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.     

《周礼》自然资源管理思想浅论

《周礼》中已建立起了一套较为完整的自然资源管理制度,其中包括完备的管理机构和具体的管理措施.其保护对象主要有土地、山林川泽、矿藏及其他自然资源.这些管理措施在当时基本能得到普遍的实施,取得了很好的成效,对后世的自然资源管理思想产生了深远的影响.     

加强大学语文教育传承民族文化

语言是文化的载体,一个民族所具有的独特文化深深地蕴藏在它的语言之中。语言是随着民族的发展而发展的,是社会民族文化的一个组成部分。我国是具有五千年历史的文明古国,文化底蕴深厚,而大学语文涵盖着中华民族传统文化的精华,它是中华民族在长期的历史发展过程中形成的崇高的民族精神,优秀的民族品格,高尚的民族情感,良好的民族礼仪的具体体现。淡化大学语文教育即是忽略民族文化的弘扬,因此,必须加强大学语文教育。     

低地板公交车结构轻量化研究

本论文主要通过对低地板公交车结构轻量化设计背景的阐述,低地板公交车轻量化技术作用和发展现状的研究,进一步讨论了低地板公交车轻量化技术所存在的不足,最后提供了实现低地板公交车结构轻量化的途径和在行业中的应用,从而为低地板公交车行业轻量化设计提供有效的帮助。     

造船博弈的下一个主战场

在全球新造船市场一片哀鸣,特别是常规船型需求回升无望之际,LNG船市场悄然走出低谷。去年,全球共成交了51艘LNG新船。今年仅1～2月就成交10余艘。一些船东正计划扩大LNG船队规模,并持续下单。这一现象与三大主力船型的市场窘态形成了鲜明对比。这不仅仅是一次短期的恢复性行情,更给造船企业带来了持续性机会。     

T��l��phoner au volant : impact sur la conduite et risque d��accident, une revue de la litt��rature

This paper gives a literature review from experimental, epidemiological and naturalistic studies, having tried to measure on the one hand, the impact of mobile phone use on driving and, on the other hand, the risk of accident associated with this practice. The overview of these studies allowed first of all to show that the driving task is altered during the period of mobile phone use, and to quantify the disturbance (experimental studies), then to verify that this disturbance can be at the origin of accidents and quantify this risk (epidemiological studies). The naturalistic studies, consisting in following-up fleet vehicles, give some more explanations and tend to confirm the results. Advantages and limits of each approach are also discussed.     

Policy considerations for wetland wastewater treatment in the coastal zone: A case study for Louisiana

Two major environmental problems currently affecting the Louisiana coastal zone are a high rate of wetland loss and high levels of surface water pollution. The application of secondarily treated wastewater to wetlands can be a means of dealing with both of these problems. The benefits of wetland wastewater treatment include improved surface water quality, increased accretion rates to balance a high relative water level rise due mainly to subsidence, improved plant productivity and habitat quality, and decreased capital outlays for conventional engineering treatment systems. Wetland treatment systems can, therefore, be designed and operated to restore deteriorating wetlands. Hydrologically altered wetlands, which are common in the Louisiana coastal zone, are appropriate for receiving municipal and some types of industrial effluent. While the U.S. Environmental Protection Agency has determined wetland wastewater treatment is effective in treating municipal effluent, it has discouraged the use of natural wetlands for this purpose. At the same time, funds are being used for the construction of artificial wetlands to treat municipal effluent. In the Louisiana coastal zone, however, wetlands are deteriorating and disappearing due to hydrological alteration and a high rate of relative sea level rise. If no action is taken, these trends will continue. Effluent discharge to existing wetlands should be incorporated into a comprehensive management plan designed to increase sediment and nutrient input into subsiding wetlands in the Louisiana coastal zone, improve water quality, and result in more economical waste‐water treatment. The authors believe that the Louisiana example serves as a model for other coastal areas especially in light of projections of accelerated sea level rise.     

Fast passenger ferries and their future

This papers examines the different choices of High Speed Craft (HSC) hull design available and briefly looks at the advantages and disadvantages of each hull form. The trends in various design aspects of HSC such as speed, capacity and size are studied. An investigation on the HSC development is conducted and the future of HSC in the UK is studied. A study onboard an HSC with the aim of trying to determine what passengers think of HSC and why they travel by them is also conducted. Finally, an analysis of the possible market for HSC is carried out.     

Initiatives in Philippine Coastal Management: An Overview

Standardized and free-format questionnaires on the state of coastal management were fielded to coastal management practitioners during three workshops and a national feedback and recommendation workshop. The most commonly cited responses were identified for each of 13 political regions and overall trends were identified. Management frameworks frequently included research, community organizing, education, livelihood, resource enhancement, resource protection, regulation, and networking components. Gender issues, documentation, and infrastructure investment were rare. The most commonly perceived environmental problem was illegal/ destructive fishing and its associated overfishing and low fish catch. The most commonly cited socioeconomic problem was the inadequacy of law enforcement. The best monitored variables were usually those related to environmental management: status and change of habitats, resources, and degree of enforcement/patrolling activities. The most common nonregulatory enhancement, aside from environmental education (which is the most popular), was mangrove reforestation. In terms of regulations, the majority of the respondents have reportedly formulated an integrated coastal management plan. In practice, regulating destructive and illegal fishing practices and then the establishment of fish sanctuaries are the next most implemented. The most popular quality-of-life enhancement strategies focused on the improvement of sustainable fishing as a livelihood and on a variety of supplementary livelihoods. The most usual institutional intervention being implemented was the setting up of local community people's organizations. Major factors which may influence success or failure of coastal management and recommendations on research, community organizing and livelihood, legislation and policies, implementation and coordination, and networking are also summarized.