Afi

UB/TIB Hannover

1. MATHMVIENNA

II

Proceedings of the IMACS Symposiumon MATHEMATICAL MODELLINGduring February 2-4, 1994at Technical University Vienna, Austria

VOLUME 2

Edited by I. Troch and F. Breitenecker

CONTENTS

VOLUME 1

Invited Lectures:

Advances in Bond Graph Modelling: Theory, Software, ApplicationsW. Borutzky (Gummersbach, D) 1Enhanced Environments for the Development and Validation ofDynamic System ModelsD.J. Murray-Smith (Glasgow, UK) 9Petri Nets and Artificial Intelligence in Modeling and SimulationA. Javor (Budapest, H) 14

Physical Systems ModellingOrganizer: P.C. Breedveid (Cambridge, USA)

C Properties of Mixed Systems Arising from Bond Graph ModelsB. M. Maschke (Paris, F), M. Villarroya (Rueil Malmaison, F) 20

C Multibond-Graph Representation of Lagrangian Mechanics: The Elimination ofthe Euler Junction StructureP. Breedveid (Enschede, NL), N. Hogan (Cambridge, USA) 24

C Taxonomy and Modelling of Variable Impedance ActuatorsE. D. Fasse (Enschede, NL) 29

C An Interpretation of the Eulerian Junction Structure in 3D Rigid BodiesS. Stramigioli, P. C. Breedveid (Enschede, NL) 33

C Energetically Proper Modeling of a Simple Throttling ProcessP. Breedveid (Enschede, NL), N. Hogan (Cambridge, USA) 37

Bond Graph Modelling: Theory, Software, and ApplicationsOrganizer: W. Borutzky (Gummersbach, D)

C Bond Graph Model of a Double Effect EvaporatorM. Delgado, M. De Inocentis (Caracas, Venezuela)

C Bond Graph Modelling and Invariant SubspacesC. Sueur, G. Dauphin Tanguy (Villeneuve d'Ascq, F) 41

C On Representing Hydraulic Control System Models With Discontinuitiesin the Bond Graph FrameworkW. Borutzky (Gummersbach, D), J. U. Thoma (Roanne, F) 45

R Automated Simulation of Bond Graph ModelsB. Arnaldi, B. Edibe (Rennes, F) 52

Modern Aspects of Modelling and SimulationOrganizer: A. Javor (Budapest, H)

C Al Controlled Simulation ExperimentsA. Javor (Budapest, H) 56

R Process Graph and Tool for Performance Analysis of Parallel ProcessesR. Blasko (Vienna, A) 60

R A Distributed Open System Environment for Real-Time SimulatorsL. Castiglioni, F. Pretolani (Milano, I) 64

R Object-Oriented Modelling and Simulation of Batch PlantsK. Wollhaf, S. Engell (Dortmund, D) 72

R A New Approach to Database ModellingR. Keil (Graz, A) 76

R Hierarchical Coloured Petri Net Models for the Specificationand Performance Prediciton of Parallel Householder ReductionsA. Ferscha (Vienna, A) *

*

Abbreviations:C . . . Paper, contributed upon invitation and under the responsibility of the organizer

of the corresponding session.R . . . Regular paper; selected upon recommendation of the IPC.L . . . Late paper; selected by the NOC.

* . . . Manuscript received too late to be printed together with the other papers of the session.If received by or prior to January 30, 1994, the paper is printed in the "Late Papers" volume.

Automation of Modelling and Related Software TechniquesOrganizer: C. Maffezzoni (Milan, I)C State of the Art in Parallel Discrete Event Simulation

R. Ayani (Kista, S) 8 1

C Simulation of Object-Oriented Continuous Time ModelsS. E. Mattsson (Lund, S) 8 5

C Guidelines for an Object Oriented Advanced MMI for ENEL SimulatorsL. Castiglioni, F. Pretolani (Milano, I) 89

C A General Modelling System for Chemical ProcessesC. C. Pantelides (London, UK)

C Generating Efficient Computational Procedures from Declarative ModelsC. Maffezoni, P. Lluka (Milano, I) 96

C The Use of Formula Manipulation and Symbolic Computing inEngineering and Scientific ApplicationsH. J. Haiin (Zurich, CH) *

R OBELISK - A Graphical Frontend for Modelling with DYMOLA and SimnonJ. W. Goldynia (Vienna, A) *

Mechanistic Modelling of Industrial Processes and PlantsOrganizer: K. Justin (Espoo, SF)

C Exploiting the Power of Modelling in Logistics Network Engineering (LNE)J. Ingman, V.-P. Mattila, A. Hovi (Espoo, SF) 104

C Dynamic Simulation of Offshore ProcessesJ. Steen Nielsen (Stabekk, N) 108

C Multilayer Simulation of Electric Flow in a Submerged Arc FurnaceE. K. Juuso (Oulu, SF) *

C Experinence on Mechanistic Modelling of Industrial Process Dynamics with APROSK. Juslin (Espoo, SF) 112

C Simulation of Energy Systems - Guidelines and PitfallsN. Houbak (Lyngby, DK) 116

R Fuzzy Modelling and Fuzzy Controller Tuning for Hydraulic Pilot PlantI. Skrjanc, D. Matko (Ljubljana, SLO) *

R Software Supporting Modelling Automation for Optimal Control ProblemsR. Mehlhorn, G. Sachs (Miinchen, D) 120

Qualitative Modelling and Analysis of Dynamical SystemsOrganizer: J. Lunze (Hamburg, D)

C Evolutionary Modelling: A Structured Approach to Model ConstructionJ. Top, H. Akkermans (Twente, NL) 124

C Qualitative Reasoning Based on Temporal AbstractionP. Struss (Miinchen, D) 128

C Qualitative Modelling Based on Rules, Petri Nets and Differential EquationsV. Krebs, M. Kluwe (Karlsruhe, D), J. Lunze, H. Richter (Hamburg, D) 134

C Qualitative Modeling for Control Synthesis and DiagnosisK. Nokel (Munchen, D) -j 39

C Integrating Quantitative and Qualitative ModelsE. A. Woods (Trondheim, N) -] 44

Qualitative Models and Neural Networks in ModellingOrganizer: R. Gorez (Louvain-la-Neuve, B)

C Control of Visual Sensors With a Physiologically Inspired Neural NetworkI. Bottemanne, J. M. Barreto, A. Roucoux (Brussels, B) 143

C A Neurofuzzy Controller Synthesis Using CMAC ApproachG. Calcev (Bucuresti, R) 1 5 5

C Qualitative Reasoning About Plant Biological ProcessesJ. E. Hunt, D. E. Cooke, B. Matthews (Dyfed, UK) *

C Qualitative Models for Simulation of Control SystemsR. Gorez, M. De Neyer (Louvain-La-Neuve, B) . „

L Modelling of Neural Networks in VHDLP. S. Szczepaniak, D. Kaca (Lodz, PL) 1 6 5

L Parameter Estimation for Cui-Lawson Epuation by Artificial Neural NetworkY. Cai (Shanghai, China) *

R Adaptive Control Using Neural Control Structure: Predictive Control as Teaching SignalA. Saadane, D. Lamy (Lille, F) *

Modelling of Distributed Parameter Systems

R On a Mathematical Model for the Heat Transfer Through a TIM-WallA. Handlovicova (Bratislava, Slovakia), R. Van Keer (Gent, B) 169

R Heat-Dynamics Model of a HomeV. Hamata, J. Kremen, M. Preucil, R. Padouk (Prague, Czech Republic) 176

R A Mathematical Model of Isotropic Material Behaviour Including Second-Order-EffectsH. Altenbach (Magdeburg, D), A. Zolochevsky (Kharkov, Ukraine) 180

R The Mathematical Model of Shapeformation Processesof Metalpolymer Composite ShellsG. I. Lvov, E. V. Odintsova (Kharkov, Ukraine) 184

R Turbulence Scale Change Depth Beneath Free SurfaceW. Khan (Mayaguez, USA) 188

L Numerical Simulation of Viscous Flows in Complex Domains on Rectangular GridsA. G. Churbanov, A. A. lonkin (Moscow, Russia) *

L Variable Surface Tension Effects on Drift Velocity of Water WavesK. K. Puri (Orono, USA) 192

VOLUME 2

Order Reduction of Linear Systems 1Organizer: P. C. Muller (Wuppertal, D)

C A Multivariable Controller Reduction Method via Frequency Response ApproximationR. Muller, S. Engell (Dortmund, D) 193

C On Modal Techniques for Model ReductionA. Varga (Wessling, D) 198

C Order Reduction for Control ApplicationsP. Hippe (Erlangen, D) 203

C Order Reduction in the Control Design ConfigurationP. M. R. Wortelboer (Eindhofen, NL), 0. H. Bosgra (Delft, NL) 207

C Controller Design for a Hydro Power Plant Based on Linearized Order Reduced ModelsK. H. Fasol (Bochum, D) 211

Order Reduction of Linear Systems 2Organizer: P. C. Muller (Wuppertal, D)

C Comparison of Some Order Reduction Methods by Applicationon High Order Models of Technical ProcessesC. Jorns, L. Litz (Kaiserslautern, D) 217

C Software for the Comparison and Application of Model Reduction TechniquesD. P. Atherton, D. Xue (Brighton, UK) 222

C Numerical Methods and Software Tools for Model ReductionA. Varga (Wessling, D) 226

R A Practical Exercise in Simulation Model ValidationD. J. Murray-Smith, Mingrui Gong (Glasgow, UK) 231

R Model Reduction, Zeros and GainA. Johnson (Delft, NL) 235

Simplification, Estimation and Compensation in Nonlinear Control SystemsOrganizer: P. C. Muller (Wuppertal, D)

C Order Reduction and Determination of Dominant State Variables of Nonlinear SystemsB. Lohmann (Konstanz, D) 239

C Numerical Approximation of Slowly Varying Disturbances in Nonlinear SystemsG. Zimmer, F. HiB (Berlin, D) 244

C A Shrink-Fit-Model for Dynamical Load TransmissionJ. Braun, F. Pfeiffer (Miinchen, D) 249

C Independent Joint Control: Estimation and Compensation of Coupling andFriction Effects in Robot Position ControlR. Hu, P. C. Muller (Wuppertal, D) 253

Parameter Uncertainties in Linear SystemsOrganizer: P. C. Muller (Wuppertal, D)C Obtaining LFT Descriptions of State-Space Models with Parametric Uncertainties

P. Lambrechts, S. Bennani (Delft, NL), J. Terlouw (Amsterdam, NL),M. Steinbuch (Eindhoven, NL) 2 6 1

C H2 Performance for Unstructured UncertaintiesM. Steinbuch (Eindhoven, NL), 0. H. Bosgra (Delft, NL) 265

R Solving Total and Model Least Squares Iteratively andRecursively For Robust IdentificationA. Weinmann (Vienna, A) 269

L Target Estimation TechniquesV. Boulet, E. Druon, E. Duflos, P. Vanheeghe (Lille, F)P. Borne (Vllleneuve d'Ascq, F), D. Willaeys (Valenciennes, F) 277

R Observers for Single Input Generalized State Space SystemsD. Lefebvre, F. Rotella (Vllleneuve d'Ascq, F) 279

R Mathematical Modeling and Computational Principles for the Analysis andSimulation of Long-Distance Energy SystemsK. Schlacher, A. Kugi (Linz, A) 283

Stochastic Systems Modelling

R Modelling Non-Precise Observations and MeasurementsR. vlertl (Vienna, A) 288

R Modelling Random Sets and Random ShapesG. Pflug (Vienna, A) *

R A Markov Chains Singular Perturbation ResolutionD. Racoceanu, A. El Moudni, M. Ferney, S. Zerhouni (Belfort, F) 289

R A Stochastic Approach to Modelling Dynamical Systems in EcologyR. Funke (Berlin, D) 293

R Optimal Trajectory Planning for Robots under the Consideration of StochasticParameters and Disturbances - Computation of an Efficient Open-Loop StrategyK. Marti, S. Qu (Munchen, D) 297

R On Stochastic Modelling of the Fluctuation of Air-Pollutant ConcentrationM. Ya. Postan (Odessa, Ukraine) 301

L On the Unified Schemes of Transshipment Points' Work ModellingE. N. Voevudskiy, M. Y. Postan, N. P. Didorchuk (Odessa, Ukraine) 307

Neural ModellingOrganizer: F. Rattay (Vienna, A)

C Alternative Models of LH Pulse GenerationD. Brown, J. Foweraker, A. Herbison, R. Marrs, G. Leng (Cambridge, GB) 311

C Mathematical Model of Pacemaker Activity in Bursting Neurons of SnailN. I. Kononenko (Kiev, Ukraine) 315

C Dynamic Behaviour and Self-Organization of Neural Networks Influenced by Noise InputV. Chinarov (Kiev, Ukraine) 3 i g

C Modelling of the Excitation and the Propagation of Nerve Impulsesby Natural and Artificial StimulationsF. Rattay (Vienna, A) 323

Biomathematics 1Organizer: F. Rattay (Vienna, A)

C Metric Spaces: A Very Versatile Formalization Frame for Biological DataA. Giuliani, R. Benigni (Rome, I) 323

C Automation of Modelling of Multienzyme Systems Using Databanks onEnzyme and Metabolic Pathways (DBEMP)I. I. Goryanin, K. I. Serdyuk (Pushcino, Russia) 3 3 2

C Mathematical Models of an Almost ideal Biochemical OscillatorsBased on Covalent Enzyme ModificationK. I. Serdyuk, I. I. Goryanin, E. E. Setkov (Pushcino, Russia) 3 3 6

R Modeling and Computer Simulation of Histamine Pharmacokinetics

S 1 ! r h R ^ 5 T I R iarmacokinetics

D S • 1 ! r h a r ; - R " l ^ r 5 a ; , T - I r m a n - R o r i a n c . S. Primozic, F. Erjavec (Ljubljana, SLO) 340R Mathematical Modellmg of Tumor Growth in Mice Following ElectrotheroV

and Bleomycin Treatment Hy

D. Miklavcic, T. Jarm, R. Karba (Ljubljana, SLO)-..

Biomathematics 2Organizer: F. Rattay (Vienna, A)

C Hamiltonian Systems in BiomathematicsJ. Hofbauer (Wien, A) *

R Mathematical Modelling of the Human Hip Joint and Its Total ReplacementM. Bartos, J. Nedoma, J. Stehlik (Prague, Czech Republic) 348

R Modelling of Human Locomotion and Its Application in Construction of ProsthesesV. E. Berbiyuk (Lviv, Ukraine) 352

L Mathematical Modelling of Heat and Mass Transfer in Living TissueI. Lubashevskii (Moscow, Russia), V. Gafiychuk (Lviv, Ukraine) 356

R Mathematical Modeling of T Cell Proliferation

Modelling of Biotechnical ProcessesOrganizer: A. Munack (Braunschweig, D)

C Are Biological Processes too Complex to Model?R. King (Siegen, D) 359

C Towards a Multi-Representation in Bioprocess Modellingwith a View to Process ControlJ. M. Flaus, G. Romero, A. Cheruy (St. Martin d'Heres, F) 363

C Modeling the Nitrogen Dynamics in an Alternating Activated Sludge ProcessS. H. Isaacs, H. Zhao, H. Soeberg, M. Kiimmel (Lyngby, DK) 369

C Mathematical Modelling of Baker's Yeast Production in an Airlift Tower-Loop ReactorK.-H. Bellgardt, G. StrauB (Hannover, D) 375

C A Knowledge-Based Software for Modelling Biochemical Processes -a Typical Application in pH ControlM. Farza, A. Cheruy (Grenoble, F) 379

VOLUME 3

Modelling of Biochemical and Related Processes 1

R Simulation of Metallurgical Plants with MetaModW. Lyhs (Diisseldorf, D) 387

R Modelling Two Associated Biochemical PathwaysJ.-P. Morillon, R. Costalat, N. Burger, J. Burger (Angers, F) 391

R Calculus of Iterations and Dynamics of the Physicochemical ReactionsV. Gontar (Beer-Sheva, Israel) 395

R Methods of System Modelling for Catalytic Reactors andChemical Engineering ProcessesA. G. Abilov, (Baku, Azerbaijan) M. Alpbaz, Y. Cabbar (Ankara, TR) 399

L Effect of Coupling on the Oscillations of a Biochemical PathwayS. Doubabi (Marrakech, MA), J.-P. Morillon, R. Costalat (Angers, F) 403

Modelling of Biochemical and Related Processes 2

R Computer Algebra Systems for Modeling Complex Processes in Polymer ExtrusionM. Jahnich, K. Panreck, F. Dorrscheidt (Paderborn, D) 405

R Optimal Yield in Certain Continuous Chemical ReactionsG. Karigl (Vienna, A) 410

L Mathematical Model for Determination of Metabolite Fluxesin Cells by 1H- and 13C-NMR SpectroscopyS. Tran Dinh, J. Wietzerbin, M. Herve (Gif-sur-Yvette, F) *

Modelling and Simulation of Waste Water Treatment Processes 1Organizer: M. Kohne (Siegen, D)

C Case Studies in Dynamic Modelling of Large-Scale Wastewater Treatment PlantsI. Takacs, B. Watson, B. Gall (Hamilton, CDN) G. G. Patry (Ottawa, CDN) 417

C Modelling and Simulation of Final Clarifiers in Waste Water Treatment PlantsM. Kohne, K. Hoen, M. Schuhen (Siegen, D) 424

C Modeling and Simulation of a Municipal Waste Water Treatment Plantby Activated SludgeM. N. Pons, N. Roche, 0. Potier, R. Bendounan, L. Pereira,C. Prost, J. P. Corriou (Nancy, F) 431

Modelling and Simulation of Waste Water Treatment Processes 2Organizer: J. P. Babary (Toulouse, F)C Simulation of the Microkinetics of Biological Phosphorus Removal

A. Ante, H. VoB (Aachen, D) 4 3 5

C Simulation of Industrial Wastewater Treatment PlantM. Kralik, J. Derco, J. Antoni, A. Kovacs (Bratislava, Slovak Republic) 440

C Simulation and Control of the Activated Sludge Process -a Comparison of Model ComplexityU. Jeppsson (Lund, S) 4 4 4

C Modelling and Simulation of Waste Water Treatment Plants Based on BiofiltersJ. M. Le Lann, J. Jacob, B. Koehret, B. Capdeville, K. M. N'Guyen,J. P. Babary, S. Bourrel (Toulouse, F) 4 5 2

C GPS-X: A Wastewater Treatment Plant SimulatorG. G. Patry (Ottawa, CDN), I. Takacs (Hamilton, CDN) 456

Simulation Models of Environmental SystemsOrganizer: A. Sydow (Berlin, D)C Modelling and Simulation of Sedimentation Processes in a Lowland River

Ch. Engelhardt, D. Prochnow, H. Bungartz (Berlin, D) 460C Application of a Particle Simulation Model in Radiation Protection

G. Wiesner, S. Gottwald, U. Nielsen, M. v. Rekovski (Berlin, D) 465C Ozon Analysis in the Area of Berlin by Means of Parallel Simulation

S. Unger, P. Mieth, A. Sydow (Berlin, D) 469C Simulation of Water Contamination Systems using Parallel Computers

V. Friedrichs, S. Burkhardt (Chemnitz, D) *C Modelling and Simulation of Processes in the Groundwater Zone

P.-W. Grdber (Dresden, D) 473C Hierarchical Modeling Approach for Smog Management

E. Szczerbicki, A. Sydow (Berlin, D) 477

Modelling of Control Systems 2Organizer: D. J. Murray-Smith (Glasgow, UK)

R An Improved Model of a Propeller AircraftW. Dunkel (Braunschweig, D) 481

R Model Extensions for Describing Properties of a Flight Test Measurement SystemH. Gbllinger (Braunschweig, D) 484

R Stabilization of Constrained Nonlinear Time-Delay SystemsM. Dambrine, J. P. Richard (Villeneuve d'Ascq, F) 488

R A Linear State Space Approach to a Class of Discrete-Event SystemsD. Franke (Hamburg, D) 492

R Linear Quadratic Modelling in Multilevel SystemsK. Petrova, T. Stoilov (Sofia, BG) 497

Modelling of Control Systems 1Organizer: D. J. Murray-Smith (Glasgow, UK)

C An Example of Process Modelling and Real-Time Simulationfor a Multivariable Control Algorithm TestingJ. Kocijan, R. Karba (Ljubljana, SLO) 501

C Design of a Controller for a Test-Rig for a Variable Speed Wind TurbineW. E. Leithead, M. C. M. Rogers, B. Connor (Glasgow, UK) *

R Control Model for an Additional 4-Wheel Steering of' an AutomobileM. Plochl, P. Lugner (Wien, A) 5 0 5

Mathematical Modelling of Engineering ProblemsOrganizer: X. J. R. Avula (Rolla, USA)

C Modelling the Effect of Process Variables on Sheet Metal FormabilitvW. M. Sing, K. P. Rao (Hong Kong) 5 o g

C Aerodynamic Interaction of Highly Compliant PlatesX. J. R. Avula (Rolla, USA)

R Model Builder's Look at Variational Principles in Continuum MechanicsJ. Pietrucha (Warszawa, PL)

R Non-linear Free Vibrations of Shallow Shells: A Unifying FormulationH. Irschik (Linz. A), R. Heuer, F. Ziegler (Vienna, A) . . „ . _ . _ 5 2 2

Modelling and Applications in EngineeringOrganizer: J. Ragot (Vandoeuvre, F)

C Functional, Structural and Behavioural Models for the Design ofIntegrated Automation SystemsM. Staroswiecki, J. Ph. Cassar, C. Feliot (Lille, F) 526

C A Parameter Identification Approach Using Optimal Exciting Trajectories fora Class of Industrial RobotsJ. Schaefers, S. J. Xu (Luxembourg, L), M. Darouach (Cosnes-et-Romain, F) 533

C Recursive Identification of Interconnected Systems - Application to theModelisation of a Annealing LineM. Ouladsine, C. lung, J. Ragot (Nancy, F) 537

C Modelling and Identification of an Air Conditioning SystemL. Friot, C. Petrault, J. C. Trigeassou (Poitiers, F) 541

C Modelling a Motor Vehicle and its Braking SystemG. L. Gissinger, Y. Chamaillard, T. Stemmelen (Mulhouse, F) 545

R On Using Hierarchic High Order Finite Elements for Reissner-Mindlin Plateswith Strong SingularitiesT. Scapolla (Pavia, I) *

Modelling for Simulation of Robot DynamicsOrganizer: G. Magnani (Milan, I)

C A Study on Model Sensitivity for Single-Link Flexible Arm ControlB. Siciliano (Napoli, I) 549

C Experimental Identification of the Inertial Parameters of a Robot with Closed LoopW. Khalil, P. P. Restrepo (Nantes, F) 553

C Simulating Discontinuous Phenomena Affecting Robot MotionG. Ferretti, C. Maffezzoni, G. Magnani, P. Rocco (Milan, I) 559

C Integrated Modeling, Simulation, and Animation of Rigid Arms andVehicles through Object-Oriented ProgrammingP. R. Schmitt, J. E. Hogan, J. M. Cameron, W. J. Book (Atlanta, USA) 566

C Modelling Impacts With Friction Phenomena Within the Simulation ofMultibody StructuresP. Baiardi, G. Cannata, G. Casalino, P. Pagano (Genova, I) 570

VOLUME 4

Al, Modelling and Simulation in Robotics and Control 1Organizer: S. Tzafestas (Athens, GR)

C Integrating Planning and Knowledge RevisionA. F. Dragoni (Ancona, I) 578

C A Model Analysis of Car Driving on Two-Lane RoadsP. H. Wewerinke (Enschede, NL) 582

C Dynamic Modelling of a Flexible-Link ManipulatorA. S. Morris, A. Madani (Sheffield, UK) 589

C Simulation of a Robotic Control System: PID and ATG SchemesS. Tzafestas, G. Frangakis, V. Prival (Athens, GR) 593

C Cooperative Neural Field for the Path Planning of a Robot ArmP. Muraca, G. Raiconi, T. Varone (Rende, I) 598

Al, Modelling and Simulation in Robotics and Control 2Organizer: S. Tzafestas (Athens, GR)

C On the Order of the Observable Monovariable Systems Obtained bySliding Switching Mode StrategiesP. Lopez, A. S. Nouri, H. Sira-Ramirez (Toulouse, F) 603

C A VSS Theory Based Regulator for Robotic Systems with Fuzzy Parameter AdaptionE. Condello, P. Muraca, C. Picardi, P. Pugliese (Rende, I) 607

L General Mathematical Modelling of Kinematic Behaviour of Robots Having Supple BodiesP. Andre, J.-P. Taillard, P. Mitrouchev (Besancon, F) 612

L Nonlinear Static Characteristic of the Robot Joint GearS. Uran, K. Jezernik (Maribor, SLO) 614

L Trajectory Planning, Dynamic Modelling and Robust Control of Articulated Robot ArmV. Laci, Z. Kovacic (Zagreb, Croatia) 616

Sophisticated RobotsOrganizer: S. Tzafestas (Athens, GR)C Sensorial Integration for Navigation and Control of an Autonomous Mobile Robot

A. T. Almeida (Coimbra, P) 6 1 8

C Robot's Movements Modelling at Control Level: Consequences on Robots Behaviourand Control EfficiencyP. J. Andre, E. Jamhour (Besancon, F) 6 2 2

C Parallel Computation of the Inertia Matrix of a Tree Type RobotUsing one Directional Recursion of Newton-Euler FormulationH. J. Pu, M. Muller, E. Abdalla, L. Abdelatif, E. Bakr, H. A. Nour Eldin (Wuppertal, D) . . . 626

C Goals Recognition as AbductionA. F. Dragoni, P. Puliti (Ancona, I) 6 3 0

C Application of Neural Networks in Robot Dynamic ControlA. S. Morris, S. Khemaissia (Sheffield, UK) 634

C Robustness Simulation Study of Elastical and Adaptive Control Applied tothe AUTOMELEC ACR Robotic ManipulatorI. Jaworska, T. Laski (Warsaw, PL), S. Tzafestas (Athens, GR) 638

Data Models for Mechanical System SimulationsOrganizer: W. Schiehlen (Stuttgart, D)

C Software Engineering and Data Models of Mechanical SystemsM. Hocke, R. Rlihle, J. Seybold (Stuttgart, D) 642

C A Systematic for Modelling Mechatronic SystemsF. Junker, J. Luckel (Paderborn, D) 646

C Modelling of Mechatronic Systems by an Object-Oriented Data ModelU. Neerpasch, W. Schiehlen (Stuttgart, D) 650

C Interdisciplinary Modelling Language for Multibody SystemsO. I. Sivertsen, G. Moholdt, T. Rolvag, H. P. Hildre (Trondheim, N) 654

Modelling of Mechatronic SystemsOrganizer: J. Luckel (Paderborn, D)

C Modelling and Identification of Flexible Rotors in Magnetic BearingsR. Herzog, C. Gdhler (Zurich, CH) 658

C Travelling Wave Ultrasonic Motors - Novel Mechatronic Drive SystemsJ. Wallaschek (Paderborn, D) 662

C Object-Oriented Modelling and Simulation of Mechatronic Systems andTheir Application to Automotive IndustryR. Kasper (Stuttgart, D) 669

C Object-Oriented Programming Techniques in Vehicle Dynamics SimulationA. Kecskemethy, M. Hiller (Duisburg, D) 673

C Systematic Treatment of Complex Mechatronic Structures, Exemplified by AutomotiveEngineering - Proposal of a Standardized Mechatronic Wheel SuspensionR. Vullhorst (Paderborn, D) 679

C Physical Modelling of Mechatronic Systems According to Object-Oriented PrinciplesM. Hahn (Paderborn, D) 687

Modelling of Electrical Systems

R The DAE-lndex in Electric Circuit SimulationM. Giinther, U. Feldmann (Miinchen, D) 695

R Structured Modelling and Analysis of Saturated Synchronous MachinesN. Dourdoumas, M. Fette, C. Kroger, J. VoB (Paderborn, D) 703

R Modelling and Simulation of a System for Fault Detection and DiagnosisE. Krasevec, M. Rak, D. Juricic (Ljubljana, SLO) 7 1 1

R A Coupled Magnetic Network-Finite Element Model for the Calculation ofLosses in Steel Laminations Used in Electric MachineryL. R. Dupre, R. Van Keer, J. A. A. Melkebeek (Gent, B) 715

Modelling in ElectronicsOrganizer: N.R. Andronaty (Kishinev, Moldova)

c T^SSSiSSTfor the F° rma t ion of Algomhm

.723

N. R. Andronaty (Kishinev, Moldova),V. D. Dimitrienco, N. I. Korsounov (Kharkov, Ukraine)

C Analysis of Synthesis Problem Solution Spaces for Models ofComputing Devices and Control SystemsV. D. Dimitrienco, N. I. Korsunov, A. A. Chelyshev (Kharkov, Ukraine) *

C K-charakter Differential Calculus and Its Use for Electronic Circuit ResearchN. I. Korsunov, S. Yu. Leonov (Kharkov, Ukraine) 727

C Designing Cermet Heating Elements on Condition of Their Thermal ReliabilityA. O. Kostikov, 0. S. Tsakanyan (Kharkov, Ukraine) 731

C Modelling the Thermal State of an Electronic Module With a MicroChannelSystem of Fluid CoolingS. F. Lushpenko, Yu. M. Matsevity, 0. S. Tsakanyan (Kharkov, Ukraine) 735

C Analysis Models of Functioning Large-Scale Distributed Computer SystemsV. G. Khoroshevsky (Novosibirsk, Russia) 739

R The Extension Theory and Solvable Models in Diffraction Theory,Nanoelectronics, Hydrodynamics and BiophysicsI. Yu. Popov (St. Petersburg, Russia) 743

VOLUME 5

Mobile Radio NetworksOrganizer: B. Walke (Aachen, D)

C Stochastic Simulation of Mobile Radio Protocols Based on Their Formal SpecificationTh. Hellmich (Hagen, D) 747

C Generative Radio Channel Models for Analysis and SimulationH. Steffan, P. Decker (Aachen, D) 753

C Optimal Channel Allocation in Quasi-Linear and Quasi-Cyclic Cellular Radio NetworksR. Mathar, J. Mattfeld (Aachen, D) 760

C Effects of Call-Queueing in a GSM-NetworkV. Brass, W. Fuhrmann, W. R. Mende (Bonn, D) 767

C Performance Evaluation of Vehicle-Beacon Radio Communication ProtocolsC.-H. Rokitansky (Aachen, D) 775

C User Densities in Radio Communication Systems With Dynamic Channel AssignmentG. Kleindl (Wien, A) 783

Traffic Modelling — Theory and ApplicationsOrganizer: K.-O. Proskawetz (Braunschweig, D)

C Macroscopic Simulation of Single Vehicles in Motorway NetworksChr. Theis (Karlsruhe, D) 787

C Microscopic Simulation of Traffic FlowU. Reiter (Karlsruhe, D) 791

C SIMC03++: Simulation of Mobile Communications based on Realistic Mobility Modelsand Road Traffic ScenariosC.-H. Rokitansky (Aachen, D) 795

C Use of the Simulation Model AIRPORT MACHINE for Investigating Problems ofAirport TrafficI. Gerdes (Braunschweig, D) 802

R MAKSIMOS: Macroscopic Simulation and Optimization ofSignalized Urban Road NetworksK. Putensen (Hamburg, D) 806

Modelling of Economic and Socio Economic Systems

R Nonlinear Models in Population EconomicsG. Feichtinger, F. X. Hof, M. Luptacik, A. Prskawetz, F. Wirl (Vienna, A) 812

R Iterative Design of Economic Models via Simulation, Optimization and ModelingM. H. Breitner, B. Koslik, 0. von Stryk, H. J. Pesch (Miinchen, D) 816

R Economy, Demography and Occupation of the TerritoryInside a Functional Economic Area (FEA)J. M. Gonzalez (La Laguna, E) 820

R Comprehensive Quantitative Calculus as a Tool in Policy Modeling:A Broad Dynamic Simulation Model of R&D InputChen Jin, Wu Minghua, Xu Quingrui (Hangzhou, PRO 827

R A Modeling System of Socioeconomic Systems Based on System DynamicsHu Xiaohui (Beijing, PRO 831

TeachingR Teaching Mathematics with Modelling

J. A. H. Wilkinson (Glasgow, UK)

Modelling Methodologies and its ApplicationOrganizer: Bo Hu Li (Beijing, PROC Simulation By Active Fuzzy Petri Nets

He Xingui (Beijing, PRO " ' V K

C FMS Reliability Modeling and Analysis Using Colored Generalized Stochastic Petri NetsYushun Fan, Cheng Wu (Beijing, PRO 843

C A Modelling Method for Parallel SimulationXiaofeng Liu, Bo Hu Li (Beijing, PRO 647

R A Hierarchical Mathematical Model for the Control of Flexible Manufacturing Systems0. De Smet, H. Abou-Kandil (Cachan, F) 851

R Transient Analysis of Manufacturing Systems Using Continuous Petri NetsN. Zerhouni, M. Ferney, A. El Moudny (Belfort, F) 855

R A Boolean Algebra for a Formal Expression of Events in Logical SystemsB. Denis, J.-J. Lesage, J.-M. Roussel (Cachan, F) , 859

R Combined Discrete Continuous Simulation of Production Processin Cotton Spinning MillsD. Mourtzis, J. Sarris, N. Aspragathos (Patras, GR) *

Automation of Modelling and Software SupportOrganizer: N. R. Andronaty (Kishinev, Moldova)

C Probability Models of Reliability of Information-Computer SystemsWith Hierarchical StructureA. N. Corlat, N. R. Andronaty, Yu. V. Rogozhin (Kishinev, Moldova) 863

C Modelling of Systems Reliability by Means of Semi-Markov ProcessesA. N. Corlat (Kishinev, Moldova) 867

C The Automatization of Decision Support Process for Software Quality AnalysisV. Madan, M. Ungureanu (Kishinev, Moldova) 870

C New Class of Priority Models and Their Utilization in Real-Time SystemsN. R. Andronaty, G. K. Mishkoy (Kishinev, Moldova) *

C Automation of Modelling for Personal Hybrid ComputerM. G. Levin, 0. M. Petrova, A. A. Zhuravlev, I. A. Beiu (Kishinev, Moldova) 872

C Architecture of the Analog-Digital Computational System with a Matrix Organizationof the Analogue ProcessorsM. G. Levin, I. Ya. Shor, A. A. Zhuravlev (Kishinev, Moldova) 875

R From And/Or Graphs to Robotics-Cell ControlG. Gini, S. Landi, G. Menzione (Milan, I) *

Numerical Methods in Natural SciencesOrganizer: B. Rybakin (Kishinev, Moldova)

C Numerical Modelling of Spatial Dynamical Deformation Solids in the Shock InteractionV. Bogdanov, A. Zvjagin (Moscow, Russia) *

C Mathematical Modelling of Composite Materials Manufacturing ProcessesYu. Dimitrienco (Reutov, Russia) 878

C Mathematical Modelling of Fragmentation of Thin Shells in ExplosionA. B. Kiselev (Moscow, Russia) 882

C Mathematical Modelling of Dynamic Processes of Deformation and Microfracture ofMetals and Solid FuelsA. B. Kiselev, M. V. Yumashev (Moscow, Russia) 885

C Mathematical Modelling of the High-Velocity PenetrationB. Rybakin (Kishinev, Moldova) 889

C Numerical Investigation of the Spatial Motion of Thread with Variable L en'qtriA. Zvjagin (Moscow, Russia) *

C Fast Numerical Algorithms for Evaluating Characteristics'of Priority Queueina'Systems"G. K. Mishkoy, I. G. Grama (Kishinev, Moldova) 8 9 3

L The "Nested Hashing" Method Applied for Simulation of Chaotic WalkYu. G. Gordienko, E. E. Zasimchuk (Kiev, Ukraine) 8 9 7

Various Theoretical Aspects

R On a Class of Limit Reliability Functions for Series-Parallel and Parallel-Series SystemsK. Kolowrocki (Gdynia, PL) 899

R Stability of Periodical and Chaotic Vibrations in Systems with more than oneEquilibrium PositionsYu. V. Mikhlin (Dnepropetrovsk, Ukraine) 903

R Mathematical Model of Allocation Problem of Geometric Objects ofArbitrary Spatial FormYu. G. Stoyan (Kharkov, Ukraine) 906

L New Technologies of Real-Time ModellingA. A. Naumov, N. P. Kislenko (Novosibirsk, Russia) 910

L A Discrete Model of a Dynamic System: a Multistand Mill - a StripL. A. Kuznetsov (Lipetsk, Russia) 912

L Stability Properties of Differential EquationsO. V. Anashkin (Simferopol, Ukraine) *

R Analysis of Some Mathematical Models in Nonlinear DynamicsA. A. Zevin (Dniepropetrovsk, Ukraine) 914