A review on the prospects of mobile manipulators for smart maintenance of railway track

Inspection and repair interventions play vital roles in the asset management of railways. Autonomous mobile manipulators possess considerable potential to replace humans in many hazardous railway track maintenance tasks with high efficiency. This paper investigates the prospects of the use of mobile manipulators in track maintenance tasks. The current state of railway track inspection and repair technologies is initially reviewed, revealing that very few mobile manipulators are in the railways. Of note, the technologies are analytically scrutinized to ascertain advantages, unique capabilities, and potential use in the deployment of mobile manipulators for inspection and repair tasks across various industries. Most mobile manipulators in maintenance use ground robots, while other applications use aerial, underwater, or space robots. Power transmission lines, the nuclear industry, and space are the most extensive application areas. Clearly, the railways infrastructure managers can benefit from the adaptation of best practices from these diversified designs and their broad deployment, leading to enhanced human safety and optimized asset digitalization. A case study is presented to show the potential use of mobile manipulators in railway track maintenance tasks. Moreover, the benefits of the mobile manipulator are discussed based on previous research. Finally, challenges and requirements are reviewed to provide insights into future research

Optical Fibre Sensors applied to condition and structural monitoring for the marine and rail transport sectors

This thesis reports the development of a suite of FBG-based optical fibre sensors for non-destructive testing (NDT) and illustrating their potential for several specific industrial applications in the marine and railway sectors. These arose from work driven by the needs of project collaborators from these industries and are intended to be illustrative of the wider potential applications that optical fibre sensors have for measurements in different industrial sectors. The research has involved the development of new sensor system designs to meet these needs, building as they do upon a comprehensive review of NDT technologies and solutions, discussed in some detail. In this research for the marine sector, a single FBG-based acoustic sensor was specifically developed and evaluated and compared with the performance of conventional sensors. To do so, a metal plate to which the sensors were fixed was excited with a sonotrode, at a resonant frequency of 19.5 kHz. The signal reflecting that acoustic excitation was captured by the FBG sensors designed and implemented and their performance has been shown to be comparable with that from conventional, industry-standard piezoelectric transducers (PZTs). Preliminary work undertaken for the sponsors then lead to the further development of an acoustic sensor array comprising of 3 FBGs, which was subsequently validated against co-located PZTs which all were installed on a glass plate and excited in an industry-standard way, through the acoustic signal from a 0.2 g steel ball dropped onto the plate. When signals were analysed and compared, the positive comparative performance outcomes from the sensors used enabled further the design and implementation of instrumentation for a marine lifting surface using a different array, designed comprising 4 FBG-based acoustic sensors. Extensive tests on the smart marine lifting surface created were undertaken under water with a sonotrode set at 26 kHz as an excitation source. Based on the arrival time of acoustic signals captured by each grating and the use of triangulation method, the location of the excitation source could thus be determined, to meet the needs of the industrial sponsor and show good agreement with the outputs of conventional sensor systems. In parallel with the above, a further new industrial application of FBG-based sensor arrays was developed for a major player in the field, for the first time successfully instrumenting a railway current-collecting pantograph to allow reliable, remote in situ monitoring of key parameters: the contact force and contact location of the pantograph against the catenary. The optical fibre sensor approach has been shown to be an excellent means of measurement whose performance can be extrapolated to situations where the train is driven at high speeds up to 125 mph and powered from a high voltage line at 25 kV, in this design taking full advantages of the immunity of the optical fibre sensors to electromagnetic interference. In this research, key technical performance challenges were addressed and successfully overcome, including the temperature compensation needed for ‘all-weather’ performance, due to the intrinsic cross-sensitivity problems of using a FBG-based design being been fully addressed. This ensures the accurate measurement of the contact force/location between the pantograph and the catenary under all weathers. The research concludes by considering future directions for the work in these and other industry sectors

A deep learning approach towards railway safety risk assessment

Railway stations are essential aspects of railway systems, and they play a vital role in public daily life. Various types of AI technology have been utilised in many fields to ensure the safety of people and their assets. In this paper, we propose a novel framework that uses computer vision and pattern recognition to perform risk management in railway systems in which a convolutional neural network (CNN) is applied as a supervised machine learning model to identify risks. However, risk management in railway stations is challenging because stations feature dynamic and complex conditions. Despite extensive efforts by industry associations and researchers to reduce the number of accidents and injuries in this field, such incidents still occur. The proposed model offers a beneficial method for obtaining more accurate motion data, and it detects adverse conditions as soon as possible by capturing fall, slip and trip (FST) events in the stations that represent high-risk outcomes. The framework of the presented method is generalisable to a wide range of locations and to additional types of risks

14th Conference on Dynamical Systems Theory and Applications DSTA 2017 ABSTRACTS

From Preface: This is the fourteen time when the conference “Dynamical Systems – Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and the Ministry of Science and Higher Education. It is a great pleasure that our invitation has been accepted by so many people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcome nearly 250 persons from 38 countries all over the world. They decided to share the results of their research and many years experiences in the discipline of dynamical systems by submitting many very interesting papers. This booklet contains a collection of 375 abstracts, which have gained the acceptance of referees and have been qualified for publication in the conference proceedings [...]

30th International Conference on Condition Monitoring and Diagnostic Engineering Management (COMADEM 2017)

Proceedings of COMADEM 201

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

A Study of Manufacturable Rib-to-Floor Beam Connections in Steel Orthotropic Bridge Decks

Implementation of steel orthotropic bridge decks is limited due to fatigue performance concerns and high initial cost owing to fabrication demands brought on by elaborate designs and detailing to achieve acceptable fatigue resistance of the welded connections in the deck. Simpler details that provide acceptable fatigue performance can result in improved manufacturability, reduced fabrication cost, and increased implementation of orthotropic steel decks. Modern orthotropic decks are designed with ribs that pass continuously through matching cutouts in the floor beam, often with an extended cutout in the floor below the rib, and with or without internal bulkhead plates or stiffeners. The rib-to-floor beam welded connection is the most labor intensive and fatigue sensitive. Accordingly, existing generalized rib-to-floor beam connection types that are in-service in North America were identified and assessed for manufacturability. The connection types that appeared promising in terms of fatigue performance and potential for automated fabrication were further analyzed.Multi-level 3D linear elastic finite element analyses (FEA) were performed using a model of a steel orthotropic deck integrated with steel box girders developed in a previous study. Additional submodels were developed with variations of the rib-to-floor beam connections and floor beam depths. The response of the critical rib-to-floor beam connection, under critical symmetric and eccentric loading conditions, with respect to the FB, was analyzed under the rear axle loads of an AASHTO fatigue truck to assess the fatigue performance of the critical rib-to-floor beam connection.The study showed that the stresses in the floor beam were primarily in-plane, and the contribution of the out-of-plane stress component was negligible. For the depth of the floor beams considered in this study, no appreciable effect of the floor beam depth could be discerned. The rib-to-floor beam connections within the shear span of the floor beam adjacent to the primary load carrying component. The load bearing floor beams, both with and without an extended cutout, experienced significant stress concentrations at the floor beam cutouts. Without an internal stiffening, the connection with an extended cutout that terminates square on the rib wall and having wrapped-around fillet welds, although promising for automated fabrication, exhibited greater stress concentration compared to a connection that employed a complete joint penetration groove welded detail and tangential termination on the rib wall.No evidence of rib-to-floor beam connection automation could be found in the published literature or in the anecdotal information. The literature review identified that continuous welding of RFB connections would be a challenge due to welding against and with gravity. Welding against gravity would be the preferable method for depositing welds of acceptable profile and shape. For continuous welding, the deck may have to be manipulated either by standing vertically up or by rotating about an axis. For fitted floor beams, match cutting would be necessary if a tight fit-up is specified. Alternatively, a larger fit-up gap along with PJP welded connection would be more cost-effective

Vibration, Control and Stability of Dynamical Systems

From Preface: This is the fourteenth time when the conference “Dynamical Systems: Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and Ministry of Science and Higher Education of Poland. It is a great pleasure that our invitation has been accepted by recording in the history of our conference number of people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcomed over 180 persons from 31 countries all over the world. They decided to share the results of their research and many years experiences in a discipline of dynamical systems by submitting many very interesting papers. This year, the DSTA Conference Proceedings were split into three volumes entitled “Dynamical Systems” with respective subtitles: Vibration, Control and Stability of Dynamical Systems; Mathematical and Numerical Aspects of Dynamical System Analysis and Engineering Dynamics and Life Sciences. Additionally, there will be also published two volumes of Springer Proceedings in Mathematics and Statistics entitled “Dynamical Systems in Theoretical Perspective” and “Dynamical Systems in Applications”

Infrastructure Design, Signalling and Security in Railway

Railway transportation has become one of the main technological advances of our society. Since the first railway used to carry coal from a mine in Shropshire (England, 1600), a lot of efforts have been made to improve this transportation concept. One of its milestones was the invention and development of the steam locomotive, but commercial rail travels became practical two hundred years later. From these first attempts, railway infrastructures, signalling and security have evolved and become more complex than those performed in its earlier stages. This book will provide readers a comprehensive technical guide, covering these topics and presenting a brief overview of selected railway systems in the world. The objective of the book is to serve as a valuable reference for students, educators, scientists, faculty members, researchers, and engineers