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Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: CLAMT powertrain arrangement

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: DC equivalent circuit model

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Clutchless AMT multibody model

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Typical synchronizer mechanism

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Alternative shifting strategies

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Combined torque–speed control loops

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: First to second gear upshift with a state duration of 200 ms and motor torque of 200 N·m: (a) shift control states, (b) motor voltage (green) and current (red), and (c) motor torque (blue profile, green actual) and speed (cyan)

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Second to first downshift with a state duration of 200 ms and motor torque of 200 N·m: (a) shift control states, (b) motor voltage and current, and (c) motor torque (blue profile, green actual) and speed (cyan)

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Up and down shift transients for clutchless AMT powertrain for a 200 ms stage duration at 200 N·m motor torque: (a) system speeds, (b) vehicle longitudinal acceleration, and (c) vehicle longitudinal jerk

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Up and down shift transients for clutchless AMT powertrain for a 400 ms stage duration at 200 N·m motor torque: (a) system speeds, (b) vehicle longitudinal acceleration, and (c) vehicle longitudinal jerk

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Up and down shift transients for clutchless AMT powertrain for a 20 ms stage duration at 200 N·m motor torque: (a) system speeds, (b) vehicle longitudinal acceleration, and (c) vehicle longitudinal jerk

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: Summarized shift quality metrics: (a) RMS vehicle jerk against stage duration, (b) RMS Jerk against peak drive torque, (c) vibration dose value versus stage duration, (d) VDV versus peak drive torque, (e) total shift time versus stage duration, and (f) total shift time versus peak drive torque. Notation: x—simulated values and o—time normalized simulated values for VDV.

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: First to second gear upshift with a stage duration of 200 ms and motor torque of 200 N·m for combined motor and synchronizer speed synchronization: (a) motor voltage and current, (b) motor torque (blue profile, green actual) and speed (cyan), and (c) synchronizer position

Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles J. Vib. Acoust. 2017; 139(6): 061005 -13. doi: 10. 1115/1. 4036928 Figure Legend: First to second gear upshift with a stage duration of 200 ms and motor torque of 200 N·m for synchronizer only control of speed synchronization: (a) motor voltage and current, (b) motor torque (blue profile, green actual) and speed (cyan), and (c) synchronizer position