Track occupancy detection using ratio of open-circuit impedance to short-circuit impedance

ELECTRICAL TRACTION, AND ITS SECURITY VOLUME: 16 |NUMBER: 2 |2018 |JUNE T ack Occupancy De ec ion Using Ra io o Open-Ci cui Impedance o Sho -Ci cui Impedance Lubomi IVANEK 1, Pe ORSAG 1, Vladimi MOSTYN 2, Ka el SCHEE 3 1Depa men o Elec ical Enginee ing, Facul y o Elec ical Enginee ing and Compu e Science, VSB–Technical Uni e si y o Os a a, 17. lis opadu 15, 708 00 Os a a, Czech Republic 2Depa men o Robo ics, Facul y o Mechanical Enginee ing, VSB–Technical Uni e si y o Os a a, 17. lis opadu 15, 708 00 Os a a, Czech Republic 3P ni signalni a.s., Bohuminska 368/172, 712 00 Os a a, Czech Republic lubomi .i [email p o ec ed], p[email p o ec ed], ladimi .mos [email p o ec ed], sc[email p o ec ed] DOI: 10.15598/aeee. 16i2.2662 Abs ac . This pape deals wi h he change o he a io o he open ci cui impedance o sho -ci cui impedance o he elec ic ac ion depending on he dis ance o he ac ion ehicle om he beginning o he sec ion. This a io is calcula ed in o de o es- ima e he ac ion ehicle speed and he dis ance a which he ack occupancy can be indica ed. The e o e, he impedance moduli and he impedance phases o he open ack ci cui and he impedance o he occupied ack (sho -ci cui impedance) is compa ed a di e en sho -ci cui dis ances. The impedances a io a ies wi h changing wea he condi ions. I is di e en in d y wea he han in he ain. The e o e, in p ac ical use, he ack occupancy indica o mus always be upda ed and he a io mus always be ecalcula ed o he new si ua ion. In his pape , he impedances a io is calcu- la ed o speci ic pa ame e s measu ed in he sec ion o he ack in O lo a. The dis ance be ween a e e ence poin (place o sho ci cui ails) om a measu ing poin is o he impedance module a io o F=10 abou 218 m. Keywo ds Impedance, occupied ack, ail, ac ion, wo- po . 1. In oduc ion This pape is aimed a es ima ing how he pa ame- e Fo ailway ac ion is changed depending on he leng h o he occupied sec ion. Fis he a io o he in- pu impedance o he unoccupied ack ci cui sec ion o he inpu impedance o he occupied ack pa s o he same ac ion sec ion. Inpu impedance measu e- men s can be used o he occupancy de ec ion o he examined sec ion i a io Fis la ge enough. This pa- pe uses da a measu ed a he ac ion in O lo a as a model example. Thus, he dependence o F(x)on he a iable xwas calcula ed based on he esul s o he measu emen o he insula ed sec ion o he ac- ion in he O lo a. The a io F(x)o he open-ci cui inpu impedance Z0 o he sho -ci cui inpu impedance ZSon he leng h xo he examined sec ion was calcula ed. The impedance o open-ci cui Z0is de ined as he impedance o he open ail sec ion o a leng h l0. F om he alue x=l0wi h inc easing dis ance x(i.e. dis ance om he measu ing poin ), he open-ci cui impedance is no longe changing. We di ided his con- s an open-ci cui impedance alue Z0by he inpu impedance o he sho -ci cui ZS(x) o he di e en leng hs xo he sec ions o ob ain he desi ed depen- dence F(x)as a unc ion o he a iable x. The ac ions a e a highly a iable sys em om an elec ical poin o iew. This conce ns he di e ences in he ack layou on di e en acks and a di e en loca ions, as well as he dependence o ack pa ame- e s on wea he condi ions. The space be ween he ails is o en di y, he dis ance o he ails om ea h is di - e en . F equen ly, he ails a e in di ec con ac wi h g a el, which ills he space be ween hem. The g a el may be s eaked wi h ege a ion ha ouches he ails. When e alua ing he occupancy o he sec ion, elec i- cal pa ame e s o he ack change wi h he wea he condi ions and he ime a iabili y o he ope a ing condi ions mus also be aken in o accoun . The e- o e, de e mining he pa ame e s o ail ac ion is c 2018 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 211 ELECTRICAL TRACTION, AND ITS SECURITY VOLUME: 16 |NUMBER: 2 |2018 |JUNE a e y complex ask. The ime- a ying condi ions o al e na ing cu en s (injec ed in o ails o ack ci - cui s p o ec ion) in p ac ical applica ions equi e he egula calib a ion o de ices, he unc ion o which is based on he e alua ion o he ac ion elec ical pa- ame e s. In his model example we do no ake in he accoun he impedance be ween he wheels o he ac ion ehicle which could inc ease he ans e se o longi udinal impedance o he sec ion o ailway line. The occupancy o ail oad acks by he ain wheels and axles should be de ec ed, o example, nea he ailway c ossing. The e o e, secu i y de ices mus ec- ognize i he sec ion is occupied. I is o en also e- qui ed o de e mine he speed o an app oaching e- hicle. The occupied sec ion appea s o us as a sho - ci cui in he place whe e he ac ion ehicle is loca ed ( he low impedance o ails sho ci cui h ough he wheels and axles o he ac ion ehicle is neglec ed). A ca ego y o he "Ea ly De ec ion" sys em is app o- p ia e [1] o he de ec ion o he posi ion and speed o a ain be o e ailway c ossing. These de ices a e moun ed a he c ossing poin only and do no use any emo e senso s. The e a e mul iple p inciples in his ca ego y - o example, ada sys ems using Dopple ’s p inciple o speed measu emen , Time-Domain Re lec- ome y [2] - ansmi ing impulse o ack ci cui and measu ing ansmission delay a e i s e lec ion, and e en acous ic sys ems based on he ho n sound anal- ysis. A e y good p inciple o de ec ing he ain’s posi ion and speed, also included unde he "Ea ly De- ec ion" ca ego y, is o measu e he wa e o m o he impedance o he ack ci cui , which is sho ed by he on and o he axles o he incoming ain. This p in- ciple is al eady in use, bu i s sa e use is g ea ly ham- pe ed by he high le el o in e e ence o he measu ing signals caused by elec ic ac ion d i es o ains, by he ansmission o signaling by means o ack ci cui s and o he sou ces o elec ical in e e ence. Howe e , wi h he de elopmen o as Digi al Signal P ocesso s (DSPs), i is possible o cons uc a measu ing de ice esis an o his in e e ence and o accu a ely analyze he sho -ci cui impedance o he ack ci cui . The sensi i i y o he me hods compa ing he changes in he impedance o he occupied and unoc- cupied ack can be judged by he wa e o m o he impedances a io F(x)measu ed on he open ack Z0 and he impedance on he sho -ci cui ed ack ZS. Acco ding o his a io, we can deduce he place o he sho -ci cui and ul ima ely he speed o he app oach- ing ehicle. Ob iously, a a ce ain c i ical dis ance lk, he a io is so small ha we will no egis e he a i ing ehicle. The dependence o he a io F(x)on he dis ances x om he measu ing poin can be de- sc ibed by he analy ical unc ion and implemen ed in he DITO (De ice o Indica ing o he T ack Occu- pancy) de ice o de ec ing ack occupancy. Bo h he modulus a io F(x)and i s phase can be e alua ed. The second eason o de ec ion o he open-ci cui o sho -ci cui impedance a io F(x)a e equen ime changes o bo h impedances, caused in pa icula by changes in he conduc i i y o he subsoil and ack sleepe s [3]. While he open-ci cui impedance luc u- a es g ea ly wi h he conduc i i y o he subsoil, he sho ci cui impedance a ies ela i ely li le. How- e e , i is possible o c ea e a calib a ion cu e o he simula ion o he posi ion and speed o he ehi- cle on he ack ci cui due o changes in he module and phase o he impedance a io F(x). Calib a ion is pe o med on he basis o he measu emen o an un- occupied sec ion, i.e., when he e is no ehicle on he ack. We used he pa ame e alues om Tab. 1 o all he calcula ions in his pape based on he impedances o he ac ion ci cui s measu ed on he ack in O lo a [3]. In he calcula ions, we eplaced he measu ed sec- ion using a Π wo-po ne wo k. F om he impedance o open-ci cui Z0and impedance o sho -ci cui ZS (measu ed on he isola ed sec ion o he ailway line), he ansmission ma ix cascading coe icien s Eq. (1) and he ac ion pa ame e s we e i s calcula ed. A=    Z0 Z0−ZS ZS Z0 Z0−ZS 1 Z0(Z0−ZS) Z0 Z0−ZS     .(1) Tab. 1: Open-ci cui and sho -ci cui impedance. Impedance Z0 open-ci cui Impedance ZS sho -ci cui (Hz) Z0(Ω) 0(◦) (Hz) ZS(Ω) S(◦) 74.76 13.25 −5.775.86 0.85 47.6 Pe -uni -leng h pa ame e s o he Πelemen [3] a e calcula ed om he elemen s o he cascade coe icien ma ix on he basis o Eq. (2) and Eq. (3) and a e p esen ed in Tab. 2. He e, o compa ison, he mea- su emen s a he equency o 275 Hz a e also gi en. Z=A12 =R+jωL, (2) Y=A11 −1 A12 =G+jωC. (3) Tab. 2: Pe -uni -leng h pa ame e s o Πelemen . (Hz) R (Ω·km−1) G (S·km−1) L (H·km−1) C (F·km−1) 75 1.05e+00 1.40e-01 2.61e-03 3.68e-05 275 1.56e+00 1.51e-01 2.06e-03 6.46e-06 The pa ame e s o di e en ypes o acks a y con- side ably, as can be seen in he li e a u e [3], [4], [5], [6], [7], [8] and [9]. We u he used he pa ame e s c 2018 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 212 ELECTRICAL TRACTION, AND ITS SECURITY VOLUME: 16 |NUMBER: 2 |2018 |JUNE om Tab. 2 o c ea e a sample model case o a pa - icula ailway ack. Fo his model case, we ha e ound ou he a io o he open-ci cui and sho -ci cui impedance measu ed a he inpu o he ack ci cui Eq. (10). 2. De e mining Open-Ci cui Impedance As s a ed in he in oduc ion, he DITO se ings o modi ied a ic condi ions a e co ec ed ( e-calib a ed) a p ede e mined in e als based on he measu emen s. The calib a ion is pe o med when he sec ion is no oc- cupied. The ques ion is, how long he dis ance o he sec ion o ailway line om he sou ce can be measu ed o ob ain he inpu impedance o an open ci cui using al e na ing cu en wi h a equency o 75 Hz o 275 Hz. Thus, a wha sho es dis ance l0 he inpu impedance changes minimal (wi h a equi ed ole ance), o exam- ple, when he ail ci cui is powe ed by a 5A cu en sou ce. The powe supply is ca ied ou a he mea- su ing poin be ween he wo ails o he same ack as shown in Fig. 1. Oscilloscope Ampli ie Signal Gene a o Powe Supply Fig. 1: Block diag am o measu ing ac ion pa ame e s. The wo-po ne wo ks a e he passi e and longi udi- nally symme ical ones. Thus, in he case o he ailway ac ion, he image pa ame e s o uni o mly dis ibu ed line can be used o calcula e he inpu impedance. The open-ci cui impedance is calcula ed om he inpu ol age and cu en a ios Eq. (4), Eq. (5) and Eq. (6). U10 =U20 cosh(γx),(4) I10 =U20 Z sinh(γx) = = U10 cosh(γx) Z sinh(γx) = U10 Z anh(γx), (5) Z0=Z anh(γx),(6) whe e: •U10 is he open-ci cui ol age a he inpu a he poin o measu emen , i.e., a he beginning o he es sec ion, •U20 is he ol age a he end o he unoccupied sec ion (a a dis ance o x=l0), •Z is he image (cha ac e is ic) impedance Z =qZ Y, •γis he p opaga ion cons an γ=Z·Y, •xis he dis ance om he measu ing poin ( he beginning o he sec ion). Fi s o all, we a e in e es ed in he cons an open- ci cui impedance alue Z0 o x=l0, whe e l0is he limi ing (c i ical) leng h o he segmen . A dis ance l0 he open-ci cui impedance a he inpu is no longe changing wi h an inc easing x-coo dina e. The open- ci cui impedance alues Z0a e hen c ucial o de e - mining he a io F(x). F om he calcula ed wa e o m o he open-ci cui impedance module alues Z0a e isible in Fig. 2 up o 600 m in leng h and in Fig. 3 up o 3000 m ( o 75 Hz). I is clea ha i he measu ed sec ion is longe han 2500 m, we can expec a cons an (s eady) inpu impedance alue o he unoccupied sec- ion (open ci cui ). Measu ed sec ion leng h (m) 0 100 200 300 400 500 600 Open-ci cui impedance modulus (Ω) 0 200 400 600 800 1000 Fig. 2: Dependency o he unoccupied module Z0on he leng h o he measu ed sec ion. The impedance module sha ply dec eases - see Fig. 2. I se les a he alue 4. Fo small alues o x, he g aph c 2018 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 213 ELECTRICAL TRACTION, AND ITS SECURITY VOLUME: 16 |NUMBER: 2 |2018 |JUNE is d awn wi h a high inpu alue o he open-ci cui impedance module. The si ua ion is mo e clea ly seen om he g aph o he dis ances om 500 m o 3000 m, see Fig. 3. Figu e 4 shows mo e complica ed depen- dence o he phase inpu impedance o he unoccupied sec ion. Measu ed sec ion leng h (m) 500 1000 1500 2000 2500 3000 Open-ci cui impedance modulus (Ω) 0 5 10 15 Fig. 3: De ail o he module Z0 o dis ance om 500 m. Measu ed sec ion leng h (m) 0 500 1000 1500 2000 2500 3000 Open-ci cui impedance modulus (Ω) -10 -5 0 5 10 15 Fig. 4: Dependence o he Z0phase o he unoccupied sec ion on he leng h o he measu ed sec ion. The shape o he cu e shows a capaci i e cha ac e a i s , which is logical o sho pa allel conduc o s wi h a low ans e se conduc i i y. A abou 1500 m, he ci cui is in esonance, and he cha ac e o he ci cui is u he changed o induc i e. The induc- i e na u e o he cu en loops, which a e closed o e he ans e se conduc ion be ween he ails, is al eady clea ly applied he e. The DITO de ice will "calib a e" he new pa ame- e s a in e als when he sec ion is unoccupied. Thus, a cons an open-ci cui impedance alue is conside ed when calcula ing he a io F(x). This impedance alue is measu ed when he ins umen is calib a ed. When he leng h o he measu ed sec ion inc eases, i does no change much. In he example modeled he e we chose Z0= (3.42 + 0.74j) Ω (designa ed o 3000 m). 3. De e mining he Impedance o he Occupied Ci cui In he case o he p esence o a ac ion ehicle in he measu ed sec ion, he ails o he occupied acks a e shun (a e eplaced by sho -ci cui ing). The in- pu impedance o he measu ed sec ion dec eases wi h he ehicle app oaching o he measu ing poin . The sho -ci cui inpu impedance is again calcula ed om he a io o sho -ci cui ol age o he sho -ci cui cu en Eq. (7), Eq. (8) and Eq. (9). U1S=Z I0 2Ssinh(γx) = =Z I1S cosh(γx)sinh(γx) = =Z I1S anh(γx), (7) I1S=I0 2Scosh(γx),(8) ZS=Z anh(γx),(9) whe e: •I1Sis he inpu sho -ci cui cu en a he mea- su ing poin , i.e., a he beginning o he es sec- ion unde in es iga ion, •I0 2Sis he cu en in he place o he sho -ci cui . The g aphical dependencies o he sho -ci cui impedance ZSon he ehicle’s dis ance om he mea- su ed poin ( om he beginning o he sec ion) a e, a 75 Hz, shown in Fig. 5 o he module and Fig. 6 o he phase. Measu ed sec ion leng h (m) 0 500 1000 1500 2000 2500 3000 Sho -ci cui impedance modulus (Ω) 0 1 2 3 4 Fig. 5: Dependence o he ZSmodule on he ehicle’s dis ance om he measu ing poin . Measu ed sec ion leng h (m) 0 500 1000 1500 2000 2500 3000 Sho -ci cui impedance modulus (Ω) 30 35 40 45 50 Fig. 6: Dependence o he ZSphase on he ehicle’s dis ance om he measu ing poin . 4. Calcula e he Ra io F(x) Ra io F(x)exp esses he p opo ion o cons an open- ci cui inpu impedance (i will be measu ed on an un- c 2018 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 214 ELECTRICAL TRACTION, AND ITS SECURITY VOLUME: 16 |NUMBER: 2 |2018 |JUNE occupied ack a de ined in e als, always o he same leng h o he segmen ) o he a iable sho -ci cui impedance Eq. (10). The g aphical ep esen a ion o a io F(x)is shown in Fig. 5 ( o he module) and Fig. 6 ( o he phase). F(x) = ZS(x) Z0(lk)=1 anh(γx) anh(γlk).(10) The anh alue o he posi i e a gumen anges om 0 o 1. I can be said ha when he a gumen o a io F(x)is equal o 2.5 he anh alue is e y close o 1, wi h he a gumen , equal o 0. I needs no being conside ed in his case. The e o e, he lowe limi o his a io may heo e ically be 1, bu p ac ically i is g ea e . The ela ionship can also be adjus ed o Eq. (11): F(x) = 1 anh(γx) anh(γlk)= =cosh(γ(lk+x)) + cosh(γ(lk−x)) cosh(γ(lk+x)) −cosh(γ(lk−x)). (11) The module alues F(x)in ela ion o he sho - ci cui dis ance a e shown in Fig. 5 and Fig. 7 and he a io phase alues F(x)in Fig. 8. Based on he au oma ic measu emen o he open- ci cui impedance a egula in e als on an unoccu- pied ack, pa ame e s R,L,C,Ga e ecalcula ed and he ins umen calib a ed o changed condi ions, e.g. wea he . Rolling s ock dis ance (m) 0 500 1000 1500 2000 2500 3000 Ra io F modulus (-) 0 50 100 150 200 Fig. 7: Dependence o he module a io F(x)on dis ance xo he ehicle om he measu ing poin . Rolling s ock dis ance (m) 50 100 150 200 250 300 350 400 450 500 Ra io F modulus (-) 0 10 20 30 40 50 Fig. 8: Module a io F(x)- de ail om 50 m o 500 m. Rolling s ock dis ance (m) 500 1000 1500 2000 2500 3000 Ra io F modulus (-) 0 1 2 3 4 5 Fig. 9: Module a io F(x)- de ail om 500 m o 3000 m. Rolling s ock dis ance (m) 0 500 1000 1500 2000 2500 3000 Ra io F a gumen (°) -40 -35 -30 -25 -20 -15 Fig. 10: Dependence o he phase a io F(x)on he ehicle’s dis ance om he measu ed si e. The a io o module F(x)a he selec ed e e ence alue Z0= (3.42+0.74j) Ω eaches a alue o abou 10 in abou 218 m. This a io, a i s glance, dec eases by 1.595 a 1.5 km, 1.34 a 1.9 km, 1.013 a 4.66 km, bu hen again sligh ly inc eases om 29.7 km. I s abi- lizes a alue 1.034. The limi dis ance l1a which he DITO de ice is s ill able o egis e he sho -ci cui ing o he ails on he basis o he module’s alues F(x)oc- cu s a he a io F(x)>1.3(a 75 Hz). In his model example his alue is achie ed in dis ance l1= 2000 m. A a g ea e dis ance whe e he a io F(x)and he in- pu impedance do no change du ing he sho -ci cui . Thus, a io F(x)<1.3canno be used o he speed es ima e and o he ack occupancy indica ion. In his case, i is possible o use he ela i ely signi ican change in he phase o he a io F(x). 5. Conclusion Ensu ing he sa e y o ain c ossings is cu en ly an in- c easingly di icul challenge. Ea ly closu e o a c oss- ing h ough signaling o ga es also b ings secu i y isks om undisciplined d i e s and o en disp opo iona ely hinde s anspo . The op imum ime- o-lock se ing by signaling o ba ie equi es a eliable posi ioning and speed sys em o he ain app oaching he c oss- ing. One o he p inciples ha can be used o loca e he ain and de e mine i s speed is o measu e he wa e o m o he impedance o he ack ci cui sho - ci cui ed by he app oaching ain. c 2018 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 215 ELECTRICAL TRACTION, AND ITS SECURITY VOLUME: 16 |NUMBER: 2 |2018 |JUNE In o de o p epa e he design o he equipmen o his ac i i y, we p epa ed a me hodology o analyzing he changes in he impedances a ios o he occupied and unoccupied sec ion. F om hese backg ounds, de- signe s o he occupancy indica ion sec ion judge how o se he inpu o his de ice so ha i can unc ion p ope ly. The esul s o his pape may be help ul in doing so. Acknowledgmen This publica ion is suppo ed by p ojec SP2017/152 "Resea ch o an enna sys ems, diagnos ics and elia- bili y o elec ical machines and equipmen " and by p ojec TA04031780. Re e ences [1] SANTOS, J., M. HEMPEL and H. SHARIF. Sensing Techniques and De ec ion Me hods o T ain App oach De ec ion. In: IEEE Vehicu- la Technology Con e ence (VTC-Fall). Las Ve- gas: IEEE, 2013, pp. 1–5. ISBN 978-1-4673-6187- 3. DOI: 10.1109/VTCFall.2013.6692407. [2] TURNER, S. A ack senso o p e- dic ing ain a i al ime. In: Inno a- ions Dese ing Explo a o y Analysis P o- g ams [online]. 2009. A ailable a : h p: //onlinepubs. b.o g/onlinepubs/ IDEA/FinalRepo s/HighSpeedRail/ HSR-50Final_Repo .pd . [3] IVANEK L., V. MOSTYN, K. SCHEE and J. GRUN. The Sensi i i y o he Inpu Impedance Pa ame e s o T ack Ci cui s o Changes in he Pa ame e s o he T ack. Ad ances in Elec ical and Elec onic Enginee ing. 2017, ol. 15, no. 1, pp. 77–83. ISSN 1336-1376. DOI: 10.15598/aeee. 15i1.1996. [4] COLAK, K. and M. H. HOCAOGLU. Calcu- la ion o ail po en ials in a DC elec i ied ailway sys em. In: 38 h In e na ional Uni e - si ies Powe Enginee ing Con e ence. Thessa- loniki: IEEE, 2003, pp. 1–8. [5] SZELAG, A. Rail ack as a lossy ansmission line Pa I: Pa ame e s and new measu emen me hods. A chi es o Elec ical Enginee ing. 2000, ol. 49, no. 3–4, pp. 407–423. ISSN 1427-4221. [6] SZELAG, A. Rail ack as a lossy ansmission line. Pa II: New me hod o measu emen s simu- la ion and in si u measu emen s. A chi es o Elec- ical Enginee ing. 2000, ol. 49, no. 3–4, pp. 425– 453. ISSN 1427-4221. [7] HILL, R. J. and D. C. CARPENTER. Rail ack dis ibu ed ansmission line impedance and ad- mi ance: heo e ical modeling and expe imen al esul s. IEEE T ansac ion Vehicula Technology. 1993, ol. 42, no. 2, pp. 225–241. ISSN 1427-4221. DOI: 10.1109/25.211460. [8] HILL, R. J., D. C. CARPENTER and T. TASAR. Railway ack admi ance, ea h- leakage e ec s and ack ci cui ope a ion. In: Technical Pape s P esen ed a he 1989 IEEE/ASME Join Rail oad Con e ence. Philadelphia: IEEE, 1989, pp. 55–62. ISBN 999- 2-9844-14. DOI: 10.1109/RRCON.1989.77281. [9] HOLMSTROM, F. R. The model o conduc- i e in e e ence in apid ansi signaling sys- ems. IEEE T ansac ions on Indus y Applica- ions. 1986, ol. IA-22, no. 4, pp. 756–762. ISSN 0093-9994. DOI: 10.1109/TIA.1986.4504788. [10] KOLAR, V., A. NEUMANN, R. HRBAC and T. MLCAK. Simula ion and Measu emen o Selec ed Elec ical Pa ame e s o Elec ic D ainage. In: ELEKTRO 11 h In e na ional Con- e ence. S bske Pleso: IEEE, 2016, pp. 320–324. ISBN 978-1-4673-8698-2. DOI: 10.1109/ELEK- TRO.2016.7512089. Abou Au ho s Lubomi IVANEK was bo n in F ydek Mis ek in he Czech Republic. He g adua ed om he VSB– Technical Uni e si y Os a a, Facul y o Mechanical and Elec ical Enginee ing, ea ned his Ph.D. deg ee om he Czech Technical Uni e si y in P ague, Depa men o Theo e ical Elec ical Enginee ing. As- socia e P o esso deg ee ecei ed a he VSB–Technical Uni e si y o Os a a in he ield o Theo e ical Elec- ical Enginee ing. His esea ch in ol es he wa es p opaga ion and an ennas, ma hema ical modelling o he elec omagne ic ield, s ay cu en unde elec ic ac ions. Pe ORSAG was bo n in P e o , he Czech Republic in 1963. He ecei ed his M.Sc. deg ee in Elec ical Machines and Elec ical D i es om VSB–Technical Uni e si y o Os a a in 1988 and Ph.D. deg ee om VSB–Technical Uni e si y o Os a a in 1999. A p esen he is a senio lec u e a VSB–Technical Uni e si y o Os a a. His ield o in e es is elec omechanical sys ems diagnos ics, powe e iciency o he adjus able speed d i es and modelling o elec ical sys ems. Vladimi MOSTYN was bo n in P ilepy in he Czech Republic. He ecei ed he M.Sc. deg ee c 2018 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 216 ELECTRICAL TRACTION, AND ITS SECURITY VOLUME: 16 |NUMBER: 2 |2018 |JUNE in Elec ical Enginee ing in 1979 om he VSB– Technical Uni e si y o Os a a, Czech Republic. Since 1990, he has been an Assis an P o esso wi h he Depa men o Robo ics and he ecei ed he Ph.D. deg ee in 1996 in Con ol Enginee ing a he same uni e si y. In 2006 he was appoin ed by he p esiden o Slo ak Republic o deg ee P o esso in b anch P oduc ion Sys ems wi h Indus ial Robo s and Manipula o s a e a success ul accomplishmen o he p ocess o awa ding a p o esso ship a he Technical Uni e si y o Kosice, Slo ak Republic. Now he is wo king as p o esso a he Depa men o Robo ics a he Facul y o Mechanical Enginee ing a he VSB–Technical Uni e si y o Os a a, Czech Republic. He is he au ho o wo books and mo e han 80 a icles. His esea ch in e es s include obo ics, simula ion o he complex mecha onic sys ems and compu e aided sys ems. P o eso Vladimi Mos yn is an Associa e Edi o o he jou nal MM Science Jou nal and he membe o Czech Associa ion o Robo ic Su ge y. Ka el SCHEE was bo n in Opa a in he Czech Republic. He ecei ed his M.Sc. om VSB–TUO in 1999. His esea ch in e es s include au oma ion o ail anspo . c 2018 ADVANCES IN ELECTRICAL AND ELECTRONIC ENGINEERING 217