Development of Multi-Actuated Ground Vehicles: Educational aspects

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Development of Multi-Actuated Ground Vehicles: Educational aspects Development of Multi-Actuated Ground Vehicles: Educational aspects Development of Multi-Actuated Ground Vehicles: Educational aspects Development of Multi-Actuated Ground Vehicles: Educational aspects 5 2 Development of Multi-Actuated Ground Vehicles: Educational aspects Valentin Ivanov1. Klaus Augsburg1. Mike Blundell . Wouter De Nijs3. Wim Desmet4. Antonella Ferrara .

1 1 2 3 4 5 Valentin Ivanov Klaus .. Wim Ferrara 1. Mike 2. Wouter 4. Antonella 5. 7 De 8 4 Valentin Ivanov22.11..Mathias Klaus Augsburg Augsburg . Mike66. Blundell Blundell .Klomp Wouter De Nijs Nijs33Metzner Wim Desmet Desmet . Antonella Ferrara . 99. Stratis Kanarachos Kiele-Dunsche Matthijs Naets Nedoma 1 2 4 5 7. Steffen 8. Frank 4. Pavel 1 1 2 3 4 5. Valentin Ivanov . Klaus Augsburg . Mike Blundell . Wouter De Nijs . Wim Desmet . Antonella Ferrara Stratis Kanarachos Kiele-Dunsche Matthijs Klomp Metzner Naets Nedoma 2.1.Mathias 6. Blundell 7. Steffen 8. Frank 4. Pavel Valentin Ivanov Klaus Augsburg . Mike . Wouter De Nijs . Wim Desmet . Antonella Ferrara . 9.. 4 10 11,12 1 2 3 4 5 Stratis Kanarachos Kiele-Dunsche Matthijs Klomp . Steffen . Frank Naets4. Pavel Nedoma Bert Pluymers Stolz Alessandro Victorino Valentin Ivanov22.. .Mathias Klaus Augsburg Mike66.. Blundell Wouter De Corrêa NijsMetzner . Wim Desmet . .Antonella Ferrara . 99. 7 8 4.. Michael 10..Klomp 11,12 7. Steffen 8. Frank 4. Pavel Stratis Kanarachos Mathias Kiele-Dunsche Matthijs Metzner Nedoma Bert Pluymers Stolz Alessandro Corrêa Victorino 4. Michael 10. Klomp 11,12. Naets Kiele-Dunsche . Matthijs . Steffen Metzner . Frank Naets . Pavel Nedoma Stratis Kanarachos 2. Mathias 6 7 8 4 Bert Pluymers . Michael Stolz10 . Klomp Alessandro Corrêa Victorino . Naets . Pavel Nedoma9.. Stratis Kanarachos . Mathias Kiele-Dunsche . Matthijs . Steffen Metzner . Frank 4 11,12 Bert Michael Stolz Stolz10 .. Alessandro Alessandro Corrêa Corrêa Victorino Victorino11,12.. Bert Pluymers Pluymers4.. Michael 1 Bert Pluymers4. Michael Stolz10 . Alessandro Corrêa Victorino11,12. (e-mail: [email protected]) 1 Technische Universität Ilmenau, Ilmenau, Germany Ilmenau, Germany (e-mail: [email protected]) 1 Technische Universität Ilmenau, 2  Technische Universität Ilmenau, Ilmenau, Germany (e-mail:UK [email protected]) University, Coventry, 2Coventry 11 Technische Universität Ilmenau, Ilmenau, Germany (e-mail: [email protected]) Coventry University, Coventry, UK 2 Technische Universität Ilmenau, Ilmenau, Germany (e-mail: [email protected]) 3 1 Coventry University, Coventry, UK Flanders Make, Lommel, Belgium Technische Universität Ilmenau, Ilmenau, Germany (e-mail: [email protected]) 2 23 Coventry University, Coventry, UK Flanders Make, Lommel, Belgium 3Coventry University, Coventry, UK 4 2 Flanders Make, Lommel, Belgium KU Leuven, Member of Flanders Make, Leuven, Belgium Coventry University, Coventry, UK 3 4 3Flanders Make, Lommel, Belgium Member of Flanders Make, Leuven, Belgium 4KU Leuven, Make, Lommel, Belgium 5 3Flanders KU Leuven, Member of studi Flanders Make, Leuven, Belgium Università degli di Pavia, Pavia, Italy Flanders Make, Lommel, Belgium 4 5 4KU Leuven, Member of Flanders Make, Leuven, Belgium Università degli studi di Pavia, Pavia, Italy 5 of studi Flanders Make,Pavia, Leuven, Belgium 6 Member 4KU Leuven, Università degli di Pavia, Italy AG, Neubiberg, Germany KU Leuven, Member of studi Flanders Make, Leuven, Belgium 5 6Infineon 5Università degli di Pavia, Pavia, Pavia, Italy AG, Neubiberg, Germany 6Infineon degli di Pavia, Italy 57Università AG,studi Neubiberg, Germany Volvo Car Cooperation, Göteborg, Sweden degli studi di Pavia, Pavia, Italy 6Infineon 7Università 6 Infineon AG, Neubiberg, Neubiberg, Germany Car Göteborg, Sweden 7Volvo AG, Germany 8 Cooperation, 6Infineon Car Cooperation, Göteborg, Sweden List, Graz, Austria Infineon AG, Neubiberg, Germany 7Volvo 8AVL 7 Volvo Car Cooperation, Göteborg, Sweden AVL List, Graz, Austria 8 Volvo Car Cooperation, Göteborg, Sweden 9 7 AVL List, Graz, Austria AUTO Mladá Boleslav, Czech Republic Volvo Car Cooperation, Göteborg, Sweden 8 a.s., 9SKODA 8 AVL List, Graz, Austria SKODA AUTO a.s., Mladá Boleslav, Czech Republic 9 AVL List, Graz, Austria 10 8 a.s., AUTO Mladá Boleslav, Czech Republic Fahrzeug, Forschungsgesellschaft mbH, Graz, Austria AVL List, Graz, Austria 9SKODA 10Das virtuelle 9 SKODA AUTO a.s., Mladá Boleslav, Czech Republic Fahrzeug, Forschungsgesellschaft mbH, Graz, Austria 10Das virtuelle SKODA AUTO a.s., Mladá Boleslav, Czech Republic 11 9 Université Das virtuelle Fahrzeug, Forschungsgesellschaft mbH, Graz, Austria de technologie de Compiègne, France SKODA AUTO a.s., Mladá Boleslav, Czech Republic 10 11 10Das virtuelle Fahrzeug, Forschungsgesellschaft mbH, Graz, Austria Université de technologie de Compiègne, France 1112 Fahrzeug, Forschungsgesellschaft mbH, Graz, Austria 10Das virtuelle Université de technologie de Compiègne, France Universidade Federal de Minas Gerais, Brazil Das virtuelle Fahrzeug, Forschungsgesellschaft mbH, Graz, Austria 11 1112 Université de de Compiègne, France Universidade Federal Minas Gerais, Université de technologie technologie Compiègne, France 1112 Universidade Federal de de de Minas Gerais, Brazil Brazil Université de technologie de Compiègne, France 12 12 Universidade Federal de Minas Gerais, Brazil 12Universidade Federal de Minas Gerais, Brazil Universidade Federal de Minas Gerais, Brazil Abstract: This paper introduces the setup of the European network ITEAM aimed at the training of Abstract: This paper the setup of network ITEAM aimed the of Abstract: This paper introduces introduces thefield setup of the the European European network ITEAM aimedAat atnetwork the training training of early-stage researchers (ESR) in the of multi-actuated ground vehicles (MAGV). concept Abstract: This paper introduces the setup of the European network ITEAM aimed at the training of early-stage researchers (ESR) in the field of multi-actuated ground vehicles (MAGV). A network concept Abstract: This paper introduces thefield setup of the European network ITEAM aimedAatnetwork the training of early-stage researchers (ESR) in the of multi-actuated ground vehicles (MAGV). concept includes three main fifteen individual research projects are allocated: Abstract: This paperdomains, introduces thefield setup ofinterconnected the European network ITEAM aimed the training of early-stage researchers (ESR) in inwhere the of multi-actuated multi-actuated ground vehicles (MAGV). Aatnetwork network concept includes three main domains, where fifteen interconnected individual research projects are allocated: early-stage researchers (ESR) the field of ground vehicles (MAGV). A concept includes three main domains, where fifteen interconnected individual research projects are allocated: MAGV Integration, Green MAGV, and MAGV Driving Environment. All the projects are being carried early-stage researchers (ESR) in the field of multi-actuated ground vehicles (MAGV). A network concept includes three main mainGreen domains, where fifteen interconnected individual All research projects are allocated: MAGV Integration, MAGV, and MAGV Driving the are being carried includes three domains, where interconnected individual research projects allocated: MAGV Integration, Green MAGV, andfifteen MAGV Driving Environment. Environment. All the projects projects areare being carried out within the framework of continuous interdisciplinary training. The paper is focused on emerging includes three main domains, where interconnected individual research projects allocated: MAGV Integration, Green MAGV, andfifteen MAGV Driving Environment. Environment. All the projects projects areare being carried out within the framework of continuous interdisciplinary training. The paper is focused on emerging MAGV Integration, Green MAGV, and MAGV Driving All the are being carried out within the framework of continuous interdisciplinary training. The paper is focused on emerging research and which are under ITEAM and role of MAGV Integration, Green MAGV, and MAGV Drivingelaboration Environment. All the projects, projects are being carried out within thetechnological framework oftrends, continuous interdisciplinary training.in The paper is focused focused onthe emerging research and technological trends, which are under elaboration in ITEAM projects, and the role out within the framework of continuous interdisciplinary training. The paper is on emerging research and technological trends, which are realization. under elaboration in The ITEAM projects, andontheemerging role of of practice-oriented educational methods for their out within the framework of continuous interdisciplinary training. paper is focused research and technological trends, which are under elaboration in ITEAM projects, and the role practice-oriented educational methods for research and technological which are realization. under elaboration in ITEAM projects, and the role of of practice-oriented educationaltrends, methods for their their realization. research and technological trends, which are under elaboration in ITEAM projects, and the role of practice-oriented educational methods for their realization. practice-oriented educationalground methods for theirinterdisciplinarity, realization. © 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier education Ltd. All rights reserved. Keywords: Multi-actuated vehicles, postgraduate list, automated practice-oriented educational methods for their realization. Keywords: Multi-actuated ground vehicles, Keywords: Multi-actuated ground vehicles, interdisciplinarity, interdisciplinarity, postgraduate postgraduate education education list, list, automated automated driving, automotive control systems. Keywords: Multi-actuated ground vehicles, driving, automotive control systems. Keywords: Multi-actuated ground vehicles, interdisciplinarity, interdisciplinarity, postgraduate postgraduate education education list, list, automated automated driving, automotive control systems. Keywords: Multi-actuated ground vehicles, interdisciplinarity, postgraduate education list, automated driving, driving, automotive automotive control control systems. systems.  driving, automotive control systems.   • Introduction of more vehicle variants in shorter time; 1. INTRODUCTION  •• Introduction of vehicle in time; 1. INTRODUCTION Introduction of more more vehicle variants variants in shorter shorter time;  1. INTRODUCTION Rapid growth in functions, software and electronics • Rapid Introduction of more vehicle variants in shorter time; Introduction of more vehicle variants in shorter time; 1. INTRODUCTION • growth in functions, software and electronics 1. INTRODUCTION Modern vehicle technologies are characterized by a strong • Introduction of more vehicle variants in shorter time; Rapid growth in functions, software and electronics integrated in MAGVs. 1. INTRODUCTION Modern vehicle technologies are characterized by a strong • Rapid growth in functions, software and electronics integrated in MAGVs. • Rapid growth in functions, software and electronics Modern vehicle technologies are characterized by a strong trend towards the transformation from traditional cars, trucks integrated in MAGVs. • Rapid growth in functions, software and electronics Modern vehicle technologies arefrom characterized by strong trend towards the transformation traditional by cars, trucks Modern vehicle technologies are characterized aa strong integrated inthat MAGVs. integrated MAGVs. trend towards the transformation cars, trucks It can be notedin MAGV design requires engineers having and other mobile machines to traditional complexby systems Modern vehicle technologies arefrom characterized asystems strong integrated inthat MAGVs. trend towards towards the transformation from traditional cars, trucks It can be noted MAGV design requires engineers having and other mobile machines to complex trend the transformation from traditional cars, trucks can be noted MAGV requires engineers and other the mobile machinesfrom to traditional complexcars, systems holistic systemthat view, able design to handle complexity and having have a interconnected with environment, infrastructure and users aaIt trend transformation trucks It can be noted that MAGV design requires engineers having and towards other mobile mobile machines infrastructure to complex complex and systems holistic system view, able to handle complexity and have a interconnected with environment, users It can be noted that MAGV design requires engineers having and other machines to systems a holistic system view, able to handle complexity and have interconnected with environment, infrastructure and users multidisciplinary approach to problem solving. Thisaa It can be noted that MAGV design requires engineers having through numerous information channels. It made possible and other mobile machineschannels. to complex systems aa holistic system view, able to handle complexity and have interconnected withinformation environment, infrastructure and users multidisciplinary approach to problem solving. This through numerous It made possible holistic system view, able to handle complexity and have interconnected with environment, infrastructure and users multidisciplinary approach to problem solving. Thisaa through numerous channels. possible is supported by thetofact that in vehicle development astatement holistic system view, able handle complexity and have emerging of aa with newinformation technological cluster It – made multi-actuated interconnected environment, infrastructure and users statement multidisciplinary approach to problem solving. This through numerous information channels. It made possible is supported by the fact that in vehicle development emerging of new technological cluster – multi-actuated multidisciplinary approach to problem solving. This through numerous information channels. It made possible statementofisall supported by the that in vehicle development emergingvehicles. of a new technological cluster multi-actuated 70-90% innovations arefact currently basedsolving. on embedded multidisciplinary approach to problem This ground A information multi-actuated groundIt––vehicle vehicle can be be 70-90% through numerous channels. made possible statement is supported by the fact that in vehicle development emerging of a new technological cluster multi-actuated of all innovations are currently based on embedded ground vehicles. A multi-actuated ground can statement is supported by the fact that in vehicle development emerging of a new technological cluster – multi-actuated 70-90% of all innovations are currently based on embedded ground vehicles. A multi-actuated ground vehicle can be systems (Gide, 2013). However, development of such statement is supported by the fact that in vehicle development considered as a complex engineering system having a set of emerging of a new technological cluster – multi-actuated 70-90% of all are based ground vehicles. A ground vehicle be 2013). However, development of considered as engineering system having aacan set of 70-90% of(Gide, all innovations innovations are currently currently based on on embedded embedded ground vehicles. A multi-actuated multi-actuated ground can systems (Gide, 2013). However, development of such such considered as aa complex complex engineering system vehicle having set be of systems complex systems as MAGV iscurrently not only a challenging task 70-90% ofsystems all innovations areis based on embedded parallel subsystems requiring both individual individual and integrated integrated ground vehicles. A requiring multi-actuated ground vehicle can be systems (Gide, 2013). However, development of such such considered as a complex engineering system having a set of complex as MAGV not only a challenging task parallel subsystems both and systems (Gide, 2013). However, development of considered as a complex engineering system having a set of complex systems as MAGV is not only a challenging task parallel subsystems requiring both individual and integrated from engineering viewpoint but also requires revisiting of systems (Gide, 2013). However, development of such control to secure simultaneously criteria of efficient considered as a complex engineering system having a set of complex systems as as MAGV but is not not only challenging task parallel subsystems subsystems requiring both individual individual andof integrated integrated from engineering viewpoint also requires revisiting of control to secure simultaneously criteria efficient complex systems MAGV is only aa challenging task parallel requiring both and from engineering viewpoint but also requires revisiting of control to secure simultaneously criteria of efficient established educational approaches in related fields of complex systems as MAGV is not only a challenging task dynamics, safety, and userand environment-friendly parallel subsystems requiring both individual and integrated from engineering engineering viewpoint but also also in requires revisiting control to to safety, secure and simultaneously criteria of efficient efficient established educational approaches related fields of dynamics, userand environment-friendly from viewpoint but requires revisiting control secure simultaneously criteria of established educational approaches in related fields of dynamics, safety, and userand environment-friendly knowledge, especially on a postgraduate level. In addition, from engineering viewpoint but also requires revisiting of operation. Essential features of the MAGV are (i) modularity control to secure simultaneously criteria of efficient established educational approaches in related fields of dynamics, Essential safety, features and useruserand environment-friendly knowledge, especially aa postgraduate addition, operation. of the MAGV are (i) modularity established educationalon approaches in level. relatedIn fields of dynamics, safety, and and environment-friendly knowledge, especially on postgraduate level. In addition, operation. Essential features of the MAGV are (i) modularity this situation becomes more complicated due to diversity of established educational approaches in related fields and automation of embedded subsystems, and (ii) complex, dynamics, safety, and userand environment-friendly knowledge, especially on a postgraduate level. In addition, operation. Essential features of ofsubsystems, the MAGV MAGV and are (i) (i) modularity this situation becomes more complicated due to diversity of and automation of embedded (ii) complex, knowledge, especially on a postgraduate level. In addition, operation. Essential features the are modularity this situation(and becomes more complicated due to In diversity of and automation of embedded (ii)modularity complex, prospective competitive) mobility concepts around the knowledge, especially on a postgraduate level. addition, non-stochastic uncertainty operational environment of prospective operation. Essential features of ofsubsystems, the MAGV and are (i) this situation becomes more due of and automation of subsystems, and (ii) competitive) mobility concepts around the non-stochastic operational environment of situation(and becomes more complicated complicated due to to diversity diversity of and automation uncertainty of embedded embeddedof and (ii) complex, complex, prospective (and competitive) mobility concepts around the non-stochastic uncertainty ofsubsystems, operational environment of this world that allows applying the term “learning for an unknown this situation becomes more complicated due to diversity of motion. Examples in point are conventional, electric, semiand automation of embedded subsystems, and (ii) complex, prospective (and competitive) mobility concepts around the non-stochastic uncertainty of operational environment of world that allows applying the term “learning for an unknown motion. Examples in point are conventional, electric, semiprospective (and competitive) mobility concepts around the non-stochastic uncertainty of operational environment of world that allows applying the term “learning for an unknown motion. Examples inautonomous point are conventional, electric, semifuture” (Barnett, 2012) for education methods required to prospective (and competitive) mobility concepts around the autonomous and vehicles with x-by-wire non-stochastic uncertainty of operational environment of world that allows theeducation term for unknown motion. in point electric, semi(Barnett, 2012) for methods required to autonomous and vehicles with x-by-wire world that allows applying applying term “learning “learning for an an unknown motion. Examples Examples inautonomous point are are conventional, conventional, electric, semi- future” future” (Barnett, 2012)skilled forthe education methods required to autonomous and as autonomous vehicles with with x-by-wire train strong specialists in research and development of world that allows applying the term “learning for an unknown systems, as well vehicles equipped autonomous motion. Examples in point are conventional, electric, semifuture” (Barnett, 2012)skilled for education education methods required of to autonomous and autonomous vehicles with x-by-wire strong specialists in research and development systems, as well vehicles equipped future” (Barnett, 2012) for methods required to autonomous and as autonomous vehicles with withautonomous x-by-wire train train strong specialists skilled in research and development of systems, as well as vehicles equipped with autonomous novel technologies for multi-actuated ground vehicles. future” (Barnett, 2012) for education methods required of to mechatronic chassis modules (Shyrokau et with al., 2015; Ivanov novel autonomous and as autonomous vehicleset with x-by-wire train strong strong specialists skilled in research research and vehicles. development systems, as as chassis well vehicles(Shyrokau equipped autonomous technologies for multi-actuated ground mechatronic modules al., 2015; Ivanov train specialists skilled in and development of systems, well as vehicles equipped with autonomous technologies for multi-actuated ground vehicles. mechatronic chassis modules (Shyrokau et with al., 2015; Ivanov novel train strong specialists skilled in research and development of and Savitski, 2015). From industrial perspective, the MAGV systems, as well as vehicles equipped autonomous novel technologies forpublications multi-actuated ground vehicles. vehicles. mechatronic chassis modules (Shyrokau et al., al., 2015; 2015; Ivanov novel and Savitski, 2015). From industrial perspective, the MAGV technologies multi-actuated ground mechatronic modules (Shyrokau et Ivanov Analysis of researchfor in educational topics points and Savitski, chassis 2015). From industrial perspective, the novel technologies forpublications multi-actuated ground vehicles. development must consider several crucial factors as: MAGV mechatronic modules (Shyrokau etfactors al., 2015; Ivanov Analysis of research in educational topics and Savitski, Savitski, chassis 2015). From industrial perspective, the MAGV development must consider several crucial as: Analysis of research publications in educational topics points points and 2015). From industrial perspective, the MAGV to the following aspects, which are actively being development must consider several crucial factors as: Analysis of research publications in educational topics and Savitski, 2015). From industrial perspective, the MAGV to the following aspects, which are actively being Analysis of research publications in educational topics points points •development Inclusion of data driven / simulation supported decisions must consider several crucialsupported factors as: as:decisions Analysis to the of following aspects, which are actively being must consider several crucial factors implemented now for high-level training: •development Inclusion of data driven / simulation research publications in educational topics points to the aspects, which are development must consider crucialsupported factors as:decisions implemented • Inclusion of controllers; data drivenseveral / simulation now for high-level training: to the following following aspects, which are actively actively being being in on-board implemented now for high-level training: •• in Inclusion of data driven / simulation supported decisions on-board controllers; to the following aspects, which are actively being Inclusion of controllers; data driven / simulation supported decisions implemented now for high-level training: on-board implemented now for high-level training: •• in Inclusion of data driven / simulation supported decisions Increased demand on more efficient vehicle development implemented now for high-level training: in on-board controllers; in on-board controllers; •• Increased demand on in on-board controllers; Increased demand on more more efficient efficient vehicle vehicle development development processes; •• processes; Increased demand on more efficient vehicle development Increased demand on more efficient development processes;demand on more efficient vehicle • Increased vehicle development processes; processes; 2405-8963 © IFAC (International Federation of Automatic Control) Copyright © 2018, 2018 IFAC 236Hosting by Elsevier Ltd. All rights reserved. processes; Copyright © 2018 IFAC 236

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Learning through projects having a close relation to industrial environment / reality (Navarro et al., 2013; De Los Ríos-Carmenado et al., 2015); Embedding of Massive Open, Small Private, Corporate Open, or Small Online Open Courses (Fox, 2013; Bonnaud and Fesquet, 2016); Supplementing conventional PhD supervision procedures with permanent mentorship at research work of postgraduates (Lindén et al., 2013); Increased share of training in transferrable and soft skills with the whole learning programme (Odena and Burgess, 2017; Bernstein et al., 2014).

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Considering mentioned factors, it can be extremely difficult to organize strong postgraduate learning in multi-actuated ground vehicles within the framework of one specific academic host. A reasonable solution in this regard can be realization of joint training programme using network of academic and industrial partners (including small-to-medium sized enterprises or SME) with versatile competences, research portfolio and facilities. This idea laid a foundation for the establishment of the Interdisciplinary Training Network in Multi-Actuated Ground Vehicles ITEAM funded by the EU Marie-Skłodowska Curie Actions. The ITEAM network unites the following organizations:

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Advanced tools for driver assistance, as well as for cognitive semi-autonomous and autonomous mobility, contributing to the environment-friendliness and safety of MAGV; Project-based training network to increasingly leverage software and electronics and enhance mechanical / mechatronic vehicle design quality and performance.

To realize these objectives, the ITEAM network proposes interaction of three clusters uniting fifteen individual research projects in the following topics: • Cluster “MAGV integration” - Mechatronic subsystems for active and integrated chassis and powertrain control; • Cluster “Green MAGV” - Energy-efficient and lowemission MAGV including electric vehicles; • Cluster “MAGV Driving Environment” - Vehicles with elements of semi-autonomous and full autonomous driving; solutions for driver assistance and humanmachine interface.

Moreover, all these education components should have a clear international dimension to address competitiveness between different educational environments.

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Within the framework of the ITEAM research clusters, earlystage researchers will be sequentially trained in three domains required for the full development cycle of new technical objects. The first domain relates to gaining advanced knowledge related to the basic research disciplines as control engineering and computational intelligence. This knowledge is a major requisite to enter the second stage of the training. The second training domain deals with applicative research and relevant disciplines, which have direct connection to different MAGV topics: vehicle dynamics, system engineering, and human-machine interface (HMI). This training phase will lead to novel solutions requiring verification and validation. Such activities will imply the development of suitable virtual and real-world testing facilities for MAGV and their subsystems. Thus, the possibility of acquiring experience on test-beds, but also on how to develop appropriate experimental platforms for the class of systems under consideration, will be the major aim of the third training domain related to experiments in general.

Academic sector: TU Ilmenau (Germany), Coventry University (UK), KU Leuven (Belgium), University of Pavia (Italy), Flanders Make (Belgium), UTC - The University of Technology of Compiègne (France), TU Delft (Netherlands), The University of Liverpool (UK), The Institute of Information Theory and Automation (Czech Republic), TU Graz (Austria), Chalmers University of Technology (Sweden), Tallinn University of Technology (Estonia); Industrial sector: AVL List (Austria), Infineon (Germany), Škoda Auto (Czech Republic), Virtual Vehicle (Austria), Volvo Car Group (Sweden), IPG Automotive (Germany), Jaguar Land Rover (UK).

Additional training is provided for transferable skills, where early-stage researchers will gain knowledge in (i) patenting and intellectual property management, (ii) proposal writing for industrial, European and international grants, (iii) start-up business and business models for research and science, (iv) advanced skills in rhetoric and communications.

Next sections of this paper will introduce the network structure, overview of training programme as well as content of fifteen individual projects, which are being developed by early-stage researchers.

The core of the ITEAM network is shaped by fifteen individual practice-oriented projects, which are performed by early-stage researchers hosted by one of the consortium organizations. During the work on individual projects, the ESRs visit for several months various consortium partners to ensure intersectoral content of the research. The training of the ESRs is organized both individually at hosts as well as within the framework of network-wide educational events that is explained in next section.

2. NETWORK CONCEPT The ITEAM network concept pursues a set of research, technological and training objectives, which are aimed at the development of: • Interdisciplinary methods, simulation tools and experimental techniques for inter-domain research into dynamics and control of multi-actuated ground vehicles; • New state estimation and control approaches for chassis and powertrain control systems within the MAGV perspective;

3. TRAINING PROGRAMME The ITEAM training structure, Fig. 1, Table I, includes four tools: (i) Network-wide training; (ii) Intersectoral training; 237

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(iii) Personal development training; (iv) Training in individual projects.

in accordance with the project content. It should be mentioned that each individual project within the ITEAM network will lead to PhD thesis. Next section will present the content of individual projects.

The measures of network-wide training have a strong interdisciplinary content and cover Summer schools, Thematic workshops, Short courses, Web-based seminars, and Real-world trials. The target of network-wide training is to give an opportunity for the participants in gaining extensive knowledge required for the development of engineering solutions for MAGV. The intersectoral training is organized through secondments and special workshops, dedicated to each ITEAM research cluster. Each ESR, hosted in a certain sector (academic or industrial), has at least one secondment in another sector. To promote the development of transferrable skills by ESRs, the ITEAM network is organizing the personal development training through research projects and personal training seminars. Multidisciplinarity of the personal development training concerns not only disciplines related to the ITEAM research clusters but also elements of project management, entrepreneurship, intellectual property management, psychology, and various soft skills.

Fig. 1. ITEAM training structure. Table 1. General list of the main ITEAM training events 4. RESEARCH PROGRAMME AND PROJECTS

Summer Schools Embedded Perception and Autonomous Navigation Dynamics Estimation and Control Uncertainty analysis and quantification in context of robust design Short Courses Optimization methods Sliding mode control fundamentals and higher order sliding modes Advanced dynamic testing Thematic Workshops ADAS for autonomous driving Advanced testing of driver decoy Vehicle dynamics simulation platforms Embedded design and user interfaces on programmable hardware Navigation-in-the-loop technologies Hardware- and X-in-the-Loop Technologies Internet-based seminars Thematic online lectures in MAGV dynamics and control Real-world trials Vehicle testing at Ford Lommel Proving Ground Vehicle testing at CERAM Proving Ground in Mortefontaine Vehicle testing at Hällered and AstaZero proving grounds in Sweden, incl. vehicle mode validation using test rigs Personal development training seminars Research management and supervising ESR Rules of good scientific practice Presentation skills and public communication Patenting and Intellectual Property Efficient research: funding, grant writing, ethical aspects

The consortium formulated fifteen topics for individual projects and allocated them between three clusters, Table II. Each project has a primary allocation to one specific cluster and a secondary allocation to another cluster, Fig. 2. Hence, the researchers have both in-cluster and inter-cluster collaboration for efficient transfer of knowledge.

Fig. 2. Interaction of ITEAM research projects. An essential element of individual projects is the principle of joint supervision for each ESR. The primary supervisor always belongs to the host institution. The secondary

The listed activities are being organized in cooperation between the consortium participants and are supplemented with the training in individual projects specified for each ESR 238

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supervisor(s) is (are) usually associated with the organizations intended for the secondments. An important condition is that each early-stage researcher obligatory will have supervisors from different sectors (academic and nonacademic). For researchers hosted at industrial partners, this will also give opportunity to defend a PhD work and to receive doctoral award from the university. Co-supervising procedure is stated in the Employment Contracts of recruited researchers. To guarantee an efficient work of the ESRs on day-to-day basis, the experienced mentors (local working group leaders, post-doc staff) are being allocated to the recruited researchers in hosting / seconding departments. This contributes to reliable integration of the ESR into available research environments and receiving timely support during the progress of the project. All individual projects are briefly introduced next.

4.1 Projects of cluster ”MAGV Integration” A global goal of the cluster “MAGV Integration” pursues the development of new scientific and technological solutions for MAGV chassis and powertrain systems. In this regard the individual projects are working with: (i) complex models of different variants of multi-actuated ground vehicles (passenger, transport and all-terrain MAGV) and their subsystems (brakes, steering, suspension, drivetrain, tyres); (ii) wheel slip and wheel torque controllers to be used in active MAGV subsystems; (iii) specification of unified testing procedures, relevant design of experiments, and creation and maintenance of the open-access database with experimental results. The contribution of projects to these topics is as follows. The project ESR2 (Volvo, Chalmers University of Technology) is focused on innovative design of Electric Power Assisted Steering (EPAS) with a closed-loop steering feel control function (Chugh et al., 2017). The corresponding research and training tasks include development of adaptive steering feel reference model within the higher-level control, the lower level control for reference tracking, as well as integration with other lateral dynamics related functions for a consistent (or minimum disturbance) steering feel.

Table 2. Individual ESR projects of ITEAM Network ESR no.

Title of project

Cluster “MAGV Integration” Deevelopment of virtual steering control 2 and steering feel model reference Virtual architecture for development of 3 chassis mechatronic systems Robust wheel slip control in MAGV via 4 sliding modes generation ADAS function development based on 13 direct wheel force estimation using strain and deflection measurements Model-based distributed sensor fusion for 14 MAGV state and parameter estimation Cluster “Green MAGV” Power distribution in automated driving 5 vehicles Energy efficient driving in dynamic 6 environment Robust estimation of dynamics behaviour and driving diagnosis applied to an 7 intelligent MAGV with electric powertrain 9 15

1 8 10

11

12

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Main host

Volvo Volvo

The outcomes of the project ESR3 (Volvo, Chalmers University) aim at reducing the gaps between monosimulation, co-simulation and hardware-in-loop (HIL) simulation by designing the EPAS and related chassis systems (Chen et al., 2017). For this purpose, the project is concentrated on the interface design and coupling methods for co-simulation and hardware-in-loop simulation for EPAS system and the control methods of the force feedback system on the steering simulator. These research activities are also supplemented with the study on the influence of motioncueing on steering torque subjective feeling.

Univ. Pavia Coventry Univ. KU Leuven Infineon Virtual Vehicle

The project ESR4 (University of Pavia) is dedicated to complex implementation of Sliding Mode algorithms for the control on longitudinal and lateral MAGV dynamics (Regolin and Ferrara, 2017; Regolin et al., 2017). The designed algorithms are subject to evaluation with advanced simulation platforms as IPG CarMaker against state-of-the-art control solutions as well as to experimental tests with special focus on the actuators disturbances.

UTC

TU Ilmenau Tire Tribological Model for Vehicle TU Dynamics Control Systems Ilmenau Cluster “MAGV Driving Environment” Integrated design and simulation for Virtual active safety functions Vehicle Driver assistance measures for low- Skoda emission MAGV Sensor based cooperative navigation of UTC semi-autonomous vehicles with humanvehicle interaction Developing advanced state estimation Flanders algorithm for use in model predictive Make control in autonomously guided vehicle systems Validation methodologies for ADAS in AVL List specific scenarios Low-emission MAGV dynamics control

The development of innovative and robust virtual sensors and chassis systems to extend the chassis operation beyond the linear region limits is the main target of the project ESR13 (Coventry University). The research work aims at exploiting the full handling capabilities of the chassis to maximize the vehicle lateral dynamics and agility on surfaces of limited manoeuvrability (Acosta et al., 2017b; Acosta and Kanarachos, 2017). Special interest is given to robust methods avoiding tire modelling, which can help to implement the proposed solutions on extreme off-road conditions where the tyre parameterisation is extremely difficult. To take advantage of the additional flexibility offered by electric vehicles, the development of electric MAGV with coordinated steering and individual wheel torque control will be pursued. 239

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The project ESR14 (Flanders Make, KU Leuven) deals with observing and estimating vehicle states and parameters utilizing system level models and readily available sensor signals in current passenger vehicles and future MAGVs. The main task is to setup vehicle state estimation platform using MATLAB, LMS Amesim, and IPG CarMaker featuring the possibility to quickly change/adjust estimator models in Amesim. This will be supplemented with a modular concept car platform, which can serve as a demonstrator for developed methodologies.

The project ESR9 (TU Ilmenau) is aimed at developing a global controller for conventional and hybrid MAGV that cooperates with the vehicle stability control systems and performs brake actuations to enhance the vehicle safety with simultaneous reduction of brake wear and particulate matter emissions (Ricciardi et al., 2017a; Ricciardi et al., 2017b). The functionality of the global controller is being studied using experimental techniques combining HIL test setup with the brake system hardware and the brake dynamometer test rig. One of the most important outcomes of the project is an advanced brake controller, which offset disturbances induced by the brake linings‘ coefficient of friction variations through modifications of the brake torque demand.

4.2 Projects of cluster ”Green MAGV” The cluster “Green MAGV Integration” is proposing innovative solutions in lowering the vehicle emissions (to wide extent) and increasing the energy efficiency of MAGVs. Special attention is also given to the MAGVs with electric powertrains. For these tasks, the individual projects are working with (i) new driver models for ecological and lowemissive MAGV driving technologies, (ii) the prototypes of eco-driving assistance systems installed on the driving simulator, and (iii) vehicle demonstrators with relevant onboard systems.

The project ESR15 (TU Ilmenau) studies on the generation, life-cycle and destiny of particles coming from the rupture and wear of tyres as well as on methods for tyre particle minimization. This project includes extensive experimental activities using full vehicle dynamometer test setup and stateof-the-art particle collecting devices and analysers (Dalmau, 2017).

Within the framework of the project ESR5 (Infineon, TU Graz) an appropriate power distribution system inside of automated driving vehicles is being developed, especially for MAGV with electric powertrain. The core of the work is a new fail operational system, which enable automated electronic systems to work even if failures occur. This system is designed to meet the targets of future regulations and requirements. The project is also working on a real MAGV demonstrator, which features technological optimizations and performance regarding switching devices and microcontrollers as well as fault-tolerant control procedures.

The cluster “MAGV Driving Environment” is focused on developing new on-board and on-road tools required for the realization of semi-autonomous and fully automated driving of MAGVs. Individual projects within this cluster cover (i) models of driver-assisted and (semi-)autonomous vehicle motion with consideration of vehicle-to-X communications and traffic information and (ii) innovative solutions of sensor fusion and sensor-based navigation, which provide information basis for the operation of semi-autonomous and fully automated driving.

4.3 Projects of cluster ”MAGV Driving Environment”

The main subject of the project ESR1 (Virtual Vehicle, TU Graz) is trajectory planning for automated driving, especially for situations with high potential of harming vulnerable road users. The dedicated project studies are investigating different variants of pedestrian-in-the-loop representation using virtual and augmented reality as well as online world for testing autonomous vehicles (Hartmann et al., 2017a; Hartmann et al., 2017b). The outcomes of the project include new mathematical formalisms for movement predictions, MAGV motion planning with pedestrians, and uncertainty quantification for decision making in environments with pedestrians.

The project ESR6 (Virtual Vehicle, TU Graz) aims to advance conventional eco-driving strategies for predictive planning of the longitudinal velocity of a vehicle, with lateral motion planning in a complex environment. Techniques such as Dynamic programming and A* are used to determine the energy optimal motion, considering available lanes and external constraints as speed limits, other vehicles etc. (Ajanovic et al., 2018a; Ajanovic et al., 2017). Beside openloop optimal motion planning, a novel motion planning framework is introduced enabling efficient, repetitive adaptations to the dynamic environment (Ajanovic et al., 2018b). The validation procedures include tests in the simulation environment and will extend to the demonstrator vehicle.

The project ESR8 (Skoda Auto, Tallinn University of Technology) proposes new human-machine interface systems with visual and haptic channels supporting interactions between the driver and on-board MAGV systems. The activities are focused on methods for testing and assessing the secondary task impact to the safe vehicle operation, which is exploited for different HMI technologies comparison and as a benchmark for safe and clear in-vehicle information system design with minimal driver’s burden (Aksjonov, 2017). These methods are being implemented in software tool for on-board simulation driver decoy on in-vehicle secondary task execution and verified with respect to correctness and completeness on the advanced driving simulator based on a

Virtual sensors capable of estimating tyre-ground forces in an electric MAGV are being studied in the project ESR7 (Université de technologie de Compiègne). They are based on stochastic estimation methods and will be integrated into MAGV subsystem controllers (Alatorre et al., 2017; Acosta et al., 2017a). The approach is being validated on the experimental testbed Dyna 308sw instrumented with four wheel transducers.

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real vehicle platform with identical control elements like steering wheel, pedals, 3D scene and consistent road topology with real test field.

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partner competence contributes to shape a uniform training evolution through all technological levels of the development and testing of MAGV, starting from lower level embedded systems (MAGV subsystems) growing to higher level embedded systems network (autonomous MAGV). Each technological level of this development is characterized by different levels of research development, starting from basic research and growing to final experimentations and prototyping. Hence, the proposed training programme provides academic and industrial competences covering all the phases of intelligent MAGV developments and testing (evolving from basic research to industrial solutions) with the unique interdisciplinary, intersectoral, collaborative and international training aspects.

The project ESR10 (Université de Technologie de Compiègne) is developing a human centric shared high-level driving control system through the fusion of the driving commands of human and autonomous driving system. The main aim of this development is to enhance the safety and driving performance taking into consideration the conflict between human driver and autonomous driving system, uncertainty in the data etc. The outcomes include a sensor based local autonomous navigation strategy, the neural network-based estimation of human driving behaviour, and the grid-based degree of confidence algorithm for the autonomous driving system using Dempster-Shafer Evidence theory.

ACKNOWLEDGMENT This work is supported by the European Union Horizon 2020 Framework Program, Marie Skłodowska-Curie actions, under grant agreement no. 675999. The authors express gratitude to ITEAM fellows Michael Hartmann, Tushar Chugh, Weitao Chen, Enrico Regolin, Stefan Schumi, Zlatan Ajanović, Angel Alatorre, Andrei Aksjonov, Vincenzo Ricciardi, Shriram Jugade, Halil Beglerovic, Cyrano Vaseur, Manuel Acosta Reche, Marco Viehweger, Maria Eugenia Dalmau. Additional information about the ITEAM network can be found here: https://iteam-project.net/

An advanced estimation algorithm for use in model predictive control to predict MAGV state including centre of gravity and mass, specifically for situations where sensor data are not feasible or costly, is being developed in the project ESR11 (Flanders Make, KU Leuven). The proposed estimator will be integrated with on-board MAGV dynamics controller, especially for obstacle avoidance tasks in the case of automated guided MAGV following a pre-defined path. The project ESR12 (AVL List, TU Graz) has a focus on finding new methodologies, which can accelerate current testing and validation efforts for automated MAGV that are mostly comprised of predefined scenarios and real-world driving. The activities are including test optimization with the goal of finding a feasible number of parameters and test cases to assure that an autonomous system works correctly within certain confidence criteria

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5. CONCLUDING REMARKS: IMPACT OF PROPOSED RESEARCH AND TRAINING PROGRAMMES TO ESRS The proposed framework for collaborative research and training activities can be characterized not only by new scientific results but also by versatile following impact for participating researchers. For immediate benefits: (i) New research experience connected with the fact that the proposed network topics have an increased grade of interdisciplinarity and orientation towards the multi-actuated vehicles and their systems as control objects with fundamentally new level of complexity; (ii) Close networking with partners from industrial and private sector to create an application side of performed scientific works and to open further career outlooks in parallel with academia. For longer term benefits: (i) Intensive works with students and young researchers from adjacent research groups at host organizations (and/or at organizations providing the secondment) with the possibility to establish unique schools of thought on the interface between abstract and engineering sciences; (ii) The development of new joint projects with participation of the network researchers as project coordinators or key persons. These and other benefits are possible due to careful procedure of composing the consortium and educational content, provided by the participating organizations. As a result, each 241

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