Train control systems ensure the safety of railways. This paper begins with a summary of the typical train control systems in Japan and Europe. Based on this summary, the author then raises the following question rega...Train control systems ensure the safety of railways. This paper begins with a summary of the typical train control systems in Japan and Europe. Based on this summary, the author then raises the following question regarding current train control systems： What approach should be adopted in order to enhance the functionality, safety, and reliability of train control systems and assist in commercial operations on railways？ Next, the author provides a desirable architecture that is likely to assist with the development of new train control systems based on current information and communication technologies. A new unified train control system （UTCS） is proposed that is effective in enhancing the robustness and com- petitiveness of a train control system. The ultimate architecture of the UTCS will be only composed of essential elements such as point machines and level crossing control devices in the field. Finally, a pro- cessing method of the UTCS is discussed.展开更多
A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother r...A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.展开更多
文摘Train control systems ensure the safety of railways. This paper begins with a summary of the typical train control systems in Japan and Europe. Based on this summary, the author then raises the following question regarding current train control systems： What approach should be adopted in order to enhance the functionality, safety, and reliability of train control systems and assist in commercial operations on railways？ Next, the author provides a desirable architecture that is likely to assist with the development of new train control systems based on current information and communication technologies. A new unified train control system （UTCS） is proposed that is effective in enhancing the robustness and com- petitiveness of a train control system. The ultimate architecture of the UTCS will be only composed of essential elements such as point machines and level crossing control devices in the field. Finally, a pro- cessing method of the UTCS is discussed.
基金supported in part by the National Natural Science Founda-tion of China (Grant Nos. 60805038, 60725309, 60635010)
文摘A bio-inspired marsupial robotic fish system composed of heterogeneous robotic fish is proposed in this paper. A miniature robotic fish, as the daughter robotic fish, can adapt to some narrow space, while the mother robotic fish, with a cabin to transport the daughter, possesses a powerful movement ability to improve the mobility and endurance of the team. The structures for mimicking bio-motion and the method for fishlike-motion are presented. A typical task of daughter-mother following is given to show the cooperation of the team. A motion model of free swimming is built based on the Lagrangian function, and the coupled dynamic and kinematic functions are calculated based on the relation between the generalized force and fluid force. Then, a neural network is trained through the data generated from this model to get a predictive yaw controller, which can control the orientation by a different offset of each link. The daughter robotic fish adopts a dynamic light source tracking approach to follow the mother, and a heterogeneous communication-based finite state machine is presented for task modeling. Experiments are carried out to verify the system.
