Spatial Dynamics of Multibody Tracked Vehicles Part II: Contact Forces and Simulation Results

In this part of the paper, three dimensional computational capabilities, that includes significant details, are developed for the nonlinear dynamic analysis of large scale spatial tracked vehicles. Three dimensional nonlinear contact force models that describe the interaction between the track links and the vehicle components such as the rollers, sprockets, and idlers as well as the interaction between the track links and the ground are developed and used to define the generalized contact forces associated with the vehicle generalized coordinates. Tangential friction and contact forces are developed in order to maintain the stability of the track motion and avoid the slippage of the track or its rotation as a rigid body. Body and surface coordinate systems are introduced in order to define the spatial contact conditions. The nonlinear equations of motion of the tracked vehicle are solved using the velocity transformation procedure developed in the first part of this paper. This procedure is used in order to obtain a minimum set of differential equations, and avoid the use of the iterative Newton-Raphson algorithm. A computer simulation of a tracked vehicle that consists of one hundred and six bodies and has one hundred and sixteen degrees of freedom is presented in order to demonstrate the use of the formulations presented in this study.     

Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

In this paper, the nonlinear dynamic equations of motion of the three dimensional multibody tracked vehicle systems are developed, taking into consideration the degrees of freedom of the track chains. To avoid the solution of a system of differential and algebraic equations, the recursive kinematic equations of the vehicle are expressed in terms of the independent joint coordinates. In order to take advantage of sparse matrix algorithms, the independent differential equations of the three dimensional tracked vehicles are obtained using the velocity transformation method. The Newton-Euler equations of the vehicle components are defined and used to obtain a sparse matrix structure for the system dynamic equations which are represented in terms of a set of redundant coordinates and the joint forces. The acceleration solution obtained by solving this system of equations is used to define the independent joint accelerations. The use of the recursive equations eliminates the need of using the iterative Newton-Raphson algorithm currently used in the augmented multibody formulations. The numerical difficulties that result from the use of such augmented formulations in the dynamic simulations of complex tracked vehicles are demonstrated. In this investigation, the tracked vehicle system is assumed to consist of three kinematically decoupled subsystems. The first subsystem consists of the chassis, the rollers, the sprockets, and the idlers, while the second and third subsystems consist of the tracks which are modeled as closed kinematic chains that consist of rigid links connected by revolute joints. The singular configurations of the closed kinematic chains of the tracks are also avoided by using a penalty function approach that defines the constraint forces at selected secondary joints of the tracks. The kinematic relationships of the rollers, idlers, and sprockets are expressed in terms of the coordinates of the chassis and the independent joint degrees of freedom, while the kinematic equations of the track links of a track chain are expressed in terms of the coordinates of a selected base link on the chain as well as the independent joint degrees of freedom. Singularities of the transformations of the base bodies are avoided by using Euler parameters. The nonlinear three dimensional contact forces that describe the interaction between the vehicle components as well as the results of the numerical simulations are presented in the second part of this paper.     

大跨径连续刚构桥的温度效应分析

以魏家洲特大桥为例,按照我国公路桥涵设计规范、英国BS5400规范、新西兰规范确定不同的计算模式,对大跨径连续刚构桥进行温度效应分析,得出：温度应力在大跨径连续刚构桥整个桥梁设计中占有很大的比重,且采用不同的温度梯度计算模式,所得到的梁内温度应力值相差较大,甚至出现异号的温度应力.     

Wheel-rail contact models for vehicle system dynamics including multi-point contact

Advanced modelling of rail vehicle dynamics requires realistic solutions of contact problems for wheels and rails that are able to describe contact singularities, encountered for wheels and rails. The basic singularities demonstrate themselves as double and multiple contact patches. The solutions of the contact problems have to be known practically in each step of the numerical integration of the differential equations of the model. The existing fast, approximate methods of solution to achieve this goal have been outlined. One way to do this is to replace a multi-point contact by a set of ellipses. The other methods are based on so-called virtual penetration. They allow calculating the non-elliptical, multiple contact patches and creep forces online, during integration of the model. This allows nearly real-time simulations. The methods are valid and applicable for so-called quasi-Hertzian cases, when the contact conditions do not deviate much from the assumptions of the Hertz theory. It is believed that it is worthwhile to use them in other cases too.     

Fuzzy-logic applied to yaw moment control for vehicle stability

In this paper, we propose a new yaw moment control based on fuzzy logic to improve vehicle handling and stability. The advantages of fuzzy methods are their simplicity and their good performance in controlling non-linear systems. The developed controller generates the suitable yaw moment which is obtained from the difference of the brake forces between the front wheels so that the vehicle follows the target values of the yaw rate and the sideslip angle. The simulation results show the effectiveness of the proposed control method when the vehicle is subjected to different cornering steering manoeuvres such as change line and J-turn under different driving conditions (dry road and snow-covered).     

A Simplified Model for the Effect of Weld-Induced Residual Stresses on the Axial Ultimate Strength of Stiffened Plates

The present work investigates the compressive axial ultimate strength of fillet-welded steel-plated ship structures subjected to uniaxial compression, in which the residual stresses in the welded plates are calculated by a thermo-elasto-plastic finite element analysis that is used to fit an idealized model of residual stress distribution. The numerical results of ultimate strength based on the simplified model of residual stress show good agreement with those of various methods including the International Association of Classification Societies (IACS) Common Structural Rules (CSR), leading to the conclusion that the simplified model can be effectively used to represent the distribution of residual stresses in steel-plated structures in a wide range of engineering applications. It is concluded that the widths of the tension zones in the welded plates have a quasi-linear behavior with respect to the plate slenderness. The effect of residual stress on the axial strength of the stiffened plate is analyzed and discussed.     

The accuracy of proxy responses in a stated choice setting: A re-examination and some controversial conclusions

Data is typically gathered from an individual respondent who represents the group or the household. This individual is often identified as the “primary decision maker” and is asked to provide responses as a proxy for the group given that the cost of interviewing each member individually is impractical and/or expensive. The collection of joint preferences is rarely undertaken, with the use of proxy responses not uncommon in travel behaviour research. Under such a framework, there exists an assumption that the primary decision maker has perfect knowledge of other group member preferences, and bargaining behaviour, and is able to synthesise this information when providing a response on their behalf. The validity of such an assumption however remains an open question, with recent research calling the reliability of proxy responses into account (Bateman and Munro, 2009). In this paper, using three models estimated in willingness to pay space, we examine the accuracy of proxy responses in a stated choice experiment. We find that there is overlap between a proxy response and the own preferences of the individual providing the proxy choice, but while the proxy responses fail to represent the full preference heterogeneity that exists in the actual choices made by individuals, the proxy responses in aggregate provide a suitable replacement for actual data, subject to a number of caveats.     

Redefining activity types: Who participates in which leisure activity?

This paper analyzes the activity choices of individuals and the links between socio-demographics, daily schedules and activity attributes using a new activity choice framework. Activities are first clustered into groups based on their salient attributes, such as duration, frequency, flexibility, planning times, and number of involved persons, rather than their functional types (work, leisure and household obligations), using a K-means cluster technique. This led to the creation of several new activity groups such as “long, temporally fixed, personally flexible activities”, “short and flexible activities”. These activity groups form the choice set for the mixed logit activity choice modeling structure developed for the leisure activities in the second part of the paper. The model results reveal the significant relationships between socio-demographics, temporal characteristics, and characteristics of the schedules on leisure activity choice. The results demonstrate how changing demographics and other activities in individuals’ schedules may affect the nature of the leisure activities and present the substitution and complimentary effects that these new activity groups have on one another.     

Urban walkability considering pedestrians’ perceptions of the built environment: a 10-year review and a case study in a medium-sized city in Latin America

ABSTRACT

Numerous methodologies measuring walkability have been developed over the last years. This paper reviews the Walkability Index (WI) literature of the last decade (2009–2018) and highlights some limitations in the current approaches. Only a few studies have evaluated walkability in Latin America, mainly in big cities but not in medium and small-sized cities in the region, which present their own urbanisation dynamics, security issues, sidewalk invasion problems, and poor planning. Furthermore, most WIs in the literature use objective mesoscale variables to assess walkability in a given area. This paper contributes to filling these gaps by generating new evidence from a medium-sized city in Latin America to question if characteristics of the built environment encourage walking trips, as found in the literature, are transferable among regions. The study also proposes a novel index comprised of microscale and mesoscale built environment variables to assess walkability using virtual tools and considering users’ perceptions. The WI estimation relies on ranking probability models. The results of the case study suggest that subjective Security and Traffic Safety are the most crucial factors influencing walkability in these kind of cities, which is different from what is found in the literature from cities in developed countries where Sidewalk Condition and Attractiveness are the most important factors. Security appeared to be strongly associated with a subjective dimension, represented by the fear of crime or perceived risk for crime, instead of the actual occurrence of crimes. This result evidences the importance of the physical attributes of the real world and how they are captured, judged, and processed by pedestrians. Then, regional transferability of WIs needs to be done carefully. Finally, results in this paper highlight the importance of microscale built environment characteristics in the WI formulation in these cities. Results are in line with other research in some cities of the region, which found that microscale variables such as pavement quality and presence of obstacles on the sidewalks are relevant components to promote walkability.