abstract: For the solid-state transformer (SST) application, a three-stage configuration consisting of a PWM rectifier based AC/DC stage, a dual active bridge (DAB) converter based DC/DC stage and a PWM inverter based DC/AC stage offers several advantages. For single-phase SST, the instantaneous input and load power seen by the DC/DC stage varies from zero to twice the load average power at double the line frequency. Traditionally, with phase-shift control, large DAB DC link capacitors are used to handle the instantaneous power variation of the load, with the DAB converter processing only the load average power resulting in better soft-switching range and consequently high efficiency. However, the large electrolytic capacitors required adversely affect the power density and the reliability of SST. In this thesis, a PWM control is used for the DAB converter in SST, which extends the ZVS range of DAB and allows the DAB converter to handle the pulsating power while maintaining/improving efficiency. The impact of the output capacitance of switches with PWM control is discussed for practical implementation. A 40kHz, 500W DAB converter is designed and built, and the experimental results proves that the DAB converter with PWM control in SST can achieve comparable efficiency while the DC link capacitors of SST can be reduced to a value that electrolytic capacitors are not required. / Dissertation/Thesis / M.S. Electrical Engineering 2012

Le véhicule aérien a connu de nombreuses révolutions durant les dernières décennies afin d’être plus économe en énergie et plus respectueux de l’environnement. Dans cet objectif, l’électricité est apparue comme le vecteur énergétique le plus adapté associé aux sources conventionnelles d’énergie. C’est dans ce contexte que nos recherches se sont portées sur ce mode de transport qui va voir des bouleversements structurels importants et de plus en plus d’équipements électriques installés à bord. Ce travail de recherche s’intéresse à une brique de conversion DC/DC nécessaire au transfert d’énergie entre les bus HVDC et LVDC présents sur les avions actuels, pour cela nous avons étudié la structure et le contrôle de la topologie Dual Active Bridge qui apparaît comme le meilleur candidat pour atteindre les objectifs techniques, de rendement et compacité. Un dimensionnement ainsi que des résultats expérimentaux sont présentés pour valider nos choix avec un démonstrateur de 3,75kW. Des pistes de réflexions sont enfin proposées pour poursuivre et étendre certaine assertions vers une structure tri-ports pour l’interfaçage de multiples réseaux et moyen de stockage. L’originalité de ses travaux réside dans la volonté de concevoir un produit industrialisable dans le domaine de l’aéronautique en favorisant plusieurs ruptures technologiques jusqu’alors rédhibitoire chez les avionneurs. / Avionics is intended to become more and more efficient in terms of energy saving thanks to increased efficiency of embedded system. Today, electricity is presented as the best energy vector compared to hydraulic or pneumatic. This is why current researches aim to focus on power electronic converters in order to meet the future electrical power demand in aircraft networks. This research project presents a DC/DC dual active bridge converter which is expected as the best candidate to meet the complex requirements of an aircraft environment, especially the high voltage dynamics. This persuaded us to study the structure and modulations which are explained and brought face to face with a 3,75kW demonstrator in order to validate the theoretical assumptions. Some food for thought is proposed to extend this work toward a three-port converter to interface multiple network as well as storage systems. The originality of this work is to build a new kind of active conversion system promoting break through technologies to prove it suits to aircraft specifications.

This master thesis present the analysis of a power module with cascaded converters applied to solid state transformers. The power module is built by an AC-DC input stage, constituted by full-bridge topology, an DC-DC intermediate isolated stage, formed by the dual active bridge converter (DAB), and an DC-AC output stage composed of full-bridge topology. The central study developed is based on the investigation of the dynamic interactions impedances in the connection points of the converters and power module stability. The criterion of Middlebrook is applied as the basis for determining the margin of interaction of the coupling between rectifier/DAB and DAB/inverter and definition of critical parameters of power and control for the characteristics of the impedance of each stage. The criterion of Nyquist is applied to study the stability margin of the couplings. Due to the inverter operation, there is a significant second harmonic current that generating voltage ripple at 120 Hz in the DC bus that interconnects the power converters. In this sense, this master thesis contributes presenting a theoretical analysis of the effects of voltage ripples in the operation and performance of the power circuit and control system of the DAB converter. The methods of PI control and PI-notch in DAB control system are explored, highlighting that the inclusion of notch filter performs better by enabling the mitigation of the negative effects introduced by the voltage ripple at 120 Hz. Moreover, a methodology study and PI of the project is proposal to achieve better results with this method of control, from the point of view of stability and performance. Experimental and simulation results of the system are included to demonstrate the developed analysis. / Esta dissertação de mestrado apresenta o estudo de um módulo de potência com conversores em cascata aplicado a transformadores de estado sólido. O módulo de potência é integrado por um estágio CA-CC de entrada, constituído pela topologia full-bridge, um estágio intermediário CC-CC isolado, formado pelo conversor dual-active bridge (DAB) e um estágio CC-CA de saída composto pela topologia full-bridge. O estudo central desenvolvido baseia-se na investigação das interações dinâmicas de impedâncias nos pontos de acoplamento dos conversores e da estabilidade do módulo de potência, a partir das impedâncias de entrada e saída de cada estágio. O critério das impedâncias de Middlebrook é utilizado como base para determinação da margem de interação entre os acoplamentos retificador/DAB e DAB/inversor e definição dos parâmetros de potência e controle críticos para as características das impedâncias de cada estágio. O critério da estabilidade de Nyquist é aplicado para o estudo da margem de estabilidade dos acoplamentos. Devido à operação do inversor, há um significativo segundo harmônico de corrente que gera ondulações de tensão em 120 Hz no barramento CC que interliga os conversores de potência. Neste sentido, esta dissertação de mestrado contribui apresentando uma análise teórica dos efeitos das ondulações de tensão na operação e desempenho do circuito de potência e sistema de controle do conversor DAB. São explorados os métodos de controle PI e PI-notch no sistema de controle do DAB, destacando que a inclusão do filtro notch apresenta melhores resultados por possibilitar a atenuação dos efeitos negativos introduzidos pelas ondulações de tensão em 120 Hz. Junto a isso, uma metodologia de estudo e projeto do PI é proposta visando alcançar melhores resultados com este método de controle, do ponto de vista de estabilidade e rendimento. Resultados experimentais e de simulação do sistema são incluídos de modo a comprovar a análise desenvolvida.

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This thesis presents a design methodology for the dual active bridge converter, that includes the influence of the nominal phase-shift angle in the behavior of the DAB converter for entire power and voltage ranges. The analysis presented focus on two important performance parameters of the DAB converter: the nonactive power and the limits of ZVS operation. The study of these two parameters results in a prior knowledge of the qualitative characteristics of the conduction and switching losses, respectively. Using this knowledge it is possible to optimize the converter operation considering the priorities of application performance. The experimental results were performed for three different projects nominal angles and three different input voltages for the whole load range, and they prove the feasibility of the proposed analysis. The analyse of the limit ZVS area took into account the switches intrinsic capacitances, and the dead time between the complementary switches. The DAB converter placed at a three-stage structure applied to solid state transformer, has voltage ripple at low frequency in their bus voltages because of the connection into the distribution network. Thus, it becomes possible to apply a low frequency burst mode modulation, without needing to oversize the bus capacitors. Three burst mode modulations are evaluated in simulation. The modulation which performed better results in simulation was implemented in practice, and the experimental results showed significant improvement in the converter´s efficiency when it is operating in light loads. Finally, a discussion of the parameters to be evaluated for the DAB converter´s design is proposed. / Esta tese de doutorado apresenta uma metodologia de projeto do conversor DAB, a qual inclui a influência do ângulo nominal de defasagem no comportamento do conversor DAB para toda faixa de potência e de tensão. Além disso, as análises focam em dois importantes parâmetros de desempenho do conversor DAB: a potência não ativa e os limites de operação com ZVS. O estudo destes dois parâmetros resulta em um conhecimento prévio das características qualitativas das perdas de condução e comutação, respectivamente. Através deste conhecimento é possível otimizar a operação do conversor considerando as prioridades de desempenho da aplicação. Os resultados experimentais, que comprovam as análises referentes à potência não ativa e aos limites de operação com ZVS, são realizados para três diferentes projetos de ângulos nominais e três diferentes tensões de entrada, para toda faixa de operação de carga. O estudo dos pontos de perda de ZVS considerou as capacitâncias intrínsecas dos interruptores e o tempo morto entre os interruptores complementares. O conversor DAB funcionando em uma estrutura de três estágios, aplicado a transformadores de estado sólido, apresenta ondulação de tensão em baixa frequência em seus barramentos, provinente da conexão da estrutura na rede de distribuição. Deste modo, torna-se possível a aplicação de modulações de baixa frequência do tipo burst, sem a necessidade de sobredimensionamento dos capacitores. Três modulações são realizadas e avaliadas em simulação. A modulação que apresentou melhores resultados em simulação foi implementada na prática, e os resultados experimentais mostraram melhora significativa da eficiência do conversor em baixas cargas. Por fim, uma discussão sobre as considerações a serem avaliadas nos parâmetros de projeto do conversor DAB é proposta.

abstract: This thesis investigates different unidirectional topologies for the on-board charger in an electric vehicle and proposes soft-switching solutions in both the AC/DC and DC/DC stage of the converter with a power rating of 3.3 kW. With an overview on different charger topologies and their applicability with respect to the target specification a soft-switching technique to reduce the switching losses of a single phase boost-type PFC is proposed. This work is followed by a modification to the popular soft-switching topology, the dual active bridge (DAB) converter for application requiring unidirectional power flow. The topology named as the semi-dual active bridge (S-DAB) is obtained by replacing the fully active (four switches) bridge on the load side of a DAB by a semi-active (two switches and two diodes) bridge. The operating principles, waveforms in different intervals and expression for power transfer, which differ significantly from the basic DAB topology, are presented in detail. The zero-voltage switching (ZVS) characteristics and requirements are analyzed in detail and compared to those of DAB. A small-signal model of the new configuration is also derived. The analysis and performance of S-DAB are validated through extensive simulation and experimental results from a hardware prototype. Secondly, a low-loss auxiliary circuit for a power factor correction (PFC) circuit to achieve zero voltage transition is also proposed to improve the efficiency and operating frequency of the converter. The high dynamic energy generated in the switching node during turn-on is diverted by providing a parallel path through an auxiliary inductor and a transistor placed across the main inductor. The paper discusses the operating principles, design, and merits of the proposed scheme with hardware validation on a 3.3 kW/ 500 kHz PFC prototype. Modifications to the proposed zero voltage transition (ZVT) circuit is also investigated by implementing two topological variations. Firstly, an integrated magnetic structure is built combining the main inductor and auxiliary inductor in a single core reducing the total footprint of the circuit board. This improvement also reduces the size of the auxiliary capacitor required in the ZVT operation. The second modification redirects the ZVT energy from the input end to the DC link through additional half-bridge circuit and inductor. The half-bridge operating at constant 50% duty cycle simulates a switching leg of the following DC/DC stage of the converter. A hardware prototype of the above-mentioned PFC and DC/DC stage was developed and the operating principles were verified using the same. / Dissertation/Thesis / Doctoral Dissertation Electrical Engineering 2017

Future aircraft are likely to employ electrically powered actuators for adjusting flight control surfaces, and other high power transient loads. To meet the peak power demands of aircraft electric loads and to absorb regenerated power, an ultracapacitor-based energy storage system is examined in which a bidirectional dual active bridge DC-DC converter is used. This Thesis deals with the analysis, design, development and performance evaluation of the dual active bridge (DAB) converter, which can act as an interface between the ultracapacitor energy storage bank and the aircraft electrical power network. A steady-state analysis is performed for the DAB converter producing equations for the device RMS and average currents and the peak and RMS currents in the coupling inductor. This analysis focuses on understanding converter current shapes and identifying the zero-voltage switching (ZVS) boundary condition. A converter prototype was designed and built and its operation verified through SABER simulations confirming the accuracy of the analysis. Experimental results are included to support the analysis for 7kW, 20 kHz operating conditions giving a measured efficiency of 90%. To enhance the performance of the converter under light-loads, a quasi-square-wave mode of operation is proposed in which a dead-time is introduced either on the transformer primary voltage, or on the transformer secondary voltage, or simultaneously on both transformer primary and secondary. A similar detailed analysis as that for square-wave operation has been undertaken for all three cases and the converter performance was analysed focusing on ZVS operating range, impact of the RMS/peak inductor currents and converter efficiency. The theoretical work was validated through SABER simulations and proof of concept experimental measurements at 1kW, 20 kHz, which resulted in converter efficiency well above 91%. A 9%-17% improvement in efficiency and a 12%-17% improvement in ZVS operating range over square-wave operation are observed for similar operating conditions. Furthermore, a novel bidirectional current control technique for the DAB converter is presented. A SABER simulation has been performed and the converter operation is validated for square-wave and quasi-square-wave modes under steady-state and transient conditions.

Faster charging and availability of charging infrastructure are the two main challenges facing an accelerated transition to sustainable electri ed transportation. Both challenges can be solved by developing modular charging systems that are future proof all while having low running and installation costs. As such, this thesis focuses on developing modular and e cient DC/DC charging solutions with a wide charging voltage range capability to meet the needs of existing and next generation plug-in electric vehicles. The thesis starts with describing its motivation and gives an overview on the impact of charging technologies on the electri fication movement. Then, specifi c objectives and research contributions are laid out to narrow the focus of the reader. A review on existing charging systems, standards, architecture and features is presented. Existing isolated and on-isolated power converter topologies for DC-chargers are analyzed and research gaps in power converters with a wide charging voltage range are highlighted. A new single stage DC/DC converter topology and operation scheme is proposed to extend the charging voltage range. Modeling and analysis of the proposed solution was used to select the transition point between different operating modes. Impedance tolerance and pulse distortion was modeled to analyze the passive current sharing error at light and full load operation. The combination of the proposed topology and unique operating scheme reduced the voltage and current stress per device allowing the use of lower kVA rated devices leading to higher cost savings compared to other solutions. An experimental setup has been developed which showed the excellent performance of the proposed topology. The design and optimization strategy for the proposed dual-secondary dual-active bridge (DAB) converter topology is presented. A converter loss model is developed to take in to account: magnetic, switching, and conduction loss. Then, the design process and quantization scheme to quantize charging pro les into discrete energy points is explained, which entails parametric optimization using a genetic algorithm (GA) to minimize energy loss across widely varying charging pro les based on actual charging data. Comprehensive experimental testing was carried out to validate the proposed design strategy and excellent performance was achieved over an extended operating range. After the review of power magnetics used in isolated chargers, high parasitic capacitance in planar transformers was identi ed as an obstacle in the way of development of chargers, especially in charging applications that demand high switching frequencies or extended low power operation. Therefore, a novel planar transformer structure was proposed with ultra-low winding capacitance. The proposed co-planar transformer was compared to three other planar types to highlight the differences and bene fits. Four different prototypes of planar transformers were built with the same target speci fications, to compare the proposed structure against previous solutions. Impedance testing of the planar prototypes was carried to measure the winding stray capacitance and frequency response. Experimental power testing using a DAB converter setup showed excellent results in reducing voltage overshoot, high frequency oscillations, and power losses. Finally, a 30-kW dual-secondary DAB charging module was designed, implemented, and tested. The purpose of this work is to bridge the engineering gap between a proof of concept and a higher Technology Readiness Level (TRL) mature charging module, focusing more on regulatory standards and control system development. Experimental validation of the liquid cooled module showed excellent performance characteristics. / Thesis / Doctor of Philosophy (PhD)

This thesis proposes one comparison methodology for single and three-phase high power high frequency transformers in power conversion systems. The objective is to compare the volume of the transformers. And single and three-phase Dual Active Bridge Converter (DAB1 and DAB3) topologies with single and three-phase isolating transformers are selected for the transformer comparison. Design optimization of power transformer has been studied and simplified models have been built for the single and three-phase transformer design optimization in this work, including assumptions for core shapes, materials, winding structures and thermal model. Two design methods have been proposed according to different design constraints, named T – B Method and J – B Method separately. T – B Method is based on feature of the core, which has the major limits of maximum flux density and temperature rise. The flux density should not reach the saturation value of the core, and temperature rise should meet specifications in different applications to assure the performance of the core (permeability, saturation flux density, and core loss) and the insulation of the wire. And J – B Method starts from the comparison of area product in conventional design method. The relationship between area product of transformer cores and the flux and current of the transformer in design is analyzed. There is specified relationship between area product of single and three-phase transformers if flux and current densities are specified for both. Thus J – B Method is proposed with the design constraints of specified current and flux density. Both design methods include both single and three-phase transformer design. One example case for single and three-phase transformer comparison is selected as high power high frequency DAB conversion system. Operation principles are studied for both DAB1 and DAB3 based on previous work. And transformer design based on the T – B and J – B Methods are carried out and transformer volumes are compared. And results show that three-phase transformer has little benefit in volume or thermal than single-phase transformer, when they are utilized in single-phase DAB and three-phase DAB converters separately. Scaled-down single and three-phase DAB systems have been built and volume and thermal tests have been carried out. / Master of Science

The EU has proposed an ambitious goal to achieve widespread E-mobility in both the electrical and commercial sectors. To accomplish this, a substantial number of DC fast-charging stations must be built. These power converters, installed in the DC fast-charging stations (DCFC), differ from traditional DCDC converters as they exhibit high power density, reaching tens of kilowatts. In contrast to traditional non-isolated power converters, isolated power converters offer ideal galvanic isolation, providing protection to both the local power grid and electric vehicles. Among the DC power converters designed for industrial applications, the LLC resonant converters and DAB converters (Dual Active Bridge) have gained significant popularity. When compared to LLC converters, DAB converters demonstrate a more flexible input and output power range, as well as a higher power density. Considering these advantages, a 10kW bidirectional DAB power converter has been designed for the purpose of fulfilling the requirements of this thesis project. The thesis is organized into four distinct parts. The first part focuses on conducting a comprehensive literature review to explore the challenges prevalent in the current electrical field. Various DC-DC topologies are compared based on different factors, including component analysis, controllability, safety considerations, and cost-effectiveness. By examining these aspects, potential solutions for Electric Vehicles (EVs) are identified. In the second part, a specific DC-DC converter with a power rating of 10kW is chosen, utilizing the DAB (Dual Active Bridge) topology. The selection is based on the analysis conducted in the literature review. The thesis delves into the issues and technical challenges associated with this choice, such as reactive power, peak current, zero-voltage switching (ZVS), and phase shift modulation. These topics are thoroughly explored and discussed within the literature study. The second part of the thesis involves the establishment of a DAB model, incorporating mathematical equations and physical derivations. This modeling and design section discusses the energy conversion process, starting from fundamental physical formulas and extending to the overall system setup. Utilizing the proposed model, a control method called SPS (Single Phase Shift) modulation is implemented in the circuit to achieve closed-loop control. Within this part, the relationship between current, voltage, and output power is derived and utilized for the design of a PI closed controller. To address challenges associated with SPS control, such as reactive power elimination and peak current suppression, an EPS (Enhanced Phase Shift) control scheme is introduced. The EPS control scheme not only fulfills the basic requirement of power transfer but also optimizes the system’s overall efficiency. In the third part of the thesis, a simulation is developed to validate the accuracy of the proposed DAB model and control methods. Simulations are implemented using Simulink, a widely used software for dynamic system modeling and simulation. Various aspects of the system are evaluated through the simulation, including the leakage inductor current, voltage waveforms on both the primary and secondary sides and output power. These parameters are plotted and analyzed to assess the performance of the DAB model and control methods. Additionally, loss and efficiency analyses are conducted using PLECS, a simulation platform that specializes in power electronics systems. By inputting the datasheet information of the switches and transformer, PLECS enables the evaluation of losses and efficiency within the system. This analysis provides valuable insights into the performance and energy efficiency of the proposed DAB-based converter. In the final part of the thesis, conclusions are drawn based on the theoretical findings and simulation results obtained throughout the study. These conclusions reflect the overall outcomes and implications of the research conducted. Furthermore, the future work section outlines the tasks that remain unfinished or areas that can be explored in subsequent studies. This section serves as a guide for future researchers, highlighting potential directions for further investigation and improvement in the field of DAB-based DC-DC converters for E-mobility applications. By presenting the conclusions and future work, the thesis provides a comprehensive summary of the research conducted, its contributions, and potential avenues for future research and development. / EU har föreslagit ett ambitiöst mål för att uppnå utbredd e-mobilitet inom både den elektriska och kommersiella sektorn. För att åstadkomma detta måste ett stort antal DC snabbladdningsstationer byggas. Dessa effektomvandlare, installerade i DC-snabbladdningsstationerna (DCFC), skiljer sig från traditionella DC-DC-omvandlare eftersom de uppvisar hög effekttäthet och når tiotals kilowatt. I motsats till traditionella icke-isolerade kraftomvandlare erbjuder isolerade kraftomvandlare idealisk galvanisk isolering, vilket ger skydd för både det lokala elnätet och elfordon. Bland likströmsomvandlarna som är designade för industriella applikationer har LLC-resonantomvandlarna och DABomvandlarna (Dual Active Bridge) vunnit betydande popularitet. Jämfört med LLC-omvandlare uppvisar DAB-omvandlare ett mer flexibelt in- och uteffektområde, såväl som en högre effekttäthet. Med tanke på dessa fördelar har en 10kW dubbelriktad DAB-effektomvandlare designats för att uppfylla kraven i detta examensarbete. Avhandlingen är organiserad i fyra distinkta delar. Den första delen fokuserar på att genomföra en omfattande litteraturgenomgång för att utforska de utmaningar som råder inom det nuvarande elektriska området. Olika DCDC-topologier jämförs baserat på olika faktorer, inklusive komponentanalys, kontrollerbarhet, säkerhetsöverväganden och kostnadseffektivitet. Genom att undersöka dessa aspekter identifieras potentiella lösningar för elektriska fordon (EV). I den andra delen väljs en specifik DC-DC-omvandlare med en märkeffekt på 10kW, som använder DAB-topologin (Dual Active Bridge). Urvalet baseras på den analys som gjorts i litteraturöversikten. Avhandlingen fördjupar sig i de problem och tekniska utmaningar som är förknippade med detta val, såsom reaktiv effekt, toppström, nollspänningsomkoppling (ZVS) och fasskiftsmodulering. Dessa ämnen utforskas och diskuteras grundligt inom litteraturstudien. Den andra delen av examensarbetet omfattar upprättandet av en DAB-modell, innefattande matematiska ekvationer och fysiska härledningar. Det här avsnittet om modellering och design diskuterar energiomvandlingsprocessen, med start från grundläggande fysiska formler och sträcker sig till den övergripande systemuppställningen. Genom att använda den föreslagna modellen implementeras en styrmetod som kallas SPS-modulering (Single Phase Shift) i kretsen för att uppnå sluten-loop-styrning. Inom denna del härleds förhållandet mellan ström, spänning och uteffekt och används för konstruktionen av en sluten PI-regulator. För att ta itu med utmaningar förknippade med SPS-kontroll, såsom eliminering av reaktiv effekt och undertryckning av toppström, introduceras ett EPS-kontrollschema (Enhanced Phase Shift). EPS-kontrollsystemet uppfyller inte bara det grundläggande kravet på kraftöverföring utan optimerar också systemets totala effektivitet. I den tredje delen av avhandlingen utvecklas en simulering för att validera noggrannheten hos den föreslagna DAB-modellen och styrmetoderna. Simuleringar implementeras med Simulink, en mycket använd programvara för dynamisk systemmodellering och simulering. Olika aspekter av systemet utvärderas genom simuleringen, inklusive läckans induktorström, spänningsvågformer på både primär- och sekundärsidan och uteffekt. Dessa parametrar plottas och analyseras för att bedöma prestandan hos DABmodellen och styrmetoderna. Dessutom genomförs förlust- och effektivitetsanalyser med hjälp av PLECS, en simuleringsplattform som är specialiserad på kraftelektroniksystem. Genom att mata in databladsinformationen för switcharna och transformatorn, möjliggör PLECS utvärdering av förluster och effektivitet i systemet. Denna analys ger värdefulla insikter om prestandan och energieffektiviteten hos den föreslagna DAB-baserade omvandlaren. I den sista delen av uppsatsen dras slutsatser baserat på de teoretiska fynden och simuleringsresultat som erhållits genom studien. Dessa slutsatser speglar de övergripande resultaten och konsekvenserna av den genomförda forskningen. Vidare skisserar det framtida arbetsavsnittet de uppgifter som förblir oavslutade eller områden som kan utforskas i efterföljande studier. Det här avsnittet fungerar som en guide för framtida forskare, och lyfter fram potentiella riktningar för ytterligare undersökningar och förbättringar inom området DAB-baserade DC-DC-omvandlare för e-mobilitetstillämpningar. Genom att presentera slutsatserna och det framtida arbetet ger avhandlingen en omfattande sammanfattning av den forskning som bedrivs, dess bidrag och potentiella vägar för framtida forskning och utveckling.

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