CURRICULUM VITAE ANNIKA STENSSON TRIGELL

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1 1 CURRICULUM VITAE ANNIKA STENSSON TRIGELL Name: Annika Stensson Trigell Date of Birth: 24 February, Address: KTH Royal Institute of Technology, School of Engineering Phone: , Sciences, Department of Aeronautical and Vehicle Engineering, Vehicle Dynamics Group, Teknikringen 78, SE Stockholm, Sweden Area of specialization Modelling, simulation and experimental investigation of vehicle behaviour and its dynamic interaction with driver and environment. ECO 2 vehicle design. Education Docent, Computer Aided Design, Luleå University of Technology, Sweden, March Ph. D. in Computer Aided Design, Luleå University of Technology, January Title: Modelling and simulation of mechanical systems with displacement limitations. Tech. Lic. in Computer Aided Design, Luleå University of Technology, January M.Sc., Mechanical Engineering, Luleå University of Technology, August Positions Professor in Vehicle Dynamics, KTH Royal Institute of Technology, Sweden, May Professor in Computer Aided Design, Luleå University of Technology, January April Lecturer, Luleå University of Technology, January 1994 December PhD student, Luleå University of Technology, September 1988 December Leadership experience Chairman ASP KTH Scania, May Coordinates the deepened collaboration within the Arena for Strategic Partnership between KTH and Scania CV AB. Chairman and Director of CVER - Center of Vehicle Engineering Research at KTH, Royal Institute of Technology, September 2001 May Coordinated the strategic collaboration between KTH and Scania CV AB. Senior advisor to KTH Transport Platform, KTH Royal Institute of Technology, September Director of KTH Transport Platform, KTH Royal Institute of Technology, May 2009 August Built up the KTH Transport Platform including more than 600 researchers, including the joint strategy and plan for Transport Research at KTH. Senior advisor to VINNOVAs Excellence Centre for ECO 2 Vehicle Design, KTH Royal Institute of Technology, April Vice-chairman of VINNOVAs Excellence Centre for ECO 2 Vehicle Design, Royal Institute of Technology, June 2009 March Director of VINNOVAs Excellence Centre for ECO 2 Vehicle Design, Royal Institute of Technology, February 2006 June Partners are KTH, AB Volvo, A2Zound by Semcon,

2 2 Banverket, Bombardier Transportation, Saab Automobile, Scania CV AB, Trafikverket and VTI. Head of Division of KTH Vehicle Dynamics, May 2000 July Coordinator of the Green Vehicle National University Programme. An educational cooperation between 5 Universities, 4 vehicle manufacturers and governmental authorities (KTH, Chalmers, LTH, LTU, LiTH, Scania CV AB, AB Volvo, Saab Automobile, Volvo Cars and Vinnova), Director of JVTC-Järnvägstekniskt centrum (Luleå Center of Railway Engineering), Luleå University of Technology Leadership Education: Part of Vinnovas leadership programme, Leadership Education: Framtidens ledare i Norrbotten, Leadership Education: Akademiskt ledarskap, LTU, Citation from the KTH International RAE 2008, REPORT PANEL 7: APPLIED MECHANICS, UoA: Vehicle Engineering, Strong Groups/Persons: Annika Stensson Trigell is a vital leader. Recognized in Marquis Who s Who in the World, February Commissions Member of expert panel within Mechanical and Electrical Engineering for Academy of Finland, Member of Polhem Prize Nomination Committee, Member of the Quality Assurance Board for the Research Programme Swedish National Aeronautics Research Programme - NFFP at VINNOVA, the Swedish Agency for Innovation Systems, Commissioned by the Swedish Government to be a member in EUN, The Energy Research and Development Board for the Swedish Energy Agency, Member in IVA - Royal Swedish Academy of Engineering Sciences, Academic member of ERTRAC - European Road Transport Research Advisory Council, representing Safety, One of the initiators to, and the academic member of the Board, for the Swedish Forum for Transport Innovation, Member of the steering group of Thematic Area 1: Systems & Tools, within SHC Swedish Hybrid Vehicle Centre, Member of UP Transport at the Swedish Energy Agency, and Member in the interim group for the formation of the Swedish Forum for transport innovations, One of the PI:s and member of management group of TRENoP Transport Research Environment with Novel Perspectives. A national transport strategic research area in collaboration between KTH, LiU and VTI, National Delegate for Sweden in FISITA (Fédération Internationale des Sociétés d'ingénieurs des Techniques de l'automobile), One of the initiators and member of Transport Advisory Board for the IVA, Royal Swedish Academy of Engineering Sciences, project Transport 2030, Member of the Board in STEM Excellence Centre CICERO, Member of the Board in STEM Excellence Centre EKC2, Member in the evaluation committee for the area of Technical Mechanics within the Swedish Research Council, and Represented the Swedish Universities in the work to develop the National Research Programme IVSS, Intelligent Vehicle Safety Systems, Member in the Board of SVEA Sweden and SVEA EAST (Swedish Automotive Engineering Association, SAE Sweden ) Commissioned by the Swedish Government to be a member in the Board of the Swedish Polar Research Secretariat,

3 3 Member of the Board for the Research Programme TIP, Product Development for the Manufacturing Industry at VINNOVA, the Swedish Agency for Innovation Systems, Member of the Board for the Research Programme, Innovative Vehicles and Systems at VINNOVA, the Swedish Agency for Innovation Systems, Member of the Board for the Research Programme, VINN Excellence Center 2004 (within Transport) at VINNOVA, the Swedish Agency for Innovation Systems, Member of the Board for the Research Programme Energy Systems in Road Vehicles at the Swedish Energy Agency, Member of the Advisory Council for SSF, Swedish Foundation for Strategic Research, Member of the Quality Assurance Group for the Manufacturing Engineering Research Area MERA-programme at VINNOVA, External evaluator of Automotive Research at the HAN University of Applied Sciences, the Netherlands, April 21-23, Member in the Scientific Committee of IAVSD Symposium 2015, University of Graz, Austria. Co-director of the NATO ASI on Advanced autonomous vehicle design for severe environments, Coventry University, UK, July, Member in Scientific Committee and Organizing Committee for International Symposium on Heavy Vehicle Transport Technology HVTT12, September 16-19, 2012, Stockholm, Sweden. Symposium chairman (together with Prof. M. Berg) for the 21st International Symposium on Dynamics of Vehicles on Roads and Tracks, IAVSD 09, August 17 21, 2009, Stockholm, Sweden. 240 delegates from 30 countries. Vice Chairman for the scientific committee for the TRA 06 conference in Gothenburg, Sweden, Referee to Ingvar Carlsson Award from the Swedish Foundation for Strategic Research, Chairman at PhD disputation: 8 times. Member in the evaluation committee at PhD disputation: 19 times. Opponent at PhD disputation: 1 time. Opponent for licentiate thesis: 3 times. Consulted as expert in the evaluation of candidates to a Professorship, Readership and Associate Professorship: 18 times. Scholarships and prizes Awarded the Curt Boström scholarship, Awarded the Håkan Frisinger Foundation for Transportation Research 2011 for the scientific excellence in automotive dynamics, initiating and leading the KTH Transport platform and coordinating the Green Vehicle s National University program in collaboration with the Swedish automotive industry. Håkan Frisinger was the CEO of Volvo in and Chairman of the Board in The award was presented by the Håkan Frisinger Foundation on March 15, 2012 in Gothenburg, Sweden. Knowledge exchange and entrepreneurial achievements One of the initiators to, and close collaboration with over 9 companies through, VINNOVA Excellence Centre for ECO 2 Vehicle Design, annual budget 25 Mkr where over 1/3 are industrial sponsors. Responsible for the development and coordination of the Green Vehicle National University Programme, (an educational cooperation between Vinnova, KTH, Chalmers, LTH, LTU, LiTH, Scania, Volvo, Saab Automobile and Volvo Cars), Resulted in development of 5 joint courses and education of over 600 students,

4 4 Developed and responsible (examiner) for undergraduate courses and Ph.D. courses during the last 20 years in Vehicle System Technology, Vehicle Dynamics, Vehicle Systems for a Better Environment, Mechanical Vibrations, Computer Graphics, Computer Aided Design, Project Course in Environmentally Friendly Vehicles and Bachelor Thesis in Vehicle Engineering. Examiner for more than 200 Master thesis and 45 Bachelor thesis. Contributed in children TV-programs Hjärnkontoret, as well as scientific TV-programs UR om forskare, Radioprograms Vetenskapsradion and magazines Ny Teknik, Svenska Dagbladet, Dagens Industri mm, to increase the public interest in engineering sciences. For example: o TV program UR Forskare funderar: Handklapp och Ekvationer om att en liten ekvation kan rymma en stor komplexitet (in Swedish). Broadcasted at SVT :55, SVT :26, SVT :55, Kunskapskanalen :57, SVT :55. Contributed with invited presentations in several symposia, conferences and celebrations. For example: o Invited lecture: A. Stensson Trigell. Akademins bidrag till framtida innovationer. TREFF14, Transporteffektivitetsdagen, Gothenburg, Sweden, August, 27, o Invited lecture: A. Stensson Trigell. Steering system characteristics influence on driver-vehicle interaction. University of Sevilla, Spain, o Invited lecture: A. Stensson Trigell. Transport 2030 förslag till ett forum för strategiutveckling i transportsektorn Akademins perspektiv. (In English Transport2030 Proposal for a forum for strategy development in the transport sector perspective of academia ), Transportforum, Linköping, Sweden, January 12, o Invited lecture: A. Stensson Trigell, H. Niklasson and B. Olsson. Exempel på och erfarenheter av olika samarbetsformer.(in English: Examples and experiences of different collaborations ). IVA Seminar; Samverkan inom svensk transportforskning. (In English: Seminar by the Swedish Royal Academy of Engineering Sciences about Collaborations within Swedish Transport Research ). IVA, Stockholm, April 29, o Invited lecture: Lätta fordon med mindre motstånd. Teknik & Tillväxt. Grön teknik hot eller möjlighet? KTH, Stockholm, April 1, Main advisor for licentiate thesis Lars Drugge. Modelling and Simulation of the Dynamic Behaviour of Railway Current Collection Systems. Licentiate Thesis 1998:07, Luleå University of Technology, Sweden. Project cooperation with Banverket, Schunk Nordiska Ansel Berghuvud. Curving performance of Ore Wagons with Three-Piece Bogies. Licentiate Thesis 1999:06. Luleå University of Technology, Sweden. Project cooperation with Banverket, SJ, LKAB Tobias Larsson. Effective Development of Dynamic Systems A Structured Approach. Licentiate Thesis 1999:40. Luleå University of Technology, Sweden. Project cooperation with Banverket, Schunk Nordiska Jenny Jerrelind. Effects of Nonlinear Dynamics in Engineering Systems. Licentiate Thesis TRITA-FKT 2001:03, Royal Institute of Technology, Sweden. Project cooperation with INDEX a Braille printer manufacturer Jonas Jarlmark. Driver-Vehicle Interaction under Influence of Crosswind Gusts. Licentiate thesis TRITA-FKT 2002:18, Royal Institute of Technology, Sweden. Project cooperation with Volvo Cars, AB Volvo and VTI Peter Holen. A Study on Passive Damping in Heavy Vehicles. Licentiate thesis TRITA-AVE 2004:03, Royal Institute of Technology, Sweden. Project cooperation with Scania CV AB Johan Andreasson. Hybrid Electric Vehicles Aspects on Driving Dynamics and Vehicle Architecture. Licentiate thesis TRITA-AVE 2004:15, Royal Institute of Technology, Sweden. Project cooperation with AB Volvo, BAE Systems, Saab Automobile, GM, VTEC, Volvo Cars

5 5 Pia Harèll. Pantograph-Catenary Interaction Aspects on Pantograph Dynamics and Critical Catenary Sections. Licentiate thesis TRITA-AVE 2004:23, Royal Institute of Technology, Sweden. Project cooperation with Banverket Magnus Juhlin. A Study on Crosswind Sensitivity of Buses, Licentiate Thesis TRITA-AVE 2005:32, Royal Institute of Technology, Sweden. Project cooperation with Vägverket, Scania CV AB Olof Noréus. Modelling of Six-Wheeled Electric Transmission Terrain Vehicle. Licentiate thesis TRITA-AVE 2007:05, Royal Institute of Technology, Sweden. Project cooperation with AB Volvo, BAE Systems, Saab Automobile, GM, VTEC, Volvo Cars Mats Jonasson. Aspects of Autonomous Corner Modules as an Enabler for New Vehicle Chassis Solutions, Licentiate Thesis TRITA-AVE2006:101. Project cooperation with Volvo Cars Markus Agebro. Driver Preferences of Steering Characteristics. Licentiate thesis TRITA-AVE 2007:66, Royal Institute of Technology, Sweden. Project cooperation with GM, Saab Automobile Fredrik Svahn. Low-Cost Control of Discontinuous Systems Including Impacts and Friction. Licentiate thesis TRITA-AVE 2007:79, Royal Institute of Technology, Sweden. Project cooperation with Virginia Tech and Univ. of Illinois Urbana Campaign, USA Adam Rehnberg. Vehicle Dynamic Analysis of Wheel Loaders with Suspended Axles, Licentiate thesis TRITA-AVE 2008:15, Royal Institute of Technology, Sweden. Project cooperation with Volvo CE Malte Rothämel. Capturing Steering Feel - a Step Towards Implementation of Active Steering in Heavy Vehicles. Licentiate thesis TRITA-AVE 2010:57, Royal Institute of Technology, Sweden. Project cooperation with Scania CV AB Johannes Edrén. Exploring Force Allocation Control of Over Actuated Vehicles. Licentiate thesis TRITA AVE 2011:80, KTH Royal Institute of Technology, Sweden. Project cooperation with Volvo Cars, Saab Automobile and AB Volvo within SHC Daniel Wanner. Faults and their Influence on the Dynamic Behaviour of Electric Vehicles. Licentiate thesis TRITA-AVE 2013:48, KTH Royal Institute of Technology, Sweden. Project cooperation with Volvo Cars, Saab Automobile and AB Volvo within SHC Main advisor for PhD Lars Drugge, PhD dissertation on February 11, Title: Modelling and Simulation of Pantograph/Catenary Dynamics. Doctoral thesis in Computer Aided Design, Luleå University of Technology. Project cooperation with Banverket, Schunk Nordiska Tobias Larsson, PhD dissertation on April 6, Title: Multibody Dynamic Simulation in Product Development. Doctoral thesis in Computer Aided Design, Luleå University of Technology. (Not main advisor from May 2000-April 2001 since I moved to KTH). Project cooperation with Banverket, Schunk Nordiska, BMW, Jaguar Erik Dahlberg, PhD dissertation on May 18, Title: Commercial Vehicle Stability Focusing on Rollover. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology. Project cooperation with Scania CV AB Ansel Berghuvud, PhD dissertation on September 28, Title: Curving Performance and Nonlinear Dynamic Behaviour of Freight Cars with Three-Piece Bogies. Doctoral thesis in Computer Aided Design, Luleå University of Technology. (Assistant advisor from May Sept 2001 since I moved to KTH). Project cooperation with Banverket, SJ, LKAB Jenny Jerrelind. PhD dissertation on April 29, Title: Design and Control of Products Including Parts with Impacts. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology. Project cooperation with INDEX, Banverket and Virginia Tech Peter Holen. PhD dissertation on November 16, Title: On Modally Distributed Damping in Heavy Vehicles. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology. TRITA-AVE2006:78. Project cooperation with Scania CV AB

6 6 Johan Andreasson. PhD dissertation on February 23, Title: On Generic Road Vehicle Motion Modelling and Control, Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology. TRITA-AVE 2006:85. Project cooperation with AB Volvo, BAE Systems, Saab Automobile, GM, VTEC, Volvo Cars Magnus Juhlin. PhD dissertation on May 29, Title: Assessment of Crosswind performance of Buses. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology, TRITA-AVE 2009:25. Project cooperation within Centre for ECO 2 Vehicle Design, especially with Scania CV AB and Swedish Road Administration Mats Jonasson. PhD dissertation on September 25, Title: Exploiting Individual Wheel Actuators to Enhance Vehicle Dynamics and Safety in Electric Vehicles. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology., TRITA-AVE 2009:33, ISSN , ISBN Project cooperation with Volvo Cars Fredrik Svahn, PhD dissertation on October 9, Title: On the Stability and Control of Piecewise-Smooth Dynamical Systems with Impacts and Friction. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology. TRITA-AVE 2009:, ISSN. Project cooperation with University of Illinois at Urbana-Champaign, USA. Andreas Erséus, PhD dissertation on June 10, Title: Driver-Vehicle Interaction - Identification, Characterization and Modelling of Path Tracking Skill. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology, TRITA-AVE 2010:29. Project cooperation with Saab Automobile and GM R&D. Olof Noréus. PhD dissertation on November 9, Title: Improving a Six-Wheeler s Performance both On- and Off-Road. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology, Sweden. TRITA-AVE 2010:61. Project cooperation with BAE Systems Hägglunds, AB Volvo, Saab Automobile & Volvo Cars Adam Rehnberg. PhD dissertation on June 14, Title: Suspension Design for Off-Road Construction Machines. Doctoral Thesis in Vehicle Engineering, Royal Institute of Technology, Sweden. TRITA-AVE 2011:39. (Assistant advisor from April 2011-June 2011, since Lars Drugge got his Docentship and became main advisor). Project cooperation within Centre for ECO 2 Vehicle Design, especially with Volvo Construction Equipment Malte Rothhämel. PhD dissertation on June 12, Title: Characterisation and Utilisation of Steering Feel in Heavy Trucks. Doctoral thesis in Vehicle Engineering, Royal Institute of Technology, Sweden. TRITA-AVE 2013:21, (Assistant advisor). Project cooperation with Scania CV AB Johannes Edrén. Motion modelling and control strategies for over-actuated vehicles TRITA AVE 2014:75, KTH Royal Institute of Technology, Sweden. Project cooperation with Volvo Cars and AB Volvo within SHC Editor experience Member in the editorial board of International Journal of Vehicle System Modelling and testing. Elsevier Publishing, Member in the editorial board of International Journal of Vehicle Design, Inderscience, Guest editors M. Berg and A. Stensson Trigell. SELECTED AND EXTENDED PAPERS FROM THE 21st SYMPOSIUM OF THE INTERNATIONAL ASSOCIATION OF VEHICLE SYSTEM DYNAMICS. Supplement to Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility. Vol. 48, 2010 (Taylor & Francis, ISSN ). Guest editors M. Berg and A. Stensson Trigell. SPECIAL ISSUE: State of the Art Papers of the 21 st IAVSD Symposium. Vehicle System Dynamics, International Journal of Vehicle Mechanics and Mobility. Vol : , 2009 (Taylor & Francis).

7 7 Publications D. Wanner, L. Drugge, A. Stensson Trigell, O. Wallmark and M. Jonasson. Control allocation strategies for an electric vehicle with a wheel motor failure, accepted for publication in International Journal of Vehicle Systems Modelling and Testing (to appear 2015). J. Edrén, M. Jonasson, J. Jerrelind and A. Stensson Trigell. Utilization of optimization solutions to control active suspension for decreased braking distance, accepted for publication in Vehicle System Dynamics (to appear 2015). A. Erséus, A. Stensson Trigell and L. Drugge, Characteristics of path tracking skill on a curving road. International Journal of Vehicle Design, Vol. 67, No.1, pp , ISSN: , D. Wanner, L. Drugge and A. Stensson Trigell. Fault classification method for the driving safety of electrified vehicles, Vehicle System Dynamics, Vol. 52, No. 5, pp , Open access, DOI: / F. Morales Sanchez, J. Wideberg and A. Stensson Trigell. Problems in using individual X-bywire cornering modules. Int. J. Heavy Vehicle Systems, Vol. 21, No. 1, J. Edrén, P. Sundström, M. Jonasson, B. Jacobson, J. Andreasson and A. Stensson Trigell Road friction effect on the optimal vehicle control strategy in two critical manoeuvres, International Journal of Vehicle Safety, Vol. 7, No 2, pp , N. Winkler, L. Drugge, A. Stensson Trigell, G. Efraimsson. Aerodynamics of road vehicles in transient crosswinds coupling aero to vehicle dynamics, VSDIA 2014, 14 th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, November, Budapest, Hungary, D. Wanner, L. Drugge and A. Stensson Trigell, Influence of vehicle parameters on directional stability during electric powertrain faults in passenger cars, FISITA 2014 World Automotive Congress, 2-6 June, Maasricht, Netherlands, A. Erséus, A. Stensson Trigell and L. Drugge, Methodology for finding parameters related to path tracking skill applied on a DLC-test in a moving base driving simulator. International Journal of Vehicle Autonomous Systems, Vol. 11, No. 1, pp. 1-21, J. Jerrelind, J. Edrén, M. Mehdi Davari, A. Stensson Trigell and L. Drugge. Exploring active camber to enhance vehicle performance and safety. 23rd International Symposium on Dynamics of Vehicles on Roads and Tracks. In proceedings of IAVSD 1319th-23rd of August 2013, Qingdao, China, J. Edrén, J. Jerrelind, A. Stensson Trigell and L. Drugge. Implementation and evaluation of force allocation control of a down scaled prototype vehicle with wheel corner modules. International Journal of Vehicle Systems Modelling and Testing, Vol. 8, No. 4, pp , J. Jerrelind, L. Drugge, A. Stensson Trigell and M. Nybacka. Simulation of vehicle-overhead power system interaction on electric roads. In Proceedings of VSDIA, Budapest, November 5-7, D. Wanner, A. Stensson Trigell, L. Drugge and J. Jerrelind. Survey on fault-tolerant vehicle design. 26th Electric Vehicle Symposium, (EVS26), Los Angeles, CA, May 6-9, D. Wanner, J. Edrén, M. Jonasson, O. Wallmark, L. Drugge and A. Stensson Trigell. Faulttolerant control of electric vehicles with in-wheel motors through tyre-force allocation. Proceedings of the 11th International Symposium on Advanced Vehicle Control, 11th International Symposium on Advanced Vehicle Control, M. Jonasson, J. Andreasson and A. Stensson Trigell. Evaluation of instantaneous force allocation compared to trajectory optimization. Proceedings of the 11th International Symposium on Advanced Vehicle Control, 11th International Symposium on Advanced Vehicle Control, A. Rehnberg, J. Edrén, M. Eriksson, L. Drugge, A. Stensson Trigell, Scale model investigation of articulated frame steer vehicle snaking stability. International Journal of Vehicle System Modelling and Testing, Vol. 6, No. 2, pp , 2011.

8 8 A. Erséus, A. Stensson Trigell and L. Drugge. A path tracking driver model with representation of driving skill. Int. J. Vehicle Systems Modelling and Testing, Vol. 6, No. 2, pp , O. Noréus and A. Stensson Trigell, Comparison of measured and simulated drawbar pull for six wheeled vehicle with radial pneumatic tyres on sand. Accepted for publication in International Journal of Terramechanics, M. Jonasson, J. Andreasson, S. Solyom, B. Jacobson and A. Stensson Trigell, Utilization of actuators to improve vehicle stability at the limit - From hydraulic brakes toward electric propulsion, Journal of Dynamic Systems Measurement, and Control, ISSN: , Vol. 133, No. 5, A. Stensson Trigell, M. Nybacka and H. Ingvarsson. Strategy for the KTH Transport Platform. KTH Report, (2010). P. Sundström, M. Jonasson, J. Andreasson, A. Stensson Trigell and B. Jacobson. Path and control optimisation for over-actuated vehicles in two safety-critical manoeuvres, Proceedings of 10th International Symposium on Advanced Vehicle Control, Loughborough, United Kingdom, J. Edrén, M. Jonasson, A. S. Trigell and J. Jerrelind. The development of a down-scaled overactuated vehicle equipped with autonomous corner module functionality. Proceedings from FISITA 10 in Budapest, Hungary, June 1-5, M. Jonasson, J. Andreasson, B. Jacobson and A. Stensson Trigell. Global force potential of over-actuated vehicles. Vehicle System Dynamics, Volume 48 Issue 9, , M. Jonasson, J. Andreasson, A. Stensson Trigell and B. Jacobson. Investigation of the nonconvex force constraints imposed by individual wheel torque allocation. Accepted for publication in International Journal of Vehicle Systems, Modelling and Testing, A. Rehnberg, L. Drugge and A. Stensson Trigell. Snaking stability of articulated frame steer vehicles with axle suspension. International Journal of Heavy Vehicle Systems, Vol. 17, No. 2, pp , J. Edrén, M. Jonasson, A. Nilsson, A. Rehnberg, F. Svahn, A. S. Trigell. Modelica and Dymola for education in vehicle dynamics at KTH. Paper MODEL09_0112_F1. In Proceedings from 7th Modelica Conference 2009, Como, Italy, Nilsson; A. Stensson Trigell and L. Drugge. Methodology to find parameters characteristic to path tracking skill DLC-test in a moving base simulator. In proceedings from IAVSD 09, Stockholm, Sweden, August 17-21, O. Noréus and A. Stensson Trigell. Measurement of terrain values and drawbar pull for six wheeled vehicle on sand. Proceedings for 16th International Conference of the International Society for Terrain-Vehicle Systems Turin November 25 28, A. Nilsson, A. Stensson Trigell and Lars Drugge A path tracking scenario without preview for analysis of driver characteristics. Proceedings of the 9th International Symposium on Advanced Vehicle Control (AVEC 08), in Kobe, Japan, October 6-9, M. Jonasson, J. Andreasson, A. Stensson Trigell and B. Jacobson. Modelling vehicle dynamics for limit handling: Strategies, experiments and validation. Proceedings of the 9th International Symposium on Advanced Vehicle Control (AVEC 08), Vol. 1, pp , Kobe, Japan, A. Stensson Trigell, M. Berg, S. Boij, G. Efraimsson, J. Jerrelind, P. Wennhage and P. Göransson. ECO 2 Vehicle Design an initiative for a holistic perspective on future vehicle concepts. In Proceedings from TRA2008 in Ljubljana, Slovenia, April 21-24, A. Nilsson, M. Agebro and A. Stensson Trigell. Study of path tracking skill and strategy using a moving base simulator. FISITA TRANSACTIONS, paper F2006D075T, (2007). L. Drugge, A. Lennartsson and A. Stensson Trigell. A Laboratory model study of a current collection system. DETC In proceedings of the ASME International Design Engineering Technical Conferences, Sept. 4-7, Las Vegas, Nevada, A. Stensson Trigell. Academic challenges on hybrid electric vehicle development. Invited Plenary Lecture at AECV June 13, 2007.

9 9 M. Jonasson, S. Zetterström and A. Stensson Trigell, Autonomous corner modules as an enabler for new vehicle chassis solutions. FISITA Transactions, M. Agebro, A. Nilsson and A. Stensson Trigell, Driver preferences of steering gear ratio and steering wheel effort a driving simulator study. FISITA 06, paper F2006V079, E. Dahlberg and A. Stensson. The dynamic rollover threshold a heavy truck sensitivity study. International Journal of Vehicle Design, Vol. 40, No. 1-3, pp , A. Nilsson and A. Stensson Trigell. Driver behavior recognition and modeling: a study on previous research. Report KTH_C , J. Jerrelind and A. Stensson. Nonlinear dynamic behaviour of coupled suspension systems. Meccanica, 38, pp 43-59, A. Berghuvud and A. Stensson. Consequences of nonlinear characteristics of a secondary suspension in a three-piece car bogie. Vehicle System Dynamics, 36:1, pp 37-55, A. Stensson and W. Kortum. State-of-the-art of CAE for mechatronic systems and industry requirements. Proceedings of 1st IFAC-Conference on Mechatronic Systems, pp , A. Stensson, T. Larsson, T. Merkt, J. Schuller, R. A. Williams and L. Mauer. Industry demands on vehicle development - Methods and tools. Vehicle System Dynamics, 33, pp , L. Drugge, T. Larsson and A. Stensson. Modelling and simulation of catenary-pantograph interaction. Vehicle System Dynamics, 33, pp , J. Jerrelind and A. Stensson. Nonlinear dynamics of parts in engineering systems. International Journal of Chaos, Solitons and Fractals, 11, pp , J. Nielsen and A. Stensson. Enhancing freight railways for 30 tonnes. Journal of Rail and Rapid Transit, ImechE vol. 213 Part F, pp , L. Drugge, T. Larsson, A. Berghuvud and A. Stensson. The nonlinear behaviour of a pantograph current collector suspension. DETC99/VIB Proceedings from ASME Design Engineering Technical Conferences, September 12-15, Las Vegas, Nevada, USA, A. Stensson and T. Larsson. Simulation in product development. IAVSD Herbertov Workshop on Modelling and Simulation of Mechatronic Vehicles - Methods, Tools and Standards. Herbertov, May 12-15, A. Stensson, A. Berghuvud and E. Bergman. Main suspension dynamics in a three-piece bogie. Proceedings of the 16th IAVSD Symposium, Dynamics of Vehicles on Roads and Tracks, August 30 to September 3, Pretoria, South Africa, L. Drugge, T. Larsson and A. Stensson. Modelling and simulation of catenary-pantograph interaction. Proceedings of the 16th IAVSD Symposium, Dynamics of Vehicles on Roads and Tracks. Vehicle System Dynamics, Supplement 33, pp , A. Stensson, T. Larsson, T. Merkt, J. Schuller, R. A. Williams and L. Mauer. Industry demands on vehicle development - Methods and tools. Vehicle System Dynamics, Supplement 33, pp , J. Jerrelind and A. Stensson. Braille printer dynamics. DETC99/VIB-8032 in proceedings from ASME Design Engineering Technical Conferences, September 12-15, Las Vegas, Nevada, USA, A. Berghuvud and A. Stensson. Ore wagon-track interaction in curves at Malmbanan/Ofotbanen - the influence of dual point wheel-rail contact. Research Report 1998:05, Luleå University of Technology, Sweden, A. Stensson. Accurate Prediction of the nonlinear behaviour of impact oscillators. 7th Conference on Nonlinear Vibrations, Stability, and Dynamics of Structures July 26-30, Blacksburg, Virginia, USA, A. Berghuvud and A. Stensson. Dynamic behaviour of ore wagons in curves at Malmbanan. Vehicle System Dynamics 30, 3-4, pp , A. Berghuvud and A. Stensson. Prediction of lateral wheel-rail contact forces of ore wagons with three-piece bogies. Proceedings of VSDIA 98, Budapest, Hungary 9-11 Nov, 1998.

10 10 T. Yagi, A. Stensson and C. Hardell. Simulation and visualisation of the dynamic behaviour of an overhead power system with contact breaking. Vehicle System Dynamics 25, pp , A. Berghuvud and A. Stensson. Simulations of vehicle-track interaction, Report 2.2. Wagons" (In Swedish: Gångdynamiska simuleringar, Rapport 2.2 Vagnar i utredningen 30 ton på Malmbanan), Banverket Sweden, Nov., A. Berghuvud and. A. Stensson. Gångdynamisk analys av tre olika malmvagnar på Malmbanan (in Swedish), Research Report TULEA 1996:06, Luleå University of Technology, Sweden, L. Drugge, A. Stensson and L. Karlsson. A theoretical and experimental study on the dynamic behaviour of a catenary system. International Congress of Theoretical and Applied Mechanics, Kyoto, Japan August 25-31, L. Karlsson and A. Stensson. Designing and controlling complex mechanisms. Complex Technical Systems, Ed. Lars Ingelstam, FRN Report 96:5, pp , C. Hardell, A. Stensson and P. Jeppsson. A relational database for general mechanical systems. Computational Dynamics in Multibody Systems, Ed. Manuel Pereira, Kluwer Academics, pp , A. Stensson, C. Asplund and L. Karlsson. The nonlinear behaviour of a MacPherson strut wheel suspension. Vehicle System Dynamics 23 pp , A. Stensson and A. B. Nordmark. Experimental investigation of some consequences of low velocity impact in the chaotic dynamics of a mechanical system. Philosophical Transactions of Royal Society of London A 347 pp , A. Stensson. Simulation of the dynamic behaviour of a front wheel suspension. Proceedings to 36th SIMS Simulation Conference. Stockholm, Sweden, August 17-19, C. Hardell, A. Stensson and P. Jeppsson. A relational database for general mechanical systems. NATO ASI on Computer Aided Analysis of Rigid and Flexible Mechanical Systems. Troia, Portugal 27 June-10 July, 1993.