driverless line) and L10 run with GoA4 ATO, while L11 runs with GoA3. A pilot for GoA2 ATO on the London Underground saw 1960 Stock trains fitted for ATO running along the Woodford to Hainault section of the Central Line from 1964 until 1986 when the trains were reverted to manual operation. The Victoria line opened in 1968 as the world's first newly built full-scale automatic railway and metro line and has since become the first to have an ATO system replaced. The full Central, Northern, and Jubilee lines have also been upgraded to run with ATO. The Circle, District, Hammersmith & City and Metropolitan lines are currently being modernised with a brand new automatic train control system. The first line to be operated with Automatic Train Operation (ATO) was London Underground's Victoria line, which opened in 1967, although a driver is present in the cabin. Many lines now operate using an ATO system, with the aim of improving the frequency of service. Since then, ATO technology has been developed to enable trains to operate even without a driver in a cab: either with an attendant roaming within the train, or with no staff on board. The first fully automated driverless mass-transit rail network is the Port Island Line in Kobe, Japan. The second in the world (and the first such driverless system in Europe) is the Lille Metro in northern France. The Teito Rapid Transit Authority (TRTA; now Tokyo Metro) piloted GoA2 ATO starting from 1962 on the Hibiya Line between Minami-Senju and Iriya, and subsequently expanded to the entire line in 1970. TRTA 3000 series set 3015 was the first train retrofitted with ATO running, while new trains ordered after 1963 were built-new with ATO. The pilot reportedly lasted until the end of 1987, after which the trains reverted to manual operation. The Hibiya Line pilot was then use as the basis for equipping the Namboku Line, opened in stages between 1991 and 2000, with GoA2 ATO. Sendai Subway Namboku Line, opened in 1987, was the first subway line in the world to use fuzzy logic, developed by Hitachi, to automate the operation of trains at GoA2 level, accounting for the relative smoothness of the starts and stops when compared to other systems at that time, and was stated to be 10% more energy efficient than human-controlled acceleration. Many subway and conventional railway lines in Japan use GoA2