Branimir Škugor, Ph. D.

Fakultet strojarstva i brodogradnje I. Lučića 5 HR-10000 Zagreb HRVATSKA

sjeverna zgrada, III kat, soba A-502

385-1-6168-555

385-1-6168-351

branimir.skugor@fsb.unizg.hr

Affiliation

Education/Positions

Courses

• Electrical Engineering and Electrical Machines
• Fuzzy and Digital Control
• Control of Electric and Hybrid Vehicles
• Electromobility

Research Areas

• Electric Vehicles

• Electric Vehicle-Grid Integration

• Artificial Intelligence in Automotive Applications

• E-clutch control and Dry Clutch Friction Lining Wear

• Synthesis of Naturalistic Driving Cycles

• Optimisation and Optimal Control

Publications

Ph. D. Thesis ▼
Škugor, B., "Modelling and Optimal Charging of an Electric Delivery Vehicle Fleet", Doctoral thesis (in Croatian), Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Croatia, 2016
Journal paper ▼
Paper in journals referred in CC/SCI databases ▼
Z. Dabčević, B. Škugor, I. Cvok, J. Deur, "A Trip-Based Data-Driven Model for Predicting Battery Energy Consumption of Electric City Buses", Energies, Vol. 17, No. 4, pp. 26, 2024 [OPEN ACCESS]
J. Soldo, B. Škugor, J. Deur, "Model Predictive Control of a Parallel Plug-In Hybrid Electric Vehicle Relying on Dynamic Programming and Extended Backward-Looking Model", IEEE Transactions on Control Systems Technology, Vol. 32, No. 2, pp. 581-594, 2024
I. Cvok, L. Pavelko, B. Škugor, J. Deur, H. E. Tseng, V. Ivanović, "Design and Comparative Analysis of Several Model Predictive Control Strategies for Autonomous Vehicle Approaching a Traffic Light Crossing", Energies, Vol. 16, No. 4, pp. 20, 2023 [OPEN ACCESS]
Z. Dabčević, B. Škugor, J. Topić, J. Deur, "Synthesis of Driving Cycles Based on Low-Sampling-Rate Vehicle-Tracking Data and Markov Chain Methodology", Energies, Vol. 15, No. 11, pp. 21, 2022 [OPEN ACCESS]
J. Topić, B. Škugor, J. Deur, "Receding-Horizon Prediction of Vehicle Velocity Profile Using Deterministic and Stochastic Deep Neural Network Models", Sustainability, Vol. 14, No.17, pp. 20, 2022 [OPEN ACCESS]
J. Topić, B. Škugor, J. Deur, "Neural Network-Based Prediction of Vehicle Fuel Consumption Based on Driving Cycle Data", Sustainability, Vol. 14, No. 2, pp. 12, 2022 [OPEN ACCESS]
J. Topić, B. Škugor, J. Deur, "Synthesis and Feature Selection-Supported Validation of Multidimensional Driving Cycles", Sustainability, Vol. 13, No. 9, pp. 21, 2021 [OPEN ACCESS]
J. Soldo, B. Škugor, J. Deur, "Online Synthesis of Optimal Battery State-of-Charge Reference Trajectory for a Plug-in Hybrid Electric City Bus", Energies, Vol. 14, No. 11, pp. 23, 2021 [OPEN ACCESS]
J. Soldo, B. Škugor, J. Deur, "Analysis of Optimal Battery State-of-Charge Trajectory Patterns for Blended Mode of a Parallel Plug-in Hybrid Electric Vehicle and a Wide Range of Driving Conditions", Optimization and Engineering, Vol. 22, No. 1, pp. 1955–1977, 2021
M. Hoić, B. Škugor, A. Miklik, J. Deur, A. Tissot, "Experimental characterization and modeling of dry clutch wear with emphasis on fading effect", Forschung im ingenieurwesen-engineering research, Vol. 85, pp. 895-903, 2021
B. Škugor, J. Deur, V. Ivanović, "E-clutch Torque Control Including Compensation of Thermal Expansion Effects", IEEE Transactions on Vehicular Technology, Vol. 69, No. 1, pp. 246–257, 2020
I. Cvok, B. Škugor, J. Deur, "Control Trajectory Optimisation and Optimal Control of an Electric Vehicle HVAC System for Favourable Efficiency and Thermal Comfort", Optimization and Engineering, Vol. 22, pp. 83-102, 2020
J. Topić, J. Soldo, F. Maletić, B. Škugor, J. Deur, "Virtual Simulation of Electric Bus Fleets for City Bus Transport Electrification Planning", Energies, Vol. 13, No. 13, pp. 23, 2020 [OPEN ACCESS]
J. Soldo, B. Škugor, J. Deur, "Synthesis of Optimal Battery State-of-Charge Trajectory for Blended Regime of Plug-in Hybrid Electric Vehicles in the Presence of Low-Emission Zones and Varying Road Grades", Energies, Vol. 12, No. 22, pp. 1-21, 2019 [OPEN ACCESS]
J. Topić, B. Škugor, J. Deur, "Neural Network-Based Modeling of Electric Vehicle Energy Demand and All Electric Range", Energies, Vol. 12, No. 7, pp. 1396-1416, 2019 [OPEN ACCESS]
B. Škugor, J. Petrić, "Optimization of Control Variables and Design of Management Strategy for Hybrid Hydraulic Vehicle", Energies, Vol. 11, No. 10, pp. 24, 2018 [OPEN ACCESS]
B. Škugor, J. Deur, "A Bi-level Optimisation Framework for Electric Vehicle Fleet Charging Management", Applied Energy, Vol. 184, pp. 1332-1342, 2016
B. Škugor, J. Deur, "A Novel Model of Electric Vehicle Fleet Aggregate Battery for Energy Planning Studies", Energy, Vol. 92, pp. 444-455, 2015
B. Škugor, J. Deur, "Dynamic Programming-based Optimisation of Charging an Electric Vehicle Fleet System Represented by an Aggregate Battery Model", Energy, Vol. 92, pp. 456-465, 2015
B. Škugor, J. Deur, M. Cipek, D. Pavković, "Design of a Power-split Hybrid Electric Vehicle Control System Utilizing a Rule-based Controller and an Equivalent Consumption Minimization Strategy", Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 228, No. 6, pp. 631-648, 2014
Other journal papers ▼
J. Topić, B. Škugor, J. Deur, "Synthesis and Validation of Multidimensional Driving Cycles", SAE Int. J. Adv. & Curr. Prac. in Mobility, Vol. 3, No. 4, pp. 1558-1568, 2021
J. Soldo, B. Škugor, J. Deur, "Optimal energy management and shift scheduling control of a parallel plug-in hybrid electric vehicle", International Journal of Powertrains, Vol. 9, No. 3, pp. 240-264, 2020
B. Škugor, J. Soldo, J. Deur, "Analysis of Optimal Battery State-of-Charge Trajectory for Blended Regime of Plug-in Hybrid Electric Vehicle", World Electric Vehicle Journal, Vol. 10, No. 4, pp. 1-16, 2019 [OPEN ACCESS]
M. Cipek, B. Škugor, M. Čorić, J. Kasać, J. Deur, "Control Variable Optimisation for an Extended Range Electric Vehicle", Int. Journal of Powertrains, Vol. 5, No. 1, pp. 30-54, 2016
B. Škugor, J. Deur, "Delivery Vehicle Fleet Data Collection, Analysis and Naturalistic Driving Cycles Synthesis", Int. Journal of Innovation and Sustainable Development, Vol. 10, No. 1, pp. 19-39, 2016
B. Škugor, M. Cipek, J. Deur, "Control Variables Optimization and Feedback Control Strategy Design for the Blended Operating Mode of an Extended Range Electric Vehicle", SAE International Journal of Alternative Powertrains, SAE paper #2014-01-1898, Vol. 3, No. 1, pp. 152-162, 2014
J. Deur, B. Škugor, M. Cipek, "Integration of Electric Vehicles into Energy and Transport Systems", Automatika, Vol. 56, No. 4, pp. 395-410, 2014
Conference paper ▼
M. Ćorić, B. Škugor, J. Deur, V. Ivanović, H. E. Tseng, "Hierarchical Neural Network-Based Prediction Model of Pedestrian Crossing Behavior at Unsignalized Crosswalks", SAE paper #2023-01-0865, 2023 SAE World Congress, Detroit, MI, 2023
Z. Dabčević, B. Škugor, J. Deur, "Pareto Optimization of Electric City Bus Scheduling", 18th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2023 [OPEN ACCESS]
Z. Dabčević, B. Škugor, J. Deur, "A Trip-Based Data-Driven Model for Predicting Battery Energy Consumption of Electric City Buses", 18th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2023
B. Škugor, J. Deur, "Stochastic Model Predictive Control of an Autonomous Vehicle Interacting with Pedestrians at Unsignalized Crosswalks", European Control Conference (ECC23), Bucharest, Romania, 2023
J. Deur, B. Škugor, W. Chen, Y. Zhang, E. Dai, "Energy-efficient Straight-line Driving Torque Vectoring for Electric Vehicles with Multiple Motors Equipped with Disconnect Clutches", 18th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2023 [OPEN ACCESS]
J. Topić, B. Škugor, J. Deur, V. Ivanović, H. E. Tseng, "Neural Network-based Prediction of Pedestrian Crossing Behavior at Uncontrolled Crosswalks", International Conference on Smart Systems and Technologies 2022 (SST 2022), Osijek, Croatia, 2022
J. Soldo, I. Cvok, B. Škugor and J. Deur, "An Adaptive Power Flow Control Strategy of a Parallel Plug-in Hybrid Electric Vehicle", 17th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Paphos, Cyprus, 2022
D. Matković, J. Topić, B. Škugor, J. Deur, , "Search Space Reduction-Supported Multi-objective Optimization of Charging System Configuration for Electrified City Bus Transport System", 17th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Paphos, Cyprus, 2022 [OPEN ACCESS]
L. Pavelko, B. Škugor, J. Deur, V. Ivanović. H. E. Tseng, "Modification and Experimental Validation of a Logistic Regression Vehicle-Pedestrian Model", International Conference on Smart Systems and Technologies 2022 (SST 2022), Osijek, 2022
J. Topić, B. Škugor, J. Deur, "Static Stochastic Model Based Prediction of City Bus Velocity", International Conference on Smart Systems and Technologies 2022 (SST 2022), Osijek, Croatia, 2022
L. Pavelko, B. Škugor, J. Deur, V. Ivanović. H. E. Tseng, "Game Theory-Based Modeling of Multi-Vehicle/Multi-Pedestrian Interaction at Unsignalized Crosswalks", SAE paper #2022-01-0814, 2022 SAE World Congress, Detroit, MI, 2022
J. Soldo, B. Škugor, J. Deur, "An Extended Range Electric Vehicle Backward-looking Model Accounting for Powertrain Transient Effects", SAE paper #2020-01-1442, 2020 SAE World Congress, Detroit, MI, 2020
J. Topić, B. Škugor, J. Deur, "Analysis of City Bus Driving Cycle Features for the Purpose of Multidimensional Driving Cycle Synthesis", SAE paper #2020-01-1288, 2020 SAE World Congress, Detroit, MI, 2020
M. Hihlik, J. Topić, B. Škugor, J. Deur, "Neural Network-based Prediction of Fuel Consumption of a Conventional Delivery Vehicle based on GPS-collected Tracking Data", 15th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Cologne, Germany, 2020
J. Soldo, B. Škugor, J. Deur, "Analysis of Patterns of Optimal Battery State-of-Charge Trajectories for Blended Regime of a Parallel Plug-in Hybrid Electric Vehicle and a Wide Range of Driving Conditions", 15th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Cologne, Germany, 2020
J. Topić, B. Škugor, J. Deur, "Analysis of Markov Chain-based Methods for Synthesis of Driving Cycles of Different Dimensionality", 2020 IEEE Intelligent Transportation Systems Conference (ITSC), Rhodes, Greece, 2020
B. Škugor, J. Topić, J. Deur, V. Ivanović, H. E. Tseng, "Analysis of a Game Theory-based Model of Vehicle-Pedestrian Interaction at Uncontrolled Crosswalks", International Conference on Smart Systems and Technologies 2020 (SST 2020), Osijek, Croatia, 2020
B. Škugor, J. Deur, "City Bus Mass Estimation based on GPS and CAN-Collected Tracking Data", International Conference on Smart Systems and Technologies 2020 (SST 2020), Osijek, Croatia, 2020
B. Škugor, J. Soldo, J. Deur, "Analysis of Optimal Battery State-of-Charge Trajectory for Blended Regime of Plug-in Hybrid Electric Vehicle", 32nd International Electric Vehicle Symposium & Exhibition (EVS32), Lyon, France, 2019
J. Soldo, B. Škugor, J. Deur, "Optimal Energy Management Control of a Parallel Plug-in Hybrid Electric Vehicle in the Presence of Low Emission Zones", SAE paper #2019-01-1215, 2019 SAE World Congress, Detroit, MI, 2019
M. Hoić, B. Škugor, J. Deur, A. Tissot, "Experimental Characterization and Modeling of Automotive Dry Clutch Friction Lining Wear", Kupplungen und Kupplungssysteme in Antrieben 2019, Ettlingen bei Karlsruhe, Germany, 2019
I. Cvok, B. Škugor, J. Deur, "Control Trajectory Optimisation and Optimised Control Strategy for an Electric Vehicle HVAC System and Favourable Thermal Comfort", 14th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2019
J. Soldo, B. Škugor, J. Deur, "Synthesis of Optimal Battery State of Charge Trajectory in the Presence of Varying Road Grade for a Parallel Plug-in Hybrid Electric Vehicle", 14th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2019
B. Škugor, J. Deur, "Dynamic Programming versus Linear Programming Application for Charging Optimization of EV Fleet Represented by Aggregate Battery", SAE paper #2018-01-0668, 2018 SAE World Congress, Detroit, MI, 2018
J. Topić, F. Maletić, B. Škugor, J. Deur, "Software Tool for Planning of City Bus Transport Electrification", Science and Traffic Development International Conference, Opatija, Croatia, 2018 [OPEN ACCESS]
J. Soldo, B. Škugor, J. Deur, "Optimal Energy Management and Shift Scheduling Control of a Parallel Plug-in Hybrid Electric Vehicle", Powertrain Modelling and Control Conference (PMC 2018), Loughborough, UK, 2018
J. Topić, B. Škugor, J. Deur, "Neural Network-based Modelling of Energy Demand and All Electric Range of an Extended Range Electric Vehicle", 13th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Palermo, Italy, 2018
J. Soldo, V. Ranogajec, B. Škugor, J. Deur, "Model-based Optimisation of Shift Scheduling Maps for a Parallel Hybrid Electric Vehicle", AVL International Simulation Conference, Graz, Austria, 2017
B. Škugor, J. Deur, "Synthetic Driving Cycles-based Modelling of Extended Range Electric Vehicle Fleet Energy Demand", Electric Vehicle Symposium & Exhibition (EVS30), Stuttgart, Germany, 2017
B. Škugor, J. Topić, J. Deur, "Quadratic Programming-based Electric Vehicle Charging Optimisation combining Charging Cost and Grid Power Peak Minimisation", Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2017
B. Škugor, J. Deur, V. Ivanović, "Dynamic Programming-based Design of Shift Scheduling Map Taking into Account Clutch Energy Losses During Shift Transients", SAE Paper #2016-01-1116, 2016 SAE World Congress, Detroit, MI, 2016
B. Škugor, J. Deur, "Bi-level Optimisation Framework for Electric Vehicle Fleet Charging", 10th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2015
B. Škugor, J. Deur, "Analysis of Techno-Economic Aspects of an Energy System Including Delivery Electric Vehicle Fleet and Renewable Energy Sources", 10th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2015
B. Škugor, M. Hrgetić, J. Deur, "GPS Measurement-based Road Grade Reconstruction With Application to Electric Vehicle Simulation and Analysis", 10th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2015
B. Škugor, J. Deur, "A Nonlinear Charge-based Model of Electric Vehicle Fleet Aggregate Battery", Proceedings of European Electric Vehicle Congress (EEVC 2015), Brussels, Belgium, 2015
B. Škugor, J. Deur, "A Novel Model of Electric Vehicle Fleet Aggregate Battery for Energy Planning Studies", 9th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Venice, Italy - Istanbul, Turkey, 2014
B. Škugor, J. Deur, "Dynamic Programming-based Optimization of Charging an Electric Vehicle Fleet System Represented by an Aggregate Battery Model", 9th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Venice, Italy - Istanbul, Turkey, 2014
J. Deur, B. Škugor, M. Cipek, "Integration of Electric Vehicles into Energy and Transport Systems", Proc. of 34th Conference on Automation in Transportation 2014, Invited paper, pp. 1-16, Dubrovnik, Croatia, 2014
M. Cipek, B. Škugor, J. Deur, "Comparative Analysis of Conventional and Electric Delivery Vehicles Based on Realistic Driving Cycles", Proceedings of European Electric Vehicle Congress (EEVC 2014), Brussels, Belgium, 2014
B. Škugor, J. Deur, "Dynamic Programming-based Optimization of Electric Vehicle Fleet Charging", IEEE International Electrical Vehicle Conference (IEVC 2014), Florence, Italy, 2014
M. Cipek, M. Čorić, B. Škugor, J. Kasać, J. Deur, "Dynamic Programming-based Optimization of Control Variables of an Extended Range Electric Vehicle", SAE paper #2013-01-1481, 2013 SAE World Congress, Detroit, MI, 2013
B. Škugor, J. Deur, "Instantaneous Optimization-based Energy Management Control Strategy for Extended Range Electric Vehicle", SAE paper #2013-01-1460, 2013 SAE World Congress, Detroit, MI, 2013
B. Škugor, J. Deur, "The Vehicle Fleet Data Collection, Processing, Analysis, and Naturalistic Driving Cycles Synthesis", 8th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Dubrovnik, Croatia, 2013
B. Škugor, V. Ranogajec, J. Deur, "On Smoothing HEV/EREV Supervisory Control Action Using an Extended ECMS Approach", The International Electric Vehicle Symposium & Exhibition (EVS27), Barcelona, Spain, 2013
J. Deur, M. Cipek, B. Škugor, J. Petrić, "Modeling and Low-level Control of Range Extended Electric Vehicle Dynamics", Proceedings of the International Conference on Powertrain Modelling and Control (PMC2012), University of Bradford, Bradford, UK, 2012
B. Škugor, D. Pavković, J. Deur, "A Series-Parallel Hybrid Electric Vehicle Control Strategy Including Instantaneous Optimization of Equivalent Fuel Consumption", Proceedings of 2012 IEEE Multi-Conference on Systems and Control (2012 IEEE MSC), pp. 310-316, Dubrovnik, Croatia, 2012
Patent ▼
B. Škugor, J. Topić, J. Deur, V. Ivanovic, H. E. Tseng, "Vehicle Control for Optimized Operation", patent No. US20230242134A1, 2023

Memberships

 
 
IEEE Institute of Electrical and Electronics Engineers Member
 
 
SAE Society of Automotive Engineers Member

Awards

2013
 
 
Best Paper Award at the SDEWES 2014, Venice, Italy - Istanbul, Turkey, September 20-27, 2014