1. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 Geometry description of the planar, rigidly modeled overhead crane Figure Legend:

2. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 The point mass has to follow a linear trajectory from a specified starting point to a fixed end point Figure Legend:

3. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 Time history of identified force F and torque M after 300 iterations and initial settings for the first iteration for Ex. 5.1. The initial input for the force is set to F 0 = 0 N for the first iteration. The initial input for the torque is defined as the static torque M 0 = 98.1 N m. Figure Legend:

4. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 The convergence analysis of the cost functional for Ex. 5.1 shows that the optimization process reduces the costs to a factor of 10 −7 within 300 iterations Figure Legend:

5. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 A single rigid body is studied for which the moments of inertia parameters describing the inertia tensor are not known. Point S follows a specified motion, and the velocity of point P is measured in order to identify the entries of the inertia tensor. Figure Legend:

6. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 The convergence analysis of the cost functional for Ex. 5.2 shows that the optimization process reduces the costs already tremendously within the first 100 iterations. It has to be mentioned that only the costs of every second iteration are depicted here. Figure Legend:

7. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 Exemplary, the convergence analysis of the moment of inertia I 11 considered in Ex. 5.2 is shown here for 126 iterations. Only the costs of every second iteration are depicted here. Figure Legend:

8. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 A triple inverse pendulum is studied for which the excitation force F is identified which leads to a swing up maneuver into the rest position with φ1=φ2=φ3=π. (a) Geometric description of the inverse pendulum and (b) definition of the necessary parameters for the numerical simulation. Figure Legend:

9. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 Simulation results of the swing up maneuver of the inverse triple pendulum at six time steps: t = 0.0, 0.7, 1.4, 2.3, and 3.0 s Figure Legend:

10. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 Time history of identified force F for the inverse triple pendulum in Ex. 5.3 after 353 iterations. The initial input for the force is set to F 0 = 0 N for the first iteration. Figure Legend:

11. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 The costs according to the end point error considered in Ex. 5.3 decrease to the limit of the value 1.5 after 353 iterations Figure Legend:

12. Date of download: 6/6/2016 Copyright © ASME. All rights reserved. From: The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics J. Comput. Nonlinear Dynam. 2015;10(6):061011-061011-10. doi:10.1115/1.4028417 Time history of the three angles φ1,φ2, and φ3 in the revolute joints considered in Ex. 5.3 after 353 iterations, where the optimization is stopped since the costs according to the end point error decrease below a prescribed limit value Figure Legend: