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) u t y a t Laserkatu i k s n r Sonera a e l i v r i a n n U n i k S To the City Central (6 km) e ti in g Technopolis in ls e H tu u Tek ka t nolo ton a e gia is k i pu n t n lä i se g Tietoenator s n u i a s lp l Sa e talo H Kouvola ra Imat Kuutostie Future factory LAPPEENRANTA Conference Map – LUT Campus Room A Room G Room F Room E Room A Lecture rooms University 3rd oor CoeeRoom G Room F Room E Lecture rooms 2nd oor Exhibitors 3rd oor Coee 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.