Abstract: A method of controlling a battery system in a vehicle during discharging or charging includes temporarily interrupting discharging or charging of the identified battery cell with the lowest or highest state charge level; continuing discharging or charging the remaining battery cells; sequentially temporarily interrupting discharging or charging a battery cell in each one of the other battery stacks; controlling a duration of the sequentially temporarily interrupting discharging or charging a battery cell in each one of the other battery stacks based on a battery system characteristic; comparing a monitored state charge levels of the remaining battery cells with the state charge level of the lowest or highest battery cell of the corresponding battery stack; and resuming discharging or charging of the identified battery cell when state charge levels of the remaining battery cells of the set of battery cells corresponds to the state charge level of the identified battery cell.

Abstract: The invention relates to a method (100) of controlling a battery system in a vehicle during discharging or charging thereof, the method comprising the steps of: determining (110) a state charge level of each battery cell of a set of battery stacks; during discharging of the battery system, identifying (120) a battery cell with a lowest state charge level among the battery cells of the set of battery stacks, or during charging of the battery system, identifying a battery cell with a highest state charge level among the battery cells of the set of battery stacks; temporarily interrupting (130) discharging or charging of the identified battery cell; continuing discharging or charging (140) the remaining battery cells of the set of battery stacks; among the remaining battery cells of the set of battery stacks, sequentially temporarily interrupting discharging or charging (150) a battery cell in each one of the other battery stacks of the set of battery stacks; controlling (160) duration of the step of sequentiall

Abstract: A system is provided for determining the material loading condition of a bucket of a material moving machine. The system includes an arrangement for generating a surface model of the surface of the material loaded into the bucket and comparing the surface model with a predefined preferred surface shape associated with the bucket.

Abstract: A system for determining a material entity to be removed from a pile by an implement of a material moving machine is provided. The system includes an arrangement for generating a current pile shape of the actual surface shape of the pile. Moreover, the system is adapted to determine a nominal pile shape of at least a portion of the pile. The nominal pile shape is determined on the basis of at least the current pile shape and information regarding the material type of the pile. Further the system is adapted to determine a surplus volume between the nominal pile shape and the current pile shape and the system is adapted to determine the material entity to be removed from the pile on the basis of the surplus volume.

Abstract: A system is provided for determining the material loading condition of a bucket of a material moving machine. The system includes an arrangement for generating a surface model of the surface of the material loaded into the bucket and comparing the surface model with a predefined preferred surface shape associated with the bucket.

Abstract: A method for selecting an attack pose, when loading piled materials, for a working machine having a bucket includes acquiring three dimensional pile data, generating a set of attack poses, generating a bucket trajectory through the pile for each attack pose, for each attack pose in the set of attack poses, calculating a measure of a convexity of the pile surface for an area of the pile surface delimited by a bucket width and a vertical projection of the bucket trajectory, and selecting an attack pose based on the measure of convexity.

Abstract: A method for selecting an attack pose, when loading piled materials, for a working machine having a bucket includes acquiring three dimensional pile data, generating a set of attack poses, generating a bucket trajectory through the pile for each attack pose, for each attack pose in the set of attack poses, calculating a measure of a convexity of the pile surface for an area of the pile surface delimited by a bucket width and a vertical projection of the bucket trajectory, and selecting an attack pose based on the measure of convexity.