We separated the components of the demonstrator into the following categories:

• Table hardware

  • Expander design

  • BeagleBone expander: Segment actuator

  • BeagleBone expander: Turnout Actuator

  • BeagleBone expander assignments

• Train Infrastructure

• Network layer

• Distributed Safety Logic

• CV-based Safety Logic

Obsolete components:

• Embedded Programming Interface

• Robot Arm

• Robot Control Software

• CV-based Robot Supervision

• Robot Model