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1. Status Action controlpanel Status Action move map Figure 6 Example of a step by step network design a Moving and placing background maps b Placing stops and other track element c Closing the gaps with flexible track elements This design step is available in the its 0 51 distribution just open simulation file fiera track its d Track is activated and carriers as well as users have been added to the stops The simulation is now ready to run and processing time for map images In order to obtain realistic results using maps please read carefully the following instructions e Scale the map to one pizel per meter for example if you want to include a 5km large map than it must have 5000 x 5000 pixels 25 000 000 pixels This scaling is not done by the simulator it is required that you do this with a graphics program before including it in the simulator Note that the width of vehicles track and persons is slightly over sized roughly factor 1 3 in order to improve visibility at 100 viewing scale e Save the map in GIF format into the same directory as the simulation file default is its 0 51 projects e Multiple background maps are recommended if the target area is not rect 16 angular Try to avoid empty map space as maps occupy a lot of memory disk space and slow down zoom operations Hint If you are designing a bigger network it may be useful to delete all
2. 5 Click into the Line speed field and change it to zero or a small value AND HIT THE RETURN BOTTOM otherwise the new value will not be effective Click on the Update bottom to see if the new values have been registered You can leave the control panel open for further interaction 6 Continue the simulation and watch how the vehicles are slowing down on the selected section 7 After a certain simulation time which is necessary to repair or remove the vehicle stop the simulation again and use the above described method to restore the line speed to its old value 28 4 5 3D OpenGL monitor This is only a very crude 3D visualizer but it is in real time When sitting on a vehicle one can get a kind of feeling for what would happen on a real ride This applies only to smaller networks a few km and only with a small number of users Unfortunately the OpenGL monitor is currently not integrated in the main GUI as it requires a different scheduler You can double click on its3d to see a demo test track However to view your own network is a bit more complex Here is the way to view your own network in 3D 1 2 Edit a simulation in 2D as described in Sec 3 3 including vehicles and users Save the simulation Right click on the script file its3d in the main directory and select edit with IDLE Look at the script file After the Usage info you will find a section DEFINE DEFAULTS HERE chan
3. handle the logistic control of a track cluster in the current ver sion there is just one cluster Track managements receive orders from the carrier managements on where to route the carriers They estimate the path with the short est trip time from origin to destination and give branch and halt instructions to all track elements involved Track managements would be operated by infrastructure providers 32 5 2 Logistics and tasks All managements together see Fig 11 perform the logistics of the network by exchanging information among each other but also with the physical world track elements carriers users Apart from standard administrative operations the managements currently optimize only the trip time They route the vehicle to its destinations on a path that has the shortest expected trip time If a branch is blocked the vehicle is deviated which will trigger a rerouting Empty vehicles will be intelligently routes to the nearest stop with a higher user demand If there is are no passengers at a stop empty vehicles are send into the network An empty vehicle is branched into a stop if there are waiting passengers at this moment There is currently no predictive resource allocation not for vehicles and neither for the network This means traffic congestion can occur if the network has a bottleneck The organization of the entire logistic is based on the creation exchange and execution of tasks If a management wants
4. heavily based on the open source software packages Python2 http www python org Python Numeric and Tcl Tk http dev scriptics com it is necessary to install those packages before iTS MAITcan be launched DIRECT LINKS FOR DOWNLOADING ALL REQUIRED SOFTWARE ARE PROVIDED IN THE SUBSECTION THAT CORRESPOND TO YOUR OPERATING SYSTEM For windows there is just one zipped file to download which contains all the software needed 2 1 System requirements As system requirement an Intel Processor with at least 500MHz or equivalent 64Mb of RAM and 15MB of disk space is recommended The simulator can also be used with less powerful computers However in the graphic mode vehicles movement becomes very slow and jerky However a previously edited network can be simulated in command line mode which is significantly faster 2 2 Installation for MS Windows All free packages run on 95 98 NT 2000 XP and Vista 2 2 1 Instructions if open source packages are not installed Since code enthought com offers a complete Python suit for windows including all re quired packages it is easiest to install just this software instead of the individual pack ages 1 Download the latest version at http code enthought com enthon 2 Double click on the downloaded file and follow instructions Now you are ready to install the iTS MAITsoftware see Sec 2 2 2 Even though the install instructions and downloads are only given for Linux an
5. 6 Bugs At present the software is not memory and speed optimized Tip if you are short of memory After you have completed the network design delete your background maps with Edit Map Delete and safe this version under a different name Then run the simulation The results will be the same but your computer does not have to deal with the memory of the maps You can also much quicker zoom in and out without maps In any case for larger networks it is recommended to run the simulation in command line mode or as a script without graphical support This will reduce the used memory and make the simulations roughly 5 times faster see Sec 4 3 and Sec 4 2 Some minor problems have been discovered and will be improved in future versions e There may be problems with reloading already simulation files Sometimes it cannot be seen immediately but during the simulation when various WARNING messages do occur on the terminal Please keep always a copy of the unactivated track as backup This will always work From there it is quick to reconstruct the simulation by adding different numbers of vehicles and users e Vehicles crash into each other at a certain merge points The reason why this can happen is that there is no design rule checker Most likely one of the branches of your merge element is too short in order to allow vehicles to adapt their speed The only solution is to extend the input lines or to lower the line speed on the input se
6. Close Figure 8 The costs page of the control panel of a track element Attention if you want to changes velocities then it is absolutely required to read the warnings of the previous design step in particular concerning the merge elements It may happen that you must extend the entry section of a merge when increasing the speed e Click on the Costs page of the control panel as shown in Fig 8 You see a list of costs plus life time and some other relevant quantities Estim initial extra costs All initial investment costs which are not proportional to the track length extra poles and structures elevators etc This cost item can be edited in a quantity cost table by pressing the Edit button see Fig 9 The quantity is here the number of this type of track element in the current network which will be automatically determined when calculating the costs Estim initial costs per meter All initial investment costs proportional to the track length rails beam structure poles etc This cost item can be edited in a quantity cost table by pressing the Edit button The 20 CA Edit estim_init_ex Quantity Estim initial extra costs ELIF 40000 00 z 0000 00 3 100 10000 00 4 1000 SUO0 00 Add Row Delete Row OK Cancel Figure 9 Cost table editor allows automatic economy of scale calculations for network quantity is here the length in meter of the total network Estim extr
7. Then follow the instructions of Sec 2 2 1 ii Several iTS MAIT version can coexist in separate directory trees always named by its version Executing the simulator of one or the other version is done by diving into the respective directory and clicking on the file its The simulation files created be an older version usually in the projects sub folder can be copied into the projects sub folder of the newer version Simulation files created by an older version will be automatically upgraded when opened with the newer version of the simulator 2 2 3 Installation of PyOpenGL In order to view your network in 3D and real time you need to have the PyOpenGl package installed Does not work with Vista sorry 1 install one more Python module download exactly this file PyOpenGL 2 0 1 09 py2 3 numpy23 exe for Python 2 3 or PyOpenGL 2 0 1 09 py2 4 numpy23 exe for Python 2 4 from http sourceforge net project showfiles php group_id 5988kpackage_id 6035 and install this self extracting file by double clicking and following instructions 2 Then you need the Microsoft s OpenGL driver which is no Open Source but you get the binary for free from Microsoft or an open source clone at http www trasporti ing unibo it personale schweizer mait projects sim downloads glut 3 7 6 bin zip Unzip the file and browse into the directory You will see a file called glut32 dll Just copy this dll file in the main direct
8. and passed on to the carrier when it enters the specific track element The track elements are organized in track clusters currently all the net is one cluster Each track cluster is controlled by one track management and may contain one or more of the following track elements e lines curves or flexible line that guide and control the carrier e diverges where one line splits into multiple lines e merges where multiple lines merge to one line e stops where people or freight gets loaded or unloaded Stops are also organizing the halt position of carriers and tell them where to load to unload to wait and when to start again The stop does all that dependent on which berths users are waiting managements provide a costumer friendly interface between user and the trans portation system this interface is currently not visible User managements receive orders from the users and organizes carriers for this trip by giving orders to the carrier management User managements would be operated by service providers in the current version there is just one user managements carrier managements handle the logistic control of a carrier fleet in the current ver sion there is just one carrier management They allocate a carrier from the carrier fleet they control and give orders to the track management They also optimize the redistribution of empty vehicles Carrier managements would be operated by transport providers track managements
9. currently just one user type the test driver making one random trip after the other carriers vehicles transport users along the track They receive orders from the carrier management to let board a specific user Carriers also control together with the current track element the distance to other carriers and so called ghost carriers on parallel branches in conflict zones 31 The vehicle follower control algorithm is currently more optimized for simulation speed rather than for precise optimized motion control This means the following differences compared with a realistic control system i there are no jerk limits in neither direction ii speed changes of the first vehicle in a vehicle chain is almost instantly and fully propagated through the chain which results in a reduced ride comfort Differences i and ii result in a slightly higher line capacity of the simulated system compared with a real system However additional time headway necessary for jerk adaptation and be simulated by increasing the brake actuation time which is one parameter of carriers Speed limits maximum comfort emergency safet acceleration are respected All parameters can be modified via Add multiple bottom or control panels track elements are capable of guiding carriers along a predefined path The instructions user whether to diverge the carrier in a specific branch to halt it or to load unload it are obtained from the track management
10. is written in Python which is a object oriented script language For this reason it is straight forward to access most simulator internal variables and functions via a script You would use scripts without graphical interface for large scale simulations because e it is many times faster the fiera simulation about 5 times as fast e it requires less memory e you can run the simulation within a script or in the background e you can automatically create and save reports A full description on what can be done with scripts would result in a manual by itself Instead there are some example scripts in the main directory that you can execute just as the main program Python is an extremely clean language and you are invited to use the examples as a template which can copied and modified for your specific purposes The simplest script is called script_users It runs the simulation of the same transportation network with different number of users script_odms is slightly more complicated as it automatically simulates the same network with a different number of vehicles using different origin to destination matrices In order to view modify the script open it in a text editor possibly with python syntax highlighting such as emacs The MS windows distribution of Python contains already an appropriate editor called IDLE Just right click on the script file and select edit with IDLE With IDLE you can also run the scrip select menu item Run Modul
11. the move mode to stretch the track elements and to close as many gaps as possible by making connections Pay again attention to the length of the entry sections of merges e Close remaining gaps by placing and stretching flexible lines e An alternative to adding track elements one can clone existing elements by selecting the Edit Modules Clone tool and by clicking on the track elements to be cloned This is similar to the copy paste operation of text editing appli cations The Edit Modules Delete tool allows to delete track elements 6 Optionally configure track elements e Select Edit Modules Control panel and click on a track element of the canvas e Click on the Sections page and select an individual sections of the track element on the table of all sections Change nominal line velocity for the selected section Do not forget to hit the RETURN or ENTER key after editing a number in order to make the changes valid for the simulator 19 Performance Costs Tasks Sections Estim initial costs 157592 8 EUR Estim initial extra costs 40000 00 EUR Edit Estim initial costs per meter 2500 00 EUR m Edit Estim costs per year 510 37 EUR m Estim extra costs peryear 40 00 EUR m Edit Estim costs per meter per year 10 00 EURf rmnaj Edit Estimated life time liq a Guantity fe Length of track element 47 04 m Apply costs to all modules of this type Update show text into
12. to get a service performed by a target another or the same management or physical module it must send an order When the target receives the order it will create a task for this order The task inside the target will create one or several actions or create orders for other managements and or modules which are necessary to fulfill the task The task persist in the target until it is terminated failed or explicitly killed In either way the task will report the results to the entity which created the order Tasks are the instrument to control the network globally on large time scales They are the bases for doing distributed parallel computing in the system s heterogeneous computer network Note that tasks are a inherent feature of most operating systems The concept of tasks used in the simulator has been designed to fulfill the special requirements of the transportation network including physical objects and a multi level management In later versions the simulation objects in particular the management objects could run on different processors using the task mechanism of the respective operating system The task page of each control panel shows task ID status the order ID and the object module which created Modules have usually only one task at a time management units must handle many tasks simultaneously 5 3 Local vehicle control Before explaining the simulated system a few words to the general PRT control problem A controller
13. a costs per year All annual operating and maintenance costs which are not proportional to the track length control cleaning painting repair This cost item can be edited in a quantity cost table by pressing the Edit button The quantity is here the number of this type of track element in the network Estim costs per meter per year All annual operating and maintenance costs proportional to the track length cleaning painting repair This cost item can be edited in a quantity cost table by pressing the Edit button The quantity is here the length in meter of the total network Estim initial costs Estim initial extra costs Estim initial costs per meter x length of track element This cost item is a function of other costs and cannot be edited Estim costs per year Estim extra costs per year Estim costs per meter per year x length of track element This cost item is a function of other costs and cannot be edited The life time can be changed directly in the text box but has currently no further use Press the Apply button to apply costs to the present track element or the Apply costs to all modules of this type button to copy the costs to 21 all track element of the same type that exist in the entire network e In case of stops you can click on the Parameters page of the control panel The following parameters can be modified Name of the stop By default the simulator gives unique numb
14. antity or length of modules can be edited in a quantity prices table The software will then automatically compute the price dependent on the size of the network number of vehicles etc important parameters such as accelerations line speed etc Most of these parameters can be interactively changed Export results the most significant data of the current simulation i e parameters performance and costs can be exported as a tab separated text file which is easily imported into all spread sheet applications such as Excel kspread star office or Gnumeric Save and load the current state of the simulated network including vehicles users and managements can be saved at any time into a simulation file This simulation file can be reloaded and the simulation continued from the state when the network was saved e Command line mode the simulation of a previously edited and saved network can be launched also without graphics In the Command line mode simulation times can be reduced considerably It also allows to run the simulation within scripts or as a batch process Read more in Sec 4 3 e Scripting the simulation of a previously edited and saved network can be used in scripts Parameterized vehicles and passengers can be added within the script and results can be saved automatically see Sec 4 2 2 Installation and Download locations This section explains the installation for different operating systems OSs As TS MAITis
15. apshot using your favorite snap shooter for example ksnapshot that comes with the KDE desktop and save window as graphics file 3 Optionally edit graphics with gimp cut off windows frame and menu resize compress etc 24 4 Advanced topics In contrast with the tutorials the advanced topics will explain how to use the simulator to a fuller extend Many topics are very useful for professional studies The Principles of operation in Sec 5 1 are not fundamental for the usage of the simulator but may help to get a deeper understanding 4 1 Add users according to a predefined origin to destination matrix The evaluation of any planned transportation system starts usually with an origin to destination matrix ODM From this matrix we know how many passengers want to travel from and to a specific place in a certain time window usually during peak hours There are planning methods that allow to get from the ODM together with other data on street layouts and geographical data to a transportation network layout with nodes links and stations where the links and station must have certain capacities in order to cope with the expected flow of vehicles and passengers However note that PRT GRT networks have some special properties such as off line stops Usually the first layout is based on static flow averages which is a crude but useful assumption In any case one would start with an initial topology and then verify with the micro si
16. back into the input simulation file In this example the simulation mycity its is advanced by 1 minute each time the following command line is executed python its py c d60 f projects mycity_users its The currently available command line options can be retrieved with the command line python its py h Note under MS windows the command line mode is painful because the standard DOS prompt shell is not very sophisticated You also need to add the python exe in the application search path and you need to give the absolute path of the simulation and output file Recommendation better use scripting under windows 4 4 How to simulate failures Here is how you can simulate the most important failure a vehicle stops moving on the track 1 Open a complete simulation including vehicles and users You may also run the simulation for a certain time to bring the network in a realistic state Then stop the simulation at the time when you want to simulate the vehicle breakdown 2 Select Edit ModulesControl panel 3 Click on a track element where you want to simulate the breakdown and select the Sections tab 4 Select a Section of the Sections table where you want to simulate the event On simple line or flexible line elements there is just one section On diverge elements the first section is the input sections the others are output On a merge element the first two elements are the input section the last one is the output section
17. ctions and on previous section in order to guarantee that the vehicles enter the merge at the desired speed In general one would set the same line velocity for both input sections of a merge element first two sections on the Section page of the control panel e The deviation rate number of deviation divided by the total number of switch operation x 100 on the track management control panel can show 101 instead of 100 e It has been observed that vehicles stop inside stations and refuse to load passengers This can occurs if stations are over congested Try to avoid over congested networks Add station or bypass or reduce the number of vehicles 35 7 Some error messages may occur after running and re editing a simulation But this should be avoided in any case edit only unactivated tracks save the network activate it and then run the simulation In some cases a discontinuity can occur when connecting track elements Usually this happens when the connecting algorithms cannot straighten the angle between both elements because it is too big Workaround just move the track elements apart with Edit Module Move and re connect them When still problems try to change relative angle or position element or position of nodes Or use flexible elements instead of curve elements or lines If this still does not help it can be that you ask for a too small curve radius which would also be a problem of the real system Consider a differen
18. d Linux system make sure to get the upgrade RPMs for your specific distribution otherwise you will get crazy with package dependencies You can find upgrades on one of the following sites http www rpmfind net linux RPM all major distributions http freshrpms net packages RedHat oriented http dag wieers com home made apt RedHat oriented Other distributions like Debian or Gentoo do maintain their own database with upgrades have a look at their home page e Compile from source Compiled code usually runs faster than binaries because it will be compiled for your processor and not for the lowest standard proces sor i386 Download the source code for Python 2 3 4 from the download page at www python org ftp python 2 3 4 Python 2 3 4 tgz and compile Even though the compilation process is well done and straight forward to use people who never compiled a source package may find it difficult to go through all steps 2 3 3 Installing Python Numeric If you have Python up and running choose one of these methods to get python numeric 23 1 installed e RPMs This is easiest but recommended ONLY if you find the package python numeric 23 1 xxxx rpm for your particular Linux distribution Have a look at the fol lowing mirrors www rpmfind net linux RPM all major distributions http freshrpms net pac oriented http dag wieers com home made apt RedHat oriented Other distri butions like Debian or Gentoo do maintain th
19. d MS windows the open source packages can be downloaded from the respective home pages and compiled on almost all known platforms For Macintosh all binaries are available except for the Python Numeric package but maybe somebody compiled it already check the web site www cwi nl jack macpython html 6 2 2 2 Open source packages are already installed Use these instructions if you have Python 2 3 4 and Python Numeric 23 1 or greater installed on your system or followed installation in Sec 2 2 1 1 Download http www trasporti ing unibo it personale schweizer mait projects sim downloads its 0 51 win zip into a directory of your choice i e My Documents its On this level a directory containing all simulation files with the name its 0 51 will be created 2 Rightclick on file My Documents its and select extract all 3 Open the its 0 51 directory and start the simulator by clicking on the file its with the snake icon If you can see the main window of the simulator see Fig 2 you are ready to proceed with the tutorials in Sec 3 Remark ii If you have already used a previous version of 17S MAITyou may have also pre vious version of Python and Numeric These versions should work as well However Python 2 3 4 has been a major bug fix release and runs indeed much more stable and also faster So if you intend to make large simulations with several thousands of users you are encouraged to reinstall all packages
20. e 4 3 The command line mode With the command line mode you can run a simulation without graphical interface and animations You will appreciate this simulation mode if you want to simulate a large network with many vehicles and passengers because e it is many times faster the fiera simulation about 5 times as fast e it requires less memory e you can run the simulation within a script or in the background e you can automatically create and save reports Assumed you have edited a network added vehicles and users and saved the simulation under mycity_users its Now you want to run the simulation for 1h save the simulation afterward in file mycity_1h its and a report of the results in file mycity_th txt To do all this with just one command open a terminal or DOS prompt under windows and type python its py c e3600 o projects mycity_lh its r projects mycity_1h txt projects mycity_users its 27 If no simulation time is given d or e option then the simulation internal times are used as set in the menu Simulation Parameters If you do not trust what has happened during the command line simulation you can always have a look at the result by opening the output simulation file hereprojects mycity_1h its in the simulator Have also a look at other command line options For example with the d combined with the f option one can iteratively advance the simulation by a given amount of time and save the output simulation file
21. e relevant policies are the constant time headway policy and constant safety policy Constant time headway offers a constant speed independent carrying capacity while the safety factor drops below unity as velocity increases Constant safety spacing guarantees a Kg gt 1 But for higher velocities the carrying capacity drops below the one of the constant time headway spacing Now we introduce the necessary parameters and math If vehicle n 1 has a maxi mum failure deceleration of ap and the following vehicle n can guarantee an emergency deceleration of ag by applying the emergency brake after time Tg then vehicle n is in a safe state if d t gt dg un t Un i t with 1 v ve d n Un T n Spana 1 slom una Tata 5 2 0 Parameters ap ar Tp vehicle length and the nominal line velocity Vj do ultimately determine the line capacity C in vehicles per hour with au x 3600 i Tg The nominal line velocity Vj can be determined individually for each section of the network at the Section Tab of the control panel of the corresponding track element In the general case if ap lt oo the plot of the line capacity over the line speed results in a curve with zero capacity at Vj 0 zero capacity if V and a maximum capacity at 20 opt gt 4 aT T aE aF The comfort criteria is introduced by limiting the acceleration a t of each vehicle n at the comfort acceleration a If we want to avoid coll
22. eir own database with upgrades Just have a look at the respective home page e Compile from source This is actually the Python way to install Python modules because it is platform independent 1 First make sure you have the Python header files installed which should be the case when you have compiled Python from source Otherwise install the RPM package python devel 2 3 x x from your Linux distribution 2 Download source Numeric 23 1 zip at http sourceforge net projects numpy and unzip 3 Open terminal as root in the unzipped directory Numeric 23 1 and type python setup py install If you have problems consult the Python Numeric homepage http www pfdubois com numpy 2 3 4 Installation of PyYOpenGL In order to view your network in 3D and real time you need to have the PyOpenGL 2 0 or newer installed e PyOpenGL is often available as binary RPM or Debian package for you Linux distri bution Sometime the package is called python opengl Check out the respective repositories see Sec 2 3 3 e Download and compile the source from http sourceforge net project showfiles php group_id 5988kpackage_id 6035 3 Short Tutorials Go through these tutorials if you are using the simulator for the first time they help you to quickly get a simulation designed and running For professional studies the advanced topics in Sec 4 are highly recommended Start up iTSMAITin GUI mode GUI Graphical user interface by t
23. enance Croup Track elements Y Pi p Modules testtrack stop20_left_v16 lin _flexible Stop with 20 berths which merge curve are offline on the left side merge doublecurve Default main line velocity is meme Nese Ra qiGT EMCEER THIS aimp iOverili i l VELOCITY Both nodes can be dragged in order to change the length select select multiple Close Figure 7 The module browser A selection panel for adding track elements vehicles and users To see this panel go Edit Module Add e Right click or press the ESC key to get rid of the track element attached to the pointer Alternatively you can click on a module in the selection box to pick a different one You can pick up again and manipulate the geometry of the track element by selecting Edit Module Move and by clicking on the desired element When creating the network it is recommended to minimize the number of track elements This will considerably improve simulation speed This means use few track elements and connect them by stretching their extremities This step requires a bit of experience However with the following hints one can rapidly build up a network e Place first all stops Maybe you have done some traffic demand analysis of the 18 target region and you know the rough position and capacity of the stops Make sure that the orientation adjust with a and A is right and input nodes open circles and output nodes filled circle
24. er 3 Optionally put one or more scanned maps on the canvas Select Edit Map Add from the main menu select the graphic file with the desired map in the browser dialog window and press OK You should see the map on the canvas attached to the pointer Move map to the correct position and place it with a click The add and place operation can be repeated for any number of maps Note that 7SMAITis a micro simulator showing the movement of individual peo ple and vehicles This means the map s resolution must be high enough to show structures such as individual houses or cars which requires considerable memory 14 aiSpread modified File Edit View Insert Format Data Dis a Help ae SAAS ASL SSS Al T d simu ation file A af UMMARY Performance Simulated time 1 00 00 Track length Number of vehicles Total distance traveled 357 Estim initial costs 358 Estim costs per year 359 Simulated Revenue Hf 4 gt PT Sheet l Sum 0 za hh mm s 6 617 48m 200 00 3 811 40km 22 263 00 21 EUR 407 654 S0EUR 3 454 28EUR Figure 5 Example of file with exported results when imported in a spread sheet here kspread from KDE e V 15 Afiera_map its its0 1 v fiera_track its its0 1 File Edit View Simulation Tools File Edit View Simulation Tools Status Action move map Status Action move
25. eract with other simulation objects For efficiency reasons some simulation objects handle and update all modules that are of the same type Hence these simulation objects contain additionally e modules all of same type Modules are similar to simulation objects as they contain internal states methods to to change its state and to interact with its parent simulation object and other modules e methods to interact with modules The methods to change the internal state of objects or modules are event driven There are principally two types of events 1 During the simulation is running after Simulation Start or Simulation Continue have been selected the simulator calls cyclically the update method of each simu lation object see Fig 10 The update method may then call various methods with parameters of other simulation objects and modules The time step between two cycles is determined by the sampling time which can be set in Simulation Param eters 2 Object methods are asynchronously called through graphical user interfaces dialog boxes control panel etc 3 external calls of methods parameter settings etc All relevant simulation objects and modules can be listed and inspected with the object browser Select Edit Browse As it can be seen in the lists simulation objects as well as modules have unique identifications IDs The naming scheme for simulation objects is family name category ty
26. ergency and failure acceleration rates The emergency and failure deceleration define the minimum achievable head way dependent on velocity The headway in turn will ultimately limit line capacity see discussion in Sec 5 3 You can repeat this operation to place any amount of vehicles to stops in different zones Optionally edit costs of carriers Select Edit Browse and test car experim in the simulation objects list Click on any particular carrier in the Modules list and press the Show control panel button Click on the Costs page of the control panel You will see a lists of costs plus life time and some other relevant quantities e Estim initial costs All initial investment costs This cost item can be edited in a quantity cost table by pressing the Edit button The quantity is here the number of this carrier type in the current network e Estim costs per year All annual operating and maintenance costs control cleaning painting repair This cost item can be edited in a quantity cost table by pressing the Edit button The quantity is here the number of this carrier type in the current network Press the Apply button to apply costs to the present carrier or the Apply costs to all modules of this type button to copy the costs to all carriers of the same type that exist in the entire network It is recommended to save the state of the simulation file after adding vehicles with the name mycity_cars its Add use
27. ers can queue up at all berth of the stop and enter the next available vehicle e Shortest estimated travel time routing See Sec 1 3 under logistics Consider able higher throughputs in high density traffic operation are expected from a global logistic operation system which is not yet implemented The software has been designed to obtain a holistic view of the simulated transporta tion system For this reason it covers or will cover a variety of system aspects such as e Network design and planning i e traffic flow traveling speed waiting times etc for a given network layout and origin destination demand patterns See scheme of Fig 1 e Cost and performance analysis i e prediction of passenger km vehicle usage ex pected investment and operating amp maintenance costs economy of scale etc e Support for technological development of vehicles and infrastructure i e to incorpo rate upgrades to modularization and interfaces control systems server networks logistics management systems etc Support for implementation test and integration so that simulated hardware mod ules such as vehicles and track can be replaced by their real physical systems while the logistics management modules of the software can continue to control the real network with almost no modifications Support for geometrical design study of visual impact and promotion i e to pro vide 3D output of simulated network A simple but realtime 3D vi
28. ers to the stops If you want to give names to stop try to avoid whitespace These names may be compared later with the names in your origin to destination demand pattern table and a stop name with two space characters is differ ent from a name with a single space characters You could use underscores instead use kings_road for example instead of kings road Zone You can also assign the stop to a so called zone The concept of zones is later used to add vehicles and users For example 50 users or vehicles can be distributed over all stops which are in the same zone The default zone of all stops is maintenance Berths to be kept clear This is the desired number of berth to be kept clear for newly arriving vehicles This means an empty vehicle will not be diverted into the stop if the number of free berth is below the number specified in this field Default is that half of the berth must be kept clear The above parameters can be changed at any design step but it is recommended to do it before starting the simulation Otherwise the obtained simulation results are produced with a changing set of system parameters Save track layout You will definitely want to change your track later on For this reason it is a good idea to save this intermediate result now because after the next steps it becomes increasingly difficult and sometimes impossible to remove vehicles and users from the simulation in order to get back to the plain t
29. ewer has been implemented For currently implemented features see Sec 1 3 1 2 analyses of target area Performance a S network re design network evaluation O O Figure 1 Network design cycle Who should use iTS MAIT Because the simulator covers a large number of development and implementation issues it is of interest to 1 3 system developers manufacturers transport experts consultants town planners architects potential operators and anybody who dreams of a better way to transport people and goods Currently implemented features Easy to use transportation network editor Track elements vehicles and users can be selected from a library and placed and edited on the canvas with a graphical 2D network representation Scanned maps of the target region can be used as background images The number of different network components track elements vehicle types users is still limited but is expected to grow rapidly Anyway new track elements can be easily created by copying and editing library text files Vehicle dynamics The vehicles are using a vehicle follower control algorithm Speed limits maximum comfort emergency safety acceleration brake actuation time are respected Jerk is not simulated explicitly but jerk limits can be introduced im plicitly such that the average vehicle distances are represented correctly as if jerks 4 were simulated All parameters can be
30. for short time head ways needs to meet simultaneously criteria for safety string stability comfort and speed transitions The safety criteria can be expressed by means of the minimum safety distance dg between vehicles that is required to avoid a collision between two consecutive vehicles In general dg is proportional to the difference between the squared velocities of follower and lead vehicle In many control schemes the level of safety is given by the safety factor Kg when the actually achievable distance is Kg dg String stability means that a speed change of a vehicle in the string decreases in magnitude when propagating through the following vehicles The comfort criteria sets usually limits to the maximum allowed mancever accelera tions and jerks 33 Speed transitions do occur during various vehicle mancevers such as approaching following merging diverging stopping or velocity changes It is obviously required to guarantee all the above criteria during all possible speed transitions One specific tran sition criteria is the fixed end point speed transition FEPST criterion all vehicles in the string must be at the lower safe speed at a fixed point of the track not just the first vehicle The optimization criteria for lateral controller is usually to maximize the line capacity or to minimize head ways The theoretical limits of carrying capacity and safety level are generally set by the adopted vehicle spacing policy Th
31. ge the variable simfile_name to the filename of your simulation Use Run Module or press F5 to start the scene After saving your changes you can also quit and run the 3d monitor by a double click on its3d because now the default simulation is your network Here is how to use the monitor Initially you will see the network from above in observer mode You have the following function keys Key Function switch to observer external observer mode sit on first vehicle move with first vehicle but below the guideway stop simulation continue simulation Esc Quit application QanooTen K The following navigation keys are only valid for observer mode move forward move backward move right move left move in move out To rotate around z and y axes double klick in 3D window and move mouse while keeping left mouse button pressed WoF DN OW Tip Use the Number block on your key board to navigate 29 5 Principles of operation The simulator as a whole is a complicated piece of software with many interacting ob jects Even though details of the internal functions are hidden away behind a graphical user interface it may be required to have a minimum understanding of the simulator s operating principles The basic principle of the simulator is quite simple a simulation consists of a set of simulation objects Each object contains e internal state variables e methods to change the internal state e methods to int
32. iTS MAIT The Innovative Transportation Simulator by MAIT international User s guide Version its 0 51 by Jorg Schweizer MAIT international Email info MAITTint org URL www MAITint org July 17 2007 Preface This is a guide to the iTS MAITsoftware package LINKS FOR DOWNLOADING ARE PROVIDED IN THE INSTALLATION SECTION Look under the subsections that correspond to your operating system Goto Sec 2 2 for Windows NT XP etc and Sec 2 3 for Linux and UNIXEs in general Although the design and running the simulation of a PRT GRT network appears straight forward you can save a lot of time reading at least Sec 3 Copyright statements The its 0 51 software comes with absolutely no guarantee MAIT international e V takes no responsibility for the results its 0 51 produces and for any direct or indirect damage it may cause Any direct or indirect commercial use including consult and commercialized modifica tions of the code requires a written agreement with MAIT international e V Germany Customized PRT AGV GRT simulation and analyzes plug in modules can be re quested please contact info MAITint org Contents 1 Introduction Dod Whatis iL LSMAIT sopo gae ea ee ee y STE a 1 2 Who should use iTSMAIT ooa oe ed ee ed EES 1 3 Currently implemented features ooo a a Installation and Download locations 2 1 System requirements 2 2 Installation for MS Windows aa aa 58024 e 2 2 1 Instructions if o
33. isions by braking only at at the comfort rate we must respect the minimum comfort distance dqa with wae ea 2 dc Vn Un 1 Trev The simulator can do both constant safety and constant time headway In fact constant time headway is a special case of a constant safety when ag ap The controller of the simulator does simply guarantee that the distance is at all times and for all vehicles grater than both dg Un Un 1 and da vUn Un 1 If there is no vehicle in front the vehicle will accelerate to the given nominal line velocity which is a property of the section of the current track element 34 Attention at merge points you have to make sure that the legs of the merge element are at least as long as da Vj VL otherwise vehicle won t have the chance to line up properly and crashes may occur All accelerations and the brake actuation time should be modified during the add multiple operation when adding the carriers to the network The parameters of individ ual vehicles can be modified through their control panel The nominal line velocity can be modified for each section at the Sections tab of the control panel of each track element Section 4 4 explains how to do this There is also the possibility to introduce a comfort jerk jo simply add to the brake actuation time the term 2 This will add enough time headway so that the acceleration can adapt at comfort jerk rate in the worst case scenario
34. it View Simulation Tools status Action controlpanel Figure 3 The simulation fiera users its The brown dots beside the off line stop are people users who will have a ride The vehicles are the yellow rectangles Use the scroll bars or cursor keys to scroll the viewing area of the canvas Zoom in and out with the PgDown and PgUp buttons Attention for large maps enlargements are computationally intensive and require a huge amount of memory More zoom options are available on the View Menu Choose View indicate ghosts to visualize how vehicles are merged and de merged Attention this option will slow down the display Network evaluation methods are explained in Sec 3 2 for Network creation and editing see Sec 3 3 3 2 Network evaluation Open a complete simulation file including vehicles and users as demonstrated in Sec 3 1 and simulate it for at least 10 minutes see status bar below canvas There are currently 12 a Control Panel of test track line_flexible 3 Costs Tasks Sections status lactive Current number of vehicles 4 Entered number of vehicles li Eq Number of entered vehicles per hour 2415 1h Update show text into Close Figure 4 The Performance page of the control panel of a track element the following methods available to evaluate the current state of the simulation The Control panel is an interactive graphical user interface which displays various in formation about a selec
35. line options to control the most important simulation parameters and output report file names Scripting Postscript snapshot tool This tool can be switched on to make regular snapshots of the canvas The snapshots will be saved as files in Postscript R format Features for future releases Not all of these features will come with the next release Improved task and new resource classes for management objects Predictive Stochastic Network Control PSNC for global traffic optimization Running the simulator in a shell This gives the same access to the simulator as within a scrip but it is interactive More sophisticated export tools suggestions 3D OpenGL viewer and or interface to renderer most likely blender2 x Improved vehicle follower control algorithm with explicit jerk simulation More ride comfort better implementability Extension to MAIT simulator global net management multiple track and carrier managements multiple cabin managements Import data of geographical data instead of bit maps formats not yet decided suggestions Display of graphs with speed profiles etc Printer support Balloon help support Improved graphical network editor with mark copy paste undo etc 37
36. maps after designing the layout of the network and before running the simulation This will reduce the memory occupation and increase simulation speed in par ticular zoom operations However keep a copy of the the simulation with the maps in case you want to redesign expand the network e The maps are not included into the simulation file only their names are This saves you a lot of disk space but if you want to copy the simulation for a friend make sure to copy all map files as well and do not change their names or location once they are included e Best suited are aerial or satellite photographs of the target area Road maps have the disadvantage that the streets are drawn wider than they are in reality Aerial photographs give also a more realistic impression when presenting a demo simulation 4 For your convenience Some menus have a dashed separator on the top for example Edit Module This means they can be torn off and placed permanently anywhere on the screen as permanent window Just select this separator to transform the menu into a window 5 Add adjust and connect track elements Open first the Module browser with Edit Module Add The module browser as shown in Fig 7 has a group pull down menu and module selection dialog box Choose track elements at the group pull down menu Select a particular track element from the Modules selection box that you want to add to the simulation An example of a selected type is sho
37. modified via GUI interfaces in this case called control panels For more information on control issues see Sec 5 1 under carriers and Sec 5 3 Passenger behavior Currently there are two types of passengers implemented generic user this user is making one trip during the simulation where the origin and destination stop are indirectly determined by a origin to destination matrix See Sec 4 1 on how to use this feature test driver This user makes one random trip after another He has been mainly created for test purposes Logistics Currently three management modules are implemented Passenger management which is the only one that interfaces directly with passengers Carrier management allocates a vehicle to the passenger management Opti mized empty vehicle management Track management knows the network topology instructs all diverge points to direct the vehicle on the fastest way to the desired destination For more information see management objects in Sec 5 1 and Sec 5 2 Analysis and validation The current data about each module i e vehicles users track managements can be displayed via control panels The data contains module dependent information about Performance e g throughput average speed waiting times traveled passenger km etc Economics e g initial investment annual costs trip costs etc and Impor tantly Economy of scale Costs that depend on the qu
38. mulator whether the respective performance satisfies our expectations If not bottle nags need to be identified and the topology modified accordingly Here we explain how to use TS MAITfor this iterative optimization process in par ticular on how to include a predefined ODM in a network layout 1 Design of initial network In order to simulate a transportation network with a specific ODM you obviously need to design the network first Follow the steps in Sec 3 3 up to the point where you have saved the simulation with carriers for example under the name mycity_cars its 2 Prepare file with the ODM data The required ODM file is an ordinary text file with a comma separated table SN1 SN2 SN3 SN4 SNS SNG SN7 SN8 SN1 P11 P12 P13 P14 P15 P16 P17 P18 SN2 P21 P22 P23 P24 P25 P26 P27 P28 SN3 P31 P32 P33 P34 P35 P36 P37 P38 SN4 P41 P42 P43 P44 P45 P46 P47 P48 SN5 P51 P52 P53 P54 P55 P56 P57 P58 SN6 P61 P62 P63 P64 P65 P66 P67 P68 SN7 P71 P72 P73 P74 P75 P76 P77 P78 SN8 P81 P82 P83 P84 P85 P86 P87 P88 In this case we have 8 stops with names SN1 SN8 These are the stop names that you have inserted at the control panel of each stop If not do so by selecting Edit Module Control panel clicking on the stop on the canvas you want to give a name choose the Parameters Tab at the control panel fill in the Name field AND 25 HIT THE RETURN KEY to take over the value By default the sto
39. nterval using uniform distribution Aura This is simply the diameter of the dot of the 2D representation of this user type Color By clicking on Pick you can select the color of the 2D representation of this user type Load user profile Save user profile You can save and reload the above pa rameters in as user profile 4 Press OK With the above user parameters you can simulate different user types as for example single adults passengers with luggage or a user group such as a family In the latter case one user stands for the entire group Users of several user types with different ODMs can be added sequentially by re peated applying the Edit Module Add process Note that during the start trip time interval all passengers in the ODM matrix will start the trip This means Pmn passengers will start the trip from stop with name SNm to the stop with name SNn from time Start trip earliest to Start trip latest Note that you will not see any user on the display unless the simulation time passes the time defined in Start trip earliest Then users will start queuing up at the stop of their origin Please do avoid white space within the stop names is can cause mismatches when the stop names in the ODM file are compared with the stop names in the simulation file 26 4 2 Scripting Scripting is a powerful feature in order to automatize the process of an entire series of simulations The simulator itself
40. o it personale schweizer mait projects sim downloads its 0 51 zip 2 place file its 0 51 zip in a directory of your choice Open a Terminal open this directory and unpack zip archive with unzip a its 0 51 zip 3 A new subdirectory called its 0 51 has been created open it and start the simu lator with python its py For command line option type python its py h If you see the main window of the simulator see Fig 2 then the installation is successfully terminated Otherwise check out the messages on the terminal to see whether there is a package missing Remark 1 If you intend to install iTS MAITfor all users then you should put the entire its 0 51 directory in PYTHONHOME site packages Read the documentation on how to make the new package visible to the Python interpreter Remark 2 If you intend do more Python programming I recommend to use the Python text editor and development tool IDLE which you can find in the Python installation tree if it is installed There are also syntax highlighting packages for the Emacs and FTE editors All tools can be found at www python org 2 3 2 Installing upgrading Python and Tkinter What you need is the version Python 2 2 or higher 2 3 recommended with Tkinter support There are different methods to install upgrade which are more or less easy dependent on your present system configuration e Installing with CDs of distribution This is easiest Since Python and Tkinte
41. or by MAIT international e V is an easy to use micro simulator software intended to simulate and evaluate a set of innovative transportation systems The software has been developed according to the MAIT system specifica tions and software specifications presented at the MAIT Meeting 2001 Loughborough UK its 0 51 also satisfies the specifications for the PRT simulation software articulated by the EUNITRANS group during the Automated People Mover conference APM 99 Copenhagen Denmark Even though the ultimate intention for this software is the simulation of a complete MAIT system its current use is focused on PRT or AGV systems Essentially the software predicts performance and cost figures of a specified system The input data will include the network topology and assumed demand patterns maximum accelerations line speed boarding times component costs etc Output data will include waiting times journey times running costs and capital costs The performance relevant technologies implemented are e anovel version of a vehicle follower control algorithm This control system is thought to allow close to physically achievable results see also the discussion under Carri ers in Sec 5 1 e Acceleration at stops diverge and merge behavior e Boarding behavior at stops Currently are two modes implemented Synchronous mode where the stop is divided into a loading and unloading area Asynchronous mode where us
42. ory of the previously installed OpenGL Python package which is usually in C Programs Python23 Lib Site Packages OpenGL 2 3 Installation for Linux Linux installation is in the best case very easy because Python is part of most Linux distributions If you have all the packages or if you have installed a previous version of iTSMAITyou can directly go to Sec 2 3 1 However for the same reason it can get messy if you have some packages installed other not or if you are using older packages Therefore first check out whether the above mentioned open source packages are already installed on your system 1 Open a terminal and type python or python2 If you get an error message or if you have a version lower than 2 2 then you need to install upgrade python and all other packages Go to Sec 2 3 2 2 If you have a valid version of python then type import Tkinter behind the python prompt If this produces an error message you need to install TKinter Go to Sec 2 3 2 3 If you have the right version of python then type import Numeric after the python prompt If this produces an error message you need to install Python Numeric Go to Sec 2 3 3 Some quick installation method for python and the required packages are briefly described below If you have all packages you can continue with Sec 2 3 1 2 3 1 Installing iTS MAIT Once all packages are in place the installation of iTS MAITis easy 1 Download http www trasporti ing unib
43. p names are unique numbers 1 2 3 During the simulation Pmn passengers will travel from stop with name SNm to the stop with name SNn You can find an example ODM file under projects fiera_odm txt You may have the ODM data already available in electronic form in a spreadsheet for example In this case just save it as comma separated text file and you are done 3 Add users to simulation Now we want to add the users to the already existing simulation containing track and vehicles Open the simulation into iTS MAIT for example fiera_cars its Open the module browser with Edit Module Add and select group users Select the generic user type and click on the Add multiple bottom Then a dialog window shows up with the following options File with O D matrix Insert path of ODM file or select the file using the file browser Start trip earliest Start trip latest These two fields specify the time interval in seconds when the trip of the users must start The actual start of the trip of a particular user will be picket from this interval using uniform distribution Minimum boarding time Maximum boarding time These two fields specify the boarding time interval The actual boarding time of a particular user will be picket from this interval using uniform distribution Minimum exit time Maximum exit time These two fields specify the exit time interval The actual exit time of a particular user will be picket from this i
44. pe name The naming scheme for modules is composed of the parent simulation object ID plus a serial number family name category type name serial number 3this structure allows to use high speed numeric array operations 30 call for update 4 object simulator module 1 Nan object module 2 object module n Figure 10 Simplified functioning of simulator Simulator calls the update method of simulation objects Some simulation objects contain a set of modules which are all of the same type Because modules of the same type have the same functionality very efficiently numeric array oriented updates are possible 5 1 Simulation objects modules and their functions This section gives an overview of the functions of simulation objects and modules and their relation to other objects see Figure 11 order user management lt users transport order logistic control carrier management gt carriers order logistic move contro track management gt Irack elements Figure 11 Simulation objects and their basic relations Note that the users carrier and track elements are container objects for several modules users make trips with the transportation system by giving trip orders with destination to the user management and entering the carrier There is
45. pen source packages are not installed 2 2 2 Open source packages are already installed o oo oaa aa 2 2 3 Installation of PyOpenGL aaa aaa 2 3 Installation for Linux 2 3 1 Installing iTSMAIT aoaaa aaa ee ee ee ee x 2 3 2 Installing upgrading Python and Tkinter 2 3 3 Installing Python Numeric 2 4002 eae bed aoe ee De ee 2 3 4 Installation of PyOpenGL 2 44 4 4 ea de Ks SS BH lees ee x Short Tutorials Opening starting and viewing simulation files 3 1 3 2 3 3 3 4 Network evaluation Designing an automated transport network ooa ao a a a a Graphics export and printing of canvas o oo o o a a 3 4 1 Postscript R Export oaoa ee eoeiaceaotas 3 4 2 Postscript R snapshot 4 4 4 44424 6424 bed he bee RS 3 4 3 Screen shots Advanced topics Add users according to a predefined origin to destination matrix 4 1 4 2 4 3 4 4 4 5 Scripting The command line mode ooa a a a a a a a a How to simulate failures 00a a a a a a a a a aa 3D OpenGL monitor Principles of operation 5 1 Simulation objects modules and their functions 5 2 Logistics and tasks 5 3 Local vehicle control Bugs Release notes for version its 0 51 Features for future releases 10 11 12 14 24 24 24 24 25 25 27 27 28 29 30 31 33 33 35 36 37 1 Introduction 1 1 What is iTSMAIT The innovative Transport Simulat
46. r are part of any Linux distribution that I know of Take these CDs and install the following packages in this sequence if not already installed python 2 3 3 6 python devel 2 3 3 6 only if you have no RPM binary for Numeric tcl 8 4 5 7 required for Tkinter tk 8 4 5 8 required for Tkinter tix 8 1 4 96 1 required for Tkinter tkinter 2 3 3 6 An e wn This list is made off the Fedora Core 2 distribution In other distributions version names may slightly differ but the important thing is that they are consistent and satisfy internal dependencies RPM package installation for Linux newcomers login as root open a terminal cd into the RPM directory of the distribution CD usually cd mnt cdrom RPMS and type rpm i packagename rpm Alternatively use your favorite graphical RPM management application which is usually somewhere in the applications launch bar under System tools Admin tools or similar e Upgrading If you have Python version gt 2 2 the current iTS MAIT version should work However Python 2 3 has been a major bug fix release and runs indeed much more stable and also faster up to 30 on some benchmarks So if you intend to make large simulations with several thousands of users you are encouraged to upgrade Python Several Python versions can actually coexist on your system you just need to make sure which one is called when you type python or click on a python file If you have an RPM base
47. rack Therefore Select File Save as on the main menu and insert the name of the simulation The suggested name is mycity_track its to indicate that this simulation file contains track information only Activation of track elements The activation of track elements is somehow similar to switching on the real track after installation To activate the track go to menu item Edit Module Activate Then click on the track element that you want to switch on Alternatively you can activate the entire network at once with Edit Module Activate all Note Only track elements that are connected on all nodes can be activated How ever single section of a track element can be activated if both ends are connected Furthermore only inactive track elements can be moved stretched or deleted For inactivation go Edit Module Inactivate and click on the track elements to inactivate Add vehicles click on module browser and select Carriers carrier is MAIT ter minology You could double click on a carrier type currently only experim is available drag it over a stop on the canvas and click to place it into a berth However a more effective method is to select a carrier and press the Add multiple bottom A dialog box will appear with the following options e Number of vehicles to be added 22 10 11 12 13 14 15 e The zone to where the vehicles are distributed The default is everywhere e Maximum absolute comfort em
48. rectly on the vehicle ID to open the control panel of the respective vehicle Export results allows to write structured information about the state of the simulation into a file Currently the data is written in table form using a tab separated text format The resulting file can be directly imported into text processing documents or spread sheet applications To export results select Tools Export results from the main menu insert a file name with extension for example txt in the upcoming dialog box and press OK When imported with the spread sheet application kspread KDE e V the data looks as shown in Fig 5 Export canvas see Sec 3 4 3 3 Designing an automated transport network These are step by step instructions on how to design a network from scratch It is highly recommended to follow these instructions at least for the first time you create a network Keep in mind that this is not a fully developed commercial software with all the conveniences like undo group mark copy paste etc Furthermore some parameters cannot be changed in later design steps and need to be set at the beginning However following the instructions below even larger networks can be rapidly and conveniently designed see also design sequence in Fig 6 1 Create a new simulation with File New from the main menu 2 Optionally change currency in Simulation Parameters default is EUR Confusing results may occur when changing the currency lat
49. rs click on module browser window and select Users For this exercise we will select the user test_driver Double click on test_driver drag him her close to a stop on the canvas and click to place However a more effective method is to select the test_driver in the browser window with a single click and press the Add multiple bottom A dialog box will appear with the following options e Number of users to be added e The zone to where the users are distributed The default is everywhere e The boarding time including door opening entering the vehicle and door clos ing e The exit time Same as boarding time but passenger leaves the vehicle You can repeat this operation to place any amount of test drivers to stops in different zones Optionally change End of simulation time in Simulation Parameters default is 3600s 1h It is recommended to save the state of the simulation file after adding users with the name mycity_users its Run simulation with Simulation Start 23 3 4 Graphics export and printing of canvas Unfortunately there is currently no platform independent printing scheme for graphics implemented However there are two methods to export the transport network in a printable graphics format Postscript snapshot and screen shots 3 4 1 Postscript R Export Postscript R is the Adobe R file format for printers You may be able to drag and drop a postscript file directly into a postscript compatible prin
50. s are at the desired extremities of the stop e Place diverge and merges elements with curves circular curves and line ele ments wherever possible e Change radius and length of existing elements in order to cover the maximum possible path Go in move mode by right click when placing or by selecting the Edit Module Move menu Click on the node you want to move or stretch Move the mouse to change shape of track element Left click to complete operation Stretching can also be used to make connections when a filled and empty node are close enough together e WARNING there is currently no design rule checker You must make sure that the entry sections of all merges are sufficiently long this means length greater than Tgv at where a is maximum comfort deceleration Tg is the brake actuation time and v the maximum line velocity The nominal line velocity is a property of the section and can be changed on the control panel s Section page However nominal line velocity is not maximum line velocity If the previous section has a higher nominal line velocity then you must leave the vehicles additional space to reduce their speed to adapt to the nominal line velocity of the merge section Do never increase the line velocity of stops otherwise they are no more safe The accelerations are a property of carriers and can be changed on their control panel e Place diverges and merges with flexible extremities e Use again
51. t network layout Some track elements show strange stretch properties when placed with certain angles Workaround move Edit Module Move and turn the track element slightly if possible When still problems consider using alternative track elements Release notes for version its 0 51 Version its 0 51 Empty vehicle management Improved vehicle and boarding behavior for high capacity stops Concept of user profiles see Sec 4 1 Simple real time 3D OpenGL viewer Requires PyOpenGL module installed see Sec 4 1 More export tools Station statistics trip time tables etc Various bug fixes Version 0 3 Vehicle follower control algorithm has been enhanced by brake actuation time which also allows to add extra inter vehicle space for jerk adaptation Improved boarding behavior for high capacity stops if there is high demand the stop is switching to a so called synchronous mode where the stop is divided in a unloading and loading area All user types have now a boarding and an exit time as parameters The new generic user can be place automatically according to a predefined origin to destination demand matrix The new generic user has a trip start time During the creation phase boarding and an exit time as well as start time can be randomized by giving time intervals as parameters 36 8 Simulator can run in command line mode without graphical support There are various command
52. ted module see Fig 4 with an example of a track element The information are ordered by subjects for example performance costs etc and presented on different pages which can be chosen on the top border of the control panel window Many fields and buttons are interactive values can be changed by e clicking in the field e modifying value with keyboard and e pressing the RETURN or ENTER button There are many possibilities to open control panels e Select Edit Module Control panel and click on a module user track element within the canvas 13 e Select Edit Browse This will open a window with a list of all simula tion objects also the hidden objects for example managements which are not visible on the canvas Select an object and press the Control panel but ton Some objects contain a number of individual modules of the same type for example the object base user test_driver contains all users of the type test driver These modules are displayed on the right In this case select one of the modules and press the Control panel button A double click has the same effect as pressing the Control panel button e The control panel can also be opened from within other control panels if there is a list box with module names For example there is a list of vehicles in the Section page of each track element which are currently on the selected section select a section in the section list to show vehicles Click di
53. ter symbol on almost all Unix systems you simply type at the prompt 1p postscriptfile ps and the file will be printed directly to the postscript line printer or automatically converted to a proprietary format and then printed Postscript files can also be viewed and edited There is commercial software such as Adobe Acrobat Distiller Reader and Photoshop The most widespread free software is Ghostview and the Gimp Windows users can download the free software at http www cs wisc edu ghost gsview index htm 3 4 2 Postscript R snapshot To make postscript snapshots simple select Tools Make PS snapshots If you now run the simulation a snapshot will be made every 500ms by default The files will be saved in the current directory under the name s mysimfile_shot001 ps mysimfile shot002 ps mysimfile_shot003 ps Note the PS snapshots cover only the area of the canvas that you actually see in the window on the screen but without window borders If you want the whole network you may want to zoom out first 3 4 3 Screen shots Screen shots are probably the quickest and simples way to export graphics MS windows 1 Maximize window with canvas 2 Press the Print Screen key 3 Open MS Paint or other MS text graphics applications 4 Select Edit Paste or in MS word Edit Paste Special 5 Optionally edit graphics cut off windows frame and menu resize compress etc Linux 1 Maximize window with canvas 2 Take a sn
54. wn in the preview window together with some additional text information Note the little circles on each extremity of track elements An empty circle indicates an input node where vehicles enter whereas a filled box marks an output node where vehicles leave Press the Select of the module browser bottom and move pointer over canvas alternatively double click on the module type The selected track element should now be attached to the pointer As long as the track element is attached to the pointer with one of its nodes the following operations can be used e Press key a or shift a to change the angle of the track element with respect to its attachment point currently in one degree steps e Press key n to cycle with the mouse pointer through the nodes This becomes important later on when the track element must be connected to other track elements e Left click to place the track element on the canvas When input node comes close to an output node or vice versa the two track elements connect and the circles disappear Note that the newly attached element may change orienta tion in order to guarantee a continuation from the previous element It is just like the assembly of a model railway There is immediately another track element of the same type attached to the pointer which you can place again 17 RaModule Browser 0 REG select tiodule here Information on Module Preview maint
55. yping python its py behind the terminal prompt or by double clicking on the its snake in your file 10 browser Then you should see the empty main window as shown in Fig 2 Now you can continue with one of the short tutorials below Oauntitiediits 1ts0 1 File Edit View Simulation Tools PE status Action controlpanel Figure 2 iTS MAIT Main window 3 1 Opening starting and viewing simulation files Choose from the main menu File Open You will always be asked whether you want to save the present simulation Press NO if there is no simulation or if you have just saved it Select the simulation file fiera_users its and press the OK button After the transportation network has appeared in the main window similar to Fig 3 choose from the main menu Simulation Start The vehicles and users should now start moving Stop the simulation with menu Simulation Stop You can continue the simulation with Simulation Continue If you select again Simulation Start the simulation will apparently continue but time and all statistical data will be set to zero There is also a step by step simulation option click somewhere in the canvas and press the return key For each return key hit the simulator will advance 500ms Before 11 continuing the simulation in normal mode you need to set the End of simulation time to a desired value by selecting Simulation Parameters Wafiera_users its 1ts0 1 File Ed

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