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Joint International Conference on Multibody System DynamicsTh
e 1s
t IMSD
Lappeenranta, Finland May 25–27, 2010
For more information www.imsd10.fi
Conference Information Booklet
IMSD 2010May 25–27
2
Sponsors and Supporting Organizations
Lappeenranta, Finland
3
Table of Contents
Welcome to the Conference . . . . . . . . . . . . . . . . . . . . . 4
Conference Objectives . . . . . . . . . . . . . . . . . . . . . . . 4
Presentation Preparations . . . . . . . . . . . . . . . . . . . . . . 4
Steering Committee . . . . . . . . . . . . . . . . . . . . . . . . 4
Campus Area . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Conference Map – LUT Campus . . . . . . . . . . . . . . . . . . . . 5
This is Lappeenranta, Finland . . . . . . . . . . . . . . . . . . . . . 6
A Little About Finland . . . . . . . . . . . . . . . . . . . . . . . 6
Map of Finland . . . . . . . . . . . . . . . . . . . . . . . . . . 6
A Short History of Lappeenranta. . . . . . . . . . . . . . . . . . . . 6
Lappeenranta University of Technology . . . . . . . . . . . . . . . . 9
Useful Information . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Useful Addresses & Phone Numbers . . . . . . . . . . . . . . . . . . 10
Practical Matters . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Common Expressions in Finnish . . . . . . . . . . . . . . . . . . . . 12
Social Program . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Getting Around Town. . . . . . . . . . . . . . . . . . . . . . . . 13
Registration and Opening Ceremonies . . . . . . . . . . . . . . . . . 13
Boat Cruise . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Conference Dinner . . . . . . . . . . . . . . . . . . . . . . . . 14
Sauna Evening . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Program Overview . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Detailed Technical Program . . . . . . . . . . . . . . . . . . . . . . 20
Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
IMSD 2010May 25–27
4
Welcome to the Conference
The conference will take place in the lecture rooms
of the Lappeenranta University of Technology in
Lappeenranta at Skinnarilankatu 34.
Conference Objectives
Multibody dynamics is an engineering discipline
based on computational dynamics. It has grown
to be an important tool for virtual prototyping,
machine design, and computer-aided analysis of
complex articulated mechanical systems. Multi-
body dynamics comprises a number of aspects,
including mechanics, structural dynamics, applied
mathematics, control methods, and computer
science, as well as mechatronics.
The purpose of the conference is to serve as a
meeting point for the international multibody
community. The conference provides an opportu-
nity to exchange high-level, recent information in
the theory and applications of multibody systems.
The topics of the conference include:
Theoretical and Computational Methods•Flexible Multibody Systems•Contact and Impact Problems•Control and Mechatronics•Multidisciplinary Approaches•Algorithms, Integration Codes and Software•Efficient Methods and Real-Time Applications•Experiments and Numerical Verifications•Optimization and Sensitivity Analysis•Dynamics of machines and Rotating Structures•Dynamics of All Vehicles•Robotic Systems•Biomechanics•Other Topics•
Presentation Preparations
Each conference room will be equipped with a
computer running Windows XP with Microsoft
Office 2007 and Adobe Acrobat Reader. Please
upload your presentation into the computer ahead
of time to minimize delays. Presenters may use their
own laptops if they wish. In any event, please check
your hardware and presentation ahead of time.
The time allotted for each presentation is 20
minutes. This time includes 5 minutes for discus-
sion, so you have 15 minutes for the presentation
itself. Please help us run a smooth conference by
beginning your presentation on time and strictly
holding to the time allotted. Check with your
Session Chairman before the beginning of your
session, so he knows of your presence and can
properly pronounce your name.
Steering Committee
An International Steering Committee supervises the
Joint International Conference on Multibody System
Dynamics. The members of the Committee are:
Jorge Ambrósio (Portugal)
Kurt Anderson (USA, ASME)
Krzysztof Arczewski (Poland)
Olivier Bauchau (USA, ASME)
Carlo Bottasso (Italy)
Javier Cuadrado (Spain, IFToMM)
Peter Eberhard (Germany)
Caishan Liu (China)
John McPhee (Canada, IFToMM)
Aki Mikkola (Finland, Co-Chair)
Friedrich Pfeiffer (Germany, IUTAM)
Werner Schiehlen (Germany, Co-Chair, IFToMM)
Ahmed Shabana (USA, ASME)
Nobuyuki Shimizu (Japan)
Wan-Suk Yoo (Korea)
If you really need help ...If you are having a serious problem, and you do
not know how to take care of it on your own,
you can contact Aki Mikkola at +358 40736 3095
at any time during the conference week.
Lappeenranta, Finland
5
Campus Area
Conference Map – LUT Campus
Skinnarilankatu
Lase
rkat
u
Skinnarilan Hovi
University Sauna
Lake Saimaa
Teknologiapuistonkatu
To the City Central (6 km)
LAPPEENRANTA
To the City Center (6 km)
Main EntranceLappeenrantaUniversity
of Technology
Sonera
Technopolis
Tietoenatortalo
Future factory
Skinnarilankatu
University
Hel
singi
ntie
Skin
naril
anka
tu
Helsin
gintie
Kouvola
KuutostieImatra
Salpausselänkatu
Uni
vers
ity
Lecture rooms
3rd �oor
2nd �oor
1st �oor
Library
Exhibitors
Main Entrance
Co�ee
Room
D
Room
C
Room
B
Room
GRo
om F
Room
E
Room A
Lunch
Lecture rooms
3rd �oor
2nd �oor
1st �oor
Library
Exhibitors
Main Entrance
Co�ee
Room
D
Room
C
Room
B
Room
GRo
om F
Room
E
Room A
Lunch
Skinnarilankatu 34, 53850 Lappeenranta, Tel. +358 5 621 11
IMSD 2010May 25–27
6
This is Lappeenranta, Finland
Did you know...
that there are actually over 188,000 lakes in
Finland? Some areas of the Finnish lakeland
have up to 1000 lakes per 100 km². There
are about 98,000 islands in these lakes. In
the bordering seas, there are about 81,000
more islands.
Lappeenranta
Helsinki
A Little About Finland
Finland has been a member of the European Union
since 1995. A quarter of Finland’s total area lies
north of the Arctic Circle. Finland’s neighbors are
Sweden, Norway, and Russia. It is the eighth largest
country in Europe in terms of area and the most
sparsely populated country in the European Union,
with a population of 5.3 million.
Map of Finland
A Short History of Lappeenranta
Lappeenranta sits on the southern shore of Lake
Saimaa in South-Eastern Finland, only 30 km from
the Russian border. The region is called South
Karelia. Lappeenranta has 70,300 inhabitants.
Following the retreating continental ice sheet
of the last Ice Age, hunters and fishermen began
moving up from the Ukraine region through
Northern Europe and into the lands around today’s
Lappeenranta. The first settlements here were in
the 8th millennium BC making them among the
first in what is Finland today. By the 4th millennium
BC, ceramics were being made. By the 2nd millen-
nium, the inhabitants were familiar with agriculture
and from around 500 BC, they had become familiar
with working metal.
By the 1200’s, the inhabitants found themselves
sitting between the powerful empires of Sweden
to the west and Russia to the east. Sweden estab-
lished its rule over the whole of what was to
become Finland in 1249. Still under Swedish rule
in the early 1600’s, a thriving Karelian trade center
grew on the spot where the fortress now stands.
With a population of about 200, the Finns knew it
as Lapvesi. Because of its importance as a trading
hub and center of tar production, the governor of
the region established the town Villmanstrand here
in 1649. Swedish Queen Christina signed the city
charter. Finns referred to the town as Lapvedenranta
(the shore of Lapvesi). Over time, the name became
Lappeenranta.
Along with the city
charter, the Swedish
queen also approved
the new coat of arms for
the town, which is the
symbol of the city to this
day. The coat of arms
depicts a bearded man
Lappeenranta, Finland
7
Did you know...
that Finland has been a Sovereign
Parliamentary Republic since 1917? The
president is elected every six years. There
are 200 elected members of Parliament that
serve four-year terms. The Finnish govern-
ment includes a multiparty coalition Cabi-
net of Ministers. Currently, the president
of Finland is Tarja Halonen and the Prime
Minister is Matti Vanhanen.
with a club, which seems to fit with the Swedish
name Villmanstrand (Wildman Coast). Some
believe the “wildman” reference reflects disdain for
the “primitive” locals. However, the director of the
Lappeenranta Museum has explained that Queen
Christina had been reading classical tales of Rome
and Greece, and the figure actually represents a
Hercules-like hero.
At the beginning of the 1700’s, war broke out
between Sweden and Russia, and Lappeenranta’s
status as an important trade center changed.
Instead, the marketplace area became a Swedish
border fortress. The war did not go well for Sweden,
and in 1721, they had to cede a large piece of land
to Russia near today’s St. Petersburg. By 1730, the
Lappeenranta fortress was complete and populat-
ed with around 500 residents and soldiers. Eleven
years later in 1741, a Russian mercenary army
attacked, and the fortress fell. By 1743, Lappeen-
ranta was under Russian rule but still a border point
between the Russian and Swedish empires. The
land given up by Sweden in 1721 and this new
land around Lappeenranta has been called “Old
Finland”. This was during the reign of Catherine the
Great.
Sweden and Russian fought the so-called “Finnish
War” in 1808 and 1809. The larger and more experi-
enced Russian army succeeded in taking over the
Swedish lands east of the Gulf of Bothnia, and the
autonomous Grand Duchy of Finland became
a part of the Russian empire. Initially, the new
Grand Duchy and the “Old Finland” lands remained
separate. They were reunited in 1811, ushering in
more than a hundred years of peace for Lappeen-
ranta and its people.
For many years after, Lappeenranta enjoyed
popularity as a spa area. With the development of
railways (1894) and industry, the town began to
grow from a town into a city. The building of the
Saimaa Canal in 1856 gave it increasing importance
as a trading port.
Finland declared its independence from Russia on
the last day of 1917 following the Russian Revolu-
tion and the fall of the Russian Empire. The City of
Lappeenranta became an important contributor to
the new country’s continuing development.
Lappeenranta fortress
Did you know...
that along with Iceland, Finland is the most
northern country in the world? A quarter of
Finland’s territory lies north of the Arctic Cir-
cle and at the country’s northernmost point,
the sun does not set for 73 days during sum-
mer. In contrast, polar night comes in winter,
and the sun stays below the horizon all day
for an equal number of days.
IMSD 2010May 25–27
8
Following the war, Finland entered a period of
rapid industrialization and economic development.
Lappeenranta benefited from this growth, becom-
ing an important trade and industrial center. In
the 1960s, the Saimaa canal was overhauled and
widened. Today, it sees a lot of use by vessels carry-
ing Russian timber to Lappeenranta’s giant pulp
and paper mills. The area also produces industrial
products, lumber, food products, and limestone
products such as cement.
Lappeenranta is a popular tourist destination today.
Beginning in the 1990’s, retail trade with Russians
grew to be very important to the local economy.
Many shoppers come to Lappeenranta from St.
Petersburg to buy such things as hardware, tires,
clothing, and food products. The city of Lappeen-
ranta is the economic and cultural center of South-
East Finland.
In 1939, a long period of peace ended for Lappeen-
ranta and the region due to the eruption of the
Winter and Continuation wars with the Soviet
Union. During this time, a large piece of the Kareli-
an region was lost, and the Soviet border moved
quite a bit closer to Lappeenranta.
Lappeenranta harbour
Did you know...
that beginning July 2010, every person
in Finland will have a legislated right to a
one-megabit broadband internet connec-
tion? By the end of 2015, the bandwidth
will be extended to an impressive 100 Mb.
Lappeenranta, Finland
9
The Lappeenranta University of Technology (LUT)
sits on the shores of Lake Saimaa, about 7 kilome-
ters from the Lappeenranta city center. Established
in 1969, the University focused on the engineering
disciplines for its first 22 years. In 1991, economics
became a new curriculum with the establishment
of the Department of Business Administration.
Nowadays, LUT specializes in industrial technology
(especially forest and energy), information techno-
logy, and economics, cooperating closely with the
business sector.
There are about 900 staff and faculty members
and 5500 students at LUT. The University has three
faculties and units as follows.
Faculty of Technology
LUT Energy •
LUT Chemistry •
LUT Mechanical •
Technomathematics and Technical Physics •
Faculty of Technology Management
Industrial Management •
Information Technology •
School of Business
Lappeenranta University of Technology
Did you know...
that forests (mainly pine and spruce) cover
68% of the ground area of Finland? Private
persons - ordinary Finnish citizens - own
52% of all forest land. The number of indi-
vidual private forest owners is estimated at
920,000. That means that almost every fifth
Finn is a forest owner.
IMSD 2010May 25–27
10
Transportation
For your convenience, a free shuttle service will
operate between downtown and the University.
A shuttle bus will depart for the conference in the
morning and another will return to the city center
in the evening. The morning bus will leave at the
following times from the following hotels.
The evening shuttle bus will leave for the city
center at 17.00.
There are city bus connections to and from the
university from the downtown area. Most of the
bus drivers do not speak English, and you will need
exact change or close to it. The one-way bus fare
will be about 3€. Buses leave from downtown to
the university every 15 minutes.
City bus stops are identified by a yellow rectangular
sign with a picture of a bus. Buses 1 and 5 all travel
back and forth between downtown (keskusta) and
the university (yliopisto). The best place to catch the
bus from downtown is the Town Centre Bus Stop
(see map on page 11). The University is the last stop
and hard to miss.
To get around town, you can find excellent taxi
service. A taxi from downtown to the university
costs about €15. There are taxi ranks in front of the
main post office, at the railway station, and in the
market place. The telephone number to reserve a
taxi is 0200 60 400.
Useful Information
8.25 Spa Hotel
8.30 Hotel Patria
8.30 Hotel Cumulus
8.30 Sokos Hotel Lappee
8.35 Finnhostel Huhtiniemi
Useful Addresses & Phone Numbers
Emergency number 112 - In case of an emergen-
cy call 112. This number will connect you to
the police, ambulance, or fire department. The
emergency number does not require an area code,
and the phone call is free.
Police - The police station is located downtown
at Villimiehenkatu 2. There is also a lost property
office (löytötavaratoimisto), which is open from
Monday to Friday at 9.00–12.00 and 13.00–16.15.
Lappeenranta, Finland
11
ALKO Liquor StoreIsoKristiina . . . . . . . .Kaivokatu 9
Prisma . . . . . . . . . . . .Puhakankatu 9-11
Euromarket . . . . . .Kaakkoiskaari 22
CafésCafe G Bar . . . . . . . .Kareltek Building G
Café Kristiina . . . . .Kaivokatu 9 (IsoKristiina)
Arnold’s Donuts . .Kaivokatu 9 (IsoKristiina)
Cafe Weera . . . . . . .Kauppakatu 41
Coffee House. . . . .Kauppakatu 29
Majurska . . . . . . . . .Kristiinankatu 1 (fortress)
CinemaKino-Aula . . . . . . . .Valtakatu 39
Nuijamies . . . . . . . .Valtakatu 39
www.nuijamies.com
Night ClubsDiva . . . . . . . . . . . . . .Snellmaninkatu 10
Giggling Marlin . . .Oksasenkatu 2
Golden Apple . . . .Valtakatu 34
Wiltsu . . . . . . . . . . . .Kauppakatu 39
PharmaciesIsoKristiina . . . . . . . .Kaivokatu 9
Prisma . . . . . . . . . . . .Puhakankatu 9-11
Yliopiston
apteekki . . . . . . . . . .Kauppakatu 23
PubsBirra . . . . . . . . . . . . . .Kauppakatu 27
Green Apple . . . . .Valtakatu 34
Hemingway’s. . . . .Valtakatu 31
Iltatähti . . . . . . . . . . .Ostosraitti, Skinnarila
Irish Pub Old Park Valtakatu 36
Lucky Monkeys . . .Valtakatu 42
Old Cock . . . . . . . . .Valtakatu 54
RestaurantsCasanova . . . . . . . . .Brahenkatu 1
Huviretki . . . . . . . . .Valtakatu 31
Olé . . . . . . . . . . . . . . .Raatimiehenkatu 18
Rosso . . . . . . . . . . . .Kauppakatu 29
Tassos . . . . . . . . . . .Valtakatu 33
Torilla. . . . . . . . . . . . .Kauppakatu 21
Wolkoff . . . . . . . . . . .Kauppakatu 26
SupermarketsS-Market . . . . . . . . .Orioninkatu 2
K-Supermarket . . .Korpikunnaankatu 1
K-Supermarket . . .Sammonkatu 5
Anttila . . . . . . . . . . . .Kaivokatu 9
Citymarket . . . . . . .Toikansuontie 4
Euromarket . . . . . .Puhakankatu 1
Euromarket . . . . . .Kaakkoiskaari 22
Prisma . . . . . . . . . . . .Puhakankatu 9-11
Tourist InformationKauppakatu 40 D . . . . . . (+358 5 667 788)
www.gosaimaa.fi/en
TransportationTaxi service . . . . . . . . . . . . . (+358 200 60 400)
Lappeenranta airport . . (+358 5 680 6370)
www.flylappeenranta.fi
Central bus station . . . . . (+358 200 4053)
www.matkahuolto.fi
Railway station . . . . . . . . . (+358 307 20902)
www.vr.fi
Karelia Lines . . . . . . . . . . . . (+358 5 453 0380)
www.karelialines.fi
Travel AgenciesKilroy Travels . . . . . . . . . . . (+358 203 545769)
www.kilroy.fi
Matka-Miettinen
Saimaa Tours . . . . . . . . . . . (+358 5 453 0110)
Matkapojat . . . . . . . . . . . . . (+358 10 2323 890)
Matka-Vekka . . . . . . . . . . . (+358 20 1204 330)
Pohjolan Matka . . . . . . . . (+358 201 303 500)
www.pohjolanmatka.fi
Saimaan Liikenne . . . . . . (+358 20 141 5700)
Saimaan MatkaVerkko . . (+3585 541 0100)
Suomen Matkatoimisto (+358 600 97215)
www.smt.fi
RestaurantLappeenrannan
Kasino
OldTown Hall
Boat CruiseStarting Point Lappeenranta
HarbourFortress
Koulukatu
Valtakatu
Valtakatu
Valtakatu
ValtakatuKauppakatu
Kauppakatu
Samm
onkatu
Oksasenkatu
Toikankatu
Valtakatu
Koulukatu Oikokatu
Maaherrankatu
Maaherrankatu
Raastuvankatu
Raastuvankatu
Aino
nkat
u
Kim
pise
nkat
u
Koulukatu
Urh
eilu
katu
Raatimiehenkatu
Raatimiehenkatu
KoulukatuRaastuvankatu
Yhdyskatu
Snelmanninkatu
Kauppakatu
Sata
mat
ie
Pormestarinkatu
Brahenkatu
Lappeenkatu
Lapp
eenk
atu
Villimiehenkatu
Kirkkokatu
Kaivokatu
Pohjolankatu
KoulukatuKirkkokatu
Kipparinkatu
Kauppakatu
Kristiinankatu
Ainonkatu
Torikatu
Movie theaterNuijamies
Lappee Maria
Church
ScandicPatria
Sokos Hotel Lappee
HotelKylpylä
Shopping
Mall
IsoKristiina
3281
3281
408 387
387
408
3281
Did you know...
that the Finnish language lacks grammatical
gender? In Finnish, one pronoun (hän) is
used for both he and she. Also, there’s no
future tense in the Finnish language. The
present tense is used instead.
IMSD 2010May 25–27
12
Common Expressions in Finnish
Finnish pronunciation is easy since each letter in
the word is pronounced, and there is only one way
of pronouncing each letter. When speaking Finnish
you must remember always to stress the first sylla-
ble. Since every letter is pronounced, a double
letter is twice as long.
Vowel Pronunciation:
a … as in car
e … as in telephone
i … as in see
o … as in law
u … as in pool
y … like the French sur
ä … as in hat
ö … as in fur
Common Expressions
Finland . . . . . . . . . . . . . . . . . . . . Suomi
Finnish, a Finn . . . . . . . . . . . . suomalainen
Finnish (language) . . . . . . . . suomi
Hello, hi . . . . . . . . . . . . . . . . . . . Hei, moi, terve
Thank you . . . . . . . . . . . . . . . . Kiitos
Yes . . . . . . . . . . . . . . . . . . . . . . . . Kyllä
No . . . . . . . . . . . . . . . . . . . . . . . . Ei
Excuse me, sorry . . . . . . . . . . Anteeksi
I’m sorry . . . . . . . . . . . . . . . . . . . Olen pahoillani.
I don’t understand . . . . . . . . . En ymmärrä.
I don’t speak Finnish . . . . . . . En puhu suomea.
Do you speak English . . . . . Puhutko englantia?
How are you . . . . . . . . . . . . . . Mitä kuuluu?
Fine, thank you . . . . . . . . . . . . Kiitos hyvää
Here you are . . . . . . . . . . . . . . Ole hyvä
Goodbye . . . . . . . . . . . . . . . . . . Näkemiin
See you later . . . . . . . . . . . . . . Nähdään
Wow! What a great conference . . . . . . . . Onpa hyvä konferenssi.
Practical Matters
Finnish time is 2 hours ahead of Greenwich Mean
Time (GMT+2).
Supermarkets are usually open 7.00–21.00 on
weekdays and 9.00–18.00 on Saturdays. Some
supermarkets are open on Sunday.
Prices All prices in Finland contain value-added tax
(VAT). Tips are customary only for hotel and restau-
rant door attendants and porters. Restaurant and
hotel bills always include a service charge. Barbers,
hairdressers, and taxi drivers do not expect tips.
Banking hours in Finland are 10.00–16.30 on
weekdays. The most common forms of payment,
in addition to cash, are either bank or credit cards.
Checks are not used.
There are a few post offices in Lappeenranta. The
main post office in the downtown area is open
on weekdays 9.00–16.00 and on Saturdays 10.00–
14.00. Stamps are available from the University
bookstore and most supermarkets. Mailboxes are
orange and bear the label “posti”.
The tap water in Finland is safe to drink.
Alko is a nationwide network of liquor stores with
a virtual monopoly to sell alcohol. Alko stores are
open from Monday to Friday 9.00–20.00 and on
Saturdays 9.00–18.00. The grocery stores sell beer
and cider (maximum strength 4.7%).
The voltage in Finland is 220 V (230 V), 50 Hz. Round
“European” two-pin plugs and sockets are used.
The pharmacies (apteekki) sell medicines. Many
pharmacies have extended hours, e.g. Yliopiston
apteekki (Kauppakatu 23) is open from 8.00–23.00.
Catering. Coffee breaks will take place between
9.40-10.00 and 15.30-15.50 in the Exhibition Area.
Lunches are served between 12.00-13.20 in the
University Cafeteria. Please note the lunch is served
buffet style.
Wireless internet is available for conference
attendees. Personal account and password infor-
mation can be found from your conference bag.
Did you know...
that Finns really love coffee? The popula-
tion of Finland consumes more coffee
per person than anywhere else in the
world. Their 12 kg of coffee consumption
per capita is 20% more than the next most
coffee loving folk, the Norwegians.
Lappeenranta, Finland
13
1km
Social Program
Lake Saimaa and Sauna
A cruise of the Lake Saimaa archipelago and the
Saimaa Canal starts at the harbor at 18.30 on
Tuesday the 25th.
A traditional Finnish sauna evening will take place
at the University sauna on the shore of the Saimaa
on Thursday the 27th in the evening.
Registration and Opening Ceremonies
The conference registration and opening ceremo-
nies will be on Monday the 24th afternoon from
16.00–19.00 in the old Lappeenranta Town Hall
(Raastuvankatu 7).
The oldest wooden town hall in Finland, the old
Lappeenranta Town Hall was built in 1829. Tradi-
tionally, it was the place for the municipal court
and administration to convene. However, its use as
a civic meeting place ended when the city's admin-
istration moved to a new city hall in 1983. Because
of its importance to the cityscape, the Lappeen-
ranta City Council decided in 1991 to turn the old
Town Hall into a showcase space used for only the
most important occasions.
The opening ceremonies will begin at 18.00, and
Ilkka Pöyhönen, the Rector of the Lappeenranta
University of Technology, will officially open the
conference proceedings.
Old Town Hall
Boat Cruiser Starting point
University Sauna
The Kasino Restaurant
For an interactive online version of this map,
follow this url: http://bit.ly/b4wpRG
IMSD 2010May 25–27
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Boat Cruise
A cruise of the Lake Saimaa archipelago and the
Saimaa Canal will be offered on Tuesday the 25th
beginning at 18.30. The cruise will take 2 hours and
allow you to enjoy the natural beauty of the archi-
pelago and experience the fun of passing through
two of the eight locks of the Saimaa Canal. The
Saimaa Canal, approximately 43 km long, connects
Lake Saimaa with the Gulf of Finland. A little over
half of the canal runs through Finland before
it passes into Russia and ends in the Gulf near
Vyborg. The elevation difference between the Gulf
of Finland and Lake Saimaa is about 76 m. The first
lock, in Mälkiä, has the highest lift of all the locks on
the canal, up to 12.4 m.
Conference Dinner
The restaurant Lappeenrannan Kasino will host
the conference banquet on Wednesday evening
from 19.00 to 22.30. Restaurant Kasino, located in
the Lappeenranta harbour, is nearly 100 years old
and offers a magnificent historic environment filled
with the spirit of the past. Its two-story wooden
construction represents the typical Finnish archi-
tectural style of the time. The interior is spacious,
yet cozy.
Did you know...
that Timo Kaukonen, the world record
holder and champion of the Sauna World
Championships held each year in Heinola,
Finland stayed in the sauna for 16 minutes
15 seconds? Keep in mind, the starting
temperature of the sauna in the Champion-
ships is 110°C and this heat is increased
every 30 seconds. Do not try this at home.
Lappeenranta, Finland
15
Sauna Evening
On Thursday evening, you will have an opportu-
nity to try a traditional Finnish sauna. The University
saunas and the nearby Skinnarilan Hovi event hall
will be available for your use starting at 17.00. The
saunas will close at 22.00.
There are 4 saunas, each with a capacity of about 5.
At any one time, the total sauna capacity is about
20. One of the saunas is reserved strictly for female
participants. From time-to-time throughout the
evening, you can expect a short wait. Remember!
There are beautiful surroundings, a sizable and
comfortable lounge area, and refreshments avail-
able. It is a good opportunity to socialize, network,
and enjoy. The sauna evening is officially scheduled
to begin at 17.00, however there will be a great
deal of flexibility should different timing better fit
your plans.
In a country inhabited by approximately 5 million
people, there are 2 million saunas, 1.2 million of
which are in private homes. The sauna has a long
history, going back at least a thousand years,
probably more. Originally, the sauna was a place to
bathe, but since it was often the only clean facility
with abundant available water, it was also a place
for giving birth and healing the sick. With time, the
sauna became a symbol of Finnish culture and an
important part of the Finnish lifestyle
At first, saunas were heated using a fireplace with
no chimney. The fire heated the stones directly
and the smoke exited the room through a small
hole just below the roof. This type of sauna is often
called a smoke sauna (in Finnish: savusauna).
Did you know...
that the Finnish word, SAUNA, is the unique
Finnish contribution to the world of lan-
guages? Finns tend to enjoy the simpler
things in life. For stress relief, relaxation, and
overall piece of mind, the Finnish sauna
is an essential element of Finnish life. In
Finland, there is one sauna for every three
people, more than in any other country.
IMSD 2010May 25–27
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Because it could be difficult to control the indoor
open fire, the savusauna often burned down.
Modern saunas often use an electrical sauna stove.
This is much safer and more easily controlled.
However, many people prefer the wood sauna
stove as it gives a softer heat and a more traditional
sauna experience. In either case, sauna stones
placed above the heat source are still important
and used to vaporize water thrown onto them,
evenly spreading the heat.
Typically, the sauna is heated to 80-120 degrees
Celsius. The so-called sauna-major (saunamajuri)
throws water onto the hot stones to add water
vapor, intensifying the feeling of heat. If you are
experiencing the sauna for the first time, you
may choose to sit on the lowest bench where the
temperature is lower. Experienced sauna goers
always pick the highest possible place as close to
the stove as possible. The general rules of the sauna
are simple and as follows.
Take a shower before entering the sauna. •
Finns go to the sauna naked, but you may •
use a swimming suit if you wish.
In public saunas, use a towel (if provided) to •
sit on.
Spend a couple of minutes in the sauna, •
until you start to sweat profusely.
After a session in the sauna, cool yourself •
down in the lake, shower, or snow.
Never leave the sauna door open – other-•
wise the heat will escape.
In general, men and women use separate saunas.
However, in a close group of friends or family, a
mixed gender sauna is a typical custom.
Are you planning to sauna with us on Thursday?
Be sure to bring along your bathing suit and
a relaxed attitude. Sauna is a time to relax and
enjoy. Feel free to walk over to the university
sauna directly from the conference. Feel free
to walk over to the University sauna directly
from the conference, there will be directions
along the path. The saunas will be ready
after 16.00. From downtown, you can catch a
shuttle bus to the sauna area.
In order to ensure that everybody has the
opportunity to experience the Finnish sauna,
there will be sauna coupons offered with
specific time frames from 17.00 till 20.00 for
the participants to choose from. The coupons
for the sauna will be available for the partici-
pants to pick up on Wednesday after lunch at
the registration desk. The event will continue
after 20.00, when all the saunas will be open
and free to use for everyone. In case that
a participant has an early evening flight to
catch on Thursday, please mention this to
the organizers, so that they can try to arrange
a special time for you to go to the sauna. For
your convenience, there will be a shuttle bus
running between the sauna location and
the hotels from 17.00-22.30. You should see
a sauna shuttle bus stopping in front of your
hotel about every 45 minutes.
Lappeenranta, Finland
17
Conference Program
Program Overview Detailed Technical Program
IMSD 2010May 25–27
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Program Overview
Tuesday, 25 May 2010
9.00-9.40Integration of Computer Aided Design and Multibody System Analysis
Ahmed Shabana, University of Illinois at ChicagoRoom A
9.40-10.00 Coffee
10.00-12.00FMS 1
Room BDOAV 1Room C
BIO 1Room D
RS 1Room E
T 1Room F
12.00-13.20 Lunch
13.20-14.00Holistic Design of Wind Turbines using Aero-servo-elastic Multibody Models,
Carlo Bottasso, Politecnico di Milano Room A
14.10-15.30FMS 2
Room BDOAV 2Room C
BIO 2Room D
RS 2Room E
OSA 1Room F
15.30-15.50 Coffee
15.50-16.50FMS 3
Room BDOAV 3Room C
EMRA 1Room D
RS 3Room E
OSA 2Room F
18.30-20.30 Boat cruise in the archipelago of Lake Saimaa
Wednesday, 26 May 2010
9.00-9.40
The Big EXPO 2010 World ExhibitionPendulum - Dynamics and Control,
Peter Eberhard, University of StuttgartRoom A
9.40-10.00 Coffee
10.00-12.00FMS 4
Room BDOAV 4Room C
CIP 1Room D
CM 1Room E
DMRS 1Room F
AICS 1 Room G
12.00-13.20 Lunch
13.20-14.00
Multibody Methods for the Adaptive Modeling andSimulation of Large Molecular Systems
Kurt Anderson, Rensselaer Polytechnic InstituteRoom A
14.10-15.30FMS 5
Room BDOAV 5Room C
BIO 3Room D
RS 4Room E
EMRA 2Room F
15.30-15.50 Coffee
15.50-16.50FMS 6
Room BCIP 2
Room CBIO 4
Room DOSA 3
Room EENV 1
Room F
18.30-20.30 Conference dinner
Lappeenranta, Finland
19
AICS Algorithms, Integration Codes and Software
BIO Biomechanics
CIP Contact and Impact Problems
CM Control and Mechatronics
DOAV Dynamics of All Vehicles
DMRS Dynamics of Machines and Rotating Structures
EMRA Efficient Methods and Real-Time Applications
ENV Experiments and Numerical Verifications
FMS Flexible Multibody Systems
MA Multidisciplinary Approaches
OSA Optimization and Sensitivity Analysis
OT Other Topics
RS Robotic Systems
T Theoretical and Computational Methods
Thursday, 27 May 2010
9.00-9.40 (Multibody) Systems Theory, from Cars to Humans
John McPhee, University of WaterlooRoom A
9.40-10.00 Coffee
10.00-12.00OT
Room BT 2
Room CAICS 2
Room DCM 2
Room EDMRS 2Room F
12.00-13.20 Lunch
13.20-14.00Multibody Dynamics Studies in Asia and Damping Models for Flexible Systems
Nobuyuki Shimizu, Iwaki Meisei UniversityRoom A
14.10-15.30FMS 7
Room BDOAV 6Room C
ENV 2Room D
CM 3Room E
CIP 3Room F
15.30-15.50 Coffee
15.50-16.50FMS 8
Room BCIP 4
Room CENV 3
Room DMA
Room EEMRA 3Room F
Sauna
IMSD 2010May 25–27
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Tuesday, 25 May 2010
Integration of Computer Aided Design and Multibody System AnalysisAhmed Shabana, University of Illinois at ChicagoSession chair: Werner Schiehlen, University of Stuttgart
Room A 9.00-9.40
Coffee 9.40-10.00
Flexible Multibody Systems (1 of 8) Room B 10.00-12.00
Session chairs Ahmed Shabana, University of Illinois at Chicago Arend Schwab, Delft University of Technolgy
Modelling of Beams Made of Anisotropic MaterialsJaap Meijaard
An Implicit Non-Linear Finite Element Solver Used for Advanced Multibody SimulationsFrédéric Cugnon, Julian Santiago Prowald
Parallel Computation Approaches for Flexible Multibody Dynamics SimulationsOlivier Bauchau
Numerical Approach in the Analysis of Flexible Body Motion with Time-Varying Length and Large Displacement Using Multiple Time ScalesYoshiaki Terumichi, Stefan Kaczmarczyk, Kiyoshi Sogabe
Comparison of Modal Reduction Methods for the Simulation of Continuum MultibodiesDmitry Vlasenko, Roland Kasper
Modelling Coupled Hydraulic-Driven Multibody Systems Using Finite Element MethodPetri Pertola, Jari Mäkinen, Heikki Marjamäki
Dynamics of All Vehicles (1 of 6) Room C 10.00-12.00
Session chairs Jorge Ambrósio, Instituto Superior TécnicoHiroyuki Sugiyama, Tokyo University of Science
Analysis of the Critical Speed of Rail Vehicles in a Variety of ConfigurationsMichelangelo Bozzone, Ettore Pennestrì, Pietro Salvini
A Basic Study on Semi-Active Steering Bogie by Using MR Damper in Subway VehicleYujeong Shin, Wonhee You, Joonhyuk Park, Hyunmoo Hur
Wheel/Rail Contact Dynamics of Turnout Negotiations in the Analysis of Multibody Railroad Vehicle SystemsHiroyuki Sugiyama, Ryosuke Matsumura, Shunpei Yamashita, Yoshihiro Suda
Computation of Common Normal Between Wheel and Rail SurfaceBehrooz Fallahi, Sunil Ballamudi
Simulation of Semi-Active Suspension System for Railway Applications: a Modular ApproachAndrea Rindi, Luca Pugi, Fabio Bartolini, Francesco Cangioli
Railway Vehicle and Bridge Interaction: Some Approaches and ApplicationsGennady Mikheev, Ekaterina Krugovova, Roman Kovalev
Detailed Technical Program
Lappeenranta, Finland
21
Biomechanics (1 of 4) Room D 10.00-12.00
Session chairs Miguel Silva, Instituto Superior TécnicoAki Mikkola, Lappeenranta University of Technology
Mechanical Investigations of Human HearingAlbrecht Eiber, Michael Lauxmann
Structure Preserving Optimal Control Simulation of Index Finger DynamicsRamona Maas, Sigrid Leyendecker
Using Wobbling Masses and Optimization to Compensate for Residuals in Highly Dynamic MovementsChristian Simonidis, Wolfgang Seemann
Simulation of Human Walking with One-Sided Gait DissordersDaniel García-Vallejo, Werner Schiehlen
Comparison of Impulsive and Compliant Contact Models for Impact Analysis in Biomechanical Multibody SystemsJosep Font-Llagunes, József Kövecses, Rosa Pàmies-Vilà, Ana Barjau
Influence of the Contact Model on the Dynamic Response of the Human Knee JointMargarida Machado, Paulo Flores, Jorge Ambrósio, Miguel Silva, António Completo
Robotic Systems (1 of 4) Room E 10.00-12.00
Session chairs Viktor Berbyuk, Chalmers University of Technology Heinz Ulbrich, Technical University of Munich
Dynamic Estimation of Applied Forces on Parallel Mechanism with Inverse Multibody DynamicsTaichi Shiiba, Shoichi Sasaki, Naoki Takahashi
Inverse Dynamic Control of Last-Link Flexible Robots Using Multibody System ApproachAyman Nada, Said Megahed
Inverse Dynamics of Legged Robots with Multiple Degrees-of-Freedom Joints Using the DeNOC MatricesSuril Shah, Subir Saha, Jayanta Kumar Dutt
Base Parameters of Robotic Models with Kinetic FrictionXabier Iriarte, Javier Ros
Drive Train Design Optimization of a 5-DOF Light-Weight Robotic ArmLelai Zhou, Michael R. Hansen, Shaoping Bai
The Method of the Stabilization of Control Motion of the Walking Machines by Modification of Program MotionAlexander Gorobtsov
IMSD 2010May 25–27
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Theoretical and Computational Methods (1 of 2) Room F 10.00-12.00
Session chairs Kurt Anderson, Rensselaer Polytechnic InstituteWojciech Blajer, Technical University of Radom
Graph Theoretic Structure of Multibody System Spatial OperatorsAbhinandan Jain
Quaternion-Based Non-Linear Dynamics of Spatial Beams Using the Runge-Kutta MethodEva Zupan, Miran Saje, Dejan Zupan
Application of Finite Strip and Rigid Finite Element Methods to Modeling of Vibrations of Collecting ElectrodesIwona Adamiec-Wójcik, Stanisław Wojciech
On Adaptive Multiscale Modeling of Biomolecular Systems with the Application in RNAKurt Anderson, Mohammad Poursina, Kishor D. Bhalerao
Concurrent Simulation of Large-Scale Multibody Systems Using MPIAlexander Gorobtsov, Victor Getmaskiy, Efim Sergeev, Andrey Andreev
Dynamic Behavior of Polymeric Thermo-Visco-Elastic Bar Described By Fractional Calculus Constitutive LawWei Zhang, H.C. Huang, N. Shimizu
Lunch 12.00-13.20
Holistic Design of Wind Turbines using Aero-servo-elastic Multibody Models Carlo Bottasso, Politecnico di Milano Session chair: Olivier Bauchau, Georgia Institute of Technology
Room A 13.20-14.00
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 DynamicsJorge Ambrósio, Maria Augusta Neto
Dynamic Simulation of Flexible Multibody System with Electric-Hydraulic Drive SystemEtsujiro Imanishi, Takao Nanjo
A Non-Incremental Finite Element Formulation of Large Deformation Piezoceramic-Laminated-PlatesAyman Nada, Ahmed El-Assal
Real Time Structural Response Simulation for Dynamic Fatigue Life Estimation of Construction EquipmentsHee-Jong Lee, Seong-Yong Kim, Ju-Ho Kwak, Byung-Joo Kim
Tuesday, 25 May 2010
Lappeenranta, Finland
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Dynamics of All Vehicles (2 of 6) Room C 14.10-15.30
Session chairs Jorge Ambrósio, Instituto Superior TécnicoHiroyuki Sugiyama, Tokyo University of Science
Numerical Simulation of Railway Vehicle DerailmentsVladislav Yazykov, Dmitry Pogorelov, Vitaly Simonov, Gennady Mikheev, Roman Kovalev, Dmitry Agapov, Nikolay Lysikov
Optimization of Front Axle Suspension System of Articulated Dump TruckThomas Langer, Brian Christensen, Ole Mouritsen, Michael Hansen
Multibody Modeling of a Derailed Vehicle with the Post Derailment Stopper Based on Full-Scale Running TestsHironobu Sunami, Yoshiaki Terumichi, Tsutomu Morimura, Masahito Adachi
Analysis of the Wheel/Roller Contact Problems in the Design of a Scaled Roller Rig for the Simulation of Degraded Adhesion ConditionsFabio Bartolini, Enrico Meli, Luca Pugi, Mirko Ignesti, Monica Malvezzi
Biomechanics (2 of 4) Room D 14.10-15.30
Session chairs Miguel Silva, Instituto Superior TécnicoAki Mikkola, Lappeenranta University of Technology
Articular Contact Detection of the Coupled Tibio-Femoral and Patello-Femoral Joints Modeled as a Multibody System with Superquadric SurfacesDaniel Simões Lopes, Miguel Silva, Jorge Ambrósio, Richard Neptune
Sensitivity Analysis of the Parameters Used to Calculate the Interface Forces Between Lower Limb and OrthosisPaula Silva, Miguel Silva, Jorge Martins
Influence of Input Data Errors on the Inverse Dynamics Analysis of Human LocomotionRosa Pàmies-Vilà, Josep Font-Llagunes, Javier Cuadrado, Javier Alonso
Development and Validation of a Coupled Multibody - Finite Elements Model for the Analysis of the Brain Motion During ImpactŞtefan Tabacu, Nicolae Doru Stănescy, Sorin Ilie, Anton Hadăr
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 ParametersJavier Ros, Xabier Iriarte, Vicente Mata
Optimal Control of a Two-Mass System Moving in a Resistive Medium Along a Straight LineNikolai Bolotnik, Felix Chernousko, Tatiana Figurina
Optimal Arm-Swinging in 3D Biped WalkingYannick Aoustin, Alexander Formalskii
A Planar Hybrid Self-Balancing Jumping MechanismArash Fallahnejad, Kambiz Ghaemi Osgouie
Tuesday, 25 May 2010
IMSD 2010May 25–27
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Optimization and Sensitivity Analysis (1 of 3) Room F 14.10-15.30
Session chairs Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège
Modeling a Coriolis Mass Flow Meter for Shape OptimizationWouter Hakvoort, Jaap Meijaard, Ronald Aarts, Ben Jonker, Rini Zwikker
Optimal Control Methods for the Computation of Excitation Signals in Multibody SystemsStefan Reichl, Wolfgang Steiner, Michael Steinbatz
Parameter Sensitivity Analysis: Symbolic Computation for Large Multibody SystemsAntoine Poncelet, Jean-François Collard, Paul Fisette
Coffee 15.30-15.50
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 MethodRosario Chamorro, José Escalona, Antonio Recuero
Intrinsic Flexible JointsOlivier Bauchau, Leihong Li, Pierangelo Masarati, Marco Morandini
A New Flexible Point Curve Joint for the Dynamic Simulation of Flexible Multibody SystemsTariq Sinokrot, John Laughlin, William Prescott
Dynamics of All Vehicles (3 of 6) Room C 15.50-16.50
Session chairs Taichi Shiiba, Meiji UniversityDmitry Pogorelov, Bryansk State Technical University
Simulation of Tracked Vehicle Dynamics with Universal Mechanism SoftwareDmitry Pogorelov
Modelization by Superelements with Contact Management in Explicit Car Crash SimulationsKamila Flidrova, David Lenoir, Nicolas Vasseur, Louis Jézéquel
Nonlinear Quarter Car Models Running on Random Roads with Bounded RealizationsWalter Wedig
Efficient Methods and Real-Time Applications (1 of 3) Room D 15.50-16.50
Session chairs Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University
Real-Time Simulation of Multibody-Systems for On-Board ApplicationsLilli Engelhardt, Michael Burger, Gerd Bitsch
Parallel Index-3 Formulation for Real-Time Multibody Dynamics SimulationsPaweł Malczyk, Janusz Frączek, Javier Cuadrado
Natural Coordinates MBS for HIL SimulationPaolo Righettini, Alberto Oldani
Tuesday, 25 May 2010
Lappeenranta, Finland
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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 ActuationDaniela Förg, Martin Förg, Heinz Ulbrich
Gravity Compensation for Phantom Omni Haptic InterfaceMajid Koul, Praneeth Kumar, Praveen Singh, M Manivannan, Subir Saha
Effects of Gimbal Drives on Optimal Path of Robotic ArmsFoad Mohammadi, Iman Hemmatian, Kambiz Ghaemi Osgouie
Optimization and Sensitivity Analysis (2 of 3) Room F 15.50-16.50
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 ModelBum Suk Kim, Chan Kyu Choi, Hong Hee Yoo
Hybrid Sensitivity Analysis and Parametric Studies of Multibody SystemsSaeed Ebrahimi, Arash Haghi
Sensitivity Analysis of Flexible Slider-Crank Mechanism Using Absolute Nodal Coordinate FormulationTing Pi, Yunqing Zhang, Liping Chen
Boat cruise in the archipelago of Lake Saimaa 18.30-20.30
Tuesday, 25 May 2010
IMSD 2010May 25–27
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Wednesday, 26 May 2010
The Big EXPO 2010 World ExhibitionPendulum - Dynamics and ControlPeter Eberhard, University of StuttgartSession chair: Jorge Ambrósio, Instituto Superior Técnico
Room A 9.00-9.40
Coffee 9.40-10.00
Flexible Multibody Systems (4 of 8) Room B 10.00-12.00
Session chairs Jaap Meijaard, University of TwenteYoshiaki Terumichi, Sophia University
Multibody Modelling and Optimization of a Curved Hinge FlexureSteven Boer, Ronald Aarts, Dannis Brouwer, Ben Jonker
Optimized Implementation of Flexibility in Wind Turbine Gearbox Multibody Model in View of Model Updating on Dynamic Test-RigJan Helsen, Frederik Vanhollebeke, Dirk Vandepitte, Wim Desmet
Motion and Control of Tether Space Mobility DeviceShoichiro Takehara, Yuichi Kondo, Yoshiaki Terumichi, Takuya Yoshimura
Modal Synthesis of a Scanning Tunneling Microscope for Active Vibration Control Using an Orthogonal Projection Approach to Multibody DynamicsJun Lu, Peter Eberhard
Design of a Spool Using Unwinding Dynamics of Optical FibersJae-Wook Lee, Kun-Woo Kim, Hyung-Ryul Kim, Wan-Suk Yoo, Deuk-Man An
Inclusion of the Effect of Geometric Stiffness in the Dynamics Analysis of Plain Flexible MechanismsCleves M. Vaz
Dynamics of All Vehicles (4 of 6) Room C 10.00-12.00
Session chairs Taichi Shiiba, Meiji UniversityDmitry Pogorelov, Bryansk State Technical University
Multibody Dynamics Analysis of Differentials in Vehicle DrivetrainsGeoffrey Virlez, Olivier Brüls, Nicolas Poulet, Pierre Duysinx
Effects of Damper Connecting Two Maglev Vehicles on Dynamic BehaviorKijung Kim, Hyungsuk Han, Bongseup Kim, Sukjo Yang
Design of the Hydraulic Shock Absorbers Characteristics Using Relative Springs Deflections at Asymmetric Excitation of the Bus WheelsPavel Polach, Michal Hajžman
Full Vehicle Simulation for Durability Test of Damper in a Cruise BusJeong-Hyun Sohn, Seong-Jun Park, Jeong-Han Lee, So-Hae Choi, Wan-Suk Yoo
Ride Comfort Analysis for 2-Car and 3-Car Articulated Vehicles by Using Flexible Car Body ModelYeon-Su Kim, Kyeong-Ho Moon, Jai-Kyun Mok, Myeong-Gyu Kim
Investigation and Optimization of Active Suspension in Multibody Car Model.Alexander Gorobtsov, Dmitriy Miroshnichenko, Eugeniy Gromov
Lappeenranta, Finland
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Contact and Impact Problems (1 of 4) Room D 10.00-12.00
Session chairs Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Contact Modeling in Real-Time Simulation of an Underground Wheeled LoaderSami Moisio, Pasi Korkealaakso, Asko Rouvinen
A Biomechanical Multibody Foot Model for Forward Dynamic AnalysisPedro Moreira, Miguel Silva, Paulo Flores
Volumetric Contact Models and Experimental ValidationMichael Boos, John McPhee
Improving the Jumping Performance of a Single Leg Robot Using Directional Dynamic Capability EquationsDaniel Flickinger, Alan Bowling
Tracked Vehicle Simulation on Granular Terrain Leveraging Parallel Computing on GPUsToby Heyn, Hammad Mazhar, Alessandro Tasora, Dan Negrut
Control and Mechatronics (1 of 3) Room E 10.00-12.00
Session chairs Andres Kecskeméthy, University of Duisburg-Essen József Kövecses, McGill University
Sliding-Mode Control for a Delta Parallel Robot Actuated by Pneumatic MusclesDominik Schindele, Harald Aschemann
Gain-Scheduled Tracking Control for High-Speed Rack FeedersHarald Aschemann, Jöran Ritzke
Design and Implementation of an Omnidirectional Platform Stabilizing a 2-DOF Inverted PendulumPaul De Monte, Andreas Ertlmeier, Gerhard Schillhuber, Thomas Thuemmel
Flexible Multibody Modelling for the Mechatronic Design of Compliant MechanismsRonald Aarts, Johannes van Dijk, Ben Jonker
On the Adequation of Dynamic Modelling and Control of Parallel Kinematic ManipulatorsErol Özgür, Nicolas Andreff, Philippe Martinet
Design and Control of a Parallel Robot for Laparoscopic SurgeryNicolae Plitea, Juergen Hesselbach, Calin Vaida, Annika Raatz, Doina Pisla, Bela Gyurka, Bogdan Gherman
IMSD 2010May 25–27
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Dynamics of Machines and Rotating Structures (1 of 2) Room F 10.00-12.00
Session chairs Stephanos Theodossiades, Loughborough University Nobuyuki Shimizu, Iwaki Meisei University
Vibrations of Differential Units in Light TrucksGeorge Koronias, Stephanos Theodossiades, Homer Rahnejat, Tim Saunders
Study of Dynamics of Multi-Degree-of-Freedom Electro-Hydraulic Mix-Drive Motion SimulatorYuefa Zhou, Hongliang Li, Tao Fan, Tianfu Liang
Modelling and Analysis of Dynamics of Electric Motor RotorMichal Hajžman, Miroslav Byrtus, Jakub Šašek, Vladimír Zeman
A Dynamic Model of an Overhung Rotor with Deep-Groove Ball BearingsOnur Cakmak, Kenan Yuce Sanliturk
Dynamics of Flexible Details MillingSergey Voronov, Igor Kiselev
Algorithms, Integration Codes and Software (1 of 2) Room G 10.00-12.00
Session chairs Martin Arnold, Martin-Luther-University Halle-WittenbergOlivier Bauchau, Georgia Institute of Technology
Investigation of Parallelization of Multibody Dynamic SystemsMichael Valášek
A Parallel Co-Simulation for Mechatronic SystemsMarkus Friedrich, Markus Schneider, Heinz Ulbrich
Numerical Stability and Accuracy of Different Co-Simulation Techniques: Analytical Investigations Based on a 2-DOF Test ModelMartin Busch, Bernhard Schweizer
Advances in High Performance Computing for Physical SimulationsAlessandro Tasora, Dan Negrut
Efficient Implementation of 3D Graphics in a MBS FrameworkAlfonso Callejo, Santiago Tapia, Javier García de Jalón
Simulation of Multibody Systems in a Parallel Processing EnvironmentWilliam Prescott
Lunch 12.00-13.20
Multibody Methods for the Adaptive Modelingand Simulation of Large Molecular SystemsKurt Anderson, Rensselaer Polytechnic InstituteSession chair: Javier Cuadrado, University of La Coruna
Room A 13.20-14.00
Wednesday, 26 May 2010
Lappeenranta, Finland
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Flexible Multibody Systems (5 of 8) Room B 14.10-15.30
Session chairs Jaap Meijaard, University of TwenteYoshiaki Terumichi, Sophia University
Concepts for the Simulation of Belt Drives - Industrial and Academic ApproachesRoland Zander, Frank Rettig, Thorsten Schindler
Using a Fully Elastic Gear Model for the Simulation of Gear Contacts in the Framework of a Multibody Simulation ProgramPascal Ziegler, Peter Eberhard
Flexible Slider-Crank Dynamic Analysis by Means of Gauss Principle of Least ActionEttore Pennestrí, Lorenzo Mariti, Matteo Minotti, Nicola Pio Belfiore
Analytic Sensitivity of Dynamics of Anisotropic Flexible Four-Bar Mechanisms to Stacking SequencesHemaraju Pollayi, Dineshkumar Harursampath
Dynamics of All Vehicles (5 of 6) Room C 14.10-15.30
Session chairs Taichi Shiiba, Meiji UniversityDmitry Pogorelov, Bryansk State Technical University
Multibody Aeroservoelastic Simulation of Tiltrotor Predictive ControlMattia Mattaboni, Pierangelo Masarati
Development and Implementation of a Differential Wheel-Rail Contact Model for Multibody ApplicationsSilvia Magheri, Monica Malvezzi, Enrico Meli, Susanna Papini
Mutual Interaction of Parallel Connected Induction Motors in Degraded Adhesion ConditionsBenedetto Allotta, Luca Pugi, Fabio Bartolini
MAV-Scale Cycloidal Rotor Multibody Aeroelastic AnalysisMattia Mattaboni, Moble Benedict, Pierangelo Masarati, Inderjit Chopra
Biomechanics (3 of 4) Room D 14.10-15.30
Session chairs Miguel Silva, Instituto Superior TécnicoAki Mikkola, Lappeenranta University of Technology
A Dynamic Computer Simulation of Tibial Strains and Joint Forces During Knee Flexion and Extension ExerciseAdam Kłodowski, Juha Kulmala, Aki Mikkola, Harri Sievänen, Ari Heinonen
Development of a Control Architecture for a Musculoskeletal Model of a Human Ankle Joint Using Multibody Dynamics and Hill-Type Muscle ActuatorsRita Malcata, Miguel Silva, Jorge Martins, Paulo Melo, João Costa
Validation Procedure of a Multibody Dynamics Model of the Human Lower Leg and Foot for Functional Electrical Stimulation Actuation and ControlPaulo Melo, Miguel Silva, Jorge Martins, Dava Newman
Development of a Biomechanical Multibody Model for the Hardware-in-the-Loop Simulation of Total Hip EndoprosthesesMichael Kähler, Roman Rachholz, Sven Herrmann, János Zierath, Robert Souffrant, Daniel Kluess, Rainer Bader, Christoph Woernle
Wednesday, 26 May 2010
IMSD 2010May 25–27
30
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 ManipulatorsGiovanni Boschetti, Alberto Trevisani
Motion of a Chain of Bodies in a Resistive Medium due to Undulatory Change in the System’s ConfigurationKlaus Zimmermann, Igor Zeidis, Nikolai Bolotnik, Mikhail Pivovarov
A Random Profile Approach to Minimum-Time Motion Planning Problem for Non-Holonomic Wheeled Mobile Robots: Application for the Parking and Articulated SystemsKahoul Lazhar, Hanchi Samir, Zeghloul Said
Kinematic Modeling Improvement and Trajectory Planning of the NAO Biped RobotMaani Ghaffari Jadidi, Ehsan Hashemi, Mohammad Ali Zakeri Harandi, Houman Sadjadian
Efficient Methods and Real-Time Applications (2 of 3) Room F 14.10-15.30
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 SimulationThomas Uchida, John McPhee
Using Implicit Integrators and Automatic Differentiation to Compute Large and Complex MBS in Real-TimeAndrés Hidalgo, Alfonso Callejo, Javier García de Jalón
Approximations in System-level GMP Model Reduction for Real-Time MBSFrank Naets, Gert Heirman, Wim Desmet
Coffee 15.30-15.50
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 MechanismsGiovanni Boschetti, Roberto Caracciolo, Dario Richiedei, Alberto Trevisani
Flexible Multibody Modeling of a Racing Motorcycle Cranktrain: Model Reduction IssuesStefano Ricci, Marco Troncossi, Alessandro Rivola
Three- and Four-Noded Planar Elements Using Absolute Nodal Coordinate FormulationAlexander Olshevskiy, Oleg Dmitrochenko, Changwan Kim
Contact and Impact Problems (2 of 4) Room C 15.50-16.50
Session chairs Peter Eberhard, University of Stuttgart John McPhee, University of Waterloo
Sensitivity and Parametric Analyses of Multibody Systems with Application to Contact DynamicsFarnood Gholami, József Kövecses, Jacob Apkarian
A Unified Approach for Hybrid Complementarity Formulations to Model Intermittent Contact in Multibody SystemsKishor Bhalerao, Cory Crean, Kurt Anderson
Stronge’s Hypothsis-Based Solution to the Collision-with-Friction ProblemShlomo Djerassi
Wednesday, 26 May 2010
Lappeenranta, Finland
31
Biomechanics (4 of 4) Room D 15.50-16.50
Session chairs Miguel Silva, Instituto Superior TécnicoAki Mikkola, Lappeenranta University of Technology
Study of the Influence of the Cost Function in the Force-Shared Problem During a Human Lower Limb MotionJoaquín Ojeda, Juana Mayo, Javier Martínez-Reina
Mapping Spring Forces onto Anthropomorphic LegsMatthew Millard, Eric Kubica, John McPhee
Development of a Hill-Type Muscle Model With Fatigue for the Calculation of the Redundant Muscle Forces Using Multibody DynamicsAndré Pereira, Miguel Silva, Jorge Martins, Mamede Carvalho
Optimization and Sensitivity Analysis (3 of 3) Room E 15.50-16.50
Session chairs Carlo Bottasso, Politecnico di Milano Olivier Brüls, University of Liège
Optimal Control Methods for the Calculation of Invariant Excitation Signals for Multibody SystemsMichael Burger, Michael Speckert, Klaus Dreßler
Trajectory Optimization of Flexible Robots Using an Optimal Control ApproachGuaraci Bastos, Olivier Brüls
Robust Optimal Design of a Micro GripperOzan Tokatli, Volkan Patoglu
Experiments and Numerical Verifications (1 of 3) Room F 15.50-16.50
Session chairs Dan Negrut, University of Wisconsin-MadisonWan-Suk Yoo, Pusan National University
Efficient Sampling Methods for Spatial Uncertainty in Multibody Dynamics ApplicationsKyle Schmitt, Dan Negrut, Mihai Anitescu
dvc3D: a Three Dimensional Physical Simulation Tool for Rigid Bodies with Contacts and Coulomb FrictionBinh Nguyen, Jeff Trinkle
Combined Analytical and Experimental Approaches to Rotor Components Stress PredictionsMaria Chierichetti, Chance McColl, Douglas Palmer, Massimo Ruzzene, Olivier Bauchau
Conference dinner 19.00-22.30
Wednesday, 26 May 2010
IMSD 2010May 25–27
32
Thursday, 27 May 2010
(Multibody) Systems Theory, from Cars to Humans John McPhee, University of Waterloo, CanadaSessions chair: Krzysztof Arczewski, Warsaw University of Technology
Room A 9.00-9.40
Coffee 9.40-10.00
Other Topics (1 of 1) Room B 10.00-12.00
Session chairs Ettore Pennestrì, Università di Roma Tor Vergata Werner Schiehlen, University of Stuttgart
Stability Analysis of Wave-Based Control of Flexible SystemsMichael Valášek, Ondrej Marek
Active Fence - Analysis of Sorting Process DynamicsTomasz Piatkowski
Learning by Errors: Experiences of Teaching Multibody System AnalysisCarlo Galletti, Elena Giannotti
Acoustic Fluid Structure Interaction with Smoothed Particle Hydrodynamics Leveraging Parallel Computing on GPUsPhilipp Hahn, Dan Negrut
Review and Comparison of Solution Strategies for Multibody Dynamics EquationsLorenzo Mariti, Ettore Pennestrí, Pier Paolo Valentini, Nicola Pio Belfiore
Theoretical and Computational Methods (2 of 2) Room C 10.00-12.00
Session chairs Kurt Anderson, Rensselaer Polytechnic InstituteWojciech Blajer, Technical University of Radom
Analytical Formulations in Multibody Dynamics: Some Novel PerspectivesJózsef Kövecses
Higher Order Integration of Non-Smooth Dynamical Systems Using Parallel Computed Extrapolation Methods Based on Time-Stepping SchemesRobert Huber, Heinz Ulbrich
Some Methods for Constraint Violation Stabilization/Elimination in Numerical Simulation of Constrained Multibody Systems: a Comparative StudyWojciech Blajer
A New Method for Mass-Matrix Calculation with Natural CoordinatesKewei Zhang, Yunqing Zhang, Liping Chen
How Mode Veering and Mode Crossing Affects Global Modal Parametrization and Solutions to Overcome these ProblemsGert Heirman, Frank Naets, Wim Desmet
Dynamics of Tetrahedral Constellation of Satellites-GyrostatsAlexander Burov, Anna Guerman, Revaz Sulikashvili
Lappeenranta, Finland
33
Algorithms, Integration Codes and Software (2 of 2) Room D 10.00-12.00
Session chairs Martin Arnold, Martin-Luther-University Halle-WittenbergOlivier Bauchau, Georgia Institute of Technology
Vibrational Analysis of a Multibody Virtual Dummy for Car and Motorcycle UsersNicola Cofelice, Roberto Zanni, Davide Locatelli, Alessandro Toso, David Moreno Giner, Jian Kang, Stijn Donders
Analysing Dynamical Phenomenons: Introduction to MBSimThorsten Schindler, Martin Förg, Markus Friedrich, Markus Schneider, Bastian Esefeld, Robert Huber, Roland Zander, Heinz Ulbrich
Numerical Solution of DAEs in Flexible Multibody Dynamics Using Lie Group Time IntegratorsOlivier Brüls, Alberto Cardona, Martin Arnold
Improved Time Integration of Multibody System Models Using Methods from Singular Perturbation TheoryMartin Arnold, Bernhard Burgermeister, Steffen Weber
On the Use of OOP Method in Flexible Multibody DynamicsJi-won Yoon, Tae-won Park, Sung-pil Jung, Won-sun Chung
Solving Equations of Nonstationary Heat Conduction in Multibody System DynamicsAndrey Andreev, Oleg Shapovalov, Maxim Reznikov, Eugeniy Gromov
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 MechanismsMajid Sheikholeslami, Kamran Ghaffari, József Kövecses, Paul Karam, Christian Lange, Javier Ros
Design of a Flexible Low-Cost Driving SimulatorAlina Capustiac, Benjamin Hesse, Thorsten Brandt, Dieter Schramm, Cornel Brisan
Curving Performance of a Tramcar Vehicle with Bogie Active-Steering SystemAndrea Barbera, Stefano Bruni, Roberto Corradi, Giorgio Diana
Modeling and Control of a Four Wheel Drive Electric VehicleRoland Kasper, Dmitri Vlasenko
Development of a Neural Network-Based Controller for ShipsVladislav Grigoryev, Andreas Rauh, Harald Aschemann, Mathias Paschen
IMSD 2010May 25–27
34
Dynamics of Machines and Rotating Structures (2 of 2) Room F 10.00-12.00
Session chairs Stephanos Theodossiades, Loughborough University Nobuyuki Shimizu, Iwaki Meisei University
Analysis of a New System for Testing Gears Under Variable Torque and Speed Using Multibody DynamicsIoannis Nerantzis, Dimitrios Perperidis, Stephanos Theodossiades, Athanassios Mihailidis
Modeling Approach for Spindle- Self Vibratory Drilling Head Dynamics PredictionFabien Forestier, Vincent Gagnol, Pascal Ray, Henri Paris
Procedure for the Analysis and Evaluation of the Dynamical Performance of Kinematically Redundant Machine ToolsUwe Heisel, Norman Tonn
Elastodynamic Response of Automotive Transmissions to Impact Induced VibrationsMalika Perera, Miguel De la Cruz, Stephanos Theodossiades, Homer Rahnejat, P. Kelly
Comparison of Dynamic Behavior of Drive Train According to Wind and Wave Load for Offshore Wind Power SystemJin-Seok Jang, Jeong-Hyun Sohn
Lunch 12.00-13.20
Multibody Dynamics Studies in Asia and Damping Models for Flexible Systems Nobuyuki Shimizu, Iwaki Meisei University, Japan Sessions chair: Wan-Suk Yoo, Pusan National University
Room A 13.20-14.00
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 MethodTsubasa Wago, Yoshiki Sugawara, Nobuyuki Kobayashi
Integration of Computer Aided Design and Analysis Using the Absolute Nodal Coordinate FormulationPeng Lan, Ahmed Shabana
A Comparison of Co-Rotational and ANCF Thin Plate Finite Elements for the Dynamic Simulation of Flexible Media Transport SystemsGraham Sanborn, Juhwan Choi, Jin Choi
Digital Nomenclature Code (DNC) of Finite Element Kinematics and its Modification (DNCM) for Absolute Nodal CoordinatesOleg Dmitrochenko, Aki Mikkola
Thursday, 27 May 2010
Lappeenranta, Finland
35
Dynamics of All Vehicles (6 of 6) Room C 14.10-15.30
Session chairs Jorge Ambrósio, Instituto Superior TécnicoHiroyuki Sugiyama, Tokyo University of Science
An Elastic Rope Model with Application to Automated People Mover SystemsChristian Nußbaumer, Peter Dietmaier
Steady Turning Analysis of Motorcycles in LMS Virtual.Lab MotionDavid Moreno-Giner, Nicola Cofelice, Alessandro Toso, Jian Kang
Lateral Dynamics of a Bicycle with Passive Rider ModelArend Schwab, Jodi Kooijman
Performance Validation of Motorized Retractor Interacting with Driver ModelMoojin Oh, Sugil Choi, Taeoh Tak
Experiments and Numerical Verifications (2 of 3) Room D 14.10-15.30
Session chairs Dan Negrut, University of Wisconsin-MadisonWan-Suk Yoo, Pusan National University
The Multibody 2D Approach for Agricultural and Forestry Tractors Roll Over Protective Structures DesignEttore Pennestrì, Pier Paolo Valentini, Leonardo Vita, Erika Candido
An Experimentally Verified Model for Time Domain Simulations of Large Scale Material Handeling ChainsSøren Emil Sørensen, Michael Hansen, Morten Ebbesen
Comparison of Simulated and Experimental Grasping Actions in the PlaneLi Zhang, Jeremy Betz, Jeff Trinkle
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 ApproachQiong-zhong Chen, Philippe Jetteur, Olivier Brüls
Two Approaches for Designing Minimum Phase Underactuated Multibody SystemsRobert Seifried
The Efficiency of Closed-Form Solutions for Dynamic Multibody SimulationShuxian, Xia, Francisco Geu Flores, Andrés Kecskeméthy, Alois Pöttker
Synthesis of Program Control Signals for Mechatronic System’s Motion SpeedVladimir Filaretov, Anton Gubankov
Thursday, 27 May 2010
IMSD 2010May 25–27
36
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 SystemsJános Zierath, Christoph Woernle
The Formation and Evolution of Constraints in Contacting BodiesCaishan Liu, Zhen Zhao, Hongjian Zhang
A 2D Bristle Friction Force Model for General Contact Dynamics SimulationJianxun Liang, Steven Fillmore, Ou Ma
Coffee 15.30-15.50
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 ActuationJohannes Gerstmayr, Astrid Sinwel
Geometrically Exact Beam Formulation Versus Absolute Nodal Coordinate FormulationJari Mäkinen, Marko Matikainen
A Linear and Quadratic Planar Finite Element Based on the Absolute Nodal Coordinate FormulationKarin Nachbagauer, Johannes Gerstmayr, Astrid Sinwel, Hans Irschik
Contact and Impact Problems (4 of 4) Room C 15.50-16.50
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 FoundationSakalo Vladimir, Sakalo Aleksey
Modelling and Simulation of Contacts in Multi-Body Simulation with SIMPACKSteven Mulski, Lutz Mauer, Jennifer Paulin
Impact and Shock Between Rigid or Deformable BodiesZhi-Qiang Feng, Jiao Wang, Pierre Joli, Caishan Liu
Thursday, 27 May 2010
Lappeenranta, Finland
37
Experiments and Numerical Verifications (3 of 3) Room D 15.50-16.50
Session chairs Dan Negrut, University of Wisconsin-MadisonWan-Suk Yoo, Pusan National University
Application of the Magic Formula for Dynamic Modeling of Friction Dampers Used in Drum-Type Washing MachinesWan-Suk Yoo, Jeong-Han Lee, Jin-Hong Park, Gyung-Hun Nho
Multibody System Simulations to Analyze Limit States in Structural Engineering Using Experimental DesignDetlef Neuenhaus, Karl Siebertz
An Experimental Identification Method for Rigid Body Properties Enabled by Gravity-Dependent Suspension ModellingRobert Kloepper, Hiroto Akita, Masaaki Okuma, Seiichi Terada
Multidisciplinary Approaches (1 of 1) Room E 15.50-16.50
Session chairs Krzysztof Arczewski, Warsaw University of Technology Michael Valášek, Czech Technical University in Prague
Simulation of Hydraulic Systems with Set-Valued Force LawsMarkus Schneider, Karin Krüger, Heinz Ulbrich
Multidisciplinary Applications of Multibody Simulation to Railway Vehicle EngineeringAntonio Carrarini, Andreas Heckmann, Ingo Kaiser, Bernard Kurzeck, José Luis Reyes Pérez, Luciano Valente
Advanced Engine Dynamics Using MBS: Application to Twin-Cylinder Boxer EnginesYannick Louvigny, Pierre Duysinx
Efficient Methods and Real-Time Applications (3 of 3) Room F 15.50-16.50
Session chairs Javier Cuadrado, University of La Coruna Sung-Soo Kim, Chungnam National University
Automotive Observers Based on Multibody Models and the Extended Kalman FilterJavier Cuadrado, Daniel Dopico, Miguel Naya, Roland Pastorino
HIL-Simulation for Evaluation of Intelligent Chassis Controller Using Real-Time Multibody Vehicle Dynamics ModelSung-Soo Kim, Wan Hee Jeong, Do Hyun Jung, Hyeong Jin Choi
Efficient and Accurate Simulation of the Cable-Pulley Interaction in Weight-Lifting MachinesUrbano Lugris, José Escalona, Daniel Dopico, Javier Cuadrado
Sauna
Thursday, 27 May 2010
IMSD 2010May 25–27
38
Notes
Lappeenranta, Finland
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For more information www.imsd10.fi