7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 1/26
! ! "!# $ % &%!' (! ' ! !! )" ! * +!##,
-! !! (! #!.# ' ! &!# .#!/ ! # &#. '0%#! ! %'! &' $ &! ! &% !% ! ! !&'. $%#! ' 1
2'%!# 34555 &%!' ! '6#6 ' % %!$!&'. ' !' "'7!.'. !&'6''1 .''. & $ ' ! ! !!#6 $ 891: ('##'4 6 !#$ $ "'& ' 21 % ;<4=55 $##
! ! '% >(4 '&#'. 9=4555 .'1
0%#! 4 !## && "' 2&' $ 0!'4 '!'4 !( !!4 ! (! ' 1
% &%!' !# #! ' #'. 6! %!>' $ &! ! &% &! !&'. ! %!> !&'. $%#! ' . &%!' & ! #!1
.' ('# ( 07" " !&'.4 "#? #!. %!$!& $ !&'..'4 ! #% &%!4 !6 " % $ &! "'1 #!## !%''1
!'4 (! ! '('' !## !6 ' &! ! ( &%!'1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 2/26
9
!# 0 !% 66'"
!# 0 !% ! " !! (!4 ' 0!&4 '
1 @ #% &! &!## & $ !#? !'7(!
!& ! 6#% &&1
!# 0 !%? !' ' !# (' ' ! '##' "'
"'7# ' (' ! !&'& %4 ! '(
.!A'. B ! $ ('#'. ' '. $$'&4 "!## $ ;4555 &% ! $ !& &! ! '. '. 1
+' ") ' '%6 "4 #'!('#' ! $# &%'
$ ' &#' .'C ") ! '(# $ 6
&% &!1
!# 0 !% 66'" ' <=D $ &! '!## %! $% &!( $'( $!('& E "'& . $
#4 ( $'6 '% #'. E &%' !! ' $ ('.. ! (' '
('#'.1 ' ' " $'( ' #!' ' %# & &!'
! %!> &%4 ($ ('. & ' $ ; !&#!61
%!&' %4 &%7&## F'% & %# $
&%' &% ! & %# &! ! ! $ "'7# !&1 $!('&!' !!4 )'## ") ! ('# ' !4 !#4 2!
% ! !#%''% !'!1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 3/26
;
!# 0 !% 66'" !# 0 !% ! ' " G !%1 6 '. &! ! $##7
&!# &!4 '%#!'. ") $ ' ! !& !&) &!#!4"'# %!'!# 0#' !%'& ' 2'6# " !!%'&&% ($ 6'. % ' "' #1
!& 4 %&!'& !%(# &! $ !&'. ! '. $% &!&"'' " !1 $ 6 !&4 &! ' & &% $% ! .' . (!&) +'1
!'' ' 2&!. (" " !# 0 !% '4 !$$ $#(" " & ! .#! (!' '. &%!'('#' (" .'! &!'1
H
!& &! &!.'
!%'& "$&
!'. !!%'& $%!&
%%! 9H
!%'& $$& $%!&
#'6'&# '!&'
#7&! !!%'&
%%! 9$& G &)"#.%
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 4/26
3
!7(! !& &! E 4 4 4
! '.4 &1
E . %(#!& !. &!! # !##"!(# !!%'&%'$'&!' ! %'4 1.1 7'. 1
"# !& &! E 4 0 . 4 &1
E ( ! ' %# '&41.1 7( # -6'/ !&%#2 "'. ! !##"
7"# !& &! E 4 04 094 &1
E '.# !4 3 2 "#4!" (4 ! ! $ "'. $"$&1 !##" 6'1
7 G 7
%!> '. &!. 6 #! $" &! -2#' '& #! I5/ ' $ (!'. ! "'. &!!!%'& "$&1
!. &' ' $ &!'%!& $ !& &!1
!& &! %(# %'6 "'.7#') &(&! !& .#!' #!&4%'% F' !('!4#'%'!' &! !1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 5/26
=
0
"$& '&! ! &!? $%!&4 !'&#!# ('%6'. &'. !('#' $ &! 4 '11 ! !&!&) "' '.74 (!) 1
"$& '&! 6'&!# #! "'!'. &!? "'. ! $ !##" '. "' #''. '. '6'.4 (!)'. ! &'.1
@$' $ "$& .# "'. !''!# !. "$& .!1
"$& %! ( &! '.H E '6 "'.C
E ( &'.C
E . $$&1
0 6 "'.
E $J! "'.1
@ &'.
E '#C
E )'C
E '$$4 &1
!& &! (! &' &!&! !6 # #'%' !!%'&%'$'&!'1 ' '%! & ''6 #'$ $ % &' &!4 &'!## ! !2#1 &
E 0 -&'/ '#C
E " ( !# -)'/C
E 0##! ! "'.1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 6/26
I
0
$$&
E 2#' $!& ! #'$ $ !!$'# -" '6 /'&! "' 2'%' .4 '11 '& #! K5 !&.' !6 ! ! $ !& &! -" # !##"/ ! ! % '6
"'.4 & ! .&#!!& ' # ! &#.1
E ! !'. !## !) $% $ ( #4 "'&&%' #.''!# '$$!.# "! "! !$ &!1
0
! '.
0#" 6'!#'A!'
'7# '. 0
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 7/26
K
#!'6# '$$'&# !) %!% !&##J!!(# &''1
' ( % '. ! $"! .'6 !%'& 4' "'4 !.# $ '&'& ! !' %!!2'%!# ' $!%1
0H #!'6 '#!&% $ ' &% &! (!#! ' ! F'6!# #'$J"$& ( #'$ $
"# %#6 ' %!4 "'& %! ( ! (#% $ ! '. $ 7"# &!4 ( ' &! 6' $#&%!!'6 !!4 1.1 $ ! "'. %'$'&!'1
H ! !. L !!%'& !. M '6#' $'&' M ##'. '!&1
0 +N
0#" 6'!#'A!' ' ! "##76# !! ! .'6 '$%!'& ! #&!' $ $#" !!' #'4 &'&#!' !! ! $$ $!& $ &!4 ! .!# '&' $
$#" ' &#'. '# &14 "'& &! ( $# $ (7!'. %'$'&!'1
7$!& &'FH "# $4 '#4 &1
$$7$!& &'FH %) !&4 +4 4 &1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 8/26
<
7 #!. '(# &' '
'!(# & (#&)!.$$& ! ( '%#! 7!&'' ( & $ "'# ! ' !' &!#"' 'A4 ! "F'%1
+ $" $##7&!# !%'6# ' 2'&1 !& &!
'. ! %# !519 E 51= &!#4 "'& #! ' &%%' ' !'#'&# ' %# ! #7&!#'. $$&4 '11 ' ' '(# #$$'&'# $! "' %!##7&!#%# %!& ! $##7&!## %(1
' "' # " F'% 6
&7&'!# !!1
'7# &&' %''%'A (#&)!. $$& -'11 6'%!' $ !!%'& &$$'&'
&$'% $ %# "'' # #!'. '&! #&!# $#" 6#&'
&%! "' $ $#" ' ! "' #/H
E K1=D ' ! &%% #'%' $ !' (" %# ! 7&'!#
$!# !!1
E !# 0 =D %!2'%%1
'7# &&' ! H
E # (! !' (" %# $!# !! ! # &' &7
&'!# !!4 1.1
& L % - M 519=J/ 79
& L && #'$ &$$'&'4 % L %! #'$ &$$'&'4 L %# $!# !!4 L
# &7&'!# !!1
0 2!%#4 $ ! (#&)!. !' $ K1=D -J L 515K=/ ! ! !% % L 51;554 #!
! && #'$ &$$'&' $ 519<:1
E !&'&4 % ''&! &&' ! '. # ! %# !1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 9/26
:
'7#
'&!# $!# !!H
E 7"# !& &! -04 / E 1=%9
E !7(! !& &! - / E 1K%9
E "# !& &! - / 7 1<%9
E &' &! -& :9</ 7 1:%9
#!#4 !6!'#!('#' $ !'!#7'A #
! #'%' $ %!2'%% (#&)!. !' !
$!& ! %' %# 'A1
7
%6'. . '%#!'
'%#!' $ ! %6'. . -!/ ' ! # ! ! # $&%#'&!' "'7# '.( "' ! %6'. .
(!7#! $%!' %# %# !#'!&&!#1
"'7# (!7#!'&) ' $ !% ! . &#!!& $ ! '&!#!& &! -6 "' !%&'/ ! $ ' "'## !6 !'.'$'&! $$& .7$$&!!%'& ' !'&#!1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 10/26
5
7 7 %6'. .
H #6! . #! !6' '&) #7$#(! #! %#1
@H !"' &' !% $ %# &(!7#! '&) %# -% 2& 5D $ . &#!!& ( $$&'6/1
H &' #! %#4 $$&'6 (&%#'&! !&'6 -&! 6!'./ !2'61
H >&' #! %# -!.'!#(#"'. ! %%% ' # (!7#! .'/4 $$&'6 ( &%#'&! !&'6-&! 6!'./ ! 2'61
H %% !!&4 "( %% #'' !# ! !%#' ! $ %6'.. &'' ' !'$' ( (# %#%'$'&!' & ! #!. # &7&'F'1
0H 6'.7(# . '%#!' E &' #!% ! '>&' # "!%1
7
%6'. . '%#!' !& &! '. $ !
%6'.7(# . '%#!' ( ! ' (#%H E '!&' ("
'. ! (C
E '$$'&#' ' %!'. #! !'. "# ' &!& "' !%6'. (# E % # !6 !!" -("7"#/ (# !6' ' (#%C
E &' %# &! &) (# E ! !''!# &'#! (# &! 6' (#% ( ' ' 2'6C!
E $ %!2'%% (# '#'%' ! #6# (#" %!2'%% # 1 7"# !& &! % ' ! # "' !
%6'. (# ! "'. '. ! "# 1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 11/26
'. # G # ! %6'. (# ' 4 %# ' !## ( !
'. -% ' (' !(6/ ! "# !' '!## (!' ( &!& (" ! (#1
$& ! %% ! %! ! '27&%(!#!& % (" %# ! '. %!H E "$&C
E !.C
E ' $&C
E '&'. %%C
E ##'. %%C !
E !"'. %%1
$!& ''(' ! !## %!1
'. # G # $ "# $% ! $ %# '#$ ! ! !'.4
$& "# (# &! '& ' #! %! ( (!#!&1
$ "# $% ! $ ( ( ! '%# !( &!& "' (# -"'& &! # !('#'A ! #" (#/4 ! $ %# ' !!&
(!#!&4 (!#!& %! # #! %#(4 '11 #'$ ! !. $ "# ' %!1
$$& $ ( "# ' %! '&#H E !' .!. &! ( $' "# %! #! "# E
F' !&&! $ !.4 # $ #'$ ##'. "#C
E ! $ ' &! ( ! "# # #'.# & (#! ' ! !! 2'% "' !'$#" 6'&!# ! !2'!#$& (" "# ! (# ! %! "' (# '.4 ! %!% &! ( && %! #'$ ! !. !!1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 12/26
9
'$$& @" ! ! # '' 7 $#" F!#'
! # %( $$&
'&'#4 ' '## !' !4 (#& ' .#'.'(#C "! (#&
#6# ! %!!(# '  #1
(! #! # "!## .'6 7'$% 6#&' !&
&'1
" (#&)!. !' ' '!(# ( %!& ! &''1
!## # %( -/ &! ( %!& $##7&!# !&!#
6!# (&! $ # &! ( &!# $$'&'# -& G'& B/
E $ $#" ' !!& ' #" &! ' ' #')# ! ' "'## !# (
!!& ' '. &!4 ! !!%'& $$& $ 7%!& "'##
( F' %!##1
E $ $#" ' !! -1.1 ! "#4 "'.4 &1/ ' #" &!4 4
'. & $ !!&% '' "' 4 #!. '$$& !
'(# "' '. &!1
0
' $$'&' 2'& ! !$ 6!#'!' !.!'
2'%!# 4 0 ' 6 $# &'!## $H
E !& &! "'. '.C
E F'&) .!' $ #! ''(' ! %'$'&!'C !
E &%#' $ 6!' !!%'& ' ($ ! %# $
# '. ' %!1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 13/26
;
0
%%!
!. &' $ $# &%4 "'& ' ! %!> $!& '
&' &! !!%'&4 ' '.'$'&! $ !& &!
!!%'&1
"$& ' %!> $!& ! &! #! '&!&'. 1
! '.H '$$'&# !) %!% !
&##J7!!(# &''1
'7# '.H &## &'' ( 7&!#'. '
! %6'. . '%#!' &%#'&! '.1
0H #' ! &6'4 '&!'.# % !&&! (
'% &%'.1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 14/26
3
9
H
!& &! &!.'
!%'& "$&
!'. !!%'& $%!&
%%! 9H
!%'& $$& $%!&
#'6'&# '!&'
#7&! !!%'&
%%! 9 $& G &)"#.%
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 15/26
=
00 0
6'&#? !('#' ! !#'. ! '%!'#
'&! ( $%!& ( ' $%!&
&! ( &!. &'!(# ( !!%'& #!4
'11 '%!# #!'. $ ( &# $
$J! "$& &! #! '&!H
E &'. C
E (!)'. $%!&1
00 0 E
!'.7#' (!)'.
&! "$& & (!)'. '!&1
'%# (!)'. % ' ( '&!'. !!%'& !.
$ 6' 1.1 !. # !!&4 ' !
! !6!!. ! (!) ! 6!1
% ' $ %6!(# !!%'& 6'&4 1.1
$#!4 ( " ! %# (! -( !& .#!'
' & !$ ./4 !#.
&! 0 &! ! ! (!)7!&'6! ! '#1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 16/26
I
00 0
7 %!2'%% '. !7! '. !
(!) !&) #! $& 4 "'& '&!"' "$&4 ! &'$.!# $&4 "'&'&! "' &'. -$ .'6 !'/1
"$& '&!
%!2'%% '. 4 1.1$ L 955% "'.#6'&# &! & ! !%!2'%% $ !( =5)%J4"'# '.7"$&6'&# &! & ! ! %2'%%$ !( 9=5)%J -$ &"' ! !''!# 6'&#%!/1 !2'%% 6 ! &6!4 4 $ 6!'.
#'$ &$$'& -%!2'%% &$$'&' $ $'&' L 15
' !## &!/1
00 0 E
&'&' #! '% !&'. $! %!2'%% ' $ #6! !
!& !&) F' '$$ !!%'& '.4 $ 2!%#H E ! '.7 !&) "' ' !&&#!' ! ! F'
#" !.J#" "$& '.C "'#
E ! '.7 !&) "' (!) F' '. "$& '.1
' &%# &'&' '% ! ! #6! ! %!2'%% 6 &' $ &1
'6 ! '&! "$& '%#' '&! !. -'11& %!2'%% /4 6!'!' ' !. 6 #'$ %( '&# ' ! !!#' $ !& &! $%!& ! .'6!&)1
!'.1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 17/26
K
00 0 E
#!!# !('#'4 G
$ ! 6'&#? & $ ' !! $ & $ .!6'
! '. ! #!!# '.#!' -1.1 (% ' !/
"'## &! ! %!## '''!# ' #' ! .! !
!!%'& ' $& ! '&! ' #'4 '11
!(# "' '6 '6'1
$4 #') % ! &!4 % !& &! !6 '
& $ (' & $ .!6' ' .'6
'%6 #!!# !('#' ! '. " !!%'&
$& ! '.'$'&!1
00 0 E #!!# !('#'4 #'$
!!# !('#' ' !# !$$& ( !' $ $ !#'$1
H "7 -.#'(#7#'$/ 6'&# "' ' #' ! !.#
4 %%! '(!& ! #$ 1
E ' $& &! ( ' '!# %!# #!4 '11 '!# "'. $ -$ /! ! -/ !2#1
E $ %% !( $ &! ( ! 2& ! &! ( $ 4 & ! %% ! &! ' '&' $ #'4 ' -!(#/1
@H '.7 -'.'$'&!7#'$/ 6'&# "' ' #' !
1
E 4 "$& ' .! ! $ ! ' %! ''6 #'$ - % !$7$#" !!'/ E '&!# '$ % &' &! "' ! "$&.!1
E $ %% !( $ &! ( $ 2& !7 %%4 & ! %% &! !"! $% #' '&'4 ' 6 ! '(# 6'&# ' -!(#/1
H " 4 '11 "' !1 $$&1
@H '. 4 '11 "' !1 $$&1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 18/26
<
00 0 E ' G
'& ''6' '& ''6' ' %! ! 'J!!%'& '!&'4 ! &'(
'$#& $ ! 6'&#? '& !#'. ! " ' !$$& 6'&#? & 6J1
!'!''. ! &! '& ''6' . %!64 " &! ## ! ' .% 6!'4 ' '$$'
'. ! "$&4 ( '&!'. &!? &'. '$$4 %!) &!% !(# ! &##!(# ! '. 1
. $$&4 #"'. ! $ "'. &! $ "$& ('&! ! !# & &#!!& #'%' !'$#" ! &! !
$ &! & $#" . ! '$$ ! & !"$&4 '11 ( $$& %!) &! % !(# ! % '6 $$ 'F' &# &!1
' '&! &% '&! 6'&!# #!4 ! '$$ '. !F' !6' $"! '&'. E ! '$$ #! % '66'(!'1
&'6 ' &! !6' #!. &!. ' ' .% - ! ( '0 E ($ ('. (! E &! !&'6 !!%'& 6'! &!. ' ' '. !'& ! '$$ ' !#. !&)/1
00 0 E '& -G !"/ ''6'
"# !& &! ' ' %'. ! '.# &!%( $ "'. .!'. "$&1
@ $ "'. '6 !'$#" $% ! $#" ' !# ' 6 #'%'1
'. "$& # (&% 6'& ''6 -6 ''6 # $ $. &#!!&/4 '& ' $ $#" #'.'! $ "'. ! (&% $ %!># ( !'$#" $% '1
% !''!# '.4 "' $$'&' $$#" $ ! #4 ' # '&''61 "$& ' '## &! ! ( % ' &! 6 "# #"$!& ! ! # !&1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 19/26
:
+ #'!%'. ' $ ' '.7
!&'.4 1.1 &) &! !&'.1 E $!% !%#'
'%'. $ $ & &! $% ! '.7 !.!'' ! "# %!##4 '11 !. & &! ' &1
E ! "$& $ #!'. &!' & & " $ $#" ! ' !1
E $ #'$ $ & &! '& ''. '' "!)$ #!'. &!1
E ! "$& $ & &!' & . $#"!!' 1
E !('#' $ ( &! ' &4 '11% 64 ( % $ !'#'. &!1
'$ G !. 6!'!' $ ( &! '.
#'!%'.1
0 7"# &!4 #'$ $ "'. !J $#" ' ( # ' & $ !'#'. &!4 $ % '.7"$& !& &! ! 2& # "$& ! $%!&" #'!%'.1
0 &) &! !&'. ' 6!# !&)"' !''. ' "!##4 ( #'$! !. ! .# !$$& (2'%' ! "!## -& '$ "!## ' '&#'/1
%) !'&# #' 6'!#'A!' $#'!%'. 1
7
@!'& ( &&1
0#" ! "#1
!# ! )'1 ( #1
'%# !7H '#4 !)4 #'J $#!1
!& &! "'.1
!# $#"1
7"# !& &!1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 20/26
95
@ @ H #" !. ! (7.! "$&1
@H 67"'. .7$$& '. $ '.
"$&1
H !!%!! '. $ "# &!
"' % ( ! '# !
!1
H +!&%7&#! && "' !#'. !
$ ! ' #'%'! ( !'$#"
$ . "$&1 !'' $ ! $!
! "'. !& ( &'1
H +27#'$ && &! "$& E
' ! $##7( !'. ! %!##
$#& #!1
0
7H "# ! $ % '$#'!#&% !$$&'. !!%'&1 E !' $ "# %6 !!' ' $"!1
E '!&' (" "# ! . & 62 '.( $#" ' "!) (' "# %! ( ''& ! '!& "' $ ( $#"1
E "# $#" %! %'! 6'&#? !.1 E ! $"! !.!' ' "# ' ! %!## &'&#!'
.' E %'. ! #! ' ' !! &! .'6 ! "$&C #!1
7H # $#" &! ( 6 &%#'&! (!## '6 ! &!# $#" ' '&' $ !'"'' "# "##1 ' $#" &! ( &!# &#'.$#" %6 $#" $% ! &! .!"$&1
G H # '% &! !& ! % &# (!) E '$ .#!' !##"1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 21/26
9
!# ! )' ! 6 !'$#" ' #"7 .' &!1
E ' % $ !&'. "$& ' " '(' ( .#!' '%! &#! $ !&'.1
7$$& '. !# ($' $% !'' $ )' & ! $#" &! "' ' '6 !$'# !'. %!' '!## "7'%'!# - .! #!. #'$ !. !'/1
E & 6'&!## #''. )' !!& ' $ 0 &! ' #! K5! !# <51
E )' .7$$& 0 &! .! O 791I ! . '&! ' #!!#!&&#!'4 ( ! # $ !# # 6 !$ '!'1
E )' .7$$& '. (! ( :<; ' % !&'.1
E && "! &' ! $#2'(# )' ! " !!& #!$ $ "'. $ %! 7"# &! ' !# <51
@ @!'. )' .7$$& '. #
(7#J&!#J'$$J6''.1
'A ! $% $ # ' !##'&! ( .#!'1
#" &! "'' # #! '$#" $% ' $ 6'&# (" $ ! ! "#4&!'. . &&! 6'&1
6'& ) $#" !!&. # ! !('#'A ( $#"4 $H
E . $ # &'!## !! % ## 62 .C!
E ! &## % ! "'. ' $F' # % $#" 6'
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 22/26
99
7 7 '#4 !)
! "'. ! (! "##7%!& !$'# &'4 "! '# !
%! $% '%# %!# ! ! ! 2''. &! -1.1
!.7&! (! &! ! !&/ !# !!%'&1 '#
&! ( !H
E $ -'11 $ ( !%/ H
E !. &! '6 ( $#" !6' '6#' ! #%('. &%
! $ & !.C
E % ( !& &! 6' !& "$& ! 2 $
'&! !.C
E ! -'11 !7&) '#/ H E & !! $#" !! ! ! ! $ & !.C
E #6! ! !.!' #' &! % "$&C
E '&! ( $#" ! $ "$& .! E 6'
'# ' "## #!& 7 ! 2 $ '&! !.1
!) &! ( ! &! 62 #'$ -! 2 $ '&! !./ !
$ ! $ !& 6'
7 E
#'J $#!4 #!
'J $#!J"'&) &! ( !
!'#'. . $ "'.1 %!##
!'#'. 62 ! ' &! !## #
$#" ! &'7'
(! #! (&% '4
$$&'6# '&!'. "'. &!%(4 '11
6''. % &'&#!'1
'.7 !.!' #! &! (
#!& 'A!## - ! %''%!#
!./! "# $ 7"#
!& &!4 1.1 ' ::; 0 &! ' $'.1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 23/26
9;
'$$& (" !#!7 "'. ! !& &! "'.'&#H
E '!&' $ !& &! "'. "' ( &%4 1.1 "$& .! ( & $ "'. ( &! ( !#!. ! "$& "'. '#$C
E &'!## 7"# ! "'. !6 %!## !& !'4 '11 $! $%"7'%'!# $#" ! ''('C
E % !& &! "'. ! ' 2% . $$&4 '11 &# . . !6 '.'$'&!# !& "$&4 "'& &! !$$&!#'. "' ' %' !J &! !$$& $$'&'& $( # '$ ! $ "'. 6# '& !'$#" &!C
E #') !#! "'.4 &! "'. ! '. $ ! $'2 ' $!'1
7 '''.
.!# $ 7"# &!4 &!##7% "'. -'11 (" " "# !2#/ ! # $$'&' ! $!7$"! $!7!$ "'.1
' ! % ( &!4 $#" ' !## !!& 6 % $ $ &' ( %! ( % #'%' $#" !!' ! !1@H
E !'' $ ! ! '6 "'. &! &! ( $#" !&&#! #" (! '& ( "'.C
E ' '. &! % "$& ( ' !'' !''!#"$& "'. '#$C !
E $ "'. &! $#" !!' .' ( &1
!'' $ ! ! "'. ! !. &! "' 2 (&% ' #')# ( %''%!## $$&'61
" ! "'. &! .'6 ( $J! "$& !' &# -( !&'. !##" # ! "'./1
04 ! '. ! "'. %! ( 4 "'& %! !6 %#'# #%4 '&! "$&1
#! "'. ! '%! $ #!!# !('#'4 "$&4 !' % &! '#! "'. $% "#1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 24/26
93
0
!# $#" !6 ! . '$#& '. $H E &#'. %C
E !' '!)C
E '' 6'#!'C
E .' '!)C
E 2! %!'$#C
+'& (!7#! $#"4 $#" !!' ! !7!$$$& ! .!## '.'$'&!1
!& &! !6 ! &#'. % !$ ! >& ('!# !'! 2!# $#"1 !& .#!' !##" ! &#'. $! ! $ '$$&(" " $ &#'. % ' ! $&' $6'&# 1
7
7"# !& &! !6 % &%#'&! !!%'&4'%!'# $ #!. 2 "#1
!) .#!'4 ! 7"# !& &! ' ! #. "!$% ! '!# '.7 !%#' 6'
$#" (' !& $ $ 2 "# ' &%##!! -#!. ! 2&/1
$!# !! $ $ "# %! ( ! %& ! I=D $ !# 6'&# $!# !!4 H E $ "# O 519 51=C !
E $ "# O 51; 513 -''6 #'$/1
(") $ 6'&# % ' "'' '.# '($#" $'# ! $ !. $ & &! ' '# '.1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 25/26
9=
7
0#" !!' (' "#1
0#" 6 $ ! ! "'. '
!!&1
0#" $ "'. 6!##
$ ! '$$ !
&#'. '!)1
!. & & $$'&'&$ $ "'. E " &
! !' !(6 "'.1
! "# $#& $#" ('
!"'. !'# $ ( !
$#" ! !!& 1
7
! 6' ! "$& ( &!'. &(! ! %'. 62 & ) 6' $#" !!&1
#" ! "'. # '& #" $ &#'. 2' $#" ! $ '$$ 2'$#"4 ' '&!'. $#" ! !'&!'. "$& $ 6'1
.' '!) ' $ ( '!## '($#" !(6 '6? ! ! ! '$$" $#" ' #" ($ '. !'(21
"'& ' > #!. . &! ! %!##!! .' ' &&)'1
$#" $'# (' &! ' '.# '(&%''. %!># $ !'#'. "'. 6'&4 !7"# "!)4 6' 6'& ! #!'. .' 2!1
7/17/2019 KTH Renault
http://slidepdf.com/reader/full/kth-renault 26/26
+'&# !%'& ! !#'. ! '%!'# '&! ( $%!& ( '$%!& &! ( &!. &'!(# ( !!%'& #!4 '11 '%!# #!'.$ &! #! '&!H
E &'. C
E (!)'. $%!&1
!%'& &% &! ( '. ' '#!' E $#" '!&' % (!&& $1
!& .#!' '&! '. &!.1
.!#4 $ % $ !& &!4 ' '. ! '& !.# &! &!!!%'& 6!'!' ( ' &! #! ' '&7''6' '1
0 G
6'.!' $ .!'6 #'$'. $!& !& ! 7"# !&'. &!
&$'.!'4 ! <=759<;4 P !A1
+'&# !%'&4 P ##'1
!%'& $ !& &! ' !$'. ! !'. '!'4 ! K7
59;4 % !#1 $$& $ &) '# ! "7&! '$& (
$ !& &!4 ! :379=954 &! !#1
!& ! !%'&H '.'. $ 4 P !A1
!) !# 0 !% $ %'' " %!)'. '$%!'4
0 # ! !##"'. % '#! 0 &%1
!) #! !#!%##' ! $ ') #$ $
'6''. %1