Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976814
Kampker Achim, H. Heimes, C. Offermanns, Konstantin Sasse, Moritz H. Frieges, Benedikt Späth
Battery engineering faces several challenges in product development process. Due to wide variety of components and functional correlations in a battery system, a novel approach is needed to structure and simplify the product architecture. The aim is to present an abstract product architecture as a tool for further product specific evaluations and developments. State of the art batteries in automotive industry are structured into a breakdown of three levels from battery pack, battery module and battery cell. This publication provides a new approach based on the deficits of consisting product and functional structures to enable a generic method for future battery design approaches. These could be cell-to-x architectures where battery modules might be substituted and their functions are overtaken by other components.
{"title":"Domain based product architecture approach for innovative battery system design","authors":"Kampker Achim, H. Heimes, C. Offermanns, Konstantin Sasse, Moritz H. Frieges, Benedikt Späth","doi":"10.1109/ISEM55847.2022.9976814","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976814","url":null,"abstract":"Battery engineering faces several challenges in product development process. Due to wide variety of components and functional correlations in a battery system, a novel approach is needed to structure and simplify the product architecture. The aim is to present an abstract product architecture as a tool for further product specific evaluations and developments. State of the art batteries in automotive industry are structured into a breakdown of three levels from battery pack, battery module and battery cell. This publication provides a new approach based on the deficits of consisting product and functional structures to enable a generic method for future battery design approaches. These could be cell-to-x architectures where battery modules might be substituted and their functions are overtaken by other components.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129341849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976776
Riccardo Cespi, R. Galluzzi
Controllable vehicle suspensions have gained research and industrial interest in recent years, as they offer favorable adaptability of the chassis to different driving and road conditions. Classical suspension control strategies are simple but effective. They are mainly based on simplified models— the quarter car—to address the effects of heave motion as a decoupled degree of freedom from other contributions. In transient conditions, however, body heave motion might be influenced by roll. Specifically, steering maneuvers and road unevenness could induce heave-roll coupling effects. The objective of this paper is to propose a nonlinear, model-based control strategy able to improve vertical dynamics performance, even in the presence of non-negligible chassis roll. To give means for analysis, this approach is compared to a standard skyhook controller. It is shown that the proposed strategy outperforms its skyhook counterpart in terms of comfort (chassis vertical acceleration) and actuator command effort (output force).
{"title":"Model–Based Actuated Vertical Control of Ground Vehicles with Non-Negligible Roll Dynamics","authors":"Riccardo Cespi, R. Galluzzi","doi":"10.1109/ISEM55847.2022.9976776","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976776","url":null,"abstract":"Controllable vehicle suspensions have gained research and industrial interest in recent years, as they offer favorable adaptability of the chassis to different driving and road conditions. Classical suspension control strategies are simple but effective. They are mainly based on simplified models— the quarter car—to address the effects of heave motion as a decoupled degree of freedom from other contributions. In transient conditions, however, body heave motion might be influenced by roll. Specifically, steering maneuvers and road unevenness could induce heave-roll coupling effects. The objective of this paper is to propose a nonlinear, model-based control strategy able to improve vertical dynamics performance, even in the presence of non-negligible chassis roll. To give means for analysis, this approach is compared to a standard skyhook controller. It is shown that the proposed strategy outperforms its skyhook counterpart in terms of comfort (chassis vertical acceleration) and actuator command effort (output force).","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"423 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132298190","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976689
P. Orta, Pedro Urbina-Coronado, H. Ahuett-Garza
Students have the opportunity to apply their knowledge and skill to solve the capstone design projects. This paper presents a series of capstone projects developed over the past years related to electromobility. First, a literature review of engineering education in electromobility is done. Then, there is a description of the companies involved in the Electric Bus project. A summary of the projects developed in the Electric Bus is described. Also, electromobility projects related to battery pack design are presented. Finally, from this experience, lessons learned and conclusions are presented.
{"title":"Electromobility Capstone Design Projects","authors":"P. Orta, Pedro Urbina-Coronado, H. Ahuett-Garza","doi":"10.1109/ISEM55847.2022.9976689","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976689","url":null,"abstract":"Students have the opportunity to apply their knowledge and skill to solve the capstone design projects. This paper presents a series of capstone projects developed over the past years related to electromobility. First, a literature review of engineering education in electromobility is done. Then, there is a description of the companies involved in the Electric Bus project. A summary of the projects developed in the Electric Bus is described. Also, electromobility projects related to battery pack design are presented. Finally, from this experience, lessons learned and conclusions are presented.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"5 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128702159","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976732
Wang Jianhong, R. Ramírez-Mendoza, Zhang Yunfeng
Consider the problem of state estimation in identification and control theory, the traditional Kalman filter method and its modified forms can estimate the unknown state only on the condition of probabilistic distribution on external noise, such as white noise or colored noise. To relax this strict condition on external noise, interval state estimation is proposed to achieve the goal in case of the unknown but bounded noise, due to external noise with unknown but bounded property is more realistic then white noise. Given one state space form with bounded noises and bounded initial state, two intervals are constructed to include the state estimation and output prediction respectively through our own derivations. One easy way to determine the terminate state estimation is to choose the center of midpoint of the constructed interval. The equivalent property between interval state estimation and our previous zonotope state estimation is also described.
{"title":"Interval state estimation for bounded noise and its applications","authors":"Wang Jianhong, R. Ramírez-Mendoza, Zhang Yunfeng","doi":"10.1109/ISEM55847.2022.9976732","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976732","url":null,"abstract":"Consider the problem of state estimation in identification and control theory, the traditional Kalman filter method and its modified forms can estimate the unknown state only on the condition of probabilistic distribution on external noise, such as white noise or colored noise. To relax this strict condition on external noise, interval state estimation is proposed to achieve the goal in case of the unknown but bounded noise, due to external noise with unknown but bounded property is more realistic then white noise. Given one state space form with bounded noises and bounded initial state, two intervals are constructed to include the state estimation and output prediction respectively through our own derivations. One easy way to determine the terminate state estimation is to choose the center of midpoint of the constructed interval. The equivalent property between interval state estimation and our previous zonotope state estimation is also described.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131577356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976766
Jesse Kyle G. G, J. Díaz-Téllez, J. Estevez-Carreon, J. Peréz-Peréz, R. Mendoza-Vazquez, M.A. Rosales-Carreón
This paper deals with the problem of attitude control of a VTOL Quadrotor UAV. The mathematical model of the UAV has added endogenous and exogenous disturbances. In addition, loss of efficiency modelling in the actuators, noise and bias through time-varying multiplicative and additive actuator faults have been added. A control methodology based on the potential energy gradient of the aircraft is designed using a Lyapunov function. Through this control methodology, different control algorithms can be developed. Control actions are bounded, and global asymptotic stability is demonstrated. Numerical simulations illustrate the effectiveness of the pro-posed control law.
{"title":"Bounded Gradient Attitude Control of a Quadcopter","authors":"Jesse Kyle G. G, J. Díaz-Téllez, J. Estevez-Carreon, J. Peréz-Peréz, R. Mendoza-Vazquez, M.A. Rosales-Carreón","doi":"10.1109/ISEM55847.2022.9976766","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976766","url":null,"abstract":"This paper deals with the problem of attitude control of a VTOL Quadrotor UAV. The mathematical model of the UAV has added endogenous and exogenous disturbances. In addition, loss of efficiency modelling in the actuators, noise and bias through time-varying multiplicative and additive actuator faults have been added. A control methodology based on the potential energy gradient of the aircraft is designed using a Lyapunov function. Through this control methodology, different control algorithms can be developed. Control actions are bounded, and global asymptotic stability is demonstrated. Numerical simulations illustrate the effectiveness of the pro-posed control law.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114959804","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976661
Adán Medina, Pedro Ponce, R. Ramírez-Mendoza
Electric vehicles are becoming more autonomous, so they must classify images using embedded systems and advanced classification methodologies to achieve a fast response when navigating. Thus, studying and analyzing classification algorithms and embedded systems is a mandatory endeavor to improve the performance of electric vehicles during their operation. On the other hand, artificial intelligence is one of the leading technology topics in autonomous electric vehicles; however, the computational requirements to analyze a large amount of data in real-time would mean having costly and powerful computers on board. Also, this can mean using a significant physical space in the vehicle and energy resources. An embedded system can handle the necessary data to classify standard traffic signals on the road so the principal processor can be released from these tasks. This paper proposes a traffic signal object detector and classifier that is implemented using a Tiny YOLOv4 and compares Frames Per Second obtained in an embedded system using the trained model, a web camera, and a Hardware Accelerator called Movidius Neural Stick by Intel are integrated into the proposed solution. The results show that the proposal is a good alternative for implementing a specialized image classification system into an embedded digital system for electric vehicles. This proposal could be extended to classify more images that can show up on a conventional road.
{"title":"Automotive Embedded Image Classification Systems","authors":"Adán Medina, Pedro Ponce, R. Ramírez-Mendoza","doi":"10.1109/ISEM55847.2022.9976661","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976661","url":null,"abstract":"Electric vehicles are becoming more autonomous, so they must classify images using embedded systems and advanced classification methodologies to achieve a fast response when navigating. Thus, studying and analyzing classification algorithms and embedded systems is a mandatory endeavor to improve the performance of electric vehicles during their operation. On the other hand, artificial intelligence is one of the leading technology topics in autonomous electric vehicles; however, the computational requirements to analyze a large amount of data in real-time would mean having costly and powerful computers on board. Also, this can mean using a significant physical space in the vehicle and energy resources. An embedded system can handle the necessary data to classify standard traffic signals on the road so the principal processor can be released from these tasks. This paper proposes a traffic signal object detector and classifier that is implemented using a Tiny YOLOv4 and compares Frames Per Second obtained in an embedded system using the trained model, a web camera, and a Hardware Accelerator called Movidius Neural Stick by Intel are integrated into the proposed solution. The results show that the proposal is a good alternative for implementing a specialized image classification system into an embedded digital system for electric vehicles. This proposal could be extended to classify more images that can show up on a conventional road.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133561084","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976743
J. Lozoya-Santos, J. Tudón-Martínez, Andrés M. Suárez Padilla, Adán Sáenz Herrera, Alfonso Silva Torres, L. Félix-Herrán, Y. Davizón, Alejandro Said, C. Hernández-Santos
Driver assistance systems (DAS) seek to provide relevant information for decision-making in favor of passenger safety, the driving experience and the efficient use of resources. The use of advanced DAS or ADAS is becoming increasingly important and is an area of research with great potential. The contribution of this work is the complete design and validation of an ADAS to estimate fuel consumption, according to certain scenarios. An architecture is proposed as well as the hardware and software for the reading of signals, the data transportation through the ADAS system and their correct storage and processing to obtain results that contribute to decision making. The contribution includes the design of a human-machine interface in a smartphone application and the use of a professional simulator (Dynacar) to validate the preliminary performance of the ADAS. This work could be the baseline for more complex ADAS implementations towards a more resource-efficient and safer driving experience.
{"title":"Design of an Advanced Driver Assistance System -Fuel Consumption Estimation","authors":"J. Lozoya-Santos, J. Tudón-Martínez, Andrés M. Suárez Padilla, Adán Sáenz Herrera, Alfonso Silva Torres, L. Félix-Herrán, Y. Davizón, Alejandro Said, C. Hernández-Santos","doi":"10.1109/ISEM55847.2022.9976743","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976743","url":null,"abstract":"Driver assistance systems (DAS) seek to provide relevant information for decision-making in favor of passenger safety, the driving experience and the efficient use of resources. The use of advanced DAS or ADAS is becoming increasingly important and is an area of research with great potential. The contribution of this work is the complete design and validation of an ADAS to estimate fuel consumption, according to certain scenarios. An architecture is proposed as well as the hardware and software for the reading of signals, the data transportation through the ADAS system and their correct storage and processing to obtain results that contribute to decision making. The contribution includes the design of a human-machine interface in a smartphone application and the use of a professional simulator (Dynacar) to validate the preliminary performance of the ADAS. This work could be the baseline for more complex ADAS implementations towards a more resource-efficient and safer driving experience.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134422885","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976546
S. Puma-Araujo, R. Galluzzi, L. Félix-Herrán, C. S. Díaz-Choque, R. Ramírez-Mendoza
Vehicle suspension systems are responsible for absorbing and filtering road irregularities to provide passenger safety and ride comfort. However, different vehicle and suspension parameters can affect the vibratory response. Consequently, vibrational analysis with different types of transmission is necessary. Furthermore, the electrification of the automotive chassis leads to the necessity of understanding the effects of introducing electric machines. This work analyzes the vibratory effect of changing a differential axis for an e-axle. This research presents a study on a half car model and body roll mode with different e-axles compared to a standard differential axle. Thus, changes concerning comfort, e-axle oscillation, and handling are considered in the time and frequency domains. In addition, a parametric sensitivity study is performed. The obtained results could be applied as design guidelines when sizing an e-axle solution.
{"title":"E-Axle Effect on the Vibratory Response of a Vehicle","authors":"S. Puma-Araujo, R. Galluzzi, L. Félix-Herrán, C. S. Díaz-Choque, R. Ramírez-Mendoza","doi":"10.1109/ISEM55847.2022.9976546","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976546","url":null,"abstract":"Vehicle suspension systems are responsible for absorbing and filtering road irregularities to provide passenger safety and ride comfort. However, different vehicle and suspension parameters can affect the vibratory response. Consequently, vibrational analysis with different types of transmission is necessary. Furthermore, the electrification of the automotive chassis leads to the necessity of understanding the effects of introducing electric machines. This work analyzes the vibratory effect of changing a differential axis for an e-axle. This research presents a study on a half car model and body roll mode with different e-axles compared to a standard differential axle. Thus, changes concerning comfort, e-axle oscillation, and handling are considered in the time and frequency domains. In addition, a parametric sensitivity study is performed. The obtained results could be applied as design guidelines when sizing an e-axle solution.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127088075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-17DOI: 10.1109/ISEM55847.2022.9976548
Diego Osorio-Sanchez, H. Gonzalez-Hernandez
Autonomous vehicles are an emerging area with many problems without a definitive solution. One of these problems is the vehicle’s pose estimation which until these days is still an open problem. On this research we propose a sensor fusion strategy that estimates a vehicle’s position and orientation, this algorithm is used for the higher level tasks of trajectory generation and path following. The Visual Odometry (VO) algorithms that were tested during the research are ORB SLAM2. We have used Kalman filters as sensor fusion algorithm. The main odometry algorithm was designed in order to function with a GPS, VO, IMU, steering sensor and a speed sensor. The proposed strategy was tested in simulation using ROS and Gazebo as a prior stage of an experimental setup. This proposal impacts positively in economic and computational costs reduction with respect to traditional Visual-lidar approaches.
{"title":"Sensor fusion for vehicle odometry and path tracking: a ROS simulation","authors":"Diego Osorio-Sanchez, H. Gonzalez-Hernandez","doi":"10.1109/ISEM55847.2022.9976548","DOIUrl":"https://doi.org/10.1109/ISEM55847.2022.9976548","url":null,"abstract":"Autonomous vehicles are an emerging area with many problems without a definitive solution. One of these problems is the vehicle’s pose estimation which until these days is still an open problem. On this research we propose a sensor fusion strategy that estimates a vehicle’s position and orientation, this algorithm is used for the higher level tasks of trajectory generation and path following. The Visual Odometry (VO) algorithms that were tested during the research are ORB SLAM2. We have used Kalman filters as sensor fusion algorithm. The main odometry algorithm was designed in order to function with a GPS, VO, IMU, steering sensor and a speed sensor. The proposed strategy was tested in simulation using ROS and Gazebo as a prior stage of an experimental setup. This proposal impacts positively in economic and computational costs reduction with respect to traditional Visual-lidar approaches.","PeriodicalId":310452,"journal":{"name":"2022 International Symposium on Electromobility (ISEM)","volume":"1971 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129966922","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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