exploring depths of knowledge 1 kernex microsystems a presentation on train collision avoidance...

Exploring Depths of Knowledge

KERNEX MICROSYSTEMS

A Presentation on

Train Collision Avoidance System (TCAS)


• TCAS Development project was awarded to 3 TCAS Development project was awarded to 3 Companies, as belowCompanies, as below::

Package A- 140 KM awarded to MedhaPackage A- 140 KM awarded to Medha

Package B- 70 KM awarded to KernexPackage B- 70 KM awarded to Kernex

Package C- 40 Km awarded to HBLPackage C- 40 Km awarded to HBL

TCAS Project


TCAS Project - location map


1." Package -"B"

Package B (Kernex Scope) - location map


• Safety Prevention of SPAD Control of Speed at PSR/TSR Facility of SOS Prevention of Collision during NI Working

• Operational Simple Operation by Loco Pilot Continuous Update to ensure no Loss of Line Capacity

• Limited Trackside Equipment

Main Objectives of TCAS


Major Sub-Units of TCAS • Station Units located in stations• Loco Units located in locomotives• IBS/LC Units located in block sections • Centralized monitoring system • Test benches at Loco ShedsTest benches at Loco Sheds


TCAS Block Diagram

STATION TCAS

BIULOCO TCAS

RM(2 NO)Tx/Rx

RM(2 NO)Tx/Rx

RM(2 NO)Tx/Rx

SMOCIP

GPS (2 NO)

RX

RADIO COMMUNICATION INTERFACE

GPS (2 NO)

RX

RFID Reader& Tags(2 no.s)

LPOCIP

(2 nos)

GPS (2 NO)

Rx

USB2.0&Bluetooth

IBS/LC GATETCAS21''LCD

Dispaly

USB2.0&Bluetooth

Central Mangement

Sytsem(CMS)

SPEEDOMETER PULSE

GENERATOR USB2.0 &Bluetooth

TC, Signals & Pxz Status

Inputs

GSM/GPRS INTERFACE

Antennae(2nos)

TC, SignalStatus Inputs


TCAS

Architecture & Components


Station TCASStation TCAS

RFID

(GPS)

Loco 1

Loco 2 Loco 3

Rad

io

Com

mun

icat

ion

Typical Deployment Plan


Loco TCAS - Schematic

SPEEDOMETER PULSE

GENERATORBBU

RADIOCOMMINICATIONGPS

ABU

GPS

GSM/CDMA/GSM(R)

BLUETOOTH I/F

RF TAGREADER

SPAD Interface

HMI HMI

Transponder

RF TAG

LOCO TCAS


• Dual Microprocessor based control system, along with dual redundant radio modems, RF Tag Readers and GPS Receivers

• Interface to the existing speedometer• Event Logging sub-system along with blue-tooth data

uploading/down loading facility and redundant GSM I/F.• Two Loco pilot Operation cum indication panel (LPOCIP) –

for Loco pilot and Asst. Loco pilot • Braking interface unit (BIU)• Dual Isolated Power Supply unit

Loco TCAS major Sub-systems


Loco TCAS Architecture

RS-232

PPS-1

PPS-2

RS-232

RS-485

ISO

USB

RS-232

RS-232

RS-232

RS-485

MIE-5

RFID READER-2

MIE-6

Brake Interface Unit

FOM (2 OUT OF 2 LOGIC)

FIM-1 FIM-2

MIE-1 MIE-2

RS-232

RM-1GPS

RECEIVER-1GPS

RECEIVER-2 BUS

MIE-3

RX TX RX TX

RM-2

MIE-4 LP-OCIP1 LP-OCIP2 RS-232

PSM1- 24V DC(exitation)

PSM2- 24V DC(exitation)

PSM2- Health Status

PSM1- 12V DCPSM1- 24V DC

PSM1- 5V DC PSM1- Health Status

PSM2- 5V DC

PSM2- 24V DCPSM2- 12V DC

Redundant 5V DC For EL,GSM &BT

PSM2

PSM1

DATA DOWNLOADING

EQUIPMENT

BLUE TOOTH

GSM/GPRSMODEM-1

GSM/GPRSMODEM-2

72V DCOR

110VDC

SPEEDO INPUTS(CH-1 with CH-2 Phase diff. by 90

0

CH-1

CH-1 CH-2

CH-2SPEEDOMETER

INTERFACE

PSM 3

EVENT LOGGERUSB

RFID READER-1

PHYSICALDOWNLOADING

CAN BUS2

CAN BUS1

NOTE:

1)PSM2- 5V DC For MIE-2,MIE-4,MIE-6,GPS-2, FIM-2,FOM,SPEEDOMETER 2)PSM2- 12V DC For RFID-2 3)PSM2- 24V DC For RM-2,OCIP-2 4)PSM2- 24V DC(EXITATION) For FIM-2,FOM

5) EL- Event Logger

NOTE:

1)PSM1- 5V DC For MIE-1,MIE-3,MIE-5,GPS-1, FIM-1,FOM,SPEEDOMETER2)PSM1- 12V DC For RFID-13)PSM1- 24V DC For RM-1,OCIP-14)PSM1- 24V DC(EXITATION) For FIM-1,FOM


Loco TCAS – Architectural Features• Two redundant Microcontrollers (MIE 1 & MIE 2) working in “2

out of 2” mode to achieve high level of safety.• All modules are connected through redundant CANBUS.• Two redundant Microcontrollers (MIE 3 & MIE 4) as

communication processors. • Two redundant Microcontrollers for peripheral interface.• Separate Event logger for major events logging and storing for

90 days.• Two UHF full-duplex Radio Communication Equipment with

hot standby and associated antennae: Frequency for Transmission by Loco : 441.8 MHz Frequency for Reception by Loco : 466.8 MHz Transmission by Loco for emergency (SOS) Communication

: 466.8MHz


Loco TCAS – Architectural Features ( Contd..)• Dual Redundant GPS units are interfaced with Loco TCAS to get

synchronization for TDMA as well as to act as standby when speedometer fails.

• Radio Antennae & GPS receiver antennae are permanently fixed on the rooftop of the locomotive and connected to the Loco Unit through RF cables.

• Dual Redundant RF-ID readers for finding Track Identification Number (TIN) and Absolute location.

• Dual Redundant GSM/GPRS modems for health check and transfer of failures to CMS.

• Bluetooth device for data up-loading and down loading.• USB port for Event down loading.• Loco Unit interfaced externally with Braking Interface Unit (BIU).• Multi level Braking system, with the help of a proportional valve.


Loco Pilot Operation cum Indication Panel• Two LP-OCIPs (Operation cum Indication Panel) provided for

Loco pilot and Asst. pilot interaction with TCAS.

• Functions performed: 1. Speed indication in analog and digital forms2. Display of immediate signal aspect3. Target distance and movement authority in meters4. Generation of SOS5. Selection of Leading/ Non leading of loco6. Light engine/ Formation selection7. Display of system health


Loco Pilot Operation cum Indication Panel


Breaking Interface Unit (BIU )

• Based on Proportionate Valve – Brake pipe pressure will be proportional to the input voltage

• Separate Light engine brake• Separate Dedicated valve for emergency brake• Does not interfere with the brake action of the Loco Pilot• No continuous leakage of air after achieving the required

pressure..


RF Tag placement in Station

To be provided by Ajaiah


Station TCAS major Sub-systems

• Dual Microprocessor based control system, along with dual redundant radio modems and GPS Receivers

• Event Logging System along with blue-tooth data uploading /down loading facility and redundant GSM Interface and OFC Interface.

• Station Master operation cum indication panel• Station yard layout and status panel (21”)• Dual Redundant Power Supply unit• Battery and Battery charger• 30 meter Tower for radio modem.


Station TCAS Architecture

CAN BUS2

RS-232

RS-232

PPS-1

RS-232

CAN BUS1

USB

USB

RS-232

RS-232

RS-232

BUS

FOM(2 OUT OF 2 LOGIC)

FIM-1 FIM-2

MIE-1 MIE-3

RM-1

RS-232

GPS RECEIVER-1

GPS RECEIVER-2

PPS-2

RM-2

21"LCD

MP/MCSM-OCIPMIE-4

EVENT LOGGER

GSM/GPRSMODEM-1

GSM/GPRSMODEM-2

DATA DOWNLOADING

EQUIPMENT

BLUE TOOTHPHYSICAL

DOWNLOADING

BATTERY CHARGER

CUM POWER SUPPLY

BATTERY

PSM1

PSM2

PSM3

230V AC

24V DC

PSM3- 5V DC For

GSM,EL,BT

PSM1- 5V DCPSM1- Health Status

PSM1- 24V DC

PSM1- 24V DC(EXITATION)

PSM2- 24V DC(EXITATION)

PSM2- 5V DC

PSM2- Health Status

PSM2- 24V DC

RX TX RX TX

NOTE:

1)PSM1- 5V DC For MIE-1,MIE-3,GPS-1, FIM-1,FOM2)PSM1- 24V DC For RM-1,OCIP3)PSM1- 24V DC(EXITATION) For FIM-1,FOM

NOTE:

1)PSM2- 5V DC For MIE-2,MIE-4,GPS-2, FIM-2,FOM2)PSM2- 24V DC For RM-23)PSM2- 24V DC(EXITATION) ForFIM-2,FOM

MIE-2


Station TCAS Architectural Features• Two Microcontrollers (MIE 1 & MIE 2) working in “2 out of 2”

mode to achieve safety of desired functionality.• All modules are connected through redundant CANBUS.• Two redundant Microcontroller (MIE 3 & MIE 4) working on

for radio communication and display. • Event logger for major event logging and storage for 30 days• Two UHF full-duplex Radio Communication Equipment with

hot standby and associated antennae Frequency of Transmission by Station : 466.8 MHz Frequency of Reception by Station: 441.8 MHz

• Two GPS units are interfaced with Station TCAS• Radio Antennae & GPS receiver antennae are permanently

fixed on the preinstalled 30 mtr towers. • Two GSM/GPRS modems for transfer of failures to CMS.


Station TCAS Architectural Features ( Contd..)• Station-OCIP (Operation cum Indication Panel) provided for station master.

• Existing fail safe signal, point status relay interface contact input reading.

• 21’’ LCD monitor for yard display.

• Bluetooth device for data Transfer.

• Battery with battery charger cum power supply to provide up to 24 hrs.


IBS/LC TCAS

• Intermittent block Station/ Level crossing gate TCAS is similar to Station TCAS Unit, but with less no. of Inputs / outputs.

• No user interface

• Acts like a base station


Centralized Management System

Station A Station B Station C Station N

Loco 2

GSMNetwork

Loco 3

Loco 1

CentralManagement

System

LAN Network

Railnet

WebReports

WebReports


Station/IBS/LC TCAS - Schematic

I/P fromInterlocking

Central Unit

RadioComm Rec

.... ....

GPSRec

GPS Antinna

SM-OCIP


• RFID Tags Provided at Start/End of TCAS Territory One Kilometer on Straight Track At Turnouts to detect diversions and Infringements Block Entry – foot of Last Stop Signal Station Entry – at the end of the Block Overlap at the

Station Foot of Signal

• Each Location with Pair of Tags for Redundancy• Rigid Fixture with Clamps on Sleepers

Trackside RFID Tags


TCAS

System Functions


•In-Cab Signaling•Detection and Prevention of SPAD•Display of Distance of Signal and Movement

Authority•Loop Line Speed Control•Speed Control at PSR/TSR

ATP Functions


• Prevention of Head-On Collision• Prevention of Rear-End Collision• Prevention of Collision due to Unusual Stoppage in

Block Section• Detection of Train Parting with External Input• Manual SOS Generation Feature in Station TCAS• Manual SOS Generation Feature in Loco TCAS• Detection of Roll back

Collision Prevention Scenarios


• Full Duplex Radio Communication• Location with RFID and Existing Tachometer• Automatic and Manual Brake Test • No Database in Locomotive TCAS Unit• Automatic Train Length Measurement Feature• Station to Station Communication for Additional Layer

Block Protection

Supporting Functions


Modes of Operations

• Normal Mode• Controlled Mode (when any vital system fails)• Restricted Mode (15 Kmph operation)• Staff Responsible mode (Manual mode)• Coupled / banking operation• Trip and Post Trip Modes• On-Sight Mode• Reverse Mode (to move in reverse direction)• Shunting mode


Features of TCAS • Full Duplex Radio Communication• Location determination with RFID and existing Tachometer• Automatic and Manual Brake Test • No Database in Locomotive TCAS Unit ; hence operation,

handling of yard layout changes will be easy.• Automatic Train Length Measurement Feature• Station to Station Communication for Block Protection (as

additional layer) • Time synchronization of complete network through GPS


Features of TCAS ( Contd..)

• Handling of New Train Formation• RFID based Track Id & Location Determination• Multi Level Braking Interface• Provision of Controlled Mode (Manual mode) Operation• TDMA based Communication protocol• Startup/Online Diagnostics• Event Logging • Central Monitoring through GSM / GPRS network for

maintenance• Data up-loading & down loading through ‘Bluetooth’.


Environmental Specifications • Operating Temperature: -10 to +70 deg. C• Relative Humidity : 95% (non-condensing)• Vibration : 3 g for Loco; 2 g for Station & LC• Mechanical Shock : 20 g peak for 11 msec. (non-operating)• Bump : 40 g peak in packed conditions• MTBF (Planned)

- Loco unit: 20,000 hrs - Station Unit: 60,000 hrs


Present Status • Installed Station TCAS in Nawandgi and Kurukunta stations• Installed Loco TCAS in one electric and one diesel loco• KMIL participated in several field trials to study / verify

• Radio communication• RFID readers and tags• Inter-operability with other vendors equipment between

stations Tandur, Mantatti, Nawandgi and Kurukunta. • Various control logics including SPAD

• Prototype testing completed. (Same was used for site trials since Jan 14.)

• Independent Safety assessor (ISA) clearance for Hardware design completed.


Present Status ( Contd..)

• System documents under review by ISA.• Soil test for Tower erection completed.• Approval for Tower locations in stations and LCs from SCR obtained.• Tower design with CPRI approval completed.• Relay room wiring in Station- approval from SCR obtained.• Unit level manufacturing in progress.• Software documents under review by ISA.• Software Functional logics developed and tested during site trials.


TCAS

Scenarios


• Approaching Signal Aspect is Transmitted by Station TCAS to Loco TCAS

• Loco TCAS Displays Signal Aspect on LP-OCIP• In case Driver fails to apply brakes to reduce the speed/stop

the train, TCAS Applies brakes to stop the train. • On Change of Signal Aspect to green, brakes will be released

Detection & Prevention of SPAD


• Station TCAS gets inputs from Signaling and transmits the same to the approaching Loco TCAS

• The Signal Aspect of the next approaching signal is displayed on the LP-OCIP

• Movement authority is also displayed along with the signal aspect on the LP-OCIP

• On Crossing the Signal, Next Signal Aspect and Movement authority is automatically updated on the LP-OCIP

In Cab Signaling


Display of Signal & Movement Authority


• Station TCAS gets inputs from Signaling and transmits the route Information to the approaching Loco TCAS

• In case the route is set to Loop Line and the Loco Pilot does not apply brakes to achieve speed limit, Loco TCAS applies brakes to regulate to the Loop Line speed Limit

• If Loco Pilot applies brakes, then Loco TCAS will not apply brakes as speed is monitored dynamically

Loop Line Speed Control


• Two trains approach each other in Block section on the same Track is sensed.

• Station TCAS Transmits the HOC Condition to both Locos• Both Locos individually deduce HOC Condition based on

Emergency Broadcast• Brakes are applied to both the Locos and brought to a stop

Prevention of Head-On Collision


• Two trains approach each other in Block section on the same Track is sensed.

• Station TCAS Transmits the REC Condition to both Locos• Both Locos individually deduce REC Condition based on

Emergency Broadcast• Brakes are applied to the Rear Loco and brought to a stop

Prevention of Rear-End Collision


• One Train Stopped in Block Section either due to Derailment or for any other Reason is sensed by Station TCAS

• Station TCAS Transmits the Unusual Condition to the other Loco entering the Block Section

• Unusual Stoppage Emergency Broadcast also is sensed by the approaching Loco

• Brakes are applied to the Approaching Loco and regulates to 15 Km/h• In case there is no obstruction, Loco Pilot can increase the speed

after crossing the stopped Train

Unusual Stoppage in Block Section


• There is a provision on SM OCIP for generating emergency condition

• SM can Press the Manual SOS buttons• All trains within the range of 3000m applies EB and stops• Loco Pilots of the trains can press the Manual Override and

pilot the train at 15 Km/h• On Cancellation of Manual SOS in the Source Loco, Speed

restriction is removed

Manual SOS from Station


• There is a provision on LP OCIP for generating emergency condition

• Loco Pilot can Press the Manual SOS buttons• All trains within the range of 3000m applies EB and stops• Loco Pilots of other the trains can press the Manual Override

and pilot the train at 15 Km/h• On Cancellation of Manual SOS in the Source Loco, Speed

restriction is removed

Manual SOS from Loco


• Using External Sensor for Train Parting, Loco TCAS detects train parting condition

• Train Parting Message is sent to the Station TCAS as well as transmitted in the Emergency Communication Slots

• Any Loco TCAS approaching the Parted Loco TCAS applies brakes to regulate the speed to 15 km/h

• Driver can look out for infringement and can go at full speed on crossing the Parted Train

Prevention of Collision due to Train Parting


• Loco Unit Stores its position and speed in FIFO• Station TCAS transmits the Start marker time stamp T1 to

Loco TCAS (in millisecond accuracy)• Station TCAS transmits the End marker time stamp T2 to the

Loco TCAS (in millisecond accuracy)• Based on the start and end time and the speed at which Loco

is traveling, Loco TCAS calculates the Train Length

Train Length Calculation


Train Length

Event “Start“ Event “End“

Event “Start“Event “End“

Frame #n+2Frame #n Frame #n+3 Frame #n+4Frame #n+1

t (Start) t (END)

Train Length Calculation


• When Loco reaches a speed of more than 50 Km/h and is accelerating, Loco TCAS applies NB through Braking Interface Unit (BIU)

• Speed is reduced by 20 Km/h• Based on the time taken, Deceleration constant (DC) of the

train is calculated and stored for any future brake application. • Default DC is taken as 0.2 m/s2

• Calculated DC is extrapolated for application of FSB and EB• Manual Brake Test is applied in Loco sheds to test the

functioning of BIU

Auto Brake Test & Manual Brake Test


TCAS

Architectural Features andSafety Certification


• Two redundant Microprocessors/controllers (MIE 1 & MIE 2) working in “2 out of 2” mode to achieve safety of desired functionality

• Two redundant Microprocessor/controller (MIE 3 & MIE 4) working on for radio communication and display.

• Two full-duplex Radio Modems with hot standby and associated antennae

• One GPS unit is interfaced with Loco TCAS to get time synchronization for TDMA as well as to act as standby when speedometer fails.

• Radio Antennae & GPS receiver antennae are permanently fixed on the rooftop of the locomotive and connected to the Loco TCAS through RF cables.

TCAS Architectural Features


• Interfaced with two RF-ID readers for finding Track ID. • Interfaced with two GSM/GPRS modems for transfer of

failures to CMS.• Interfaced with two LP-OCIP’s (Operation cum Indication

Panel) which are mounted on the Driver’s pedestal for easy access and visibility to the Driver.

• Interfaced with Bluetooth device for data Transfer. • Loco TCAS interfaced externally with Automatic Braking Unit

(ABU) for Normal Brake, Full Service Brake and Emergency Brake

• Interfaced with 2 Field Input Modules (FIM) for Inputs. • Interfaced with 2 Field output Modules (FOM) for outputs.

TCAS Architectural Features Contd..


• Loco TCAS interfaced with existing odometer’s pulse generator to compute location data.

• Loco TCAS also interfaces with Inter-Cock Switch (ICS) to determine coupling / banking mode of train operations

• Logging of eventlogs by eventlog module, which can be downloaded through Bluetooth.

• 1 Battery with battery charger to provide up to 30 min power backup.

• 2 Hot Standby redundant power supply modules to provide power supply to all the modules of Loco TCAS Unit

TCAS Architectural Features Contd..


• Independent Safety Assessor (ISA) done by ERTL, Kolkata• Hardware Design is Verified to provide required Safety• Software Design is Verified to provide required Safety• System is Validated Independently to ensure proper

functionality• Design and Safety Documents are Verified to meet required

Safety Level• On completion of assessment, Certification is done

Safety Certification


TCAS

Radio Communication


• Full Duplex Communication• Stationary Units Transmit on Frequency ‘F1’ and Receive on

‘F2’• Locomotive Units Transmit on Frequency ‘F2’ and Receive on

‘F1’• In Emergency Situations, Loco Units also transmit in ‘F1’ and

tune back to ‘F2’ for Listen. • Uses Time Division Multiplexing (TDMA) for Communication

Radio Communication


Tx by Stationary (f1)

Tx by Train (f2)

Tx by Train

( Addl SOS/ Emergency Tx)

(f1)

MR3 MR4 ME4ME3

30

4

30

4

30

4

30

4

49

6

49

6

49

6

30

4

30

4

30

4

30

4

48

96

96

M1

M5

M39

M40

M44

M45

M53

M54

M62

M63

M71

M72

M76

30

4

30

4

30

4

30

4

30

4

30

4

30

4

30

4

30

4

30

4

30

4

49

6

49

6

48

96

96

96

96

2704 Bits

MTP

48

30

49

6

96

30

4

1094 Bits ( Repeater/End

Cabin)9

6

S1 S9

48

3504 Bits3

04

S5

S6 S7 S8

1094 Bits ( Repeater/End

Cabin)

3504 Bits

3504 Bits

3504 Bits9

6

96

96

96

49

6

49

6

49

6

49

6

49

6

30

4

30

4

30

4

30

4

Timeslot Position Marker

1 2 3 7 55 56 66 68 72 75 8645 46 79 81

S4

Communication Time Frame


TCAS

Position Determination


• Loco TCAS is fitted with two RF Readers. • RF Tags are fitted on the sleeper• On Crossing RF Tag, Loco TCAS gets Absolute Position• From tachometer Speed, position is accumulated• GPS is used as fall back, in case of tachometer failure• Tag Crossed + distance traveled is Transmitted to Station TCAS• Station TCAS Calculates position of Train based on Absolute

Position of Tag + Distance Traveled

Position Determination


Kernex Microsystems (India) Limited‘THRUSHNA’, PLOT NO 7, A.P.I.I.C LAYOUTSHI-TECH CITY, MADHAPUR, HYDERABAD – 500081Tel: +91-40-23113192-94, Fax: +91-40-23113191;URL: www.kernex.in

THANK YOU

exploring depths of knowledge 1 kernex microsystems a presentation on train collision avoidance...

Documents

loco tcas schematic

hbl tcas project slide

loco pilot operation

stations loco units

station tcas rfid gps

loco shedstest benches

loco pilot continuous

tcas architecture components