Event Guidddde

SAE 2009
Heavy Truck Handling,

Dynamics & Control
Symposium
May 5-7. 2009

Clemson University
Greenville, South Carolina, USA
P90573
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Whats inside
Symposium Overview
Symposium Organizers
4
6
8
Special Events
Technical Program
Speaker Biographies
and Abstracts
Exhibitors
Sponsors
12
32
32
Heavy Truck Handling,

Dynamics & Control Symposium
11
symposium Overview
Location
Hours of Operation
SAE Southern Office

CU-ICAR
5 Research Drive
Greenville, SC 29607
Phone: 864-283-7110
Registration
Monday, May 4
10:00 a.m. 12:00 p.m.
Michelin Americas Research
Corporation
Exhibition
Tuesday, May 5
7:00 a.m. 5:00 p.m.
Tuesday, May 5
10:00 - 10:30 a.m.
12:30 - 1:30 p.m.
Wednesday, May 6
10:00 - 10:30 a.m.
12:30 - 1:30 p.m.
Wednesday, May 6
7:00 a.m. 5:00 p.m.
Thursday, May 7
7:00 a.m. 1:00 p.m.
Michelin Lauerns Proving
Grounds
Event Overview
Monday
May 4
Early Bird
Registration
10:00 a.m. 12:00 p.m.
K & C Rig Workshop
Registration
10:00 a.m. 12:00 p.m.
K & C Rig Workshop

12:00 5:00 p.m.
Tuesday
Wednesday
Thursday
7:00 a.m. 5:00 p.m.
7:00 a.m. 5:00 p.m.
7:00 8:00 a.m.
Opening Remarks
8:00 8:30 a.m.
Opening Remarks
8:00 8:30 a.m.
Technical Presentations
8:30 10:00 a.m.
8:30 10:00 a.m.
Networking Break
10:00 10:30 a.m.
Networking Break
10:00 10:30 a.m.
May 5
Registration
May 6
Registration
Tabletop Exhibits Open Tabletop Exhibits Open

10:00 10:30 a.m.
10:00 10:30 a.m.
10:30 a.m. 12:00 p.m.
10:30 a.m. 12:00 p.m.
Networking Lunch
12:00 1:30 p.m.
Networking Lunch
12:00 1:30 p.m.
Tabletop Exhibits Open Tabletop Exhibits Open
Michelin Americas
Research Corporation
12:30 1:30 p.m.
12:30 1:30 p.m.
Technical Sessions
1:30 3:00 p.m.
Technical Sessions
1:30 3:00 p.m.
Networking Break
3:00 3:30 p.m.
Networking Break
3:00 3:30 p.m.
Technical Sessions
3:30 5:00 p.m.
Technical Sessions
3:30 5:00 p.m.
Welcoming Reception
Networking Reception
5:00 6:00 p.m.
5:00 6:00 p.m.
Heavy Truck Handling, Dynamics & Control Symposium
May 7
Registration
Michelin Proving Grounds

Ride and Demonstration
(Michelin Americas Research
Corporation)
9:00 a.m. 4:00 p.m.
Special Events and

Networking Opportunities
Tuesday, May 5
Networking Lunch
Sponsored by
Carolina First Gallery

5:00 p.m. 6:00 p.m.
Wednesday, May 6
Networking Lunch
1-800-581-9295
SAE International
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12:00 p.m. 1:30 p.m.
Welcome Reception
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Warrendale, PA 15096-0001 USA
Phone: 1-724-776-4841
Fax: 1-724-776-0790
Customer Service
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12:00 p.m. 1:30 p.m.

5:00 p.m. 6:00 p.m.
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1-724-776-4970
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Automotive Headquarters
755 W. Big Beaver Rd.
Troy, MI 48084
Phone: 1-248-273-2455
Fax: 1-248-273-2494
This is my SAE.
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alternative fueled engines for passenger cars. As an expert
in his field, he has authored three SAE technical papers.
Each of the past four years, Jason has attended the SAE
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SAE Member since 2001.
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3/20/09
5:10:23 PM
Heavy Truck Handling, Dynamics & Control
Symposium
Organizing Committee
Beshah Ayalew
Assistant Professor, Clemson University ICAR

Assistant Professor, Clemson University ICAR
Beshah Ayalew obtained his MS (2000) and Ph.D. (2005) degrees in
Mechanical Engineering from Penn State University. He is currently
an assistant professor at the Clemson University-International Center
for Automotive Research. Prior to joining Clemson, he worked as a
research associate at the Pennsylvania Transportation Institute. He
was a Graduate Deans Fellow in the College of Engineering at Penn
State and a Fellow of the US DOEs GATE (Graduate Automotive
Technology Education) program. He was also a recipient of the
Beshah Ayalew
Penn State Alumni Association Dissertation Award for his work
on nonlinear controllers for multi-actuator load simulation testing
Assistant Professor,
systems. His teaching and research interests lie in the general areas Clemson University
of dynamic systems modeling and control with the following specific
applications: vehicle dynamics control, fluid power systems, vehicle ICAR
testing systems and hydraulic/electric hybrid drive trains. He is a
member of SAE, ASME and IEEE.
James Davidson
Engineer, U.S. Army TARDEC
Suzanne Dickerson
SAE International Officers
James E. Smith, PhD
2009 SAE President
West Virginia University
Charla K. Wise
SAE Vice President Aerospace
Lockheed Martin Corporation
Jacqueline A. Dedo
SAE Vice President Automotive
Dana Holding Corporation
Manager, Marketing and Global Business Development,

Clemson University
Suzanne Dickerson is the Manager for Business Development
and Marketing at Clemson Universitys International Center for
Automotive Research (CU-ICAR). Suzannes experience includes
12 years in the automotive industry at BMW working in the fields
of corporate sustainability, innovation management and long-term
strategic and structural planning. She began her career with BMW in
Munich Germany at corporate headquarters upon completion of the
prestigious Bosch Foundation Fellowship Program. Suzanne speaks
fluent German and is also a Fellow of the Herbert Quandt Young
Leaders Forum.
Richard E. Kleine
SAE Vice President
Commercial Vehicle
Cummins Inc.
Terence J. Rhoades
SAE Treasurer
Mechanical Simulation Corporation
Carol A. Story
SAE Assistant Treasurer
David L. Schutt, PhD
SAE Executive Vice President
Chief Operating Office and Secretary
Suzanne
Dickerson
Manager, Marketing
and Global Business
Development,
Clemson University
SAE 2009 Engineering

Meetings Board
Chairperson
Dr. Walter W. Olson
University of Toledo
Vice Chairperson
Vacant
Dr. David Hall
Past Chairperson
Debi L. Cohoon
General Motors Corporation (retired)
Michelin
David E. Hall, PhD BS, Cornell University, 1992 MSME, Georgia

Institute of Technology, 1993 PhD, Purdue University, 1998 David Hall
joined the Tire Performance Analysis and Simulation group at Michelin
Research in 1998. For 4 years, David was responsible for rolling
resistance, fuel economy and thermal measurement and analysis at
the Greenville, SC research center. He then continued this work at
the research facility in Clermont-Ferrand, France until 2004 before
joining the vehicle handling group in France. After working on several
collaborative research projects with European car manufacturers,
David returned to the Greenville facility to lead the Traction and
Dr. David
Handling performance team. Since January, 2008, David has been the Michelin
team leader for both the Traction, Handling, Noise and Comfort team
and the Suspension Measurement and Analysis team.
Members
Air and Space Group (ASG) Chair
Vacant
Continuing Professional Development
Group (CPDG) Chair
Dr. Sandra Kay Krug
Baker College
Hall
Stefan Jansson
Dr. Pranab Saha, PE

Kolano and Saha Engineers, Inc.
Gerald S. Shoemaker
Cessna Aircraft Company
Dr. Ragnar Ledesma
Principal Engineer, ArvinMeritor Inc.
H. Robert (Bob) Welge

Roberts Engineering Development
Secretary
Patti Kreh
SAE International
Dr. Ragnar
Ledesma
Principal Engineer,
ArvinMeritor Inc.
Skip Yeakel
Principal Engineer, Volvo
Members-at-Large
Prof. Bernard J. Challen
Shoreham Services
Joe Barkai
IDC Manufacturing Insights
Principal Engineer, Volvo Trucks North America
Ragnar Ledesma has earned a B.S. degree in Civil Engineering from

the University of the Philippines, M.S. degree in Civil Engineering
from the University of Oklahoma, and Ph.D. degree in Mechanical
Engineering from the University of California at Santa Barbara. He was
a Research Fellow at the Center for Automotive Durability Simulation
at the University of Michigan from 1993 to 1995. He then joined
Rockwell Internationals Automotive Division (now ArvinMeritor, Inc.)
as a dynamics specialist in the Analytical Mechanics Department. In
his current capacity, he provides corporate-wide engineering support
related to vehicle dynamics and durability issues. Dr. Ledesma is a
licensed Professional Engineer in the State of Michigan.
Land and Sea Group (LSG) Chair

Volker Sick
University of Michigan-Ann Arbor
SAE International
World Headquarters
400 Commonwealth Drive
Warrendale, PA 15096-0001 USA
Phone: 1-724-776-4841
Fax: 1-724-776-0790
Customer Service
1-877-606-7323
(toll free U.S. and Canada)
1-724-776-4970
www.sae.org
customerservice@sae.org
Automotive Headquarters
755 W. Big Beaver Road
Troy, MI 48084
Phone: 1-248-273-2455
Fax: 1-248-273-2494
Technical Program
John Miller
Program Engineer
Phone: 1-248-273-2464
Email: jrmiller@sae.org
Exhibits, Sponsorship and
Advertising Opportunities
Gretchen Chamberlain
Event Sales Development
gchamberlain@sae.org
SPECIAL EVENTS
Monday
Use of Kinematics and Compliance

Measurement for Simulation of Heavy
Truck Vehicle Dynamics
Monday May 4, 2009
12:00 5:00 p.m.
Michelin Americas Research Corporation
515 Michelin Road
Greenville, SC 29605
In conjunction with the 2009 SAE Heavy Truck Handling, Dynamics and Control
Symposium, Michelin Americas Research Company (MARC) will hold a half-day
seminar on the afternoon of May 4 on kinematics and compliance testing, results and
use of data for heavy truck vehicle dynamics analysis.
The seminar topics include:
Vehicle dynamics simulation approach: multi-body vs. functional suspension models,
The science (and art) of completing kinematics and compliance measurements
on heavy trucks, including steering characterization, vertical and roll kinematics,
longitudinal and lateral compliance, and chassis flexibility,
Guided visit of the Michelin Americas Research Company heavy truck kinematics
and compliance test rig,
Review of characteristics for typical heavy-truck suspensions, including several
case studies,
Trucksim model development from:
Kinematics and compliance data,
Tire force and moment characteristics,
Braking system,
Electronic aids: ABS and ESC simulation, and
Additional parameters (sprung / unsprung mass, Cg position, inertia, etc.)
Validation of simulation results, including steady-state understeer, random steer,
brake in curve and avoidance / rollover maneuvers.
SAE Heavy Duty Handling, Dynamics

and Control Symposium:
Ride and Demonstration Event
thursday
Thursday May 7, 2009

9:00 a.m. 4:00 p.m.
Michelins Laurens Proving Grounds
2440 Highway 39
Mountville, SC 29370
Stop by the registration desk (at Michelin Proving Ground)
Fee $125.00
Experience the latest technologies for yourself!
Plan now to participate in this limited-attendance event and get first-hand knowledge of
vehicle dynamics, ride & handling, and control capabilities in a single day!
Participants will be able to ride in, and/or observe over several vehicles (possibility of 12
vehicles) provided by OEMs and Tier One suppliers demonstrating their technology on
the Vehicle Dynamics Area (VDA) at Michelins Laurens Proving Ground over numerous
test surfaces
Register early - attendance is limited.
Separate registration and fee is required. All participants must show a valid drivers
license and proof of medical insurance, and will be required to sign a liability waiver.
Continental breakfast and lunch will be provided
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Heavy Truck Handling, Dynamics & Control

Symposium
4/16/09
4:24:29 PM
TECHNICAL PROGRAM
Tuesday
May 5, 2009
AT&T Auditorium
7:00 a.m.
Registration
8:00 a.m.
Opening Remarks
John Miller, SAE International
8:30 a.m.
Keynote Address
Paul Decker
ESC
9:15 am.
Development of Nash Optimal Strategy for Tractor-Trailer

Stability Control System
Saied Taheri Ph.D., Virginia Polytechnic (see page 12 for biography)
10:00 a.m.
Networking Break
10:30 a.m.
Tractor and ESC Co-Simulation and Investigation of Adaptive

Stability Control Approaches
John Limroth, CU-ICAR Clemson University International Center for AU (see page 13
for biography)
11:15 a.m.
High Speed Electronic Stability Control System Demonstration

on a Urban Autonomous Ground Vehicle
Bapiraju Surampudi PhD, Joe Steiber, Southwest Research Institute, Junmin Wang,
Ohio State University (see page 14 for biography)
12:00 p.m.
Networking Lunch
Components
1:30 p.m.
Articulated Dump Truck Independent Suspension

Mark Doody, Timoney Research Ltd. (see page 15 for biography)
2:15 p.m.
Artificial Steering Feel on Commercial Vehicle

Daniel Williams, TRW Commercial Steer (see page 16 for biography)
3:00 p.m.
Networking Break

Safety/Testing
Tuesday
May 5, 2009
3:30 p.m.
Steering Wheel Haptic Feedback System for Indication and

Rollover Avoidance in a Heavy Commercial Vehicle
Peter Tkacik, University of North Carolina Charlotte (see page 17 for biography)
4:15 p.m.
Presentation of the Results from and Extended Pilot Study of an

Integrated Vehicle-Based Safety System for Heavy Trucks
Scott E. Bogard, University of Michigan (see page 18 for biography)
5:00 p.m.
Welcoming Reception
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TECHNICAL PROGRAM
Wednesday
May 6, 2009
AT&T Auditorium
7:00 a.m.
Registration
8:00 a.m.
Opening Remarks
John Miller, SAE International
Safety/Testing continue
8:30 a.m.
Real-Time Heavy Truck Rollover Warning System

Peter Tkacik, University of North Carolina Charlotte (see page 20 for biography)
9:15 a.m.
Objective Handling Evaluation of Heavy Trucks by means of

Model based parameter Identification
Dr. Klaus Prenninger, Magna Powertrain (see page 21 for biography)
10:00 a.m.
Networking Break
10:30 a.m.
NTRCI Heavy Vehicle Research Programs

Joseph A. Petrolino, Vice President Heavy Vehicle R&D, Center Director University Transportation Center, National Transportation Research Center, Inc.
(see page
22 for biography)
10:45 a.m.
Heavy Truck Measurement, Modeling and Evaluation

Michael Arant, Michelin (see page 23 for biography)
11:45 a.m.
Verification of Heavy Truck Chassis Control Embedded Software

Jacobus Zwaanenburg, ETAS (see page 24 for biography)
12:15 p.m.
Networking Lunch
Simulation/Modeling
1:30 p.m.
Development and Validation of a Hardware in the Loop

Simulation for Studying Heavy Truck Stability Control
Effectiveness
Alrik L. Svenson, National Highway Traffic (see page 25 for biography)
2:15 p.m.
Robust Vehicle Dynamics Simulation using Neural Network

Response Surface Generation
Peter D. Schmitt, Frederic Jacquelin and David Martin, Ricardo, Inc. (see page 26
for biography)
10
Wednesday
May 6, 2009
3:00 p.m.
Networking Break
AT&T Auditorium
3:30 p.m.
Simulation Applications in the Development and Testing of

Heavy Vehicles
Dr. Thomas D. Gillespie, Mechanical Simulations Corporation (see page 27 for biography)
4:15 p.m.
Tire Model Investigation in Longitudinal Direction using the

Magic Formula
Dr-Ing Sameh Maher Metwalley, Helwan University (see page 28 for biography)
5:00 p.m.
SAE 2009
Heavy Duty Diesel

Emissions Control Symposium
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11
speaker biographies
Tuesday
May 5, 2009
Development of Nash Optimal Strategy for Tractor-Trailer
Stability Control System
Saied Taheri Ph.D.
Virginia Polytechnic
EDUCATION
1990: Ph.D., Mechanical
Engineering
Clemson University, Clemson,
South Carolina
1986: Master of Science,
Mechanical Engineering
Clemson University, Clemson, South Carolina
1984: Bachelor of Science, Mechanical Engineering
Clemson University, Clemson, South Carolina
EXPERIENCE
Virginia Polytechnic Institute and State University 1998Present
The Goodyear Tire & Rubber Company 1998-2008
University of Akron 1998-2008
Tehran Polytechnic Institute, Department of Mechanical
Engineering 1991 1998
Ford Motor Company 1990 1992
Have over sixty published papers and over 100 published
reports, one book chapter, 9 invention disclosures
Notes
12
Abstract
This paper describes the research on the extension of Nash
optimal strategy for LQ differential games with bounded
uncertain disturbances applied to tractor semi-trailer
stability control system algorithm development.
For systems governed by several controllers, i.e., decision
makers or players, where each controller aims to minimize
different performance criterion, Nash strategy offers a
nice framework to study control robustness. In fact, such
a strategy has an inherent robustness property since no
player can improve his/her payoff by deviating unilaterally
from his/her Nash strategy once the equilibrium is attained.
Uncertainty is an inevitable issue in all dynamics system
studies. It is well-known that uncertainties can have a large
effect on the performance of a system and the manner by
which it is controlled. In a multiplayer LQ differential game,
when players cannot measure disturbances, the standard
Nash strategies bear to a quasi Nash-equilibrium depending
on an uncertainty upper bound that confirms the robustness
property of such standard strategies. Although a fair amount
of research has been done in studying stochastic Nash
optimality problems, there is still much to learn about the
effect of bounded uncertainties in general and random
perturbations in particular, on such dynamics systems.
All in all, the primary goals of the study has been to explore
and develop new frontiers in the effects of uncertainties in
Nash optimal control strategies for the purpose of better
and more efficient interactions between all involved players.
One application of such development is in the area of
vehicle stability control. The findings have been applied to
investigate the effects of bounded disturbances in vehicular
systems (as needed, to modify the control algorithms to deal
with model uncertainties and environmental disturbances) by
exclusively introducing driver as an actively integrated player
in the whole vehicle control scheme. The simulation results
using Trucksim has shown the superiority of the developed
control algorithm as compared to the existing ones.
Tuesday
May 5, 2009
Tractor and ESC Co-Simulation and Investigation of Adaptive
Stability Control Approaches
John Limroth
CU-ICAR Clemson University
International Center for AU
John Limroth received a B.S.

degree in Mechanical Engineering
from Texas A&M University
in 1994 and a M.S. degree in
Mechanical Engineering also
from Texas A&M University in
1996. He worked at National Instruments from 1996 to
2006 in various roles including R&D, sales and product
strategy for the companys hardware and software tools
for test, measurement and control applications. Limroth
is currently a Ph.D. candidate in Automotive Engineering
at the Clemson University International Center for
Automotive Research. He is currently researching heavy
tractor-trailer electronic stability control systems with
support from National Transportation Research Center,
Inc., Michelin Americas Research and Development Corp.
and National Instruments.
Notes
Abstract
Electronic stability control (ESC) systems have been proven
to be an effective means of preventing instability and loss
of control on both passenger vehicles and heavy trucks.
In addition, roll stability algorithms are an effective means
of reducing the risk of rollover on heavy trucks with their
relatively high centers of gravity. Stability control systems
are so effective that the U.S. government has mandated
their inclusion on all new passenger vehicles by September
2011, and similar legislation is anticipated soon for heavy
trucks. Understanding of how these systems affect truck
handling and performance in a simulation environment is
critical for OEMs and suppliers alike. This presentation
includes a software co-simulation of a tractor-trailer
combination and an investigation into adaptive control
techniques for ESC.
A simulation system for a heavy tractor-trailer vehicle
equipped with ESC will be presented. This system will
include a vehicle model in a commercial simulation tool
such as TruckSim, which will be compared to a lowerorder analytical model. An ESC algorithm developed and
simulated in LabVIEW will be included in the simulation
model.
In addition, results of track testing of a test tractor-trailer
vehicle with ESC both enabled and disabled will be
presented. The truck is instrumented to acquire data
required to validate the simulation system. A comparison
of track test results and simulated maneuvers will be
presented.
Such a simulation platform will enable the investigation of
truck performance both with and without stability control
and the sensitivity of vehicle performance to changes in
vehicle parameters. The simulations will be used to conduct
experiments to determine particular vehicle configurations
and parameters that result in improved vehicle stability and
dynamic performance.
In addition the simulation platform will provide a means to
investigate advanced stability control algorithms, such as
algorithms that automatically adapt to changes in vehicle
parameters such as trailer load configurations.
13
speaker biographies
Tuesday
May 5, 2009
High Speed Electronic Stability Control System Demonstration
on a Urban Autonomous Ground Vehicle
Bapiraju Surampudi Ph.D.
Southwest Research Institute
Dr. Surampudi has worked with

automotive control systems for
15 years. He has been primarily
focused in the areas of fuel
economy improvement, diesel
combustion control to reduce
emissions and automated testing.
In the area of automated testing he has developed control
algorithms towards autonomous navigation, pedestrian
safety, adaptive cruise control and active safety for other
urban driving conditions. He is currently working as a
Principal Engineer in the Office of Automotive Engineering
at Southwest Research Institute in San Antonio, Texas.
Joe Steiber
Abstract
This presentation describes implementation of a new
trajectory tracking control system for autonomous ground
vehicles (AGV) toward safe and high-speed operation
enabled by incorporating vehicle dynamics control (VDC)
into the AGV. It is a follow-on work to [1] where control
system design was described. The yaw rate signal from
Inertial Navigation System (INS) system and vehicle speed
signal from OBD (On Board Diagnostics), CAN (Controller
Area Network) bus are utilized to generate appropriate
steering corrections.
Sliding mode control is utilized to handle the system
uncertainties. Steering actuation is performed by an electric
actuator on steering column and control algorithms are
implemented using Simulink/RTWorkshop/dSPACE tool
chain. The details of implementation, results and video of the
SwRI autonomous SUV will be presented at the conference.
Southwest Research Institute
Joe Steiber has been working

on multi-disciplinary modeling,
simulation, control system
development, and testing for
over 21 years. He has developed
and applied these analytical
and testing techniques to
support a number of activies such as military aircraft
hydraulic system analysis, heavy-duty-vehicle active
suspension control system development, hybrid electric
vehicle design, real-time model-controlled dynamometer
testing for engines, electric motors, battery and engines,
automatic transmission autocalibration, and autonomous
vehicle control system for fuel economy and safety. He
is currently a Principal Engineer at Southwest Research
Institute in San Antonio, Texas.
14
Notes
Tuesday
May 5, 2009
Articulated Dump Truck Independent Suspension
Mark Doody
Timoney Research Ltd.
Education
BE, Mechanical Engineering,
University College Dublin, Ireland
MS, Manufacturing Systems
Engineering, Stanford University, CA.
Mr. Doody has more than twenty
years automotive engineering experience, including more
than 10 years with Timoney Technology, where he has
worked in the design, development, prototyping and testing
of offroad and military vehicles, especially their suspension
and driveline systems. Mr Doody is now Engineering
Manager of Timoney Technology USA, where current
projects include development and production of an
independent suspension and planetary gearbox for a
TARDEC-funded vehicle and further development of
Timoneys independent suspension systems for ARFF
(Airport Rescue and Fire-Fighting) vehicles.
Abstract
Articulated dump trucks can subject the driver to severe
dosage of whole body vibration. This paper describes a
new 17tonne independent front suspension specifically
designed for the heavy articulated dump truck application.
The paper describes how the use of such suspension on a
chassis with essentially zero torsional stiffness dramatically
reduces the transverse body vibration transmitted to the
driver quite a counterintuitive outcome by in some
cases an order of magnitude.
Recent EU legislation limiting the permitted whole body
vibration to which a truck operator may be subjected is
discussed in the context of this new suspension. Results
of comparative testing of the same truck with and without
independent suspension are discussed.
As a result of the greatly reduced vibration dosage the
operating time at higher speeds is greatly increased.
Based on permissible dosage levels and using advanced
modelling techniques a comparison is made between
standard non independently sprung and independent
suspension trucks which demonstrate the significant gains
in productivity that independent suspension confers on
articulated dump trucks.
Notes
15
speaker biographies
Tuesday
May 5, 2009
Artificial Steering Feel on Commercial Vehicle
Daniel Williams
RW Commercial Steer
Dan Williams has worked

for TRW for over 20 years
in engineering and planning
positions of increasing
responsibility in passenger car
suspension and commercial
vehicle steering business units.
He has managed the development and launch of chassis
control systems in North America and Europe. He is
currently Chief Engineer of Advanced Engineering for
TRW Commercial Steering Systems in Lafayette, IN. He
has published over 10 papers and 20 patents on various
vehicle control systems.
Dan received the B.S. (1985) and M.S. (1987) degrees
in engineering from the University of Illinois. He
received the M.B.A. (1990) degree from the Florida
Institute of Technology and later received his Ph.D.
(1995) in Mechanical Engineering from Florida Tech. His
dissertation compared practical and theoretically optimal
active automotive suspension systems. He recently
completed his M.A. in History from Purdue University.
He is a registered Professional Engineer and a member
of Tau Beta Pi and the American Society of Mechanical
Engineers. He has organized technical sessions for the
Society of Automotive Engineers, sits on a task for force
to develop vehicle control systems metrics, and was
recently Chairman of the Buckendale Lecture committee.
Dan lives with his wife Christina and four children in
Lebanon, IN.
16
Abstract
Current generation Electric Power Steering control
algorithms generally duplicate performance inherent in
the open center hydraulic systems they replace. Other
control strategies are possible which result in a completely
computer generated torque feedback to the driver. This
evolution will be discussed, and and the particular value
it creates for the commercial vehicle duty cycle will be
presented. End user feedback from motor home and
transit bus launches will be included. Finally, the new
artificial feel strategy will be shown to have significant
advantages when interfacing with other vehicle control
systems such as lane-keeping and EBS.
Notes
Tuesday
May 5, 2009
Steering Wheel Haptic Feedback System for Indication and
Rollover Avoidance in a Heavy Commercial Vehicle
Peter Tkacik
University of North Carolina Charlotte
Abstract
A haptic feedback system is described that improves the
safety in an over the road truck (18 wheeled tractor trailer)
application. This work is in collaboration with but does
not depend on a (heavy truck) trailer rollover sensor and
consists of a system to cause a vibration on the steering
wheel to warn the driver. An experimental road going
system is proposed, designed and tested. The experimental
data reveals information about the sensitivity of the human
driver as a function of steering wheel shake frequency and
amplitude while driving a vehicle. A second part of the
experiment involves laboratory based testing with a driving
simulator to determine the human sensitivity to a wider
range of natural vibrations caused by road roughness and
the intermittent experimental excitation frequencies at the
steering wheel. Data variability is investigated through
sampling of a large population of drivers. The experimental
setup probing the amplitude and frequency information is
analyzed on the modified steering wheel console system.
Suggestions are made regarding the best adaptation
of the steering wheel vibration system to over the road
commercial vehicles.
Notes
17
speaker biographies
Tuesday
May 5, 2009
Presentation of the Results from and Extended Pilot Study of
an Integrated Vehicle-Based Safety System for Heavy Trucks
Scott E. Bogard
Mr. Bogard has been with
The University of Michigan
Transportation Research
Institute since 1989 and has
an MSE degree in Mechanical
engineering. Since joining UMTRI
he has been involved in a variety
of research projects aimed at
determining the mechanical performance characteristics
of motor vehicles and understanding the task of driving
as it pertains to driver behavior and study of highway
safety. Most recently, he has played a substantial part
in four of UMTRIs field test operational projects in the
capacity of planning and implementing of data handling,
processing and analysis tasks. He also plays an active
role in the preparation and conduct of these tests by
working in the field to make sure the test vehicles are
properly equipped and operating as designed. In previous
work, he has had a variety of experiences, ranging
from the physical measurement of truck suspension
characteristics to the development of software for vehicle
component design and kinematic analysis. He has made
substantial contributions to many technical papers and
numerous reports.
Notes
18
Abstract
This presentation will review and highlight important
findings from the heavy-truck pilot-test of the IVBSS Field
Operational Test (FOT) program. The IVBSS program is
sponsored by the US Department of Transportation. The
program integrates three different warning technologies
to address three distinct crash modalities namely: forward
crashes, lane or road departure crashes and lanechange/lane-merge crashes. The pilot test, specifically,
is a prerequisite for conducting the full scale FOT which
will involve approximately 20 subjects driving 10 fullyinstrumented heavy trucks in a commercial freight delivery
operation over a 10 month period. Important issues
addressed by the pilot test included: driver acceptance
and ease of use; performance as determined by the
system alert rate; robustness of the IVBSS technology and
the performance monitoring or data acquisition system
on-board the vehicle. The findings are based on a fourweek exposure period in which seven professional truck
drivers accumulated over 5500 miles (8855 km) with the
IVBSS enabled. For scope, the data archive from the pilot
includes 10.5 GB of numerical data (nominally sampled
at 10 hz) from six radars, vehicle bus data and additional
sensors, and 22.4 GB of video from five tractor-mounted
cameras. While the driver sample size is too small for
definitive results regarding acceptance and performance,
the findings were used to determine changes to the system
prior to the start of the FOT in early 2009.
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P81653
speaker biographies
Wednesday
May 6, 2009
Real-Time Heavy Truck Rollover Warning System
Nishanth Reddy Kadire
University of North Carolina Charlotte
Notes
20
Abstract
This research improves the public safety on interstate
highways through the development of an anti-rollover
system for heavy commercial trucks. It includes the design
of an inexpensive real-time rollover warning system to
inform the driver prior to rollover or else initiate stability
control algorithms in the vehicle. Heavy commercial
vehicles have a greater risk of rollover due to their large
size, higher center of gravity and highway width limitations.
In addition to this, drivers awareness of rollover depends
on vehicle type, load position and torsional stiffness of the
trailer, among many other vehicle parameters. The result is
that the rear end of the trailer can act quite independently
from the tractor and can initiate rollover before the driver
is even aware of his/her imminent crash. Recent statistics
on truck and bus crashes show that rollover occurred
in 53.8% of the first harmful event of non-collision type
crashes. Furthermore, the fatality rate of rollover accidents
was found to be significantly higher than non-rollover
cases. Therefore, active counter measures for rollover
crashes are crucial for highway safety for trucks (and
other vehicles). The developed system in this research
uses suspension displacement measurements, a lateral
accelerometer, and wheel speed sensors to calculate the
centre of gravity (CG) height and the proximity of rollover.
Further studies by the author include a variety of driver
warning (haptick feedback) systems. With the application
of a reliable sensor and feedback system, an accurate and
timely warning is issued regarding impending rollover threat
and the driver can take corrective measures in a timely
fashion avoid rollover accidents.
Wednesday
May 6, 2009
Objective Handling Evaluation of Heavy Trucks by means of
Model based Parameter Identification
Dr. Klaus Prenninger
Magna Powertrain
Born: 1974 in Salzburg, Austria

Company: Magna Powertrain
Engineering Center Steyr
Education
1989 1994 Secondary
technical college for mechanical
engineering, Salzburg
1995 2003 Study of Mechanical Engineering, Graz
University of Technology,
Diploma Thesis:
Measuring Method of the Objective Comfort Evaluation
of Trucks , written at MAN Steyr AG, Austria
2003 - 2008 Doctoral study at Graz University of
Technology
Doctoral Thesis:
Objective Vehicle Dynamics Evaluation of Vehicles,
especially Heavy Commercial Vehicles, by means of
Model based Parameter Identification.
Working experience
2003 2008 Scientific Assistant at the Institute
of Automotive at the Department of Automotive
Engineering, Graz University of Technology
Since July 2008 R&D Project leader at the Vehicle
Engineering Department, Engineering Center Steyr,
Magna Powertrain, Austria
Notes
Abstract
The handling characteristics of a vehicle play an important
role regarding vehicle safety and the overall enjoyment of the
driving experience. Presently applied procedures are based on
international standards [1], which are usually legitimated on large
proving grounds and their application is quite time consuming.
Newer approaches focus on the on-board identification of vehicle
parameters. New evaluation methods and criteria are developed
especially for heavy commercial vehicles.
The content of the paper describes how to simplify and speed
up the currently used complex objective vehicle dynamics
evaluation process. Therefore the focus is on the application
of new procedures to evaluate the vehicle dynamics of heavy
commercial vehicles. These methods enable the use of simple
test manoeuvres instead of the commonly used complex and time
consuming driving procedures, which require steering machines
and large dynamic platforms. In the following two different
evaluation methods are shown.
In the first method system identification algorithms are used to
calculate different vehicle parameters and frequency responses
from any transient driving manoeuvres. These parameters are
system gain, system damping, natural frequency and delay
constants. These calculated parameters are widely known
and different investigations have shown that a high system
gain and system damping and a low time delay are positively
evaluated by drivers. The application of the developed method to
simple and freely driving manoeuvres (e.g. double lane change)
shows sufficiently high accuracy and reproducibility. The main
advantages of this vehicle dynamics evaluation method are: 1. the
tests can be performed on a flat and approximately 10 m wide
road compared to a large proving ground which is needed for
the sinusoidal steering input, 2. for the evaluation process only
a few freely driven manoeuvres are needed compared to about
45 measurements for the standardised step and the sinusoidal
input and 3. the numerical evaluation is available for example in
MATLAB.
In the second evaluation method a nonlinear optimization
algorithm enables the identification of side force characteristics
from vehicle measurement data. These characteristics include
tire and chassis attributes and affect the handling performance
in an important manner. They can be also used to validate and
parameterize simulation models.
This method is applied to measured data of a steady state
cornering. The needed measurement data are steering wheel
angle, yaw velocity, lateral velocity and lateral acceleration. A
comparison between the identified side force characteristics
and the tire model TMeasy shows feasible results. The main
advantage of this method is, that the calculation of tire maps
from vehicle measurements is less costly than expensive tire test
bench measurements.
21
speaker biographies
Wednesday
May 6, 2009
NTRCI Heavy Vehicle Research Programs
Joseph Petrolino
Vice President Heavy Vehicle R&D
Center Director University
Transportation Center
National Transportation Research
Center, Inc.
Joseph A. Petrolino is president

of the University Transportation
Center at the National
Transportation Research Center,
Inc. His 28-year career includes multifaceted, hands-on
experience in both corporate and Department of Defense
management. He brings to NTRCI experience in executive
and program management of complex motor vehicle
systems, including engineering development, testing,
contract management, sales and distribution, production,
and logistics.
He has served as president of a start-up subsidiary
business unit to produce new technology emergency fire
and rescue vehicles, which are currently in use. He was
General Manager of a business unit with annual sales of
more than $200 million for heavy trucks. He also headed
a corporate team that successfully negotiated a joint
venture for manufacture of heavy trucks in China.
Petrolino received his bachelor of science in engineering
from the U.S. Military Academy and his master of science
in engineering from Purdue University. He is a graduate
of the U.S. Army War College and the Defense Systems
Management College.
Notes
22
Wednesday
May 6, 2009
Heavy Truck Measurement, Modeling and Evaluation
Michael Arant
Michelin
Michael Arant is a Heavy Vehicle

Handling Analyst for Michelin
Americas Research Company. In
this capacity he is responsible
for research activities relating to
heavy vehicle and tire handling
performances. Current areas
of research in this capacity include improving the
fundamental knowledge relating to tire development and
handling performance, relating tire performance to vehicle
system behavior, development and review of testing and
modeling methods to improve tire performance evaluation,
and supporting the tire development community with
regard to tire and heavy vehicle handling performance
issues.
Activities conducted to advance these research topics
include evaluation of tire force and moment properties,
development of tire force and moment modeling and fitting
applications, tire and vehicle system model development,
vehicle model simulation, physical testing of vehicles, field
data evaluation, and correlation of modeling results to field
data. Related tasks include managing testing activities,
interacting with vehicle manufacturers and heavy vehicle
component manufactures, and coordinating support for
heavy vehicle handling issues.
Prior to becoming a Heavy Vehicle Handling Analyst, Mr.
Arant worked as a Concept Tire Development Analyst,
assessing tires operational environment and tire and
vehicle system behavior; and as a Tire Wear Life Analyst,
where he dealt with wear life improvement and developed
wear life evaluation methodologies and applications.
Before Mr. Arant began work for Michelin Americas
Research Company, he worked as a manufacturing
engineer in the cutting tool industry.
Abstract
The use of computer based modeling to evaluate the
handling and stability performance of heavy trucks has
been common place for the last 20 years. As computing
power has advanced over this time, the sophistication
of the models has also advanced allowing for more
complicated vehicle models to be developed and used.
However, more complicated models require more physical
measurement data to operate and the models can be more
sensitive to the quality of the input data and assumptions
made when developing the simulation equations.
To evaluate the current state of heavy truck modeling for
roll limit stability, Michelin, as part of a DOT sponsored
study, measured a class 8 tractor and flat-bed trailer,
developed a model of the vehicle, and compared the
simulation results to field test results. The vehicle
parameters were evaluated using a Kinematics and
Compliance test facility located at Michelins Greenville
SC research center. The modeling of the vehicle was
completed in Mechanical Simulations TruckSim
application as this modeling package is recognized in the
industry. Finally, the modeling results were compared
to field test results collected during testing at the
Transportation Research Center in East liberty OH.
The results of the Kinematics and Compliance testing,
model development, simulation results, and the comparison
of the simulation results to the field test results have been
collected and used to make an evaluation of the current
level of accuracy in heavy truck vehicle modeling. While
this is not a definitive assessment of all heavy vehicle
modeling activities, it does reflect the current capabilities
and limits in the modeling of a class 8 tractor and semitrailer using carefully collected Kinematics and Compliance
data relative to carefully controlled field test results.
Notes
Mr. Arant holds a Bachelor of Science degree in

Mechanical Engineering from Clemson University and is
currently completing his Masters Degree in Mechanical
Engineering at Clemson University.
23
speaker biographies
Wednesday
May 6, 2009
Verification of Heavy Truck Chassis Control Embedded
Software
Jacobus (Koos )
Zwaanenburg
ETAS
Koos Zwaanenburg manages

technical marketing of ETAS
test and validation products for
embedded control systems.
Abstract
This presentation will revolve around the following four
topics:
How off-the-shelf PCs can be used for real-time
verification of chassis controllers
How in-vehicle measurement during experiments can be
re-used for verification of chassis controllers in the lab
His main areas of focus are

vehicle dynamics controls, including ABS, traction control
and stability control, and powertrain controls including
engine and transmission controllers.
How advanced test automation software allows re-use

of test cases: from integration test to release testing
He has 25 years of experience in this field. He holds an

MSEE degree from Delft University in The Netherlands.
This presentation will also show some actual customer use

cases and prove that these four attributes lead to reduced
testing costs, testing time and effort, and improved product
quality.
Notes
24
How currently available vehicle dynamics modeling tools

can be re-used for control system testing in the lab
Wednesday
May 6, 2009
Development and Validation of a Hardware in the Loop
Simulation for Studying Heavy Stability Control Effectiveness
Alrik L. Svenson
National Highway Traffic
Alrik Svenson has been with the

National Highway Traffic Safety
Administration (NHTSA) since
1998 and is currently a Research
Engineer and Program Manager
in the Office of Applied Vehicle
Safety Research. Mr. Svenson
manages research programs in support of agency
rulemaking initiatives in the areas of crash avoidance and
tires for both passenger vehicles and heavy trucks. This
includes braking, stability control, and collision mitigation
systems being studied by NHTSA.
Mr. Svenson began his career in safety research in 1991
as a recipient of the National Highway Institute Grants for
Research Fellowships Program. In 1993, he joined the
Federal Highway Administration, Safety Design Division
in McLean, Virginia as a member of the R&D staff, where
his research focused on developing composite materials
for use in roadside structures, rollover crash prevention,
and the development of vehicle dynamics models for the
Interactive Highway Safety Design Model.
Mr. Svenson holds a masters and bachelors degree
in civil engineering from The Catholic University of
America in Washington, D.C. and has been a member
of SAE since 1994. He currently participates in several
SAE technical committees as well as committees of the
Transportation Research Board.
Abstract
A Hardware in the Loop (HiL) system was developed
for NHTSA by the University of Michigan Transportation
Research Institute (UMTRI) to investigate heavy truck
instability due to directional loss of control and rollover
situations with and without stability control systems for
a wide range of maneuvers and speeds. The purpose of
the HiL model was to evaluate the safety benefits of ESC
and RSC systems that are designed to assist the driver
in preventing yaw instabilities (jackknife) and rollovers in
heavy trucks. The HiL system was built in the UMTRI
laboratory using the brake system of a truck and the
actual stability control system control units supplied from a
manufacturer. The control units in this study were tuned for
three loading conditions: a heavily loaded trailer, a middle
loaded trailer, and a lightly loaded trailer. The dynamics
software uses TruckSim, and the simulation results were
validated using test track data collected by NHTSA.
The HiL model is being used to examine yaw instability and
rollover scenarios that that would be not be possible to
conduct in actual track testing.
Driving scenario maneuvers were developed through an
examination of crash data cases from the Large Truck
Crash Causation Study (LTCCS). These scenarios were
based on realistic events and were developed to replicate
typical crash situations so that the results could be linked
to crash data populations. The scenarios used a pathfollowing driver model to drive through curves of various
radii, a curve with a reduced radius, and variations of lane
change maneuvers that are representative of obstacle
avoidance. This presentation outlines the process of
developing and validating the HiL model so that the
simulation closely represents the expected outcome for a
similar maneuver conducted on a test track. The resulting
HIL can provide reliable results for determining system
effectiveness in various driving maneuvers.
Notes
25
speaker biographies
Wednesday
May 6, 2009
Robust Vehicle Dynamics Simulation using Neural Network
Response Surface Generation
Peter D. Schmitt
Abstract
Ricardo, Inc.
The expense of vehicle testing combined with the continuous

enhancement of simulation models has made the vehicle
dynamics field increasingly reliant on computer modeling. One
recurring challenge in vehicle dynamics modeling is uncertainty
in model parameters. This uncertainly can arise from typical
sources such as manufacturing tolerances and variations in
customer usage. In addition, when simulations are performed
early in the design process for a vehicle, uncertainty in model
parameters can arise from changes in a vehicle design as
the design evolves. To address these multiple sources of
uncertainty, it is important to be able to accurately model
vehicle performance over a range of vehicle parameters.
Frederic Jacquelin
Ricardo, Inc.
David Martin
Ricardo, Inc.
David Belo
Ricardo, Inc.
Mr. Schmitt is currently a Vehicle
Dynamics Technical Specialist at Ricardo,
a worldwide engineering consulting
firm to the automotive and transport
industries. His focus is on vehicle
dynamics simulation, measurement, and
development for a broad range of vehicles.
Prior to his current position, Mr. Schmitt
worked at Chrysler as a Vehicle Dynamics
Manager, where he was responsible for
testing and simulation for vehicle dynamics
and vehicle chassis systems.
Mr. Schmitt has been involved in the design and development of
numerous light and medium duty vehicles. He has been active in
automotive industry groups including the Alliance of Automobile
Manufacturers Electronic Stability Control Working Group and the
SAE Vehicle Dynamics Standards Committee. Mr. Schmitt received a
B.S. in Mechanical Engineering from Carnegie Mellon University and
a M.S. in Mechanical Engineering from Wayne State University.
Mr. Belo is currently a Vehicle Dynamics
Engineer at Ricardo. His primarily
responsibility is analysis and modeling
of wheeled military ground vehicles. He
uses multibody simulation to perform a
wide range of projects including most
recently an effort to analyze and quantify
the increased fuel economy opportunities
in suspension design. He was previously
employed at Mechanical Simulation
Corporation, makers of CarSim and
TruckSim, where he was involved in vehicle
simulation and software development.
Mr. Belo received a B.S. in Mechanical Engineering from Villanova
University and a M.S. in Mechanical Engineering from the University
of Michigan. At the university level, his focus was primarily vehicle
dynamics and numerical methods. While at the University of
Michigan, he studied under industry experts including Dr. Tom
Gillespie and Dr. Tim Gordon. His research included the formulation
of driver modeling techniques and the design and manufacture of a
low-friction adjustable racecar damper. In addition, he was active in
the design, manufacture, and testing of the Formula SAE racecar.
26
The typical approach to understanding how a simulation model

response varies with changes in parameters is to perform
multiple simulations to generate the response surface of the
system. However, accurate vehicle dynamics models are
often highly nonlinear and complex. The nonlinear nature
of the models means that a large number of simulation runs
are required to accurately characterize the irregular response
surface. At the same time, the complexity of the models
requires a large amount of computation time and makes it
difficult to perform a sufficient number of simulation runs.
The method discussed in this presentation combines Design
of Experiments (DoE) and neural networks to generate the
response surface for vehicle dynamics models using a minimal
amount of simulation runs. The method involves first creating
and running a coarse but efficient multivariate simulation run
matrix using DoE techniques. Next, a neural network is fit to
provide a detailed representation of the response surface. The
neural network can then function as an accurate surrogate
to the vehicle dynamics model and can be quizzed virtually
instantly, regardless of the complexity of the simulation model.
The neural network model can also be used to generate
more data in order to visualize trends, determine feasible and
unfeasible design space boundaries, and find a robust optimum
solution within design constraints. All this is accomplished
without further simulation runs.
The method can be applied to model uncertainty in a broad
range of vehicle parameters. Many vehicle parameters such
as spring rates and damper characteristics are intentionally
adjusted during the design and development of a vehicle. Other
vehicle parameters such as cargo CG location can change
based on customer usage of the vehicle. By generating the full
response surface using the neural network approach, variations
from all these different sources can be accurately modeled.
The neural network response surface method is also useful
in addressing uncertainty in driver behavior. Many vehicle
dynamics simulation driver models do not take into account
differing driving styles of actual drivers.
For a given maneuver, the path taken by different drivers
can vary substantially. The neural network method allows
examination of all these different paths to understand how the
vehicle performance can vary with a range of driving styles.
Wednesday
May 6, 2009
Simulation Applications in the Development and Testing of
Heavy Vehicles
Dr. Thomas D. Gillespie
Abstract
Mechanical Simulations Corporation
Heavy vehicle manufacturers and their suppliers continuously

improve their methods for developing products to meet
both in-house and government-regulated performance
requirements. Simulation is one of the most cost effective
engineering tools facilitating this improvement. Particularly in
the area of vehicle dynamics, simulation has proven its value
in many applications.
Dr. Gillespie is a Research Professor

Emeritus with the University of
Michigan. He is retired from a
30- year career as a researcher
at the Universitys Transportation
Research Institute where his
research focused on vehicle
dynamics, roadway interaction and simulation of these
phenomena. In conjunction with this, he was a co-founder
of the Mechanical Simulation Corporation.
He is the author of the book, Fundamentals of Vehicle
Dynamics, published by the SAE. He has taught courses
on automotive engineering and integrated vehicle systems
design while at the University of Michigan, and vehicle
dynamics courses at automotive manufacturers and
suppliers.
In 1987-88, he served on the White House staff as a Senior
Policy Analyst in the Office of Science and Technology
Policy. He later served as a consultant to the White House,
chairing the Interagency Task Force to develop a National
Action Plan on Advanced Superconductivity Research and
Development.
With software that can simulate vehicle dynamic behavior

in accelerating, braking, ride and handling, engineers can
evaluate the performance of candidate designs for new
products at the conceptual stage. This ability takes much
of the guess work out of designing to meet governmental
regulations like the U.S. Federal Motor Vehicle Safety
Standards or the Performance Based Standards being
considered in many countries. The design of vehicle dynamic
control systems is another example where simulation provides
the virtual test vehicle and proving grounds needed for the
initial design and for later testing of prototype hardware via
hardware-in-the-loop systems.
The presentation will discuss these and other ways in which
vehicle dynamics simulation is being used to development of
heavy vehicle products.
Notes
Dr. Gillespie currently serves as the Director of Product

Planning at Mechanical Simulation Corporation in Ann
Arbor, Michigan. In addition to a consulting practice,
he continues to teach courses in vehicle dynamics at
automotive and supplier companies.
Education:
B.S. Mechanical Engineering, 1961,
Carnegie Mellon University
M.S. Mechanical Engineering, 1965,
Pennsylvania State University
Ph.D. Mechanical Engineering, 1970,
Pennsylvania State University
27
speaker biographies
Wednesday
May 6, 2009
Tire Model Investigation in Longitudinal Direction using the
Magic Formula
Dr-Ing Sameh Maher Metwalley
Helwan University
Abstract
The study of the mechanics of pneumatic tires is of
fundemental importance to understand the performance
and characteristics of ground vehicles. Two basic types of
problems in the mechanics of tires are of special interest
in the Automotive engineering. One is themechanics of
tires on hard surface which is essential to the study of the
characteristics of road vehicles, the other is the mechanics
of tires on deformable surface which is of prime importance
to the study of the off road vehicles performance.
The relation between wheel slip and adhesion coefficient
is physically unknown till to date engineering knowledge
because this relation depends on various factors such as
road surface, tyre construction, suspension dynamics and
vehicle speed, it can only be determind adequatley through
experimantal measuremts. In this study the magic formula
tyre model is used to simulate the tyre/road friction force
during braking.
Notes
28
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SAE Member: $31.96

Non-member: $39.95
Product Code: RR-004
SAE Members
save year-round on most SAE publications,
conferences, seminars, and more!
www.sae.org/membership
Order today!
Online: store.sae.org
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Note: prices subject to change. Actual shipping charges will be added.
P90229
SAE Seminars and e-Seminars
SAE 2009 Commercial Vehicle Engineering

Congress & Exhibition
Commercial Vehicle Braking Systems

Product #: C0233
October 6 8, 2009
Donald E. Stephens Convention Center
Rosemont (Chicago), Illinois USA
The conference of choice for the sharing of technical
knowledge and networking for the global on- and offroad Commercial Vehicle Industry.
Also available as an e-Seminar! - Product # PD130611
SAE Members: $1,265

Non-members: $1,395
NEW! Fundamentals of Heavy Truck Dynamics

Product #: C0837
www.sae.org/comvec
SAE Members: $1,225

Non-members: $1,355
Heavy Duty Diesel Emissions Control Symposium

September 16 - 17, 2009
Gteborg, Sweden
Applied Brake Controls:

ABS, TCS, and ESC Product #: C0610
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leaders from the global heavy duty diesel powertrain industry to
discuss the pathways to emissions compliance and strategies that are
currently under investigation for the heavy truck and bus sector.
SAE Members: $1,725

Non-members: $1,850
www.sae.org/hddec
6\mylearn.sae.org for more information

and schedules
SAE J1939
Standards Collection on the Web

The Real-Time CAN Solution for Commercial Vehicle Applications
Continually updated, web-based
subscription service featuring:
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SAE Truck and Bus Control
& Communications Network
Standards Manual, 2007 Edition
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Special Publications
from the SAE 2008

Commercial Vehicle
Engineering Congress &
Exhibition
Advancements in Steering Systems;

Braking Systems; and Advanced Chassis
Control and Rollover Stability
This publication contains 12 papers that address new
developments in commercial vehicle steering such
as auxiliary axle and computer controlled systems,
as well as studies on regenerative brake systems
and a new modeling technique that examines
brake configuration packages for reducing stopping
distances. It also includes new information on
advanced control systems for enhancing stability and
safety in road vehicles, and its effect on suspension
kinematic characteristics.
ISBN: 978-0-7680-2092-2
$59.96 (SAE Member)

$74.95 (Nonmember)
Commercial Vehicle Emissions 2008
The 10 papers in this publication address issues

related to the causes and control of exhaust
emissions from reciprocating, internal combustion
engines. Topics include base engine operation along
with aftertreatment systems for reducing HC, NOx,
and particulates.
ISBN: 978-0-7680-2093-9
Simulation of Commercial Vehicles 2008

This publication contains 9 papers that address
various aspects related to vehicle sub-systems, in
particular to the chassis and suspension systems,
through studies that employ modeling, simulation
and control.
ISBN: 978-0-7680-2094-6
$59.96 (SAE Member)

$74.95 (Nonmember)
Aerodynamics and Fuel Economy Aerodynamic Devices and Methods &

Technologies
The 7 papers in this publication address a wide array

of aerodynamic drag reduction technologies that
are available to the heavy truck community, as well
as modeling and simulation methods that have the
potential to reduce fuel use and green house gas
emissions in commercial vehicles.
ISBN: 978-0-7680-2095-3
$51.96 (SAE Member)

$64.95 (Nonmember)
$59.96 (SAE Member)

$74.95 (Nonmember)
Special Publication (SP)

A Special Publication is a print collection of technical papers from one or more sessions
presented at an SAE conference. Based on key challenges facing the industry, these papers
provide research and findings from leading technical experts focusing on a specific topic.
Individual Papers
SAE Technical Papers are available in print or as a PDF download $12.00 SAE Member and
$15.00 Nonmember price.
The availability of these books may change due to cancellations or other modifications.
Note: Prices and paper count subject to change.
exhibitor profiles
Exhibitor Directory text is published as submitted by exhibiting companies.
ETAS
Mechanical Simulation: TruckSim
3021 Miller Rd
Ann Arbor, MI 48103
United States
www.etas.com
912 North Main St Ste 210

Ann Arbor, MI 48103
United States
www.carson.com
ETAS provides a comprehensive suite of open

tools for vehicle ECU development, used
extensively by both automotive and heavy duty
diesel manufacturers. Complete solutions for
control-system modeling/integration, HiL, rapidprototyping, and measurement/calibration are the
most widely used globally. The ETAS portfolio also
includes engineering services, training, and premium customer support.
Mechanical Simulation Corporation is the world

leader in the development of advanced software
used to simulate vehicle performance under a
wide variety of driving conditions. We provide car,
truck and motorcycle simulation packages to more
than 30 OEMs, 60 Tier 1 suppliers, and more than
150 universities and research groups worldwide.
CarSim, TruckSim, and BikeSim are designed to
meet the unique needs of vehicle engineers developing and testing complete vehicles, vehicle subsystems, adaptive electronic controls (ECUs), and
driver assistance systems (ADAS). Our software
provides economical solutions for running desktop
simulations, controlling hardware-in-the-loop (HIL)
benches, and driving the worlds most sophisticated driving simulators.
Tabletop #3
Tabletop #1
sponsors
SAE Would like to thank the following sponsors for their generous support.
Clemson University International

Center for Automotive Research (CU-ICAR)
Welcome Reception Sponsor
32
National Transportation Research Center Inc

Silver Partner and Wednesday Lunch Sponsor
SAE e-Seminars
Professional Development through SAE International

Learn at your own pace - and access our popular classroom seminars in full-motion video from your
desktop! Organized into modules, these comprehensive e-Seminars offer the flexibility to review specific
concepts as often as you wish, at a time and place convenient for you.
Based on their classroom counterpart, these
popular titles are currently offered via the
Internet in an online format, or through a
CD-ROM package:
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*available on CD-ROM only
For more information or to order:

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Quantity discounts for six or more students
and site license options are available
contact SAE Customer Service
For detailed product descriptions

or to order, visit www.sae.org/e-seminars.
Quantity discounts for six or more students and site
license options are available - contact SAE Customer
Service or email corplearn@sae.org
P90035
Mark your 2009 Calendar
SAE 2009
Commercial Vehicle
Engineering
Congress and Exhibition
October 6 8, 2009
Donald E. Stephens Convention Center
Rosemont, Illinois USA
The conference of choice for the

sharing of technical knowledge and
networking for the global on-road and
off-road Commercial Vehicle Industry.
SAE Members attend FREE!*

*Requires event pre-registration
Executive Leadership provided by:
Participate. Exhibit. Sponsor.

Phone:
1-877-606-7323
(U.S. and Canada)
1-724-776-4970
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SAE 2009

Heavy Truck Handling,

May 5-7. 2009

For On- and Off-Road Technical

The center of expertise on Commercial

Learn more about SAE standards

Heavy Truck Handling,

SAE Southern Office

K & C Rig Workshop

7:00 a.m. 5:00 p.m.

7:00 a.m. 5:00 p.m.

7:00 8:00 a.m.

Tabletop Exhibits Open Tabletop Exhibits Open

10:00 10:30 a.m.

Tabletop Exhibits Open Tabletop Exhibits Open

12:30 1:30 p.m.

12:30 1:30 p.m.

5:00 6:00 p.m.

5:00 6:00 p.m.

Heavy Truck Handling, Dynamics & Control Symposium

Michelin Proving Grounds

Special Events and

Carolina First Gallery

Carolina First Gallery

400 Commonwealth Drive

12:00 p.m. 1:30 p.m.

SAE Member since 2001.

Make it your SAE:

SAE Customer Service

P90155 Mbr Ad-Auto.indd 1

Assistant Professor, Clemson University ICAR

Engineer, U.S. Army TARDEC

Manager, Marketing and Global Business Development,

Heavy Truck Handling, Dynamics & Control Symposium

SAE 2009 Engineering

Dr. David Hall

David E. Hall, PhD BS, Cornell University, 1992 MSME, Georgia

Dr. Pranab Saha, PE

Dr. Ragnar Ledesma

Principal Engineer, ArvinMeritor Inc.

H. Robert (Bob) Welge

Principal Engineer, Volvo

Principal Engineer, Volvo Trucks North America

Ragnar Ledesma has earned a B.S. degree in Civil Engineering from

Land and Sea Group (LSG) Chair

Heavy Truck Handling, Dynamics & Control Symposium

Use of Kinematics and Compliance

Heavy Truck Handling, Dynamics & Control Symposium

SAE Heavy Duty Handling, Dynamics

Thursday May 7, 2009

Expanded Content. Expanded Knowledge.

SAE International Magazines Online

And while at www.sae.org/m

Access the SAE Global Supplier Marketplace

P81703 Online Magazine Readership Ad 7 x3.8.indd 1

Heavy Truck Handling, Dynamics & Control

Development of Nash Optimal Strategy for Tractor-Trailer

Tractor and ESC Co-Simulation and Investigation of Adaptive

High Speed Electronic Stability Control System Demonstration

Articulated Dump Truck Independent Suspension

Artificial Steering Feel on Commercial Vehicle

Heavy Truck Handling, Dynamics & Control Symposium

Steering Wheel Haptic Feedback System for Indication and

Presentation of the Results from and Extended Pilot Study of an