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Heavy-duty trucks are one of the main contributors to greenhouse gas emissions in German traffic. Drivetrain electrification is an option to reduce tailpipe emissions by increasing energy conversion efficiency. To evaluate the vehicle’s environmental impacts, it is necessary to consider the entire life cycle. In addition to the daily use, it is also necessary to include the impact of production and disposal. This study presents the comparative life cycle analysis of a parallel hybrid and a conventional heavy-duty truck in long-haul operation. Assuming a uniform vehicle glider, only the differing parts of both drivetrains are taken into account to calculate the environmental burdens of the production. The use phase is modeled by a backward simulation in MATLAB/Simulink considering a characteristic driving cycle. A break-even analysis is conducted to show at what mileage the larger CO2eq emissions due to the production of the electric drivetrain are compensated. The effect of parameter variation on the break-even mileage is investigated by a sensitivity analysis. The results of this analysis show the difference in CO2eq/t km is negative, indicating that the hybrid vehicle releases 4.34 g CO2eq/t km over a lifetime fewer emissions compared to the diesel truck. The break-even analysis also emphasizes the advantages of the electrified drivetrain, compensating the larger emissions generated during production after already a distance of 15,800 km (approx. 1.5 months of operation time). The intersection coordinates, distance, and CO2eq, strongly depend on fuel, emissions for battery production and the driving profile, which lead to nearly all parameter variations showing an increase in break-even distance.
Dual frequency magnetic excitation of magnetic nanoparticles (MNP) enables enhanced biosensing applications. This was studied from an experimental and theoretical perspective: nonlinear sum-frequency components of MNP exposed to dual-frequency magnetic excitation were measured as a function of static magnetic offset field. The Langevin model in thermodynamic equilibrium was fitted to the experimental data to derive parameters of the lognormal core size distribution. These parameters were subsequently used as inputs for micromagnetic Monte-Carlo (MC)-simulations. From the hysteresis loops obtained from MC-simulations, sum-frequency components were numerically demodulated and compared with both experiment and Langevin model predictions. From the latter, we derived that approximately 90% of the frequency mixing magnetic response signal is generated by the largest 10% of MNP. We therefore suggest that small particles do not contribute to the frequency mixing signal, which is supported by MC-simulation results. Both theoretical approaches describe the experimental signal shapes well, but with notable differences between experiment and micromagnetic simulations. These deviations could result from Brownian relaxations which are, albeit experimentally inhibited, included in MC-simulation, or (yet unconsidered) cluster-effects of MNP, or inaccurately derived input for MC-simulations, because the largest particles dominate the experimental signal but concurrently do not fulfill the precondition of thermodynamic equilibrium required by Langevin theory.
Comparison of different training algorithms for the leg extension training with an industrial robot
(2018)
In the past, different training scenarios have been developed and implemented on robotic research platforms, but no systematic analysis and comparison have been done so far. This paper deals with the comparison of an isokinematic (motion with constant velocity) and an isotonic (motion against constant weight) training algorithm. Both algorithms are designed for a robotic research platform consisting of a 3D force plate and a high payload industrial robot, which allows leg extension training with arbitrary six-dimensional motion trajectories. In the isokinematic as well as the isotonic training algorithm, individual paths are defined i n C artesian s pace by sufficient s upport p oses. I n t he i sotonic t raining s cenario, the trajectory is adapted to the measured force as the robot should only move along the trajectory as long as the force applied by the user exceeds a minimum threshold. In the isotonic training scenario however, the robot’s acceleration is a function of the force applied by the user. To validate these findings, a simulative experiment with a simple linear trajectory is performed. For this purpose, the same force path is applied in both training scenarios. The results illustrate that the algorithms differ in the force dependent trajectory adaption.