Here are a few pictures from the London Underground.
Piccadilly Line train towards Uxbridge, King's Cross – St.Pancras, 21.8.2013
Even though it is an "underground," it sometimes travels overground:
Central Line trains meet near Hanger Lane, 24.8.2013
On the Bakerloo line, one can see that Underground and Overground are totally compatible, as they are travelling on the same track (and because Overground and usual trains use common tracks at Euston, this means that Underground and "big railway" trains are compatible)! However, the electrical details of this compatibility are a little tricky, as is explained in this Wikipedia paragraph about "fourth rail" electrifications.
Bakerloo Line Underground train at Queen's Park, 28.8.2013
Overground train at Queen's Park, 28.8.2013
But let's again dive into the dark tunnels!
Signal A.781, Northern Line, Embankment, 24.8.2013
Station sign, Northern Line, Embankment, 24.8.2013
A train navigates the tight curve at Embankment on the Northern Line:
Northern Line, Embankment, 24.8.2013
Northern Line, Embankment, 24.8.2013
When the doors open, it is indeed necessary to "mind the gap"—the central door of each car is almost half a yard away from the platform edge:
Northern Line, Embankment, 24.8.2013
And at last, here are a few pictures from the end of the Northern Line at High Barnet:
Northern Line, High Barnet, 28.8.2013
Northern Line, High Barnet, 28.8.2013
Northern Line, High Barnet, 21.8.2013
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