Affiliation
Education/Positions
Courses
Research Areas
Publications
Memberships
Awards

Branimir Škugor, Ph. D.

Fakultet strojarstva i brodogradnje, I. Lučića 5, HR-10002 Zagreb, HRVATSKA

sjeverna zgrada, III kat, soba A-502

385-1-6168-555

385-1-6168-351

branimir.skugor@fsb.unizg.hr

Google Scholar ORCID ResearchGate LinkedIn

CroRIS

Google Scholar

ORCID

ResearchGate

CroRIS

Affiliation

2012

Assistant Professor

Department of Robotics and Automation of Manufacturing Systems, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Croatia

Education/Positions

2021

Assistant Professor

Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb

2017 - 2020

Postdoctoral Researcher

Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb

2012 - 2016

Research Assistant

Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb

2016

Ph. D. Thesis, Modelling and optimal charging of an electric delivery vehicle fleet

Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb

2011

M. Sc. Thesis, 2D Space Search Methods Based on Biological Mechanisms

Faculty of Elec. Engng. and Comp., Univ. of Zagreb

2009

B.Sc. Thesis, Formation Control in the Presence of Obstacles

Faculty of Elec. Engng. and Comp., Univ. of Zagreb

Courses

Electrical Engineering and Electrical Machines
Fuzzy and Digital Control
Control of Electric and Hybrid Vehicles
Electromobility
Microprocessor Based Control
Automotive mechatronic systems
Electrical Drives
Electrical Servo-drives

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

Journal papers ▼

Papers in journals referred in CC/SCI databases ▼

B. Škugor, J. Deur, W. Chen, Y. Zhang, E. Dai

Optimization of Straight-line Driving Torque Vectoring for Energy-efficient Operation of Electric Vehicles with Multiple Motors and Disconnect Clutches

Optimization and Engineering, pp. 28, 2024.

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.

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.

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.

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.

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.

J. Topić, B. Škugor, J. Deur

Synthesis and Feature Selection-Supported Validation of Multidimensional Driving Cycles

Sustainability, Vol. 13, No. 9, pp. 21, 2021.

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.

10.

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.

11.

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.

12.

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.

13.

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.

14.

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.

15.

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.

16.

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.

17.

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.

18.

B. Škugor, J. Deur

A Bi-level Optimisation Framework for Electric Vehicle Fleet Charging Management

Applied Energy, Vol. 184, pp. 1332-1342, 2016.

19.

B. Škugor, J. Deur

A Novel Model of Electric Vehicle Fleet Aggregate Battery for Energy Planning Studies

Energy, Vol. 92, pp. 444-455, 2015.

20.

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.

21.

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 ▼

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, SAE Int. J. Adv. & Curr. Prac. in Mobility, Vol. 4, No. 6, pp. 2469-2477, 2022.

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.

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 papers ▼

J. Deur, M. Hoić, K. Haramina, I. Ruškan, B. Škugor, I. Cvok

Design of Active Seat Suspension Mechatronic System

3rd Workshop on Motion Comfort in Automated Driving, 2024.

B. Škugor, J. Deur, V. Ivanović, H. E. Tseng

Safety Manifold for Stochastic Model Predictive Control of an Autonomous Vehicle Approaching Unsignalized Crosswalks with Pedestrians

6th International Conference on Smart Systems and Technologies (SST), Osijek, Croatia, 2024.

B. Škugor, J. Deur

Energy-efficient Closed-loop Speed Control for 4WD Electric Vehicle E-motors During the Disconnect Clutch Transient Periods

19th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Rome, Italy, 2024.

B. Škugor, J. Deur

Hierarchical Model Predictive Control-based Electric Vehicle Fleet Charging Management

19th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Rome, Italy, 2024.

I. Grđan, B. Škugor, J. Deur

Energy-efficient Straight-line Driving Torque Vectoring for Electric Vehicles with Disconnect Clutches and Unequal Front/Rear Motors

16th International Symposium on Advanced Vehicle Control (AVEC'24), Milan, Italy, 2024.

L. Grden, B. Škugor, J. Deur

MILP-based Model Predictive Control of Electric Vehicle Fleet Charging in the presence of Electricity Production from Renewable Energy Sources

19th Conference on Sustainable Development of Energy, Water and Environment Systems (SDEWES), Rome, Italy, 2024.

L. Pavelko, B. Škugor, J. Deur

Chance-constrained SMPC for Autonomous Vehicles Approaching Unsignalized Crosswalks

10th International Conference on Automation, Robotics, and Applications, Athens, Greece, 2024.

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.

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.

10.

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.

11.

B. Škugor, J. Deur, V. Ivanović, H. E. Tseng

Stochastic Model Predictive Control of an Autonomous Vehicle Interacting with Pedestrians at Unsignalized Crosswalks

European Control Conference (ECC23), Bucharest, Romania, 2023.

12.

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.

13.

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.

14.

J. Soldo, I. Cvok, B. Škugor, 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.

15.

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.

16.

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.

17.

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.

18.

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.

19.

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.

20.

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.

21.

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.

22.

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.

23.

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.

24.

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.

25.

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.

26.

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.

27.

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.

28.

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.

29.

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.

30.

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.

31.

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.

32.

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.

33.

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.

34.

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.

35.

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.

36.

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.

37.

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.

38.

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.

39.

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.

40.

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.

41.

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.

42.

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.

43.

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.

44.

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.

45.

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.

46.

B. Škugor, J. Deur

Dynamic Programming-based Optimization of Electric Vehicle Fleet Charging

IEEE International Electrical Vehicle Conference (IEVC 2014), Florence, Italy, 2014.

47.

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.

48.

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.

49.

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.

50.

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.

51.

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.

52.

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.

Patents ▼

B. Škugor, J. Topić, J. Deur, V. Ivanović, H. E. Tseng

Vehicle Control for Optimized Operation

US patent No. US20230242134A1, 2023.

Google Scholar Profile

Memberships

IEEE Institute of Electrical and Electronics Engineers Member

SAE Society of Automotive Engineers Member

Awards

2020

Best Paper Award at the International Conference on Smart Systems and Technologies 2020 (SST 2020), Osijek, Croatia, November 14-16, 2020.

2014

Best Paper Award at the 9th SDEWES, Venice, Italy - Istanbul, Turkey, September 20-27, 2014