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The use of robots is becoming more common in society. Industrial robots are being developed to work with people, and lower-force collaborative robots are being developed to help people in their everyday lives. These may need fast and sophisticated motion control and behavioral algorithms, but are expected to be more compact and lower cost. This paper proposes a processor plus FPGA solution for the...
This paper discusses a simulation platform for predicting the behavior of a battery system comprising two batteries, which can be parallelized in a controllable way. The model of the battery, the load and the parallelization algorithm is developed and simulated in MATLAB® Simulink environment. The simulation platform and the proposed parallelization algorithm are validated in a real gardening application...
Online battery parameter identification algorithms, such as the Moving Window Least Squares, allow model-based state estimators with low computational intensity to be very accurate. This paper presents a procedure for tuning the algorithm parameters by using application-specific current profiles. A gardening application is taken as a case study. The results prove the validity of the proposed procedure...
The lead-acid battery of an electric minibus has been replaced with a smaller size lithium-ion battery system consisting of standard 12 V modules and a hierarchical battery management system. The minibus has experimentally been tested to show that the reduced battery capacity, which also cuts costs, does not affect the daily operational mission. This is assuming that the driving phases are alternated...
This paper describes a hardware-in-the-loop (HiL) simulation platform specifically designed to test state estimators for Li-ion batteries in electric vehicle applications. Two promising estimators, the Mix algorithm combined with the moving window least squares and the dual extended Kalman filter, are implemented in hardware on a field-programmable gate array (FPGA) and evaluated using the developed...
This paper presents the implementation of a state of charge (SOC) estimator for Lithium-ion battery in a Field Programmable Gate Array (FPGA) based System-in-the-Loop platform. The paper explains and provides results from alternative methods for accelerating the SOC calculations in the FPGA. The System-In-the-Loop (SIL) simulation provides a platform to develop a full FPGA-based BMS, using high-level...
A Battery Management System (BMS) is needed to ensure a safe and effective operation of a Lithium-ion battery, especially in electric vehicle applications. An important function of a BMS is the reliable estimation of the battery state in a wide range of operating conditions. To this end, a BMS often uses an equivalent electrical model of the battery. Such a model is computationally affordable and...
In sports competition recovery is considered fundamental, especially in those modalities that require competing repeatedly within one contest. One of the main concerns regarding the short recovery period during repeated-based competitions is the accumulation of blood lactate, which may impair muscle function on a metabolic basis. Therefore, the aim of this study was to compare the lactate concentration...
This paper shows an effective implementation of the fast charging concept in the electric local public transport context. An electric minibus powered with a lead-acid battery is considered as a case-study. Its traction battery is redesigned using 12 V standard lithium-iron-phosphate modules to benefit from the higher performance of the lithium battery technology compared to the lead-acid one. The...
This paper evaluates some techniques for the reduction of the measuring time required to obtain an accurate and exhaustive characterisation of the Open-Circuit Voltage (OCV) of a Lithium-Iron-Phosphate (LiFePO4) battery. The OCV is a very important parameter of a battery equivalent electrical model, typically used in the model-based design of a battery management system. OCV characterisation is quite...
This work presents the design of a 60 GHz OOK transceiver, with on-chip integrated antenna, for multi Gbit short-range wireless communication. A 65 nm bulk CMOS technology has been selected as target to prove that high-speed fully-integrated RF transceivers can be realized also with low cost digital technologies, suited for wireless consumer applications. The OOK modulation scheme allows for low complex...
This paper describes the research effort jointly carried out by the University of Pisa and ENEA on electrochemical energy storage systems based on Lithium-ion batteries, particularly the Lithium-Iron-Phosphate cells. In more detail, the paper first illustrates the design and experimental characterization of a family of 12 V modules, each of them provided with an electronic management system, to be...
The paper describes the development and realization of standard battery modules 12 V, made by LiFePO4 cells selected in a previous study by ENEA and the University of Pisa. Module means the group of four cells series connected, the electronic battery management system, the thermal management system and the mechanical case. Standard means that the same battery module can be used for different applications:...
This paper aims at investigating and modelling the hysteresis in the relationship between state-of-charge and open-circuit voltage of lithium-iron-phosphate batteries. A first-order charge relaxation equation was used to describe the hysteresis dynamics. This equation was translated into a voltage-controlled voltage source and included within an equivalent electric circuit of the battery used in online...
An effective management of the onboard energy storage system is a key point for the development of electric vehicles. This requires the accurate estimation of the battery state over time and in a wide range of operating conditions. The battery state is usually expressed as state-of-charge and state-of-health. Its estimation demands an accurate model to represent the static and dynamic behaviour of...
A new generation of mechatronic devices, such as the E-latch for door closure, is introduced in the automotive field to replace mechanical systems with electro-actuated parts with embedded electronic control unit (ECU) connected to the main vehicle network. Due to severe automotive safety-critical requirements an energy back-up solution is proposed, based on supercaps and boost converter, to ensure...
This paper describes the design of a modular battery management system for electric off-road vehicles, where lithiumion batteries are expected to be widely used. A massive electrification of off-road vehicles can be enabled by the availability of a standard battery module, provided with an effective management unit. The design and some preliminary experimental results of the module management unit...
Finding an accurate and easily to implement model of batteries is an essential step in properly estimating the state of charge (SOC) of the battery in real-time. In this paper, an equivalent circuit based battery model with nonlinear relationship between the open circuit voltage (VOC) and the SOC is projected into several piece-wise linear functions. Moving window Least Squares (LS) parameter identification...
Valid assessment of apraxia in usually non-apraxic Parkinson’s disease helps to delineate atypical parkinsonism frequently associated with apraxia. Furthermore, in a subgroup of late Parkinson’s disease apraxia, typically the ideomotor subtype, may gradually superimpose onto parkinsonian motor symptoms contributing to defective manual skill. Here we evaluate the utility of a brief, standardized test,...
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