COMAS

Thematic Conference

Multibody Dynamics 2011

Book of Abstracts

Universite catholique de Louvain, Brussels, Belgium

www.multibody2011 .org

Biomechanics

Dynamical Analysis of Intervertebral Efforts in Scoliosis:a Multibody Modeling Ap¬

proachAbedrabbo Gabriel, Fisette Paul, Mousny Maryline, Mahaudens Philippe, Detrem- 2

bleur Christine, Samin Jean-Claude, Aubin Carl-Eric, Raison Maxime

Spine Facet Joints Dynamic Characterization

Amirouche Farid, Solitro Giovanni 4

Modelling of Physical Human-Robot Interaction for Exoskeleton DesignsBai Shaoping, Rasmussen John 6

Contact Modeling and Identification of the Handspring Vault with a Front Somersault

in Pike Position

Blajer Wojciech, Czaplicki Adam, Dziewiecki Krzysztof, Mazur Zenon, Sacewicz 8

Tomasz

Comparison of functional methods for estimating joint positions of human limb

Bru Bertrand, Herman Benoit, Pasqui Viviane 10

Dynamical Analysis of the Upper Members.-Towards a Model Refinement and the De¬

velopment of a Rehabilitation Tool

Bruneau Amelie, Laitenberger Maria, Raison Maxime 12

Railway Occupant Injury Biomechanics for Inline SeatingCarvalho Marta, Milho Joao, Ambrosio Jorge 14

A simple 2 dimensional model of speed skating which mimics observed forces and

motions

Fintelman D.M., den Braver 0., Schwab A.L. 16

Parametric Analysis of Impact Configurations in CrutchWalkingGholami Farnood, Kovecses Jozsef, M. Font-Llagunes Josep 18

Spatial Multibody Dynamics of Motor Proteins

Haghshenas-Jaryani Mahdi, Bowling Alan 20

An environment for simulation and optimization of mechatronical-biomechanical cou¬

pled systems under consideration of usage profilesHansmann Jan, Mayer Dirk, Hanselka Holger, Heller Mario, Baca Arnold 22

XXVI

Double Inverted Pendulum Model of Reactive Human Stance Control

Hettich Georg, Fennell Luminous, Mergner Thomas 24

A Novel Cylinder-Plane Foot Contact Model for Human Gait Motion Reproduction

Kecskemethy Andres 26

Multibody mechanics simulations to optimize the performance of a passive prosthesis

for transfemoral amputeesLefeber Dirk, Van Damme Michael, Vanderborght Bram, Van Ham Ronald, Matthijs 28

Arnaut, Cherelle Pierre

Control of a Musculoskeletal Model of the Human Ankle Joint through Functional

Electrical Stimulation

Melo Paulo, Silva Miguel. Martins Jorge, Newman Dava 30

Biomechanical Analysis of Automotive Pedal Actuation

Oh Moojin, Jung Hyungu, Kim Yunghwan, Park Junyung, Tak Taeoh 32

Modeling complex human joints by means of rolling pairs

Page Alvaro, Galvez Jose Antonio, de Rosario Helios, Mata Vicente 34

Design of a Rehabilitation Robot for Herniplegic Patients via Multibody Modeling and

AnalystPoncelet Antoine, Sapin Julien, Fisette Paul, Dehez Bruno 36

An approach to characterize neural coordination during human gait

Rodrigo Silvia E. 38

Generation of physiological and balanced human gait by forward dynamic simulation

and optimization

Rustin Cedric, Jimenez-Fabian Rene, Verlinden Olivier 40

Development and validation of a human head model for impact applicationsTabacu Stefan. Stancscu Doru Nicolae, Hie Sorin 42

Biomechanical Analysis of Two Variants of the Karate Reverse Punch (Gyaku Tsuki)Based on the Evaluation of the Body Kinetic Energy from 3D Mocap Data

Timmi Alessandro, Pennestri Ettore, Valent.ini Pier Paolo, Aschieri Pierluigi 44

Multibody Dynamics and Control of an Active Orthosis for Ankle Joint PathologiesVasconcelos Carlos, Martins Jorge, Silva Miguel 46

XXVII

Computational Simulation of Efforts and Power Generated in Biomechanical Systems

for Rehabilitation Exercises

Zerbini Costal Glauber, Pereira Joao Antonio, Augusto de Carvalho Aparecido, As-

sungao Sanches Marcelo Augusto

Contact and Constraints

A Nonlinear Motor-Gear Model and its Application to Load-Sharing Analysis of Wind

Turbine Yawing Mechanisms

Bai Shaoping, Caro Stephane

A Linear Approach for Multiple-Point Impact in Multibody SystemsBatlle Joaquirn A., Barjau Ana, Font-Llagunes Josep M.

Contact Modelling using an Augmented Lagrangian Technique and a Mortar Algo¬rithm.

Cavalieri Federico, Cardona Alberto

Nonsmooth Contact Mechanics: Implementation in MBSim

Cebulla Thomas, Schindler Thorsten, Ulbrich Heinz

Simulation of a Micro Shift Valve with Impact Actuation

Eberhard Peter, Fischer Christian

Identification of Compliant Contact Force Parameters in Multibody Systems based on

the Neural Network ApproachEbrahimi Saeed, Lari Gholamhossein

A Comparative Study on Continuous Contact Force Models for Constrained MultibodySystemsFlores Paulo

Energy-momentum consistent integration of frictional mxdtibody contact problemsFranke Marlon, Hesch Christian, Betsch Peter

How One Can Simulate the Spur Involute Gear Dynamics Using Modelica LanguageKosenko Ivan, Gusev Il'ya

An Artificial Tactile Sensor Skin for Modular Robots

Meister Eugen, Kryvoukhov Dmytro

Efficient Simulation of Contact between Rigid and Deformable Objects

Miguel Eder, Otaduy Miguel A.

XXVIII

Acceleration capability with varying initial configuration and its impact on stance phaseduration of a jumping robot

Montrallo Fliekinger Daniel, Bowling Alan

On Impact Constraints for Multibody SystemsPfeiffer Friedrich

Regularizing a Time-stepping Method for Rigid Multibody DynamicsPreclik Tobias, Popa Constantin, Rude Ulrich

Simulation of Indeterminate Multi-Point Impact and Contact with Friction

Rodriguez Adrian, Bowling Alan

Conserving time-integration of beams under contact constrains using B-Spline inter¬

polationSibileau Alberto, Munoz Jose J.

Modeling of Energetic Processes in Wheel-Rail Contacts Operating with Periodic Dis¬

continuous Forces

Trzaska Zdzislaw

Development of a DIRICHLET-to-NEUMANN Algorithm for Contact Analysis in

Boundary Element Systems and its Application to MBS-BEM Co-Simulation

Zierath Janos, Woernle Christoph

Mechatronics, Robotics and Control

Application of flexible nmltibody modelling for control synthesis in 'mechatronics

Aarts R.G.K.M.. van Dijk J., Brouwer D.M., Jonker J.B.

Upward Jump of a BipedAoustin Yaimick, Formalskii Alexander

Inverse Dynamics of Underactuated Multibody Systems using a DAE Optimal Control

ApproachBastos Guaraci Junior. Seifried Robert, Brills Olivier

Friction Modeling and, Power Consumption in Walking Machines

Boinbled Quentin. Verlinden Olivier

XXIX

Delayed Reference Noncolocated Control (DRNC) of the Suspended Load of a Robotic

Crane.

Boschetti Giovanni, Caracciolo Roberto, Richiedei Dario, Trevisani Alberto 98

Multibody Simulation of Modular Robots Performances and Feasibility of Simplified

6-legged and Caterpillar Gaits

Chariot Christophe, Filippi Enrico, Verlinden Olivier 100

Dynamics Modelling of Large Suspended Parallel Cable-Driven Robots

Collard Jean-Francois, Lamaury Johann, Gouttefarde Marc 102

Kinematics and Control of a 3RPS-R Mechanism using Elder Parameters

Erdogan Ahmetcan, Satici Aykut Cihan, Patoglu Volkan 104

A Spherical Parallel Mechanism Based Rotary Variable Stiffness Actuator

Ergin Mehmet Alper, Patoglu Volkan IOC

A Simulation Study of a Mobile Robot with Self-Locking Speed Reducers

Fraczek Janusz, Surowiec Marek, Wojtyra Marek 10£

Tip-Over Stability of a Cherrypicker

Fujioka Daichi, Maleki Ehsan, Singhose William 1

Time-Optimal Motion Planning Along Specified Paths for MultibodySystems IncludingPower Constraints and Dry Friction

Geu Flores Francisco, Kecskemethy Andres, Pottker Alois 1

Wave-based control of under-actuated two-dimensional mass-spring arrays

Habibi Hossein, O'Connor William 1

Cross four-bar structure with spring for the knee of a bipedal robot

Hamon Arnaud, Aoustin Yannick 1

Multibody-aided design, control, and performance assessment of a novel minimallyinvasive surgical robot

Herman Benoit, Docquier Nicolas, Collard Jean-Frangois 1

A Realtime Coordinate Switching Method for Model-Based Control of PKM

Hufnagel Timo, Mueller Andreas 1

Double-Pendulum, Crane Operator Performance Comparing PD-Feedback Control and

Input Shaping

Karajgikar Ajeya, Vaughan Joshua, Singhose William 1

XXX

Structure Preserving Simulation of Compass Gait and Monopedal JumpingKoch Michael Leyendecker Sigricl 124

Flexible Multibody Dynamics and Effects Of Nonlinear Joint Stiffness for Vibration

Analysis in a Robotic Grinding Process

Lessard Joel, Swiatek Grzegorz, Liu Zhaoheng, Hazel Bruce 126

Composite Controller Design for a 6D0F Stewart Nanoscale Platform.Li Chun-Chung, Ting Yung, Nguyen Tho 128

An Experimental Characterization of a PD Control for LARM Hand III

Li Tao, Carbone Giuseppe, Ceccarelli Marco 130

A Robot Unit Devoted to Carrying a Common, Thin and Long Load

Lipinski Krzysztof 132

Automatic Parameter Identification for Generic Robot Models

Ludwig Rafael, Gerstmayr Johannes 134

Control of the Mobile Base of a Small-Scale Boom. Crane

Maleki Ehsan, Singhose William 136

Adaptive Locomotion of Multibody Snake-like Robot

Meister Eugen, Stepanenko Sergej, Kernbach Serge 138

Control of under-actuated lamped flexible systems subject to external viscous damping

forcesO'Connor William 140

Residual vibrations in wave-based control of lumped, flexible systemsO'Connor William, Habibi Hossein 142

Validation of a Multibody Model for an X-by-Wire Vehicle Prototype Through Field

Testing

Pastorino Roland, Dopico Daniel, Sanjurjo Emilio, Naya Miguel Angel 144

A Methodology for the Topological Synthesis of Metamorphic Mechanisms for Circuit

Breakers

Pucheta Martin, Butti Agostino, Tainellini Valerio, Ghezzi Luca, Cardona Alberto 146

Improving Energy Efficiency of Cranes Driven by Noisy Control Signals

Ragunathan Sudarshan, Frakes David, Peng Kelvin, Singhose William 148

XXXI

Contact forces computation in a 3D bipedal robot using constrained-based and penalty-based approaches

Rengifo Carlos Felipe, Aoustin Yannick, Plestan Franck, Chevallereau Christine 150

Automatic Resonance Tuning and Feedforward Learning of Biped Walking using Adap¬tive Oscillators

Ronsse Renaud, van den Kieboom Jesse, Ijspeert Auke Jan 152

Computed Torque Control design for a Hexaglide type Parallel Manipulator usingQuantitative Feedback TheoryRos Javier. Casas Alberto, Yoldi Roberto, Najera Jasiel 154

Generating a Symbolic Scene Description for Robot Manipulation Using Physics Sim¬

ulation

Ruehl Steffen, Wu Wenlei, Xue Zhixing, Dillmann Ruediger 156

Trajectory Control of Flexible Manipulators using Model Inversion

Seifried Robert, Burkhardt Markus, Held Alexander 158

Matrix Forms of Multi-body Dynamics and Tensegrity SystemsSkelton Robert 160

Exponential Stability of Tensegrity Prestressable ConfigurationsSultan Cornel 162

Frame invariance of the dynamic manipulability measure

Synodinos Aris, Aspragathos Nikos 164

Design of a Compliant Manipulator for Removing Malign Cancer Tissue through Hy-

drodynamic Cavitation

Tokatli Ozan, Patoglu Volkan 166

Rapid Evaluation of Anatomies for Metamorphic Robots Based on Dynamic Manipu¬

lability Using an ANFIS SystemValsamos Charalampos, Moulianitis Vassilis, Aspragathos Nikos 168

Powered elbow orthosis for orthopaedic rehabilitation

Vanderniepen Innes, Van Damme Michael, Lefeber Dirk 170

Advanced Approach for Mechatronic-Multibody System Dynamics and Control using

Rodrigues method and FPGA Based Direct Torque Control

Vasic Vasilije, Hace Ales, Lazarevic Mihailo P., Jezernik Karel 172

XXXII

Model-based control of a 5 DOF parallel structure for quasi-static motion trajectoriesWahle Martin, Lores Eduard, Corves Burkhard

A multibody model for the calculation of dynamic foundation forces caused by static

rotor eccentricity in soft mounted two-pole induction motors

Werner Ulrich

Modeling and Computer Simulation of a Thumb Robot with Rolling Contacting on

Arbitrary 3D ObjectYoshida Morio, Arimoto Suguru

Flexible multibody dynamics

Analysis of Dynamic Interaction between Flexible Body of Overhead Contact Wire and

Active Control Pantograph Considering Vertical Body Vibration

Azman Abdullah Mohd, Michitsuji Yohei, Nagai Masao

A Two-Node Superelenient Description for Modelling of Flexible Complex-shapedBeam-like Components

Boer Steven, Aarts R.G.K.M., Meijaard Jaap, Brouwer Damns, Jonker Ben

Dynamic modeling of a parallel kinematic machine tool as aflexible multibody system

Bonnemains Thomas, Chanal Helene, Bouzgarrou B. Chedli, Gagnol Vincent, Ray

Pascal

Identification of the Structural Properties of Beam Models, with Application to Wind

Turbine Aero-ElasticityBottasso Carlo L., Cacciola Stefano, Croce Alessandro

Analysis of Control-Generator-Structure Interactions in Wind Turbines using an In¬

tegrated Simulation ApproachBriils Olivier, Cugnon Frederic, Defourny Michel, Chen Qiong-zhong

A modular approach to study flexure mechanisms

Cammarata Alessandro, Condorelli Davide, Sinatra Rosario

The FAastodynmnics model of the McGill Sch" on?ies Motion Generator

Cammarata Alessandro, Angeles Jorge

Dynamic finite-element analysis of geometricallyexact three-dimensional beam based

on strain measures

Cesarek Peter, Zupan Dejan, Saje Miran

XXXIII

Aeroelastic modeling of the hub and blade rotor system of the NICETRIP tilt-rotor

aircraft using Finite Element Multibody approach

Cugnon Frederic, Eberhard Alain 198

An overview of thick ANCF elements of d-dimensional n-node beams and plates with

cco-ordinate vectors per node

Dmitrochenko Oleg, Matikainen Marko K., Mikkola Aki 200

Dynamical Behavior of a Nonlinear Elastic Catenary in Contact with a Rigid Disk -

A Nonlinear Finite Element Formulation

Eugster Simon, Glocker Christoph 202

Beam element of circular cross section based on the ANCF continuum mechanics

approachFraczek Janusz, Orzechowski Grzegorz 204

Efficient Simulation of complex Flexible Multibody Systems based on Recursive Meth¬

ods and Implicit IntegratorsFunes Francisco Javier, Garcia de Jalon Javier 206

Modelling of Cables for Application in Cable-Based Manipulators Design

Hajiman Michal, Polach Pavel 208

Updated wind turbine gearbox multibody model with optimized flexibleHelsen Jan, Vanhollebeke Frederik, Marrant Ben, De Coninck Filip, Vandepitte Dirk, 210

Desmet Wim

Dynamic Analysis of Floating Offshore Wind Turbine including the flexible Tower

Jung Hye-Young, Jang Jin-Seok, Sohn Jeong-Hyun, Yoo Wan-Suk 212

A Parallel GPU Implementation of the Absolute Nodal Coordinate Formulation with

a Frictional/'Contact Model for the Simulation of Large Flexible Body SystemsKhude Naresh, Melanz Dan, Stanciulescu Ilinca, Negrut Dan 214

The Motion of Unwinding cable Including Bending RigidityKim Kun-Woo, Lee Jae-Wook, Kim Hyung-Ryul, Yoo Wan-Suk 216

Experimental Validation of coil spring using helix beam element

Kim Hyun-Woo, Yoo Wan-Suk 218

Estimating True Resonance Frequencies of a Rotating Multi-Packet Blade System,Kwon Seung Min 220

XXXIV

Advanced engine dynamics using MBS and super element approach: Application to

twin-cylinder boxer engines

Louvigny Yannick, Duysinx Pierre 222

Deformable Multibody Systems with Impacts and Coulomb Friction

Maier Christian. Glocker Christoph 224

Higher order beam elements based on the absolute nodal coordinate formulationMatikainen Marko K., Dmitrochenko Oleg, Mikkola Aki 226

Aeroelastic Stability Analysis of Wind Turbines Using Proper OrthogonalDecomposi-tion (POD) Based on Flexible Nonlinear Multibody DynamicsMehrez Mohamed W., El-Badaway Ayman A. 228

Finite Element Analysis of Deployment of Gossamer Space Structure

Miyazaki Yasuyuki, Shirasawa Yoji, Mori Osamu, Sawada Hirotaka 230

A 3D Shear Deformable Finite Element Based on the Absolute Nodal Coordinate For¬

mulation

Nachbagauer Karin, Gruber Peter, Pechstein Astrid, Gerstmayr Johannes 232

Sub-System Global Modal Parameterization for real-time simulation of flexible multi-

body systemsNaets Frank, Heirman Gert H.K., Desmet Wim 234

Model Reduction for a Crankshaft used in Coupled Simulations of EnginesNowakowski Christine, Fehr Jorg, Eberhard Peter 236

Impact Analysis considering the dynamic characteristics of a vacuum interrupter in

Vacuum Circuit Breaker

Park Woojin, Yang Hongik, Aim Kilyoung 238

A Generalized Component Mode Synthesis Approach leading to constant mass and

stiffness matrices

Pechstein Astrid, Reischl Daniel, Gerstmayr Johannes 240

Modal Truncation of Power Transmission Belts and Chains in Multibody DynamicsRibaric Adrijan, Nikravesh Parviz 242

Limitations of B-Spline and NURBS Geometry in Mechanical System AnalysisShabana Ahmed, Hamed Ashraf, Jayakumar Paramsothy, Letherwood Michael 244

XXXV

A Comparison of Sub-Structuring Synthesis and the Co-Simulation Approach in the

Dynamic Simulation of Flexible Multibody SystemsSinokrot Tariq, Nembrini Maurizio, Toso Alessandro, Prescott William 246

A computational framework for large deformation problems in flexible multibody dy¬namics

Sanger Nicolas, Betsch Peter, Hesch Christian 248

Static Modes Switching: Applicability, Limitations and Possible Solutions of Variable

Size Static AugmentationTamarozzi Tommaso, Heirman Gert H.K., Desmet Wim 250

Dynamic Analysis of Telescopic Boom Based on Rigid-Flexible Coupling

Teng Ru Min, Liu Xiao Feng, Chen Li 252

A novel 3D Equivalent Rigid Link System approach for flexible-link mechanisms: for¬mulation and comparison with the Floating Frame of Reference approachVidoni Renato, Gasparetto Alessandro, Giovagnoni Marco, Boscariol Paolo 254

Simulation of Contacts between Gears with an Elastic Model

Ziegler Pascal, Eberhard Peter 256

Dynamics of spatial beams in quaternion description based on the Newmark integration

scheme

Zupan Eva, Zupan Dejan, Saje Miran 258

Modeling and simulation of bottom trawl gears

de la Prada Amelia, Gonzalez Manuel 260

Formulation and Numerical methods

Convergence analysis of generalized-a Lie group integrators for constrained systems

Arnold Martin, Briils Olivier, Cardona Alberto 264

Selection of Rotation Variables for Multibody Dynamics Formulations

Bauchau Olivier, Liu Jinyang 266

Beam Theories for Multibody Dynamics ApplicationsBauchau Olivier 268

Stability of Co-Simulation Methods Using Hermite and Lagrange Approximation Tech¬

niques

Busch Martin, Schweizer Bernhard 270

XXXVI

Automatic Differentiation of forces in Forward Multibody Dynamics

Callejo Alfonso, Garcia de Jalon Javier 272

A Hybrid Integration Scheme for Nonsmooth Mechanical SystemsEsefeld Bastian, Ulbrich Heinz 274

Thermodynamically consistent dynamic formulation of discrete thermoviscoelastic el¬

ements

Garcia Orden Juan Carlos, Ignacio Romero Olleros 276

Techniques for the simulation of redundantly constrained multibody systemsGonzalez Francisco, Kovecses Jozsef, Teichmann Marek, Courchesne Martin 278

Partitioning and sub-structuring of multibody dynamics algorithms using graph tech¬

niquesJain Abhinandan 280

Systems with Constraint Equations in the Symbolic Multibody Simulation SoftwareNeweul-M2

Kurz Thomas, Burkhardt Markus, Eberhard Peter 282

A variational approach to multirate integration for constrained systems

Leyendecker Sigrid, Ober-Blobaum Sina 284

Solving nonholonomic multibody systems by generalized-alpha method

Ma Xiu Teng, Zhai Yan Bo, Luo Shu Qiang 286

Parallel Computations on Multi-Core Processors in Universal Mechanism Software

Pogorelov Dmitry 288

Regularization of Quasi-Linear Differential-Algebraic Equations in Multibody Dynam¬ics

Steinbrecher Andreas 290

Lie-group Integration Method for Constrained Multibody SystemsTerze Zdravko, Zlatar Dario, Mueller Andreas 292

Towards realistic prediction of soil-machine interaction. Cosimulation between LMS

Virtual.Lab Motion and DEMeter

Tijskens Bert, Caerts Ruben, Decuyper Joris 294

XXXVII

Methods from singular perturbation theory applied to flexible multibody systemsWeber Steffen, Arnold Martin

Joint Reactions in Overconstrained Rigid or Flexible Body Mechanisms

Wojtyra Marek, Fraczek Janusz

Optimization and Sensitivity analysis

DCA-Based Optimization in Transitioning to Finer Models in Articulated Multi-

Flexible-Body Modeling of BiopolymersAnderson Kurt

Graph-Theoretical Sensitivity Analysis for Multi-body Systems

Banerjee Joydeep, McPhee John

A probabilistic approach for multibody dynamical systems with uncertain rigid bodies

Batou Anas, Soize Christian

Eigenstructure Optimization of Undamped Vibrating Systems: a Constrained Mixed-

Integer Programming ApproachCaracciolo Roberto, Ouyang Huajiang, Richiedei Dario, Trevisani Alberto. Zanardo

Gabriele

Extreme Performance Prediction of a Multibody System having Uncertainty based on

Extreme Value TheoryChoi Chan Kyu, Yoo Hong Hee

Optimal Gait of two-dimensional Robot

Dribusch Christoph, Missourn Samy

Unified Mechanism Synthesis of Planar Four-bar Linkage using Spring-Connected Ar¬

bitrary Size Block Model

Kim Bum Seok, Yoo Hong Hee

Multibody simulation of dosing valve systems in ttirbochargers.sensitivity and opti¬mization analysis in virtual prototypingKoutsovasilis Panagiotis, Oberste-Brandenburg Claus

Reliability Analysis of Truck Frame FE Model Considering the Uncertainty of SystemParameters

Kwon Sung Hun

XXXVIII

Model updating techniques for improved multibody modelling of a wind turbine

Manzato Simone, Peeters Bart, Van der Auweraer Herman 320

Experimental and numerical analyses of a mass-balanced four-bar linkageMartini Alberto, Troncossi Marco, Rivola Alessandro 322

A 3D multibody model of an agricultural vehicle operating on a deformable soil: nu¬

merical investigation of the vertical dynamics

Negrini Silvia, Braghin Francesco, Cheli Federico, Melzi Stefano, Sabbioni Edoardo 324

Multi-body Dynamics and Multiple-Response-Optimization a Strong Team for Robust¬

ness Design in Structural EngineeringNeuenhaus Detlef H.-J. F.. Siebertz Karl M. 326

Energy-momentum consistent optimal control of multibody systemsSiebert Ralf, Betsch Peter 328

A contribution to inverse dynamical problems in multibody systemsSteiner Wolfgang, Reichl Stefan 330

Optimization offlexible components in reciprocating engines with cyclic dynamic load¬

ing

Tromrne Emmanuel. Briils Olivier, Duysinx Pierre 332

Nonlinear Parameter Identification in Multibody Systems using Homotopy Continua¬

tion

Vyasarayani Chandrika, Uchida Thomas, McPhee John 334

Efficient simulation and Real-time applications

Real-time Model for Simulation of Tracked Vehicles

Agapov Dmitry, Kovalev Roman, Pogorelov Dmitry 338

Constant Temperature Simulation of Articulated Polymers Using Divide-And-ConquerAlgorithmAnderson Kurt 340

Efficient Force and Moment Calculation in Multiresolution Modeling of BiopolymersAnderson Kurt 342

Fast Simulation on Flexible Multibody Dynamics Using Improved Domain Decompo¬sition Technique

Etsujiro Imanishi, Takao Nanjo 344

XXXIX

Symbolic Computation Techniques for Multibody Model Development arid Dynamic

AnalysisGossens Paul, Schmitke Chad 346

Enabling Computational Dynamics in Distributed Computing Environments using a

Heterogeneous Computing Template

Heyn Toby, Seidl Andrew, Mazhar Hammad, Tupy Martin, Tasora Alessandro, Ne- 348

grut Dan

High Performance Algorithms and Implementations Using Sparse and Parallelization

Techniques on MBS

Hidalgo Andres 350

An Explicit-Implicit Integration Method for Multibody Dynamics Model based, on a

Subsystem, Synthesis Method

Kim Sung-Soo 352

A Parallel Algorithm for Constrained Multibody System Dynamics based on Aug¬mented Lagrangian Method with Projections

Malczyk Pawel, Fraczek Janusz, Tomulik Pawel 354

Effects of variable loads and misalignments on, gear noise and vibration through multi-

body simulation based on Transmission Error

Palermo Antonio, Mundo Domenico, Hadjit Rabah, Lentini Sergio, Desmet Wim 356

Parallel Processing of Multibody Systems for Real Time AnalysisPrescott William 358

Real-Time Simulation of Small, Non-Smooth Mechanical Multibody Systems using an

Iterative Projection Method

Rempfler Georg, Glocker Christoph, Nutzi Gabriel 360

Real-Time Hardware-in-the-Loop simulation of a Hexaglide type Parallel manipulatoron a real Machine Controller

Ros Javier. Yoldi Roberto, Plaza Aitor, Iriarte Xabier 362

Co-Simulation of Multibody arid Hydraulic Systems: Comparison ofDifferent CouplingApproachesSchmoll Robert, Schweizer Bernhard 364

XL

Development of a Steering Torque Feedback Simulator based on Real-time Multibody

Analysis with Matrix Library ImplementationShiiba Taichi, Machida Naoya, Hoshida Takanari 366

Driving Simulator with Double-wishbone Suspension using Bloc.k-triangulari.zed Kine¬

matic Equations for Real-time PerformanceUchida Thomas, McPhee John 368

Parallelization of Multibody System Dynamics by Heterogeneous Multiscale Method

Valasek Michael. Mraz Ladislav 370

.4 Reduction Method on Natural-coordinate Equivalent Constraints

Zhang Kewei, Zhang Yunqing, Chen Liping 372

Education, Validation and Software development

Correlation Analysis between Students' Cognitive Styles and their Attitude to joinKinematic and Dynamics Open Source Codes ProjectsBelfiore Nicola Pio, Matrisciano Apollonia, Micangeli Andrea, Pennestri Ettore 376

Teaching Multibody Dynamics at Politecnico di Milano

Cheli Federico, Masarati Pierangelo, Braghin Francesco 378

A Scaled-Bogie Test Bench to Understand and Demystify Wheel-Rail Contact Dynam¬ics

Docquier Nicolas, Fisette Paul 380

A bicycle model for education in multibody dynamics and real-time interactive simu¬

lation

Escalona Jose L., Recuero Antonio M. 382

Development of a milling parallel robot for educational purposes

Hartmann Vitor, Stipkovic Marco, Hess-Coelho Tarcisio, Almeida Sergio 384

Development of a Solar Cell Robot Analysis Program GUI

Kim Wook Hyeon, Park Tae Won, Park Dong II 386

EasyDyn: multibody open-source framework for advanced research purposes

Kouroussis Georges, Rustin Cedric, Bombled Quentin, Verlinden Olivier 388

Improving interactive multibody simulation using precise tracking andsequential im¬

pulse solver

Mariti Lorenzo, Valentini Pier Paolo 390

XLI

Multirate Simulation of Complex Multibody SystemsSolcia Tommaso. Masarati Pierangelo 392

Rolling without Sliding of a Rigid Body on Two Fixed Curves

Stanescu Nicolae-Doru, Grigore Jan-Cristian, Ogaru Sandel, Mihalcea Stelian 394

Schwarz domain decomposition for MPI-based simulation of large generic mechanical

systemsTasora Alessandro, Negrut Dan 396

Liaison Forces Eliminating in Mxdtibody Systems with Rigid and Elastic Elements

Vlase Sorin 398

Vehicle dynamics and Aeroespace applications

Instantaneous Center Manifolds for Identification And Validation of High Fidelity FETire Model in Abaqus with Application in Fxdl Vehicle Durability Analysis in ADAMS

Ansari Ardeh Hamid, Datar Makarand, Kangayamjaga Manoj, Negrut Dan 402

Multibody Simulation of Urban Rail Vehicle Dynamics for Safety Assessment ofCurved Tracks

Barbera Andrea, Corradi Roberto, Facchinetti Alan, Mazzola Laura 404

Invariant Input Loads for Full Vehicle Multibody System Simulation

Burger Michael, DreBler Klaus, Speckert Michael 406

Multibody simulation of scaled roller rig for wheel/rail degraded adhesion tests

Conti Roberto 408

Implementation of electronic Control Systems into Mxdtibody Automotive Models

Dorsch Volker, Holm Antje 410

Kinematic Coupling Methods for the Modxdar Real-Time Simulation of the Vehicle

Multi-Body SystemEsterl Benjamin, KeBler Tobias 412

Multibody Simulation of Tires Operating on an Uneven Road.

Gagnon Louis, Richard Marc J., Masarati Pierangelo, Morandini Marco, Dore Guy 414

XLII

Including flexible representation of suspension components in the co-simulation envi¬

ronment for active systems sensitivity assessment

Gubitosa Marco, Tamarozzi Tommaso, Donders Stijn, Mundo Domenico, Desmet 416

Wim

Optimization of the bump steering response of a McPherson suspension using a genetic

algorithmHabibi Hossein, H. Sh.ira.zi Koiuosh, O'Connor William 418

Generation and Application of Efficient Simulation Models for the Physical Descrip¬tion of Vehicle-Crashes

Heide J., Schramm D. 420

Dynamics Formulation and Modelling of Wheeled R.overs on Soft Soil

Hirschkorn Martin, Kovecses Jozsef, Teichmann Marek 422

Improvement of maneuvering stability of a 6X6 vehicle using control schemes

Jeon Su-hee, Lee Jeong han, Yoo Wan-Suk 424

Application of the Multibody approach to the modelling of the Anaconda

Kabeya Python, Verlinden Olivier 426

Analysis on Running Stability of the 2-car Articulated Vehicle with Suspension and

Steering MalfunctionsKim Yeon-Su, Park Sung-Hyuk, Chang Seky, Mok Jai-Kyun, Kim Myoung-Gyu 428

Simulation of Domain-Coupled Multibody and Thermodynamic Problems for Automo¬

tive Applications

Krieg Oliver M., Forg Martin, Ulbrich Heinz 430

Development of the catenary and pantograph model for evaluation current collection

performance using ANCF

Lee Jin Hee, Park Tae Won, Kim Wook Hyeon 432

Multibody Analysis of a Micro-Aerial Vehicle Flapping WingMasarati Pierangelo, Morandini Marco, Quaranta Giuseppe, Vescovini Riccardo 434

Vehicle - Track Interaction: MB Simulation for Track Loading Limits and Damage

IdentificationMazzola Laura, Bczin Yann, Bruni Stefano 436

XLIII

Development of an innovative model for the evaluation of wheel wear in railway vehi¬

cles

Meli Enrico, Auciello Jury, Ignesti Mirko, Rindi Andrea 438

Use of a spindle-coupled multiaxial road simulator to validate a multibody vehicle

dynamic model of a passenger car

Olazagoitia Jose L., Biera Jorge, Jane David, Fernandez de Antona Jon 440

Computer Simulations of the Coal Wagon Laboratory Excitation and Influence of the

Wagon AsymmetryPolach Pavel Hajiman Michal 442

Sensitivity of Overhead Contact Quality to the Pantograph Construction

Pombo Joao, Ambrosio Jorge 444

A Multibody Model of a Railway Vehicle for the Development of Innovative Odometry

SystemsRidolfi Alessandro, Vettori Gregorio, Allotta Benedetto, Pugi Luca, Malvezzi Monica, 446

Rindi Andrea

Performance Evaluation of Electromagnetic Damper with Tire-Suspension HILS Sys¬tem

Shiiba Taichi, Matsumoto Yosuke, Kawauchi Ryo, Koike Ryota, Shimosaka Haruo 448

Comparison of Vehicle Handling Performance between the Passive andActive Vehicles

with Variable Camber SuspensionSohn Jeonghyun, Park Seongjun 450

Wheel/Rail Contact Force Model with Friction Modifier for Curving Simulation ofUltralow-Floor Light Rail Vehicles

Sugiyama Hiroyuki, Yamashita Shunpei, Suda Yoshihiro 452

Modeling of contact between stiff bodies in automotive transmission systemsVirlez Geoffrey, Brills Olivier, Duysinx Pierre 454

Component-Oriented Modeling and Simulation of a Four Wheel Electric Drive Vehicle

Vlasenko Dmitry, Kasper Roland 456

Mxdti Body Systems inside FEA for local structural nonlinearity simulation: applica¬tion to vehicle dynamicsWissart Thomas, Voss Bernard, Grosgeorge Stephane 458

XLIV

Flange-Climb Detection of Railroad Vehicles at Low Speeds Using Roll and Pitch Rates

Yamashita Shunpei, Sugiyama Hiroyuki, Aki Masahiko, Suda Yoshihiro, Hioki Ju- 460

nichi, Kodama Yoshinori, Kawanabe Tetsuya, Kunimi Takashi

Hardware-in-the-Loop Simulation Design for Railway Vehicle Active Suspension Sys¬tem

Yang Dong-Ho, Lee Jae-Ha 462

Numerical Simulation of Train Dynamics in Real Time Mode

Yazykov Vladislav, Lysikov Nikolay, Pogorelov Dmitry 464

Prediction of impulsive tyre-suspension response subjected to kerb strike

von Chappuis Hubertus, Mavros George, King Paul, Rahnejat Homer 466

XLV