Joint International Conference on Multibody System Dynamics

Joint International Conference on Multibody System DynamicsTh

e 1s

t IMSD

Lappeenranta, Finland May 25–27, 2010

For more information www.imsd10.fi

Conference Information Booklet

IMSD 2010May 25–27

2

Sponsors and Supporting Organizations

Lappeenranta, Finland

3

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

IMSD 2010May 25–27

4

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. Multi-

body 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 opportu-

nity 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•

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 discus-

sion, 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 (Portugal)

Kurt Anderson (USA, ASME)

Krzysztof Arczewski (Poland)

Olivier Bauchau (USA, ASME)

Carlo Bottasso (Italy)

Javier Cuadrado (Spain, IFToMM)

Peter Eberhard (Germany)

Caishan Liu (China)

John McPhee (Canada, IFToMM)

Aki Mikkola (Finland, Co-Chair)

Friedrich Pfeiffer (Germany, IUTAM)

Werner Schiehlen (Germany, Co-Chair, IFToMM)

Ahmed Shabana (USA, ASME)

Nobuyuki Shimizu (Japan)

Wan-Suk Yoo (Korea)

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.


5

Campus Area

Conference Map – LUT Campus

Skinnarilankatu

Lase

rkat

u

Skinnarilan Hovi

University Sauna

Lake Saimaa

Teknologiapuistonkatu

To the City Central (6 km)

LAPPEENRANTA

To the City Center (6 km)

Main EntranceLappeenrantaUniversity

of Technology

Sonera

Technopolis

Tietoenatortalo

Future factory

Skinnarilankatu

University

Hel

singi

ntie

Skin

naril

anka

tu

Helsin

gintie

Kouvola

KuutostieImatra

Salpausselänkatu

Uni

vers

ity

Lecture rooms

3rd �oor

2nd �oor

1st �oor

Library

Exhibitors

Main Entrance

Co�ee

Room

D

Room

C

Room

B

Room

GRo

om F

Room

E

Room A

Lunch

Lecture rooms

3rd �oor

2nd �oor

1st �oor

Library

Exhibitors

Main Entrance

Co�ee

Room

D

Room

C

Room

B

Room

GRo

om F

Room

E

Room A

Lunch

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

IMSD 2010May 25–27

6

This is Lappeenranta, Finland

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.

Lappeenranta

Helsinki

A Little About Finland

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.

Map of Finland

A Short History of Lappeenranta

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.

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 millen-

nium, 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 estab-

lished 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


7

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 govern-

ment includes a multiparty coalition Cabi-

net of Ministers. Currently, the president

of Finland is Tarja Halonen and the Prime

Minister is Matti Vanhanen.

with a club, which seems to fit with the Swedish

name Villmanstrand (Wildman Coast). Some

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.

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 populat-

ed with around 500 residents and soldiers. Eleven

years later in 1741, a Russian mercenary army

attacked, and the fortress fell. By 1743, Lappeen-

ranta 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 experi-

enced Russian army succeeded in taking over the

Swedish lands east of the Gulf of Bothnia, and the

autonomous Grand Duchy of Finland became

a part of the Russian empire. Initially, the new

Grand Duchy and the “Old Finland” lands remained

separate. They were reunited in 1811, ushering in

more than a hundred years of peace for Lappeen-

ranta and its people.

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 Revolu-

tion and the fall of the Russian Empire. The City of

Lappeenranta became an important contributor to

the new country’s continuing development.

Lappeenranta fortress

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 Cir-

cle and at the country’s northernmost point,

the sun does not set for 73 days during sum-

mer. In contrast, polar night comes in winter,

and the sun stays below the horizon all day

for an equal number of days.

IMSD 2010May 25–27

8

Following the war, Finland entered a period of

rapid industrialization and economic development.

Lappeenranta benefited from this growth, becom-

ing 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 carry-

ing 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 Lappeen-

ranta is the economic and cultural center of South-

East Finland.

In 1939, a long period of peace ended for Lappeen-

ranta 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 Kareli-

an region was lost, and the Soviet border moved

quite a bit closer to Lappeenranta.

Lappeenranta harbour

Did you know...

that beginning July 2010, every person

in Finland will have a legislated right to a

one-megabit broadband internet connec-

tion? By the end of 2015, the bandwidth

will be extended to an impressive 100 Mb.


9

The Lappeenranta University of Technology (LUT)

sits on the shores of Lake Saimaa, about 7 kilome-

ters 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 techno-

logy, and economics, cooperating closely with the

business sector.

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

Lappeenranta University of Technology

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 indi-

vidual private forest owners is estimated at

920,000. That means that almost every fifth

Finn is a forest owner.

IMSD 2010May 25–27

10

Transportation

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.

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

will be about 3€. Buses leave from downtown to

the university every 15 minutes.

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 Information

8.25 Spa Hotel

8.30 Hotel Patria

8.30 Hotel Cumulus

8.30 Sokos Hotel Lappee

8.35 Finnhostel Huhtiniemi

Useful Addresses & Phone Numbers

Emergency number 112 - In case of an emergen-

cy 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.


11

ALKO Liquor StoreIsoKristiina . . . . . . . .Kaivokatu 9

Prisma . . . . . . . . . . . .Puhakankatu 9-11

Euromarket . . . . . .Kaakkoiskaari 22

CafésCafe 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)

CinemaKino-Aula . . . . . . . .Valtakatu 39

Nuijamies . . . . . . . .Valtakatu 39

www.nuijamies.com

Night ClubsDiva . . . . . . . . . . . . . .Snellmaninkatu 10

Giggling Marlin . . .Oksasenkatu 2

Golden Apple . . . .Valtakatu 34

Wiltsu . . . . . . . . . . . .Kauppakatu 39

PharmaciesIsoKristiina . . . . . . . .Kaivokatu 9


Yliopiston

apteekki . . . . . . . . . .Kauppakatu 23

PubsBirra . . . . . . . . . . . . . .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

RestaurantsCasanova . . . . . . . . .Brahenkatu 1

Huviretki . . . . . . . . .Valtakatu 31

Olé . . . . . . . . . . . . . . .Raatimiehenkatu 18

Rosso . . . . . . . . . . . .Kauppakatu 29

Tassos . . . . . . . . . . .Valtakatu 33

Torilla. . . . . . . . . . . . .Kauppakatu 21

Wolkoff . . . . . . . . . . .Kauppakatu 26

SupermarketsS-Market . . . . . . . . .Orioninkatu 2

K-Supermarket . . .Korpikunnaankatu 1

K-Supermarket . . .Sammonkatu 5

Anttila . . . . . . . . . . . .Kaivokatu 9

Citymarket . . . . . . .Toikansuontie 4

Euromarket . . . . . .Puhakankatu 1

Euromarket . . . . . .Kaakkoiskaari 22


Tourist InformationKauppakatu 40 D . . . . . . (+358 5 667 788)

www.gosaimaa.fi/en

TransportationTaxi 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 AgenciesKilroy 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

RestaurantLappeenrannan

Kasino

OldTown Hall

Boat CruiseStarting Point Lappeenranta

HarbourFortress

Koulukatu

Valtakatu

Valtakatu

Valtakatu

ValtakatuKauppakatu

Kauppakatu

Samm

onkatu

Oksasenkatu

Toikankatu

Valtakatu

Koulukatu Oikokatu

Maaherrankatu

Maaherrankatu

Raastuvankatu

Raastuvankatu

Aino

nkat

u

Kim

pise

nkat

u

Koulukatu

Urh

eilu

katu

Raatimiehenkatu

Raatimiehenkatu

KoulukatuRaastuvankatu

Yhdyskatu

Snelmanninkatu

Kauppakatu

Sata

mat

ie

Pormestarinkatu

Brahenkatu

Lappeenkatu

Lapp

eenk

atu

Villimiehenkatu

Kirkkokatu

Kaivokatu

Pohjolankatu

KoulukatuKirkkokatu

Kipparinkatu

Kauppakatu

Kristiinankatu

Ainonkatu

Torikatu

Movie theaterNuijamies

Lappee Maria

Church

ScandicPatria

Sokos Hotel Lappee

HotelKylpylä

Shopping

Mall

IsoKristiina

3281

3281

408 387

387

408

3281

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.

IMSD 2010May 25–27

12

Common Expressions in Finnish

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 sylla-

ble. Since every letter is pronounced, a double

letter is twice as long.

Vowel Pronunciation:

a … as in car

e … as in telephone

i … as in see

o … as in law

u … as in pool

y … like the French sur

ä … as in hat

ö … as in fur

Common Expressions

Finland . . . . . . . . . . . . . . . . . . . . Suomi

Finnish, a Finn . . . . . . . . . . . . suomalainen

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

Hello, hi . . . . . . . . . . . . . . . . . . . Hei, moi, terve

Thank you . . . . . . . . . . . . . . . . Kiitos

Yes . . . . . . . . . . . . . . . . . . . . . . . . Kyllä

No . . . . . . . . . . . . . . . . . . . . . . . . Ei

Excuse me, sorry . . . . . . . . . . Anteeksi

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

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

I don’t speak Finnish . . . . . . . En puhu suomea.

Do you speak English . . . . . Puhutko englantia?

How are you . . . . . . . . . . . . . . Mitä kuuluu?

Fine, thank you . . . . . . . . . . . . Kiitos hyvää

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

Goodbye . . . . . . . . . . . . . . . . . . Näkemiin

See you later . . . . . . . . . . . . . . Nähdään

Wow! What a great conference . . . . . . . . Onpa hyvä konferenssi.

Practical Matters

Finnish time is 2 hours ahead of Greenwich Mean

Time (GMT+2).

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 restau-

rant door attendants and porters. Restaurant and

hotel bills always include a service charge. Barbers,

hairdressers, and taxi drivers do not expect tips.

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.

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”.

The tap water in Finland is safe to drink.

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%).

The voltage in Finland is 220 V (230 V), 50 Hz. Round

“European” two-pin plugs and sockets are used.

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 infor-

mation can be found from your conference bag.

Did you know...

that Finns really love coffee? The popula-

tion 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.


13

1km

Social Program

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.

Registration and Opening Ceremonies

The conference registration and opening ceremo-

nies 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. Tradi-

tionally, 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 admin-

istration moved to a new city hall in 1983. Because

of its importance to the cityscape, the Lappeen-

ranta 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.

Old Town Hall

Boat Cruiser Starting point

University Sauna

The Kasino Restaurant

For an interactive online version of this map,

follow this url: http://bit.ly/b4wpRG

IMSD 2010May 25–27

14

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 archi-

pelago 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 archi-

tectural style of the time. The interior is spacious,

yet cozy.

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 Champion-

ships is 110°C and this heat is increased

every 30 seconds. Do not try this at home.


15

Sauna Evening

On Thursday evening, you will have an opportu-

nity 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 avail-

able. 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 the Finnish word, SAUNA, is the unique

Finnish contribution to the world of lan-

guages? 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.

IMSD 2010May 25–27

16

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.

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 – other-•

wise 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.

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

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 partici-

pants 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.


17

Conference Program

Program Overview Detailed Technical Program

IMSD 2010May 25–27

18

Program Overview

Tuesday, 25 May 2010

9.00-9.40Integration of Computer Aided Design and Multibody System Analysis

Ahmed Shabana, University of Illinois at ChicagoRoom A

9.40-10.00 Coffee

10.00-12.00FMS 1

Room BDOAV 1Room C

BIO 1Room D

RS 1Room E

T 1Room F

12.00-13.20 Lunch

13.20-14.00Holistic Design of Wind Turbines using Aero-servo-elastic Multibody Models,

Carlo Bottasso, Politecnico di Milano Room A

14.10-15.30FMS 2

Room BDOAV 2Room C

BIO 2Room D

RS 2Room E

OSA 1Room F

15.30-15.50 Coffee

15.50-16.50FMS 3

Room BDOAV 3Room C

EMRA 1Room D

RS 3Room E

OSA 2Room F

18.30-20.30 Boat cruise in the archipelago of Lake Saimaa

Wednesday, 26 May 2010

9.00-9.40

The Big EXPO 2010 World ExhibitionPendulum - Dynamics and Control,

Peter Eberhard, University of StuttgartRoom A

9.40-10.00 Coffee

10.00-12.00FMS 4

Room BDOAV 4Room C

CIP 1Room D

CM 1Room E

DMRS 1Room F

AICS 1 Room G

12.00-13.20 Lunch

13.20-14.00

Multibody Methods for the Adaptive Modeling andSimulation of Large Molecular Systems

Kurt Anderson, Rensselaer Polytechnic InstituteRoom A

14.10-15.30FMS 5

Room BDOAV 5Room C

BIO 3Room D

RS 4Room E

EMRA 2Room F

15.30-15.50 Coffee

15.50-16.50FMS 6

Room BCIP 2

Room CBIO 4

Room DOSA 3

Room EENV 1

Room F

18.30-20.30 Conference dinner


19

AICS Algorithms, Integration Codes and Software

BIO Biomechanics

CIP Contact and Impact Problems

CM Control and Mechatronics

DOAV Dynamics of All Vehicles

DMRS Dynamics of Machines and Rotating Structures

EMRA Efficient Methods and Real-Time Applications

ENV Experiments and Numerical Verifications

FMS Flexible Multibody Systems

MA Multidisciplinary Approaches

OSA Optimization and Sensitivity Analysis

OT Other Topics

RS Robotic Systems

T Theoretical and Computational Methods

Thursday, 27 May 2010

9.00-9.40 (Multibody) Systems Theory, from Cars to Humans

John McPhee, University of WaterlooRoom A

9.40-10.00 Coffee

10.00-12.00OT

Room BT 2

Room CAICS 2

Room DCM 2

Room EDMRS 2Room F

12.00-13.20 Lunch

13.20-14.00Multibody Dynamics Studies in Asia and Damping Models for Flexible Systems

Nobuyuki Shimizu, Iwaki Meisei UniversityRoom A

14.10-15.30FMS 7

Room BDOAV 6Room C

ENV 2Room D

CM 3Room E

CIP 3Room F

15.30-15.50 Coffee

15.50-16.50FMS 8

Room BCIP 4

Room CENV 3

Room DMA

Room EEMRA 3Room F

Sauna

IMSD 2010May 25–27

20


Integration of Computer Aided Design and Multibody System AnalysisAhmed Shabana, University of Illinois at ChicagoSession chair: Werner Schiehlen, University of Stuttgart

Room A 9.00-9.40

Coffee 9.40-10.00

Flexible Multibody Systems (1 of 8) Room B 10.00-12.00

Session chairs Ahmed Shabana, University of Illinois at Chicago Arend Schwab, Delft University of Technolgy

Modelling of Beams Made of Anisotropic MaterialsJaap Meijaard

An Implicit Non-Linear Finite Element Solver Used for Advanced Multibody SimulationsFrédéric Cugnon, Julian Santiago Prowald

Parallel Computation Approaches for Flexible Multibody Dynamics SimulationsOlivier Bauchau

Numerical Approach in the Analysis of Flexible Body Motion with Time-Varying Length and Large Displacement Using Multiple Time ScalesYoshiaki Terumichi, Stefan Kaczmarczyk, Kiyoshi Sogabe

Comparison of Modal Reduction Methods for the Simulation of Continuum MultibodiesDmitry Vlasenko, Roland Kasper

Modelling Coupled Hydraulic-Driven Multibody Systems Using Finite Element MethodPetri Pertola, Jari Mäkinen, Heikki Marjamäki

Dynamics of All Vehicles (1 of 6) Room C 10.00-12.00

Session chairs Jorge Ambrósio, Instituto Superior TécnicoHiroyuki Sugiyama, Tokyo University of Science

Analysis of the Critical Speed of Rail Vehicles in a Variety of ConfigurationsMichelangelo Bozzone, Ettore Pennestrì, Pietro Salvini

A Basic Study on Semi-Active Steering Bogie by Using MR Damper in Subway VehicleYujeong Shin, Wonhee You, Joonhyuk Park, Hyunmoo Hur

Wheel/Rail Contact Dynamics of Turnout Negotiations in the Analysis of Multibody Railroad Vehicle SystemsHiroyuki Sugiyama, Ryosuke Matsumura, Shunpei Yamashita, Yoshihiro Suda

Computation of Common Normal Between Wheel and Rail SurfaceBehrooz Fallahi, Sunil Ballamudi

Simulation of Semi-Active Suspension System for Railway Applications: a Modular ApproachAndrea Rindi, Luca Pugi, Fabio Bartolini, Francesco Cangioli

Railway Vehicle and Bridge Interaction: Some Approaches and ApplicationsGennady Mikheev, Ekaterina Krugovova, Roman Kovalev

Detailed Technical Program


21

Biomechanics (1 of 4) Room D 10.00-12.00

Session chairs Miguel Silva, Instituto Superior TécnicoAki Mikkola, Lappeenranta University of Technology

Mechanical Investigations of Human HearingAlbrecht Eiber, Michael Lauxmann

Structure Preserving Optimal Control Simulation of Index Finger DynamicsRamona Maas, Sigrid Leyendecker

Using Wobbling Masses and Optimization to Compensate for Residuals in Highly Dynamic MovementsChristian Simonidis, Wolfgang Seemann

Simulation of Human Walking with One-Sided Gait DissordersDaniel García-Vallejo, Werner Schiehlen

Comparison of Impulsive and Compliant Contact Models for Impact Analysis in Biomechanical Multibody SystemsJosep Font-Llagunes, József Kövecses, Rosa Pàmies-Vilà, Ana Barjau

Influence of the Contact Model on the Dynamic Response of the Human Knee JointMargarida Machado, Paulo Flores, Jorge Ambrósio, Miguel Silva, António Completo

Robotic Systems (1 of 4) Room E 10.00-12.00

Session chairs Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich

Dynamic Estimation of Applied Forces on Parallel Mechanism with Inverse Multibody DynamicsTaichi Shiiba, Shoichi Sasaki, Naoki Takahashi

Inverse Dynamic Control of Last-Link Flexible Robots Using Multibody System ApproachAyman Nada, Said Megahed

Inverse Dynamics of Legged Robots with Multiple Degrees-of-Freedom Joints Using the DeNOC MatricesSuril Shah, Subir Saha, Jayanta Kumar Dutt

Base Parameters of Robotic Models with Kinetic FrictionXabier Iriarte, Javier Ros

Drive Train Design Optimization of a 5-DOF Light-Weight Robotic ArmLelai Zhou, Michael R. Hansen, Shaoping Bai

The Method of the Stabilization of Control Motion of the Walking Machines by Modification of Program MotionAlexander Gorobtsov

IMSD 2010May 25–27

22

Theoretical and Computational Methods (1 of 2) Room F 10.00-12.00

Session chairs Kurt Anderson, Rensselaer Polytechnic InstituteWojciech Blajer, Technical University of Radom

Graph Theoretic Structure of Multibody System Spatial OperatorsAbhinandan Jain

Quaternion-Based Non-Linear Dynamics of Spatial Beams Using the Runge-Kutta MethodEva Zupan, Miran Saje, Dejan Zupan

Application of Finite Strip and Rigid Finite Element Methods to Modeling of Vibrations of Collecting ElectrodesIwona Adamiec-Wójcik, Stanisław Wojciech

On Adaptive Multiscale Modeling of Biomolecular Systems with the Application in RNAKurt Anderson, Mohammad Poursina, Kishor D. Bhalerao

Concurrent Simulation of Large-Scale Multibody Systems Using MPIAlexander Gorobtsov, Victor Getmaskiy, Efim Sergeev, Andrey Andreev

Dynamic Behavior of Polymeric Thermo-Visco-Elastic Bar Described By Fractional Calculus Constitutive LawWei Zhang, H.C. Huang, N. Shimizu

Lunch 12.00-13.20

Holistic Design of Wind Turbines using Aero-servo-elastic Multibody Models Carlo Bottasso, Politecnico di Milano Session chair: Olivier Bauchau, Georgia Institute of Technology

Room A 13.20-14.00


Session chairs 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 DynamicsJorge Ambrósio, Maria Augusta Neto

Dynamic Simulation of Flexible Multibody System with Electric-Hydraulic Drive SystemEtsujiro Imanishi, Takao Nanjo

A Non-Incremental Finite Element Formulation of Large Deformation Piezoceramic-Laminated-PlatesAyman Nada, Ahmed El-Assal

Real Time Structural Response Simulation for Dynamic Fatigue Life Estimation of Construction EquipmentsHee-Jong Lee, Seong-Yong Kim, Ju-Ho Kwak, Byung-Joo Kim



23



Numerical Simulation of Railway Vehicle DerailmentsVladislav Yazykov, Dmitry Pogorelov, Vitaly Simonov, Gennady Mikheev, Roman Kovalev, Dmitry Agapov, Nikolay Lysikov

Optimization of Front Axle Suspension System of Articulated Dump TruckThomas Langer, Brian Christensen, Ole Mouritsen, Michael Hansen

Multibody Modeling of a Derailed Vehicle with the Post Derailment Stopper Based on Full-Scale Running TestsHironobu 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 ConditionsFabio Bartolini, Enrico Meli, Luca Pugi, Mirko Ignesti, Monica Malvezzi



Articular Contact Detection of the Coupled Tibio-Femoral and Patello-Femoral Joints Modeled as a Multibody System with Superquadric SurfacesDaniel Simões Lopes, Miguel Silva, Jorge Ambrósio, Richard Neptune

Sensitivity Analysis of the Parameters Used to Calculate the Interface Forces Between Lower Limb and OrthosisPaula Silva, Miguel Silva, Jorge Martins

Influence of Input Data Errors on the Inverse Dynamics Analysis of Human LocomotionRosa 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 ImpactŞtefan Tabacu, Nicolae Doru Stănescy, Sorin Ilie, Anton Hadăr



3D Inertia Transfer Concept and Symbolic Determination of the Base Inertial ParametersJavier Ros, Xabier Iriarte, Vicente Mata

Optimal Control of a Two-Mass System Moving in a Resistive Medium Along a Straight LineNikolai Bolotnik, Felix Chernousko, Tatiana Figurina

Optimal Arm-Swinging in 3D Biped WalkingYannick Aoustin, Alexander Formalskii

A Planar Hybrid Self-Balancing Jumping MechanismArash Fallahnejad, Kambiz Ghaemi Osgouie


IMSD 2010May 25–27

24

Optimization and Sensitivity Analysis (1 of 3) Room F 14.10-15.30

Session chairs Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège

Modeling a Coriolis Mass Flow Meter for Shape OptimizationWouter Hakvoort, Jaap Meijaard, Ronald Aarts, Ben Jonker, Rini Zwikker

Optimal Control Methods for the Computation of Excitation Signals in Multibody SystemsStefan Reichl, Wolfgang Steiner, Michael Steinbatz

Parameter Sensitivity Analysis: Symbolic Computation for Large Multibody SystemsAntoine Poncelet, Jean-François Collard, Paul Fisette

Coffee 15.30-15.50



Modelling Flexible Curved Tracks in Multibody Railroad Simulations with the Moving Shape Functions MethodRosario Chamorro, José Escalona, Antonio Recuero

Intrinsic Flexible JointsOlivier Bauchau, Leihong Li, Pierangelo Masarati, Marco Morandini

A New Flexible Point Curve Joint for the Dynamic Simulation of Flexible Multibody SystemsTariq Sinokrot, John Laughlin, William Prescott


Session chairs Taichi Shiiba, Meiji UniversityDmitry Pogorelov, Bryansk State Technical University

Simulation of Tracked Vehicle Dynamics with Universal Mechanism SoftwareDmitry Pogorelov

Modelization by Superelements with Contact Management in Explicit Car Crash SimulationsKamila Flidrova, David Lenoir, Nicolas Vasseur, Louis Jézéquel

Nonlinear Quarter Car Models Running on Random Roads with Bounded RealizationsWalter Wedig

Efficient Methods and Real-Time Applications (1 of 3) Room D 15.50-16.50

Session chairs Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University

Real-Time Simulation of Multibody-Systems for On-Board ApplicationsLilli Engelhardt, Michael Burger, Gerd Bitsch

Parallel Index-3 Formulation for Real-Time Multibody Dynamics SimulationsPaweł Malczyk, Janusz Frączek, Javier Cuadrado

Natural Coordinates MBS for HIL SimulationPaolo Righettini, Alberto Oldani



25



A Bipedal Robot Model with Elastic ActuationDaniela Förg, Martin Förg, Heinz Ulbrich

Gravity Compensation for Phantom Omni Haptic InterfaceMajid Koul, Praneeth Kumar, Praveen Singh, M Manivannan, Subir Saha

Effects of Gimbal Drives on Optimal Path of Robotic ArmsFoad Mohammadi, Iman Hemmatian, Kambiz Ghaemi Osgouie

Optimization and Sensitivity Analysis (2 of 3) Room F 15.50-16.50


Unified Mechanism Synthesis of Planar Four-Bar Linkage Mechanism Using Spring Connected Size-Variable 3-Blocks ModelBum Suk Kim, Chan Kyu Choi, Hong Hee Yoo

Hybrid Sensitivity Analysis and Parametric Studies of Multibody SystemsSaeed Ebrahimi, Arash Haghi

Sensitivity Analysis of Flexible Slider-Crank Mechanism Using Absolute Nodal Coordinate FormulationTing Pi, Yunqing Zhang, Liping Chen

Boat cruise in the archipelago of Lake Saimaa 18.30-20.30


IMSD 2010May 25–27

26


The Big EXPO 2010 World ExhibitionPendulum - Dynamics and ControlPeter Eberhard, University of StuttgartSession chair: Jorge Ambrósio, Instituto Superior Técnico

Room A 9.00-9.40

Coffee 9.40-10.00


Session chairs Jaap Meijaard, University of TwenteYoshiaki Terumichi, Sophia University

Multibody Modelling and Optimization of a Curved Hinge FlexureSteven 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-RigJan Helsen, Frederik Vanhollebeke, Dirk Vandepitte, Wim Desmet

Motion and Control of Tether Space Mobility DeviceShoichiro 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 DynamicsJun Lu, Peter Eberhard

Design of a Spool Using Unwinding Dynamics of Optical FibersJae-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 MechanismsCleves M. Vaz



Multibody Dynamics Analysis of Differentials in Vehicle DrivetrainsGeoffrey Virlez, Olivier Brüls, Nicolas Poulet, Pierre Duysinx

Effects of Damper Connecting Two Maglev Vehicles on Dynamic BehaviorKijung Kim, Hyungsuk Han, Bongseup Kim, Sukjo Yang

Design of the Hydraulic Shock Absorbers Characteristics Using Relative Springs Deflections at Asymmetric Excitation of the Bus WheelsPavel Polach, Michal Hajžman

Full Vehicle Simulation for Durability Test of Damper in a Cruise BusJeong-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 ModelYeon-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


27

Contact and Impact Problems (1 of 4) Room D 10.00-12.00

Session chairs Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo

Contact Modeling in Real-Time Simulation of an Underground Wheeled LoaderSami Moisio, Pasi Korkealaakso, Asko Rouvinen

A Biomechanical Multibody Foot Model for Forward Dynamic AnalysisPedro Moreira, Miguel Silva, Paulo Flores

Volumetric Contact Models and Experimental ValidationMichael Boos, John McPhee

Improving the Jumping Performance of a Single Leg Robot Using Directional Dynamic Capability EquationsDaniel Flickinger, Alan Bowling

Tracked Vehicle Simulation on Granular Terrain Leveraging Parallel Computing on GPUsToby Heyn, Hammad Mazhar, Alessandro Tasora, Dan Negrut

Control and Mechatronics (1 of 3) Room E 10.00-12.00

Session chairs Andres Kecskeméthy, University of Duisburg-Essen József Kövecses, McGill University

Sliding-Mode Control for a Delta Parallel Robot Actuated by Pneumatic MusclesDominik Schindele, Harald Aschemann

Gain-Scheduled Tracking Control for High-Speed Rack FeedersHarald Aschemann, Jöran Ritzke

Design and Implementation of an Omnidirectional Platform Stabilizing a 2-DOF Inverted PendulumPaul De Monte, Andreas Ertlmeier, Gerhard Schillhuber, Thomas Thuemmel

Flexible Multibody Modelling for the Mechatronic Design of Compliant MechanismsRonald Aarts, Johannes van Dijk, Ben Jonker

On the Adequation of Dynamic Modelling and Control of Parallel Kinematic ManipulatorsErol Özgür, Nicolas Andreff, Philippe Martinet

Design and Control of a Parallel Robot for Laparoscopic SurgeryNicolae Plitea, Juergen Hesselbach, Calin Vaida, Annika Raatz, Doina Pisla, Bela Gyurka, Bogdan Gherman

IMSD 2010May 25–27

28

Dynamics of Machines and Rotating Structures (1 of 2) Room F 10.00-12.00

Session chairs Stephanos Theodossiades, Loughborough University Nobuyuki Shimizu, Iwaki Meisei University

Vibrations of Differential Units in Light TrucksGeorge Koronias, Stephanos Theodossiades, Homer Rahnejat, Tim Saunders

Study of Dynamics of Multi-Degree-of-Freedom Electro-Hydraulic Mix-Drive Motion SimulatorYuefa Zhou, Hongliang Li, Tao Fan, Tianfu Liang

Modelling and Analysis of Dynamics of Electric Motor RotorMichal Hajžman, Miroslav Byrtus, Jakub Šašek, Vladimír Zeman

A Dynamic Model of an Overhung Rotor with Deep-Groove Ball BearingsOnur Cakmak, Kenan Yuce Sanliturk

Dynamics of Flexible Details MillingSergey Voronov, Igor Kiselev

Algorithms, Integration Codes and Software (1 of 2) Room G 10.00-12.00

Session chairs Martin Arnold, Martin-Luther-University Halle-WittenbergOlivier Bauchau, Georgia Institute of Technology

Investigation of Parallelization of Multibody Dynamic SystemsMichael Valášek

A Parallel Co-Simulation for Mechatronic SystemsMarkus Friedrich, Markus Schneider, Heinz Ulbrich

Numerical Stability and Accuracy of Different Co-Simulation Techniques: Analytical Investigations Based on a 2-DOF Test ModelMartin Busch, Bernhard Schweizer

Advances in High Performance Computing for Physical SimulationsAlessandro Tasora, Dan Negrut

Efficient Implementation of 3D Graphics in a MBS FrameworkAlfonso Callejo, Santiago Tapia, Javier García de Jalón

Simulation of Multibody Systems in a Parallel Processing EnvironmentWilliam Prescott

Lunch 12.00-13.20

Multibody Methods for the Adaptive Modelingand Simulation of Large Molecular SystemsKurt Anderson, Rensselaer Polytechnic InstituteSession chair: Javier Cuadrado, University of La Coruna

Room A 13.20-14.00



29


Session chairs Jaap Meijaard, University of TwenteYoshiaki Terumichi, Sophia University

Concepts for the Simulation of Belt Drives - Industrial and Academic ApproachesRoland Zander, Frank Rettig, Thorsten Schindler

Using a Fully Elastic Gear Model for the Simulation of Gear Contacts in the Framework of a Multibody Simulation ProgramPascal Ziegler, Peter Eberhard

Flexible Slider-Crank Dynamic Analysis by Means of Gauss Principle of Least ActionEttore Pennestrí, Lorenzo Mariti, Matteo Minotti, Nicola Pio Belfiore

Analytic Sensitivity of Dynamics of Anisotropic Flexible Four-Bar Mechanisms to Stacking SequencesHemaraju Pollayi, Dineshkumar Harursampath



Multibody Aeroservoelastic Simulation of Tiltrotor Predictive ControlMattia Mattaboni, Pierangelo Masarati

Development and Implementation of a Differential Wheel-Rail Contact Model for Multibody ApplicationsSilvia Magheri, Monica Malvezzi, Enrico Meli, Susanna Papini

Mutual Interaction of Parallel Connected Induction Motors in Degraded Adhesion ConditionsBenedetto Allotta, Luca Pugi, Fabio Bartolini

MAV-Scale Cycloidal Rotor Multibody Aeroelastic AnalysisMattia Mattaboni, Moble Benedict, Pierangelo Masarati, Inderjit Chopra



A Dynamic Computer Simulation of Tibial Strains and Joint Forces During Knee Flexion and Extension ExerciseAdam 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 ActuatorsRita 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 ControlPaulo Melo, Miguel Silva, Jorge Martins, Dava Newman

Development of a Biomechanical Multibody Model for the Hardware-in-the-Loop Simulation of Total Hip EndoprosthesesMichael Kähler, Roman Rachholz, Sven Herrmann, János Zierath, Robert Souffrant, Daniel Kluess, Rainer Bader, Christoph Woernle


IMSD 2010May 25–27

30



Direction Selective Performance Indexes for Parallel ManipulatorsGiovanni Boschetti, Alberto Trevisani

Motion of a Chain of Bodies in a Resistive Medium due to Undulatory Change in the System’s ConfigurationKlaus 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 SystemsKahoul Lazhar, Hanchi Samir, Zeghloul Said

Kinematic Modeling Improvement and Trajectory Planning of the NAO Biped RobotMaani Ghaffari Jadidi, Ehsan Hashemi, Mohammad Ali Zakeri Harandi, Houman Sadjadian

Efficient Methods and Real-Time Applications (2 of 3) Room F 14.10-15.30


Triangularizing Kinematic Constraint Equations Using Gröbner Bases for Real-Time Dynamic SimulationThomas Uchida, John McPhee

Using Implicit Integrators and Automatic Differentiation to Compute Large and Complex MBS in Real-TimeAndrés Hidalgo, Alfonso Callejo, Javier García de Jalón

Approximations in System-level GMP Model Reduction for Real-Time MBSFrank Naets, Gert Heirman, Wim Desmet

Coffee 15.30-15.50



A Non-Time Based Approach for the Simultaneous Rigid-Body Motion and Vibration Control of Flexible-Link MechanismsGiovanni Boschetti, Roberto Caracciolo, Dario Richiedei, Alberto Trevisani

Flexible Multibody Modeling of a Racing Motorcycle Cranktrain: Model Reduction IssuesStefano Ricci, Marco Troncossi, Alessandro Rivola

Three- and Four-Noded Planar Elements Using Absolute Nodal Coordinate FormulationAlexander Olshevskiy, Oleg Dmitrochenko, Changwan Kim

Contact and Impact Problems (2 of 4) Room C 15.50-16.50


Sensitivity and Parametric Analyses of Multibody Systems with Application to Contact DynamicsFarnood Gholami, József Kövecses, Jacob Apkarian

A Unified Approach for Hybrid Complementarity Formulations to Model Intermittent Contact in Multibody SystemsKishor Bhalerao, Cory Crean, Kurt Anderson

Stronge’s Hypothsis-Based Solution to the Collision-with-Friction ProblemShlomo Djerassi



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Study of the Influence of the Cost Function in the Force-Shared Problem During a Human Lower Limb MotionJoaquín Ojeda, Juana Mayo, Javier Martínez-Reina

Mapping Spring Forces onto Anthropomorphic LegsMatthew Millard, Eric Kubica, John McPhee

Development of a Hill-Type Muscle Model With Fatigue for the Calculation of the Redundant Muscle Forces Using Multibody DynamicsAndré Pereira, Miguel Silva, Jorge Martins, Mamede Carvalho

Optimization and Sensitivity Analysis (3 of 3) Room E 15.50-16.50


Optimal Control Methods for the Calculation of Invariant Excitation Signals for Multibody SystemsMichael Burger, Michael Speckert, Klaus Dreßler

Trajectory Optimization of Flexible Robots Using an Optimal Control ApproachGuaraci Bastos, Olivier Brüls

Robust Optimal Design of a Micro GripperOzan Tokatli, Volkan Patoglu

Experiments and Numerical Verifications (1 of 3) Room F 15.50-16.50

Session chairs Dan Negrut, University of Wisconsin-MadisonWan-Suk Yoo, Pusan National University

Efficient Sampling Methods for Spatial Uncertainty in Multibody Dynamics ApplicationsKyle Schmitt, Dan Negrut, Mihai Anitescu

dvc3D: a Three Dimensional Physical Simulation Tool for Rigid Bodies with Contacts and Coulomb FrictionBinh Nguyen, Jeff Trinkle

Combined Analytical and Experimental Approaches to Rotor Components Stress PredictionsMaria Chierichetti, Chance McColl, Douglas Palmer, Massimo Ruzzene, Olivier Bauchau

Conference dinner 19.00-22.30


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(Multibody) Systems Theory, from Cars to Humans John McPhee, University of Waterloo, CanadaSessions chair: Krzysztof Arczewski, Warsaw University of Technology

Room A 9.00-9.40

Coffee 9.40-10.00

Other Topics (1 of 1) Room B 10.00-12.00

Session chairs Ettore Pennestrì, Università di Roma Tor Vergata Werner Schiehlen, University of Stuttgart

Stability Analysis of Wave-Based Control of Flexible SystemsMichael Valášek, Ondrej Marek

Active Fence - Analysis of Sorting Process DynamicsTomasz Piatkowski

Learning by Errors: Experiences of Teaching Multibody System AnalysisCarlo Galletti, Elena Giannotti

Acoustic Fluid Structure Interaction with Smoothed Particle Hydrodynamics Leveraging Parallel Computing on GPUsPhilipp Hahn, Dan Negrut

Review and Comparison of Solution Strategies for Multibody Dynamics EquationsLorenzo Mariti, Ettore Pennestrí, Pier Paolo Valentini, Nicola Pio Belfiore

Theoretical and Computational Methods (2 of 2) Room C 10.00-12.00

Session chairs Kurt Anderson, Rensselaer Polytechnic InstituteWojciech Blajer, Technical University of Radom

Analytical Formulations in Multibody Dynamics: Some Novel PerspectivesJózsef Kövecses

Higher Order Integration of Non-Smooth Dynamical Systems Using Parallel Computed Extrapolation Methods Based on Time-Stepping SchemesRobert Huber, Heinz Ulbrich

Some Methods for Constraint Violation Stabilization/Elimination in Numerical Simulation of Constrained Multibody Systems: a Comparative StudyWojciech Blajer

A New Method for Mass-Matrix Calculation with Natural CoordinatesKewei Zhang, Yunqing Zhang, Liping Chen

How Mode Veering and Mode Crossing Affects Global Modal Parametrization and Solutions to Overcome these ProblemsGert Heirman, Frank Naets, Wim Desmet

Dynamics of Tetrahedral Constellation of Satellites-GyrostatsAlexander Burov, Anna Guerman, Revaz Sulikashvili


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Algorithms, Integration Codes and Software (2 of 2) Room D 10.00-12.00

Session chairs Martin Arnold, Martin-Luther-University Halle-WittenbergOlivier Bauchau, Georgia Institute of Technology

Vibrational Analysis of a Multibody Virtual Dummy for Car and Motorcycle UsersNicola Cofelice, Roberto Zanni, Davide Locatelli, Alessandro Toso, David Moreno Giner, Jian Kang, Stijn Donders

Analysing Dynamical Phenomenons: Introduction to MBSimThorsten 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 IntegratorsOlivier Brüls, Alberto Cardona, Martin Arnold

Improved Time Integration of Multibody System Models Using Methods from Singular Perturbation TheoryMartin Arnold, Bernhard Burgermeister, Steffen Weber

On the Use of OOP Method in Flexible Multibody DynamicsJi-won Yoon, Tae-won Park, Sung-pil Jung, Won-sun Chung

Solving Equations of Nonstationary Heat Conduction in Multibody System DynamicsAndrey Andreev, Oleg Shapovalov, Maxim Reznikov, Eugeniy Gromov



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 MechanismsMajid Sheikholeslami, Kamran Ghaffari, József Kövecses, Paul Karam, Christian Lange, Javier Ros

Design of a Flexible Low-Cost Driving SimulatorAlina Capustiac, Benjamin Hesse, Thorsten Brandt, Dieter Schramm, Cornel Brisan

Curving Performance of a Tramcar Vehicle with Bogie Active-Steering SystemAndrea Barbera, Stefano Bruni, Roberto Corradi, Giorgio Diana

Modeling and Control of a Four Wheel Drive Electric VehicleRoland Kasper, Dmitri Vlasenko

Development of a Neural Network-Based Controller for ShipsVladislav Grigoryev, Andreas Rauh, Harald Aschemann, Mathias Paschen

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Dynamics of Machines and Rotating Structures (2 of 2) Room F 10.00-12.00

Session chairs Stephanos Theodossiades, Loughborough University Nobuyuki Shimizu, Iwaki Meisei University

Analysis of a New System for Testing Gears Under Variable Torque and Speed Using Multibody DynamicsIoannis Nerantzis, Dimitrios Perperidis, Stephanos Theodossiades, Athanassios Mihailidis

Modeling Approach for Spindle- Self Vibratory Drilling Head Dynamics PredictionFabien Forestier, Vincent Gagnol, Pascal Ray, Henri Paris

Procedure for the Analysis and Evaluation of the Dynamical Performance of Kinematically Redundant Machine ToolsUwe Heisel, Norman Tonn

Elastodynamic Response of Automotive Transmissions to Impact Induced VibrationsMalika 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 SystemJin-Seok Jang, Jeong-Hyun Sohn

Lunch 12.00-13.20

Multibody Dynamics Studies in Asia and Damping Models for Flexible Systems Nobuyuki Shimizu, Iwaki Meisei University, Japan Sessions chair: Wan-Suk Yoo, Pusan National University

Room A 13.20-14.00


Session chairs 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 MethodTsubasa Wago, Yoshiki Sugawara, Nobuyuki Kobayashi

Integration of Computer Aided Design and Analysis Using the Absolute Nodal Coordinate FormulationPeng Lan, Ahmed Shabana

A Comparison of Co-Rotational and ANCF Thin Plate Finite Elements for the Dynamic Simulation of Flexible Media Transport SystemsGraham Sanborn, Juhwan Choi, Jin Choi

Digital Nomenclature Code (DNC) of Finite Element Kinematics and its Modification (DNCM) for Absolute Nodal CoordinatesOleg Dmitrochenko, Aki Mikkola



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An Elastic Rope Model with Application to Automated People Mover SystemsChristian Nußbaumer, Peter Dietmaier

Steady Turning Analysis of Motorcycles in LMS Virtual.Lab MotionDavid Moreno-Giner, Nicola Cofelice, Alessandro Toso, Jian Kang

Lateral Dynamics of a Bicycle with Passive Rider ModelArend Schwab, Jodi Kooijman

Performance Validation of Motorized Retractor Interacting with Driver ModelMoojin Oh, Sugil Choi, Taeoh Tak

Experiments and Numerical Verifications (2 of 3) Room D 14.10-15.30


The Multibody 2D Approach for Agricultural and Forestry Tractors Roll Over Protective Structures DesignEttore Pennestrì, Pier Paolo Valentini, Leonardo Vita, Erika Candido

An Experimentally Verified Model for Time Domain Simulations of Large Scale Material Handeling ChainsSøren Emil Sørensen, Michael Hansen, Morten Ebbesen

Comparison of Simulated and Experimental Grasping Actions in the PlaneLi Zhang, Jeremy Betz, Jeff Trinkle



Modular Mechatronic Modelling for Wind Turbine Generating Systems Based on an Integrated Finite Element ApproachQiong-zhong Chen, Philippe Jetteur, Olivier Brüls

Two Approaches for Designing Minimum Phase Underactuated Multibody SystemsRobert Seifried

The Efficiency of Closed-Form Solutions for Dynamic Multibody SimulationShuxian, Xia, Francisco Geu Flores, Andrés Kecskeméthy, Alois Pöttker

Synthesis of Program Control Signals for Mechatronic System’s Motion SpeedVladimir Filaretov, Anton Gubankov


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Contact and Impact Problems (3 of 4) Room F 14.10-15.30


Elastic Contact Analyses with Hybrid Boundary Element/Multibody SystemsJános Zierath, Christoph Woernle

The Formation and Evolution of Constraints in Contacting BodiesCaishan Liu, Zhen Zhao, Hongjian Zhang

A 2D Bristle Friction Force Model for General Contact Dynamics SimulationJianxun Liang, Steven Fillmore, Ou Ma

Coffee 15.30-15.50


Session chairs 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 ActuationJohannes Gerstmayr, Astrid Sinwel

Geometrically Exact Beam Formulation Versus Absolute Nodal Coordinate FormulationJari Mäkinen, Marko Matikainen

A Linear and Quadratic Planar Finite Element Based on the Absolute Nodal Coordinate FormulationKarin Nachbagauer, Johannes Gerstmayr, Astrid Sinwel, Hans Irschik

Contact and Impact Problems (4 of 4) Room C 15.50-16.50


Numerical Method for Solving the Contact Problems for the Solid Bodies Using the Finite Element Fragments on the Elastic FoundationSakalo Vladimir, Sakalo Aleksey

Modelling and Simulation of Contacts in Multi-Body Simulation with SIMPACKSteven Mulski, Lutz Mauer, Jennifer Paulin

Impact and Shock Between Rigid or Deformable BodiesZhi-Qiang Feng, Jiao Wang, Pierre Joli, Caishan Liu



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Experiments and Numerical Verifications (3 of 3) Room D 15.50-16.50


Application of the Magic Formula for Dynamic Modeling of Friction Dampers Used in Drum-Type Washing MachinesWan-Suk Yoo, Jeong-Han Lee, Jin-Hong Park, Gyung-Hun Nho

Multibody System Simulations to Analyze Limit States in Structural Engineering Using Experimental DesignDetlef Neuenhaus, Karl Siebertz

An Experimental Identification Method for Rigid Body Properties Enabled by Gravity-Dependent Suspension ModellingRobert Kloepper, Hiroto Akita, Masaaki Okuma, Seiichi Terada

Multidisciplinary Approaches (1 of 1) Room E 15.50-16.50

Session chairs Krzysztof Arczewski, Warsaw University of Technology Michael Valášek, Czech Technical University in Prague

Simulation of Hydraulic Systems with Set-Valued Force LawsMarkus Schneider, Karin Krüger, Heinz Ulbrich

Multidisciplinary Applications of Multibody Simulation to Railway Vehicle EngineeringAntonio Carrarini, Andreas Heckmann, Ingo Kaiser, Bernard Kurzeck, José Luis Reyes Pérez, Luciano Valente

Advanced Engine Dynamics Using MBS: Application to Twin-Cylinder Boxer EnginesYannick Louvigny, Pierre Duysinx

Efficient Methods and Real-Time Applications (3 of 3) Room F 15.50-16.50


Automotive Observers Based on Multibody Models and the Extended Kalman FilterJavier Cuadrado, Daniel Dopico, Miguel Naya, Roland Pastorino

HIL-Simulation for Evaluation of Intelligent Chassis Controller Using Real-Time Multibody Vehicle Dynamics ModelSung-Soo Kim, Wan Hee Jeong, Do Hyun Jung, Hyeong Jin Choi

Efficient and Accurate Simulation of the Cable-Pulley Interaction in Weight-Lifting MachinesUrbano Lugris, José Escalona, Daniel Dopico, Javier Cuadrado

Sauna


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Notes


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For more information www.imsd10.fi

Joint International Conference on Multibody System Dynamics

Documents

Transcript of Joint International Conference on Multibody System Dynamics