Mechanical Engineering Laboratory
University of La Coruña
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Publications: Journal Papers and Books

Real Time Simulation of Complex 3-D Multibody Systems with Realistic Graphics
J. Garcia de Jalon, J.M. Jimenez, A. Avello, F. Martin and J. Cuadrado
Real-Time Integration Methods for Mechanical System Simulation, ed. by E.J. Haug and R.C. Deyo, pp. 265-292, Springer Verlag, Berlín, 1991. (Book chapter)

An Efficient Computational Method for Real Time Multibody Dynamic Simulation in Fully Cartesian Coordinates
E. Bayo, J. Garcia de Jalon, A. Avello and J. Cuadrado
Computational Methods in Applied Mechanics and Engineering, vol. 92, pp. 377-395, 1991. (Journal paper)

Kinematic and Dynamic Simulation of Rigid and Flexible Systems with Fully Cartesian Coordinates
J. Garcia de Jalon, J. Cuadrado, A. Avello and J.M. Jimenez
Computer Aided Analysis of Rigid and Flexible Mechanical Systems, ed. by M. Seabra and J. Ambrósio, pp. 285-323, Kluwer Academic Publishers, Dordrecht, 1994. (Book chapter)

Flexible Mechanisms through Natural Coordinates and Component Synthesis: An Approach Fully Compatible with the Rigid Case
J. Cuadrado, J. Cardenal and J. Garcia de Jalon
Int. Journal for Numerical Methods in Engineering, vol. 39, pp. 3535-3551, 1996. (Journal paper)

A Simple and General Method for Kinematic Synthesis of Spatial Mechanisms
J.M. Jimenez, G. Alvarez, J. Cardenal and J. Cuadrado
Mechanism and Machine Theory, vol. 32, no. 3, pp. 323-341, 1997. (Journal paper)

Modeling and Solution Methods for Efficient Real-Time Simulation of Multibody Dynamics
J. Cuadrado, J. Cardenal and E. Bayo
Multibody System Dynamics, vol. 1, no. 3, pp. 259-280, 1997. (Journal paper)

A Multi-Index Variable Time Step Method for the Dynamic Simulation of Multibody Systems
J. Cardenal, J. Cuadrado, P. Morer and E. Bayo
Int. Journal for Numerical Methods in Engineering, vol. 44, pp. 1579-1598, 1999. (Journal paper)

Intelligent Simulation of Multibody Dynamics: Space-State and Descriptor Methods in Sequential and Parallel Computing Environments
J. Cuadrado, J. Cardenal, P. Morer and E. Bayo
Multibody System Dynamics, vol. 4, no. 1, pp. 55-73, 2000. (Journal paper)

A Comparison in Terms of Accuracy and Efficiency between a MBS Dynamic Formulation with Stress Analysis and a Non-linear FEA Code
J. Cuadrado, R. Gutierrez, M.A. Naya and P. Morer
Int. Journal for Numerical Methods in Engineering, vol. 51, no. 9, pp. 1033-1052, 2001. (Journal paper)

An Optimum Synthesis for Gripping Mechanisms by using Natural Coordinates
M. Ceccarelli, J. Cuadrado and D. Dopico
Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Science, vol. 216, pp. 643-653, 2002. (Journal paper)

A Study to Validate Multibody Wheel/Rail Contact Algorithms
J.L. Escalona, M. Gonzalez and K. E. Zaazaa
Technical Report #MBS02-8-UIC, Dep. of Mechanical Engineering, University of Illinois at Chicago, 2002. (Technical Report)

Experimental Validation of a Flexible MBS Dynamic Formulation through Comparison between Measured and Calculated Stresses on a Prototype Car
J. Cuadrado, R. Gutierrez, M.A. Naya and M. Gonzalez
Multibody System Dynamics, vol. 11, no. 2, pp. 147-166, 2004. (Journal paper)

A Combined Penalty and Recursive Real-Time Formulation for Multibody Dynamics
J. Cuadrado, D. Dopico, M. Gonzalez and M.A. Naya
Journal of Mechanical Design, vol. 126, no. 4, pp. 602-608, 2004. (Journal paper)

Penalty, Semi-Recursive and Hybrid Methods for MBS Real-Time Dynamics in the Context of Structural Integrators
J. Cuadrado, D. Dopico, M.A. Naya and M. Gonzalez
Multibody System Dynamics, vol. 12, no. 2, pp. 117-132, 2004. (Journal paper)

IRK vs Structural Integrators for Real-Time Applications in Multibody Systems
D. Dopico, U. Lugris, M. Gonzalez and J. Cuadrado
Journal of Mechanical Science and Technology, vol. 19, no. 1, pp. 388-394, 2005. (Journal paper)

Two Implementations of IRK Integrators for Real-Time Multibody Dynamics
D. Dopico, U. Lugris, M. Gonzalez and J. Cuadrado
Int. Journal for Numerical Methods in Engineering, vol. 65, no. 12, pp. 2091-2111, 2006. (Journal paper)

A Benchmarking System for MBS Simulation Software: Problem Standardization and Performance Measurement
M. Gonzalez, D. Dopico, U. Lugris and J. Cuadrado
Multibody System Dynamics, vol. 16, no. 2, pp. 179-190, 2006 (Journal paper)

Multibody Dynamics: Computational Methods and Applications
J.C. Garcia Orden, J.M.Goicolea and J. Cuadrado (eds.)
Springer, Dordrecht, 2007. (Editor)

On the Stabilizing Properties of Energy-Momentum Integrators and Coordinate Projections for Constrained Mechanical Systems
J.C. Garcia Orden and D. Dopico
Multibody Dynamics: Computational Methods and Applications, ed. by J.C. Garcia Orden, J.M.Goicolea and J. Cuadrado, pp. 49-68, Springer, Dordrecht, 2007. (Book chapter)

Special Issue: Real-time Simulation and Virtual Reality Applications of Multibody Systems
J. Cuadrado and W. Schiehlen (guest eds.)
Multibody System Dynamics, vol. 17, no. 2-3, 2007. (Editor)

Real-time Multibody Formulation for Virtual-reality-based Design and Evaluation of Automobile Controllers
M.A. Naya, D. Dopico, J.A. Perez and J. Cuadrado
Journal of Multi-body Dynamics, vol. 221, no. 2, pp. 261-276, 2007. (Journal paper)

Interoperability and Neutral Data Formats in Multibody System Simulation
M. Gonzalez, F. Gonzalez, A. Luaces and J. Cuadrado
Multibody System Dynamics, vol. 18, no. 1, pp. 59-72, 2007. (Journal paper)

Topological vs Global Penalty Formulations for Real-Time Flexible Multibody Dynamics
J. Cuadrado, U. Lugris, D. Dopico and M. Gonzalez
Int. Journal of System Design and Dynamics, vol. 1, no. 3, pp. 422-433, 2007. (Journal paper)

Performance and Application Criteria of Two Fast Formulations for Flexible Multibody Dynamics
U. Lugris, M.A. Naya, F. Gonzalez and J. Cuadrado
Mechanics Based Design of Structures and Machines, vol. 35, no. 4, pp. 381-404, 2007. (Journal paper)

Use of Active Steering in Railway Bogies to Reduce Rail Corrugation on Curves
F. Gonzalez, J. Perez, J. Viñolas and A. Alonso
Journal of Rail and Rapid Transit, vol. 221, no. 4, pp. 509-519, 2007. (Journal paper)

Modelización de sistemas multicuerpo flexibles para análisis dinámico con no linealidad geométrica
R. Gutiérrez, U. Lugrís, J. Cuadrado and L.E. Romera
Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería, vol. 23, no. 2, pp. 159-176, 2007. (Journal paper)

On the Effect of Linear Algebra Implementations in Real-Time Multibody System Dynamics
M. Gonzalez, F. Gonzalez, D. Dopico, A. Luaces
Computational Mechanics, vol. 41, no. 4, pp. 607-615, 2008. (Journal paper)

On the Optimal Scaling of Index Three DAEs in Multibody Dynamics
C.L. Bottasso, D. Dopico, L. Trainelli
Multibody System Dynamics, vol. 19, no. 1-2, pp. 3-20, 2008. (Journal paper)

Special Issue: XII IFToMM World Conference
J. Cuadrado (guest ed.)
Multibody System Dynamics, vol. 20, no. 2, 2008. (Editor)

Implementation and Efficiency of Two Geometric Stiffening Approaches
U. Lugris, M.A. Naya, J.A. Perez, J. Cuadrado
Multibody System Dynamics, vol. 20, no. 2, pp. 147-161, 2008. (Journal paper)

Performance of an Energy-Conserving Algorithm for Multi-Body Dynamics
D. Dopico, M.A. Naya, U. Lugris, J. Cuadrado
Journal of Multi-body Dynamics, vol. 222, no. 3, pp. 243-253, 2008. (Journal paper)

Model Reference Adaptive Control System for Laser Surface Treatments
J.A. Perez, M. Gonzalez, M.A. Naya
Journal of Systems and Control Engineering, vol. 222, no. 8, pp. 875-881, 2008. (Journal paper)

Real-Time Multibody Dynamics and Applications
J. Cuadrado, D. Dopico, M.A. Naya and M. Gonzalez
Simulation Techniques for Applied Dynamics, ed. by M. Arnold and W. Schiehlen, pp. 247-312, Springer, 2008. (Book chapter)

Efficient Calculation of the Inertia Terms in Floating Frame of Reference Formulations for Flexible Multibody Dynamics
U. Lugris, M.A. Naya, A. Luaces, J. Cuadrado
Journal of Multi-body Dynamics, vol. 223, no. 2, pp. 147-157, 2009. (Journal paper)

Non-Intrusive Parallelization of Multibody System Dynamic Simulations
F. Gonzalez, A. Luaces, U. Lugris, M. Gonzalez
Computational Mechanics, vol. 44, no. 4, pp. 493-504, 2009. (Journal paper)

Real-Time State Observers Based on Multibody Models and the Extended Kalman Filter
J. Cuadrado, D. Dopico, A. Barreiro, E. Delgado
Journal of Mechanical Science and Technology, vol. 23, no. 4, pp. 894-900, 2009. (Journal paper)

Influence of the Filtering Method in the Kinematic Data Consistency of Biomechanical Systems: A Benchmark Example
F.J. Alonso, P. Pintado, J. Cuadrado
Int. Journal for Computational Vision and Biomechanics, vol. 2, no. 2, pp. 179-186, 2009. (Journal paper)

Adaptive Neurofuzzy ANFIS Modeling of Laser Surface Treatments
J.A. Perez, M. Gonzalez, D. Dopico
Neural Computing and Applications, vol. 19, no. 1, pp. 85-90, 2010. (Journal paper)

A Collaborative Benchmarking Framework for Multibody System Dynamics
M. Gonzalez, F. Gonzalez, A. Luaces, J. Cuadrado
Engineering with Computers, vol. 26, no. 1, pp. 1-9, 2010. (Journal paper)

A Compact Smoothing-Differentiation and Projection Approach for the Kinematic Data Consistency of Biomechanical Systems
F.J. Alonso, J. Cuadrado, U. Lugris, P. Pintado
Multibody System Dynamics, vol. 24, no. 1, pp. 67-80, 2010. (Journal paper)

Special Issue: EUROMECH Solid Mechanics Conference 2009
J. Cuadrado and P. Flores (guest eds.)
Multibody System Dynamics, vol. 24, no. 3, 2010. (Editor)

Efficient Coupling of Multibody Software with Numerical Computing Environments and Block Diagram Simulators
F. Gonzalez, M. Gonzalez, A. Mikkola
Multibody System Dynamics, vol. 24, no. 3, pp. 237-253, 2010. (Journal paper)

Dealing with Multiple Contacts in a Human-in-the-Loop Application
D. Dopico, A. Luaces, M. Gonzalez, J. Cuadrado
Multibody System Dynamics, vol. 25, no. 2, pp. 167-183, 2011. (Journal paper)

On the Effect of Multi-rate Co-simulation Techniques in the Efficiency and Accuracy of Multibody System Dynamics
F. Gonzalez, M.A. Naya, A. Luaces, M. Gonzalez
Multibody System Dynamics, vol. 25, no. 4, pp. 461-483, 2011. (Journal paper)

An Approach for Modeling Long Flexible Bodies with Application to Railroad Dynamics
R. Chamorro, J. Escalona, M. Gonzalez
Multibody System Dynamics, vol. 26, no. 2, pp. 135-152, 2011. (Journal paper)

Role of MMS and IFToMM in Multibody Dynamics
J. Cuadrado, J. Escalona, W. Schiehlen, R. Seifried
Technology Developments: The Role of Mechanism and Machine Science and IFToMM, ed. by M. Ceccarelli, pp. 161-172, Springer, 2011. (Book chapter)

An Efficient Unified Method for the Combined Simulation of Multibody and Hydraulic Dynamics: Comparison with Simplified and Co-integration Approaches
M.A. Naya, J. Cuadrado, D. Dopico, U. Lugris
The Archive of Mechanical Engineering, vol. 58, no. 2, pp. 223-243, 2011. (Journal paper)

Dynamics of Mechanisms in Overconstrained and Singular Configurations
E. Zahariev, J. Cuadrado
Journal of Theoretical and Applied Mechanics, vol. 41, no. 1, pp. 3-18, 2011. (Journal paper)

Geared PM Coreless Motor Modelling for Driver's Force Feedback in Steer-by-Wire Systems
R. Pastorino, M.A. Naya, J.A. Perez, J. Cuadrado
Mechatronics, vol. 21, no. 6, pp. 1043-1054, 2011. (Journal paper)

Special Issue: Applications of Multi-body Dynamics to Machines, Mechanisms, and Vehicles
J. Cuadrado and S. Theodossiades (guest eds.)
Journal of Multi-body Dynamics, vol. 225, no. 4, 2011. (Editor)

Efficient and Accurate Simulation of the Rope-Sheave Interaction in Weight-Lifting Machines
U. Lugris, J.L. Escalona, D. Dopico, J. Cuadrado
Journal of Multi-body Dynamics, vol. 225, no. 4, pp. 331-343, 2011. (Journal paper)

Automotive Observers based on Multibody Models and the Extended Kalman Filter
J. Cuadrado, D. Dopico, J.A. Perez, R. Pastorino
Multibody System Dynamics, vol. 27, no. 1, pp. 3-19, 2012. (Journal paper)

A Simple Approach To Estimate Muscle Forces and Orthosis Actuation in Powered Assisted Walking of Spinal Cord-Injured Subjects
J. Alonso, F. Romero, R. Pamies-Vila, U. Lugris, J.M. Font-Llagunes
Multibody System Dynamics, vol. 28, no. 1-2, pp. 109-124, 2012. (Journal paper)

Analysis of Different Uncertainties in the Inverse Dynamic Analysis of Human Gait
R. Pamies-Vila, J.M. Font-Llagunes, J. Cuadrado, F.J. Alonso
Mechanism and Machine Theory, vol. 58, pp. 153-164, 2012. (Journal paper)

Use of Penalty Formulations in Dynamic Simulation and Analysis of Redundantly Constrained Multibody Systems
F. Gonzalez, J. Kovecses
Multibody System Dynamics, vol. 29, no. 1, pp. 57-76, 2013. (Journal paper)

State Estimation Using Multibody Models and Non-linear Kalman Filters
R. Pastorino, D. Richiedei, J. Cuadrado, A. Trevisani
Int. Journal of Non-Linear Mechanics, vol. 53, pp. 83-90, 2013. (Journal paper)

Solution Methods for the Double-Support Indeterminacy in Human Gait
U. Lugris, J. Carlin, R. Pamies-Vila, J.M. Font-Llagunes, J. Cuadrado
Multibody System Dynamics, vol. 30, no. 3, pp. 247-263, 2013. (Journal paper)

Special Issue: Application of Multibody Dynamics to Biomechanics
J. Cuadrado, P. Masarati (guest eds.)
Journal of Multi-body Dynamics, vol. 227, no. 4, 2013. (Editor)

Gait Analysis System for Spinal Cord-injured Subjects Assisted by Active Orthoses and Crutches
U. Lugris, J. Carlin, A. Luaces, J. Cuadrado
Journal of Multi-body Dynamics, vol. 227, no. 4, pp. 363-374, 2013. (Journal paper)

Computational Structural Analysis of Planar Multibody Systems with Lower and Higher Kinematic Pairs
M. Saura, A. Celdran, D.Dopico, J. Cuadrado
Mechanism and Machine Theory, vol. 71, pp. 79-92, 2014. (Journal paper)

Assessing the Suitability of Gradient-based Energy Minimization Methods to Calculate the Equilibrium Shape of Netting Structures
A. de la Prada, M. Gonzalez
Computers and Structures, vol. 135, pp. 128-140, 2014. (Journal paper)

Parameter Identification Method for a Three-dimensional Foot-ground Contact Model
R. Pamies-Vila, J.M. Font-Llagunes, U. Lugris, J. Cuadrado
Mechanism and Machine Theory, vol. 75, pp. 107-116, 2014. (Journal paper)

Special Issue: Multibody Dynamics Formulations
J. Cuadrado (guest ed.)
Journal of Computational and Nonlinear Dynamics, vol. 9, no. 4, 2014. (Editor)

Determination of Holonomic and Nonholonomic Constraint Reactions in an Index-3 Augmented Lagrangian Formulation with Velocity and Acceleration Projections
D. Dopico, F. Gonzalez, J. Cuadrado, J. Kovecses
Journal of Computational and Nonlinear Dynamics, vol. 9, no. 4, 9 pages, 2014. (Journal paper)

Sensitivity Analysis of Multibody Dynamic Systems Modeled by ODEs and DAEs
D. Dopico, A. Sandu, C. Sandu, Y. Zhu
Computational Methods and Applications, Computational Methods in Applied Sciences, vol. 35, ed. by Z. Terze, pp. 1-32, Springer, 2014. (Book chapter)

Online State and Input Force Estimation for Multibody Models Employing Extended Kalman Filtering
F. Naets, R. Pastorino, J. Cuadrado, W. Desmet
Multibody System Dynamics, vol. 32, no. 3, pp. 317-336, 2014. (Journal paper)

Direct and Adjoint Sensitivity Analysis of Ordinary Differential Equation Multibody Formulations
D. Dopico, Y. Zhu, A. Sandu, C. Sandu
Journal of Computational and Nonlinear Dynamics, vol. 10, no. 1, 7 pages, 2014. (Journal paper)

Stable Force Identification in Structural Dynamics Using Kalman Filtering and Dummy-measurements
F. Naets, J. Cuadrado, W. Desmet
Mechanical Systems and Signal Processing, vol. 50-51, pp. 235-248, 2015. (Journal paper)

A Novel Concept for Analysis and Performance Evaluation of Wheeled Rovers
B. Ghotbi, F. Gonzalez, J. Kovecses, J. Angeles
Mechanism and Machine Theory, vol. 83, pp. 137-151, 2015. (Journal paper)

An Experimental/Numerical Study of the Catch Weight Influence on Trawl Behavior
D. Priour, A. de la Prada
Ocean Engineering, vol. 94, pp. 94-102, 2015. (Journal paper)

Validation of a Real-time Multibody Model for an X-by-wire Vehicle Prototype through Field Testing
R. Pastorino, E. Sanjurjo, A. Luaces, M.A. Naya, W. Desmet, J. Cuadrado
Journal of Computational and Nonlinear Dynamics, vol. 10, no. 3, 11 pages, 2015. (Journal paper)

Dynamic Response Optimization of Complex Multibody Systems in a Penalty Formulation using Adjoint Sensitivity
Y. Zhu, D. Dopico, C. Sandu, A. Sandu
Journal of Computational and Nonlinear Dynamics, vol. 10, no. 3, 9 pages, 2015. (Journal paper)

Quantifying Mesh Resistance to Opening of Netting Panels: Experimental Method, Regression Models, and Parameter Estimation Strategies
A. de la Prada, M. Gonzalez
ICES Journal of Marine Science, vol. 72, pp. 697-707, 2015. (Journal paper)

The Effect of the Bottom Boundary Layer on Trawl Behavior
A. de la Prada, D. Priour
Ocean Engineering, vol. 101, pp. 142-151, 2015. (Journal paper)

Nonlinear Stiffness Models of a Net Twine to Describe Mesh Resistance to Opening of Flexible Net Structures
A. de la Prada, M. Gonzalez
Journal of Engineering for the Maritime Environment, vol. 230, no. 1, pp. 33-44, 2016. (Journal paper)

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
J.L. Torres-Moreno, J.L. Blanco-Claraco, A. Gimenez-Fernandez, E. Sanjurjo, M.A. Naya
Sensors, vol. 16, no. 3, pp. 333-1-19, 2016. (Journal paper)
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Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
B. Ghotbi, F. Gonzalez, J. Kovecses, J. Angeles
Mechanism and Machine Theory, vol. 100, pp. 259-282, 2016. (Journal paper)

Mobility Assessment of Wheeled Robots Operating on Soft Terrain
B. Ghotbi, F. Gonzalez, J. Kovecses, J. Angeles
Field and Service Robotics, vol. 113 of Springer Tracts in Advanced Robotics, ed. by D.S. Wettergreen and T.D. Barfoot, pp. 331-344, Springer, 2016. (Book chapter)

Hard Real-time Multibody Simulations Using ARM-based Embedded Systems
R. Pastorino, F. Cosco, F. Naets, W. Desmet, J. Cuadrado
Multibody System Dynamics, vol. 37, no. 1, pp. 127-143, 2016. (Journal paper)

Behaviour of Augmented Lagrangian and Hamiltonian Methods for Multibody Dynamics in the Proximity of Singular Configurations
F. Gonzalez, D. Dopico, R. Pastorino, J. Cuadrado
Nonlinear Dynamics, vol. 85, no. 3, pp. 1491-1508, 2016. (Journal paper)

Load Assessment and Analysis of Impacts in Multibody Systems
F. Gonzalez, J. Kovecses, J.M. Font-Llagunes
Multibody System Dynamics, vol. 38, no. 1, pp. 1-19, 2016. (Journal paper)

Estimation of Muscular Forces from SSA Smoothed sEMG Signals Calibrated by Inverse Dynamics-based Physiological Static Optimization
F. Romero, F.J. Alonso, C. Gragera, U. Lugris, J.M. Font-Llagunes
Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 38, pp. 2213-2223, 2016. (Journal paper)

Real-time Simulation of Cable Pay-out and Reel-in with Towed Fishing Gears
F. Gonzalez, A. de la Prada, A. Luaces, M. Gonzalez
Ocean Engineering, vol.131, pp. 295-307, 2017. (Journal paper)

Assessment of Linearization Approaches for Multibody Dynamics Formulations
F. Gonzalez, P. Masarati, J. Cuadrado, M.A. Naya
Journal of Computational and Nonlinear Dynamics, vol. 12, no. 4, 7 pages, 2017. (Journal paper)

Accuracy and Efficiency Comparison of Various Nonlinear Kalman Filters Applied to Multibody Models
E. Sanjurjo, M.A. Naya, J.L. Blanco-Claraco, J.L. Torres-Moreno, A Gimenez-Fernandez
Nonlinear Dynamics, vol. 88, no. 3, pp. 1935-1951, 2017. (Journal paper)


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