Dynamics - Universitetet i Agder
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  • Machine Design
  • Multibody dynamics
  • Finite Element Method/Plastic Forming of Metals
  • Mathematical modelling 
  • Condition based monitoring

Projects and programmes

Software Based Modelling and Analysis of Vehicle Crash Dynamics: The overall objective of this project is to investigate the crashworthiness in the vehicle front structure by experiments and analysis. Because of the project, we will know more about the fundamentals of engineering mechanics and to apply these fundamentals to the study of vehicle crashworthiness. Specifically, we aim to:

  • Develop a methodology and a knowledge base that will represent vehicle crash dynamics based on the fundamentals of mechanics and determine the correct impact load-transfer characteristics.
  • Develop systems and algorithms that enable the further development of occupant impact dynamics and evaluate the overall deformations caused by the impact loads.
  • Increase the scientific competence on vehicle crashworthiness.

In each of these aims, knowledge of the fundamental principles of mechanics is essential. Also, the ability to apply such knowledge to hardware, to developmental work, or analytical modelling is required. In addition, the activity will improve education in Engineering at the academic partner institutions, in particular Impact Engineering.

Model based design and optimization of high-pressure RTJ 15” – 30” range diameter cold deformed flange connection for subsea use.

Welding has been the technology of choice for connection of flanges subsea for decades. Welding under water is a complex procedure which requires highly trained divers or ROVs at greater depths. The flange to pipe connection technology utilising cold deformation of the pipe developed by Quickflange AS is a quick and robust method for connecting flange to pipe end. The method is increasingly applied for offshore applications. The technology is based on plastic cold expansion/deformation of the pipe into a modified standard flange by use of a hydraulic flanging tool.

The Quickflange method is today applicable for pipe dimensions up to 12" depending on material quality. To apply the Quickflange technology for subsea applications the following objectives must be reached

  • The cold deformed flange connection must allow a maximum operating pressure up to 250 bar.
  • The cold deformed flange connection must be expanded to pipe diameters up to 18".
  • The technology must be adapted for high-pressure ring-type-joint (RTJ) flanges that are used subsea.

In order to reach the above given objectives there are several challenges. This project addresses some of them, and they are:

  • Develop a better understanding of the parameters affecting the load carrying capacity and the sealing capability of the pipe/flange connection to extend the Quickflange technology to the pipe sizes and pressures commonly found for subsea applications.
  • Develop models for analysis of the cold flanging process.
  • Develop models for analysis of the load carrying capacity and sealing capability of the pipe/flange connection.
  • Develop models for design scaling and design optimization of pipe/flange connection in order to maximize load carrying capacity and sealing capability.

Planned projects

When the Mechatronic Innovation Lab is established together with NODE, our group will be active in building test facilities and running tests of equipment where great dimensions and forces are included (Sørlandslab). One PhD student is proposed in this group.

Selected publications

  • Henriksen, J., Hansen, M.R. and Thrane, F.C.: “Numerical and Experimental Verification of New Method for Connecting Pipe to Flange by Cold Forming”. Journal of metal processing technology. Under review. 2014.
  • Bernard B. Munyazikwiye, Kjell Gunnar Robbersmyr and Hamid Reza Karimi: “A state-space approach to mathematical modeling and parameters identification of vehicle frontal crash”, Systems Science & Control Engineering: An Open Access Journal, 2014 http://dx.doi.org/10.1080/21642583.2014.883108, 11 pages, 2014.
  • Klausen, Andreas, Tørdal, Sondre Sanden, Karimi, Hamid Reza, Robbersmyr, Kjell G., Jecmenica, Mladen and Melteig, Ole: ”Firefly Optimization and Mathematical Modeling of a Vehicle Crash Test Based on Single-Mass”, Hindawi Publishing Corporation, Journal of Applied Mathematics, Volume 2014, Article ID 150319, 10 pages, 2014 http://dx.doi.org/10.1155/2014/150319
  • Witold Pawlus, Hamid Reza Karimi, Kjell G. Robbersmyr; “Investigation of vehicle crash modeling techniques: theory and application”, Int J Adv Manuf Technol (2014) 70:965–993, DOI 10.1007/s00170-013-5320-3, 29 pages, 2014.
  • Langer, Thomas; Iversen, Thorkil K.; Mouritsen, Ole Østergaard; Ebbesen, Morten Kjeld; Hansen, Michael Rygaard: «Suspension system performance optimization with discrete design variables”. Structural and multidisciplinary optimization (Print) 2013; Volume 47.(4) s. 621-630
  • Sørensen, Søren Emil; Hansen, Michael Rygaard; Ebbesen, Morten Kjeld; Mouritsen, Ole Østergaard: «Non-linear optimization of track layouts in loop-sorting-systems”. Automation in Construction 2013; Volume 31.(3) s. 19-30
  • Henriksen, J. and Hansen, M.R.: «FEM simulation of cold deforming pipe into flange”. Proceedings of the 26th Nordic seminar on computational mechanics, pp. 93-96, 2013.
  • Munyazikwiye, Bernard; Karimi, Hamid Reza and Robbersmyr, Kjell G.: «Mathematical Modeling and Parameters Estimation of Car Crash Using Eigensystem Realization Algorithm and Curve-Fitting Approaches”. Mathematical problems in engineering (Print) 2013 ;Volum 2013. s.
  • Lin, Zhao; Pawlus, Witold Pawell; Karimi, Hamid Reza; Robbersmyr, Kjell G.: “Data-Based Modeling of Vehicle Crash using Adaptive Neural-Fuzzy Inference System.” IEEE/ASME transactions on mechatronics 2013
  • Munyazikwiye, Bernard; Karimi, Hamid Reza; Robbersmyr, Kjell G.: “Mathematical Modeling and Parameters Estimation of Car Crash Using Eigensystem Realization Algorithm and Curve-Fitting Approaches”. Mathematical problems in engineering (Print) 2013 ;Volum 2013.
  • Kjell G. Robbersmyr, Herman Olsen, Hamid Reza Karimi and Kristian Tønder: “Oil whip-induced wear in journal bearings”. The International Journal of Advanced Manufacturing Technology 2014 ;Volum 73.(5-8) s. 973-980.
  • K.J.Gåsvik, K.G.Robbersmyr, T.K.Vadseth and Hamid Reza Karimi: “Deformation measurement of circular steel plates using projected fringes”. The International Journal of Advanced Manufacturing Technology 2014 ;Volum 70.(1-4) s. 321-326.
  • W. Pawlus, H.R. Karimi and K.G. Robbersmyr: “A Fuzzy Logic Approach to Modeling a Vehicle Crash Test”, Central European Journal of Engineering, Volume 3, Issue 1, pp. 67-79, March 2013.
  • Lin Zhao, Witold Pawlus, Hamid Reza Karimi and Kjell G. Robbersmyr: “Data-Based Modeling of Vehicle Crash using Adaptive Neural-Fuzzy Inference System”, IEEE/ASME Trans. Mechatronics, Revision #1.
  • Lu, Qiugang; Pawlus, Witold Pawell; Karimi, Hamid Reza; Robbersmyr, Kjell G.: “Data-based Modeling of Vehicle Collision by LPV-ARMAX Model Approach.” Proceedings of Asian Control Conference 2013 (ASCC 2013). IEEE conference proceedings 2013 ISBN 978-1-4673-5769-2.
  • Munyazikwiye, Bernard; Karimi, Hamid Reza; Robbersmyr, Kjell G.: “Mathematical Modeling of Vehicle Frontal Crash by a Double Spring-Mass-Damper Model.” Proceedings of 2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT). IEEE conference proceedings 2013 ISBN 978-1-4799-0430-3.
  • Sørensen, Søren Emil; Hansen, Michael Rygaard; Ebbesen, Morten Kjeld; Mouritsen, Ole Østergaard. Enhanced chain dynamics in loop-sorting-systems by means of layout optimization and a kinematic model of the polygon action. Structural and multidisciplinary optimization (Print) 2012; Volume 45.(6) s. 907-916
  • Witold Pawlus, Hamid Reza Karimi, and Kjell G. Robbersmyr: “Reconstruction and simulation of the vehicle to road safety barrier oblique collision based on the Levenberg–Marquardt algorithm”, International Journal of Crashworthiness, Volume 17.(6) p. 676-692, 2012.
  • J. Cibulka, M.K. Ebbesen, G. Hovland, K.G. Robbersmyr and M.R. Hansen: “A Review on Approaches for Condition Based Maintenance in Applications with Induction Machines Located Offshore”. Modeling, Identification and Control, Vol. 33, No. 2, 2012, pp. 69-86, ISSN 1890-1328.
  • J.S. Johnsen, H.R. Karimi, K.G. Robbersmyr, "The Harp: A vehicle crash test apparatus for full scale crash test experiments" Int. J. Advanced Manufacturing Technology, December 2012, Volume 63, Issue 9-12, pp 1073-1080.
  • J. Cibulka, M.K. Ebbesen and K.G. Robbersmyr: “Bearing Fault Detection in Induction Motor-Gearbox Drivetrain”. J. Phys.: Conf. Ser. 364 012140 doi:10.1088/1742-6596/364/1/012140, 2012.
  • H.R. Karimi, W. Pawlus, and K.G. Robbersmyr: “Data-based modeling of vehicle collisions by nonlinear autoregressive model and feedforward neural network”. Information Sciences. ISSN: 0020-0255, In Press, http://dx.doi.org/10.1016/j.ins.2012.03.013, 2012.
  • H.R. Karimi, W. Pawlus, and K.G. Robbersmyr: “A review paper on vehicle crash and road safety manufacturing”. International Journal of Materials Engineering and Technology. ISSN: 0975-0444, vol.7, no.2, pp.93-125, 2012.
  • Ebbesen, Morten Kjeld; Hansen, Michael Rygaard: ”Correction Scheme for Tool Point Velocity Control of a Flexible Hydraulically Actuated Manipulator”. IASTED International Conference Modelling, Identification, and Control: Proceedings 2010 (1) s. 298-305
  • Sørensen, Søren Emil; Hansen, Michael Rygaard; Ebbesen, Morten Kjeld: “An Experimentally Verified Model for Time Domain Simulation of Large Scale Material Handling Chains”. The First Joint International Conference on Multibody System Dynamics [Recurs electrònic]: Lappeenranta, Finland, May 25 - 27, 2010.: Lappeenranta University of Technology 2010 ISBN 9789522147783. s. -
  • Cibulka, Jaroslav; Ebbesen, Morten Kjeld; Robbersmyr, Kjell G.: “Modeling of an Induction Motor-Gearbox Transmission with Respect to Condition Monitoring”. Proceedings of the 24th International Congress on Condition Monitoring and Diagnostics Engineering Management (COMADEM2011). COMADEM International 2011 ISBN 0-9541307-2-3. s. 808-816
  • Ebbesen, Morten Kjeld; Hansen, Michael Rygaard: “Tool Point Control of Material Handling Crane in Marine Operations”. Proceedings of the 24th International Congress on Condition Monitoring and Diagnostics Engineering Management (COMADEM2011). COMADEM International 2011 ISBN 0-9541307-2-3. s. 1233-1241
  • Henriksen, Jan, Bak, Morten Kollerup and Hansen, Michael Rygaard: “A Method for Finite Element Based Modeling of Flexible Components in Time Domain Simulation in Knuckle Boom Crane”, COMADEM, 2011.
  • Sørensen, Søren Emil; Hansen, Michael Rygaard; Ebbesen, Morten Kjeld; Mouritsen, Ole Østergaard: “Time domain simulation of large-scale material handling chains using an unconstrained formulation”. Proceedings of the Institution of mechanical engineers. Proceedings part K, journal of multi-body dynamics 2011; Volume 225.(2) s. 95-110
  • Ebbesen, Morten Kjeld; Hansen, Michael Rygaard: “Correction Scheme for Tool Point Velocity Control of a Flexible Hydraulically Actuated Manipulator”. IASTED International Conference Modelling, Identification, and Control: Proceedings 2010 (1) s. 298-305
  • Sørensen, Søren Emil; Hansen, Michael Rygaard; Ebbesen, Morten Kjeld: “An Experimentally Verified Model for Time Domain Simulation of Large Scale Material Handling Chains”. The First Joint International Conference on Multibody System Dynamics [Recurs electrònic]: Lappeenranta, Finland, May 25 - 27, 2010.: Lappeenranta University of Technology 2010 ISBN 9789522147783. s. –
  • Henriksen, Jan, Bak, Morten Kollerup and Hansen, Michael Rygaard: “A Method for Finite Element Based Modeling of Flexible Components in Time Domain Simulation in Knuckle Boom Crane”, COMADEM, 2011
  • Ebbesen, Morten Kjeld; Hansen, Michael Rygaard: “Tool Point Control of Material Handling Crane in Marine Operations”. Proceedings of the 24th International Congress on Condition Monitoring and Diagnostics Engineering Management (COMADEM2011). COMADEM International 2011 ISBN 0-9541307-2-3. s. 1233-1241
  • K.J.Gåsvik, K.G.Robbersmyr and T.K.Vadseth: “Projected fringes for the measurement of large aluminium ingots”, Measurement Science and Technology, Volume 21, Number 10. Meas. Sci. Technol. 21 () 105302 (9pp), 2010.

Members in the group

Associate members

Bernard Munyazikwiye, PhD student

Van Khang Huynh, Associate Professor, UiA

Mladen Jecmenica, Professor, Telemark University College

Ole Melteig, Assistant Professor, Telemark University College

Kristian Tønder, Professor Emeritus, NTNU

Herman Magne Birger Olsen. Associate Professor, HiST 

Leader of group

Kjell G. Robbersmyr

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