The operation of railway tracks is historically confirmed that the classic structure of the railway superstructure is capable to ensure operational capability of standard railway tracks for a relatively long period of time (railways tracks to speed of 160 km.h-1). Such a railway track and its track is considered the railway track with a classic structure of the railway superstructure, where track removal is stored in the ballast. In the case of high operating and axle load, increasing track speed and requirements for safety of operation, which are associated with high requirements on the track geometry, it appears that such structure has its operational (in terms of guaranteeing the long-term safety and reliability of the railway track) and economic (in terms of the cost of maintenance of railway track) limits. "Floating" placement of the track removal during each passage of a rail vehicle, or train leads to the growth of dynamic horizontal and vertical forces that cause gradual degradation of track geometry, what subsequently leads to restless journey of moving rail vehicles. Elimination of imperfections in track geometry - the quality of the railway track - forces the operators to remove such imperfections of railway track in time and financially consuming maintenance work in certain periods. However, it is sufficient if only the weakest element of classic railway superstructure is replaced in the railway, and it is the track ballast using other more appropriate component representing no elastic and plastic behaviour. The structure is such replacement, in which the track removal is concreted (monolithic structure) or stored on a concrete or asphalt bearing layer (layered structure), namely structural design, which is referred to as unconventional railway superstructure. The structure of railway superstructure is characterized by cross sleepers used in a modified shape or they are not part of it at all. Currently, thus conceived railway track is referred to as a slab track (hereinafter referred to as the "ST"), which requires flexibility of the railway superstructure for the system of the wheel/rail secured using elastic elements disposed between the rail and the sleeper and/or under the sleeper. In general, the structure of ST has been currently applied mainly to high-speed track and the tracks that have high operational load, where the cost of maintaining the track with the classic structure of the railway superstructure strongly grows. At the same time, however, this structure also promotes in the upgraded sections of the standard tracks (track speed to 160 km.h-1), especially in track sections conducted in tunnels, as there are located the required properties of the ballast that do not demonstrate subsidence. The subgrade without a drop also offers for application of the ST structure bridges, and therefore, the application of this structure is also possible in these track sections.
Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces
