Air Travel at the Edge of Chaos George L. Donohue, Ph.D. Professor Systems Engineering and Operations Research Director of the Center for Air Transportation Systems Research Volgenau School of Information Technology and Engineering NASA Ames Director’s Forum November 16 , 2007 CENTER FOR AIR TRANSPORTATION SYSTEMS RESEARCH © George L. Donohue 2007 Outline • How Bad and widespread is the Problem • What Has Changed Since 1947 • Passenger QOS • Economic Impact • What are the Underlying Causes • Too Many Scheduled Flights into Too Few Runways • Why the Airlines cannot fix the Problem Themselves • Prisoners Dilemma and Curse of the Commons • Safety is the Underlying Capacity Constraint • Current Safety Trends • Airport Arrival Time Slot Auctions • High Payoff Research Topics • NEXTGEN ATM system 2 CATSR What has Changed since 1947? •Transonic vs. Subsonic Aircraft •40,000 ft vs. 20,000 ft Altitude •Avionics: • Flight Management Systems • Required Navigation Perf. 0.1nm • Required Time of Arrival • Traffic Collision Avoidance System – On the Aircraft! • AOC Data Links • Zero Visibility Landing Systems •ATC radar Separation •WHAT HAS NOT CHANGED • Air Traffic Controllers talking to Pilots using WW II AM Radio Technology 3 CATSR Some Little Known Facts •Modern Jet Aircraft “Gate-to-Gate” Travel Time is the Same or Longer than Propeller aircraft (DC-6 circa 1947) for many routes in NE Triangle • Typical Jet Aircraft is 70% Faster and fly's 80% Higher •Jet Aircraft can fly Over most bad weather •Modern Commercial Jet Aircraft can land in very low visibility •Airport Congestion Causes Most ATC Delays and Airline Schedule Padding Masks Real “Gate-to-Gate” Delay 4 CATSR Overscheduled Airports are the Problem: CATSR Average Delay per Flight Ordered by Arrival Delay at Outbound Destination. (minute) [Ning Xu GMU 2007] Airport Delay 40.0 Early-arrival Gap Inbound Delay 30.0 Airborne Delay Arrival Delay at Outbound Dest. 25.0 20.0 15.0 10.0 5.0 0.0 -5.0 -10.0 -15.0 34 OEP Airport Summer 2005 at 34 OEP Airports 5 SAN SLC PDX LAX SFO PHX CVG STL MDW LAS PIT CLE DEN TPA SEA IAH BWI DCA MCO BOS MEM LGA FLL CLT IAD DFW DTW EWR MIA ORD MSP PHL JFK -20.0 ATL Delays per Flight (minute) 35.0 Delay Incurred at Major Airports Propagate Network Wide (Summer 2005) CATSR Total Delay Ordered by Arrival Delay at Outbound Destination. (minute) 20,000 Flight Hours 1450000 850000 Airport Delay Early-arrival Gap Inbound Delay Airborne Delay 650000 Arrival Delay at Outbound Dest. 1050000 450000 250000 50000 -150000 -350000 34 OEP Airport 6 [Ning Xu GMU 2007] PDX MEM SAN SLC STL PIT TPA SFO MDW CLE CVG FLL SEA BWI LAS LAX MIA PHX DCA MCO CLT IAD IAH LGA JFK BOS DEN DTW MSP PHL EWR DFW ORD -550000 ATL Total Delays (minute) 1250000 NYNJ comparison to Comparable European Airports Airport Frankfurt, Gr (FRA) London, UK (LHR) Newark (EWR) Amsterdam, NL (AMS) New York Laguardia (LGA) Munich (MUC) New York Kennedy (JFK) Madrid, Sp (MAD) Total Movements 2005 490,147 477,884 437,402 420,736 404,853 398,838 <353,000 415,677 Data taken from ACI-NA, EC PR2006 and FAA ASPM 7 2000 458,731 466,815 450,187 432,480 384,554 <384,000 <384,000 Total Passengers 2005 52,219,412 67,915,403 33,999,990 44,163,098 <29,000,000 <29,000,000 41,885,104 41,940,059 2000 49,360,630 64,606,826 34,188,468 39,606,925 <28,000,000 32,856,220 32,893,190 CATSR Average Delays Minutes 2006 2.7 3 28.8 0.7 23.4 1.8 24.3 1.8 Air Transportation System (ATS) is a CAS with 6 Interacting Network Layers •The ATS is a Public - Private Partnership with conflicting objective functions: •Public – Commerce and safety; interest groups •Private – Profit maximization Passenger/Cargo Layer (Delays, Cancellations) Airline Layer (Routes, Schedules, A/C size) TSA/FAA Layer (ATC Radar, Radios, Ctr’s, Unions) Weather Layer (Thunderstorms, Ice Storms) Physical Layer (i.e. Cities, Airports, Demographics) Government Regulatory Control Layer 8 CATSR Air Transportation System is Designed to Move Passengers and Cargo Passenger Tier Performance = f (Vehicle Tier Performance, Passenger Factors i.e. Aircraft Gauge, Load Factor, Cancellations) 9 CATSR Passenger Total Delay – Airports • • 10 of the OEP-35 airports Æ 50% Total EPTD some airports significantly impact Passenger Delay more than others (e.g. ORD, ATL, DFW and MCO) 50% Close Network of OEP35 Airport in 2004 10 CATSR 200 Routes generate 50% of Total Passenger Delay • • 17% of the 1044 routes between OEP-35 airports Æ 50% Total EPTD LGA, JFK, EWR, PHL connected Routes Æ 11 out of top 20 routes 50% Close Network of OEP35 Airport in 2004 11 CATSR Top 20 Worst Airports in the US: Passenger Quality of Service Metric 2004 Year Rank 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 12 Airports ORD EWR LGA PHL ATL MIA FLL MCO DFW LAS BOS SFO IAD JFK CLE SEA TPA STL PDX BWI Prob. Of PaxDelay >45 min 14% 14% 13% 12% 11% 9% 9% 9% 9% 9% 9% 9% 9% 9% 9% 8% 8% 8% 8% 8% 2005 Prob. Of PaxDelay Airports >45 min 18% EWR 17% LGA 14% ATL 13% PHL 13% BOS 12% ORD 12% FLL 12% JFK 11% MIA 11% SFO 10% SEA 10% IAD 10% TPA 10% MCO 9% BWI 9% PIT 9% PDX 9% DTW 9% LAS 9% DCA 2006 Airports ORD EWR LGA PHL JFK IAD MIA ATL MDW DTW DFW BOS DEN CLT IAH CLE PIT DCA MEM SFO Prob. Of PaxDelay >45 min 17% 16% 15% 15% 14% 12% 12% 12% 12% 12% 12% 11% 11% 10% 10% 10% 10% 10% 10% 10% CATSR Average of 2004 to 2006 Airports EWR LGA ORD PHL ATL JFK BOS MIA FLL IAD DFW SFO DTW MCO LAS CLE PIT SEA MDW DCA Prob. Of PaxDelay >45 min 16% 15% 15% 13% 12% 11% 11% 11% 10% 10% 10% 10% 9% 9% 9% 9% 9% 9% 9% 9% D. Wang, GMU PhD. In Progress Many Highly Congested Airports can Shift Passengers to other Large Airports Connecting Airport Passengers % Chicago O'Hare 59 Newark NJ 32 NY LaGuardia 8 NY JFK 40 Philadelphia 38 Atlanta 66 Boston 15 Miami 55 Washington Dulles 53 Dallas/Fort Worth 60 13 FAA 2006 NPIAS CATSR Airline Load Factors are Increasing Percent Aircraft Seats Occupied (Average) 90 Load Factor (Anticipated) 85 80 Load Factor ATA Historical Data 75 70 65 60 55 50 45 1960 1970 1980 1990 Year 14 2000 2010 CATSR GMU Model Projects Passenger Delays to Greatly Exceed 2000 delays by 2010 Total Passenger Delays 160 Delayed Flights Cancelled Flights Poly. (Delayed Flights) Poly. (Cancelled Flights) Hours (millions) 140 120 100 80 60 40 20 1998 2000 2002 2004 2006 2008 2010 2012 Year 15 D. Wang 2007 CATSR Annual Passenger Enplanements Predicted to be Lost: FAA Forecast to 2025 CATSR Annual Projected Enplanements Foregone Because of Airport Capacity Constraints ORD 20 JFK 2025 2015 15 2005 EWR 10 LGA Airports STL TPA SLC SEA SFO PIT SAN PHL PHX PDX ORD MIA MSP MEM MCO MDW LAX LGA LAS IAH JFK IAD FLL HNL DTW EWR DEN DFW DCA CLT CVG BWI CLE ATL 5 0 16 Optimistic: All Planned Airport Improvements Occur All available landing slots fully utilized regardless of congestion 25 BOS Annual Enplanements Lost (Millions) 30 FAA 2005 TAF & 2004 Benchmark Estimated Annual Cost to US (Lost Consumer Surplus, 2005$) due to Expected Airport Capacity Limitations Annual Cost to US Economy ($B) $25 $20 $15 $10 --FAA Assumptions on Growth in Airport Operations --Boeing Passenger Growth Assumptions: 3.6% per year --Aircraft Upgage: 5% in 2015, 10% in 2025 CY2015, All A/P Improvements CY2015, No A/P Improvements Assumes: $200/segment ticket Price Elasticity = -1 CY2025, All A/P Improvements $5 CY2025, No A/P Improvements $0 100% 95% 90% 85% Usable NAS Capacity (%) 17 80% Shaver 2007 CATSR Minimum Congestion Cost is a function of NEXTGEN Technology Effectiveness and Network Efficiency Annual Congestion Cost ($B) $20 Caution: Some Costs Not Included Sum of Costs ($B) $15 Costs Resulting from Passenger Delays and Flight Cancellations $10 $5 Consumer Surplus Costs Resulting From Limiting Airport Slots $0 0.8 0.85 0.9 Congestion Factor 18 0.95 1 CATSR Outline • How Bad and widespread is the Problem • What Has Changed Since 1947 • Passenger QOS • Economic Impact • What are the Underlying Causes • Too Many Scheduled Flights into Too Few Runways • Why the Airlines cannot fix the Problem Themselves • Prisoners Dilemma and Curse of the Commons • Safety is the Underlying Capacity Constraint • Current Safety Trends • Airport Arrival Time Slot Auctions • High Payoff Research Topics • NEXTGEN ATM system 19 CATSR Jet Blue and Delta AL are Competing for the JFK Market: Passengers Pay the Price in Flight Delays and Cancellations JFK Summer 2007 Departures FAA Announced Departure Rate (weekday AVG +/- 2) Airline's Scheduled Departures Flight Departures per 15 Minure Epoch 25 20 15 10 5 0 0 5 AM 20 10 40 AM 3 PM 60 8 PM 80 24 Hours in 15 min. Epochs 20 Midnight 100 120 CATSR Reduction in Average Number of Aircraft Seats by Airport – All Departures 200 180 160 -15.5% 140 120 -12.7% -0.1% -6.8% -11.4% 9.9% -18.9% 100 -4.2% -10.4% 80 60 40 20 0 ATL DFW EWR IAD IAH July 2002 21 JFK July 2007 LGA ORD PHL Dorothy Robyn The Brattle Group CATSR JFK Average Delay Profile (2006) Delay per Flight (minutes) JFK 80 60 40 20 0 -20 -40 0 5 10 15 Time of Day (hour) 22 20 CATSR New York LaGuardia Airport: Case Study of a Slot Controlled Airport Data (2005): • Throughput: • • • • 23 404,853 flights/yr Average flight delay: 38 min Revenue passengers: 26,671,787 Average aircraft size: 96 passenger Average inter-city fare: $133 CATSR NYNJ Airport with Current Slot Controls: LGA 2004 – 2006 (DOT Data) Calculated Capacity (Today) and Actual Throughput LGA Optimum Rate 80 60 Calculated Capacity - Today 60 39,39 40 Arrivals per Hour Delay per Flight (minutes) CATSR 20 0 Facility Reported Rate - LGA (arrivals, departures per hr) 40 Infrequent 20 -20 -40 Most Frequent Each symbol represents actual traffic during a single hour 0 5 10 15 0 20 0 Time of Day (hour) 20 40 60 Departures per Hour Marginal Rate IFR Rate 60 60 37,37 Arrivals per Hour Arrivals per Hour 37,37 40 20 0 24 40 20 0 0 20 40 Departures per Hour 60 0 20 40 Departures per Hour 60 Current Government Rules at LGA Lead to Poor Use of Runway Resources • Inefficient use of resources CATSR Airports win Airlines win (High Load Factor/Large Aircraft) Airports lose Airlines lose (Low load factor/Small Aircraft) 25 Outline • How Bad and widespread is the Problem • What Has Changed Since 1947 • Passenger QOS • Economic Impact • What are the Underlying Causes • Too Many Scheduled Flights into Too Few Runways • Why the Airlines cannot fix the Problem Themselves • Prisoners Dilemma and Curse of the Commons • Safety is the Underlying Capacity Constraint • Current Safety Trends • Airport Arrival Time Slot Auctions • High Payoff Research Topics • NEXTGEN ATM system 26 CATSR Why do the Airlines Schedule beyond the Maximum Safe RW Capacity with Flights that Loose Revenue? CATSR • There is no government regulation to limit schedules for safety or compensate passengers for delays and cancellations • These were errors in the 1978 Deregulation Act • Passenger surveys indicate that frequency and price are the most desirable characteristics of a flight • Passengers are not told of consequences of schedule to travel predictability • If any one airline decided to offer rational schedules, their competition will offer more frequency to capture market share • Thus, still producing delays and cancellations for all • In Game Theory, this is called the Prisoner’s Dilemma 27 Outline • How Bad and widespread is the Problem • What Has Changed Since 1947 • Passenger QOS • Economic Impact • What are the Underlying Causes • Too Many Scheduled Flights into Too Few Runways • Why the Airlines cannot fix the Problem Themselves • Prisoners Dilemma and Curse of the Commons • Safety is the Underlying Capacity Constraint • Current Safety Trends • Airport Arrival Time Slot Auctions • High Payoff Research Topics • NEXTGEN ATM system 28 CATSR Part 121 (Scheduled Commercial) Accident Rates are Increasing 2.5 2 y = 0.0533x + 1.0647 1.5 1 0.5 06 20 05 20 04 20 03 20 02 20 01 20 00 20 99 19 98 19 97 19 19 19 29 96 0 95 c ount per million operations My filtered part-121 Analysis from Zohreh Nazeri,accidents PhD GMU 2007 CATSR Trends for Incidents Associated with Accidents Trends of the factors in incident databases • Pilot factors decreasing • Aircraft factors slowly decreasing • ATC factors increasing 30 800 600 200 0 ATC incidents in FAA/OED data, Terminal 40 30 y = 0.0824x + 29.716 10 0 count per million operations 40 20 y = -3.8007x + 683.79 400 50 19 95 19 96 19 97 19 98 19 99 20 00 20 01 20 02 20 03 20 04 20 05 20 06 count per million operations ATC primary factors in ASRS reports Aircraft primary factors in ASRS reports 1000 19 95 19 96 19 97 19 98 19 99 20 00 20 01 20 02 20 03 20 04 20 05 20 06 y = -7.1868x + 123.33 PhD GMU 2007 count per million operations 160 140 120 100 80 60 40 20 0 19 95 19 96 19 97 19 98 19 99 20 00 20 01 20 02 20 03 20 04 20 05 20 06 count per million operations Pilot primary factors in ASRS reports Analysis from Zohreh Nazeri, 35 30 25 20 y = 1.4581x + 18.118 15 10 5 0 95 96 97 98 99 00 ;01 02 03 04 CATSR ATC factors – Communication Errors CATSR Top complexity factors associated with ATC factors: • number of aircraft in airspace • runway configuration -- airspace design -- controller experience % commerrors Top-10 traf fic complexity f actors associated w ith communcation errors 40.00% 30.00% 20.00% 10.00% ot he r b #a lan k /c ,o th er ai rs pa ce ,# # a/ a/ c, c #a ai ot /c r he , e spa r xp ce er ,o ie nc the rw e, r y ot co he nf r ig ,o th er #a ai /c rsp ,r w ace y co nf ig 0.00% Analysis from Zohreh Nazeri, PhD GMU 2007 These factors will get worse over time: • air transportation is projected to grow for the next 10 years 31 • majority of controllers will retire within next few years Aircraft factors CATSR “Flight Control System” problems growing Other aircraft factors decreasing Aircraft flight control system problems 4.5 4 3.5 3 2.5 2 1.5 1 0.5 0 03 20 02 20 01 20 00 20 99 19 98 19 97 19 96 19 95 y = 0.4037x - 0.2704 19 ar i ng nd c ount per m illion operations so r La As se m Ge bly in g W es pr m Co ion ll is Co Sy s te an Av o id lon Py ll e / ce Na ce ac hm att tr o on tC igh Fl m t en m ys te 0.3 0.2 0.1 0 -0.1 -0.2 -0.3 -0.4 -0.5 -0.6 -0.7 lS tren d lin e slo p Growth of aircraft problems in SDRS data Analysis from Zohreh Nazeri, PhD GMU 2007 32 Safety at Principle Network Nodes (i.e. Airports) is the Constraint CATSR • Aircraft Safety Separation Time over the Runway Threshold sets the ATS capacity limits • Critical Technical Parameters that Define Network Capacity: • • • • 33 Runway Occupancy Time (ROT) Landing Aircraft Inter-Arrival Time (IAT) Capmax = 90 sec IAT at 10-3 PSRO = 40 Arr/RW/Hr Queuing Delay Onset at ~ 80% = 32 Arr/RW/Hr limit for Predictable Performance Queuing Delays set the Practical Capacity Limitation set by Safety Separation Standards CATSR THEORETICAL QUEUEING DELAY 70.00 60.00 DELAY ( Minutes ) •Lack of Schedule Synchronization and 90 second IAT generate Queuing Delays above about 80% of Maximum Runway Capacity Cancellations begin 50.00 40.00 ~ K[rho/(1-rho)] 30.00 20.00 32 Arr/RW/Hr 10.00 0.00 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 DEMAND / MAX. CAPACITY 34 0.8 0.9 1 Data Analysis Process to Estimate: IAT, IAD and ROT pdf’s Airplane i Threshold Airplane i+1 Aircraft Type Heavy Large Large Small Runway Threshold 10:23:14 10:24:28 10:26:16 10:28:32 Leave Runway 10:24:04 10:25:13 10:27:12 10:29:28 ... ... ... Col. Clint Haynie, USA PhD., 2002 35 Yue Xie, PhD. 2005 CATSR ROT vs. IAT to find Simultaneous Runway Occupancy (SRO) Probability: est to be ~ 2 / 1000 CATSR Runway Occupancy Time (sec) SRO Region Inter-Arrival Time (sec) 36 •Detroit Metropolitan Airport (DTW) • Freq (IAT < ROT) ~= 0.0016 in peak periods and 0.0007 overall (including non-peak periods - 1870 total samples) • IMC: 1 / 669= 0.0015 in peak periods • Correlation coefficient = 0.15 [Babak, Shortle and Sherry, 2006] It does Not Have to Be this Way CATSR Runway Occupancy Time (sec) New Avionics & Procedures Existing Avionics and Slot Controls Inter-Arrival Time (sec) 37 Changes in FAA Procedures, Airport Slot Controls and New Avionics Will Improve BOTH Safety and Capacity Summary on Capacity CATSR • 40 Arrival per Runway per Hour is current Safety Maximum • 32 Arrivals per Runway per Hour is ONSET of Queuing Delays • Using Current (OLD) Technology • Using Current (OUTDATED) ATC Procedures • FAA has Refused to Mandate New Technology and Procedures to Reduce the Variability in IAT to Increase BOTH Safety and Capacity 38 Calculated Capacity (Today) and Actual Throughput Optimum Rate CATSR 80 Calculated Capacity - Today Facility Reported Rate - EWR (arrivals, departures per hr) Arrivals per Hour 42, 42 60 40 Infrequent Most Frequent 20 Each symbol represents actual traffic during a single hour 0 0 20 40 60 80 Capacity Increase: Closer Spacing & better Schedule Synchronization Departures per Hour Marginal Rate IFR Rate 80 60 Arrivals per Hour Arrivals per Hour 80 40, 40 40 20 60 33, 33 40 EWR : DoT/FAA 20 0 0 0 39 All Weather 20 40 60 Departures per Hour 80 0 20 40 60 Departures per Hour 80 2004 Capacity Benchmark Report A Natural DoT – Congressional Question? Is There an Optimal Allocation of Scarce Runway Resources? • What would happen if schedules at major airports were Capped at Safe, Predictable Runway Capacity and allocated by a Market mechanism? 40 • What markets would be served? • How would airline schedules change? – Frequency – Equipment (#seats per aircraft) • How would passenger demand change? – At airport – On routes • How would airfares change? – What would happen to airline profit margins? • How would airport and network delays be altered? CATSR Modeling Approach and Assumptions • Port Authority of NY&NJ has the ability to Determine and Set an Optimum Schedule to: • Operate at Competitive Profit Margins • Maximize Passenger Throughput • Ensure an Airline Operating Profit (Max, 90%,80%) • All Current Origin and Destination Markets are Considered • 67 Scheduled Daily Serviced Markets • Current Market Price Elasticity Remains Constant 41 CATSR NY LGA Has 67 Daily Markets 42 CATSR Airline Competitive Scheduling: Modeling Framework Auction IMC Rate: 32 Slots/Hr Demand-Price Elasticity $ ASPM, BTS databases S1 S2 D # Network Flow Optimization Problem Flight schedules Fleet mix Average fare Flight delays Delay Network Simulation 43 (Le, 2006) CATSR Model Estimate of Airline Response to an All Weather Predictable Schedule Restriction CATSR Estimate of Aircraft Up-Gauging 300 •20 % Fewer Scheduled Flights Current Fleet Allocation - 1010 Flts 90% Optimum Fleet Allocation - 806 Flts Number of Daily Flights 250 •Increased Passenger Throughput 200 150 •Same Airfares 100 •Loss of 3 Unprofitable Markets 50 •70% Less Delay 0 19 to 37 44 to 50 69 to 77 88 to 110 117 to 133 138 to 158 Aircraft Seating Capacity 44 166 to 181 194 to 225 Outline • How Bad and widespread is the Problem • What Has Changed Since 1947 • Passenger QOS • Economic Impact • What are the Underlying Causes • Too Many Scheduled Flights into Too Few Runways • Why the Airlines cannot fix the Problem Themselves • Prisoners Dilemma and Curse of the Commons • Safety is the Underlying Capacity Constraint • Current Safety Trends • Airport Arrival Time Slot Auctions • High Payoff Research Topics • NEXTGEN ATM system 45 CATSR The Predicted Growth in Aviation Demand is based on Passenger Demand NOT Aircraft Operations CATSR • Larger Aircraft will be required to meet X2 or X3 demand • Business Jet and VLJ Air Taxi Service will emerge to compete with Commercial aviation due to current System Failure • May not be able to put the Geni back in the Bottle • Environmental Implications? • New Aircraft (e.g. B 787) should be Environmentally Friendly (Emissions/passenger/mi.?) • US airlines are not currently ordering them due to poor financial position • New Public Policy will be needed to Deal with these Complex Adaptive System Problems • NEXTGEN System not addressing these issues 46 IS NGATS addressing the Problem? • ADS-B (out), 4-D trajectories, RNP-0.1 • Good but NOT ENOUGH • Aircraft Gauge, Schedule Synchronization and Network Load Balancing will Be Required • Annual Combinatorial Clock Slot Auctions ? • Aircraft Separation in Terminal Airspace and on the Runways MUST be REDUCED by X3! • Closely Spaced, Fully-coupled Autopilot Formation Landings with 2 – Lane Runways? • Closely Spaced Airports need to be Cross-linked with Runway Independent Air Transport • New Generation of Heavy Lift Helicopters? 47 CATSR Center for Air Transportation System Research Publications and Information • http://catsr.ite.gmu.edu – Other Useful Web Sites • http://mytravelrights.com • http://gao.gov • http://www.airconsumer.ost.dot.gov 48 CATSR