The condition monitoring of an overhead contact line (OCL) is investigated by developing an innovative monitoring system for a pantograph on an electrical multiple unit of a regional line. Kinematic and dynamic modelling of the pantograph is conducted to support the designed monitoring system. The modelling is proved through rigorous test-rig experiments, while the proposed methodology is then validated through extensive field tests. The field tests serve a dual purpose: First, to validate the monitoring system using benchmark measurements of the tCat^® trolley, and second, to assess the reproducibility of measurements in a realistic case. This paper presents the OCL monitoring system developed in the framework of the H2020 project SIA. The accuracy of our results is not far from that of other commercial systems, with just 12 mm of absolute error in the height measurement. Therefore, they provide reliable information about trends in various key performance indicators (KPIs) that facilitates the early detection of failures and the diagnosis of anomalies. The results highlight the importance of model calibration and validation in enabling novel health monitoring capabilities for the pantograph. By continuously monitoring the parameters and tracking their degradation trends, our approach allows for optimized scheduling of maintenance tasks for the OCL.

It is believed that in the near future, drive-by-wire, or even drive-by-wireless, devices will become a standard in the automotive and aeronautic industries. This work presents an innovative drive-by-wire system that allows steering, throttling and braking to be controlled with a single mechatronic device. The complete driving system consists of two symmetrical devices that are virtually coupled to provide bimanual driving capabilities and improved comfort. It also takes advantage of haptic technology to provide the user with an outstanding driving experience. This work describes the design and control algorithms of the developed system, as well as preliminary experiments carried out in a driving simulator to analyze its maneuverability and performance. The results show that users adapt quickly to the proposed system and good performance when comparing it with a wheel-pedal gaming set.