for those switches simplifies matters
greatly. Actually, this role (and history) of being used in place of a simple
relay or arrangement of relays is reflected in the name, trademarked by
Allen-Bradley. (A division of Rockwell Automation)<span style="mso-spacerun: yes;"> </span>They are called Programmable Logic Controllers,
or PLCs for short. (I have also seen them simply called “controllers” by other
manufacturers)<span style="mso-spacerun: yes;"> </span>Of course when they were
first invented they were really more about switching than computing. <span style="mso-spacerun: yes;"> </span>However certain capabilities, like dealing
with complex analog data or modern communications protocols have necessitated
greater and greater processing power, not to mention the desire to incorporate
more and more processes into a unified control environment. <span style="mso-spacerun: yes;"> </span>Now whole banks of PLCs can be rack mounted,
or very inexpensive and compact units are available that have only a half-dozen
input/outputs, an Ethernet or RS232 port, and little else.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Controlling large numbers of PLCs or other EDIs,
(Intelligent Electronic Devices) including from long distances, is very common.
<span style="mso-spacerun: yes;"> </span>One broadly used term for this is DCS
(Distributed Control System) and another commonly used term is SCADA, which
stands for “Supervisory Control and Data Acquisition.”</div>
<div class="MsoNormal">
(The differences are minor, with SCADA being more data
collection oriented and DCS being more action oriented. Since PRT control is
highly involved with both, I will just keep it simple and use “SCADA.”) SCADA systems are used throughout industry - to control
traffic lights, a building’s HVAC and access, electrical grids, pipelines, wind
farms, water treatment plans - even space stations!
</div>
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<br /></div>
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SCADA systems have become so commonplace that there are dozens
of venders and many internationally recognized standards, protocols and
practices. <span style="mso-spacerun: yes;"> </span>The SCADA architecture does
not necessarily require PLCs, but can also be used to control the PLC’s simpler
cousin, the RTU. <span style="mso-spacerun: yes;"> </span>Remote Terminal Units,
(Or Remote Telemetry Units) are microprocessor controlled sensor/switches with
networking capabilities. <span style="mso-spacerun: yes;"> </span>Obviously the
line between a full featured RTU and a bare-bones PLC is a very blurry one, and
getting blurrier every day. <span style="mso-spacerun: yes;"> </span>On the very
lowest end, there are also microprocessor controlled relays, sometimes called
“control relays,” which enable some rudimentary control capability from sensors
or neighboring equipment. <span style="mso-spacerun: yes;"> </span>A typical
example would be to use such a unit as a safety switch, where some sensor(s)
can cause a process to stop - say, to stop something from overflowing,
overheating, or trying to work in a flood. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
The SCADA architecture is extremely flexible, in that there
are no set rules for where primary control of any given process resides. <span style="mso-spacerun: yes;"> </span>Supervisory control can be exercised from more
than one site, and much of the “decision making” can be done in the field by
PLCs, RTUs, or even hardwired relay arrays. <span style="mso-spacerun: yes;"> </span>This is facilitated by software which is
designed around ladder logic, which itself has its roots in relay design for
automation and process control. <span style="mso-spacerun: yes;"> </span>There
are a number of options for communication, and they have increasingly included
TCP/IP and Ethernet, something that has recently raised security concerns when
it was revealed that all kinds of “back doors” are easily discoverable in
systems controlling essential infrastructure such as the power grid. (The flip
side is that with such common communications protocols, standard firewalls and
other security procedures can be easily deployed and updated.) <span style="mso-spacerun: yes;"> </span>As with the field-based equipment, a real-time
environment may be required for more remote communications as well, which is a
much greater challenge than would otherwise be the case, especially with lots
of nodes over a wide area. <span style="mso-spacerun: yes;"> </span>The time lags
that we have all experienced on phones, TV or email are testament to the thorniness
of this issue. This has been partially addressed by a dozen or so Ethernet-based
solutions which separate communications channels that must perform in real-time
from other sorts of chatter. <span style="mso-spacerun: yes;"> </span>Any
distributed real-time system is restricted to relatively fewer nodes in closer
proximity, though, although dedicated infrastructure, such as fiber optic
lines, obviously change those parameters.<span style="mso-spacerun: yes;">
</span><span style="mso-spacerun: yes;"> </span>As might be expected, if the communication
is of a type that can tolerate quarter-second lag or more, hundreds or even
thousands of nodes can be dispersed over great distances. <span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
As to how all of this affects the design of PRT control, the
last point is perhaps the most important. Barring an absolutely clean,
dedicated, failure-proof real-time signal to each vehicle, there is obvious
advantage to keeping millisecond decisions local. <span style="mso-spacerun: yes;"> </span>That is really not a problem, as that is what
PLCs are designed for, and clearly each vehicle needs one or two. The questions
arise a bit further up the control ladder. <span style="mso-spacerun: yes;"> </span>In switching, for example, there would be
great benefit in allowing direct, real-time communications between vehicles. <span style="mso-spacerun: yes;"> </span>I do not think this is out of the realm of
possibility with ordinary SCADA solutions, although it’s a bit unusual. <span style="mso-spacerun: yes;"> </span>It is certainly unusual in that new vehicles
would have to dynamically introduce themselves into a LAN (local area network)
whose members (and location) would be constantly changing. <span style="mso-spacerun: yes;"> </span>Ethernet, however, allows such discovery, and
as I mentioned, some variations of Ethernet allow real-time communications. These
capabilities are bound to rapidly become more versatile and easier to
implement, due to the continuing proliferation of processing power toward the
edges of the network. (i.e. the machines themselves) That is because as machines
or processes are increasingly self-directing and regulating, it means that if other
processes further downstream <b style="mso-bidi-font-weight: normal;">are </b>affected
in any way, it may make sense to have the equipment collaborate directly rather
than via some remote control room,<span style="color: red;"> </span>miles away. <span style="mso-spacerun: yes;"> </span>This has led to substantial interest in
facilitating such collaborative automation by creating software and hardware standards
specifically designed for this. I know of nothing custom tailored for vehicle-to-vehicle
collaboration yet, though, and for the foreseeable future I doubt anything will
be able to replace onboard decision-making as a backup. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
While I’m crowding our minds with new acronyms, I just have
to mention one more.<span style="mso-spacerun: yes;"> </span>There is something
called PID (Proportional-Integral-Derivative) control, which falls into the
realm of tasks most PLCs can perform.<span style="mso-spacerun: yes;"> </span>It
works like this: Imagine steering a big ship.<span style="mso-spacerun: yes;">
</span>When you turn the rudder, it takes a while for the ship to follow
suit.<span style="mso-spacerun: yes;"> </span>If you are not careful, you may
over steer, since the momentum of the turn, once started, is difficult to
stop.<span style="mso-spacerun: yes;"> </span>Or how about the velocity of
material in a pipeline<span style="mso-spacerun: yes;"> </span>- or the
pressure?... or the heat of very large amounts of material?<span style="mso-spacerun: yes;"> </span>Again, there is this quality of delay
followed by momentum. This has relevance in PRT traffic management.<span style="mso-spacerun: yes;"> </span>Consider the question of what happens when
one part of a network is heavily trafficked and another isn’t.<span style="mso-spacerun: yes;"> </span>If enough vehicles, either autonomously or by
central control, all seek the less trafficked route at once, it could create an
instant traffic jam, while the previously trafficked route could go suddenly
empty.<span style="mso-spacerun: yes;"> </span>This is clearly the type of thing
a PID controller is designed for.<span style="mso-spacerun: yes;"> </span>Isn’t
it nice to know this stuff is already on the shelf? </div>
<div class="MsoNormal">
</div>
<div class="MsoNormal">
It is interesting how the distinction between vehicles and
robots is disappearing. <span style="mso-spacerun: yes;"> </span>What started deep
inside the family car for better fuel efficiency and braking has exploded to
the surface with self-driving features, and this is clearly the direction for
PRT as well, so it only makes sense to control PRT vehicles in the same way
that other collections of robots are controlled. <span style="mso-spacerun: yes;"> </span>It is also clear is that there is a basic
commonality between <span style="mso-spacerun: yes;"> </span>the control
requirements for PRT and many other fields, so there is no need to start from
scratch. <span style="mso-spacerun: yes;"> </span>There are sensors, and things
that must be physically or electronically done based on what they show. <span style="mso-spacerun: yes;"> </span>There are processes that must be initiated,
monitored, and terminated. <span style="mso-spacerun: yes;"> </span>There are
times when machinery must act autonomously, and times when it may be best to
control it from afar. <span style="mso-spacerun: yes;"> </span>There are times
when far-flung pieces of equipment need to receive updated numerical values or
instructions and times when similar data needs to go in the other direction. <span style="mso-spacerun: yes;"> </span>The point is that most possible PRT control topographies
are already established in other industries, and it is not just the equipment
or software. It is the human expertise. There are classes in SCADA and ladder logic
and PLC implementation, so the experts are out there as well.</div>
<div class="MsoNormal">
<br /></div>
<br />
<span style="font-size: small;"><span style="font-family: inherit;"><span style="line-height: 115%;">Long ago, when I started this blog, I called for
standardizing aspects of PRT, so that entrants to the field this could offer
products built on a firmer foundation than could be found in the custom (ad
hoc) solutions invented by the PRT designers themselves. This call was met with some skepticism, as
there are always issues as to whose standard is better, and if the standard
will become an obsolete encumbrance. The
point was also made that investors in PRT companies would want patent
protection and other proprietary advantages to safeguard those investments. My point, though, was that there was entirely
too much trust being asked of purchasers of PRT systems. Who would want to buy a system controlled by a
magical black box full of proprietary equipment? What if it doesn’t work as advertised? What if the company folds? The framework mentioned above goes a very long
way toward addressing my concerns, as well of the concerns of another group who
I rarely hear mentioned in conjunction with PRT - insurers. After all, large factories and refineries are
presumably insured, and are run by SCADA systems, so the safety track record of
given systems is a matter of public and private record. For PRT, all of this is,
(in the words of Martha Stewart) “A good thing!” </span></span></span>Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com3tag:blogger.com,1999:blog-4063450658421522356.post-43120605548589422072013-08-11T21:32:00.002-05:002017-02-25T11:15:16.498-06:00159> Headway? I Don't Need No Stinkin' Headway!<!--[if gte mso 9]><xml>
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<div class="MsoNormal">
I wonder if PRT is a technology that, up until now, really
wasn’t as ready for prime time as we would have liked to believe. <span style="mso-spacerun: yes;"> </span>I started pondering this while considering the
concept of “line speed.” <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>What good is it? <span style="mso-spacerun: yes;"> </span>It seems to me that its primary function is to
stop insufficiently intelligent vehicles from rear-ending each other. <span style="mso-spacerun: yes;"> </span>I know what you are thinking. <span style="mso-spacerun: yes;"> </span>Anything other than a set line speed is
unnecessarily complicated. <span style="mso-spacerun: yes;"> </span>With every
vehicle trapped between two others, what is the point?</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Let’s consider the unthinkable - congestion on the network. <span style="mso-spacerun: yes;"> </span>Yeah, I know, PRT congestion is just not
supposed to happen. <span style="mso-spacerun: yes;"> </span>Some magical
computer in the sky will prevent it. <span style="mso-spacerun: yes;"> </span>Yet
we know better. <span style="mso-spacerun: yes;"> </span>If the network is big enough,
and there is excessive demand in one part of it, it will happen, and having the
system refuse passengers going to certain destinations is hardly a solution. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Our previous discussion regarding the three lane bridge
really brought the matter home. The bridge represents what PRT planners would
want to avoid the most; a bottleneck. <span style="mso-spacerun: yes;"> </span>This
is the antithesis of the grid systems traditionally envisioned for downtown
use. <span style="mso-spacerun: yes;"> </span>Yet we all know that people’s
transportation needs are not uniform, either in time or location. <span style="mso-spacerun: yes;"> </span>We also know that there is liable to be scant
funding for any route that is not expected to see a whole lot of business. <span style="mso-spacerun: yes;"> </span>That means that the less trafficked parallel
routes that would take up the slack in rush hour are unlikely to be there in
the first place. <span style="mso-spacerun: yes;"> </span>Simple “move
forward/back by a half-slot” type of merge control becomes a clunky version of
variable speed anyway since, in heavy traffic, opening up a slot for a merging
vehicle creates a chain reaction that must extend far backward and/or forward
until space is found. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
One obstacle to a good remedy is the idea of needing a set
headway - especially sufficient headway to come to a complete stop if there is
an immovable object ahead. <span style="mso-spacerun: yes;"> </span>This
so-called “brick wall stop” rule is an ill-suited extension of railroad
regulations, which I believe may currently extend to “automated people movers.”
<span style="mso-spacerun: yes;"> </span>No such law, I would note, has been
extended to Google’s self-driving cars, which are a much closer comparison to
PRT than trains. <span style="mso-spacerun: yes;"> </span>Aren’t self-driving
cars automated people movers? Be careful of what you call yourself! </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Without adding track, the only way to get greater vehicular throughput
is to reduce headways and/or increase speed. <span style="mso-spacerun: yes;"> </span>And so we must ask the logical question: <span style="mso-spacerun: yes;"> </span>“How much headway is really necessary?” <span style="mso-spacerun: yes;"> </span>I contend that it is possible to design PRT
systems where there need not be any headway at all. <span style="mso-spacerun: yes;"> </span>After all, crash damage occurs due to the
speed difference between vehicles, (or objects) not the speed per se. <span style="mso-spacerun: yes;"> </span>This is a very different situation from either
automotive or railroad scenarios. <span style="mso-spacerun: yes;"> </span>Unlike
either, some PRT designs are be completely captive within the track, preventing
lateral skidding or derailing in any weather. <span style="mso-spacerun: yes;"> </span>They can also be designed to clamp the track for
emergency stops. (preferably at a rate just shy of throwing the passengers
around) <span style="mso-spacerun: yes;"> </span>Also, unlike cars, PRT vehicles
can be designed with perfectly aligned “bumpers.” <span style="mso-spacerun: yes;"> </span>With the suspended gondola designs, forward
momentum transfers to upward momentum in a swinging motion, potentially eliminating
the possibility of contact between cabins altogether. (There would need to be a
way to rapidly decelerate the swing before making contact with the track
bottom, however) <span style="mso-spacerun: yes;"> </span>And let’s not forget
the fact that the braking capacity is independently replicated on each vehicle,
with no drivers to the slow reaction time. <span style="mso-spacerun: yes;"> </span>When a lead vehicle slows, a vehicle twenty
cars back can instantly decelerate as well. <span style="mso-spacerun: yes;"> </span>Since normal braking is electromagnetic (the
motors simply slow down) the deceleration rates can be virtually identical. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
These features, combined with variable speed, enable true
cooperative merging and the safe elimination of headways, so vehicle density on
a track could be taken to the limit. <span style="mso-spacerun: yes;"> </span>That
limit is having vehicles actually touching, essentially forming a train, but
with every vehicle exactly matching the movement of its neighbors through its
own propulsion. <span style="mso-spacerun: yes;"> </span>And coupling? <span style="mso-spacerun: yes;"> </span>Actually, with regular servomotor technology,
it really would not matter if they were coupled or not. <span style="mso-spacerun: yes;"> </span>Coupling, in the railroad sense, is simply a
way for one car to pull another, so that they don’t all need independent
propulsion. <span style="mso-spacerun: yes;"> </span>Since PRT vehicles have
independent propulsion that can produce highly accurate velocities, it really
would not matter if the vehicles actually have an interlocking mechanism or
not. <span style="mso-spacerun: yes;"> </span>I imagine a cushioned magnetic
linkup would be just fine, as long as the connection was elastic enough to
allow each vehicle to “read” its own performance. <span style="mso-spacerun: yes;"> </span>(Servo mechanisms require a steady stream of
position information that is derived from their own effort, so that they may continuously
adjust their performance.) <span style="mso-spacerun: yes;"> </span>A good
physical data connection would be useful, though.</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Here’s how I see it all working. <span style="mso-spacerun: yes;"> </span>Vehicles would have a “suggested” speed, but also
would try to distribute themselves to facilitate maximum flexibility at merge
points. <span style="mso-spacerun: yes;"> </span>As the traffic increases, however,
headway distances naturally become shorter. <span style="mso-spacerun: yes;"> </span>At some point, this “suggested” speed (which,
with sufficient traffic, is a de facto line speed) may be reduced - or not. <span style="mso-spacerun: yes;"> </span>This is, after all, just a line of code and a
judgment call by the system administrators and the city; <span style="mso-spacerun: yes;"> </span>They, don’t, after all, want to scare the
passengers! <span style="mso-spacerun: yes;"> </span>Anyway, as more vehicles
enter the stream, and the spaces between vehicles become too small for easy merging
of vehicles, the algorithms that make the vehicles self-distribute change to
make the vehicles couple into self-distributing trains (platoons) to open up
whatever space is still available. <span style="mso-spacerun: yes;"> </span>The
entering vehicles merge to fill these spaces. Of course there is a limit to how
far even this can go before there are simply no spaces. <span style="mso-spacerun: yes;"> </span>There will still be the need to regulate
traffic from the stations - to temporarily prohibit certain destinations if
need be, but at least the track would be utilized to the full extent possible. <span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Why not just skip the first step and have the vehicles group
from the start? <span style="mso-spacerun: yes;"> </span>Mostly because any
system is unlikely to have a traffic problem for quite some time, and even
then, heavy traffic would never be anything even close to systemic. <span style="mso-spacerun: yes;"> </span>It would almost certainly require a natural
bottleneck, such as the bridge, and be for short times. <span style="mso-spacerun: yes;"> </span>Why design for the exception rather than the
rule?</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
That being said, the incentive to overload a track
infrastructure is undeniable. <span style="mso-spacerun: yes;"> </span>Adding
vehicles, each of which produces income, could be a very easy and painless way
to gain transit revenue, and cutting network costs by never adding less
essential routes seems inevitable. <span style="mso-spacerun: yes;"> </span>That,
while PRT providers need to provide the most “bang for the buck.” <span style="mso-spacerun: yes;"> </span>The self-distributing model, I think, is the
best, and the other can be seen as a work-around, for lack of adequate routing
options. <span style="mso-spacerun: yes;"> </span>It seems prudent to build in
such a capability from the start, though as PRT should ideally be an
unbreakable system that does not require particularly great planning or
oversight. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Without diving too deeply into control issues, here is one supporting
observation:<span style="mso-spacerun: yes;"> </span>If there is enough traffic,
the ability to merge will become increasingly difficult to execute locally. <span style="mso-spacerun: yes;"> </span>In the extreme example, a specific merge might
not even be possible without being timed from the onset of a vehicle’s leaving a
station. <span style="mso-spacerun: yes;"> </span>Yet this is not how the process
is best done in normal circumstances, because coordinating all traffic centrally
relies too much on shared computer and communication hardware, not to mention
latency and connectivity issues. <span style="mso-spacerun: yes;"> </span>The
system would be vulnerable to all sorts of possible maladies. <span style="mso-spacerun: yes;"> </span>Spreading traffic out massages the problem
into one that can be normally solved locally, through vehicle to vehicle communications,
(cooperatively) and with sensors and stored data.(autonomously) <span style="mso-spacerun: yes;"> </span>Again, the system should be unbreakable.</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
And that three lane bridge? <span style="mso-spacerun: yes;"> </span>Even in the nearer future, before people need
or trust “zero headway” enough to use it for human passengers, empty vehicles
could still platoon to use such a lane for the least possible time. <span style="mso-spacerun: yes;"> </span>Without humans to confuse, a third lane can
switch directions as often as needed. <span style="mso-spacerun: yes;"> </span>In
just a couple of minutes, a train of dozens of empty vehicles could zip across
at breakneck speed, and then the lane could be returned to regular traffic or its
role as an emergency/ maintenance lane. <span style="mso-spacerun: yes;"> </span>Obviously
the space saving advantages of platooning empties extends beyond the bridge as
well. <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
PS - Alert readers will note that the designs shown in this
blog have compact bogies that do not touch before the hanging passenger
compartments do, complicating platooning, or even safely pushing vehicles.<span style="mso-spacerun: yes;"> </span>Elongating the bogies could make them hard to
fit in an enclosed, tightly turning track, and figuring out the best compromise
is high on the design agenda. <span style="mso-spacerun: yes;"> </span>(We are
talking about nearly 2 ft. projections, front and rear) It may be that the
climbing (pinion) sprockets can be used for such tight turns using the “rack,” instead
of the normal track guide surfaces. This could allow constraining parts of the
track to be removed or relocated, thus solving the problem. <span style="mso-spacerun: yes;"> </span>All of this will made easier to visualize with
a physical model, and I am still working on that. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
In that regards, in case you missed it, I have started by hand
building some servo hub-motors, like in this <a href="https://www.youtube.com/watch?v=1EnnkzD5Ld8" target="_blank">video</a>, (go to the 5.5 minute mark
to just watch it work, without the technical jibber-jabber!) <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>The
remaining three wheels are all coming along… I just completed and tested motor
#2, which is really the “production” prototype. <span style="mso-spacerun: yes;"> </span>(I wouldn’t like to try to replicate the first
one…it was just too complicated!) Motors 3 and 4, modeled after number 2, are in
various stages of completion. <span style="mso-spacerun: yes;"> </span>What a
shame that just when I learn how to build the things in an efficient,
procedural way, it is time to move on! <span style="mso-spacerun: yes;"> </span>Even
worse, now know how to make them much stronger and more efficient, but I need
to match motor #1. This is effort is based in Texas, but I am preparing to
return to New England, where my more bucolic endeavors reside, so be patient -
I think it will be worth the wait!</div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com6tag:blogger.com,1999:blog-4063450658421522356.post-23986285804377746712013-06-29T17:16:00.000-05:002017-02-25T11:14:40.296-06:00158> More on Bridges <!--[if gte mso 9]><xml>
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<span style="font-family: "georgia" , "times new roman" , serif;"><span style="font-size: small;">In my last post I echoed one reader’s suggestion that
bridges might be extremely beneficial<span style="color: red;"> </span><span style="color: black;">in rolling out</span> a PRT system. After all, a bridge for PRT could carry the
same number of passengers as much more expensive traditional bridges and could
be routed more flexibly on either side. By
solving these particularly vexing transit problems, PRT could offer cities a
much more compelling value proposition than would otherwise be the case with a
limited starter system. Like an aircraft
that needs to surpass a certain speed to achieve lift-off, PRT systems need a
certain number a stations and a certain amount of track to make enough economic
sense to be worthwhile. These numbers,
unfortunately, are high enough that there are currently almost no interested
parties. A bridge or two might tip the
balance. </span></span></div>
<span style="font-family: "helvetica neue" , "arial" , "helvetica" , sans-serif;"><span style="font-size: small;">
</span></span><br />
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<span style="font-family: "helvetica neue" , "arial" , "helvetica" , sans-serif;"><span style="font-size: small;">
<span style="font-family: "georgia" , "times new roman" , serif;"><span style="line-height: 115%;">This raises the obvious question of just how much
cheaper a PRT bridge could be. One of the first tricks to getting the most span
for the money is to use cable instead of trusses, as in suspension bridges.</span></span></span></span><br />
<br />
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<span style="font-family: "georgia" , "times new roman" , serif;"><span style="font-size: small;">Here is a transportation system where they have taken the
concept a bit far, at least for my tastes. (It’s called Aerobus, and this was a temporary
installation, though it did carry quite a few passengers in its short
life...) Note that this is a two-way
(double) track, so that the “M” supports are actually a pair of “A” supports. Also note the arching of the track in the far
section. Presumably weight of the
vehicle is pulling on the main support cables, which are then lifting adjacent
sections. The bottom pic shows what is,
apparently, a switched, off-line station. The one thing I like about that top picture,
though, is that it points out something about suspension bridges (not to be
confused with cable-stayed ones) that is worth pondering. I am referring to the thinness of the track itself
between the vertical “hanger” cables. Since
these cables act as simple skyhooks and are closely spaced, the track needs
very little structure to stiffen it. In
this way a suspension bridge can be extremely long, yet the “roadway” portions
each only need sufficient girth to support themselves between hangers… <a href="https://www.youtube.com/watch?v=3mclp9QmCGs" target="_blank">at least in theory!</a> (There
are wind loads and natural resonance issues to factor in.) </span></span></div>
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<span style="font-family: "georgia" , "times new roman" , serif;">
</span><span style="font-family: "arial" , "helvetica" , sans-serif;"><span style="font-size: small;"><span style="font-family: "georgia" , "times new roman" , serif;">Long bridges for lighter loads than for automotive use are
actually quite common. This is because
pipelines (and the occasional ore conveyor) also must also cross natural
obstacles. Here is a pipeline bridge in
China, for example.</span> </span></span><span style="font-family: "arial" , "helvetica" , sans-serif;"></span><br />
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<br /></div>
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<span style="font-family: inherit;"><span style="font-size: small;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-2nn_jDB7KdVuAPy4ahbNsz2dboZY3mGZHRPRhVXkElwyLeeVdiFPZLR7bEt2blaw0s8Wkd2vnKZWtBWLrLe_pFJMqG96A6aSugJUyADA0xk8w2mwRIOf3TkMg6CHIrx6fq1q7eGvMjrm/s450/90fba61bb07d0f9397b907.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="310" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj-2nn_jDB7KdVuAPy4ahbNsz2dboZY3mGZHRPRhVXkElwyLeeVdiFPZLR7bEt2blaw0s8Wkd2vnKZWtBWLrLe_pFJMqG96A6aSugJUyADA0xk8w2mwRIOf3TkMg6CHIrx6fq1q7eGvMjrm/s400/90fba61bb07d0f9397b907.jpg" width="400" /></a></span></span></div>
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<![endif]--><span style="font-family: "georgia" , "times new roman" , serif;"><span style="font-size: small;"><span style="line-height: 115%;">Notice
the cabling on the sides to prevent movement from crosswinds. This is actually a fairly standard feature in
pipeline bridges. Here is another example,
although I have to say that I find the parallel main cable design puzzling for
a single pipe. I like the bottom one,
which splays those support cables to handle cross-winds. </span></span></span><br />
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: inherit;"><span style="font-size: small;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgGovpvBqEIAGUUTSQ1imlN4uF12dBdQHh91QPjwW_-QuQvpafZRlGHVeEYxIqdz6w2RmWjWWWZ27tCC6i46TTiQOYyGW75IQEak02NvFhwcIqlVCAE3C_leuAWLfd2I33JxNBdRtKvnvO8/s918/Pipeline+bridges.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="400" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgGovpvBqEIAGUUTSQ1imlN4uF12dBdQHh91QPjwW_-QuQvpafZRlGHVeEYxIqdz6w2RmWjWWWZ27tCC6i46TTiQOYyGW75IQEak02NvFhwcIqlVCAE3C_leuAWLfd2I33JxNBdRtKvnvO8/s400/Pipeline+bridges.jpg" width="346" /></a></span></span></div>
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<span style="font-family: "georgia" , "times new roman" , serif;"><span style="font-size: small;"><span style="line-height: 115%;">Since
bridges for transit are almost certain to be bidirectional, and since I have
never really explored double track for PRT, I built a couple of 3D models. Note that there is no triangulated truss
structure, since such short spans do not require it. Such sections would simply bolt together
end-to-end, with each spanning the vertical support cables. </span></span></span><br />
<div class="separator" style="clear: both; text-align: center;">
<span style="font-family: inherit;"><span style="font-size: small;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcUsQO1wjWplgjQnt0zOccgmLXKTGm9f-O5wD6I22m6TsCDTVaM21ISToAchcXozyBn4ViJAzUzzAxVn6v9FiDJD-AoQdgVJnf3QlYxnIa8NAZwtNGmWrY_TQDzL7q1RWMlTfLmb2ZPJWd/s894/Bridge+section+for+suspended+PRT.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjcUsQO1wjWplgjQnt0zOccgmLXKTGm9f-O5wD6I22m6TsCDTVaM21ISToAchcXozyBn4ViJAzUzzAxVn6v9FiDJD-AoQdgVJnf3QlYxnIa8NAZwtNGmWrY_TQDzL7q1RWMlTfLmb2ZPJWd/s400/Bridge+section+for+suspended+PRT.png" width="400" /></a></span></span></div>
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<span style="font-family: "georgia" , "times new roman" , serif;"><span style="font-size: small;">While working on the section above, I realized that a
pedestrian walkway would be a simple addition, and so I stopped working on that
model and started playing around with adding precast decking sections. </span></span></div>
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<span style="font-family: "georgia" , "times new roman" , serif;"><span style="font-size: small;">While working on that, however, I got yet another thought,
which is the matter of emergency evacuation. I guess it doesn’t pay to start modeling
without the full vision of what you really want. </span></span></div>
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</span><br />
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<br /></div>
<span style="font-family: "georgia" , "times new roman" , serif;">
<span style="font-size: small;"><span style="line-height: 115%;">Even with vehicles that are sufficiently
autonomous to render system-wide failures impossible, if a bridge becomes
impassible for any reason there is the prospect of backing up and turning away
a lot of traffic. Depending on the span,
number close stations, time of day, etc. this all might take some time. If the bridge is equipped with U-turns at each
end, however, and traffic is instantly diverted away from even approaching
those, it seems like a bridge could be emptied fairly quickly by backing up,
taking the U, and going back toward the station of origin. There is also the matter of evacuating the
occupants of a hypothetical vehicle which is blocking the way and cannot, for
some reason, even be pushed. And let’s
not forget about ordinary maintenance. This
brings up another thought that I had long ago, which is to have some way to
roll a small hanging platform along the tracks without blocking them. Another thought is simply adding an extra
lane. With crossovers, a middle lane
could be used for diverting traffic for any reason. Wider GRT vehicles would be able to fit on
such a bridge as well. Maybe I’d better
ponder this all a bit more before starting yet another 3D model!</span></span></span>
<br />
<span style="font-family: inherit;"><span style="font-size: small;"><span style="line-height: 115%;"><span style="font-family: "georgia" , "times new roman" , serif;"> </span></span></span></span><br />
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Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com5tag:blogger.com,1999:blog-4063450658421522356.post-16547652308159838762013-05-29T08:42:00.000-05:002017-02-25T11:13:41.902-06:00157> Got Bridgework?<!--[if gte mso 9]><xml>
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<div class="MsoNormal" style="margin-right: .25in;">
Let’s start with a bit more about
minimal systems. <span style="mso-spacerun: yes;"> </span>In my recent post, “For
Example,” I experimented with the limits of capacity within the confines of a
minimum of track (4 miles) and (4) stations. The
reason such exploration is necessary is because for PRT to be adopted by a city
as a viable mode of transportation, it must first pass the litmus test of being
the cheapest solution to an immediate problem. <span style="mso-spacerun: yes;"> </span>Bureaucracies aren’t known for being far-sighted
or visionary, and individual decision makers need to cover their butts every
step of the way. <span style="mso-spacerun: yes;"> </span>They are, after all,
custodians of taxpayer money. Therefore the fact that PRT should be set up as a
distributed system with many small stations really doesn’t matter. <span style="mso-spacerun: yes;"> </span>To these people, at this stage, any small
station is one that should be eliminated to save a few bucks. <span style="mso-spacerun: yes;"> </span>Their mindset is essentially reactionary - “If
it ain’t broke, don’t fix it!” <span style="mso-spacerun: yes;"> </span>Widening
roads is their first instinct, not making a pedestrian-friendly city. <span style="mso-spacerun: yes;"> </span>The exercise in “For Example” imagined stations
with mythic levels of pedestrian traffic, just to examine the logistics. <span style="mso-spacerun: yes;"> </span>What is not so imaginary, though, is that only
moving great numbers of people will get the attention or funding that a project
needs to get off the ground. <span style="mso-spacerun: yes;"> </span>ULTra’s
Amritsar project, I think, is case in point. <span style="mso-spacerun: yes;"> </span>With up to 100,000 visitors per day and only 7
huge stations, it is not at all what most PRT pioneers envisioned. <span style="mso-spacerun: yes;"> </span>Yet that was what got enough traction in the
real world to actually get funding.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: .25in;">
Even without the timid bureaucracy,
there is a basic problem with a small, starter PRT network - there are liable
to be too few destinations available to attract a steady stream of walk-up
customers to any given station. <span style="mso-spacerun: yes;"> </span>Or put
the opposite way, there are too few stations feeding any given destination. <span style="mso-spacerun: yes;"> </span>Either way you look at it, it is the network
effect in reverse. <span style="mso-spacerun: yes;"> </span>It’s the internet
with only a dozen web sites. <span style="mso-spacerun: yes;"> </span>In addition
there is a matter of distance. <span style="mso-spacerun: yes;"> </span>For track
to pay for itself it needs to be used. <span style="mso-spacerun: yes;"> </span>If
the stations are far apart, there will need to be more vehicles on route to pay
those bills. <span style="mso-spacerun: yes;"> </span>In the “For Example” post
there were vehicles leaving four stations at one per two seconds at each
station to keep the track at full capacity. <span style="mso-spacerun: yes;"> </span>Suppose we had twenty stations over a similar
four mile loop. <span style="mso-spacerun: yes;"> </span>That is still one
vehicle leaving each station every ten seconds if you expect to have the track
at full capacity. Now where can you find that kind of pedestrian density for
all twenty stations? <span style="mso-spacerun: yes;"> </span>Luckily, with
proper engineering, both track and stations can be made cheap enough to break
even at far less than full capacity, and vehicles ought to be mainly amortized
by mileage, so there is still hope.<span style="mso-spacerun: yes;"> </span>But
the problem of small networks is still real, nevertheless.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
So PRT badly needs a strategy to
“get a foot in the door” so at least one network can grow to reach critical
mass. <span style="mso-spacerun: yes;"> </span>Otherwise it is very hard to see
how this “chicken or the egg” dilemma can be broken. <span style="mso-spacerun: yes;"> </span>Trying to ensure that every possible situational
roadblock has been addressed, I have designed ultra-small open-air stations,
ultra-high capacity stations, track that can turn any corner, vehicles that can
even drop down vertically … you name it. <span style="mso-spacerun: yes;"> </span>But the best strategy is to have some kind of
a way for a transit authority to ease into PRT - to “dip their toes in,” so to
speak. <span style="mso-spacerun: yes;"> </span><i style="mso-bidi-font-style: normal;">This must involve some kind of modest starter network that doubles as
being clearly the best, most cost effective way to solve some big, immediate mobility
problem. </i></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
One very insightful reader
commented that a good place for PRT to start might be a city (or cities)
straddling rivers or other bodies of water. <span style="mso-spacerun: yes;"> </span>I must say that this is the best suggestion
that I have heard in quite some time. Let’s examine it. </div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
In such cases a good percentage
of the mobility problems might be for lack of bridges or good approaches to
them. <span style="mso-spacerun: yes;"> </span>Bridges, like roads in general,
must be engineered to handle bumper-to-bumper cement trucks, so they are vastly
more sturdy and expensive than they need to be to accommodate a steady stream
of puny humans in evenly spaced, featherweight pods. <span style="mso-spacerun: yes;"> </span>A bridge for PRT vehicles would be absolutely
tiny - in both stature and cost - even while being capable of delivering people
at a prodigious rate. <span style="mso-spacerun: yes;"> </span>But the bridge itself
is just the beginning. <span style="mso-spacerun: yes;"> </span>On either side of
the bridge there must be approaches to it. </div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
These days to justify a new
bridge, you pretty much need to be building it as part of a freeway. <span style="mso-spacerun: yes;"> </span>When is the last time you saw a city inaugurate
a brand new two lane bridge? <span style="mso-spacerun: yes;"> </span>Consider the
devastating effect that steering that much traffic towards a new crossing point
would do to the riverfront real estate on each side. <span style="mso-spacerun: yes;"> </span>Also, it’s not just on the banks. <span style="mso-spacerun: yes;"> </span>Unless there are already riverfront highways
on both sides, such roads will cut neighborhoods in half, bring noise, and, of
course, will be terribly expensive and disruptive to build.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
Adding a PRT bridge would
require no new roads, no demolition. <span style="mso-spacerun: yes;"> </span>Transit
planners would have a totally unique opportunity to create a painless shortcut between
the most important destinations on each side. <span style="mso-spacerun: yes;"> </span>Also, cities often make riverfront property
into parks because of the possibility of flooding. In many cases these are
important tourist destinations, with nearby businesses catering to pedestrians as
well as drive-up customers. <span style="mso-spacerun: yes;"> </span>Joining such
car-optional areas on either side of a river would be a boon for such destinations.
<span style="mso-spacerun: yes;"> </span>Car-free zones are highly symbiotic with
PRT, since every additional loop extends that “cars not required” status further.
<span style="mso-spacerun: yes;"> </span>Add a zoo, theaters, museums or a
shopping mall, and the system gets real gravity. A group of destinations
becomes the destination itself, once it is all walkable. And let’s not forget,
apartments and condos on “The Riverwalk” would then follow, and those folks
could live quite well without a car. Real estate developers love this kind of
stuff. One deal leads to another as the whole area goes “upscale.”</div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
One twist I would like to mention
in passing is the possibility of using old bridges. <span style="mso-spacerun: yes;"> </span>I recently heard of a case in Louisville,
Kentucky where they saved the old “Big Four” railroad bridge across the Ohio
River, and converted it to pedestrian use. This reminds me of the “Rails to
Trails” movement, where they convert unused railroad lines to “hike & bike”
trails. I’ve often wondered if they would consider sharing their trails (bridges
and all) with a nice, quiet and green PRT system! <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
Anyway, in a nutshell, the premise
is this<b style="mso-bidi-font-weight: normal;">;</b> <span style="mso-spacerun: yes;"> </span>Building a shortcut between important destinations
on either side of a body of water may be too expensive and disruptive to
contemplate for ordinary road or rail.<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>PRT, however, being lightweight and elevated,
can make the overland portion with the least disruption, and requires a bridge
costing only a fraction as much.<span style="mso-spacerun: yes;"> </span>To top
it off, bodies of water typically have parks along their banks that could use
PRT service as well. <span style="mso-spacerun: yes;"> </span>These factors might
combine to create the potential for an inexpensive starter PRT system that can
still attract sufficient ridership to turn a profit.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
Could this be the “foot in the
door” that we’ve been looking for? It certainly seems to me that PRT developers
would do themselves a big favor by having the resources in place to accomplish such
a project.</div>
<div class="MsoNormal" style="margin-right: 13.5pt;">
<br /></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com6tag:blogger.com,1999:blog-4063450658421522356.post-87156338788332953162013-05-10T08:55:00.000-05:002017-02-25T11:13:08.750-06:00156> Escaping to the Movies <!--[if gte mso 9]><xml>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYXOCaVitCJm-6fwsaZ3L3PSduMOo0aKIdc0gGClhlyqM106k7OffMT07-vqGm90DIqKWl51flVYiVJ9NfiCW-CrNnmrpb5HZWmDVfEe9TPvmX5kCyGl58g6nVGDZnHIXsrikYel8r7-rV/s1600/Suspended+PRT+evac+.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="343" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgYXOCaVitCJm-6fwsaZ3L3PSduMOo0aKIdc0gGClhlyqM106k7OffMT07-vqGm90DIqKWl51flVYiVJ9NfiCW-CrNnmrpb5HZWmDVfEe9TPvmX5kCyGl58g6nVGDZnHIXsrikYel8r7-rV/s400/Suspended+PRT+evac+.png" width="400" /> </a></div>
<div class="separator" style="clear: both; text-align: center;">
<br /></div>
<div class="MsoNormal">
Here is a one way to deal with the troubling specter of
people being trapped in hanging pods. <span style="mso-spacerun: yes;"> </span>First I have to say, though, that such a thing
could never happen; <span style="mso-spacerun: yes;"> </span>(at least not with
the SMART system being designed here!) <span style="mso-spacerun: yes;"> </span>The
vehicles all have robust battery backup, can go into reverse if the track is
broken, and can be made to push or tow, and the individual vehicles are not
tied to a central control that can create a cascading failure. <span style="mso-spacerun: yes;"> </span>Furthermore, with only four moving parts in
the drivetrain (those being the wheels) and manual override controls on board,
the odds of ever needing <span style="mso-spacerun: yes;"> </span>to evacuate <span style="mso-spacerun: yes;"> </span>are infinitesimally small. <span style="mso-spacerun: yes;"> </span>Nevertheless, there are those who might feel
more comfortable with such a system in place anyway. <span style="mso-spacerun: yes;"> </span>This is for them. </div>
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<br /></div>
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The support pole on the left has the system folded up and
ready to deploy. <span style="mso-spacerun: yes;"> </span>On the right it is
ready for people to exit the vehicle. <span style="mso-spacerun: yes;"> </span>The
system should be able to be powered from the vehicle’s backup battery. <span style="mso-spacerun: yes;"> </span>Not visible is the full winch and cable layout,
which would work sort of like an automatic Venetian blind. <span style="mso-spacerun: yes;"> </span>Unlike most designs in this blog, this is truly
an “artist’s rendering.” <span style="mso-spacerun: yes;"> </span>That is to say
that it has not really been engineered with any degree of specificity. <span style="mso-spacerun: yes;"> </span>Still, I think it demonstrates that a crude
elevator can be folded up against the track and that the system can be pretty
minimal. <span style="mso-spacerun: yes;"> </span>Commodity <span style="mso-spacerun: yes;"> </span>winches are widely available and inexpensive,
and would be more than adequate for emergency use, so providing the system
should not raise track costs significantly. <span style="mso-spacerun: yes;"> </span>I would not expect they would be used on every
pole or even every other pole, but rather, perhaps, every tenth one. <span style="mso-spacerun: yes;"> </span>There would need to be a protocol for moving
emptied vehicles out of the way, however. <span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
<div class="MsoNormal">
And speaking of only four moving parts, let me change
subjects and give an update on my little motor project from a couple of posts
ago. <span style="mso-spacerun: yes;"> </span>Before going on my summer break, I
did, finally, get it running, although not yet with any sophisticated stepper
motor controllers. <span style="mso-spacerun: yes;"> </span>So instead of ramping
voltages smoothly, I am just dumbly turning electromagnets on an off. <span style="mso-spacerun: yes;"> </span>But hey! - At least it works! <span style="mso-spacerun: yes;"> </span>Also, my purpose here is to use this to build
a working scale-model of a SMART style PRT system. <span style="mso-spacerun: yes;"> </span>I am happy to report that the motor will work
fine for that, including having sufficient <span style="mso-spacerun: yes;"> </span>power for climbing vertically. <span style="mso-spacerun: yes;"> </span>I have to admit, though, that it is very, very
hard to build 3 more just like it, when I already have vastly improved designs
in mind that I am dying to try!<span style="mso-spacerun: yes;">
</span></div>
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<br /></div>
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I also want announce the creation of a YouTube channel… It's the "openprtspecschannel"! <span style="mso-spacerun: yes;"></span>My sole video is of
the motor in action, although I will tell you beforehand that if you just want
to skip the technical stuff and just watch it run its demo program, just go to
around the 5.5 minute mark. <span style="mso-spacerun: yes;"> </span>It’s not a
very professional presentation, with a couple of obvious mistakes, but for a
spur of the moment, “first take” it will do just fine. <span style="mso-spacerun: yes;"> </span>I just wish that I had explained a bit more about
what hub motors are really, really good for, which is hollow-track PRT. <span style="mso-spacerun: yes;"> </span>To summarize a couple of points that I failed
to include:</div>
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<br /></div>
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Since PRT track should be thin as possible, there is precious
little room for extra hardware. <span style="mso-spacerun: yes;"> </span>Hub
motors neatly solve this problem. <span style="mso-spacerun: yes;"> </span>They
are also (potentially) extremely efficient, having evolved as the most <span style="mso-spacerun: yes;"> </span>competitive <span style="mso-spacerun: yes;"> </span>method for powering solar race cars, for example.
<span style="mso-spacerun: yes;"> </span>The problem of trustworthy traction (that
might seem to indicate a linear motor as a better choice) is not really an
issue in an enclosed environment, not just because the track is dry, but also
because it is easy to clamp onto the track’s interior surfaces in any emergency.
<span style="mso-spacerun: yes;"> </span>But there is more to it than that… Hub
motors need not preclude linear motors. <span style="mso-spacerun: yes;"> </span>There
is no reason not to combine the two. <span style="mso-spacerun: yes;"> </span>Indeed,
there are potential advantages. <span style="mso-spacerun: yes;"> </span>Since hub
motors are direct-drive and essentially linear motors rapped into a circle, this
common DNA would seem to indicate that a single control signal could easily synchronize
both. <span style="mso-spacerun: yes;"> </span>Such a hybrid could have enhanced
acceleration and braking even with a smaller “flat spot” on the wheels. (traction
area) <span style="mso-spacerun: yes;"> </span>This means harder, rounder tires for
more efficiency and durability. <span style="mso-spacerun: yes;"> </span>Linear
motors can react with permanent magnets, surfaces induced to be magnetic, or
other electromagnets. <span style="mso-spacerun: yes;"> </span>Face to face LIMs,
for example, are essentially twice as strong. <span style="mso-spacerun: yes;"> </span>Thus, for limited areas coming in and out of
stations, a small, onboard LIM could pack a real punch combined with LIMs in
the track. <span style="mso-spacerun: yes;"> </span>Away from the station, it
could play a role in centering the bogie, taking pressure off of centering
guidance wheels, increasing their life. <span style="mso-spacerun: yes;"> </span>It
could even help steer. This is too complicated for early iterations, but it is
nice to know that the option exists for some future time when people demand
better and better performance. After all, with a cabin that is designed to
cancel G forces, extremely rapid and nimble performance may come to be expected.
<span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
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Lastly, one problem with motors in general is heat dissipation.
<span style="mso-spacerun: yes;"> </span>This is especially true of LIMs, since
they have no moving parts. <span style="mso-spacerun: yes;"> </span>Consequently
manufacturers include ports to pump water through them. <span style="mso-spacerun: yes;"> </span>Hub motors, (at least “pancake style” ones) on
the other hand, being thin but of large diameter, spread the heat out over a
large area while using that large diameter to deliver great natural leverage.(torque)
<span style="mso-spacerun: yes;"> </span>It is extremely easy to vent such a
motor to “pump” air past the coils while still having only a single moving part…the
wheel itself. <span style="mso-spacerun: yes;"> </span>And to reiterate one point
from previous posts… Linear motors can have a problem with maintaining close
proximity between the motor and the magnetized surface, especially when that space
is between a vehicle and its track. <span style="mso-spacerun: yes;"> </span>Rotary motors can inherently have rotors and
stators nearly touching for minimum waste of magnetic flux. <span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
<div class="MsoNormal">
More <span style="mso-spacerun: yes;"> </span>torque. <span style="mso-spacerun: yes;"> </span>Direct drive. <span style="mso-spacerun: yes;"> </span>More efficient. <span style="mso-spacerun: yes;"> </span>Air cooled. Require NO extra space… <span style="mso-spacerun: yes;"> </span>Easily integrated with supplemental linear motors.
<span style="mso-spacerun: yes;"> </span>This is why I think axial-flux,
(pancake) style hub motors have a great future in PRT!</div>
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<br /></div>
<span style="font-family: "calibri" , "sans-serif"; font-size: 11.0pt; line-height: 115%;">Anyway, get some popcorn and enjoy the <a href="https://www.youtube.com/watch?v=1EnnkzD5Ld8" target="_blank">movie!</a> <span style="mso-spacerun: yes;"></span>
Also, there are a few other axial flux and hub motor projects on YouTube, some
quite impressive… Check ‘em out! </span>Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com0tag:blogger.com,1999:blog-4063450658421522356.post-75314464953012986712013-04-20T20:13:00.000-05:002017-02-25T11:12:17.876-06:00155> For Example...<!--[if gte mso 9]><xml>
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<br />
<div class="MsoNormal">
One of the problems with PRT is that it requires a network
to function at its full potential, and cities and investors alike are reluctant
to fund such a complex, untried undertaking. <span style="mso-spacerun: yes;"> </span>Unfortunately a small, trial loop reflects
nothing about how a bigger system would work. <span style="mso-spacerun: yes;"> </span>It’s like giving some pickup trucks and a circular
track to Amazonian tribesmen. <span style="mso-spacerun: yes;"> </span>Vehicles
are only as enabling as their routes will allow.</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
I have, for this reason, given particular focus on the
problems of minimal networks, since this will always be the starting point,
like it or not. <span style="mso-spacerun: yes;"> </span>Configurations such as a
single loop, unfortunately, do not make a very compelling case for PRT when
compared to more traditional alternatives. <span style="mso-spacerun: yes;"> </span>Yet this is a battle that should not be ceded,
because businessmen need the prospect of near-term profits as well as hopes of
a long term bonanza. <span style="mso-spacerun: yes;"> </span>Therefore a design
that is superior in this respect is the more lucrative offering. <span style="mso-spacerun: yes;"> </span></div>
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<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
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To illuminate this point, let’s consider a starter loop
with, say, four stations. <span style="mso-spacerun: yes;"> </span>Our imaginary
system goes 35 mph, and has one second headways between vehicles. <span style="mso-spacerun: yes;"> </span>Let’s further stipulate that the stations are
in pairs, say two stations downtown and a pair two miles away, say, in a
hospital/hotel district. <span style="mso-spacerun: yes;"> </span>This is so we
can better count the passengers, who will be assumed to be traveling between
the two main areas, making a two mile trip. </div>
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<br /></div>
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That means that at maximum capacity, a vehicle will come
into one of the two stations at the end of the loop every second, so if there
is full, equal demand, there will be an arriving vehicle at each station every
two seconds. <span style="mso-spacerun: yes;"> </span>That means, to keep the
whole thing going, there must also be a vehicle leaving each station every two seconds
as well.<span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
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That is challenging logistically. <span style="mso-spacerun: yes;"> </span>In order to have a vehicle leaving every two
seconds, there will need to be many people boarding a large number of vehicles
at once. <span style="mso-spacerun: yes;"> </span>For example, let’s suppose it
takes 30 seconds to get access and get seated. <span style="mso-spacerun: yes;"> </span>There will need to be 15 parties boarding
simultaneously, just to keep up. <span style="mso-spacerun: yes;"> </span>There
will also be 15 parties leaving the vehicles – hopefully a bit faster, let’s
say 20 seconds. <span style="mso-spacerun: yes;"> </span>Let’s say there is a 10
second delay between people leaving and people boarding. (After all, at least
sometimes the vehicles will have to move up.) <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>That
means that if each vehicle is in the station for only 60 seconds, the station
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with everything working like a clock. <span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
<span style="font-family: "calibri" , "sans-serif"; font-size: 11.0pt; line-height: 115%;">With this in mind, I decided to construct a
model of the track layout for such a station. <span style="mso-spacerun: yes;"> </span>In the illustration below, vehicles in the
rear would be letting people out, while the front vehicles would be loading. <span style="mso-spacerun: yes;"> </span>This design enables loading of the fifteen vehicles
at once, so that the one-vehicle-per-two-seconds rate can be achieved. <span style="mso-spacerun: yes;"> </span>Note that with a suspended system, passengers
can walk to vehicles without crossing tracks – an advantage over designs with
the wheels at the bottom, which would require the passengers to change levels
to avoid crossing tracks.</span><br />
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgsjxQsKwZVsD63NNut0FVZHbYM6BSW4XEwDZShpuqT_fEe4VZ_Fl0hUYvFUIWHyfWb6oP44WfqyXcP-HSM37vDaRco7J9iAmuWAYbTsR3KEHCeUKtLV9nORSg9rKh-E4IQnF3MkNcHLSdP/s1600/Parallel+SMART+PRT+station+aerial.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="213" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgsjxQsKwZVsD63NNut0FVZHbYM6BSW4XEwDZShpuqT_fEe4VZ_Fl0hUYvFUIWHyfWb6oP44WfqyXcP-HSM37vDaRco7J9iAmuWAYbTsR3KEHCeUKtLV9nORSg9rKh-E4IQnF3MkNcHLSdP/s400/Parallel+SMART+PRT+station+aerial.png" width="400" /></a></div>
<br />
<div class="separator" style="clear: both; text-align: center;">
</div>
<div class="separator" style="clear: both; text-align: center;">
</div>
<div class="separator" style="clear: both; text-align: center;">
</div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgc5vfxblUW8W4d-dJDhPLAG3Utu2wyaH9tU3TmUh7K02V8RVWeIKkwrBVH85BuzQ8mzH5_Fkdt_v2AvSn8fWZTECbtjMVb5c1oAJ-KPL8u6zqT2Vgn5_PeY9HDl8bUR62fr3pZ95Rxkgqs/s1600/30+birth+SMART+PRT+station.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="213" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgc5vfxblUW8W4d-dJDhPLAG3Utu2wyaH9tU3TmUh7K02V8RVWeIKkwrBVH85BuzQ8mzH5_Fkdt_v2AvSn8fWZTECbtjMVb5c1oAJ-KPL8u6zqT2Vgn5_PeY9HDl8bUR62fr3pZ95Rxkgqs/s400/30+birth+SMART+PRT+station.png" width="400" /></a></div>
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Unlike these illustrations, obviously such a station would
be a beehive of activity, and everything would have to be working perfectly to
get those vehicles in and out in sixty seconds! <span style="mso-spacerun: yes;"> </span>I imagine that there would be green and red
lights and self-locking gates to regulate access to the vehicles. </div>
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<br /></div>
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For the curious, here are some additional,
extrapolated numbers. <span style="mso-spacerun: yes;"> </span><span style="color: black; mso-themecolor: text1;">35 mph = 184,800 feet per hour = 3080
ft. feet per minute = 51.3 feet per second, which gives us our headway
distance.<span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span>At this full capacity there are 102 vehicles
on each mile of track, or 204 each way on our two mile example.<span style="mso-spacerun: yes;"> </span>If there are always 30 in each station, that
equals 120, so 204 x 2 = 408 +120 = 528 separate vehicles. </span></div>
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<br /></div>
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It is easy to see how people would regard PRT as hopelessly
impractical after reflecting on these considerations. <span style="mso-spacerun: yes;"> </span>After all, a single light rail train can carry
400 people at once. <span style="mso-spacerun: yes;"> </span>Let’s do the math. <span style="mso-spacerun: yes;"> </span>If each pair of stations does, indeed, deliver
a vehicle each second between them, that is sixty per minute, or 3600 per hour.
<span style="mso-spacerun: yes;"> </span>Assuming something like the 1.2
passengers per vehicle average that is common for auto traffic, that is 4320
passengers per hour, each way. <span style="mso-spacerun: yes;"> </span>That is
just over what a four-car light rail train can carry with just ten trips per
hour, or one train every six minutes. <span style="mso-spacerun: yes;"> </span>Buses,
on a designated “busway”, running with headways of about a minute, can also
boast similar capacities. <span style="mso-spacerun: yes;"> </span>Either seems
much easier than PRT.</div>
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<br /></div>
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But let’s look at the other side of the coin. <span style="mso-spacerun: yes;"> </span>First of all, where can you find enough
pedestrians to even walk through the doors of such a station at that rate for
more than a couple of hours a day? <span style="mso-spacerun: yes;"> </span>Disney
World? Niagara Falls? <span style="mso-spacerun: yes;"> </span>It will be far
more typical to spread the load out with more, smaller stations. <span style="mso-spacerun: yes;"> </span>So this example greatly favors large capacity
vehicles.<span style="mso-spacerun: yes;"> </span>Furthermore, in such a “back
and forth” layout, it would be highly unlikely that people would want to pay a
premium for a private vehicle for such a short trip. <span style="mso-spacerun: yes;"> </span>It would be a simple matter to use at least 75%
of them as shuttles, at a fraction of the fare, taking four passengers at a
time. <span style="mso-spacerun: yes;"> </span>That boosts capacity to almost
12000 passengers per hour. Use of GRT (group rapid transit) vehicles would
probably result in still higher capacities, although headways would have to be greater,
and track would have to be beefier as well. </div>
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<br /></div>
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The cost for light rail is phenomenally high, like 60
million USD per mile just for the track. Compare that with the often quoted
estimate of 15 million per mile for PRT, and it’s pretty easy to see where the
money for all of those vehicles could come from! </div>
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<br /></div>
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Adding only a few additional stations starts to really break
down the advantages that buses and trains enjoy. <span style="mso-spacerun: yes;"> </span>These large vehicles are slow to start and
stop, dropping their round-trip speeds down with each new station. (On the
other hand, 35 mph is conservative for PRT, especially for the SMART system
depicted, which can easily achieve highway speeds and is designed to mitigate G
forces) <span style="mso-spacerun: yes;"> </span>Large transit vehicles block
traffic, and are very expensive to elevate to avoid this. <span style="mso-spacerun: yes;"> </span>Every stop inconveniences the vast majority of
passengers who not boarding or getting off.<span style="mso-spacerun: yes;">
</span>Once there are a dozen or so stops, it’s really a mess. <span style="mso-spacerun: yes;"> </span>From a simple perspective of real estate
usage, large vehicles MUST accommodate large crowds to justify their presence. <span style="mso-spacerun: yes;"> </span>The advantage of scale (of LRT and BRT)
becomes a disadvantage when it comes to offline stations or other means of
passing. <span style="mso-spacerun: yes;"> </span>In fact, it could be argued
that even simple bus stops, in congested areas, often do more harm than good. <span style="mso-spacerun: yes;"> </span>While the bus is stopped, or is nearly so, it
is using valuable real estate that could better be used for facilitating the
flow of ordinary traffic. <span style="mso-spacerun: yes;"> </span>This is
especially true if there are only one or two passengers using that stop. With
light rail a similar condition exists. <span style="mso-spacerun: yes;"> </span>Every
stop must justify the wait for all through-passengers, as well as pedestrians
and vehicles that would otherwise be able to cross the tracks. <span style="mso-spacerun: yes;"> </span>Therefore light rail should have as few and as
large stations as conditions will permit. How few and how large? <span style="mso-spacerun: yes;"> </span>That is debatable, but it seems to me that
holding up 400 passengers to let a dozen or so off and on is real waste. <span style="mso-spacerun: yes;"> </span>This certainly gives a clue as to how to make
these heavier forms of transit more effective. <span style="mso-spacerun: yes;"> </span>It seems that there should be a limit on how
small of a station should be permitted, as well as a limit on the number of
stations, period. </div>
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I think this raises an interesting question, particularly in
regard to light rail. <span style="mso-spacerun: yes;"> </span>Could PRT actually
be good for this form of transit instead of competing with it? <span style="mso-spacerun: yes;"> </span>Let’s start with some parameters. Say we want
to limit<span style="mso-spacerun: yes;"> </span>the number of stops and
increase the passenger usage at those stops so that there is no less than 10%
turnover at each stop, with 10 stops total on a loop, so most passengers would
only have to wait through 5. <span style="mso-spacerun: yes;"> </span>If the
train has a capacity of 400, that is an exchange of 40 at each stop. <span style="mso-spacerun: yes;"> </span>Let’s say that we want to provide the
convenience of a train every 5 minutes. <span style="mso-spacerun: yes;"> </span>That’s
480 pedestrians boarding at each stop per hour, or 8 “walk-ups” per minute. <span style="mso-spacerun: yes;"> </span>Even this, except for rush hour and perhaps
lunch time, seems like a lot for most areas. <span style="mso-spacerun: yes;"> </span>Could PRT be used to deliver those passengers?
</div>
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<br /></div>
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It’s a provocative notion. <span style="mso-spacerun: yes;"> </span>After all, light rail is often run at less
than capacity, and is generally constrained by the lack of routes with
sufficient riders to justify its enormous cost. <span style="mso-spacerun: yes;"> </span>It would seem that they might have much to
gain by offering a more global transportation solution. <span style="mso-spacerun: yes;"> </span>Do light rail venders even suggest multi-modal
approaches? <span style="mso-spacerun: yes;"> </span>For example it would seem
like a no-brainer to link “park&ride” buses with certain light rail stops. <span style="mso-spacerun: yes;"> </span>After all, in order to have good geographical
coverage along a route, there are liable to be some stops that bring in fewer
passengers. Why not make such non-performers into interfaces with other
systems, like buses or PRT? <span style="mso-spacerun: yes;"> </span>That way
every station is worth the time and trouble, every time. </div>
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<br /></div>
<span style="font-family: "calibri" , "sans-serif"; font-size: 11.0pt; line-height: 115%;">Of course this raises the question of why
someone would take the LRT of BRT at all, instead of simply taking PRT the
whole way. <span style="mso-spacerun: yes;"> </span>I suppose I have given a bad
example here for making the case for switching modes, particularly in that my
example involves short distances and slow speeds. <span style="mso-spacerun: yes;"> </span>I have always believed that PRT is most
valuable and viable at the upper speed and distance ranges, at least by
traditional standards. <span style="mso-spacerun: yes;"> </span>As such, PRT
networks would first connect important hubs within a city, instead of growing
out from the center, as is usually supposed. <span style="mso-spacerun: yes;"> </span>True, using PRT instead of heavier transit in
situations like the one I have outlined would be a viable alternative in the
first place, but we are just not there yet. <span style="mso-spacerun: yes;"> </span>Our time will come, but in the meantime, LRT
venders might do well to offer both options. <span style="mso-spacerun: yes;"> </span>Smart business people know when it’s time to cannibalize
sales of older mainstay products with more modern offerings. <span style="mso-spacerun: yes;"> </span>This transition could be made less painful if
the switch is to a product/service that is complementary in the meantime. <span style="mso-spacerun: yes;"> </span>The move to networked transit systems will
only hurt companies that are entrenched in the “line-haul” business model.
Meanwhile, PRT developers must design for transit problems that other systems
can’t solve. <span style="mso-spacerun: yes;"> </span>Just being “networkable”
does little good when cities are only in the market for a loop. </span>Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com10tag:blogger.com,1999:blog-4063450658421522356.post-75496973242133551542013-03-19T21:23:00.000-05:002017-02-25T11:11:48.055-06:00154> Fractals!<!--[if gte mso 9]><xml>
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<span style="color: black; mso-ascii-font-family: Calibri; mso-bidi-font-family: "Adobe Hebrew"; mso-hansi-font-family: Calibri; mso-themecolor: text1;">One
thing concerns me about the typical vision of a PRT system is the idea that should
consist entirely of a network of one-way loops that would be expanded by adding
new loops contiguously. This seems to me to be an oversimplification, and generally
not the most efficient design in terms of system cost or travel time. Yet even bi-directional
routing can be thought of as a loop, of sorts – just one that has been squeezed
along its length. So how could the paradigm of one-way loops be lacking?</span></div>
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<br /></div>
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<span style="color: black; mso-ascii-font-family: Calibri; mso-bidi-font-family: "Adobe Hebrew"; mso-hansi-font-family: Calibri; mso-themecolor: text1;">First
of all, let’s take an idealized example where the density of potential riders
is completely even and the track forms a perfect grid of squares. (round the
block loops) Clearly there will be a bias towards higher ridership on routes crossing
the middle than at the outer edges. So what do we do? Is the middle subject to
wait times or are the outer routes paid for, but underutilized? Add to this the
fact that the middle will probably have more potential riders anyway, and you
can see that the problem is just that much worse. </span></div>
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<br /></div>
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<span style="color: black; mso-ascii-font-family: Calibri; mso-bidi-font-family: "Adobe Hebrew"; mso-hansi-font-family: Calibri; mso-themecolor: text1;">Beyond
that, the assumption of an ever-expanding network of contiguous loops tends to
ignore the uneven distribution of important destinations. Although cities have
a central business district that needs to be the heart of a PRT system, after
that there are seemingly no rules for what should come next. A spider web
design is better than the grid, since the converging radial routes enable a
somewhat denser concentration toward the middle. But cities don’t grow evenly
and the transportation bottlenecks can be far from downtown, an inconvenient fact
that would-be PRT providers will surely downplay. After all, there is plenty to
be done downtown, so why worry that far ahead? <span style="mso-spacerun: yes;"> </span>I say, “Inconvenient” because really dealing
with it increases the complexity of a system immensely. In my opinion the
solution will have to include some combination of multiple speeds, multiple
vehicles sizes, and multiple, parallel tracks- like there are multiple lanes on
a freeway. </span><span style="mso-spacerun: yes;"> </span>Anything less, and the
system will be one that can only solve some of the problem in some of the
situations, and that fact may be baked-in by the design and therefore forever
unfixable. <span style="mso-spacerun: yes;"> </span><span style="color: #0070c0; mso-ascii-font-family: Calibri; mso-bidi-font-family: "Adobe Hebrew"; mso-hansi-font-family: Calibri;"></span></div>
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<br /></div>
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If there is only one speed, all track must be routed without
any sharp turns if the system is to be fast enough to be useful for anything
more than very short trips. This means acquiring right-of-way on nearly every
corner or bypassing needed, but troublesome routes. Then there is the matter of
multiple vehicle sizes. Here I am referring to GRT. Certain routes, say to an
airport , stadium or “park&ride” lot <span style="mso-spacerun: yes;"> </span>might benefit from a larger shuttle-type
service rather than only individual smaller vehicles. This would help with the
rush hour demand for routes that many passengers share in common, without
requiring extra track or vehicles just for a few hours each day. The third
option, multiple parallel tracks, is also for this situation. <span style="color: black; mso-themecolor: text1;"> One of the great things about PRT is
that it can be designed to have very inexpensive track, which makes such
possibilities more palatable. I think following the familiar highway model,
where there is both a high-speed express and a more local feeder aspect might
be particularly advantageous. Such an investment paves the way for future loops
along the way, and could often be done using existing highway easements.<span style="mso-spacerun: yes;"> </span></span><span style="color: #0070c0;"><span style="mso-spacerun: yes;"> </span></span></div>
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In either of these last two cases it is assumed that there
are enough destinations along the way (or at either end) to justify a
PRT-compatible track rather than say, an ordinary bus. Having GRT sharing the
track reduces what would otherwise be a requirement for more parallel tracks, but
parallel tracks, if spread apart by a few blocks, would provide enhanced access
all along the way. Like I said, there should be some combination, if at all
possible, of these three methods. This may complicate the system design, but it
makes the system more versatile and therefore ultimately a more compelling
value. <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
<br /></div>
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So how are we to determine the relative merits of the
various systems and routing schemes? I think there are probably some
mathematical formulas that describe the general problem and give some ballpark
ratios and other guidelines that might be useful as a starting point. Such
formulas seem to follow the general principles of fractals, something that
occurred to me when Nathan Koren ttp://www.podcar.org/blogs/nathan-koren/, in
this <a href="http://www.podcar.org/blogs/nathan-koren/" target="_blank">excellent two-part (similarly themed) post</a>, used a leaf as an example of a
transportation system. <span style="color: red;"></span></div>
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<br /></div>
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Imagine a growing town building new roads outward into
surrounding countryside. Along each new road are natural “sweet spots” to develop
housing, warehousing, retail, etc. Any closer, and land is too expensive. Any
farther out, and the commute is too far. Maximizing the usefulness of the new
road and access to these areas can be accomplished with simple branching. Now
you have twice as many sites with the same travel time without needing separate
roads. Branch the branches and now you have four. Branch once more and you have
eight. Indeed, radially emanating roads must diverge if they are to access any
reasonable portion of the ever widening land mass anyway.</div>
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<br /></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgEjhapgtwfuHeYn7aM3RrgBjfCdA3BQKVDkduRoIHVb6K-mE7NKDW7v2v_XlqKMORc8jerl5QgpcXdK63IfDXtr8OLkMJ7IC1xGqDiyCmEa6ImJI0B2dx27iae9Tw6KY6TK4UAnWnYmupK/s1600/L-system.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="299" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgEjhapgtwfuHeYn7aM3RrgBjfCdA3BQKVDkduRoIHVb6K-mE7NKDW7v2v_XlqKMORc8jerl5QgpcXdK63IfDXtr8OLkMJ7IC1xGqDiyCmEa6ImJI0B2dx27iae9Tw6KY6TK4UAnWnYmupK/s320/L-system.png" width="320" /></a></div>
<div class="MsoNormal">
</div>
<div class="MsoNormal">
This follows the rules of a type of fractal geometry known
as the Lindenmayer system, (L-system) which is seen thoughout biology and is
efficient for movement of blood, plant nutrients, etc. The math for the above
example is simple. Go a distance, split, go half as far, split, go half as far,
split, etc. (I cut the "trunk" to save space) Add a bit of randomness and you can create forms which look like
photographs from a botany book. </div>
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<br /></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5Pg60rm6bd934wYD-aEKatC_V7ZYUDeMkCkM_HTD2tzx6p4XMPJSU1yDzCjxyGBDEHiRrdkrmaqM9YBXw2tw7ivT-8Z18rUo4iZpe4As0nBOtOdzzKaoPPhyphenhyphen4Af9b_qjhjF6A2DGJ_vO4/s1600/H+tree+and+quadric+cross.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="169" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh5Pg60rm6bd934wYD-aEKatC_V7ZYUDeMkCkM_HTD2tzx6p4XMPJSU1yDzCjxyGBDEHiRrdkrmaqM9YBXw2tw7ivT-8Z18rUo4iZpe4As0nBOtOdzzKaoPPhyphenhyphen4Af9b_qjhjF6A2DGJ_vO4/s320/H+tree+and+quadric+cross.png" width="320" /></a></div>
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<div class="MsoNormal" style="margin-top: 12.0pt;">
<span style="color: black; mso-themecolor: text1;">Want to live on a cul de sac? This “H tree” (left) gives
everyone the piece and quiet of their own dead end, equidistant from the main
road.</span><span style="color: #0070c0;"><span style="mso-spacerun: yes;">
</span></span>To the right is what is called a quadric cross, which represents
a three-way split at right angles. </div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
<br /></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiYu2UgoqNRdjndcvJxHO-XPzXxwL6gwPxK0SzDmixG20AHzbfCcilDgAQ8WzbrYcPJveNouSbZRQGPSYJGcnxgSKSfrBAsTDmRNVy3878Cw-qPcNZbei1AgvdFTZu8mAbH4ka0p0oOAXg5/s1600/DLA_Cluster.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="216" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiYu2UgoqNRdjndcvJxHO-XPzXxwL6gwPxK0SzDmixG20AHzbfCcilDgAQ8WzbrYcPJveNouSbZRQGPSYJGcnxgSKSfrBAsTDmRNVy3878Cw-qPcNZbei1AgvdFTZu8mAbH4ka0p0oOAXg5/s320/DLA_Cluster.JPG" width="320" /></a></div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
<br /></div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
Here is a different kind of
fractal geometry at work: Let’s consider, for a moment, the merchant. Here we
have the same desire for cheap property, but it is coupled with the need for
exposure to customers. Clearly the intersections formed by branching roads are particularly
advantagous in this regard. But another plus would be the presence of other
businesses, to help draw customers. This too, can be described in mathematical
terms with more fractal geometry, this time with what is called a “Diffusion-limited
aggregation.” (DLA) Here, particles (businesses) randomly migrate from a source,
but not too far, only to plant themselves on an edge (2D) or surface. (3D)<span style="mso-spacerun: yes;"></span> This is not unlike coral growth, and can be
seen in satellite views of cities, especially aspects like pavement coverage
vs. green areas. In three dimensions, constrained by city blocks, an effect much
like crystal formation is seen in the growth of groups of multistory buildings.
Again, these similarities are not merely coincidental. They are the result of
similar natural, measurable forces. <span style="mso-spacerun: yes;"> </span>
</div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
What is interesting about the combination of
DLA and L-system effects in city growth is that together they generate satellite
communities. This formation is easy to observe by anyone who takes a farm road
out of town. It usually starts with a gas station/convenience store at a rural
intersection. Soon an eatery or an auto repair garage follows. As more
businesses join the group, land values rise, creating a climate for land
speculation and further development. Much, much later the resultant communities
create a traffic nightmare for the host city by interfering with the radial
flow of vehicles during rush hour. In the typical spider web roadway
configuration the radial strands that serve the central area are inherently at
odds with the concentric routing that serves traffic between neighboring
outlying communities. This creates pockets of traffic congestion that are far
from downtown but are still sorely in need of something like PRT. The classic
remedy has been to build a freeway with overpasses over the main crossing
roads, cutting the outlying communities in half. </div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
These fractals only go so far in
describing the problem facing people tasked with designing PRT routing, because
of the subject that I brought up first, which is loops. After all, notably
absent in the earlier discussion about a “sweet spot” was the obvious way to
get the most bang for the buck. That is to have the branches loop back upon
themselves. Fractal forms can include loops as well, as in the leaf below. Note
the classic fractal multi-scale self-similarity in the tendency towards
branching at right angles.</div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj021h-sXtc1WGcgdXDd2OVgWSGDoID88sWsQ0p2zbovNeRVadjnt4fpnyLq_ujB07ktoi7I7jCjVhVn1futJGJuR8-NkTGphJlPhMRgT53tmSqzTBDRbvBEMva1-DQqHC7QsbPnCuwGq8P/s1600/leaf.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="308" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj021h-sXtc1WGcgdXDd2OVgWSGDoID88sWsQ0p2zbovNeRVadjnt4fpnyLq_ujB07ktoi7I7jCjVhVn1futJGJuR8-NkTGphJlPhMRgT53tmSqzTBDRbvBEMva1-DQqHC7QsbPnCuwGq8P/s320/leaf.jpg" width="320" /></a></div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
Below is a fractal of loops
representing growth along an east/west corridor. I have included some secondary
development, (shown in red) representing the value of shortcuts. The next step
would be to connect the outlying areas directly to form an outer loop. </div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgzeepXvyFZbzuDp1E0-hdh_sDhc4KSI7S6yfJuSEZnUBXrt3SYQ0AwlZ1KHT7AmdOF9pxMcHDMf6zpo6dZzdIqlDjevr9D0LuOv1yR2QPA_jdZEFSAn7s1nD1lRuv5mZfb374d8YaN4kij/s1600/fractal+quadric+loops.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="252" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgzeepXvyFZbzuDp1E0-hdh_sDhc4KSI7S6yfJuSEZnUBXrt3SYQ0AwlZ1KHT7AmdOF9pxMcHDMf6zpo6dZzdIqlDjevr9D0LuOv1yR2QPA_jdZEFSAn7s1nD1lRuv5mZfb374d8YaN4kij/s320/fractal+quadric+loops.png" width="320" /></a></div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
The “rules” outlined above do more
than help explain the uneven geographical distribution of potential PRT
traffic. They also illustrate the different capacity requirements for the track
itself. I drew the L-system tree with separate lines on the “trunk” to
illustrate the simple fact that there simply cannot be equal traffic between it
and the branches. The quadric cross example also shows the relative traffic
increases (line thickness) toward the center. Either the branches are at a
fraction of capacity or the trunk is overburdened. As I stated earlier, the
idea of simply handling peak loads with massively parallel loops is iffy at
best. But multiple lane trunk lines or GRT have drawbacks as well.
</div>
<div class="MsoNormal" style="margin-top: 12.0pt;">
The conventional thinking used to
be that starter downtown circulator loops could be added to until eventually
there is a network that fulfills the total needs of the covered areas. There is
still some truth to this, but it certainly isn’t the whole story. Cutbacks in
government transportation spending have forced us to examine any and all
inefficiencies, including any underutilized track or vehicles. In the end we
will probably end up using some combination of “all-of-the-above.” I am not
sure how useful fractal modeling can actually be in practice, but the subject
certainly seems worth pondering. Surely there is a fractal form whose shape is
the result of a mathematical modeling of various forces that shape our cities,
and therefore our transportation needs. <span style="mso-spacerun: yes;"> </span>One thing is for sure. We shouldn’t be
surprised when we find that the most cost effective and expandable PRT solutions
mimic nature more than a checkerboard, or use many of the same techniques that
have proved effective in moving people via our current network of roads. <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com15tag:blogger.com,1999:blog-4063450658421522356.post-83080228404942000422013-02-17T16:02:00.000-06:002017-02-25T11:11:07.709-06:00153> Railbotics!<!--[if gte mso 9]><xml>
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Back at Christmas, I posted about having purchased a hub
motor in the form of a cheap ceiling fan. That acquisition marked a first
tentative step toward building an experimental scale model of the SMART (Suspended
Multi-axis Automated Rail Transport) PRT platform. I thought an update might be
in order. After great deliberation, I decided that the fan motor would be just
too hard to modify in the way that I wanted. It was a little on the big side
anyway. (1/4 scale) What I opted for instead was to completely start from
scratch. After all, what I really want is an ironless axial flux hub motor and
they don’t make such a beast. Sure, there are a few small “hub motors” out
there, but they are generally of the radial flux design. (Requires too wide of
a wheel) And these days any motor that fits into a wheel’s hub is called a “hub
motor” even though the motor might be stationary instead of turning with the
wheel. Some even have internal gearing, so they are not even one-piece devices.
These variations will only confuse everything and everybody. In the end it
turns out that the same constraints drive both the actual design and the scaled
down version. A taller, skinnier and shorter bogie simply allows a more compact
track. It seemed better to clarify these relationships with a model that is as
faithful to the full scale version as possible. Here is what I have so far,
mounted on a demonstration stand. I’ll dissect it for you in a moment, but
first let me tell you one more reason why I am going to all of the trouble.</div>
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</xml><![endif]-->Ever see the video of that <a href="https://www.youtube.com/watch?v=N6wFacwBMZE" target="_blank">old tape by Aerospace Corp</a>? That is more than a good primer on PRT. That model is one very cool toy…There are
still thousands of model railroad enthusiasts out there who get great
satisfaction building similar stuff, not to mention robot buffs. Could model “railbots”
(not to be confused with the game) ever gain a following? After all, a working
model of the SMART PRT platform would certainly be equally fun to watch and
vehicle avoidance and routing strategies would offer programmers something
truly challenging to chew on. </div>
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Every year they hold competitions to race ridiculously
impractical and expensive solar vehicles across the desert - the only place
where they reliably work - even in the daytime - while teams of enthusiastic
high-school kids build robots that can only push balls around. What if these
people had something a bit more practical to work on? Beyond that, what could
be cooler than a “train set” where the “cars” can go in any direction, even
straight up? And talk about educational! This cross between model railroading
and robotics would be wonderful for our high schools and colleges. How about a
race where the object is to carry full glasses of water through a 3D network
without spilling a drop or touching another vehicle?</div>
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<br /></div>
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In the course of looking
for components, I ran into all kinds of hobbyist robot motors – but no
gearless, direct-drive systems. Maybe there’s a market for such things… perhaps
enough to where I could get some much needed help refining the control
electronics and software, or to where someone might even start offering something
like this in kit form, or even a whole set. I can see it now - Lego Mindstorm's
new “Mobot Racer” kits. Every kid should have one! </div>
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<br /></div>
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I have seen model trains chugging around restaurants and
malls. I’d love to donate a “railbot” set for the cafeteria at Google. That
would get them thinking! I’ll bet they would be delivering food to the tables
in no time. Finally I would add that the I have spent a lot of time considering
ways to make SMART PRT track affordable, and these attributes play out in the
planned 1/6<sup>th</sup> scale as well. Making homemade track should prove both
easy and very cheap. But making these little guys fast as slot cars yet able to
climb straight up without a bogey body fat with gears takes some slick
conversion of electromagnetic force. Hence my little project. <span style="mso-spacerun: yes;"> </span></div>
<div class="separator" style="clear: both; text-align: center;">
<span style="mso-spacerun: yes;"></span><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh4pKUYub0Nsu_KdPaXJ0iS2XhsYIVG6r6zC9XdE5sKpxCFZfLrhOjIuuPwI1w2QCBIHMkEvOxBPUZsDu3qeunhksQLmlHeN6Z2I4XQ8JX3_Sy06KCAOl-Wi9V_sbOt24WQ-vaa_oHipsea/s1600/axial+flux+hub+motor+5.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="307" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh4pKUYub0Nsu_KdPaXJ0iS2XhsYIVG6r6zC9XdE5sKpxCFZfLrhOjIuuPwI1w2QCBIHMkEvOxBPUZsDu3qeunhksQLmlHeN6Z2I4XQ8JX3_Sy06KCAOl-Wi9V_sbOt24WQ-vaa_oHipsea/s400/axial+flux+hub+motor+5.jpg" width="400" /></a></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiY7Dnclo6Zs-dO_C6k79lLObn1uf_0umPxJrKnPy-7MvvIAhuc2rrDuJo2mUcg4udLuAlsYCbfyiSkXuk_3zGKXdq5droOG0psbcCHZSZn3SkZs854bWsX7QdB5hnncG_GeH-CeONtAGzj/s1600/axial+flux+hub+motor+2.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="305" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiY7Dnclo6Zs-dO_C6k79lLObn1uf_0umPxJrKnPy-7MvvIAhuc2rrDuJo2mUcg4udLuAlsYCbfyiSkXuk_3zGKXdq5droOG0psbcCHZSZn3SkZs854bWsX7QdB5hnncG_GeH-CeONtAGzj/s400/axial+flux+hub+motor+2.jpg" width="400" /></a></div>
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Here is all you need, propulsion-wise. This is all made with
hand tools and stuff like lamp parts, PVC pipe caps … nothing more exotic than motor
wire and magnets. The shaft and winding assembly (left) is simply sandwiched
between the two magnet arrays (bottom) and capped with the piece shown on top. </div>
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<br /></div>
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Below is the heart of the motor. On the right are bare
windings and on the left I am holding similar windings cast in a polyester
resin disc. I embedded aluminum window screen on both sides, both for strength
and for a heat-sinking purposes. In larger scale production the windings would
be captive in an aluminum disc designed for the purpose. I produced the
windings by taking 24’ (4.2 ohm) lengths of wire and winding them around a spool
(washer/square nut/washer arrangement) spun by a drill… about 6 minutes each.</div>
<br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIro9EFmzFtVRX_ZsRvDEC1S1RUvHZeqwM0hzBHVhOvlMq4CJXiTApdWBCePlBua_JhiLSrCZvOMtmGP4maDJc-Vr69nb0QBxB1leGB6cShn_sw7KfpT8f9t618MEKdWsX-Olpy-QyjxYz/s1600/axial+flux+hub+motor+3.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgIro9EFmzFtVRX_ZsRvDEC1S1RUvHZeqwM0hzBHVhOvlMq4CJXiTApdWBCePlBua_JhiLSrCZvOMtmGP4maDJc-Vr69nb0QBxB1leGB6cShn_sw7KfpT8f9t618MEKdWsX-Olpy-QyjxYz/s400/axial+flux+hub+motor+3.jpg" width="400" /></a></div>
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</xml><![endif]-->The basic principle is this. There are 16 windings sandwiched
between 20 rotating magnet sets, which creates 64 positions per revolution
where 4 magnets and 4 electromagnets can align. (They form a cross pattern).
The individual windings are series connected in four cross-shaped groups. For
example, windings at the north, east, south and west positions are connected together
with a single set of leads. The magnets alternate in polarity and so do the
individual winding leads. Sorry – some people will actually WANT these details…</div>
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The bottom line is that each winding set can be electrified
to attract nearby magnets and when they reach dead center the winding reverses
and repels that magnet instead. Meanwhile other magnets are at play, attracting
or repelling hard because they are all close to, but not on, their own dead
center positions. Each group of coils reverses polarity 16 times per revolution.
To run the motor (in the most obvious fashion) requires 4 separate, consecutively
timed square waves, so that makes 64 total polarity changes per revolution.
There are probably all kinds of ways to tweak those waveforms for more speed
with less heat… The way I outlined is “full on” for maximum torque. Two
sequenced bipolar stepper motor drivers should run this nicely and enable
micro-stepping, which would both smooth out the wave form and allow the coils a
bit of lower voltage time to cool. Not that I would use necessarily use this
like a stepper motor, although it certainly can be. Since the magnets are of
alternating polarity, a Hall effect sensor place almost anywhere will trigger
20 times per revolution, so servomotor style feedback will be accurate to that (18
degree) fraction of a turn as well, as is. Between these two forms of position
determination and markers in the track, our little bogie will never be lost –
even by fraction of an inch. </div>
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<br /></div>
<span style="font-size: small;"><span style="font-family: inherit;"><span style="line-height: 115%;">Notice the little blue circuit board in the
picture below. That is an Arduino microprocessor board, which I will use to
supply the root clock signal and direction information to four such wheels. It
will also take sensory data and branch the programmed motor instructions
appropriately. Also note that I have
added a sprocket for cogged (no-slip) climbing.
Finally, since the case is made from standard 4” drain pipe caps, its
perimeter can be conveniently covered by a slice of rubber sleeve (sold as a
flexible pipe connector) so my little wheels will even have durable rubber
tread.</span></span></span><br />
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZNJga1ytcblcfgVQeLRDbNhrL7g_Ws2PyCNXsbjhqGVB8heQUJNPb4ivwfzV1cVGAVRNQwOwo6_ug7Ny2kVWSVGcleA5JcoZ18M3-JD3hB__g5lJaCFaDBthg9z27_w0_ZIPXECj-CV90/s1600/axial+flux+hub+motor+4.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="321" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZNJga1ytcblcfgVQeLRDbNhrL7g_Ws2PyCNXsbjhqGVB8heQUJNPb4ivwfzV1cVGAVRNQwOwo6_ug7Ny2kVWSVGcleA5JcoZ18M3-JD3hB__g5lJaCFaDBthg9z27_w0_ZIPXECj-CV90/s400/axial+flux+hub+motor+4.jpg" width="400" /></a></div>
<br />
<br />
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<![endif]--></span>Now for the hard part. The analog electronics and software
programming. Unfortunately I’m not trained in either, or this little puppy
would be going through its paces right now. Lately I’m up to my ears in Googled
articles about “H bridges” and transistor saturation. At least I have plenty of
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Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com3tag:blogger.com,1999:blog-4063450658421522356.post-67801596633583506802013-02-09T13:25:00.000-06:002017-02-25T11:10:29.551-06:00152> Standardizing for the Future<!--[if gte mso 9]><xml>
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When I first started this blog, I did so with the conviction
that what PRT needed was some sort of standardization – a way to allow PRT to
be a joint venture between specialized companies doing what they do best,
instead of some little startup trying to be ten companies at once. <span style="mso-spacerun: yes;"> </span>That way a depth of resources could be brought
to play that could never be matched by any other method, except, perhaps,
direct government subsidies.<span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
<div class="MsoNormal">
Times have changed and things are changing faster by the
minute. <span style="mso-spacerun: yes;"> </span>This was spelled out to me, yet
again, as I was writing my last post on forward-compatibility and
extensibility. <span style="mso-spacerun: yes;"> </span>In that post I outlined a
“last mile” strategy, and it involved slower, bare-bones loops within loops –
almost like big long circular driveways. <span style="mso-spacerun: yes;"> </span>This represents an important call… A call for
a plurality of speeds. (I have called for high speed routes as well.) <span style="mso-spacerun: yes;"> </span>This requires a degree of control complexity that
seemed pretty far-fetched just a couple of years ago.<span style="mso-spacerun: yes;"> </span></div>
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<br /></div>
<div class="MsoNormal">
A related topic involves vehicle size. Many see the utility
of using the track for other purposes beside strictly passenger service. Freight
could be delivered, for example, straight into buildings and even into offices
or down store isles with vehicles specifically designed for the task. Many will
also agree that there might be some cases when passenger vehicles of differing
sizes would be appropriate. That means that these two qualities (multi-speed
and multi-sized) would require a track that would support such configurations. A
system designed to be forward-compatible and extensible into the relatively
distant future should, therefore, ideally incorporate such possibilities in a current
track design, even if such features are not part of the current system
iteration.</div>
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<br /></div>
<div class="MsoNormal">
One problem with getting the most out of the infrastructure
that this track represents is the question of ownership and maintenance. <span style="mso-spacerun: yes;"> </span>Back in the day, PRT was thought of as one big
machine, presumably operated by a specialized team stationed at the terminals
of some giant mainframe.<span style="mso-spacerun: yes;"> </span>Now, with
distributed computing, cloud based sharing, dirt cheap sensors and the rest, there
is real question as to how much will really need to be done centrally. <span style="mso-spacerun: yes;"> </span>After all, if you give Google’s automated cars
their own lane and program them to pick you up, taxi-style, haven’t you just
created a PRT system that is essentially like ULTra? <span style="mso-spacerun: yes;"> </span>The key point, it seems to me, is vehicle
autonomy. <span style="mso-spacerun: yes;"> </span>If positionally-aware, constantly
communicating vehicles can take current traffic data and pick (and report) their
own routes, and they can be made to establish safe headways and merge safely,
then managing the system would potentially be much simpler than what is
currently done by law enforcement for our roadways. <span style="mso-spacerun: yes;"> </span>Taking the intelligence out of the track, it
appears, has benefits. <span style="mso-spacerun: yes;"> </span>Is “dumb” track
the most forward-compatible and extensible choice? <span style="mso-spacerun: yes;"> </span>Quite likely, I think. <span style="mso-spacerun: yes;"> </span>It is also cheaper and therefore more
extendible in terms of coverage, and is less “breakable” as a system. <span style="mso-spacerun: yes;"> </span>Thank goodness for technological advances! </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<span style="mso-spacerun: yes;"> </span>It may even be the
case that it is easier to get through regulation hurdles with autonomous
vehicles on dumb track. <span style="mso-spacerun: yes;"> </span>After all, it’s
hard to argue that a tracked environment is somehow more dangerous than the
unpredictability and traction-dependence of city streets, where driverless
automobiles would go. <span style="mso-spacerun: yes;"> </span>Also the specter
(or assumption) of larger, multi-passenger vehicles seem absent from the safety
discussions at present. <span style="mso-spacerun: yes;"> </span>I don’t believe
Google’s robocars have had to pass any APM (Automated People Mover) standards
and they certainly haven’t been subject to the arcane rules designed for
trains, something that has been of arguable concern in PRT circles. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Let’s bring standards back into the discussion. <span style="mso-spacerun: yes;"> </span>As I said in the opening, I have long been an
advocate of open-source standards for PRT, so that a system can be made by a
multiplicity of specialized companies. But I am also very wary of setting
standards too soon, as they could rope the whole effort into one that favors an
inferior design or soon-to-be obsolete technology. <span style="mso-spacerun: yes;"> </span>One important reason to establish them,
though, has to do with the PRT business model. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
From a point of view of doing the most for society and the
wellbeing of the planet, the best model would be for the track to be open to
all qualified vehicles…any and all meeting certain standards. <span style="mso-spacerun: yes;"> </span>There is every reason to want to take as many
vehicles off of the roads as possible, and so there is good reason to make the
track as versatile as possible in that regard. <span style="mso-spacerun: yes;"> </span>This brings us right back to extensibility and
forward compatibility. <span style="mso-spacerun: yes;"> </span>Note that I said
“model” and not “business model.” <span style="mso-spacerun: yes;"> </span>From the
“PRT business” point of view, designing for the distant future makes no sense. <span style="mso-spacerun: yes;"> </span>Any PRT startup has no choice but to begin in
the least complicated way possible. <span style="mso-spacerun: yes;"> </span>In
terms of overall long-term business growth, though, it makes great sense. <span style="mso-spacerun: yes;"> </span>What is good for society and the planet also unleashes
all sorts of potential business models that cannot exist today. <span style="mso-spacerun: yes;"> </span>Maybe tiny delivery “bots” will bring you your
pizza. <span style="mso-spacerun: yes;"> </span>Wouldn’t that beat the current
paradigm of using a person, fossil fuel, and a multi-ton vehicle to do the job?
<span style="mso-spacerun: yes;"> </span>The point is that extensibility and
forward-compatibility are only useful to a business insofar as they relate to
their best financial interest in the relatively near future, and therefore
their designs will reflect this, even if those designs do not reflect the best
interest of the environment, traffic mitigation, or other such benefits.<span style="mso-spacerun: yes;"> </span></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
I envision a business model where a PRT company serves as a
general contractor and business partner with a city, but whose role gradually
diminishes with time. <span style="mso-spacerun: yes;"> </span>In such a scenario
the revenue stream and responsibilities gradually shift to the city, although
obviously the PRT company could always be kept on for whatever role is agreed
upon. <span style="mso-spacerun: yes;"> </span>The important point here is that
the PRT company’s exclusive rights to the track should have an endpoint. <span style="mso-spacerun: yes;"> </span>This would seem attractive to the city, since
it does not have to grant never-ending monopoly status to a company that may or
may not live up to expectations. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
This is where design extensibility and forward-compatibility
meet open standards, business viability, as well as societal and ecological
priorities. <span style="mso-spacerun: yes;"> </span>Although it makes no sense
for a PRT provider to design a track that can, someday, more efficiently
deliver pizza, mail or bags of cement, it makes more sense to the eventual
owner, the city. <span style="mso-spacerun: yes;"> </span>The city’s needs are much
more closely attuned those environmental, societal and macro-economic problems
that PRT has such great potential to solve. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
This mismatch between a PRT provider’s needs and a city’s
needs directly influence the desirability of PRT as a meaningful alternative to
other transportation solutions. <span style="mso-spacerun: yes;"> </span>If PRT
is to represent a prudent investment in the future, there should never be a
possibility of having to scrap miles of track because of aging vehicles or an obsolete
operating system, or a bankrupt PRT company. <span style="mso-spacerun: yes;"> </span>Every component should be able to be updated –
forever. <span style="mso-spacerun: yes;"> </span>Perhaps this is why, although rail-type
PRT offers numerous advantages over pavement based systems, it is the latter
that is making the most inroads. <span style="mso-spacerun: yes;"> </span>An
elevated mini-roadway may not be what I would prefer to have going down my
street but it is clearly an extensible choice. <span style="mso-spacerun: yes;"> </span>It could be used for bicycles, scooters, golf
carts, pedestrians, manned electric taxis, whatever. <span style="mso-spacerun: yes;"> </span>This represents a safer investment for city
planners, even as it caps routing choices and speeds.</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
A standardized PRT platform that is easily adapted and
upgraded would similarly represent a safer choice, if the various parts of the
system were sufficiently simple. <span style="mso-spacerun: yes;"> </span>The
owners (the city) should preferably have a system where they could simply take
bids for repair, replacement, expansion, etc. <span style="mso-spacerun: yes;"> </span>The main danger is that such a standard will be
a bad one. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
It seems to me that building a good standard should be a lot
like building a sound structure… <span style="mso-spacerun: yes;"> </span>Start
with a sure foundation. <span style="mso-spacerun: yes;"> </span>This can start
with a wish-list. <span style="mso-spacerun: yes;"> </span>The two listed above -
to allow multiple speeds and multiple vehicle types, are neither required nor
advantageous in early iterations, and so without the altruistic guidance of forward-looking
standards such qualities could take many decades to see the light of day. <span style="mso-spacerun: yes;"> </span>The same could be said of multi-axis capabilities,
guideways that can carry street lighting and utilities, and other qualities
that might be on our list. <span style="mso-spacerun: yes;"> </span>But if we
really want PRT to make a dent in the miserably obsolete transportation status
quo, we need to look far ahead and plot a course.</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Standards can be very exact and legally precise or vague but
definitional - a “standard” putter, for instance. <span style="mso-spacerun: yes;"> </span>The latter, consensus-driven definition always
precedes anything more exact, and there is not a great deal of consensus on PRT
design. <span style="mso-spacerun: yes;"> </span>But what can we generally agree
on in terms of PRT’s eventual role? <span style="mso-spacerun: yes;"> </span>About the objectives that are important to the
environment, the society, the economy, etc.? <span style="mso-spacerun: yes;"> </span>What qualities will create the potential for a
pervasive system? <span style="mso-spacerun: yes;"> </span>What qualities will eventually
permit the most efficient management of the system? </div>
<div class="MsoNormal">
<br /></div>
<span style="font-family: "calibri" , "sans-serif"; font-size: 11.0pt; line-height: 115%;">Extensibility and forward-compatibility are vitally
important, even in the areas of ownership, management, societal benefit, etc. <span style="mso-spacerun: yes;"> </span>These factors can influence choices that
foster the widespread proliferation of PRT or keep it as a fringe technology
that only benefits a few. <span style="mso-spacerun: yes;"> </span>I advocate
going beyond the narrow scope of practical first steps, and into a broader
discussion of all of the qualities that are needed for ideal future terrestrial
transportation so that we may better steer in that direction. <span style="mso-spacerun: yes;"> </span>The priorities of such a hypothetical system
are surely different than those of systems that are being promoted as already set
for deployment. <span style="mso-spacerun: yes;"> </span>Still it is an exercise
that we need to do, especially since what is being offered is finding such
tepid acceptance. <span style="mso-spacerun: yes;"><br /></span></span>Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com4tag:blogger.com,1999:blog-4063450658421522356.post-80676669869245197482013-01-16T22:51:00.000-06:002017-02-25T11:09:30.046-06:00151> Forward Compatibility and Extensibility<!--[if gte mso 9]><xml>
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjBlScDPVu1_ClCXQoT5R3143tKR0MzOlDfpOTpoF3TqggUA2_quTPm46lmTMHRK73a2EPlqEEpOkGSNL_gT7WMpgJJgSG_bXVzfFMhbZdE97Rl9DvA_YgvEO9rC8-PkVEohnop1QgcZofC/s1600/minimal+SMART+PRT+station.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="355" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjBlScDPVu1_ClCXQoT5R3143tKR0MzOlDfpOTpoF3TqggUA2_quTPm46lmTMHRK73a2EPlqEEpOkGSNL_gT7WMpgJJgSG_bXVzfFMhbZdE97Rl9DvA_YgvEO9rC8-PkVEohnop1QgcZofC/s400/minimal+SMART+PRT+station.jpg" width="400" /></a></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
A great PRT design should squarely address forward
compatibility and extensibility. These are two distinct, although related,
concepts.<span style="mso-spacerun: yes;"> </span>To be forward compatible a
current system must be designed to gracefully interact with future versions of
itself. This is extremely important with PRT because the track or guideway will
generally become a permanent piece of infrastructure whose design should
support any conceivable future vehicle improvements.</div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Extensibility is somewhat different. It is the ability of a
system to be adapted to whole new uses. An example for PRT would be to use the
system to deliver freight. Designing to be extensible is a whole different
challenge because it tends to conflict with the optimization of a system for
the original purpose. Nevertheless it certainly seems silly to foreclose future
functionality through design decisions that might otherwise be completely
arbitrary. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
Some current PRT offerings seem to have been forced, presumably
by financial restraints, to curtail design features that would enhance forward
compatibility and extensibility. It remains to be seen whether this strategy
helps PRT adoption or actually hurts it by limiting the flexibility needed to
address a city’s varying needs. </div>
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<br /></div>
<div class="MsoNormal">
One example of this, which we will examine here, is the off-line
station paradigm, which has become an assumed characteristic of PRT. This
notion presupposes a number of issues, most notably a steady flow of would-be
riders at every station site. One of the strengths of PRT is that it does not
rely on aggregating passengers to fill large vehicles. This advantage is traded
away, however, when the cumulative cost of feeder track and an elevated station
effectively means that it must be busy at all times to pay for itself. This
requires a pedestrian density that typically won’t be found throughout the
city. Yet PRT is envisioned as a distributed network – one that only realizes
its full promise with large geographical reach and many stations. If you have
already grouped people together, and you are sending them all to one of only a
few destinations, what is the point of doing it in individualized vehicles?
Sure, the individualized vehicles make the system extensible…just add track.
But does the city’s layout include contiguous station sites with sufficient pedestrian
density to make each station viable?</div>
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<br /></div>
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One idea that I have never seen discussed is to have low speed
loops that serve minor stations, each having only a very short
drive-in-back-out spur. In such an arrangement these loops would act as feeders
for a more conventional route with greater speeds and capacity, similar to the
feeder roads along freeways but looping away to get greater geographical reach.
The regular line would have the more conventional off-line stations. In this
design, which works like a typical residential road where residents back out of
their driveways, vehicles would obviously need to wait their turn, just like
the road-based counterpart. Still, significant local traffic can pass without
this being a significant disruption. The idea would be to keep each loop small
enough to limit traffic to just a few vehicles per minute. This would presumably
be able to service several city blocks in areas where there are no high-rise
buildings to create high peak demand. With a control system that allows
variable vehicle speed, vehicles on such a slow loop can exit at very low
speeds, meaning the spur would be a sharp turnoff, and not a long <span style="mso-spacerun: yes;"> </span>deceleration ramp. </div>
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<br /></div>
<div class="MsoNormal">
The picture at the top of the page shows how, in a fully 3D
system, a spur can be dropped anywhere. <span style="mso-spacerun: yes;"> </span>Bus
stops are particularly attractive destination choices, since they come
readymade with seating and at least some sort of cover. The picture below shows
a portion of a traditional PRT loop with low speed track serving the areas
within. In this example there is one way in and two ways out, but there are
probably hundreds of other possible configurations. In this example the same deceleration/acceleration
ramps are used for off-line stations and to access the slow loop. </div>
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<br /></div>
<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgE0ntcX76j9D0g0kCKQV2LYksbIUc1URdvRXZ-aA_NaUtO5Xx0z6sbJsgnq3aGK3FNsdTKmNdjUYAVOeohhna826Adw5vZdW8izk-LINwWy0Zb4J4lxDUtmM2-Ut2bBN951LZmwh_7ldr4/s1600/SMART+PRT+Stations.jpg" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="304" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgE0ntcX76j9D0g0kCKQV2LYksbIUc1URdvRXZ-aA_NaUtO5Xx0z6sbJsgnq3aGK3FNsdTKmNdjUYAVOeohhna826Adw5vZdW8izk-LINwWy0Zb4J4lxDUtmM2-Ut2bBN951LZmwh_7ldr4/s320/SMART+PRT+Stations.jpg" width="320" /></a></div>
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<br /></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
It should be noted that the low speed track can be
manufactured more cheaply than higher speed track because it can be designed
for greater headway, (less weight) sharper turns, (kept within an easement) can
be designed to never admit heavier vehicles, and would not have as much stress from
vehicle inertia. It would also require less copper because of the scant traffic
load. </div>
<div class="MsoNormal">
<br /></div>
<div class="MsoNormal">
To bring this all back to the subjects of extensibility and
forward compatibility, this is an example of designing PRT with both in mind, especially
in the direction of less expense and greater coverage. Larger, heavier or faster
systems will necessarily cost more, and this is what cities are most likely to
seek when there is an immediate, otherwise intractable problem. PRT
configurations need to address these immediate concerns first. But for a long-term,
more comprehensive mobility solution, a more extensive network is needed. Thus there
is a need for extensibility toward the lighter, cheaper track and stations that
could put more areas in reach. On the other side of the coin, in a growing
city, faster, longer range (and maybe even bigger) solutions will be increasingly
needed, so a system should be able to grow into those roles as well. </div>
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<br /></div>
<div class="MsoNormal">
Clearly, it is less challenging and more straightforward to
simply say, “Here is our vehicle, here is our track, and here is our station,” and
a product that involves a confusing array of choices is hard to introduce into
the marketplace. But the ability of a particular PRT system to evolve and improve
would seem to be an important measure of its worth as well.</div>
Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com2tag:blogger.com,1999:blog-4063450658421522356.post-30481298930243298592012-12-25T23:25:00.000-06:002017-02-25T10:57:46.475-06:00150> A Little Present for Myself...<!--[if gte mso 9]><xml>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNhJtGnyGdcf3xQQ27ylmXJ39r1PoKLVG6NwYDMD9486AmbBdtV4Dhb4ORcReb98rMEoJ8r_3lCQIz9gPetWuPfSEp_up9m6THBHYZKe1X6_k1-csKdICgfJoXhszPOqHRtfxxmv9IYRoa/s1600/DSC01211.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="382" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhNhJtGnyGdcf3xQQ27ylmXJ39r1PoKLVG6NwYDMD9486AmbBdtV4Dhb4ORcReb98rMEoJ8r_3lCQIz9gPetWuPfSEp_up9m6THBHYZKe1X6_k1-csKdICgfJoXhszPOqHRtfxxmv9IYRoa/s400/DSC01211.JPG" width="400" /></a></div>
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<div class="MsoNormal">
Well, folks, I thought I would mark the season on a more
personal note than usual. I wanted to share with you a small Christmas present
I got for myself. This is the motor unit from the cheapest ceiling fan available
from Home Depot… $25 USD. I bought this because I am toying with the idea of
building a working scale model of the SMART PRT platform. This is something
that has been in the back of my mind for a while, but I have always been
thinking small – like 1/8<sup>th</sup> scale. That degree of miniaturization,
however, gives little leeway, dimension-wise, and so requires a lot of specialty
parts and machine shop work. As I was browsing the internet, looking for useful
robot parts, I noticed that most of the affordable components were of a size more
suitable for a quarter-scale model. It turns out that if you want to build something
like this a good size is the dimensions of a battlebot. The downside is that
any track layout won’t be something you can put in the spare bedroom! Nonetheless,
I started looking for hub motors that would fit in a 6” wheel. Unfortunately
even the ones for bicycle conversion seem to be too big, and not exactly what I
would want anyway. I was, however, reminded of various Youtube videos which explain
how to make little wind generators out of ceiling fan motors by placing rare
earth magnets around the inside of the casing. This is, in essence, also a brushless
DC hub motor, and if you rewire the coil leads, it could be given the
characteristics of a multi-polar stepper or servo motor. This motor happens to
be exactly one quarter scale, if you add a little rubber around the outside for
traction. <span style="mso-spacerun: yes;"> </span><span style="mso-spacerun: yes;"> </span></div>
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Anyway, the idea appeals to me, and so I am exploring what
it would take… even though the last thing I need is a new project. I have too
many ongoing ones already! I must confess, though, that I have drawers full of
electromechanical junk that I would like to find a use for and robotics has
become an increasingly affordable hobby and one I have always wanted to dabble
in. <span style="mso-spacerun: yes;"> </span>Also, maybe the robotics aspect of
this project is something that would attract a whole new crowd. After all, the
swing-arm aspect of the design is not all that different from the standard three-axis
articulating arm that is standard on industrial robots. There are high school kids
making these things nowadays. It can be even be done with Legos. </div>
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<div class="separator" style="clear: both; text-align: center;">
<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIm-u3f-jY7gJVgwKURg32IRrtbXUI2wlyyElP4DFmWg2Q7dAiWC4Ob03BJ_h_YDwcF-1GtDjOP9J0kFTfPBc-ZtceYO27qELPTkS3DigquT5jf3I_pj2ieMqoH7S0PmrRS-Dp2U-DSiBh/s1600/DSC01212.JPG" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="278" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiIm-u3f-jY7gJVgwKURg32IRrtbXUI2wlyyElP4DFmWg2Q7dAiWC4Ob03BJ_h_YDwcF-1GtDjOP9J0kFTfPBc-ZtceYO27qELPTkS3DigquT5jf3I_pj2ieMqoH7S0PmrRS-Dp2U-DSiBh/s400/DSC01212.JPG" width="400" /></a></div>
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This is what the motor looks like inside, with the outer
inductive ring removed. (The ring pulls the outer case around.) Actually there
is quite a lot of space. </div>
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Well, I’m not going to rush out and buy the other three fans
quite yet. With stuff like this I need to hold off a bit, dip my toes in, and
make sure I’m really up for it, or it will just become more junk for my
collection. But I really had to at least pop one of these things open to see
for myself, and, after all, it IS Christmas… <i><b>Happy holidays!</b> </i></div>
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<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgmKrVke0Im68eCsmFLhTcMMrI7v7bujSOshv5njZtZeDb7U9UCPRsiJwMzBlLlHADNHNpNMht6nXgT1UFfitcYoh6vlCPLuNm2mmcz7z6lxlpzTHYkohhNSA4smciGvMvAInt_IlGJ9zs/s1600/SMART+PRT.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="386" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgmKrVke0Im68eCsmFLhTcMMrI7v7bujSOshv5njZtZeDb7U9UCPRsiJwMzBlLlHADNHNpNMht6nXgT1UFfitcYoh6vlCPLuNm2mmcz7z6lxlpzTHYkohhNSA4smciGvMvAInt_IlGJ9zs/s400/SMART+PRT.png" width="400" /></a></div>
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Danhttp://www.blogger.com/profile/16303568401426087509noreply@blogger.com0