A ROS-based energy management system for a prototype fuel cell hybrid vehicleA ROS-based energy management system for a prototype fuel cell hybrid vehicle Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2021-04-072021enThe automotive industry has been rapidly transforming and moving further from internal combustion engines, towards hybrid or electric vehicles. A key component for the successful adoption of the aforementioned approach is their Energy Management Systems (EMSs). In the proposed work, we describe in detail a custom EMS, with unique characteristics, which was developed and installed in a hydrogen-powered prototype vehicle. The development of the EMS was based on off-the-shelf components and the adoption of a Robot Operating System (ROS), a meta-operating system developed for robotic-oriented applications. Our approach offers soft real-time control and the ability to organize the controller of the EMS as a straightforward and comprehensive message system that provides the necessary inter-process communication at the core of the EMS control procedure. We describe in detail the software-based implementation and validate our approach through experimental results obtained while the prototype was racing in a low-energy consumption competitionhttp://creativecommons.org/licenses/by/4.0/Energies147Piperidis_et_al_Energies_14(7)_2021.pdfChania [Greece]Library of TUC2021-04-07application/pdf16.0 MBfree Piperidis Savvas Πιπεριδης Σαββας Chrysomallis Iason Χρυσομαλλης Ιασων Georgakopoulos Stavros Γεωργακοπουλος Σταυρος Gkionis Nikolaos Γκιωνης Νικολαος Doitsidis Eleftherios Δοϊτσιδης Ελευθεριος Tsourveloudis Nikolaos Τσουρβελουδης Νικολαος MDPI Energy management Energy harvesting Finite state machine Hybrid power systems Hybrid electric vehicles ROS Supercapacitors