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Proceedings Papers

Towards Transparent Motion Planning of Wearable Rehabilitation Exoskeletons via Model-Based Estimation

Jiamin Wang, David Blankenship, Oumar Barry
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A030, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70011
https://doi.org/10.1115/DETC2021-70011
View Paper titled, Towards Transparent Motion Planning of Wearable Rehabilitation Exoskeletons via Model-Based Estimation
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Topics: Exoskeleton devices, Path planning, Transparency, Algorithms, Delays, Optimization, Signals, Stress, Control equipment, Design
Proceedings Papers

Model-Based Design and Optimization of Passive Shoulder Exoskeletons

Ali Nasr, Spencer Ferguson, John McPhee
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A029, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69437
https://doi.org/10.1115/DETC2021-69437
View Paper titled, Model-Based Design and Optimization of Passive Shoulder Exoskeletons
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Topics: Design, Exoskeleton devices, Optimization, Torque, Actuators, Algebra, Engines, Kinematics, Modeling, Motors
Proceedings Papers

Steps Towards Non-Smooth Multibody Dynamics

Friedrich Pfeiffer
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A018, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-74773
https://doi.org/10.1115/DETC2021-74773
View Paper titled, Steps Towards Non-Smooth Multibody Dynamics
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Topics: Multibody dynamics, Multibody systems, Friction
Proceedings Papers

A Study of a Pendulum-Like Vibration Isolator With Quasi-Zero-Stiffness

Yishen Tian, Dengqing Cao, Yan Wang
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A010, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70184
https://doi.org/10.1115/DETC2021-70184
View Paper titled, A Study of a Pendulum-Like Vibration Isolator With Quasi-Zero-Stiffness
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Topics: Displacement, Pendulums, Stiffness, Vibration isolators
Proceedings Papers

Learning of a Basketball Free Throw With a Flexible Link Robot

Jannik Timke, Merlin Morlock, Daniel A. Duecker, Robert Seifried
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A033, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71660
https://doi.org/10.1115/DETC2021-71660
View Paper titled, Learning of a Basketball Free Throw With a Flexible Link Robot
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Topics: Robots, Algorithms, Control equipment, Engineering simulation, Engines, Errors, Finite element methods, Iterative learning control, Kinematics, Motors
Proceedings Papers

In Search of the Jerk Element

Zachary P. Belyaev, Samuel N. Downes, Philip A. Voglewede
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A032, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70486
https://doi.org/10.1115/DETC2021-70486
View Paper titled, In Search of the Jerk Element
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Topics: Control theory, Dampers, Engineers, Magnetic fields, Path planning, Rheology, Springs, Vibration
Proceedings Papers

Dwelling on the Connection Between SO(3) and Rotation Matrices in Rigid Multibody Dynamics – Part 2: Comparison Against Formulations Using Euler Parameters or Euler Angles

Jay Taves, Alexandra Kissel, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A021, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-72076
https://doi.org/10.1115/DETC2021-72076
View Paper titled, Dwelling on the Connection Between SO(3) and Rotation Matrices in Rigid Multibody Dynamics – Part 2: Comparison Against Formulations Using Euler Parameters or Euler Angles
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Topics: Multibody dynamics, Rotation, Radium, Simulation, Differential algebraic equations, Engines, Equations of motion, Pendulums, Simulation results
Proceedings Papers

Nonlinear Spectral Properties of Elastic Waves Propagating Along a Pantographic Metamaterial With Local Inertia Amplifiers

Valeria Settimi, Marco Lepidi, Andrea Bacigalupo
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A011, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-72924
https://doi.org/10.1115/DETC2021-72924
View Paper titled, Nonlinear Spectral Properties of Elastic Waves Propagating Along a Pantographic Metamaterial With Local Inertia Amplifiers
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Topics: Elastic waves, Inertia (Mechanics), Metamaterials, Hardening, Manifolds, Waves
Proceedings Papers

On MBS Constraints and Projections

Friedrich Pfeiffer
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A002, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67886
https://doi.org/10.1115/DETC2021-67886
View Paper titled, On MBS Constraints and Projections
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Topics: Differential equations, Dynamics (Mechanics), Equations of motion, Machinery, Multibody systems, Robots
Proceedings Papers

Boosting the Model Discovery of Hybrid Dynamical Systems in an Informed Sparse Regression Approach

Nico Novelli, Stefano Lenci, Pierpaolo Belardinelli
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A036, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-66831
https://doi.org/10.1115/DETC2021-66831
View Paper titled, Boosting the Model Discovery of Hybrid Dynamical Systems in an Informed Sparse Regression Approach
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Topics: Dynamic systems, Switches, Algorithms, Computation, Dynamics (Mechanics), Electromagnetic radiation, Manifolds, Performance, Reliability, Springs
Proceedings Papers

Simulation of a Pole Saw Assisted by a Gyroscopic Effect Device

Eduardo P. Okabe, Daniel L. Miletto, Milton S. Misuta, José Luiz P. Brittes
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A035, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70112
https://doi.org/10.1115/DETC2021-70112
View Paper titled, Simulation of a Pole Saw Assisted by a Gyroscopic Effect Device
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Topics: Poles (Building), Simulation
Proceedings Papers

Enabling Artificial Intelligence Studies in Off-Road Mobility Through Physics-Based Simulation of Multi-Agent Scenarios

Aaron Young, Jay Taves, Asher Elmquist, Radu Serban, Dan Negrut, Simone Benatti, Alessandro Tasora
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A022, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67070
https://doi.org/10.1115/DETC2021-67070
View Paper titled, Enabling Artificial Intelligence Studies in Off-Road Mobility Through Physics-Based Simulation of Multi-Agent Scenarios
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Topics: Artificial intelligence, Mechanical admittance, Physics, Roads, Simulation, Sensors, Testing, Engines, Vehicles, American Petroleum Institute
Proceedings Papers

Absolute Nodal Coordinate Formulations for Aeroelastic Analysis of Next-Generation Aircraft Wings

Keisuke Otsuka, Shuonan Dong, Kanjuro Makihara
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A012, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68162
https://doi.org/10.1115/DETC2021-68162
View Paper titled, Absolute Nodal Coordinate Formulations for Aeroelastic Analysis of Next-Generation Aircraft Wings
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Topics: Aircraft, Wings
Proceedings Papers

Linear Stability Analysis of a Waveboard Multibody Model With a Minimal Set of Equations

A. G. Agúndez, D. García-Vallejo, E. Freire, A. M. Mikkola
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A001, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67164
https://doi.org/10.1115/DETC2021-67164
View Paper titled, Linear Stability Analysis of a Waveboard Multibody Model With a Minimal Set of Equations
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Topics: Stability, Multibody systems, Wheels, Bicycles, Design, Eigenvalues, Equations of motion, Jacobian matrices, Nonlinear equations, Sensitivity analysis
Proceedings Papers

Modal Analysis to Interpret Localization Phenomena in Two Nonlinear Tuned Mass Dampers

Yuji Harata, Takashi Ikeda
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A041, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69248
https://doi.org/10.1115/DETC2021-69248
View Paper titled, Modal Analysis to Interpret Localization Phenomena in Two Nonlinear Tuned Mass Dampers
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Topics: Dampers, Modal analysis, Oscillations
Proceedings Papers

Periodic Temperature Responses in a Thermal System Under a Periodic Heating

Bo Yu, Albert C. J. Luo
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A040, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68752
https://doi.org/10.1115/DETC2021-68752
View Paper titled, Periodic Temperature Responses in a Thermal System Under a Periodic Heating
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Topics: Heating, Stability, Temperature, Thermal systems
Proceedings Papers

Coupled Lateral and Longitudinal Control for Trajectory Tracking, Lateral Stability, and Rollover Prevention of High-Speed Automated Vehicles Using Minimum-Time Model Predictive Control

Shuping Chen, Huiyan Chen, Alex Pletta, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A024, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68099
https://doi.org/10.1115/DETC2021-68099
View Paper titled, Coupled Lateral and Longitudinal Control for Trajectory Tracking, Lateral Stability, and Rollover Prevention of High-Speed Automated Vehicles Using Minimum-Time Model Predictive Control
Open the PDF for Coupled Lateral and Longitudinal Control for Trajectory Tracking, Lateral Stability, and Rollover Prevention of High-Speed Automated Vehicles Using Minimum-Time Model Predictive Control in another window
Topics: Autonomous vehicles, Predictive control, Stability, Trajectories (Physics)
Proceedings Papers

Finite Element Modeling of Geometrically Exact Shell With Large Deformation and Rotation

Jielong Wang
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A013, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-68429
https://doi.org/10.1115/DETC2021-68429
View Paper titled, Finite Element Modeling of Geometrically Exact Shell With Large Deformation and Rotation
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Topics: Deformation, Finite element analysis, Modeling, Rotation, Shells, Algorithms, Computer simulation, Degrees of freedom, Dynamic models, Fibers
Proceedings Papers

Preliminary Study on Multibody Modeling and Simulation of an Underactuated Gripper With Differential Transmission

Gabriele Maria Achilli, Silvia Logozzo, Maria Cristina Valigi, Monica Malvezzi
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A005, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-72162
https://doi.org/10.1115/DETC2021-72162
View Paper titled, Preliminary Study on Multibody Modeling and Simulation of an Underactuated Gripper With Differential Transmission
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Topics: End effectors, Grasping, Grippers, Modeling, Simulation
Proceedings Papers

Using an SPH-Based Continuum Representation of Granular Terrain to Simulate the Rover Mobility

Wei Hu, Jason Zhou, Radu Serban, Dan Negrut
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A028, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71289
https://doi.org/10.1115/DETC2021-71289
View Paper titled, Using an SPH-Based Continuum Representation of Granular Terrain to Simulate the Rover Mobility
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Topics: Mechanical admittance, Wheels, Simulation, Dynamics (Mechanics), Granular materials, Particulate matter, Boundary-value problems, Geometry, Hydrodynamics, Robustness