Conference Information Booklet
The 2nd
Preliminary version
Joint International Conference on
IMSD
Multibody System Dynamics
Stuttgart, Germany
May 29 – June 1, 2012
For more information
www.itm.uni-stuttgart.de/imsd2012
Supporting Organizations
Industrial Sponsors
The 2nd
Welcome to the
Joint International Conference on
IMSD
Multibody System Dynamics
“The University of Stuttgart is going to increase its international presence and concentrate on themes that are of central importance to our
future.”
Prof. Dr.-Ing. Wolfram Ressel,
Rector of the University of Stuttgart
Material
Conference Maps
Campus Vaihingen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Siteplan of the conference rooms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Maps for Social Events
Old Castle in the center of Stuttgart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Mercedes-Benz Museum. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Zoological and Botanical Garden „Wilhelma“. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Imprint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table of Content
Welcome to the Conference
5
Conference Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Presentation Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Steering Committee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Location of the Conference
6
This is Stuttgart, Germany
8
A little about Germany . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
The Stuttgart Region . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
University of Stuttgart
10
A Research University of International Standing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Useful Information
12
Tickets and transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
How to arrive at the University Campus Vaihingen . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Useful Addresses & Phone Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Practical Matters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Social Program
14
Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Welcome Reception. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Conference Reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Excursion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Conference Dinner. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Scientific Program
19
Program Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Detailed Technical Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Tuesday, May 29, 2012 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Wednesday, May 30, 2012 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Thursday, May 31, 2012 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Friday, June 1, 2012 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Welcome to the Conference
Conference Objectives
Multibody dynamics as an engineering
discipline has become an important tool
for virtual prototyping, machine design
and computer aided analysis of complex
articulated mechanical systems. Multibody 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 topics
of the conference include, but are not
restricted to:
ºº Algorithms, Integration Codes and
Software
ºº Biomechanics
ºº Contact and Impact Problems
may use their own laptops if they wish.
In any case, please check your hardware
and presentation ahead of time.
The time allotted for each presentation
is 20 minutes. This time includes 5 minutes for discussion, so you have 15 minutes for the presentation itself. Please
help us to 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
supports the Second Joint International
Conference on Multibody System Dynamics. The members of the Committee
are:
Jorge Ambrosio (Portugal)
Kurt Anderson (USA, ASME)
Olivier Bauchau (USA/China, ASME)
Carlo Bottasso (Italy)
Javier Cuadrado (Spain, IFToMM,
Secretary)
Peter Eberhard (Germany, Chair)
Sung-Soo Kim (Korea, KSME)
ºº Robotics, Control and Mechatronics
Jinyang Liu (China)
ºº T
heoretical and Computational
Methods
John McPhee (Canada, IFToMM)
Aki Mikkola (Finland, Chairman)
Friedrich Pfeiffer (Germany, IUTAM)
ºº Dynamics of All Vehicles
ºº D
ynamics of Machines and Rotating
Structures
ºº Efficient Methods and Real-Time Applications
ºº Flexible Multibody Systems
ºº Optimization, Sensitivity Analysis
and Parameter Identification
ºº Other Topics
Presentation Preparations
Each conference room will be equipped
with a computer running Windows 7
with Microsoft Office 2010 and Adobe
Acrobat Reader. Please upload your
presentation to the computer ahead
of time to minimize delays. Presenters
Jean-Claude Samin(Belgium)
Werner Schiehlen (Germany, IFToMM,
Vice-chair)
Ahmed Shabana (USA, ASME)
Yoshihiro Suda (Japan, JSME)
5
Location of the Conference
P
University of Stuttgart,
Pfaffenwaldring 7 and 9
P
Campus Vaihingen
The conference will take place in the lecture rooms of the University of Stuttgart in StuttgartVaihingen in the buildings Pfaffenwaldring 7 and 9
6
Building Pfaffenwaldring 9
Ground Floor
Building Pfaffenwaldring 7
Ground Floor
Parking
0.267
Elevator to visit
Institute of Engineering and Computational Mechanics
(4th floor)
0.208
Conference Desk
0.144
0.153
To first floor of
Pfaffenwaldring 7
V 9.01
Cafeteria
Commundo
Tagungshotel
(Lunch)
Main entrance
Building Pfaffenwaldring 7
First Floor
V 7.03
Conference Desk,
Coffee breaks,
Sponsor booths,
Wardrobe,
Get together
Lectures
Toilets (man – Herren, woman – Damen)
Lunch
Elevator
To ground floor of
Pfaffenwaldring 7
V 7.02
Commundo
Tagungshotel
(Lunch)
Siteplan of the conference rooms
The buildings are interconnected, therefore the distances between the lecture halls of the
conference are short. Use this siteplan for your orientation.
7
This is Stuttgart, Germany
A little about Germany
Germany, officially the Federal Republic
of Germany, is a federal parliamentary
republic in Europe. The country consists
of 16 states while the capital and largest
city is Berlin. Germany covers an area
of 357 021 km2 and has a largely temperate seasonal climate. With 81.8 million inhabitants, it is the most populous
member state and the largest economy
in the European Union. It is one of the
major political powers of the European
continent and a technological leader in
many fields.
Opera of Stuttgart
The Stuttgart Region
Inventive, cultivated, relaxing and enticing at
the same time
Map of Germany and BadenWürttemberg
Stuttgart is the capital of the state
of Baden-Württemberg in southern
Germany.
Hamburg
Berlin
Hannover
Dresden
Köln
Frankfurt
IMSD
2012
Stuttgart
Freiburg
München
In the Stuttgart Region nature goes
hand in hand with technology, and tradition with innovation. Its architecture
is both Baroque and modern. It spans
the diversity of the pulsating economic
metropolis and a wealth of culture on
the highest level. And all of this is to be
found amidst an idyllic, topographically
appealing scenery.
The Stuttgart Region comprises 179
towns and communities, divided into
five administrative districts and the municipality of Stuttgart. About 2.7 million
people of around 170 different nationalities live here, 581 092 of them in Stuttgart. The state capital’s main landmark is
the Television Tower - the first of its kind
worldwide.
Stuttgart owes its name to a stud farm,
or “Stuotgarten”, which Duke Liudolf of
Swabia is said to have founded in 950
AD. To defend this stud farm the Old
Castle was built. The New Castle was the
residence of the kings of Württemberg
up to the middle of the 19th century. Today the building contains ministries of
the Baden-Württemberg state government and state reception rooms.
The Castle Square is the most central
part of Stuttgart. It’s an absolute must
when enjoying a stroll through the city,
8
Did you know ...
that Stuttgart is the city with the largest relief variation out of all German major cities?
The city area stretches over a difference in
elevation of 342 meters. Therefore you can
climb in Stuttgart the most stairways of all
German cities with a stretch of 30 kilometers length.
Europe’s largest high-tech region
The Stuttgart region is a main centre for:
ºº the automotive industry
ºº mechanical engineering
because this is where the city’s heartbeat can best be felt. It is bordered by
Königstrasse, Europe’s longest pedestrian shopping precinct, 1.2 km in length.
ºº electrical engineering
ºº information and communication
technology
ºº environmental technology
Stuttgart is spread across a variety of
hills (some of them vineyards), valleys
and parks – unusual for a German city
and often a source of surprise to visitors
who primarily associate the city with its
industrial reputation as the ‘cradle of the
automobile’.
“Königstraße” in the city center, one of
the most frequented shopping streets in
Germany
The Landtag, the State Parliament building, is located in the Upper Castle Gardens. Directly adjacent are the Staatstheater Stuttgart, Europe’s largest triplebranch theatre, comprising Stuttgart
State Opera, the world-famous Stuttgart
Ballet and the Schauspiel Stuttgart theatre company.
A wide diversity of museums rounds off
the culture scene. The Stuttgart Museum
of Art has the world’s most outstanding
collection of the oeuvre of Otto Dix. The
Stuttgart State Gallery has works from
700 years on display and is one of the
most visited museums in the country.
Television Tower – Landmark of the city and the
first in the world built of ferroconcrete
9
University of Stuttgart
A Research University of
International Standing
The University of Stuttgart lies right in
the centre of the largest high-tech region of Europe. We are surrounded by
a number of renown research facilities
and have such global industrial players
as Daimler or Bosch as our neighbours.
We were founded in 1829 and over the
years this technical institution has developed to the research intensive university that it is today. Our main emphasis is on engineering and the natural
sciences. However, combining these
areas with humanities and the social
sciences adds something special to our
profile.
Indicators of our excellent status are
projects like the Excellence Cluster
“Simulation Technology”. We are also
involved in a number of Collaborative
Research Centres and Research Training
Groups.
Our research activities are concentrated
around eight interdisciplinary areas:
ºº Modelling and simulation
technology,
ºº New materials,
ºº Complex systems and
communication,
Test setup for monitoring the contact force at a
middle-ear prosthesis
ºº Technology concepts and technology
assessment,
ºº Energy and environment,
ºº Mobility,
ºº Integrated product and production
design as well as
ºº Design and technology of
sustainable living spaces.
We are going to strengthen our research
through interdisciplinary networks of
cooperation in order to continue to expand our cutting-edge position in these
fields. We are going to increase our international presence and concentrate
on themes that are of central importance to our future.
Behind this lies the vision of undertaking research on the whole life-cycle of
a product. This involves not only the engineering implementation but also the
evaluation of the sustainability of the
technical innovations.
Did you know ...
Education and training for scientists of
different engineering disciplines
10
that the “Tagblatt-Tower” (publisher of a local newspaper) was with its 61 meters and
18 floors the first skyscraper in Stuttgart
built in 1928?
Departments
At a glance
ºº Architecture and Urban Planning
ºº ~ 4 800 employees
ºº Civil and Environmental Engineering
ºº ~ 2 800 scientific staff
ºº Chemistry
ºº ~ 250 professors
ºº Energy Technology, Process
Engineering and Biological
Engineering
ºº ~
22 600 students enrolled at
10 departments
ºº Computer Science, Electrical
Engineering and Information
Technology
ºº Aerospace Engineering and Geodesy
ºº Engineering Design, Production
Engineering and Automotive
Engineering
ºº ~
4 500 international students from
more than 100 countries all over the
world
ºº ~ 75 study programs
ºº 7 MSc Programs taught in English
ºº ~ 400 partner universities worldwide
ºº annual budget of ~ 400 000 000 Euro
ºº Mathematics and Physics
ºº Humanities
ºº Management, Economics and Social
Sciences
We have become one of the most popular education institutions world-wide
for the subjects we offer. Around 22 600
students are enrolled in the courses offered by the 150 institutes in the 10 different departments.
The lecture halls are well filled
We offer about 75 degree programs.
We also have seven international MScdegree programs taught entirely in
English. In addition, we offer numerous
activities that are tailor-made for our international partners.
Modern buildings on the Campus in Vaihingen
11
Useful Information
Tickets and transportation
You can ride all streetcars, suburban
railways and buses within the metropolitan Stuttgart area with a VVS ticket.
VVS means Transit and Tariff Association Stuttgart (German: Verkehrs- und
Tarifverbund Stuttgart). We recommend
you to buy a single ride ticket (German:
Einzelticket) for two zones for your journey from the airport to the University
Campus Vaihingen or from the main
station to the University Campus Vaihingen or vice versa. Step off at the station
“Universität”.
A single ride ticket entitles the rider
to one ride in the same direction, but
changing lines as well as short ride interruptions are permitted. The tickets
remain in effect for two hours from purchase. The price for two zones is 2.60
Euro.
You can buy your ticket from the ticket
machines. You will find them close to
the entry of the suburban railway stations. Unfortunately you won’t find the
ticket machines on the platform of the
suburban railways.
Single Day Tickets with an unlimited
number of rides or a discounted multitrip travel card with four single tickets
are also available from the ticket machines.
The 3-Day-Ticket is an attractive offer
designed for overnight guests at hotels
and guest houses within the VVS territory. Please ask for a 3-Day-Ticket in your
hotel.
A map of the railway network is contained in the conference bag.
How to arrive at the University
Campus Vaihingen
From Stuttgart main station (German:
Hauptbahnhof) or from Stuttgart city
centre (German: Stadtmitte) you should
12
take one of the following suburban railways (German: S-Bahn) which travel
every 10 minutes. It takes you about 10
minutes to get from the main station to
the University Campus Vaihingen (German: Universität):
ºº S1: Direction Böblingen / Herrenberg
ºº S2: Direction Vaihingen / Filderstadt
ºº S3: Direction Vaihingen / Flughafen /
Messe
Leave the station at the exit University
Centre (German: Universitätszentrum)
which is very close to Pfaffenwaldring.
After arriving at the platform take the
exit to the University Campus and after going up by elevator or stairways
you are already in front of the conference building. If you take the wrong exit
and find yourself in a living area, don’t
worry. The university is just two minutes
walking away.
Useful Addresses & Phone Numbers
Emergency number 112
In case of an emergency 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 nearest police station to the University Campus Vaihingen is located in the
Pfaffenwaldring 1. The telephone number is 0049 (0) 711- 6869230. Another
one is located in the Robert-LeichtStraße 15. The telephone number is
0049 (0) 711-8990-4460.
Taxi
A taxi from the University Campus Vaihingen to the city centre or vice versa
costs about 22 Euro but the suburban
railway (German: S-Bahn) is faster and
cheaper. A telephone number to reserve
a taxi is 0049 (0) 711-731441.
Practical Matters
German time is 1 hour ahead of Greenwich Mean Time (UTC+1), in Summer
(from March to October) 2 hours ahead
of Greenwich Mean Time (UTC+2).
Supermarkets are usually open from 8
a.m. until 8 p.m. on weekdays (Monday
to Saturday). Shops are usually open
from 9.30 a.m. until 8 p.m. on weekdays (Monday to Saturday). On Sunday
and public holidays (like Monday May
28, 2012) supermarkets and shops are
closed.
Prices in Germany already contain value-added tax (VAT). Additional tips in
the amount of 5-10% of the bill are usual
in restaurants.
Post offices and mailboxes are yellow
and bear the label “Deutsche Post”.
The tap water in Germany is safe to
drink.
The voltage in Germany is 220 V (230 V),
50 Hz. Round “European” two-pin plugs
and sockets are used.
Only pharmacies (German: Apotheke)
sell medicines. They are usually open
from 9.30 a.m. until 8 p.m. on weekdays
(Monday to Saturday).
Coffee breaks will take place twice a
day, in the morning and in the afternoon
in the room 0.267.
Lunches are served between 1 p.m. and
2 p.m. in the restaurant of the Commundo Tagungshotel, Universitätsstraße 34.
Wireless internet is available for the
conference participants in the conference venue. Eduroam can be used. Logins and passwords will be given at the
registration desk. Alternatively some
computers with internet access are also
available in the computer room of the
Institute of Engineering and Computational Mechanics.
Common Expressions in German language
Germany Deutschland
Hello! Hallo
Bye! Tschüss
Goodbye! Auf Wiedersehen
See you later Bis später!
Yes Ja
No Nein
Thank you! Danke
You’re welcome! Bitte!
Excuse me Entschuldigung
My name is ... Ich heiße ...
I’d like ... Ich hätte gerne ...
How much is it ... Was kostet ...?
Could we pay please? Zahlen bitte.
I don’t understand. Ich verstehe Sie
nicht.
I don’t speak German Ich spreche kein
Deutsch.
Do you speak English? Sprechen Sie
Englisch?
How are you? Wie geht es Ihnen?
Where is the toilet? Wo ist die Toilette?
Entrance Exit Help! Eingang
Ausgang
Hilfe
one two three four five six seven eight nine ten eins
zwei
drei
vier
fünf
sechs
sieben
acht
neun
zehn
Monday Tuesday Wednesday Thursday Friday Saturday Sunday Montag
Dienstag
Mittwoch
Donnerstag
Freitag
Samstag
Sonntag
13
Social Program
Registration
Welcome Reception
The conference registration will start on
Monday, 28th of May 2012, from 4 p.m.
until 8 p.m. in the room 0.208, Pfaffenwaldring 9, at the Registration Desk.
The welcome reception will begin on
Monday, 28th of May 2012 at 6 p.m. It
will take place in the room 0.208, Pfaffenwaldring 9, at the Registration Desk.
This is where the participants get the
first chance to meet each other.
University of Stuttgart
University of Stuttgart
Please note that this day is a public holiday in Germany and shops are closed.
Conference Reception
Inner courtyard of the Old Castle
On Tuesday evening, 29th of May 2012,
at 6.30 p.m. the conference reception
will take place at the inner courtyard of
the Old Castle of Stuttgart, which is located in the city center. First we will be
able to visit some of the exhibitions in
audio-guided tours. Later some drinks
and fingerfood will be served.
Campus Vaihingen, University of Stuttgart
The Old Castle is the oldest one in Stuttgart. The original structure, a moated
castle, was built in the 10th century
and later extended when the counts of
Wilhelma
MercedesBenz 
Museum
Old
Castle
University
of
Stuttgart
Locations of the conference and the social events
14
Old
Castle
Old Castle in the center of Stuttgart
Conference Reception, Tuesday, 29th of May 2012, 6.30 p.m.
case, allowing riders to reach the upper
levels on horseback. When construction
of the New Castle began in 1746, the Old
Castle was no longer of interest. Please
note in the courtyard the statue of Duke
Eberhard.
Old Castle in the center of Stuttgart
Württemberg moved their family seat
to Stuttgart in 1325. It was not until the
middle of the 16th century that it became
more of a castle than a fortress by the
addition of side wings and upper stories. The Old Castle was given an arcaded inner courtyard and a knights' stair-
Following severe damage by fire and an
air raid in the Second World War, it was
rebuilt, and its present appearance is
more or less the same as that of the royal
castle in the Reformation period. Since
1948 the Old Castle has been home to
the Württemberg State Museum.
Did you know ...
that the Lake Constance (“Bodensee”) is
the largest lake (inland water) in Germany?
15
MercedesBenz
Museum
Mercedes-Benz Museum
Excursion, Thursday, 31th of May 2012, 4 p.m.
Excursion
Mercedes-Benz Museum
All participants of the conference are
kindly invited for the excursion to the
Mercedes-Benz Museum on Thursday
afternoon, 31st of May 2012, at 4 p.m.
Excursion to the Mercedes-Benz Museum
will be part of the conference
16
The Mercedes-Benz Museum is the only
one in the world to document the complete 126-year history of the automobile
industry from Day One to the present
day.
Visitors make their way along two circular routes on nine different levels
through 126 years of automotive history. From 1886 up to the present day.
The exhibition is divided into "Legend"
and "Collection" rooms.
The seven Legend Rooms tell the story
of the Mercedes-Benz brand, subdivided
into themes and eras. They illustrate the
history of the automobile, from its invention up to the present day, in chronological order. The Collection Rooms
show the diversity of the vehicles produced, arranged according to topics.
Conference Dinner
"Wilhelma" Zoological and Botanical Gardens
The Conference Dinner will be held on
Thursday evening, 31st of May 2012, at
7 p.m. in the Aquarium at the Wilhelma.
The combination of historical ambience,
tropical plants and animals make a visit
to the Wilhelma a very special experience, no matter what the time of year.
Germany's only zoological and botanical gardens reflect 160 years of history.
Today the "Alhambra on the Neckar",
as the Wilhelma is often referred to, has
about 9000 animals from 1000 different
species, making it one of the most diverse zoos in the world, and one which
represents a cross-section from every
climatic zone on earth. There's also a
valuable collection of plants, comprising some 6000 species.
One of the Wilhelma's gems is the
Aquarium, always a crowd puller. Underwater habitats, from the North Sea
Conference Dinner will be held in the
Aquarium at the Wilhelma Zoological and
Botanical Garden
to a coral reef and from the Neckar to
the Murray River are represented by the
corresponding fish, invertebrates and
water plants found there.
The adjoining Terrarium is home to all
manner of bizarre and poisonous creatures and thrills visitors with its crocodile hall.
Wilhelma
Aquarium
Zoological and Botanical Garden „Wilhelma“
Conference Dinner, Thursday, 31th of May 2012, 7 p.m.
17
Transfer
to the Mercedes-Benz Museum and the
Conference Dinner
A shuttle bus will depart on Thursday,
31st of May 2012, at 3.45 p.m. at the
University of Stuttgart in the Universitätsstraße (Schleife) bringing the participants directly to the Mercedes-Benz
Museum and later to the Wilhelma.
Shuttle bus departs close to the building
in Pfaffenwaldring 7 and 9 in front of the
Commundo Tagungshotel
At the end of the conference dinner,
there will be a bus shuttle back to the
city center of Stuttgart and to the University Campus Vaihingen. More details
will be given during the conference.
Did you know ...
that Stuttgart´s cable car is humorously
called “Legacy Hunter Express” or “Widows Express”? The wooden cable car of
1929 got these nicknames because of its
station at the cemetery “Waldfriedhof”.
18
Scientific Program
Program Overview
Detailed Technical Program
19
Program Overview
Monday, May 28, 2012
16:00 – 20:00
Registration Desk
Room 0.208
18:00 – 20:00
Welcome Reception
Room 0.208
Tuesday, May 29, 2012
Registration Desk opens at 8 a.m.
Welcome session
Room V 7.02
Wan-Suk Yoo
MBD Applications in Design
Room V 7.02
09:00 – 09:40
09:40 – 10:20
10:30 – 11:10
Keynote
Flex1
Room V 9.01
Con1
Flex2
Room V 9.01
Con2
Room V 7.03
14:50 – 15:50
Flex3
Con3
Room V 7.03
Flex4
Room V 9.01
Con4
Room V 7.03
Opt2
Room V 7.04
Opt3
Room V 7.04
Wednesday, May 30, 2012
Keynote
Rob1
Room V 9.01
Harry Dankowicz
Computational DFD Analysis: Using
Continuation Methods in Dynamics for Design
Con5
Room V 7.03
Rob2
Con6
Room V 7.03
Keynote
Rob3
Room V 9.01
Alg5
Room 0.144
Flex6
Room V 7.04
Alg6
Room 0.144
Con7
Room V 7.03
Flex7
Room V 7.04
Bio1
Room 0.144
Coffee Break
Rob4
Room V 9.01
20
Flex5
Room V 7.04
Yoshihiro Suda
Dynamic Simulation and Analysis
for Sustainable Transport Systems
15:50 – 16:20
16:20 – 17:40
Eff3
Room 0.153
Room V 7.02
Eff4
Room 0.153
Oth1
Room 0.153
Lunch
13:00 – 14:00
14:50 – 15:50
Alg4
Room 0.144
Coffee Break
Room V 9.01
14:00 – 14:40
Eff2
Room 0.153
Registration Desk opens at 8 a.m.
11:10 – 11:40
11:40 – 13:00
Alg3
Room 0.144
Room V 7.02
Conference Reception – Old Castle
18:30 – 21.00
09:50 – 11:10
Eff1
Room 0.153
Coffee Break
15:50 – 16:20
09:00 – 09:40
Alg2
Room 0.144
Olivier Brüls
Trends and Challenges in Flexible
Multibody Dynamics: From
Simulation to Control and Design
Keynote
Room V 9.01
16:20 – 17:40
Opt1
Room V 7.04
Lunch
13:00 – 14:00
14:00 – 14:40
Room 0.144
Coffee Break
11:10 – 11:40
11:40 – 13:00
Alg1
Room V 7.03
Con8
Room V 7.03
Flex8
Room V 7.04
Theo1
Room 0.144
Room V 7.02
Oth2
Room 0.153
Thursday, May 31, 2012
09:00 – 09:40
09:50 – 11:10
Registration Desk opens at 8 a.m.
Peter C. Müller
Kurt Magnus: A Pioneer of Multibody
System Dynamics
Keynote
Rob5
Room V 9.01
Veh1
Room V 7.03
Rob6
Room V 9.01
Veh2
Room V 7.03
Rob7
Room V 9.01
Bio3
Theo3
Room V 7.04
Room 0.144
Veh3
Room V 7.03
Bio4
Room 0.144
Excursion – Mercedes-Benz Museum
18:45
Conference Dinner – Wilhelma
Friday, June 1, 2012
Registration Desk opens at 8 a.m.
Olivier Bauchau
Intrinsic Time Integration Procedures
for Rigid Body Dynamics
Keynote
09:50 – 11:10
Veh4
Room V 7.03
Bio5
Room V 7.04
Room V 7.02
Rot3
Room 0.153
Coffee Break
11:10 – 11:40
11:40 – 13:00
Veh5
Room V 7.03
Bio6
Room V 7.04
Rot4
Room 0.153
Lunch
13:00 – 14:00
14:00 – 14:40
Rot2
Room 0.153
Theo4
Room V 7.04
16:00 – 18:15
09:00 – 09:40
Rot1
Room 0.153
Lunch
13:00 – 14:00
14:00 – 15:20
Theo2
Room 0.144
Coffee Break
11:10 – 11:40
11:40 – 13:00
Bio2
Room V 7.04
Room V 7.02
Keynote
Aki Mikkola
Developments and Future Outlook of the
Absolute Nodal Coordinate Formulation
Room V 7.02
Closing session
Room V 7.02
14:40 – 15:20
ALG
Algorithms, Integration Codes and Software
OTH
Other Topics
BIO
Biomechanics
ROB
Robotics, Control and Mechatronics
CON
Contact and Impact Problems
ROT
Dynamics of Machines and Rotating Structures
EFF
Efficient Methods and Real-Time Applications
THEO Theoretical and Computational Methods
FLEX
Flexible Multibody Systems
VEH
OPT
Optimization, Sensitivity Analysis and
Parameter Identification
Dynamics of All Vehicles
21
Detailed Technical Program
Welcome session
Peter Eberhard, Chairman, IMSD 2012
Wolfgang Ressel, Rector University of Stuttgart
Nobuyuki Shimizu, Representative JSME
Aki Mikkola, Chairman IMSD
Keynote | Wan-Suk Yoo
MBD Applications in Design
09:00 – 09:40
Room V 7.02
09:40 – 10:20
Room V 7.02
Session Chair: Peter Eberhard
10:30 – 11:10
Room V 9.01
FLEX 1 of 8 | Flexible Multibody Systems
Session Chair: Ahmed Shabana
On the Effect of the Discretisation Scheme on the Eigenfrequencies and Modes of Shear Flexible Rods
Holger Lang, Joachim Linn
Deformation Modes and Dual Stress Resultants of Spatial Beam Elements in Large Deflection Multibody
System Analyses
Ben Jonker, Jacob P. Meijaard
CON 1 of 8 | Contact and Impact Problems
Session Chair: Christoph Glocker
10:30 – 11:10
Room V 7.03
Multibody Model of a Grand Piano Action Mechanism Aimed at Understanding and Demystifying the
Escapement Principle
Baudouin Bokiau, Antoine Poncelet, Paul Fisette, Nicolas Docquier
A Mechanistic Model of Compression Hysteresis in Compliant Interfaces in Multibody Dynamic
Simulation of a Piano Action Mechanism
Ramin Masoudi, John McPhee
ALG 1 of 6 | Algorithms, Integration Codes and Software
Session Chair: Dan Negrut
10:30 – 11:10
Room 0.144
Comparison of Different Error Estimation Approaches for Controlling the Macro-Step Size in
Co-Simulation Methods
Martin Busch, Robert Schmoll, Bernhard Schweizer
Numerical Aspects of FMI for Model Exchange and Co-Simulation v2.0
Martin Arnold, Christoph Clauß, Tom Schierz
Coffee BREAK
FLEX 2 of 8 | Flexible Multibody Systems
Session Chair: Ben Jonker
Dynamic Response of Geometrically Non-Linear Beam under Moving Mass
Eva Zupan, Miran Saje
Geometrically Exact Cosserat Rods with Kelvin-Voigt Type Viscous Damping
Joachim Linn, Holger Lang, Andrey Tuganov
Construction of Discrete Shells by Geometric Finite Differences
Clarisse Weischedel, Andrej Tuganov, Tomas Hermansson, Joachim Linn, Max Wardetzky
Isogeometric Shell Discretizations for Flexible Multibody Dynamics
Anmol Goyal, Michael Dörfel, Bernd Simeon
22
11:10 – 11:40
11:40 – 13:00
Room V 9.01
Tuesday, May 29, 2012
morning
CON 2 of 8 | Contact and Impact Problems
Session Chair: Ronald Aarts
11:40 – 13:00
Room V 7.03
A Constructive Solution for Kane’s Dynamics Puzzle
Christoph Glocker
The Global Simulation Method of Flexible Multibody System Dynamics with Impact
Zhu-yong Liu, Jia-zhen Hong, Jin-yang Liu, Fu-xiang Dong
Load Assessment and Analysis of Impacts in Multibody Systems
Francisco González, József Kövecses
Experiment Investigation on Flexible Multibody System with Contact-Impact
Jinyang Liu, Min Lei
OPT 1 of 3 | Optimization, Sensitivity Analysis and Parameter Identification
Session Chair: Michael Hanss
11:40 – 13:00
Room V 7.04
Real-Time Parameter Estimation Study for Inertia Properties of Ground Vehicles
Jeremy Kolansky, Corina Sandu
Physically Motivated Modeling and Identification of Advanced Vehicle Shock Absorbers
Dieter Bestle, Torsten Funke
Parameter Identification for Multibody Systems Governed by DAEs
Thomas Uchida, Chandrika P. Vyasarayani, Michael Smart, John McPhee
Friction Modeling and Parameter Value Estimation in Mechanisms
Thomas Thümmel, Johannes Rutzmoser, Heinz Ulbrich
ALG 2 of 6 | Algorithms, Integration Codes and Software
Session Chair: Hao Wang
11:40 – 13:00
Room 0.144
Molecular Dynamics Simulation of Simple Polymer Chain Using Parallel Multibody Algorithm Based
on Augmented Lagrangian Method
Pawel Malczyk, Janusz Frączek
Application of Timestepping Schemes Based on Time Discontinuous Galerkin Methods to
Multi-Dimensional Examples
Thorsten Schindler, Vincent Acary
The XDE Mechanical Kernel: Efficient and Robust Simulation of Multibody Dynamics with Intermittent
Nonsmooth Contacts
Xavier Merlhiot, Jérémie Le Garrec, Guillaume Saupin, Claude Andriot
On Non-Unique Solutions of Contact Problems with the Coulomb Friction
Vladimír Janovský, Radek Kucera
EFF 1 of 4 | Efficient Methods and Real-Time Applications
Session Chair: Taichi Shiiba
11:40 – 13:00
Room 0.153
On Developing a Multi-Threaded O(log(n)) Parallel Dynamics Engine Starting from a Sequential O(n)
Implementation
Kishor D. Bhalerao
An Explicit-Implicit Integration Method for Unmanned Robot Vehicle Using the Subsystem Synthesis
Method Based on Joint Coordinates
Jun-Youn Jo, Sung-Soo Kim, Myoung-Ho Kim
Exponential Integration Schemes in Multibody Dynamics
Javier Ros, Xabier Iriarte, Roberto Yoldi, Aitor Plaza, Jorge Ángeles
On the Applicability of Static Modes Switching in Gear Contact Applications
Tommaso Tamarozzi, Pascal Ziegler, Peter Eberhard, Wim Desmet
Lunch
13:00 - 14:00
23
Detailed Technical Program
Keynote | Olivier Brüls
Trends and Challenges in Flexible Multibody Dynamics:
From Simulation to Control and Design
14:00 – 14:40
Room V 7.02
Session Chair: Javier García de Jalón
FLEX 3 of 8 | Flexible Multibody Systems
Session Chair: Wan-Suk Yoo
14:50 – 15:50
Room V 9.01
Integrated Simulation of GPU Accelerated Particle Dynamics and Multi Flexible Body Dynamics
Joon Shik Yoon, Ji Soo Park, Cheol O Ahn, Jin Hwan Choi
Efficient Modeling of Frictional Contacts with Absolute Nodal Coordinate Formulation and the Parallel GPU
Implementation for Simulation of Large Systems with Flexible Bodies
Naresh Khude, Dan Melanz, Justin Madsen, Dan Negrut
Integration of Nonlinear Models of Flexible Body Deformation in Multibody System Dynamics
Martin Schulze, Stefan Dietz, Andrey Tuganov, Holger Lang, Joachim Linn
CON 3 of 8 | Contact and Impact Problems
Session Chair: Sigrid Leyendecker
14:50 – 15:50
Room V 7.03
Towards a Real-Time Capable Realistic Soil Contact Model Using a Particle System
Yong-Ho Yoo, Lorenz Quack
Dynamics of Rigid Body Impacting Dense Granular Medium
Yong Pang, Caishan Liu
Euler’s Disk and Disk-Ball System
Hongjian Zhang, Caishan Liu
OPT 2 of 3 | Optimization, Sensitivity Analysis and Parameter Identification
Session Chair: Dieter Bestle
14:50 – 15:50
Room V 7.04
Multi Body Simulation and Optimization of Large-Bore Combustion Engines Using Model Order Reduction
Alexander Riess, Ronald H. W. Hoppe, Andreas Linke, Eckhardt Eisenbeil, Dietmar Pinkernell
Reduction of a Vehicle Multibody Dynamic Model Using Homotopy Optimization
Andrew Hall, Thomas Uchida, Francis Loh, Chad Schmitke, John McPhee
Performance Evaluation and Design Optimization of a Pantograph for the High-Speed Train
Jin Hee Lee, Tae Won Park, Kyung Seok Sim
ALG 3 of 6 | Algorithms, Integration Codes and Software
Session Chair: Bernhard Schweizer
14:50 – 15:50
Room 0.144
On the Stability of Lie Group Time Integration in Multibody Dynamics
Peter Češarek, Dejan Zupan
Enabling Computational Dynamics in Distributed Computing Environments Using a Heterogeneous
Computing Template
Hammad Mazhar, Toby Heyn, Andrew Seidl, Spencer O’Rourke, Alessandro Tasora, Dan Negrut
A C++ Library for Algebraic Computations of Rigid Body Motions
Andreas Müller, Alessandro Tasora
EFF 2 of 4 | Efficient Methods and Real-Time Applications
Session Chair: Corina Sandu
14:50 – 15:50
Room 0.153
Comparison of Linearized vs. Non-Linearized Multibody Vehicle Model for Real-Time Simulation
Kotaro Obana, Taichi Shiiba, Naoya Machida
Hardware-in-the-Loop Simulation of High-Fidelity Multibody Systems
William C. Prescott
Real-Time Simulation of Tracked Vehicles on Rough Terrain
Claude Lacoursière
Coffee BREAK
24
15:50 – 16:20
Tuesday, May 29, 2012
afternoon
16:20 – 17:40
Room V 9.01
FLEX 4 of 8 | Flexible Multibody Systems
Session Chair: José L. Escalona
A Study on the Virtual Working Simulation of Wheel Loader for Fatigue Life Assessment
Hee-Jong Lee, Tae-Ro Cha, Pan-Young Kim, Sung-Woo Nam
An Efficient Description for Rotating Flexible Structures with Spatially Fixed Loads
Ingo Kaiser, Andreas Heckmann
Effect of Fibre Preload on the Dynamics of an Inverted Pendulum Driven by Fibres
Pavel Polach, Michal Hajžman
16:20 – 17:40
Room V 7.03
CON 4 of 8 | Contact and Impact Problems
Session Chair: Yoshiaki Terumichi
A Compliant Contact Model Based on Differential Variational Inequalities
Alessandro Tasora, Dan Negrut, Silvia Negrini
The Exclusion Principle of Dynamics
Friedrich Pfeiffer
On the Numerical Solution of Many-Body Dynamics Problems Formulated as Complementarity Problems
Toby Heyn, Mihai Anitescu, Alessandro Tasora, Dan Negrut
Co-rotated Finite Elements and Reduced Order Modeling of Multibody Dynamic Contact Problems
Tomasz Koziara, Lukasz Kaczmarczyk, Steve Brasier, Nenad Bićanić
16:20 – 17:40
Room V 7.04
OPT 3 of 3 | Optimization, Sensitivity Analysis and Parameter Identification
Session Chair: Peter C. Müller
A Fuzzy Arithmetical Approach to the Inclusion of Uncertainties in Multibody Systems
Michael Hanss, Nico-Philipp Walz
Computation of Independent Sensitivities Using Maggi’s Formulation
María D. Gutiérrez-López, Alfonso Callejo, Javier García de Jalón
Vehicle-Terrain Interaction Model for Analysis and Performance Evaluation
Bahareh Ghotbi, Francisco J. González, Jozsef Kövecses, Jorge Angeles
Using Multibody-System Modelling to Make Accurate Predictions of Vehicle Impacts on Road
Restraint Systems
Detlef H.-J. F. Neuenhaus, Urs Joachim Geßler
ALG 4 of 6 | Algorithms, Integration Codes and Software
Session Chair: Oliver Brüls
16:20 – 17:40
Room 0.144
The Modeling of Flexible Bodies in the Object-Oriented Multi-Domain Framework Modelica
Andreas Heckmann, Stefan Hartweg, Martin Otter, Jakub Tobolár, Jonathan Brembeck
Structural Dynamics of Internal Combustion Engines Considering Oil Film Lubricated Contacts
Günter Offner
An Object Oriented Framework: From Flexible Multibody Dynamics to Fluid-Structure Interaction
Christian Hesch, Peter Betsch
A Membrane Element for Micro-Aerial Vehicle Fluid-Structure Interaction
Pierangelo Masarati, Marco Morandini, Tommaso Solcia
EFF 3 of 4 | Efficient Methods and Real-Time Applications
Session Chair: Bill Prescott
16:20 – 17:40
Room 0.153
Real-Time Simulation of an n x n Vehicle for Autonomous Driving
Sang-Do Na, Bo-min Kim, Kwang-Suk Kim, Wan-Suk Yoo
Connected Sub-System Global Modal Parameterization for Efficient Simulation of Complex
Flexible Multibody Systems
Frank Naets, Wim Desmet
Model Reduction for Efficient Time-Integration of Non-Linear Flexible Multibody Models
Steven Boer, Deek ten Hoopen, Ronald Aarts, Wouter Hakvoort, Ben Jonker
On the Gröbner Basis Triangularization of Constraint Equations in Natural Coordinates
Thomas Uchida, Alfonso Callejo, Javier García de Jalón, John McPhee
Conference Reception – Old Castle
18:30 – 20:00
25
Detailed Technical Program
Keynote | Harry Dankowicz
Computational DFD Analysis: Using Continuation Methods in
Dynamics for Design
09:00 – 09:40
Room V 7.02
Session Chair: Janusz Frączek
Rob 1 of 7 | Robotics, Control and Mechatronics
Session Chair: Subir Kumar Saha
09:50 – 11:10
Room V 9.01
Analysis of Servo-Constraint Problems for Underactuated Multibody Systems
Robert Seifried, Wojciech Blajer
Multibody Models of Compliant and Underactuated Robotic Hands Grasping and Manipulating Objects
Monica Malvezzi, Domenico Prattichizzo
Dynamic Analysis of Under-Actuated Mechanical Systems for Design Optimization and Control Performance
László Kovács, László Bencsik, József Kövecses
Wave-Based Control of Under-Actuated Flexible Structures with Strong External Disturbing Forces
William J. O’Connor, Hossein Habibi
CON 5 of 8 | Contact and Impact Problems
Session Chair: Xiaoting Rui
09:50 – 11:10
Room V 7.03
Structure Preserving Simulation of Monopedal Jumping
Michael W. Koch, Sigrid Leyendecker
Planned Contacts and Collision Avoidance in Optimal Control Problems
Sigrid Leyendecker, Gwen Johnson, Michael Ortiz
Analytic Solution to 3-Dimensional, Single Point Collision Problems Using Stronge’s Hypothesis
Adrian Rodriguez, Alan Bowling
A Linear-by-Part Approach for Dissipative Multiple-Point Collisions in Smooth Multibody Systems with
Perfect Constraints
Ana Barjau, Joaquim A. Batlle, Josep M. Font-Llagunes
Flex 5 of 8 | Flexible Multibody Systems
Session Chair: Johannes Gerstmayr
09:50 – 11:10
Room V 7.04
Transform from Bezier or B-Spline Curve to ANCF Cable Element for Analysis
Zuqing Yu, Peng Lan, Jia Wang, Nianli Lu
Derivation of the Elastic Forces in the Absolute Nodal Coordinate Formulation Based on the Canonical Theory
with Constraints
Kensuke Hara, Masahiro Watanabe
Partially-Parameterized ANCF 3D Beam Elements 22(c+1)3 as a Compromise Between Thin Elements 12c3 and
Fully-Parameterized Thick Elements 32(c+2)3
Oleg Dmitrochenko, Marko Matikainen, Aki Mikkola
Comparison Between ANCF and B-Spline Surfaces
Aki Mikkola, Ahmed Shabana
ALG 5 of 6 | Algorithms, Integration Codes and Software
Session Chair: Haidong Yu
09:50 – 11:10
Room 0.144
Of the Designing of a Software Dedicated to the Numerical Simulation of Contact Dynamic Problems
Rémy Mozul, Frédéric Dubois
Numerical Integration of Regularized Equations of Motion Using the Software Package GEOMS
Andreas Steinbrecher
A Workbench for Multibody Systems ODE and DAE Solvers
Christian Andersson, Johan Andreasson, Claus Führer, Johan Åkesson
Automatic Extraction of DH Parameters of Serial Manipulators Using Line Geometry
Chittawadigi Rajeevlochana, Subir K. Saha
EFF 4 of 4 | Efficient Methods and Real-Time Applications
Session Chair: Kurt Anderson
A Novel Method for Dynamics Simulation of Multibody Systems in Singular Configurations
Evtim V. Zahariev
State Estimation Using Multibody Models and Nonlinear Kalman Filters
Roland Pastorino, Dario Richiedei, Javier Cuadrado, Alberto Trevisani
ODE Modeling of Multibody Systems for Real-Time Simulation
Ralph Jödicke, Uwe Jungnickel, Andreas Müller
26
09:50 – 11:10
Room 0.153
Wednesday, May 30, 2012
morning
Coffee BREAK
Rob 2 of 7 | Robotics, Control and Mechatronics
Session Chair: Nikolay Bolotnik
11:10 – 11:40
11:40 – 13:00
Room V 9.01
Modeling of an Industrial Multi-Robot Portal System as a Flexible Multibody System
for Feed-Forward Control
Stefan Hartweg
Tracking Error Compensation of a 6-SBU Stewart Platform
Biswajit Halder, Rana Saha, Dipankar Sanyal
Dynamics and Actuation of the Acroboter Platform
Ambrus Zelei, Lászlo Bencsik, Gábor Stépán, László Kovác
Coupled Dynamics of a Container Crane With Active Damping of Load Swing
Edwin Kreuzer, Christian Radisch, Christian Rapp
CON 6 of 8 | Contact and Impact Problems
Session Chair: Friedrich Pfeiffer
11:40 – 13:00
Room V 7.03
Numerical Experiments with the Painlevé Paradox: Rigid Body vs. Compliant Contact
Tobias Preclik, Ulrich Rüde
A Position-Based Time-Stepping Approximation of Multibody Dynamics with Perfect Unilateral Constraints
Laetitia Paoli
Painleve’s Paradoxes: Simulation, Experiment and Theory
Zhao Zhen, Caishan Liu
A Newmark-Type Integrator for Flexible Systems Considering Non-Smooth Unilateral Constraints
Qiong-zhong Chen, Vincent Acary, Geoffrey Virlez, Olivier Brüls
Flex 6 of 8 | Flexible Multibody Systems
Session Chair: Oskar Wallrapp
11:40 – 13:00
Room V 7.04
Modelling of Boundary Conditions and Joints with Finite Elements Based on the Absolute Nodal Coordinate
Formulation
Johannes Gerstmayr, Peter Gruber, Karin Nachbagauer
Nonlinear Dynamic Analysis of Three-Dimensional Shear Deformable ANCF Beam Finite Elements
Karin Nachbagauer, Peter Gruber, Johannes Gerstmayr
A Controller Design for Flexible Multibody Systems by the Use of Absolute Nodal Coordinate Formulation
and Dimension Reduction of the Controller
Yoshiki Sugawara, Nobuyuki Kobayashi
Modeling Hoisting Machines with the Arbitrary Lagrangian-Eulerian Absolute Nodal Coordinate Formulation
José L. Escalona
ALG 6 of 6 | Algorithms, Integration Codes and Software
Session Chair: John McPhee
11:40 – 13:00
Room 0.144
On the Constraints Violation for Forward Multibody Dynamics: Application of the Baumgarte
Stabilization Method
Janete L. Alves, Margarida Machado, Nuno Peixinho, Paulo Flores
Efficient Constraint Modeling for Closed-Chain Dynamics
Abhinandan Jain, Cory Crean, Calvin Kuo, Marco Quadrelli
Oth 1 of 2 | Other Topics
Session Chair: Sung-Soo Kim
11:40 – 13:00
Room 0.153
Study on the Effects of GPU Parallel Programming for Multibody System Dynamics
Jun Chulwoong, Sohn Jeonghyun
Advanced Aero-Elastic Multi-Body Simulation of Wind Turbines
Stefan Hauptmann, Friedermann Beyer, Denis Matha, Po-Wen Cheng
Dynamics in Lithographic Projection Objectives - Problems and Current Research
Nicolai Wengert, Jens Kugler, Bernhard Geuppert, Peter Eberhard
Iterative Control for a Vibration Rig Using Estimation of Model Uncertainty
Seung Guk Baek, Sung Moo Ryew, Ki Tak Ahn, Hyoung Kwon Kim, J. C. Koo
Lunch
13:00 - 14:00
27
Detailed Technical Program
Keynote | Yoshihiro Suda
Dynamic Simulation and Analysis for Sustainable Transport Systems
14:00 – 14:40
Room V 7.02
Session Chair: Edwin Kreuzer
Rob 3 of 7 | Robotics, Control and Mechatronics
Session Chair: Robert Seifried
14:50 – 15:50
Room V 9.01
Pole Assignment in Flexible Link Multibody Mechanisms: a Receptance-Based Approach
Huajiang Ouyang, Dario Richiedei, Alberto Trevisani
Simplified Mechanism Representation Through a Multibody Model Reduction Approach for the Enhancement
of an Iterative Learning Controller
Marco Gubitosa, Alessandro Toso, Joris De Cuyper, Wim Desmet
Properties of a Time-Optimal Feedback Control for a Second-Order Nonlinear System
Sergey A. Reshmin
CON 7 of 8 | Contact and Impact Problems
Session Chair: Laetitia Paoli
14:50 – 15:50
Room V 7.03
Simulation of Elastic Gears with Non-Standard Flank Profiles
Trong Phu Do, Pascal Ziegler, Peter Eberhard
A Comparison of Rolling Contact on Roller-Coaster Rails Between Penalty-Methods and Exact EventControlled Impact Detection
Christian Malessa, Andres Kecskemethy
Simulation of the Dynamic Interaction of Continuum - Divided Media: Methodology and Application for
Dams and Building
Hong-Phong Cao, François Voldoire
Flex 7 of 8 | Flexible Multibody Systems
Session Chair: Harry Dankowicz
14:50 – 15:50
Room V 7.04
Selection of Dependent and Independent Coordinates in a Flexible Multibody Model Using SVD
Ronald Aarts, Dannis M. Brouwer, Jacob P. Meijaard, Ben Jonker
Investigations on the Application of Energy-Momentum Schemes to Modally-Reduced Multibody Systems
Alexander Humer, Daniel Reischl, Johannes Gerstmayr
A Fluid-Structure Interaction Approach by Direct Coupling of Smoothed Particle Hydrodynamics with
Flexible Multibody System Dynamics
Markus Schörgenhumer, Peter Gruber, Johannes Gerstmayr
Bio 1 of 6 | Biomechanics
Session Chair: Andres Kecskemethy
14:50 – 15:50
Room 0.144
Kinematic Characterization of Soft Tissue Artifacts in Human Movement Analysis
Helios de Rosario, Álvaro Page, Vicente Mata, Antonio Besa, Efraim Conejero
Efficient Formulation for Inverse Dynamics Simulation of Human Sagittal Plane Movements
Wojciech Blajer, Krzysztof Dziewiecki, Zenon Mazur
Upper Limb Mechanical Impedance Variability Estimation by Inverse Dynamics and Torque-Less
Activation Modes
Andrea Zanoni, Pierangelo Masarati, Giuseppe Quaranta
Oth 2 of 2 | Other Topics
Session Chair: Nobuyuki Shimizu
14:50 – 15:50
Room 0.153
A Robust and Efficient General Purpose Contact Algorithm for Rigid and Flexible Bodies
Juhwan Choi, Jin H. Choi
Dynamics Simulation of Long Polymeric Fibres Immersed in a Turbulent Air Flow
Francesco Battocchio, Michael Sutcliffe, F. Teschner
Reactive Power Compensation in Mechanical Systems
Carlos Rengifo, Bassel Kaddar, Yannick Aoustin, Christine Chevallereau
Coffee BREAK
28
15:50 – 16:20
Wednesday, May 30, 2012
afternoon
Rob 4 of 7 | Robotics, Control and Mechatronics
Session Chair: Yoshihiro Suda
16:20 – 17:40
Room V 9.01
Gait Generation and Adaptive Control in Artificial Worm Dynamics
Joachim Steigenberger, Carsten Behn
Control of Motion of Limbless One-Dimensional Locomotion Systems in a Resistive Medium
Nikolay N. Bolotnik, Felix L. Chernousko, Igor Zeidis, Klaus Zimmermann
Importance of Dynamic Parameters in Motion Imitation Using Simple Footage Link
Karthick Munirathinam, Sophie Sakka, Christine Chevallereau
CON 8 of 8 | Contact and Impact Problems
Session Chair: Jinyang Liu
16:20 – 17:40
Room V 7.03
An Energy-Momentum Scheme for Frictional Contact in Flexible Multibody Dynamics
Marlon Franke, Christian Hesch, Peter Betsch
Friction Modelling and Validation for a Volumetric Contact Dynamics Model
Michael Boos, John McPhee
A Force-Fit Model for Modally Reduced Flexible Bodies Including Contact, Friction and Stick-Slip Effects
Daniel Reischl, Johannes Gerstmayr
Flex 8 of 8 | Flexible Multibody Systems
Session Chair: Jean-Claude Samin
16:20 – 17:40
Room V 7.04
About Constraints in Structural and Rigid Body Mechanics
Simon R. Eugster, Christoph Glocker
Modeling of Take-Up in the Analysis of  Tether Space Mobility Device
Shoiciro Takehara, Y. Kondo
Active Vibration Control of a Flexible Slider-Crank
Maria A. Neto, Jorge Ambrósio, Luis M. Roseiro, Ana P. Amaro
Theo 1 of 4 | Theoretical and Computational Methods
Session Chair: Wojciech Blajer
16:20 – 17:40
Room 0.144
A Method of Computing the Hessian Matrix of Loop Closing Conditions for Multibody Dynamics
Formulations Based on Relative Coordinates
Makoto Iwamura, Masafumi Nagao
Ill-Conditioning of the Generalized Inertia Matrix of a Dynamical System Using Pivot Ratios
Suril V. Shah, Subir Kumar Saha, Jayanta Kumar Dutt
Automatical  Transfer Matrix Method of Multibody System
Xiaoting Rui, Jianshu Zhang
A New Numerical Strategy for Handling Quaternion in Dynamic Modeling and Simulation of Rigid
Multibody Systems
Mahdi Haghshenas-Jaryani, Alan P. Bowling
29
Detailed Technical Program
Keynote | Peter C. Müller
Kurt Magnus: A Pioneer of Multibody System Dynamics
09:00 – 09:40
Room V 7.02
Session Chair: Werner Schiehlen
Rob 5 of 7 | Robotics, Control and Mechatronics
Session Chair: Makoto Iwamura
09:50 – 11:10
Room V 9.01
Feedforward Control Design From General-Purpose Multibody Analysis for an original Parallel Robot Concept
Marco Morandini, Pierangelo Masarati, Luca Bargigli, Lucio Vaccani
Inverse Dynamics of Parallel Kinematic Manipulators with Flexible Links
Guaraci Jr. Bastos, Robert Seifried, Olivier Brüls
Three-Dimensional Dynamic Modeling of the Nao Biped Robot with Simplified Equations of
Motion in Sagittal and Frontal Planes
Ehsan Hashemi, Maani Ghaffari Jadidi
Veh 1 of 5 | Dynamics of All Vehicles
Session Chair: Javier Cuadrado
09:50 – 11:10
Room V 7.03
Electromechanical Model of Rail Vehicle
Slawomir Duda
Locomotive Model Acceptance Procedures Based on International Standards
Maksym Spiryagin, Colin Cole, Yan Quan Sun, Andrew George
A Dynamic Formulation for Railroad Vehicles Simulation Using a Trajectory Coordinate System
Antonio M. Recuero, José L. Escalona, Rosario Chamorro
3D Motion of High Speed Train on Vibrating Tracks
Yoshiaki Terumichi, Toshiki Hirano, Kazuhiko Nishimura, Hironobu Sunami, Kiyoshi Sogabe
Bio 2 of 6 | Biomechanics
Session Chair: Zdravko Terze
09:50 – 11:10
Room V 7.04
Concept of a TransFemoral Prosthesis that Uses Energy Harvested in the Knee to Activate the Ankle
Arnout Matthys, Pierre Cherelle, Michael Van Damme, Bram Vanderborght, Dirk Lefeber
Model Based Dynamic Analysis of Total Hip Endoprostheses by Means of Hardware-in-the-Loop Simulation
Michael Kähler, Roman Rachholz, Sven Herrmann, Janos Zierath, Robert Souffrant, Daniel Kluess,
Rainee Bader, Christoph Woernle
Nonlinear Modeling of the Human Hearing
Sebastian Ihrle, Michael Lauxmann, Hans-Peter Zenner, Albrecht Eiber
Theo 2 of 4 | Theoretical and Computational Methods
Session Chair: Dirk Lefeber
09:50 – 11:10
Room 0.144
Constraint Reactions in Multibody Systems with Redundant Nonholonomic Constraints
Marek Wojtyra, Janusz Frączek
Multibody Dynamics with Redundant Constraints and Singular Mass Matrix
Javier García de Jalón, María D. Gutiérrez-López
Natural Coordinates, Cosserat Points and Optimal Control of Multibody Systems
Peter Betsch, Ralf Siebert
Use of Penalty Formulations in the Dynamic Simulation of Redundantly Constrained Multibody Systems
Francisco González, József Kövecses
30
Thursday, May 31, 2012
Morning
Rot 1 of 4 | Dynamics of Machines and Rotating Structures
Session Chair: Michael Valasek
09:50 – 11:10
Room 0.153
Flexible Multibody Systems for Modelling and Simulation of the Turning of  Thin-Walled Cylinders
Achim Fischer, Jorge Ambrósio, Peter Eberhard
Contribution on the Dynamics of Beam Structures with Non-Symmetric Cross Sections
Fabian Böck, Stefan Dietz, Oskar Wallrapp
Cylindrical Clearance Linkages in Multibody Dynamics: Contact Analysis and Automatisation
Torben Fruth, Panagiotis Koutsovasilis
Coffee BREAK
Rob 6 of 7 | Robotics, Control and Mechatronics
Session Chair: József Kövecses
11:10 – 11:40
11:40 – 13:00
Room V 9.01
Basic Study on Multibody Dynamics Analysis of the Inverted Pendulum Vehicle and Driver
Chihiro Nakagawa, Shunsuke Arakawa, Atsuhiko Shintani, Tomohiro Ito
Boundary-Controlled Travelling and Standing Waves in Cascaded Lumped Systems
William J. O’Connor, Ming Zhu
Travelling and Standing Waves in Lumped, Cascaded Systems: the Non-Uniform Case
William J. O’Connor, Ming Zhu
On the Haptic Simulation of Soft-finger Contact Model with Rolling
Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo
Veh 2 of 5 | Dynamics of All Vehicles
Session Chair: Aki Mikkola
11:40 – 13:00
Room V 7.03
Dynamical Analysis of the HIL MDM Scaled Roller Rig for the Simulation of Wheel-Rail Degraded
Adhesion Condition
Benedetto Allotta, Roberto Conti, Monica Malvezzi, Enrico Meli, Luca Pugi, Andrea Rindi
Simulation of Railway Braking Tests under Degraded Adhesion Conditions
Benedetto Allotta, Alessandro Ridolfi, Luca Pugi, Monica Malvezzi, Andrea Rindi, Gregorio Vettori
Development of a Wear Model for the Wheel Profile Optimization in the Railway Field
Mirko Ignesti, Lorenzo Marini, Enrico Meli, Andrea Rindi, Paolo Toni
On the Constraint/Elastic Contact Approach for the Analysis of Wheel/Rail Contact Problem of
Railroad Vehicles
Shunpei Yamashita, Hiroyuki Sugiyama
31
Detailed Technical Program
Bio 3 of 6 | Biomechanics
Session Chair: Christoph Woernle
11:40 – 13:00
Room V 7.04
A Model for Computing the Dual Stiffness Matrix of the Human Knee Joint
Cristiano Enea, Ettore Pennestrì, Pier Paolo Valentini
An Analytical Model for Frictionless Contact Between thin Transversely Isotropic Viscoelastic Layers with a
Migrating Contact Area: Application to Repetitive Movements of the Knee Joint During Walking
Ivan I. Argatov
A Multibody-Based Approach to the Computation of Spine Intervertebral Motions in Scoliotic Patients
Gabriel Abedrabbo, Pierre-Antoine Absil, Philippe Mahaudens, Christine Detrembleur, Maxime Raison,
Maryline Mousny, Paul Fisette
Design of the AMP-Foot 2.0: An Active Transtibial Prothesis that Mimicks Able-Bodied Ankle Behavior
Pierre Cherelle, Arnout Mathijs, Victor Grosu, Branko Brackx, Michael Van Damme, Bram Vanderborght,
Dirk Lefeber
Theo 3 of 4 | Theoretical and Computational Methods
Session Chair: Marek Wojtyra
11:40 – 13:00
Room 0.144
Efficient Far-Field Force and  Torque Calculations in Multibody-Based Modeling of Biopolymers
Mohammad Poursina, Jeremy Laflin, Kurt S. Anderson
Modelling and Simulation of the Motion of a Slender Beam in a Tube
Jacob P. Meijaard, Ronald Aarts, Dannis M. Brouwer
Multibody Domain Decomposition for Parallel Processing: a Wave-Based Approach to Handling Interface
Dynamics
Craig Smoothey, William J. O’Connor
Sample Based Performance Estimation of a Multibody System Having Uncertain System Parameters with an
Arbitrary Distribution
Chan Kyu Choi, Hong Hee Yoo
Rot 2 of 4 | Dynamics of Machines and Rotating Structures
Session Chair: Jin Hwan Choi
11:40 – 13:00
Room 0.153
Transient Analysis of Elevator Governor and Safety Gear Mechanism
Seiji Watanabe, Mitsuyoshi Imura
Asymmetric Supply Type Hydrostatic Gas Journal Bearings to Decrease the Driving Power of the ACROSS
Transmitters
Tomohiko Ise, Hiroshi Miyatake, Toshihiko Asami
Advanced Engine Dynamics Using MBS and a Mixed Nonlinear FEM and Super Element Approach
Yannick Louvigny, Pierre Duysinx
Lunch
13:00 – 14:00
Veh 3 of 5 | Dynamics of All Vehicles
Session Chair: Georg Rill
14:00 – 15:20
Room V 7.03
Ride Simulation of a Multibody Vehicle Model Including Semi-Active Damping Control
Volker Dorsch
Two-degree-of-freedom Control Approach for an Active Suspension System
Oussama Ajala, Dieter Bestle, Jochen Rauh, Karl-Josef Rieger
Development of a Semi-Active Suspension System to Improve Lateral Behavior for a High Speed Train
Kyung Seok Sim, Tae Won Park, Jin Hee Lee
32
Thursday, May 31, 2012
Afternoon
Bio 4 of 6 | Biomechanics
Session Chair: Paul Fisette
14:00 – 15:20
Room V 7.04
Optimal Control of Biomechanical Motion Using Physiologically Motivated Cost Functions
Ramona Maas, Sigrid Leyendecker
On the Refinement of Muscular Dynamical Modeling for Muscle Force Quantification
Maria Laitenberger, Mickael Begon, Maxime Raison
A 3D-Model to Estimate Muscle Forces During Human Gait
Joaquín Ojeda, Romain Leberre, Javier Martinez-Reina, Juana Mayo
Theo 4 of 4 | Theoretical and Computational Methods
Session Chair: Peter Betsch
14:00 – 15:20
Room 0.144
DAE Index 1 Formulation for Multibody System Dynamics in Lie-Group Setting
Zdravko Terze, Andreas Müller, Dario Zlatar
Formulation of Kinematic Joints and Rigidity Constraints in Multibody Dynamics Using a Lie Group Approach
Valentin Sonneville, Olivier Brüls
Analysis of an Energy Constraint in Post Impact Velocity Optimization
Daniel Montrallo Flickinger, Alan Bowling, Kamesh Subbarao
Computational Structural Analysis of Planar Multibody Systems with Lower and Higher Pairs
Mariano Saura, Ana I. Celdrán, Daniel Dopico, Javier Cuadrado
Excursion – Mercedes-Benz Museum
Conference Dinner – Wilhelma
16:00 – 18:15
18:45
33
Detailed Technical Program
Keynote | Olivier Bauchau
Intrinsic Time Integration Procedures for Rigid Body Dynamics
09:00 – 09:40
Room V 7.02
Session Chair: Ettore Pennestrì
Veh 4 of 5 | Dynamics of All Vehicles
Session Chair: Arend Schwab
9:50 – 11:10
Room V 7.03
Dynamic Analysis of  Tracked Vehicle Suspension System
Slawomir Kciuk
Automatic Frequency Response Function Calculation in a Multi-Body Solver and its Application for Road
Load Prediction for Fatigue Analysis on Passenger Vehicles
Alessandro Toso, William C. Prescott, Stefano Candreva, Joris De Cuyper
6x6 Off-Road Vehicle Simulations for Vibration Energy Regeneration using Active Suspension Systems
Jae Yong Kim, Wan Hee Jeong, Sung-Soo Kim
A Simplified Soil Contact Formulation for the Dynamic Simulation of Off-Road Vehicles
Tariq Z. Sinokrot, Alan Lewis, William C. Prescott
Bio 5 of 6 | Biomechanics
Session Chair: Jorge Ambrósio
9:50 – 11:10
Room V 7.04
Two Approaches to Estimate Foot-Ground Contact Model Parameters Using Optimization Techniques
Rosa Pàmies-Vilà, Josep M. Font-Llagunes, Urbano Lugrís, Javier Cuadrado
Joint Efforts Calculation in the Gait of Incomplete Spinal Cord Injured Subjects
Urbano Lugris, Jairo Carlin, Florian Michaud, Javier Cuadrado
Dynamic Analysis of Foot Models for Human Locomotion
Farnood Gholami, József Kövecses, Josep M. Font-Llagunes
Marker Based In-Vivo Analysis of 3D Spinal Motion During Gait Using Spline Curves
Dietmar Rosenthal, Alejandro A. Espinoza Orias, Harald Hefter, Gunnar Andersson, Markus A. Wimmer,
Andres Kecskeméthy
Rot 3 of 4 | Dynamics of Machines and Rotating Structures
Session Chair: Klaus Dreßler
9:50 – 11:10
Room 0.153
A Periodic Input-Output Stability Analysis Method for Complex Multibody Systems with Applications to Wind
Turbine Aero-Servo-Elasticity
Carlo L. Bottasso, Stefano Cacciola, Alessandro Croce
Modelling and Analysis of Friction Effects in the Rotating Blades Dynamics
Michal Hajžman, Miroslav Byrtus, Vladimír Zeman
Dynamics of a Controlled Flexible Multibody Model of a 2 MW Wind Turbine
Roman Rachholz, Christoph Woernle, János Zierath
Stability Analysis of a Rotating Wind  Turbine Blade Undergoing Gravitational Force
Seung Min Kwon, Hong Hee Yoo
Coffee BREAK
Veh 5 of 5 | Dynamics of All Vehicles
Session Chair: Olivier Bauchau
11:10 – 11:40
11:40 – 13:00
Room V 7.03
Symbolic Modeling of Vehicles
Roberto Lot, Matteo Massaro
Vehicle Modeling by Non-Perfect Multibody Systems
Georg Rill
A Multibody Model of a Formula Student Car – On-Track Validation and Set-up Optimization
Riccardo Bartolozzi, Francesco Bucchi, Francesco Frendo
Minimal Requirements of Multibody Pantograph Models for Railway Pantograph-Catenary Contact Interaction
Jorge Ambrósio, João Pombo
34
Friday, June 1, 2012
Morning and afternoon
Bio 6 of 6 | Biomechanics
Session Chair: Evtim Zahariev
11:40 – 13:00
Room V 7.04
Multibody Analysis of Rotorcraft-Pilot Coupling
Vincenzo Muscarello, Pierangelo Masarati, Giuseppe Quaranta
Improvement of the Railway Coach Interior Occupant Protection
Marta Carvalho, João Milho, Jorge Ambrósio
Rider Control Identification in Bicycling, Parameter Estimation of a Linear Model Using Lateral Force
Perturbation Tests
Arend Schwab, Peter de Lange, Riender Happee, Jason K. Moore
Investigation of Biomechanical Behavior of Automotive Pedal Actuation using Motion Analysis Technique
Younghwan Kim, Dongchan Kim, Kyungho Kim, Taeoh Tak
Rot 4 of 4 | Dynamics of Machines and Rotating Structures
Session Chair: Martin Arnold
11:40 – 13:00
Room 0.153
Improved Physically-Oriented Model of the Spur Involute Gear Dynamics
Ivan I. Kosenko, Ilya K. Gusev
Correlation of the Instability Conditions and Relevant Design Parameters in Multiple Pinion Drives
Haidong  Yu, Peter Eberhard, Yong Zhao, Hao Wang
Modeling and Validation of a Dynamic Model of a Yawing Mechanism for Load-sharing Analysis
Shaoping Bai, Morten Haastrup, Pascal Rigal
Lunch
Keynote | Aki Mikkola
Developments and Future Outlook of the Absolute Nodal
Coordinate Formulation
13:00 - 14:00
14:00 – 14:40
Room V 7.02
Session Chair: Pascal Ziegler
Closing session
14:40 – 15:20
Room V 7.02
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Imprint
Organized by | University of Stuttgart, Institute
of Engineering and Computational Mechanics,
Pfaffenwaldring 9, 70569 Stuttgart, Germany
E-Mail: [email protected]
Phone: +49 (0)711 685 66388
Fax: +49 (0)711 685 66400
Chairman | Prof. Dr.-Ing. Peter Eberhard
Conference Secretary | Dr.-Ing. Pascal Ziegler
Editorial | Heidi-Maria Götz,
Dr.-Ing. Pascal Ziegler
Design | Tina Barthelmes
Photos | University of Stuttgart, University of
Stuttgart / Cichowicz, Stuttgart-Marketing GmbH,
Mercedes-Benz Museum, Daimler AG, Wilhelma
Maps | Bundesamt für Kartographie und
Geodäsie / Frankfurt am Main, Stadtmessungsamt / Landeshauptstadt Stuttgart
Version | 8-5-2012
For more information
www.itm.uni-stuttgart.de/imsd2012