The 1st

Conference Information Booklet

Joint International Conference on

IMSD

Multibody System Dynamics Lappeenranta, Finland

May 25–27, 2010

For more information www.imsd10.fi

IMSD 2010 May 25–27

Sponsors and Supporting Organizations

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Lappeenranta, Finland

Table of Contents Welcome to the Conference . . . . . . . . . . . . . . . . . . . . . 4 Conference Objectives . . . . . . . . . . . . . . . . . . . . . . . 4 Presentation Preparations . . . . . . . . . . . . . . . . . . . . . . 4 Steering Committee . . . . . . . . . . . . . . . . . . . . . . . . 4 Campus Area . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Conference Map – LUT Campus . . . . . . . . . . . . . . . . . . . 5

This is Lappeenranta, Finland . . . . . . . . . . . . . . . . . . . . . 6 A Little About Finland . . . . . . . . . . . . . . . . . . . . . . . 6 Map of Finland . . . . . . . . . . . . . . . . . . . . . . . . . . 6 A Short History of Lappeenranta . . . . . . . . . . . . . . . . . . . 6

Lappeenranta University of Technology . . . . . . . . . . . . . . . . 9 Useful Information . . . . . . . . . . . . . . . . . . . . . . . . . 10 Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Useful Addresses & Phone Numbers . . . . . . . . . . . . . . . . . 10 Practical Matters . . . . . . . . . . . . . . . . . . . . . . . . . 12 Common Expressions in Finnish . . . . . . . . . . . . . . . . . . . 12

Social Program . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Getting Around Town . . . . . . . . . . . . . . . . . . . . . . . 13 Registration and Opening Ceremonies . . . . . . . . . . . . . . . . 13 Boat Cruise . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Conference Dinner . . . . . . . . . . . . . . . . . . . . . . . . 14 Sauna Evening . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Program Overview . . . . . . . . . . . . . . . . . . . . . . . . . 18 Detailed Technical Program . . . . . . . . . . . . . . . . . . . . . 20 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

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IMSD 2010 May 25–27

Welcome to the Conference The conference will take place in the lecture rooms of the Lappeenranta University of Technology in Lappeenranta at Skinnarilankatu 34.

Conference Objectives Multibody dynamics is an engineering discipline based on computational dynamics. It has grown to be an important tool for virtual prototyping, machine design, and computer-aided analysis of complex articulated mechanical systems. Multibody dynamics comprises a number of aspects, including mechanics, structural dynamics, applied mathematics, control methods, and computer science, as well as mechatronics. The purpose of the conference is to serve as a meeting point for the international multibody community. The conference provides an opportunity to exchange high-level, recent information in the theory and applications of multibody systems. The topics of the conference include: • • • • • • • • • • • • • •

Theoretical and Computational Methods Flexible Multibody Systems Contact and Impact Problems Control and Mechatronics Multidisciplinary Approaches Algorithms, Integration Codes and Software Efficient Methods and Real-Time Applications Experiments and Numerical Verifications Optimization and Sensitivity Analysis Dynamics of machines and Rotating Structures Dynamics of All Vehicles Robotic Systems Biomechanics Other Topics

If you really need help ... If you are having a serious problem, and you do not know how to take care of it on your own, you can contact Aki Mikkola at +358 40736 3095 at any time during the conference week.

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Presentation Preparations Each conference room will be equipped with a computer running Windows XP with Microsoft Office 2007 and Adobe Acrobat Reader. Please upload your presentation into the computer ahead of time to minimize delays. Presenters may use their own laptops if they wish. In any event, please check your hardware and presentation ahead of time. The time allotted for each presentation is 20 minutes. This time includes 5 minutes for discussion, so you have 15 minutes for the presentation itself. Please help us run a smooth conference by beginning your presentation on time and strictly holding to the time allotted. Check with your Session Chairman before the beginning of your session, so he knows of your presence and can properly pronounce your name.

Steering Committee An International Steering Committee supervises the Joint International Conference on Multibody System Dynamics. The members of the Committee are: Jorge Ambrósio Kurt Anderson Krzysztof Arczewski Olivier Bauchau Carlo Bottasso Javier Cuadrado Peter Eberhard Caishan Liu John McPhee Aki Mikkola Friedrich Pfeiffer Werner Schiehlen Ahmed Shabana Nobuyuki Shimizu

(Portugal) (USA, ASME) (Poland) (USA, ASME) (Italy) (Spain, IFToMM) (Germany) (China) (Canada, IFToMM) (Finland, Co-Chair) (Germany, IUTAM) (Germany, Co-Chair, IFToMM) (USA, ASME) (Japan)

Wan-Suk Yoo

(Korea)

Lappeenranta, Finland

Campus Area

Skinnarilankatu 34, 53850 Lappeenranta, Tel. +358 5 621 11

Skinnarilan Hovi University Sauna

Lake Saimaa

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Lappeenranta University of Technology

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Kouvola Kuutostie

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Future factory

Conference Map – LUT Campus Room G Room F Room E

Room A

Room G Room F Room E

Room A

Lecture rooms 3rd floor

Coffee Coffee

Lecture rooms

Exhibitors

3rd floor 2nd floor

Room B

Room C

Room B

Room C

Library

Room D

Library

Room D

Exhibitors

University

2nd floor 1st floor

1st floor

Lunch Lunch

Main Entrance Main Entrance

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IMSD 2010 May 25–27

This is Lappeenranta, Finland A Little About Finland

A Short History of Lappeenranta

Finland has been a member of the European Union since 1995. A quarter of Finland’s total area lies north of the Arctic Circle. Finland’s neighbors are Sweden, Norway, and Russia. It is the eighth largest country in Europe in terms of area and the most sparsely populated country in the European Union, with a population of 5.3 million.

Lappeenranta sits on the southern shore of Lake Saimaa in South-Eastern Finland, only 30 km from the Russian border. The region is called South Karelia. Lappeenranta has 70,300 inhabitants.

Did you know... that there are actually over 188,000 lakes in Finland? Some areas of the Finnish lakeland have up to 1000 lakes per 100 km². There are about 98,000 islands in these lakes.  In the bordering seas, there are about 81,000 more islands.

Map of Finland

Lappeenranta Helsinki

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Following the retreating continental ice sheet of the last Ice Age, hunters and fishermen began moving up from the Ukraine region through Northern Europe and into the lands around today’s Lappeenranta. The first settlements here were in the 8th millennium BC making them among the first in what is Finland today. By the 4th millennium BC, ceramics were being made. By the 2nd millennium, the inhabitants were familiar with agriculture and from around 500 BC, they had become familiar with working metal. By the 1200’s, the inhabitants found themselves sitting between the powerful empires of Sweden to the west and Russia to the east. Sweden established its rule over the whole of what was to become Finland in 1249. Still under Swedish rule in the early 1600’s, a thriving Karelian trade center grew on the spot where the fortress now stands. With a population of about 200, the Finns knew it as Lapvesi. Because of its importance as a trading hub and center of tar production, the governor of the region established the town Villmanstrand here in 1649. Swedish Queen Christina signed the city charter. Finns referred to the town as Lapvedenranta (the shore of Lapvesi). Over time, the name became Lappeenranta. Along with the city charter, the Swedish queen also approved the new coat of arms for the town, which is the symbol of the city to this day. The coat of arms depicts a bearded man

Lappeenranta, Finland

Lappeenranta fortress

with a club, which seems to fit with the Swedish name Villmanstrand (Wildman Coast). Some

a part of the Russian empire. Initially, the new Grand Duchy and the “Old Finland” lands remained

believe the “wildman” reference reflects disdain for the “primitive” locals. However, the director of the Lappeenranta Museum has explained that Queen Christina had been reading classical tales of Rome and Greece, and the figure actually represents a Hercules-like hero.

separate. They were reunited in 1811, ushering in more than a hundred years of peace for Lappeenranta and its people.

At the beginning of the 1700’s, war broke out between Sweden and Russia, and Lappeenranta’s status as an important trade center changed. Instead, the marketplace area became a Swedish border fortress. The war did not go well for Sweden, and in 1721, they had to cede a large piece of land to Russia near today’s St. Petersburg. By 1730, the Lappeenranta fortress was complete and populated with around 500 residents and soldiers. Eleven years later in 1741, a Russian mercenary army attacked, and the fortress fell. By 1743, Lappeenranta was under Russian rule but still a border point between the Russian and Swedish empires. The land given up by Sweden in 1721 and this new land around Lappeenranta has been called “Old Finland”. This was during the reign of Catherine the Great. Sweden and Russian fought the so-called “Finnish War” in 1808 and 1809. The larger and more experienced Russian army succeeded in taking over the Swedish lands east of the Gulf of Bothnia, and the autonomous Grand Duchy of Finland became

For many years after, Lappeenranta enjoyed popularity as a spa area. With the development of railways (1894) and industry, the town began to grow from a town into a city. The building of the Saimaa Canal in 1856 gave it increasing importance as a trading port. Finland declared its independence from Russia on the last day of 1917 following the Russian Revolution and the fall of the Russian Empire. The City of Lappeenranta became an important contributor to the new country’s continuing development.

Did you know... that Finland has been a Sovereign Parliamentary Republic since 1917?  The president is elected every six years.  There are 200 elected members of Parliament that serve four-year terms. The Finnish government includes a multiparty coalition Cabinet of Ministers.  Currently, the president of Finland is Tarja Halonen and the Prime Minister is Matti Vanhanen.

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IMSD 2010 May 25–27

In 1939, a long period of peace ended for Lappeenranta and the region due to the eruption of the Winter and Continuation wars with the Soviet Union. During this time, a large piece of the Karelian region was lost, and the Soviet border moved quite a bit closer to Lappeenranta.

Did you know... that along with Iceland, Finland is the most northern country in the world?  A quarter of Finland’s territory lies north of the Arctic Circle and at the country’s northernmost point, the sun does not set for 73 days during summer. In contrast, polar night comes in winter, and the sun stays below the horizon all day for an equal number of days.

Lappeenranta harbour

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Following the war, Finland entered a period of rapid industrialization and economic development. Lappeenranta benefited from this growth, becoming an important trade and industrial center. In the 1960s, the Saimaa canal was overhauled and widened. Today, it sees a lot of use by vessels carrying Russian timber to Lappeenranta’s giant pulp and paper mills. The area also produces industrial products, lumber, food products, and limestone products such as cement. Lappeenranta is a popular tourist destination today. Beginning in the 1990’s, retail trade with Russians grew to be very important to the local economy. Many shoppers come to Lappeenranta from St. Petersburg to buy such things as hardware, tires, clothing, and food products. The city of Lappeenranta is the economic and cultural center of SouthEast Finland.

Lappeenranta, Finland

Lappeenranta University of Technology The Lappeenranta University of Technology (LUT) sits on the shores of Lake Saimaa, about 7 kilometers from the Lappeenranta city center. Established in 1969, the University focused on the engineering disciplines for its first 22 years. In 1991, economics became a new curriculum with the establishment of the Department of Business Administration. Nowadays, LUT specializes in industrial technology (especially forest and energy), information technology, and economics, cooperating closely with the business sector.

Did you know... that beginning July 2010, every person in Finland will have a legislated right to a one-megabit broadband internet connection?  By the end of 2015, the bandwidth will be extended to an impressive 100 Mb.

There are about 900 staff and faculty members and 5500 students at LUT. The University has three faculties and units as follows.

Faculty of Technology •

LUT Energy

•

LUT Chemistry

•

LUT Mechanical

•

Technomathematics and Technical Physics

Faculty of Technology Management •

Industrial Management

•

Information Technology

School of Business

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IMSD 2010 May 25–27

Useful Information Transportation

will be about 3€. Buses leave from downtown to the university every 15 minutes.

For your convenience, a free shuttle service will operate between downtown and the University. A shuttle bus will depart for the conference in the morning and another will return to the city center in the evening. The morning bus will leave at the following times from the following hotels. 8.25 Spa Hotel 8.30 Hotel Patria 8.30 Hotel Cumulus

8.30 Sokos Hotel Lappee 8.35 Finnhostel Huhtiniemi

The evening shuttle bus will leave for the city center at 17.00. There are city bus connections to and from the university from the downtown area. Most of the bus drivers do not speak English, and you will need exact change or close to it. The one-way bus fare

Did you know... that forests (mainly pine and spruce) cover 68% of the ground area of Finland?  Private persons - ordinary Finnish citizens - own 52% of all forest land.  The number of individual private forest owners is estimated at 920,000.  That means that almost every fifth Finn is a forest owner.

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City bus stops are identified by a yellow rectangular sign with a picture of a bus. Buses 1 and 5 all travel back and forth between downtown (keskusta) and the university (yliopisto). The best place to catch the bus from downtown is the Town Centre Bus Stop (see map on page 11). The University is the last stop and hard to miss. To get around town, you can find excellent taxi service. A taxi from downtown to the university costs about €15. There are taxi ranks in front of the main post office, at the railway station, and in the market place. The telephone number to reserve a taxi is 0200 60 400.

Useful Addresses & Phone Numbers Emergency number 112 - In case of an emergency call 112. This number will connect you to the police, ambulance, or fire department. The emergency number does not require an area code, and the phone call is free. Police - The police station is located downtown at Villimiehenkatu 2. There is also a lost property office (löytötavaratoimisto), which is open from Monday to Friday at 9.00–12.00 and 13.00–16.15.

Lappeenranta Harbour

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387

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Night Clubs Diva. . . . . . . . . . . . . . Snellmaninkatu 10 Giggling Marlin. . . Oksasenkatu 2 Golden Apple. . . . Valtakatu 34 Wiltsu. . . . . . . . . . . . Kauppakatu 39 Pharmacies IsoKristiina. . . . . . . . Kaivokatu 9 Prisma. . . . . . . . . . . . Puhakankatu 9-11 Yliopiston apteekki. . . . . . . . . . Kauppakatu 23

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Cinema Kino-Aula . . . . . . . . Valtakatu 39 Nuijamies. . . . . . . . Valtakatu 39 www.nuijamies.com

u nkat Toika

katu annin Snelm

Cafés Cafe G Bar. . . . . . . . Kareltek Building G Café Kristiina . . . . . Kaivokatu 9 (IsoKristiina) Arnold’s Donuts. . Kaivokatu 9 (IsoKristiina) Cafe Weera. . . . . . . Kauppakatu 41 Coffee House. . . . .Kauppakatu 29 Majurska. . . . . . . . . Kristiinankatu 1 (fortress)

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ALKO Liquor Store IsoKristiina. . . . . . . . Kaivokatu 9 Prisma. . . . . . . . . . . . Puhakankatu 9-11 Euromarket . . . . . . Kaakkoiskaari 22

Oiko katu

Kaivo

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nkatu Oksase

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Movie theater Nuijamies u in k a t estar Porm

Kirkk

u pakat

u onkat Samm

Lappee Maria Church

Koul

katu K o ul u

atu Kouluk

katu

408

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katu tuvan Raas

katu iehen Raatim

katu tuvan Raas

tu rranka Maahe

Urheilukatu

Hotel Kylpylä

nkatu Aino

errank Maah

Lappeenkatu

Restaurant Lappeenrannan Kasino

katu

u pakat Kaup

Scandic Patria

408

387

u

arin Kipp

t Torika

Boat Cruise Starting Point

Kimpisenk

Fortress

Ain on kat u

Kristiinankatu

Satam a

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Lappeenranta, Finland

ping Shop all M stiina ri IsoK

atu

Sokos Hotel Lappee atu eenk Lapp 3281

Pubs Birra. . . . . . . . . . . . . . Kauppakatu 27 Green Apple . . . . . Valtakatu 34 Hemingway’s. . . . .Valtakatu 31 Iltatähti. . . . . . . . . . . Ostosraitti, Skinnarila Irish Pub Old Park.Valtakatu 36 Lucky Monkeys. . . Valtakatu 42 Old Cock. . . . . . . . . Valtakatu 54 Restaurants Casanova. . . . . . . . . Brahenkatu 1 Huviretki. . . . . . . . . Valtakatu 31 Olé. . . . . . . . . . . . . . . Raatimiehenkatu 18 Rosso . . . . . . . . . . . . Kauppakatu 29 Tassos . . . . . . . . . . . Valtakatu 33 Torilla. . . . . . . . . . . . .Kauppakatu 21 Wolkoff. . . . . . . . . . . Kauppakatu 26 Supermarkets S-Market . . . . . . . . . Orioninkatu 2 K-Supermarket. . . Korpikunnaankatu 1 K-Supermarket. . . Sammonkatu 5 Anttila. . . . . . . . . . . . Kaivokatu 9 Citymarket. . . . . . . Toikansuontie 4 Euromarket . . . . . . Puhakankatu 1 Euromarket . . . . . . Kaakkoiskaari 22 Prisma. . . . . . . . . . . . Puhakankatu 9-11

Tourist Information Kauppakatu 40 D .. . . . . . (+358 5 667 788) www.gosaimaa.fi/en Transportation Taxi service. . . . . . . . . . . . . . (+358 200 60 400) Lappeenranta airport . . (+358 5 680 6370) www.flylappeenranta.fi Central bus station. . . . . (+358 200 4053) www.matkahuolto.fi Railway station. . . . . . . . . . (+358 307 20902) www.vr.fi Karelia Lines. . . . . . . . . . . . . (+358 5 453 0380) www.karelialines.fi Travel Agencies Kilroy Travels . . . . . . . . . . . . (+358 203 545769) www.kilroy.fi Matka-Miettinen Saimaa Tours. . . . . . . . . . . . (+358 5 453 0110) Matkapojat. . . . . . . . . . . . . . (+358 10 2323 890) Matka-Vekka. . . . . . . . . . . . (+358 20 1204 330) Pohjolan Matka . . . . . . . . . (+358 201 303 500) www.pohjolanmatka.fi Saimaan Liikenne . . . . . . (+358 20 141 5700) Saimaan MatkaVerkko. . (+3585 541 0100) Suomen Matkatoimisto.(+358 600 97215) www.smt.fi

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atu

IMSD 2010 May 25–27

Practical Matters

Common Expressions in Finnish

Finnish time is 2 hours ahead of Greenwich Mean Time (GMT+2).

Finnish pronunciation is easy since each letter in the word is pronounced, and there is only one way of pronouncing each letter. When speaking Finnish you must remember always to stress the first syllable. Since every letter is pronounced, a double letter is twice as long.

Supermarkets are usually open 7.00–21.00 on weekdays and 9.00–18.00 on Saturdays. Some supermarkets are open on Sunday. Prices All prices in Finland contain value-added tax (VAT). Tips are customary only for hotel and restaurant door attendants and porters. Restaurant and hotel bills always include a service charge. Barbers, hairdressers, and taxi drivers do not expect tips.

Vowel Pronunciation: a … as in car

u … as in pool

e … as in telephone

y … like the French sur

i … as in see

ä … as in hat

Banking hours in Finland are 10.00–16.30 on weekdays. The most common forms of payment, in addition to cash, are either bank or credit cards. Checks are not used.

o … as in law

ö … as in fur

There are a few post offices in Lappeenranta. The main post office in the downtown area is open on weekdays 9.00–16.00 and on Saturdays 10.00– 14.00. Stamps are available from the University bookstore and most supermarkets. Mailboxes are orange and bear the label “posti”.

Finnish (language) . . . . . . . . . suomi

The tap water in Finland is safe to drink.

I’m sorry. . . . . . . . . . . . . . . . . . . . Olen pahoillani.

Alko is a nationwide network of liquor stores with a virtual monopoly to sell alcohol. Alko stores are open from Monday to Friday 9.00–20.00 and on Saturdays 9.00–18.00. The grocery stores sell beer and cider (maximum strength 4.7%).

I don’t understand. . . . . . . . . . En ymmärrä.

The voltage in Finland is 220 V (230 V), 50 Hz. Round “European” two-pin plugs and sockets are used.

Here you are . . . . . . . . . . . . . . . Ole hyvä

The pharmacies (apteekki) sell medicines. Many pharmacies have extended hours, e.g.  Yliopiston apteekki (Kauppakatu 23) is open from 8.00–23.00. Catering. Coffee breaks will take place between 9.40-10.00 and 15.30-15.50 in the Exhibition Area. Lunches are served between 12.00-13.20 in the University Cafeteria. Please note the lunch is served buffet style. Wireless internet is available for conference attendees. Personal account and password information can be found from your conference bag.

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Common Expressions Finland. . . . . . . . . . . . . . . . . . . . . Suomi Finnish, a Finn . . . . . . . . . . . . . suomalainen Hello, hi. . . . . . . . . . . . . . . . . . . . Hei, moi, terve Thank you . . . . . . . . . . . . . . . . . Kiitos Yes. . . . . . . . . . . . . . . . . . . . . . . . . Kyllä No . . . . . . . . . . . . . . . . . . . . . . . . . Ei Excuse me, sorry. . . . . . . . . . . Anteeksi

I don’t speak Finnish. . . . . . . . En puhu suomea. Do you speak English . . . . . . Puhutko englantia? How are you . . . . . . . . . . . . . . . Mitä kuuluu? Fine, thank you. . . . . . . . . . . . . Kiitos hyvää Goodbye. . . . . . . . . . . . . . . . . . . Näkemiin See you later. . . . . . . . . . . . . . . Nähdään Wow! What a great conference. . . . . . . . . Onpa hyvä konferenssi.

Did you know... that the Finnish language lacks grammatical gender?  In Finnish, one pronoun (hän) is used for both he and she.  Also, there’s no future tense in the Finnish language. The present tense is used instead.

Lappeenranta, Finland

Social Program

Old Town Hall Boat Cruiser Starting point University Sauna The Kasino Restaurant

Registration and Opening Ceremonies The conference registration and opening ceremonies will be on Monday the 24th afternoon from 16.00–19.00 in the old Lappeenranta Town Hall (Raastuvankatu 7). The oldest wooden town hall in Finland, the old Lappeenranta Town Hall was built in 1829. Traditionally, it was the place for the municipal court and administration to convene. However, its use as a civic meeting place ended when the city's administration moved to a new city hall in 1983. Because of its importance to the cityscape, the Lappeenranta City Council decided in 1991 to turn the old Town Hall into a showcase space used for only the most important occasions. The opening ceremonies will begin at 18.00, and Ilkka Pöyhönen, the Rector of the Lappeenranta University of Technology, will officially open the conference proceedings.

1km

For an interactive online version of this map, follow this url: http://bit.ly/b4wpRG

Lake Saimaa and Sauna A cruise of the Lake Saimaa archipelago and the Saimaa Canal starts at the harbor at 18.30 on Tuesday the 25th. A traditional Finnish sauna evening will take place at the University sauna on the shore of the Saimaa on Thursday the 27th in the evening.

Did you know... that Finns really love coffee?  The population of Finland consumes more coffee per person than anywhere else in the world.  Their 12 kg of coffee consumption per capita is 20% more than the next most coffee loving folk, the Norwegians.

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IMSD 2010 May 25–27

Boat Cruise A cruise of the Lake Saimaa archipelago and the Saimaa Canal will be offered on Tuesday the 25th beginning at 18.30. The cruise will take 2 hours and allow you to enjoy the natural beauty of the archipelago and experience the fun of passing through two of the eight locks of the Saimaa Canal. The Saimaa Canal, approximately 43 km long, connects Lake Saimaa with the Gulf of Finland. A little over half of the canal runs through Finland before it passes into Russia and ends in the Gulf near Vyborg. The elevation difference between the Gulf of Finland and Lake Saimaa is about 76 m. The first lock, in Mälkiä, has the highest lift of all the locks on the canal, up to 12.4 m.

Conference Dinner The restaurant Lappeenrannan Kasino will host the conference banquet on Wednesday evening from 19.00 to 22.30. Restaurant Kasino, located in the Lappeenranta harbour, is nearly 100 years old and offers a magnificent historic environment filled with the spirit of the past. Its two-story wooden construction represents the typical Finnish architectural style of the time. The interior is spacious, yet cozy.

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Lappeenranta, Finland

Sauna Evening On Thursday evening, you will have an opportunity to try a traditional Finnish sauna. The University saunas and the nearby Skinnarilan Hovi event hall will be available for your use starting at 17.00.  The saunas will close at 22.00. There are 4 saunas, each with a capacity of about 5. At any one time, the total sauna capacity is about 20. One of the saunas is reserved strictly for female participants. From time-to-time throughout the evening, you can expect a short wait.  Remember! There are beautiful surroundings, a sizable and comfortable lounge area, and refreshments available. It is a good opportunity to socialize, network, and enjoy. The sauna evening is officially scheduled to begin at 17.00, however there will be a great deal of flexibility should different timing better fit your plans. In a country inhabited by approximately 5 million people, there are 2 million saunas, 1.2 million of which are in private homes. The sauna has a long history, going back at least a thousand years,

probably more. Originally, the sauna was a place to bathe, but since it was often the only clean facility with abundant available water, it was also a place for giving birth and healing the sick. With time, the sauna became a symbol of Finnish culture and an important part of the Finnish lifestyle At first, saunas were heated using a fireplace with no chimney. The fire heated the stones directly and the smoke exited the room through a small hole just below the roof. This type of sauna is often called a smoke sauna (in Finnish: savusauna).

Did you know... that Timo Kaukonen, the world record holder and champion of the Sauna World Championships held each year in Heinola, Finland stayed in the sauna for 16 minutes 15 seconds?  Keep in mind, the starting temperature of the sauna in the Championships is 110°C and this heat is increased every 30 seconds.  Do not try this at home.

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IMSD 2010 May 25–27

Because it could be difficult to control the indoor open fire, the savusauna often burned down. Modern saunas often use an electrical sauna stove. This is much safer and more easily controlled. However, many people prefer the wood sauna stove as it gives a softer heat and a more traditional sauna experience. In either case, sauna stones placed above the heat source are still important and used to vaporize water thrown onto them, evenly spreading the heat.

Typically, the sauna is heated to 80-120 degrees Celsius. The so-called sauna-major (saunamajuri) throws water onto the hot stones to add water vapor, intensifying the feeling of heat. If you are experiencing the sauna for the first time, you may choose to sit on the lowest bench where the temperature is lower. Experienced sauna goers always pick the highest possible place as close to the stove as possible. The general rules of the sauna are simple and as follows. • •

Did you know... that the Finnish word, SAUNA, is the unique Finnish contribution to the world of languages?  Finns tend to enjoy the simpler things in life.  For stress relief, relaxation, and overall piece of mind, the Finnish sauna is an essential element of Finnish life.  In Finland, there is one sauna for every three people, more than in any other country.

Are you planning to sauna with us on Thursday? Be sure to bring along your bathing suit and a relaxed attitude. Sauna is a time to relax and enjoy. Feel free to walk over to the university sauna directly from the conference. Feel free to walk over to the University sauna directly from the conference, there will be directions along the path. The saunas will be ready after 16.00. From downtown, you can catch a shuttle bus to the sauna area. In order to ensure that everybody has the opportunity to experience the Finnish sauna, there will be sauna coupons offered with

16

• • • •

Take a shower before entering the sauna. Finns go to the sauna naked, but you may use a swimming suit if you wish. In public saunas, use a towel (if provided) to sit on. Spend a couple of minutes in the sauna, until you start to sweat profusely. After a session in the sauna, cool yourself down in the lake, shower, or snow. Never leave the sauna door open – otherwise the heat will escape.

In general, men and women use separate saunas. However, in a close group of friends or family, a mixed gender sauna is a typical custom.

specific time frames from 17.00 till 20.00 for the participants to choose from. The coupons for the sauna will be available for the participants to pick up on Wednesday after lunch at the registration desk. The event will continue after 20.00, when all the saunas will be open and free to use for everyone. In case that a participant has an early evening flight to catch on Thursday, please mention this to the organizers, so that they can try to arrange a special time for you to go to the sauna. For your convenience, there will be a shuttle bus running between the sauna location and the hotels from 17.00-22.30. You should see a sauna shuttle bus stopping in front of your hotel about every 45 minutes.

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

18

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

20

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

22

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

23

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

24

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

28

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

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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

35

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

38

Lappeenranta, Finland

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For more information www.imsd10.fi