This paper reports a case of cerebral stem infarction with quadriplegia and complete dependence on daily life.The course of the disease lasted more than 7 months.Frenchay's improved articulation Disorder Assessmen...This paper reports a case of cerebral stem infarction with quadriplegia and complete dependence on daily life.The course of the disease lasted more than 7 months.Frenchay's improved articulation Disorder Assessment Form has been assessed as severe articulation disorder.The patient has significantly improved his speech function and quality of life after systematic head control training,respiratory function training,articulation motor training,and articulation training.In the course of treatment,emphasis was placed on head postural control training and respiratory function training,and emphasis was placed on the strength and coordination training of articulatory organs,and the results were remarkable.After the patient was discharged from the hospital,the follow-up of basic daily life communication was not limited.展开更多
Objective:To analyze the effects of repetitive transcranial magnetic stimulation combined with motor control training on the treatment of stroke-induced hemiplegia,specifically focusing on the impact on patients’bala...Objective:To analyze the effects of repetitive transcranial magnetic stimulation combined with motor control training on the treatment of stroke-induced hemiplegia,specifically focusing on the impact on patients’balance function and gait.Methods:Fifty-two cases of hemiplegic stroke patients were randomly divided into two groups,26 in the control group and 26 in the observation group,using computer-generated random grouping.All participants underwent conventional treatment and rehabilitation training.In addition to these,the control group received repetitive transcranial magnetic pseudo-stimulation therapy+motor control training,while the observation group received repetitive transcranial magnetic stimulation therapy+motor control training.The balance function and gait parameters of both groups were compared before and after the interventions and assessed the satisfaction of the interventions in both groups.Results:Before the invention,there were no significant differences in balance function scores and each gait parameter between the two groups(P>0.05).However,after the intervention,the observation group showed higher balance function scores compared to the control group(P<0.05).The observation group also exhibited higher step speed and step frequency,longer step length,and a higher overall satisfaction level with the intervention compared to the control group(P<0.05).Conclusion:The combination of repetitive transcranial magnetic stimulation and motor control training in the treatment of stroke-induced hemiplegia has demonstrated positive effects.It not only improves the patient’s balance function and gait but also contributes to overall physical rehabilitation.展开更多
Purpose–In recent years,the rapid advancement of artificial intelligence(AI)has exerted profound impacts on and provided strong impetus to numerous fields in the industrial sector.Within the railway industry,AI has d...Purpose–In recent years,the rapid advancement of artificial intelligence(AI)has exerted profound impacts on and provided strong impetus to numerous fields in the industrial sector.Within the railway industry,AI has driven continuous upgrading and optimization of intelligent train control technology,thanks to its enhanced computational capabilities derived from advanced algorithms and models,as well as its role in improving safety performance.Integrating AI technology more extensively into train autonomous driving and control has thus become an inevitable trend in the global development of railways.Design/methodology/approach–This paper,therefore,conducts a comprehensive analysis of the development progress and current status of AI technology applications in the field of train driving and control on a global scale.It systematically sorts out and analyzes the advantages of various AI technologies and the positive impacts they bring to the upgrading of train control technology,elucidates the feasibility and future prospects of applying a range of emerging AI technologies from the perspective of technical theory and provides guidance for the intelligent development of this field from a practical perspective.Findings–The application of AI technology in the train driving and control field is still in its infancy.While a large number of AI technologies have been widely adopted,there remains significant room for further optimization and improvement of these technologies.Additionally,a variety of AI technologies that have been applied in other industrial sectors but not yet widely implemented in training autonomous driving and control have demonstrated tremendous development potential.Originality/value–The research findings provide references and guidance for advancing train control technology,promoting the digital transformation of railways,accelerating the overall optimization and upgrading of railway industry technologies,and facilitating the accelerated development of global railways.展开更多
With the integration of informatization and intelligence into the Communication-Based Train Control(CBTC)systems,the system is facing an increasing number of information security threats.As an important method of char...With the integration of informatization and intelligence into the Communication-Based Train Control(CBTC)systems,the system is facing an increasing number of information security threats.As an important method of characterizing the system security status,the security situation assessment is used to analyze the system security situation.However,existing situation assessment methods fail to integrate the coupling relationship between the physical layer and the information layer of the CBTC systems,and cannot dynamically characterize the real-time security situation changes under cyber attacks.In this paper,a hierarchical security situation assessment approach is proposed to address the security challenges of CBTC systems,which can perceive cyber attacks,quantify the security situation,and characterize the security situation changes under cyber attacks.Specifically,for the physical layer ofCBTC systems,the impact of cyber attacks is evaluated with the train punctuality rate and train departure interval indicators.For the information layer of CBTC systems,the system vulnerabilities and system threats are selected as static level indicators,and the critical network characteristics are selected as dynamic level indicators to quantify the real-time security situation.Finally,the comprehensive security situation assessment value of the CBTC systems is obtained by integrating the physical and information layer indicators.Simulation results illustrate that the proposed approach can dynamically characterize the real-time security situation of CBTC systems,enhancing the ability to perceive and assess information security risks.展开更多
The effect of combined low-frequency repetitive transcranial magnetic stimulation（LF r TMS） and virtual reality（VR） training in patients after stroke was assessed. In a double-blind randomized controlled trial, 11...The effect of combined low-frequency repetitive transcranial magnetic stimulation（LF r TMS） and virtual reality（VR） training in patients after stroke was assessed. In a double-blind randomized controlled trial, 112 patients with hemiplegia after stroke were randomly divided into two groups： experimental and control. In experimental group, the patients received LF r TMS and VR training treatment, and those in control group received sham r TMS and VR training treatment. Participants in both groups received therapy of 6 days per week for 4 weeks. The primary endpoint including the upper limb motor function test of Fugl-meyer assessment（U-FMA） and wolf motor function test（WMFT）, and the secondary endpoint including modified Barthel index（MBI） and 36-item Short Form Health Survey Questionnaire（SF-36） were assessed before and 4 weeks after treatment. Totally, 108 subjects completed the study（55 in experimental group and 53 in control group respectively）. After 4-week treatment, the U-FMA scores [mean difference of 13.2, 95% confidence interval（CI） 3.6 to 22.7, P〈0.01], WMFT scores（mean difference of 2.9, 95% CI 2.7 to 12.3, P〈0.01）, and MBI scores（mean difference 16.1, 95% CI 3.8 to 9.4, P〈0.05） were significantly increased in the experimental group as compared with the control group. The results suggested the combined use of LF r TMS with VR training could effectively improve the upper limb function, the living activity, and the quality of life in patients with hemiplegia following subacute stroke, which may provide a better rehabilitation treatment for subacute stroke.展开更多
In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts ...In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.展开更多
The article presents wide experience in controlling athletic training aimed at preparation of the Russian national teams for major international competitions. Experimental part of the study has been carried out in the...The article presents wide experience in controlling athletic training aimed at preparation of the Russian national teams for major international competitions. Experimental part of the study has been carried out in the course of training camps and competitions since 2010. Forty Russian national teams in 15 winter and 3 summer Olympic sports participated in the research. Theoretical concepts set forth in the works of Anthony Stafford Beer made a basis of a system of control and management developed for the Russian national winter sports teams. In particular, a five-level system was applied to control athletic training. The authors point out that a system of control over athletic training in elite sport teams should take into account a few important issues： （1） each sport, team and athlete has distinctive features; （2） various aspects of athletic training and their interrelation must be aimed at raising effectiveness of training according to individual training plans; （3） coaches and sport managers must be provided with real-time information necessary for development of long-term and short-term training plans and their timely correction.展开更多
The reduction of energy consumption is an increasingly important topic of the railway system.Energy-efficient train control(EETC)is one solution,which refers to mathematically computing when to accelerate,which cruisi...The reduction of energy consumption is an increasingly important topic of the railway system.Energy-efficient train control(EETC)is one solution,which refers to mathematically computing when to accelerate,which cruising speed to hold,how long one should coast over a suitable space,and when to brake.Most approaches in literature and industry greatly simplify a lot of nonlinear effects,such that they ignore mostly the losses due to energy conversion in traction components and auxiliaries.To fill this research gap,a series of increasingly detailed nonlinear losses is described and modelled.We categorize an increasing detail in this representation as four levels.We study the impact of those levels of detail on the energy optimal speed trajectory.To do this,a standard approach based on dynamic programming is used,given constraints on total travel time.This evaluation of multiple test cases highlights the influence of the dynamic losses and the power consumption of auxiliary components on railway trajectories,also compared to multiple benchmarks.The results show how the losses can make up 50%of the total energy consumption for an exemplary trip.Ignoring them would though result in consistent but limited errors in the optimal trajectory.Overall,more complex trajectories can result in less energy consumption when including the complexity of nonlinear losses than when a simpler model is considered.Those effects are stronger when the trajectory includes many acceleration and braking phases.展开更多
Global Navigation Satellite Systems(GNSSs)are vulnerable to both unintentional interference and intentional attacks,making it difficult to meet the stringent safety requirements of railway train control systems.The gr...Global Navigation Satellite Systems(GNSSs)are vulnerable to both unintentional interference and intentional attacks,making it difficult to meet the stringent safety requirements of railway train control systems.The growing threat to information security posed by spoofing attacks has received limited attention.This study investigates the impact of GNSS spoofing attacks on train positioning,emphasizing their detrimental effects on the accuracy and availability of train location report functions for train operation control.To explore the antispoofing performance of typical GNSS-based train positioning schemes,specific approaches,and system architectures are designed under two GNSS-alone and two GNSS-integrated train positioning schemes.Field data are utilized to establish spoofing attack scenarios for GNSS-based train positioning,with which the anti-spoofing capabilities of different train positioning schemes are evaluated.Experimental results indicate that under specific conditions,the GNSS-integrated positioning schemes demonstrate superior GNSS spoofing suppression capabilities.Results of the tests present valuable guidance for designers and manufacturers in developing more advanced and resilient train positioning solutions and equipment for the next generation of train control systems,thereby promoting the applications of GNSS technology in railway systems.展开更多
In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based po...In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based positioning error sources.The method focused on overcoming the abnormal observations in satellite observation data caused by railway environment rather than the positioning results.Specifically,the relative positioning experimental platform was built and the zero-baseline method was firstly employed to evaluate the carrier phase data quality,and then,GNSS combined observation models were adopted to construct the detection values,which were applied to judge abnormal-data through the dual-frequency observations.Further,ambiguity fixing optimization was investigated based on observation data selection in partly-blocked environments.The results show that the proposed method can effectively detect and address abnormal observations and improve positioning stability.Cycle slips and gross errors can be detected and identified based on dual-frequency global navigation satellite system data.After adopting the data selection strategy,the ambiguity fixing percentage was improved by 29.2%,and the standard deviation in the East,North,and Up components was enhanced by 12.7%,7.4%,and 12.5%,respectively.The proposed method can provide references for train positioning performance optimization in railway environments from the perspective of positioning error sources.展开更多
The growing demand for capacity has prompted the rail industry to explore next-generation train control systems,such as train autonomous operation control systems,which transmit real-time information between trains wi...The growing demand for capacity has prompted the rail industry to explore next-generation train control systems,such as train autonomous operation control systems,which transmit real-time information between trains with the help of train-to-train communication.The communication delay affects the operation of the system.In addition,the train monitors real-time traffic information through on-board sensors.However,no measurement can be perfect,including sensors,which are affected by factors such as railway geometry and weather conditions.The sensor detection error is uncertain,resulting in multiple information uncertainties.Therefore,this paper proposes a train-following model based on the full velocity difference model by considering multiple information uncertainties and communication delay time to describe the autonomous operation of the train under a train autonomous operation control system.Based on this trainfollowing model,a stability analysis and numerical simulation of train traffic flow are carried out.The results show that when the velocity measured by the sensor is smaller than the real velocity or the headway monitored by the sensor is greater than the real headway,the delay will increase and continue to propagate and accumulate backward,resulting in blockage.Otherwise,the opposite occurs.These findings suggest that the effects of multiple information uncertainties are two-sided,depending on the degree of uncertainty of velocity information and headway information.In addition,communication delay time has little effect on train flow and delay.展开更多
Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal ve...Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal velocity function V^opt, which is considered as the desired velocity function for train movement control under different control conditions. In order to test the proposed model, we simulate and analyze the trajectories of train movements, moreover, discuss the relationship curves between the train allowable velocity and the site of objective point in detail. Analysis results indicate that the proposed model can well capture some realistic futures of train movement control.展开更多
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
This paper proposes to adopt SCADA and PLC technology for the improvement of the performance of real time signaling&train control systems in metro railways.The main concern of this paper is to minimize the failure...This paper proposes to adopt SCADA and PLC technology for the improvement of the performance of real time signaling&train control systems in metro railways.The main concern of this paper is to minimize the failure in automated metro railways system operator and integrate the information coming from Operational Control Centre(OCC),traction SCADA system,traction power control,and power supply system.This work presents a simulated prototype of an automated metro train system operator that uses PLC and SCADA for the real time monitoring and control of the metro railway systems.Here,SCADA is used for the visualization of an automated process operation and then the whole opera-tion is regulated with the help of PLC.The PLC used in this process is OMRON(NX1P2-9024DT1)and OMRON’s Sysmac studio programming software is used for developing the ladder logic of PLC.The metro railways system has deployed infrastructure based on SCADA from the power supply system,and each station’s traction power control is connected to the OCC remotely which commands all of the stations and has the highest command priority.An alarm is triggered in the event of an emergency or system congestion.This proposed system overcomes the drawbacks of the current centralized automatic train control(CATC)system.This system provides prominent benefits like augmenting services which may enhance a network’s full load capacity and networkflexibility,which help in easy modification in the existing program at any time.展开更多
In view of class imbalance in data-driven modeling for Prognostics and Health Management(PHM),existing classification methods may fail in generating effective fault prediction models for the on-board high-speed train ...In view of class imbalance in data-driven modeling for Prognostics and Health Management(PHM),existing classification methods may fail in generating effective fault prediction models for the on-board high-speed train control equipment.A virtual sample generation solution based on Generative Adversarial Network(GAN)is proposed to overcome this shortcoming.Aiming at augmenting the sample classes with the imbalanced data problem,the GAN-based virtual sample generation strategy is embedded into the establishment of fault prediction models.Under the PHM framework of the on-board train control system,the virtual sample generation principle and the detailed procedures are presented.With the enhanced class-balancing mechanism and the designed sample augmentation logic,the PHM scheme of the on-board train control equipment has powerful data condition adaptability and can effectively predict the fault probability and life cycle status.Practical data from a specific type of on-board train control system is employed for the validation of the presented solution.The comparative results indicate that GAN-based sample augmentation is capable of achieving a desirable sample balancing level and enhancing the performance of correspondingly derived fault prediction models for the Condition-based Maintenance(CBM)operations.展开更多
GSM-R system mainly provides dispatching communication servicessuch as train operation dispatching, realizes wired and wireless dispatchingcommunication, and provides safe and reliable train-ground informationtransmis...GSM-R system mainly provides dispatching communication servicessuch as train operation dispatching, realizes wired and wireless dispatchingcommunication, and provides safe and reliable train-ground informationtransmission services for high-speed train operation control system. Jakarta-Bandung HSR is the first “going global” HSR with whole industry chain built by China. It isconstructed based on CTCS-3 train control system standard. In order to ensure the safetransmission of train control system information under high-speed operation environment, aset of GSM-R system implementation scheme suitable for Jakarta-Bandung HSR is establishedin combination with the actual situation of Jakarta-Bandung HSR, referring to China's GSMRsystem technical standards and according to its actual business requirements. It includesGSM-R core network, wireless subsystem and data number, which can provide reference forthe construction of wireless communication system for China's HSR “going global”.展开更多
In this paper, we propose a new formula of the real-time minimum safety headway based on the relative velocity of consecutive trains and present a dynamic model of high-speed passenger train movements in the rail line...In this paper, we propose a new formula of the real-time minimum safety headway based on the relative velocity of consecutive trains and present a dynamic model of high-speed passenger train movements in the rail line based on the proposed formula of the minimum safety headway. Moreover, we provide the control strategies of the high-speed passenger train operations based on the proposed formula of the real-time minimum safety headway and the dynamic model of highspeed passenger train movements. The simulation results demonstrate that the proposed control strategies of the passenger train operations can greatly reduce the delay propagation in the high-speed rail line when a random delay occurs.展开更多
The zone control subsystem is a real-time control system,which requests the correctness of the control process.Train tracing scene is an important function of the zone controller(ZC)in the communication based train co...The zone control subsystem is a real-time control system,which requests the correctness of the control process.Train tracing scene is an important function of the zone controller(ZC)in the communication based train control(CBTC)system.In the process of deep development and design,to ensure the safety of the system,the system needs to be modeled,simulated and verified to discover the system design flaws.Unified modeling language(UML)is combined with timed automata,and timed automata network models of train-filter and train tracing demarcation-point are established.At the same time,the verification tool of UPPAAL is applied to simulate the system,and verify the requirements of performance and function of system.The results show that the function of train tracing demaraction-point meets the requirements of system safety and limited activity.Therefore,the method is feasible and can be applied to the modeling and verification of other scenes of train control system.展开更多
Background:Marginal changes in the execution of competitive sports movements can represent a significant change for performance success.However,such differences may emerge only at certain execution intensities and are...Background:Marginal changes in the execution of competitive sports movements can represent a significant change for performance success.However,such differences may emerge only at certain execution intensities and are not easily detectable through conventional biomechanical techniques.This study aimed to investigate if and how competition standard and progression speed affect race walking kinematics from both a conventional and a coordination variability perspective.Methods:Fifteen experienced athletes divided into three groups(elite,international,and national) were studied while race walking on a treadmill at two different speeds(12.0 and 15.5 km/h).Basic gait parameters,the angular displacement of the pelvis and lower limbs,and the variability in continuous relative phase between six different joint couplings were analyzed.Results:Most of the spatio-temporal,kinematic,and coordination variability measures proved sensitive to the change in speed.Conversely,non-linear dynamics measures highlighted differences between athletes of different competition standard when conventional analytical tools were not able to discriminate between different skill levels.Continuous relative phase variability was higher for national level athletes than international and elite in two couplings(pelvis obliquity—hip flex/extension and pelvis rotation—ankle dorsi/plantarflexion) and gait phases(early stance for the first coupling,propulsive phase for the second) that are deemed fundamental for correct technique and performance.Conclusion:Measures of coordination variability showed to be a more sensitive tool for the fine detection of skill-dependent factors in competitive race walking,and showed good potential for being integrated in the assessment and monitoring of sports motor abilities.展开更多
A schematic to make the spectra of the exterior noise of high speed railway was put forward. The exterior noise spectrum was defined based on the characteristics of the high-speed train exterior noise. Its characteris...A schematic to make the spectra of the exterior noise of high speed railway was put forward. The exterior noise spectrum was defined based on the characteristics of the high-speed train exterior noise. Its characteristics considered here include identifying the exterior main sources and their locations, their frequency components including the Doppler effect due to the noise sources moving at high speed, the sound field intensity around the train in high-speed operation, the sound radiation path out of the train, and the pressure level and frequency components of the noise at the measuring points specified by the International Organization for Standardization(ISO). The characteristics of the high-speed train exterior noise of the high speed railways in operation were introduced. The advanced measuring systems and their principles for clearly indentifying the exterior noise sources were discussed in detail. Based on the concerned noise results measured at sites, a prediction model was developed to calculate the sound level and the characteristics of the exterior noise at any point where it is difficult to measure and to help to make the exterior noise spectrums. This model was also verified with the test results. The verification shows that there is a good agreement between the theoretical and experimental results.展开更多
基金Teaching and Research Project of Anhui Urban Management Vocational College(Project No.:2024kfkc001)。
文摘This paper reports a case of cerebral stem infarction with quadriplegia and complete dependence on daily life.The course of the disease lasted more than 7 months.Frenchay's improved articulation Disorder Assessment Form has been assessed as severe articulation disorder.The patient has significantly improved his speech function and quality of life after systematic head control training,respiratory function training,articulation motor training,and articulation training.In the course of treatment,emphasis was placed on head postural control training and respiratory function training,and emphasis was placed on the strength and coordination training of articulatory organs,and the results were remarkable.After the patient was discharged from the hospital,the follow-up of basic daily life communication was not limited.
文摘Objective:To analyze the effects of repetitive transcranial magnetic stimulation combined with motor control training on the treatment of stroke-induced hemiplegia,specifically focusing on the impact on patients’balance function and gait.Methods:Fifty-two cases of hemiplegic stroke patients were randomly divided into two groups,26 in the control group and 26 in the observation group,using computer-generated random grouping.All participants underwent conventional treatment and rehabilitation training.In addition to these,the control group received repetitive transcranial magnetic pseudo-stimulation therapy+motor control training,while the observation group received repetitive transcranial magnetic stimulation therapy+motor control training.The balance function and gait parameters of both groups were compared before and after the interventions and assessed the satisfaction of the interventions in both groups.Results:Before the invention,there were no significant differences in balance function scores and each gait parameter between the two groups(P>0.05).However,after the intervention,the observation group showed higher balance function scores compared to the control group(P<0.05).The observation group also exhibited higher step speed and step frequency,longer step length,and a higher overall satisfaction level with the intervention compared to the control group(P<0.05).Conclusion:The combination of repetitive transcranial magnetic stimulation and motor control training in the treatment of stroke-induced hemiplegia has demonstrated positive effects.It not only improves the patient’s balance function and gait but also contributes to overall physical rehabilitation.
文摘Purpose–In recent years,the rapid advancement of artificial intelligence(AI)has exerted profound impacts on and provided strong impetus to numerous fields in the industrial sector.Within the railway industry,AI has driven continuous upgrading and optimization of intelligent train control technology,thanks to its enhanced computational capabilities derived from advanced algorithms and models,as well as its role in improving safety performance.Integrating AI technology more extensively into train autonomous driving and control has thus become an inevitable trend in the global development of railways.Design/methodology/approach–This paper,therefore,conducts a comprehensive analysis of the development progress and current status of AI technology applications in the field of train driving and control on a global scale.It systematically sorts out and analyzes the advantages of various AI technologies and the positive impacts they bring to the upgrading of train control technology,elucidates the feasibility and future prospects of applying a range of emerging AI technologies from the perspective of technical theory and provides guidance for the intelligent development of this field from a practical perspective.Findings–The application of AI technology in the train driving and control field is still in its infancy.While a large number of AI technologies have been widely adopted,there remains significant room for further optimization and improvement of these technologies.Additionally,a variety of AI technologies that have been applied in other industrial sectors but not yet widely implemented in training autonomous driving and control have demonstrated tremendous development potential.Originality/value–The research findings provide references and guidance for advancing train control technology,promoting the digital transformation of railways,accelerating the overall optimization and upgrading of railway industry technologies,and facilitating the accelerated development of global railways.
基金supported in part by the project of the State Key Laboratory of Advanced Rail Autonomous Operation(RAO2023ZZ004)in part by the Beijing Natural Science Foundation-Fengtai Rail Transit Frontier Research Joint Fund(L211002)+2 种基金in part by the Foundation of China State Railway Group Corporation Limited under Grant L2021G003in part by the Scientific and Technical Research Fund of China Academy of Railway Sciences Corporation Limited under Grant 2021YJ094in part by the Project I23L00200 and Project I24F00010.
文摘With the integration of informatization and intelligence into the Communication-Based Train Control(CBTC)systems,the system is facing an increasing number of information security threats.As an important method of characterizing the system security status,the security situation assessment is used to analyze the system security situation.However,existing situation assessment methods fail to integrate the coupling relationship between the physical layer and the information layer of the CBTC systems,and cannot dynamically characterize the real-time security situation changes under cyber attacks.In this paper,a hierarchical security situation assessment approach is proposed to address the security challenges of CBTC systems,which can perceive cyber attacks,quantify the security situation,and characterize the security situation changes under cyber attacks.Specifically,for the physical layer ofCBTC systems,the impact of cyber attacks is evaluated with the train punctuality rate and train departure interval indicators.For the information layer of CBTC systems,the system vulnerabilities and system threats are selected as static level indicators,and the critical network characteristics are selected as dynamic level indicators to quantify the real-time security situation.Finally,the comprehensive security situation assessment value of the CBTC systems is obtained by integrating the physical and information layer indicators.Simulation results illustrate that the proposed approach can dynamically characterize the real-time security situation of CBTC systems,enhancing the ability to perceive and assess information security risks.
文摘The effect of combined low-frequency repetitive transcranial magnetic stimulation（LF r TMS） and virtual reality（VR） training in patients after stroke was assessed. In a double-blind randomized controlled trial, 112 patients with hemiplegia after stroke were randomly divided into two groups： experimental and control. In experimental group, the patients received LF r TMS and VR training treatment, and those in control group received sham r TMS and VR training treatment. Participants in both groups received therapy of 6 days per week for 4 weeks. The primary endpoint including the upper limb motor function test of Fugl-meyer assessment（U-FMA） and wolf motor function test（WMFT）, and the secondary endpoint including modified Barthel index（MBI） and 36-item Short Form Health Survey Questionnaire（SF-36） were assessed before and 4 weeks after treatment. Totally, 108 subjects completed the study（55 in experimental group and 53 in control group respectively）. After 4-week treatment, the U-FMA scores [mean difference of 13.2, 95% confidence interval（CI） 3.6 to 22.7, P〈0.01], WMFT scores（mean difference of 2.9, 95% CI 2.7 to 12.3, P〈0.01）, and MBI scores（mean difference 16.1, 95% CI 3.8 to 9.4, P〈0.05） were significantly increased in the experimental group as compared with the control group. The results suggested the combined use of LF r TMS with VR training could effectively improve the upper limb function, the living activity, and the quality of life in patients with hemiplegia following subacute stroke, which may provide a better rehabilitation treatment for subacute stroke.
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of ChinaProject(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province,China
文摘In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.
文摘The article presents wide experience in controlling athletic training aimed at preparation of the Russian national teams for major international competitions. Experimental part of the study has been carried out in the course of training camps and competitions since 2010. Forty Russian national teams in 15 winter and 3 summer Olympic sports participated in the research. Theoretical concepts set forth in the works of Anthony Stafford Beer made a basis of a system of control and management developed for the Russian national winter sports teams. In particular, a five-level system was applied to control athletic training. The authors point out that a system of control over athletic training in elite sport teams should take into account a few important issues： （1） each sport, team and athlete has distinctive features; （2） various aspects of athletic training and their interrelation must be aimed at raising effectiveness of training according to individual training plans; （3） coaches and sport managers must be provided with real-time information necessary for development of long-term and short-term training plans and their timely correction.
基金supported by Swiss Federal Office of Transport,the ETH foundation and via the grant RAILPOWER.
文摘The reduction of energy consumption is an increasingly important topic of the railway system.Energy-efficient train control(EETC)is one solution,which refers to mathematically computing when to accelerate,which cruising speed to hold,how long one should coast over a suitable space,and when to brake.Most approaches in literature and industry greatly simplify a lot of nonlinear effects,such that they ignore mostly the losses due to energy conversion in traction components and auxiliaries.To fill this research gap,a series of increasingly detailed nonlinear losses is described and modelled.We categorize an increasing detail in this representation as four levels.We study the impact of those levels of detail on the energy optimal speed trajectory.To do this,a standard approach based on dynamic programming is used,given constraints on total travel time.This evaluation of multiple test cases highlights the influence of the dynamic losses and the power consumption of auxiliary components on railway trajectories,also compared to multiple benchmarks.The results show how the losses can make up 50%of the total energy consumption for an exemplary trip.Ignoring them would though result in consistent but limited errors in the optimal trajectory.Overall,more complex trajectories can result in less energy consumption when including the complexity of nonlinear losses than when a simpler model is considered.Those effects are stronger when the trajectory includes many acceleration and braking phases.
基金the National Key Research and Development Program of China(2023YFB3907300)the National Natural Science Foundation of China(U2268206,T2222015)the Beijing Natural Science Foundation(4232031).
文摘Global Navigation Satellite Systems(GNSSs)are vulnerable to both unintentional interference and intentional attacks,making it difficult to meet the stringent safety requirements of railway train control systems.The growing threat to information security posed by spoofing attacks has received limited attention.This study investigates the impact of GNSS spoofing attacks on train positioning,emphasizing their detrimental effects on the accuracy and availability of train location report functions for train operation control.To explore the antispoofing performance of typical GNSS-based train positioning schemes,specific approaches,and system architectures are designed under two GNSS-alone and two GNSS-integrated train positioning schemes.Field data are utilized to establish spoofing attack scenarios for GNSS-based train positioning,with which the anti-spoofing capabilities of different train positioning schemes are evaluated.Experimental results indicate that under specific conditions,the GNSS-integrated positioning schemes demonstrate superior GNSS spoofing suppression capabilities.Results of the tests present valuable guidance for designers and manufacturers in developing more advanced and resilient train positioning solutions and equipment for the next generation of train control systems,thereby promoting the applications of GNSS technology in railway systems.
基金Project(52272339)supported by the National Natural Science Foundation of ChinaProject(2023YFB390730303)supported by the National Key Research and Development Program of China+2 种基金Project(L2023G004)supported by the Science and Technology Research and Development Program of China State Railway Group Co.,Ltd.Project(QZKFKT2023-005)supported by the State Key Laboratory of Heavy-duty and Express High-power Electric Locomotive,ChinaProject(2022JZZ05)supported by the Open Foundation of MOE Key Laboratory of Engineering Structures of Heavy Haul Railway(Central South University),China。
文摘In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based positioning error sources.The method focused on overcoming the abnormal observations in satellite observation data caused by railway environment rather than the positioning results.Specifically,the relative positioning experimental platform was built and the zero-baseline method was firstly employed to evaluate the carrier phase data quality,and then,GNSS combined observation models were adopted to construct the detection values,which were applied to judge abnormal-data through the dual-frequency observations.Further,ambiguity fixing optimization was investigated based on observation data selection in partly-blocked environments.The results show that the proposed method can effectively detect and address abnormal observations and improve positioning stability.Cycle slips and gross errors can be detected and identified based on dual-frequency global navigation satellite system data.After adopting the data selection strategy,the ambiguity fixing percentage was improved by 29.2%,and the standard deviation in the East,North,and Up components was enhanced by 12.7%,7.4%,and 12.5%,respectively.The proposed method can provide references for train positioning performance optimization in railway environments from the perspective of positioning error sources.
基金supported by Beijing Natural Science Foundation(Grant No.L231009)the National Natural Science Foundation of China(Grant No.72288101)the Fundamental Research Funds for the Central Universities(Grant No.2022JBZY017)。
文摘The growing demand for capacity has prompted the rail industry to explore next-generation train control systems,such as train autonomous operation control systems,which transmit real-time information between trains with the help of train-to-train communication.The communication delay affects the operation of the system.In addition,the train monitors real-time traffic information through on-board sensors.However,no measurement can be perfect,including sensors,which are affected by factors such as railway geometry and weather conditions.The sensor detection error is uncertain,resulting in multiple information uncertainties.Therefore,this paper proposes a train-following model based on the full velocity difference model by considering multiple information uncertainties and communication delay time to describe the autonomous operation of the train under a train autonomous operation control system.Based on this trainfollowing model,a stability analysis and numerical simulation of train traffic flow are carried out.The results show that when the velocity measured by the sensor is smaller than the real velocity or the headway monitored by the sensor is greater than the real headway,the delay will increase and continue to propagate and accumulate backward,resulting in blockage.Otherwise,the opposite occurs.These findings suggest that the effects of multiple information uncertainties are two-sided,depending on the degree of uncertainty of velocity information and headway information.In addition,communication delay time has little effect on train flow and delay.
基金Supported by the National Natural Science Foundation of China under Grant Nos.60634010 and 60776829the State Key Laboratory of Rail Traffic Control and Safety (Contract No.RCS2008ZZ001 and RCS2010ZZ001),Beijing Jiaotong University
文摘Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal velocity function V^opt, which is considered as the desired velocity function for train movement control under different control conditions. In order to test the proposed model, we simulate and analyze the trajectories of train movements, moreover, discuss the relationship curves between the train allowable velocity and the site of objective point in detail. Analysis results indicate that the proposed model can well capture some realistic futures of train movement control.
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.
文摘This paper proposes to adopt SCADA and PLC technology for the improvement of the performance of real time signaling&train control systems in metro railways.The main concern of this paper is to minimize the failure in automated metro railways system operator and integrate the information coming from Operational Control Centre(OCC),traction SCADA system,traction power control,and power supply system.This work presents a simulated prototype of an automated metro train system operator that uses PLC and SCADA for the real time monitoring and control of the metro railway systems.Here,SCADA is used for the visualization of an automated process operation and then the whole opera-tion is regulated with the help of PLC.The PLC used in this process is OMRON(NX1P2-9024DT1)and OMRON’s Sysmac studio programming software is used for developing the ladder logic of PLC.The metro railways system has deployed infrastructure based on SCADA from the power supply system,and each station’s traction power control is connected to the OCC remotely which commands all of the stations and has the highest command priority.An alarm is triggered in the event of an emergency or system congestion.This proposed system overcomes the drawbacks of the current centralized automatic train control(CATC)system.This system provides prominent benefits like augmenting services which may enhance a network’s full load capacity and networkflexibility,which help in easy modification in the existing program at any time.
基金supported by National Natural Science Foundation of China(U2268206,T2222015)Beijing Natural Science Foundation(4232031)+1 种基金Key Fields Project of DEGP(2021ZDZX1110)Shenzhen Science and Technology Program(CJGJZD20220517141801004).
文摘In view of class imbalance in data-driven modeling for Prognostics and Health Management(PHM),existing classification methods may fail in generating effective fault prediction models for the on-board high-speed train control equipment.A virtual sample generation solution based on Generative Adversarial Network(GAN)is proposed to overcome this shortcoming.Aiming at augmenting the sample classes with the imbalanced data problem,the GAN-based virtual sample generation strategy is embedded into the establishment of fault prediction models.Under the PHM framework of the on-board train control system,the virtual sample generation principle and the detailed procedures are presented.With the enhanced class-balancing mechanism and the designed sample augmentation logic,the PHM scheme of the on-board train control equipment has powerful data condition adaptability and can effectively predict the fault probability and life cycle status.Practical data from a specific type of on-board train control system is employed for the validation of the presented solution.The comparative results indicate that GAN-based sample augmentation is capable of achieving a desirable sample balancing level and enhancing the performance of correspondingly derived fault prediction models for the Condition-based Maintenance(CBM)operations.
文摘GSM-R system mainly provides dispatching communication servicessuch as train operation dispatching, realizes wired and wireless dispatchingcommunication, and provides safe and reliable train-ground informationtransmission services for high-speed train operation control system. Jakarta-Bandung HSR is the first “going global” HSR with whole industry chain built by China. It isconstructed based on CTCS-3 train control system standard. In order to ensure the safetransmission of train control system information under high-speed operation environment, aset of GSM-R system implementation scheme suitable for Jakarta-Bandung HSR is establishedin combination with the actual situation of Jakarta-Bandung HSR, referring to China's GSMRsystem technical standards and according to its actual business requirements. It includesGSM-R core network, wireless subsystem and data number, which can provide reference forthe construction of wireless communication system for China's HSR “going global”.
基金supported by the National Basic Research Program of China (Grant No. 2012CB725400)the National Natural Science Foundation of China (Grant No. 71131001-1)the Research Foundation of State Key Laboratory of Rail Traffic Control and Safety,Beijing Jiaotong University,China (Grant Nos. RCS2012ZZ001 and RCS2012ZT001)
文摘In this paper, we propose a new formula of the real-time minimum safety headway based on the relative velocity of consecutive trains and present a dynamic model of high-speed passenger train movements in the rail line based on the proposed formula of the minimum safety headway. Moreover, we provide the control strategies of the high-speed passenger train operations based on the proposed formula of the real-time minimum safety headway and the dynamic model of highspeed passenger train movements. The simulation results demonstrate that the proposed control strategies of the passenger train operations can greatly reduce the delay propagation in the high-speed rail line when a random delay occurs.
文摘The zone control subsystem is a real-time control system,which requests the correctness of the control process.Train tracing scene is an important function of the zone controller(ZC)in the communication based train control(CBTC)system.In the process of deep development and design,to ensure the safety of the system,the system needs to be modeled,simulated and verified to discover the system design flaws.Unified modeling language(UML)is combined with timed automata,and timed automata network models of train-filter and train tracing demarcation-point are established.At the same time,the verification tool of UPPAAL is applied to simulate the system,and verify the requirements of performance and function of system.The results show that the function of train tracing demaraction-point meets the requirements of system safety and limited activity.Therefore,the method is feasible and can be applied to the modeling and verification of other scenes of train control system.
文摘Background:Marginal changes in the execution of competitive sports movements can represent a significant change for performance success.However,such differences may emerge only at certain execution intensities and are not easily detectable through conventional biomechanical techniques.This study aimed to investigate if and how competition standard and progression speed affect race walking kinematics from both a conventional and a coordination variability perspective.Methods:Fifteen experienced athletes divided into three groups(elite,international,and national) were studied while race walking on a treadmill at two different speeds(12.0 and 15.5 km/h).Basic gait parameters,the angular displacement of the pelvis and lower limbs,and the variability in continuous relative phase between six different joint couplings were analyzed.Results:Most of the spatio-temporal,kinematic,and coordination variability measures proved sensitive to the change in speed.Conversely,non-linear dynamics measures highlighted differences between athletes of different competition standard when conventional analytical tools were not able to discriminate between different skill levels.Continuous relative phase variability was higher for national level athletes than international and elite in two couplings(pelvis obliquity—hip flex/extension and pelvis rotation—ankle dorsi/plantarflexion) and gait phases(early stance for the first coupling,propulsive phase for the second) that are deemed fundamental for correct technique and performance.Conclusion:Measures of coordination variability showed to be a more sensitive tool for the fine detection of skill-dependent factors in competitive race walking,and showed good potential for being integrated in the assessment and monitoring of sports motor abilities.
基金Project(2682013BR009)supported by the Fundamental Research Funds of the Central Universities,ChinaProject(2011AA11A103-2-2)the National High-Technology Research and Development Program of China
文摘A schematic to make the spectra of the exterior noise of high speed railway was put forward. The exterior noise spectrum was defined based on the characteristics of the high-speed train exterior noise. Its characteristics considered here include identifying the exterior main sources and their locations, their frequency components including the Doppler effect due to the noise sources moving at high speed, the sound field intensity around the train in high-speed operation, the sound radiation path out of the train, and the pressure level and frequency components of the noise at the measuring points specified by the International Organization for Standardization(ISO). The characteristics of the high-speed train exterior noise of the high speed railways in operation were introduced. The advanced measuring systems and their principles for clearly indentifying the exterior noise sources were discussed in detail. Based on the concerned noise results measured at sites, a prediction model was developed to calculate the sound level and the characteristics of the exterior noise at any point where it is difficult to measure and to help to make the exterior noise spectrums. This model was also verified with the test results. The verification shows that there is a good agreement between the theoretical and experimental results.
