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1	Contribuição para análise do custo do ciclo de vida de um sistema de gerência de pavimento ferroviário. / Life cycle cost analysis contribution for a railroad track management system. Ribeiro, Fernando Sgavioli 27 October 2017 (has links) Uma nova abordagem de sistema de gerência de pavimentos ferroviários é exposta nesta tese. O objetivo principal da pesquisa foi o desenvolvimento de um sistema de gerência em nível de rede e análises do custo do ciclo de vida em nível de projeto, adotando como estudo de caso a Estrada de Ferro Vitória Minas. A revisão bibliográfica apresenta modelos de avaliação da qualidade geométrica e estrutural no Brasil e no mundo. O desenvolvimento iniciou-se com a composição do sistema de gerência em nível de rede utilizando um inventário do trecho em estudo, a subdivisão dessa via em segmentos homogêneos de comprimento variável de acordo com a geometria (curva e tangente), e a aplicação de seis códigos: (i) classe de via; (ii) inventário da estrutura do pavimento com base no tipo de dormente; (iii) geometria com a definição da metodologia de avaliação da qualidade geométrica, propondo um índice que aplica o desvio padrão dos parâmetros geométricos (bitola, empeno, alinhamento e nivelamento transversal), a contagem de exceções e os respectivos limites de alerta, intervenção e segurança; (iv) superfície pela análise do desgaste do trilho e defeitos superficiais; (v) segurança pelo coeficiente de atrito; e (vi) capacidade estrutural com a aplicação do módulo de via parametrizado pelo carro controle. A partir dos seis códigos, foi possível categorizar a estratégia de manutenção aplicável e, em nível de projeto, foram analisadas as degradações do lastro e do desgaste do trilho, com definições de equações de predição, o que permitiu simular o custo do ciclo de vida das estratégias. Por fim, para verificar a viabilidade técnica da estratégia de manutenção apontada, foram estudadas as tensões no topo do lastro e do subleito e ainda o módulo de via por retro análise das deflexões medidas da via permanente em duas seções da EFVM. / A new approach to the railroad track management system is presented in this thesis. The main objective of the research was the development of a network management system and life cycle cost analysis in a project level, adopting as a case study of the Estrada de Ferro Vitoria Minas. The bibliographic review has exposed geometric and structural track quality evaluation models in Brazil and in the world. The development began with the composition of the network management system using an inventory of the track under study, the subdivision of the railway into homogeneous segments of variable lengths depending on the geometry (curve and tangent), and the application of six codes: (i) class, (ii) pavement structure inventory based on tie type, (iii) geometry with definition of quality assessment methodology proposing an index that applies the exception counting and the standard deviation of the parameters - cross level, warp, alignment and gauge - and safety, alarm and intervention limits, (iv) surface by analysis of rail wear and rail surface defects, (v) safety by friction coefficient, and (vi) structural capacity with the application of the track modulus parameterized by the track geometry car. From the six codes, it was possible to categorize the applicable maintenance strategy at a project level, create prediction equations of the ballast and the rail wear degradation and simulate life cycle cost of the strategies. In order to verify the technical feasibility of the mentioned maintenance strategy, it was measured the stress at the top of the ballast and subgrade and the track modulus by retroanalysis deflections in two sections of the EFVM. Ciclo de vida (Custos) Ferrovias Life cycle cost Pavement performance models Pavimentação (Desempenho) Quality index Railroad track Railroad track management
2	Contribuição para análise do custo do ciclo de vida de um sistema de gerência de pavimento ferroviário. / Life cycle cost analysis contribution for a railroad track management system. Fernando Sgavioli Ribeiro 27 October 2017 (has links) Uma nova abordagem de sistema de gerência de pavimentos ferroviários é exposta nesta tese. O objetivo principal da pesquisa foi o desenvolvimento de um sistema de gerência em nível de rede e análises do custo do ciclo de vida em nível de projeto, adotando como estudo de caso a Estrada de Ferro Vitória Minas. A revisão bibliográfica apresenta modelos de avaliação da qualidade geométrica e estrutural no Brasil e no mundo. O desenvolvimento iniciou-se com a composição do sistema de gerência em nível de rede utilizando um inventário do trecho em estudo, a subdivisão dessa via em segmentos homogêneos de comprimento variável de acordo com a geometria (curva e tangente), e a aplicação de seis códigos: (i) classe de via; (ii) inventário da estrutura do pavimento com base no tipo de dormente; (iii) geometria com a definição da metodologia de avaliação da qualidade geométrica, propondo um índice que aplica o desvio padrão dos parâmetros geométricos (bitola, empeno, alinhamento e nivelamento transversal), a contagem de exceções e os respectivos limites de alerta, intervenção e segurança; (iv) superfície pela análise do desgaste do trilho e defeitos superficiais; (v) segurança pelo coeficiente de atrito; e (vi) capacidade estrutural com a aplicação do módulo de via parametrizado pelo carro controle. A partir dos seis códigos, foi possível categorizar a estratégia de manutenção aplicável e, em nível de projeto, foram analisadas as degradações do lastro e do desgaste do trilho, com definições de equações de predição, o que permitiu simular o custo do ciclo de vida das estratégias. Por fim, para verificar a viabilidade técnica da estratégia de manutenção apontada, foram estudadas as tensões no topo do lastro e do subleito e ainda o módulo de via por retro análise das deflexões medidas da via permanente em duas seções da EFVM. / A new approach to the railroad track management system is presented in this thesis. The main objective of the research was the development of a network management system and life cycle cost analysis in a project level, adopting as a case study of the Estrada de Ferro Vitoria Minas. The bibliographic review has exposed geometric and structural track quality evaluation models in Brazil and in the world. The development began with the composition of the network management system using an inventory of the track under study, the subdivision of the railway into homogeneous segments of variable lengths depending on the geometry (curve and tangent), and the application of six codes: (i) class, (ii) pavement structure inventory based on tie type, (iii) geometry with definition of quality assessment methodology proposing an index that applies the exception counting and the standard deviation of the parameters - cross level, warp, alignment and gauge - and safety, alarm and intervention limits, (iv) surface by analysis of rail wear and rail surface defects, (v) safety by friction coefficient, and (vi) structural capacity with the application of the track modulus parameterized by the track geometry car. From the six codes, it was possible to categorize the applicable maintenance strategy at a project level, create prediction equations of the ballast and the rail wear degradation and simulate life cycle cost of the strategies. In order to verify the technical feasibility of the mentioned maintenance strategy, it was measured the stress at the top of the ballast and subgrade and the track modulus by retroanalysis deflections in two sections of the EFVM. Ciclo de vida (Custos) Ferrovias Pavimentação (Desempenho) Life cycle cost Pavement performance models Quality index Railroad track Railroad track management
3	Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms Vestin, Albin, Strandberg, Gustav January 2019 (has links) Today, the main research field for the automotive industry is to find solutions for active safety. In order to perceive the surrounding environment, tracking nearby traffic objects plays an important role. Validation of the tracking performance is often done in staged traffic scenarios, where additional sensors, mounted on the vehicles, are used to obtain their true positions and velocities. The difficulty of evaluating the tracking performance complicates its development. An alternative approach studied in this thesis, is to record sequences and use non-causal algorithms, such as smoothing, instead of filtering to estimate the true target states. With this method, validation data for online, causal, target tracking algorithms can be obtained for all traffic scenarios without the need of extra sensors. We investigate how non-causal algorithms affects the target tracking performance using multiple sensors and dynamic models of different complexity. This is done to evaluate real-time methods against estimates obtained from non-causal filtering. Two different measurement units, a monocular camera and a LIDAR sensor, and two dynamic models are evaluated and compared using both causal and non-causal methods. The system is tested in two single object scenarios where ground truth is available and in three multi object scenarios without ground truth. Results from the two single object scenarios shows that tracking using only a monocular camera performs poorly since it is unable to measure the distance to objects. Here, a complementary LIDAR sensor improves the tracking performance significantly. The dynamic models are shown to have a small impact on the tracking performance, while the non-causal application gives a distinct improvement when tracking objects at large distances. Since the sequence can be reversed, the non-causal estimates are propagated from more certain states when the target is closer to the ego vehicle. For multiple object tracking, we find that correct associations between measurements and tracks are crucial for improving the tracking performance with non-causal algorithms. evaluation target tracking multiple sensors non-causal smoother smoothing tracking vehicle tracking camera lidar estimate estimation prediction vehicle dynamics sensor fusion real-time tracking extended kalman filter filter validation validation position estimation velocity estimation dynamic model model complexity multi object tracking multiple object tracking single object tracking data association tracking fundamentals iterated kalman filter track management gnn global nearest neighbour mahalanobis mahalanobis distance performance evaluation differential gps dgps roi ego several sensors sensors rmse root mean square error invertible motion anti-causal motion anti-causal tracking constant velocity gnn imu tfs two filter smoother ekf rts radar inertial measurement unit nonlinear nonlinear systems mono camera monocular camera noise model tracking performance fixed interval smoothing m/n logic centralized fusion non-causal object tracker car tracking car dynamics automotive active safety object tracking automotive industry thesis master reverse dynamics reverse tracking reverse sequence sequence tracking data propagation ground truth estimating ground truth additional sensors mounted sensors true estimates environment comparison algorithm independent targets overlapping measurements occluded track switch improve lower uncertainty more certain state process noise covariance sampling image sprt adas cnn cv pdf track target ego tracker tentative track observatiom online tracking offline tracking online offline recorded sequences robust self driving self-driving car traffic trajectory true state scenario scenarios future accurate output advanced driver assistance systems non-linear complex noise pedestrian truck bus maneuvering vehicles processed measurement frame state correction probability density function tuning likelihood transition measurement motion model recursion gaussian approximation distribution linear jacobian multiplicative noise ratio ad hoc ad hoc state space approach backward auction euclidean distance statistical threshold gating association margin normalize covariance matrix fusion confirmed rejected tentative history absolute error modular ego motion parameters variables logg hardware specification fused causal factorization independent uncorrelated transform moving rotation translation oncoming overtaking Control Engineering Reglerteknik

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