Two hundred years ago these devices were signs, nearly all informal. In the late 19th century signals began to appear in the biggest cities at a few highly congested intersections. They were manually operated, and consisted of semaphores, flags or paddles, or in some cases colored electric lights, all modeled on railroad signals. In the 20th century signals were automated, at first with electromechanical devices and later with computers. Signals can be quite sophisticated: with vehicle sensors embedded in the pavement, the signal can control and choreograph the turning movements of heavy traffic in the most complex of intersections. In the 1920s traffic engineers learned how to coordinate signals along a thoroughfare to increase its speeds and volumes. In the 1980s, with computers, similar coordination of whole networks became possible.