The awareness and concern of our environment together with legislation have set more and more tightening demands for energy efficiency of non-road mobile machinery(NRMM). Integrated electro- hydraulic energy converter (IEHEC) has been developed in Lappeenranta University of Technology (LUT) /1/. The elimination of resistance flow, and the recuperation of energy makes it very efficient alternative. The difficulties of IEHEC machine to step to the market has been the requirement of one IEHEC machine per one actuator. The idea is to switch IEHEC between two actuators of log crane using fast on/off valves. The control system architecture is introduced. The system has been simulated in co-simulation using Simulink/Mevea. The simulated responses of pumpcontrolled system is compared to the responses of the conventional valve-controlled system.

This paper focuses on thermal analysis of a direct driven hydraulic setup (DDH). DDH combines the benefits of electric with hydraulic technology in compact package with high power density, high performance and good controllability. DDH enables for reduction of parasitic losses for better fuel efficiency and lower operating costs. This one-piece housing design delivers system simplicity and lowers both installation and maintenance costs. Advantages of the presented architecture are the reduced hydraulic tubing and the amount of potential leakage points. The prediction of the thermal behavior and its management represents an open challenge for the system as temperature is a determinant parameter in terms of performance, lifespan and safety. Therefore, the electro-hydraulic model of a DDH involving a variable motor speed, fixed-displacement internal gear pump/motors was developed at system level for thermal analysis. In addition, a generic model was proposed for the electric machine, energy losses dependent on velocity, torque and temperature was validated by measurements under various operative conditions. Results of model investigation predict ricing of temperature during lifting cycle, and flattened during lowering in pimp/motor. Conclusions are drawn concerning the DDH thermal behavior.

Complexity management is the key to success for mobile machinery where the variety of customers and applications requires individual solutions. This paper presents the way Bosch Rexroth supports each OEM with hydraulic controls – from specification and conception towards application and production. It gives examples how platforms and processes are optimized according to the customer needs. The demand for flexible, short-term deliveries is met by an agile production with the technologies of Industry 4.0.

Complexity management is the key to success for mobile machinery where the variety of customers and applications requires individual solutions. This paper presents the way Bosch Rexroth supports each OEM with hydraulic controls – from specification and conception towards application and production. It gives examples how platforms and processes are optimized according to the customer needs. The demand for flexible, short-term deliveries is met by an agile production with the technologies of Industry 4.0.

The awareness and concern of our environment together with legislation have set more and more tightening demands for energy efficiency of non-road mobile machinery(NRMM). Integrated electro- hydraulic energy converter (IEHEC) has been developed in Lappeenranta University of Technology (LUT) /1/. The elimination of resistance flow, and the recuperation of energy makes it very efficient alternative. The difficulties of IEHEC machine to step to the market has been the requirement of one IEHEC machine per one actuator. The idea is to switch IEHEC between two actuators of log crane using fast on/off valves. The control system architecture is introduced. The system has been simulated in co-simulation using Simulink/Mevea. The simulated responses of pumpcontrolled system is compared to the responses of the conventional valve-controlled system.

This paper focuses on thermal analysis of a direct driven hydraulic setup (DDH). DDH combines the benefits of electric with hydraulic technology in compact package with high power density, high performance and good controllability. DDH enables for reduction of parasitic losses for better fuel efficiency and lower operating costs. This one-piece housing design delivers system simplicity and lowers both installation and maintenance costs. Advantages of the presented architecture are the reduced hydraulic tubing and the amount of potential leakage points. The prediction of the thermal behavior and its management represents an open challenge for the system as temperature is a determinant parameter in terms of performance, lifespan and safety. Therefore, the electro-hydraulic model of a DDH involving a variable motor speed, fixed-displacement internal gear pump/motors was developed at system level for thermal analysis. In addition, a generic model was proposed for the electric machine, energy losses dependent on velocity, torque and temperature was validated by measurements under various operative conditions. Results of model investigation predict ricing of temperature during lifting cycle, and flattened during lowering in pimp/motor. Conclusions are drawn concerning the DDH thermal behavior.

Am Beispiel einer Landmaschine wurde die Integration eines dieselelektrischen Einzelradantriebes unter der Berücksichtigung der spezifischen Anforderungen nachgewiesen. Die Integration des elektrischen Antriebes in die Fahrzeugfelge führt zu einem abgeschlossenen System mit definierten Schnittstellen. Zur Umsetzung des Antriebssystems werden unterschiedliche Lösungen diskutiert und die Vorzugsvariante realisiert. Für das Antriebssystem und das Fahrzeug werden die Funktionsnachweise mittels Simulationsergebnissen, Prüfstands- und Fahrversuchen erbracht. Ebenso wird der Nutzen eines elektrischen Einzelradantriebssystems diskutiert.

The problem addressed in this thesis is the detection, localisation and tracking of human workers from mobile industrial machinery using a customised vision system developed at Örebro University. Coined the RefleX Vision System, its hardware configuration and computer vision algorithms were specifically designed for real-world industrial scenarios where workers are required to wear protective high-visibility garments with retro-reflective markers. The demand for robust industry-purpose human sensing methods originates from the fact that many industrial environments represent work spaces that are shared between humans and mobile machinery. Typical examples of such environments include construction sites, surface and underground mines, storage yards and warehouses. Here, accidents involving mobile equipment and human workers frequently result in serious injuries and fatalities. Robust sensor-based detection of humans in the surrounding of mobile equipment is therefore an active research topic and represents a crucial requirement for safe vehicle operation and accident prevention in increasingly automated production sites. Addressing the described safety issue, this thesis presents a collection of papers which introduce, analyse and evaluate a novel vision-based method for detecting humans equipped with protective high-visibility garments in the neighbourhood of manned or unmanned industrial vehicles. The thesis provides a comprehensive discussion of the numerous aspects regarding the design of the hardware and the computer vision algorithms that constitute the vision system. An active nearinfrared camera setup that is customised for the robust perception of retroreflective markers builds the basis for the sensing method. Using its specific input, a set of computer vision and machine learning algorithms then perform extraction, analysis, classification and localisation of the observed reflective patterns, and eventually detection and tracking of workers with protective garments. Multiple real-world challenges, which existing methods frequently struggle to cope with, are discussed throughout the thesis, including varying ambient lighting conditions and human body pose variation. The presented work has been carried out with a strong focus on industrial applicability, and therefore includes an extensive experimental evaluation in a number of different real-world indoor and outdoor work environments.

Am Beispiel einer Landmaschine wurde die Integration eines dieselelektrischen Einzelradantriebes unter der Berücksichtigung der spezifischen Anforderungen nachgewiesen. Die Integration des elektrischen Antriebes in die Fahrzeugfelge führt zu einem abgeschlossenen System mit definierten Schnittstellen. Zur Umsetzung des Antriebssystems werden unterschiedliche Lösungen diskutiert und die Vorzugsvariante realisiert. Für das Antriebssystem und das Fahrzeug werden die Funktionsnachweise mittels Simulationsergebnissen, Prüfstands- und Fahrversuchen erbracht. Ebenso wird der Nutzen eines elektrischen Einzelradantriebssystems diskutiert.:1 Einleitung 2 Stand der Forschung und Entwicklung bei Fahrzeugantrieben und elektrischen Antriebssystemen 2.1 Allgemeine Entwicklungstendenzen der Antriebssysteme bei mobilen Landmaschinen . 2.2 Meilensteine elektrischer Antriebssysteme 2.3 Fahrantriebe für mobile Landmaschinen 2.4 Übersicht zu elektrischen Antrieben in mobilen Maschinen 2.5 Elektrische Antriebe für Fahrantriebe 2.6 Leistungselektronik für den mobilen Einsatz 2.7 Anpassen der Motorenkennlinie an das Kennfeld des Fahrantriebs 2.8 Elektrische Zusatzkomponenten 3 Konzeption und Entwicklung eines Einzelradantriebes 3.1 Spezifische Anforderungen an den dieselelektrischen Fahrantrieb 3.2 Systementwurf 3.3 Methodik und Entwurf des Einzelradantriebes 3.4 Entwicklung des Einzelradantriebes 3.5 Entwicklung der Wicklungsumschaltung 4 Untersuchungen und Ergebnisse zur Wicklungsumschaltung und der elektrischen Maschine 4.1 Simulationsmodell der Wicklungsumschaltung 4.2 Simulationsergebnisse der Wicklungsumschaltung 4.3 Prüfstandsergebnisse von Wicklungsumschaltung und elektrischer Maschine 5 Integration eines Einzelradantriebes am Beispiel eines Bergtraktors 5.1 Vorstellung des Experimentalaufbaus 5.2 Simulationsmodell der Fahr- und Antriebsdynamik und des Rad-Boden-Kontaktes 5.3 Ergebnisse der simulierten Fahr- und Antriebsdynamik bei Wicklungsumschaltung 5.4 Versuchsaufbau und Messtechnik 5.5 Untersuchungsergebnisse von Generator mit Dieselmotor 5.6 Untersuchungsergebnisse des Radantriebes 5.7 Ergebnisse der gemessenen Fahr- und Antriebsdynamik bei Wicklungsumschaltung 5.8 Bewertung des Einzelradantriebssystems 6 Zusammenfassung 7 Ausblick

This paper provides an overview of the challenges and possibilities of the integration of electric drives into diesel-hydraulic excavators. Due to the drivers of emission reduction, the use of renewable energies and more energy efficient systems, a global push leads to the integration of electric drives in excavators. In mobile machinery such as excavators, new possibilities and challenges of the adaptation of the drive train and energy storage arise. Rotational actuators can be powered by direct electric drives to avoid losses of the hydraulic system. Adapted hydraulic system topologies enable recuperation and reduce throttling losses in hydraulic systems. Variable and overall higher electric motor speeds reduce the size of the electric and hydraulic components and enable operation in more efficient operating points. To evaluate possible changes to the traditional hydraulic excavator systems, a simulation model is built and the proposed adaptations are implemented. The paper concludes with the evaluation of the proposed system changes and an outlook for further possibilities of hydraulic system adaptions in relation to the electric drive.