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Technische Universität München
Technische Universität München

Multibody Systems

The Focus Group “Multibody Systems” consists of Hans Fischer Senior Fellow Prof. Michel Géradin (Emeritus Professor, University of Liège, Belgium), Hans Fischer Fellow Dr. Karin Nachbagauer (University of Applied Sciences Upper Austria),  their host Prof. Daniel Rixen (TUM Department of Mechanical Engineering) and Dr. techn. Andreas Zwölfer (TUM Department of Mechanical Engineering). The activities of this Focus Group are centered on the interplay between modeling, simulation, and optimization of nonlinear dynamic systems, with special focus on flexible multibody systems. On the one hand, we will develop new formulations for the modeling of rigid and flexible multibody systems that take floating frames of reference into account. On the other hand, new approaches for the intelligent optimal control of multibody systems for future digital twin technologies will be investigated. Such efficient numerical methods for design and simulation of multibody systems such as robots, for example, represent an important challenge in the engineering dynamics community and are at the center of our scientific collaboration.

Prof. Géradin holds a TUM-IAS Hans Fischer Senior Fellowship funded by Siemens AG.
Prof. Nachbagauer holds a TUM-IAS Hans Fischer Fellowship funded by Siemens AG.

TUM-IAS funded doctoral candidate:

Daniel Lichtenecker, Chair of Applied Mechanics, TUM Department of Mechanical Engineering

TUM-IAS funded postdoctoral researcher:

Dr. Valentin Sonneville, Chair of Applied Mechanics  

Selected Publications by the Focus Group

2024

  • Optimal Design and Control of Multibody Systems. Springer Nature Switzerland, 2024 mehr…
  • D. Lichtenecker, K. Nachbagauer: Optimal Control of Soft Robotic Fingers,. Proceedings of the 26th International Congress of Theoretical and Applied Mechanics, , 2024 mehr…
  • D. Lichtenecker, W.T. Yang, K. Nachbagauer, M. Tomizuka: Synchronization of Soft Pneumatic Actuators for Reliable Grasping. Proceedings of the Seventh International Conference on Multibody System Dynamics - IMSD 2024, 2024 mehr…
  • Lichtenecker, Daniel; Eichmeir, Philipp; Nachbagauer, Karin: On the Usage of Analytically Computed Adjoint Gradients in a Direct Optimization for Time-Optimal Control Problems. In: Optimal Design and Control of Multibody Systems. Springer Nature Switzerland, 2024 mehr…
  • Lichtenecker, Daniel; Nachbagauer, Karin: A discrete adjoint gradient approach for equality and inequality constraints in dynamics. Multibody System Dynamics, 2024 mehr…

2023

  • Bagheri, Amir K.; Sonneville, Valentin; Renson, Ludovic: Nonlinear normal modes of highly flexible beam structures modelled under the SE(3) Lie group framework. Nonlinear Dynamics 112 (3), 2023, 1641-1659 mehr…
  • D. Lichtenecker, K. Nachbagauer: Structural optimization of flexible components of multibody systems in optimal control. Proceedings of the ASME 2023, International Design Engineering Technical Conferences and Computers and Information in Engineering Conference IDETC/CIE2023, 2023 mehr…
  • Géradin, Michel; Sonneville, Valentin: A two-field approach to multibody dynamics of rotating flexible bodies. Multibody System Dynamics, 2023 mehr…
  • Lichtenecker, D.; Nachbagauer, K.: Combined Optimal Control and Design of Flexible Multibody Systems. Book of Abstracts of the 11th ECCOMAS Thematic Conference on MULTIBODY DYNAMICS, Instituto Superior Técnico, University of Lisbon, 2023 mehr…
  • Lichtenecker, Daniel; Rixen, Daniel; Eichmeir, Philipp; Nachbagauer, Karin: On the use of adjoint gradients for time-optimal control problems regarding a discrete control parameterization. Multibody System Dynamics 59 (3), 2023, 313-334 mehr…
  • Schubert, Matthias; Sato Martín de Almagro, Rodrigo T.; Nachbagauer, Karin; Ober-Blöbaum, Sina; Leyendecker, Sigrid: Discrete adjoint method for variational integration of constrained ODEs and its application to optimal control of geometrically exact beam dynamics. Multibody System Dynamics, 2023 mehr…
  • Sonneville, Valentin: Using the Special Euclidean Group to Model Flexible Multibody Systems. HFSS 2023 - International Conference on Highly Flexible Slender Structures , 2023, pp. 25-26 mehr…

2022

  • Bauchau, Olivier A.; Sonneville, Valentin: The Motion Formalism for Flexible Multibody Systems. Journal of Computational and Nonlinear Dynamics 17 (3), 2022 mehr…
  • Eichmeir, Philipp: The Adjoint Method for Time-Optimal Control of Multibody Systems. Dissertation, 2022 mehr…
  • Géradin, Michel: Dynamics of a flexible body: a two-field formulation. Multibody System Dynamics, 2022 mehr…
  • Schubert, Matthias; Sato Martin de Almagro, Rodrigo T.; Nachbagauer, Karin; Leyendecker, Sigrid: Discrete Adjoint Method for Variational Integration of Constrained ODEs and Optimal Control of Geometrically Exact Beam Dynamics. Multibody System Dynamics, 2022 mehr…
  • Sonneville, Valentin; Géradin, Michel: Two-field formulation of the inertial forces of a geometrically-exact beam element. Multibody System Dynamics, 2022 mehr…

2021

  • Bauchau, Olivier; Sonneville, Valentin: Formulation of Shell Elements Based on the Motion Formalism. Applied Mechanics 2 (4), 2021, 1009-1036 mehr…
  • Eichmeir, Philipp; Nachbagauer, Karin; Lauß, Thomas; Sherif, Karim; Steiner, Wolfgang: Time-Optimal Control of Dynamic Systems Regarding Final Constraints. Journal of Computational and Nonlinear Dynamics 16 (3), 2021 mehr…
  • Géradin, Michel; Rixen, Daniel J.: A fresh look at the dynamics of a flexible body application to substructuring for flexible multibody dynamics. International Journal for Numerical Methods in Engineering 122 (14), 2021, 3525-3582 mehr…
  • Lichtenecker, Daniel; Eichmeir, Philipp; Nachbagauer, Karin: On the Role of Adjoint Gradients in Time-Optimal Control Problems under Final Constraints. , 2021 mehr…

2020

  • Eichmeir, Philipp; Lauß, Thomas; Oberpeilsteiner, Stefan; Nachbagauer, Karin; Steiner, Wolfgang: The Adjoint Method for Time-Optimal Control Problems. Journal of Computational and Nonlinear Dynamics 16 (2), 2020 mehr…
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