Multibody2023

Parallel SESSION 1A

Monday, July 24 • 14:00 - 15:20

ROOM
MA

Chair
Aki Mikkola

Topic 03 > Session 01
Contact, Impact and Constraints

14:00

Alessandro Tasora

Multibody simulation of contacts between arbitrary meshes of CAD quality: recent results, open problems and possible developments
Alessandro Tasora; Dario Mangoni; Dario Fusai

14:20

133
PAPER

Tobias Rückwald

A Quasistatic Contact Model for Impact Analysis in Flexible Multibody Systems Based on IGA
Tobias Rückwald; Alexander Held; Robert Seifried

14:40

180

Huan Zhang

Efficient and Accurate Multibody Simulation for Cable Pulley Systems Based on ALE Formulation and SDF Contact Detection
Huan Zhang; Zhicheng Sun; Gexue Ren; Xiaodong Song

15:00

236

Babak Bozorgmehri

Surface-to-surface continuum beams contact dynamics using the complementarity problem approach
Babak Bozorgmehri; Leonid P. Obrezkov; Marko K. Matikainen; Aki Mikkola; Frank Naets

Parallel SESSION 1B

Monday, July 24 • 14:00 - 15:20

ROOM
01.1

Chair
Robert Seifried

Topic 10 > Session 01
Optimization and sensitivity analysis

14:00

245

Corina Sandu

Adaptive step size determination for convex optimization
Jyotirmoy Mukherjee; Ekansh Chaturvedi; Corina Sandu

14:20

242

Kensuke Hara

Parameter identification method for multibody systems incorporating the adjoint method and the proper orthogonal decomposition
Ryoya Nishi; Kensuke Hara; Hirhoshi Yamaura

14:40

223
PAPER

Alexander Held

Adjoint Sensitivity Analysis of Multibody System Equations in State-Space Representation obtained by QR Decomposition
Alexander Held; Jospin Ananfack Kenfack; Robert Seifried

15:00

188
PAPER

Veit Gufler

Sensitivity Analysis of Flexible Multibody Dynamics Applied to the Gradient-based Design Optimization of a Tyrolean Weir Cleaning Mechanism
Veit Gufler; Erich Wehrle; Renato Vidoni

Parallel SESSION 1C

Monday, July 24 • 14:00 - 15:20

ROOM
02.1

Chair
Johannes Gerstmayr

Topic 06 > Session 01
Flexible multibody dynamics

14:00

87
PAPER

Joachim Linn

Impact of shear and extensional stiffness on equilibrium configurations of elastic Cosserat rods
Joachim Linn; Fabio Schneider-Jung; Michael Roller; Tomas Hermansson

14:20

132

Konstantina Ntarladima

A multibody approach for the simulation of ropeway systems
Konstantina Ntarladima; Johannes Gerstmayr

14:40

147

Kang Guo

Study on Bézier curve discrete two-dimensional shear beam method based on absolute nodal coordinate formulation
Kang Guo; Dingguo Zhang; Liang Li; Xian Guo; Xiaokang Du

15:00

123

Yiming Fang

Dynamic Modelling and Analysis of a Rotating Flexible Beam with Segmented Constrained Layer Damping Treatment
Yue Wang; Yiming Fang; Liang Li; Dingguo Zhang; Yongbin Guo; Xian Guo

Parallel SESSION 1D

Monday, July 24 • 14:00 - 15:20

ROOM
02.2

Chair
Peter Betsch

Topic 08 > Session 01
Mechatronics, robotics and control

14:00

254

Michael Valasek

Modified SMC for Control of Redundantly Actuated PKM with Uncertain Model
Michael Valasek

14:20

39

Fernando Gonçalves

Dynamic Modeling and Simulation of the Omnidirectional Locomotion of a Mobile Manipulator Robot with Four Swedish Wheels and an Independent Suspension System
Fernando Gonçalves; Tiago Ribeiro; A. Fernando Ribeiro; Gil Lopes; Paulo Flores

14:40

193
PAPER

Baptiste Toussaint

Improvement of trajectory tracking accuracy in serial robotic arms based on feed-forward neural networks per servomotor for position control
Baptiste Toussaint; Maxime Raison

15:00

195
PAPER

Simeon Schneider

On optimal control problems in redundant coordinates
Simeon Schneider; Peter Betsch

Parallel SESSION 2A

Monday, July 24 • 15:40 - 17:00

ROOM
MA

Chair
Olivier Brüls

Topic 03 > Session 02
Contact, Impact and Constraints

15:40

33

Armin Bosten

Numerical Threatment of Nonsmooth Frictional Beam-to-Beam Contact
Armin Bosten; Alejandro Cosimo; Joachim Linn; Olivier Brüls

16:00

50
PAPER

Dario Fusai

Rheonomic Cone Complementarity Constraints for the Efficient Simulation of Sliding and Vibrating Feeders with Non-Smooth Frictional Contacts
Dario Fusai; Alessandro Tasora

16:20

126
PAPER

Luca D’Angelo

Uncertainty analysis of a contact-based multibody model of meshing spur gears
Luca D’Angelo; Marco Cirelli; Oliviero Giannini; Alessio Cellupica; Pier Paolo Valentini

16:40

4
PAPER

Ekansh Chaturvedi

Non-Smooth Dynamics Formulation for Planar Translational Joints with Clearances
Ekansh Chaturvedi; Corina Sandu; Adrian Sandu

Parallel SESSION 2B

Monday, July 24 • 15:40 - 17:00

ROOM
01.1

Chair
Daniel Dopico

Topic 10 > Session 02
Optimization and sensitivity analysis

15:40

175

Karin Nachbagauer

Combined Optimal Control and Design of Flexible Multibody Systems
Daniel Lichtenecker; Karin Nachbagauer

16:00

81

Seok Hee Han

ANALYSIS OF MULTIBODY DYNAMICS UNDER UNCERTAINTY USING TIME-DEPENDENT POLYNOMIAL CHAOS
Seok Hee Han; Hee-Sun Choi; Hee Jong lee; Se Hwan jeong; Jin Hwan Choi; Jin-Gyun Kim

16:20

112

Wenxiang Zhou

DISTRIBUTED CONTROL OPTIMIZATION OF SPACE MEMBRANE REFLECTORS BASED ON MACHINE LEARNING
Wenxiang Zhou; Kai Luo; Qiang Tian

16:40

252

Álvaro López Varela

Sensitivity analysis of a natural coordinates FFR formulation
Álvaro López Varela; Alberto Luaces Fernández; Juan Carlos García Orden; Daniel Dopico Dopico

Parallel SESSION 2C

Monday, July 24 • 15:40 - 17:00

ROOM
02.1

Chair
Martin Arnold

Topic 06 > Session 02
Flexible multibody dynamics

15:40

55
PAPER

Davide Manfredo

Modelling the inelastic constitutive behaviour of multi-layer spiral strands: comparison of hysteresis operator approach to rheological model
Davide Manfredo; Mohammad Ali Saadat; Vanessa Dörlich; Damien Durville; Joachim Linn; Martin Arnold

16:00

71

Kai Luo

Progress on Soft Multibody Dynamics and Its Application in Aerospace Engineering
Kai Luo

16:20

116

Alessandro Cammarata

Further insight on the reference conditions in the Floating Frame of Reference formulation
Alessandro Cammarata; Pietro Davide Maddio; Rosario Sinatra; Michele Lacagnina

16:40

103

Ji Wu

Dynamics analysis of rigid-flexible-liquid coupled satellite system based on the absolute nodal coordinate formulation
Ji Wu; Dingguo Zhang; Liang Li; Xian Guo; Yuanzhao Chen

Parallel SESSION 2D

Monday, July 24 • 15:40 - 17:00

ROOM
02.2

Chair
Andreas Müller

Topic 08 > Session 02
Mechatronics, robotics and control

15:40

177

Suraj Jaiswal

Indirect Kalman Filter-based State Estimator for a Hydraulic Crane
Suraj Jaiswal; Lauri Pyrhönen; Heikki Handroos; Aki Mikkola

16:00

210

Dezhi Jiang

Comparing extended Kalman filter and unscented Kalman filter in the state estimation of hydraulically actuated machines
Dezhi Jiang; Qasim Khadim; Yashar Shabbouei Hagh; Suraj Jaiswal; Emil Kurvinen; Aki Mikkola

16:20

12
PAPER

Gabriel Krög

Closed-form method for the inertia-weighted input matrix utilizing O(n) forward dynamics
Gabriel Krög; Hubert Gattringer; Andreas Müller

16:40

117

Lingling Shi

Adaptive control for a post-capture system of non-cooperative targets by a dual-arm space robot
Xinle Yan; Lingling Shi; Minghe Shan

> Monday • July 24 • 2023
Parallel SESSION 1A			Monday, July 24 • 14:00 - 15:20
ROOM MA		Chair Aki Mikkola	Topic 03 > Session 01 Contact, Impact and Constraints
Time	ID	Presenting Author	TITLE
14:00	109	Alessandro Tasora	Multibody simulation of contacts between arbitrary meshes of CAD quality: recent results, open problems and possible developments Alessandro Tasora; Dario Mangoni; Dario Fusai
14:20	133 PAPER	Tobias Rückwald	A Quasistatic Contact Model for Impact Analysis in Flexible Multibody Systems Based on IGA Tobias Rückwald; Alexander Held; Robert Seifried
14:40	180	Huan Zhang	Efficient and Accurate Multibody Simulation for Cable Pulley Systems Based on ALE Formulation and SDF Contact Detection Huan Zhang; Zhicheng Sun; Gexue Ren; Xiaodong Song
15:00	236	Babak Bozorgmehri	Surface-to-surface continuum beams contact dynamics using the complementarity problem approach Babak Bozorgmehri; Leonid P. Obrezkov; Marko K. Matikainen; Aki Mikkola; Frank Naets
Parallel SESSION 1B			Monday, July 24 • 14:00 - 15:20
ROOM 01.1		Chair Robert Seifried	Topic 10 > Session 01 Optimization and sensitivity analysis
Time	ID	Presenting Author	TITLE
14:00	245	Corina Sandu	Adaptive step size determination for convex optimization Jyotirmoy Mukherjee; Ekansh Chaturvedi; Corina Sandu
14:20	242	Kensuke Hara	Parameter identification method for multibody systems incorporating the adjoint method and the proper orthogonal decomposition Ryoya Nishi; Kensuke Hara; Hirhoshi Yamaura
14:40	223 PAPER	Alexander Held	Adjoint Sensitivity Analysis of Multibody System Equations in State-Space Representation obtained by QR Decomposition Alexander Held; Jospin Ananfack Kenfack; Robert Seifried
15:00	188 PAPER	Veit Gufler	Sensitivity Analysis of Flexible Multibody Dynamics Applied to the Gradient-based Design Optimization of a Tyrolean Weir Cleaning Mechanism Veit Gufler; Erich Wehrle; Renato Vidoni
Parallel SESSION 1C			Monday, July 24 • 14:00 - 15:20
ROOM 02.1		Chair Johannes Gerstmayr	Topic 06 > Session 01 Flexible multibody dynamics
Time	ID	Presenting Author	TITLE
14:00	87 PAPER	Joachim Linn	Impact of shear and extensional stiffness on equilibrium configurations of elastic Cosserat rods Joachim Linn; Fabio Schneider-Jung; Michael Roller; Tomas Hermansson
14:20	132	Konstantina Ntarladima	A multibody approach for the simulation of ropeway systems Konstantina Ntarladima; Johannes Gerstmayr
14:40	147	Kang Guo	Study on Bézier curve discrete two-dimensional shear beam method based on absolute nodal coordinate formulation Kang Guo; Dingguo Zhang; Liang Li; Xian Guo; Xiaokang Du
15:00	123	Yiming Fang	Dynamic Modelling and Analysis of a Rotating Flexible Beam with Segmented Constrained Layer Damping Treatment Yue Wang; Yiming Fang; Liang Li; Dingguo Zhang; Yongbin Guo; Xian Guo
Parallel SESSION 1D			Monday, July 24 • 14:00 - 15:20
ROOM 02.2		Chair Peter Betsch	Topic 08 > Session 01 Mechatronics, robotics and control
Time	ID	Presenting Author	TITLE
14:00	254	Michael Valasek	Modified SMC for Control of Redundantly Actuated PKM with Uncertain Model Michael Valasek
14:20	39	Fernando Gonçalves	Dynamic Modeling and Simulation of the Omnidirectional Locomotion of a Mobile Manipulator Robot with Four Swedish Wheels and an Independent Suspension System Fernando Gonçalves; Tiago Ribeiro; A. Fernando Ribeiro; Gil Lopes; Paulo Flores
14:40	193 PAPER	Baptiste Toussaint	Improvement of trajectory tracking accuracy in serial robotic arms based on feed-forward neural networks per servomotor for position control Baptiste Toussaint; Maxime Raison
15:00	195 PAPER	Simeon Schneider	On optimal control problems in redundant coordinates Simeon Schneider; Peter Betsch

Parallel SESSION 2A			Monday, July 24 • 15:40 - 17:00
ROOM MA		Chair Olivier Brüls	Topic 03 > Session 02 Contact, Impact and Constraints
Time	ID	Presenting Author	TITLE
15:40	33	Armin Bosten	Numerical Threatment of Nonsmooth Frictional Beam-to-Beam Contact Armin Bosten; Alejandro Cosimo; Joachim Linn; Olivier Brüls
16:00	50 PAPER	Dario Fusai	Rheonomic Cone Complementarity Constraints for the Efficient Simulation of Sliding and Vibrating Feeders with Non-Smooth Frictional Contacts Dario Fusai; Alessandro Tasora
16:20	126 PAPER	Luca D’Angelo	Uncertainty analysis of a contact-based multibody model of meshing spur gears Luca D’Angelo; Marco Cirelli; Oliviero Giannini; Alessio Cellupica; Pier Paolo Valentini
16:40	4 PAPER	Ekansh Chaturvedi	Non-Smooth Dynamics Formulation for Planar Translational Joints with Clearances Ekansh Chaturvedi; Corina Sandu; Adrian Sandu
Parallel SESSION 2B			Monday, July 24 • 15:40 - 17:00
ROOM 01.1		Chair Daniel Dopico	Topic 10 > Session 02 Optimization and sensitivity analysis
Time	ID	Presenting Author	TITLE
15:40	175	Karin Nachbagauer	Combined Optimal Control and Design of Flexible Multibody Systems Daniel Lichtenecker; Karin Nachbagauer
16:00	81	Seok Hee Han	ANALYSIS OF MULTIBODY DYNAMICS UNDER UNCERTAINTY USING TIME-DEPENDENT POLYNOMIAL CHAOS Seok Hee Han; Hee-Sun Choi; Hee Jong lee; Se Hwan jeong; Jin Hwan Choi; Jin-Gyun Kim
16:20	112	Wenxiang Zhou	DISTRIBUTED CONTROL OPTIMIZATION OF SPACE MEMBRANE REFLECTORS BASED ON MACHINE LEARNING Wenxiang Zhou; Kai Luo; Qiang Tian
16:40	252	Álvaro López Varela	Sensitivity analysis of a natural coordinates FFR formulation Álvaro López Varela; Alberto Luaces Fernández; Juan Carlos García Orden; Daniel Dopico Dopico
Parallel SESSION 2C			Monday, July 24 • 15:40 - 17:00
ROOM 02.1		Chair Martin Arnold	Topic 06 > Session 02 Flexible multibody dynamics
Time	ID	Presenting Author	TITLE
15:40	55 PAPER	Davide Manfredo	Modelling the inelastic constitutive behaviour of multi-layer spiral strands: comparison of hysteresis operator approach to rheological model Davide Manfredo; Mohammad Ali Saadat; Vanessa Dörlich; Damien Durville; Joachim Linn; Martin Arnold
16:00	71	Kai Luo	Progress on Soft Multibody Dynamics and Its Application in Aerospace Engineering Kai Luo
16:20	116	Alessandro Cammarata	Further insight on the reference conditions in the Floating Frame of Reference formulation Alessandro Cammarata; Pietro Davide Maddio; Rosario Sinatra; Michele Lacagnina
16:40	103	Ji Wu	Dynamics analysis of rigid-flexible-liquid coupled satellite system based on the absolute nodal coordinate formulation Ji Wu; Dingguo Zhang; Liang Li; Xian Guo; Yuanzhao Chen
Parallel SESSION 2D			Monday, July 24 • 15:40 - 17:00
ROOM 02.2		Chair Andreas Müller	Topic 08 > Session 02 Mechatronics, robotics and control
Time	ID	Presenting Author	TITLE
15:40	177	Suraj Jaiswal	Indirect Kalman Filter-based State Estimator for a Hydraulic Crane Suraj Jaiswal; Lauri Pyrhönen; Heikki Handroos; Aki Mikkola
16:00	210	Dezhi Jiang	Comparing extended Kalman filter and unscented Kalman filter in the state estimation of hydraulically actuated machines Dezhi Jiang; Qasim Khadim; Yashar Shabbouei Hagh; Suraj Jaiswal; Emil Kurvinen; Aki Mikkola
16:20	12 PAPER	Gabriel Krög	Closed-form method for the inertia-weighted input matrix utilizing O(n) forward dynamics Gabriel Krög; Hubert Gattringer; Andreas Müller
16:40	117	Lingling Shi	Adaptive control for a post-capture system of non-cooperative targets by a dual-arm space robot Xinle Yan; Lingling Shi; Minghe Shan