Positive Train Control
Encyclopedia
Positive train control is a system of monitoring and controlling train
Train
A train is a connected series of vehicles for rail transport that move along a track to transport cargo or passengers from one place to another place. The track usually consists of two rails, but might also be a monorail or maglev guideway.Propulsion for the train is provided by a separate...

 movements to provide increased safety.

Overview

The main concept in PTC (as defined for North American
North American
North American generally refers to an entity, people, group, or attribute of North America, especially of the United States and Canada together.-Culture:*North American English, a collective term used to describe American English and Canadian English...

 Class I freight railroads
Freight train
A freight train or goods train is a group of freight cars or goods wagons hauled by one or more locomotives on a railway, ultimately transporting cargo between two points as part of the logistics chain...

) is that the train receives information about its location and where it is allowed to safely travel, also known as movement authorities. Equipment on board the train then enforces this, preventing unsafe movement. PTC systems may work in either dark territory
Dark territory
Dark territory is a term used in the North American railroad industry to describe a section of track not controlled by signals. Train movements in dark territory are controlled by track warrants or train order operation, with train dispatchers issuing orders by radio communication with train...

 or signaled territory and may use GPS navigation to track train movements. The Federal Railroad Administration
Federal Railroad Administration
The Federal Railroad Administration is an agency in the United States Department of Transportation. The agency was created by the Department of Transportation Act of 1966...

 has listed among its goals, "To deploy the Nationwide Differential Global Positioning System (NDGPS) as a nationwide, uniform, and continuous positioning system, suitable for train control."

The American Railway Engineering and Maintenance-of-Way Association
American Railway Engineering and Maintenance-of-Way Association
The American Railway Engineering and Maintenance-of-Way Association is a North American railway industry group. It publishes recommended practices for the design, construction and maintenance of railway infrastructure, which are requirements in the United States and Canada.-Overview:AREMA is...

 (AREMA) describes Positive Train Control as having these primary characteristics:
  • Train separation or collision avoidance
  • Line speed enforcement
  • Temporary speed restrictions
  • Rail worker wayside safety.


Various other benefits are sometimes associated with PTC such as increased fuel efficiency or locomotive
Locomotive
A locomotive is a railway vehicle that provides the motive power for a train. The word originates from the Latin loco – "from a place", ablative of locus, "place" + Medieval Latin motivus, "causing motion", and is a shortened form of the term locomotive engine, first used in the early 19th...

 diagnostics, however these are benefits that can be achieved by having a wireless data system to transmit the information, whether it be for PTC or other applications.

In the 1990s, Union Pacific Railroad
Union Pacific Railroad
The Union Pacific Railroad , headquartered in Omaha, Nebraska, is the largest railroad network in the United States. James R. Young is president, CEO and Chairman....

 had a partnership project with General Electric
General Electric
General Electric Company , or GE, is an American multinational conglomerate corporation incorporated in Schenectady, New York and headquartered in Fairfield, Connecticut, United States...

 to implement a similar system known as "Precision Train Control." This system would have involved moving block operation, which adjusts a "safe zone" around a train based on its speed and location. The similar abbreviations have sometimes caused confusion over the definition of the technology. GE later abandoned the Precision Train Control platform.

Background

Starting in 1990 the National Transportation Safety Board
National Transportation Safety Board
The National Transportation Safety Board is an independent U.S. government investigative agency responsible for civil transportation accident investigation. In this role, the NTSB investigates and reports on aviation accidents and incidents, certain types of highway crashes, ship and marine...

 (NTSB) counted PTC among its "Most Wanted List of Transportation Safety Improvements." At the time, the vast majority of rail lines relied on the human crew for complying with all safety rules, and a significant fraction of accidents were attributable to human error.

In September 2008, Congress
United States Congress
The United States Congress is the bicameral legislature of the federal government of the United States, consisting of the Senate and the House of Representatives. The Congress meets in the United States Capitol in Washington, D.C....

 considered a new rail safety law that sets a deadline of 2015 for implementation of positive train control (PTC) technology across most of the U.S. rail network. The bill, ushered through the legislative process by the Senate Commerce Committee and the House Transportation and Infrastructure Committee, was developed in response to the collision
2008 Chatsworth train collision
The Chatsworth train collision occurred at 16:22 PDT on Friday September 12, 2008, when a Union Pacific freight train and a Metrolink commuter train collided head-on in the Chatsworth district of Los Angeles, California, in the United States...

 of a Metrolink
Metrolink
Metrolink, MetroLink, or Metro-link is the name of several transport services throughout the world:Australia*Metro-link Bus Lines, a bus operator in Sydney, New South Wales...

 passenger train and a Union Pacific freight train
Freight train
A freight train or goods train is a group of freight cars or goods wagons hauled by one or more locomotives on a railway, ultimately transporting cargo between two points as part of the logistics chain...

 September 12, 2008 in California, which resulted in the deaths of 25 and injuries to more than 135 passengers.

As the bill neared final passage by Congress, the Association of American Railroads
Association of American Railroads
The Association of American Railroads is an industry trade group representing primarily the major freight railroads of North America . Amtrak and some regional commuter railroads are also members...

 issued a statement in support of the bill. President George W. Bush
George W. Bush
George Walker Bush is an American politician who served as the 43rd President of the United States, from 2001 to 2009. Before that, he was the 46th Governor of Texas, having served from 1995 to 2000....

 signed the 315-page Rail Safety Improvement Act of 2008
Rail Safety Improvement Act of 2008
The Rail Safety Improvement Act of 2008 is a United States federal law, enacted by Congress to improve railroad safety. It was signed into law by President George W. Bush on October 16, 2008. Among its provisions, the most notable was the mandate requiring positive train control on most of the US...

 into law on October 16, 2008.

Provisions of the law

Among its provisions, the law provides funding to help pay for the development of PTC technology, limits the number of hours freight rail crews can work each month, and requires the Department of Transportation
United States Department of Transportation
The United States Department of Transportation is a federal Cabinet department of the United States government concerned with transportation. It was established by an act of Congress on October 15, 1966, and began operation on April 1, 1967...

 to determine work hour limits for passenger train crews.

Implementation

To implement the law, the Federal Railroad Administration
Federal Railroad Administration
The Federal Railroad Administration is an agency in the United States Department of Transportation. The agency was created by the Department of Transportation Act of 1966...

 (FRA) published final regulations for PTC systems on January 15, 2010.

In December 2010 the U.S. Government Accountability Office
Government Accountability Office
The Government Accountability Office is the audit, evaluation, and investigative arm of the United States Congress. It is located in the legislative branch of the United States government.-History:...

 (GAO) reported that Amtrak
Amtrak
The National Railroad Passenger Corporation, doing business as Amtrak , is a government-owned corporation that was organized on May 1, 1971, to provide intercity passenger train service in the United States. "Amtrak" is a portmanteau of the words "America" and "track". It is headquartered at Union...

 and the major Class I railroads have taken steps to install PTC systems under the law, but the work may not be complete by the 2015 deadline. The railroads and their suppliers are continuing to develop software to test various system components, which could delay equipment installation. GAO also suggests that publicly-funded commuter railroads will have difficulty in obtaining funds to pay for their system components.

Controversy

There is some controversy as to whether PTC makes sense in the form currently mandated by Congress. Not only is the cost of nationwide PTC installation expected to be as much as US$10 billion, there are questions to the reliability and maturity of the technology for all forms of mainline freight trains and high density environments. The PTC requirement could also impose startup barriers to new passenger rail or freight services that would trigger millions of dollars in additional PTC costs. The unfunded mandate
Unfunded mandate
In United States law and politics, unfunded mandates are regulations or conditions for receiving grants that impose costs on state or local governments or private entities for which they are not reimbursed by the federal government....

 also ties the hands of the FRA to adopt a more nuanced or flexible approach to the adoption of PTC technology where it makes the most sense or where it is technically most feasible.

While the FRA Rail Safety Advisory Committee identified several thousand "PPAs" (PTC preventable accidents) on U.S. railroads over a 12-year period, cost analysis determined that the accumulated savings to be realized from all of the accidents was not sufficient to cover the cost of PTC across the Class I railroads. Therefore, PTC was not economically justified at that time. The FRA concurred with this cost assessment in its 2009 PTC rulemaking document.

The reason behind the lack of economic justification is that the majority of accidents are minor and FRA crash worthiness standards help mitigate the potential loss of life or release of hazardous chemicals. For example in the 20 years between 1987 and 2007 there were only two PTC preventable accidents with major loss of life (16 deaths in the Chase, Maryland wreck (1987) and 11 in the Silver Spring, Maryland wreck (1996)) and in each case the causes of the accidents were addressed through changes to operating rules.

Basic operation

A typical PTC system involves two basic components:
  • Speed display and control unit on the locomotive
  • A method to dynamically inform the speed control unit of changing track or signal conditions.

Optionally, three additional components may exist:
  • An on board navigation system and track profile database to enforce fixed speed limits
  • Bi directional data link to inform signaling equipment of the train's presence
  • Centralized systems to directly issue movement authorities to trains

PTC infrastructure

There are two main PTC implementation methods currently being developed. The first makes use of fixed signaling infrastructure such as coded track circuits and wireless transponders
Balise
A balise is an electronic beacon or transponder placed between the rails of a railway as part of an Automatic Train Protection system. The French word "balise" is used to distinguish these beacons from other kinds of beacon....

 to communicate with the on board speed control unit. The other makes use of wireless data radios spread out along the line to transmit the dynamic information. The wireless implementation also allows for the train to transmit its location to the signaling system which could enable the use of moving or "virtual" blocks. The wireless implementation is generally cheaper in terms of equipment costs, but is considered to be much less reliable than using "harder" communications channels. For example the wireless ITCS system on Amtrak's Michigan Line was still not functioning reliably in 2007 after 13 years of development, while the fixed ACSES system has been in daily service on the Northeast Corridor
Northeast Corridor
The Northeast Corridor is a fully electrified railway line owned primarily by Amtrak serving the Northeast megalopolis of the United States from Boston in the north, via New York to Washington, D.C. in the south, with branches serving other cities...

 since 2002 (see Amtrak, below).

The fixed infrastructure method is proving popular on high density passenger lines where pulse code cab signaling
Pulse code cab signaling
Pulse code cab signaling is a form of cab signaling developed in the United States by the Union Switch and Signal corporation for the Pennsylvania Railroad in the 1920s...

 has already been installed. In some cases the lack of a reliance on wireless communications is being touted as a benefit. The wireless method has proven most successful on low density unsignaled "dark territory" normally controlled via track warrant
Track warrant
Track warrants are systematized permissions used on some railroad lines to authorize a train's use of the main line. Dispatchers issue these permissions to train crews instead of using signals. The crews receive track warrants by radio, phone, or electronic transmission from a...

s where speeds are already low and interruptions in the wireless connection to the train do not tend to compromise safety or train operations.

Some systems, like Amtrak's ACSES, operate with a hybrid technology that uses wireless links to update temporary speed restrictions or pass certain signals, with neither of these systems being critical for train operations.

Locomotive speed control unit

The equipment on board the locomotive must continually calculate the trains current speed relative to a speed target some distance away governed by a braking curve. If the train risks not being able to slow to the speed target given the braking curve the brakes are automatically applied and the train is immediately slowed. The speed targets are updated by information regarding fixed and dynamic speed limits determined by the track profile and signaling system.

Most current PTC implementations use the speed control unit to also store a database of track profiles attached to some sort of navigation system. The unit keeps track of the train's position along the rail line and automatically enforces any speed restrictions as well as the maximum authorized speed. Temporary speed restrictions can be updated before the train departs its terminal or via wireless data links. The track data can also be used to calculate braking curves based on the grade profile. The navigation system can use fixed track beacons or differential GPS stations combined with wheel rotation to accurately determine the train's location on the line accurately within a few feet.

Centralized control

While some PTC systems interface directly with the existing signal system, others may maintain a set of vital computer systems at a central location that can keep track of trains and issue movement authorities to them directly via a wireless data network. This is often considered to be a form of Communications Based Train Control and is not a necessary part of PTC.

Trackside device interface

The train may be able to detect the status of (and sometimes control) wayside devices, for example switch positions. This information is sent to the control center to further define the train's safe movements. Text messages and alarm conditions may also be automatically and manually exchanged between the train and the control center. Another capability would be to allow maintenance foremen the ability to automatically give trains permission through their work zones via a wireless device instead of verbal communications.

Technical limitations

Even where safety systems such as cab signaling have been present for many decades, the freight railroad industry has been reluctant to fit speed control devices due to the often heavy-handed nature of such devices having an adverse effect on otherwise safe train operation. The advanced processor-based speed control algorithms found in PTC systems claim to be able to properly regulate the speed of freight trains over 5000 feet in length and weighing over 10,000 tons, but concerns remain about taking the final decision out of the hands of skilled locomotive engineers. Improper use of the air brake can lead to a train running away, derailment
Derailment
A derailment is an accident on a railway or tramway in which a rail vehicle, or part or all of a train, leaves the tracks on which it is travelling, with consequent damage and in many cases injury and/or death....

, or unexpected separation.

Furthermore, an overly conservative PTC system runs the risk of slowing trains below the level at which they had previously been safely operated by human engineers. Railway speeds are calculated with a safety factor such that slight excesses in speed will not result in an accident. If a PTC system applies its own safety margin then the end result will be an inefficient double safety factor. Moreover a PTC system might be unable to account for variations in weather conditions or train handling and might have to assume a worst case scenario
Worst Case Scenario
Worst Case Scenarios is a reality show aired on TBS in 2002 in the United States. The show was hosted by Mike Rowe and it featured demonstrations by stunt men on how to survive worst-case scenarios...

, further decreasing performance. In its 2009 regulatory filing, the FRA stated that PTC was in fact likely to decrease the capacity of freight railroads on many main lines. The European LOCOPROL/LOCOLOC
LOCOPROL
LOCOPROL has been a project to research the integration of satellite navigation into railway networks targeting low-density track lines. It is supposed to extend the ERTMS train protection systems...

 project had shown that EGNOS-enhanced satellite navigation alone was unable to meet the SIL4 safety integrity
Safety Integrity Level
Safety Integrity Level is defined as a relative level of risk-reduction provided by a safety function, or to specify a target level of risk reduction. In simple terms, SIL is a measurement of performance required for a Safety Instrumented Function ....

 required for train signaling.

From a purely technical standpoint, PTC will not prevent certain low speed collisions caused by Permissive block operation
Permissive block regulations
Permissive Working on the UK railway allows more than one train at a time to be on the same line in a :*block section*signal section*dead-end platform line...

, accidents caused by trains "shoving" in reverse, derailments caused by track or train defect, grade crossing collisions, or collisions with previously derailed trains. Where PTC is installed in absence of track circuit blocks it will not detect broken rails, flooded tracks, or cars that have been left or rolled onto the line.

Areas where in use

Various types of Collision Avoidance Systems have been implemented across the globe. Most if not all of these operate differently than PTC in North America, as described above.

KLUB-U

The Russian KLUB-U
KLUB-U
KLUB is the name of the modern Russian train control systems. The abbreviation "КЛУБ" stands for "Комплексное локомотивное устройство безопасности", Integrated Train Protection System...

 train control system is similar to Positive Train Control for its integration of GLONASS satellite-based train location, electronic track map distribution and digital radio (GSM-R or TETRA) usage for track-releases as well as remote initiation of train stops. GE Rail has cooperated with the Russian VNIIAS manufacturer on this system. The KLUB-U system is used widely in the Russian Federation including high-speed rail for the Sapsan
Sapsan
Sapsan is a gauge high speed train in Russia. The design is part of the Siemens Velaro family....

.

ERTMS (Europe)

Some form of Automatic Train Protection
Automatic Train Protection
Automatic Train Protection in Great Britain refers to either of two implementations of a train protection system installed in some trains in order to help prevent collisions through a driver's failure to observe a signal or speed restriction...

 (ATP) has been operational in Europe for over one hundred years like the Automatic Train Control
Automatic Train Control
Automatic Train Control is a train protection system for railways, ensuring the safe and smooth operation of trains on ATC-enabled lines. Its main advantages include making possible the use of cab signalling instead of track-side signals and the use of smooth deceleration patterns in lieu of the...

 (ATC) system. In 1956 Automatic Warning System
Automatic Warning System
The Automatic Warning System is a form of limited cab signalling and train protection system introduced in 1956 in the United Kingdom to help train drivers observe and obey signals. It was based on a 1930 system developed by Alfred Ernest Hudd and marketed as the "Strowger-Hudd" system...

 (AWS) was introduced in the United Kingdom whilst today the rail network is fitted with Train Protection & Warning System (TPWS). Some of the first systems implementing full ATP functionality were designed for the dedicated high speed rail lines such as the French TVM and German LZB. Continuing with the success of ATP systems, Europe is today transitioning to one ATP standard, the European Rail Traffic Management System
European Rail Traffic Management System
The European Rail Traffic Management System is an initiative backed by the European Union to enhance cross-border interoperability and signalling procurement by creating a single Europe-wide standard for train control and command systems....

 (ERTMS), which is well evolved as a result of many years of European ATP experience and development. Although a major driver for the implementation of ERTMS is European interoperability, many non-European countries such as Australia, China, India, Saudi Arabia, South Korea and Libya are introducing ERTMS as the ATP system of choice.

The two main components of ERTMS are the European Train Control System
European Train Control System
The European Train Control System is a signalling, control andtrain protection system designed to replace the many incompatible safety systems currently used by European railways, especially on high-speed lines.- History :...

 (ETCS), a standard for in-cab train control, and GSM-R
GSM-R
GSM-R, Global System for Mobile Communications - Railway or GSM-Railway is an international wireless communications standard for railway communication and applications. A sub-system of European Rail Traffic Management System , it is used for communication between train and railway regulation...

, the GSM mobile communications standard for railway operations. The equipment can further be divided between on-board and infrastructure equipment. There is also a low-cost variant ERTMS Regional
ERTMS Regional
ERTMS Regional is a simplified and low-cost variant of the European Rail Traffic Management System suitable for train control on lines with low traffic volumes...

 developed by Banverket
Banverket
The Swedish Rail Administration was a government agency that owned and maintained virtually all railway lines in Sweden except many short sidings for freight only. It was formed in 1988 when Statens Järnvägar was split, leaving Statens Järnvägar as mainly a train operator and real estate owner,...

 and the IUC. The ITARUS-ATC
KLUB-U
KLUB is the name of the modern Russian train control systems. The abbreviation "КЛУБ" stands for "Комплексное локомотивное устройство безопасности", Integrated Train Protection System...

 is a hybrid of the Russian KLUB-U in-cab signaling and the Itialian ERTMS Level 2 GSM-R block control.

The system authority for ERTMS is the European Railway Agency
European Railway Agency
The European Railway Agency is one of the agencies of the European Union. The decision to set up the agency was made in April 2004. The agency has two main sites, both in Nord Department, France...

.

Alaska Railroad (ARRC)

Ansaldo STS USA Inc
Ansaldo STS
Ansaldo STS S.p.A. is a multinational technology company which produces signalling and automation systems for use by rail and rapid transit operators. The firm also acts as lead contractor and turnkey provider on new rail developments...

 is working with the ARRC
Alaska Railroad
The Alaska Railroad is a Class II railroad which extends from Seward and Whittier, in the south of the state of Alaska, in the United States, to Fairbanks , and beyond to Eielson Air Force Base and Fort Wainwright in the interior of that state...

 to develop a collision-avoidance, Vital PTC system, for use on their locomotives. The system is designed to prevent train-to-train collisions, enforce speed limits, and protect roadway workers and equipment. The microprocessor-based onboard control system is also designed to work with the Ansaldo STS USA Inc dispatching system to provide train control and dispatching operations from Anchorage.

Data between locomotive and dispatcher is transmitted over a digital radio system provided by Meteor Communications Corp. An onboard computer alerts workers to approaching restrictions and to stop the train if needed.

Amtrak

Alstom
Alstom
Alstom is a large multinational conglomerate which holds interests in the power generation and transport markets. According to the company website, in the years 2010-2011 Alstom had annual sales of over €20.9 billion, and employed more than 85,000 people in 70 countries. Alstom's headquarters are...

's and PHW's Advanced Civil Speed Enforcement System (ACSES
ACSES
Advanced Civil Speed Enforcement System is a positive train control cab signaling system developed by PHW and Alstom. The system is designed to prevent train-to-train collisions, protect against overspeed and protect work crews with temporary speed restrictions...

) system is installed on Amtrak
Amtrak
The National Railroad Passenger Corporation, doing business as Amtrak , is a government-owned corporation that was organized on May 1, 1971, to provide intercity passenger train service in the United States. "Amtrak" is a portmanteau of the words "America" and "track". It is headquartered at Union...

’s Northeast Corridor
Northeast Corridor
The Northeast Corridor is a fully electrified railway line owned primarily by Amtrak serving the Northeast megalopolis of the United States from Boston in the north, via New York to Washington, D.C. in the south, with branches serving other cities...

 between Washington
Washington, D.C.
Washington, D.C., formally the District of Columbia and commonly referred to as Washington, "the District", or simply D.C., is the capital of the United States. On July 16, 1790, the United States Congress approved the creation of a permanent national capital as permitted by the U.S. Constitution....

 and Boston. ACSES enhances the cab signaling systems provided by PHW Inc. It uses passive transponders to enforce permanent civil speed restrictions. The system is designed to prevent train-to-train collisions (PTS), protection against overspeed and protect work crews with temporary speed restrictions.

GE Transportation Systems
GE Transportation Systems
GE Transportation, formerly known as GE Rail, is a division of General Electric. The organization manufactures equipment for the railroad, marine, mining, drilling and energy generation industries. It is based in Erie, Pennsylvania. Locomotives are assembled at the Erie plant, while engine...

' Incremental Train Control System (ITCS) is installed on Amtrak's Michigan line
Chicago–Detroit Line
The Chicago–Detroit Line is a railroad corridor owned by Amtrak which runs from Porter, Indiana, to Kalamazoo, Michigan. It is the longest stretch of Amtrak-owned rail outside of the Northeastern U.S., and carries the railroad's Blue Water and Wolverine services...

, allowing trains to travel at speeds up to 95 mph (42.5 m/s), and eventually to 110 mph (49.2 m/s).

BNSF

Wabtec
Wabtec
Wabtec Corporation is an American company formed by the merger of the Westinghouse Air Brake Company and MotivePower Industries Corporation in 1999....

's Electronic Train Management System, (ETMS) is installed on a segment of the BNSF Railway
BNSF Railway
The BNSF Railway is a wholly owned subsidiary of Berkshire Hathaway Inc., and is headquartered in Fort Worth, Texas. It is one of seven North American Class I railroads and the second largest freight railroad network in North America, second only to the Union Pacific Railroad, its primary...

. It is an overlay technology that augments existing train control methods. ETMS uses GPS for positioning and a digital radio system to monitor train location and speed. It is designed to prevent certain types of accidents, including train collisions. The system includes an in-cab display screen that warns of a problem and then automatically stops the train if appropriate action is not taken.

CSX

CSX Transportation
CSX Transportation
CSX Transportation operates a Class I railroad in the United States known as the CSX Railroad. It is the main subsidiary of the CSX Corporation. The company is headquartered in Jacksonville, Florida, and owns approximately 21,000 route miles...

 is developing a Communications-Based Train Management (CBTM) system to improve the safety of its rail operations. CBTM is the predecessor to ETMS.

New Jersey Transit

Ansaldo STS USA Inc
Ansaldo STS
Ansaldo STS S.p.A. is a multinational technology company which produces signalling and automation systems for use by rail and rapid transit operators. The firm also acts as lead contractor and turnkey provider on new rail developments...

's Advanced Speed Enforcement System (ASES) is being installed on New Jersey Transit
New Jersey Transit
The New Jersey Transit Corporation is a statewide public transportation system serving the United States state of New Jersey, and New York, Orange, and Rockland counties in New York State...

 commuter lines. It is coordinated with Alstom's ACSES so that trains can operate on the Northeast Corridor.

Union Pacific (UP)

A team of Lockheed Martin
Lockheed Martin
Lockheed Martin is an American global aerospace, defense, security, and advanced technology company with worldwide interests. It was formed by the merger of Lockheed Corporation with Martin Marietta in March 1995. It is headquartered in Bethesda, Maryland, in the Washington Metropolitan Area....

, Wabtec
Wabtec
Wabtec Corporation is an American company formed by the merger of the Westinghouse Air Brake Company and MotivePower Industries Corporation in 1999....

, and Ansaldo STS USA Inc
Ansaldo STS
Ansaldo STS S.p.A. is a multinational technology company which produces signalling and automation systems for use by rail and rapid transit operators. The firm also acts as lead contractor and turnkey provider on new rail developments...

 installed a PTC system on a 120-mile segment of UP track between Chicago and St. Louis. An Indian IT Major software company Mahindra Satyam is also one of the strategic IT partners in development of PTC systems.

Manufacturers

Several companies make equipment for PTC systems, including:

External links

The source of this article is wikipedia, the free encyclopedia.  The text of this article is licensed under the GFDL.
 
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