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Evaluation of wheel torque coordination strategies for heavy battery electric vehicles
(2025) Joy, Simran; Lawrence, Abner Ankit
With the rapid evolution of technology and growing environmental concerns, the demand for electric
vehicles has increased significantly. The main challenge for a heavy battery electric vehicle is to combat the efficiency and load carrying capacity on different kinds of roads (country roads and highway)
ranging from a tarmac road with high coefficient of friction to a low friction road.
Modular E-axles such as cruise and startability axles have been introduced in this research with different types of electric machines and gear ratios to make it a reliable, cost efficient and effective setup
for achieving a higher driving range along with less power losses. The different types of power losses
that have been considered in this study are drivetrain losses, longitudinal tyre slip losses, rolling resistance losses, friction brake losses. However, only the drivetrain losses have been minimised in this work.
Three different kinds of wheel torque coordination strategies have been discussed in this thesis for
allocating force/torque requests to the actuators (electric machine, brakes) in order to evaluate the
energy savings for different types of trucks. Out of the three strategies, two of them are based on
power loss minimisation and is compared to the third strategy where equal friction is achieved at the
wheels. The performance of these strategies were evaluated using real world driving cycles.
However, the primary challenge lies in determining the optimal balance between energy efficiency and
the vehicle’s safety factor. Different methods like finding the lateral margins, friction circles of the
tyres at the axle level have been formulated and implemented in order to find a safety metric. This
thesis aimed to identify an optimal energy-efficient strategy while also defining a suitable safety metric.
Tuning behavior-based robotics in mixed reality using unmanned aerial vehicles
(2025) Huang, Shao-Hsuan; Xue, Fengxiang
This thesis investigate a behavior-based robotics (BBR) approach for enabling autonomous unmanned aerial vehicle (UAV) navigation and obstacle avoidance in
unknown environments without relying on global maps. The system leverages
lightweight reactive control architectures, finite state machine (FSM) and subsumption architecture, to support real-time decision making based on local sensor feedback.
A hardware-in-the-loop (HIL) framework is employed to safely evaluate controller
performance under realistic conditions. The HIL setup integrates the Crazyflie UAV
platform, lighthouse-based state estimation, simulated sensor inputs, and a modular
software stack based on microservice architecture.
To further enhance navigation efficiently, genetic algorithm (GA) optimization is
applied to tune key controller parameters, including safe distances, tuning angles,
and behavior transition timings. Experimental results demonstrate that both FSMbased and subsumption-based controllers enable robust mapless navigation and effective obstacle avoidance in complex indoor scenarios. The subsumption controller
exhibits superior performance in cluttered environments, while the FSM controller
performs better in open spaces.
The findings highlight the feasibility of behavior-based UAV control in GPS-denied,
mapless indoor settings, and demonstrate the value of modular HIL testing for rapid
prototyping and validation of autonomous navigation strategies.
Mariestad 2040; Mariestad and the 7 objectives of the municipality’s; detailed comprehensive plan 2040
(2025) Ernvik, Josua
The municipality of Mariestad is in its
most transformative phase since the
postwar era. The municipality estimates a
population increase from the current 25
000 to 40 000 inhabitants by 2040 in the
wake of new industrial establishments
and expansion, including the Volvo
Group’s battery cell factory.
In 2024, the municipality adopted the
Detailed Comprehensive Plan 2040
(DCP), providing a strategy for 7200 new
housing units in Mariestad. The DCP
identifies 7 objectives for Mariestad: the
close-knit (nära) town, the living town, the
safe town, the diverse town, the welldesigned
town, the green lakeside town,
and the proud town of the future.
The master’s thesis argues that these 7
objectives are connected to each other,
and strongly influenced by the first
objective, the close-knit town. The DCP,
however, suggests urban expansion with
areas consisting of 50-75% of singlefamily
homes to supply 3000-6000 of the
new housing units. This risks contributing
to urban sprawl, the opposite of the
close-knit town, and thereby
counteracting all 7 objectives.
The design presented in the master’s
thesis aims at shaping an alternative plan
for Mariestad which more closely aligns to
the 7 objectives of the municipality’s
Detailed Comprehensive Plan. The design
distinguishes several centrally located
areas possible areas for new
development for 12 000 new residents
within 2 km of the town center in
Mariestad without exceeding a floor
space index of 1.2. The sites of Yttre
Hamnen, Katthavet, Marieforsleden,
Tidan’s Kvillar, Norra Katrinefors,
Electrolux and Tidan’s Västra Strand are
described in more detail, where the
density of the site and its role in the town
as a whole is explored.
The design unlocks dormant qualities
around the river Tidan and the former
Electrolux factory, connecting the town
over the water and providing pleasant
public space to stimulate urban life, while
also creating new flows through the
historical town center, Gamla Stan, in
order to stimulate urban life. Space syntax
analysis identifies that the design
improves the centrality of Gamla Stan.
The proposed development is on land
currently occupied by open grassland, car
infrastructure or sprawling industries. This
risks causing higher initial investments in
groundwork, relocation of industries and
a decreased car capacity. This is deemed
as reasonable trade-offs to the increase in
qualities of the 7 objectives generated by
the design. By investing in the close-knit
town and the qualities which follow,
Mariestad improves its chances of thriving
independently from the future of the
Volvo battery factory.
Restoration through architecture multisensory pavilions and the adaptive reuse of the harbour office on Gothenburg's coast
(2025) Pektas, Aylin
In today´s society individuals are expected to meet many demands, and as a result
overwhelming stress has become increasingly common. These challenges are often
amplified during winter in Sweden, where many self-reports “winter blues”. To ease such
symptoms it is often recommended to spend time outdoors, and research shows that
being in, on, or near the sea has positive impact on wellbeing and reduces stress.
Gothenburg´s west mainland coast features several public bathing spots, all very popular
in summer. However, there are currently no non-commercial public facilities that support
extended stays by the seaside in the colder, more windy and rainy seasons.
The purpose of this thesis is to develop a site-specific design proposal that supports
wellbeing in winter. Using a multisensory and adaptive reuse approach, the aim is to
transform Fiskebäck, located on Gothenburg´s west mainland coast and currently lacking
public facilities for winter, into a restorative public place that offers extended visits during
winter. This thesis explores the following research questions:
How can spatial architectural interventions transform a public seaside site on
Gothenburg’s mainland coast to support wellbeing during winter?
How can the Harbour Office building in Fiskebäck be adapted to provide public use
and sensory engagement during winter?
Theory and literature of multisensory architecture, adaptive reuse and wellbeing formed
the theoretical framework for the thesis. The sensorial concepts explored are Light,
Enclosure, Temperature of Space, Sound of Space and Smell of Space. Site-specific
mappings of boundaries and landscape typologies identified key placements, transparency
and tactile terrain qualities. Reference projects were studied to extract architectural
features, which informed a conceptual design strategy toolbox. These tools were tested
through iterative design development to answer the research questions.
The proposal includes four architectural interventions: The adaptive reuse of the Harbour
Office building, and West, South and East Pavilions, each with distinct experential focus.
Together they form a site journey and sequence of spaces where architecture becomes a
medium to engage the human senses, support wellbeing and strenghten the relationship
with the natural seaside environment in winter.
Data-driven Development Framework for ADAS and Automation for Marine Applications
(2025) Ramesh, Adithyaa; Pollachi Malaiyalaswamy, Prasanth Balaji
The maritime industry is increasingly adopting Advanced Driver Assistance Systems
(ADAS) and automation, drawing inspiration from progress in the automotive
sector. Applying these technologies to marine environments, however, introduces
unique challenges such as sensor limitations, unpredictable conditions, and the lack
of standardized validation methods.
This thesis presents a data-driven framework to support the testing and validation of
marine ADAS/AD (Autonomous Driving) systems. The framework focuses on data
logging, structured data handling, and the use of Key Performance Indicators (KPIs)
as objective measures of performance. In collaboration with Volvo Penta and Volvo
GTT (Group Trucks Technology), a proof of concept was developed around two
representative features, with relevant KPIs defined. The framework was partially
implemented on a test vessel equipped with LiDAR (Light Detection and Ranging)
and cameras for perception, a Dynamic Positioning System (DPS) for positioning,
and a high-bandwidth logger to capture raw sensor data during real operations.
While post-test data ingestion, KPI calculation, and KPI-driven refinement were
not completed within the scope of this thesis, these stages are outlined as future
extensions. The work provides a foundation for a systematic, data-driven development
methodology in the marine ADAS/AD domain, bridging the gap between
conceptual design and a fully operational validation pipeline.