Conference Information Booklet
st Joint International Conference on IMSD
The 1 The Multibody System Dynamics
Lappeenranta, Finland For more information May 25–27, 2010 www.imsd10.fi IMSD 2010 May 25–27
Sponsors and Supporting Organizations
2 Lappeenranta, Finland
Table of Contents
Welcome to the Conference ...... 4 Conference Objectives 4 Presentation Preparations 4 Steering Committee 4 Campus Area 5 Conference Map – LUT Campus ...... 5 This is Lappeenranta, Finland 6 A Little About Finland ...... 6 Map of Finland 6 A Short History of Lappeenranta ...... 6 Lappeenranta University of Technology ...... 9 Useful Information 10 Transportation ...... 10 Useful Addresses & Phone Numbers 10 Practical Matters 12 Common Expressions in Finnish ...... 12 Social Program ...... 13 Getting Around Town ...... 13 Registration and Opening Ceremonies 13 Boat Cruise ...... 14 Conference Dinner ...... 14 Sauna Evening 15 Program Overview 18 Detailed Technical Program 20 Notes ...... 38
3 IMSD 2010 May 25–27
Welcome to the Conference
The conference will take place in the lecture rooms Presentation Preparations of the Lappeenranta University of Technology in Lappeenranta at Skinnarilankatu 34. Each conference room will be equipped with a computer running Windows XP with Microsoft Office 2007 and Adobe Acrobat Reader. Please Conference Objectives upload your presentation into the computer ahead of time to minimize delays. Presenters may use their Multibody dynamics is an engineering discipline own laptops if they wish. In any event, please check based on computational dynamics. It has grown your hardware and presentation ahead of time. to be an important tool for virtual prototyping, machine design, and computer-aided analysis of The time allotted for each presentation is 20 complex articulated mechanical systems. Multi- minutes. This time includes 5 minutes for discus- body dynamics comprises a number of aspects, sion, so you have 15 minutes for the presentation including mechanics, structural dynamics, applied itself. Please help us run a smooth conference by mathematics, control methods, and computer beginning your presentation on time and strictly science, as well as mechatronics. holding to the time allotted. Check with your Session Chairman before the beginning of your The purpose of the conference is to serve as a session, so he knows of your presence and can meeting point for the international multibody properly pronounce your name. community. The conference provides an opportu- nity to exchange high-level, recent information in the theory and applications of multibody systems. Steering Committee The topics of the conference include: An International Steering Committee supervises the • Theoretical and Computational Methods • Flexible Multibody Systems Joint International Conference on Multibody System • Contact and Impact Problems Dynamics. The members of the Committee are: • Control and Mechatronics • Multidisciplinary Approaches Jorge Ambrósio (Portugal) • Algorithms, Integration Codes and Software Kurt Anderson (USA, ASME) • Efficient Methods and Real-Time Applications Krzysztof Arczewski (Poland) • Experiments and Numerical Verifications Olivier Bauchau (USA, ASME) • Optimization and Sensitivity Analysis Carlo Bottasso (Italy) • Dynamics of machines and Rotating Structures Javier Cuadrado (Spain, IFToMM) • Dynamics of All Vehicles Peter Eberhard (Germany) • Robotic Systems • Biomechanics Caishan Liu (China) • Other Topics John McPhee (Canada, IFToMM) Aki Mikkola (Finland, Co-Chair) If you really need help ... Friedrich Pfeiffer (Germany, IUTAM) Werner Schiehlen (Germany, Co-Chair, IFToMM) If you are having a serious problem, and you do Ahmed Shabana (USA, ASME) not know how to take care of it on your own, Nobuyuki Shimizu (Japan) you can contact Aki Mikkola at +358 40736 3095 Wan-Suk Yoo (Korea) at any time during the conference week.
4 Lappeenranta, Finland
Campus Area Skinnarilankatu 34, 53850 Lappeenranta, Tel. +358 5 621 11
Skinnarilan Hovi
University Sauna Lake Saimaa
Sk in na ril an ka tu Lappeenranta Main Entrance University Skinnarilankatu of Technology
To the City Center (6 km)
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LAPPEENRANTA
Conference Map – LUT Campus
Room A
Room G Room F Room E Room A Lecture rooms University 3rd oor Co eeRoom G Room F Room E Lecture rooms 2nd oor Exhibitors 3rd oor Co ee 1st oor 2nd oor Exhibitors Library 1st oor Lunch Library Room B Room C Room D Lunch Room B Room C Room D
Main Entrance Main Entrance
5 IMSD 2010 May 25–27
This is Lappeenranta, Finland
A Little About Finland A Short History of Lappeenranta
Finland has been a member of the European Union Lappeenranta sits on the southern shore of Lake since 1995. A quarter of Finland’s total area lies Saimaa in South-Eastern Finland, only 30 km from north of the Arctic Circle. Finland’s neighbors are the Russian border. The region is called South Sweden, Norway, and Russia. It is the eighth largest Karelia. Lappeenranta has 70,300 inhabitants. country in Europe in terms of area and the most Following the retreating continental ice sheet sparsely populated country in the European Union, of the last Ice Age, hunters and fishermen began with a population of 5.3 million. moving up from the Ukraine region through Northern Europe and into the lands around today’s Lappeenranta. The first settlements here were in Did you know... the 8th millennium BC making them among the first in what is Finland today. By the 4th millennium that there are actually over 188,000 lakes in BC, ceramics were being made. By the 2nd millen- Finland? Some areas of the Finnish lakeland nium, the inhabitants were familiar with agriculture have up to 1000 lakes per 100 km². There and from around 500 BC, they had become familiar are about 98,000 islands in these lakes. In with working metal. the bordering seas, there are about 81,000 more islands. 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- Map of Finland 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 Lappeenranta the town, which is the symbol of the city to this Helsinki day. The coat of arms depicts a bearded man
6 Lappeenranta, Finland
Lappeenranta fortress
with a club, which seems to fit with the Swedish a part of the Russian empire. Initially, the new name Villmanstrand (Wildman Coast). Some Grand Duchy and the “Old Finland” lands remained believe the “wildman” reference reflects disdain for separate. They were reunited in 1811, ushering in the “primitive” locals. However, the director of the more than a hundred years of peace for Lappeen- Lappeenranta Museum has explained that Queen ranta and its people. Christina had been reading classical tales of Rome For many years after, Lappeenranta enjoyed and Greece, and the figure actually represents a popularity as a spa area. With the development of Hercules-like hero. railways (1894) and industry, the town began to At the beginning of the 1700’s, war broke out grow from a town into a city. The building of the between Sweden and Russia, and Lappeenranta’s Saimaa Canal in 1856 gave it increasing importance status as an important trade center changed. as a trading port. Instead, the marketplace area became a Swedish Finland declared its independence from Russia on border fortress. The war did not go well for Sweden, the last day of 1917 following the Russian Revolu- and in 1721, they had to cede a large piece of land tion and the fall of the Russian Empire. The City of to Russia near today’s St. Petersburg. By 1730, the Lappeenranta became an important contributor to Lappeenranta fortress was complete and populat- the new country’s continuing development. 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 Did you know... between the Russian and Swedish empires. The that Finland has been a Sovereign land given up by Sweden in 1721 and this new Parliamentary Republic since 1917? The land around Lappeenranta has been called “Old president is elected every six years. There Finland”. This was during the reign of Catherine the are 200 elected members of Parliament that Great. serve four-year terms. The Finnish govern- Sweden and Russian fought the so-called “Finnish ment includes a multiparty coalition Cabi- War” in 1808 and 1809. The larger and more experi- net of Ministers. Currently, the president enced Russian army succeeded in taking over the of Finland is Tarja Halonen and the Prime Swedish lands east of the Gulf of Bothnia, and the Minister is Matti Vanhanen. autonomous Grand Duchy of Finland became
7 IMSD 2010 May 25–27
In 1939, a long period of peace ended for Lappeen- Following the war, Finland entered a period of ranta and the region due to the eruption of the rapid industrialization and economic development. Winter and Continuation wars with the Soviet Lappeenranta benefited from this growth, becom- Union. During this time, a large piece of the Kareli- ing an important trade and industrial center. In an region was lost, and the Soviet border moved the 1960s, the Saimaa canal was overhauled and quite a bit closer to Lappeenranta. 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 Did you know... products, lumber, food products, and limestone products such as cement. that along with Iceland, Finland is the most Lappeenranta is a popular tourist destination today. northern country in the world? A quarter of Beginning in the 1990’s, retail trade with Russians Finland’s territory lies north of the Arctic Cir- grew to be very important to the local economy. cle and at the country’s northernmost point, Many shoppers come to Lappeenranta from St. the sun does not set for 73 days during sum- Petersburg to buy such things as hardware, tires, mer. In contrast, polar night comes in winter, clothing, and food products. The city of Lappeen- and the sun stays below the horizon all day ranta is the economic and cultural center of South- for an equal number of days. East Finland.
Lappeenranta harbour
8 Lappeenranta, Finland
Lappeenranta University of Technology
The Lappeenranta University of Technology (LUT) There are about 900 staff and faculty members sits on the shores of Lake Saimaa, about 7 kilome- and 5500 students at LUT. The University has three ters from the Lappeenranta city center. Established faculties and units as follows. in 1969, the University focused on the engineering disciplines for its first 22 years. In 1991, economics Faculty of Technology became a new curriculum with the establishment of the Department of Business Administration. • LUT Energy Nowadays, LUT specializes in industrial technology • LUT Chemistry (especially forest and energy), information techno- • LUT Mechanical logy, and economics, cooperating closely with the • Technomathematics and Technical Physics business sector. Faculty of Technology Management • Industrial Management Did you know... • Information Technology
that beginning July 2010, every person School of Business 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 IMSD 2010 May 25–27
Useful Information
Transportation will be about 3€. Buses leave from downtown to the university every 15 minutes. For your convenience, a free shuttle service will City bus stops are identified by a yellow rectangular operate between downtown and the University. sign with a picture of a bus. Buses 1 and 5 all travel A shuttle bus will depart for the conference in the back and forth between downtown (keskusta) and morning and another will return to the city center the university (yliopisto). The best place to catch the in the evening. The morning bus will leave at the bus from downtown is the Town Centre Bus Stop following times from the following hotels. (see map on page 11). The University is the last stop and hard to miss. 8.25 Spa Hotel 8.30 Sokos Hotel Lappee 8.30 Hotel Patria 8.35 Finnhostel Huhtiniemi To get around town, you can find excellent taxi 8.30 Hotel Cumulus service. A taxi from downtown to the university costs about €15. There are taxi ranks in front of the The evening shuttle bus will leave for the city main post office, at the railway station, and in the center at 17.00. market place. The telephone number to reserve a There are city bus connections to and from the taxi is 0200 60 400. university from the downtown area. Most of the bus drivers do not speak English, and you will need Useful Addresses & exact change or close to it. The one-way bus fare Phone Numbers
Emergency number 112 - In case of an emergen- Did you know... cy call 112. This number will connect you to the police, ambulance, or fire department. The that forests (mainly pine and spruce) cover emergency number does not require an area code, 68% of the ground area of Finland? Private and the phone call is free. persons - ordinary Finnish citizens - own Police - The police station is located downtown 52% of all forest land. The number of indi- at Villimiehenkatu 2. There is also a lost property vidual private forest owners is estimated at office (löytötavaratoimisto), which is open from 920,000. That means that almost every fifth Monday to Friday at 9.00–12.00 and 13.00–16.15. Finn is a forest owner.
10 Lappeenranta, Finland
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ALKO Liquor Store Pubs Tourist Information IsoKristiina. . . . .Kaivokatu 9 Birra...... Kauppakatu 27 Kauppakatu 40 D ...... (+358 5 667 788) Prisma...... Puhakankatu 9-11 Green Apple . . . Valtakatu 34 www.gosaimaa.fi/en Euromarket . . . .Kaakkoiskaari 22 Hemingway’s. . . . .Valtakatu 31 Transportation Cafés Iltatähti...... Ostosraitti, Skinnarila Taxi service...... (+358 200 60 400) Cafe G Bar. . . . .Kareltek Building G Irish Pub Old Park.Valtakatu 36 Lappeenranta airport . . (+358 5 680 6370) Café Kristiina . . . Kaivokatu 9 (IsoKristiina) Lucky Monkeys. . Valtakatu 42 www.flylappeenranta.fi Arnold’s Donuts. . Kaivokatu 9 (IsoKristiina) Old Cock. . . . . Valtakatu 54 Central bus station. . . (+358 200 4053) Cafe Weera. . . . Kauppakatu 41 Restaurants www.matkahuolto.fi Coffee House. . . . .Kauppakatu 29 Casanova. . . . . Brahenkatu 1 Railway station...... (+358 307 20902) Majurska. . . . . Kristiinankatu 1 (fortress) Huviretki. . . . . Valtakatu 31 www.vr.fi Cinema Olé...... Raatimiehenkatu 18 Karelia Lines...... (+358 5 453 0380) Kino-Aula. . . . .Valtakatu 39 Rosso ...... Kauppakatu 29 www.karelialines.fi Nuijamies. . . . .Valtakatu 39 Tassos ...... Valtakatu 33 Travel Agencies www.nuijamies.com Torilla...... Kauppakatu 21 Kilroy Travels ...... (+358 203 545769) Night Clubs Wolkoff...... Kauppakatu 26 www.kilroy.fi Diva...... Snellmaninkatu 10 Supermarkets Matka-Miettinen Giggling Marlin. . Oksasenkatu 2 S-Market . . . . . Orioninkatu 2 Saimaa Tours...... (+358 5 453 0110) Golden Apple. . .Valtakatu 34 K-Supermarket. . Korpikunnaankatu 1 Matkapojat...... (+358 10 2323 890) Wiltsu...... Kauppakatu 39 K-Supermarket. . Sammonkatu 5 Matka-Vekka...... (+358 20 1204 330) Pharmacies Anttila...... Kaivokatu 9 Pohjolan Matka ...... (+358 201 303 500) IsoKristiina. . . . .Kaivokatu 9 Citymarket. . . . Toikansuontie 4 www.pohjolanmatka.fi Prisma...... Puhakankatu 9-11 Euromarket . . . .Puhakankatu 1 Saimaan Liikenne. . . .(+358 20 141 5700) Yliopiston Euromarket . . . .Kaakkoiskaari 22 Saimaan MatkaVerkko. . (+3585 541 0100) apteekki...... Kauppakatu 23 Prisma...... Puhakankatu 9-11 Suomen Matkatoimisto.(+358 600 97215) www.smt.fi
11 IMSD 2010 May 25–27
Practical Matters Common Expressions in Finnish
Finnish time is 2 hours ahead of Greenwich Mean Finnish pronunciation is easy since each letter in Time (GMT+2). the word is pronounced, and there is only one way of pronouncing each letter. When speaking Finnish Supermarkets are usually open 7.00–21.00 on you must remember always to stress the first sylla- weekdays and 9.00–18.00 on Saturdays. Some ble. Since every letter is pronounced, a double supermarkets are open on Sunday. letter is twice as long. Prices All prices in Finland contain value-added tax Vowel Pronunciation: (VAT). Tips are customary only for hotel and restau- a … as in car u … as in pool rant door attendants and porters. Restaurant and hotel bills always include a service charge. Barbers, e … as in telephone y … like the French sur hairdressers, and taxi drivers do not expect tips. i … as in see ä … as in hat o … as in law ö … as in fur Banking hours in Finland are 10.00–16.30 on weekdays. The most common forms of payment, Common Expressions in addition to cash, are either bank or credit cards. Finland...... Suomi Checks are not used. Finnish, a Finn ...... suomalainen There are a few post offices in Lappeenranta. The Finnish (language). . . . . suomi main post office in the downtown area is open Hello, hi...... Hei, moi, terve on weekdays 9.00–16.00 and on Saturdays 10.00– Thank you ...... Kiitos 14.00. Stamps are available from the University Yes...... Kyllä bookstore and most supermarkets. Mailboxes are No ...... Ei orange and bear the label “posti”. Excuse me, sorry...... Anteeksi The tap water in Finland is safe to drink. I’m sorry...... Olen pahoillani. I don’t understand. . . . . En ymmärrä. Alko is a nationwide network of liquor stores with a virtual monopoly to sell alcohol. Alko stores are I don’t speak Finnish. . . . En puhu suomea. open from Monday to Friday 9.00–20.00 and on Do you speak English. . . Puhutko englantia? Saturdays 9.00–18.00. The grocery stores sell beer How are you...... Mitä kuuluu? and cider (maximum strength 4.7%). Fine, thank you...... Kiitos hyvää Here you are...... Ole hyvä The voltage in Finland is 220 V (230 V), 50 Hz. Round “European” two-pin plugs and sockets are used. Goodbye...... Näkemiin See you later...... Nähdään The pharmacies (apteekki) sell medicines. Many Wow! What pharmacies have extended hours, e.g. Yliopiston a great conference. . . . . Onpa hyvä konferenssi. 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. Did you know... Lunches are served between 12.00-13.20 in the University Cafeteria. Please note the lunch is served that the Finnish language lacks grammatical buffet style. gender? In Finnish, one pronoun (hän) is used for both he and she. Also, there’s no Wireless internet is available for conference future tense in the Finnish language. The attendees. Personal account and password infor- present tense is used instead. mation can be found from your conference bag.
12 Lappeenranta, Finland
Social Program
Old Town Hall Boat Cruiser Starting point University Sauna 1km The Kasino Restaurant
Registration and Opening Ceremonies For an interactive online version of this map, follow this url: http://bit.ly/b4wpRG 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 Lake Saimaa and Sauna (Raastuvankatu 7). A cruise of the Lake Saimaa archipelago and the The oldest wooden town hall in Finland, the old Saimaa Canal starts at the harbor at 18.30 on Lappeenranta Town Hall was built in 1829. Tradi- Tuesday the 25th. tionally, it was the place for the municipal court A traditional Finnish sauna evening will take place and administration to convene. However, its use as at the University sauna on the shore of the Saimaa a civic meeting place ended when the city's admin- on Thursday the 27th in the evening. 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. Did you know... The opening ceremonies will begin at 18.00, and that Finns really love coffee? The popula- Ilkka Pöyhönen, the Rector of the Lappeenranta tion of Finland consumes more coffee University of Technology, will officially open the per person than anywhere else in the conference proceedings. world. Their 12 kg of coffee consumption per capita is 20% more than the next most coffee loving folk, the Norwegians.
13 IMSD 2010 May 25–27
Boat Cruise
A cruise of the Lake Saimaa archipelago and the Saimaa Canal will be offered on Tuesday the 25th beginning at 18.30. The cruise will take 2 hours and allow you to enjoy the natural beauty of the 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.
14 Lappeenranta, Finland
Sauna Evening probably more. Originally, the sauna was a place to bathe, but since it was often the only clean facility On Thursday evening, you will have an opportu- with abundant available water, it was also a place nity to try a traditional Finnish sauna. The University for giving birth and healing the sick. With time, the saunas and the nearby Skinnarilan Hovi event hall sauna became a symbol of Finnish culture and an will be available for your use starting at 17.00. The important part of the Finnish lifestyle saunas will close at 22.00. At first, saunas were heated using a fireplace with There are 4 saunas, each with a capacity of about 5. no chimney. The fire heated the stones directly At any one time, the total sauna capacity is about and the smoke exited the room through a small 20. One of the saunas is reserved strictly for female hole just below the roof. This type of sauna is often participants. From time-to-time throughout the called a smoke sauna (in Finnish: savusauna). evening, you can expect a short wait. Remember! There are beautiful surroundings, a sizable and comfortable lounge area, and refreshments avail- Did you know... able. It is a good opportunity to socialize, network, that Timo Kaukonen, the world record and enjoy. The sauna evening is officially scheduled holder and champion of the Sauna World to begin at 17.00, however there will be a great Championships held each year in Heinola, deal of flexibility should different timing better fit Finland stayed in the sauna for 16 minutes your plans. 15 seconds? Keep in mind, the starting In a country inhabited by approximately 5 million temperature of the sauna in the Champion- people, there are 2 million saunas, 1.2 million of ships is 110°C and this heat is increased which are in private homes. The sauna has a long every 30 seconds. Do not try this at home. history, going back at least a thousand years,
15 IMSD 2010 May 25–27
Because it could be difficult to control the indoor Typically, the sauna is heated to 80-120 degrees open fire, the savusauna often burned down. Celsius. The so-called sauna-major (saunamajuri) Modern saunas often use an electrical sauna stove. throws water onto the hot stones to add water This is much safer and more easily controlled. vapor, intensifying the feeling of heat. If you are However, many people prefer the wood sauna experiencing the sauna for the first time, you stove as it gives a softer heat and a more traditional may choose to sit on the lowest bench where the sauna experience. In either case, sauna stones temperature is lower. Experienced sauna goers placed above the heat source are still important always pick the highest possible place as close to and used to vaporize water thrown onto them, the stove as possible. The general rules of the sauna evenly spreading the heat. 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 Did you know... sit on. • Spend a couple of minutes in the sauna, that the Finnish word, SAUNA, is the unique until you start to sweat profusely. Finnish contribution to the world of lan- • After a session in the sauna, cool yourself guages? Finns tend to enjoy the simpler down in the lake, shower, or snow. things in life. For stress relief, relaxation, and • Never leave the sauna door open – other- overall piece of mind, the Finnish sauna wise the heat will escape. is an essential element of Finnish life. In Finland, there is one sauna for every three In general, men and women use separate saunas. people, more than in any other country. However, in a close group of friends or family, a mixed gender sauna is a typical custom.
Are you planning to sauna specific time frames from 17.00 till 20.00 for with us on Thursday? the participants to choose from. The coupons for the sauna will be available for the partici- Be sure to bring along your bathing suit and pants to pick up on Wednesday after lunch at a relaxed attitude. Sauna is a time to relax and the registration desk. The event will continue enjoy. Feel free to walk over to the university after 20.00, when all the saunas will be open sauna directly from the conference. Feel free and free to use for everyone. In case that to walk over to the University sauna directly a participant has an early evening flight to from the conference, there will be directions catch on Thursday, please mention this to along the path. The saunas will be ready the organizers, so that they can try to arrange after 16.00. From downtown, you can catch a a special time for you to go to the sauna. For shuttle bus to the sauna area. your convenience, there will be a shuttle bus running between the sauna location and In order to ensure that everybody has the the hotels from 17.00-22.30. You should see opportunity to experience the Finnish sauna, a sauna shuttle bus stopping in front of your there will be sauna coupons offered with hotel about every 45 minutes.
16 Lappeenranta, Finland
Conference Program
Program Overview Detailed Technical Program
17 IMSD 2010 May 25–27
Program Overview
Tuesday, 25 May 2010 Integration of Computer Aided Design and Multibody System Analysis 9.00-9.40 Ahmed Shabana, University of Illinois at Chicago Room A
9.40-10.00 Coffee
FMS 1 DOAV 1 BIO 1 RS 1 T 1 10.00-12.00 Room B Room C Room D Room E Room F
12.00-13.20 Lunch
Holistic Design of Wind Turbines using Aero-servo-elastic Multibody Models, 13.20-14.00 Carlo Bottasso, Politecnico di Milano Room A FMS 2 DOAV 2 BIO 2 RS 2 OSA 1 14.10-15.30 Room B Room C Room D Room E Room F
15.30-15.50 Coffee
FMS 3 DOAV 3 EMRA 1 RS 3 OSA 2 15.50-16.50 Room B Room C Room D Room E Room F
18.30-20.30 Boat cruise in the archipelago of Lake Saimaa
Wednesday, 26 May 2010
The Big EXPO 2010 World Exhibition Pendulum - Dynamics and Control, 9.00-9.40 Peter Eberhard, University of Stuttgart Room A
9.40-10.00 Coffee
FMS 4 DOAV 4 CIP 1 CM 1 DMRS 1 AICS 1 10.00-12.00 Room B Room C Room D Room E Room F Room G
12.00-13.20 Lunch
Multibody Methods for the Adaptive Modeling and Simulation of Large Molecular Systems 13.20-14.00 Kurt Anderson, Rensselaer Polytechnic Institute Room A FMS 5 DOAV 5 BIO 3 RS 4 EMRA 2 14.10-15.30 Room B Room C Room D Room E Room F 15.30-15.50 Coffee FMS 6 CIP 2 BIO 4 OSA 3 ENV 1 15.50-16.50 Room B Room C Room D Room E Room F 18.30-20.30 Conference dinner
18 Lappeenranta, Finland
Thursday, 27 May 2010 (Multibody) Systems Theory, from Cars to Humans 9.00-9.40 John McPhee, University of Waterloo Room A
9.40-10.00 Coffee
OT T 2 AICS 2 CM 2 DMRS 2 10.00-12.00 Room B Room C Room D Room E Room F
12.00-13.20 Lunch
Multibody Dynamics Studies in Asia and Damping Models for Flexible Systems 13.20-14.00 Nobuyuki Shimizu, Iwaki Meisei University Room A FMS 7 DOAV 6 ENV 2 CM 3 CIP 3 14.10-15.30 Room B Room C Room D Room E Room F
15.30-15.50 Coffee
FMS 8 CIP 4 ENV 3 MA EMRA 3 15.50-16.50 Room B Room C Room D Room E Room F
Sauna
AICS Algorithms, Integration Codes and Software ENV Experiments and Numerical Verifications BIO Biomechanics FMS Flexible Multibody Systems CIP Contact and Impact Problems MA Multidisciplinary Approaches CM Control and Mechatronics OSA Optimization and Sensitivity Analysis DOAV Dynamics of All Vehicles OT Other Topics DMRS Dynamics of Machines and Rotating Structures RS Robotic Systems EMRA Efficient Methods and Real-Time Applications T Theoretical and Computational Methods
19 IMSD 2010 May 25–27
Detailed Technical Program
Tuesday, 25 May 2010
Integration of Computer Aided Design Room A 9.00-9.40 and Multibody System Analysis Ahmed Shabana, University of Illinois at Chicago Session chair: Werner Schiehlen, University of Stuttgart
Coffee 9.40-10.00
Flexible Multibody Systems (1 of 8) 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 Materials Jaap Meijaard
An Implicit Non-Linear Finite Element Solver Used for Advanced Multibody Simulations Frédéric Cugnon, Julian Santiago Prowald
Parallel Computation Approaches for Flexible Multibody Dynamics Simulations Olivier Bauchau
Numerical Approach in the Analysis of Flexible Body Motion with Time-Varying Length and Large Displacement Using Multiple Time Scales Yoshiaki Terumichi, Stefan Kaczmarczyk, Kiyoshi Sogabe
Comparison of Modal Reduction Methods for the Simulation of Continuum Multibodies Dmitry Vlasenko, Roland Kasper
Modelling Coupled Hydraulic-Driven Multibody Systems Using Finite Element Method Petri Pertola, Jari Mäkinen, Heikki Marjamäki
Dynamics of All Vehicles (1 of 6) Room C 10.00-12.00
Session chairs Jorge Ambrósio, Instituto Superior Técnico Hiroyuki Sugiyama, Tokyo University of Science
Analysis of the Critical Speed of Rail Vehicles in a Variety of Configurations Michelangelo Bozzone, Ettore Pennestrì, Pietro Salvini
A Basic Study on Semi-Active Steering Bogie by Using MR Damper in Subway Vehicle Yujeong Shin, Wonhee You, Joonhyuk Park, Hyunmoo Hur
Wheel/Rail Contact Dynamics of Turnout Negotiations in the Analysis of Multibody Railroad Vehicle Systems Hiroyuki Sugiyama, Ryosuke Matsumura, Shunpei Yamashita, Yoshihiro Suda
Computation of Common Normal Between Wheel and Rail Surface Behrooz Fallahi, Sunil Ballamudi
Simulation of Semi-Active Suspension System for Railway Applications: a Modular Approach Andrea Rindi, Luca Pugi, Fabio Bartolini, Francesco Cangioli
Railway Vehicle and Bridge Interaction: Some Approaches and Applications Gennady Mikheev, Ekaterina Krugovova, Roman Kovalev
20 Lappeenranta, Finland
Biomechanics (1 of 4) Room D 10.00-12.00
Session chairs Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
Mechanical Investigations of Human Hearing Albrecht Eiber, Michael Lauxmann
Structure Preserving Optimal Control Simulation of Index Finger Dynamics Ramona Maas, Sigrid Leyendecker
Using Wobbling Masses and Optimization to Compensate for Residuals in Highly Dynamic Movements Christian Simonidis, Wolfgang Seemann
Simulation of Human Walking with One-Sided Gait Dissorders Daniel García-Vallejo, Werner Schiehlen
Comparison of Impulsive and Compliant Contact Models for Impact Analysis in Biomechanical Multibody Systems Josep Font-Llagunes, József Kövecses, Rosa Pàmies-Vilà, Ana Barjau
Influence of the Contact Model on the Dynamic Response of the Human Knee Joint Margarida Machado, Paulo Flores, Jorge Ambrósio, Miguel Silva, António Completo
Robotic Systems (1 of 4) 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 Dynamics Taichi Shiiba, Shoichi Sasaki, Naoki Takahashi
Inverse Dynamic Control of Last-Link Flexible Robots Using Multibody System Approach Ayman Nada, Said Megahed
Inverse Dynamics of Legged Robots with Multiple Degrees-of-Freedom Joints Using the DeNOC Matrices Suril Shah, Subir Saha, Jayanta Kumar Dutt
Base Parameters of Robotic Models with Kinetic Friction Xabier Iriarte, Javier Ros
Drive Train Design Optimization of a 5-DOF Light-Weight Robotic Arm Lelai Zhou, Michael R. Hansen, Shaoping Bai
The Method of the Stabilization of Control Motion of the Walking Machines by Modification of Program Motion Alexander Gorobtsov
21 IMSD 2010 May 25–27 Tuesday, 25 May 2010
Theoretical and Computational Methods (1 of 2) Room F 10.00-12.00
Session chairs Kurt Anderson, Rensselaer Polytechnic Institute Wojciech Blajer, Technical University of Radom
Graph Theoretic Structure of Multibody System Spatial Operators Abhinandan Jain
Quaternion-Based Non-Linear Dynamics of Spatial Beams Using the Runge-Kutta Method Eva Zupan, Miran Saje, Dejan Zupan
Application of Finite Strip and Rigid Finite Element Methods to Modeling of Vibrations of Collecting Electrodes Iwona Adamiec-Wójcik, Stanisław Wojciech
On Adaptive Multiscale Modeling of Biomolecular Systems with the Application in RNA Kurt Anderson, Mohammad Poursina, Kishor D. Bhalerao
Concurrent Simulation of Large-Scale Multibody Systems Using MPI Alexander Gorobtsov, Victor Getmaskiy, Efim Sergeev, Andrey Andreev
Dynamic Behavior of Polymeric Thermo-Visco-Elastic Bar Described By Fractional Calculus Constitutive Law Wei Zhang, H.C. Huang, N. Shimizu
Lunch 12.00-13.20
Holistic Design of Wind Turbines using Room A 13.20-14.00 Aero-servo-elastic Multibody Models Carlo Bottasso, Politecnico di Milano Session chair: Olivier Bauchau, Georgia Institute of Technology
Flexible Multibody Systems (2 of 8) Room B 14.10-15.30
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 Dynamics Jorge Ambrósio, Maria Augusta Neto
Dynamic Simulation of Flexible Multibody System with Electric-Hydraulic Drive System Etsujiro Imanishi, Takao Nanjo
A Non-Incremental Finite Element Formulation of Large Deformation Piezoceramic-Laminated-Plates Ayman Nada, Ahmed El-Assal
Real Time Structural Response Simulation for Dynamic Fatigue Life Estimation of Construction Equipments Hee-Jong Lee, Seong-Yong Kim, Ju-Ho Kwak, Byung-Joo Kim
22 Lappeenranta, Finland Tuesday, 25 May 2010
Dynamics of All Vehicles (2 of 6) Room C 14.10-15.30
Session chairs Jorge Ambrósio, Instituto Superior Técnico Hiroyuki Sugiyama, Tokyo University of Science
Numerical Simulation of Railway Vehicle Derailments Vladislav Yazykov, Dmitry Pogorelov, Vitaly Simonov, Gennady Mikheev, Roman Kovalev, Dmitry Agapov, Nikolay Lysikov
Optimization of Front Axle Suspension System of Articulated Dump Truck Thomas Langer, Brian Christensen, Ole Mouritsen, Michael Hansen
Multibody Modeling of a Derailed Vehicle with the Post Derailment Stopper Based on Full-Scale Running Tests Hironobu Sunami, Yoshiaki Terumichi, Tsutomu Morimura, Masahito Adachi
Analysis of the Wheel/Roller Contact Problems in the Design of a Scaled Roller Rig for the Simulation of Degraded Adhesion Conditions Fabio Bartolini, Enrico Meli, Luca Pugi, Mirko Ignesti, Monica Malvezzi
Biomechanics (2 of 4) Room D 14.10-15.30
Session chairs Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
Articular Contact Detection of the Coupled Tibio-Femoral and Patello-Femoral Joints Modeled as a Multibody System with Superquadric Surfaces Daniel Simões Lopes, Miguel Silva, Jorge Ambrósio, Richard Neptune
Sensitivity Analysis of the Parameters Used to Calculate the Interface Forces Between Lower Limb and Orthosis Paula Silva, Miguel Silva, Jorge Martins
Influence of Input Data Errors on the Inverse Dynamics Analysis of Human Locomotion Rosa Pàmies-Vilà, Josep Font-Llagunes, Javier Cuadrado, Javier Alonso
Development and Validation of a Coupled Multibody - Finite Elements Model for the Analysis of the Brain Motion During Impact Ştefan Tabacu, Nicolae Doru Stănescy, Sorin Ilie, Anton Hadăr
Robotic Systems (2 of 4) Room E 14.10-15.30
Session chairs Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
3D Inertia Transfer Concept and Symbolic Determination of the Base Inertial Parameters Javier Ros, Xabier Iriarte, Vicente Mata
Optimal Control of a Two-Mass System Moving in a Resistive Medium Along a Straight Line Nikolai Bolotnik, Felix Chernousko, Tatiana Figurina
Optimal Arm-Swinging in 3D Biped Walking Yannick Aoustin, Alexander Formalskii
A Planar Hybrid Self-Balancing Jumping Mechanism Arash Fallahnejad, Kambiz Ghaemi Osgouie
23 IMSD 2010 May 25–27 Tuesday, 25 May 2010
Optimization and Sensitivity Analysis (1 of 3) 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 Optimization Wouter Hakvoort, Jaap Meijaard, Ronald Aarts, Ben Jonker, Rini Zwikker
Optimal Control Methods for the Computation of Excitation Signals in Multibody Systems Stefan Reichl, Wolfgang Steiner, Michael Steinbatz
Parameter Sensitivity Analysis: Symbolic Computation for Large Multibody Systems Antoine Poncelet, Jean-François Collard, Paul Fisette
Coffee 15.30-15.50
Flexible Multibody Systems (3 of 8) Room B 15.50-16.50
Session chairs Johannes Gerstmayr, Linz Center of Mechatronics GmbH Daniel García-Vallejo, University of Seville
Modelling Flexible Curved Tracks in Multibody Railroad Simulations with the Moving Shape Functions Method Rosario Chamorro, José Escalona, Antonio Recuero
Intrinsic Flexible Joints Olivier Bauchau, Leihong Li, Pierangelo Masarati, Marco Morandini
A New Flexible Point Curve Joint for the Dynamic Simulation of Flexible Multibody Systems Tariq Sinokrot, John Laughlin, William Prescott
Dynamics of All Vehicles (3 of 6) Room C 15.50-16.50
Session chairs Taichi Shiiba, Meiji University Dmitry Pogorelov, Bryansk State Technical University
Simulation of Tracked Vehicle Dynamics with Universal Mechanism Software Dmitry Pogorelov
Modelization by Superelements with Contact Management in Explicit Car Crash Simulations Kamila Flidrova, David Lenoir, Nicolas Vasseur, Louis Jézéquel
Nonlinear Quarter Car Models Running on Random Roads with Bounded Realizations Walter Wedig
Efficient Methods and Real-Time Applications (1 of 3) 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 Applications Lilli Engelhardt, Michael Burger, Gerd Bitsch
Parallel Index-3 Formulation for Real-Time Multibody Dynamics Simulations Paweł Malczyk, Janusz Frączek, Javier Cuadrado
Natural Coordinates MBS for HIL Simulation Paolo Righettini, Alberto Oldani
24 Lappeenranta, Finland Tuesday, 25 May 2010
Robotic Systems (3 of 4) Room E 15.50-16.50
Session chairs Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
A Bipedal Robot Model with Elastic Actuation Daniela Förg, Martin Förg, Heinz Ulbrich
Gravity Compensation for Phantom Omni Haptic Interface Majid Koul, Praneeth Kumar, Praveen Singh, M Manivannan, Subir Saha
Effects of Gimbal Drives on Optimal Path of Robotic Arms Foad Mohammadi, Iman Hemmatian, Kambiz Ghaemi Osgouie
Optimization and Sensitivity Analysis (2 of 3) Room F 15.50-16.50
Session chairs Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège
Unified Mechanism Synthesis of Planar Four-Bar Linkage Mechanism Using Spring Connected Size-Variable 3-Blocks Model Bum Suk Kim, Chan Kyu Choi, Hong Hee Yoo
Hybrid Sensitivity Analysis and Parametric Studies of Multibody Systems Saeed Ebrahimi, Arash Haghi
Sensitivity Analysis of Flexible Slider-Crank Mechanism Using Absolute Nodal Coordinate Formulation Ting Pi, Yunqing Zhang, Liping Chen
Boat cruise in the archipelago of Lake Saimaa 18.30-20.30
25 IMSD 2010 May 25–27
Wednesday, 26 May 2010
The Big EXPO 2010 World Exhibition Room A 9.00-9.40 Pendulum - Dynamics and Control Peter Eberhard, University of Stuttgart Session chair: Jorge Ambrósio, Instituto Superior Técnico
Coffee 9.40-10.00
Flexible Multibody Systems (4 of 8) Room B 10.00-12.00
Session chairs Jaap Meijaard, University of Twente Yoshiaki Terumichi, Sophia University
Multibody Modelling and Optimization of a Curved Hinge Flexure Steven Boer, Ronald Aarts, Dannis Brouwer, Ben Jonker
Optimized Implementation of Flexibility in Wind Turbine Gearbox Multibody Model in View of Model Updating on Dynamic Test-Rig Jan Helsen, Frederik Vanhollebeke, Dirk Vandepitte, Wim Desmet
Motion and Control of Tether Space Mobility Device Shoichiro Takehara, Yuichi Kondo, Yoshiaki Terumichi, Takuya Yoshimura
Modal Synthesis of a Scanning Tunneling Microscope for Active Vibration Control Using an Orthogonal Projection Approach to Multibody Dynamics Jun Lu, Peter Eberhard
Design of a Spool Using Unwinding Dynamics of Optical Fibers Jae-Wook Lee, Kun-Woo Kim, Hyung-Ryul Kim, Wan-Suk Yoo, Deuk-Man An
Inclusion of the Effect of Geometric Stiffness in the Dynamics Analysis of Plain Flexible Mechanisms Cleves M. Vaz
Dynamics of All Vehicles (4 of 6) Room C 10.00-12.00
Session chairs Taichi Shiiba, Meiji University Dmitry Pogorelov, Bryansk State Technical University
Multibody Dynamics Analysis of Differentials in Vehicle Drivetrains Geoffrey Virlez, Olivier Brüls, Nicolas Poulet, Pierre Duysinx
Effects of Damper Connecting Two Maglev Vehicles on Dynamic Behavior Kijung Kim, Hyungsuk Han, Bongseup Kim, Sukjo Yang
Design of the Hydraulic Shock Absorbers Characteristics Using Relative Springs Deflections at Asymmetric Excitation of the Bus Wheels Pavel Polach, Michal Hajžman
Full Vehicle Simulation for Durability Test of Damper in a Cruise Bus Jeong-Hyun Sohn, Seong-Jun Park, Jeong-Han Lee, So-Hae Choi, Wan-Suk Yoo
Ride Comfort Analysis for 2-Car and 3-Car Articulated Vehicles by Using Flexible Car Body Model Yeon-Su Kim, Kyeong-Ho Moon, Jai-Kyun Mok, Myeong-Gyu Kim
Investigation and Optimization of Active Suspension in Multibody Car Model. Alexander Gorobtsov, Dmitriy Miroshnichenko, Eugeniy Gromov
26 Lappeenranta, Finland
Contact and Impact Problems (1 of 4) 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 Loader Sami Moisio, Pasi Korkealaakso, Asko Rouvinen
A Biomechanical Multibody Foot Model for Forward Dynamic Analysis Pedro Moreira, Miguel Silva, Paulo Flores
Volumetric Contact Models and Experimental Validation Michael Boos, John McPhee
Improving the Jumping Performance of a Single Leg Robot Using Directional Dynamic Capability Equations Daniel Flickinger, Alan Bowling
Tracked Vehicle Simulation on Granular Terrain Leveraging Parallel Computing on GPUs Toby Heyn, Hammad Mazhar, Alessandro Tasora, Dan Negrut
Control and Mechatronics (1 of 3) 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 Muscles Dominik Schindele, Harald Aschemann
Gain-Scheduled Tracking Control for High-Speed Rack Feeders Harald Aschemann, Jöran Ritzke
Design and Implementation of an Omnidirectional Platform Stabilizing a 2-DOF Inverted Pendulum Paul De Monte, Andreas Ertlmeier, Gerhard Schillhuber, Thomas Thuemmel
Flexible Multibody Modelling for the Mechatronic Design of Compliant Mechanisms Ronald Aarts, Johannes van Dijk, Ben Jonker
On the Adequation of Dynamic Modelling and Control of Parallel Kinematic Manipulators Erol Özgür, Nicolas Andreff, Philippe Martinet
Design and Control of a Parallel Robot for Laparoscopic Surgery Nicolae Plitea, Juergen Hesselbach, Calin Vaida, Annika Raatz, Doina Pisla, Bela Gyurka, Bogdan Gherman
27 IMSD 2010 May 25–27 Wednesday, 26 May 2010
Dynamics of Machines and Rotating Structures (1 of 2) Room F 10.00-12.00
Session chairs Stephanos Theodossiades, Loughborough University Nobuyuki Shimizu, Iwaki Meisei University
Vibrations of Differential Units in Light Trucks George Koronias, Stephanos Theodossiades, Homer Rahnejat, Tim Saunders
Study of Dynamics of Multi-Degree-of-Freedom Electro-Hydraulic Mix-Drive Motion Simulator Yuefa Zhou, Hongliang Li, Tao Fan, Tianfu Liang
Modelling and Analysis of Dynamics of Electric Motor Rotor Michal Hajžman, Miroslav Byrtus, Jakub Šašek, Vladimír Zeman
A Dynamic Model of an Overhung Rotor with Deep-Groove Ball Bearings Onur Cakmak, Kenan Yuce Sanliturk
Dynamics of Flexible Details Milling Sergey Voronov, Igor Kiselev
Algorithms, Integration Codes and Software (1 of 2) Room G 10.00-12.00
Session chairs Martin Arnold, Martin-Luther-University Halle-Wittenberg Olivier Bauchau, Georgia Institute of Technology
Investigation of Parallelization of Multibody Dynamic Systems Michael Valášek
A Parallel Co-Simulation for Mechatronic Systems Markus Friedrich, Markus Schneider, Heinz Ulbrich
Numerical Stability and Accuracy of Different Co-Simulation Techniques: Analytical Investigations Based on a 2-DOF Test Model Martin Busch, Bernhard Schweizer
Advances in High Performance Computing for Physical Simulations Alessandro Tasora, Dan Negrut
Efficient Implementation of 3D Graphics in a MBS Framework Alfonso Callejo, Santiago Tapia, Javier García de Jalón
Simulation of Multibody Systems in a Parallel Processing Environment William Prescott
Lunch 12.00-13.20
Multibody Methods for the Adaptive Modeling Room A 13.20-14.00 and Simulation of Large Molecular Systems Kurt Anderson, Rensselaer Polytechnic Institute Session chair: Javier Cuadrado, University of La Coruna
28 Lappeenranta, Finland Wednesday, 26 May 2010
Flexible Multibody Systems (5 of 8) Room B 14.10-15.30
Session chairs Jaap Meijaard, University of Twente Yoshiaki Terumichi, Sophia University
Concepts for the Simulation of Belt Drives - Industrial and Academic Approaches Roland Zander, Frank Rettig, Thorsten Schindler
Using a Fully Elastic Gear Model for the Simulation of Gear Contacts in the Framework of a Multibody Simulation Program Pascal Ziegler, Peter Eberhard
Flexible Slider-Crank Dynamic Analysis by Means of Gauss Principle of Least Action Ettore Pennestrí, Lorenzo Mariti, Matteo Minotti, Nicola Pio Belfiore
Analytic Sensitivity of Dynamics of Anisotropic Flexible Four-Bar Mechanisms to Stacking Sequences Hemaraju Pollayi, Dineshkumar Harursampath
Dynamics of All Vehicles (5 of 6) Room C 14.10-15.30
Session chairs Taichi Shiiba, Meiji University Dmitry Pogorelov, Bryansk State Technical University
Multibody Aeroservoelastic Simulation of Tiltrotor Predictive Control Mattia Mattaboni, Pierangelo Masarati
Development and Implementation of a Differential Wheel-Rail Contact Model for Multibody Applications Silvia Magheri, Monica Malvezzi, Enrico Meli, Susanna Papini
Mutual Interaction of Parallel Connected Induction Motors in Degraded Adhesion Conditions Benedetto Allotta, Luca Pugi, Fabio Bartolini
MAV-Scale Cycloidal Rotor Multibody Aeroelastic Analysis Mattia Mattaboni, Moble Benedict, Pierangelo Masarati, Inderjit Chopra
Biomechanics (3 of 4) Room D 14.10-15.30
Session chairs Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
A Dynamic Computer Simulation of Tibial Strains and Joint Forces During Knee Flexion and Extension Exercise Adam Kłodowski, Juha Kulmala, Aki Mikkola, Harri Sievänen, Ari Heinonen
Development of a Control Architecture for a Musculoskeletal Model of a Human Ankle Joint Using Multibody Dynamics and Hill-Type Muscle Actuators Rita Malcata, Miguel Silva, Jorge Martins, Paulo Melo, João Costa
Validation Procedure of a Multibody Dynamics Model of the Human Lower Leg and Foot for Functional Electrical Stimulation Actuation and Control Paulo Melo, Miguel Silva, Jorge Martins, Dava Newman
Development of a Biomechanical Multibody Model for the Hardware-in-the-Loop Simulation of Total Hip Endoprostheses Michael Kähler, Roman Rachholz, Sven Herrmann, János Zierath, Robert Souffrant, Daniel Kluess, Rainer Bader, Christoph Woernle
29 IMSD 2010 May 25–27 Wednesday, 26 May 2010
Robotic Systems (4 of 4) Room E 14.10-15.30
Session chairs Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
Direction Selective Performance Indexes for Parallel Manipulators Giovanni Boschetti, Alberto Trevisani
Motion of a Chain of Bodies in a Resistive Medium due to Undulatory Change in the System’s Configuration Klaus Zimmermann, Igor Zeidis, Nikolai Bolotnik, Mikhail Pivovarov
A Random Profile Approach to Minimum-Time Motion Planning Problem for Non-Holonomic Wheeled Mobile Robots: Application for the Parking and Articulated Systems Kahoul Lazhar, Hanchi Samir, Zeghloul Said
Kinematic Modeling Improvement and Trajectory Planning of the NAO Biped Robot Maani Ghaffari Jadidi,Ehsan Hashemi, Mohammad Ali Zakeri Harandi, Houman Sadjadian
Efficient Methods and Real-Time Applications (2 of 3) Room F 14.10-15.30
Session chairs Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University
Triangularizing Kinematic Constraint Equations Using Gröbner Bases for Real-Time Dynamic Simulation Thomas Uchida, John McPhee
Using Implicit Integrators and Automatic Differentiation to Compute Large and Complex MBS in Real-Time Andrés Hidalgo, Alfonso Callejo, Javier García de Jalón
Approximations in System-level GMP Model Reduction for Real-Time MBS Frank Naets, Gert Heirman, Wim Desmet
Coffee 15.30-15.50
Flexible Multibody Systems (6 of 8) Room B 15.50-16.50
Session chairs Johannes Gerstmayr, Linz Center of Mechatronics GmbH Daniel García-Vallejo, University of Seville
A Non-Time Based Approach for the Simultaneous Rigid-Body Motion and Vibration Control of Flexible-Link Mechanisms Giovanni Boschetti, Roberto Caracciolo, Dario Richiedei, Alberto Trevisani
Flexible Multibody Modeling of a Racing Motorcycle Cranktrain: Model Reduction Issues Stefano Ricci, Marco Troncossi, Alessandro Rivola
Three- and Four-Noded Planar Elements Using Absolute Nodal Coordinate Formulation Alexander Olshevskiy, Oleg Dmitrochenko, Changwan Kim
Contact and Impact Problems (2 of 4) Room C 15.50-16.50
Session chairs Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Sensitivity and Parametric Analyses of Multibody Systems with Application to Contact Dynamics Farnood Gholami, József Kövecses, Jacob Apkarian
A Unified Approach for Hybrid Complementarity Formulations to Model Intermittent Contact in Multibody Systems Kishor Bhalerao, Cory Crean, Kurt Anderson
Stronge’s Hypothsis-Based Solution to the Collision-with-Friction Problem Shlomo Djerassi
30 Lappeenranta, Finland Wednesday, 26 May 2010
Biomechanics (4 of 4) Room D 15.50-16.50
Session chairs Miguel Silva, Instituto Superior Técnico Aki Mikkola, Lappeenranta University of Technology
Study of the Influence of the Cost Function in the Force-Shared Problem During a Human Lower Limb Motion Joaquín Ojeda, Juana Mayo, Javier Martínez-Reina
Mapping Spring Forces onto Anthropomorphic Legs Matthew Millard, Eric Kubica, John McPhee
Development of a Hill-Type Muscle Model With Fatigue for the Calculation of the Redundant Muscle Forces Using Multibody Dynamics André Pereira, Miguel Silva, Jorge Martins, Mamede Carvalho
Optimization and Sensitivity Analysis (3 of 3) Room E 15.50-16.50
Session chairs Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège
Optimal Control Methods for the Calculation of Invariant Excitation Signals for Multibody Systems Michael Burger, Michael Speckert, Klaus Dreßler
Trajectory Optimization of Flexible Robots Using an Optimal Control Approach Guaraci Bastos, Olivier Brüls
Robust Optimal Design of a Micro Gripper Ozan Tokatli, Volkan Patoglu
Experiments and Numerical Verifications (1 of 3) Room F 15.50-16.50
Session chairs Dan Negrut, University of Wisconsin-Madison Wan-Suk Yoo, Pusan National University
Efficient Sampling Methods for Spatial Uncertainty in Multibody Dynamics Applications Kyle Schmitt, Dan Negrut, Mihai Anitescu
dvc3D: a Three Dimensional Physical Simulation Tool for Rigid Bodies with Contacts and Coulomb Friction Binh Nguyen, Jeff Trinkle
Combined Analytical and Experimental Approaches to Rotor Components Stress Predictions Maria Chierichetti, Chance McColl, Douglas Palmer, Massimo Ruzzene, Olivier Bauchau
Conference dinner 19.00-22.30
31 IMSD 2010 May 25–27
Thursday, 27 May 2010
(Multibody) Systems Theory, from Cars to Humans Room A 9.00-9.40 John McPhee, University of Waterloo, Canada Sessions chair: Krzysztof Arczewski, Warsaw University of Technology
Coffee 9.40-10.00
Other Topics (1 of 1) 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 Systems Michael Valášek, Ondrej Marek
Active Fence - Analysis of Sorting Process Dynamics Tomasz Piatkowski
Learning by Errors: Experiences of Teaching Multibody System Analysis Carlo Galletti, Elena Giannotti
Acoustic Fluid Structure Interaction with Smoothed Particle Hydrodynamics Leveraging Parallel Computing on GPUs Philipp Hahn, Dan Negrut
Review and Comparison of Solution Strategies for Multibody Dynamics Equations Lorenzo Mariti, Ettore Pennestrí, Pier Paolo Valentini, Nicola Pio Belfiore
Theoretical and Computational Methods (2 of 2) Room C 10.00-12.00
Session chairs Kurt Anderson, Rensselaer Polytechnic Institute Wojciech Blajer, Technical University of Radom
Analytical Formulations in Multibody Dynamics: Some Novel Perspectives József Kövecses
Higher Order Integration of Non-Smooth Dynamical Systems Using Parallel Computed Extrapolation Methods Based on Time-Stepping Schemes Robert Huber, Heinz Ulbrich
Some Methods for Constraint Violation Stabilization/Elimination in Numerical Simulation of Constrained Multibody Systems: a Comparative Study Wojciech Blajer
A New Method for Mass-Matrix Calculation with Natural Coordinates Kewei Zhang, Yunqing Zhang, Liping Chen
How Mode Veering and Mode Crossing Affects Global Modal Parametrization and Solutions to Overcome these Problems Gert Heirman, Frank Naets, Wim Desmet
Dynamics of Tetrahedral Constellation of Satellites-Gyrostats Alexander Burov, Anna Guerman, Revaz Sulikashvili
32 Lappeenranta, Finland
Algorithms, Integration Codes and Software (2 of 2) Room D 10.00-12.00
Session chairs Martin Arnold, Martin-Luther-University Halle-Wittenberg Olivier Bauchau, Georgia Institute of Technology
Vibrational Analysis of a Multibody Virtual Dummy for Car and Motorcycle Users Nicola Cofelice, Roberto Zanni, Davide Locatelli, Alessandro Toso, David Moreno Giner, Jian Kang, Stijn Donders
Analysing Dynamical Phenomenons: Introduction to MBSim Thorsten Schindler, Martin Förg, Markus Friedrich, Markus Schneider, Bastian Esefeld, Robert Huber, Roland Zander, Heinz Ulbrich
Numerical Solution of DAEs in Flexible Multibody Dynamics Using Lie Group Time Integrators Olivier Brüls, Alberto Cardona, Martin Arnold
Improved Time Integration of Multibody System Models Using Methods from Singular Perturbation Theory Martin Arnold, Bernhard Burgermeister, Steffen Weber
On the Use of OOP Method in Flexible Multibody Dynamics Ji-won Yoon, Tae-won Park, Sung-pil Jung, Won-sun Chung
Solving Equations of Nonstationary Heat Conduction in Multibody System Dynamics Andrey Andreev, Oleg Shapovalov, Maxim Reznikov, Eugeniy Gromov
Control and Mechatronics (2 of 3) Room E 10.00-12.00
Session chairs Andres Kecskeméthy, University of Duisburg-Essen József Kövecses, McGill University
Fast Motion Control of Robotic Systems Using Inverse Dynamics Compensation via Simulation of Feedback Control Systems (IDCS) Gentiane Venture, Tohgoroh Kojima, Yasutaka Tagawa
A Unified Framework for the Modelling, Simulation, and Control of Force Feedback Mechanisms Majid Sheikholeslami, Kamran Ghaffari, József Kövecses, Paul Karam, Christian Lange, Javier Ros
Design of a Flexible Low-Cost Driving Simulator Alina Capustiac, Benjamin Hesse, Thorsten Brandt, Dieter Schramm, Cornel Brisan
Curving Performance of a Tramcar Vehicle with Bogie Active-Steering System Andrea Barbera, Stefano Bruni, Roberto Corradi, Giorgio Diana
Modeling and Control of a Four Wheel Drive Electric Vehicle Roland Kasper, Dmitri Vlasenko
Development of a Neural Network-Based Controller for Ships Vladislav Grigoryev, Andreas Rauh, Harald Aschemann, Mathias Paschen
33 IMSD 2010 May 25–27 Thursday, 27 May 2010
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 Dynamics Ioannis Nerantzis, Dimitrios Perperidis, Stephanos Theodossiades, Athanassios Mihailidis
Modeling Approach for Spindle- Self Vibratory Drilling Head Dynamics Prediction Fabien Forestier, Vincent Gagnol, Pascal Ray, Henri Paris
Procedure for the Analysis and Evaluation of the Dynamical Performance of Kinematically Redundant Machine Tools Uwe Heisel, Norman Tonn
Elastodynamic Response of Automotive Transmissions to Impact Induced Vibrations Malika Perera, Miguel De la Cruz, Stephanos Theodossiades, Homer Rahnejat, P. Kelly
Comparison of Dynamic Behavior of Drive Train According to Wind and Wave Load for Offshore Wind Power System Jin-Seok Jang, Jeong-Hyun Sohn
Lunch 12.00-13.20
Multibody Dynamics Studies in Asia and Room A 13.20-14.00 Damping Models for Flexible Systems Nobuyuki Shimizu, Iwaki Meisei University, Japan Sessions chair: Wan-Suk Yoo, Pusan National University
Flexible Multibody Systems (7 of 8) Room B 14.10-15.30
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 Method Tsubasa Wago, Yoshiki Sugawara, Nobuyuki Kobayashi
Integration of Computer Aided Design and Analysis Using the Absolute Nodal Coordinate Formulation Peng Lan, Ahmed Shabana
A Comparison of Co-Rotational and ANCF Thin Plate Finite Elements for the Dynamic Simulation of Flexible Media Transport Systems Graham Sanborn, Juhwan Choi, Jin Choi
Digital Nomenclature Code (DNC) of Finite Element Kinematics and its Modification (DNCM) for Absolute Nodal Coordinates Oleg Dmitrochenko, Aki Mikkola
34 Lappeenranta, Finland Thursday, 27 May 2010
Dynamics of All Vehicles (6 of 6) Room C 14.10-15.30
Session chairs Jorge Ambrósio, Instituto Superior Técnico Hiroyuki Sugiyama, Tokyo University of Science
An Elastic Rope Model with Application to Automated People Mover Systems Christian Nußbaumer, Peter Dietmaier
Steady Turning Analysis of Motorcycles in LMS Virtual.Lab Motion David Moreno-Giner, Nicola Cofelice, Alessandro Toso, Jian Kang
Lateral Dynamics of a Bicycle with Passive Rider Model Arend Schwab, Jodi Kooijman
Performance Validation of Motorized Retractor Interacting with Driver Model Moojin Oh, Sugil Choi, Taeoh Tak
Experiments and Numerical Verifications (2 of 3) Room D 14.10-15.30
Session chairs Dan Negrut, University of Wisconsin-Madison Wan-Suk Yoo, Pusan National University
The Multibody 2D Approach for Agricultural and Forestry Tractors Roll Over Protective Structures Design Ettore Pennestrì, Pier Paolo Valentini, Leonardo Vita, Erika Candido
An Experimentally Verified Model for Time Domain Simulations of Large Scale Material Handeling Chains Søren Emil Sørensen, Michael Hansen, Morten Ebbesen
Comparison of Simulated and Experimental Grasping Actions in the Plane Li Zhang, Jeremy Betz, Jeff Trinkle
Control and Mechatronics (3 of 3) Room E 14.10-15.30
Session chairs Andres Kecskeméthy, University of Duisburg-Essen József Kövecses, McGill University
Modular Mechatronic Modelling for Wind Turbine Generating Systems Based on an Integrated Finite Element Approach Qiong-zhong Chen, Philippe Jetteur, Olivier Brüls
Two Approaches for Designing Minimum Phase Underactuated Multibody Systems Robert Seifried
The Efficiency of Closed-Form Solutions for Dynamic Multibody Simulation Shuxian, Xia, Francisco Geu Flores, Andrés Kecskeméthy, Alois Pöttker
Synthesis of Program Control Signals for Mechatronic System’s Motion Speed Vladimir Filaretov, Anton Gubankov
35 IMSD 2010 May 25–27 Thursday, 27 May 2010
Contact and Impact Problems (3 of 4) Room F 14.10-15.30
Session chairs Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Elastic Contact Analyses with Hybrid Boundary Element/Multibody Systems János Zierath, Christoph Woernle
The Formation and Evolution of Constraints in Contacting Bodies Caishan Liu, Zhen Zhao, Hongjian Zhang
A 2D Bristle Friction Force Model for General Contact Dynamics Simulation Jianxun Liang, Steven Fillmore, Ou Ma
Coffee 15.30-15.50
Flexible Multibody Systems (8 of 8) Room B 15.50-16.50
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 Actuation Johannes Gerstmayr, Astrid Sinwel
Geometrically Exact Beam Formulation Versus Absolute Nodal Coordinate Formulation Jari Mäkinen, Marko Matikainen
A Linear and Quadratic Planar Finite Element Based on the Absolute Nodal Coordinate Formulation Karin Nachbagauer, Johannes Gerstmayr, Astrid Sinwel, Hans Irschik
Contact and Impact Problems (4 of 4) Room C 15.50-16.50
Session chairs Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Numerical Method for Solving the Contact Problems for the Solid Bodies Using the Finite Element Fragments on the Elastic Foundation Sakalo Vladimir, Sakalo Aleksey
Modelling and Simulation of Contacts in Multi-Body Simulation with SIMPACK Steven Mulski, Lutz Mauer, Jennifer Paulin
Impact and Shock Between Rigid or Deformable Bodies Zhi-Qiang Feng, Jiao Wang, Pierre Joli, Caishan Liu
36 Lappeenranta, Finland Thursday, 27 May 2010
Experiments and Numerical Verifications (3 of 3) Room D 15.50-16.50
Session chairs Dan Negrut, University of Wisconsin-Madison Wan-Suk Yoo, Pusan National University
Application of the Magic Formula for Dynamic Modeling of Friction Dampers Used in Drum-Type Washing Machines Wan-Suk Yoo, Jeong-Han Lee, Jin-Hong Park, Gyung-Hun Nho
Multibody System Simulations to Analyze Limit States in Structural Engineering Using Experimental Design Detlef Neuenhaus, Karl Siebertz
An Experimental Identification Method for Rigid Body Properties Enabled by Gravity-Dependent Suspension Modelling Robert Kloepper, Hiroto Akita, Masaaki Okuma, Seiichi Terada
Multidisciplinary Approaches (1 of 1) 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 Laws Markus Schneider, Karin Krüger, Heinz Ulbrich
Multidisciplinary Applications of Multibody Simulation to Railway Vehicle Engineering Antonio Carrarini, Andreas Heckmann, Ingo Kaiser, Bernard Kurzeck, José Luis Reyes Pérez, Luciano Valente
Advanced Engine Dynamics Using MBS: Application to Twin-Cylinder Boxer Engines Yannick Louvigny, Pierre Duysinx
Efficient Methods and Real-Time Applications (3 of 3) Room F 15.50-16.50
Session chairs Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University
Automotive Observers Based on Multibody Models and the Extended Kalman Filter Javier Cuadrado, Daniel Dopico, Miguel Naya, Roland Pastorino
HIL-Simulation for Evaluation of Intelligent Chassis Controller Using Real-Time Multibody Vehicle Dynamics Model Sung-Soo Kim, Wan Hee Jeong, Do Hyun Jung, Hyeong Jin Choi
Efficient and Accurate Simulation of the Cable-Pulley Interaction in Weight-Lifting Machines Urbano Lugris, José Escalona, Daniel Dopico, Javier Cuadrado
Sauna
37 IMSD 2010 May 25–27
Notes
38 Lappeenranta, Finland
39 For more information www.imsd10.fi