Lappeenranta, Finland
Conference Program Program Overview Detailed Technical Program
17
IMSD 2010 May 25–27
Program Overview Tuesday, 25 May 2010 9.00-9.40
Integration of Computer Aided Design and Multibody System Analysis Ahmed Shabana, University of Illinois at Chicago Room A
9.40-10.00
Coffee
10.00-12.00
FMS 1 Room B
DOAV 1 Room C
BIO 1 Room D
RS 1 Room E
T1 Room F
12.00-13.20
Lunch
13.20-14.00
Holistic Design of Wind Turbines using Aero-servo-elastic Multibody Models, Carlo Bottasso, Politecnico di Milano Room A
14.10-15.30
FMS 2 Room B
DOAV 2 Room C
BIO 2 Room D
15.30-15.50 15.50-16.50
RS 2 Room E
OSA 1 Room F
RS 3 Room E
OSA 2 Room F
Coffee FMS 3 Room B
18.30-20.30
DOAV 3 Room C
EMRA 1 Room D
Boat cruise in the archipelago of Lake Saimaa
Wednesday, 26 May 2010 9.00-9.40
The Big EXPO 2010 World Exhibition Pendulum - Dynamics and Control, Peter Eberhard, University of Stuttgart Room A
9.40-10.00
Coffee
10.00-12.00
FMS 4 Room B
DOAV 4 Room C
CM 1 Room E
DMRS 1 Room F
12.00-13.20
Lunch
13.20-14.00
Multibody Methods for the Adaptive Modeling and Simulation of Large Molecular Systems Kurt Anderson, Rensselaer Polytechnic Institute Room A
14.10-15.30
FMS 5 Room B
DOAV 5 Room C
15.30-15.50 15.50-16.50 18.30-20.30
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CIP 1 Room D
BIO 3 Room D
AICS 1 Room G
RS 4 Room E
EMRA 2 Room F
OSA 3 Room E
ENV 1 Room F
Coffee FMS 6 Room B
CIP 2 Room C
BIO 4 Room D Conference dinner
Lappeenranta, Finland
Thursday, 27 May 2010 9.00-9.40
(Multibody) Systems Theory, from Cars to Humans John McPhee, University of Waterloo Room A
9.40-10.00
Coffee
10.00-12.00
OT Room B
T2 Room C
AICS 2 Room D
CM 2 Room E
DMRS 2 Room F
12.00-13.20
Lunch
13.20-14.00
Multibody Dynamics Studies in Asia and Damping Models for Flexible Systems Nobuyuki Shimizu, Iwaki Meisei University Room A
14.10-15.30
FMS 7 Room B
DOAV 6 Room C
15.30-15.50 15.50-16.50
ENV 2 Room D
CM 3 Room E
CIP 3 Room F
MA Room E
EMRA 3 Room F
Coffee FMS 8 Room B
CIP 4 Room C
ENV 3 Room D Sauna
AICS BIO CIP CM DOAV DMRS EMRA
Algorithms, Integration Codes and Software Biomechanics Contact and Impact Problems Control and Mechatronics Dynamics of All Vehicles Dynamics of Machines and Rotating Structures Efficient Methods and Real-Time Applications
ENV FMS MA OSA OT RS T
Experiments and Numerical Verifications Flexible Multibody Systems Multidisciplinary Approaches Optimization and Sensitivity Analysis Other Topics Robotic Systems Theoretical and Computational Methods
19
IMSD 2010 May 25–27
Detailed Technical Program Tuesday, 25 May 2010 Integration of Computer Aided Design and Multibody System Analysis
Room A 9.00-9.40
Ahmed Shabana, University of Illinois at Chicago Session chair: Werner Schiehlen, University of Stuttgart
Coffee
9.40-10.00
Flexible Multibody Systems (1 of 8) Session chairs
Room B 10.00-12.00
Ahmed Shabana, University of Illinois at Chicago Arend Schwab, Delft University of Technolgy
Modelling of Beams Made of Anisotropic Materials Jaap Meijaard An Implicit Non-Linear Finite Element Solver Used for Advanced Multibody Simulations Frédéric Cugnon, Julian Santiago Prowald Parallel Computation Approaches for Flexible Multibody Dynamics Simulations Olivier Bauchau Numerical Approach in the Analysis of Flexible Body Motion with Time-Varying Length and Large Displacement Using Multiple Time Scales Yoshiaki Terumichi, Stefan Kaczmarczyk, Kiyoshi Sogabe Comparison of Modal Reduction Methods for the Simulation of Continuum Multibodies Dmitry Vlasenko, Roland Kasper Modelling Coupled Hydraulic-Driven Multibody Systems Using Finite Element Method Petri Pertola, Jari Mäkinen, Heikki Marjamäki
Dynamics of All Vehicles (1 of 6) Session chairs
Room C 10.00-12.00
Jorge Ambrósio, Instituto Superior Técnico Hiroyuki Sugiyama, Tokyo University of Science
Analysis of the Critical Speed of Rail Vehicles in a Variety of Configurations Michelangelo Bozzone, Ettore Pennestrì, Pietro Salvini A Basic Study on Semi-Active Steering Bogie by Using MR Damper in Subway Vehicle Yujeong Shin, Wonhee You, Joonhyuk Park, Hyunmoo Hur Wheel/Rail Contact Dynamics of Turnout Negotiations in the Analysis of Multibody Railroad Vehicle Systems Hiroyuki Sugiyama, Ryosuke Matsumura, Shunpei Yamashita, Yoshihiro Suda Computation of Common Normal Between Wheel and Rail Surface Behrooz Fallahi, Sunil Ballamudi Simulation of Semi-Active Suspension System for Railway Applications: a Modular Approach Andrea Rindi, Luca Pugi, Fabio Bartolini, Francesco Cangioli Railway Vehicle and Bridge Interaction: Some Approaches and Applications Gennady Mikheev, Ekaterina Krugovova, Roman Kovalev
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Lappeenranta, Finland
Biomechanics (1 of 4) Session chairs
Room D 10.00-12.00
Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
Mechanical Investigations of Human Hearing Albrecht Eiber, Michael Lauxmann Structure Preserving Optimal Control Simulation of Index Finger Dynamics Ramona Maas, Sigrid Leyendecker Using Wobbling Masses and Optimization to Compensate for Residuals in Highly Dynamic Movements Christian Simonidis, Wolfgang Seemann Simulation of Human Walking with One-Sided Gait Dissorders Daniel García-Vallejo, Werner Schiehlen Comparison of Impulsive and Compliant Contact Models for Impact Analysis in Biomechanical Multibody Systems Josep Font-Llagunes, József Kövecses, Rosa Pàmies-Vilà, Ana Barjau Influence of the Contact Model on the Dynamic Response of the Human Knee Joint Margarida Machado, Paulo Flores, Jorge Ambrósio, Miguel Silva, António Completo
Robotic Systems (1 of 4) Session chairs
Room E
10.00-12.00
Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
Dynamic Estimation of Applied Forces on Parallel Mechanism with Inverse Multibody Dynamics Taichi Shiiba, Shoichi Sasaki, Naoki Takahashi Inverse Dynamic Control of Last-Link Flexible Robots Using Multibody System Approach Ayman Nada, Said Megahed Inverse Dynamics of Legged Robots with Multiple Degrees-of-Freedom Joints Using the DeNOC Matrices Suril Shah, Subir Saha, Jayanta Kumar Dutt Base Parameters of Robotic Models with Kinetic Friction Xabier Iriarte, Javier Ros Drive Train Design Optimization of a 5-DOF Light-Weight Robotic Arm Lelai Zhou, Michael R. Hansen, Shaoping Bai The Method of the Stabilization of Control Motion of the Walking Machines by Modification of Program Motion Alexander Gorobtsov
21
IMSD 2010 May 25–27
Tuesday, 25 May 2010
Theoretical and Computational Methods (1 of 2) Session chairs
Room F
10.00-12.00
Kurt Anderson, Rensselaer Polytechnic Institute Wojciech Blajer, Technical University of Radom
Graph Theoretic Structure of Multibody System Spatial Operators Abhinandan Jain Quaternion-Based Non-Linear Dynamics of Spatial Beams Using the Runge-Kutta Method Eva Zupan, Miran Saje, Dejan Zupan Application of Finite Strip and Rigid Finite Element Methods to Modeling of Vibrations of Collecting Electrodes Iwona Adamiec-Wójcik, Stanisław Wojciech On Adaptive Multiscale Modeling of Biomolecular Systems with the Application in RNA Kurt Anderson, Mohammad Poursina, Kishor D. Bhalerao Concurrent Simulation of Large-Scale Multibody Systems Using MPI Alexander Gorobtsov, Victor Getmaskiy, Efim Sergeev, Andrey Andreev Dynamic Behavior of Polymeric Thermo-Visco-Elastic Bar Described By Fractional Calculus Constitutive Law Wei Zhang, H.C. Huang, N. Shimizu
Lunch
12.00-13.20 Holistic Design of Wind Turbines using Aero-servo-elastic Multibody Models
Room A 13.20-14.00
Carlo Bottasso, Politecnico di Milano Session chair: Olivier Bauchau, Georgia Institute of Technology
Flexible Multibody Systems (2 of 8) Session chairs
Room B 14.10-15.30
Johannes Gerstmayr, Linz Center of Mechatronics GmbH Daniel García-Vallejo, University of Seville
Critical Overview on the Choice of Reference Conditions and Coordinate Reduction Methods in Flexible Multibody Dynamics Jorge Ambrósio, Maria Augusta Neto Dynamic Simulation of Flexible Multibody System with Electric-Hydraulic Drive System Etsujiro Imanishi, Takao Nanjo A Non-Incremental Finite Element Formulation of Large Deformation Piezoceramic-Laminated-Plates Ayman Nada, Ahmed El-Assal Real Time Structural Response Simulation for Dynamic Fatigue Life Estimation of Construction Equipments Hee-Jong Lee, Seong-Yong Kim, Ju-Ho Kwak, Byung-Joo Kim
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Lappeenranta, Finland
Tuesday, 25 May 2010
Dynamics of All Vehicles (2 of 6) Session chairs
Room C 14.10-15.30
Jorge Ambrósio, Instituto Superior Técnico Hiroyuki Sugiyama, Tokyo University of Science
Numerical Simulation of Railway Vehicle Derailments Vladislav Yazykov, Dmitry Pogorelov, Vitaly Simonov, Gennady Mikheev, Roman Kovalev, Dmitry Agapov, Nikolay Lysikov Optimization of Front Axle Suspension System of Articulated Dump Truck Thomas Langer, Brian Christensen, Ole Mouritsen, Michael Hansen Multibody Modeling of a Derailed Vehicle with the Post Derailment Stopper Based on Full-Scale Running Tests Hironobu Sunami, Yoshiaki Terumichi, Tsutomu Morimura, Masahito Adachi Analysis of the Wheel/Roller Contact Problems in the Design of a Scaled Roller Rig for the Simulation of Degraded Adhesion Conditions Fabio Bartolini, Enrico Meli, Luca Pugi, Mirko Ignesti, Monica Malvezzi
Biomechanics (2 of 4) Session chairs
Room D 14.10-15.30
Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
Articular Contact Detection of the Coupled Tibio-Femoral and Patello-Femoral Joints Modeled as a Multibody System with Superquadric Surfaces Daniel Simões Lopes, Miguel Silva, Jorge Ambrósio, Richard Neptune Sensitivity Analysis of the Parameters Used to Calculate the Interface Forces Between Lower Limb and Orthosis Paula Silva, Miguel Silva, Jorge Martins Influence of Input Data Errors on the Inverse Dynamics Analysis of Human Locomotion Rosa Pàmies-Vilà, Josep Font-Llagunes, Javier Cuadrado, Javier Alonso Development and Validation of a Coupled Multibody - Finite Elements Model for the Analysis of the Brain Motion During Impact Ştefan Tabacu, Nicolae Doru Stănescy, Sorin Ilie, Anton Hadăr
Robotic Systems (2 of 4) Session chairs
Room E
14.10-15.30
Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
3D Inertia Transfer Concept and Symbolic Determination of the Base Inertial Parameters Javier Ros, Xabier Iriarte, Vicente Mata Optimal Control of a Two-Mass System Moving in a Resistive Medium Along a Straight Line Nikolai Bolotnik, Felix Chernousko, Tatiana Figurina Optimal Arm-Swinging in 3D Biped Walking Yannick Aoustin, Alexander Formalskii A Planar Hybrid Self-Balancing Jumping Mechanism Arash Fallahnejad, Kambiz Ghaemi Osgouie
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IMSD 2010 May 25–27
Tuesday, 25 May 2010
Optimization and Sensitivity Analysis (1 of 3) Session chairs
Room F
14.10-15.30
Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège
Modeling a Coriolis Mass Flow Meter for Shape Optimization Wouter Hakvoort, Jaap Meijaard, Ronald Aarts, Ben Jonker, Rini Zwikker Optimal Control Methods for the Computation of Excitation Signals in Multibody Systems Stefan Reichl, Wolfgang Steiner, Michael Steinbatz Parameter Sensitivity Analysis: Symbolic Computation for Large Multibody Systems Antoine Poncelet, Jean-François Collard, Paul Fisette
Coffee
15.30-15.50
Flexible Multibody Systems (3 of 8) Session chairs
Room B 15.50-16.50
Johannes Gerstmayr, Linz Center of Mechatronics GmbH Daniel García-Vallejo, University of Seville
Modelling Flexible Curved Tracks in Multibody Railroad Simulations with the Moving Shape Functions Method Rosario Chamorro, José Escalona, Antonio Recuero Intrinsic Flexible Joints Olivier Bauchau, Leihong Li, Pierangelo Masarati, Marco Morandini A New Flexible Point Curve Joint for the Dynamic Simulation of Flexible Multibody Systems Tariq Sinokrot, John Laughlin, William Prescott
Dynamics of All Vehicles (3 of 6) Session chairs
Room C 15.50-16.50
Taichi Shiiba, Meiji University Dmitry Pogorelov, Bryansk State Technical University
Simulation of Tracked Vehicle Dynamics with Universal Mechanism Software Dmitry Pogorelov Modelization by Superelements with Contact Management in Explicit Car Crash Simulations Kamila Flidrova, David Lenoir, Nicolas Vasseur, Louis Jézéquel Nonlinear Quarter Car Models Running on Random Roads with Bounded Realizations Walter Wedig
Efficient Methods and Real-Time Applications (1 of 3) Session chairs
Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University
Real-Time Simulation of Multibody-Systems for On-Board Applications Lilli Engelhardt, Michael Burger, Gerd Bitsch Parallel Index-3 Formulation for Real-Time Multibody Dynamics Simulations Paweł Malczyk, Janusz Frączek, Javier Cuadrado Natural Coordinates MBS for HIL Simulation Paolo Righettini, Alberto Oldani
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Room D 15.50-16.50
Lappeenranta, Finland
Tuesday, 25 May 2010
Robotic Systems (3 of 4) Session chairs
Room E
15.50-16.50
Room F
15.50-16.50
Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
A Bipedal Robot Model with Elastic Actuation Daniela Förg, Martin Förg, Heinz Ulbrich Gravity Compensation for Phantom Omni Haptic Interface Majid Koul, Praneeth Kumar, Praveen Singh, M Manivannan, Subir Saha Effects of Gimbal Drives on Optimal Path of Robotic Arms Foad Mohammadi, Iman Hemmatian, Kambiz Ghaemi Osgouie
Optimization and Sensitivity Analysis (2 of 3) Session chairs
Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège
Unified Mechanism Synthesis of Planar Four-Bar Linkage Mechanism Using Spring Connected Size-Variable 3-Blocks Model Bum Suk Kim, Chan Kyu Choi, Hong Hee Yoo Hybrid Sensitivity Analysis and Parametric Studies of Multibody Systems Saeed Ebrahimi, Arash Haghi Sensitivity Analysis of Flexible Slider-Crank Mechanism Using Absolute Nodal Coordinate Formulation Ting Pi, Yunqing Zhang, Liping Chen
Boat cruise in the archipelago of Lake Saimaa
18.30-20.30
25
IMSD 2010 May 25–27
Wednesday, 26 May 2010 The Big EXPO 2010 World Exhibition Pendulum - Dynamics and Control
Room A 9.00-9.40
Peter Eberhard, University of Stuttgart Session chair: Jorge Ambrósio, Instituto Superior Técnico
Coffee
9.40-10.00
Flexible Multibody Systems (4 of 8) Session chairs
Room B 10.00-12.00
Jaap Meijaard, University of Twente Yoshiaki Terumichi, Sophia University
Multibody Modelling and Optimization of a Curved Hinge Flexure Steven Boer, Ronald Aarts, Dannis Brouwer, Ben Jonker Optimized Implementation of Flexibility in Wind Turbine Gearbox Multibody Model in View of Model Updating on Dynamic Test-Rig Jan Helsen, Frederik Vanhollebeke, Dirk Vandepitte, Wim Desmet Motion and Control of Tether Space Mobility Device Shoichiro Takehara, Yuichi Kondo, Yoshiaki Terumichi, Takuya Yoshimura Modal Synthesis of a Scanning Tunneling Microscope for Active Vibration Control Using an Orthogonal Projection Approach to Multibody Dynamics Jun Lu, Peter Eberhard Design of a Spool Using Unwinding Dynamics of Optical Fibers Jae-Wook Lee, Kun-Woo Kim, Hyung-Ryul Kim, Wan-Suk Yoo, Deuk-Man An Inclusion of the Effect of Geometric Stiffness in the Dynamics Analysis of Plain Flexible Mechanisms Cleves M. Vaz
Dynamics of All Vehicles (4 of 6) Session chairs
Room C 10.00-12.00
Taichi Shiiba, Meiji University Dmitry Pogorelov, Bryansk State Technical University
Multibody Dynamics Analysis of Differentials in Vehicle Drivetrains Geoffrey Virlez, Olivier Brüls, Nicolas Poulet, Pierre Duysinx Effects of Damper Connecting Two Maglev Vehicles on Dynamic Behavior Kijung Kim, Hyungsuk Han, Bongseup Kim, Sukjo Yang Design of the Hydraulic Shock Absorbers Characteristics Using Relative Springs Deflections at Asymmetric Excitation of the Bus Wheels Pavel Polach, Michal Hajžman Full Vehicle Simulation for Durability Test of Damper in a Cruise Bus Jeong-Hyun Sohn, Seong-Jun Park, Jeong-Han Lee, So-Hae Choi, Wan-Suk Yoo Ride Comfort Analysis for 2-Car and 3-Car Articulated Vehicles by Using Flexible Car Body Model Yeon-Su Kim, Kyeong-Ho Moon, Jai-Kyun Mok, Myeong-Gyu Kim Investigation and Optimization of Active Suspension in Multibody Car Model. Alexander Gorobtsov, Dmitriy Miroshnichenko, Eugeniy Gromov
26
Lappeenranta, Finland
Contact and Impact Problems (1 of 4) Session chairs
Room D 10.00-12.00
Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Contact Modeling in Real-Time Simulation of an Underground Wheeled Loader Sami Moisio, Pasi Korkealaakso, Asko Rouvinen A Biomechanical Multibody Foot Model for Forward Dynamic Analysis Pedro Moreira, Miguel Silva, Paulo Flores Volumetric Contact Models and Experimental Validation Michael Boos, John McPhee Improving the Jumping Performance of a Single Leg Robot Using Directional Dynamic Capability Equations Daniel Flickinger, Alan Bowling Tracked Vehicle Simulation on Granular Terrain Leveraging Parallel Computing on GPUs Toby Heyn, Hammad Mazhar, Alessandro Tasora, Dan Negrut
Control and Mechatronics (1 of 3) Session chairs
Room E
10.00-12.00
Andres Kecskeméthy, University of Duisburg-Essen József Kövecses, McGill University
Sliding-Mode Control for a Delta Parallel Robot Actuated by Pneumatic Muscles Dominik Schindele, Harald Aschemann Gain-Scheduled Tracking Control for High-Speed Rack Feeders Harald Aschemann, Jöran Ritzke Design and Implementation of an Omnidirectional Platform Stabilizing a 2-DOF Inverted Pendulum Paul De Monte, Andreas Ertlmeier, Gerhard Schillhuber, Thomas Thuemmel Flexible Multibody Modelling for the Mechatronic Design of Compliant Mechanisms Ronald Aarts, Johannes van Dijk, Ben Jonker On the Adequation of Dynamic Modelling and Control of Parallel Kinematic Manipulators Erol Özgür, Nicolas Andreff, Philippe Martinet Design and Control of a Parallel Robot for Laparoscopic Surgery Nicolae Plitea, Juergen Hesselbach, Calin Vaida, Annika Raatz, Doina Pisla, Bela Gyurka, Bogdan Gherman
27
IMSD 2010 May 25–27
Wednesday, 26 May 2010
Dynamics of Machines and Rotating Structures (1 of 2) Room F Session chairs
10.00-12.00
Stephanos Theodossiades, Loughborough University Nobuyuki Shimizu, Iwaki Meisei University
Vibrations of Differential Units in Light Trucks George Koronias, Stephanos Theodossiades, Homer Rahnejat, Tim Saunders Study of Dynamics of Multi-Degree-of-Freedom Electro-Hydraulic Mix-Drive Motion Simulator Yuefa Zhou, Hongliang Li, Tao Fan, Tianfu Liang Modelling and Analysis of Dynamics of Electric Motor Rotor Michal Hajžman, Miroslav Byrtus, Jakub Šašek, Vladimír Zeman A Dynamic Model of an Overhung Rotor with Deep-Groove Ball Bearings Onur Cakmak, Kenan Yuce Sanliturk Dynamics of Flexible Details Milling Sergey Voronov, Igor Kiselev
Algorithms, Integration Codes and Software (1 of 2) Session chairs
Room G 10.00-12.00
Martin Arnold, Martin-Luther-University Halle-Wittenberg Olivier Bauchau, Georgia Institute of Technology
Investigation of Parallelization of Multibody Dynamic Systems Michael Valášek A Parallel Co-Simulation for Mechatronic Systems Markus Friedrich, Markus Schneider, Heinz Ulbrich Numerical Stability and Accuracy of Different Co-Simulation Techniques: Analytical Investigations Based on a 2-DOF Test Model Martin Busch, Bernhard Schweizer Advances in High Performance Computing for Physical Simulations Alessandro Tasora, Dan Negrut Efficient Implementation of 3D Graphics in a MBS Framework Alfonso Callejo, Santiago Tapia, Javier García de Jalón Simulation of Multibody Systems in a Parallel Processing Environment William Prescott
Lunch
12.00-13.20 Multibody Methods for the Adaptive Modeling and Simulation of Large Molecular Systems Kurt Anderson, Rensselaer Polytechnic Institute Session chair: Javier Cuadrado, University of La Coruna
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Room A 13.20-14.00
Lappeenranta, Finland
Wednesday, 26 May 2010 Flexible Multibody Systems (5 of 8) Session chairs
Room B 14.10-15.30
Jaap Meijaard, University of Twente Yoshiaki Terumichi, Sophia University
Concepts for the Simulation of Belt Drives - Industrial and Academic Approaches Roland Zander, Frank Rettig, Thorsten Schindler Using a Fully Elastic Gear Model for the Simulation of Gear Contacts in the Framework of a Multibody Simulation Program Pascal Ziegler, Peter Eberhard Flexible Slider-Crank Dynamic Analysis by Means of Gauss Principle of Least Action Ettore Pennestrí, Lorenzo Mariti, Matteo Minotti, Nicola Pio Belfiore Analytic Sensitivity of Dynamics of Anisotropic Flexible Four-Bar Mechanisms to Stacking Sequences Hemaraju Pollayi, Dineshkumar Harursampath
Dynamics of All Vehicles (5 of 6) Session chairs
Room C 14.10-15.30
Taichi Shiiba, Meiji University Dmitry Pogorelov, Bryansk State Technical University
Multibody Aeroservoelastic Simulation of Tiltrotor Predictive Control Mattia Mattaboni, Pierangelo Masarati Development and Implementation of a Differential Wheel-Rail Contact Model for Multibody Applications Silvia Magheri, Monica Malvezzi, Enrico Meli, Susanna Papini Mutual Interaction of Parallel Connected Induction Motors in Degraded Adhesion Conditions Benedetto Allotta, Luca Pugi, Fabio Bartolini MAV-Scale Cycloidal Rotor Multibody Aeroelastic Analysis Mattia Mattaboni, Moble Benedict, Pierangelo Masarati, Inderjit Chopra
Biomechanics (3 of 4) Session chairs
Room D 14.10-15.30
Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
A Dynamic Computer Simulation of Tibial Strains and Joint Forces During Knee Flexion and Extension Exercise Adam Kłodowski, Juha Kulmala, Aki Mikkola, Harri Sievänen, Ari Heinonen Development of a Control Architecture for a Musculoskeletal Model of a Human Ankle Joint Using Multibody Dynamics and Hill-Type Muscle Actuators Rita Malcata, Miguel Silva, Jorge Martins, Paulo Melo, João Costa Validation Procedure of a Multibody Dynamics Model of the Human Lower Leg and Foot for Functional Electrical Stimulation Actuation and Control Paulo Melo, Miguel Silva, Jorge Martins, Dava Newman Development of a Biomechanical Multibody Model for the Hardware-in-the-Loop Simulation of Total Hip Endoprostheses Michael Kähler, Roman Rachholz, Sven Herrmann, János Zierath, Robert Souffrant, Daniel Kluess, Rainer Bader, Christoph Woernle
29
IMSD 2010 May 25–27
Wednesday, 26 May 2010
Robotic Systems (4 of 4) Session chairs
Room E
14.10-15.30
Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
Direction Selective Performance Indexes for Parallel Manipulators Giovanni Boschetti, Alberto Trevisani Motion of a Chain of Bodies in a Resistive Medium due to Undulatory Change in the System’s Configuration Klaus Zimmermann, Igor Zeidis, Nikolai Bolotnik, Mikhail Pivovarov A Random Profile Approach to Minimum-Time Motion Planning Problem for Non-Holonomic Wheeled Mobile Robots: Application for the Parking and Articulated Systems Kahoul Lazhar, Hanchi Samir, Zeghloul Said Kinematic Modeling Improvement and Trajectory Planning of the NAO Biped Robot Maani Ghaffari Jadidi, Ehsan Hashemi, Mohammad Ali Zakeri Harandi, Houman Sadjadian
Efficient Methods and Real-Time Applications (2 of 3) Session chairs
Room F
14.10-15.30
Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University
Triangularizing Kinematic Constraint Equations Using Gröbner Bases for Real-Time Dynamic Simulation Thomas Uchida, John McPhee Using Implicit Integrators and Automatic Differentiation to Compute Large and Complex MBS in Real-Time Andrés Hidalgo, Alfonso Callejo, Javier García de Jalón Approximations in System-level GMP Model Reduction for Real-Time MBS Frank Naets, Gert Heirman, Wim Desmet
Coffee
15.30-15.50
Flexible Multibody Systems (6 of 8) Session chairs
Room B 15.50-16.50
Johannes Gerstmayr, Linz Center of Mechatronics GmbH Daniel García-Vallejo, University of Seville
A Non-Time Based Approach for the Simultaneous Rigid-Body Motion and Vibration Control of Flexible-Link Mechanisms Giovanni Boschetti, Roberto Caracciolo, Dario Richiedei, Alberto Trevisani Flexible Multibody Modeling of a Racing Motorcycle Cranktrain: Model Reduction Issues Stefano Ricci, Marco Troncossi, Alessandro Rivola Three- and Four-Noded Planar Elements Using Absolute Nodal Coordinate Formulation Alexander Olshevskiy, Oleg Dmitrochenko, Changwan Kim
Contact and Impact Problems (2 of 4) Session chairs
Room C 15.50-16.50
Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Sensitivity and Parametric Analyses of Multibody Systems with Application to Contact Dynamics Farnood Gholami, József Kövecses, Jacob Apkarian A Unified Approach for Hybrid Complementarity Formulations to Model Intermittent Contact in Multibody Systems Kishor Bhalerao, Cory Crean, Kurt Anderson Stronge’s Hypothsis-Based Solution to the Collision-with-Friction Problem Shlomo Djerassi
30
Lappeenranta, Finland
Wednesday, 26 May 2010
Biomechanics (4 of 4) Session chairs
Room D 15.50-16.50
Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
Study of the Influence of the Cost Function in the Force-Shared Problem During a Human Lower Limb Motion Joaquín Ojeda, Juana Mayo, Javier Martínez-Reina Mapping Spring Forces onto Anthropomorphic Legs Matthew Millard, Eric Kubica, John McPhee Development of a Hill-Type Muscle Model With Fatigue for the Calculation of the Redundant Muscle Forces Using Multibody Dynamics André Pereira, Miguel Silva, Jorge Martins, Mamede Carvalho
Optimization and Sensitivity Analysis (3 of 3) Session chairs
Room E
15.50-16.50
Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège
Optimal Control Methods for the Calculation of Invariant Excitation Signals for Multibody Systems Michael Burger, Michael Speckert, Klaus Dreßler Trajectory Optimization of Flexible Robots Using an Optimal Control Approach Guaraci Bastos, Olivier Brüls Robust Optimal Design of a Micro Gripper Ozan Tokatli, Volkan Patoglu
Experiments and Numerical Verifications (1 of 3) Session chairs
Room F
15.50-16.50
Dan Negrut, University of Wisconsin-Madison Wan-Suk Yoo, Pusan National University
Efficient Sampling Methods for Spatial Uncertainty in Multibody Dynamics Applications Kyle Schmitt, Dan Negrut, Mihai Anitescu dvc3D: a Three Dimensional Physical Simulation Tool for Rigid Bodies with Contacts and Coulomb Friction Binh Nguyen, Jeff Trinkle Combined Analytical and Experimental Approaches to Rotor Components Stress Predictions Maria Chierichetti, Chance McColl, Douglas Palmer, Massimo Ruzzene, Olivier Bauchau
Conference dinner
19.00-22.30
31
IMSD 2010 May 25–27
Thursday, 27 May 2010 (Multibody) Systems Theory, from Cars to Humans Room A 9.00-9.40 John McPhee, University of Waterloo, Canada Sessions chair: Krzysztof Arczewski, Warsaw University of Technology
Coffee
9.40-10.00
Other Topics (1 of 1) Session chairs
Room B 10.00-12.00
Ettore Pennestrì, Università di Roma Tor Vergata Werner Schiehlen, University of Stuttgart
Stability Analysis of Wave-Based Control of Flexible Systems Michael Valášek, Ondrej Marek Active Fence - Analysis of Sorting Process Dynamics Tomasz Piatkowski Learning by Errors: Experiences of Teaching Multibody System Analysis Carlo Galletti, Elena Giannotti Acoustic Fluid Structure Interaction with Smoothed Particle Hydrodynamics Leveraging Parallel Computing on GPUs Philipp Hahn, Dan Negrut Review and Comparison of Solution Strategies for Multibody Dynamics Equations Lorenzo Mariti, Ettore Pennestrí, Pier Paolo Valentini, Nicola Pio Belfiore
Theoretical and Computational Methods (2 of 2) Session chairs
Room C 10.00-12.00
Kurt Anderson, Rensselaer Polytechnic Institute Wojciech Blajer, Technical University of Radom
Analytical Formulations in Multibody Dynamics: Some Novel Perspectives József Kövecses Higher Order Integration of Non-Smooth Dynamical Systems Using Parallel Computed Extrapolation Methods Based on Time-Stepping Schemes Robert Huber, Heinz Ulbrich Some Methods for Constraint Violation Stabilization/Elimination in Numerical Simulation of Constrained Multibody Systems: a Comparative Study Wojciech Blajer A New Method for Mass-Matrix Calculation with Natural Coordinates Kewei Zhang, Yunqing Zhang, Liping Chen How Mode Veering and Mode Crossing Affects Global Modal Parametrization and Solutions to Overcome these Problems Gert Heirman, Frank Naets, Wim Desmet Dynamics of Tetrahedral Constellation of Satellites-Gyrostats Alexander Burov, Anna Guerman, Revaz Sulikashvili
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Lappeenranta, Finland
Algorithms, Integration Codes and Software (2 of 2) Session chairs
Room D 10.00-12.00
Martin Arnold, Martin-Luther-University Halle-Wittenberg Olivier Bauchau, Georgia Institute of Technology
Vibrational Analysis of a Multibody Virtual Dummy for Car and Motorcycle Users Nicola Cofelice, Roberto Zanni, Davide Locatelli, Alessandro Toso, David Moreno Giner, Jian Kang, Stijn Donders Analysing Dynamical Phenomenons: Introduction to MBSim Thorsten Schindler, Martin Förg, Markus Friedrich, Markus Schneider, Bastian Esefeld, Robert Huber, Roland Zander, Heinz Ulbrich Numerical Solution of DAEs in Flexible Multibody Dynamics Using Lie Group Time Integrators Olivier Brüls, Alberto Cardona, Martin Arnold Improved Time Integration of Multibody System Models Using Methods from Singular Perturbation Theory Martin Arnold, Bernhard Burgermeister, Steffen Weber On the Use of OOP Method in Flexible Multibody Dynamics Ji-won Yoon, Tae-won Park, Sung-pil Jung, Won-sun Chung Solving Equations of Nonstationary Heat Conduction in Multibody System Dynamics Andrey Andreev, Oleg Shapovalov, Maxim Reznikov, Eugeniy Gromov
Control and Mechatronics (2 of 3) Session chairs
Room E
10.00-12.00
Andres Kecskeméthy, University of Duisburg-Essen József Kövecses, McGill University
Fast Motion Control of Robotic Systems Using Inverse Dynamics Compensation via Simulation of Feedback Control Systems (IDCS) Gentiane Venture, Tohgoroh Kojima, Yasutaka Tagawa A Unified Framework for the Modelling, Simulation, and Control of Force Feedback Mechanisms Majid Sheikholeslami, Kamran Ghaffari, József Kövecses, Paul Karam, Christian Lange, Javier Ros Design of a Flexible Low-Cost Driving Simulator Alina Capustiac, Benjamin Hesse, Thorsten Brandt, Dieter Schramm, Cornel Brisan Curving Performance of a Tramcar Vehicle with Bogie Active-Steering System Andrea Barbera, Stefano Bruni, Roberto Corradi, Giorgio Diana Modeling and Control of a Four Wheel Drive Electric Vehicle Roland Kasper, Dmitri Vlasenko Development of a Neural Network-Based Controller for Ships Vladislav Grigoryev, Andreas Rauh, Harald Aschemann, Mathias Paschen
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IMSD 2010 May 25–27
Thursday, 27 May 2010
Dynamics of Machines and Rotating Structures (2 of 2) Room F Session chairs
10.00-12.00
Stephanos Theodossiades, Loughborough University Nobuyuki Shimizu, Iwaki Meisei University
Analysis of a New System for Testing Gears Under Variable Torque and Speed Using Multibody Dynamics Ioannis Nerantzis, Dimitrios Perperidis, Stephanos Theodossiades, Athanassios Mihailidis Modeling Approach for Spindle- Self Vibratory Drilling Head Dynamics Prediction Fabien Forestier, Vincent Gagnol, Pascal Ray, Henri Paris Procedure for the Analysis and Evaluation of the Dynamical Performance of Kinematically Redundant Machine Tools Uwe Heisel, Norman Tonn Elastodynamic Response of Automotive Transmissions to Impact Induced Vibrations Malika Perera, Miguel De la Cruz, Stephanos Theodossiades, Homer Rahnejat, P. Kelly Comparison of Dynamic Behavior of Drive Train According to Wind and Wave Load for Offshore Wind Power System Jin-Seok Jang, Jeong-Hyun Sohn
Lunch
12.00-13.20 Multibody Dynamics Studies in Asia and Damping Models for Flexible Systems
Room A 13.20-14.00
Nobuyuki Shimizu, Iwaki Meisei University, Japan Sessions chair: Wan-Suk Yoo, Pusan National University
Flexible Multibody Systems (7 of 8) Session chairs
Room B 14.10-15.30
Ahmed Shabana, University of Illinois-Chicago Arend Schwab, Delft University of Technolgy
Reduction of System Matrices of Planar Beam in ANCF by Component Mode Synthesis Method Tsubasa Wago, Yoshiki Sugawara, Nobuyuki Kobayashi Integration of Computer Aided Design and Analysis Using the Absolute Nodal Coordinate Formulation Peng Lan, Ahmed Shabana A Comparison of Co-Rotational and ANCF Thin Plate Finite Elements for the Dynamic Simulation of Flexible Media Transport Systems Graham Sanborn, Juhwan Choi, Jin Choi Digital Nomenclature Code (DNC) of Finite Element Kinematics and its Modification (DNCM) for Absolute Nodal Coordinates Oleg Dmitrochenko, Aki Mikkola
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Lappeenranta, Finland
Thursday, 27 May 2010
Dynamics of All Vehicles (6 of 6) Session chairs
Room C 14.10-15.30
Jorge Ambrósio, Instituto Superior Técnico Hiroyuki Sugiyama, Tokyo University of Science
An Elastic Rope Model with Application to Automated People Mover Systems Christian Nußbaumer, Peter Dietmaier Steady Turning Analysis of Motorcycles in LMS Virtual.Lab Motion David Moreno-Giner, Nicola Cofelice, Alessandro Toso, Jian Kang Lateral Dynamics of a Bicycle with Passive Rider Model Arend Schwab, Jodi Kooijman Performance Validation of Motorized Retractor Interacting with Driver Model Moojin Oh, Sugil Choi, Taeoh Tak
Experiments and Numerical Verifications (2 of 3) Session chairs
Room D 14.10-15.30
Dan Negrut, University of Wisconsin-Madison Wan-Suk Yoo, Pusan National University
The Multibody 2D Approach for Agricultural and Forestry Tractors Roll Over Protective Structures Design Ettore Pennestrì, Pier Paolo Valentini, Leonardo Vita, Erika Candido An Experimentally Verified Model for Time Domain Simulations of Large Scale Material Handeling Chains Søren Emil Sørensen, Michael Hansen, Morten Ebbesen Comparison of Simulated and Experimental Grasping Actions in the Plane Li Zhang, Jeremy Betz, Jeff Trinkle
Control and Mechatronics (3 of 3) Session chairs
Room E
14.10-15.30
Andres Kecskeméthy, University of Duisburg-Essen József Kövecses, McGill University
Modular Mechatronic Modelling for Wind Turbine Generating Systems Based on an Integrated Finite Element Approach Qiong-zhong Chen, Philippe Jetteur, Olivier Brüls Two Approaches for Designing Minimum Phase Underactuated Multibody Systems Robert Seifried The Efficiency of Closed-Form Solutions for Dynamic Multibody Simulation Shuxian, Xia, Francisco Geu Flores, Andrés Kecskeméthy, Alois Pöttker Synthesis of Program Control Signals for Mechatronic System’s Motion Speed Vladimir Filaretov, Anton Gubankov
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IMSD 2010 May 25–27
Thursday, 27 May 2010
Contact and Impact Problems (3 of 4) Session chairs
Room F
14.10-15.30
Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Elastic Contact Analyses with Hybrid Boundary Element/Multibody Systems János Zierath, Christoph Woernle The Formation and Evolution of Constraints in Contacting Bodies Caishan Liu, Zhen Zhao, Hongjian Zhang A 2D Bristle Friction Force Model for General Contact Dynamics Simulation Jianxun Liang, Steven Fillmore, Ou Ma
Coffee
15.30-15.50
Flexible Multibody Systems (8 of 8) Session chairs
Room B 15.50-16.50
Ahmed Shabana, University of Illinois-Chicago Arend Schwab, Delft University of Technolgy
Some Applications of the Absolute Nodal Coordinate Formulation in the Case of Axially Moving Beams and Piezoelectric Actuation Johannes Gerstmayr, Astrid Sinwel Geometrically Exact Beam Formulation Versus Absolute Nodal Coordinate Formulation Jari Mäkinen, Marko Matikainen A Linear and Quadratic Planar Finite Element Based on the Absolute Nodal Coordinate Formulation Karin Nachbagauer, Johannes Gerstmayr, Astrid Sinwel, Hans Irschik
Contact and Impact Problems (4 of 4) Session chairs
Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Numerical Method for Solving the Contact Problems for the Solid Bodies Using the Finite Element Fragments on the Elastic Foundation Sakalo Vladimir, Sakalo Aleksey Modelling and Simulation of Contacts in Multi-Body Simulation with SIMPACK Steven Mulski, Lutz Mauer, Jennifer Paulin Impact and Shock Between Rigid or Deformable Bodies Zhi-Qiang Feng, Jiao Wang, Pierre Joli, Caishan Liu
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Room C 15.50-16.50
Lappeenranta, Finland
Thursday, 27 May 2010
Experiments and Numerical Verifications (3 of 3) Session chairs
Room D 15.50-16.50
Dan Negrut, University of Wisconsin-Madison Wan-Suk Yoo, Pusan National University
Application of the Magic Formula for Dynamic Modeling of Friction Dampers Used in Drum-Type Washing Machines Wan-Suk Yoo, Jeong-Han Lee, Jin-Hong Park, Gyung-Hun Nho Multibody System Simulations to Analyze Limit States in Structural Engineering Using Experimental Design Detlef Neuenhaus, Karl Siebertz An Experimental Identification Method for Rigid Body Properties Enabled by Gravity-Dependent Suspension Modelling Robert Kloepper, Hiroto Akita, Masaaki Okuma, Seiichi Terada
Multidisciplinary Approaches (1 of 1) Session chairs
Room E
15.50-16.50
Krzysztof Arczewski, Warsaw University of Technology Michael Valášek, Czech Technical University in Prague
Simulation of Hydraulic Systems with Set-Valued Force Laws Markus Schneider, Karin Krüger, Heinz Ulbrich Multidisciplinary Applications of Multibody Simulation to Railway Vehicle Engineering Antonio Carrarini, Andreas Heckmann, Ingo Kaiser, Bernard Kurzeck, José Luis Reyes Pérez, Luciano Valente Advanced Engine Dynamics Using MBS: Application to Twin-Cylinder Boxer Engines Yannick Louvigny, Pierre Duysinx
Efficient Methods and Real-Time Applications (3 of 3) Session chairs
Room F
15.50-16.50
Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University
Automotive Observers Based on Multibody Models and the Extended Kalman Filter Javier Cuadrado, Daniel Dopico, Miguel Naya, Roland Pastorino HIL-Simulation for Evaluation of Intelligent Chassis Controller Using Real-Time Multibody Vehicle Dynamics Model Sung-Soo Kim, Wan Hee Jeong, Do Hyun Jung, Hyeong Jin Choi Efficient and Accurate Simulation of the Cable-Pulley Interaction in Weight-Lifting Machines Urbano Lugris, José Escalona, Daniel Dopico, Javier Cuadrado
Sauna
37
IMSD 2010 May 25–27
Notes
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Lappeenranta, Finland
39
For more information www.imsd10.fi
