Zagreb, Croatia, July 1–4, 2013

ECCOMAS Thematic Conference on

Multibody Dynamics 2013

Book of Abstracts

Edited byZdravko Terze

University of ZagrebFaculty of Mechanical Engineering and Naval Architecture

Zagreb, 2013

Prof. Dr. Zdravko Terze

University of ZagrebFaculty of Mechanical Engineering and Naval ArchitectureDepartment of Aeronautical EngineeringIvana Lucica 5, HR–10002 Zagreb, Croatiae-mail: zdravko.terze@fsb.hr

A CIP catalogue record for this book is available in the Online Catalogue of the National and UniversityLibrary in Zagreb as 845774.

ISBN 978-953-7738-21-1

c© Faculty of Mechanical Engineering and Naval Architecture,Zagreb, Croatia, 2013.

Executive Editor: Milan Vrdoljak

Cover design: Suncana Matijasevic

Print: Cro-Graf, Donja Bistra, Croatia

Organization

ECCOMAS Thematic Conference on Multibody Dynamics 2013 is organized under the auspices of

Croatian Academy of Sciences and Arts

Supporting Organizations

Industrial Supporting Organizations

AVL AST d.o.o. Croatia

Koncar – Electrical Engineering Institute, Inc.

Brodarski Institute

v

vi

Conference Chair

Zdravko Terze (Univ. of Zagreb, Croatia)

Scientific Committee

Jorge Ambrosio (Instituto Superior Tecnico, Portugal)Kurt Anderson (Rensselaer Polytechnic Institute, USA)Martin Arnold (Martin Luther Univ. Halle-Wittenberg, Germany)Olivier A. Bauchau (Shanghai Jiao Tong Univ., China; Georgia Tech, USA)Viktor Berbyuk (Chalmers Univ. of Technology, Sweden)Peter Betsch (Univ. of Siegen, Germany)Wojciech Blajer (Technical Univ. of Radom, Poland)Carlo L. Bottasso (Politecnico di Milano, Italy)Olivier Bruls (Univ. of Liege, Belgium)Alberto Cardona (CIMEC (INTEC), UNL-Coniceet, Argentina)Javier Cuadrado (Univ. de La Coruna, Spain)Peter Eberhard (Univ. of Stuttgart, Germany)Jose L. Escalona (Univ. of Seville, Spain)Juan C. Garcıa Orden (Technical Univ. of Madrid, Spain)Abhinandan Jain (Caltech, JPL, USA)Ben Jonker (Univ. of Twente, Netherlands)Sung-Soo Kim (Chungnam National Univ., Korea)Jozsef Kovecses (McGill Univ., Canada)Dirk Lefeber (Univ. Brussels (VUB), Belgium)Pierangelo Masarati (Politecnico di Milano, Italy)John McPhee (Univ. of Waterloo, Canada)Aki Mikkola (Lappeenranta Univ. of Technology, Finland)Andreas Muller (Institute of Mechatronics, Chemnitz, Germany)Dan Negrut (Univ. of Wisconsin-Madison, USA)Friedrich Pfeiffer (TU-Munchen, Germany)Werner Schiehlen (Univ. of Stuttgart, Germany)Arend Schwab (TU Delft, Netherlands)Ahmed Shabana (Univ. Illinois at Chicago, USA)Zdravko Terze (Univ. of Zagreb, Croatia)Wan Suk Yoo (Pusan National Univ., Korea)Hiroaki Yoshimura (Waseda Univ., Japan)

Organizing Committee

Milan Vrdoljak, ChairMarijan AndricDubravko MatijasevicSilvana Skoko-Gavranovic, SecretaryDario Zlatar

Conference Venue

Faculty of Mechanical Engineering and Naval ArchitectureUniversity of Zagreb, Croatia

July 1–4, 2013

http://eccomas-multibody.fsb.hr

vii

Invited Sessions and Organizers

Aerospace Applications

Abhinandan Jain (Caltech, JPL, USA)Jozsef Kovecses (McGill Univ., Canada)Pierangelo Masarati (Politecnico di Milano, Italy)

Biomechanics

Dirk Lefeber (Univ. Brussels (VUB), Belgium)Arend Schwab (TU Delft, Netherlands)

Contact and ConstraintsPeter Betsch (Univ. of Siegen, Germany)Juan C. Garcıa Orden (Technical Univ. of Madrid, Spain)Friedrich Pfeiffer (TU-Munchen, Germany)

Control Modelling and ApplicationsWojciech Blajer (Technical Univ. of Radom, Poland)Ben Jonker (Univ. of Twente, Netherlands)Sigrid Leyendecker (Univ. of Erlangen-Nuremberg, Germany)

Efficient Simulation and Real-Time ApplicationsKurt Anderson (Rensselaer Polytechnic Institute, USA)Javier Cuadrado (Univ. de La Coruna, Spain)Sung-Soo Kim (Chungnam National Univ., Korea)

Flexible Multibody DynamicsAlberto Cardona (CIMEC (INTEC), UNL-Coniceet, Argentina)Aki Mikkola (Lappeenranta Univ. of Technology, Finland)Ahmed Shabana (Univ. Illinois at Chicago, USA)

Formulations and Numerical MethodsMartin Arnold (Martin Luther Univ. Halle-Wittenberg, Germany)Olivier A. Bauchau (Shanghai Jiao Tong Univ., China; Georgia Tech, USA)Carlo L. Bottasso (Politecnico di Milano, Italy)

Mechatronics and RoboticsViktor Berbyuk (Chalmers Univ. of Technology, Sweden)Andreas Muller (Institute of Mechatronics, Chemnitz, Germany)Mircea Teodorescu (Univ. Cranfield, UK, UC Santa Cruz, USA)

Multiphysics and Coupled Problems in MBSRudranarayan M. Mukherjee (Caltech, JPL, USA)Hiroaki Yoshimura (Waseda University, Japan)

Optimization and Sensitivity AnalysisOlivier Bruls (Univ. of Liege, Belgium)Peter Eberhard (Univ. of Stuttgart, Germany)

Railroad Vehicle DynamicsJose L. Escalona (Univ. of Seville, Spain)Tae-Won Park (Ajou Univ., Korea)

viii

Software Development and EducationDan Negrut (Univ. of Wisconsin-Madison, USA)Olivier Verlinden (Univ. Mons, Belgium)Wan Suk Yoo (Pusan National Univ., Korea)

Vehicle Dynamics and SimulationJorge Ambrosio (Instituto Superior Tecnico, Portugal)Werner Schiehlen (Univ. of Stuttgart, Germany)

Special Session on Benchmark Problems in Multibody DynamicsJavier Cuadrado (Univ. de La Coruna, Spain)Michael Valasek (Czech Technical Univ. in Prague)

Introduction

To meet the challenges of the fast development of new technologies, many areas of contemporary engineeringand applied sciences, which were conventionally divided or loosely coupled in the past, combine their method-ologies and merge together to provide new analytical and computational tools. This is especially evident in thearea of multibody system dynamics, a branch of computational mechanics dealing with modelling principlesand numerical methods for dynamic analysis, simulation and control of various complex mechanical systems.

Originating in analytical and continuum mechanics, as well as in computer science and applied mathematics,modelling methodologies and computational procedures of multibody system dynamics provide a basis fordynamic analysis and virtual prototyping of innovative applications in many fields of contemporary engineering.With the utilization of the computational models and algorithms that classically belonged to different fieldsof applied science, where in certain applications several physical models co-exist and interact within the samesimulation procedure, multibody system dynamics delivers reliable simulation platforms for diverse highly-developed industrial products, such as vehicle and railway systems, aeronautical and space vehicles, roboticmanipulators, autonomous systems, smart structures, biomechanical applications and nano-technologies.

However, since application-based modelling and successful implementation of computational methodologiesraise many questions in terms of new solutions and optimal use of specific models and numerical procedures,multibody system dynamics is a very active research field. To maintain this development and provide a platformto discuss relevant scientific topics in this rapidly growing discipline, the ECCOMAS Thematic Conference onMultibody Dynamics was initiated in Lisbon in 2003, and continued in Madrid in 2005, Milano in 2007, Warsawin 2009 and Brussels in 2011. Continuing this very successful series, this edition of the ECCOMAS ThematicConference on Multibody Dynamics is held in Zagreb, Croatia, and organized at the University of Zagreb,Faculty of Mechanical Engineering and Naval Architecture, from 1 to 4 July 2013.

The objective of the Conference is to present the state of the art in the theory and applications of multibodysystem dynamics, to provide a forum for discussions on relevant research issues and to serve as a meetingpoint for international researchers, scientists and experts from academia, research laboratories and industry.Hospitality of the City of Zagreb will contribute to the success of the Conference by providing a culturallyinteresting and relaxing urban environment of the city that has been an academic centre of the region for morethan 340 years.

I am grateful to all participants of the ECCOMAS Multibody Dynamics 2013 for their high-quality papersand contributions. I am also very much indebted to the members of the Scientific Committee for their valu-able suggestions, organization of the peer-review process, and advice in the organization of the Conference.The Conference has been supported by a number of distinguished international and Croatian institutions andpersonal involvement of the colleagues who contributed to this support is very much appreciated.

I would especially like to take this opportunity to thank all my collaborators who have been involved in theorganization of the ECCOMAS Multibody Dynamics 2013. It has been a great effort and many persons havemade contributions well beyond the call of duty. In particular, the Organizing Committee has worked tirelesslyand I would like to thank them for all their work.

Zdravko Terze

Conference Chair

Zagreb, May 2013

ix

Contents

Contents xi

Aerospace Applications 1

Modeling MGB-Fuselage joint on helicopter with an energetic approach “multi-Bond graph”

Benjamin Boudon, Francois Malburet, Jean-Claude Carmona . . . . . . . . . . . . . . . . . . . . 3

Regular and Chaotic Dynamics of a Spacecraft with Internal Mass Redistribution Moving in EllipticOrbit

Alexander Burov, Ivan Kosenko . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Multi-Body Approach to the Simulation of Particular Drop Test for an Aircraft Landing Gear

Romeo Di Leo, Angelo De Fenza, Marco Barile, Domenico Moccia, Leonardo Lecce . . . . . . . . 7

Smooth/Non-Smooth Dynamics Co-Simulation of Helicopter Rotor Sailing

Matteo Fancello, Pierangelo Masarati, Marco Morandini . . . . . . . . . . . . . . . . . . . . . . . 9

Bifurcation Analysis of a Nose Landing Gear with a Single Uplock/Downlock Mechanism

James Andrew Cannicott Knowles, Bernd Krauskopf, Mark Lowenberg, Simon Neild . . . . . . . 11

Active Vibration Control of Satellite Panels

Maria Augusta Neto, Jorge Ambrosio, Ana Amaro, Luis Roseiro . . . . . . . . . . . . . . . . . . 13

Slewing control of spacecraft with unsymmetrical flexible appendages & fluid sloshing, using wave-based control

William Joseph O’Connor, Hossein Habibi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Finite element simulation of high velocity impact analysis on composite structure parts

Zoran Pelagic, Martin Dudinsky, Milan Zmindak . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Multi-scale Dynamics, Control, and Simulation of Granular Spacecraft

Marco B. Quadrelli, Scott Basinger, Grover Swartzlander . . . . . . . . . . . . . . . . . . . . . . 19

Application Substructure Model Synthesis Method on Modeling of a Space Camera

Dewei Sun, Qirong Tang, Chao Wang, Hong Lu, Jiangao Jin . . . . . . . . . . . . . . . . . . . . 21

Development of Tether Space Mobility Device

Shoichiro Takehara, Takahiro Nishizawa, Masaya Kawarada, Kazunori Hase, Yoshiaki Terumichi 23

Dynamic Simulation of Helicopter Airborne Maneuvers with Numerical Integration Scheme in Lie-Group Setting

Zdravko Terze, Milan Vrdoljak, Dario Zlatar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Biomechanics 27

Development of a Multibody Model of the Lower Limbs to Evaluate the Effect of Ankle-foot Orthoseson Human Gait

xi

xii

Philippe Ferreira, Francisco Geu Flores, Mario Siebler, Paulo Flores, Andres Kecskemethy . . . 29

Configuration-dependent performance indicators for the analysis of foot impact in running gait

Josep Maria Font-Llagunes, Rosa Pamies-Vila, Jozsef Kovecses . . . . . . . . . . . . . . . . . . . 31

AMP-Foot 2.0 Prosthesis Dynamic Behavior, Preliminary Computational Multibody Dynamics Sim-ulation Results

Svetlana Grosu, Pierre Cherelle, Chris Verheul, Bram Vanderborght, Dirk Lefeber . . . . . . . . 33

Dynamic testing of artificial hip joint stability under physiological-like conditions

Sven Herrmann, Michael Kahler, Robert Souffrant, Janos Zierath, Daniel Kluess, ChristophWoernle, Rainer Bader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Strategies for Model Reduction in Adaptive DCA-based Multibody Modeling of Biopolymers

Jeremy Laflin, Kurt Anderson, Imad Khan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Muscle paths in biomechanical multibody simulations

Ramona Maas, Sigrid Leyendecker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

A Multibody Model for the Shoulder Reverse Prosthesis

Carlos Quental, Joao Folgado, Jorge Ambrosio, Jacinto Monteiro . . . . . . . . . . . . . . . . . . 41

Computing Musculotendon Paths and their Velocities Across Multiple Moving Surfaces Using JacobiFields

Andreas Scholz, Ian Stavness, Michael Sherman, Scott Delp, Andres Kecskemethy . . . . . . . . 43

Design and experimental validation of a haptic steering interface for the control input of a bicyclesimulator

Arend Schwab, Antonio M. Recuero . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Impact models for walking and running systems - angular moment conservation versus varying geo-metric constraints

Ambrus Zelei, Laszlo Bencsik, Laszlo L. Kovacs, Gabor Stepan . . . . . . . . . . . . . . . . . . . 47

Contact and Constraints 49

Evaluation of rigid and flexible body contact for high resolution gear simulation

Joachim Beuse, Tarik El-Dsoki, Pavol Kintler, Christof Rachor, Jan Sotnik, Johann Zeischka . . 51

An augmented Lagrangian and reduced index formulation for the analysis of multibody systems withimpacts

Olivier Bruls, Vincent Acary, Federico Cavalieri, Geoffrey Virlez, Alberto Cardona . . . . . . . . 53

A mortar algorithm combined with an Augmented Lagrangian approach for treatment of frictionalcontact problems

Federico Cavalieri, Olivier Bruls, Alberto Cardona . . . . . . . . . . . . . . . . . . . . . . . . . . 55

A Massively Parallel Fast Marching Method Applied to Non-Linearly Elastodynamic Contact Problems

Roberto Croce, Petr Kotas, Rolf Krause, Valentina Poletti . . . . . . . . . . . . . . . . . . . . . . 57

Efficient Simulation of Cylindrical Gears in Approximate Line Contact

Jochen Damerau . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

On the Dynamic Response of Mechanical Systems with Clearance Joints: Influence of Contact ForceModel

Paulo Flores . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Contact Analysis for Different Viscoelastic Contact Force Models

Janete Lara Fontainha Alves, Joao Paulo Flores Fernandes, Nuno Ricardo Maia Peixinho . . . . 63

Comparison of index-3, index-2 and index-1 DAEs solvers for nonsmooth multibody systems withunilateral or bilateral constraints

xiii

Mounia Haddouni, Vincent Acary, Jean-Daniel Beley . . . . . . . . . . . . . . . . . . . . . . . . 65

Dynamic Simulation of Coil Contact in Valve Springs by using a Semi-Smooth Newton Method

Josef Haslinger, Gunter Offner, Martin Sopouch . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Minimal Coordinates Formulation of Contact Dynamics

Abhinandan Jain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Dynamic Simulation and Control for Robotic Manipulation of Planar Objects with Rolling

Liazid Kerha, Belkacem Bounab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

A Differential Variational Inequality Approach for Modeling Frictional Contact-Impact between Flex-ible Bodies

Naresh Khude, Dan Negrut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Modelling of Large Scale Granular Systems using the Discrete Element Method and the Non-SmoothContact Dynamics Method: A Comparison

Jan Kleinert, Martin Obermayr, Matthias Balzer . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Optimal Control of Standing Jump Movements

Michael Koch, Sigrid Leyendecker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Parametric excitation of non-smooth systems: the unilaterally constrained Hill’s equation

Remco I. Leine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Non-contact measurement of a disk spinning on a table

Daolin Ma, Caishan Liu, Hongjian Zhang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Effect of Energy Dissipation on the Dynamics of Chain Drives

Candida Pereira Malca, Jorge Ambrosio, Amılcar Lopes Ramalho . . . . . . . . . . . . . . . . . . 83

An Object-Oriented Environment for Simulation of Wheel-Rail Contact in Roller Coasters

Christian Malessa, Andres Kecskemethy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Derivation and Investigation of Conditions on the Consistent Application of Newton’s Law to Con-strained Mechanical Systems

Sotirios Natsiavas, Elias Paraskevopoulos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Consideration of failure mechanisms in bolted connections

Detlef H.-J. F. Neuenhaus, Christian Kammel, Achim Geßler . . . . . . . . . . . . . . . . . . . . 89

Multibody motion in an implicitly constrained director format and links via explicit constraints

Martin Bjerre Nielsen, Steen Krenk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Unilateral Contact Kinematics

Friedrich Pfeiffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

An algorithm for the Characterization of Constraint Forces.

Javier Ros, Javier Gil, Aitor Plaza, Xabier Iriarte . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Modeling flexible roller ball bearings in multibody dynamics

Anne Schwenkenberg, Jochen Damerau, Hartmut Hetzler, Wolfgang Seemann . . . . . . . . . . . 97

Dynamics of a Rigid Body Rolling without Sliding Supported at Two Points on a Fixed Surface

Nicolae-Doru Stanescu, Dinel Popa . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

The Singularities in a 3D rigid body bouncing on a vibrated plate

Jiao Wang, Caishan Liu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Control Modelling and Applications 103

Application of the Transfer Matrix Method to Control Problems

xiv

Dieter Bestle, Xiaoting Rui . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Improving a Workpiece Dominated Turning Process Using an Adaptronic Tool Holder and ModelPredictive Control

Peter Eberhard, Achim Fischer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Adjoint-Based Optimal Control Design for a Cart Pendulum System with Dry Friction

Domenico Guida, Fabio Nilvetti, Carmine Maria Pappalardo . . . . . . . . . . . . . . . . . . . . 109

Payload motion control for various crane types using mechanical waves

Hossein Habibi, William J. O’Connor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Modeling of flexible non-linear dynamic links in Nano-Positioning Motion Systems

Meinko Hoogerkamp, Rob Waiboer, Ronald Aarts . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Operational Space Inertia for Robots with Internal Loops

Abhinandan Jain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Usage of MBS-Models of Vehicles in the Tasks of Active Suspension Control

Dmitry Miroshnichenko, Eugene Gromov, Andrey Andreev . . . . . . . . . . . . . . . . . . . . . . 117

Control of the Underactuated Mechanical Systems by Harmonics

Zdenek Neusser, Michael Valasek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

A Numerical Approach to Multiobjective Optimal Control of Multibody Dynamics

Maik Ringkamp, Sigrid Leyendecker, Sina Ober-Blobaum . . . . . . . . . . . . . . . . . . . . . . . 121

Parameter Study on the Dimension Reduction Method of ANCF Model for Controller Design of Flex-ible Beam

Yoshiki Sugawara, Koki Takeda, Shinya Otsuki, Nobuyuki Kobayashi . . . . . . . . . . . . . . . . 123

Simulation of a non-smooth dynamical model of the piano key

Anders Thorin, Xavier Boutillon, Jose Lozada, Xavier Merlhiot, Alain Micaelli . . . . . . . . . . 125

Optimization of control parameters for multibody mechatronic product with adaptronic approach

Vasilije Vasic, Mihailo P. Lazarevic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Specifying the Force for Wave-based Motion Control of Flexible Systems

Ming Zhu, William J. O’Connor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Efficient Simulation and Real-Time Applications 131

Tree Harvester Truck Simulator based on Real-Time Multibody Simulation

Mohamad Ezral Bin Baharudin, Asko Rouvinen, Pasi Korkealaakso, Aki Mikkola . . . . . . . . . 133

Soft material modeling for muscle separation process control and dynamic trajectory generation

Nabil Essahbi, Belhassen-Chedli Bouzgarrou, Grigore Gogu . . . . . . . . . . . . . . . . . . . . . 135

Evaluating the Performance of Three Standard Multibody Dynamics Formulations

Daniel Montrallo Flickinger, Jeff Trinkle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Multibody system coupling with discrete element approximation of deformable and heating bodiesusing parallel processing

Victor V. Getmanskiy, Timur D. Ismailov, Alexander S. Gorobtsov, Andrey E. Andreev . . . . . 139

Efficient Contact Analysis between Mass Spring-Damper System and Many Particles by Using GPGPU

Chul Woong Jun, Jeong Hyun Sohn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Large Deformation Formulation for the Flexible Divide-and-Conquer Algorithm

Imad Khan, Kurt Anderson . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

xv

A Real-time Multibody Dynamics Model for Unmanned Robot Vehicle based on the Subsystem Syn-thesis Method

Myoung-Ho Kim, Hee Chan Kang, Hong-Sun Yoon, Sung-Soo Kim . . . . . . . . . . . . . . . . . 145

Real-time human in the loop MBS simulation in the Fraunhofer Robot- Based Driving Simulator

Michael Kleer, Andrey Gizatullin, Klaus Dreßler, Steffen Muller . . . . . . . . . . . . . . . . . . 147

A direct-iterative splitting method for real-time simulation of rigid multibody systems with frictionalcontacts

Claude Lacoursiere, Mattias Linde, Niklas Melin . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Chrono::Terrain - Off-Road Vehicle Dynamics Simulation with a Compaction Based Deformable Ter-rain Model

Justin Madsen, Andrew Seidl, Dan Negrut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

Comparison of Model Order Reduction Methods for Automotive Systems

Ramin Masoudi, Thomas Uchida, John McPhee . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

A Generalized, Optimal Complexity, Parallel Algorithm For Modeling Nonholonomic Constraints inMulti-rigid Body System Dynamics

Rudranarayan Mukherjee, Pawel Malczyk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Use of Sub-System Global Modal Parameterization Models in Extended Kalman Filtering for OnlineCoupled State/Force Estimation.

Frank Naets, Roland Pastorino, Javier Cuadrado, Wim Desmet . . . . . . . . . . . . . . . . . . . 157

Use of Rosenbrock Methods for Hardware-in-the-Loop Simulations of Multibody Models

William Crego Prescott . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Regularization via Overdetermined Formulations and Numerical Simulation of Multibody SystemsModeled with Modelica

Altmeyer Randolf, Andreas Steinbrecher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

A novel time varying parametric model order reduction scheme with focus on dynamic stress recovery

Tommaso Tamarozzi, Gert H.K. Heirman, Wim Desmet . . . . . . . . . . . . . . . . . . . . . . . 163

Waveform-Newton algorithm for the cosimulation of multibody systems coupled by constraints

Pawe l Tomulik, Janusz Fraczek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

A comparison of Algorithms for Sparse Matrix Factoring and Variable Reordering aimed at Real-timeMultibody Dynamic Simulation

Jose-Luis Torres-Moreno, Jose-Luis Blanco-Claraco, Javier Lopez-Martınez, Antonio Gimenez-Fernandez . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Flexible Multibody Dynamics 169

Application of the rigid finite element method to modelling of risers

Iwona Adamiec-Wojcik, Lucyna Brzozowska . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Experimental Validation of Flexible Multibody Dynamics Beam Formulations

Olivier A. Bauchau, Shilei Han, Aki Mikkola . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Wave-induced effects on the power generated by floating offshore wind turbines: a systematic compar-ative study

Ilmas Andrea Bayati, Edoardo Sabbioni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

A Comparison of DAE Integrators in the Context of Benchmark Problems for Flexible MultibodyDynamics

Peter Betsch, Christian Becker, Marlon Franke, Yinping Yang . . . . . . . . . . . . . . . . . . . 177

Vibroactivity Analysis of High Speed Rotating Machine on Flexible Foundation

xvi

Ivan Danchev, Venelin Jivkov, Evtim Venets Zahariev . . . . . . . . . . . . . . . . . . . . . . . . 179

Asynchronous variational Lie group integration for geometrically exact beam dynamics

Francois Demoures, Francois Gay-Balmaz, Thomas Leitz, Sigrid Leyendecker, Sina Ober-Blobaum,Tudor Ratiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

On the Use of the Rotation Parameters in the Large Displacement Analysis of Beams

Jieyu Ding, Michael Wallin, Cheng Wei, Antonio M. Recuero, Ahmed A. Shabana . . . . . . . . 183

A Cosserat Beam Finite Element Based on the ANC Discretization

Simon Raphael Eugster, Christian Hesch, Peter Betsch, Christoph Glocker . . . . . . . . . . . . 185

Dynamic modeling of a multibody slack mooring system

Brian C. Fabien . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

Simulation of Moving Loads in Elastic Multibody Systems with Parametric Model Reduction Tech-niques

Michael Fischer, Peter Eberhard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

Coupling Isogeometric Shells with Multibody Systems

Anmol Goyal, Bernd Simeon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

A Novel Bernoulli-Euler Beam Finite Element in Absolute Nodal Coordinate Formulation

Peter G. Gruber, Karin Nachbagauer, Yury Vetyukov, Johannes Gerstmayr . . . . . . . . . . . . 193

ANCF Planar Beam in the Dynamics of Fibres Interacting with Pulley

Michal Hajzman, Pavel Polach, Jaroslav Vaclavık, Zbynek Sika . . . . . . . . . . . . . . . . . . . 195

Calculation Efficiency of Beam Elements with Algebraic Constraints

Kensuke Hara, Masahiro Watanabe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

Comparison of a Helix Beam Element to Conventional Finite Element in Static and Dynamics Re-sponses of a Coil Spring

Jang Jin-Seok, Kim Hyun-Woo, Yoo Wan-Suk . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Dominant Factors on Cable Unwinding from a Spool Package

Kun-Woo Kim, Wan-Suk Yoo, Jae-Wook Lee, Hyung-Ryul Kim . . . . . . . . . . . . . . . . . . . 201

Vibration control of a flexible fork of a solar cell manipulator for accurate positioning in large verticalmotion

Wook Hyeon Kim, Tae Won Park, Dong Il Park . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

Numerical experiments for viscoelastic Cosserat rods with Kelvin-Voigt damping

Holger Lang, Sigrid Leyendecker, Joachim Linn . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

Finite Element Analysis of Large Deformation Flexible Beam with Warping Effect Included

Pengfei Li, Shuai Shi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

Generalized Maxwell type viscoelasticity for geometrically exact Cosserat rod and shell models

Joachim Linn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

Preloaded Initial State Evaluation of Flexible Multibody Systems

Norbert Lorenz, Gunter Offner, Alessandro Colla . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Higher order plate elements based on the absolute nodal coordinate formulation

Marko Kalervo Matikainen, Aki Mikkola . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

Nonlinear incompressible material models for beam elements in absolute nodal coordinate formulation

Grzegorz Orzechowski, Janusz Fraczek, Krzysztof Arczewski . . . . . . . . . . . . . . . . . . . . . 215

Model parameters influence of a simple mechanical system with fibre and pulley with respect toexperimental measurements

xvii

Pavel Polach, Michal Hajzman, Jaroslav Vaclavık, Zbynek Sika, Petr Svatos . . . . . . . . . . . . 217

Description of Track Dynamics using the Moving Modes Method with Krylov Subspaces for ModelOrder Reduction

Antonio Martın Recuero, Jose Luis Escalona . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

A Shear-Locking Free Model of Timoshenko Beams with Large Deformations and Large Rotations

Hui Ren, Naresh Khude, Jose Ortiz, Mike Collingridge . . . . . . . . . . . . . . . . . . . . . . . . 221

The Intensity of Boundary Dynamic Effects During Vibration of Compound Bodies

Boris Vladimirovich Sobol, Leonid Petrovich Vovk . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Structural Dynamic Analysis of a Radial Tire Using Implicit Finite Element Method

Hyun Seok Song, Won Sun Chung, Do Hyun Jung . . . . . . . . . . . . . . . . . . . . . . . . . . 225

Formulation of a geometrically exact beam finite element on the Lie group SE(3)

Valentin Sonneville, Alberto Cardona, Olivier Bruls . . . . . . . . . . . . . . . . . . . . . . . . . 227

Modeling of Sliding Joint for B-spline Surface

Hiroyuki Sugiyama, Yuta Mizuno . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

Coupled Multibody - Finite Element Model for the Study of an Off Road Vehicle Frame Frontal Impact

Stefan Tabacu, Alin Haloiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

Evaluation of Compliant Mechanical Joint Models: A Comparative Study

Michael Steven Wallin, Ahmed K. Aboubakr, Paramsothy Jayakumar, Michael D. Letherwood,Ashraf Hamed, Ahmed A. Shabana . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

Consideration of Warping in Simulations of Beam Structures

Oskar Wallrapp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

Generalized Component Mode Synthesis for Flexible Multibody Systems with Large Planar Rotations

Pascal Ziegler, Alexander Humer, Astrid Pechstein, Johannes Gerstmayr . . . . . . . . . . . . . 237

Comparison and Experimental Validation of Different Multibody Codes for Wind Turbine Modelling

Janos Zierath, Roman Rachholz, Christoph Woernle . . . . . . . . . . . . . . . . . . . . . . . . . 239

Formulations and Numerical Methods 241

Modeling Flexible Multibody Systems by Moving Dirichlet Boundary Conditions

Robert Altmann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

Rank-deficient body mass matrices in a recursive multibody formalism

Martin Arnold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

Numerical Determination of a sufficient Local Approximation Order of Loop-Closure Conditions forOverconstrained Mechanisms

Rene Bartkowiak, Christoph Woernle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

Advanced Beam Theory for Multibody Dynamics

Olivier A. Bauchau, Shilei Han . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

Application of a gyrostatic rigid body formulation in the context of a direct transcription method foroptimal control in multibody dynamics

Christian Becker, Peter Betsch, Ralf Siebert . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

Dynamics of flexible spatial beams: the velocity-based approach

Peter Cesarek, Dejan Zupan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Computing time investigations of variational multirate integrators

Tobias Gail, Sigrid Leyendecker, Sina Ober-Blobaum . . . . . . . . . . . . . . . . . . . . . . . . . 255

xviii

Local Linearization Method in the Integration of Multibody Equations

Gibin Gil, Ricardo G. Sanfelice, Parviz E. Nikravesh . . . . . . . . . . . . . . . . . . . . . . . . . 257

Reaction Efforts Associated with Non-Holonomic and Rheonomic Constraints in Index-3 AugmentedLagrangian Formulations

Francisco Gonzalez, Daniel Dopico, Javier Cuadrado, Jozsef Kovecses . . . . . . . . . . . . . . . 259

A derivation of a local integration error estimate and development of an automatic time step controlalgorithm for the generalized-alpha scheme for mechatronic systems

Gert H. K. Heirman, William C. Prescott, Wim Desmet . . . . . . . . . . . . . . . . . . . . . . . 261

Reduced Discrete Variational Multi-body Mechanics

Marin Kobilarov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

Parallelization of Multibody System Dynamics by Additional Dynamics

Ladislav Mraz, Michael Valasek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

Implementation of a Geometric Constraint Regularization for Multibody System Models

Andreas Muller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

A Beam Element based on the Absolute Nodal Coordinate Formulation applied to the NumericalInvestigation of a Square Frame

Karin Nachbagauer, Georg Zenz, Johannes Gerstmayr, Ming-Hsiang Shih . . . . . . . . . . . . . 269

A Novel Study of Rigid Body Kinematics and Dynamics based on a Non-Riemannian Geometry

Elias Paraskevopoulos, Sotirios Natsiavas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

A Multibody Dynamics Formulation for Open Loop Systems Based on Maggi-Kane Equations

Ettore Pennestri’, Valerio Rossi, Pietro Salvini, Pier Paolo Valentini . . . . . . . . . . . . . . . 273

A New Form of the Transfer Matrix Method of Multibody System

Xiaoting Rui, Dieter Bestle, Jianshu Zhang . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

Computational Kinematics of Multibody Systems: The Advantages of a Topological Method Basedon its Kinematic Structure

Mariano Saura, Javier Cuadrado, Daniel Dopico, Ana I. Celdran . . . . . . . . . . . . . . . . . . 277

Discussion of the Gear-Gupta-Leimkuhler method for multibody systems including clearance and im-pacts

Thorsten Schindler, Svenja Schoeder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

Angular Momentum Conserving Integration Scheme for Multibody System Dynamics in Lie-GroupSetting

Zdravko Terze, Andreas Muller, Dario Zlatar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

Alternative approaches to the incorporation of control constraints in multibody dynamics

Yinping Yang, Peter Betsch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

Riccati Transfer Matrix Method for Eigenvalue Problem of the System with Antisymmetric Boundaries

Jianshu Zhang, Xiaoting Rui, Guoping Wang, Fufeng Yang . . . . . . . . . . . . . . . . . . . . . 285

On integration of rotational quaternions from angular velocities

Eva Zupan, Miran Saje, Dejan Zupan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

Mechatronics and Robotics 289

A Methodology to Characterize Critical Falling Configurations for a Humanoid Robot

Giovanna Beninati, Matteo Leonetti, Nikos G. Tsagarakis, Darwin G. Caldwell . . . . . . . . . . 291

Robust trajectory planning for flexible robots

Paolo Boscariol, Alessandro Gasparetto, Renato Vidoni . . . . . . . . . . . . . . . . . . . . . . . 293

xix

Elastodynamics Analysis of Icaro: a PKM for Pure Translational Motion

Alessandro Cammarata, Giovanna Adele Naselli, Rosario Sinatra . . . . . . . . . . . . . . . . . . 295

CPG tuning using sensory feedback for walking applications

Christophe Chariot, Enrico Filippi, Olivier Verlinden . . . . . . . . . . . . . . . . . . . . . . . . . 297

On Modeling and Simulation of 6 Degrees of Freedom Stewart Platform Mechanism Using MultibodyDynamics Approach

Ayman El-Badawy, Khaled Mohamed Rashad Mohamed Nabih Mohamed Youssef . . . . . . . . . 299

The Modeling of a Mobile Robot and Its Feedback Control via Pole-Placement

Yann G. Garneau, Jorge Angeles, Alessio Salerno . . . . . . . . . . . . . . . . . . . . . . . . . . 301

Analysis, Optimization, and Testing of Planetary Exploration Rovers: Challenges in Multibody SystemModelling

Bahareh Ghotbi, Francisco Gonzalez, Ali Azimi, William Bird, Jozsef Kovecses, Jorge Angeles,Raja Mukherji . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

Dynamics of Multibody Systems with nonlinear Control Subsystems

Alexander S. Gorobtsov, Eugeny N. Ryzhov, Anna S. Churzina . . . . . . . . . . . . . . . . . . . 305

A Hybrid Control Method for Stabilizing of Walking Robot on Irregular Surface Using Plantar PressureSensors

Dmytro Gumennuy, Mikhail Tkach, Alexey Chkalov . . . . . . . . . . . . . . . . . . . . . . . . . 307

Dynamics of Serial-chain Multibody Systems Using Equimomental systems of Point-masses

Vinay Gupta, S. K. Saha, Himanshu Chaudhary . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

Positioning control of the multibody robot’s jump

Sergey Fedorovich Jatsun, Lyudmila Yurievna Volkova . . . . . . . . . . . . . . . . . . . . . . . . 311

Performance Optimization of Haptic Multibody Systems

Laszlo L. Kovacs, Sara Shayan Amin, Jozsef Kovecses . . . . . . . . . . . . . . . . . . . . . . . . 313

Inverse dynamic method for control motion of walking robot with account of programm forces forredundant constraints case

Alexander S. Gorobtsov, Alexander Mokhov, Alexander Oleynikov, Andrey Andreev . . . . . . . . 315

Dynamic modeling and control of spatial flexible manipulators for trajectory tracking application

Rajesh Kumar Moolam, Francesco Braghin, Federico Vicentini . . . . . . . . . . . . . . . . . . . 317

Dynamic behavior model of a machining robot and stability prediction

Said Ghazanfar Mousavi, Vincent Gagnol, Belhassen-Chedli Bouzgarrou, Pascal Ray . . . . . . . 319

Dynamic Behavior of Inverted Pendulum Vehicle and Driver during Deceleration

Chihiro Nakagawa, Shunsuke Arakawa, Atsuhiko Shintani, Tomohiro Ito . . . . . . . . . . . . . . 321

Vibration confinement in lightly damped multibody systems: an hybrid active-passive approach

Dario Richiedei, Alberto Trevisani . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

Environment and Objects Detection Using E-puck Robot

Ehsan Sharafian Ardakani, Mehdi Tale Masouleh, Ali Ghaffari . . . . . . . . . . . . . . . . . . . 325

Development of Snake Robot based on Multibody Dynamics Simulation

Hocheol Shin, Jeong Joo Kwon, Bong Cheol Seo, Tae Won Kim, Sung Soo Kim . . . . . . . . . . 327

Hybrid robotic system featuring a combination of a continuum robot and a rigid robotic arm: staticand differential kinematic modeling

Gabrijel Smoljkic, Gianni Borghesan, Bert Willaert, Jos Vander Sloten . . . . . . . . . . . . . . 329

Design and Application of A Piezoelectric Device Producing Vibration and Power

Yung Ting, Chin-Chih Yeh, Chih-Hsuan Yu, Hsiang-Hung Huang, Chia-An Wei . . . . . . . . . 331

xx

Joint-Space Dynamics Algorithm for Tree Structure Space Manipulators by Using Inertia MappingMatrix

Mingming Wang, Ulrich Walter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

Optimal Design of a Pair of Cooperating Robots by Kinetic Analysis of Stair Climbing States

Abraham Weiss, Gideon Avigad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335

Modal Measurements and Model Corrections of a Large Stroke Compliant Mechanism

W. Wijma, S.E. Boer, R.G.K.M. Aarts, D.M. Brouwer, W.B.J. Hakvoort . . . . . . . . . . . . . 337

A feasibility study of the local calibration method

Marek Wojtyra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

Tracking Control of a Balancing Robot

Tobias Zaiczek, Matthias Franke . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

Multiphysics and Coupled Problems in MBS 343

Development of Solenoid-Latch Mechanism System Model Using Electromagnetic field-Multibody Dy-namics Coupled Analysis of Spring Operated Mechanism for Circuit Breaker

Byungtae Bae, Sungho Lee, Jaeyeol Kim, Jooeon Park, Jinho Kim . . . . . . . . . . . . . . . . . 345

Bifurcation Analysis of Self-excited Thermoacoustic Oscillations in Damper-equipped CombustionChambers

Michael Baumann, Remco I. Leine, Nicolas Noiray, Bruno Schuermans . . . . . . . . . . . . . . 347

Design of towed vehicle for polluting monitoring

Alessandro Cammarata, Michele Lacagnina, Andrea Litrico, Giovanna Adele Naselli, RosarioSinatra . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

VAWT starting performance simulation with generator model coupling within OpenFOAM

Elia Daniele, Dubravko Matijasevic, Luigi Izzo . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

Application of Viscous Vortex Domains Method for Solving Flow-Structure Problems

Yaroslav Alexeevich Dynnikov, Galina Yakovlevna Dynnikova . . . . . . . . . . . . . . . . . . . . 353

Towards a detail drive train model with Matlab and Aeroelastic Wind Turbine Code

Juan Felipe Gallego-Calderon, John Michael Hansen, Braulio Barahona, Kim Branner, NicolaosAntonio Cutululis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

Validation of Coupled Multibody Dynamic and Seakeeping Simulations of Offshore Dredging Equip-ment

Stephan David Arjan Hannot, Johannes Gijsbert Los, Albert Cornelis Leendert de Krijger, BramAdrianus Waltherus van Spaendonk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

A mortar based approach for Fluid-Structure Interaction with flexible multibodies

Christian Hesch, Peter Betsch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

An Approach for the Spatial Coupling of the Multibody System Chain in a Partitioned Algorithm

Dubravko Matijasevic, Zdravko Terze . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

A Lagrangian-Lagrangian framework for the simulation of fluid/rigid-body interaction

Arman Pazouki, Dan Negrut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363

Solver Coupling between Multibody and Electro-Magnetic Systems

Robert Schmoll, Bernhard Schweizer, Christian Simonidis, Octavian Craciun, Veronica Biagini . 365

Flow simulation in blood vessels with fluid-structure interaction

Markus Schorgenhumer, Johannes Gerstmayr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

Cases of Integrability in Transcendental Functions in 3D Dynamics of a Rigid Body Interacting Witha Medium

xxi

Maxim V. Shamolin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

A New Technique for Stronger Coupling between Multibody System and Nonlinear Finite ElementSolvers in Co-simulation Environments

Tariq Sinokrot, Philippe Jetteur, Hunor Erdelyi, Frederic Cugnon, William Prescott . . . . . . . 371

Numerical modeling of docking operation in MAAT project

Dean Vucinic, Anna Sunol, Steve Vanlanduit, Andrey Aksenov, Tatyana Markova, Igor Moskalyov 373

Numerical method for interaction of loose floating bodies

Kalman Ziha . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

Optimization and Sensitivity Analysis 377

An Alternative Method for the Optimum Dynamic Balancing of Planar Mechanisms

Mario Acevedo, Eduardo Haro, Felix Martinez . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

Sensitivity analysis of dynamic three-dimensional multibody systems: Theory and software implemen-tation

Joydeep Banerjee, John J. McPhee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

Multidisciplinary Design Optimization of Wind Turbines by a Multibody/Cross-Sectional/FEM Inte-grated Approach

Carlo L. Bottasso, Filippo Campagnolo, Alessandro Croce, Federico Gualdoni . . . . . . . . . . . 383

Efficient response optimization of realistic vehicle models using an automatically-differentiated semi-recursive formulation

Alfonso Callejo, Javier Garcıa de Jalon, Pablo Luque, Daniel Alvarez . . . . . . . . . . . . . . . 385

Effect Analysis of Latch Length on the Performance of Spring Operating Mechanism for a Gas InsulatedCircuit Breaker

Gyuseok Choi, Jeonghyun Sohn, Hyunwoo Kim, Wansuk Yoo, Byungtae Bae, Jaeyeol Kim, JinhoKim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

Reliability-based Design Optimization applying Polynomial Chaos Expansion: Theory and Applica-tions

Alberto Clarich, Mariapia Marchi, Enrico Rigoni, Rosario Russo . . . . . . . . . . . . . . . . . . 389

Optimization of Kinematic Sensitivity and Workspace of Planar Parallel Mechanisms

Morteza Daneshmand, Mohammad Hossein Saadatzi, Mehdi Tale Masouleh, Ehsan SharafianArdakani, Mohammad Bagher Menhaj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

Index-1 and Index-3 adjoint DAE equations for the sensitivity analysis of multibody systems

Daniel Dopico, Yitao Zhu, Adrian Sandu, Corina Sandu . . . . . . . . . . . . . . . . . . . . . . . 393

Optimizing the Dynamics of Mechanical Systems Using Particle-Swarm-Optimizers and Meta-Models

Markus Filippi, Heinz Ulbrich . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

Gradient Based Optimization of Flexible Multibody Systems Using the Absolute Nodal CoordinateFormulation

Alexander Held, Robert Seifried . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397

Control of Harmonically Driven Resonating Compliant Structures using Local Structural Modifications

Hugo Jacobus Peters, Johannes F.L. Goosen, Fred van Keulen . . . . . . . . . . . . . . . . . . . 399

Automated Synthesis and Optimization of Planar Linkage Mechanisms

Martin Alejo Pucheta, Alberto Cardona . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401

Adjoint second order ODE for the computation of first order sensitivities in multibody dynamics

Yitao Zhu, Daniel Dopico, Corina Sandu, Adrian Sandu . . . . . . . . . . . . . . . . . . . . . . . 403

Railroad Vehicle Dynamics 405

xxii

Co-Simulation of Multibody and Finite Element Codes for Wheel-Rail Interaction

Pedro Antunes, Joao Pombo, Jorge Ambrosio, Manuel Pereira, Tiago Almeida, Hugo Magalhaes 407

A railway HIL system for the safety on board subsystem testing activities: controller robustnessanalysis

Roberto Conti, Benedetto Allotta, Franco Cavaliere, Enrico Meli, Luca Pugi, Alessandro Ridolfi . 409

Numerical simulation of dynamic phenomena occurring in deformable rail vehicle drive systems

Slawomir Duda . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411

Dynamic Modeling of Magnetic Suspension and Propulsion for a Track Transportation System

Hyung-Suk Han, Kijung Kim, Jongboo Han, Changhyun Kim, Doyoung Park . . . . . . . . . . . 413

Development of an Innovative Weigh in Motion System for Railway Vehicles

Mirko Ignesti, Alice Innocenti, Lorenzo Marini, Enrico Meli, Luca Pugi, Andrea Rindi . . . . . . 415

Development and Validation of a Wear Model for the Prediction of Wheel and Rail Profile Evolutionon Complex Railway Nets

Mirko Ignesti, Alice Innocenti, Lorenzo Marini, Enrico Meli, Andrea Rindi . . . . . . . . . . . . 417

Fault detection of multiybody systems applied to railway vehicles

Mathias Jesussek, Katrin Ellermann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

Optimization of a bogie primary suspension damping to reduce wear in railway operations

Seyed Milad Mousavi Bideleh, Viktor Berbyuk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

Development of Air Suspension Model with Leveling and Differential Pressure Valves and its Experi-mental Validation for Use in Railroad Vehicle Dynamics Simulation

Toshihisa Nakajima, Yoshiyuki Shimokawa, Masaaki Mizuno, Hiroyuki Sugiyama . . . . . . . . . 423

Discrete Element Models for Railroad Ballast Degradation

Robert Seifried, Christian Ergenzinger, Peter Eberhard . . . . . . . . . . . . . . . . . . . . . . . . 425

Semi-Active Control of Skyhook for Ride Comfort of a Railway Vehicle

Kyung Seok Sim, Tae Won Park, Nam Ho Chung . . . . . . . . . . . . . . . . . . . . . . . . . . 427

Development of Pantograph Model using Multibody Dynamics and Bench Test Evaluations

Hironobu Sunami, Yoshiaki Terumichi, Masahito Adachi, Takeshi Narita . . . . . . . . . . . . . 429

Software Development and Education 431

HOTINT – A Multibody Dynamics Simulation System for Education, Research and Application

Johannes Gerstmayr, Daniel Reischl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

Chrono: A Parallel Multi-Physics Library for Rigid-Body, Flexible-Body, and Fluid Dynamics

Toby D. Heyn, Hammad Mazhar, Arman Pazouki, Dan Melanz, Andrew Seidl, Aaron Bartholomew,Luning Fang, Alessandro Tasora, Eftychios Sifakis, Dan Negrut . . . . . . . . . . . . . . . . . . . 435

Computer-aided evaluation of posture ergonomics by means of low-cost markerless motion capturesystem

Ettore Pennestri’, Alfredo Patrizi, Valentini Pier Paolo, Rughi Diego, Nappi Francesco . . . . . . 437

Development of a virtual laboratory in the framework of the education of theoretical mechanics taughtfor undergraduate engineering students

David Wattiaux, Olivier Verlinden . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

RPI-MATLAB-Simulator

Jedediyah Freeman Williams, Ying Lu, Sarah Niebe, Jeff C. Trinkle . . . . . . . . . . . . . . . . 441

MBD Education in PNU, Korea

Wan Suk Yoo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

xxiii

Vehicle Dynamics and Simulation 445

Modelling and Control of an Autonomous Underwater Vehicle for Mobile Manipulation

Benedetto Allotta, Roberto Conti, Riccardo Costanzi, Francesca Giardi, Enrico Meli, AlessandroRidolfi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

Structural MBD tire models: Evolving from Spindle Load to Deformation Measurements

Manfred Backer, Axel Gallrein . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

Comparison of Different Coordinates Formulation for Efficient Modeling of a Vehicle Suspension Sys-tem

Mariano Carpinelli, Marco Gubitosa, Domenico Mundo, Wim Desmet . . . . . . . . . . . . . . . 451

Sample based Reliability Design Method for a Multibody System having Arbitrary Distributed Pa-rameters

Chan Kyu Choi, Hong Hee Yoo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

Dynamical Behavior of Trains Excited by a Non-Gaussian Vector Valued Random Fields

Funfschilling Christine, Perrin Guillaume, Soize Christian, Duhamel Denis . . . . . . . . . . . . 455

A multibody model to assess the effect of automotive motor in-wheel configuration on vehicle stabilityand comfort

Javier Cuadrado, David Vilela, Inaki Iglesias, Adrian Martın, Alberto Pena . . . . . . . . . . . . 457

Use of an implicit non-linear FEA multi-model solver for the dynamic simulation of an automotivevehicle with meshed tires.

Frederic Cugnon, Philippe Jetteur, Frederic Pascon, Tom van Eekelen . . . . . . . . . . . . . . . 459

A low cost dynamometer wheel for validating multibody vehicle models

Maria Dolores Gutierrez Lopez, Javier Garcıa de Jalon . . . . . . . . . . . . . . . . . . . . . . . 461

Reduction of Vehicle Suspension Models to Single-degree-of-freedom Equivalent Kinematic Joints

Andrew Hall, Chad Schmitke, Thomas Uchida, John McPhee . . . . . . . . . . . . . . . . . . . . 463

Dynamic Property of the Triangle Rotary Engine Mechanism

Chiu-Fan Hsieh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

Symbolic Calculation of the Base Inertial Parameters of a Low Mobility Mechanism

Xabier Iriarte, Javier Ros, Francisco Valero, Vicente Mata, Jokin Aginaga . . . . . . . . . . . . 467

Vibration reduction of a six-wheeled vehicle with rotating arm suspensions

Samuel Jung, Wan-suk Yoo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469

Tracked vehicle dynamics modelling issues

S lawomir Kciuk, Arkadiusz Mezyk, Gabriel Mura . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

Dynamic Responses of the Flexible Guideway Induced by Moving Maglev Vehicles

Ki-Jung Kim, Hyung-Suk Han, Jong-Min Lee, Seok-Jo Yang . . . . . . . . . . . . . . . . . . . . 473

Modeling Of Traffic Stream In Urban Environment As A Multibody Chain With Breakable WeakSprings

Aleksandar Kostikj, Milan Kjosevski, Ljupcho Kocarev . . . . . . . . . . . . . . . . . . . . . . . . 475

Analysis of the Dynamic Interaction between Catenary and Pantograph and Experimental Verificationin High Speed over 300km/h

Jin Hee Lee, Tae Won Park . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477

A novel 3-dof parallel mechanism employed in a vehicle suspension for the Improvement of HandlingPerformance

Fernando Malvezzi, Tarcisio Antonio Hess Coelho . . . . . . . . . . . . . . . . . . . . . . . . . . 479

Comparison on multi-body vehicle model and lumped parameter model

xxiv

SangDo Na, JinSeok Jang, KwangSuk Kim, JinKyu Ok, DongWoon Park, WanSuk Yoo . . . . . 481

On the use of geometrically exact shells for dynamic tire simulation

Michael Roller, Peter Betsch, Axel Gallrein, Joachim Linn . . . . . . . . . . . . . . . . . . . . . 483

Analysis and Design of Active Pedal for Improving Fuel Economy using Multibody Analysis of Pedaland Foot Interaction

YoungKyu Shin, Namgyu Han, JunYoung Park, SungWoo Kwon, TaeOh Tak . . . . . . . . . . . 485

Development of Steering HILS System with Multibody Kinematic Model of Front Suspension

Masashi Tsushima, Taichi Shiiba . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

Evaluation of the Effects of Vehicle Model Complexity on Subjective Driving Perception in a DrivingSimulator

Michael Unterreiner, Dieter Schramm, Udo Ossendoth . . . . . . . . . . . . . . . . . . . . . . . . 489

Special Session on Benchmark Problems in Multibody Dynamics 491

Benchmark Problems for Beam Models in Flexible Multibody Dynamics

Olivier A. Bauchau . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493

A Library of Computational Benchmark Problems for the Multibody Dynamics Community

Ramin Masoudi, Thomas Uchida, David Vilela, Alberto Luaces, Javier Cuadrado, John McPhee 495

History of Benchmark Problems in Multibody Dynamics

Werner Schiehlen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

Benchmark Problems for Computational Efficiency of Rigid Multibody System Dynamics

Michael Valasek, Zbynek Sika . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499

Author Index 501