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11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
National Organizing Committee Chair: Co-chair: Members:
F. Middelham (RWS-AVV) H.J. van Zuylen (TU-Delft) E.C. van Berkum (U-Twente) B. De Schutter (TU-Delft) F. op de Beek (DHV/TNO) J.J. Klijnhout (RWS-AVV) P. Potters (ITS Netherlands)
International Program Committee Chair: H.J. van Zuylen (NL) Co-Chair: P. Ioannou (US) Members: T. Aphamis (CY) T. Bellemans (BE) P. Damianou (CY) T. Degre (FR) A. Elmoudni (FR) A. Ferrara (IT) R. Genser (AT) K. Hasegawa (JP) A. Iftar (TR) M. Kaczmarek (PL) L.H. Lan (VIE) K. Leblebicioglu (TR) V. Mauro (IT) G. Papageorgiou (CY) S. Peeta (US) A. Pitsillides (CY) I. Ribeiro (PT) T. Stoilov (BG) S. Tsugawa (JP) N. Zheng (CN) B. Van Arem (NL) J-M. Vandeclisse (BE)
N. Bhouri (FR) B. De Schutter (NL) N. Gartner (US) A. Hegyi (NL) W.J.J. Knibbe (NL) P. Martens (BE) M. Papageorgiou (GR) E. Schnieder (DE) J. Szpytko (PL) A. Stathopoulos (GR) M. Zauner (AT)
Organizers RWS-AVV (www.rws-avv.nl) Ministry of Transport and Public Works Transport Research Centre AVV, Rotterdam TU-Delft (www.transport.tudelft.nl) Delft University of Technology, Faculty for Civil Engineering and Geosciences Delft Center for Systems and Control, Delft TRAIL (www.rstrail.nl) Netherlands Research School for TRAnsport, Infrastructure and Logistics, Delft U Twente (www.utwente.nl) University of Twente, Faculty of Engineering Technology Centre for Transport Studies, Enschede Connekt / ITS Netherlands (www.connekt.nl), Delft
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Contacts Frans Middelham Chair of the National Organizing Committee Ministry of Transport and Public Works Transport Research Centre (AVV) P.O. Box 1031 3000 BA Rotterdam The Netherlands tel: +31 - 10 - 282 5880 fax: +31 - 10 - 282 5644 email: [email protected] Nicole Fontein Symposium Secretariat Delft University of Technology P.O. Box 5048 2600 GA Delft The Netherlands tel: +31 - 15 - 278 8671 fax: +31 - 15 - 278 3179 email: [email protected] Previous symposia were held at 1970: 1st Symposium, Versailles, France 1974: 2nd Symposium, Monte Carlo, Monaco 1976: 3rd Symposium, Columbus, Ohio, USA 1983, 4th Symposium, Baden Baden, Germany 1986, 5th Symposium, Vienna, Austria 1989, 6th Symposium, Paris, France 1994, 7th Symposium, Tianjin, China 1997, 8th Symposium, Chania, Greece 2000, 9th Symposium, Braunschweig, Germany 2003, 10th Symposium, Tokyo, Japan
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Preface
The present IFAC Symposium on Control in Transportation Systems is the 11th in a series that started in 1970 in Versailles, France and has been held since then in different countries all over the world. The subject of the Symposium: Control in Transport Systems, has remained highly relevant since then and its importance is still increasing nowadays. This becomes clear from the many papers that were submitted. The Call for Papers generated a very high interest. More than 130 draft papers were received and after review, evaluation and selection of the submissions by members of the International Programme Committee (IPC) and definitive registration there remained a total of 112 contributions for presentation during the Symposium. The papers represent a great variety of subjects, which is reflected in the final program: traffic control on highways, on ramps, and intersections, road traffic monitoring, traffic flow modeling, control of railways, waterways and air traffic, and vehicle control. About 130 participants from 22 countries and from all continents, will participate in the Symposium. We hope that this meeting will on the one hand be the continuation and on the other hand the kick-off for an intense knowledge transfer between • Scientists, policy makers, consultants, technicians and suppliers • Scientific disciplines involved, as engineering, mathematics and computer science • Approaches like analysis, design, optimization and simulation • Theory and practice Control in transport systems is a challenging area of research, development and application. New developments are needed in a time where transport is a most important corner stone of our society with a high economic value. In a time where transport safety, security and reliability are critical factors, the environmental impact of transport has to be reduced, the dependence on fossil fuels becomes a bottleneck and the growth of the transport infrastructure can not keep pace with the growth of transport demand. Innovations have to be developed and the existing technologies have to be improved and adapted to new conditions and new goals. Many challenges are around us and this symposium may help to find answers to them. On behalf of the International Program Committee Prof. Dr. Henk J. van Zuylen
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Welcome, participants, presenters and other delegates at the 11th IFAC Symposium on Control in Transportation Systems. Hosting the IFAC-CTS2006 is a real challenge and a real pleasure for both the Delft University of Technology and the Rijkswaterstaat Transport Research Centre AVV. In Delft the theory of the university and the practice of a public body like the Ministry of Transport’s Rijkswaterstaat come together. The National Organizing Committee, further constituted with representatives of the University Twente, the TRAIL Research School, Connekt / ITS Netherlands and DHV/TNO, brought together the experience needed to compile a diversified program. The goal of IFAC-CTS2006 is to create an effective bridge between theory and practice, research and community. Many thanks to all authors who have donated their time and effort to ensure the success of our Symposium. Many thanks also to all members of the International Program Committee for their efforts in reviewing the draft papers. It was in 1976 that I for the first time attended an IFAC-CTS Symposium. It was the 3th meeting in Columbus Ohio in the United States. Since then I had the opportunity to visit Paris in France (1989), Tianjin in China (1994), Chania on Crète in Greece (1997), Braunschweig in Germany (2000) and Tokyo in Japan (2003). At all these meetings it was possible to learn more about what is going on in the world of transport and transportation. Obviously the world has changed in 30 years. A major difference is the availability of computer power, literally at their desktop, to all researchers, scientists and practitioners . Another difference is the almost unlimited accessibility to almost all information in any field of science via the internet. However what still is, and always will be, needed is a structured approach, overview and careful implementation and testing of new ideas. This is the ultimate goal of the Rijkswaterstaat Testcentre in Delft, which is the venue on the last day of our Symposium. Control engineering practice reaches from microscopic views on behavior of man and machines up to the management of large events like the Olympic Games. Control is present in all types of modes of transport and transportation. In 112 presentations our Symposium will bring you a cross-section. I hope you will enjoy attending this Symposium and appreciate the social program with a welcoming cocktail on August 29th at Connekt / ITS Netherlands and on Wednesday August 30th with a dinner in the Mini city of Madurodam. On behalf of the National Organization Committee Frans Middelham
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Venue: Civiele Techniek, Stevinweg 1, 2628 CN Delft, The Netherlands Room A Room B Room C Room D Date Time Registration 08.00-09.30 Welcome Address 09.30-09.40 Keynote Address and Plenary Speech I 09.40-10.30 Coffee/Tea Break 10.30-11.00 Tu.A.1 Tu.B.1 Tu.C.1 Tu.D.1 11.00-13.00 Freeway Monitoring Signal control Air Traffic Control and Estimation (Coordination) Lunch 13.00-14.00 Tuesday Tu.A.2 Tu.B.2 Tu.C.2 Tu.D.2 August 14.00-16.00 Ramp Metering I Urban and Rural Marine Traffic 29th Network Control Control Coffee/Tea Break 16.00-16.30 Tu.A.3 Tu.B.3 Tu.C.3 Tu.D3 Decision Support Signal Control Railway Traffic 16.30-18.00 and Evacuation Control I Planning Reception at Connekt/ITS Netherlands 18.00-20.00 Kluyverweg 6, 2629 HT Delft Venue: Civiele Techniek, Stevinweg 1, 2628 CN Delft, The Netherlands Room A Room B Room C Room D Time Date Registration 08.00-09.00 Plenary Speeches II + III 09.00-10.00 Coffee/Tea Break 10.00-10.30 We.A.1 We.B.1 We.C.1 We.D.1 10.30-12.30 Ramp Metering II Isolated Intersection Railway Traffic Control Control II Lunch 12.30-13.30 We.A.2 We.B.2 We.C.2 We.D.2 Wednesday August Freeway Control Signal Control (PT Vehicle Control 13.30-15.30 30th priority) Coffee/Tea Break 15.30-16.00 We.A.3 We.B.3 We.C.3 We.D.3 Regional Traffic Urban and Rural Traffic 16.00-17.30 Management Network Modelling Management Vision Departure for Dinner 17.30-18.00 Dinner at Madurodam, George Maduroplein 1, 2584 RZ The Hague 18.00-22.00 Venue: Rijkswaterstaat Testcentre, Kluyverweg 4, 2629 HT Delft Room A Room B Room C Room D Time Date Registration 08.00-09.00 Th.A.1 Th.B.1 Th.C.1 Th.D.1 Transportation and Network Wide Vehicle and 09.00-10.30 Logistics Monitoring Propulsion Control Thursday Coffee/Tea Break 10.30-11.00 August Th.A.2 Th.B.2 Th.C.2 Th.D.2 31th 11.00-12.30 Freeway Modelling Rijkswaterstaat Miscellaneous Meeting of Testcentre Subjects IFAC TC7.4 Closing and Box Lunch 12.30-13.00 Technical Tours 13.00-18.00
National Organizing Committee Chair: Co-chair: Members:
F. Middelham (RWS-AVV) H.J. van Zuylen (TU-Delft) E.C. van Berkum (U-Twente) B. De Schutter (TU-Delft) F. op de Beek (DHV/TNO) J.J. Klijnhout (RWS-AVV) P. Potters (ITS Netherlands)
International Program Committee Chair: H.J. van Zuylen (NL) Co-Chair: P. Ioannou (US) Members: T. Aphamis (CY) T. Bellemans (BE) P. Damianou (CY) T. Degre (FR) A. Elmoudni (FR) A. Ferrara (IT) R. Genser (AT) K. Hasegawa (JP) A. Iftar (TR) M. Kaczmarek (PL) L.H. Lan (VIE) K. Leblebicioglu (TR) V. Mauro (IT) G. Papageorgiou (CY) S. Peeta (US) A. Pitsillides (CY) I. Ribeiro (PT) T. Stoilov (BG) S. Tsugawa (JP) N. Zheng (CN) B. Van Arem (NL) J-M. Vandeclisse (BE)
N. Bhouri (FR) B. De Schutter (NL) N. Gartner (US) A. Hegyi (NL) W.J.J. Knibbe (NL) P. Martens (BE) M. Papageorgiou (GR) E. Schnieder (DE) J. Szpytko (PL) A. Stathopoulos (GR) M. Zauner (AT)
Organizers RWS-AVV (www.rws-avv.nl) Ministry of Transport and Public Works Transport Research Centre AVV, Rotterdam TU-Delft (www.transport.tudelft.nl) Delft University of Technology, Faculty for Civil Engineering and Geosciences Delft Center for Systems and Control, Delft TRAIL (www.rstrail.nl) Netherlands Research School for TRAnsport, Infrastructure and Logistics, Delft U Twente (www.utwente.nl) University of Twente, Faculty of Engineering Technology Centre for Transport Studies, Enschede Connekt / ITS Netherlands (www.connekt.nl), Delft
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Contacts Frans Middelham Chair of the National Organizing Committee Ministry of Transport and Public Works Transport Research Centre (AVV) P.O. Box 1031 3000 BA Rotterdam The Netherlands tel: +31 - 10 - 282 5880 fax: +31 - 10 - 282 5644 email: [email protected] Nicole Fontein Symposium Secretariat Delft University of Technology P.O. Box 5048 2600 GA Delft The Netherlands tel: +31 - 15 - 278 8671 fax: +31 - 15 - 278 3179 email: [email protected] Previous symposia were held at 1970: 1st Symposium, Versailles, France 1974: 2nd Symposium, Monte Carlo, Monaco 1976: 3rd Symposium, Columbus, Ohio, USA 1983, 4th Symposium, Baden Baden, Germany 1986, 5th Symposium, Vienna, Austria 1989, 6th Symposium, Paris, France 1994, 7th Symposium, Tianjin, China 1997, 8th Symposium, Chania, Greece 2000, 9th Symposium, Braunschweig, Germany 2003, 10th Symposium, Tokyo, Japan
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Preface
The present IFAC Symposium on Control in Transportation Systems is the 11th in a series that started in 1970 in Versailles, France and has been held since then in different countries all over the world. The subject of the Symposium: Control in Transport Systems, has remained highly relevant since then and its importance is still increasing nowadays. This becomes clear from the many papers that were submitted. The Call for Papers generated a very high interest. More than 130 draft papers were received and after review, evaluation and selection of the submissions by members of the International Programme Committee (IPC) and definitive registration there remained a total of 112 contributions for presentation during the Symposium. The papers represent a great variety of subjects, which is reflected in the final program: traffic control on highways, on ramps, and intersections, road traffic monitoring, traffic flow modeling, control of railways, waterways and air traffic, and vehicle control. About 130 participants from 22 countries and from all continents, will participate in the Symposium. We hope that this meeting will on the one hand be the continuation and on the other hand the kick-off for an intense knowledge transfer between • Scientists, policy makers, consultants, technicians and suppliers • Scientific disciplines involved, as engineering, mathematics and computer science • Approaches like analysis, design, optimization and simulation • Theory and practice Control in transport systems is a challenging area of research, development and application. New developments are needed in a time where transport is a most important corner stone of our society with a high economic value. In a time where transport safety, security and reliability are critical factors, the environmental impact of transport has to be reduced, the dependence on fossil fuels becomes a bottleneck and the growth of the transport infrastructure can not keep pace with the growth of transport demand. Innovations have to be developed and the existing technologies have to be improved and adapted to new conditions and new goals. Many challenges are around us and this symposium may help to find answers to them. On behalf of the International Program Committee Prof. Dr. Henk J. van Zuylen
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Welcome, participants, presenters and other delegates at the 11th IFAC Symposium on Control in Transportation Systems. Hosting the IFAC-CTS2006 is a real challenge and a real pleasure for both the Delft University of Technology and the Rijkswaterstaat Transport Research Centre AVV. In Delft the theory of the university and the practice of a public body like the Ministry of Transport’s Rijkswaterstaat come together. The National Organizing Committee, further constituted with representatives of the University Twente, the TRAIL Research School, Connekt / ITS Netherlands and DHV/TNO, brought together the experience needed to compile a diversified program. The goal of IFAC-CTS2006 is to create an effective bridge between theory and practice, research and community. Many thanks to all authors who have donated their time and effort to ensure the success of our Symposium. Many thanks also to all members of the International Program Committee for their efforts in reviewing the draft papers. It was in 1976 that I for the first time attended an IFAC-CTS Symposium. It was the 3th meeting in Columbus Ohio in the United States. Since then I had the opportunity to visit Paris in France (1989), Tianjin in China (1994), Chania on Crète in Greece (1997), Braunschweig in Germany (2000) and Tokyo in Japan (2003). At all these meetings it was possible to learn more about what is going on in the world of transport and transportation. Obviously the world has changed in 30 years. A major difference is the availability of computer power, literally at their desktop, to all researchers, scientists and practitioners . Another difference is the almost unlimited accessibility to almost all information in any field of science via the internet. However what still is, and always will be, needed is a structured approach, overview and careful implementation and testing of new ideas. This is the ultimate goal of the Rijkswaterstaat Testcentre in Delft, which is the venue on the last day of our Symposium. Control engineering practice reaches from microscopic views on behavior of man and machines up to the management of large events like the Olympic Games. Control is present in all types of modes of transport and transportation. In 112 presentations our Symposium will bring you a cross-section. I hope you will enjoy attending this Symposium and appreciate the social program with a welcoming cocktail on August 29th at Connekt / ITS Netherlands and on Wednesday August 30th with a dinner in the Mini city of Madurodam. On behalf of the National Organization Committee Frans Middelham
11th IFAC Symposium on Control in Transportation Systems Delft, The Netherlands August 29-30-31, 2006
Venue: Civiele Techniek, Stevinweg 1, 2628 CN Delft, The Netherlands Room A Room B Room C Room D Date Time Registration 08.00-09.30 Welcome Address 09.30-09.40 Keynote Address and Plenary Speech I 09.40-10.30 Coffee/Tea Break 10.30-11.00 Tu.A.1 Tu.B.1 Tu.C.1 Tu.D.1 11.00-13.00 Freeway Monitoring Signal control Air Traffic Control and Estimation (Coordination) Lunch 13.00-14.00 Tuesday Tu.A.2 Tu.B.2 Tu.C.2 Tu.D.2 August 14.00-16.00 Ramp Metering I Urban and Rural Marine Traffic 29th Network Control Control Coffee/Tea Break 16.00-16.30 Tu.A.3 Tu.B.3 Tu.C.3 Tu.D3 Decision Support Signal Control Railway Traffic 16.30-18.00 and Evacuation Control I Planning Reception at Connekt/ITS Netherlands 18.00-20.00 Kluyverweg 6, 2629 HT Delft Venue: Civiele Techniek, Stevinweg 1, 2628 CN Delft, The Netherlands Room A Room B Room C Room D Time Date Registration 08.00-09.00 Plenary Speeches II + III 09.00-10.00 Coffee/Tea Break 10.00-10.30 We.A.1 We.B.1 We.C.1 We.D.1 10.30-12.30 Ramp Metering II Isolated Intersection Railway Traffic Control Control II Lunch 12.30-13.30 We.A.2 We.B.2 We.C.2 We.D.2 Wednesday August Freeway Control Signal Control (PT Vehicle Control 13.30-15.30 30th priority) Coffee/Tea Break 15.30-16.00 We.A.3 We.B.3 We.C.3 We.D.3 Regional Traffic Urban and Rural Traffic 16.00-17.30 Management Network Modelling Management Vision Departure for Dinner 17.30-18.00 Dinner at Madurodam, George Maduroplein 1, 2584 RZ The Hague 18.00-22.00 Venue: Rijkswaterstaat Testcentre, Kluyverweg 4, 2629 HT Delft Room A Room B Room C Room D Time Date Registration 08.00-09.00 Th.A.1 Th.B.1 Th.C.1 Th.D.1 Transportation and Network Wide Vehicle and 09.00-10.30 Logistics Monitoring Propulsion Control Thursday Coffee/Tea Break 10.30-11.00 August Th.A.2 Th.B.2 Th.C.2 Th.D.2 31th 11.00-12.30 Freeway Modelling Rijkswaterstaat Miscellaneous Meeting of Testcentre Subjects IFAC TC7.4 Closing and Box Lunch 12.30-13.00 Technical Tours 13.00-18.00