Les systèmes électroniques sont de plus en plus complexes et, dans le but de rapprocher le monde numérique et le monde physique, on observe l'émergence de systèmes multidisciplinaires interagissant de plus en plus avec leur environnement proche. Leur conception nécessite la connaissance de multiples disciplines scientifiques tendant à les définir comme systèmes hétérogènes. Le développement des systèmes à venir nécessite un environnement de conception et de simulation commun permettant de gérer la multidisciplinarité de ces composants de nature variés interagissant fortement les uns avec les autres. Nous explorons la possibilité de développer et déployer un environnement de prototypage virtuel unifié pour ces systèmes. Pour surpasser les contraintes liées à leur spécification et dimensionnement, cet environnement doit pouvoir simuler un système hétérogène dans son ensemble, où chaque composant est décrit et résolu en utilisant le MoC le plus approprié. Nous proposons un prototype de simulateur, SystemC MDVP, implémenté comme une extension de SystemC qui suit une approche correcte-par-construction, repose sur une représentation hiérarchique hétérogène et des interactions basées sur des sémantiques maitre-esclave afin de modéliser les systèmes hétérogènes. Des algorithmes génériques permettent l'élaboration, la simulation et le monitoring de tels systèmes. Une méthodologie pour incorporer de nouveaux MoCs est définie puis suivie afin d'ajouter le MoC SPH, qui permet la description de réseaux fluidique, à SystemC MDVP. Nous avons modélisé un système RFID passif en utilisant plusieurs MoCs. Les résultats sont comparés avec des mesures acquises sur un vrai prototype physique. / Current and future microelectronics systems are more and more complex. In a aim to bridge the gap between the cyber world and the physical world we observe the emergence of multi-disciplinary systems that interact more and more with their close surrounding environment. The conception of such systems requires the knowledge of multiple scientific disciplines which tends to define them as heterogeneous systems. Designers of the upcoming digital-centric systems are lacking a common design and simulation environment able to manage all the multi-disciplinary aspects of its components of various nature, which closely interact with each other. We explore the possibilities of developing and deploying a unified SystemC-based design environment for virtual prototyping of heterogeneous systems. To overcome the challenges related to their specification and dimensioning this environment must be able to simulate a heterogeneous system as a whole, for which each component is described and solved using the most appropriate MoC. We propose a simulator prototype called SystemC MDVP which is implemented as an extension of SystemC. It follows a correct-by-construction approach, relies on a hierarchical heterogeneity representation and interaction mechanisms with master-slave semantics in order to model heterogeneous systems. Generic algorithms allow for the elaboration, simulation and monitoring of such systems. A methodology to incorporate new MoCs within SystemC MDVP is defined and followed to add a SPH MoC that enables the description of fluidic network. We modeled a passive RFID reading system using several MoCs. We compare the results with measures acquired on a real physical prototype.

Apresenta um modelo multicorpos completo de um veículo comercial leve considerando a flexibilidade do quadro para estudos de dirigibilidade. O modelo de multicorpos foi desenvolvido utilizando o software MSC.ADAMS e inclui a suspensão primária, a cabine, o sistema de esterçamento, o trem de força, o modelo do pneu e um quadro flexível. O comportamento direcional, a dirigibilidade e a interação veículo/pavimento são os fatores que definem o desempenho do veículo em relação à dinâmica lateral. Os parâmetros mais importantes considerando o comportamento lateral do veículo são: a velocidade longitudinal, a rigidez em curva do pneu, a elasticidade da suspensão e do sistema de esterçamento, a transferência lateral de carga, centro de rolamento e propriedades inerciais. Conseqüentemente, considerando a transferência lateral de carga, o uso do quadro flexível se mostra importante. O modelo completo foi validado com resultados experimentais. Típicas manobras para estudo de dirigibilidade foram simuladas, entre elas: curva de raio e velocidade constantes e manobras de dupla mudança de pista. Os resultados obtidos foram a aceleração lateral, a velocidade de guinada, o ângulo de deriva da trajetória, o ângulo de rolamento e o gradiente de esterçamento. Com a análise dos resultados, o veículo mostrou comportamentos diferentes em função da aceleração lateral. Em baixas acelerações laterais, o veículo apresenta um comportamento levemente sub-esterçante. Contudo, em acelerações laterais altas, o veículo se torna sobre-esterçante. Finalmente, uma análise no domínio da freqüência foi realizada e ambos modelos mostraram as mesmas características. / This dissertation presents a complete multibody model of a light commercial truck considering the frame flexibility for handling characteristics studies. The flexible multibody model was developed using MSC.ADAMS, and it includes a complete primary suspension, the cabin, the steering system, the powertrain, a tire model (Delft) and the flexible frame. The directional response behavior, the driveability and the vehicle/road interaction are the factors that define vehicle handling performance. The most important parameters concerning lateral behavior are: longitudinal velocity, tire cornering stiffness, suspension system elasticity, steering systems elasticity, lateral load transfer, roll center and inertial properties. Consequently, regarding lateral load transfer, the use of a flexible frame is very important. The complete model was validated with experimental results and for the purpose of vehicle analyses, typical standard handling maneuvers were undertaken including constant radius turn, constant velocity turn and double lane change. The results obtained were lateral acceleration, yaw rate, side slip angle, roll angle and the understeer gradient. Analyzing the results, the vehicle showed a changing behavior concerning steer. At low velocities and lateral accelerations, the vehicle is slightly understeer. However, at higher velocities and lateral accelerations, it becomes oversteer. Finally, a frequency domain analysis was undertaken using the simplified and the complete model and both models shown the same characteristics.

Devido à dificuldade em se desenvolver um sistema de controle baseado no modelo da planta, principalmente quando a mesma possui diversos graus de liberdade, busca-se uma metodologia a fim de minimizar o tempo e os esforços para projetar o sistema de controle. A metodologia consiste na utilização de um software de sistemas multicorpos, para a geração do conjunto de equações que descrevem o comportamento dinâmico, a partir de características físicas do sistema, tais como: massa, centro de massa, momentos principais de inércia, dimensões dos elos e juntas com determinados graus de liberdade. Para determinação das características físicas, são utilizadas técnicas experimentais, procedimentos e instrumentação para identificação com acuracidade controlada dos centros de massa e dos momentos principais de inércia dos elos. Estes são considerados corpos rígidos não homogêneos, algumas vezes acoplados por juntas de movimento, não sendo possível desacoplá-los. O sistema de controle utiliza um sistema com realimentação de estados com observador, capaz de fornecer resultados satisfatórios. O observador é utilizado para diminuir o número de estados medidos, facilitando a instrumentação do mecanismo. Esses procedimentos podem ser aplicados à maioria dos sistemas multicorpos, com muitos graus de liberdade, a fim de se obter um sistema de controle com desempenho e acuracidade predefinidos, para serem implementados em sistemas de aquisição e controle flexíveis, ou através de hardwares dedicados. Para validar essa metodologia, esta será aplicada ao protótipo de uma plataforma de movimento que, por conveniência de projeto, teve seus graus de liberdade controlados limitados a dois. Seu acionamento dá-se por servomotores brushless, atuadores de fusos de esferas, utilizando-se sensores de posição linear por magnetostrição e angular ópticos. O fato do número de graus de liberdade ter sido reduzido a dois não invalida a metodologia, caso seja necessário aplicá-la a sistemas com qualquer número de graus de liberdade. / The difficulty to develop a control system based in the model of the plant, mainly when the plant has many degrees of freedom, motivated this work which presents a methodology to minimize the time and effort in developing the control system. The methodology consists on the use of a multibody systems software for generating the set of equations that describes the system dynamic behavior, starting from its physical characteristics such as mass, center of mass, principal moments of inertia, dimensions of the links and joints with certain degrees of freedom coupling the links. For the physical characteristics determination, experimental techniques, procedures and instrumentation are used to identify, with controlled accuracy, the links centers of mass and principal moments of inertia, being the plant considered formed by non homogeneous rigid bodies, sometimes coupled by joints of movement and not being possible to uncouple them. For the control system a state feedback control system with estimator is used, capable of suppling satisfactory results. An estimator is used to reduce the number of measured states facilitating the mechanism instrumentation. Those procedures can be applied to most of multibody systems with several degrees of freedom to obtain a control system with performance and accuracy previously defined to be implemented in a flexible acquisition and control board or dedicated hardware. To validate this methodology, it will be applied to a prototype of a movement platform, which, for project convenience had their controlled degrees of freedom limited to two. The platform is driven by brushless servomotors, has actuators with spindle bearings, using sensors of linear position by magnetostriction and angular by optical principle. The fact of the number of degrees of freedom being reduced to two doesn\'t invalidate the methodology in case it is necessary to apply it to systems with any number of degrees of freedom.

Ce travail de thèse propose un transfert de méthodes industrielles et de recherche que sont le prototypage virtuel et la caractérisation mécanique des structures vers l'artisanat d'art : la fabrication des instruments de musique à cordes, plus particulièrement la guitare et le violon.Ce domaine, historiquement éminemment empirique, est étudié ici avec des critères objectifs. Le travail porte principalement sur le comportementmécanique vibratoire de ces instruments de musique. Le comportement mécanique du matériau utilisé (bois de lutherie) est tout d'abord étudié, et une méthode non-destructive proposée et appliquée à l'épicéa et à l'érable. La fiabilité des modèles numériques et ensuite étudiée par des méthodes de vérification et de validation de modèle, habituellement utilisées dans les domaines industriels et de recherche Les modèles développés sont ensuite utilisés en support à l'étude de phénomènes complexes de l'acoustique musicale appliquée au violon et à la guitare. Pour finir, l'utilisation de ces méthodes numériques pour une application concrète en facture instrumentale (prise de décision en milieu incertain, innovation de la géométrie et des matériaux) est proposée. / This work proposes a methodology for the transfer of industrial and research domain methods toward arts and crafts domain. The virtual prototyping and mechanical characterization of materials are used for the stringed musical instruments making domain. The works is adressed to the guitar and violin making. This domain is historically driven by empricism and it is studied here using objective criteria. The main topic is the mechanical vibratory behaviour of musical instruments. Firstly, the mechanical behaviour of the material used (tonewood) is studied. A non-destructive methodology is proposed and applied on spruce and maple species. The reliability of the numerical models is studied by method usually used in industry and research, the verification and validation process. The models developed are used as a support for the study of complex phenomena in musical acoustics. Finally, the utilization of numerical method for a practical application in instrument making (decision support under uncertainties, geometric and material optimization) is proposed. The methodology for a transfer to art and crafts domain is discussed.

Human-in-the-loop simulators have long been used in the research community as well as in industry. The aviation field has been the pioneers in the use of simulators for design purposes. In contrast, corresponding activities in the automotive area have been less widespread. Published reports on experimental activities based on human-in-the-loop simulations have focused on methods used in the study, but nobody seems to have taken a step back and looked at the wider methodological picture of Simulator-Based Design. The purpose of this thesis is to fill this gap by drawing, in part, upon the author’s long experience in this field. In aircraft and lately also in ground vehicles there has been a technology shift from pure mechanics to computer-based systems. The physical interface has turned into screen-based solutions. This trend towards glass has just begun for ground vehicles. This development in vehicle technology has opened the door for new design approaches, not only for design itself, but also for the development process. Simulator-Based Design (SBD) is very compatible with this trend. The first part of this thesis proposes a structure for the process of SBD and links it to the corresponding methodology for software design. In the second part of the thesis the focus changes from methodology to application and specifically to the design of three-dimensional situation displays. Such displays are supposed to support the human operator with a view of a situation beyond the more or less limited visual range. In the aircraft application interest focuses on the surrounding air traffic in the light of the evolving free-flight concept, where responsibility for separation between aircraft will be (partly) transferred from ground-based flight controllers to air crews. This new responsibility must be supported by new technology and the situational view must be displayed from the perspective of the aircraft. Some basic design questions for such 3D displays were investigated resulting in an adaptive interface approach, where the current situation and task govern the details of information presentation. The thesis also discusses work on situation displays for ground vehicles. The most prominent example may be the Night Vision system, where the road situation ahead is depicted on a screen in the cab. The existing systems are based on continuous presentation, an approach that we have questioned, since there is strong evidence for negative behavioral adaptation. This means, for example, that the driver will drive faster, since vision has been enhanced, and thereby consume the safety margins that the system was supposed to deliver. Our investigation supports a situation-dependant approach and no continuous presentation. In conclusion, the results from our simulator-based studies showed advantages for adaptive interface solutions. Such design concepts are much more complicated than traditional static interfaces. This finding emphasizes the need for more dynamic design resources in order to have a complete understanding of the situation-related interface changes. The use of human-in-the-loop simulators and deployment of Simulator-Based Design will satisfy this need.

Le travail présenté dans ce mémoire concerne le prototypage virtuel 3D des composants électromagnétiques d’électronique de puissance, par la technique des éléments finis. La démarche correspond à la volonté de disposer d’outils de simulation multiphysiques 3D toujours plusperformants, notamment dans le contexte de l’intégration en électronique de puissance. Il s’agit de mettre au point des méthodes et desprocédures adaptées à la caractérisation d’inductances, de transformateurs ou de coupleurs multiphasés haute fréquence, dans unenvironnement de conversion statique, avec des formes d’onde de tension et de courant non sinusoïdales. Cela nécessite de connaître le comportement harmonique des composants électromagnétiques sur une large gamme de fréquence, et de tenir compte des spécificités de réalisation comme l’utilisation de bobinages en technologie feuillard ou planar et de noyaux magnétiques en matériaux ferrite. Dans le premier chapitre de ce mémoire, une analyse des limitations actuelles des modèles analytiques et numériques des composants magnétiques HF en électronique de puissance est faite afin de définir les besoins les plus importants qui seront par la suite abordés. Dans cette optique, le choix de la plateforme ouverte de simulation multiphysique en 3D, par éléments finis, COMSOL Multiphysics, a été fait. En effet, l’objectif ici n’est pas de développer un nouveau code de calcul mais de mettre au point un outil de simulation adapté aux problématiques rencontrées en électronique de puissance. Le deuxième chapitre aborde le point très important de la détermination des pertes cuivre HF en tenant compte des effets fréquentiels tels que les effets de peau et de proximité. La problématique des bobinages feuillards ou planars est résolue par l’utilisation d’éléments coques spécifiques. Le troisième chapitre traite de la détermination despertes fer, à haut niveau d’excitation et pour des formes d’onde de champ non sinusoïdales. Sur la base d’abaques de densités de pertesfournies par les constructeurs de matériaux, deux méthodes de calcul sont proposées, l’une en cours de traitement et l’autre en posttraitement. La prise en compte de la non-linéarité est analysée ainsi que la problématique de l’existence localisée de champs tournants. Le quatrième chapitre aborde l’extraction virtuelle des paramètres électriques des composants électromagnétiques multiphasés et la définition de matrices d’impédances (inductances et résistances propres et mutuelles), en fonction de la fréquence. A l’exception des pertes fer non prise en compte ici, cette formalisation permet de traduire finement le comportement harmonique large bande des composants multiphasés. Finalement, le cinquième chapitre propose trois exemples d’utilisation de ce nouvel outil. Le premier exemple aborde ledimensionnement optimal et la caractérisation virtuelle d’un coupleur triphasé de forte puissance. Le deuxième exemple montre l’intérêt dela modélisation harmonique sous la forme de matrices impédances pour simuler le comportement d’un coupleur hexaphasé in-situ dans unconvertisseur de puissance. Enfin le troisième exemple montre la possibilité de lancer des campagnes d’études paramétriques automatisées pour étudier l’évolution d’un ou plusieurs paramètres dimensionnant afin de calculer des tables de réponses d’aide au dimensionnement. / The work presented in this thesis deals with the 3D virtual prototyping of electromagnetic components used in power electronics thanks to the finite element method. The approachfollows the desire to have an always more and more powerfull 3D multiphysics simulation tools, especially in the context of power electronics integration. It consists indeveloping adapted methods and procedures to characterize inductors, transformers or multiphase highfrequency InterCell Transformers (ICT), in a static conversion environment, in which voltage and current waveforms are non-sinusoidal. This requires the knowledge of the harmonic behavior of electromagnetic components over a wide frequencyrange, and to take into account the realization specificities such as the use of foil or planar windings technology and the use of ferrite magnetic cores. In the first chapter of this thesis, an analysis of today's analytical and numerical models limitations of HF power electronics magnetic components is made in order to identify the most important needs that will be addressed later. In this context, the choice of the open platform for multiphysics simulation in 3D finite element, COMSOL Multiphysics, has been done. Indeed, the aim here is not to develop a new calculation code but to offer an appropriate simulation tool to face the problems encountered in power electronics. The second chapter broaches the very important issue of determining the HF copper losses by taking into account frequency phenonema such as skin and proximity effects. The problem of foils planar windings is resolved by the use of specific shell elements. The third chapter concerns the determination of iron losses under high level supply and non-sinusoidal waveforms. Based on losses densities charts provided by the materials manufacturers, we propose two calculation methods: one in ongoing-processing and another in post-processing. The consideration of the nonlinearity is analyzed and the problem of the existence of localized rotating fields. The fourth chapter discusses the virtual extraction of the electrical parameters of multiphase electromagnetic components and the definition of frequency depedant impedance matrices (self and mutual inductances and resistances). Except for iron losses that are not taken int account here, this formalization can fine translate the broadband harmonic behavior of multiphase components. Finally, the fifth chapter presents three examples of practical application of this new tool. The first example discusses the optimal design and virtual characterization of a high power three-phased ICT. The second example shows the interest of modeling harmonic impedances in the form of matrices to simulate the behavior of a six-phased ICT in situ in a power converter. Finally, the third example shows the ability to run automated parametric study campaigns to study the evolution ofone or more sizing parameters to calculate response tables to help the designing.

Devido à dificuldade em se desenvolver um sistema de controle baseado no modelo da planta, principalmente quando a mesma possui diversos graus de liberdade, busca-se uma metodologia a fim de minimizar o tempo e os esforços para projetar o sistema de controle. A metodologia consiste na utilização de um software de sistemas multicorpos, para a geração do conjunto de equações que descrevem o comportamento dinâmico, a partir de características físicas do sistema, tais como: massa, centro de massa, momentos principais de inércia, dimensões dos elos e juntas com determinados graus de liberdade. Para determinação das características físicas, são utilizadas técnicas experimentais, procedimentos e instrumentação para identificação com acuracidade controlada dos centros de massa e dos momentos principais de inércia dos elos. Estes são considerados corpos rígidos não homogêneos, algumas vezes acoplados por juntas de movimento, não sendo possível desacoplá-los. O sistema de controle utiliza um sistema com realimentação de estados com observador, capaz de fornecer resultados satisfatórios. O observador é utilizado para diminuir o número de estados medidos, facilitando a instrumentação do mecanismo. Esses procedimentos podem ser aplicados à maioria dos sistemas multicorpos, com muitos graus de liberdade, a fim de se obter um sistema de controle com desempenho e acuracidade predefinidos, para serem implementados em sistemas de aquisição e controle flexíveis, ou através de hardwares dedicados. Para validar essa metodologia, esta será aplicada ao protótipo de uma plataforma de movimento que, por conveniência de projeto, teve seus graus de liberdade controlados limitados a dois. Seu acionamento dá-se por servomotores brushless, atuadores de fusos de esferas, utilizando-se sensores de posição linear por magnetostrição e angular ópticos. O fato do número de graus de liberdade ter sido reduzido a dois não invalida a metodologia, caso seja necessário aplicá-la a sistemas com qualquer número de graus de liberdade. / The difficulty to develop a control system based in the model of the plant, mainly when the plant has many degrees of freedom, motivated this work which presents a methodology to minimize the time and effort in developing the control system. The methodology consists on the use of a multibody systems software for generating the set of equations that describes the system dynamic behavior, starting from its physical characteristics such as mass, center of mass, principal moments of inertia, dimensions of the links and joints with certain degrees of freedom coupling the links. For the physical characteristics determination, experimental techniques, procedures and instrumentation are used to identify, with controlled accuracy, the links centers of mass and principal moments of inertia, being the plant considered formed by non homogeneous rigid bodies, sometimes coupled by joints of movement and not being possible to uncouple them. For the control system a state feedback control system with estimator is used, capable of suppling satisfactory results. An estimator is used to reduce the number of measured states facilitating the mechanism instrumentation. Those procedures can be applied to most of multibody systems with several degrees of freedom to obtain a control system with performance and accuracy previously defined to be implemented in a flexible acquisition and control board or dedicated hardware. To validate this methodology, it will be applied to a prototype of a movement platform, which, for project convenience had their controlled degrees of freedom limited to two. The platform is driven by brushless servomotors, has actuators with spindle bearings, using sensors of linear position by magnetostriction and angular by optical principle. The fact of the number of degrees of freedom being reduced to two doesn\'t invalidate the methodology in case it is necessary to apply it to systems with any number of degrees of freedom.

Com os grandes avanços recentes dos sistemas computacionais, houve a possibilidade de ascensão de dispositivos inovadores, como os modernos telefones celulares e tablets com telas sensíveis ao toque. Para gerenciar adequadamente estas diversas interfaces é necessário utilizar o software dependente do hardware (HdS), que é responsável pelo controle e acesso a estes dispositivos. Além deste complexo arranjo de componentes, para atender a crescente demanda por mais funcionalidades integradas, o paradigma de multiprocessamento vem sendo adotado para aumentar o desempenho das plataformas. Devido à lacuna de produtividade de sistemas, tanto a indústria como a academia têm pesquisado processos mais eficientes para construir e simular sistemas cada vez mais complexos. A premissa dos trabalhos do estado da arte está em trabalhar com modelos com alto nível de abstração e de precisão que permitam ao projetista avaliar rapidamente o sistema, sem ter que depender de lentos e complexos modelos baseados em ISS. Neste trabalho é definido um conjunto de construtores para modelagem de plataformas baseadas em processadores, com suporte para desenvolvimento de HdS e reusabilidade dos componentes, técnicas para estimativa estática de tempo simulado em ambiente nativo de simulação e suporte para plataformas multiprocessadas. Foram realizados experimentos com aplica- ções de entrada e saída intensiva, computação intensiva e multiprocessada, com ganho médio de desempenho da ordem de 1.000 vezes e precisão de estimativas com erro médio inferior a 3%, em comparação com uma plataforma de referência baseada em ISS._________________________________________________________________________________________ ABSTRACT: The amazing advances of computer systems technology enabled the rise of innovative devices, such as modern touch sensitive cell phones and tablets. To properly manage these various interfaces, it is required the use of the Hardwaredependent Software (HdS) that is responsible for these devices control and access. Besides this complex arrangement of components, to meet the growing demand for more integrated features, the multiprocessing paradigm has been adopted to increase the platforms performance. Due to the system design gap, both industry and academia have been researching for more efficient processes to build and simulate systems with this increasingly complexity. The premise of the state of art works is the development of high level of abstraction and precise models to enable the designer to quickly evaluate the system, without having to rely on slow and complex models based on instruction set simulators (ISS). This work defined a set of constructors for processor-based platforms modeling, supporting HdS development and components reusability, techniques for static simulation timing estimation in native environment and support for multiprocessor platforms. Experiments were carried out with input and output intensive, compute intensive and multiprocessed applications leading to an average performance speed up of about 1,000 times and average timing estimation accuracy of less than 3%, when compared with a reference platform based on ISS.

Apresenta um modelo multicorpos completo de um veículo comercial leve considerando a flexibilidade do quadro para estudos de dirigibilidade. O modelo de multicorpos foi desenvolvido utilizando o software MSC.ADAMS e inclui a suspensão primária, a cabine, o sistema de esterçamento, o trem de força, o modelo do pneu e um quadro flexível. O comportamento direcional, a dirigibilidade e a interação veículo/pavimento são os fatores que definem o desempenho do veículo em relação à dinâmica lateral. Os parâmetros mais importantes considerando o comportamento lateral do veículo são: a velocidade longitudinal, a rigidez em curva do pneu, a elasticidade da suspensão e do sistema de esterçamento, a transferência lateral de carga, centro de rolamento e propriedades inerciais. Conseqüentemente, considerando a transferência lateral de carga, o uso do quadro flexível se mostra importante. O modelo completo foi validado com resultados experimentais. Típicas manobras para estudo de dirigibilidade foram simuladas, entre elas: curva de raio e velocidade constantes e manobras de dupla mudança de pista. Os resultados obtidos foram a aceleração lateral, a velocidade de guinada, o ângulo de deriva da trajetória, o ângulo de rolamento e o gradiente de esterçamento. Com a análise dos resultados, o veículo mostrou comportamentos diferentes em função da aceleração lateral. Em baixas acelerações laterais, o veículo apresenta um comportamento levemente sub-esterçante. Contudo, em acelerações laterais altas, o veículo se torna sobre-esterçante. Finalmente, uma análise no domínio da freqüência foi realizada e ambos modelos mostraram as mesmas características. / This dissertation presents a complete multibody model of a light commercial truck considering the frame flexibility for handling characteristics studies. The flexible multibody model was developed using MSC.ADAMS, and it includes a complete primary suspension, the cabin, the steering system, the powertrain, a tire model (Delft) and the flexible frame. The directional response behavior, the driveability and the vehicle/road interaction are the factors that define vehicle handling performance. The most important parameters concerning lateral behavior are: longitudinal velocity, tire cornering stiffness, suspension system elasticity, steering systems elasticity, lateral load transfer, roll center and inertial properties. Consequently, regarding lateral load transfer, the use of a flexible frame is very important. The complete model was validated with experimental results and for the purpose of vehicle analyses, typical standard handling maneuvers were undertaken including constant radius turn, constant velocity turn and double lane change. The results obtained were lateral acceleration, yaw rate, side slip angle, roll angle and the understeer gradient. Analyzing the results, the vehicle showed a changing behavior concerning steer. At low velocities and lateral accelerations, the vehicle is slightly understeer. However, at higher velocities and lateral accelerations, it becomes oversteer. Finally, a frequency domain analysis was undertaken using the simplified and the complete model and both models shown the same characteristics.

Modern product development is a highly complex process characterized by a pronounced interdisciplinary cooperation. Interdisciplinary cooperation accompanied with firm strategic and integrating concep ts leads to innovation potentials in context of cooperative product engineering. The phrase "Mechatronics" represents exactly these novel methodological concepts in the developing process of innova tive products with highly innovative functionality and structure. The concept Mechatronics has been exemplary proven successfully in high-tech sectors. A glance at the automobile or high speed train technology gives an impressive and pursuing figure of the far reach ing Mechatronics philosophy. SME in general have not enough research and development resources to their disposal in order to comply with the ever increasing market demands. Ways out of this dilemma are strategic alliances on one hand and the education of young "Mechatronicans" at universities on the other hand. ISOM 2002 aims to contribute by inviting SME representatives and students from universities and supplementary instit utions in Saxony. The key words of Mechatronics are sensors and actuators, integrated control strategies, modeling and simulation, effective design, safety and reliability. The symposium focuses on state-of-the-art in Mechatronics, especially regarding to controlled high precision systems and particularly to novel electromechanical driving systems. It will point toward future research directions in these subjects. ISOM 2002 is intended as a forum for those engineers and researchers from universities and industry in and outside Europe who actively participate in the young field of Mechatronics and uphold the old spirit of exchanging theoretical and practical results within the scientific community. / Die moderne industrielle Produktentwicklung ist ein hochkomplexer Prozess, der gekennzeichnet ist durch eine stark ausgeprägte interdisziplinäre Arbeit. Diese Interdisziplinarität gepaart mit fundiert en Strategie- und Integrationskonzepten führt zu erheblichen Innovationspotentialen im kooperativen Produkt-Engineering. Das Kunstwort Mechatronik steht genau für dieses neuartige methodologische Konz ept im Entwicklungsprozess innovativer Produkte mit einem hohen Integrationsgrad von Funktionalität und Struktur. Die Industrie hat in vielen High-Tech-Bereichen das Konzept Mechatronik beispielhaft realisiert. Ein Blick auf die Automobil- und Hochgeschwindigkeitszugtechnik zeigt in eindrucksvoller Weise die Tr agfähigkeit der Mechatronik-Philosophie. KMU verfügen oft nicht über das erforderliche FuE-Personal und die entsprechenden materiellen Ressourcen, um das enorme Entwicklungstempo mitzugehen. Wege zur Überwindung dieser Defizite sind strategi sche Allianzen und eine gezielte Ausbildung von Mechatronikern an Hoch- und Fachschulen. Auch hierzu soll das Symposium einen Beitrag leisten, indem insbesondere Vertreter von KMU und Studenten der ga stgebenden Universität sowie anderer Hochschuleinrichtungen Sachsens eingeladen wurden. Zu den Schlüsselworten in der Mechatronik gehören Sensoren und Aktoren, integrierte Steuerstrategien, Modellierung und Simulation, effektiver Entwurf, Sicherheit und Zuverlässigkeit. Der derzeitige Sta nd der Mechatronikforschung, vor allem mit Blick auf hochgenaue, gesteuerte mechatronische Systeme und insbesondere neuartige integrierte elektromechanische Antriebssysteme, soll im Mittelpunkt dieses Symposiums stehen. Auch zukünftige Forschungsaufgaben für die Grundlagen- und anwendungsorientierte Forschung in den genannten Themenbereichen sollen aufgezeigt werden. Das Symposium versteht sich als Treffpunkt für diejenigen Forscher und Entwickler, die in Europa an Hochschulen ebenso wie in der Industrie auf diesem Gebiet aktiv sind und sich auf einen Austausch th eoretischer, experimenteller und anwendungsspezifischer Erfahrungen, die bei der wissenschaftlichen Arbeit auf dem noch jungen Gebiet der Mechatronik erlangt wurden, freuen.