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  • 1.
    Agrell, Fredrik
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Ångström, Hans-Erik
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Eriksson, Bengt
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Linderyd, Johan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Control of HCCI During Engine Transients by aid of Variable Valve Timings Through the use of Model Based Non-Linear Compensation2005In: SAE transactions, ISSN 0096-736X, Vol. 114, no 3, p. 296-310Article in journal (Refereed)
    Abstract [en]

    One of the main challenges with the Homogeneous Charge Compression Ignition, HCCI, combustion system is to control the Start Of Combustion, SOC, for varying load and external conditions. A method to achieve this on a cycle-by-cycle basis is to vary the valve timing based on a feedback signal from the SOC of previous cycles. The control can be achieved with two basic valve-timing strategies named the Overlap- and the IVC-method. The Overlap-method works by trapping of residuals while the IVC-method affects the effective compression ratio. In an earlier paper it has been shown that if the two methods are incorporated into one controller, SOC can be controlled in a relatively large operating window although the transient performance was not sufficient. The reason is that the simple PI-controller cannot be made fast enough to cope with the transients without magnifying the cycle-to-cycle variations of the combustion into instability. In this work a model based control system that features a non-linear compensation, based on the inverse of the non-linear function from valve timings to ignition delay, is suggested and evaluated. The results show good transient performance. Control performance from engine tests is reported. A combined engine and control simulation system is used for the development of the control strategies. The simulations are accomplished with a commercial cycle simulation code linked with a commercial control simulation code. The simulations are iteratively verified against engine test data. Engine tests are conducted on a single cylinder engine equipped with a hydraulic valve system.

  • 2.
    Agrell, Fredrik
    et al.
    KTH, Superseded Departments, Machine Design.
    Ångström, Hans-Erik
    KTH, Superseded Departments, Machine Design.
    Eriksson, Bengt
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    Linderyd, Johan
    Integrated Simulation and Engine Test of Closed Loop HCCI Control by aid of Variable Valve Timings2003In: SAE transactions, ISSN 0096-736X, Vol. 112, no 3, p. 1078-1091Article in journal (Refereed)
  • 3.
    Agrell, Fredrik
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Ångström, Hans-Erik
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Eriksson, Bengt
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Linderyd, Johan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Practical Modeling of HCCI for Combustion Timing Control and Results from Engine Test2005In: KTH Internal Combustion Engine Report MFM, Vol. 162Article, review/survey (Refereed)
  • 4.
    Agrell, Fredrik
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Ångström, Hans-Erik
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Eriksson, Bengt
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Linderyd, Johan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Transient Control of HCCI Combustion by aid of Variable Valve Timing Through the use of a Engine State Corrected CA50-Controller Combined with an In-Cylinder State Estimator Estimating Lambda2005Conference paper (Refereed)
    Abstract [en]

    One of the main challenges with the Homogeneous Charge Compression Ignition, HCCI, combustion system is to control the Start Of Combustion, SOC, for varying load and external conditions. A method to achieve this on a cycle-by-cycle basis is to vary the valve timing based on a feedback signal from the SOC of previous cycles. The control can be achieved with two basic valve-timing strategies named the Overlap- and the IVC-method. The Overlap-method works by trapping of residuals while the IVC-method affects the effective compression ratio

  • 5.
    Agrell, Fredrik
    et al.
    KTH, Superseded Departments, Machine Design.
    Ångström, Hans-Erik
    KTH, Superseded Departments, Machine Design.
    Eriksson, Bengt
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    Linderyd, Johan
    Transient Control of HCCI Through Combined Intake and Exhaust Valve Actuation2003Conference paper (Refereed)
    Abstract [en]

    Homogeneous Charge Compression Ignition, HCCI, has the attractive feature of low particulate emission and low Nitrogen Oxides, NOx, emission combined with high efficiency. The principle is a combination of an Otto and a Diesel engine in that a premixed charge is ignited by the compression heat.

  • 6. Carlqvist, Per
    et al.
    Ivone, Davide
    Politechnico di Milano, Italy .
    During, Carl
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Benchmark of High Level Programming: Pilot Case Vibration Control2009In: Proceedings of the 9th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2009 / [ed] H. Van Brussel, E. Brinksmeier, H. Spaan, T. Burke, 2009, Vol. 1, p. 361-364Conference paper (Refereed)
    Abstract [en]

    The advancement of technology of laser pattern generators needs to meet demands of the rapid product development pace in the display and semiconductor markets. A hypothesis is that efficiency in the development process of complex systems can be improved by introducing a higher level programming approach. This will make a model and simulation based development (MBD) strategy more easy to adapt leading to 1) higher technical performance at shorter development time from idea to product introduction phase, 2) lower cost of goods, 3) shorter production-, installations- & upgrade time and 4) possibility of very efficient field support & service, etc. The success of an MBD approach is dependent on the simulation software capability to express the behavior of a real system. Consequently, as a first step towards an MBD approach, the investigation covers a pilot-study where results from simulations are compared to an existing controlled system.

  • 7.
    Devesse, Wim
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Ramteen, M.
    Feng, L.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    A real-time optimal control method for swing-free tower crane motions2013In: Automation Science and Engineering (CASE), 2013 IEEE International Conference on, IEEE , 2013, p. 336-341Conference paper (Refereed)
    Abstract [en]

    Tower cranes are commonly used at construction sites all over the world. These cranes are prone to swinging of the cable suspended payload, resulting in unwanted payload oscillations that have severe effects on the safety on the site as well as on operational speed and accuracy of the payload delivery. The nonlinear nature of the rotating crane motion makes controlling these oscillations a complex task. In this paper, a time-optimal velocity control method is developed to enable fast and swing-free tower crane movements by applying Pontryagin's maximum principle on a set of decoupled payload pendulum equations. The controller is developed in a feedback form and is implementable in real-time. The performance of the controller is compared with other control methods such as notch filtering and input shaping. Simulations using a detailed tower crane model show that time-optimal swing-free movements can be obtained and payload vibrations are reduced to levels lower than those that can be achieved with the other control methods, while resulting in significantly faster rise times in slew velocity.

  • 8.
    During, Carl
    et al.
    KTH, Superseded Departments, Machine Design.
    Andersson, Sören
    KTH, Superseded Departments, Machine Design.
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    Non-contact, absolute position measurement,using a compact disc record player optical pick-up1992In: Sensors and Actuators A-Physical, ISSN 0924-4247, E-ISSN 1873-3069, Vol. 32, p. 575-581Article in journal (Refereed)
  • 9.
    During, Carl
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Model based conceptual mechatronic design - reflections concerning research versus industrial needs for high performance systems2014In: Proceedings of a meeting held 16-18 June 2014, Karlstad, Sweden, 2014Conference paper (Other academic)
  • 10.
    Eriksson, Bengt
    et al.
    KTH, Superseded Departments, Machine Design.
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    Robust PID design of flexible manipulators through pole assignment2002Conference paper (Refereed)
  • 11.
    Eriksson, Magnus G.
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Dixon, Mark R.
    SenseGraphics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    A haptic VR milling surgery simulator - using high-resolution CT-data2006In: Studies in Health Technology and Informatics, ISSN 0926-9630, E-ISSN 1879-8365, Vol. 119, p. 138-143Article in journal (Refereed)
    Abstract [en]

    A haptic virtual reality milling simulator using high resolution volumetric data is presented in this paper. We discuss the graphical rendering performed from an iso-surface generated using marching cubes with a hierarchical storage method to optimize for fast dynamic changes to the data during the milling process. We also present a stable proxy-based haptic algorithm used to maintain a tip position on the surface avoiding haptic fall-through.

  • 12.
    Eriksson, Magnus G.
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Flemmer, Henrik
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    A Haptic and Virtual Reality Skull Bone Surgery Simulator2005Conference paper (Refereed)
    Abstract [en]

    The work presented in this paper gives an introduction to the development of a simulator system based on a virtual reality representation of the human skull, from which both haptic and visual feedback is generated to simulate and animate the milling process in skull bone surgery. The system will be used to educate and train surgeons to do complicated skull bone operations, such as removal of cancer tumors. The skull bone data is taken from a CT-scan and visualized using a modified Marching cubes algorithm. Different haptic rendering algorithms of the bone milling process are discussed for implementation. An energy-based approach is used for modeling of material removed during the milling process. The topic is still young and unexplored; hence this paper discusses the different parts a bone milling VRsystem consists of and gives an insight into problems occurring in a VR bone milling process and presents solutions for some of these problems.

  • 13.
    Eriksson, Magnus G.
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Flemmer, Henrik
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Haptic Simulation of the Milling Process in Temporal Bone Operations2005In: Medicine Meets Virtual Reality 13: The Magical Next Becomes the Medical Now, IOS Press, 2005, Vol. 111, p. 133-136Conference paper (Refereed)
    Abstract [en]

    A VR-simulation system for educating surgeons of the temporal bone milling processes is presented in this paper. E. g. the milling process that occurs during the removal of certain cancer tumors in the brain. The research project is recently started up and this paper is an introduction to the bone milling simulation topic. We present how the graphical rendering of the temporal bone is done. Acquired data are managed using the Marching cubes algorithm to perform a visual representation. A re-production of iso-surfaces will represent the material removal occurred during the milling process. Force models are discussed and will be implemented in the H3D API, which is used to control the virtual simulation and collision detection. Equipment, implementation and future work are also presented in the paper.

  • 14.
    Eriksson, Magnus G.
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    von Holst, Hans
    KTH, School of Technology and Health (STH), Neuronic Engineering.
    The use of virtual reality and haptic simulators for training and education of surgical skills2006In: Simulation in Healthcare: journal of the society for simulation in healthcare, ISSN 1559-2332Article in journal (Other academic)
  • 15.
    Eriksson, Magnus
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Khan, Suleman
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Face Validity Tests of a Haptic Bone Milling Surgery Simulator Prototype2012In: Journal of Medical Devices, ISSN 1932-619XArticle in journal (Other academic)
  • 16.
    Eriksson, Magnus
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    A 6 degrees-of-freedom haptic milling simulator for surgical training of vertebral operations2012In: Studies in Health Technology and Informatics, ISSN 0926-9630, E-ISSN 1879-8365, Vol. 173, p. 126-128Article in journal (Refereed)
    Abstract [en]

    In the research presented here, the aim has been to develop a haptic milling simulator for surgical training of vertebral operations. One central goal has been to create a simulator that gives the user a realistic impression of contacts with, and milling of, a virtually represented bone tissue model. A new 6 degrees-of-freedom haptic algorithm for milling is implemented together with new 6 degrees-of-freedom haptic device.

  • 17.
    Eriksson, Magnus
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    A Face Validated Six Degrees-of-Freedom Haptic Bone Milling AlgorithmIn: IEEE Transactions on Haptics, ISSN 1939-1412, E-ISSN 2329-4051Article in journal (Other academic)
  • 18. Flemmer, H.
    et al.
    Eriksson, Bengt
    KTH, Superseded Departments, Machine Design.
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    Control design and stability analysis of a surgical teleoperator1999In: Mechatronics - the science of intelligent machines - Int. Journal, Vol. 9, no 7, p. 843-866Article in journal (Refereed)
  • 19.
    Flemmer, Henrik
    et al.
    KTH, Superseded Departments, Machine Design.
    Eriksson, Bengt
    KTH, Superseded Departments, Machine Design.
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    Control Design for Transparent Teleoperators with Model Parameter Variation2002Conference paper (Refereed)
  • 20.
    Flemmer, Henrik
    et al.
    KTH, Superseded Departments, Machine Design.
    Eriksson, Bengt
    KTH, Superseded Departments, Machine Design.
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    Passivity Issues in Bilateral Teleoperation: A Phase Property2003Conference paper (Refereed)
  • 21.
    Frede, Daniel
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Khodabakhshian, Mohammad
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Malmquist, Daniel
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    A survey on safety-critical vehicular mechatronics2011In: 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings:  , 2011, p. 176-181Conference paper (Other academic)
    Abstract [en]

    This paper is a recapitalized version of a state of the art/practice report on vehicular mechatronics conducted by the authors. The report itself summarizes a large quantity of scientific papers, theses, white papers, and field trips to manufacturers. Since vehicular mechatronics is a wide field of research, this paper focuses mainly on braking and steering systems as specific product examples but also covers general system architecture, design methodologies as well as current legislation and standards. In the last section of the paper some conclusions regarding current research are drawn.

  • 22.
    Frede, Daniel
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Malmquist, Daniel
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Holistic design optimization in mechatronics2013In: Mechatronic Systems, Part 1, 2013, p. 655-662Conference paper (Refereed)
    Abstract [en]

    Design of modern mechatronic systems can be an intimidating task. The underlying problem lies in that several different engineering domains merge into one product, creating integration issues. Commonly used design methodologies are based on optimizing the different domains separately; hence creating a suboptimal final system. This paper contributes to the field by describing and discussing a holistic approach to design and optimize mechatronic products, especially useful in an early design phase. Specifically, this paper extends previously published work by taking control aspects into account, as well as enabling the use of multiple optimization criteria. The design approach described is based on using simplified, static models, to dimension and describe physical properties of structure and transducer components, while transfer function models are used for control design and behavioral modeling. To enable time-efficient optimization, computationally inexpensive ways to evaluate structural and behavioral properties are sought. An evolutionary optimization algorithm is used to evaluate the component models and by doing that derive an optimal solution.

  • 23.
    Grimheden, Martin
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Hanson, Mats
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Norell Bergendahl, Margareta
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Integrated Product Development.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    PIEp: Product Innovation Engineering Program2007In: Proceedings of ICED 2007, the 16th International Conference on Engineering Design, 2007Conference paper (Refereed)
    Abstract [en]

    This article presents the establishment of a large research, education and development program in the area of innovation engineering, the Product Innovation Engineering Program, PIEp. The program is intended as a network of researchers, educators and students in innovation with the purpose of creating a systematic shift toward innovation and entrepreneurship in institutes of higher education and research. The initial PIEp consortium consists of: Faculty of Engineering at Lund University, Umeå Institute of Design at Umeå University, International Business School and School of Engineering at Jönköping University, Center for Technology and Health, Sweden and is coordinated by the School of Industrial Technology and Management at the Royal Institute of Technology. PIEp is organized in five activity fields, ranging from research in innovation to product- and business development through education in innovation. The organization is based on a model where the five fields generate knowledge and feed back knowledge and experiences to the other fields. The program is initially funded by the Swedish Governmental Agency for Innovation Systems, VINNOVA, Innovationsbron AB (a Swedish organization that supports business development through incubators and seed capital), the collaborating universities and a number of private sponsors. The program was launched in late 2006 and is intended to run for ten years. The first research projects and educational activities have started, and the PIEp program is now inviting more national and international partners.

  • 24.
    Grimheden, Martin
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Norell Bergendahl, Margareta
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Integrated Product Development.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Product Innovation Engineering Program: A Systematic Change Towards Innovation in Engineering Education2007In: Proceedings of the 3rd International CDIO Conference, 2007Conference paper (Refereed)
  • 25.
    Gu, Yunjin
    et al.
    KTH. Korea Adv Inst Sci & Technol, Daejeon, South Korea.
    Ingvast, Johan
    KTH. Bioservo Technol AB, Stockholm, Sweden..
    Wikander, Jan
    KTH.
    Toward a New Force Sensor for Twisted String Actuator: A Study about the Force on Separator2017In: 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Bicchi, A Okamura, A, IEEE , 2017, p. 1207-1212Conference paper (Refereed)
    Abstract [en]

    The twisted string actuator (TSA) shows promise as a good substitution for biological muscle in robotics. In this paper, a new force sensing mechanism is suggested utilizing the separator which exists in some kind of TSAs. We have identified a relation between the force acting on the separator and the load on the actuator and propose a mathematical model based on this original phenomenon. We also propose an estimation method of the load acting on the TSA using the mathematical model. This relationship has been verified in experiment. A contribution of this research is that the actuation load can be estimated by use of internal structure in TSA which in some circumstances can result in a simpler system compared to direct measurement of load in line.

  • 26.
    Hasan, Baha
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Onori, Mauro
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Assembly Features Utilization to Support Production System Adaptation2014In: TECHNOLOGICAL INNOVATION FOR COLLECTIVE AWARENESS SYSTEMS, 2014, p. 85-92Conference paper (Refereed)
    Abstract [en]

    The purpose of this paper is to introduce a proposed methodology to extend the evolvable assembly system (EAS) paradigm for product design by utilizing assembly features in a product. In this paper, assembly features are used to bridge the gap between product design and assembly process by matching features of a part in an assembly to operations of a process in the EAS ontology. This can be achieved by defining and extracting a new set of assembly features called process features, which are features significant to specific and well-defined assembly operations. The extracted assembly features are represented in a proposed model based on product topology. A case-study example is conducted to illustrate the new methodology. A process-feature ontology is proposed as well in order to match the assembly requirements represented by process features with the available processes and skills in the EAS ontology so that adaptation of the production system can be achieved.

  • 27.
    Hasan, Baha
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    A review On Utilizing Ontological Approaches in Integrating Assembly Design and Assembly Process Planning2017In: International Journal of Mechanical Engineering ( SSRG-IJME), ISSN 2348-8360, Vol. 4, no 11, p. 5-16Article in journal (Refereed)
  • 28.
    Hasan, Baha
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Features Extraction from CAD as a Basis for Assembly Process Planning2017In: TECHNOLOGICAL INNOVATION FOR SMART SYSTEMS / [ed] CamarinhaMatos, LM ParreiraRocha, M Ramezani, J, SPRINGER-VERLAG BERLIN , 2017, p. 144-153Conference paper (Refereed)
    Abstract [en]

    This paper describes a novel approach to recognize product features, which are significant for Assembly Process Planning (APP). The work presented in this paper is a part of a larger effort to develop methods and tools for a more automated and bidirectional link between product CAD and the different processes and resources applied in APP. APP is the phase, in which the required assembly processes and resources are determined in order to convert a product to fully assembled or semi-assembled product. Product features will be extracted from the SolidWorks (SW) CAD file using SW- Application Programming Interface (API). SW-API is an interface that allows the exchange of data between CAD design and different software applications. The work includes automatic recognition for assembly knowledge, geometry and non-geometry knowledge (dimensions, geometrical tolerances, and kinematic constraints) in assembly design, which are relevant for assembly process and resources. Recognition algorithms have been developed by using visual basic. Net (VB.net). A case-study example is included for illustration of the proposed approach.

  • 29.
    Hasan, Baha
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Product Feature Modelling for Integrating Product Design and Assembly Process Planning2016In: International Journal of Mechanical and Mechatronics Engineering, ISSN 1307-6892, Vol. 10, no 10, p. 1760-1770Article in journal (Refereed)
  • 30.
    Hasan, Baha
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
    Onori, Mauro
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
    Assembly design semantic recognition using solid works-API2016In: International Journal of Mechanical Engineering and Robotics Research, ISSN 2278-0149, Vol. 5, no 4, p. 280-287Article in journal (Refereed)
    Abstract [en]

    This paper describes a novel approach to recognize and model assembly semantic knowledge enclosed in product assembly features. The proposed approach is based on two stages: assembly semantic recognition and assembly semantic modelling. In the first stage, the internal boundary representation (B-rep) recognition method is utilized to extract assembly semantic knowledge from assembly CAD models using SolidWorks' API functions. In the second stage, a multi-level semantic assembly model is generated. The proposed assembly semantic model is characterized by separating geometrical semantic data represented by form features (basic geometrical and topological entities such as holes, slots, notches etc.) from assembly features (features significant for assembly processes such as mating, alignment, handling, joining etc.). Another characteristic for of the proposed approach is the ability to generate application-specific features based on the extracted geometrical, dimensional and positional semantic data from the assembly design. The generated application specific features will be used to integrate assembly design knowledge to the required assembly processes and resources in the assembly process planning (APP) in product life-cycle. A case-study example is included for illustration of the proposed approach. The work is part of the research within the Evolvable Production Systems paradigm and aims at linking product features to production equipment modules.

  • 31.
    Hasan, Baha
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Onori, Mauro
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
    Ontological Approach to Share Product Design Semantics for an Assembly2016In: IC3K 2016 - Proceedings of the 8th International Joint Conference on Knowledge Discovery, Knowledge Engineering and Knowledge Management, SciTePress, 2016, p. 104-111Conference paper (Refereed)
    Abstract [en]

    The aim of this paper is to facilitate the transfer of product data semantics from Computer Aided Design (CAD) program to assembly process planning (APP) in product life-cycle. In this paper, an approach to capture, share and transfer assembly design semantic data from SolidWorks (SW) CAD software to assembly device (robot Sony SRX series) is proposed. The proposed approach is based, on its first stage, on defining and extracting assembly design semantics from a CAD model using SolidWorks Application Programmable Interface (SW-API). The second stage of the proposed approach includes sharing and integrating the extracted assembly design semantics with assembly robot device by using three-layer ontology structure. In this layered ontology, different types of ontologies are proposed for each layer: general foundation ontology for the first, domain ontologies for the second and application ontology for the third. Each of these layers aids in defining concepts, relations and properties in assembly design domain and APP domain. Ultimately, the proposed ontology will be used to integrate both domains in product-life cycle.

  • 32.
    Hasan, Baha
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Embedded Control Systems.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Onori, Mauro
    KTH, School of Industrial Engineering and Management (ITM), Production Engineering.
    Utilizing Assembly Features for determination of Grasping Skill in Assembly System2014Conference paper (Refereed)
  • 33. Hehenberger, P.
    et al.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Special issue mechatronics: Model-based mechatronic system design2014In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 24, no 7, p. 743-744Article in journal (Refereed)
  • 34.
    Ingvast, Johan
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Ridderström, Christian
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    The PVT, an elastic conservative transmission2006In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, International journal of robotics research, Vol. 25, no 10, p. 1013-1032Article in journal (Refereed)
    Abstract [en]

    This paper presents an innovative transmission called the passively variable transmission (PVT) that has a high torque ratio for large loads and a low velocity ratio for small loads. The change in these ratios depends passively on the load, in contrast to the continuous variable transmission (CVT), where the transmission ratio is controlled explicitly. Another difference from the CVT is that the PVT is elastic and the term transmission ratio is therefore not applicable. A theory section formulates alternative ways of describing the torque and velocity relations for elastic conservative transmisions as well as other important properties. This theory is used to analyze and illustrate the characteristics of a PVT. The theory is also used to compare the PVT with another novel elastic conservative transmission, called load sensitive CVT. The nonlinearities and elasticity of the PVT make it difficult to control using linear control theory. Feedback linearization was therefore used to design a torque controller, and experimental results show low impedance at small loads. Further, the controller tracks a reference torque well as long as the reference rate does not cause motor saturation. The abilities of the PVT are also illustrated by comparing it with an actuator having a traditional transmission. The load case is recorded joint torques and angles from the carpus joint of a walking horse. Simulation show that the required peak power is reduced by more than 20% and the product of the maximum torque and the maximum angular velocity is reduced by approximately 30%

  • 35.
    Ingvast, Johan
    et al.
    KTH, Superseded Departments, Machine Design.
    Wikander, Jan
    KTH, Superseded Departments, Machine Design.
    The trunk follows the feet: an approach for making a quadruped robot trot and walkManuscript (preprint) (Other academic)
  • 36.
    Khan, Suleman
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Andersson, Kjell
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    A Design Approach for a New 6-DoF Haptic Device Based on Parallel Kinematics2009In: 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, NEW YORK: IEEE , 2009, p. 195-200Conference paper (Refereed)
    Abstract [en]

    This paper presents an approach to a methodology for design, analysis and optimization of haptic devices. This approach roughly divides the design process into; device requirements, conceptual design, device design, control design and finally building a prototype of the device. In addition, we have applied the first two phases of this methodology, i.e. device requirements and conceptual design on the development of a new 6-DoF haptic device. The intended application area for this device is medical simulations and this research is one important component towards achieving manipulation capabilities and force/torque feedback in six degrees of freedom during medical simulations. Three candidate concepts, all based on parallel kinematic structures, have been investigated and analyzed. The performance parameters being analyzed have covered workspace analysis and force/torque requirements to fulfill the specified TCP force performance. The initial analysis of these three concepts has shown, after a smaller modification of one of the concepts that all concepts seem to satisfy, the initially stated requirements.

  • 37.
    Khan, Suleman
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Andersson, Kjell
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Design Optimization and Performance Evaluation of a 6-DOF Haptic DeviceIn: Journal of mechanical design (1990), ISSN 1050-0472, E-ISSN 1528-9001Article in journal (Other academic)
  • 38.
    Khan, Suleman
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Andersson, Kjell
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Dynamic based control strategy for haptic devices2011In: World Haptics Conference (WHC), 2011 IEEE Issue Date: 21-24 June 2011 / [ed] IEEE, 2011, p. 131-136Conference paper (Refereed)
    Abstract [en]

    Transparency is a key performance measure for haptic devices. In this paper, we investigate a control strategy to increase the transparency of a haptic device. This control strategy is based on careful analysis of the dynamics of the haptic device, computed torque feed forward control and current feedback based force control. The inverse dynamic equation of motion for the device is derived using Lagrangian formalism and the dominating terms are identified for some representative motion trajectories. The user contact dynamic model is identified using experiments on the device with different users. A PI controller using motor current measurements is used to follow the reference force from the virtual environment. Experimental results illustrate the effectiveness of the control strategy.

  • 39.
    Khan, Suleman
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Andersson, Kjell
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Investigation of parallel kinematic mechanism structures for haptic devices2009In: 2nd Nordic Conference on Product Lifecycle Management – NordPLM’09, Gothenburg January 2009., 2009Conference paper (Refereed)
    Abstract [en]

    Today modeling and simulation tools like FE (Finite Element) and MBS (Multi Body Systems) simulation tools are commonly used within mechanical engineering. These types of tools offer capabilities of Virtual prototyping (VP) with the possibility to investigate and explore a product before a physical prototype is manufactured. This can reduce the number of physical prototypes needed and save both time and money. These tools are also well known to be an effective means to support the process of verification of formulated requirements. They can be used e.g. for evaluation and selection of alternative solutions or as a final check or optimisation of a solution concept. The use of these kinds of tools can be even more effective if an information framework for handling the information created during the verification process can support them.

    The outline of such an information framework has been presented by Andersson [1], [2], which support traceability and reuse of partial result created during the verification of a specific requirements attribute as well as a possibility to study the effects that changes in the requirements specification have on product properties. This type of framework need a fine granularity of information, to be able to reuse partial results e.g. component simulation models but also that the models are structured such that we can reuse them in new model configurations.

    This paper presents an investigation of 6-dof haptic devices based on parallel structure that can be used in a surgical training simulator for temporal bone milling or as a 6-dof input- output teleoperated haptic master device. This investigation follows the verification process outlined by Andersson [1], [2], where the haptic devices in this case the product concept to be evaluated. The basic idea behind these concepts is to develop a haptic device with a large workspace and high stiffness within this workspace based on modeling and analysis of two different concepts. The study will concentrate to find a way to measure performance parameters to be able to evaluate and compare different structures.

  • 40.
    Khan, Suleman
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Andersson, Kjell
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
    Jacobian Matrix Normalization - A Comparison of Different Approaches in the Context of Multi-Objective Optimization of 6-DOF Haptic Devices2015In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 79, no 1, p. 87-100Article in journal (Refereed)
    Abstract [en]

    This paper focuses on Jacobian matrix normalization and the performance effects of using different criterion and techniques. Normalization of the Jacobian matrix becomes an issue when using kinematic performance indices and the matrix contains elements with non-homogenous physical units, i.e. representing both translational and rotational motions. Normalization is necessary in multi objective optimization if kinematic performance indices are used based on the full Jacobian matrix. Different methods have been proposed in literature for defining a scaling factor used to normalize the Jacobian. Based on a comparison of a few of these methods, we conclude that it is better to have the scaling factor as a design variable in the multi objective optimization. However, as an alternative, a new scaling factor is proposed based on the relationship between linear actuator motion range in joint space and rotational end effector motion in task space, a proposal underpinned by simulation, analysis and comparison of optimization results using existing normalization techniques. For optimization, performance indices for workspace, kinematic sensitivity, device isotropy and inertia are considered. To deal with the multi-objective optimization problem, genetic algorithms are employed together with a normalized multi-objective optimization function. The performances of different device configurations (depending on the normalization method and the global isotropy index used) are presented in this article.

  • 41.
    Khan, Suleman
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Andersson, Kjell
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Multi-objective Optimal Design of a 6-DOF Haptic Device Based on Jacobian NormalizationIn: IEEE transactions on robotics and automation, ISSN 1042-296XArticle in journal (Other academic)
  • 42.
    Khan, Suleman
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Andersson, Kjell
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Optimal Design of a 6-DoF Haptic device2011In: Mechatronics (ICM), 2011 IEEE International Conference on, IEEE , 2011Conference paper (Refereed)
    Abstract [en]

    The work presented in this paper is motivated by the use of haptics in applications of medical simulation, particularly simulation of surgical procedures in hard tissue such as bone structures. In such a scenario haptic device characteristics such as stiffness, motions, suitable workspace and device footprint are key design factors. This paper presents a procedure for optimal design of a parallel kinematic structure for a 6-Dof haptic device. For optimization, performance indices such as workspace volume, kinematic isotropy and static actuator force requirements are defined. A specific Jacobian matrix normalization is introduced for defining the kinematic isotropy and actuator force requirement indices. For defining the optimization problem, a novel multi-criteria objective function is introduced. Based on this objective function, a genetic algorithm is used to solve the multi-objective and non-linear optimization problem. Also, sensitivity analysis of the performance indices against each design parameter is presented as a basis for selecting a final set of design parameters for prototype development. Finally, using these results, a prototype was implemented.

  • 43.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Börjesson, Stefan
    Lindgärde, Olof
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Reducing Auxiliary Energy Consumption of Heavy Trucks by Onboard Prediction and Real-time Optimization2017In: Applied Energy, ISSN 0306-2619, E-ISSN 1872-9118, Vol. 188, p. 652-671Article in journal (Refereed)
    Abstract [en]

    The electric engine cooling system, where the coolant pump and the radiator fan are driven by electric motors, admits advanced control methods to decrease auxiliary energy consumption. Recent publications show the fuel saving potential of optimal control strategies for the electric cooling system through offline simulations. These strategies often assume full knowledge of the drive cycle and compute the optimal control sequence by expensive global optimization methods. In reality, the full drive cycle is unknown during driving and global optimization not directly applicable on resource-constrained truck electronic control units. This paper reports state-of-the-art engineering achievements of exploiting vehicular onboard prediction for a limited time horizon and minimizing the auxiliary energy consumption of the electric cooling system through real-time optimization. The prediction and optimization are integrated into a model predictive controller (MPC), which is implemented on a dSPACE MicroAutoBox and tested on a truck on a public road. Systematic simulations show that the new method reduces fuel consumption of a 40-tonne truck by 0.36% and a 60-tonne truck by 0.69% in a real drive cycle compared to a base-line controller. The reductions on auxiliary fuel consumption for the 40-tonne and 60-tonne trucks are about 26% and 38%, respectively. Truck experiments validate the consistency between simulations and experiments and confirm the real-time feasibility of the MPC controller. © 2016 Elsevier Ltd

  • 44.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Fuel Saving Potential of Optimal Engine Cooling System2014Conference paper (Refereed)
    Abstract [en]

    The engine cooling system in trucks is one of the main sources of parasite load. Thus optimal control of the engine thermal management system with the objective of minimizing energy consumption can substantially improve fuel efficiency. Existing methods on the engine thermal control system concentrate mainly on regulating the engine coolant temperature within a safety range. This paper explicitly calculates the energy consumption of the cooling system using the optimal control methods to decide the trajectories of the control values of the cooling system. During the optimal operation, the engine cooling system serves as another energy buffer to balance the engine workload in conventional trucks. To expose the maximal fuel saving potential of the optimal engine thermal control system, we apply dynamic programming in the investigation and the results are compared with a simple state feedback controller.

  • 45.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Improvement of fuel efficiency and drivability using simple prediction for gear changing2013In: IFAC Proceedings Volumes (IFAC-PapersOnline), 2013, no PART 1, p. 518-523Conference paper (Refereed)
    Abstract [en]

    Decreasing fuel consumption and emissions in automobiles has been an active research topic in recent years. A promising technology is the hybridization of powertrain. The main focus in this area is usually on the development of optimal power management control methods. For parallel HEVs (hybrid electric vehicle), the primary control variable is the torque split between the internal combustion engine and the electric motor but gear number can also be considered as a control parameter. ECMS (equivalent consumption minimization strategy) is one of the well-known real time power management strategies and has been used extensively in different works; however, using ECMS for controlling gearbox cannot always lead to optimal fuel consumption and drivability. The slow dynamics of gearbox might introduce unnecessary gear changing, which leads to suboptimal fuel efficiency and degraded drivability. In this paper, a simple prediction strategy is implemented to improve fuel efficiency and drivability. The presented prediction method does not use any information from the environment and does not need any extra sensor. The strategy is not computationally heavy compared to other predictive methods. The simplicity of the method makes it suitable for implementations.

  • 46.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Improving Fuel Economy and Robustness of an Improved ECMS Method2013In: 2013 10th IEEE International Conference on Control and Automation  (ICCA), IEEE , 2013, p. 598-603Conference paper (Refereed)
    Abstract [en]

    Hybrid electric vehicles have shown significant improvement for both fuel efficiency and emission reduction, and attracted many researchers. Paramount for the fuel efficiency of HEVs is the energy management control strategies. ECMS (equivalent consumption minimization strategy) is one of the well-known real time power management strategies and has been used extensively in different works; however, its intrinsic difficulty is to find the optimal equivalent factor, which in theory is determined by the a priori knowledge of the complete driving cycle. Different methods have been proposed to solve this issue, but each one has its own pros. and cons. Especially, the applicability of each method for different cycles as well as the computation overhead are two main concerns in the methods presented so far. In this paper, a new method is presented for calculating equivalent factor in the ECMS method. The method does not rely on any prediction nor the a priori knowledge of driving cycles. Its robustness is demonstrated through different driving cycles with distinct characteristics. Our new method will improve the effectiveness and robustness of the ECMS method.

  • 47.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    One-step prediction for improving gear changing control of HEVs2014In: Journal of Robotics and Mechatronics, ISSN 0915-3942, Vol. 26, no 6, p. 799-807Article in journal (Refereed)
    Abstract [en]

    Decreasing fuel consumption and emissions in automobiles continues to be an active research problem. A promising technology is powertrain hybridization. Study in this area usually focuses on the development of optimal power management control methods. The equivalent consumption minimization strategy (ECMS) is a widely used real-time control method used for determining the optimal trajectory of the power split between the engine and motor. Reports also cover applying ECMS to find an optimal gear changing strategy, but results are not always satisfactory in fuel economy and drivability. One possible reason for this is that gearbox dynamics are slow, but ECMS is based on instant optimization and neglects this time delay. This paper proposes a simple prediction strategy for improving ECMS performance used with gear changing control. The proposed controller improves fuel efficiency and drivability without the need of adding extra sensors to the automobile. The proposed method’s simplicity makes it suitable for implementation.

  • 48.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Optimization of gear shifting and torque split for improved fuel efficiency and drivability of HEVs2013In: SAE Technical Papers: Volume 2, 2013, S A E Inc , 2013, Vol. 2, p. 2013-01-1461-Conference paper (Refereed)
    Abstract [en]

    Decreasing fuel consumption and emissions in automobiles has been an active research topic in recent years. Vehicles with alternative powertrain systems, especially hybrid-electric vehicles (HEVs), have shown significant reduction in fuel consumption and emissions, and therefore have attracted many researchers to this field. The focus is usually on the development of optimal power management control methods. For parallel HEVs, the primary control variable is the torque split between the internal combustion engine and the electric motor. More advanced approaches also simultaneously search for the optimal gear number and engine on/off state, which can further reduce the fuel consumption but also complicate the problem. In the literature on HEVs, the emphasis is typically only on fuel efficiency and sometimes the emissions. The drivability of the vehicle is usually not considered during the optimization process. Furthermore, gearbox models do not usually reflect the real behavior of vehicle due to over simplification in vehicle models. This paper studies the energy management problem of parallel HEVs. Fuel consumption and drivability are optimized through an integrated optimization process by searching optimal torque split and gear number simultaneously. Intelligent filters are designed to stabilize the values of gear number to avoid frequent oscillation. The method is suitable for real-time implementation and has been tested in the simulation software Autonomie.

  • 49.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Predictive control of the engine cooling system for fuel efficiency improvement2014In: Automation Science and Engineering (CASE), 2014 IEEE International Conference on, IEEE conference proceedings, 2014, p. 61-66Conference paper (Refereed)
    Abstract [en]

    The engine cooling system in trucks is one of the main sources of parasite load. Thus fuel efficiency can be improved by optimal control of engine thermal management system considering fuel consumption minimization as the objective. Although several optimal control methods have been proposed for the engine cooling system, their main emphasize is on regulating engine and coolant temperature in an acceptable range rather than minimizing fuel consumption. In contrast, this paper investigates the fuel saving potential of predictive optimal control methods for the engine cooling system of conventional trucks. Our method exploits the idea of energy buffers in the automotive system, where the engine cooling system and the battery serve as energy buffers. The advantages of this approach are the recovery of brake energy and the balance of energy sources so that the total energy loss is minimized. A model predictive controller is used as the real time controller, and the results are compared with a simple state feedback controller and a global optimal solution obtained by dynamic programming. The results show limited but notable improvement in fuel efficiency. The results also construct a base for ongoing research on energy buffer control in conventional heavy trucks.

  • 50.
    Khodabakhshian, Mohammad
    et al.
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Wikander, Jan
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Feng, Lei
    KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
    Fuel efficiency improvement in HEVs using electromechanical brake system2013In: 2013 IEEE Intelligent Vehicles Symposium (IV), IEEE , 2013, p. 322-327Conference paper (Refereed)
    Abstract [en]

    Today, two of the main concerns in transportation industry are reducing fuel consumption and emissions, and tough regulations are put on the vehicle manufacturers in these regards. One of the main approaches towards reducing CO2 emissions is hybridization of the powertrain system. Substantial R&D in this area over the last couple of years has resulted in rather optimal components and control strategies, and hence that further substantial improvements are difficult. This motivates research on other energy consuming vehicle subsystems, e.g. pneumatic and hydraulic systems. In this paper, the brake system of a hybrid city bus is studied. A complete electrification of the primary brake system would eliminate the use of low efficiency pneumatics for braking. It is therefore interesting to investigate how much energy can be saved by using electrically actuated and controlled primary brakes. The study is based on simulations in Autonomie which is a MATLAB/SIMULINK based vehicle simulation software package. Different representative driving cycles are studied. It is shown that fuel consumption can be reduced in the range of 0.5 to 1.5% by substituting the pneumatic brake system with a mechatronic one. This may seem limited, but can, combined with substitution of also other less efficient subsystems with their mechatronic counterparts, result in a substantial environmental and economic improvement.

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