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Xu, Y., Liu, Z., Pan, L., Chen, L., Zhu, W. & Lei, J. (2025). A Reduced Pantograph-Catenary Interaction Model for Efficient Pantograph-Catenary Interaction Dynamic Analysis. In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles: . Paper presented at 28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, Aug 21 2023 - Aug 25 2023 (pp. 353-362). Springer Nature
Open this publication in new window or tab >>A Reduced Pantograph-Catenary Interaction Model for Efficient Pantograph-Catenary Interaction Dynamic Analysis
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2025 (English)In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles, Springer Nature , 2025, p. 353-362Conference paper, Published paper (Refereed)
Abstract [en]

The continuous movement of high-speed train results in the pantograph interacting with a long catenary structure. The traditional methods based on the Lagrangian description can only model the whole long catenary structure, which decreases their calculation efficiency. In this work, a reduced pantograph–catenary interaction model is developed to accurately and efficiently simulate the pantograph-catenary interaction with the long catenary structure. In the model, the long catenary is reduced to a small region around the moving pantograph, and the arbitrary Lagrangian‒Eulerian (ALE) method and modal superposition method (MSM) are used to model this small area. The pantograph is modeled as a multi-rigid body system. The pantograph and reduced catenary model formulate the reduced pantograph–catenary interaction model. Because the long catenary structure is reduced to a small moving region, the number of degrees of freedom (DOF) of the model is significantly decreased. The present model is validated by the EN 50318:2018 standard with a long catenary structure considered. The calculation results show that the present model is accurate and efficient in the investigation of long-term pantograph-catenary interaction dynamics.

Place, publisher, year, edition, pages
Springer Nature, 2025
Keywords
Arbitrary Lagrangian‒Eulerian method, Long catenary, Pantograph-catenary interaction
National Category
Vehicle and Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-356941 (URN)10.1007/978-3-031-66971-2_38 (DOI)2-s2.0-85209630548 (Scopus ID)
Conference
28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, Aug 21 2023 - Aug 25 2023
Note

Part of ISBN 9783031669705

QC 20241203

Available from: 2024-11-28 Created: 2024-11-28 Last updated: 2025-02-14Bibliographically approved
Guo, J., Liu, Z., Stichel, S., Liu, J., Ke, Z. & Tao, K. (2025). Influence of Rail Corrugation on Axle Box Acceleration: A Numerical Analysis Method Based on Adaptive Time-Frequency Feature Extraction. In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles: . Paper presented at 28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, August 21-25, 2023 (pp. 1011-1018). Springer Nature
Open this publication in new window or tab >>Influence of Rail Corrugation on Axle Box Acceleration: A Numerical Analysis Method Based on Adaptive Time-Frequency Feature Extraction
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2025 (English)In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles, Springer Nature , 2025, p. 1011-1018Conference paper, Published paper (Refereed)
Abstract [en]

Rail corrugation is a typical rail cyclical disease which often occurs on heavy haul, urban transit, and high-speed railways. Rail corrugation has a significant impact on vehicle dynamic performance, especially on the axle box acceleration. It may cause the bolts of axle box to loosen or break the rail fastener, and even affect the operation of vehicle. Therefore, it is necessary to discover rail corrugation in time and to repair it by rail grinding, which is an important way to improve the safety of the vehicle. A numerical analysis method based on adaptive time-frequency feature extraction is proposed in this paper. First, acceleration sensors are installed on both the left and right side of the axle box. Then the vibration features of the axle box are extracted according to the line mileage segmentation based on the adaptive time-frequency feature extraction method proposed in this paper. Finally, the impact of different wavelength and different section length of rail corrugation is compared using field test data. The test results show that the method proposed in this paper can accurately extract the features of different wavelength and different section length of rail corrugation. Moreover, compared with traditional methods, this method is proven to be strongly adaptive and highly accurate.

Place, publisher, year, edition, pages
Springer Nature, 2025
Keywords
Adaptive Time-Frequency Feature Extraction, Axle Box Acceleration, Rail Corrugation
National Category
Vehicle and Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-356940 (URN)10.1007/978-3-031-66971-2_104 (DOI)2-s2.0-85209624951 (Scopus ID)
Conference
28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, August 21-25, 2023
Note

Part of ISBN 9783031669705

QC 20241129

Available from: 2024-11-28 Created: 2024-11-28 Last updated: 2025-02-14Bibliographically approved
Schick, B., Liu, Z. & Stichel, S. (2025). Numerical Study on Wear Intensity of Pantograph Collector Strips During Drive Cycles of Rail Vehicles. In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles: . Paper presented at 28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, Aug 21 2023 - Aug 25 2023 (pp. 752-759). Springer Nature
Open this publication in new window or tab >>Numerical Study on Wear Intensity of Pantograph Collector Strips During Drive Cycles of Rail Vehicles
2025 (English)In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles, Springer Nature , 2025, p. 752-759Conference paper, Published paper (Refereed)
Abstract [en]

This work applies numerical simulations and a drive cycle perspective for the estimation of wear on rail vehicle collector strips using an existing heuristic wear model. As it is crucial to understand the origin of wear patterns to ensure long service life, the proposed analysis method allows to identify the contribution of each drive stage during operation to the wear pattern and to compare their wear rates against each other. Input data is created by numerically simulating the power intake of a rail vehicle during a drive cycle between two stations and extracting power-speed couples for characteristic drive stages. The dynamic interaction between pantograph and catenary is then simulated using a FE-representation of the catenary and a pantograph model with two individually suspended flexible collector strips. Using these transient time signals as input data to the heuristic wear model, the lateral wear distribution along both collector strips can be estimated for each drive stage. Here, a representative run of a Swedish X2 higher speed train is used as a case example. The results show that mechanical wear dominates on average, but that there is a considerable electrical wear intensity, especially during acceleration. This contribution is however relativised by the short distance covered in this stage, and the total wear pattern is dictated by the cruising stage. The wear patterns show high dependence on the evaluated frequency range in the force signal.

Place, publisher, year, edition, pages
Springer Nature, 2025
Keywords
Electro-mechanical contact, Pantograph-Catenary dynamic interaction, Railway traction
National Category
Vehicle and Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-356943 (URN)10.1007/978-3-031-66971-2_78 (DOI)2-s2.0-85209648060 (Scopus ID)
Conference
28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, Aug 21 2023 - Aug 25 2023
Note

Part of ISBN 9783031669705

QC 20241128

Available from: 2024-11-28 Created: 2024-11-28 Last updated: 2025-02-14Bibliographically approved
Ding, X., Khoramzad, E., Giossi, R. L., Hossein Nia, S., Netter, H., Chen, G., . . . Stichel, S. (2025). Prediction and Control of Wheel Wear of a High-Speed Train Based on Measured Data and Simulation. In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles: . Paper presented at 28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, Aug 21 2023 - Aug 25 2023 (pp. 589-596). Springer Science and Business Media Deutschland GmbH
Open this publication in new window or tab >>Prediction and Control of Wheel Wear of a High-Speed Train Based on Measured Data and Simulation
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2025 (English)In: Advances in Dynamics of Vehicles on Roads and Tracks III - Proceedings of the 28th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2023, Rail Vehicles, Springer Science and Business Media Deutschland GmbH , 2025, p. 589-596Conference paper, Published paper (Refereed)
Abstract [en]

Increased equivalent conicity of wheels because of hollow wear during long-term operation influences the ride comfort performance of Chinese high-speed trains. To investigate the evolution of wheel wear, a high-speed train operating on the Beijing-Shanghai Railway line at maximum operational speed of 350 km/h is monitored over a time of 1.5 years. An MBS based wear calculation software tool of KTH using stochastic simulation inputs has been used for wear prediction, where the vehicle suspension parameters and global structural modes of car-body and bogie frame have been identified using roller rig measurements and dynamic track measurements as well to validate the simulation models. The calculated wear is then validated against measurements by calibrating the wear rate coefficients. The influence of initial conicity on the lateral wear distribution is analyzed. Wheel profiles with lower initial conicities result in significantly less wear but more vibrations which possibly worsen the ride comfort. Increasing the roll-stiffness shows to be an effective way to damp the low frequency vibrations for the low conicity wheel while resulting in low wear. The suspension parameters and initial conicity which give the most stable equivalent conicity evolution and best ride comfort are selected for field tests.

Place, publisher, year, edition, pages
Springer Science and Business Media Deutschland GmbH, 2025
Keywords
Conicity, Field tests, High-speed train, Hollow wheel wear, Model validation, Multi-body simulation, Ride comfort, Suspension parameter, Vibration, Wear control, Wear monitoring, Wear prediction
National Category
Vehicle and Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-356942 (URN)10.1007/978-3-031-66971-2_61 (DOI)2-s2.0-85209664760 (Scopus ID)
Conference
28th IAVSD Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 2023, Ottawa, Canada, Aug 21 2023 - Aug 25 2023
Note

QC 20241128

Part of ISBN 978-303166970-5

Available from: 2024-11-28 Created: 2024-11-28 Last updated: 2025-02-14Bibliographically approved
Pan, L., Xu, Y., Liu, Z., Xiao, C. & Lei, J. (2024). A Fast Simulation Model of Pantograph–Stitched-Catenary Interaction in Long-Distance Travel. Applied Sciences, 14(22), Article ID 10160.
Open this publication in new window or tab >>A Fast Simulation Model of Pantograph–Stitched-Catenary Interaction in Long-Distance Travel
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2024 (English)In: Applied Sciences, E-ISSN 2076-3417, Vol. 14, no 22, article id 10160Article in journal (Refereed) Published
Abstract [en]

The increasing operation speed of high-speed trains allows the pantograph to continuously interact with the catenary over a long distance in a short time, and many new methods have been developed to efficiently calculate its dynamics. However, the existing methods only consider simple catenary systems, which limits their application in high-speed railway systems. In this work, a reduced pantograph–stitched-catenary interaction model is developed to simulate pantograph–stitched-catenary interactions during long-distance travel. Based on the existing reduced catenary model, the stitched catenary system is first considered, where the stitched wire is simplified into a part of the messenger wire supported by two spring-damping elements. The present model is validated by test results and the EN 50318:2018 standard, and it is subsequently used to study the dynamic performance of the pantograph–stitched-catenary system at an overdesigned speed in Sweden. The results show that the proposed model can be seven times faster than the traditional modal superposition method with the same accuracy in a stitched catenary system, and the existing catenary system cannot be operated at an overdesigned speed without increasing the contact wire tension. The present model gives an efficient solution to pantograph–stitched-catenary interaction problems.

Place, publisher, year, edition, pages
Multidisciplinary Digital Publishing Institute (MDPI), 2024
Keywords
long travel distance, overdesigned speed operation, pantograph–stitched-catenary dynamics, reduced catenary model
National Category
Vehicle and Aerospace Engineering Transport Systems and Logistics Computer Systems
Identifiers
urn:nbn:se:kth:diva-357179 (URN)10.3390/app142210160 (DOI)001366761200001 ()2-s2.0-85210268293 (Scopus ID)
Note

QC 20241206

Available from: 2024-12-04 Created: 2024-12-04 Last updated: 2025-02-14Bibliographically approved
Zhang, Y., Liu, W., Stichel, S. & Yang, J. (2024). Influence of thermal expansion and wear on the temperatures and stresses in railway disc brakes. International Communications in Heat and Mass Transfer, 158, Article ID 107858.
Open this publication in new window or tab >>Influence of thermal expansion and wear on the temperatures and stresses in railway disc brakes
2024 (English)In: International Communications in Heat and Mass Transfer, ISSN 0735-1933, E-ISSN 1879-0178, Vol. 158, article id 107858Article in journal (Refereed) Published
Abstract [en]

Thermo-mechanical coupled systems are typically complex, however, the demand for analyses of this kind of multi-physics system is increasing, for example, accurately predicting the temperature and thermal stress of the railway disc brakes. However, many models ignore the phenomenon of thermal expansion and wear on brake pads. Therefore, their influence on the result is unclear. This research aims to investigate the effect of these two phenomena on the temperatures and stresses. These influences represent different heat flux input methods. Based on the finite element method (FEM), a three-dimensional (3D) transient thermo-mechanical model is built up. Three cases with or without thermal expansion and wear are conducted. The model is validated against measurement data. Simulation results show that thermal expansion and wear on the brake pads cause a 10% difference in the average temperatures of the brake discs, while a 257% difference in the maximum temperatures. As for the equivalent stresses (Von Mises stress), the difference can reach 3500%. Overall, this research builds a thermo-mechanical model and quantifies the effects of thermal expansion and wear on the temperatures and stresses of railway brake discs. The model can be transferred to other thermo-mechanical coupled multi-physics systems.

Place, publisher, year, edition, pages
Elsevier BV, 2024
Keywords
Heat flux, Thermal expansion, Thermo-mechanical analysis, Wear
National Category
Energy Engineering Other Mechanical Engineering Applied Mechanics
Identifiers
urn:nbn:se:kth:diva-351697 (URN)10.1016/j.icheatmasstransfer.2024.107858 (DOI)001285630100001 ()2-s2.0-85199893849 (Scopus ID)
Note

QC 20240815

Available from: 2024-08-13 Created: 2024-08-13 Last updated: 2025-02-14Bibliographically approved
Felez, J., Vaquero-Serrano, M. A., Liu, W., Casanueva, C., Schultz-Wildelau, M., Coquery, G. & Proietti, P. (2024). Maglev Derived Systems: An Interoperable Freight Vehicle Application Focused on Minimal Modifications to the Rail Infrastructure and Vehicles. Machines, 12(12), Article ID 863.
Open this publication in new window or tab >>Maglev Derived Systems: An Interoperable Freight Vehicle Application Focused on Minimal Modifications to the Rail Infrastructure and Vehicles
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2024 (English)In: Machines, E-ISSN 2075-1702, Vol. 12, no 12, article id 863Article in journal (Refereed) Published
Abstract [en]

Magnetic levitation (maglev) offers unique opportunities for guided transport; however, only a few existing maglev systems have demonstrated their potential benefits. This paper explores the potential of maglev-derived systems (MDS) in conventional rail, focusing on the use of linear motors to enhance freight operations. Such traction boosters provide additional propulsion capabilities by reducing the train consist’s dependence on wheel–rail adhesion and improving performance without needing an additional locomotive. The study analyses the Gothenburg–Borås railway in Sweden, a single-track, mixed-traffic line with limited capacity and slow speeds, where installing linear motors on uphill sections would allow freight trains to match the performance of passenger trains, even under challenging adhesion conditions. Target speed profiles were precomputed using dynamic programming, while a model predictive control algorithm determined the optimal train state and control trajectories. The results show that freight trains can achieve desired speeds but at the cost of increased energy consumption. A system-level cost–benefit analysis reveals a positive impact with a positive benefit-to-cost ratio. Although energy consumption increases, the time savings and reduced CO2 emissions from shifting goods from road to rail demonstrate substantial economic and environmental benefits, improving the efficiency and sustainability of rail freight traffic.

Place, publisher, year, edition, pages
MDPI AG, 2024
Keywords
incline pusher, linear motor, maglev, maglev-derived systems, traction booster, upgraded maglev-derived systems
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-358287 (URN)10.3390/machines12120863 (DOI)001384910400001 ()2-s2.0-85213239500 (Scopus ID)
Note

QC 20250114

Available from: 2025-01-08 Created: 2025-01-08 Last updated: 2025-01-14Bibliographically approved
Wang, J., Ding, X., Liu, Z., Teng, W., Liu, T. & Li, Y. (2023). An experimental study on abnormal vibration of metro trains caused by out-of-round wheels. Proceedings of the Institution of mechanical engineers. Part F, journal of rail and rapid transit, 237(2), 224-231
Open this publication in new window or tab >>An experimental study on abnormal vibration of metro trains caused by out-of-round wheels
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2023 (English)In: Proceedings of the Institution of mechanical engineers. Part F, journal of rail and rapid transit, ISSN 0954-4097, E-ISSN 2041-3017, Vol. 237, no 2, p. 224-231Article in journal (Refereed) Published
Abstract [en]

Out-of-round (OOR) wheel often happens to trains, which can cause abnormal vibration. To develop effective countermeasures to minimize the abnormal vibration, it is necessary to study how the wheel OOR wear affects the vehicle vibration. This paper performs an experimental study on the abnormal vibration characteristics of metro trains with out-of-round wheels. The vibration characteristics is identified by the general survey of wheel roughness from special tests. The statistic wheel wear values of all the vehicles in an operating metro lines are studied to investigate the relationship between the wheel wear and the operating mileage. Several re-profiling strategies are implemented to eliminate the abnormal vibration caused by wheel OOR. The results show that the root cause of the abnormal vibration and deterioration of ride comfort is the car-body flexible resonance excited by the wheel OOR wear. Wheel re-profiling is the most effective measure for reducing the vehicle abnormal vibration. By re-profiling all the wheels of a tested metro vehicle, the ride comfort can be improved by 35% ∼ 40% and the axle-box acceleration can be reduced by 40%.

Place, publisher, year, edition, pages
SAGE Publications, 2023
National Category
Vehicle and Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-312000 (URN)10.1177/09544097221102286 (DOI)000798725500001 ()2-s2.0-85130458012 (Scopus ID)
Note

QC 20220601

Available from: 2022-05-07 Created: 2022-05-07 Last updated: 2025-02-14Bibliographically approved
Persson, R., Stichel, S., Liu, Z. & Giossi, R. L. (2023). Cost reduction with single axle running gears in metro trains. In: 2022 Conference Proceedings Transport Research Arena, TRA Lisbon 2022: . Paper presented at 2022 Conference Proceedings Transport Research Arena, TRA Lisbon 2022, Lisboa, Portugal, Nov 14 2022 - Nov 17 2022 (pp. 876-883). Elsevier B.V.
Open this publication in new window or tab >>Cost reduction with single axle running gears in metro trains
2023 (English)In: 2022 Conference Proceedings Transport Research Arena, TRA Lisbon 2022, Elsevier B.V. , 2023, p. 876-883Conference paper, Published paper (Refereed)
Abstract [en]

Energy and maintenance costs constitute a large part of the recurring cost for railway operation. The vehicle weight impacts both energy consumption and the need for tamping of the track, while curving performance impacts the curving resistance and the wear on wheels and rails. In the project RUN2Rail and further in NextGear, both parts of the EU-funded initiative Shift2Rail, a single axle running gear with composite frame and active wheelset guidance was proposed for metro vehicles. The present study is comparing a reference vehicle from Metro Madrid with the proposed vehicle in terms of energy consumption and maintenance cost for simulated service on Metro Madrid Line 10 with curvature, gradients, stops and speed profiles considered. The calculated yearly saving for each vehicle become about 50 k€/(year*trainset), split on 20% on energy and 40% on each of wheel and track maintenance.

Place, publisher, year, edition, pages
Elsevier B.V., 2023
Keywords
Active suspension, Energy consumption, Reinforced plastic, Two-axle vehicle, Weight reduction, Wheel wear
National Category
Vehicle and Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-342801 (URN)10.1016/j.trpro.2023.11.495 (DOI)2-s2.0-85182935313 (Scopus ID)
Conference
2022 Conference Proceedings Transport Research Arena, TRA Lisbon 2022, Lisboa, Portugal, Nov 14 2022 - Nov 17 2022
Note

QC 20240202

Available from: 2024-01-31 Created: 2024-01-31 Last updated: 2025-02-14Bibliographically approved
Zhang, Y., Liu, Z. & Stichel, S. (2023). Study on the braking distance of composite brake blocks covered with ice for freight trains in winter. Proceedings of the Institution of mechanical engineers. Part F, journal of rail and rapid transit, 237(8), 1050-1059
Open this publication in new window or tab >>Study on the braking distance of composite brake blocks covered with ice for freight trains in winter
2023 (English)In: Proceedings of the Institution of mechanical engineers. Part F, journal of rail and rapid transit, ISSN 0954-4097, E-ISSN 2041-3017, Vol. 237, no 8, p. 1050-1059Article in journal (Refereed) Published
Abstract [en]

In winter, some freight trains with composite brake blocks experience unexpected long braking distances, which seriously jeopardizes running safety. The reasons for the long braking distances are still not completely understood, and therefore it is difficult to suggest preventive measures. Up to now, it has not really been studied how a layer of ice that is often found between the brake block and the wheel influences the braking process. To investigate whether ice influences the braking distance, a numerical model is built. Ice thickness, ambient temperature, initial speed, and axle load/brake pressure are parameters that can be varied in the model. Results are checked against available on-track tests. The simulation results show that ice significantly influences the braking distance. The impact of ice on the braking distance increases when the ambient temperature, initial speed, and brake pressure are low, which is consistent with available field test reports. The results also show that a conditioning brake, a high brake pressure and a small clearance between the wheel and brake block can efficiently reduce the impact of ice on the braking distance of freight trains with composite brake blocks in winter.

Place, publisher, year, edition, pages
SAGE Publications, 2023
Keywords
braking distance, composite brake block, Freight train, ice, winter
National Category
Vehicle and Aerospace Engineering
Identifiers
urn:nbn:se:kth:diva-338418 (URN)10.1177/09544097231151474 (DOI)000913437000001 ()2-s2.0-85146537403 (Scopus ID)
Note

QC 20231023

Available from: 2023-10-23 Created: 2023-10-23 Last updated: 2025-02-14Bibliographically approved
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ORCID iD: ORCID iD iconorcid.org/0000-0001-7393-569X

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