The Application of Automation Theory to Railway Signaling Systems: Turkish National Railway Signaling Project

Abstract

When compared with the other transportation systems, railway systems are economical, safer and more environment friendly. Despite all these features, investments on railways in Turkey remained quite restricted in comparison to other European countries. The initial construction costs of railways are high and developing its signaling system also requires a lot of attention. Signaling system is the vital part of a railway system which ensures safe travel and transportation on railways. One of the main reasons that make a signaling system critical and hard to develop is to satisfy the recommendations of related functional safety standards such as EN 50128 and EN 61508-3. In this study, functional safety requirements used in railway signaling systems are stated and the use of recommended methods in the Turkish National Railway Signaling Project (TNRSP) are explained. Especially, the software development process and the use of several programming techniques in determination of the software architectures are discussed.

Keywords

• Railway signaling system, Railway interlocking system, Functional safety, Petri nets.

Kaynakça

1. URL: www.ecopassenger.org. (Reached on: 08.03.2013). [2] URL: http://www.medicine.ox.ac.uk/bandolier/booth/Risk/tr ansporttrav.html. (Reached on: 08.03.2013).
2. Hall, S., Modern Signalling Handbook, Ian Allan Publishing, England, 2001.
3. Kuepper, G.J., “150 years of train-disasters - practical approaches for emergency responders”, 9-1-1 Magazine, September/October, 30-33, 1999.
4. Akita, K., Watanabe, T., Nakamura, H., and Okumura, I., “Computerized Interlocking System for Railway Signalling Control: SMILE”, IEEE Transactions on Industry Applications, Vol. IA-21-4, 826-834, 1985.
5. Petersen, J.L., “Automatic Verification of Railway Interlocking Systems: A Case Study”, Proc. of the 2nd Workshop on Formal Methods in Software Practice, 1998, 1-6.
6. Kantz, H. and Koza C., “The ELEKTRA Railway Signalling- System: Field Experience with an Actively Replicated System with Diversity”, Proc. of the 25th International Symposium on Fault-Tolerant Computing, 1995, 453-458.
7. Rao, V.P. and Venkatachalam, P.A., “Microprocessor-Based Railway Interlocking Control with Low Accident Probability”, IEEE Trans. on Vehicular Technology, Vol. VT- 353, 141-147, 1987.
8. Hartonas-Garmhausen, V., Campos, S., Cimatti, A., Clarke, E. and Giunchiglia, F., “Verification of a Safety-Critical Railway Interlocking System with Real-time Constraints”, Science of Computer Programming, Vol. 36, 2000, 53-64.

9. Nakamatsu, K., Kiuchi, Y., Chen, W.Y. and Chung, S.L., “Intelligent Railway Interlocking Safety Verification Based on Annotated Logic Program and its Simulator”, Proc. of the IEEE Int. Conf. on Networking, Sensing&Control, 694- 700, 2004.
10. Dipoppa, G., D’Alessandro, G., Semprini, R. and Tronci, E., “Integrating Requirements in Railway Interlocking System Design”, Proc. of 6th IEEE Int. Symp. on High Assurance Systems Engineering, 209-219, 2001. Verification of Safety
11. Roanes-Lozano, E., Roanes-Macias, E. and Laita, L.M., “Railway Interlocking Systems and Gröbner bases”, Mathematics and Computers in Simulation, 51, 473-481, 2000.
12. She, X., Sha, Y., Chen, Q. and Yang, J., “The Application of Graph Theory on Railway Yard Interlocking Control System”, Proc. of the IEEE Intelligent Vehicles Symposium, 883-888, 2007.
13. Banci, M., Fantechi, A. and Ginesi, S., “The Role of Formal Methods in Developing a Distributed Railway Interlocking System”, Proc. of the 5th Symp. on Formal Methods for Automation and Safety in Railway and Automotive Systems, 220-230, 2004.
14. Banci, M., Fantechi, A. and Ginesi, S., “Some Experiences on Formal Specification of Railway Interlocking Systems using Statecharts”, Train International Workshop at SEFM2005, 2005.
15. Bohn, J., Damm, W., Klose, J., Moik, A. and Wittke, H., “Modeling and Validating Train System Applications Using Statemate and Live Sequence Charts”, Proc. of the Conf. on Integrated Design and Process Technology, 2002.
16. Hei, X., Takahashi, S. and Nakamura, H., “Distributed Interlocking System and Its Safety Verification”, Proc. of the 6th World Congress on Intelligent Control and Automation, 8612-8615, 2006.
17. Hei, X., Takahashi, S. and Nakamura, H., “Toward Developing a Decentralized Railway Signalling System Using Petri nets”, Proc. of the IEEE Conf. on Robotics, Automation and Mechatronics, 851-855, 2008.
18. URL:http://www.thalesgroup.com/Pages/Solution.aspx?i d=2493&pid=1568. (Reached on: 08.03.2013).
19. URL:http://www.mobility.siemens.com/mobility/en/pub /urban_mobility/rail_solutions/rail_automation/electroni c_interlockings.htm. (Reached on: 08.03.2013).
20. URL:http://www.funkwerk- it.com/wEnglisch/produkte/signaltechnik/alister- stellwerk.shtml. (Reached on: 08.03.2013).
21. URL:http://www.ansaldo-sts.com/en/activities-and- services/business-segments/computer-based- interlocking. (Reached on: 08.03.2013).
22. URL: http://www.alstom.com/transport/products-and- services/signalling/smartlock-interlocking. (Reached on: 08.03.2013).
23. URL:http://www.bombardier.com/en/transportation/pr oducts-services/rail-control- solutions?docID=0901260d8000a67e. 08.03.2013). (Reached on:
24. IEC 61508-3, “Functional Safety of Electrical / Electronic / Programmable electronic safety-related systems, Part 5: Examples of methods for the determination of safety integrity levels”, 1997.
25. Spellemaeker, M. and Witrant, L., “How to Determine the Safety Integrity Level (SIL) of a Safety System”, URL: http://www.indsci.com/docs/Press/PIN_0907.pdf. (Reached on: 08.03.2013).
26. Söylemez, M.T., Durmuş, M.S. and Yıldırım, U., “Functional Safety Application on Railway Systems: Turkish National Railway Signalization Project”, Proc of the 24th Int. Cong. on Condition Monitoring and Diagnostics Engineering Management, 1683-1692, 2011. [28] URL: http://www.hima.com/_filenet/Download.asp?ID=00367 4672:1&Tag=Rail%20Flyer%20en. 08.03.2013). (Reached on:
27. Durmuş, M.S., Yıldırım, U., Kurşun A., and Söylemez, M.T, “Fail-safe signalization design for a railway yard: A level crossing case”, The 10th International Workshop on Discrete Event Systems, 337-342, 2010.
28. Börcsök, J., Functional Safety, Hüthig Verlag, Germany, 2007.
29. EN 50128, “Railway Applications, Communications, signalling and processing systems, Software for railway control and protection systems”, 2001.
30. Ramadge, P.J. and Wonham, W.M., “The Control of Discrete Event Systems”, Proc. of IEEE, Vol. 77, No. 1, 1989, 81-98.
31. Murata, T., “Petri nets: Properties, Analysis and Applications”, Proc. of IEEE, Vol. 77, No.4, 1989, 541-580.
32. Giua, A. and Seatzu, C., “Modeling and Supervisory Control of Railway Networks Using Petri nets”, IEEE Trans. On Automation Science and Engineering, Vol.5, No.3, 2008, 431-445.
33. Hagalisletto, A.M., Bjork, J., Yu, I.C. and Enger, P., “Constructing and Refining Large-Scale Railway Models Represented by Petri nets”, IEEE Trans. On System, Man and Cybernetics-Part C: Applications and Reviews, Vol.37, No.4, 2007, 444-460.
34. Zurawski, R. and Zhou, M.C., “Petri nets and Industrial Applications: A Tutorial”, IEEE Trans. on Industrial Electronics, Vol. 41, No.6, 1994, 567-583.
35. Febbraro, A.D., Porta, G. and Sacco, N., “A Petri net modelling approach of intermodal terminals based on Metrocargo© system”, Proc. of the IEEE Intelligent Transportation Systems Conference, 1442-1447, 2006.
36. Hasdemir, İ.T., Kurtulan, S. and Gören, L., “An implementation methodology for supervisory control theory”, International Journal of Advanced Manufacturing Technology, Vol. 36, No.3-4, 373-385, 2008.
37. Durmuş, M.S., Yıldırım, U., and Söylemez, M.T., “Application of Functional Safety on Railways Part I: Modelling & Design”, Proc. of the 8th Asian Control Conference, 2011, 1090-1095.
38. Yıldırım, U., Durmuş, M.S. and Söylemez, M.T., “Application of Functional Safety on Railways Part II: Software Development”, Proc. of the 8th Asian Control Conference, 2011, 1096-1101.
39. Dincel, E. and Kurtulan, S., “Interlocking and Automatic Operating System Design with Automaton Method”, Proc. of the 13th IFAC Symposium on Control in Transportation Systems, 2012, 191-196.
40. Kaymakçı, Ö.T., Üstoğlu, İ. and Anık, V.G., “A Local Modular Supervisory Controller for a Real Signalling System”, Proc. of the 5th IET International System Safety Conference, 2010, 1-6.
41. Uzam, M., Petri-net-based Supervisory Control of Discrete Event Systems and Their Ladder Logic Diagram Implementations, PhD. dissertation, University of Salford, 1998.
42. Thapa, D., Dangol, S. and Wang, G.N., “Transformation from Petri nets Model to Programmable Logic Controller using One-to-One Mapping Technique”, Proc. of the Int. Conf. on Computational Intelligence for Modelling, Control and Automation and Int. Conf. on Intelligent Agents, Web Technologies and Internet Commerce, 2005, 228-233.
43. Frey, G., “Automatic Implementation of Petri net Based Control Algorithms on PLC”, American Control Conference, 2000, 2819-2823.
44. Genter, G., Bogdan, S., Kovacic, A. and Grubisic, I., “Software tool for modeling, simulation and real-time implementation of Petri net-based supervisors”, 16th IEEE International Conference on Control Applications, 2007, 664-669.
45. Mutlu, İ., Ovatman, T., Söylemez, M.T. and Gören-Sümer, L., ,A New Test Environment for PLC Based Interlocking Systems,, Proc. of the International Conference on Transportation, Mechanical and Electrical Engineering, 2011, 1123-1127.
46. Mutlu, İ., Ergenç, A.F., Ovatman, T. and Söylemez, M.T., “Design of a Hardware and Software based Test Bed for Railway Signalization System”, Proc. of the 13th IFAC Symposium on Control in Transportation Systems, 2012, 185-190.