front matter (incl. table of contents)
Transcript of front matter (incl. table of contents)
Zagreb, Croatia, July 1–4, 2013
ECCOMAS Thematic Conference on
Multibody Dynamics 2013
Book of Abstracts
Edited byZdravko Terze
University of ZagrebFaculty of Mechanical Engineering and Naval Architecture
Zagreb, 2013
Prof. Dr. Zdravko Terze
University of ZagrebFaculty of Mechanical Engineering and Naval ArchitectureDepartment of Aeronautical EngineeringIvana Lucica 5, HR–10002 Zagreb, Croatiae-mail: [email protected]
A CIP catalogue record for this book is available in the Online Catalogue of the National and UniversityLibrary in Zagreb as 845774.
ISBN 978-953-7738-21-1
c© Faculty of Mechanical Engineering and Naval Architecture,Zagreb, Croatia, 2013.
Executive Editor: Milan Vrdoljak
Cover design: Suncana Matijasevic
Print: Cro-Graf, Donja Bistra, Croatia
Organization
ECCOMAS Thematic Conference on Multibody Dynamics 2013 is organized under the auspices of
Croatian Academy of Sciences and Arts
Supporting Organizations
Industrial Supporting Organizations
AVL AST d.o.o. Croatia
Koncar – Electrical Engineering Institute, Inc.
Brodarski Institute
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Conference Chair
Zdravko Terze (Univ. of Zagreb, Croatia)
Scientific Committee
Jorge Ambrosio (Instituto Superior Tecnico, Portugal)Kurt Anderson (Rensselaer Polytechnic Institute, USA)Martin Arnold (Martin Luther Univ. Halle-Wittenberg, Germany)Olivier A. Bauchau (Shanghai Jiao Tong Univ., China; Georgia Tech, USA)Viktor Berbyuk (Chalmers Univ. of Technology, Sweden)Peter Betsch (Univ. of Siegen, Germany)Wojciech Blajer (Technical Univ. of Radom, Poland)Carlo L. Bottasso (Politecnico di Milano, Italy)Olivier Bruls (Univ. of Liege, Belgium)Alberto Cardona (CIMEC (INTEC), UNL-Coniceet, Argentina)Javier Cuadrado (Univ. de La Coruna, Spain)Peter Eberhard (Univ. of Stuttgart, Germany)Jose L. Escalona (Univ. of Seville, Spain)Juan C. Garcıa Orden (Technical Univ. of Madrid, Spain)Abhinandan Jain (Caltech, JPL, USA)Ben Jonker (Univ. of Twente, Netherlands)Sung-Soo Kim (Chungnam National Univ., Korea)Jozsef Kovecses (McGill Univ., Canada)Dirk Lefeber (Univ. Brussels (VUB), Belgium)Pierangelo Masarati (Politecnico di Milano, Italy)John McPhee (Univ. of Waterloo, Canada)Aki Mikkola (Lappeenranta Univ. of Technology, Finland)Andreas Muller (Institute of Mechatronics, Chemnitz, Germany)Dan Negrut (Univ. of Wisconsin-Madison, USA)Friedrich Pfeiffer (TU-Munchen, Germany)Werner Schiehlen (Univ. of Stuttgart, Germany)Arend Schwab (TU Delft, Netherlands)Ahmed Shabana (Univ. Illinois at Chicago, USA)Zdravko Terze (Univ. of Zagreb, Croatia)Wan Suk Yoo (Pusan National Univ., Korea)Hiroaki Yoshimura (Waseda Univ., Japan)
Organizing Committee
Milan Vrdoljak, ChairMarijan AndricDubravko MatijasevicSilvana Skoko-Gavranovic, SecretaryDario Zlatar
Conference Venue
Faculty of Mechanical Engineering and Naval ArchitectureUniversity of Zagreb, Croatia
July 1–4, 2013
http://eccomas-multibody.fsb.hr
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Invited Sessions and Organizers
Aerospace Applications
Abhinandan Jain (Caltech, JPL, USA)Jozsef Kovecses (McGill Univ., Canada)Pierangelo Masarati (Politecnico di Milano, Italy)
Biomechanics
Dirk Lefeber (Univ. Brussels (VUB), Belgium)Arend Schwab (TU Delft, Netherlands)
Contact and ConstraintsPeter Betsch (Univ. of Siegen, Germany)Juan C. Garcıa Orden (Technical Univ. of Madrid, Spain)Friedrich Pfeiffer (TU-Munchen, Germany)
Control Modelling and ApplicationsWojciech Blajer (Technical Univ. of Radom, Poland)Ben Jonker (Univ. of Twente, Netherlands)Sigrid Leyendecker (Univ. of Erlangen-Nuremberg, Germany)
Efficient Simulation and Real-Time ApplicationsKurt Anderson (Rensselaer Polytechnic Institute, USA)Javier Cuadrado (Univ. de La Coruna, Spain)Sung-Soo Kim (Chungnam National Univ., Korea)
Flexible Multibody DynamicsAlberto Cardona (CIMEC (INTEC), UNL-Coniceet, Argentina)Aki Mikkola (Lappeenranta Univ. of Technology, Finland)Ahmed Shabana (Univ. Illinois at Chicago, USA)
Formulations and Numerical MethodsMartin Arnold (Martin Luther Univ. Halle-Wittenberg, Germany)Olivier A. Bauchau (Shanghai Jiao Tong Univ., China; Georgia Tech, USA)Carlo L. Bottasso (Politecnico di Milano, Italy)
Mechatronics and RoboticsViktor Berbyuk (Chalmers Univ. of Technology, Sweden)Andreas Muller (Institute of Mechatronics, Chemnitz, Germany)Mircea Teodorescu (Univ. Cranfield, UK, UC Santa Cruz, USA)
Multiphysics and Coupled Problems in MBSRudranarayan M. Mukherjee (Caltech, JPL, USA)Hiroaki Yoshimura (Waseda University, Japan)
Optimization and Sensitivity AnalysisOlivier Bruls (Univ. of Liege, Belgium)Peter Eberhard (Univ. of Stuttgart, Germany)
Railroad Vehicle DynamicsJose L. Escalona (Univ. of Seville, Spain)Tae-Won Park (Ajou Univ., Korea)
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Software Development and EducationDan Negrut (Univ. of Wisconsin-Madison, USA)Olivier Verlinden (Univ. Mons, Belgium)Wan Suk Yoo (Pusan National Univ., Korea)
Vehicle Dynamics and SimulationJorge Ambrosio (Instituto Superior Tecnico, Portugal)Werner Schiehlen (Univ. of Stuttgart, Germany)
Special Session on Benchmark Problems in Multibody DynamicsJavier Cuadrado (Univ. de La Coruna, Spain)Michael Valasek (Czech Technical Univ. in Prague)
Introduction
To meet the challenges of the fast development of new technologies, many areas of contemporary engineeringand applied sciences, which were conventionally divided or loosely coupled in the past, combine their method-ologies and merge together to provide new analytical and computational tools. This is especially evident in thearea of multibody system dynamics, a branch of computational mechanics dealing with modelling principlesand numerical methods for dynamic analysis, simulation and control of various complex mechanical systems.
Originating in analytical and continuum mechanics, as well as in computer science and applied mathematics,modelling methodologies and computational procedures of multibody system dynamics provide a basis fordynamic analysis and virtual prototyping of innovative applications in many fields of contemporary engineering.With the utilization of the computational models and algorithms that classically belonged to different fieldsof applied science, where in certain applications several physical models co-exist and interact within the samesimulation procedure, multibody system dynamics delivers reliable simulation platforms for diverse highly-developed industrial products, such as vehicle and railway systems, aeronautical and space vehicles, roboticmanipulators, autonomous systems, smart structures, biomechanical applications and nano-technologies.
However, since application-based modelling and successful implementation of computational methodologiesraise many questions in terms of new solutions and optimal use of specific models and numerical procedures,multibody system dynamics is a very active research field. To maintain this development and provide a platformto discuss relevant scientific topics in this rapidly growing discipline, the ECCOMAS Thematic Conference onMultibody Dynamics was initiated in Lisbon in 2003, and continued in Madrid in 2005, Milano in 2007, Warsawin 2009 and Brussels in 2011. Continuing this very successful series, this edition of the ECCOMAS ThematicConference on Multibody Dynamics is held in Zagreb, Croatia, and organized at the University of Zagreb,Faculty of Mechanical Engineering and Naval Architecture, from 1 to 4 July 2013.
The objective of the Conference is to present the state of the art in the theory and applications of multibodysystem dynamics, to provide a forum for discussions on relevant research issues and to serve as a meetingpoint for international researchers, scientists and experts from academia, research laboratories and industry.Hospitality of the City of Zagreb will contribute to the success of the Conference by providing a culturallyinteresting and relaxing urban environment of the city that has been an academic centre of the region for morethan 340 years.
I am grateful to all participants of the ECCOMAS Multibody Dynamics 2013 for their high-quality papersand contributions. I am also very much indebted to the members of the Scientific Committee for their valu-able suggestions, organization of the peer-review process, and advice in the organization of the Conference.The Conference has been supported by a number of distinguished international and Croatian institutions andpersonal involvement of the colleagues who contributed to this support is very much appreciated.
I would especially like to take this opportunity to thank all my collaborators who have been involved in theorganization of the ECCOMAS Multibody Dynamics 2013. It has been a great effort and many persons havemade contributions well beyond the call of duty. In particular, the Organizing Committee has worked tirelesslyand I would like to thank them for all their work.
Zdravko Terze
Conference Chair
Zagreb, May 2013
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Contents
Contents xi
Aerospace Applications 1
Modeling MGB-Fuselage joint on helicopter with an energetic approach “multi-Bond graph”
Benjamin Boudon, Francois Malburet, Jean-Claude Carmona . . . . . . . . . . . . . . . . . . . . 3
Regular and Chaotic Dynamics of a Spacecraft with Internal Mass Redistribution Moving in EllipticOrbit
Alexander Burov, Ivan Kosenko . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Multi-Body Approach to the Simulation of Particular Drop Test for an Aircraft Landing Gear
Romeo Di Leo, Angelo De Fenza, Marco Barile, Domenico Moccia, Leonardo Lecce . . . . . . . . 7
Smooth/Non-Smooth Dynamics Co-Simulation of Helicopter Rotor Sailing
Matteo Fancello, Pierangelo Masarati, Marco Morandini . . . . . . . . . . . . . . . . . . . . . . . 9
Bifurcation Analysis of a Nose Landing Gear with a Single Uplock/Downlock Mechanism
James Andrew Cannicott Knowles, Bernd Krauskopf, Mark Lowenberg, Simon Neild . . . . . . . 11
Active Vibration Control of Satellite Panels
Maria Augusta Neto, Jorge Ambrosio, Ana Amaro, Luis Roseiro . . . . . . . . . . . . . . . . . . 13
Slewing control of spacecraft with unsymmetrical flexible appendages & fluid sloshing, using wave-based control
William Joseph O’Connor, Hossein Habibi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Finite element simulation of high velocity impact analysis on composite structure parts
Zoran Pelagic, Martin Dudinsky, Milan Zmindak . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Multi-scale Dynamics, Control, and Simulation of Granular Spacecraft
Marco B. Quadrelli, Scott Basinger, Grover Swartzlander . . . . . . . . . . . . . . . . . . . . . . 19
Application Substructure Model Synthesis Method on Modeling of a Space Camera
Dewei Sun, Qirong Tang, Chao Wang, Hong Lu, Jiangao Jin . . . . . . . . . . . . . . . . . . . . 21
Development of Tether Space Mobility Device
Shoichiro Takehara, Takahiro Nishizawa, Masaya Kawarada, Kazunori Hase, Yoshiaki Terumichi 23
Dynamic Simulation of Helicopter Airborne Maneuvers with Numerical Integration Scheme in Lie-Group Setting
Zdravko Terze, Milan Vrdoljak, Dario Zlatar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Biomechanics 27
Development of a Multibody Model of the Lower Limbs to Evaluate the Effect of Ankle-foot Orthoseson Human Gait
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Philippe Ferreira, Francisco Geu Flores, Mario Siebler, Paulo Flores, Andres Kecskemethy . . . 29
Configuration-dependent performance indicators for the analysis of foot impact in running gait
Josep Maria Font-Llagunes, Rosa Pamies-Vila, Jozsef Kovecses . . . . . . . . . . . . . . . . . . . 31
AMP-Foot 2.0 Prosthesis Dynamic Behavior, Preliminary Computational Multibody Dynamics Sim-ulation Results
Svetlana Grosu, Pierre Cherelle, Chris Verheul, Bram Vanderborght, Dirk Lefeber . . . . . . . . 33
Dynamic testing of artificial hip joint stability under physiological-like conditions
Sven Herrmann, Michael Kahler, Robert Souffrant, Janos Zierath, Daniel Kluess, ChristophWoernle, Rainer Bader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Strategies for Model Reduction in Adaptive DCA-based Multibody Modeling of Biopolymers
Jeremy Laflin, Kurt Anderson, Imad Khan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Muscle paths in biomechanical multibody simulations
Ramona Maas, Sigrid Leyendecker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
A Multibody Model for the Shoulder Reverse Prosthesis
Carlos Quental, Joao Folgado, Jorge Ambrosio, Jacinto Monteiro . . . . . . . . . . . . . . . . . . 41
Computing Musculotendon Paths and their Velocities Across Multiple Moving Surfaces Using JacobiFields
Andreas Scholz, Ian Stavness, Michael Sherman, Scott Delp, Andres Kecskemethy . . . . . . . . 43
Design and experimental validation of a haptic steering interface for the control input of a bicyclesimulator
Arend Schwab, Antonio M. Recuero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Impact models for walking and running systems - angular moment conservation versus varying geo-metric constraints
Ambrus Zelei, Laszlo Bencsik, Laszlo L. Kovacs, Gabor Stepan . . . . . . . . . . . . . . . . . . . 47
Contact and Constraints 49
Evaluation of rigid and flexible body contact for high resolution gear simulation
Joachim Beuse, Tarik El-Dsoki, Pavol Kintler, Christof Rachor, Jan Sotnik, Johann Zeischka . . 51
An augmented Lagrangian and reduced index formulation for the analysis of multibody systems withimpacts
Olivier Bruls, Vincent Acary, Federico Cavalieri, Geoffrey Virlez, Alberto Cardona . . . . . . . . 53
A mortar algorithm combined with an Augmented Lagrangian approach for treatment of frictionalcontact problems
Federico Cavalieri, Olivier Bruls, Alberto Cardona . . . . . . . . . . . . . . . . . . . . . . . . . . 55
A Massively Parallel Fast Marching Method Applied to Non-Linearly Elastodynamic Contact Problems
Roberto Croce, Petr Kotas, Rolf Krause, Valentina Poletti . . . . . . . . . . . . . . . . . . . . . . 57
Efficient Simulation of Cylindrical Gears in Approximate Line Contact
Jochen Damerau . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
On the Dynamic Response of Mechanical Systems with Clearance Joints: Influence of Contact ForceModel
Paulo Flores . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Contact Analysis for Different Viscoelastic Contact Force Models
Janete Lara Fontainha Alves, Joao Paulo Flores Fernandes, Nuno Ricardo Maia Peixinho . . . . 63
Comparison of index-3, index-2 and index-1 DAEs solvers for nonsmooth multibody systems withunilateral or bilateral constraints
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Mounia Haddouni, Vincent Acary, Jean-Daniel Beley . . . . . . . . . . . . . . . . . . . . . . . . 65
Dynamic Simulation of Coil Contact in Valve Springs by using a Semi-Smooth Newton Method
Josef Haslinger, Gunter Offner, Martin Sopouch . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Minimal Coordinates Formulation of Contact Dynamics
Abhinandan Jain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Dynamic Simulation and Control for Robotic Manipulation of Planar Objects with Rolling
Liazid Kerha, Belkacem Bounab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
A Differential Variational Inequality Approach for Modeling Frictional Contact-Impact between Flex-ible Bodies
Naresh Khude, Dan Negrut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Modelling of Large Scale Granular Systems using the Discrete Element Method and the Non-SmoothContact Dynamics Method: A Comparison
Jan Kleinert, Martin Obermayr, Matthias Balzer . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Optimal Control of Standing Jump Movements
Michael Koch, Sigrid Leyendecker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Parametric excitation of non-smooth systems: the unilaterally constrained Hill’s equation
Remco I. Leine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Non-contact measurement of a disk spinning on a table
Daolin Ma, Caishan Liu, Hongjian Zhang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Effect of Energy Dissipation on the Dynamics of Chain Drives
Candida Pereira Malca, Jorge Ambrosio, Amılcar Lopes Ramalho . . . . . . . . . . . . . . . . . . 83
An Object-Oriented Environment for Simulation of Wheel-Rail Contact in Roller Coasters
Christian Malessa, Andres Kecskemethy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Derivation and Investigation of Conditions on the Consistent Application of Newton’s Law to Con-strained Mechanical Systems
Sotirios Natsiavas, Elias Paraskevopoulos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Consideration of failure mechanisms in bolted connections
Detlef H.-J. F. Neuenhaus, Christian Kammel, Achim Geßler . . . . . . . . . . . . . . . . . . . . 89
Multibody motion in an implicitly constrained director format and links via explicit constraints
Martin Bjerre Nielsen, Steen Krenk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Unilateral Contact Kinematics
Friedrich Pfeiffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
An algorithm for the Characterization of Constraint Forces.
Javier Ros, Javier Gil, Aitor Plaza, Xabier Iriarte . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Modeling flexible roller ball bearings in multibody dynamics
Anne Schwenkenberg, Jochen Damerau, Hartmut Hetzler, Wolfgang Seemann . . . . . . . . . . . 97
Dynamics of a Rigid Body Rolling without Sliding Supported at Two Points on a Fixed Surface
Nicolae-Doru Stanescu, Dinel Popa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
The Singularities in a 3D rigid body bouncing on a vibrated plate
Jiao Wang, Caishan Liu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Control Modelling and Applications 103
Application of the Transfer Matrix Method to Control Problems
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Dieter Bestle, Xiaoting Rui . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Improving a Workpiece Dominated Turning Process Using an Adaptronic Tool Holder and ModelPredictive Control
Peter Eberhard, Achim Fischer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Adjoint-Based Optimal Control Design for a Cart Pendulum System with Dry Friction
Domenico Guida, Fabio Nilvetti, Carmine Maria Pappalardo . . . . . . . . . . . . . . . . . . . . 109
Payload motion control for various crane types using mechanical waves
Hossein Habibi, William J. O’Connor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Modeling of flexible non-linear dynamic links in Nano-Positioning Motion Systems
Meinko Hoogerkamp, Rob Waiboer, Ronald Aarts . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Operational Space Inertia for Robots with Internal Loops
Abhinandan Jain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Usage of MBS-Models of Vehicles in the Tasks of Active Suspension Control
Dmitry Miroshnichenko, Eugene Gromov, Andrey Andreev . . . . . . . . . . . . . . . . . . . . . . 117
Control of the Underactuated Mechanical Systems by Harmonics
Zdenek Neusser, Michael Valasek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
A Numerical Approach to Multiobjective Optimal Control of Multibody Dynamics
Maik Ringkamp, Sigrid Leyendecker, Sina Ober-Blobaum . . . . . . . . . . . . . . . . . . . . . . . 121
Parameter Study on the Dimension Reduction Method of ANCF Model for Controller Design of Flex-ible Beam
Yoshiki Sugawara, Koki Takeda, Shinya Otsuki, Nobuyuki Kobayashi . . . . . . . . . . . . . . . . 123
Simulation of a non-smooth dynamical model of the piano key
Anders Thorin, Xavier Boutillon, Jose Lozada, Xavier Merlhiot, Alain Micaelli . . . . . . . . . . 125
Optimization of control parameters for multibody mechatronic product with adaptronic approach
Vasilije Vasic, Mihailo P. Lazarevic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Specifying the Force for Wave-based Motion Control of Flexible Systems
Ming Zhu, William J. O’Connor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Efficient Simulation and Real-Time Applications 131
Tree Harvester Truck Simulator based on Real-Time Multibody Simulation
Mohamad Ezral Bin Baharudin, Asko Rouvinen, Pasi Korkealaakso, Aki Mikkola . . . . . . . . . 133
Soft material modeling for muscle separation process control and dynamic trajectory generation
Nabil Essahbi, Belhassen-Chedli Bouzgarrou, Grigore Gogu . . . . . . . . . . . . . . . . . . . . . 135
Evaluating the Performance of Three Standard Multibody Dynamics Formulations
Daniel Montrallo Flickinger, Jeff Trinkle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Multibody system coupling with discrete element approximation of deformable and heating bodiesusing parallel processing
Victor V. Getmanskiy, Timur D. Ismailov, Alexander S. Gorobtsov, Andrey E. Andreev . . . . . 139
Efficient Contact Analysis between Mass Spring-Damper System and Many Particles by Using GPGPU
Chul Woong Jun, Jeong Hyun Sohn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Large Deformation Formulation for the Flexible Divide-and-Conquer Algorithm
Imad Khan, Kurt Anderson . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
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A Real-time Multibody Dynamics Model for Unmanned Robot Vehicle based on the Subsystem Syn-thesis Method
Myoung-Ho Kim, Hee Chan Kang, Hong-Sun Yoon, Sung-Soo Kim . . . . . . . . . . . . . . . . . 145
Real-time human in the loop MBS simulation in the Fraunhofer Robot- Based Driving Simulator
Michael Kleer, Andrey Gizatullin, Klaus Dreßler, Steffen Muller . . . . . . . . . . . . . . . . . . 147
A direct-iterative splitting method for real-time simulation of rigid multibody systems with frictionalcontacts
Claude Lacoursiere, Mattias Linde, Niklas Melin . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Chrono::Terrain - Off-Road Vehicle Dynamics Simulation with a Compaction Based Deformable Ter-rain Model
Justin Madsen, Andrew Seidl, Dan Negrut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Comparison of Model Order Reduction Methods for Automotive Systems
Ramin Masoudi, Thomas Uchida, John McPhee . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
A Generalized, Optimal Complexity, Parallel Algorithm For Modeling Nonholonomic Constraints inMulti-rigid Body System Dynamics
Rudranarayan Mukherjee, Pawel Malczyk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Use of Sub-System Global Modal Parameterization Models in Extended Kalman Filtering for OnlineCoupled State/Force Estimation.
Frank Naets, Roland Pastorino, Javier Cuadrado, Wim Desmet . . . . . . . . . . . . . . . . . . . 157
Use of Rosenbrock Methods for Hardware-in-the-Loop Simulations of Multibody Models
William Crego Prescott . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Regularization via Overdetermined Formulations and Numerical Simulation of Multibody SystemsModeled with Modelica
Altmeyer Randolf, Andreas Steinbrecher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
A novel time varying parametric model order reduction scheme with focus on dynamic stress recovery
Tommaso Tamarozzi, Gert H.K. Heirman, Wim Desmet . . . . . . . . . . . . . . . . . . . . . . . 163
Waveform-Newton algorithm for the cosimulation of multibody systems coupled by constraints
Pawe l Tomulik, Janusz Fraczek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
A comparison of Algorithms for Sparse Matrix Factoring and Variable Reordering aimed at Real-timeMultibody Dynamic Simulation
Jose-Luis Torres-Moreno, Jose-Luis Blanco-Claraco, Javier Lopez-Martınez, Antonio Gimenez-Fernandez . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Flexible Multibody Dynamics 169
Application of the rigid finite element method to modelling of risers
Iwona Adamiec-Wojcik, Lucyna Brzozowska . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Experimental Validation of Flexible Multibody Dynamics Beam Formulations
Olivier A. Bauchau, Shilei Han, Aki Mikkola . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Wave-induced effects on the power generated by floating offshore wind turbines: a systematic compar-ative study
Ilmas Andrea Bayati, Edoardo Sabbioni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
A Comparison of DAE Integrators in the Context of Benchmark Problems for Flexible MultibodyDynamics
Peter Betsch, Christian Becker, Marlon Franke, Yinping Yang . . . . . . . . . . . . . . . . . . . 177
Vibroactivity Analysis of High Speed Rotating Machine on Flexible Foundation
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Ivan Danchev, Venelin Jivkov, Evtim Venets Zahariev . . . . . . . . . . . . . . . . . . . . . . . . 179
Asynchronous variational Lie group integration for geometrically exact beam dynamics
Francois Demoures, Francois Gay-Balmaz, Thomas Leitz, Sigrid Leyendecker, Sina Ober-Blobaum,Tudor Ratiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
On the Use of the Rotation Parameters in the Large Displacement Analysis of Beams
Jieyu Ding, Michael Wallin, Cheng Wei, Antonio M. Recuero, Ahmed A. Shabana . . . . . . . . 183
A Cosserat Beam Finite Element Based on the ANC Discretization
Simon Raphael Eugster, Christian Hesch, Peter Betsch, Christoph Glocker . . . . . . . . . . . . 185
Dynamic modeling of a multibody slack mooring system
Brian C. Fabien . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Simulation of Moving Loads in Elastic Multibody Systems with Parametric Model Reduction Tech-niques
Michael Fischer, Peter Eberhard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Coupling Isogeometric Shells with Multibody Systems
Anmol Goyal, Bernd Simeon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
A Novel Bernoulli-Euler Beam Finite Element in Absolute Nodal Coordinate Formulation
Peter G. Gruber, Karin Nachbagauer, Yury Vetyukov, Johannes Gerstmayr . . . . . . . . . . . . 193
ANCF Planar Beam in the Dynamics of Fibres Interacting with Pulley
Michal Hajzman, Pavel Polach, Jaroslav Vaclavık, Zbynek Sika . . . . . . . . . . . . . . . . . . . 195
Calculation Efficiency of Beam Elements with Algebraic Constraints
Kensuke Hara, Masahiro Watanabe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Comparison of a Helix Beam Element to Conventional Finite Element in Static and Dynamics Re-sponses of a Coil Spring
Jang Jin-Seok, Kim Hyun-Woo, Yoo Wan-Suk . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Dominant Factors on Cable Unwinding from a Spool Package
Kun-Woo Kim, Wan-Suk Yoo, Jae-Wook Lee, Hyung-Ryul Kim . . . . . . . . . . . . . . . . . . . 201
Vibration control of a flexible fork of a solar cell manipulator for accurate positioning in large verticalmotion
Wook Hyeon Kim, Tae Won Park, Dong Il Park . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Numerical experiments for viscoelastic Cosserat rods with Kelvin-Voigt damping
Holger Lang, Sigrid Leyendecker, Joachim Linn . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Finite Element Analysis of Large Deformation Flexible Beam with Warping Effect Included
Pengfei Li, Shuai Shi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Generalized Maxwell type viscoelasticity for geometrically exact Cosserat rod and shell models
Joachim Linn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Preloaded Initial State Evaluation of Flexible Multibody Systems
Norbert Lorenz, Gunter Offner, Alessandro Colla . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Higher order plate elements based on the absolute nodal coordinate formulation
Marko Kalervo Matikainen, Aki Mikkola . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Nonlinear incompressible material models for beam elements in absolute nodal coordinate formulation
Grzegorz Orzechowski, Janusz Fraczek, Krzysztof Arczewski . . . . . . . . . . . . . . . . . . . . . 215
Model parameters influence of a simple mechanical system with fibre and pulley with respect toexperimental measurements
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Pavel Polach, Michal Hajzman, Jaroslav Vaclavık, Zbynek Sika, Petr Svatos . . . . . . . . . . . . 217
Description of Track Dynamics using the Moving Modes Method with Krylov Subspaces for ModelOrder Reduction
Antonio Martın Recuero, Jose Luis Escalona . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
A Shear-Locking Free Model of Timoshenko Beams with Large Deformations and Large Rotations
Hui Ren, Naresh Khude, Jose Ortiz, Mike Collingridge . . . . . . . . . . . . . . . . . . . . . . . . 221
The Intensity of Boundary Dynamic Effects During Vibration of Compound Bodies
Boris Vladimirovich Sobol, Leonid Petrovich Vovk . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Structural Dynamic Analysis of a Radial Tire Using Implicit Finite Element Method
Hyun Seok Song, Won Sun Chung, Do Hyun Jung . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Formulation of a geometrically exact beam finite element on the Lie group SE(3)
Valentin Sonneville, Alberto Cardona, Olivier Bruls . . . . . . . . . . . . . . . . . . . . . . . . . 227
Modeling of Sliding Joint for B-spline Surface
Hiroyuki Sugiyama, Yuta Mizuno . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Coupled Multibody - Finite Element Model for the Study of an Off Road Vehicle Frame Frontal Impact
Stefan Tabacu, Alin Haloiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Evaluation of Compliant Mechanical Joint Models: A Comparative Study
Michael Steven Wallin, Ahmed K. Aboubakr, Paramsothy Jayakumar, Michael D. Letherwood,Ashraf Hamed, Ahmed A. Shabana . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Consideration of Warping in Simulations of Beam Structures
Oskar Wallrapp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Generalized Component Mode Synthesis for Flexible Multibody Systems with Large Planar Rotations
Pascal Ziegler, Alexander Humer, Astrid Pechstein, Johannes Gerstmayr . . . . . . . . . . . . . 237
Comparison and Experimental Validation of Different Multibody Codes for Wind Turbine Modelling
Janos Zierath, Roman Rachholz, Christoph Woernle . . . . . . . . . . . . . . . . . . . . . . . . . 239
Formulations and Numerical Methods 241
Modeling Flexible Multibody Systems by Moving Dirichlet Boundary Conditions
Robert Altmann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Rank-deficient body mass matrices in a recursive multibody formalism
Martin Arnold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Numerical Determination of a sufficient Local Approximation Order of Loop-Closure Conditions forOverconstrained Mechanisms
Rene Bartkowiak, Christoph Woernle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Advanced Beam Theory for Multibody Dynamics
Olivier A. Bauchau, Shilei Han . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
Application of a gyrostatic rigid body formulation in the context of a direct transcription method foroptimal control in multibody dynamics
Christian Becker, Peter Betsch, Ralf Siebert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Dynamics of flexible spatial beams: the velocity-based approach
Peter Cesarek, Dejan Zupan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Computing time investigations of variational multirate integrators
Tobias Gail, Sigrid Leyendecker, Sina Ober-Blobaum . . . . . . . . . . . . . . . . . . . . . . . . . 255
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Local Linearization Method in the Integration of Multibody Equations
Gibin Gil, Ricardo G. Sanfelice, Parviz E. Nikravesh . . . . . . . . . . . . . . . . . . . . . . . . . 257
Reaction Efforts Associated with Non-Holonomic and Rheonomic Constraints in Index-3 AugmentedLagrangian Formulations
Francisco Gonzalez, Daniel Dopico, Javier Cuadrado, Jozsef Kovecses . . . . . . . . . . . . . . . 259
A derivation of a local integration error estimate and development of an automatic time step controlalgorithm for the generalized-alpha scheme for mechatronic systems
Gert H. K. Heirman, William C. Prescott, Wim Desmet . . . . . . . . . . . . . . . . . . . . . . . 261
Reduced Discrete Variational Multi-body Mechanics
Marin Kobilarov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Parallelization of Multibody System Dynamics by Additional Dynamics
Ladislav Mraz, Michael Valasek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Implementation of a Geometric Constraint Regularization for Multibody System Models
Andreas Muller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
A Beam Element based on the Absolute Nodal Coordinate Formulation applied to the NumericalInvestigation of a Square Frame
Karin Nachbagauer, Georg Zenz, Johannes Gerstmayr, Ming-Hsiang Shih . . . . . . . . . . . . . 269
A Novel Study of Rigid Body Kinematics and Dynamics based on a Non-Riemannian Geometry
Elias Paraskevopoulos, Sotirios Natsiavas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
A Multibody Dynamics Formulation for Open Loop Systems Based on Maggi-Kane Equations
Ettore Pennestri’, Valerio Rossi, Pietro Salvini, Pier Paolo Valentini . . . . . . . . . . . . . . . 273
A New Form of the Transfer Matrix Method of Multibody System
Xiaoting Rui, Dieter Bestle, Jianshu Zhang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Computational Kinematics of Multibody Systems: The Advantages of a Topological Method Basedon its Kinematic Structure
Mariano Saura, Javier Cuadrado, Daniel Dopico, Ana I. Celdran . . . . . . . . . . . . . . . . . . 277
Discussion of the Gear-Gupta-Leimkuhler method for multibody systems including clearance and im-pacts
Thorsten Schindler, Svenja Schoeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Angular Momentum Conserving Integration Scheme for Multibody System Dynamics in Lie-GroupSetting
Zdravko Terze, Andreas Muller, Dario Zlatar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Alternative approaches to the incorporation of control constraints in multibody dynamics
Yinping Yang, Peter Betsch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Riccati Transfer Matrix Method for Eigenvalue Problem of the System with Antisymmetric Boundaries
Jianshu Zhang, Xiaoting Rui, Guoping Wang, Fufeng Yang . . . . . . . . . . . . . . . . . . . . . 285
On integration of rotational quaternions from angular velocities
Eva Zupan, Miran Saje, Dejan Zupan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
Mechatronics and Robotics 289
A Methodology to Characterize Critical Falling Configurations for a Humanoid Robot
Giovanna Beninati, Matteo Leonetti, Nikos G. Tsagarakis, Darwin G. Caldwell . . . . . . . . . . 291
Robust trajectory planning for flexible robots
Paolo Boscariol, Alessandro Gasparetto, Renato Vidoni . . . . . . . . . . . . . . . . . . . . . . . 293
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Elastodynamics Analysis of Icaro: a PKM for Pure Translational Motion
Alessandro Cammarata, Giovanna Adele Naselli, Rosario Sinatra . . . . . . . . . . . . . . . . . . 295
CPG tuning using sensory feedback for walking applications
Christophe Chariot, Enrico Filippi, Olivier Verlinden . . . . . . . . . . . . . . . . . . . . . . . . . 297
On Modeling and Simulation of 6 Degrees of Freedom Stewart Platform Mechanism Using MultibodyDynamics Approach
Ayman El-Badawy, Khaled Mohamed Rashad Mohamed Nabih Mohamed Youssef . . . . . . . . . 299
The Modeling of a Mobile Robot and Its Feedback Control via Pole-Placement
Yann G. Garneau, Jorge Angeles, Alessio Salerno . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Analysis, Optimization, and Testing of Planetary Exploration Rovers: Challenges in Multibody SystemModelling
Bahareh Ghotbi, Francisco Gonzalez, Ali Azimi, William Bird, Jozsef Kovecses, Jorge Angeles,Raja Mukherji . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Dynamics of Multibody Systems with nonlinear Control Subsystems
Alexander S. Gorobtsov, Eugeny N. Ryzhov, Anna S. Churzina . . . . . . . . . . . . . . . . . . . 305
A Hybrid Control Method for Stabilizing of Walking Robot on Irregular Surface Using Plantar PressureSensors
Dmytro Gumennuy, Mikhail Tkach, Alexey Chkalov . . . . . . . . . . . . . . . . . . . . . . . . . 307
Dynamics of Serial-chain Multibody Systems Using Equimomental systems of Point-masses
Vinay Gupta, S. K. Saha, Himanshu Chaudhary . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Positioning control of the multibody robot’s jump
Sergey Fedorovich Jatsun, Lyudmila Yurievna Volkova . . . . . . . . . . . . . . . . . . . . . . . . 311
Performance Optimization of Haptic Multibody Systems
Laszlo L. Kovacs, Sara Shayan Amin, Jozsef Kovecses . . . . . . . . . . . . . . . . . . . . . . . . 313
Inverse dynamic method for control motion of walking robot with account of programm forces forredundant constraints case
Alexander S. Gorobtsov, Alexander Mokhov, Alexander Oleynikov, Andrey Andreev . . . . . . . . 315
Dynamic modeling and control of spatial flexible manipulators for trajectory tracking application
Rajesh Kumar Moolam, Francesco Braghin, Federico Vicentini . . . . . . . . . . . . . . . . . . . 317
Dynamic behavior model of a machining robot and stability prediction
Said Ghazanfar Mousavi, Vincent Gagnol, Belhassen-Chedli Bouzgarrou, Pascal Ray . . . . . . . 319
Dynamic Behavior of Inverted Pendulum Vehicle and Driver during Deceleration
Chihiro Nakagawa, Shunsuke Arakawa, Atsuhiko Shintani, Tomohiro Ito . . . . . . . . . . . . . . 321
Vibration confinement in lightly damped multibody systems: an hybrid active-passive approach
Dario Richiedei, Alberto Trevisani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Environment and Objects Detection Using E-puck Robot
Ehsan Sharafian Ardakani, Mehdi Tale Masouleh, Ali Ghaffari . . . . . . . . . . . . . . . . . . . 325
Development of Snake Robot based on Multibody Dynamics Simulation
Hocheol Shin, Jeong Joo Kwon, Bong Cheol Seo, Tae Won Kim, Sung Soo Kim . . . . . . . . . . 327
Hybrid robotic system featuring a combination of a continuum robot and a rigid robotic arm: staticand differential kinematic modeling
Gabrijel Smoljkic, Gianni Borghesan, Bert Willaert, Jos Vander Sloten . . . . . . . . . . . . . . 329
Design and Application of A Piezoelectric Device Producing Vibration and Power
Yung Ting, Chin-Chih Yeh, Chih-Hsuan Yu, Hsiang-Hung Huang, Chia-An Wei . . . . . . . . . 331
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Joint-Space Dynamics Algorithm for Tree Structure Space Manipulators by Using Inertia MappingMatrix
Mingming Wang, Ulrich Walter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Optimal Design of a Pair of Cooperating Robots by Kinetic Analysis of Stair Climbing States
Abraham Weiss, Gideon Avigad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Modal Measurements and Model Corrections of a Large Stroke Compliant Mechanism
W. Wijma, S.E. Boer, R.G.K.M. Aarts, D.M. Brouwer, W.B.J. Hakvoort . . . . . . . . . . . . . 337
A feasibility study of the local calibration method
Marek Wojtyra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
Tracking Control of a Balancing Robot
Tobias Zaiczek, Matthias Franke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Multiphysics and Coupled Problems in MBS 343
Development of Solenoid-Latch Mechanism System Model Using Electromagnetic field-Multibody Dy-namics Coupled Analysis of Spring Operated Mechanism for Circuit Breaker
Byungtae Bae, Sungho Lee, Jaeyeol Kim, Jooeon Park, Jinho Kim . . . . . . . . . . . . . . . . . 345
Bifurcation Analysis of Self-excited Thermoacoustic Oscillations in Damper-equipped CombustionChambers
Michael Baumann, Remco I. Leine, Nicolas Noiray, Bruno Schuermans . . . . . . . . . . . . . . 347
Design of towed vehicle for polluting monitoring
Alessandro Cammarata, Michele Lacagnina, Andrea Litrico, Giovanna Adele Naselli, RosarioSinatra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
VAWT starting performance simulation with generator model coupling within OpenFOAM
Elia Daniele, Dubravko Matijasevic, Luigi Izzo . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Application of Viscous Vortex Domains Method for Solving Flow-Structure Problems
Yaroslav Alexeevich Dynnikov, Galina Yakovlevna Dynnikova . . . . . . . . . . . . . . . . . . . . 353
Towards a detail drive train model with Matlab and Aeroelastic Wind Turbine Code
Juan Felipe Gallego-Calderon, John Michael Hansen, Braulio Barahona, Kim Branner, NicolaosAntonio Cutululis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Validation of Coupled Multibody Dynamic and Seakeeping Simulations of Offshore Dredging Equip-ment
Stephan David Arjan Hannot, Johannes Gijsbert Los, Albert Cornelis Leendert de Krijger, BramAdrianus Waltherus van Spaendonk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
A mortar based approach for Fluid-Structure Interaction with flexible multibodies
Christian Hesch, Peter Betsch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
An Approach for the Spatial Coupling of the Multibody System Chain in a Partitioned Algorithm
Dubravko Matijasevic, Zdravko Terze . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
A Lagrangian-Lagrangian framework for the simulation of fluid/rigid-body interaction
Arman Pazouki, Dan Negrut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Solver Coupling between Multibody and Electro-Magnetic Systems
Robert Schmoll, Bernhard Schweizer, Christian Simonidis, Octavian Craciun, Veronica Biagini . 365
Flow simulation in blood vessels with fluid-structure interaction
Markus Schorgenhumer, Johannes Gerstmayr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Cases of Integrability in Transcendental Functions in 3D Dynamics of a Rigid Body Interacting Witha Medium
xxi
Maxim V. Shamolin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
A New Technique for Stronger Coupling between Multibody System and Nonlinear Finite ElementSolvers in Co-simulation Environments
Tariq Sinokrot, Philippe Jetteur, Hunor Erdelyi, Frederic Cugnon, William Prescott . . . . . . . 371
Numerical modeling of docking operation in MAAT project
Dean Vucinic, Anna Sunol, Steve Vanlanduit, Andrey Aksenov, Tatyana Markova, Igor Moskalyov 373
Numerical method for interaction of loose floating bodies
Kalman Ziha . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Optimization and Sensitivity Analysis 377
An Alternative Method for the Optimum Dynamic Balancing of Planar Mechanisms
Mario Acevedo, Eduardo Haro, Felix Martinez . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Sensitivity analysis of dynamic three-dimensional multibody systems: Theory and software implemen-tation
Joydeep Banerjee, John J. McPhee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Multidisciplinary Design Optimization of Wind Turbines by a Multibody/Cross-Sectional/FEM Inte-grated Approach
Carlo L. Bottasso, Filippo Campagnolo, Alessandro Croce, Federico Gualdoni . . . . . . . . . . . 383
Efficient response optimization of realistic vehicle models using an automatically-differentiated semi-recursive formulation
Alfonso Callejo, Javier Garcıa de Jalon, Pablo Luque, Daniel Alvarez . . . . . . . . . . . . . . . 385
Effect Analysis of Latch Length on the Performance of Spring Operating Mechanism for a Gas InsulatedCircuit Breaker
Gyuseok Choi, Jeonghyun Sohn, Hyunwoo Kim, Wansuk Yoo, Byungtae Bae, Jaeyeol Kim, JinhoKim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Reliability-based Design Optimization applying Polynomial Chaos Expansion: Theory and Applica-tions
Alberto Clarich, Mariapia Marchi, Enrico Rigoni, Rosario Russo . . . . . . . . . . . . . . . . . . 389
Optimization of Kinematic Sensitivity and Workspace of Planar Parallel Mechanisms
Morteza Daneshmand, Mohammad Hossein Saadatzi, Mehdi Tale Masouleh, Ehsan SharafianArdakani, Mohammad Bagher Menhaj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Index-1 and Index-3 adjoint DAE equations for the sensitivity analysis of multibody systems
Daniel Dopico, Yitao Zhu, Adrian Sandu, Corina Sandu . . . . . . . . . . . . . . . . . . . . . . . 393
Optimizing the Dynamics of Mechanical Systems Using Particle-Swarm-Optimizers and Meta-Models
Markus Filippi, Heinz Ulbrich . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Gradient Based Optimization of Flexible Multibody Systems Using the Absolute Nodal CoordinateFormulation
Alexander Held, Robert Seifried . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
Control of Harmonically Driven Resonating Compliant Structures using Local Structural Modifications
Hugo Jacobus Peters, Johannes F.L. Goosen, Fred van Keulen . . . . . . . . . . . . . . . . . . . 399
Automated Synthesis and Optimization of Planar Linkage Mechanisms
Martin Alejo Pucheta, Alberto Cardona . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
Adjoint second order ODE for the computation of first order sensitivities in multibody dynamics
Yitao Zhu, Daniel Dopico, Corina Sandu, Adrian Sandu . . . . . . . . . . . . . . . . . . . . . . . 403
Railroad Vehicle Dynamics 405
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Co-Simulation of Multibody and Finite Element Codes for Wheel-Rail Interaction
Pedro Antunes, Joao Pombo, Jorge Ambrosio, Manuel Pereira, Tiago Almeida, Hugo Magalhaes 407
A railway HIL system for the safety on board subsystem testing activities: controller robustnessanalysis
Roberto Conti, Benedetto Allotta, Franco Cavaliere, Enrico Meli, Luca Pugi, Alessandro Ridolfi . 409
Numerical simulation of dynamic phenomena occurring in deformable rail vehicle drive systems
Slawomir Duda . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411
Dynamic Modeling of Magnetic Suspension and Propulsion for a Track Transportation System
Hyung-Suk Han, Kijung Kim, Jongboo Han, Changhyun Kim, Doyoung Park . . . . . . . . . . . 413
Development of an Innovative Weigh in Motion System for Railway Vehicles
Mirko Ignesti, Alice Innocenti, Lorenzo Marini, Enrico Meli, Luca Pugi, Andrea Rindi . . . . . . 415
Development and Validation of a Wear Model for the Prediction of Wheel and Rail Profile Evolutionon Complex Railway Nets
Mirko Ignesti, Alice Innocenti, Lorenzo Marini, Enrico Meli, Andrea Rindi . . . . . . . . . . . . 417
Fault detection of multiybody systems applied to railway vehicles
Mathias Jesussek, Katrin Ellermann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Optimization of a bogie primary suspension damping to reduce wear in railway operations
Seyed Milad Mousavi Bideleh, Viktor Berbyuk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
Development of Air Suspension Model with Leveling and Differential Pressure Valves and its Experi-mental Validation for Use in Railroad Vehicle Dynamics Simulation
Toshihisa Nakajima, Yoshiyuki Shimokawa, Masaaki Mizuno, Hiroyuki Sugiyama . . . . . . . . . 423
Discrete Element Models for Railroad Ballast Degradation
Robert Seifried, Christian Ergenzinger, Peter Eberhard . . . . . . . . . . . . . . . . . . . . . . . . 425
Semi-Active Control of Skyhook for Ride Comfort of a Railway Vehicle
Kyung Seok Sim, Tae Won Park, Nam Ho Chung . . . . . . . . . . . . . . . . . . . . . . . . . . 427
Development of Pantograph Model using Multibody Dynamics and Bench Test Evaluations
Hironobu Sunami, Yoshiaki Terumichi, Masahito Adachi, Takeshi Narita . . . . . . . . . . . . . 429
Software Development and Education 431
HOTINT – A Multibody Dynamics Simulation System for Education, Research and Application
Johannes Gerstmayr, Daniel Reischl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Chrono: A Parallel Multi-Physics Library for Rigid-Body, Flexible-Body, and Fluid Dynamics
Toby D. Heyn, Hammad Mazhar, Arman Pazouki, Dan Melanz, Andrew Seidl, Aaron Bartholomew,Luning Fang, Alessandro Tasora, Eftychios Sifakis, Dan Negrut . . . . . . . . . . . . . . . . . . . 435
Computer-aided evaluation of posture ergonomics by means of low-cost markerless motion capturesystem
Ettore Pennestri’, Alfredo Patrizi, Valentini Pier Paolo, Rughi Diego, Nappi Francesco . . . . . . 437
Development of a virtual laboratory in the framework of the education of theoretical mechanics taughtfor undergraduate engineering students
David Wattiaux, Olivier Verlinden . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
RPI-MATLAB-Simulator
Jedediyah Freeman Williams, Ying Lu, Sarah Niebe, Jeff C. Trinkle . . . . . . . . . . . . . . . . 441
MBD Education in PNU, Korea
Wan Suk Yoo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
xxiii
Vehicle Dynamics and Simulation 445
Modelling and Control of an Autonomous Underwater Vehicle for Mobile Manipulation
Benedetto Allotta, Roberto Conti, Riccardo Costanzi, Francesca Giardi, Enrico Meli, AlessandroRidolfi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Structural MBD tire models: Evolving from Spindle Load to Deformation Measurements
Manfred Backer, Axel Gallrein . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Comparison of Different Coordinates Formulation for Efficient Modeling of a Vehicle Suspension Sys-tem
Mariano Carpinelli, Marco Gubitosa, Domenico Mundo, Wim Desmet . . . . . . . . . . . . . . . 451
Sample based Reliability Design Method for a Multibody System having Arbitrary Distributed Pa-rameters
Chan Kyu Choi, Hong Hee Yoo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Dynamical Behavior of Trains Excited by a Non-Gaussian Vector Valued Random Fields
Funfschilling Christine, Perrin Guillaume, Soize Christian, Duhamel Denis . . . . . . . . . . . . 455
A multibody model to assess the effect of automotive motor in-wheel configuration on vehicle stabilityand comfort
Javier Cuadrado, David Vilela, Inaki Iglesias, Adrian Martın, Alberto Pena . . . . . . . . . . . . 457
Use of an implicit non-linear FEA multi-model solver for the dynamic simulation of an automotivevehicle with meshed tires.
Frederic Cugnon, Philippe Jetteur, Frederic Pascon, Tom van Eekelen . . . . . . . . . . . . . . . 459
A low cost dynamometer wheel for validating multibody vehicle models
Maria Dolores Gutierrez Lopez, Javier Garcıa de Jalon . . . . . . . . . . . . . . . . . . . . . . . 461
Reduction of Vehicle Suspension Models to Single-degree-of-freedom Equivalent Kinematic Joints
Andrew Hall, Chad Schmitke, Thomas Uchida, John McPhee . . . . . . . . . . . . . . . . . . . . 463
Dynamic Property of the Triangle Rotary Engine Mechanism
Chiu-Fan Hsieh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
Symbolic Calculation of the Base Inertial Parameters of a Low Mobility Mechanism
Xabier Iriarte, Javier Ros, Francisco Valero, Vicente Mata, Jokin Aginaga . . . . . . . . . . . . 467
Vibration reduction of a six-wheeled vehicle with rotating arm suspensions
Samuel Jung, Wan-suk Yoo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
Tracked vehicle dynamics modelling issues
S lawomir Kciuk, Arkadiusz Mezyk, Gabriel Mura . . . . . . . . . . . . . . . . . . . . . . . . . . . 471
Dynamic Responses of the Flexible Guideway Induced by Moving Maglev Vehicles
Ki-Jung Kim, Hyung-Suk Han, Jong-Min Lee, Seok-Jo Yang . . . . . . . . . . . . . . . . . . . . 473
Modeling Of Traffic Stream In Urban Environment As A Multibody Chain With Breakable WeakSprings
Aleksandar Kostikj, Milan Kjosevski, Ljupcho Kocarev . . . . . . . . . . . . . . . . . . . . . . . . 475
Analysis of the Dynamic Interaction between Catenary and Pantograph and Experimental Verificationin High Speed over 300km/h
Jin Hee Lee, Tae Won Park . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
A novel 3-dof parallel mechanism employed in a vehicle suspension for the Improvement of HandlingPerformance
Fernando Malvezzi, Tarcisio Antonio Hess Coelho . . . . . . . . . . . . . . . . . . . . . . . . . . 479
Comparison on multi-body vehicle model and lumped parameter model
xxiv
SangDo Na, JinSeok Jang, KwangSuk Kim, JinKyu Ok, DongWoon Park, WanSuk Yoo . . . . . 481
On the use of geometrically exact shells for dynamic tire simulation
Michael Roller, Peter Betsch, Axel Gallrein, Joachim Linn . . . . . . . . . . . . . . . . . . . . . 483
Analysis and Design of Active Pedal for Improving Fuel Economy using Multibody Analysis of Pedaland Foot Interaction
YoungKyu Shin, Namgyu Han, JunYoung Park, SungWoo Kwon, TaeOh Tak . . . . . . . . . . . 485
Development of Steering HILS System with Multibody Kinematic Model of Front Suspension
Masashi Tsushima, Taichi Shiiba . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
Evaluation of the Effects of Vehicle Model Complexity on Subjective Driving Perception in a DrivingSimulator
Michael Unterreiner, Dieter Schramm, Udo Ossendoth . . . . . . . . . . . . . . . . . . . . . . . . 489
Special Session on Benchmark Problems in Multibody Dynamics 491
Benchmark Problems for Beam Models in Flexible Multibody Dynamics
Olivier A. Bauchau . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
A Library of Computational Benchmark Problems for the Multibody Dynamics Community
Ramin Masoudi, Thomas Uchida, David Vilela, Alberto Luaces, Javier Cuadrado, John McPhee 495
History of Benchmark Problems in Multibody Dynamics
Werner Schiehlen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Benchmark Problems for Computational Efficiency of Rigid Multibody System Dynamics
Michael Valasek, Zbynek Sika . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
Author Index 501