Sigrid Leyendecker group leader   room 44-330 phone +49 (0)631 205 4478 email leyendecker[at]rhrk[dot]uni[minus]kl[dot]de

theses

S. Leyendecker. Mechanical integrators for constrained dynamical systems in flexible multibody dynamics (pdf)

PhD thesis, Chair of Applied Mechanics, University of Kaiserslautern, 2006.

S. Lauer. Numerical integration methods that preserve mechanical invariants and holonomic constraints

Diploma thesis, Department of Mathematics (Technomathematics), University of Kaiserslautern, 2002.

reviewed journal publications

P. Jung, S. Leyendecker, J. Linn, and M. Ortiz. A discrete mechanics approach to Cosserat rod theory Part 1: static equilibria

Int. J. Numer. Meth. Engng., accepted for publication, 2010.

S. Leyendecker, L.J. Luccas, H. Owhadi, and M. Ortiz. Optimal control strategies for robust certification

ASME J. Comput. Nonlinear Dynam., Vol. 19, DOI: 10.1115/1.4001375, 2010. (pdf)

S. Leyendecker, S. Ober-Blöbaum, J.E. Marsden, and M. Ortiz. Discrete mechanics and optimal control for

constrained systems

Optimal Control Applications & Methods, DOI: 10.1002/oca.912, 2009. (pdf)

S. Leyendecker, J.E. Marsden, and M. Ortiz. Variational integrators for constrained dynamical systems

ZAMM, Vol. 88, pp. 677-708, 2008. (pdf)

B. Schmidt, S. Leyendecker, and M. Ortiz. Gamma-convergence of variational integrators for constrained systems

J. Nonlinear Sci., Vol. 19, pp. 1432-1467, 2009. (pdf)

S. Leyendecker, P. Betsch, and P. Steinmann. The discrete null space method for the energy consistent integration

of constrained mechanical systems. Part III: Flexible multibody dynamics

Multibody System Dynamics, Vol. 19, pp. 45-72, 2008. (pdf)

P. Betsch and S. Leyendecker. The discrete null space method for the energy consistent integration of constrained

mechanical systems. Part II: Multibody dynamics

Int. J. Numer. Meth. Engng., Vol. 67, pp. 499-552, 2006. (pdf)

S. Leyendecker, P. Betsch, and P. Steinmann. Objective energy-momentum conserving integration for the

constrained dynamics of geometrically exact beams

Comput. Methods Appl. Mech. Engrg., Vol. 195, pp. 2313-2333, 2006. (pdf)

S. Leyendecker, P. Betsch, and P. Steinmann. Energy-conserving integration of constrained Hamiltonian systems -

a comparison of approaches

Comput. Mech., Vol. 33, pp. 174-185, 2004. (pdf)

invited lectures

S. Leyendecker. Structure preserving methods in computational multibody dynamics and optimal control

Invited lecture, Control Systems Group, University of Kaiserslautern, Kaiserslautern, Germany, 5 February 2010.

S. Leyendecker. Structure preserving methods in computational multibody dynamics and optimal control

Invited lecture, Institute of Applied Mechanics, University of Erlangen-Nuremberg, Erlangen, Germany, 21 December 2009.

S. Leyendecker. Structure preserving methods in computational multibody dynamics and optimal control

Invited lecture, Numerical Analysis Group, NTNU Trondheim, Norway, 10 December 2009.

S. Leyendecker. Variationsintegratoren in der Optimalsteuerung von Mehrkörperdynamik

Invited lecture, Kolloquium Institut für Mechanik und Regelungstechnik, Universität Siegen, Siegen, Germany, 23 June 2009.

S. Leyendecker. Discrete mechanics in space-time integration and optimal control

Invited lecture, Colloquium about applied Mathematics, University of Göttingen, Göttingen, Germany, 19 May 2009.

S. Leyendecker. Variational integrators in contact problems

Invited lecture, Mathematics Institute, Biocomputing Group, Free University of Berlin, Berlin, Germany, 24 March 2009.

S. Leyendecker. Discrete mechanics and optimal control of multibody dynamics

Invited lecture, Institute of Applied Mechanics, University of Erlangen-Nuremberg, Erlangen, Germany, 1 December 2008.

S. Leyendecker. Variational integrators in discrete time and space mechanics

Invited lecture, Mathematics Institute, AG Kornhuber, Free University of Berlin, Berlin, Germany, 24 November 2008.

S. Leyendecker. Two aspects of variational integrators for constrained systems: Gamma-convergence and discrete

null space method

Invited lecture, Mathematics Institute, Biocomputing Group, Free University of Berlin, Berlin, Germany, 15 July 2008.

S. Leyendecker. Structure preserving simulation and optimal control of multibody dynamics

Invited lecture, SimTech JP-Conference, Universität Stuttgart, Germany, 29 May 2008.

S. Leyendecker. Structure preserving integration and optimal control of constrained dynamical systems

Invited lecture, Department of Mechanical Engineering, University of California, Santa Barbara, California,

2 April 2008.

S. Leyendecker. Consistent simulation and optimal control of multibody dynamics

Invited lecture, Department of Mechanical, Aerospace & Nucalear Engineering, Rensselaer Polytechnique Institute, Troy, New York, 26 February 2008.

S. Leyendecker. Mechanical integration and optimal control of constrained multibody dynamics

Invited lecture, Mechanical Engineering Seminar, California Institute of Technology, Pasadena, California,

9 October 2007.

S. Leyendecker. Efficient integration and optimal control for constrained multibody dynamics

Invited lecture, Faculty of Mechanical Engineering, Universität Karlsruhe, Germany, 12 July 2007.

S. Leyendecker. Variational integrators and optimal control for constrained multibody dynamics

Invited lecture, Fraunhofer Institut für Techno- und Wirtschaftsmathematik (ITWM), Kaiserslautern, Germany, 4 July 2007.

S. Leyendecker. From efficient mechanical integration of multibody dynamics towards its optimal control

Invited lecture, CDS/CIMMS Lunchtime Series, California Institute of Technology, Pasadena, California, 8 March 2007.

S. Leyendecker. Conserving discrete constrained multibody dynamics

Invited lecture, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California, 28 February 2007.

conferences and proceedings

R. Maas, and S. Leyendecker. Über diskrete Mechanik und Optimalsteuerung menschlicher Fingerbewegungen

39. Bayerisch-Tirolerisches Mechanik-Kolloquium, Erlangen, Germany, 26 June 2010.

R. Maas, and S. Leyendecker. Structure preserving optimal control simulation of index finger dynamics

Proceedings of The First Joint International Conference on Multibody System Dynamics, IMSD, DVD, Lappeenranta, Finland, 25-27 May 2010. (pdf)

C. Hartmann, and S. Leyendecker. Event-driven molecular dynamics and nonsmooth integration

IV European Conference on Computational Mechanics Solids, Structures and Coupled Problems in Engineering, ECCM, Paris, France, 16-21 May 2010.

E. Kanso, and S. Leyendecker. Optimal locomotion of a submerged Cosserat beam

IV European Conference on Computational Mechanics Solids, Structures and Coupled Problems in Engineering, ECCM, Paris, France, 16-21 May 2010.

S. Ober-Blöbaum, and S. Leyendecker. A variational approach to multirate integration

IV European Conference on Computational Mechanics Solids, Structures and Coupled Problems in Engineering, ECCM, Paris, France, 16-21 May 2010.

S. Leyendecker, L.J. Lucas, H. Owhadi, and M. Ortiz. Certification with optimal control strategies

GAMM Annual Meeting, Karlsruhe, Germany, 22-26 March 2010.

R. Maas, and S. Leyendecker. Structure preserving simulation of optimal index finger trajectories during grasping

GAMM Annual Meeting, Karlsruhe, Germany, 22-26 March 2010.

M.W. Koch, and S. Leyendecker. Energy momentum consistent force formulation for the optimal control of multibody systems

GAMM Annual Meeting, Karlsruhe, Germany, 22-26 March 2010.

S. Leyendecker. Optimal control of multibody dynamics with uncertainties

Jahrestagung der Deutschen Mathematiker-Vereinigung (DMV), Munich, Germany, 8-11 March 2010.

S. Leyendecker. Structure preserving optimal control of three-dimensional compass gait

Workshop on Modeling, Simulation and Optimization of Bipedal Walking, 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids09), Paris, France, 7-10 December 2009.

S. Leyendecker, and E. Kanso. Locomotion of a submerged Cosserat beam

Proceedings of the 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, ASME International Design Engineering Technical Conferences, DVD, San Diego, California, 30 August - 2 September 2009. (pdf)

S. Leyendecker. Structure preserving optimal control of three-dimensional compass gait

Multibody Dynamics 2009, ECCOMAS Thematic Conference, Warsaw, Poland, 28 June - 2 July 2009.

P. Jung, S. Leyendecker, J. Linn, and M. Ortiz. Discrete Lagrangian mechanics and geometrically exact Cosserat rods

Proceedings of the Multibody Dynamics 2009, ECCOMAS Thematic Conference, DVD, Warsaw, Poland, 28 June - 2 July 2009. (pdf)

S. Leyendecker, D. Pekarek, and J.E. Marsden. Optimal control of a three-dimensional compass biped walker

Africomp 2009, Sun City, South Africa, 7-11 January 2009.

S. Leyendecker, D. Pekarek, S. Ober-Blöbaum, and J.E. Marsden. Dynamic optimisation of a three-dimensional walker

Poster (won the Applied Dynamics and Geometric Mechanics poster award), Applied Dynamics and Geometric Mechanics workshop, Mathematisches Forschungsinstitut Oberwolfach, Oberwolfach, Germany, 20-26 July 2008. (pdf)

S. Leyendecker, B. Schmidt, and M. Ortiz. On Gamma-convergence of variational integrators for constrained systems

8th World Congress on Computational Mechanics, 5th European Congress on Computational Methods in Applied Sciences and Engineering, Venice, Italy, 30 June - 5 July 2008.

S. Leyendecker, and D. Pekarek. Dynamic optimisation of a three-dimensional compass gait biped

The Fourth Annual Structured Integrators Workshop, Stanford University, Palo Alto, California, 24-25 April 2008.

P. Jung, and S. Leyendecker. Discrete variational mechanics for elastic rods

The Fourth Annual Structured Integrators Workshop, Stanford University, Palo Alto, California, 24-25 April 2008. (pdf)

S. Leyendecker, S. Ober-Blöbaum, J.E. Marsden, and M. Ortiz. Dynamic optimisation of constrained multibody dynamics

15th International Conference on Computational & Experimental Engineering and Science, Honolulu, Hawaii, 16-21 March 2008.

S. Leyendecker, S. Ober-Blöbaum, J.E. Marsden, and M. Ortiz. Discrete mechanics and optimal control for

constrained multibody dynamics

Proceedings of the 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, ASME International Design Engineering Technical Conferences, DVD, Las Vegas, Nevada, 4-7 September 2007. (pdf)

S. Ober-Blöbaum, M. Dellnitz, H. Böhmer, and S. Leyendecker. Optimally controlled motion sequences for multi-body systems

13th Czech-French-German Conference on Optimization, Heidelberg, Germany, 17-21 September 2007.

S. Leyendecker, S. Ober-Blöbaum, J.E. Marsden, and M. Ortiz. Optimal control of constrained multibody dynamics

Poster, Joint Program Review AFOSR, Long Beach, California, 8 August 2007. (pdf)

S. Leyendecker, S. Ober-Blöbaum, J.E. Marsden, and M. Ortiz. A variational discrete null space method in

constrained dynamics and optimal control

9th U.S. National Congress on Computational Mechanics, University of California, Berkley, California,

23-26 July 2007.

S. Leyendecker, M. Ortiz, and J.E. Marsden. On the relation of topology and analysis in discrete mechanics

6th International Congress on Industrial and Applied Mathematics, Zurich, Switzerland, 16-20 July 2007.

S. Leyendecker. Variational integrators and optimal control of constrained systems

The Third Annual Structured Integrators Workshop, University of Southern California, Los Angeles, California, 31 April - 1 May 2007.

S. Leyendecker, J.E. Marsden, and M. Ortiz. Efficient and robust integration of constrained dynamical systems

Poster, DyNARUM KickOff Workshop, California Institute of Technology, Pasadena, California, 23 - 24 January 2007. (pdf)

S. Leyendecker. Various mechanical integrators for constrained dynamical systems

Workshop at University of Southern California: Applications in Mechanics and Control, Los Angeles, California, 7-8 December 2006.

S. Leyendecker. Mechanical integrators for constrained dynamical systems in flexible multibody dynamics

Solid mechanics group seminar, California Institute of Technology, Pasadena, California, 27 October 2006.

P. Steinmann, S. Leyendecker, and P. Betsch. A computational approach to nonlinear dynamics of constrained

dynamical systems

6th European Solid Mechanics Conference,Budapest, Hungary, 28 August - 1 September 2006.

P. Betsch, S. Leyendecker, and S. Uhlar. Energy-momentum integration of multibody dynamics

7th World Congress on Computational Mechanics, Los Angeles, California, 16-22 July 2006.

S. Leyendecker, P. Betsch, and P. Steinmann. Mechanical integrators for nonlinear flexible multibody dynamics

Proceedings of the III European Conference on Computational Mechanics Solids, Structures and Coupled Problems in Engineering, ECCM, CD-ROM, Lisbon, Portugal, 5-8 June 2006.

S. Leyendecker, P. Betsch, and P. Steinmann. Mechanical integrators for nonlinear flexible multibody dynamics

Dynamics' day, University of Kaiserslautern, Kaiserslautern, Germany, 4 July 2006.

S. Leyendecker, P. Betsch, and P. Steinmann. Efficient integration of flexible multibody dynamics

PAMM, Vol. 6, pp. 99-100, GAMM Annual Meeting, Berlin, Germany, 28-31 March 2006.

S. Leyendecker, P. Betsch, and P. Steinmann. The discrete null space method for multibody dynamics - an

application to closed loop systems

Proceedings of the International Conference on Computational & Experimental Engineering and Sciences, ICCES, CD-ROM, Chennai, India, 1-6 December 2005.

S. Leyendecker, P. Betsch, and P. Steinmann. The discrete null space method for multibody dynamics with

application to closed loop systems

2nd Workshop on Numerical Methods in Multibody Dynamics, Bad Herrenalb, Germany, 26-28 October 2005.

S. Leyendecker, P. Betsch, and P. Steinmann. Conserving integration of constrained geometrically nonlinear beam dynamics

Proceedings of the Sixth Conference on Structural Dynamics, EURODYN05, Vol. 3, pp. 2021-2026, Paris, France, 4-7 September 2005.

S. Leyendecker, P. Betsch, and P. Steinmann. Mechanical integration of multibody dynamics by the discrete

null space method

Proceedings of the International Conference on Advances in Computational Multibody Dynamics, ECCOMAS Thematic Conference, CD-ROM, Madrid, Spain, 21-24 June 2005.

S. Leyendecker, P. Betsch, and P. Steinmann. Mechanical integration of multibody dynamics by the discrete null

space method

DFG's International Research Training Group (IRTG): Visualization of Large and Unstructured Data Sets, University of Kaiserslautern, Kaiserslautern, Germany, 11 July 2005.

S. Leyendecker, P. Betsch, and P. Steinmann. The discrete null space method for constrained mechanical systems

in nonlinear structural and multibody dynamics

PAMM, Vol. 5, pp. 205-206, GAMM Annual Meeting, Luxembourg, 29 March - 1 April 2005.

S. Leyendecker, P. Betsch, and P. Steinmann. Mechanical integrators for constrained dynamics of geometrically

exact beams

PAMM, Vol. 4, pp. 344-345, GAMM Annual Meeting, Dresden, Germany, 21-27 March 2004.

S. Leyendecker, P. Betsch, and P. Steinmann. Mechanical integrators for constrained Hamiltonian systems

2nd International Workshop on Continuum Mechanics, Sterzing, Italy, 6-9 March 2004.

S. Leyendecker, P. Betsch, and P. Steinmann. Conserving integration schemes for constrained mechanical systems

5th International Congress on Industrial and Applied Mathematics, ICIAM, Sydney, Australia, 7-11 July 2003.

S. Leyendecker. Mechanische Integratoren für zwei Arten von Gleichungen für Bewegungen mit

Zwangsbedingungen

Seminar für Mechanik, University of Kaiserslautern, Kaiserslautern, Germany, 8 May 2003.

S. Lauer, P. Betsch, and P. Steinmann. Mechanical integrators for constrained mechanical systems

GAMM Annual Meeting, Padua, Italy, 24-28 March 2003.