@misc{13678, abstract = {{The previous methodology for optimizing CO2 emissions and electricity costs in industrial applications is extended by integrating dynamic load shifting with battery energy storage. Building on earlier work that employed Mixed-Integer Linear Programming (MILP) to manage a stationary battery based on real-time electricity prices and CO2 intensity signals, two industrial machines and one electric vehicle (EV) are now incorporated as additional shiftable loads. These new elements introduce further operational constraints while enhancing energy management flexibility. The framework employs an adjustable weighting factor λ to balance environmental impact and cost, and comparative analyses across three scenarios—battery-only, load-shifting-only, and combined—demonstrate nearly additive CO2 reductions alongside non-additive cost improvements, underscoring the synergistic potential for environmental benefits despite diminishing cost returns. Moreover, validation against dynamic programming confirms the MILP approach’s accuracy and computational efficiency.}}, author = {{Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{2025 5th International Conference on Electrical, Computer and Energy Technologies (ICECET)}}, keywords = {{Feeds, Antennas, System-on-chip, Application specific integrated circuits, Life cycle assessment, Product lifecycle management, Radio access networks, Regional area networks, Smart devices, OWL}}, location = {{Paris, France }}, publisher = {{IEEE}}, title = {{{Enhanced Dynamic Optimization for CO2 Reduction and Cost Savings through Load Shifting in Smart Factories}}}, doi = {{10.1109/icecet63943.2025.11472530}}, year = {{2026}}, } @misc{13022, abstract = {{Numerous single-track railway lines are currently disused due to economic factors. These lines could potentially be reactivated by small vehicles that utilise only a single rail, enabling bidirectional operation simultaneously. The MONOCAB is such a compact monorail vehicle, stabilised by a system of control moment gyroscopes (CMGs) and a laterally movable, controllable trim mass. Despite their potential, there is currently a lack of comparative references for MONOCABs in relation to other vehicles. In the context of mechanical design and construction, interdependencies with roll stabilisation occur. Of particular concern are torsional effects, which can significantly impact stability. This study investigates the structural dynamics of monorail vehicles with a focus on the influence of gyroscopes. Gyroscopic systems play a significant role in the behaviour of such vehicles, affecting stability, control and response to external disturbances. Through a comprehensive approach encompassing analytical modelling, numerical simulations, and experimental validation, the interactions between the vehicle's structure and gyroscopic components are explored. The analytical considerations are validated via experimentally derived frequency responses utilising a full-scale monorail vehicle. The results of this study have implications for various fields, such as transportation, robotics and aerospace engineering.}}, author = {{Griese, Martin and Schulte, Thomas}}, booktitle = {{Vehicle system dynamics : international journal of vehicle mechanics and mobility}}, issn = {{1744-5159}}, keywords = {{Vehicle dynamics, rail vehicle, control moment gyroscope, stabilisation control, motion control, stability analysis}}, publisher = {{Taylor & Francis}}, title = {{{Gyroscopic effects in the structural dynamics of monorail vehicles}}}, doi = {{10.1080/00423114.2025.2480820}}, volume = {{63}}, year = {{2025}}, } @misc{13675, abstract = {{This paper extends a previously developed biobjective Mixed-Integer Linear Programming (MILP) methodology for reducing electricity costs and CO2 emissions in Smart-E-Factory applications. While the earlier approach assumed fixed photovoltaic (PV) and battery capacities, we now propose a cascaded optimization framework to determine the optimal sizing (power rating and orientation of the PV system, battery capacity) while simultaneously optimizing battery dispatch. The cost function combines operational costs with amortized investment costs of both PV and battery systems, embedded in a dynamic scheduling optimization that addresses real-time electricity price and CO2 signals. Numerical results indicate that intermediate capacities and balanced east/west orientation maximize cost-effectiveness and emission reductions. This study underscores the value of coupling parametric design and dispatch optimization to achieve scalable, sustainable solutions for industrial energy systems.}}, author = {{Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{ 6th International Conference on Electrical, Communication and Computer Engineering (ICECCE 2025) : 27-28 August 2025, Istanbul, Türkiye}}, isbn = {{979-8-3315-4915-2 }}, keywords = {{Photovoltaic systems, Cost, Electricity, Tariffs, Stochastic processes, Real-time systems, Robustness, Batteries, Planning, Mixed integer linear programming}}, location = {{Istanbul, Turkiye }}, publisher = {{IEEE}}, title = {{{Cascaded Optimization of PV and Battery Sizing Under Dynamic Cost and CO Signals}}}, doi = {{10.1109/icecce67514.2025.11257982}}, year = {{2025}}, } @misc{13224, abstract = {{This paper presents a robust methodology for optimizing CO2 emissions and electricity costs in industrial applications, with the aim of developing a flexible and dynamic energy management strategy that balances sustainability and cost-efficiency. Addressing the growing need for sustainable and economically viable energy solutions amidst the global urgency of climate change mitigation, the proposed approach is based on dynamic energy management techniques that minimize dependence on grid electricity, which can fluctuate between energy import and export. A flexible cost function is developed to simultaneously account for CO2 emissions and electricity prices, enabling a balance between environmental impact and operational costs. The optimization framework employs Mixed-Integer Linear Programming (MILP) to derive the optimal energy management strategy, showcasing significant potential for reducing both CO2 emissions and electricity costs. Although the methodology is demonstrated in a specific industrial setting, its flexible design ensures applicability across various energy profiles and operational scenarios, making it relevant for a wide range of industrial applications.}}, author = {{Mousavi, Seyed Davood and Griese, Martin and Schulte, Thomas}}, booktitle = {{2024 International Conference on Electrical and Computer Engineering Researches (ICECER)}}, keywords = {{CO2 Reduction, Electricity Cost Minimization, Life Cycle Assessment, MILP, Smart-E-Factory, Dynamic Energy Management}}, location = {{Gaborone, Botswana }}, publisher = {{IEEE}}, title = {{{Dynamic Optimization of CO2 Emissions and Electricity Costs in Smart Factories}}}, doi = {{10.1109/icecer62944.2024.10920418}}, year = {{2024}}, } @misc{11305, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, one way they could be reactivated for a bidirectional on-demand service traffic is by small vehicles that use only one rail. MONOCABs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MONOCAB, there is currently no reference in comparison with other vehicles. It is mandatory to gain experience before transferring such a new vehicle concept into commercial operation. To ensure the function and safety of the vehicle even before implementation, a model-based design of the system is carried out for development and analysis. In order to test the developed algorithms, this paper presents a Hardware-in-the-loop structure considering a detailed model of the vehicle and real electronic control units to accurately represent the overall system. This paper focuses on the driving system of the vehicle and investigates interdependencies with the performance of the electronic control units and communication networks.}}, author = {{Hanselle, Raphael and Griese, Martin and Rasche, Rainer and Schulte, Thomas}}, booktitle = {{2023 IEEE 21st International Conference on Industrial Informatics (INDIN)}}, editor = {{Jasperneite, Jürgen and Wisniewski, Lukasz and Man, Kim Fung}}, isbn = {{978-1-6654-9314-7}}, location = {{Lemgo}}, publisher = {{IEEE}}, title = {{{HIL Simulation of the Positioning Control for an Automated Driving Monorail Vehicle}}}, doi = {{10.1109/indin51400.2023.10218259}}, year = {{2023}}, } @misc{11306, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, one way they could be reactivated for a bidirectional on-demand service traffic by small vehicles that use only one rail. MONOCABs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MONOCAB, there is currently no reference in comparison with other vehicles. It is mandatory to gain experience before transferring such a new vehicle concept into commercial operation. Especially the safe and robust commissioning of the stabilization control system is crucial and therefore requires an elaborated procedure. At this step, parameters related to the vertical dynamics have to be determined beforehand. This paper presents a comparative investigation of methods to estimate the moment of inertia and gravitational torque constant. Multiple methods in time-domain and frequency-domain are experimentally evaluated and compared with each other. Experimental tests are carried out with a full-scale monorail vehicle.}}, author = {{Griese, Martin and Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}}, isbn = {{978-1-6654-7634-8}}, issn = {{2159-6255}}, keywords = {{Parameter identification, Vehicle dynamics, Control moment gyroscope, Roll stabilization, Monorail vehicles}}, location = {{Seattle, Wash.}}, pages = {{1196--1201}}, publisher = {{IEEE}}, title = {{{Parameter identification related to vertical dynamic of a self-stabilizing monorail vehicle}}}, doi = {{10.1109/aim46323.2023.10196189}}, year = {{2023}}, } @misc{11307, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, one way they could be reactivated for a bidirectional on-demand service traffic by small vehicles that use only one rail. MonoCabs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a trim mass. They could make an important contribution to improve the mobility offer especially in rural areas. Regarding the MonoCab, there is currently no reference in comparison with other vehicles and no experimental experience or the like. To ensure the function and safety of the vehicle even before implementation, a model-based design of the system is carried out for development and analysis. In order to test the developed algorithms, this paper presents a Hardware-in-the-loop structure considering a detailed model of the vehicle and real electronic control units to accurately represent the overall system. Two scenarios are investigated and compared to offline simulations showing that the functionality of the system can be ensured in operation.}}, author = {{Griese, Martin and Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society}}, isbn = {{978-1-6654-8026-0}}, location = {{Brussels, Belgium}}, publisher = {{IEEE}}, title = {{{HIL simulation of a self-stabilizing monorail vehicle}}}, doi = {{10.1109/iecon49645.2022.9968495}}, year = {{2022}}, } @misc{11817, author = {{Dörr, Sebastian and Schulte, Thomas and Dally, Benjamin}}, booktitle = {{Kraftstoffe für die Mobilität von morgen: 4. Tagung der Fuels Joint Research Group am 10. und 11. Juni 2021 in Dresden-Radebeul }}, editor = {{Bünger, Jürgen and Eilts, Peter and Krahl, Jürgen and Munack, Axel}}, isbn = {{978-3-7369-7440-1}}, location = {{Dresden-Radebeul}}, pages = {{32--40}}, publisher = {{Cuvillier Verlag}}, title = {{{Propulsion for sustainable mobility by the example of public transportation }}}, volume = {{30}}, year = {{2022}}, } @misc{9287, author = {{Stork, Dominic and Lück, Sönke and Griese, Martin and Naumann, Rolf and Schulte, Thomas}}, booktitle = {{World Congress on Railway Research 2022 (WCRR 2022) Draft Technical Programme}}, location = {{Birmingham, UK}}, publisher = {{SNCF}}, title = {{{MonoCab – Simulation-based development of a running gear concept for monorail vehicles}}}, year = {{2022}}, } @misc{8380, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, they could be reactivated for a bidirectional on-demand service traffic by small vehicles that use only one rail. MonoCabs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a moveable mass. They could make an important contribution to improve the mobility offer especially in rural areas. This paper is focused on the vertical stabilization system of the MonoCab. This system is discussed based on a physical three body model which describes the rolling motion of the vehicle, the lateral motion of the mass and the precession motion of the gyroscope. The model is utilized for a cascaded control concept adjusting the vehicle’s roll angle and gyroscope’s gimbal angle. The proposed stabilization concept is capable of compensating both high dynamic disturbances and stationary disturbances (e. g. unbalanced loads and steady wind flows). The concept is analyzed by simulations and experimental investigations utilizing a small scaled test rig and a rapid control prototyping system. Beside transient command responses also the frequency response of the system is experimentally evaluated and used for a validation of the model and theoretical findings.}}, author = {{Griese, Martin and Kottmeier, Fabian and Schulte, Thomas}}, booktitle = {{IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society}}, isbn = {{978-1-6654-3554-3}}, issn = {{2577-1647 }}, keywords = {{Vehicle dynamics, Control moment gyroscope, Control system analysis, Roll stabilization, Monorail vehicles}}, location = {{Toronto, ON, Canada }}, pages = {{pp. 1--6}}, publisher = {{IEEE}}, title = {{{Vertical control of a self-stabilizing monorail vehicle}}}, doi = {{10.1109/IECON48115.2021.9589726}}, year = {{2021}}, } @misc{8384, abstract = {{ynamic simulation models are widely utilized to evaluate complex technical components and systems like electric drives or machines. They can support the development process of a production machine by avoiding an inadequate layout of components or an erroneous control design. However, the effort for building them is often too high for this purpose (lot size one). An automated model generation can be utilized to overcome the gap between efforts and advantages of dynamic simulations. This contribution presents an approach for simplifying the dynamic model generation of production machines by using the so-called Asset Administration Shell defined by the initiative Platform Industrie 4.0. The Asset Administration Shell was developed to aggregate all data necessary for maintaining the product across its life cycle. This includes component data and models as well as structural information about a machine. The generation process is performed by using the common FMI standard and a two-step procedure which allows the linkage of different simulation tools. The model generation is demonstrated by an example layout of a machine's internal direct current grid.}}, author = {{Göllner, D. and Pawlik, Thomas and Schulte, Thomas}}, booktitle = {{2021 IEEE International Conference on Industrial Engineering and Engineering Management (IEEM)}}, isbn = {{978-1-6654-3772-1 }}, issn = {{2157-3611}}, keywords = {{Digital Twin, Asset Administration Shell, Dynamic Simulation Model, Industry 4.0, Automated Model Generation}}, location = {{Online (Singapore)}}, pages = {{808--812}}, publisher = {{IEEE}}, title = {{{Utilization of the Asset Administration Shell for the Generation of Dynamic Simulation Models}}}, doi = {{10.1109/IEEM50564.2021.9673089}}, year = {{2021}}, } @misc{8385, abstract = {{Currently, numerous single-track railway lines are disused due to economic reasons. However, they could be reactivated for a bidirectional on-demand service traffic by small vehicles that use only one rail. MonoCabs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a moveable mass. They could make an important contribution to improve the mobility offer especially in rural areas. This paper focuses on the analytical modeling and vertical stabilization system of the MonoCab. A nonlinear dynamic model is obtained using the Lagrangian method and subsequently linearized about its equilibrium point. Which is used for the design of the cascade control system. The dynamic analysis of the system is accomplished by comparing between analytically derived model in simulink environment and same structured model in simscape multibody. This system is discussed based on a physical three body model which describes the rolling motion of the vehicle, the lateral motion of the mass and the precession motion of the gyroscope. The model is utilized for a cascaded control concept adjusting the vehicle’s roll angle and gyroscope’s precession angle. The proposed stabilization concept is capable of compensating both high dynamic disturbances and stationary disturbances (e. g. unbalanced loads and steady wind flows). The concept is analyzed by simulations and experimental investigations. Beside transient command responses also the frequency response of the system is experimentally evaluated and used for a validation of the model and theoretical findings. For the experimental validation, a small scaled test rig is used which consists of mechanical frames and flywheels, inverter-fed drives, rotary encoders, an inertial measurement unit (IMU) and a rapid control prototyping system.}}, author = {{Griese, Martin and Mousavi, Seyed Davood and Schulte, Thomas}}, booktitle = {{2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)}}, keywords = {{Vehicle dynamics, Control moment gyroscope, Control system analysis, Roll stabilization, Monorail vehicles}}, location = {{Belval, Luxembourg }}, pages = {{205--210}}, publisher = {{IEEE}}, title = {{{Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle}}}, doi = {{10.1109/ICCMA54375.2021.9646219}}, year = {{2021}}, } @misc{8386, abstract = {{The dynamic emulation of mechanical loads is required in a variety of applications to test and validate control algorithms. Typical test setups consist of two mechanically coupled motors, one of which is the Device Under Test (DUT) while the other is used as a load drive for emulation. Existing emulation concepts either rely on the differentiation of velocity feedback or utilize measured quantities of the DUT. The emulation method proposed in this paper uses acceleration feedback to control the torque of the load drive. It does not require any measured quantities of the DUT which allows a simple replacement of the DUT’s motor and/or inverter without the need of any conceptual changes. Based on a physical model, the emulation method is derived analytically and analyzed numerically for the emulation of one-mass-systems. The stability and emulation quality is evaluated considering two controller architectures. Finally, experiments are conducted and compared to numeric simulations to test the correct emulation.}}, author = {{Epp, Michael and Griese, Martin and Schulte, Thomas}}, booktitle = {{IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society}}, isbn = {{978-1-6654-3554-3}}, issn = {{2577-1647}}, keywords = {{Acceleration feedback, emulation of mechanical loads, motion and servo control, machine and drive testing}}, location = {{Toronto, ON, Canada }}, pages = {{1--6}}, publisher = {{IEEE}}, title = {{{Acceleration Feedback Concepts for Dynamic Emulation of Mechanical Loads}}}, doi = {{10.1109/IECON48115.2021.9589449}}, year = {{2021}}, } @inproceedings{8712, author = {{Griese, Martin and Schulte, Thomas}}, booktitle = {{2020 IEEE 14th International Conference on Compatibility, Power Electronics and Power Engineering (CPE-POWERENG)}}, location = {{Setúbal, Portugal}}, pages = {{388--393}}, title = {{{System reduction of optimal control problems with seasonal storage}}}, doi = {{10.1109/CPE-POWERENG48600.2020.9161699}}, volume = {{1}}, year = {{2020}}, } @misc{13023, abstract = {{Transducers based on dielectric electroactive polymers (DEAP) use electrostatic pressure to convert electric energy into strain energy or vice versa. Besides this, they are also designed for sensor applications in monitoring the actual stretch state on the basis of the deformation dependent capacitive-resistive behavior of the DEAP. In order to enable an efficient and proper closed loop control operation of these transducers, e.g. in positioning or energy harvesting applications, on the one hand, sensors based on DEAP material can be integrated into the transducers and evaluated externally, and on the other hand, the transducer itself can be used as a sensor, also in terms of self-sensing. For this purpose the characteristic electrical behavior of the transducer has to be evaluated in order to determine the mechanical state. Also, adequate online identification algorithms with sufficient accuracy and dynamics are required, independent from the sensor concept utilized, in order to determine the electrical DEAP parameters in real time. Therefore, in this contribution, algorithms are developed in the frequency domain for identifications of the capacitance as well as the electrode and polymer resistance of a DEAP, which are validated by measurements. These algorithms are designed for self-sensing applications, especially if the power electronics utilized is operated at a constant switching frequency, and parasitic harmonic oscillations are induced besides the desired DC value. These oscillations can be used for the online identification, so an additional superimposed excitation is no longer necessary. For this purpose a dual active bridge (DAB) is introduced to drive the DEAP transducer. The capabilities of the real-time identification algorithm in combination with the DAB are presented in detail and discussed, finally.}}, author = {{Hoffstadt, Thorben and Griese, Martin and Maas, Jürgen}}, booktitle = {{Smart Materials and Structures}}, issn = {{1361-665X}}, keywords = {{dielectric electroactive polymer, identification algorithm, self-sensing, DEAP sensor}}, location = {{Snowbird, UT}}, number = {{10}}, publisher = {{IOP Publishing}}, title = {{{Online identification algorithms for integrated dielectric electroactive polymer sensors and self-sensing concepts}}}, doi = {{10.1088/0964-1726/23/10/104007}}, volume = {{23}}, year = {{2014}}, }