Elevator Repair Service is best known for Gatz, its brilliant micro-epic eight-hour dramatization of the entire text of The Great Gatsby. The experimental company now returns to the Public Theater, under the aegis of the festival Under the Radar, with another literary-minded adaptation—this time, heavily condensed—of James Joyce’s densely witty and allusive 1922 modernist novel, Ulysses, an odyssey through a single day in 1904 Dublin and into the minds of several of its denizens. ERS’s John Collins directs an cast of seven: Maggie Hoffman, Vin Knight, Stephanie Weeks, Kate Benson, Christopher-Rashee Stevenson, Dee Beasnael and principal Gatz man Scott Shepherd (who is also this production’s dramaturg and co-director).