A Doppler LIght Detection And Ranging (LIDAR or lidar) system is studied for the application of measuring train ground speed in a non-contacting manner, as an alternative to the current train speed measurement devices such as wheel-mounted tachometers or encoders. The ability to accurately measure train speed and distance is a critical part of monitoring track geometry conditions. Wheel-mounted tachometer speed measurements often fluctuate due to wheel vibrations, change in wheel diameter, or wheel slip affecting the measurement accuracy.  Frequent calibrations are needed to account for changes in wheel diameter due to wear.  Additionally, the high levels of vibrations at the wheel can cause occasional mechanical failure of the encoder.   This thesis examines LIDAR as a non-contact train speed measurement device as a direct retrofit for wheel-mounted encoders. LIDAR uses Doppler technology to accurately measure train speed. The LIDAR system consists of two laser sensors and can be installed on either the car body or the truck on the underside of the train. The sensors measure the true ground speed of each rail, from which the track curvature can then be assessed based on the difference between the right and left rail speeds. The LIDAR train speed, distance, and curvature results are then evaluated against encoder readings and other conventional train measurement devices. Various tests were performed, including field-testing onboard a track geometry railcar operated by Norfolk Southern for evaluating the efficacy, accuracy, and durability of the LIDAR system; and laboratory tests on a 40-foot rail panel for assessing the ability to obtain measurements at super low speeds. The test results indicate that when compared with other conventional means used by the railroad industry, LIDAR is capable of accurately measuring train speed and distance from speeds as slow as 0.3 mph and up to 100 mph.  Additionally, the curvature  measurements proved to be as accurate as Inertial Measurement Units (IMUs) that are commonly used in track geometry measurement railcars. / Master of Science

This study evaluates the dynamic interaction between rail vehicles and the track on which they travel. The measurements were analyzed in the time and frequency domain. The effects of external parameters such as the vehicle design, subgrade stiffness, and degree of curvature were analyzed and compared for both the vehicle response and the track geometry data. This study was conducted in close cooperation with the Transportation Technology Center, Inc. (TTCI) in Pueblo, Colorado. The track and vehicle response data was collected on the High Tonnage Loop at TTCI over a span of approximately ten years. For the purpose of this study, TTCI provided this data to the Advanced Vehicle Dynamics Laboratories (AVDL) at Virginia Tech. The analysis of the data was first completed for the vehicle response and track geometry measurements separately. In this manner, the effects of the subgrade stiffness, the degree of curvature, and the vehicle design could be evaluated for each of the measurements. The analysis of the track and rail vehicle response was successfully completed, and the results from this analysis are presented in the following chapters. The analysis showed that the subgrade stiffness had a significant effect on the vertical wheel loads, the track crosslevel, and the track gauge. For an increase in the degree of curvature, the variation of the crosslevel increased. The dynamic response of the vertical and lateral wheel loads showed a significant dependence on the alignment of the rails. Improvements for future studies of the interaction between the track and rail vehicles have been recommended. / Master of Science

The ability of a Doppler LIDAR (Light Detection and Ranging) system to measure the speed of a moving rail vehicle in a non-contacting manner is extended to capture the lateral and vertical irregularities of the track itself and to evaluate the rail track quality. Using two pairs of lenses to capture speed signals from both rails individually, the track speed, curvature, and lateral and vertical geometry variations on each side are determined. LIDAR lenses are installed with a slight forward angle to generate velocity signals that contain two components: 1) the left and right track speeds, and 2) any lateral and/or vertical speed caused by track motion and/or spatial irregularities. The LIDAR system collects and outputs the track information in time domain. Separating each speed component (forward, vertical, and lateral) is possible due to the inherent separation of each phenomenon with respect to its spatial/temporal frequencies and related bandwidths. For the measurements to be beneficial in practice, the LIDAR data must be spatially located along the track. A data-mapping algorithm is then simultaneously developed to spatially match the LIDAR track geometry measurements with reference spatial data, accurately locating the measurements along the track and eliminating the need for a Global Positioning System (GPS). A laboratory-grade LIDAR system with four Doppler channels, developed at the Railway Technologies Laboratory (RTL) of Virginia Tech, is body-mounted and tested onboard a geometry measurement railcar. The test results indicate a close match between the LIDAR measurements and those made with existing sensors onboard the railcar. The field-testing conducted during this study indicates that LIDAR sensors could provide a reliable, non-contact track-monitoring instrument for field use, in various weather and track conditions, potentially in a semi-autonomous or autonomous manner. A length-based track quality index (TQI) is established to quantify the track geometry condition based on the geometry data collected by the LIDAR sensors. A phenomenological rail deterioration model is developed to predict the future degradation of geometry quality over the short track segments. The introduced LIDAR's TQI is considered as the condition-parameter, and an internal variable is assumed to govern the rail geometry degradation through a deterioration rule. The method includes the historical data, current track conditions collected by the LIDAR system, and traffic data to calculate the track deterioration condition and identify the geometry defects. In addition to rail geometry inspection, a LIDAR system can potentially be used to monitor the rail surface structure and integrity. This is possible due to the fact that the Doppler shift imposed on the laser radiation reflected from a moving surface has the Doppler bandwidth broadened in proportion to the height and width of the surface features. Two LIDAR-based rail surface measures are introduced based on LIDAR measurements to identify different rail surface conditions and materials. / Ph. D.

<p>Carbody tilting is today a mature and inexpensive technology allowing higher speeds in curves and thus reduced travel time. The technology is accepted by most train operators, but a limited set of issues still holding back the full potential of tilting trains. The present study identifies and report on these issues in the first of two parts in this thesis. The second part is dedicated to analysis of some of the identified issues. The first part contains Chapters 2 to 5 and the second Chapters 6 to 12 where also the conclusions of the present study are given.</p><p>Chapters 2 and 3 are related to the tilting train and the interaction between track and vehicle. Cross-wind stability is identified as critical for high-speed tilting trains. Limitation of the permissible speed in curves at high speed may be needed, reducing the benefit of tilting trains at very high speed. Track shift forces can also be safety critical for tilting vehicles at high speed. An improved track standard must be considered for high speed curving.</p><p>Chapters 4 and 5 cover motion sickness knowledge, which may be important for the competitiveness of tilting trains. However, reduced risk of motion sickness may be contradictory to comfort in a traditional sense, one aspect can not be considered without also considering the other. One pure motion is not the likely cause to the motion sickness experienced in motion trains. A combination of motions is much more provocative and much more likely the cause. It is also likely that head rotations contribute as these may be performed at much higher motion amplitudes than performed by the train.</p><p>Chapter 6 deals with services suitable for tilting trains. An analysis shows relations between cant deficiency, top speed, tractive performance and running times for a tilting train. About 9% running time may be gained on the Swedish line Stockholm – Gothenburg (457 km) if cant deficiency, top speed and tractive performance are improved compared with existing tilting trains. One interesting conclusion is that a non-tilting very high-speed train (280 km/h) will have longer running times than a tilting train with today’s maximum speed and tractive power. This statement is independent of top speed and tractive power of the non-tilting vehicle.</p><p>Chapters 7 to 9 describe motion sickness tests made on-track within the EU-funded research project<i> Fast And Comfortable Trains (FACT).</i> An analysis is made showing correlation between vertical acceleration and motion sickness. However, vertical acceleration could not be pointed out as the cause to motion sickness as the correlation between vertical acceleration and several other motions are strong.</p><p>Chapter 10 reports on design of track geometry. Guidelines for design of track cant are given optimising the counteracting requirements on comfort in non-tilting trains and risk of motion sickness in tilting trains. The guidelines are finally compared with the applied track cant on the Swedish line Stockholm – Gothenburg. Also transition curves and vertical track geometry are shortly discussed.</p><p>Chapters 11 and 12 discusses the analysis, draws conclusions on the findings and gives proposals of further research within the present area.</p>

Thesis deals with the relation between track geometry and development of long-pitch corrugation in curves of small radii. In the frame of this diploma thesis, measurements of track geometry and measurements of long-pitch corrugation in the sections between Brno - Malomerice and Babice nad Svitavou were carried out. The measured data were processed and evaluated, while individual parameters were compared with each other and their dependencies were searched.

The aim of this master's degree thesis is a design the route of the high-speed railway line between Hradec Králové - state border CZ/PL. The section starts near the town of Jaroměř and ends at the state border of CZ / PL, near the village of Petříkovice. The proposal is developed in two basic variants, variant nr. 1 only for passenger traffic and variant nr. 2 for mixed traffic of passenger and freight transport. Part of both variants is the design of the exit to the conventional network near the town of Trutnov, enabling its connection to the high speed railway in the direction of Hradec Králové - Trutnov. Part of the work is also the calculation of investment costs for the implementation of individual variants.

In der Dissertation ist eine Methodik beschrieben, die es ermöglicht, mittel- und langwellige Gradientenänderungen auf Grundlage der Rohdaten des bei der DB AG zur Gleisgeometrieprüfung gemäß RIL 821.2001 eingesetzten Messfahrzeuges RAILab zu detektieren. Weil mittel- und langwellige Längshöhenfehler eines Gleises die Verschlechterung der Tragfähigkeitseigenschaften von Bettung/Unterbau/Untergrund anzeigen, können mit der Methodik Zustandsänderungen von Erdkörpern kontrolliert werden. Dabei ist eine geodätische Aufnahme von Verformungen, wie sie derzeit beim Monitoring von Erdkörpern im Allgemeinen angewendet wird, nicht erforderlich. Die Methodik wurde an einem Streckenabschnitt, in welchem infolge von verformungsempfindlichen Böden im Untergrund erhebliche Gleisverformungen eingetreten waren, erprobt und durch Vergleich mit geodätischen Messdaten verifiziert. Weiterhin wurde ein Vorschlag zur Festlegung von Aufmerksamkeitswerten für mittel- und langwellige Höhenänderungen unterbreitet. Die vorgeschlagenen Aufmerksamkeitswerte wurden wirkungsbezogen auf Grundlage der Vertikalbeschleunigung abgeleitet, die ein Feder-Dämpfer-Modell bei der Überfahrt über einen aus den RAILab-Gleismessdaten rekonstruierten Höhenverlauf eines Gleises erfährt. Über zwei Beispiele der Anwendung der Methodik bei der Sonderinspektion von Erdkörpern wird berichtet.

Carbody tilting is today a mature and inexpensive technology allowing higher speeds in curves and thus reduced travel time. The technology is accepted by most train operators, but a limited set of issues still holding back the full potential of tilting trains. The present study identifies and report on these issues in the first of two parts in this thesis. The second part is dedicated to analysis of some of the identified issues. The first part contains Chapters 2 to 5 and the second Chapters 6 to 12 where also the conclusions of the present study are given. Chapters 2 and 3 are related to the tilting train and the interaction between track and vehicle. Cross-wind stability is identified as critical for high-speed tilting trains. Limitation of the permissible speed in curves at high speed may be needed, reducing the benefit of tilting trains at very high speed. Track shift forces can also be safety critical for tilting vehicles at high speed. An improved track standard must be considered for high speed curving. Chapters 4 and 5 cover motion sickness knowledge, which may be important for the competitiveness of tilting trains. However, reduced risk of motion sickness may be contradictory to comfort in a traditional sense, one aspect can not be considered without also considering the other. One pure motion is not the likely cause to the motion sickness experienced in motion trains. A combination of motions is much more provocative and much more likely the cause. It is also likely that head rotations contribute as these may be performed at much higher motion amplitudes than performed by the train. Chapter 6 deals with services suitable for tilting trains. An analysis shows relations between cant deficiency, top speed, tractive performance and running times for a tilting train. About 9% running time may be gained on the Swedish line Stockholm – Gothenburg (457 km) if cant deficiency, top speed and tractive performance are improved compared with existing tilting trains. One interesting conclusion is that a non-tilting very high-speed train (280 km/h) will have longer running times than a tilting train with today’s maximum speed and tractive power. This statement is independent of top speed and tractive power of the non-tilting vehicle. Chapters 7 to 9 describe motion sickness tests made on-track within the EU-funded research project Fast And Comfortable Trains (FACT). An analysis is made showing correlation between vertical acceleration and motion sickness. However, vertical acceleration could not be pointed out as the cause to motion sickness as the correlation between vertical acceleration and several other motions are strong. Chapter 10 reports on design of track geometry. Guidelines for design of track cant are given optimising the counteracting requirements on comfort in non-tilting trains and risk of motion sickness in tilting trains. The guidelines are finally compared with the applied track cant on the Swedish line Stockholm – Gothenburg. Also transition curves and vertical track geometry are shortly discussed. Chapters 11 and 12 discusses the analysis, draws conclusions on the findings and gives proposals of further research within the present area. / QC 20101119

The primary focus of this research is evaluation of feasibility, applicability, and accuracy of Doppler Light Detection And Ranging (LIDAR) sensors as non-contact means for measuring track speed, distance traveled, and curvature. Speed histories, currently measured with a rotary, wheel-mounted encoder, serve a number of useful purposes, one significant use involving derailment investigations. Distance calculation provides a spatial reference system for operators to locate track sections of interest. Railroad curves, using an IMU to measure curvature, are monitored to maintain track infrastructure within regulations. Speed measured with high accuracy leads to high-fidelity distance and curvature data through utilization of processor clock rate and left-and right-rail speed differentials during curve navigation, respectively. Wheel-mounted encoders, or tachometers, provide a relatively low-resolution speed profile, exhibit increased noise with increasing speed, and are subject to the inertial behavior of the rail car which affects output data. The IMU used to measure curvature is dependent on acceleration and yaw rate sensitivity and experiences difficulty in low-speed conditions. Preliminary system tests onboard a 'Hy-Rail' utility vehicle capable of traveling on rail show speed capture is possible using the rails as the reference moving target and furthermore, obtaining speed profiles from both rails allows for the calculation of speed differentials in curves to estimate degrees curvature. Ground truth distance calibration and curve measurement were also carried out. Distance calibration involved placement of spatial landmarks detected by a sensor to synchronize distance measurements as a pre-processing procedure. Curvature ground truth measurements provided a reference system to confirm measurement results and observe alignment variation throughout a curve. Primary testing occurred onboard a track geometry rail car, measuring rail speed over substantial mileage in various weather conditions, providing high-accuracy data to further calculate distance and curvature along the test routes. Tests results indicate the LIDAR system measures speed at higher accuracy than the encoder, absent of noise influenced by increasing speed. Distance calculation is also high in accuracy, results showing high correlation with encoder and ground truth data. Finally, curvature calculation using speed data is shown to have good correlation with IMU measurements and a resolution capable of revealing localized track alignments. Further investigations involve a curve measurement algorithm and speed calibration method independent from external reference systems, namely encoder and ground truth data. The speed calibration results show a high correlation with speed data from the track geometry vehicle. It is recommended that the study be extended to provide assessment of the LIDAR's sensitivity to car body motion in order to better isolate the embedded behavior in the speed and curvature profiles. Furthermore, in the interest of progressing the system toward a commercially viable unit, methods for self-calibration and pre-processing to allow for fully independent operation is highly encouraged. / Ph. D.

Railway transportation plays a vital role in modern societies. Due to increasing demands for transportation of passengers and goods, higher speed trains with heavier axle loads are introduced to the railway system, and it is expected to continue in the future. Therefore, track geometry bears huge static and dynamic forces that accelerate degradation process. As a result, railway track should be inspected regularly to detect geometry faults and to plan for maintenance actions in advance. Track geometry inspection has a profound impact on railway track availability and maintenance cost. Although there have been improvements in safety performance and maintenance planning of railway tracks, still infrastructure managers expect a more effective maintenance planning and scheduling regime. This thesis proposes a simulation-based model for optimization of track geometry inspection intervals. To simulate the track geometry evolution a linear model is used to model track geometry degradation in a maintenance cycle. It is assumed that the parameters of degradation model are random variables following lognormal distribution. Using the proposed model, the track geometry behaviour is simulated under different inspection intervals. Later, different inspection intervals are compared with respect to the cost function and the optimal range of inspection intervals is obtained.